quick draft implementation for SharedMemoryInProcessPhysicsC_API

test/SharedMemory/premake4.lua

@@ -141,4 +141,52 @@ project ("Test_PhysicsServerLoopBack")
 		}
 		
 
-	
+project ("Test_PhysicsServerInProcessExampleBrowser")
+
+		language "C++"
+		kind "ConsoleApp"
+
+		includedirs {"../../src", "../../examples",
+		"../../examples/ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+--		links {
+--			"BulletExampleBrowserLib",
+--			"BulletFileLoader",
+--			"BulletWorldImporter",
+--			"Bullet3Common",
+--			"BulletDynamics", 
+--			"BulletCollision", 
+--			"LinearMath"
+--		}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
+	initOpenGL()
+	initGlew()
+
+  	includedirs {
+                ".",
+                "../../src",
+                "../ThirdPartyLibs",
+                }
+
+
+	if os.is("MacOSX") then
+		links{"Cocoa.framework"}
+	end
+
+		if (hasCL) then
+			links {
+				"Bullet3OpenCL_clew",
+				"Bullet3Dynamics",
+				"Bullet3Collision",
+				"Bullet3Geometry",
+				"Bullet3Common",
+			}
+		end
+
+		files {
+			"test.c",
+			"../../examples/ExampleBrowser/ExampleEntries.cpp",
+			}
+			

test/SharedMemory/test.c

@@ -9,6 +9,9 @@
 #include "SharedMemory/PhysicsDirectC_API.h"
 #endif //PHYSICS_SERVER_DIRECT
 
+#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
+#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
+#endif//PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
 
 #include "SharedMemory/SharedMemoryPublic.h"
 #include "Bullet3Common/b3Logging.h"
@@ -17,6 +20,7 @@
 
 #include <stdio.h>
 
+
 int main(int argc, char* argv[])
 {
 	int i, dofCount , posVarCount, ret ,numJoints ;
@@ -40,7 +44,11 @@ int main(int argc, char* argv[])
 
 #ifdef PHYSICS_SERVER_DIRECT
 	sm = b3ConnectPhysicsDirect();
-#else//PHYSICS_SERVER_DIRECT
+#endif
+
+#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
+	sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
+#else
 	sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
 #endif //PHYSICS_SERVER_DIRECT
 	
@@ -61,8 +69,8 @@ int main(int argc, char* argv[])
 			b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
 			
             //setting the initial position, orientation and other arguments are optional
-            startPosX =2;
-            startPosY =3;
+            startPosX =0;
+            startPosY =0;
             startPosZ = 1;
             ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
             statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);