Merge pull request #451 from erwincoumans/master

shared memory fixes

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -266,9 +266,8 @@ void openFileDemo(const char* filename)
     s_parameterInterface->removeAllParameters();
    
 
-	CommonExampleOptions options(s_guiHelper,0);
+	CommonExampleOptions options(s_guiHelper,1);
 	options.m_fileName = filename;
-
 	char fullPath[1024];
 	sprintf(fullPath, "%s", filename);
 	b3FileUtils::toLower(fullPath);

examples/ExampleBrowser/main.cpp

@@ -13,6 +13,9 @@
 
 #include "ExampleEntries.h"
 #include "Bullet3Common/b3Logging.h"
+
+
+
 int main(int argc, char* argv[])
 {
 	b3CommandLineArgs args(argc,argv);

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -794,8 +794,8 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 							vis.m_localMaterial = **mat;
 						} else
 						{
-							logger->reportError("Cannot find material with name:");
+							//logger->reportError("Cannot find material with name:");
-							logger->reportError(vis.m_materialName.c_str());
+							//logger->reportError(vis.m_materialName.c_str());
 						}
 					}
 				}

examples/OpenGLWindow/stb_image_write.h

@@ -493,7 +493,10 @@ int stbi_write_png(char const *filename, int x, int y, int comp, const void *dat
    unsigned char *png = stbi_write_png_to_mem((unsigned char *) data, stride_bytes, x, y, comp, &len);
    if (!png) return 0;
    f = fopen(filename, "wb");
-   if (!f) { free(png); return 0; }
+   if (!f) { 
+	   free(png); 
+	   return 0; 
+   }
    fwrite(png, 1, len, f);
    fclose(f);
    free(png);

examples/RollingFrictionDemo/RollingFrictionDemo.cpp

@@ -229,6 +229,9 @@ void	RollingFrictionDemo::initPhysics()
 	}
 
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+
+	if (0)
+	{	
 	btSerializer* s = new btDefaultSerializer;
 	m_dynamicsWorld->serialize(s);
 	b3ResourcePath p;
@@ -240,6 +243,7 @@ void	RollingFrictionDemo::initPhysics()
 		fclose(f);
 	}
 	}
+}
 
 
 

examples/SharedMemory/PhysicsClient.cpp

@@ -77,37 +77,42 @@ PhysicsClientSharedMemory::PhysicsClientSharedMemory()
 
 PhysicsClientSharedMemory::~PhysicsClientSharedMemory()
 {
-	m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
+    if (m_data->m_isConnected)
+    {
+        disconnectSharedMemory();
+    }
 	delete m_data->m_sharedMemory;
 	delete m_data;
 }
 
+void PhysicsClientSharedMemory::disconnectSharedMemory ()
+{
+    if (m_data->m_isConnected)
+    {
+        m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
+        m_data->m_isConnected = false;
+    }
+}
+
 bool	PhysicsClientSharedMemory::isConnected() const
 {
 	return m_data->m_isConnected ;
 }
 
-bool PhysicsClientSharedMemory::connect(bool allowSharedMemoryInitialization)
+bool PhysicsClientSharedMemory::connect()
 {
-	bool allowCreation = true;
+    ///server always has to create and initialize shared memory
+    bool allowCreation = false;
 	m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE, allowCreation);
 	
     if (m_data->m_testBlock1)
     {
         if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
-        {
-			if (allowSharedMemoryInitialization)
-			{
-				InitSharedMemoryBlock(m_data->m_testBlock1);
-				b3Printf("Created and initialized shared memory block");
-				m_data->m_isConnected = true;
-			} else
         {
             b3Error("Error: please start server before client\n");
             m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
             m_data->m_testBlock1 = 0;
             return false;
-			}
        } else
 		{
 			b3Printf("Connected to existing shared memory, status OK.\n");

examples/SharedMemory/PhysicsClient.h

@@ -15,7 +15,9 @@ public:
 	virtual ~PhysicsClientSharedMemory();
 
 	//return true if connection succesfull, can also check 'isConnected'
-	virtual bool	connect(bool allowSharedMemoryInitialization = true);
+	virtual bool	connect();
+    
+    virtual void disconnectSharedMemory ();
 
 	virtual bool	isConnected() const;
 

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -191,10 +191,11 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(struct SharedMemoryCommand* c
 }
 
 
-b3PhysicsClientHandle b3ConnectSharedMemory( int allowSharedMemoryInitialization)
+b3PhysicsClientHandle b3ConnectSharedMemory()
 {
 	PhysicsClientSharedMemory* cl = new PhysicsClientSharedMemory();
-	cl->connect(allowSharedMemoryInitialization);
+    ///client should never create shared memory, only the server does
+	cl->connect();
 	return (b3PhysicsClientHandle ) cl;
 }
 

examples/SharedMemory/PhysicsClientC_API.h

@@ -12,7 +12,8 @@ B3_DECLARE_HANDLE(b3PhysicsRobotHandle);
 extern "C" { 
 #endif
 
-b3PhysicsClientHandle b3ConnectSharedMemory(int allowSharedMemoryInitialization);
+///make sure to start the server first!
+b3PhysicsClientHandle b3ConnectSharedMemory();
 
 void	b3DisconnectSharedMemory(b3PhysicsClientHandle physClient);
 

examples/SharedMemory/PhysicsClientExample.cpp

@@ -9,6 +9,15 @@
 #include "PhysicsClient.h"
 #include "SharedMemoryCommands.h"
 
+struct MyMotorInfo2
+{
+	btScalar m_velTarget;
+	btScalar m_maxForce;
+	int		m_uIndex;
+};
+
+#define MAX_NUM_MOTORS 128
+
 class PhysicsClientExample : public SharedMemoryCommon
 {
 protected:
@@ -22,6 +31,11 @@ protected:
 
 public:
     
+    //@todo, add accessor methods
+	MyMotorInfo2 m_motorTargetVelocities[MAX_NUM_MOTORS];
+	int m_numMotors;
+
+    
 	PhysicsClientExample(GUIHelperInterface* helper);
 	virtual ~PhysicsClientExample();
     
@@ -42,11 +56,20 @@ public:
     {
         return m_wantsTermination;
     }
+    
+    virtual bool isConnected()
+    {
+        return m_physicsClient.isConnected();
+    }
+    
 	void enqueueCommand(const SharedMemoryCommand& orgCommand);
 	
 };
 
 
+
+
+
 void MyCallback(int buttonId, bool buttonState, void* userPtr)
 {
 	PhysicsClientExample* cl = (PhysicsClientExample*) userPtr;
@@ -58,7 +81,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
 	case  CMD_LOAD_URDF:
 		{
 			command.m_type =CMD_LOAD_URDF;
-			sprintf(command.m_urdfArguments.m_urdfFileName,"hinge.urdf");//r2d2.urdf");
+			sprintf(command.m_urdfArguments.m_urdfFileName,"kuka_lwr/kuka.urdf");
             command.m_urdfArguments.m_initialPosition[0] = 0.0;
 			command.m_urdfArguments.m_initialPosition[1] = 0.0;
 			command.m_urdfArguments.m_initialPosition[2] = 0.0;
@@ -96,32 +119,25 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
             int controlMode = CONTROL_MODE_VELOCITY;//CONTROL_MODE_TORQUE;
 
             command.m_sendDesiredStateCommandArgument.m_controlMode = controlMode;
-				//todo: expose a drop box in the GUI for this
+            
-				switch (controlMode)
-				{
-				case CONTROL_MODE_VELOCITY:
-					{
             for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
             {
-							command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 1;
+                command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[i] = 0;
-							command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 100;
+                command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 1000;
             }
-						break;
+            for (int i=0;i<cl->m_numMotors;i++)
-					}
-				case CONTROL_MODE_TORQUE:
             {
-						for (int i=0;i<MAX_DEGREE_OF_FREEDOM;i++)
+                btScalar targetVel = cl->m_motorTargetVelocities[i].m_velTarget;
+                
+                int uIndex = cl->m_motorTargetVelocities[i].m_uIndex;
+                if (targetVel>1)
                 {
-							command.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[i] = 100;
+                    printf("testme");
-						}
-						break;
-					}
-				default:
-					{
-						b3Printf("Unknown control mode in client CMD_SEND_DESIRED_STATE");
-						btAssert(0);
                 }
+                command.m_sendDesiredStateCommandArgument.m_desiredStateQdot[uIndex] = targetVel;
+                
             }
+            
 			cl->enqueueCommand(command);		
 			break;
 		}
@@ -200,7 +216,7 @@ void	PhysicsClientExample::initPhysics()
 
 	if (!m_physicsClient.connect())
 	{
-		b3Warning("Cannot eonnect to physics client");
+		b3Warning("Cannot connect to physics client");
 	}
 
 }
@@ -222,6 +238,36 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
 				b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
 				
 			}
+            
+            if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
+            {
+                for (int i=0;i<m_physicsClient.getNumJoints();i++)
+                {
+                    b3JointInfo info;
+                    m_physicsClient.getJointInfo(i,info);
+                    b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
+                    
+                    if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
+                    {
+                        if (m_numMotors<MAX_NUM_MOTORS)
+                        {
+                            char motorName[1024];
+                            sprintf(motorName,"%s q'", info.m_jointName);
+                            MyMotorInfo2* motorInfo = &m_motorTargetVelocities[m_numMotors];
+                            motorInfo->m_velTarget = 0.f;
+                            motorInfo->m_uIndex = info.m_uIndex;
+                            
+                            SliderParams slider(motorName,&motorInfo->m_velTarget);
+                            slider.m_minVal=-4;
+                            slider.m_maxVal=4;
+                            m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+                            m_numMotors++;
+                        }
+                    }
+                    
+                }
+
+            }
 		}
     
 		if (m_physicsClient.canSubmitCommand())

examples/SharedMemory/PhysicsServer.cpp

@@ -92,7 +92,7 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
 
 
 
-bool PhysicsServerSharedMemory::connectSharedMemory(bool allowSharedMemoryInitialization, class btMultiBodyDynamicsWorld* dynamicsWorld, struct GUIHelperInterface* guiHelper)
+bool PhysicsServerSharedMemory::connectSharedMemory( class btMultiBodyDynamicsWorld* dynamicsWorld, struct GUIHelperInterface* guiHelper)
 {
 	m_data->m_dynamicsWorld = dynamicsWorld;
 	m_data->m_guiHelper = guiHelper;
@@ -100,34 +100,37 @@ bool PhysicsServerSharedMemory::connectSharedMemory(bool allowSharedMemoryInitia
 	bool allowCreation = true;
 	bool allowConnectToExistingSharedMemory = false;
 
+    if (m_data->m_isConnected)
+    {
+        b3Warning("connectSharedMemory, while already connected");
+        return m_data->m_isConnected;
+    }
+    
+    
 	m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE,allowCreation);
     if (m_data->m_testBlock1)
     {
-        if (!allowConnectToExistingSharedMemory || (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER))
+        int magicId =m_data->m_testBlock1->m_magicId;
-        {
+        b3Printf("magicId = %d\n", magicId);
-			if (allowSharedMemoryInitialization)
+        
+        if (m_data->m_testBlock1->m_magicId !=SHARED_MEMORY_MAGIC_NUMBER)
         {
             InitSharedMemoryBlock(m_data->m_testBlock1);
-				b3Printf("Created and initialized shared memory block");
+            b3Printf("Created and initialized shared memory block\n");
             m_data->m_isConnected = true;
         } else
 		{
-				b3Error("Error: please start server before client\n");
+			b3Error("Server cannot connect to existing shared memory, disconnecting shared memory.\n");
             m_data->m_sharedMemory->releaseSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
             m_data->m_testBlock1 = 0;
-				return false;
+            m_data->m_isConnected = false;
-			}
-        } else
-		{
-			b3Printf("Connected to existing shared memory, status OK.\n");
-			m_data->m_isConnected = true;
 		}
     } else
 	{
 		b3Error("Cannot connect to shared memory");
-		return false;
+		m_data->m_isConnected = false;
 	}
-	return true;
+	return m_data->m_isConnected;
 }
 
 
@@ -693,7 +696,7 @@ void PhysicsServerSharedMemory::processClientCommands()
 				case CMD_CREATE_BOX_COLLISION_SHAPE:
 					{
                         btVector3 halfExtents(1,1,1);
-                        if (clientCmd.m_updateFlags | BOX_SHAPE_HAS_HALF_EXTENTS)
+                        if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_HALF_EXTENTS)
                         {
                             halfExtents = btVector3(
                                                   clientCmd.m_createBoxShapeArguments.m_halfExtentsX,
@@ -702,7 +705,7 @@ void PhysicsServerSharedMemory::processClientCommands()
                         }
 						btTransform startTrans;
 						startTrans.setIdentity();
-                        if (clientCmd.m_updateFlags | BOX_SHAPE_HAS_INITIAL_POSITION)
+                        if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_INITIAL_POSITION)
                         {
                             startTrans.setOrigin(btVector3(
                                                  clientCmd.m_createBoxShapeArguments.m_initialPosition[0],
@@ -710,8 +713,10 @@ void PhysicsServerSharedMemory::processClientCommands()
                                                  clientCmd.m_createBoxShapeArguments.m_initialPosition[2]));
                         }
 
-                        if (clientCmd.m_updateFlags | BOX_SHAPE_HAS_INITIAL_ORIENTATION)
+                        if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_INITIAL_ORIENTATION)
                         {
+                            
+                            b3Printf("test\n");
                             startTrans.setRotation(btQuaternion(
                                                            clientCmd.m_createBoxShapeArguments.m_initialOrientation[0],
                                                                  clientCmd.m_createBoxShapeArguments.m_initialOrientation[1],

examples/SharedMemory/PhysicsServer.h

@@ -20,7 +20,7 @@ public:
 	virtual ~PhysicsServerSharedMemory();
 
 	//todo: implement option to allocated shared memory from client 
-	virtual bool connectSharedMemory(bool allowSharedMemoryInitialization, class btMultiBodyDynamicsWorld* dynamicsWorld, struct GUIHelperInterface* guiHelper);
+	virtual bool connectSharedMemory(class btMultiBodyDynamicsWorld* dynamicsWorld, struct GUIHelperInterface* guiHelper);
 
 	virtual void disconnectSharedMemory (bool deInitializeSharedMemory);
 

examples/SharedMemory/PhysicsServerExample.cpp

@@ -24,9 +24,9 @@ class PhysicsServerExample : public SharedMemoryCommon
 {
 	PhysicsServerSharedMemory	m_physicsServer;
 
-	
     bool m_wantsShutdown;
 
+    bool m_isConnected;
 	
 public:
     
@@ -50,11 +50,14 @@ public:
 	}
     
     virtual bool wantsTermination();
+    virtual bool isConnected();
+
 };
 
 PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper)
 :SharedMemoryCommon(helper),
-m_wantsShutdown(false)
+m_wantsShutdown(false),
+m_isConnected(false)
 {
 	b3Printf("Started PhysicsServer\n");
 }
@@ -65,6 +68,12 @@ PhysicsServerExample::~PhysicsServerExample()
 {
 	bool deInitializeSharedMemory = true;
 	m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
+    m_isConnected = false;
+}
+
+bool PhysicsServerExample::isConnected()
+{
+    return m_isConnected;
 }
 
 void	PhysicsServerExample::initPhysics()
@@ -80,8 +89,7 @@ void	PhysicsServerExample::initPhysics()
 	grav[upAxis] = 0;//-9.8;
 	this->m_dynamicsWorld->setGravity(grav);
     
-	bool allowSharedMemoryInitialization = true;
+	m_isConnected = m_physicsServer.connectSharedMemory( m_dynamicsWorld,m_guiHelper);
-	m_physicsServer.connectSharedMemory(allowSharedMemoryInitialization, m_dynamicsWorld,m_guiHelper);
   
 }
 

examples/SharedMemory/PosixSharedMemory.cpp

@@ -40,10 +40,10 @@ struct btPointerCaster
     };
 };
 
-void*   PosixSharedMemory::allocateSharedMemory(int key, int size,  bool /*allowCreation*/)
+void*   PosixSharedMemory::allocateSharedMemory(int key, int size,  bool allowCreation)
 {
 #ifdef TEST_SHARED_MEMORY
-    int flags = IPC_CREAT | 0666;
+    int flags = (allowCreation ? IPC_CREAT : 0) | 0666;
     int id = shmget((key_t) key, (size_t) size,flags);
     if (id < 0)
     {

examples/SharedMemory/RobotControlExample.cpp

@@ -71,8 +71,13 @@ public:
 	}
     
     virtual bool wantsTermination();
+    virtual bool isConnected();
 };
 
+bool RobotControlExample::isConnected()
+{
+    return m_physicsClient.isConnected();
+}
 
 void MyCallback2(int buttonId, bool buttonState, void* userPtr)
 {
@@ -131,6 +136,12 @@ void MyCallback2(int buttonId, bool buttonState, void* userPtr)
 	case CMD_CREATE_BOX_COLLISION_SHAPE:
 		{
 			command.m_type =CMD_CREATE_BOX_COLLISION_SHAPE;
+            command.m_updateFlags = BOX_SHAPE_HAS_INITIAL_POSITION;
+            command.m_createBoxShapeArguments.m_initialPosition[0] = 0;
+            command.m_createBoxShapeArguments.m_initialPosition[1] = 0;
+            command.m_createBoxShapeArguments.m_initialPosition[2] = -3;
+            
+            
 			cl->enqueueCommand(command);
 			break;
 		}
@@ -232,6 +243,7 @@ m_numMotors(0)
 RobotControlExample::~RobotControlExample()
 {
 	bool deInitializeSharedMemory = true;
+    m_physicsClient.disconnectSharedMemory();
 	m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
 }
 
@@ -248,8 +260,7 @@ void	RobotControlExample::initPhysics()
 	grav[upAxis] = 0;//-9.8;
 	this->m_dynamicsWorld->setGravity(grav);
     
-	bool allowSharedMemoryInitialization = true;
+	m_physicsServer.connectSharedMemory( m_dynamicsWorld,m_guiHelper);
-	m_physicsServer.connectSharedMemory(allowSharedMemoryInitialization, m_dynamicsWorld,m_guiHelper);
   
 	if (m_guiHelper && m_guiHelper->getParameterInterface())
 	{

examples/SharedMemory/SharedMemoryCommon.h

@@ -12,6 +12,7 @@ public:
 	}
 
 	virtual bool wantsTermination()=0;
+    virtual bool isConnected()=0;
 };
 #endif//
 

examples/SharedMemory/main.cpp

@@ -23,15 +23,52 @@ subject to the following restrictions:
 #include "SharedMemoryCommon.h"
 
 
+#include <stdlib.h>
+
+
+static SharedMemoryCommon*    example = NULL;
+static bool interrupted = false;
+
+#ifndef _WIN32
+#include <signal.h>
+#include <err.h>
+#include <unistd.h>
+static void cleanup(int signo)
+{
+    if (interrupted) {  // this is the second time, we're hanging somewhere
+      //  if (example) {
+      //      example->abort();
+      //  }
+        b3Printf("Aborting and deleting SharedMemoryCommon object");
+        sleep(1);
+        delete example;
+        errx(EXIT_FAILURE, "aborted example on signal %d", signo);
+    }
+    interrupted = true;
+    warnx("caught signal %d", signo);
+}
+#endif//_WIN32
+
+
 int main(int argc, char* argv[])
 {
+#ifndef _WIN32
+    struct sigaction action;
+    memset(&action, 0x0, sizeof(action));
+    action.sa_handler = cleanup;
+    static const int signos[] = { SIGHUP, SIGINT, SIGQUIT, SIGABRT, SIGSEGV, SIGPIPE, SIGTERM };
+    for (int ii(0); ii < sizeof(signos) / sizeof(*signos); ++ii) {
+        if (0 != sigaction(signos[ii], &action, NULL)) {
+            err(EXIT_FAILURE, "signal %d", signos[ii]);
+        }
+    }
+#endif
     
 	b3CommandLineArgs args(argc, argv);
 	
 	DummyGUIHelper noGfx;
 
 	CommonExampleOptions options(&noGfx);
-	SharedMemoryCommon*    example = 0;
 
   	if (args.CheckCmdLineFlag("client"))
     {
@@ -42,7 +79,7 @@ int main(int argc, char* argv[])
     }
 	
 	example->initPhysics();
-	while (!example->wantsTermination())
+	while (example->isConnected() && !(example->wantsTermination() || interrupted))
 	{
 		example->stepSimulation(1.f/60.f);
 	}	

examples/Tutorial/Tutorial.cpp

@@ -61,6 +61,9 @@ struct LWRightBody
 			//Exponential map
 			//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
 
+			//btQuaternion q_w = [ sin(|w|*dt/2) * w/|w| , cos(|w|*dt/2)]
+			//btQuaternion q_new =  q_w * q_old;
+			
 			btVector3 axis;
 			btScalar	fAngle = m_angularVelocity.length(); 
 			//limit the angular motion
@@ -88,6 +91,7 @@ struct LWRightBody
 			predictedOrn.normalize();
 			m_worldPose.m_worldOrientation = predictedOrn;
 		}
+
 	}
 	
 
@@ -99,13 +103,9 @@ struct LWRightBody
 
 
 
-///quick demo showing the right-handed coordinate system and positive rotations around each axis
 class Tutorial : public CommonExampleInterface
 {
     CommonGraphicsApp* m_app;
-    float m_x;
-    float m_y;
-    float m_z;
     int m_tutorialIndex;
 
 	LWRightBody*	m_body;
@@ -114,14 +114,14 @@ public:
     
     Tutorial(CommonGraphicsApp* app, int tutorialIndex)
     :m_app(app),
-    m_x(0),
-    m_y(0),
-	m_z(0),
 	m_tutorialIndex(tutorialIndex)
     {
 		m_app->setUpAxis(2);
 
+		switch (m_tutorialIndex)
+		{
 				
+		}
 		{
 
 		 int boxId = m_app->registerCubeShape(100,100,1);
@@ -186,10 +186,6 @@ public:
     }
     virtual void	stepSimulation(float deltaTime)
     {
-        m_x+=0.01f;
-        m_y+=0.01f;
-		m_z+=0.01f;
-		//m_body->m_worldPose.m_worldPosition+= btVector3(0,0.01,0);
 		//m_body->m_linearVelocity=btVector3(0,0.1,0);
 		m_body->m_angularVelocity =btVector3(0,0.1,0);
 		m_body->integrateTransform(deltaTime);