shrink down cube size of BasicDemo 10 times (it looked ginormous in VR) from 2x2x2 meter to 0.2

add test for VR HUD/sub-titles
fix issue in previous commit, partial string use %.8s not %8.s
use long long int in b3Clock
fix warning/error in pointer alignment in serialization
Fix pybullet Windows compilation.
(thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)

Extras/Serialize/BulletFileLoader/bDNA.cpp

@@ -389,18 +389,10 @@ void bDNA::init(char *data, int len, bool swap)
 		cp++;
 	}
 
+
+	
+	cp = btAlignPointer(cp,4);
 	
-	{
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
-
 	/*
 		TYPE (4 bytes)
 		<nr> amount of types (int)
@@ -426,17 +418,8 @@ void bDNA::init(char *data, int len, bool swap)
 		cp++;
 	}
 
-{
+	cp = btAlignPointer(cp,4);
-		nr= (long)cp;
+	
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
-
 	/*
 		TLEN (4 bytes)
 		<len> (short) the lengths of types

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -460,15 +460,7 @@ void bFile::swapDNA(char* ptr)
 	}
 
 	
-	{
+	cp = btAlignPointer(cp,4);
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
 
 
 	/*
@@ -497,16 +489,7 @@ void bFile::swapDNA(char* ptr)
 		cp++;
 	}
 
-{
+	cp = btAlignPointer(cp,4);
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
 
 	/*
 		TLEN (4 bytes)

examples/BasicDemo/BasicExample.cpp

@@ -39,7 +39,7 @@ struct BasicExample : public CommonRigidBodyBase
 	virtual void renderScene();
 	void resetCamera()
 	{
-		float dist = 41;
+		float dist = 4;
 		float pitch = 52;
 		float yaw = 35;
 		float targetPos[3]={0,0,0};
@@ -81,7 +81,7 @@ void BasicExample::initPhysics()
 		//create a few dynamic rigidbodies
 		// Re-using the same collision is better for memory usage and performance
 
-		btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		btBoxShape* colShape = createBoxShape(btVector3(.1,.1,.1));
 		
 
 		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
@@ -108,9 +108,9 @@ void BasicExample::initPhysics()
 				for(int j = 0;j<ARRAY_SIZE_Z;j++)
 				{
 					startTransform.setOrigin(btVector3(
-										btScalar(2.0*i),
+										btScalar(0.2*i),
-										btScalar(20+2.0*k),
+										btScalar(2+.2*k),
-										btScalar(2.0*j)));
+										btScalar(0.2*j)));
 
 			
 					createRigidBody(mass,startTransform,colShape);
@@ -121,7 +121,9 @@ void BasicExample::initPhysics()
 		}
 	}
 
+	
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+	
 }
 
 

examples/BasicDemo/CMakeLists.txt

@@ -53,6 +53,7 @@ SET(AppBasicExampleGui_SRCS
         ../ExampleBrowser/OpenGLGuiHelper.cpp
         ../ExampleBrowser/GL_ShapeDrawer.cpp
         ../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+		../Utils/b3Clock.cpp
 )
 
 #this define maps StandaloneExampleCreateFunc to the right 'CreateFunc'

examples/BasicDemo/premake4.lua

@@ -49,6 +49,8 @@ files {
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
 	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
 
 if os.is("Linux") then initX11() end
@@ -93,7 +95,9 @@ files {
 	"../TinyRenderer/tgaimage.cpp",
 	"../TinyRenderer/our_gl.cpp",
 	"../TinyRenderer/TinyRenderer.cpp",
-	"../Utils/b3ResourcePath.cpp"
+	"../Utils/b3ResourcePath.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
 
 if os.is("Linux") then initX11() end
@@ -132,7 +136,9 @@ files {
 	"../TinyRenderer/tgaimage.cpp",
 	"../TinyRenderer/our_gl.cpp",
 	"../TinyRenderer/TinyRenderer.cpp",
-	"../Utils/b3ResourcePath.cpp"
+	"../Utils/b3ResourcePath.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
 
 
@@ -179,6 +185,8 @@ files {
 				"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
 				"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
 				"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
+				"../Utils/b3Clock.cpp",
+				"../Utils/b3Clock.h",
 				
 }
 

examples/CommonInterfaces/CommonCameraInterface.h

@@ -6,7 +6,9 @@ struct CommonCameraInterface
 	virtual void getCameraProjectionMatrix(float m[16])const = 0;
 	virtual void getCameraViewMatrix(float m[16]) const = 0;
 		
-	virtual void	setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
+	virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
+	virtual void disableVRCamera()=0;
+	virtual bool isVRCamera() const =0;
 
 	virtual void getCameraTargetPosition(float pos[3]) const = 0;
 	virtual void getCameraPosition(float pos[3]) const = 0;

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -33,7 +33,7 @@ struct GUIHelperInterface
 	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
     virtual void removeAllGraphicsInstances()=0;
-
+	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
 	
 	virtual CommonParameterInterface* getParameterInterface()=0;
@@ -78,7 +78,7 @@ struct DummyGUIHelper : public GUIHelperInterface
 	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId){return -1;}
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
     virtual void removeAllGraphicsInstances(){}
-
+	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
 		return 0;

examples/CommonInterfaces/CommonRenderInterface.h

@@ -22,7 +22,7 @@ struct CommonRenderInterface
 	virtual void init()=0;
 	virtual void updateCamera(int upAxis)=0;
 	virtual void removeAllInstances() = 0;
-
+	
 	virtual const CommonCameraInterface* getActiveCamera() const =0;
 	virtual CommonCameraInterface* getActiveCamera()=0;
 	virtual void setActiveCamera(CommonCameraInterface* cam)=0;
@@ -52,6 +52,8 @@ struct CommonRenderInterface
 	virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
 	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
 	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
+	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex)=0;
+	virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex)=0;
     
     virtual int getTotalNumInstances() const = 0;
     

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -226,7 +226,7 @@ enum TestExampleBrowserCommunicationEnums
 
 void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 {
-	printf("thread started\n");
+	printf("ExampleBrowserThreadFunc started\n");
 
 	ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
 
@@ -369,7 +369,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
                         }
                 };
 
-	printf("stopping threads\n");
+	printf("btShutDownExampleBrowser stopping threads\n");
 	delete data->m_threadSupport;
 	delete data->m_sharedMem;
 	delete data;

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -24,7 +24,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
 	virtual void removeAllGraphicsInstances();
-
+	
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);

examples/ExtendedTutorials/premake4.lua

@@ -39,7 +39,7 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",
+  		"../ThirdPartyLibs/stb_image/stb_image.cpp",
 }
 
 
@@ -91,7 +91,9 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",
+      "../ThirdPartyLibs/stb_image/stb_image.cpp",
+      "../Utils/b3Clock.cpp",
+			"../Utils/b3Clock.h",
 }
 
 if os.is("Linux") then initX11() end
@@ -156,7 +158,7 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",     
+			"../ThirdPartyLibs/stb_image/stb_image.cpp",     
 }
 
 if os.is("Linux") then initX11() end

examples/MultiThreading/MultiThreadingExample.cpp

@@ -119,7 +119,7 @@ struct SampleThreadLocalStorage
 
 void	SampleThreadFunc(void* userPtr,void* lsMemory)
 {
-	printf("thread started\n");
+	printf("SampleThreadFunc thread started\n");
 
 	SampleThreadLocalStorage* localStorage = (SampleThreadLocalStorage*) lsMemory;
 

examples/MultiThreading/b3Win32ThreadSupport.cpp

@@ -223,7 +223,8 @@ bool b3Win32ThreadSupport::isTaskCompleted(int *puiArgument0, int *puiArgument1,
 
 void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo)
 {
-
+	static int uniqueId = 0;
+	uniqueId++;
 	m_activeThreadStatus.resize(threadConstructionInfo.m_numThreads);
 	m_completeHandles.resize(threadConstructionInfo.m_numThreads);
 
@@ -244,18 +245,40 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 
 		threadStatus.m_userPtr=0;
 
-		sprintf(threadStatus.m_eventStartHandleName,"eventStart%8.s%d",threadConstructionInfo.m_uniqueName,i);
+		sprintf(threadStatus.m_eventStartHandleName,"es%.8s%d%d",threadConstructionInfo.m_uniqueName,uniqueId,i);
 		threadStatus.m_eventStartHandle = CreateEventA (0,false,false,threadStatus.m_eventStartHandleName);
 
-		sprintf(threadStatus.m_eventCompletetHandleName,"eventComplete%8.s%d",threadConstructionInfo.m_uniqueName,i);
+		sprintf(threadStatus.m_eventCompletetHandleName,"ec%.8s%d%d",threadConstructionInfo.m_uniqueName,uniqueId,i);
 		threadStatus.m_eventCompletetHandle = CreateEventA (0,false,false,threadStatus.m_eventCompletetHandleName);
 
 		m_completeHandles[i] = threadStatus.m_eventCompletetHandle;
 
 		HANDLE handle = CreateThread(lpThreadAttributes,dwStackSize,lpStartAddress,lpParameter,	dwCreationFlags,lpThreadId);
-		//SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
+		switch(threadConstructionInfo.m_priority)
-		SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
+		{
+		case 0:
+		{
+			SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
+			break;
+		}
+		case 1:
+		{
+			SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
+			break;
+		}
+		case 2:
+		{
+			SetThreadPriority(handle,THREAD_PRIORITY_BELOW_NORMAL);
+			break;
+		}
+		
+		default:
+		{
+			
+		}
 
+		}
+		
 		SetThreadAffinityMask(handle, 1<<i);
 
 		threadStatus.m_taskId = i;
@@ -265,7 +288,7 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 		threadStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
 		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
 
-		printf("started thread %d with threadHandle %p\n",i,handle);
+		printf("started %s thread %d with threadHandle %p\n",threadConstructionInfo.m_uniqueName,i,handle);
 		
 	}
 

examples/MultiThreading/b3Win32ThreadSupport.h

@@ -74,7 +74,8 @@ public:
 									m_userThreadFunc(userThreadFunc),
 									m_lsMemoryFunc(lsMemoryFunc),
 									m_numThreads(numThreads),
-									m_threadStackSize(threadStackSize)
+									m_threadStackSize(threadStackSize),
+									m_priority(0)
 		{
 
 		}
@@ -84,6 +85,7 @@ public:
 		b3Win32lsMemorySetupFunc	m_lsMemoryFunc;
 		int						m_numThreads;
 		int						m_threadStackSize;
+		int						m_priority;
 
 	};
 

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -261,6 +261,8 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
 
 void GLInstancingRenderer::removeAllInstances()
 {
+	m_data->m_totalNumInstances = 0;
+
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 		if (m_graphicsInstances[i]->m_index_vbo)
@@ -276,6 +278,7 @@ void GLInstancingRenderer::removeAllInstances()
 	m_graphicsInstances.clear();
 }
 
+
 GLInstancingRenderer::~GLInstancingRenderer()
 {
 	delete m_data->m_shadowMap;
@@ -323,6 +326,7 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
 	*/
 }
 
+
 void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
 {
 	m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);
@@ -340,7 +344,19 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int srcIn
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
 }
 
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
+{
+	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
+	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
+	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
+}
 
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
+{
+	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
+	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
+	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
+}
 
 void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectIndex)
 {
@@ -389,27 +405,33 @@ void GLInstancingRenderer::writeTransforms()
 	//glFlush();
 
 	b3Assert(glGetError() ==GL_NO_ERROR);
-	int totalNumInstances= 0;
+	
 
-	for (int k=0;k<m_graphicsInstances.size();k++)
+#ifdef B3_DEBUG
 	{
-		b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
+		int totalNumInstances= 0;
-		totalNumInstances+=gfxObj->m_numGraphicsInstances;
+		for (int k=0;k<m_graphicsInstances.size();k++)
+		{
+			b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
+			totalNumInstances+=gfxObj->m_numGraphicsInstances;
+		}
+		b3Assert(m_data->m_totalNumInstances == totalNumInstances);
 	}
+#endif//B3_DEBUG
 
-	int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
+	int POSITION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
-	int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
+	int ORIENTATION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
-	int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
+	int COLOR_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
 //	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
 
 #if 1
-	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,totalNumInstances*sizeof(float)*4,
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_positions_ptr[0]);
-	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,totalNumInstances*sizeof(float)*4,
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_quaternion_ptr[0]);
-	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, totalNumInstances*sizeof(float)*4,
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_colors_ptr[0]);
-	glBufferSubData(	GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,totalNumInstances*sizeof(float)*3,
+	glBufferSubData(	GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
 					 	&m_data->m_instance_scale_ptr[0]);
 #else
 
@@ -419,7 +441,7 @@ void GLInstancingRenderer::writeTransforms()
 
 
 		
-		m_data->m_totalNumInstances = totalNumInstances;
+		
 
 		for (int k=0;k<m_graphicsInstances.size();k++)
 		{

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -56,7 +56,7 @@ public:
 	void InitShaders();
 	void CleanupShaders();
 	virtual void removeAllInstances();
-
+	
 	virtual void updateShape(int shapeIndex, const float* vertices);
 
 	///vertices must be in the format x,y,z, nx,ny,nz, u,v
@@ -95,6 +95,9 @@ public:
 	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
 	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
 
+	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
+	virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
+
 	
 	virtual struct	GLInstanceRendererInternalData* getInternalData();
 

examples/OpenGLWindow/SimpleCamera.cpp

@@ -62,6 +62,16 @@ void	SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMa
 	}
 }
 
+void SimpleCamera::disableVRCamera()
+{
+	m_data->m_enableVR = false;
+}
+
+bool SimpleCamera::isVRCamera() const
+{
+	return m_data->m_enableVR ;
+}
+
 
 static void    b3CreateFrustum(
                         float left,

examples/OpenGLWindow/SimpleCamera.h

@@ -15,6 +15,8 @@ struct SimpleCamera : public CommonCameraInterface
 	virtual void getCameraViewMatrix(float m[16]) const;
 	
 	virtual void	setVRCamera(const float viewMat[16], const float projectionMatrix[16]);
+	virtual void disableVRCamera();
+	virtual bool isVRCamera() const;
 
 	virtual void getCameraTargetPosition(float pos[3]) const;
 	virtual void getCameraPosition(float pos[3]) const;

examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp

@@ -65,6 +65,14 @@ void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(double* color, int src
     
 }
 
+void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
+{
+}
+void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
+{
+}
+
+
 int SimpleOpenGL2Renderer::getTotalNumInstances() const
 {
     return 0;

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -32,6 +32,8 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
     
     virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
     virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
+	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
+    virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
     virtual void	getCameraViewMatrix(float viewMat[16]) const;
     virtual void	getCameraProjectionMatrix(float projMat[16]) const;
 

examples/SharedMemory/PhysicsServerExample.cpp

@@ -97,11 +97,9 @@ struct MotionThreadLocalStorage
 
 int skip = 0;
 
-
 void	MotionThreadFunc(void* userPtr,void* lsMemory)
 {
-	printf("thread started\n");
+	printf("MotionThreadFunc thread started\n");
-
 	MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
 
 	MotionArgs* args = (MotionArgs*) userPtr;
@@ -116,41 +114,23 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 		args->m_cs->setSharedParam(0,eMotionIsInitialized);
 		args->m_cs->unlock();
 
-		double m_x=0;
-		double m_y=0;
-		double m_z=0;
-
 		do
 		{
-
 			double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
-			//if (deltaTimeInSeconds<.3)
-			//if (deltaTimeInSeconds<(1./15.))
 			if (deltaTimeInSeconds<(1./260.))
 			{
 				skip++;
-			//if (deltaTimeInSeconds<.001)
+				if (deltaTimeInSeconds<.001)
-				continue;
+					continue;
 			}
 
-			m_x+=deltaTimeInSeconds;
-			m_y+=deltaTimeInSeconds;
-			m_z+=deltaTimeInSeconds;
-
 			clock.reset();
 			
-			
-			int index = 0;
-			index++;
-			
 			if (!blockme)
 			{
-			args->m_physicsServerPtr->processClientCommands();
+				args->m_physicsServerPtr->processClientCommands();
 			}
 			
-
-			
-
 		} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
 	} else
 	{
@@ -160,9 +140,6 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 	}
 
 
-	args->m_cs->lock();
-	args->m_cs->setSharedParam(0,eMotionHasTerminated);
-	args->m_cs->unlock();
 	printf("finished, #skip = %d\n",skip);
 	skip=0;
 	//do nothing
@@ -358,7 +335,7 @@ public:
 	
 	virtual CommonGraphicsApp* getAppInterface()
 	{
-		return 0;
+		return m_childGuiHelper->getAppInterface();
 	}
 
 
@@ -615,7 +592,7 @@ void    PhysicsServerExample::exitPhysics()
 		delete m_threadSupport;   
 		m_threadSupport = 0;
 
-		m_physicsServer.resetDynamicsWorld();
+		//m_physicsServer.resetDynamicsWorld();
 		
 }
 
@@ -698,6 +675,9 @@ void	PhysicsServerExample::stepSimulation(float deltaTime)
 	case eGUIHelperRemoveAllGraphicsInstances:
         {
             m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
+			int numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
+			b3Assert(numRenderInstances==0);
+
             m_multiThreadedHelper->getCriticalSection()->lock();
             m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
             m_multiThreadedHelper->getCriticalSection()->unlock();
@@ -739,12 +719,45 @@ void	PhysicsServerExample::stepSimulation(float deltaTime)
 	}
 }
 
+
 void PhysicsServerExample::renderScene()
 {
 	///debug rendering
 	//m_args[0].m_cs->lock();
 	
 	m_physicsServer.renderScene();
+
+	if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
+	{
+		//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
+
+		static int frameCount=0;
+		frameCount++;
+		char bla[1024];
+		sprintf(bla,"VR sub-title text test, frame %d", frameCount/2);
+		float pos[4];
+		m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
+		btTransform viewTr;
+		btScalar m[16];
+		float mf[16];
+		m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraViewMatrix(mf);
+		for (int i=0;i<16;i++)
+		{
+			m[i] = mf[i];
+		}
+		viewTr.setFromOpenGLMatrix(m);
+		btTransform viewTrInv = viewTr.inverse();
+		float upMag = -.6;
+		btVector3 side = viewTrInv.getBasis().getColumn(0);
+		btVector3 up = viewTrInv.getBasis().getColumn(1);
+		up+=0.35*side;
+		m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
+		//btVector3 fwd = viewTrInv.getBasis().getColumn(2);
+		sprintf(bla,"VR line 2 sub-title text test, frame %d", frameCount/2);
+		upMag = -0.7;
+		m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
+	}
+
 	//m_args[0].m_cs->unlock();
 }
 

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -1486,7 +1486,34 @@ void CMainApplication::RenderStereoTargets()
 	{
 		
 		Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose * rotYtoZ;
+		Matrix4 viewMatCenter = m_mat4HMDPose * rotYtoZ;
+		//0,1,2,3
+		//4,5,6,7,
+		//8,9,10,11
+		//12,13,14,15
 		
+		//m_mat4eyePosLeft.get()[10]
+		//m_app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(
+		//	m_mat4eyePosLeft.get()[3],
+		//	m_mat4eyePosLeft.get()[7],
+		//	m_mat4eyePosLeft.get()[11]);
+		Matrix4 m;
+		m = viewMatCenter;
+		const float* mat = m.invertAffine().get();
+		
+		/*printf("camera:\n,%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f",
+			mat[0],mat[1],mat[2],mat[3],
+			mat[4],mat[5],mat[6],mat[7],
+			mat[8],mat[9],mat[10],mat[11],
+			mat[12],mat[13],mat[14],mat[15]);
+			*/
+		float dist=1;
+		m_app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(
+			mat[12]-dist*mat[8],
+			mat[13]-dist*mat[9],
+			mat[14]-dist*mat[10]
+			);
+		m_app->m_instancingRenderer->getActiveCamera()->setCameraUpVector(mat[0],mat[1],mat[2]);
 		m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(),m_mat4ProjectionLeft.get());
 		m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
 	}

examples/StandaloneMain/main_opengl_single_example.cpp

@@ -17,14 +17,9 @@ subject to the following restrictions:
 
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "../Utils/b3Clock.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
 
 
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btHashMap.h"
-
 
 
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
@@ -74,7 +69,7 @@ public:
 };
 int main(int argc, char* argv[])
 {
-
+	
 	SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet Standalone Example",1024,768,true);
 	
 	prevMouseButtonCallback = app->m_window->getMouseButtonCallback();
@@ -93,13 +88,17 @@ int main(int argc, char* argv[])
 	example->initPhysics();
 	example->resetCamera();
 	
+	b3Clock clock;
+
 	do
 	{
 		app->m_instancingRenderer->init();
         app->m_instancingRenderer->updateCamera(app->getUpAxis());
 
-		example->stepSimulation(1./60.);
+		btScalar dtSec = btScalar(clock.getTimeInSeconds());
-	  	
+		example->stepSimulation(dtSec);
+	  	clock.reset();
+
 		example->renderScene();
  	
 		DrawGridData dg;

examples/Utils/b3Clock.cpp

@@ -166,7 +166,7 @@ unsigned long int b3Clock::getTimeMilliseconds()
 
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
-unsigned long int b3Clock::getTimeMicroseconds()
+unsigned long long int b3Clock::getTimeMicroseconds()
 {
 #ifdef B3_USE_WINDOWS_TIMERS
 		LARGE_INTEGER currentTime;
@@ -175,14 +175,14 @@ unsigned long int b3Clock::getTimeMicroseconds()
 			m_data->mStartTime.QuadPart;
 
 		// Compute the number of millisecond ticks elapsed.
-		unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
+		unsigned long long msecTicks = (unsigned long long)(1000 * elapsedTime / 
 			m_data->mClockFrequency.QuadPart);
 
 		// Check for unexpected leaps in the Win32 performance counter.  
 		// (This is caused by unexpected data across the PCI to ISA 
 		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
+		unsigned long long elapsedTicks = GetTickCount() - m_data->mStartTick;
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+		signed long long msecOff = (signed long)(msecTicks - elapsedTicks);
 		if (msecOff < -100 || msecOff > 100)
 		{
 			// Adjust the starting time forwards.
@@ -197,7 +197,7 @@ unsigned long int b3Clock::getTimeMicroseconds()
 		m_data->mPrevElapsedTime = elapsedTime;
 
 		// Convert to microseconds.
-		unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / 
+		unsigned long long usecTicks = (unsigned long)(1000000 * elapsedTime / 
 			m_data->mClockFrequency.QuadPart);
 
 		return usecTicks;
@@ -222,3 +222,8 @@ unsigned long int b3Clock::getTimeMicroseconds()
 #endif 
 }
 
+double b3Clock::getTimeInSeconds()
+{
+	return double(getTimeMicroseconds()/1.e6);
+}
+

examples/Utils/b3Clock.h

@@ -22,7 +22,12 @@ public:
 
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
-	unsigned long int getTimeMicroseconds();
+	unsigned long long int getTimeMicroseconds();
+
+	/// Returns the time in seconds since the last call to reset or since 
+	/// the Clock was created.
+	double getTimeInSeconds();
+
 private:
 	struct b3ClockData* m_data;
 };

examples/pybullet/pybullet.c

@@ -374,8 +374,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
         {
             case CONTROL_MODE_VELOCITY:
             {
+				double kd = gains;
                 b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue);
-                double kd = gains;
                 b3JointControlSetKd(commandHandle,info.m_uIndex,kd);
                 b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
                 break;
@@ -389,8 +389,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
                     
             case CONTROL_MODE_POSITION_VELOCITY_PD:
             {
+				double kp = gains;
                 b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue);
-                double kp = gains;
                 b3JointControlSetKp(commandHandle,info.m_uIndex,kp);
                 b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
                 break;
@@ -1270,10 +1270,12 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
                 PyErr_SetString(SpamError, "flag has to be either WORLD_FRAME or LINK_FRAME");
                 return NULL;
             }
-            b3SharedMemoryStatusHandle statusHandle;
+			{
-            b3SharedMemoryCommandHandle command = b3ApplyExternalForceCommandInit(sm);
+				b3SharedMemoryStatusHandle statusHandle;
-            b3ApplyExternalTorque(command,objectUniqueId,-1,torque, flags);
+				b3SharedMemoryCommandHandle command = b3ApplyExternalForceCommandInit(sm);
-            statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+				b3ApplyExternalTorque(command,objectUniqueId,-1,torque, flags);
+				statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+			}
 
         }
     }
@@ -1389,12 +1391,13 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
 
     {
         double rpy[3];
-        sqx = quat[0] * quat[0];
+        double sarg;
+		sqx = quat[0] * quat[0];
         sqy = quat[1] * quat[1];
         sqz = quat[2] * quat[2];
         squ = quat[3] * quat[3];
         rpy[0] = atan2(2 * (quat[1]*quat[2] + quat[3]*quat[0]), squ - sqx - sqy + sqz);
-        double sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
+        sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
         rpy[1] = sarg <= -1.0 ? -0.5*3.141592538 : (sarg >= 1.0 ? 0.5*3.141592538 : asin(sarg));
         rpy[2] = atan2(2 * (quat[0]*quat[1] + quat[3]*quat[2]), squ + sqx - sqy - sqz);
         {

src/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp

@@ -389,16 +389,8 @@ void bDNA::init(char *data, int len, bool swap)
 	}
 
 	
-	{
+	cp = b3AlignPointer(cp,4);
-		nr= (long)cp;
+	
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
 
 	/*
 		TYPE (4 bytes)
@@ -425,16 +417,8 @@ void bDNA::init(char *data, int len, bool swap)
 		cp++;
 	}
 
-{
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
 
+	cp = b3AlignPointer(cp,4);
 
 	/*
 		TLEN (4 bytes)

src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp

@@ -428,16 +428,7 @@ void bFile::swapDNA(char* ptr)
 	}
 
 
-	{
+	cp = b3AlignPointer(cp,4);
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
 
 	/*
 		TYPE (4 bytes)
@@ -465,16 +456,7 @@ void bFile::swapDNA(char* ptr)
 		cp++;
 	}
 
-{
+	cp = b3AlignPointer(cp,4);
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
 
 	/*
 		TLEN (4 bytes)