add InProcessExampleBrowser to make it easy to instantiate the ExampleBrowser in its own thread

example usage:

int main(int argc, char* argv[])
{

btInProcessExampleBrowserInternalData* data = btCreateInProcessExampleBrowser(argc,argv);

while (!(btIsExampleBrowserTerminated(data)))
{
}

btShutDownExampleBrowser(data);

        return 0;
}

examples/ExampleBrowser/CMakeLists.txt

@@ -15,6 +15,7 @@ SET(App_ExampleBrowser_SRCS
 	main.cpp
 	ExampleEntries.cpp
 	ExampleEntries.h
+	InProcessExampleBrowser.cpp
 	../SharedMemory/PhysicsServer.cpp
 	../SharedMemory/PhysicsClientSharedMemory.cpp
 	../SharedMemory/PhysicsClient.cpp

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -0,0 +1,200 @@
+#include "InProcessExampleBrowser.h"
+
+//#define EXAMPLE_CONSOLE_ONLY
+#ifdef EXAMPLE_CONSOLE_ONLY
+	#include "EmptyBrowser.h"
+	typedef EmptyBrowser DefaultBrowser;
+#else
+	#include "OpenGLExampleBrowser.h"
+	typedef OpenGLExampleBrowser DefaultBrowser;
+#endif //EXAMPLE_CONSOLE_ONLY
+
+#include "Bullet3Common/b3CommandLineArgs.h"
+#include "../Utils/b3Clock.h"
+
+#include "ExampleEntries.h"
+#include "Bullet3Common/b3Logging.h"
+
+void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory);
+void*	ExampleBrowserMemoryFunc();
+
+#include <stdio.h>
+//#include "BulletMultiThreaded/PlatformDefinitions.h"
+
+#ifndef _WIN32
+#include "../MultiThreading/b3PosixThreadSupport.h"
+
+static b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
+{
+	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
+                                                                ExampleBrowserThreadFunc,
+                                                                ExampleBrowserMemoryFunc,
+                                                                numThreads);
+    b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
+
+	return threadSupport;
+
+}
+
+
+#elif defined( _WIN32)
+#include "../MultiThreading/b3Win32ThreadSupport.h"
+
+b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
+{
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("testThreads",ExampleBrowserThreadFunc,ExampleBrowserMemoryFunc,numThreads);
+	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
+	return threadSupport;
+
+}
+#endif
+
+
+
+struct	ExampleBrowserArgs
+{
+	ExampleBrowserArgs()
+		:m_fakeWork(1),m_argc(0)
+	{
+	}
+	b3CriticalSection* m_cs;
+	float m_fakeWork;
+  int m_argc;
+  char** m_argv;
+};
+
+struct ExampleBrowserThreadLocalStorage
+{
+	int threadId;
+};
+
+enum TestExampleBrowserCommunicationEnums
+{
+	eRequestTerminateExampleBrowser = 13,
+	eExampleBrowserHasTerminated
+};
+
+void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
+{
+	printf("thread started\n");
+
+	ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
+
+	ExampleBrowserArgs* args = (ExampleBrowserArgs*) userPtr;
+	int workLeft = true;
+  b3CommandLineArgs args2(args->m_argc,args->m_argv);
+	b3Clock clock;
+	
+	
+	ExampleEntries examples;
+	examples.initExampleEntries();
+
+	ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);
+	bool init = exampleBrowser->init(args->m_argc,args->m_argv);
+	clock.reset();
+	if (init)
+	{
+		do 
+		{
+			float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
+			clock.reset();
+			exampleBrowser->update(deltaTimeInSeconds);
+
+		} while (!exampleBrowser->requestedExit() && (args->m_cs->getSharedParam(0)!=eRequestTerminateExampleBrowser));
+	}
+	delete exampleBrowser;
+	args->m_cs->lock();
+	args->m_cs->setSharedParam(0,eExampleBrowserHasTerminated);
+	args->m_cs->unlock();
+	printf("finished\n");
+	//do nothing
+}
+
+
+void*	ExampleBrowserMemoryFunc()
+{
+	//don't create local store memory, just return 0
+	return new ExampleBrowserThreadLocalStorage;
+}
+
+
+
+
+
+struct btInProcessExampleBrowserInternalData
+{
+	ExampleBrowserArgs m_args;
+	b3ThreadSupportInterface* m_threadSupport;
+};
+
+
+btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2)
+{
+
+	btInProcessExampleBrowserInternalData* data = new btInProcessExampleBrowserInternalData;
+
+	int numThreads = 1;
+	int i;
+
+	data->m_threadSupport = createExampleBrowserThreadSupport(numThreads);
+
+	printf("argc=%d\n", argc);
+	for (i=0;i<argc;i++)
+	{
+		printf("argv[%d] = %s\n",i,argv2[i]);
+	}
+
+	for (i=0;i<data->m_threadSupport->getNumTasks();i++)
+	{
+		ExampleBrowserThreadLocalStorage* storage = (ExampleBrowserThreadLocalStorage*) data->m_threadSupport->getThreadLocalMemory(i);
+		b3Assert(storage);
+		storage->threadId = i;
+	}
+
+
+	data->m_args.m_cs = data->m_threadSupport->createCriticalSection();
+	data->m_args.m_cs->setSharedParam(0,100);
+ 	data->m_args.m_argc = argc;
+ 	data->m_args.m_argv = argv2;
+
+
+	for (i=0;i<numThreads;i++)
+	{
+		data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &data->m_args, i);
+	}
+
+	return data;
+}
+
+bool btIsExampleBrowserTerminated(btInProcessExampleBrowserInternalData* data)
+{
+	return (data->m_args.m_cs->getSharedParam(0)==eExampleBrowserHasTerminated);
+}
+
+void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
+{
+	int numActiveThreads = 1;
+
+	data->m_args.m_cs->lock();
+	data->m_args.m_cs->setSharedParam(0,eRequestTerminateExampleBrowser);
+	data->m_args.m_cs->unlock();
+
+	while (numActiveThreads)
+                {
+			int arg0,arg1;
+                        if (data->m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
+                        {
+                                numActiveThreads--;
+                                printf("numActiveThreads = %d\n",numActiveThreads);
+
+                        } else
+                        {
+//                              printf("polling..");
+                        }
+                };
+
+	printf("stopping threads\n");
+	delete data->m_threadSupport;
+	delete data;
+}
+

examples/ExampleBrowser/InProcessExampleBrowser.h

@@ -0,0 +1,13 @@
+#ifndef IN_PROCESS_EXAMPLE_BROWSER_H
+#define IN_PROCESS_EXAMPLE_BROWSER_H
+
+struct btInProcessExampleBrowserInternalData;
+
+btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2);
+
+bool btIsExampleBrowserTerminated(btInProcessExampleBrowserInternalData* data);
+
+void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data);
+
+
+#endif //IN_PROCESS_EXAMPLE_BROWSER_H

examples/ForkLift/ForkLiftDemo.cpp

@@ -365,6 +365,7 @@ void ForkLiftDemo::initPhysics()
 	{
 		m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 128;//for direct solver, it is better to solve multiple objects together, small batches have high overhead
 	}
+	m_dynamicsWorld->getSolverInfo().m_globalCfm = 0.00001;
 
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);