fixes in build system

examples/ExampleBrowser/CMakeLists.txt

@@ -185,44 +185,51 @@ IF (WIN32)
         INCLUDE_DIRECTORIES(
                 ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
         )
-	IF (BUILD_SHARED_LIBS)
+				ADD_DEFINITIONS(-DGLEW_STATIC)
-		TARGET_LINK_LIBRARIES(
-			BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils 
-			BulletInverseDynamics LinearMath OpenGLWindow gwen
-                	${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-		)
-	ENDIF (BUILD_SHARED_LIBS)
-	ADD_DEFINITIONS(-DGLEW_STATIC)
 ELSE(WIN32)
         IF(APPLE)
                 find_library(COCOA NAMES Cocoa)
-                MESSAGE(${COCOA})
+  			ELSE(APPLE)
-		IF (BUILD_SHARED_LIBS)
-                	TARGET_LINK_LIBRARIES(
-				BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
-                		BulletInverseDynamics LinearMath OpenGLWindow gwen
-				${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-			)
-  ELSE(APPLE)
-		ENDIF (BUILD_SHARED_LIBS)
                 ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
                 ADD_DEFINITIONS("-DGLEW_STATIC")
                 ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
                 INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
-	 	IF (BUILD_SHARED_LIBS)	
+     		ENDIF(APPLE)
-			TARGET_LINK_LIBRARIES(
-				BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
-               	 		BulletInverseDynamics LinearMath OpenGLWindow gwen
-          			pthread dl
-			)
-		ENDIF(BUILD_SHARED_LIBS)
-        ENDIF(APPLE)
 ENDIF(WIN32)
 
 
 ADD_LIBRARY(BulletExampleBrowserLib ${BulletExampleBrowser_SRCS} )
 SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+		IF (WIN32)
+                TARGET_LINK_LIBRARIES(
+                        BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+                        BulletInverseDynamics LinearMath OpenGLWindow gwen
+                        ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+                )
+		ELSE(WIN32)
+        IF(APPLE)
+                 TARGET_LINK_LIBRARIES(
+                                BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+                                BulletInverseDynamics LinearMath OpenGLWindow gwen
+                                ${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+                 )
+  			ELSE(APPLE)
+                 TARGET_LINK_LIBRARIES(
+                                BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+                                BulletInverseDynamics LinearMath OpenGLWindow gwen
+                                pthread dl
+                        )
+        ENDIF(APPLE)
+	ENDIF(WIN32)
+ENDIF(BUILD_SHARED_LIBS)
+
+####################
+#
+# Bullet Example Browser main app
+#
+####################
 
 INCLUDE_DIRECTORIES(
         .

examples/ExampleBrowser/ExampleEntries.cpp

@@ -274,17 +274,17 @@ struct ExampleEntriesInternalData
 	btAlignedObjectArray<ExampleEntry> m_allExamples;
 };
 
-ExampleEntries::ExampleEntries()
+ExampleEntriesAll::ExampleEntriesAll()
 {
 	m_data = new ExampleEntriesInternalData;
 }
 
-ExampleEntries::~ExampleEntries()
+ExampleEntriesAll::~ExampleEntriesAll()
 {
 	delete m_data;
 }
 
-void ExampleEntries::initOpenCLExampleEntries()
+void ExampleEntriesAll::initOpenCLExampleEntries()
 {
 #ifdef B3_USE_CLEW
 #ifndef NO_OPENGL3
@@ -297,7 +297,7 @@ void ExampleEntries::initOpenCLExampleEntries()
 #endif //B3_USE_CLEW
 }
 
-void ExampleEntries::initExampleEntries()
+void ExampleEntriesAll::initExampleEntries()
 {
 	m_data->m_allExamples.clear();
 
@@ -330,33 +330,33 @@ void ExampleEntries::initExampleEntries()
 
 }
 
-void ExampleEntries::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
+void ExampleEntriesAll::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
 {
 	ExampleEntry e( menuLevel,name,description, createFunc, option);
 	gAdditionalRegisteredExamples.push_back(e);
 }
 
-int ExampleEntries::getNumRegisteredExamples()
+int ExampleEntriesAll::getNumRegisteredExamples()
 {
 	return m_data->m_allExamples.size();
 }
 
-CommonExampleInterface::CreateFunc* ExampleEntries::getExampleCreateFunc(int index)
+CommonExampleInterface::CreateFunc* ExampleEntriesAll::getExampleCreateFunc(int index)
 {
 	return m_data->m_allExamples[index].m_createFunc;
 }
 
-int ExampleEntries::getExampleOption(int index)
+int ExampleEntriesAll::getExampleOption(int index)
 {
 	return m_data->m_allExamples[index].m_option;
 }
 
-const char* ExampleEntries::getExampleName(int index)
+const char* ExampleEntriesAll::getExampleName(int index)
 {
 	return m_data->m_allExamples[index].m_name;
 }
 
-const char* ExampleEntries::getExampleDescription(int index)
+const char* ExampleEntriesAll::getExampleDescription(int index)
 {
 	return m_data->m_allExamples[index].m_description;
 }

examples/ExampleBrowser/ExampleEntries.h

@@ -6,32 +6,56 @@
 
 
 
-
 class ExampleEntries
+{
+
+public:
+
+        virtual ~ExampleEntries() {}
+
+
+        virtual void initExampleEntries()=0;
+
+        virtual void initOpenCLExampleEntries()=0;
+
+        virtual int getNumRegisteredExamples()=0;
+
+        virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
+
+        virtual const char* getExampleName(int index)=0;
+
+        virtual const char* getExampleDescription(int index)=0;
+
+        virtual int     getExampleOption(int index)=0;
+
+};
+
+
+class ExampleEntriesAll : public ExampleEntries
 {
 
 	struct ExampleEntriesInternalData* m_data;
 
 public:
 
-	ExampleEntries();
+	ExampleEntriesAll();
-	virtual ~ExampleEntries();
+	virtual ~ExampleEntriesAll();
 
 	static void registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0);
 	
-	void initExampleEntries();
+	virtual void initExampleEntries();
 
-	void initOpenCLExampleEntries();
+	virtual void initOpenCLExampleEntries();
 	
-	int getNumRegisteredExamples();
+	virtual int getNumRegisteredExamples();
 
-	CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
+	virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
 
-	const char* getExampleName(int index);
+	virtual const char* getExampleName(int index);
 	
-	const char* getExampleDescription(int index);
+	virtual const char* getExampleDescription(int index);
 
-	int	getExampleOption(int index);
+	virtual int	getExampleOption(int index);
 
 };
 

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -25,6 +25,143 @@ void*	ExampleBrowserMemoryFunc();
 #ifndef _WIN32
 #include "../MultiThreading/b3PosixThreadSupport.h"
 
+#include "ExampleEntries.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "EmptyExample.h"
+
+#include "../SharedMemory/PhysicsServerExample.h"
+#include "../SharedMemory/PhysicsClientExample.h"
+
+
+
+
+class ExampleEntriesPhysicsServer : public ExampleEntries
+{
+
+	struct ExampleEntriesInternalData2* m_data;
+
+public:
+
+	ExampleEntriesPhysicsServer();
+	virtual ~ExampleEntriesPhysicsServer();
+
+	static void registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0);
+	
+	virtual void initExampleEntries();
+
+	virtual void initOpenCLExampleEntries();
+	
+	virtual int getNumRegisteredExamples();
+
+	virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
+
+	virtual const char* getExampleName(int index);
+	
+	virtual const char* getExampleDescription(int index);
+
+	virtual int	getExampleOption(int index);
+
+};
+
+
+struct ExampleEntryPhysicsServer
+{
+	int									m_menuLevel;
+	const char*							m_name;
+	const char*							m_description;
+	CommonExampleInterface::CreateFunc*		m_createFunc;
+	int									m_option;
+
+	ExampleEntryPhysicsServer(int menuLevel, const char* name)
+		:m_menuLevel(menuLevel), m_name(name), m_description(0), m_createFunc(0), m_option(0)
+	{
+	}
+
+	ExampleEntryPhysicsServer(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0)
+		:m_menuLevel(menuLevel), m_name(name), m_description(description), m_createFunc(createFunc), m_option(option)
+	{
+	}
+};
+
+struct ExampleEntriesInternalData2
+{
+        btAlignedObjectArray<ExampleEntryPhysicsServer> m_allExamples;
+};
+
+static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
+{
+	
+	ExampleEntryPhysicsServer(0,"Robotics Control"),
+	
+	ExampleEntryPhysicsServer(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
+			PhysicsServerCreateFunc),
+	ExampleEntryPhysicsServer(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
+	ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
+
+	ExampleEntryPhysicsServer(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
+
+};
+
+
+ExampleEntriesPhysicsServer::ExampleEntriesPhysicsServer()
+{
+	m_data = new ExampleEntriesInternalData2;
+}
+
+ExampleEntriesPhysicsServer::~ExampleEntriesPhysicsServer()
+{
+	delete m_data;
+}
+
+void ExampleEntriesPhysicsServer::initOpenCLExampleEntries()
+{
+}
+
+void ExampleEntriesPhysicsServer::initExampleEntries()
+{
+	m_data->m_allExamples.clear();
+
+	
+
+	int numDefaultEntries = sizeof(gDefaultExamplesPhysicsServer)/sizeof(ExampleEntryPhysicsServer);
+	for (int i=0;i<numDefaultEntries;i++)
+	{
+		m_data->m_allExamples.push_back(gDefaultExamplesPhysicsServer[i]);
+	}
+
+}
+
+void ExampleEntriesPhysicsServer::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
+{
+}
+
+int ExampleEntriesPhysicsServer::getNumRegisteredExamples()
+{
+	return m_data->m_allExamples.size();
+}
+
+CommonExampleInterface::CreateFunc* ExampleEntriesPhysicsServer::getExampleCreateFunc(int index)
+{
+	return m_data->m_allExamples[index].m_createFunc;
+}
+
+int ExampleEntriesPhysicsServer::getExampleOption(int index)
+{
+	return m_data->m_allExamples[index].m_option;
+}
+
+const char* ExampleEntriesPhysicsServer::getExampleName(int index)
+{
+	return m_data->m_allExamples[index].m_name;
+}
+
+const char* ExampleEntriesPhysicsServer::getExampleDescription(int index)
+{
+	return m_data->m_allExamples[index].m_description;
+}
+
 static b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
 {
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
@@ -91,7 +228,7 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 	b3Clock clock;
 	
 	
-	ExampleEntries examples;
+	ExampleEntriesPhysicsServer examples;
 	examples.initExampleEntries();
 
 	DefaultBrowser* exampleBrowser = new DefaultBrowser(&examples);
@@ -231,7 +368,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
 
 struct btInProcessExampleBrowserMainThreadInternalData
 {
-    ExampleEntries m_examples;
+    ExampleEntriesPhysicsServer m_examples;
     DefaultBrowser*    m_exampleBrowser;
     SharedMemoryInterface* m_sharedMem;
     b3Clock m_clock;

examples/ExampleBrowser/main.cpp

@@ -22,7 +22,7 @@ int main(int argc, char* argv[])
 	b3Clock clock;
 	
 	
-	ExampleEntries examples;
+	ExampleEntriesAll examples;
 	examples.initExampleEntries();
 
 	ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);

examples/pybullet/CMakeLists.txt

@@ -18,7 +18,7 @@ ADD_LIBRARY(pybullet ${pybullet_SRCS})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
 
-  TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common)
+  TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common Python)
 ENDIF (BUILD_SHARED_LIBS)
 
 

examples/pybullet/pybullet.c

@@ -138,6 +138,8 @@ pybullet_resetSimulation(PyObject* self, PyObject* args)
         statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
 //        ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RESET_SIMULATION_COMPLETED);
     }
+	return PyLong_FromLong(1);
+
 }
 
 static PyMethodDef SpamMethods[] = {