[Python][Readme] updating outdated informations

MBsysC/readme_aux/interface_python.md

 Python interface
 =================
 
-This part develops the possibility to drive a simulation from python running C modules.
-For now this work is only tested on Linux system (Ubuntu).
+This part develops the possibility to drive a simulation from python running C modules.  
+This work is dedicated to Linux system (Ubuntu) but was also functionnal on some windows release.
+
+This work has only be tested with Python version 2.7.#.
 
 --- Installation ---
 --------------------
 
-### Requirements ###
+## Requirements ##
+
+ * An updated working version of [MBsysC](https://git.immc.ucl.ac.be/robotran/mbsysc).
+ * Python 2.7, scipy, numpy and an Python IDE.
+ * Cython.
+
+### For Linux ###
+ Just run in command line : `sudo apt-get install python-numpy python-scipy cython`.  
+   * In case of troubles with cython, look the [official website](http://cython.org/).
 
- * An updated working version of MBsysC (see [here](http://www.robotran.eu/tutorial/install/Linux/MBsysC.html)).
- * Python and some modules: `sudo apt-get install python-numpy python-scipy`
-     * A python IDE can be usefull, for example spyder: `sudo apt-get install spyder`
- * Cython : `sudo apt-get install cython` or see [here](http://cython.org/).
+ Then check the python version (again in command line) : `python -V`.  
+ Choose the IDE of your choice (we tested it with spyder: `sudo apt-get install spyder`).
 
-### Build MBsysC ###
-Open a terminal in *MBsysC* folder (you should see the *mbs_common* folder):
+### For windows ###
+ We were able to get it working with [Anaconda](https://www.anaconda.com/) under windows 7.  
 
- * Create the build folder: `mkdir build`
- * Go inside this folder: `cd build`
- * Create the cmake project, source being in *mbs_common*: `cmake ../mbs_common`
- * Build MBsysC modules: `make`
+ Download and install [Anaconda for Python 2.7](https://www.anaconda.com/download/#windows). __Check twice the version you choose !__  
+ Install additionnal modules:
+  * Check if numpy and scipy package are installed, if not install them from Anaconda.
+  * Install cython (there is maybe an GUI to do it now):
+    * run the "anaconda prompt"
+    * type and run `conda install cython`
+ 
+## Building and compiling ##
+### MBsysC with the Python interface ##
+ Follow the installation tutorial:
+  * [Linux](http://www.robotran.be/tutorial/install/Linux/MBsysC.html#compilation-of-the-user-file-generation-application-and-the-mbsysc-modules)
+  * [windows](http://www.robotran.be/tutorial/install/Win64/MBsysC.html#compilation-of-the-user-file-generation-application-and-the-mbsysc-modules)
 
-**Warning**: for now the build folder of MBsysC is imposed!
+ Set the flag "INTERFACE_PYTHON" to "ON":
+  * With Cmake-gui: Just click on the box.
+  * In command line: `cmake . -DFLAG_INTERFACE_PYTHON=ON`
 
-### Build the Python interface ###
-Open a terminal in *MBsysC* folder (you should see the *mbs_common* folder):
+ Build and compile.
 
- * Create the build folder: `mkdir build_interface`
- * Go inside this folder: `cd build_interface`
- * Create the cmake project, source being in *mbs_python*: `cmake ../mbs_interface/mbs_python`
- * Build the interface: `make`
+###Troubles under Windows###
+
+ __Python27 not found__:  
+The directory of your installation of the Anaconda libaries is not in the environment variables.  
+Open the "__...GitFolder__/MBsysC/mbs\_interface/mbs\_python/CMakeLists.txt", under the lines  
+```
+    # Folder containing interfaces libraries
+    link_directories (${LIBRARY_OUTPUT_PATH})
+```  
+
+add  
+```
+    link_directories ("W:/This_is_a_wonderful_place_to_install_some_software_but_the_next_folder_is_also_good/Anaconda2/libs")
+    # The path is obviously wrong, to be sur you will update it!
+```  
+Of course: __LOCATE THE PATH TO THE FOLDER CONTAINING THE LIBRARIES TO THE ONE CORRESPONDING TO YOUR COMPUTER__ (Windows is simple)!  
+You can look after the file "python27.lib" and select the good folder if multiples files are found (Windows does not waste space on hard drive).  
+
+ __python_d.exe not found or missing__:  
+Your are compiling MBsysC in __Debug__ mode, Windows try to find the Python debug excecutable, which is not distributed.  
+Either, compile it in __Release__ mode, __or__ replace ```#include "Python.h"``` by
+```
+#ifdef _DEBUG
+    #undef _DEBUG
+    #include <Python.h>
+    #define _DEBUG
+#else
+    #include <Python.h>
+#endif
+```  
+in the following files:
+  * __mbs_data_py.c__
+  * __mbs_part_py.c__
+  * __mbs_dirdyn_py.c__
+
+_WARNING:_ the files are generated during the first attempt of compiling by Visual Studio, meaning you cannot edit thme before getting the error! 
 
 ### Build your project ###
-Open a terminal in you project *WorkR* folder (you should see the *src* folder):
+Follow the [tutorial](http://robotran-doc.git-page.immc.ucl.ac.be/TutorialModellingFeatures/output_tuto/c-code/bodiesJoint.html#build-an-run-the-project) but set the flag "SEPARATE_BUILD" to "ON":
+  * With Cmake-gui: Just click on the box.
+  * In command line: `cmake . -DFLAG_SEPARATE_BUILD=ON`
+
+ Build and compile. You can check that your project is fully functionnal (outside python) by running it as usual.
 
- * Create the folder build: `mkdir build`
- * Go inside this folder: `cd build`
- * Create the cmake project: `cmake ..`
- * Set the FLAG_SEPARATE_BUILD to ON: `cmake . -DFLAG_SEPARATE_BUILD=ON`
- * Build the project: make
+### For windows : copy-paste some files ###
+ Copy all the __.pyd__ files from __...GitFolder__/MBsysC/build/* to *YourProject/workR/build/__Debug (or/and Release)__*.  
+ If multiple occurences of a file, always take them all from the same folder (release or debug).
 
-### Call your C-compiled project from python ###
+## Call your C-compiled project from python ##
 Go in the in you project *WorkR* folder (you should see the *src* and *build* folder) and create your python script with:
 
 ```python
 # Firstly: include the path to your MBsysC-Python interface library
 import sys
-sys.path.insert(1, ".../MBsysC/build_interface/lib")
+# LINUX:
+sys.path.insert(1, "GitFolder/MBsysC/build/lib")
+# WINDOWS:
+sys.path.insert(1, "./build/Debug")
+sys.path.insert(1, "./build/Release")
+
 # Secondly: load the interfacing modules
 from mbs_data_py   import *
 from mbs_part_py   import *
@@ -116,6 +172,10 @@ if not mbs_dirdyn.mbs_like_MBsysC:
 
 
 del mbs_dirdyn                        # Write the results to file if(not like_MBsysC) and memory released
+del mbs_data                          # Release the memory allocated for the MbsData structure
 ```
+_WARNING_: this script use the __matplotlib__ module of python to plot the graphs.
+
 
-With python you can run the script in intercative mode in the console (python -i myScrip.py) observe the results and change the initial condition (`mbs_data.q0[2]=7.0`) and restart a dirdyn computation (`mbs_dirdyn = MbsDirdyn(mbs_data)`;`mbs_dirdyn.set_options(...)`; `mbs_dirdyn.mbs_run_dirdyn(mbs_data)`) without any recompilation.
\ No newline at end of file
+With python you can run the script in intercative mode in the console (python -i myScrip.py) observe the results and change the initial condition (`mbs_data.q0[2]=7.0`) and restart a dirdyn computation (`mbs_dirdyn = MbsDirdyn(mbs_data)`;`mbs_dirdyn.set_options(...)`; `mbs_dirdyn.mbs_run_dirdyn(mbs_data)`) without any recompilation.  
+You can put the partitionning and the dirdyn analysis of your project into a function and feed an optimizer with it (for example with [scipy](https://docs.scipy.org/doc/scipy/reference/optimize.html)).