Merge branch 'master' into deepmimic-gym-fixes

5 files changed, 63 insertions, 4 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 00e7b1a10..e432f929b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,6 +63,7 @@ IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL Window
 ELSE ()
 	OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
 ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
+OPTION(USE_MSVC_RELEASE_RUNTIME_ALWAYS "Use MSVC Release Runtime Library even in Debug" OFF)
 
 #SET(CMAKE_EXE_LINKER_FLAGS_INIT    "/STACK:10000000 /INCREMENTAL:NO")
 #SET(CMAKE_EXE_LINKER_FLAGS    "/STACK:10000000 /INCREMENTAL:NO")
@@ -105,6 +106,21 @@ IF(MSVC)
 		ENDFOREACH(flag_var)
 	ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
 
+	IF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
+		FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
+			IF(${flag_var} MATCHES "/MDd")
+				STRING(REGEX REPLACE "/MDd" "/MD" ${flag_var} "${${flag_var}}")
+			ENDIF(${flag_var} MATCHES "/MDd")
+			IF(${flag_var} MATCHES "/MTd")
+				STRING(REGEX REPLACE "/MTd" "/MT" ${flag_var} "${${flag_var}}")
+			ENDIF(${flag_var} MATCHES "/MTd")
+			# Need to remove _DEBUG too otherwise things like _ITERATOR_DEBUG_LEVEL mismatch
+			IF(${flag_var} MATCHES "-D_DEBUG")
+				STRING(REGEX REPLACE "-D_DEBUG" "" ${flag_var} "${${flag_var}}")
+			ENDIF(${flag_var} MATCHES "-D_DEBUG")
+		ENDFOREACH(flag_var)
+	ENDIF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
+
 	IF (CMAKE_CL_64)
 	  ADD_DEFINITIONS(-D_WIN64)
 	ELSE()
diff --git a/build3/premake4.lua b/build3/premake4.lua
index 8fce38423..8a6de1938 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -370,12 +370,24 @@ end
 		defines {"BT_CLAMP_VELOCITY_TO=9999"}
 	end
 
+	newoption
+	{
+		trigger = "dynamic-runtime",
+		description = "Enable dynamic DLL CRT runtime"
+	}
 	configurations {"Release", "Debug"}
 	configuration "Release"
-		flags { "Optimize", "EnableSSE2","StaticRuntime", "NoMinimalRebuild", "FloatFast"}
+		flags { "Optimize", "EnableSSE2", "NoMinimalRebuild", "FloatFast"}
+		if not _OPTIONS["dynamic-runtime"] then
+			flags { "StaticRuntime" } 
+		end
 	configuration "Debug"
 		defines {"_DEBUG=1"}
-		flags { "Symbols", "StaticRuntime" , "NoMinimalRebuild", "NoEditAndContinue" ,"FloatFast"}
+		flags { "Symbols" , "NoMinimalRebuild", "NoEditAndContinue" ,"FloatFast"}
+		if not _OPTIONS["dynamic-runtime"] then
+			flags { "StaticRuntime" } 
+		end
+
 
 	if os.is("Linux") or os.is("macosx") then
 		if os.is64bit() then
diff --git a/build_visual_studio_vr_pybullet_double_dynamic.bat b/build_visual_studio_vr_pybullet_double_dynamic.bat
new file mode 100644
index 000000000..034a46034
--- /dev/null
+++ b/build_visual_studio_vr_pybullet_double_dynamic.bat
@@ -0,0 +1,28 @@
+IF NOT EXIST bin mkdir bin
+IF NOT EXIST bin\openvr_api.dll  copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin
+IF NOT EXIST bin\openvr64pi.dll  copy examples\ThirdPartyLibs\openvr\bin\win64\openvr_api.dll bin\openvr64pi.dll
+
+#aargh, see https://github.com/ValveSoftware/openvr/issues/412
+
+
+#find a python version (hopefully just 1) and use this
+dir c:\python* /b /ad > tmp1234.txt
+
+set /p myvar1= < tmp1234.txt
+set myvar=c:/%myvar1%
+del tmp1234.txt
+
+rem you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
+rem SET myvar=c:\python-3.5.2
+
+cd build3
+
+
+premake4  --dynamic-runtime --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+
+rem premake4  --double   --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+
+start vs2010
+
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 4df72e31a..6150874c9 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -783,7 +783,7 @@ struct CalculateInverseKinematicsArgs
 	//	double m_jointPositionsQ[MAX_DEGREE_OF_FREEDOM];
 	double m_targetPositions[MAX_DEGREE_OF_FREEDOM*3];
 	int m_numEndEffectorLinkIndices;
-	double m_targetOrientation[4];  //orientation represented as quaternion, x,y,z,w
+	double m_targetOrientation[MAX_DEGREE_OF_FREEDOM*4];  //orientation represented as quaternion, x,y,z,w
 	int m_endEffectorLinkIndices[MAX_DEGREE_OF_FREEDOM];
 	double m_lowerLimit[MAX_DEGREE_OF_FREEDOM];
 	double m_upperLimit[MAX_DEGREE_OF_FREEDOM];
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index cb94ec75b..b1689c0b3 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -7,7 +7,10 @@
 //Please don't replace an existing magic number:
 //instead, only ADD a new one at the top, comment-out previous one
 
-#define SHARED_MEMORY_MAGIC_NUMBER 202005070
+
+
+#define SHARED_MEMORY_MAGIC_NUMBER 202007060
+//#define SHARED_MEMORY_MAGIC_NUMBER 202005070
 //#define SHARED_MEMORY_MAGIC_NUMBER 202002030
 //#define SHARED_MEMORY_MAGIC_NUMBER 202001230
 //#define SHARED_MEMORY_MAGIC_NUMBER 201911280