fix various warnings, more work on shared memory API

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -0,0 +1,48 @@
+#include "PhysicsClientC_API.h"
+#include "PhysicsClient.h"
+#include "Bullet3Common/b3Scalar.h"
+
+int     b3InitPhysicsParamCommand(struct SharedMemoryCommand* command)
+{
+	b3Assert(command);
+	command->m_type = CMD_SEND_PHYSICS_SIMULATION_PARAMETERS;
+	command->m_updateFlags = 0;
+
+	return 0;
+}
+int     b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz)
+{
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_physSimParamArgs.m_gravityAcceleration[0] = gravx;
+	command->m_physSimParamArgs.m_gravityAcceleration[1] = gravy;
+	command->m_physSimParamArgs.m_gravityAcceleration[2] = gravz; 
+	command->m_updateFlags |= SIM_PARAM_UPDATE_GRAVITY;
+	return 0;
+}
+
+#if 0
+
+#include "SharedMemoryBlock.h"
+
+#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
+
+B3_DECLARE_HANDLE(b3PhysicsClientHandle);
+
+b3PhysicsClientHandle b3ConnectSharedMemory(int memKey, int allowSharedMemoryInitialization);
+
+void	b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
+
+int	b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status);
+
+int	b3CanSubmitCommand(b3PhysicsClientHandle physClient);
+
+int	b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
+
+int	b3GetNumPoweredJoints(b3PhysicsClientHandle physClient);
+
+void	b3GetPoweredJointInfo(int linkIndex, struct PoweredJointInfo* info);
+
+int	b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
+int	b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
+
+#endif

examples/SharedMemory/PhysicsClientC_API.h

@@ -0,0 +1,35 @@
+#ifndef PHYSICS_CLIENT_C_API_H
+#define PHYSICS_CLIENT_C_API_H
+
+#include "SharedMemoryBlock.h"
+
+#define B3_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
+
+B3_DECLARE_HANDLE(b3PhysicsClientHandle);
+
+#ifdef __cplusplus
+extern "C" { 
+#endif
+
+b3PhysicsClientHandle b3ConnectSharedMemory(int memKey, int allowSharedMemoryInitialization);
+
+void	b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
+
+int	b3ProcessServerStatus(b3PhysicsClientHandle physClient, struct SharedMemoryStatus* status);
+
+int	b3CanSubmitCommand(b3PhysicsClientHandle physClient);
+
+int	b3SubmitClientCommand(b3PhysicsClientHandle physClient, struct SharedMemoryCommand* command);
+
+int	b3GetNumPoweredJoints(b3PhysicsClientHandle physClient);
+
+void	b3GetPoweredJointInfo(int linkIndex, struct PoweredJointInfo* info);
+
+int	b3InitPhysicsParamCommand(struct SharedMemoryCommand* command);
+int	b3PhysicsParamSetGravity(struct SharedMemoryCommand* command, double gravx,double gravy, double gravz);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //PHYSICS_CLIENT_C_API_H

examples/SharedMemory/SharedMemoryBlock.h

@@ -0,0 +1,48 @@
+#ifndef SHARED_MEMORY_BLOCK_H
+#define SHARED_MEMORY_BLOCK_H
+
+#define SHARED_MEMORY_KEY 12347
+#define SHARED_MEMORY_MAGIC_NUMBER 64738
+#define SHARED_MEMORY_MAX_COMMANDS 32
+#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
+
+#include "SharedMemoryCommands.h"
+
+struct SharedMemoryBlock
+{
+	int m_magicId;
+	struct SharedMemoryCommand m_clientCommands[SHARED_MEMORY_MAX_COMMANDS];
+	struct SharedMemoryStatus m_serverCommands[SHARED_MEMORY_MAX_COMMANDS];
+
+	int m_numClientCommands;
+	int m_numProcessedClientCommands;
+
+	int m_numServerCommands;
+	int m_numProcessedServerCommands;
+
+	//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
+	//the Bullet data structures are more general purpose than the capabilities of a URDF file.
+	char    m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
+
+	//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
+	//example to provide all details of a multibody including joint/link names, after loading a URDF file.
+	char    m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
+};
+
+
+inline void     InitSharedMemoryBlock(struct SharedMemoryBlock* sharedMemoryBlock)
+{
+    sharedMemoryBlock->m_numClientCommands = 0;
+    sharedMemoryBlock->m_numServerCommands = 0;
+    sharedMemoryBlock->m_numProcessedClientCommands=0;
+    sharedMemoryBlock->m_numProcessedServerCommands=0;
+    sharedMemoryBlock->m_magicId = SHARED_MEMORY_MAGIC_NUMBER;
+}
+
+#define SHARED_MEMORY_SIZE sizeof(SharedMemoryBlock)
+
+
+
+
+#endif //SHARED_MEMORY_BLOCK_H
+

test/SharedMemory/test.c

@@ -0,0 +1,11 @@
+#include "SharedMemoryBlock.h"
+#include "PhysicsClientC_API.h"
+
+struct test
+{
+};
+#include <stdio.h>
+int main(int argc, char* argv[])
+{
+printf("hello world\n");
+}