From e4cd88e24f0238de392f13d2a5c62e2f9cf73661 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 5 Jun 2018 11:36:54 +1000
Subject: [PATCH] PyBullet: allow to choose the shared memory key when starting
 SHARED_MEMORY_SERVER

---
 .../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp    | 8 ++++++--
 examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h | 2 +-
 examples/pybullet/pybullet.c                              | 2 +-
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index 37b51fcd6..16f625dbd 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -271,10 +271,13 @@ B3_SHARED_API	b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingEx
 	return (b3PhysicsClientHandle ) cl;
 }
 
-B3_SHARED_API    b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr)
+extern int gSharedMemoryKey;
+
+B3_SHARED_API    b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr, int sharedMemoryKey)
 {
     static DummyGUIHelper noGfx;
     
+	gSharedMemoryKey = sharedMemoryKey;
     GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
     if (!guiHelper)
     {
@@ -283,7 +286,8 @@ B3_SHARED_API    b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistin
     bool useInprocessMemory = false;
     bool skipGraphicsUpdate = true;
     InProcessPhysicsClientExistingExampleBrowser* cl  = new InProcessPhysicsClientExistingExampleBrowser(guiHelper, useInprocessMemory, skipGraphicsUpdate);
-    cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
+
+	cl->setSharedMemoryKey(sharedMemoryKey+1);
     cl->connect();
     return (b3PhysicsClientHandle ) cl;
 }
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
index 994f26e7c..9c11a3f13 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
@@ -18,7 +18,7 @@ B3_SHARED_API	b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMain
 
 B3_SHARED_API	b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
 //create a shared memory physics server, with a DummyGUIHelper (no graphics)
-B3_SHARED_API    b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr);
+B3_SHARED_API    b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr, int sharedMemoryKey);
 
 ///ignore the following APIs, they are for internal use for example browser
 void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle);
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index bef819a0f..9bc834204 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -399,7 +399,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 			}
             case eCONNECT_SHARED_MEMORY_SERVER:
             {
-                sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(0);
+                sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(0, key);
                 break;
             }
 			case eCONNECT_DIRECT: