Merge pull request #614 from erwincoumans/master

add BasicExampleGui for cmake, preliminary pybullet

CMakeLists.txt

@@ -191,6 +191,7 @@ IF (APPLE)
 ENDIF()
 
 OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
+OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
 
 IF(BUILD_BULLET3)
 	 IF(APPLE)

data/door.urdf

@@ -1,10 +1,17 @@
 <?xml version="0.0" ?>
 <robot name="urdf_door">
+ <link name="world"/>
+  <joint name="fixed" type="fixed">
+    <parent link="world"/>
+    <child link="baseLink"/>
+    <origin xyz="0 0 0"/>
+  </joint>
+
   <link name="baseLink">
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0.35"/>
-       <mass value="0.0"/>
+       <mass value="1.0"/>
-       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
     </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0.05 0 0.5"/>

examples/BasicDemo/CMakeLists.txt

@@ -29,3 +29,72 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 			SET_TARGET_PROPERTIES(App_BasicExample PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
 			SET_TARGET_PROPERTIES(App_BasicExample PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
+
+
+
+
+#################
+# Standalone BasicExampleGui using OpenGL (but not the example browser)
+
+
+INCLUDE_DIRECTORIES(
+        ${BULLET_PHYSICS_SOURCE_DIR}/src
+        ${BULLET_PHYSICS_SOURCE_DIR}/btgui
+        ${BULLET_PHYSICS_SOURCE_DIR}/examples
+        ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+)
+
+
+SET(AppBasicExampleGui_SRCS
+	BasicExample.cpp
+        ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
+	../StandaloneMain/main_opengl_single_example.cpp
+        ../ExampleBrowser/OpenGLGuiHelper.cpp
+        ../ExampleBrowser/GL_ShapeDrawer.cpp
+)
+
+#this define maps StandaloneExampleCreateFunc to the right 'CreateFunc'
+ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)
+
+LINK_LIBRARIES(
+        BulletDynamics BulletCollision LinearMath OpenGLWindow Bullet3Common ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+#some code to support OpenGL and Glew cross platform
+IF (WIN32)
+        INCLUDE_DIRECTORIES(
+             ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+        )
+        ADD_DEFINITIONS(-DGLEW_STATIC)
+ELSE(WIN32)
+        IF(APPLE)
+                find_library(COCOA NAMES Cocoa)
+                MESSAGE(${COCOA})
+                link_libraries(${COCOA})
+
+        ELSE(APPLE)
+                INCLUDE_DIRECTORIES(
+                        ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+                )
+                ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+                ADD_DEFINITIONS("-DGLEW_STATIC")
+                ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+                LINK_LIBRARIES( X11 pthread dl Xext)
+        ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+ADD_EXECUTABLE(AppBasicExampleGui
+                ${AppBasicExampleGui_SRCS}
+)
+
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+                        SET_TARGET_PROPERTIES(AppBasicExampleGui PROPERTIES  DEBUG_POSTFIX "_Debug")
+                        SET_TARGET_PROPERTIES(AppBasicExampleGui PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+                        SET_TARGET_PROPERTIES(AppBasicExampleGui PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
+

examples/CMakeLists.txt

@@ -1,5 +1,7 @@
 SUBDIRS( HelloWorld BasicDemo )
 IF(BUILD_BULLET3)
-	SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen OpenGLWindow)
+	SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen OpenGLWindow )
 ENDIF()
-
+IF(BUILD_PYBULLET)
+	SUBDIRS(pybullet)
+ENDIF(BUILD_PYBULLET)

examples/CommonInterfaces/CommonWindowInterface.h

@@ -119,7 +119,9 @@ class CommonWindowInterface
 
 		virtual	float	getRetinaScale() const =0;
 		virtual	void	setAllowRetina(bool allow) =0;
-	
+
+        virtual int   getWidth() const = 0;
+        virtual int   getHeight() const = 0;
 
         virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;
     

examples/ExampleBrowser/CMakeLists.txt

@@ -1,21 +1,19 @@
 
-
 INCLUDE_DIRECTORIES(
 	.
 	${BULLET_PHYSICS_SOURCE_DIR}/src
 	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 )
 
-FILE(GLOB ExampleBrowser_SRCS "*" "GwenGUISupport/*" )
+FILE(GLOB GwenGUISupport_SRCS  "GwenGUISupport/*" )
-FILE(GLOB ExampleBrowser_HDRS "*" "GwenGUISupport/*" )
+FILE(GLOB GwenGUISupport_HDRS  "GwenGUISupport/*" )
 
 
-
+SET(BulletExampleBrowser_SRCS
-SET(App_ExampleBrowser_SRCS
+	OpenGLExampleBrowser.cpp
-	main.cpp
+	OpenGLGuiHelper.cpp
-	ExampleEntries.cpp
-	ExampleEntries.h
 	InProcessExampleBrowser.cpp
+	GL_ShapeDrawer.cpp
 	../SharedMemory/PhysicsServer.cpp
 	../SharedMemory/PhysicsClientSharedMemory.cpp
 	../SharedMemory/PhysicsClient.cpp
@@ -97,8 +95,10 @@ SET(App_ExampleBrowser_SRCS
 
 	../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
 	../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
-../../Extras/Serialize/BulletFileLoader/bChunk.cpp		../../Extras/Serialize/BulletFileLoader/bFile.cpp
+	../../Extras/Serialize/BulletFileLoader/bChunk.cpp		
-../../Extras/Serialize/BulletFileLoader/bDNA.cpp		../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
+	../../Extras/Serialize/BulletFileLoader/bFile.cpp
+	../../Extras/Serialize/BulletFileLoader/bDNA.cpp		
+	../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
 
 	../Importers/ImportBsp/BspLoader.h
   ../Importers/ImportBsp/ImportBspExample.h
@@ -168,44 +168,83 @@ SET(App_ExampleBrowser_SRCS
 	../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
 	../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
 
-
-	../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp
-		../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp
-	../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp
-	../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp
-	../ThirdPartyLibs/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h
-	../ThirdPartyLibs/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h
-	../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h
-	../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
-	../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h
-	../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h
 	../ThirdPartyLibs/tinyxml/tinystr.cpp
 	../ThirdPartyLibs/tinyxml/tinyxml.cpp
 	../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
 	../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
-	../ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h
-	../ThirdPartyLibs/urdf/boost_replacement/shared_ptr.h
-	../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp
-	../ThirdPartyLibs/urdf/boost_replacement/printf_console.h
-	../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp
-	../ThirdPartyLibs/urdf/boost_replacement/string_split.h
 	../Utils/b3Clock.cpp
 	../Utils/b3Clock.h
 	../Utils/b3ResourcePath.cpp
 	../Utils/b3ResourcePath.h
-	${ExampleBrowser_SRCS}
+	${GwenGUISupport_SRCS}
-	${ExampleBrowser_HDRS}
+	${GwenGUISupport_HDRS}
 	${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
 )
 
+IF (WIN32)
+        INCLUDE_DIRECTORIES(
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+        )
+				ADD_DEFINITIONS(-DGLEW_STATIC)
+ELSE(WIN32)
+        IF(APPLE)
+                find_library(COCOA NAMES Cocoa)
+  			ELSE(APPLE)
+                ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+                ADD_DEFINITIONS("-DGLEW_STATIC")
+                ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+                INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
+     		ENDIF(APPLE)
+ENDIF(WIN32)
+
+
+ADD_LIBRARY(BulletExampleBrowserLib ${BulletExampleBrowser_SRCS} )
+SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES SOVERSION ${BULLET_VERSION})
+IF (BUILD_SHARED_LIBS)
+		IF (WIN32)
+                TARGET_LINK_LIBRARIES(
+                        BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+                        BulletInverseDynamics LinearMath OpenGLWindow gwen
+                        ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+                )
+		ELSE(WIN32)
+        IF(APPLE)
+                 TARGET_LINK_LIBRARIES(
+                                BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+                                BulletInverseDynamics LinearMath OpenGLWindow gwen
+                                ${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+                 )
+  			ELSE(APPLE)
+                 TARGET_LINK_LIBRARIES(
+                                BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
+                                BulletInverseDynamics LinearMath OpenGLWindow gwen
+                                pthread dl
+                        )
+        ENDIF(APPLE)
+	ENDIF(WIN32)
+ENDIF(BUILD_SHARED_LIBS)
+
+####################
+#
+# Bullet Example Browser main app
+#
+####################
+
+INCLUDE_DIRECTORIES(
+        .
+        ${BULLET_PHYSICS_SOURCE_DIR}/src
+        ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+)
+
+
 LINK_LIBRARIES(
-        Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
+        BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
 )
 
 IF (WIN32)
-	SET(App_ExampleBrowser_SRCS ${App_ExampleBrowser_SRCS} )
 	INCLUDE_DIRECTORIES(
-				${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
 	)
 	LINK_LIBRARIES(
 		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
@@ -229,7 +268,9 @@ ENDIF(WIN32)
 
 
 ADD_EXECUTABLE(App_ExampleBrowser
-		${App_ExampleBrowser_SRCS}
+		main.cpp
+		ExampleEntries.cpp
+		ExampleEntries.h
 )
 
 

examples/ExampleBrowser/ExampleEntries.cpp

@@ -274,17 +274,17 @@ struct ExampleEntriesInternalData
 	btAlignedObjectArray<ExampleEntry> m_allExamples;
 };
 
-ExampleEntries::ExampleEntries()
+ExampleEntriesAll::ExampleEntriesAll()
 {
 	m_data = new ExampleEntriesInternalData;
 }
 
-ExampleEntries::~ExampleEntries()
+ExampleEntriesAll::~ExampleEntriesAll()
 {
 	delete m_data;
 }
 
-void ExampleEntries::initOpenCLExampleEntries()
+void ExampleEntriesAll::initOpenCLExampleEntries()
 {
 #ifdef B3_USE_CLEW
 #ifndef NO_OPENGL3
@@ -297,7 +297,7 @@ void ExampleEntries::initOpenCLExampleEntries()
 #endif //B3_USE_CLEW
 }
 
-void ExampleEntries::initExampleEntries()
+void ExampleEntriesAll::initExampleEntries()
 {
 	m_data->m_allExamples.clear();
 
@@ -330,33 +330,33 @@ void ExampleEntries::initExampleEntries()
 
 }
 
-void ExampleEntries::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
+void ExampleEntriesAll::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
 {
 	ExampleEntry e( menuLevel,name,description, createFunc, option);
 	gAdditionalRegisteredExamples.push_back(e);
 }
 
-int ExampleEntries::getNumRegisteredExamples()
+int ExampleEntriesAll::getNumRegisteredExamples()
 {
 	return m_data->m_allExamples.size();
 }
 
-CommonExampleInterface::CreateFunc* ExampleEntries::getExampleCreateFunc(int index)
+CommonExampleInterface::CreateFunc* ExampleEntriesAll::getExampleCreateFunc(int index)
 {
 	return m_data->m_allExamples[index].m_createFunc;
 }
 
-int ExampleEntries::getExampleOption(int index)
+int ExampleEntriesAll::getExampleOption(int index)
 {
 	return m_data->m_allExamples[index].m_option;
 }
 
-const char* ExampleEntries::getExampleName(int index)
+const char* ExampleEntriesAll::getExampleName(int index)
 {
 	return m_data->m_allExamples[index].m_name;
 }
 
-const char* ExampleEntries::getExampleDescription(int index)
+const char* ExampleEntriesAll::getExampleDescription(int index)
 {
 	return m_data->m_allExamples[index].m_description;
 }

examples/ExampleBrowser/ExampleEntries.h

@@ -6,32 +6,56 @@
 
 
 
-
 class ExampleEntries
+{
+
+public:
+
+        virtual ~ExampleEntries() {}
+
+
+        virtual void initExampleEntries()=0;
+
+        virtual void initOpenCLExampleEntries()=0;
+
+        virtual int getNumRegisteredExamples()=0;
+
+        virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
+
+        virtual const char* getExampleName(int index)=0;
+
+        virtual const char* getExampleDescription(int index)=0;
+
+        virtual int     getExampleOption(int index)=0;
+
+};
+
+
+class ExampleEntriesAll : public ExampleEntries
 {
 
 	struct ExampleEntriesInternalData* m_data;
 
 public:
 
-	ExampleEntries();
+	ExampleEntriesAll();
-	virtual ~ExampleEntries();
+	virtual ~ExampleEntriesAll();
 
 	static void registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0);
 	
-	void initExampleEntries();
+	virtual void initExampleEntries();
 
-	void initOpenCLExampleEntries();
+	virtual void initOpenCLExampleEntries();
 	
-	int getNumRegisteredExamples();
+	virtual int getNumRegisteredExamples();
 
-	CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
+	virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
 
-	const char* getExampleName(int index);
+	virtual const char* getExampleName(int index);
 	
-	const char* getExampleDescription(int index);
+	virtual const char* getExampleDescription(int index);
 
-	int	getExampleOption(int index);
+	virtual int	getExampleOption(int index);
 
 };
 

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -13,7 +13,7 @@
 #include "../Utils/b3Clock.h"
 
 #include "ExampleEntries.h"
-#include "Bullet3Common/b3Logging.h"
+#include "Bullet3Common/b3Scalar.h"
 #include "../SharedMemory/InProcessMemory.h"
 
 void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory);
@@ -22,9 +22,19 @@ void*	ExampleBrowserMemoryFunc();
 #include <stdio.h>
 //#include "BulletMultiThreaded/PlatformDefinitions.h"
 
+#include "Bullet3Common/b3Logging.h"
+#include "ExampleEntries.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "EmptyExample.h"
+
+#include "../SharedMemory/PhysicsServerExample.h"
+#include "../SharedMemory/PhysicsClientExample.h"
+
 #ifndef _WIN32
 #include "../MultiThreading/b3PosixThreadSupport.h"
 
+
+
 static b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
 {
 	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
@@ -38,6 +48,7 @@ static b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThread
 }
 
 
+
 #elif defined( _WIN32)
 #include "../MultiThreading/b3Win32ThreadSupport.h"
 
@@ -52,6 +63,138 @@ b3ThreadSupportInterface* createExampleBrowserThreadSupport(int numThreads)
 
 
 
+
+
+class ExampleEntriesPhysicsServer : public ExampleEntries
+{
+
+	struct ExampleEntriesInternalData2* m_data;
+
+public:
+
+	ExampleEntriesPhysicsServer();
+	virtual ~ExampleEntriesPhysicsServer();
+
+	static void registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0);
+	
+	virtual void initExampleEntries();
+
+	virtual void initOpenCLExampleEntries();
+	
+	virtual int getNumRegisteredExamples();
+
+	virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index);
+
+	virtual const char* getExampleName(int index);
+	
+	virtual const char* getExampleDescription(int index);
+
+	virtual int	getExampleOption(int index);
+
+};
+
+
+struct ExampleEntryPhysicsServer
+{
+	int									m_menuLevel;
+	const char*							m_name;
+	const char*							m_description;
+	CommonExampleInterface::CreateFunc*		m_createFunc;
+	int									m_option;
+
+	ExampleEntryPhysicsServer(int menuLevel, const char* name)
+		:m_menuLevel(menuLevel), m_name(name), m_description(0), m_createFunc(0), m_option(0)
+	{
+	}
+
+	ExampleEntryPhysicsServer(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0)
+		:m_menuLevel(menuLevel), m_name(name), m_description(description), m_createFunc(createFunc), m_option(option)
+	{
+	}
+};
+
+struct ExampleEntriesInternalData2
+{
+        btAlignedObjectArray<ExampleEntryPhysicsServer> m_allExamples;
+};
+
+static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
+{
+	
+	ExampleEntryPhysicsServer(0,"Robotics Control"),
+	
+	ExampleEntryPhysicsServer(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
+			PhysicsServerCreateFunc),
+	ExampleEntryPhysicsServer(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
+	ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
+
+	ExampleEntryPhysicsServer(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
+
+};
+
+
+ExampleEntriesPhysicsServer::ExampleEntriesPhysicsServer()
+{
+	m_data = new ExampleEntriesInternalData2;
+}
+
+ExampleEntriesPhysicsServer::~ExampleEntriesPhysicsServer()
+{
+	delete m_data;
+}
+
+void ExampleEntriesPhysicsServer::initOpenCLExampleEntries()
+{
+}
+
+void ExampleEntriesPhysicsServer::initExampleEntries()
+{
+	m_data->m_allExamples.clear();
+
+	
+
+	int numDefaultEntries = sizeof(gDefaultExamplesPhysicsServer)/sizeof(ExampleEntryPhysicsServer);
+	for (int i=0;i<numDefaultEntries;i++)
+	{
+		m_data->m_allExamples.push_back(gDefaultExamplesPhysicsServer[i]);
+	}
+
+}
+
+void ExampleEntriesPhysicsServer::registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option)
+{
+}
+
+int ExampleEntriesPhysicsServer::getNumRegisteredExamples()
+{
+	return m_data->m_allExamples.size();
+}
+
+CommonExampleInterface::CreateFunc* ExampleEntriesPhysicsServer::getExampleCreateFunc(int index)
+{
+	return m_data->m_allExamples[index].m_createFunc;
+}
+
+int ExampleEntriesPhysicsServer::getExampleOption(int index)
+{
+	return m_data->m_allExamples[index].m_option;
+}
+
+const char* ExampleEntriesPhysicsServer::getExampleName(int index)
+{
+	return m_data->m_allExamples[index].m_name;
+}
+
+const char* ExampleEntriesPhysicsServer::getExampleDescription(int index)
+{
+	return m_data->m_allExamples[index].m_description;
+}
+
+
+
+
 struct	ExampleBrowserArgs
 {
 	ExampleBrowserArgs()
@@ -91,7 +234,7 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 	b3Clock clock;
 	
 	
-	ExampleEntries examples;
+	ExampleEntriesPhysicsServer examples;
 	examples.initExampleEntries();
 
 	DefaultBrowser* exampleBrowser = new DefaultBrowser(&examples);
@@ -147,6 +290,7 @@ struct btInProcessExampleBrowserInternalData
 };
 
 
+
 btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2)
 {
 
@@ -231,7 +375,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
 
 struct btInProcessExampleBrowserMainThreadInternalData
 {
-    ExampleEntries m_examples;
+    ExampleEntriesPhysicsServer m_examples;
     DefaultBrowser*    m_exampleBrowser;
     SharedMemoryInterface* m_sharedMem;
     b3Clock m_clock;

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -723,6 +723,8 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		char title[1024];
 		sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
         simpleApp = new SimpleOpenGL3App(title,width,height, gAllowRetina);
+
+        
         s_app = simpleApp;
     }
 #endif
@@ -734,7 +736,11 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
    #endif 
    
     s_instancingRenderer = s_app->m_renderer;
-	s_window  = s_app->m_window;
+    s_window  = s_app->m_window;
+
+    width = s_window->getWidth();
+    height = s_window->getHeight();
+    
 	prevMouseMoveCallback  = s_window->getMouseMoveCallback();
 	s_window->setMouseMoveCallback(MyMouseMoveCallback);
 	
@@ -817,9 +823,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 
 	///add some demos to the gAllExamples
 
-	
+    
-	
-
 	int numDemos = gAllExamples->getNumRegisteredExamples();
 
 	//char nodeText[1024];
@@ -924,7 +928,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	
     gui->registerFileOpenCallback(fileOpenCallback);
 	gui->registerQuitCallback(quitCallback);
-    
+   
 	return true;
 }
 

examples/ExampleBrowser/main.cpp

@@ -22,7 +22,7 @@ int main(int argc, char* argv[])
 	b3Clock clock;
 	
 	
-	ExampleEntries examples;
+	ExampleEntriesAll examples;
 	examples.initExampleEntries();
 
 	ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);

examples/OpenGLWindow/CMakeLists.txt

@@ -59,7 +59,7 @@ if (BUILD_SHARED_LIBS)
   else()
 	set (CMAKE_THREAD_PREFER_PTHREAD TRUE)
 	FIND_PACKAGE(Threads)
-   	target_link_libraries(OpenGLWindow ${CMAKE_THREAD_LIBS_INIT})
+   	target_link_libraries(OpenGLWindow dl ${CMAKE_THREAD_LIBS_INIT})
   endif()
 endif()
 

examples/OpenGLWindow/MacOpenGLWindow.h

@@ -101,6 +101,9 @@ public:
 	virtual	float	getTimeInSeconds();
 	
 
+    virtual int   getWidth() const;
+    virtual int   getHeight() const;
+
 	
 	virtual void setRenderCallback( b3RenderCallback renderCallback);
 	

examples/OpenGLWindow/MacOpenGLWindow.mm

@@ -423,8 +423,8 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
     [m_internalData->m_window makeKeyAndOrderFront: nil];
     
     [m_internalData->m_myview MakeCurrent];
-    //m_internalData->m_width = m_internalData->m_myview.GetWindowWidth;
+    m_internalData->m_width = m_internalData->m_myview.GetWindowWidth;
-    //m_internalData->m_height = m_internalData->m_myview.GetWindowHeight;
+    m_internalData->m_height = m_internalData->m_myview.GetWindowHeight;
     
     
     [NSApp activateIgnoringOtherApps:YES];
@@ -1132,6 +1132,21 @@ void MacOpenGLWindow::getMouseCoordinates(int& x, int& y)
     
 }
 
+int   MacOpenGLWindow::getWidth() const
+{
+    if (m_internalData && m_internalData->m_myview && m_internalData->m_myview.GetWindowWidth)
+        return m_internalData->m_myview.GetWindowWidth;
+    return 0;
+}
+
+int   MacOpenGLWindow::getHeight() const
+{
+    if (m_internalData && m_internalData->m_myview && m_internalData->m_myview.GetWindowHeight)
+        return m_internalData->m_myview.GetWindowHeight;
+    return 0;
+}
+
+
 void MacOpenGLWindow::setResizeCallback(b3ResizeCallback resizeCallback)
 {
     [m_internalData->m_myview setResizeCallback:resizeCallback];

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -56,8 +56,11 @@ static void SimpleResizeCallback( float widthf, float heightf)
 {
 	int width = (int)widthf;
 	int height = (int)heightf;
-	gApp->m_instancingRenderer->resize(width,height);
+    if (gApp && gApp->m_instancingRenderer)
-	gApp->m_primRenderer->setScreenSize(width,height);
+        gApp->m_instancingRenderer->resize(width,height);
+
+    if (gApp && gApp->m_primRenderer)
+        gApp->m_primRenderer->setScreenSize(width,height);
 
 }
 
@@ -115,6 +118,7 @@ extern unsigned char OpenSansData[];
 SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, bool allowRetina)
 {
 	gApp = this;
+
 	m_data = new SimpleInternalData;
 	m_data->m_frameDumpPngFileName = 0;
 	m_data->m_renderTexture = 0;
@@ -123,6 +127,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
 	m_data->m_upAxis = 1;
 
 	m_window = new b3gDefaultOpenGLWindow();
+   
 	m_window->setAllowRetina(allowRetina);
 	
 	b3gWindowConstructionInfo ci;
@@ -141,6 +146,9 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
 					1.f);
 	
 	m_window->startRendering();
+    width = m_window->getWidth();
+    height = m_window->getHeight();
+    
 	b3Assert(glGetError() ==GL_NO_ERROR);
 
 #ifndef __APPLE__
@@ -160,17 +168,21 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
 
     b3Assert(glGetError() ==GL_NO_ERROR);
 
-	m_primRenderer = new GLPrimitiveRenderer(width,height);
 	m_parameterInterface = 0;
-
+    
     b3Assert(glGetError() ==GL_NO_ERROR);
 
 	m_instancingRenderer = new GLInstancingRenderer(128*1024,64*1024*1024);
-	m_renderer = m_instancingRenderer ;
+    m_primRenderer = new GLPrimitiveRenderer(width,height);
-	m_instancingRenderer->init();
+    
+    m_renderer = m_instancingRenderer ;
+    m_window->setResizeCallback(SimpleResizeCallback);
+    
+    
+    m_instancingRenderer->init();
 	m_instancingRenderer->resize(width,height);
-
+    m_primRenderer->setScreenSize(width,height);
-	b3Assert(glGetError() ==GL_NO_ERROR);
+    b3Assert(glGetError() ==GL_NO_ERROR);
 
 	m_instancingRenderer->InitShaders();
 
@@ -178,8 +190,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
 	m_window->setMouseButtonCallback(SimpleMouseButtonCallback);
     m_window->setKeyboardCallback(SimpleKeyboardCallback);
     m_window->setWheelCallback(SimpleWheelCallback);
-	m_window->setResizeCallback(SimpleResizeCallback);
+	
-
 	TwGenerateDefaultFonts();
 	m_data->m_fontTextureId = BindFont(g_DefaultNormalFont);
 	m_data->m_largeFontTextureId = BindFont(g_DefaultLargeFont);

examples/OpenGLWindow/Win32OpenGLWindow.cpp

@@ -180,6 +180,21 @@ int Win32OpenGLWindow::fileOpenDialog(char* fileName, int maxFileNameLength)
 	//return 0;
 }
 
+int Win32OpenGLWindow::getWidth() const
+{
+	if (m_data)
+		return m_data->m_openglViewportWidth;
+	return 0;
+}
+
+int Win32OpenGLWindow::getHeight() const
+{
+	if (m_data)
+		return m_data->m_openglViewportHeight;
+	return 0;	
+}
+
+
 #endif
 
 	

examples/OpenGLWindow/Win32OpenGLWindow.h

@@ -53,6 +53,9 @@ public:
 	virtual float getRetinaScale() const {return 1.f;}
 	virtual void setAllowRetina(bool /*allowRetina*/) {};
 
+	virtual int   getWidth() const;
+	virtual int   getHeight() const;
+
 	virtual int fileOpenDialog(char* fileName, int maxFileNameLength);
 };
 

examples/OpenGLWindow/X11OpenGLWindow.cpp

@@ -1076,6 +1076,20 @@ b3KeyboardCallback      X11OpenGLWindow::getKeyboardCallback()
 	return m_data->m_keyboardCallback;
 }
 
+int   X11OpenGLWindow::getWidth() const
+{
+    if (m_data)
+        return m_data->m_glWidth;
+    return 0;
+}
+int   X11OpenGLWindow::getHeight() const
+{
+    if (m_data)
+        return m_data->m_glHeight;
+    return 0;
+}
+
+
 #include <stdio.h>
 
 int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)

examples/OpenGLWindow/X11OpenGLWindow.h

@@ -54,7 +54,7 @@ public:
         virtual void setResizeCallback(b3ResizeCallback resizeCallback);
         virtual void setWheelCallback(b3WheelCallback wheelCallback);
         virtual void setKeyboardCallback( b3KeyboardCallback    keyboardCallback);
-        
+
 		virtual b3MouseMoveCallback getMouseMoveCallback();
 		virtual b3MouseButtonCallback getMouseButtonCallback();
 		virtual b3ResizeCallback getResizeCallback();
@@ -65,9 +65,14 @@ public:
 
         virtual void setWindowTitle(const char* title);
 
+        virtual int   getWidth() const;
+
+        virtual int   getHeight() const;
+
 	int fileOpenDialog(char* filename, int maxNameLength);
 };
 
 
+
 #endif
 

examples/pybullet/CMakeLists.txt

@@ -0,0 +1,24 @@
+IF (BUILD_SHARED_LIBS)
+
+INCLUDE_DIRECTORIES( 
+		${BULLET_PHYSICS_SOURCE_DIR}/src
+		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+		/usr/include/python2.7
+  )
+
+SET(pybullet_SRCS
+	pybullet.c
+	../../examples/ExampleBrowser/ExampleEntries.cpp
+)
+
+
+ADD_LIBRARY(pybullet ${pybullet_SRCS})
+
+SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
+
+  TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common Python)
+ENDIF (BUILD_SHARED_LIBS)
+
+

examples/pybullet/premake4.lua

@@ -20,6 +20,7 @@ project ("pybullet")
                 ".",
                 "../../src",
                 "../ThirdPartyLibs",
+		"/usr/include/python2.7",
                 }
 
 

examples/pybullet/pybullet.c

@@ -8,15 +8,21 @@
 #endif
 
 static PyObject *SpamError;
-static  b3PhysicsClientHandle sm;
+static  b3PhysicsClientHandle sm=0;
+
 
 static PyObject *
-spam_step(PyObject *self, PyObject *args)
+pybullet_stepSimulation(PyObject *self, PyObject *args)
 {
+    if (0==sm)
+    {
+        PyErr_SetString(SpamError, "Not connected to physics server.");
+        return NULL;
+    }
 
         {
-                        b3SharedMemoryStatusHandle statusHandle;
+            b3SharedMemoryStatusHandle statusHandle;
-                        int statusType;
+            int statusType;
 
             if (b3CanSubmitCommand(sm))
             {
@@ -29,15 +35,53 @@ return PyLong_FromLong(1);
 }
 
 static PyObject *
-spam_loadURDF(PyObject* self, PyObject* args)
+pybullet_connectPhysicsServer(PyObject *self, PyObject *args)
 {
+    if (0!=sm)
+    {
+        PyErr_SetString(SpamError, "Already connected to physics server, disconnect first.");
+        return NULL;
+    }
+    
+    {
+        sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
+    }
+    
+    return PyLong_FromLong(1);
+}
+
+static PyObject *
+pybullet_disconnectPhysicsServer(PyObject *self, PyObject *args)
+{
+    if (0==sm)
+    {
+        PyErr_SetString(SpamError, "Not connected to physics server.");
+        return NULL;
+    }
+    {
+        b3DisconnectSharedMemory(sm);
+        sm = 0;
+    }
+    
+    return PyLong_FromLong(1);
+}
+
+
+static PyObject *
+pybullet_loadURDF(PyObject* self, PyObject* args)
+{
+    if (0==sm)
+    {
+        PyErr_SetString(SpamError, "Not connected to physics server.");
+        return NULL;
+    }
 	int size= PySequence_Size(args);
 	
 	int bodyIndex = -1;
 	const char* urdfFileName=0;
 	float startPosX =0;
-        float startPosY =0;
+    float startPosY =0;
-        float startPosZ = 1;
+    float startPosZ = 1;
 	float startOrnX = 0;
 	float startOrnY = 0;
 	float startOrnZ = 0;
@@ -61,29 +105,58 @@ spam_loadURDF(PyObject* self, PyObject* args)
 		&startOrnX,&startOrnY,&startOrnZ, &startOwnW))
                 return NULL;
 	}
-	printf("urdf filename = %s\n", urdfFileName);
+    {
-	b3SharedMemoryStatusHandle statusHandle;
+        printf("urdf filename = %s\n", urdfFileName);
-            int statusType;
+        b3SharedMemoryStatusHandle statusHandle;
-             b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
+        int statusType;
+        b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
 
-            //setting the initial position, orientation and other arguments are optional
+        //setting the initial position, orientation and other arguments are optional
-            int ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
+        b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);
-            statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+        statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
-                        statusType = b3GetStatusType(statusHandle);
+        statusType = b3GetStatusType(statusHandle);
-                        if (statusType!=CMD_URDF_LOADING_COMPLETED)
+        if (statusType!=CMD_URDF_LOADING_COMPLETED)
-			{
+		{
-				PyErr_SetString(SpamError, "Cannot load URDF file.");
+			PyErr_SetString(SpamError, "Cannot load URDF file.");
-				return NULL;				
+			return NULL;
-			}
+		}
-                        bodyIndex = b3GetStatusBodyIndex(statusHandle);
+        bodyIndex = b3GetStatusBodyIndex(statusHandle);
+    }
 	return PyLong_FromLong(bodyIndex);
 }
+static PyObject *
+pybullet_resetSimulation(PyObject* self, PyObject* args)
+{
+    if (0==sm)
+    {
+        PyErr_SetString(SpamError, "Not connected to physics server.");
+        return NULL;
+    }
+
+    {
+        b3SharedMemoryStatusHandle statusHandle;
+        statusHandle = b3SubmitClientCommandAndWaitStatus(sm, b3InitResetSimulationCommand(sm));
+//        ASSERT_EQ(b3GetStatusType(statusHandle), CMD_RESET_SIMULATION_COMPLETED);
+    }
+	return PyLong_FromLong(1);
+
+}
 
 static PyMethodDef SpamMethods[] = {
-    {"step",  spam_step, METH_VARARGS,
+    {"loadURDF",  pybullet_loadURDF, METH_VARARGS,
-     "Step the simulation forward."},
+        "Create a multibody by loading a URDF file."},
-{"loadURDF",  spam_loadURDF, METH_VARARGS,
+    
-     "Create a multibody by loading a URDF file."},
+    {"connect",  pybullet_connectPhysicsServer, METH_VARARGS,
+        "Connect to an existing physics server (using shared memory by default)."},
+    {"disconnect",  pybullet_disconnectPhysicsServer, METH_VARARGS,
+        "Disconnect from the physics server."},
+
+    {"resetSimulation",  pybullet_resetSimulation, METH_VARARGS,
+        "Reset the simulation: remove all objects and start from an empty world."},
+
+    {"stepSimulation",  pybullet_stepSimulation, METH_VARARGS,
+        "Step the simulation using forward dynamics."},
+    
     {NULL, NULL, 0, NULL}        /* Sentinel */
 };
 
@@ -92,16 +165,7 @@ PyMODINIT_FUNC
 initpybullet(void)
 {
 
-	b3PhysicsClientHandle h;
-
     PyObject *m;
-sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
-
-//#ifdef __APPLE__
-//sm = b3CreateInProcessPhysicsServerAndConnectMainThread(0,0);
-//#else
-//sm = b3CreateInProcessPhysicsServerAndConnect(0,0);
-//#endif
     m = Py_InitModule("pybullet", SpamMethods);
     if (m == NULL)
         return;