turn test/SharedMemory/test.c into a gtest for CI unit testing in github

remove overly verbose printfs in importers
fix axis in r2d2.urdf

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -644,7 +644,7 @@ void bFile::preSwap()
 				swap(dataPtrHead, dataChunk,ignoreEndianFlag);
 			} else
 			{
-				printf("unknown chunk\n");
+				//printf("unknown chunk\n");
 			}
 		}
 

Extras/Serialize/BulletFileLoader/btBulletFile.cpp

@@ -224,7 +224,7 @@ void btBulletFile::parseData()
 		//		}
 			} else
 			{
-				printf("unknown chunk\n");
+				//printf("unknown chunk\n");
 
 				mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)dataPtrHead);
 			}

data/r2d2.urdf

@@ -234,6 +234,7 @@
     <joint_properties damping="0.0" friction="0.0"/>
   </joint>
   <joint name="gripper_extension" type="prismatic">
+    <axis xyz="0 0 1"/>
     <parent link="base_link"/>
     <child link="gripper_pole"/>
     <limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>

examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp

@@ -316,12 +316,12 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 			}
 			
 			
-			printf(" index_count =%dand vertexPositions.size=%d\n",indices.size(), vertexPositions.size());
+			//b3Printf(" index_count =%dand vertexPositions.size=%d\n",indices.size(), vertexPositions.size());
 			indexBase=visualShape.m_vertices->size();
 			visualShape.m_numIndices = visualShape.m_indices->size();
 			visualShape.m_numvertices = visualShape.m_vertices->size();
 		}
-		printf("geometry name=%s\n",geometryName);
+		//b3Printf("geometry name=%s\n",geometryName);
 		name2Shape.insert(geometryName,shapeIndex);
 		
 
@@ -331,7 +331,7 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shape, btAlignedObjectArray<ColladaGraphicsInstance>& visualShapeInstances,  const btMatrix4x4& parentTransMat)
 {
 	const char* nodeName = node->Attribute("id");
-	printf("processing node %s\n", nodeName);
+	//printf("processing node %s\n", nodeName);
 
 	
 	btMatrix4x4 nodeTrans;
@@ -356,7 +356,7 @@ void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shap
 					nodeTrans = nodeTrans*t;
 				} else
 				{
-					printf("Error: expected 16 elements in a <matrix> element, skipping\n");
+					b3Warning("Error: expected 16 elements in a <matrix> element, skipping\n");
 				}
 			}
 		}
@@ -412,19 +412,19 @@ void readNodeHierarchy(TiXmlElement* node,btHashMap<btHashString,int>& name2Shap
 				instanceGeom=instanceGeom->NextSiblingElement("instance_geometry"))
 	{
 		const char* geomUrl = instanceGeom->Attribute("url");
-		printf("node referring to geom %s\n", geomUrl);
+		//printf("node referring to geom %s\n", geomUrl);
 		geomUrl++;
 		int* shapeIndexPtr = name2Shape[geomUrl];
 		if (shapeIndexPtr)
 		{
 		//	int index = *shapeIndexPtr;
-			printf("found geom with index %d\n", *shapeIndexPtr);
+			//printf("found geom with index %d\n", *shapeIndexPtr);
 			ColladaGraphicsInstance& instance = visualShapeInstances.expand();
 			instance.m_shapeIndex = *shapeIndexPtr;
 			instance.m_worldTransform = nodeTrans;
 		} else
 		{
-			printf("geom not found\n");
+			b3Warning("geom not found\n");
 		}
 	}
 
@@ -492,7 +492,7 @@ void getUnitMeterScalingAndUpAxisTransform(TiXmlDocument& doc, btTransform& tr,
 	if (unitMeter)
 	{
 		const char* meterText = unitMeter->Attribute("meter");
-		printf("meterText=%s\n", meterText);
+	//printf("meterText=%s\n", meterText);
 		unitMeterScaling = atof(meterText);
 	}
 
@@ -565,7 +565,7 @@ void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLIn
 	char filename[1024];
 	if (!f.findFile(relativeFileName,filename,1024))
 	{
-		printf("File not found: %s\n", filename);
+		b3Warning("File not found: %s\n", filename);
 		return;
 	}
 	 
@@ -703,12 +703,12 @@ void LoadMeshFromColladaAssimp(const char* relativeFileName, btAlignedObjectArra
 		int size=0;
 		if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
 		{
-			printf("Error: Cannot access file to determine size of %s\n", relativeFileName);
+			b3Warning("Error: Cannot access file to determine size of %s\n", relativeFileName);
 		} else
 		{
 			if (size)
 			{
-				printf("Open DAE file of %d bytes\n",size);
+				//printf("Open DAE file of %d bytes\n",size);
 				
 				Assimp::Importer importer;
 				//importer.SetPropertyInteger(AI_CONFIG_PP_RVC_FLAGS, aiComponent_NORMALS | aiComponent_COLORS);

examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h

@@ -24,17 +24,17 @@ static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
 		int size=0;
 		if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
 		{
-			printf("Error: Cannot access file to determine size of %s\n", relativeFileName);
+			b3Warning("Error: Cannot access file to determine size of %s\n", relativeFileName);
 		} else
 		{
 			if (size)
 			{
-				printf("Open STL file of %d bytes\n",size);
+				//b3Warning("Open STL file of %d bytes\n",size);
 				char* memoryBuffer = new char[size+1];
 				int actualBytesRead = fread(memoryBuffer,1,size,file);
 				if (actualBytesRead!=size)
 				{
-					printf("Error reading from file %s",relativeFileName);
+					b3Warning("Error reading from file %s",relativeFileName);
 				} else
 				{
 					int numTriangles = *(int*)&memoryBuffer[80];
@@ -69,10 +69,6 @@ static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
 							MySTLTriangle* tri = (MySTLTriangle*) curPtr;
 							
 							GLInstanceVertex v0,v1,v2;
-							if (i==numTriangles-2)
-							{
-								printf("!\n");
-							}
 							v0.uv[0] = v1.uv[0] = v2.uv[0] = 0.5;
 							v0.uv[1] = v1.uv[1] = v2.uv[1] = 0.5;
 							for (int v=0;v<3;v++)

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -282,7 +282,6 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 	{
 		case URDF_GEOM_CYLINDER:
 		{
-			printf("processing a cylinder\n");
 			btAlignedObjectArray<btVector3> vertices;
 		
 			//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
@@ -306,7 +305,6 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 		}
 		case URDF_GEOM_BOX:
 		{
-			printf("processing a box\n");
 			
 			btVector3 extents = visual->m_geometry.m_boxSize;
 			
@@ -318,7 +316,6 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 		}
 		case URDF_GEOM_SPHERE:
 		{
-			printf("processing a sphere\n");
 			btScalar radius = visual->m_geometry.m_sphereRadius;
 			btSphereShape* sphereShape = new btSphereShape(radius);
 			convexColShape = sphereShape;
@@ -331,14 +328,14 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 		{
 			if (visual->m_name.length())
 			{
-				printf("visual->name=%s\n", visual->m_name.c_str());
+				//b3Printf("visual->name=%s\n", visual->m_name.c_str());
 			}
 			if (1)//visual->m_geometry)
 			{
 				if (visual->m_geometry.m_meshFileName.length())
 				{
 					const char* filename = visual->m_geometry.m_meshFileName.c_str();
-					printf("mesh->filename=%s\n", filename);
+					//b3Printf("mesh->filename=%s\n", filename);
 					char fullPath[1024];
 					int fileType = 0;
                     
@@ -471,7 +468,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 						}
 						default:
 						{
-                            printf("Error: unsupported file type for Visual mesh: %s\n", fullPath);
+                            b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
                             btAssert(0);
 						}
 						}
@@ -482,13 +479,13 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 						}
 						else
 						{
-							printf("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
+							b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
 						}
 
 					}
 					else
 					{
-						printf("mesh geometry not found %s\n", fullPath);
+						b3Warning("mesh geometry not found %s\n", fullPath);
 					}
 
 
@@ -500,7 +497,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 		}
 		default:
 		{
-			printf("Error: unknown visual geometry type\n");
+			b3Warning("Error: unknown visual geometry type\n");
 		}
 	}
 
@@ -593,7 +590,6 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
     {
         case URDF_GEOM_CYLINDER:
         {
-            printf("processing a cylinder\n");
 			btScalar cylRadius = collision->m_geometry.m_cylinderRadius;
 			btScalar cylLength = collision->m_geometry.m_cylinderLength;
 			
@@ -623,7 +619,6 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
         }
         case URDF_GEOM_BOX:
         {
-            printf("processing a box\n");
 			btVector3 extents = collision->m_geometry.m_boxSize;
 			btBoxShape* boxShape = new btBoxShape(extents*0.5f);
 			//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
@@ -633,7 +628,6 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
         }
         case URDF_GEOM_SPHERE:
         {
-			printf("processing a sphere\n");
             
 			btScalar radius = collision->m_geometry.m_sphereRadius;
 			btSphereShape* sphereShape = new btSphereShape(radius);
@@ -647,14 +641,14 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
         {
 			if (collision->m_name.length())
 			{
-				printf("collision->name=%s\n",collision->m_name.c_str());
+				//b3Printf("collision->name=%s\n",collision->m_name.c_str());
 			}
 			if (1)
 			{
 				if (collision->m_geometry.m_meshFileName.length())
 				{
 					const char* filename = collision->m_geometry.m_meshFileName.c_str();
-					printf("mesh->filename=%s\n",filename);
+					//b3Printf("mesh->filename=%s\n",filename);
 					char fullPath[1024];
 					int fileType = 0;
 					sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
@@ -783,7 +777,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 							}
 						default:
 							{
-                                printf("Unsupported file type in Collision: %s\n",fullPath);
+                                b3Warning("Unsupported file type in Collision: %s\n",fullPath);
                                 btAssert(0);
 							}
 						}
@@ -791,7 +785,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 
 						if (glmesh && (glmesh->m_numvertices>0))
 						{
-							printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
+							//b3Printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
 							//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
 							//convex->setUserIndex(shapeId);
 							btAlignedObjectArray<btVector3> convertedVerts;
@@ -809,12 +803,12 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 							shape = cylZShape;
 						} else
 						{
-							printf("issue extracting mesh from STL file %s\n", fullPath);
+							b3Warning("issue extracting mesh from STL file %s\n", fullPath);
 						}
 
 					} else
 					{
-						printf("mesh geometry not found %s\n",fullPath);
+						b3Warning("mesh geometry not found %s\n",fullPath);
 					}
 							
 							
@@ -826,7 +820,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
         }
         default:
         {
-            printf("Error: unknown visual geometry type\n");
+            b3Warning("Error: unknown visual geometry type\n");
         }
     }
 	return shape;

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -766,9 +766,10 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 		}
 	}
 
-	char msg[1024];
+
-	sprintf(msg,"Num materials=%d", m_model.m_materials.size());
+//	char msg[1024];
-	logger->printMessage(msg);
+//	sprintf(msg,"Num materials=%d", m_model.m_materials.size());
+//	logger->printMessage(msg);
 
 	
 	for (TiXmlElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))

src/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.cpp

@@ -215,7 +215,7 @@ void b3BulletFile::parseData()
 		//		}
 			} else
 			{
-				printf("unknown chunk\n");
+				//printf("unknown chunk\n");
 
 				mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)dataPtrHead);
 			}

src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp

@@ -612,7 +612,7 @@ void bFile::preSwap()
 				swap(dataPtrHead, dataChunk,ignoreEndianFlag);
 			} else
 			{
-				printf("unknown chunk\n");
+				//printf("unknown chunk\n");
 			}
 		}
 

test/CMakeLists.txt

@@ -1,6 +1,6 @@
 IF(BUILD_BULLET3)
 	#SUBDIRS( TestBullet3OpenCL )
-	SUBDIRS(  InverseDynamics )
+	SUBDIRS(  InverseDynamics SharedMemory )
 ENDIF(BUILD_BULLET3)
 
 SUBDIRS(  gtest-1.7.0 collision BulletDynamics/pendulum )

test/SharedMemory/CMakeLists.txt

@@ -0,0 +1,73 @@
+
+INCLUDE_DIRECTORIES(
+	.
+	../../src
+	../gtest-1.7.0/include
+	../../examples
+	../../examples/ThirdPartyLibs
+)
+
+
+#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
+ADD_DEFINITIONS(-DPHYSICS_LOOP_BACK -DPHYSICS_SERVER_DIRECT -DENABLE_GTEST -D_VARIADIC_MAX=10)
+
+
+LINK_LIBRARIES(
+ BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest
+)
+
+IF (NOT WIN32)
+	LINK_LIBRARIES(		pthread	)
+ENDIF()
+
+	ADD_EXECUTABLE(Test_PhysicsClientServer
+		gtestwrap.cpp
+		../../examples/SharedMemory/PhysicsClient.cpp
+                        ../../examples/SharedMemory/PhysicsClient.h
+                        ../../examples/SharedMemory/PhysicsServer.cpp
+                        ../../examples/SharedMemory/PhysicsServer.h
+                        ../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
+                        ../../examples/SharedMemory/PhysicsServerSharedMemory.h
+                        ../../examples/SharedMemory/PhysicsDirect.cpp
+                        ../../examples/SharedMemory/PhysicsDirect.h
+                        ../../examples/SharedMemory/PhysicsDirectC_API.cpp
+                        ../../examples/SharedMemory/PhysicsDirectC_API.h
+                        ../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+                        ../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+                        ../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
+                        ../../examples/SharedMemory/PhysicsClientSharedMemory.h
+                        ../../examples/SharedMemory/PhysicsClientC_API.cpp
+                        ../../examples/SharedMemory/PhysicsClientC_API.h
+			../../examples/SharedMemory/PhysicsLoopBack.cpp
+                        ../../examples/SharedMemory/PhysicsLoopBack.h
+                        ../../examples/SharedMemory/PhysicsLoopBackC_API.cpp
+                        ../../examples/SharedMemory/PhysicsLoopBackC_API.h
+                        ../../examples/SharedMemory/Win32SharedMemory.cpp
+                        ../../examples/SharedMemory/Win32SharedMemory.h
+                        ../../examples/SharedMemory/PosixSharedMemory.cpp
+                        ../../examples/SharedMemory/PosixSharedMemory.h
+                        ../../examples/Utils/b3ResourcePath.cpp
+                        ../../examples/Utils/b3ResourcePath.h
+                        ../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
+                        ../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
+                        ../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
+                        ../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+                        ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+                        ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
+                        ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+                        ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+                        ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+                        ../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+                        ../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+                        ../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+                        ../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
+                        ../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+	)
+
+ADD_TEST(Test_PhysicsClientServer_PASS Test_PhysicsClientServer)
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(Test_PhysicsClientServer PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(Test_PhysicsClientServer  PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(Test_PhysicsClientServer  PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

test/SharedMemory/gtestwrap.cpp

@@ -0,0 +1,23 @@
+#include <gtest/gtest.h>
+#include "test.c"
+#include "Bullet3Common/b3Logging.h"
+
+void myprintf(const char* bla)
+{
+}
+
+
+int main(int argc, char **argv) {
+
+b3SetCustomPrintfFunc(myprintf);
+b3SetCustomWarningMessageFunc(myprintf);
+
+
+#if _MSC_VER
+        _CrtSetDbgFlag ( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF );
+        //void *testWhetherMemoryLeakDetectionWorks = malloc(1);
+#endif
+        ::testing::InitGoogleTest(&argc, argv);
+        return RUN_ALL_TESTS();
+}
+

test/SharedMemory/test.c

@@ -22,8 +22,14 @@
 
 #include <stdio.h>
 
+#ifndef ENABLE_GTEST
+#include <assert.h>
+#define ASSERT_EQ(a,b) assert((a)==(b));
+#else
+#define printf
+#endif
 
-int main(int argc, char* argv[])
+void testSharedMemory(b3PhysicsClientHandle sm)
 {
 	int i, dofCount , posVarCount, ret ,numJoints ;
     int sensorJointIndexLeft=-1;
@@ -34,21 +40,6 @@ int main(int argc, char* argv[])
 	double startPosX, startPosY,startPosZ;
 	int imuLinkIndex = -1;
 	int bodyIndex = -1;
-#ifdef PHYSICS_LOOP_BACK
-	b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
-#endif
-
-#ifdef PHYSICS_SERVER_DIRECT
-	b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
-#endif
-
-#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
-	b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
-#endif
-#ifdef PHYSICS_SHARED_MEMORY
-	b3PhysicsClientHandle sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
-#endif //PHYSICS_SHARED_MEMORY
-	
 
 	if (b3CanSubmitCommand(sm))
 	{
@@ -72,10 +63,7 @@ int main(int argc, char* argv[])
             ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
             statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 			statusType = b3GetStatusType(statusHandle);
-			if (statusType != CMD_URDF_LOADING_COMPLETED)
+			ASSERT_EQ(statusType, CMD_URDF_LOADING_COMPLETED);
-			{
-				printf("Loading URDF failed, status type = %d\n",statusType);
-			}
 			bodyIndex = b3GetStatusBodyIndex(statusHandle);
         }
         
@@ -87,7 +75,7 @@ int main(int argc, char* argv[])
 				struct b3JointInfo jointInfo;
 				b3GetJointInfo(sm,bodyIndex, i,&jointInfo);
             
-				printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
+			//	printf("jointInfo[%d].m_jointName=%s\n",i,jointInfo.m_jointName);
 				//pick the IMU link index based on torso name
 				if (strstr(jointInfo.m_linkName,"base_link"))
 				{
@@ -144,15 +132,16 @@ int main(int argc, char* argv[])
             b3SharedMemoryStatusHandle statusHandle;
             statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
             statusType = b3GetStatusType(statusHandle);
+           ASSERT_EQ(statusType, CMD_ACTUAL_STATE_UPDATE_COMPLETED);
  
             if (statusType == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
             {
                 b3GetStatusActualState(statusHandle,
                                        0, &posVarCount, &dofCount,
                                        0, 0, 0, 0);
+		ASSERT_EQ(posVarCount,15);
+		ASSERT_EQ(dofCount,14);
 
-                b3Printf("posVarCount = %d\n",posVarCount);
-                printf("dofCount = %d\n",dofCount);
             }
         }
         
@@ -176,11 +165,7 @@ int main(int argc, char* argv[])
 
 			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitStepSimulationCommand(sm));
 			statusType = b3GetStatusType(statusHandle);
-			if (statusType != CMD_STEP_FORWARD_SIMULATION_COMPLETED)
+			ASSERT_EQ(statusType, CMD_STEP_FORWARD_SIMULATION_COMPLETED);
-			{
-				printf("Step Simulation failed, Unexpected status type = %d\n",statusType);
-				break;
-			}
         }
         
         {
@@ -222,3 +207,43 @@ int main(int argc, char* argv[])
 
 	b3DisconnectSharedMemory(sm);
 }
+
+
+
+#ifdef ENABLE_GTEST
+
+
+TEST(BulletPhysicsClientServerTest, DirectConnection) {
+        b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
+        testSharedMemory(sm);
+}
+
+TEST(BulletPhysicsClientServerTest, LoopBackSharedMemory) {
+        b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
+        testSharedMemory(sm);
+}
+
+
+#else
+
+int main(int argc, char* argv[])
+{
+#ifdef PHYSICS_LOOP_BACK
+        b3PhysicsClientHandle sm = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
+#endif
+
+#ifdef PHYSICS_SERVER_DIRECT
+        b3PhysicsClientHandle sm = b3ConnectPhysicsDirect();
+#endif
+
+#ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
+        b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
+#endif
+#ifdef PHYSICS_SHARED_MEMORY
+        b3PhysicsClientHandle sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
+#endif //PHYSICS_SHARED_MEMORY
+
+	testSharedMemory(sm);
+}
+#endif
+