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PyBullet: allow to choose the shared memory key when starting SHARED_MEMORY_SERVER

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This commit is contained in:
Erwin Coumans
2018-06-05 11:36:54 +10:00
parent 4997eb8da2
commit e4cd88e24f
3 changed files with 8 additions and 4 deletions
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8
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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@@ -271,10 +271,13 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingEx
return (b3PhysicsClientHandle ) cl; 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; static DummyGUIHelper noGfx;
gSharedMemoryKey = sharedMemoryKey;
GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr; GUIHelperInterface* guiHelper = (GUIHelperInterface*) guiHelperPtr;
if (!guiHelper) if (!guiHelper)
{ {
@@ -283,7 +286,8 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistin
bool useInprocessMemory = false; bool useInprocessMemory = false;
bool skipGraphicsUpdate = true; bool skipGraphicsUpdate = true;
InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper, useInprocessMemory, skipGraphicsUpdate); InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper, useInprocessMemory, skipGraphicsUpdate);
cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
cl->setSharedMemoryKey(sharedMemoryKey+1);
cl->connect(); cl->connect();
return (b3PhysicsClientHandle ) cl; return (b3PhysicsClientHandle ) cl;
} }

2
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
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@@ -18,7 +18,7 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMain
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr); B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
//create a shared memory physics server, with a DummyGUIHelper (no graphics) //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 ///ignore the following APIs, they are for internal use for example browser
void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle); void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle);

2
examples/pybullet/pybullet.c
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@@ -399,7 +399,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
} }
case eCONNECT_SHARED_MEMORY_SERVER: case eCONNECT_SHARED_MEMORY_SERVER:
{ {
sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(0); sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(0, key);
break; break;
} }
case eCONNECT_DIRECT: case eCONNECT_DIRECT: