virtual void exitPhysics() { b3Printf("exitPhysics, stopping threads"); bool blockingWait =false; int arg0,arg1; args.m_cs->lock(); //terminate all threads args.m_cs->setSharedParam(1,MAGIC_RESET_NUMBER); args.m_cs->unlock(); if (blockingWait) { for (int i=0;i<m_numThreads;i++) { m_threadSupport->waitForResponse(&arg0,&arg1); printf("finished waiting for response: %d %d\n", arg0,arg1); } } else { int numActiveThreads = m_numThreads; while (numActiveThreads) { if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0)) { numActiveThreads--; printf("numActiveThreads = %d\n",numActiveThreads); } else { // printf("polling.."); } }; } delete m_threadSupport; b3Printf("Threads stopped"); for (int i=0;i<m_jobs.size();i++) { delete m_jobs[i]; } m_jobs.clear(); }