diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index a8ff41d4f..726303aed 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -46,7 +46,7 @@ struct GUIHelperInterface
 
 	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
 	
-	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)=0;
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)=0;
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
 	
@@ -107,12 +107,8 @@ struct DummyGUIHelper : public GUIHelperInterface
 	{
 	}
 
-	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int width, int height, int* numPixelsCopied)
 	{
-	     if (width)
-            *width = 0;
-        if (height)
-            *height = 0;
         if (numPixelsCopied)
             *numPixelsCopied = 0;
 	}
diff --git a/examples/CommonInterfaces/CommonGraphicsAppInterface.h b/examples/CommonInterfaces/CommonGraphicsAppInterface.h
index 877c31880..242c63ccd 100644
--- a/examples/CommonInterfaces/CommonGraphicsAppInterface.h
+++ b/examples/CommonInterfaces/CommonGraphicsAppInterface.h
@@ -77,7 +77,7 @@ struct CommonGraphicsApp
 	virtual void dumpNextFrameToPng(const char* pngFilename){}
     virtual void dumpFramesToVideo(const char* mp4Filename){}
     
-    virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes){};
+    virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes){}
     
 	virtual void getBackgroundColor(float* red, float* green, float* blue) const
 	{
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 1ce196b57..cc93eeff7 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -970,14 +970,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
             s_instancingRenderer->updateCamera(dg.upAxis);
         }
 
-		if (renderGrid)
-        {
-            BT_PROFILE("Draw Grid");
-			glPolygonOffset(3.0, 3);
-			glEnable(GL_POLYGON_OFFSET_FILL);
-            s_app->drawGrid(dg);
-			
-        }
+		
 		static int frameCount = 0;
 		frameCount++;
 
@@ -1025,6 +1018,14 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				}
 			}
 			
+			if (renderGrid)
+            {
+                BT_PROFILE("Draw Grid");
+                glPolygonOffset(3.0, 3);
+                glEnable(GL_POLYGON_OFFSET_FILL);
+                s_app->drawGrid(dg);
+                
+            }
 			if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))
             {
 				if (visualWireframe)
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 0af5c8577..1ed1ffb19 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -8,7 +8,7 @@
 #include "CollisionShape2TriangleMesh.h"
 
 
-
+#include "../OpenGLWindow/SimpleCamera.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
 //backwards compatibility
 #include "GL_ShapeDrawer.h"
@@ -144,8 +144,8 @@ struct OpenGLGuiHelperInternalData
 	class MyDebugDrawer* m_debugDraw;
 	GL_ShapeDrawer* m_gl2ShapeDrawer;
 	
-	btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer;
-	btAlignedObjectArray<float> m_depthBuffer;
+	btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
+	btAlignedObjectArray<float> m_depthBuffer1;
 };
 
 
@@ -337,19 +337,15 @@ void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float c
 }
 
 
-void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
+void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
 {
-    int w = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
-    int h = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
+    int sourceWidth = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
+    int sourceHeight  = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
     
-    if (widthPtr)
-        *widthPtr = w;
-    if (heightPtr)
-        *heightPtr = h;
 	if (numPixelsCopied)
         *numPixelsCopied = 0;
 
-    int numTotalPixels = w*h;
+    int numTotalPixels = destinationWidth*destinationHeight;
     int numRemainingPixels = numTotalPixels - startPixelIndex;
     int numBytesPerPixel = 4;//RGBA
     int numRequestedPixels  = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
@@ -357,22 +353,58 @@ void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBuf
     {
         if (startPixelIndex==0)
         {
-			
-			//quick test: render the scene
+            CommonCameraInterface* oldCam = getRenderInterface()->getActiveCamera();
+			SimpleCamera tempCam;
+			getRenderInterface()->setActiveCamera(&tempCam);
+			getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
 			getRenderInterface()->renderScene();
-            //copy the image into our local cache
-            m_data->m_rgbaPixelBuffer.resize(w*h*numBytesPerPixel);
-            m_data->m_depthBuffer.resize(w*h);
-            m_data->m_glApp->getScreenPixels(&(m_data->m_rgbaPixelBuffer[0]),m_data->m_rgbaPixelBuffer.size());
-        }
-        for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
-        {
-            if (pixelsRGBA)
-            {
-                pixelsRGBA[i] = m_data->m_rgbaPixelBuffer[i+startPixelIndex*numBytesPerPixel];
+			getRenderInterface()->setActiveCamera(oldCam);
+			
+			{
+                btAlignedObjectArray<unsigned char> sourceRgbaPixelBuffer;
+                btAlignedObjectArray<float> sourceDepthBuffer;
+                //copy the image into our local cache
+                sourceRgbaPixelBuffer.resize(sourceWidth*sourceHeight*numBytesPerPixel);
+                sourceDepthBuffer.resize(sourceWidth*sourceHeight);
+                m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
+			
+                m_data->m_rgbaPixelBuffer1.resize(destinationWidth*destinationHeight*numBytesPerPixel);
+                m_data->m_depthBuffer1.resize(destinationWidth*destinationHeight);
+                //rescale and flip
+                
+                for (int i=0;i<destinationWidth;i++)
+                {
+                    for (int j=0;j<destinationHeight;j++)
+                    {
+                        int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
+                        int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
+                        btClamp(xIndex,0,sourceWidth);
+                        btClamp(yIndex,0,sourceHeight);
+                        int bytesPerPixel = 4; //RGBA
+                        
+                        int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
+                        m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
+                        m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
+                        m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
+                        m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
+                    }
+                }
+            }
+        }
+        if (pixelsRGBA)
+        {
+            for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
+            {
+                pixelsRGBA[i] = m_data->m_rgbaPixelBuffer1[i+startPixelIndex*numBytesPerPixel];
+            }
+        }
+        if (depthBuffer)
+        {
+            for (int i=0;i<numRequestedPixels;i++)
+            {
+                depthBuffer[i] = m_data->m_depthBuffer1[i];
             }
         }
-
 		if (numPixelsCopied)
 	        *numPixelsCopied = numRequestedPixels;
 
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 707b325ae..3ebdc4572 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -44,7 +44,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	
 	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
 	
-	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied);
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied);
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
     
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 4e9ddf6c4..33bc35d32 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -200,7 +200,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 	btVector3 gravity(0,0,0);
-	//gravity[upAxis]=-9.8;
+	gravity[upAxis]=-9.8;
 
 	m_dynamicsWorld->setGravity(gravity);
 
@@ -342,7 +342,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 
-		bool createGround=false;
+		bool createGround=true;
 		if (createGround)
 		{
 			btVector3 groundHalfExtents(20,20,20);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 2c86310ed..e20aed56b 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -146,8 +146,9 @@ struct InternalTextureHandle
 struct InternalDataRenderer : public GLInstanceRendererInternalData
 {
 
-	SimpleCamera	m_defaultCamera;
-
+	SimpleCamera	m_defaultCamera1;
+    CommonCameraInterface* m_activeCamera;
+    
 	GLfloat m_projectionMatrix[16];
 	GLfloat m_viewMatrix[16];
 
@@ -164,7 +165,8 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	InternalDataRenderer() :
 		m_shadowMap(0),
 		m_shadowTexture(0),
-		m_renderFrameBuffer(0)
+		m_renderFrameBuffer(0),
+		m_activeCamera(&m_defaultCamera1)
 	{
 		//clear to zero to make it obvious if the matrix is used uninitialized
 		for (int i=0;i<16;i++)
@@ -919,18 +921,18 @@ void	GLInstancingRenderer::resize(int width, int height)
 
 const CommonCameraInterface* GLInstancingRenderer::getActiveCamera() const
 {
-	return &m_data->m_defaultCamera;
+	return m_data->m_activeCamera;
 }
 
 CommonCameraInterface* GLInstancingRenderer::getActiveCamera()
 {
-	return &m_data->m_defaultCamera;
+	return m_data->m_activeCamera;
 }
 
 
 void GLInstancingRenderer::setActiveCamera(CommonCameraInterface* cam)
 {
-	b3Assert(0);//not supported yet
+	m_data->m_activeCamera = cam;
 }
 
 
@@ -951,14 +953,10 @@ void GLInstancingRenderer::updateCamera(int upAxis)
     b3Assert(0);
 	};
 
-	m_data->m_defaultCamera.setCameraUpAxis(upAxis);
-	m_data->m_defaultCamera.setAspectRatio((float)m_screenWidth/(float)m_screenHeight);
-	m_data->m_defaultCamera.update();
+	m_data->m_activeCamera->setCameraUpAxis(upAxis);
+	m_data->m_activeCamera->setAspectRatio((float)m_screenWidth/(float)m_screenHeight);
+	m_data->m_defaultCamera1.update();
 
-	m_data->m_defaultCamera.getCameraProjectionMatrix(m_data->m_projectionMatrix);
-	m_data->m_defaultCamera.getCameraViewMatrix(m_data->m_viewMatrix);
-	
-	
 
 }
 
@@ -1489,7 +1487,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 	float depthViewMatrix[4][4];
 	b3Vector3 center = b3MakeVector3(0,0,0);
 	float upf[3];
-	m_data->m_defaultCamera.getCameraUpVector(upf);
+	m_data->m_activeCamera->getCameraUpVector(upf);
 	b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
 	b3CreateLookAt(gLightPos,center,up,&depthViewMatrix[0][0]);
 	//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);
@@ -1526,6 +1524,9 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 	{
 		B3_PROFILE("updateCamera");
 	//	updateCamera();
+		m_data->m_activeCamera->getCameraProjectionMatrix(m_data->m_projectionMatrix);
+        m_data->m_activeCamera->getCameraViewMatrix(m_data->m_viewMatrix);
+
 	}
 
 b3Assert(glGetError() ==GL_NO_ERROR);
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index cf3be4e4c..0ed1db2ea 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -657,7 +657,7 @@ SimpleOpenGL3App::~SimpleOpenGL3App()
 	delete m_data ;
 }
 
-void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes)
+void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes)
 {
     
     int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
@@ -668,6 +668,12 @@ void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSize
 		int glstat = glGetError();
 		b3Assert(glstat==GL_NO_ERROR);
     }
+    if ((width*height*sizeof(float)) == depthBufferSizeInBytes)
+    {
+        glReadPixels(0,0,width, height, GL_DEPTH_COMPONENT, GL_FLOAT, depthBuffer);
+		int glstat = glGetError();
+		b3Assert(glstat==GL_NO_ERROR);
+    }
     
 }
 
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.h b/examples/OpenGLWindow/SimpleOpenGL3App.h
index 8593e215c..8a3f477f6 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.h
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.h
@@ -24,7 +24,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
 	virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
     void dumpNextFrameToPng(const char* pngFilename);
     void dumpFramesToVideo(const char* mp4Filename);
-    void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes);
+    void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes);
     
 	void drawGrid(DrawGridData data=DrawGridData());
 	virtual void setUpAxis(int axis);
diff --git a/examples/RoboticsLearning/b3RobotSimAPI.cpp b/examples/RoboticsLearning/b3RobotSimAPI.cpp
index 3310d82ce..36df27411 100644
--- a/examples/RoboticsLearning/b3RobotSimAPI.cpp
+++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp
@@ -345,12 +345,8 @@ public:
 	{
 	}
 
-	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
 	{
-	     if (width)
-            *width = 0;
-        if (height)
-            *height = 0;
         if (numPixelsCopied)
             *numPixelsCopied = 0;
 	}
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index e67a2c144..014997f21 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -792,6 +792,14 @@ b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physC
     return (b3SharedMemoryCommandHandle) command;
 }
 
+void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
+    b3Assert(renderer>(1<<15));
+    command->m_updateFlags |= renderer;
+}
 
 void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 8f57f4db9..c90015276 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -73,6 +73,7 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command,
 void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]);
 void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal);
 void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height );
+void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer);
 void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
 
 
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index e8e181992..9faa782a9 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -170,8 +170,9 @@ protected:
           //  b3Printf("# motors = %d, cmd[%d] qIndex = %d, uIndex = %d, targetPos = %f", m_numMotors, serial, qIndex,uIndex,targetPos);
             
             b3JointControlSetDesiredPosition(commandHandle, qIndex, targetPos);
-            b3JointControlSetKp(commandHandle, qIndex, 0.1);
-            b3JointControlSetKd(commandHandle, uIndex, 0);
+            b3JointControlSetDesiredVelocity(commandHandle,uIndex,0);
+            b3JointControlSetKp(commandHandle, qIndex, 0.01);
+            b3JointControlSetKd(commandHandle, uIndex, 0.1);
             
             b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
         }
@@ -236,7 +237,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf");
             //setting the initial position, orientation and other arguments are optional
             double startPosX = 0;
-            static double startPosY = 0;
+            static double startPosY = 1;
             double startPosZ = 0;
             b3LoadUrdfCommandSetStartPosition(commandHandle, startPosX,startPosY,startPosZ);
 			startPosY += 2.f;
@@ -256,11 +257,13 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             ///request an image from a simulated camera, using a software renderer.
             
             b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
+            //b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
             
 			float viewMatrix[16];
 			float projectionMatrix[16];
-			this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
-			this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
+			m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
+            m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
+            
             b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
 			b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
 			b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
@@ -483,9 +486,9 @@ void	PhysicsClientExample::createButtons()
 		}
         createButton("Send Desired State",CMD_SEND_DESIRED_STATE,  isTrigger);
         createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
-		createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
+				createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
         createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
-		createButton("Initialize Pose",CMD_INIT_POSE,  isTrigger);
+				createButton("Initialize Pose",CMD_INIT_POSE,  isTrigger);
         createButton("Set gravity", CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, isTrigger);
 
         if (m_bodyUniqueIds.size())
@@ -681,7 +684,6 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
 							
 							int pixelIndex = (xIndex+yIndex*imageData.m_pixelWidth)*bytesPerPixel;
 							m_canvas->setPixel(m_canvasIndex,i,j,
-                                               
 									imageData.m_rgbColorData[pixelIndex],
 									imageData.m_rgbColorData[pixelIndex+1],
 									imageData.m_rgbColorData[pixelIndex+2],
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 4896bd6f1..cce14de16 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1123,23 +1123,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				{
 
 					int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex;
-                    int width, height;
+                    int width = clientCmd.m_requestPixelDataArguments.m_pixelWidth;
+                    int height = clientCmd.m_requestPixelDataArguments.m_pixelHeight;
                     int numPixelsCopied = 0;
 
-					if (
-						(clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
-						(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
-					{
-						m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
-																	clientCmd.m_requestPixelDataArguments.m_pixelHeight);
-					}
+					
 
-					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0)
+					if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
 					{
-						m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0);
+						//m_data->m_guiHelper->copyCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,clientCmd.m_requestPixelDataArguments.m_projectionMatrix,0,0,0,0,0,width,height,0);
 					}
 					else
 					{
+					    if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
+                            (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
+                        {
+                            m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
+                                                                        clientCmd.m_requestPixelDataArguments.m_pixelHeight);
+                        }
                         m_data->m_visualConverter.getWidthAndHeight(width,height);
 					}
 
@@ -1157,9 +1158,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
                         float* depthBuffer = (float*)(bufferServerToClient+numRequestedPixels*4);
 
-                        if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0)
+                        if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
 						{
-							m_data->m_guiHelper->copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied);
+							m_data->m_guiHelper->copyCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,width,height,&numPixelsCopied);
 						} else
 						{
 
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 3f35f7cc5..a4ac05f67 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -346,12 +346,8 @@ public:
 	{
 	}
 
-	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int width, int height, int* numPixelsCopied)
 	{
-	     if (width)
-            *width = 0;
-        if (height)
-            *height = 0;
         if (numPixelsCopied)
             *numPixelsCopied = 0;
 	}
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 3ddb11e91..2b1401a0f 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -138,8 +138,8 @@ struct RequestPixelDataArgs
 enum EnumRequestPixelDataUpdateFlags
 {
 	REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1,
-	REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL=2,
 	REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=4,
+	//don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h
 	
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 3aeeb8f11..10d87d008 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -151,4 +151,12 @@ enum EnumExternalForceFlags
     EF_WORLD_FRAME=2,
 };
 
+///flags to pick the renderer for synthetic camera
+enum EnumRenderer
+{
+    ER_TINY_RENDERER=(1<<16),
+    ER_BULLET_HARDWARE_OPENGL=(1<<17),
+    //ER_FIRE_RAYS=(1<<18),
+};
+
 #endif//SHARED_MEMORY_PUBLIC_H
diff --git a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp
index d4e0fd77b..5babcb023 100644
--- a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp
+++ b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp
@@ -348,12 +348,8 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	}
 
-	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int width, int height, int* numPixelsCopied)
 	{
-		if (width)
-			*width = 0;
-		if (height)
-			*height = 0;
 		if (numPixelsCopied)
 			*numPixelsCopied = 0;
 	}