Merge pull request #2287 from erwincoumans/master

fix testlaikago and pd_controller_stable

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -11,6 +11,13 @@ struct CommonParameterInterface;
 struct CommonRenderInterface;
 struct CommonGraphicsApp;
 
+struct GUISyncPosition
+{
+	int m_graphicsInstanceId;
+	float m_pos[4];
+	float m_orn[4];
+};
+
 typedef void (*VisualizerFlagCallback)(int flag, bool enable);
 
 ///The Bullet 2 GraphicsPhysicsBridge let's the graphics engine create graphics representation and synchronize
@@ -25,7 +32,9 @@ struct GUIHelperInterface
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape) = 0;
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld) = 0;
-
+	virtual void syncPhysicsToGraphics2(const btDiscreteDynamicsWorld* rbWorld) {}
+	virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions) {}
+	
 	virtual void render(const btDiscreteDynamicsWorld* rbWorld) = 0;
 
 	virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld) = 0;
@@ -114,7 +123,10 @@ struct GUIHelperInterface
 ///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode')
 struct DummyGUIHelper : public GUIHelperInterface
 {
-	DummyGUIHelper() {}
+	DummyGUIHelper() 
+	{
+
+	}
 	virtual ~DummyGUIHelper() {}
 
 	virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color) {}

examples/ExampleBrowser/CMakeLists.txt

@@ -171,6 +171,14 @@ SET(BulletExampleBrowser_SRCS
 	../SharedMemory/PhysicsClientSharedMemory_C_API.cpp
 	../SharedMemory/PhysicsClient.cpp
 	../SharedMemory/PhysicsClientC_API.cpp
+	../SharedMemory/GraphicsServerExample.cpp
+	../SharedMemory/GraphicsClientExample.cpp
+	../SharedMemory/RemoteGUIHelper.cpp
+	../SharedMemory/GraphicsServerExample.h
+	../SharedMemory/GraphicsClientExample.h
+	../SharedMemory/RemoteGUIHelper.h
+	../SharedMemory/GraphicsSharedMemoryCommands.h
+	../SharedMemory/GraphicsSharedMemoryPublic.h
 	../SharedMemory/PhysicsServerExample.cpp
 	../SharedMemory/PhysicsServerExampleBullet2.cpp
 	../SharedMemory/PhysicsClientExample.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -11,6 +11,9 @@
 #include "../RenderingExamples/RaytracerSetup.h"
 #include "../RenderingExamples/TinyRendererSetup.h"
 #include "../RenderingExamples/DynamicTexturedCubeDemo.h"
+#include "../SharedMemory/GraphicsServerExample.h"
+#include "../SharedMemory/GraphicsClientExample.h"
+
 #include "../ForkLift/ForkLiftDemo.h"
 #include "../MultiThreadedDemo/MultiThreadedDemo.h"
 #include "../BasicDemo/BasicExample.h"
@@ -150,7 +153,10 @@ static ExampleEntry gDefaultExamples[] =
 					 PhysicsServerCreateFuncBullet2, PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
 		ExampleEntry(1, "Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
 					 PhysicsServerCreateFuncBullet2, PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
-		//
+		ExampleEntry(1, "Graphics Server", "Create a graphics server.",GraphicsServerCreateFuncBullet),
+		ExampleEntry(1, "Graphics Client", "Create a graphics client.", GraphicsClientCreateFunc),
+		
+					 //
 		//	ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
 
 		ExampleEntry(0, "BlockSolver"),

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -1157,17 +1157,22 @@ void OpenGLExampleBrowser::updateGraphics()
 
 void OpenGLExampleBrowser::update(float deltaTime)
 {
+
 	b3ChromeUtilsEnableProfiling();
 
 	if (!gEnableRenderLoop && !singleStepSimulation)
 	{
+		B3_PROFILE("updateGraphics");
 		sCurrentDemo->updateGraphics();
 		return;
 	}
 
 	B3_PROFILE("OpenGLExampleBrowser::update");
-	assert(glGetError() == GL_NO_ERROR);
+	//assert(glGetError() == GL_NO_ERROR);
-	s_instancingRenderer->init();
+	{
+		B3_PROFILE("s_instancingRenderer");
+		s_instancingRenderer->init();
+	}
 	DrawGridData dg;
 	dg.upAxis = s_app->getUpAxis();
 
@@ -1215,6 +1220,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 
 			if (gFixedTimeStep > 0)
 			{
+				
 				sCurrentDemo->stepSimulation(gFixedTimeStep);
 			}
 			else
@@ -1279,22 +1285,25 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		}
 #endif  //#ifndef BT_NO_PROFILE
 
-		if (sUseOpenGL2)
 		{
-			saveOpenGLState(s_instancingRenderer->getScreenWidth() * s_window->getRetinaScale(), s_instancingRenderer->getScreenHeight() * s_window->getRetinaScale());
+			B3_PROFILE("updateOpenGL");
-		}
+			if (sUseOpenGL2)
+			{
+				saveOpenGLState(s_instancingRenderer->getScreenWidth() * s_window->getRetinaScale(), s_instancingRenderer->getScreenHeight() * s_window->getRetinaScale());
+			}
 
-		if (m_internalData->m_gui)
+			if (m_internalData->m_gui)
-		{
+			{
-			gBlockGuiMessages = true;
+				gBlockGuiMessages = true;
-			m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
+				m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
 
-			gBlockGuiMessages = false;
+				gBlockGuiMessages = false;
-		}
+			}
 
-		if (sUseOpenGL2)
+			if (sUseOpenGL2)
-		{
+			{
-			restoreOpenGLState();
+				restoreOpenGLState();
+			}
 		}
 	}
 

examples/ExampleBrowser/premake4.lua

@@ -116,6 +116,15 @@ project "App_BulletExampleBrowser"
 		"../SharedMemory/SharedMemoryCommandProcessor.cpp",
 		"../SharedMemory/SharedMemoryCommandProcessor.h",
 		"../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
+		"../SharedMemory/GraphicsClientExample.cpp",
+		"../SharedMemory/GraphicsClientExample.h",
+		"../SharedMemory/GraphicsServerExample.cpp",
+		"../SharedMemory/GraphicsServerExample.h",
+		"../SharedMemory/GraphicsSharedMemoryBlock.h",
+		"../SharedMemory/GraphicsSharedMemoryCommands.h",
+		"../SharedMemory/GraphicsSharedMemoryPublic.h",
+		"../SharedMemory/RemoteGUIHelper.cpp",
+		"../SharedMemory/RemoteGUIHelper.h",
 		"../SharedMemory/PhysicsClient.cpp",
 		"../SharedMemory/PosixSharedMemory.cpp",
 		"../SharedMemory/Win32SharedMemory.cpp",

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -2010,6 +2010,7 @@ TransparentDistanceSortPredicate{
 
 void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 {
+	B3_PROFILE("renderSceneInternal");
 	int renderMode = orgRenderMode;
 	bool reflectionPass = false;
 	bool reflectionPlanePass = false;
@@ -2047,7 +2048,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 	// Cull triangles which normal is not towards the camera
 	glEnable(GL_CULL_FACE);
 
-	B3_PROFILE("GLInstancingRenderer::RenderScene");
+	
 
 	{
 		B3_PROFILE("init");

examples/RobotSimulator/CMakeLists.txt

@@ -15,6 +15,14 @@ RobotSimulatorMain.cpp
 	MinitaurSetup.cpp
 	MinitaurSetup.h
 	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
+	../SharedMemory/GraphicsServerExample.cpp
+	../SharedMemory/GraphicsClientExample.cpp
+	../SharedMemory/RemoteGUIHelper.cpp
+	../SharedMemory/GraphicsServerExample.h
+	../SharedMemory/GraphicsClientExample.h
+	../SharedMemory/RemoteGUIHelper.h
+	../SharedMemory/GraphicsSharedMemoryCommands.h
+	../SharedMemory/GraphicsSharedMemoryPublic.h
 	../../examples/SharedMemory/PhysicsServerExample.cpp
 	../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
 	../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp		

examples/SharedMemory/CMakeLists.txt

@@ -18,6 +18,13 @@ SET(SharedMemory_SRCS
 	PhysicsServer.cpp
 	PhysicsServer.h
 	PhysicsClientC_API.cpp
+	GraphicsClientExample.cpp
+	GraphicsClientExample.h
+	GraphicsServerExample.cpp
+	GraphicsServerExample.h
+	GraphicsSharedMemoryBlock.h
+	GraphicsSharedMemoryCommands.h
+	GraphicsSharedMemoryPublic.h
 	SharedMemoryCommands.h
 	SharedMemoryPublic.h
 	PhysicsServer.cpp

examples/SharedMemory/GraphicsClientExample.cpp

@@ -0,0 +1,287 @@
+
+#include "GraphicsClientExample.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "Bullet3Common/b3Logging.h"
+#include "GraphicsSharedMemoryCommands.h"
+#include "PosixSharedMemory.h"
+#include "Win32SharedMemory.h"
+#include "GraphicsSharedMemoryBlock.h"
+#include "Bullet3Common/b3Scalar.h"
+
+class GraphicsClientExample : public CommonExampleInterface
+{
+protected:
+	
+	GUIHelperInterface* m_guiHelper;
+	bool m_waitingForServer;
+	GraphicsSharedMemoryBlock* m_testBlock1;
+	SharedMemoryInterface* m_sharedMemory;
+	GraphicsSharedMemoryStatus m_lastServerStatus;
+	int m_sharedMemoryKey;
+	bool m_isConnected;
+
+public:
+	GraphicsClientExample(GUIHelperInterface* helper, int options);
+	virtual ~GraphicsClientExample();
+
+	virtual void initPhysics();
+	virtual void stepSimulation(float deltaTime);
+
+	virtual void resetCamera()
+	{
+		float dist = 3.45;
+		float pitch = -16.2;
+		float yaw = 287;
+		float targetPos[3] = {2.05, 0.02, 0.53};  //-3,2.8,-2.5};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+
+
+	virtual bool isConnected()
+	{
+		return m_isConnected;
+	}
+
+	bool canSubmitCommand() const
+	{
+		if (m_isConnected && !m_waitingForServer)
+		{
+			if (m_testBlock1->m_magicId == GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
+			{
+				return true;
+			}
+			else
+			{
+				return false;
+			}
+		}
+		return false;
+	}
+
+	struct GraphicsSharedMemoryCommand* getAvailableSharedMemoryCommand()
+	{
+		static int sequence = 0;
+		if (m_testBlock1)
+		{
+			m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
+			return &m_testBlock1->m_clientCommands[0];
+		}
+		return 0;
+	}
+
+	bool submitClientCommand(const GraphicsSharedMemoryCommand& command)
+	{
+		/// at the moment we allow a maximum of 1 outstanding command, so we check for this
+		// once the server processed the command and returns a status, we clear the flag
+		// "m_data->m_waitingForServer" and allow submitting the next command
+
+		if (!m_waitingForServer)
+		{
+			//printf("submit command of type %d\n", command.m_type);
+
+			if (&m_testBlock1->m_clientCommands[0] != &command)
+			{
+				m_testBlock1->m_clientCommands[0] = command;
+			}
+			m_testBlock1->m_numClientCommands++;
+			m_waitingForServer = true;
+			return true;
+		}
+		return false;
+	}
+
+
+	const GraphicsSharedMemoryStatus* processServerStatus()
+	{
+		// SharedMemoryStatus* stat = 0;
+
+		if (!m_testBlock1)
+		{
+			m_lastServerStatus.m_type = GFX_CMD_SHARED_MEMORY_NOT_INITIALIZED;
+			return &m_lastServerStatus;
+		}
+
+		if (!m_waitingForServer)
+		{
+			return 0;
+		}
+
+		if (m_testBlock1->m_magicId != GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
+		{
+			m_lastServerStatus.m_type = GFX_CMD_SHARED_MEMORY_NOT_INITIALIZED;
+			return &m_lastServerStatus;
+		}
+
+
+		if (m_testBlock1->m_numServerCommands >
+			m_testBlock1->m_numProcessedServerCommands)
+		{
+			B3_PROFILE("processServerCMD");
+			b3Assert(m_testBlock1->m_numServerCommands ==
+				m_testBlock1->m_numProcessedServerCommands + 1);
+
+			const GraphicsSharedMemoryStatus& serverCmd = m_testBlock1->m_serverCommands[0];
+
+			m_lastServerStatus = serverCmd;
+			
+			//       EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
+			// consume the command
+			switch (serverCmd.m_type)
+			{
+				case GFX_CMD_CLIENT_COMMAND_COMPLETED:
+				{
+					B3_PROFILE("CMD_CLIENT_COMMAND_COMPLETED");
+
+					
+					break;
+				}
+				default:
+				{
+				}
+			}
+
+			m_testBlock1->m_numProcessedServerCommands++;
+			// we don't have more than 1 command outstanding (in total, either server or client)
+			b3Assert(m_testBlock1->m_numProcessedServerCommands ==
+				m_testBlock1->m_numServerCommands);
+
+			if (m_testBlock1->m_numServerCommands ==
+				m_testBlock1->m_numProcessedServerCommands)
+			{
+				m_waitingForServer = false;
+			}
+			else
+			{
+				m_waitingForServer = true;
+			}
+
+
+			return &m_lastServerStatus;
+		}
+		return 0;
+	}
+
+	bool connect()
+	{
+		/// server always has to create and initialize shared memory
+		bool allowCreation = false;
+		m_testBlock1 = (GraphicsSharedMemoryBlock*)m_sharedMemory->allocateSharedMemory(
+			m_sharedMemoryKey, GRAPHICS_SHARED_MEMORY_SIZE, allowCreation);
+
+		if (m_testBlock1)
+		{
+			if (m_testBlock1->m_magicId != GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
+			{
+				b3Error("Error connecting to shared memory: please start server before client\n");
+				m_sharedMemory->releaseSharedMemory(m_sharedMemoryKey,
+					GRAPHICS_SHARED_MEMORY_SIZE);
+				m_testBlock1 = 0;
+				return false;
+			}
+			else
+			{
+				m_isConnected = true;
+			}
+		}
+		else
+		{
+			b3Warning("Cannot connect to shared memory");
+			return false;
+		}
+		return true;
+	}
+
+
+	void disconnect()
+	{
+		if (m_isConnected && m_sharedMemory)
+		{
+			m_sharedMemory->releaseSharedMemory(m_sharedMemoryKey, GRAPHICS_SHARED_MEMORY_SIZE);
+		}
+		m_isConnected = false;
+	}
+
+	virtual void exitPhysics(){};
+	
+	virtual void physicsDebugDraw(int debugFlags)
+	{
+	}
+
+	virtual void renderScene()
+	{
+	}
+	virtual bool mouseMoveCallback(float x, float y)
+	{
+		return false;
+	}
+	virtual bool mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return false;
+	}
+	virtual bool keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
+
+};
+
+
+
+GraphicsClientExample::GraphicsClientExample(GUIHelperInterface* helper, int options)
+	: m_guiHelper(helper),
+	m_waitingForServer(false),
+	m_testBlock1(0)
+{
+#ifdef _WIN32
+	m_sharedMemory = new Win32SharedMemoryClient();
+#else
+	m_sharedMemory = new PosixSharedMemory();
+#endif
+	m_sharedMemoryKey = GRAPHICS_SHARED_MEMORY_KEY;
+	m_isConnected = false;
+	b3Printf("Started GraphicsClientExample\n");
+	connect();
+}
+
+GraphicsClientExample::~GraphicsClientExample()
+{
+	disconnect();
+	delete m_sharedMemory;
+}
+
+
+void GraphicsClientExample::initPhysics()
+{
+	if (m_guiHelper && m_guiHelper->getParameterInterface())
+	{
+		int upAxis = 2;
+		m_guiHelper->setUpAxis(upAxis);
+	}
+	
+}
+
+void GraphicsClientExample::stepSimulation(float deltaTime)
+{
+	GraphicsSharedMemoryCommand* cmd = getAvailableSharedMemoryCommand();
+	if (cmd)
+	{
+		cmd->m_updateFlags = 0;
+		cmd->m_type = GFX_CMD_0;
+		submitClientCommand(*cmd);
+	}
+	const GraphicsSharedMemoryStatus* status = processServerStatus();
+	if (status)
+	{
+		//handle it
+	}
+}
+
+class CommonExampleInterface* GraphicsClientCreateFunc(struct CommonExampleOptions& options)
+{
+	GraphicsClientExample* example = new GraphicsClientExample(options.m_guiHelper, options.m_option);
+	
+	
+	return example;
+}

examples/SharedMemory/GraphicsClientExample.h

@@ -0,0 +1,7 @@
+#ifndef GRAPHICS_CLIENT_EXAMPLE_H
+#define GRAPHICS_CLIENT_EXAMPLE_H
+
+
+class CommonExampleInterface* GraphicsClientCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //GRAPHICS_CLIENT_EXAMPLE_H

examples/SharedMemory/GraphicsServerExample.cpp

@@ -0,0 +1,398 @@
+
+#include "GraphicsServerExample.h"
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+#include "PosixSharedMemory.h"
+#include "Win32SharedMemory.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "LinearMath/btTransform.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "GraphicsSharedMemoryBlock.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+
+#define MAX_GRAPHICS_SHARED_MEMORY_BLOCKS 1
+
+
+class GraphicsServerExample : public CommonExampleInterface
+{
+	CommonGraphicsApp* m_app;
+	GUIHelperInterface* m_guiHelper;
+	SharedMemoryInterface* m_sharedMemory;
+	int m_sharedMemoryKey;
+	bool m_verboseOutput;
+	bool m_areConnected[MAX_GRAPHICS_SHARED_MEMORY_BLOCKS];
+	GraphicsSharedMemoryBlock* m_testBlocks[MAX_GRAPHICS_SHARED_MEMORY_BLOCKS];
+	b3AlignedObjectArray< b3AlignedObjectArray<unsigned char> > m_dataSlots;
+
+	float m_x;
+	float m_y;
+	float m_z;
+
+public:
+	GraphicsServerExample(GUIHelperInterface* guiHelper)
+		: m_guiHelper(guiHelper),
+		  m_x(0),
+		  m_y(0),
+		  m_z(0)
+	{
+		m_verboseOutput = true;
+		m_sharedMemoryKey = GRAPHICS_SHARED_MEMORY_KEY;
+		m_app = guiHelper->getAppInterface();
+		m_app->setUpAxis(2);
+
+
+		for (int i = 0; i < MAX_GRAPHICS_SHARED_MEMORY_BLOCKS; i++)
+		{
+			m_areConnected[i] = false;
+		}
+
+#ifdef _WIN32
+		m_sharedMemory = new Win32SharedMemoryServer();
+#else
+		m_sharedMemory = new PosixSharedMemory();
+#endif
+
+#if 0
+		{
+			int boxId = m_app->registerCubeShape(0.1, 0.1, 0.1);
+			btVector3 pos(0, 0, 0);
+			btQuaternion orn(0, 0, 0, 1);
+			btVector4 color(0.3, 0.3, 0.3, 1);
+			btVector3 scaling(1, 1, 1);
+			m_app->m_renderer->registerGraphicsInstance(boxId, pos, orn, color, scaling);
+		}
+
+		m_app->m_renderer->writeTransforms();
+#endif
+		connectSharedMemory(m_guiHelper, m_sharedMemoryKey);
+
+	}
+	virtual ~GraphicsServerExample()
+	{
+		disconnectSharedMemory();
+	}
+
+	virtual void initPhysics()
+	{
+	}
+	virtual void exitPhysics()
+	{
+	}
+	
+	GraphicsSharedMemoryStatus& createServerStatus(int statusType, int sequenceNumber, int timeStamp, int blockIndex)
+	{
+		GraphicsSharedMemoryStatus& serverCmd = m_testBlocks[blockIndex]->m_serverCommands[0];
+		serverCmd.m_type = statusType;
+		serverCmd.m_sequenceNumber = sequenceNumber;
+		serverCmd.m_timeStamp = timeStamp;
+		return serverCmd;
+	}
+	void submitServerStatus(GraphicsSharedMemoryStatus& status, int blockIndex)
+	{
+		m_testBlocks[blockIndex]->m_numServerCommands++;
+	}
+
+	bool processCommand(const struct GraphicsSharedMemoryCommand& clientCmd, struct GraphicsSharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+	{
+		//printf("processed command of type:%d\n", clientCmd.m_type);
+		B3_PROFILE("processCommand");
+		switch (clientCmd.m_type)
+		{
+			case GFX_CMD_0:
+			{
+				//either Y or Z can be up axis
+				int upAxis = (clientCmd.m_upAxisYCommand.m_enableUpAxisY) ? 1 : 2;
+				m_guiHelper->setUpAxis(upAxis);
+				break;
+			}
+			case GFX_CMD_SET_VISUALIZER_FLAG:
+			{
+				//printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n",
+				//	clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
+
+				this->m_guiHelper->setVisualizerFlag(clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
+				break;
+			}
+
+			case GFX_CMD_UPLOAD_DATA:
+			{
+				//printf("uploadData command: curSize=%d, offset=%d, slot=%d", clientCmd.m_uploadDataCommand.m_numBytes, clientCmd.m_uploadDataCommand.m_dataOffset, clientCmd.m_uploadDataCommand.m_dataSlot);
+				int dataSlot = clientCmd.m_uploadDataCommand.m_dataSlot;
+				int dataOffset = clientCmd.m_uploadDataCommand.m_dataOffset;
+				m_dataSlots.resize(dataSlot + 1);
+				btAssert(m_dataSlots[dataSlot].size() >= dataOffset);
+				m_dataSlots[dataSlot].resize(clientCmd.m_uploadDataCommand.m_numBytes + clientCmd.m_uploadDataCommand.m_dataOffset);
+				for (int i = 0; i < clientCmd.m_uploadDataCommand.m_numBytes; i++)
+				{
+					m_dataSlots[dataSlot][dataOffset + i] = bufferServerToClient[i];
+				}
+				break;
+			}
+			case GFX_CMD_REGISTER_TEXTURE:
+			{
+				int dataSlot = 0;
+				int sizeData = m_dataSlots[dataSlot].size();
+				btAssert(sizeData > 0);
+				serverStatusOut.m_type = GFX_CMD_REGISTER_TEXTURE_FAILED;
+				if (sizeData)
+				{
+					unsigned char* texels = &m_dataSlots[dataSlot][0];
+					int textureId = this->m_guiHelper->registerTexture(texels, clientCmd.m_registerTextureCommand.m_width, clientCmd.m_registerTextureCommand.m_height);
+					serverStatusOut.m_type = GFX_CMD_REGISTER_TEXTURE_COMPLETED;
+					serverStatusOut.m_registerTextureStatus.m_textureId = textureId;
+				}
+				break;
+			}
+
+			case GFX_CMD_REGISTER_GRAPHICS_SHAPE:
+			{
+				int verticesSlot = 0;
+				int indicesSlot = 1;
+				serverStatusOut.m_type = GFX_CMD_REGISTER_GRAPHICS_SHAPE_FAILED;
+				const float* vertices = (const float*) &m_dataSlots[verticesSlot][0];
+				const int* indices = (const int*) &m_dataSlots[indicesSlot][0];
+				int numVertices = clientCmd.m_registerGraphicsShapeCommand.m_numVertices;
+				int numIndices = clientCmd.m_registerGraphicsShapeCommand.m_numIndices;
+				int primitiveType = clientCmd.m_registerGraphicsShapeCommand.m_primitiveType;
+				int textureId = clientCmd.m_registerGraphicsShapeCommand.m_textureId;
+				int shapeId = this->m_guiHelper->registerGraphicsShape(vertices, numVertices, indices, numIndices, primitiveType, textureId);
+				serverStatusOut.m_registerGraphicsShapeStatus.m_shapeId = shapeId;
+				serverStatusOut.m_type = GFX_CMD_REGISTER_GRAPHICS_SHAPE_COMPLETED;
+				break;
+			}
+
+			case GFX_CMD_REGISTER_GRAPHICS_INSTANCE:
+			{
+				int graphicsInstanceId = m_guiHelper->registerGraphicsInstance(clientCmd.m_registerGraphicsInstanceCommand.m_shapeIndex,
+					clientCmd.m_registerGraphicsInstanceCommand.m_position,
+					clientCmd.m_registerGraphicsInstanceCommand.m_quaternion,
+					clientCmd.m_registerGraphicsInstanceCommand.m_color,
+					clientCmd.m_registerGraphicsInstanceCommand.m_scaling);
+				serverStatusOut.m_registerGraphicsInstanceStatus.m_graphicsInstanceId = graphicsInstanceId;
+				serverStatusOut.m_type = GFX_CMD_REGISTER_GRAPHICS_INSTANCE_COMPLETED;
+				
+				break;
+			}
+			case GFX_CMD_SYNCHRONIZE_TRANSFORMS:
+			{
+				GUISyncPosition* positions = (GUISyncPosition*)bufferServerToClient;
+				for (int i = 0; i < clientCmd.m_syncTransformsCommand.m_numPositions; i++)
+				{
+					m_app->m_renderer->writeSingleInstanceTransformToCPU(positions[i].m_pos, positions[i].m_orn, positions[i].m_graphicsInstanceId);
+				}
+				break;
+			}
+			case GFX_CMD_REMOVE_ALL_GRAPHICS_INSTANCES:
+			{
+				m_guiHelper->removeAllGraphicsInstances();
+				break;
+			}
+			case GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE:
+			{
+				m_app->m_renderer->removeGraphicsInstance(clientCmd.m_removeGraphicsInstanceCommand.m_graphicsUid);
+				break;
+			}
+			default:
+			{
+			}
+		}
+		return true;
+	}
+
+	void processClientCommands()
+	{
+		B3_PROFILE("processClientCommands");
+		for (int block = 0; block < MAX_GRAPHICS_SHARED_MEMORY_BLOCKS; block++)
+		{
+			if (m_areConnected[block] && m_testBlocks[block])
+			{
+				///we ignore overflow of integer for now
+				if (m_testBlocks[block]->m_numClientCommands > m_testBlocks[block]->m_numProcessedClientCommands)
+				{
+					//BT_PROFILE("processClientCommand");
+
+					//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
+					btAssert(m_testBlocks[block]->m_numClientCommands == m_testBlocks[block]->m_numProcessedClientCommands + 1);
+
+					const GraphicsSharedMemoryCommand& clientCmd = m_testBlocks[block]->m_clientCommands[0];
+
+					m_testBlocks[block]->m_numProcessedClientCommands++;
+					//todo, timeStamp
+					int timeStamp = 0;
+					GraphicsSharedMemoryStatus& serverStatusOut = createServerStatus(GFX_CMD_CLIENT_COMMAND_FAILED, clientCmd.m_sequenceNumber, timeStamp, block);
+					bool hasStatus = processCommand(clientCmd, serverStatusOut, &m_testBlocks[block]->m_bulletStreamData[0], GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
+					if (hasStatus)
+					{
+						submitServerStatus(serverStatusOut, block);
+					}
+				}
+			}
+		}
+	}
+
+	virtual void stepSimulation(float deltaTime)
+	{
+		B3_PROFILE("stepSimulation");
+		processClientCommands();
+		m_x += 0.01f;
+		m_y += 0.01f;
+		m_z += 0.01f;
+	}
+
+
+	virtual void renderScene()
+	{
+		B3_PROFILE("renderScene");
+		{
+
+			B3_PROFILE("writeTransforms");
+			m_app->m_renderer->writeTransforms();
+		}
+		{
+			B3_PROFILE("m_renderer->renderScene");
+			m_app->m_renderer->renderScene();
+		}
+		
+	}
+
+	
+
+	virtual void physicsDebugDraw(int debugDrawFlags)
+	{
+		
+	}
+
+	virtual bool mouseMoveCallback(float x, float y)
+	{
+		return false;
+	}
+	virtual bool mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return false;
+	}
+	virtual bool keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
+	virtual void resetCamera()
+	{
+		float dist = 3.5;
+		float pitch = -32;
+		float yaw = 136;
+		float targetPos[3] = {0, 0, 0};
+		if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
+		{
+			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
+			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
+			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
+		}
+	}
+	
+	bool connectSharedMemory(struct GUIHelperInterface* guiHelper, int sharedMemoryKey);
+	void disconnectSharedMemory(bool deInitializeSharedMemory=true);
+};
+
+
+
+bool GraphicsServerExample::connectSharedMemory(struct GUIHelperInterface* guiHelper, int sharedMemoryKey)
+{
+	
+	bool allowCreation = true;
+	bool allConnected = false;
+	int numConnected = 0;
+
+	int counter = 0;
+	for (int block = 0; block < MAX_GRAPHICS_SHARED_MEMORY_BLOCKS; block++)
+	{
+		if (m_areConnected[block])
+		{
+			allConnected = true;
+			numConnected++;
+			b3Warning("connectSharedMemory, while already connected");
+			continue;
+		}
+		do
+		{
+			m_testBlocks[block] = (GraphicsSharedMemoryBlock*)m_sharedMemory->allocateSharedMemory(m_sharedMemoryKey + block, GRAPHICS_SHARED_MEMORY_SIZE, allowCreation);
+			if (m_testBlocks[block])
+			{
+				int magicId = m_testBlocks[block]->m_magicId;
+				if (m_verboseOutput)
+				{
+					b3Printf("magicId = %d\n", magicId);
+				}
+
+				if (m_testBlocks[block]->m_magicId != GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
+				{
+					InitSharedMemoryBlock(m_testBlocks[block]);
+					if (m_verboseOutput)
+					{
+						b3Printf("Created and initialized shared memory block\n");
+					}
+					m_areConnected[block] = true;
+					numConnected++;
+				}
+				else
+				{
+					m_sharedMemory->releaseSharedMemory(m_sharedMemoryKey + block, GRAPHICS_SHARED_MEMORY_SIZE);
+					m_testBlocks[block] = 0;
+					m_areConnected[block] = false;
+				}
+			}
+			else
+			{
+				//b3Error("Cannot connect to shared memory");
+				m_areConnected[block] = false;
+			}
+		} while (counter++ < 10 && !m_areConnected[block]);
+		if (!m_areConnected[block])
+		{
+			b3Error("Server cannot connect to shared memory.\n");
+		}
+	}
+
+	allConnected = (numConnected == MAX_GRAPHICS_SHARED_MEMORY_BLOCKS);
+
+	return allConnected;
+}
+
+void GraphicsServerExample::disconnectSharedMemory(bool deInitializeSharedMemory)
+{
+	//m_data->m_commandProcessor->deleteDynamicsWorld();
+
+	
+	if (m_verboseOutput)
+	{
+		b3Printf("releaseSharedMemory1\n");
+	}
+	for (int block = 0; block < MAX_GRAPHICS_SHARED_MEMORY_BLOCKS; block++)
+	{
+		if (m_testBlocks[block])
+		{
+			if (m_verboseOutput)
+			{
+				b3Printf("m_testBlock1\n");
+			}
+			if (deInitializeSharedMemory)
+			{
+				m_testBlocks[block]->m_magicId = 0;
+				if (m_verboseOutput)
+				{
+					b3Printf("De-initialized shared memory, magic id = %d\n", m_testBlocks[block]->m_magicId);
+				}
+			}
+			btAssert(m_sharedMemory);
+			m_sharedMemory->releaseSharedMemory(m_sharedMemoryKey + block, GRAPHICS_SHARED_MEMORY_SIZE);
+		}
+		m_testBlocks[block] = 0;
+		m_areConnected[block] = false;
+	}
+}
+
+CommonExampleInterface* GraphicsServerCreateFuncBullet(struct CommonExampleOptions& options)
+{
+	return new GraphicsServerExample(options.m_guiHelper);
+}

examples/SharedMemory/GraphicsServerExample.h

@@ -0,0 +1,6 @@
+#ifndef GRAPHICS_SERVER_EXAMPLE_H
+#define GRAPHICS_SERVER_EXAMPLE_H
+
+class CommonExampleInterface* GraphicsServerCreateFuncBullet(struct CommonExampleOptions& options);
+
+#endif  //GRAPHICS_SERVER_EXAMPLE_H

examples/SharedMemory/GraphicsSharedMemoryBlock.h

@@ -0,0 +1,41 @@
+#ifndef GRAPHICS_SHARED_MEMORY_BLOCK_H
+#define GRAPHICS_SHARED_MEMORY_BLOCK_H
+
+#define GRAPHICS_SHARED_MEMORY_MAX_COMMANDS 1
+
+#include "GraphicsSharedMemoryCommands.h"
+
+struct GraphicsSharedMemoryBlock
+{
+	int m_magicId;
+	struct GraphicsSharedMemoryCommand m_clientCommands[GRAPHICS_SHARED_MEMORY_MAX_COMMANDS];
+	struct GraphicsSharedMemoryStatus m_serverCommands[GRAPHICS_SHARED_MEMORY_MAX_COMMANDS];
+
+	int m_numClientCommands;
+	int m_numProcessedClientCommands;
+
+	int m_numServerCommands;
+	int m_numProcessedServerCommands;
+
+	char m_bulletStreamData[GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
+};
+
+//http://stackoverflow.com/questions/24736304/unable-to-use-inline-in-declaration-get-error-c2054
+#ifdef _WIN32
+__inline
+#else
+inline
+#endif
+	void
+	InitSharedMemoryBlock(struct GraphicsSharedMemoryBlock* sharedMemoryBlock)
+{
+	sharedMemoryBlock->m_numClientCommands = 0;
+	sharedMemoryBlock->m_numServerCommands = 0;
+	sharedMemoryBlock->m_numProcessedClientCommands = 0;
+	sharedMemoryBlock->m_numProcessedServerCommands = 0;
+	sharedMemoryBlock->m_magicId = GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER;
+}
+
+#define GRAPHICS_SHARED_MEMORY_SIZE sizeof(GraphicsSharedMemoryBlock)
+
+#endif  //GRAPHICS_SHARED_MEMORY_BLOCK_H

examples/SharedMemory/GraphicsSharedMemoryCommands.h

@@ -0,0 +1,159 @@
+#ifndef GRAPHICS_SHARED_MEMORY_COMMANDS_H
+#define GRAPHICS_SHARED_MEMORY_COMMANDS_H
+
+//this is a very experimental draft of commands. We will iterate on this API (commands, arguments etc)
+
+#include "GraphicsSharedMemoryPublic.h"
+
+#ifdef __GNUC__
+#include <stdint.h>
+typedef int32_t smInt32a_t;
+typedef int64_t smInt64a_t;
+typedef uint32_t smUint32a_t;
+typedef uint64_t smUint64a_t;
+#elif defined(_MSC_VER)
+typedef __int32 smInt32a_t;
+typedef __int64 smInt64a_t;
+typedef unsigned __int32 smUint32a_t;
+typedef unsigned __int64 smUint64a_t;
+#else
+typedef int smInt32a_t;
+typedef long long int smInt64a_t;
+typedef unsigned int smUint32a_t;
+typedef unsigned long long int smUint64a_t;
+#endif
+
+#ifdef __APPLE__
+#define GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512 * 1024)
+#else
+#define GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (4 * 1024 * 1024)
+#endif
+
+struct GraphicsCommand0
+{
+	int bla;
+};
+
+struct GraphicsUpAxisCommand
+{
+	int m_enableUpAxisY;
+};
+
+struct GraphicsStatus0
+{
+	int bla;
+};
+
+struct GraphicsVisualizerFlagCommand
+{
+	int m_visualizerFlag;
+	int m_enable;
+};
+
+struct GraphicsUploadDataCommand
+{
+	int m_numBytes;
+	int m_dataOffset;
+	int m_dataSlot;
+};
+
+struct GraphicRegisterTextureCommand
+{
+	int m_width;
+	int m_height;
+};
+
+struct GraphicsRegisterTextureStatus
+{
+	int m_textureId;
+};
+
+struct GraphicsRegisterGraphicsShapeCommand
+{
+	int m_numVertices;
+	int m_numIndices;
+	int m_primitiveType;
+	int m_textureId;
+};
+
+struct GraphicsRegisterGraphicsShapeStatus
+{
+	int m_shapeId;
+};
+
+struct GraphicsRegisterGraphicsInstanceCommand
+{
+	
+	int m_shapeIndex;
+	float m_position[4];
+	float m_quaternion[4];
+	float m_color[4];
+	float m_scaling[4];
+};
+
+struct GraphicsRegisterGraphicsInstanceStatus
+{
+	int m_graphicsInstanceId;
+};
+
+struct GraphicsSyncTransformsCommand
+{
+	int m_numPositions;
+};
+
+struct GraphicsRemoveInstanceCommand
+{
+	int m_graphicsUid;
+};
+
+
+struct GraphicsSharedMemoryCommand
+{
+	int m_type;
+	smUint64a_t m_timeStamp;
+	int m_sequenceNumber;
+
+	//m_updateFlags is a bit fields to tell which parameters need updating
+	//for example m_updateFlags = SIM_PARAM_UPDATE_DELTA_TIME | SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
+	int m_updateFlags;
+
+	union {
+		struct GraphicsCommand0 m_graphicsCommand0;
+		struct GraphicsUpAxisCommand m_upAxisYCommand;
+		struct GraphicsVisualizerFlagCommand m_visualizerFlagCommand;
+		struct GraphicsUploadDataCommand m_uploadDataCommand;
+		struct GraphicRegisterTextureCommand m_registerTextureCommand;
+		struct GraphicsRegisterGraphicsShapeCommand m_registerGraphicsShapeCommand;
+		struct GraphicsRegisterGraphicsInstanceCommand m_registerGraphicsInstanceCommand;
+		struct GraphicsSyncTransformsCommand m_syncTransformsCommand;
+		struct GraphicsRemoveInstanceCommand m_removeGraphicsInstanceCommand;
+	};
+};
+
+struct GraphicsSharedMemoryStatus
+{
+	int m_type;
+
+	smUint64a_t m_timeStamp;
+	int m_sequenceNumber;
+
+	//m_streamBytes is only for internal purposes
+	int m_numDataStreamBytes;
+	char* m_dataStream;
+
+	//m_updateFlags is a bit fields to tell which parameters were updated,
+	//m_updateFlags is ignored for most status messages
+	int m_updateFlags;
+
+	union {
+		
+		struct GraphicsStatus0 m_graphicsStatus0;
+		struct GraphicsRegisterTextureStatus m_registerTextureStatus;
+		struct GraphicsRegisterGraphicsShapeStatus m_registerGraphicsShapeStatus;
+		struct GraphicsRegisterGraphicsInstanceStatus m_registerGraphicsInstanceStatus;
+	};
+};
+
+typedef struct GraphicsSharedMemoryStatus GraphicsSharedMemoryStatus_t;
+
+#endif  //GRAPHICS_SHARED_MEMORY_COMMANDS_H

examples/SharedMemory/GraphicsSharedMemoryPublic.h

@@ -0,0 +1,47 @@
+#ifndef GRAPHICS_SHARED_MEMORY_PUBLIC_H
+#define GRAPHICS_SHARED_MEMORY_PUBLIC_H
+
+#define GRAPHICS_SHARED_MEMORY_KEY 11347
+///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
+///my convention is year/month/day/rev
+//Please don't replace an existing magic number:
+//instead, only ADD a new one at the top, comment-out previous one
+
+#define GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER 201904030
+enum EnumGraphicsSharedMemoryClientCommand
+{
+	GFX_CMD_INVALID = 0,
+	GFX_CMD_0,
+	GFX_CMD_SET_VISUALIZER_FLAG,
+	GFX_CMD_UPLOAD_DATA,
+	GFX_CMD_REGISTER_TEXTURE,
+	GFX_CMD_REGISTER_GRAPHICS_SHAPE,
+	GFX_CMD_REGISTER_GRAPHICS_INSTANCE,
+	GFX_CMD_SYNCHRONIZE_TRANSFORMS,
+	GFX_CMD_REMOVE_ALL_GRAPHICS_INSTANCES,
+	GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE,
+	//don't go beyond this command!
+	GFX_CMD_MAX_CLIENT_COMMANDS,
+};
+
+enum EnumGraphicsSharedMemoryServerStatus
+{
+	GFX_CMD_SHARED_MEMORY_NOT_INITIALIZED = 0,
+	//GFX_CMD_CLIENT_COMMAND_COMPLETED is a generic 'completed' status that doesn't need special handling on the client
+	GFX_CMD_CLIENT_COMMAND_COMPLETED,
+	GFX_CMD_CLIENT_COMMAND_FAILED,
+	GFX_CMD_REGISTER_TEXTURE_COMPLETED,
+	GFX_CMD_REGISTER_TEXTURE_FAILED,
+	GFX_CMD_REGISTER_GRAPHICS_SHAPE_COMPLETED,
+	GFX_CMD_REGISTER_GRAPHICS_SHAPE_FAILED,
+	GFX_CMD_REGISTER_GRAPHICS_INSTANCE_COMPLETED,
+	GFX_CMD_REGISTER_GRAPHICS_INSTANCE_FAILED,
+	//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
+	GFX_CMD_MAX_SERVER_COMMANDS
+};
+
+
+
+
+
+#endif  //GRAPHICS_SHARED_MEMORY_PUBLIC_H

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -7717,6 +7717,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
 	}
 	serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
 
+	syncPhysicsToGraphics2();
 	return hasStatus;
 }
 
@@ -11568,6 +11569,13 @@ void PhysicsServerCommandProcessor::syncPhysicsToGraphics()
 	m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
 }
 
+
+void PhysicsServerCommandProcessor::syncPhysicsToGraphics2()
+{
+        m_data->m_guiHelper->syncPhysicsToGraphics2(m_data->m_dynamicsWorld);
+}
+
+
 void PhysicsServerCommandProcessor::renderScene(int renderFlags)
 {
 	if (m_data->m_guiHelper)

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -138,6 +138,7 @@ public:
 	virtual void physicsDebugDraw(int debugDrawFlags);
 	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
 	virtual void syncPhysicsToGraphics();
+	virtual void syncPhysicsToGraphics2();
 
 	//@todo(erwincoumans) Should we have shared memory commands for picking objects?
 	///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise

examples/SharedMemory/PhysicsServerExample.cpp

@@ -822,6 +822,16 @@ public:
 			m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
 		}
 	}
+	
+	virtual void syncPhysicsToGraphics2(const btDiscreteDynamicsWorld* rbWorld)
+	{
+		 m_childGuiHelper->syncPhysicsToGraphics2(rbWorld);
+	}
+
+	virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions)
+	{
+		m_childGuiHelper->syncPhysicsToGraphics2(positions, numPositions);
+	}
 
 	virtual void render(const btDiscreteDynamicsWorld* rbWorld)
 	{

examples/SharedMemory/PhysicsServerSharedMemory.cpp

@@ -236,8 +236,10 @@ void PhysicsServerSharedMemory::reportNotifications()
 
 void PhysicsServerSharedMemory::processClientCommands()
 {
+	//handle client commands in any of the plugins
 	m_data->m_commandProcessor->processClientCommands();
 
+	//now handle the client commands from the shared memory
 	for (int block = 0; block < MAX_SHARED_MEMORY_BLOCKS; block++)
 	{
 		if (m_data->m_areConnected[block] && m_data->m_testBlocks[block])

examples/SharedMemory/RemoteGUIHelper.cpp

@@ -0,0 +1,589 @@
+#include "RemoteGUIHelper.h"
+
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "Bullet3Common/b3Logging.h"
+#include "GraphicsSharedMemoryCommands.h"
+#include "PosixSharedMemory.h"
+#include "Win32SharedMemory.h"
+#include "GraphicsSharedMemoryBlock.h"
+#include "Bullet3Common/b3Scalar.h"
+#include "LinearMath/btMinMax.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+
+struct RemoteGUIHelperInternalData
+{
+//	GUIHelperInterface* m_guiHelper;
+	bool m_waitingForServer;
+	GraphicsSharedMemoryBlock* m_testBlock1;
+	SharedMemoryInterface* m_sharedMemory;
+	GraphicsSharedMemoryStatus m_lastServerStatus;
+	int m_sharedMemoryKey;
+	bool m_isConnected;
+
+	RemoteGUIHelperInternalData()
+		: m_waitingForServer(false),
+		m_testBlock1(0)
+	{
+#ifdef _WIN32
+		m_sharedMemory = new Win32SharedMemoryClient();
+#else
+		m_sharedMemory = new PosixSharedMemory();
+#endif
+		m_sharedMemoryKey = GRAPHICS_SHARED_MEMORY_KEY;
+		m_isConnected = false;
+		connect();
+		
+	}
+
+	virtual ~RemoteGUIHelperInternalData()
+	{
+		disconnect();
+		delete m_sharedMemory;
+	}
+
+	virtual bool isConnected()
+	{
+		return m_isConnected;
+	}
+
+	bool canSubmitCommand() const
+	{
+		if (m_isConnected && !m_waitingForServer)
+		{
+			if (m_testBlock1->m_magicId == GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
+			{
+				return true;
+			}
+			else
+			{
+				return false;
+			}
+		}
+		return false;
+	}
+
+	struct GraphicsSharedMemoryCommand* getAvailableSharedMemoryCommand()
+	{
+		static int sequence = 0;
+		if (m_testBlock1)
+		{
+			m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
+			return &m_testBlock1->m_clientCommands[0];
+		}
+		return 0;
+	}
+
+	bool submitClientCommand(const GraphicsSharedMemoryCommand& command)
+	{
+		/// at the moment we allow a maximum of 1 outstanding command, so we check for this
+		// once the server processed the command and returns a status, we clear the flag
+		// "m_data->m_waitingForServer" and allow submitting the next command
+		btAssert(!m_waitingForServer);
+		if (!m_waitingForServer)
+		{
+			//printf("submit command of type %d\n", command.m_type);
+
+			if (&m_testBlock1->m_clientCommands[0] != &command)
+			{
+				m_testBlock1->m_clientCommands[0] = command;
+			}
+			m_testBlock1->m_numClientCommands++;
+			m_waitingForServer = true;
+			return true;
+		}
+		return false;
+	}
+
+
+	const GraphicsSharedMemoryStatus* processServerStatus()
+	{
+		// SharedMemoryStatus* stat = 0;
+
+		if (!m_testBlock1)
+		{
+			m_lastServerStatus.m_type = GFX_CMD_SHARED_MEMORY_NOT_INITIALIZED;
+			return &m_lastServerStatus;
+		}
+
+		if (!m_waitingForServer)
+		{
+			return 0;
+		}
+
+		if (m_testBlock1->m_magicId != GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
+		{
+			m_lastServerStatus.m_type = GFX_CMD_SHARED_MEMORY_NOT_INITIALIZED;
+			return &m_lastServerStatus;
+		}
+
+
+		if (m_testBlock1->m_numServerCommands >
+			m_testBlock1->m_numProcessedServerCommands)
+		{
+			B3_PROFILE("processServerCMD");
+			b3Assert(m_testBlock1->m_numServerCommands ==
+				m_testBlock1->m_numProcessedServerCommands + 1);
+
+			const GraphicsSharedMemoryStatus& serverCmd = m_testBlock1->m_serverCommands[0];
+
+			m_lastServerStatus = serverCmd;
+
+			//       EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
+			// consume the command
+			switch (serverCmd.m_type)
+			{
+			case GFX_CMD_CLIENT_COMMAND_COMPLETED:
+			{
+				B3_PROFILE("CMD_CLIENT_COMMAND_COMPLETED");
+
+
+				break;
+			}
+			default:
+			{
+			}
+			}
+
+			m_testBlock1->m_numProcessedServerCommands++;
+			// we don't have more than 1 command outstanding (in total, either server or client)
+			b3Assert(m_testBlock1->m_numProcessedServerCommands ==
+				m_testBlock1->m_numServerCommands);
+
+			if (m_testBlock1->m_numServerCommands ==
+				m_testBlock1->m_numProcessedServerCommands)
+			{
+				m_waitingForServer = false;
+			}
+			else
+			{
+				m_waitingForServer = true;
+			}
+
+
+			return &m_lastServerStatus;
+		}
+		return 0;
+	}
+
+	bool connect()
+	{
+		/// server always has to create and initialize shared memory
+		bool allowCreation = false;
+		m_testBlock1 = (GraphicsSharedMemoryBlock*)m_sharedMemory->allocateSharedMemory(
+			m_sharedMemoryKey, GRAPHICS_SHARED_MEMORY_SIZE, allowCreation);
+
+		if (m_testBlock1)
+		{
+			if (m_testBlock1->m_magicId != GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
+			{
+				b3Error("Error connecting to shared memory: please start server before client\n");
+				m_sharedMemory->releaseSharedMemory(m_sharedMemoryKey,
+					GRAPHICS_SHARED_MEMORY_SIZE);
+				m_testBlock1 = 0;
+				return false;
+			}
+			else
+			{
+				m_isConnected = true;
+			}
+		}
+		else
+		{
+			b3Warning("Cannot connect to shared memory");
+			return false;
+		}
+		return true;
+	}
+
+
+	void disconnect()
+	{
+		if (m_isConnected && m_sharedMemory)
+		{
+			m_sharedMemory->releaseSharedMemory(m_sharedMemoryKey, GRAPHICS_SHARED_MEMORY_SIZE);
+		}
+		m_isConnected = false;
+	}
+
+};
+
+
+
+
+
+
+
+RemoteGUIHelper::RemoteGUIHelper() 
+{
+	m_data = new RemoteGUIHelperInternalData;
+	if (m_data->canSubmitCommand())
+	{
+		removeAllGraphicsInstances();
+	}
+}
+
+RemoteGUIHelper::~RemoteGUIHelper()
+{
+	delete m_data;
+}
+
+void RemoteGUIHelper::setVisualizerFlag(int flag, int enable)
+{
+	GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
+	if (cmd)
+	{
+		cmd->m_updateFlags = 0;
+		cmd->m_visualizerFlagCommand.m_visualizerFlag = flag;
+		cmd->m_visualizerFlagCommand.m_enable = enable;
+		cmd->m_type = GFX_CMD_SET_VISUALIZER_FLAG;
+		m_data->submitClientCommand(*cmd);
+	}
+	const GraphicsSharedMemoryStatus* status = 0;
+	while ((status = m_data->processServerStatus()) == 0)
+	{
+	}
+}
+
+void RemoteGUIHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
+{
+	printf("createRigidBodyGraphicsObject\n");
+}
+
+void RemoteGUIHelper::createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color)
+{
+	if (body->getUserIndex() < 0)
+	{
+		btCollisionShape* shape = body->getCollisionShape();
+		btTransform startTransform = body->getWorldTransform();
+		int graphicsShapeId = shape->getUserIndex();
+		if (graphicsShapeId >= 0)
+		{
+			//	btAssert(graphicsShapeId >= 0);
+			//the graphics shape is already scaled
+			float localScaling[4] = { 1.f, 1.f, 1.f, 1.f };
+			float colorRGBA[4] = { (float)color[0], (float)color[1], (float)color[2], (float) color[3] };
+			float pos[4] = { (float)startTransform.getOrigin()[0], (float)startTransform.getOrigin()[1], (float)startTransform.getOrigin()[2], (float)startTransform.getOrigin()[3] };
+			float orn[4] = { (float)startTransform.getRotation()[0], (float)startTransform.getRotation()[1], (float)startTransform.getRotation()[2], (float)startTransform.getRotation()[3] };
+			int graphicsInstanceId = registerGraphicsInstance(graphicsShapeId, pos,orn, colorRGBA, localScaling);
+			body->setUserIndex(graphicsInstanceId);
+		}
+	}
+}
+
+void RemoteGUIHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
+{
+	printf("createCollisionShapeGraphicsObject\n");
+}
+
+void RemoteGUIHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
+{
+}
+
+void RemoteGUIHelper::syncPhysicsToGraphics2(const btDiscreteDynamicsWorld* rbWorld)
+{
+                       b3AlignedObjectArray<GUISyncPosition> updatedPositions;
+
+                        int numCollisionObjects = rbWorld->getNumCollisionObjects();
+                        {
+                                B3_PROFILE("write all InstanceTransformToCPU2");
+                                for (int i = 0; i < numCollisionObjects; i++)
+                                {
+                                        //B3_PROFILE("writeSingleInstanceTransformToCPU");
+                                        btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
+                                        btCollisionShape* collisionShape = colObj->getCollisionShape();
+
+                                        btVector3 pos = colObj->getWorldTransform().getOrigin();
+                                        btQuaternion orn = colObj->getWorldTransform().getRotation();
+                                        int index = colObj->getUserIndex();
+                                        if (index >= 0)
+                                        {
+                                                GUISyncPosition p;
+                                                p.m_graphicsInstanceId = index;
+                                                for (int q = 0; q < 4; q++)
+                                                {
+                                                        p.m_pos[q] = pos[q];
+                                                        p.m_orn[q] = orn[q];
+                                                }
+                                                updatedPositions.push_back(p);
+                                        }
+                                }
+                        }
+
+                        if (updatedPositions.size())
+                        {
+                                syncPhysicsToGraphics2(&updatedPositions[0], updatedPositions.size());
+                        }
+}                
+
+
+
+void RemoteGUIHelper::syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions)
+{
+	uploadData((unsigned char*) positions, numPositions * sizeof(GUISyncPosition), 0);
+	
+	GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
+	if (cmd)
+	{
+		cmd->m_updateFlags = 0;
+		cmd->m_syncTransformsCommand.m_numPositions = numPositions;
+		cmd->m_type = GFX_CMD_SYNCHRONIZE_TRANSFORMS;
+		m_data->submitClientCommand(*cmd);
+	}
+	const GraphicsSharedMemoryStatus* status = 0;
+	while ((status = m_data->processServerStatus()) == 0)
+	{
+	}
+
+
+}
+
+void RemoteGUIHelper::render(const btDiscreteDynamicsWorld* rbWorld)
+{
+}
+
+void RemoteGUIHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
+{
+}
+
+int RemoteGUIHelper::uploadData(const unsigned char* data, int sizeInBytes, int slot)
+{
+	int chunkSize = GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
+	int remainingBytes = sizeInBytes;
+	int offset = 0;
+	while (remainingBytes)
+	{
+		btAssert(remainingBytes >= 0);
+		int curBytes = btMin(remainingBytes, chunkSize);
+		GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
+		if (cmd)
+		{
+			for (int i = 0; i < curBytes; i++)
+			{
+				m_data->m_testBlock1->m_bulletStreamData[i] = data[i+offset];
+			}
+			
+			cmd->m_updateFlags = 0;
+			cmd->m_type = GFX_CMD_UPLOAD_DATA;
+			cmd->m_uploadDataCommand.m_numBytes = curBytes;
+			cmd->m_uploadDataCommand.m_dataOffset = offset;
+			cmd->m_uploadDataCommand.m_dataSlot = slot;
+			m_data->submitClientCommand(*cmd);
+
+			const GraphicsSharedMemoryStatus* status = 0;
+			while ((status = m_data->processServerStatus()) == 0)
+			{
+			}
+			offset += curBytes;
+			remainingBytes -= curBytes;
+		}
+	}
+	return 0;
+}
+
+int RemoteGUIHelper::registerTexture(const unsigned char* texels, int width, int height)
+{ 
+	int textureId = -1;
+
+	//first upload all data
+	int sizeInBytes = width*height * 3;//rgb
+	uploadData(texels, sizeInBytes, 0);
+	GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
+	if (cmd)
+	{
+		cmd->m_updateFlags = 0;
+		cmd->m_type = GFX_CMD_REGISTER_TEXTURE;
+		cmd->m_registerTextureCommand.m_width = width;
+		cmd->m_registerTextureCommand.m_height = height;
+		m_data->submitClientCommand(*cmd);
+		const GraphicsSharedMemoryStatus* status = 0;
+		while ((status = m_data->processServerStatus()) == 0)
+		{
+		}
+		if (status->m_type == GFX_CMD_REGISTER_TEXTURE_COMPLETED)
+		{
+			textureId = status->m_registerTextureStatus.m_textureId;
+		}
+	}
+	
+
+  return textureId;
+}
+
+int RemoteGUIHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId) 
+{ 
+	int shapeId = -1;
+
+	uploadData((unsigned char*)vertices, numvertices * 9*sizeof(float), 0);
+	uploadData((unsigned char*)indices, numIndices * sizeof(int), 1);
+	GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
+	if (cmd)
+	{
+		cmd->m_type = GFX_CMD_REGISTER_GRAPHICS_SHAPE;
+		cmd->m_updateFlags = 0;
+		cmd->m_registerGraphicsShapeCommand.m_numVertices = numvertices;
+		cmd->m_registerGraphicsShapeCommand.m_numIndices = numIndices;
+		cmd->m_registerGraphicsShapeCommand.m_primitiveType = primitiveType;
+		cmd->m_registerGraphicsShapeCommand.m_textureId = textureId;
+
+		m_data->submitClientCommand(*cmd);
+		const GraphicsSharedMemoryStatus* status = 0;
+		while ((status = m_data->processServerStatus()) == 0)
+		{
+		}
+		if (status->m_type == GFX_CMD_REGISTER_GRAPHICS_SHAPE_COMPLETED)
+		{
+			shapeId = status->m_registerGraphicsShapeStatus.m_shapeId;
+		}
+	}
+
+  return shapeId;
+}
+
+int RemoteGUIHelper::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
+{ 
+	int graphicsInstanceId = -1;
+
+	GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
+	if (cmd)
+	{
+		cmd->m_type = GFX_CMD_REGISTER_GRAPHICS_INSTANCE;
+		cmd->m_updateFlags = 0;
+		cmd->m_registerGraphicsInstanceCommand.m_shapeIndex = shapeIndex;
+		for (int i = 0; i < 4; i++)
+		{
+			cmd->m_registerGraphicsInstanceCommand.m_position[i] = position[i];
+			cmd->m_registerGraphicsInstanceCommand.m_quaternion[i] = quaternion[i];
+			cmd->m_registerGraphicsInstanceCommand.m_color[i] = color[i];
+			cmd->m_registerGraphicsInstanceCommand.m_scaling[i] = scaling[i];
+		}
+		m_data->submitClientCommand(*cmd);
+		const GraphicsSharedMemoryStatus* status = 0;
+		while ((status = m_data->processServerStatus()) == 0)
+		{
+		}
+		if (status->m_type == GFX_CMD_REGISTER_GRAPHICS_INSTANCE_COMPLETED)
+		{
+			graphicsInstanceId = status->m_registerGraphicsInstanceStatus.m_graphicsInstanceId;
+		}
+
+	}
+  return graphicsInstanceId;
+}
+
+void RemoteGUIHelper::removeAllGraphicsInstances()
+{
+	GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
+	if (cmd)
+	{
+		cmd->m_updateFlags = 0;
+		cmd->m_type = GFX_CMD_REMOVE_ALL_GRAPHICS_INSTANCES;
+		m_data->submitClientCommand(*cmd);
+		const GraphicsSharedMemoryStatus* status = 0;
+		while ((status = m_data->processServerStatus()) == 0)
+		{
+		}
+	}
+}
+
+void RemoteGUIHelper::removeGraphicsInstance(int graphicsUid)
+{
+	GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
+	if (cmd)
+	{
+		cmd->m_updateFlags = 0;
+		cmd->m_type = GFX_CMD_REMOVE_SINGLE_GRAPHICS_INSTANCE;
+		cmd->m_removeGraphicsInstanceCommand.m_graphicsUid = graphicsUid;
+		m_data->submitClientCommand(*cmd);
+		const GraphicsSharedMemoryStatus* status = 0;
+		while ((status = m_data->processServerStatus()) == 0)
+		{
+		}
+	}
+}
+void RemoteGUIHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
+{
+}
+Common2dCanvasInterface* RemoteGUIHelper::get2dCanvasInterface()
+{
+	return 0;
+}
+
+CommonParameterInterface* RemoteGUIHelper::getParameterInterface()
+{
+	return 0;
+}
+
+CommonRenderInterface* RemoteGUIHelper::getRenderInterface()
+{
+	return 0;
+}
+
+CommonGraphicsApp* RemoteGUIHelper::getAppInterface()
+{
+	return 0;
+}
+
+void RemoteGUIHelper::setUpAxis(int axis)
+{
+	GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
+	if (cmd)
+	{
+		cmd->m_updateFlags = 0;
+		cmd->m_upAxisYCommand.m_enableUpAxisY = axis == 1;
+		cmd->m_type = GFX_CMD_0;
+		m_data->submitClientCommand(*cmd);
+		const GraphicsSharedMemoryStatus* status = 0;
+		while ((status = m_data->processServerStatus()) == 0)
+		{
+		}
+	}
+}
+void RemoteGUIHelper::resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ)
+{
+}
+
+void RemoteGUIHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
+									 unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
+									 float* depthBuffer, int depthBufferSizeInPixels,
+									 int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+									 int startPixelIndex, int width, int height, int* numPixelsCopied)
+
+{
+		if (numPixelsCopied)
+			*numPixelsCopied = 0;
+}
+
+void RemoteGUIHelper::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
+{
+}
+
+void RemoteGUIHelper::setProjectiveTexture(bool useProjectiveTexture)
+{
+}
+
+void RemoteGUIHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
+{
+}
+
+void RemoteGUIHelper::drawText3D(const char* txt, float posX, float posZY, float posZ, float size)
+{
+}
+
+void RemoteGUIHelper::drawText3D(const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
+{
+}
+
+int RemoteGUIHelper::addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid)
+{
+	return -1;
+}
+void RemoteGUIHelper::removeUserDebugItem(int debugItemUniqueId)
+{
+}
+void RemoteGUIHelper::removeAllUserDebugItems()
+{
+}

examples/SharedMemory/RemoteGUIHelper.h

@@ -0,0 +1,73 @@
+#ifndef REMOTE_HELPER_H
+#define REMOTE_HELPER_H
+
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+
+///a RemoteGUIHelper will connect to an existing graphics server through shared memory
+struct RemoteGUIHelper : public GUIHelperInterface
+{
+	struct RemoteGUIHelperInternalData* m_data;
+
+	RemoteGUIHelper();
+
+	virtual ~RemoteGUIHelper();
+
+	virtual void setVisualizerFlag(int flag, int enable);
+
+	virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color);
+
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
+
+	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
+
+	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
+	virtual void syncPhysicsToGraphics2(const class btDiscreteDynamicsWorld* rbWorld);
+	virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions);
+
+	virtual void render(const btDiscreteDynamicsWorld* rbWorld);
+
+	virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld);
+
+	virtual int registerTexture(const unsigned char* texels, int width, int height);
+	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 removeGraphicsInstance(int graphicsUid);
+	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
+
+	virtual Common2dCanvasInterface* get2dCanvasInterface();
+
+	virtual CommonParameterInterface* getParameterInterface();
+
+	virtual CommonRenderInterface* getRenderInterface();
+
+	virtual CommonGraphicsApp* getAppInterface();
+
+	virtual void setUpAxis(int axis);
+	
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ);
+	
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
+									 unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
+									 float* depthBuffer, int depthBufferSizeInPixels,
+									 int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+									 int startPixelIndex, int width, int height, int* numPixelsCopied);
+
+	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
+	
+	virtual void setProjectiveTexture(bool useProjectiveTexture);
+
+	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld);
+
+	virtual void drawText3D(const char* txt, float posX, float posZY, float posZ, float size);
+
+	virtual void drawText3D(const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
+
+	virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid);
+	virtual void removeUserDebugItem(int debugItemUniqueId);
+	virtual void removeAllUserDebugItems();
+
+	int uploadData(const unsigned char* data, int sizeInBytes, int slot);
+};
+
+#endif  //REMOTE_HELPER_H

examples/SharedMemory/SharedMemoryBlock.h

@@ -1,7 +1,7 @@
 #ifndef SHARED_MEMORY_BLOCK_H
 #define SHARED_MEMORY_BLOCK_H
 
-#define SHARED_MEMORY_MAX_COMMANDS 4
+#define SHARED_MEMORY_MAX_COMMANDS 1
 
 #include "SharedMemoryCommands.h"
 

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -10,6 +10,7 @@
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "InProcessMemory.h"
+#include "RemoteGUIHelper.h"
 
 #include "Bullet3Common/b3Logging.h"
 class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
@@ -281,6 +282,26 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingEx
 	return (b3PhysicsClientHandle)cl;
 }
 
+B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect4(void* guiHelperPtr, int sharedMemoryKey)
+{
+	gSharedMemoryKey = sharedMemoryKey;
+	GUIHelperInterface* guiHelper = (GUIHelperInterface*)guiHelperPtr;
+	if (!guiHelper)
+	{
+		guiHelper = new RemoteGUIHelper();
+	}
+	bool useInprocessMemory = false;
+	bool skipGraphicsUpdate = false;
+	InProcessPhysicsClientExistingExampleBrowser* cl = new InProcessPhysicsClientExistingExampleBrowser(guiHelper, useInprocessMemory, skipGraphicsUpdate);
+
+	cl->setSharedMemoryKey(sharedMemoryKey + 1);
+	cl->connect();
+	//backward compatiblity
+	gSharedMemoryKey = SHARED_MEMORY_KEY;
+	return (b3PhysicsClientHandle)cl;
+}
+
+
 //backward compatiblity
 B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr)
 {

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h

@@ -21,7 +21,9 @@ extern "C"
 	B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr);
 	//create a shared memory physics server, with a DummyGUIHelper (no graphics) and allow to set shared memory key
 	B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3(void* guiHelperPtr, int sharedMemoryKey);
-
+	//create a shared memory physics server, with a RemoteGUIHelper (connect to remote graphics server) and allow to set shared memory key
+	B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect4(void* guiHelperPtr, int sharedMemoryKey);
+	
 	///ignore the following APIs, they are for internal use for example browser
 	void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle);
 	void b3InProcessDebugDrawInternal(b3PhysicsClientHandle clientHandle, int debugDrawMode);

examples/SharedMemory/SharedMemoryPublic.h

@@ -829,6 +829,7 @@ enum eCONNECT_METHOD
 	eCONNECT_MUJOCO = 11,
 	eCONNECT_GRPC = 12,
 	eCONNECT_PHYSX=13,
+	eCONNECT_SHARED_MEMORY_GUI=14,
 };
 
 enum eURDF_Flags

examples/SharedMemory/premake4.lua

@@ -34,6 +34,15 @@ myfiles =
 	"PhysicsServer.cpp",
 	"PhysicsServer.h",
 	"PhysicsClientC_API.cpp",
+	"GraphicsClientExample.cpp",
+	"GraphicsClientExample.h",
+	"GraphicsServerExample.cpp",
+	"GraphicsServerExample.h",
+	"GraphicsSharedMemoryBlock.h",
+	"GraphicsSharedMemoryCommands.h",
+	"GraphicsSharedMemoryPublic.h",
+	"RemoteGUIHelper.cpp",
+	"RemoteGUIHelper.h",
 	"SharedMemoryCommands.h",
 	"SharedMemoryPublic.h",
 	"PhysicsServer.cpp",

examples/TwoJoint/CMakeLists.txt

@@ -32,6 +32,14 @@ SET(RobotSimulator_SRCS
 		../../examples/SharedMemory/PhysicsClient.h
 		../../examples/SharedMemory/PhysicsServer.cpp
 		../../examples/SharedMemory/PhysicsServer.h
+		../SharedMemory/GraphicsServerExample.cpp
+		../SharedMemory/GraphicsClientExample.cpp
+		../SharedMemory/RemoteGUIHelper.cpp
+		../SharedMemory/GraphicsServerExample.h
+		../SharedMemory/GraphicsClientExample.h
+		../SharedMemory/RemoteGUIHelper.h
+		../SharedMemory/GraphicsSharedMemoryCommands.h
+		../SharedMemory/GraphicsSharedMemoryPublic.h
 		../../examples/SharedMemory/PhysicsServerExample.cpp
 		../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

examples/pybullet/CMakeLists.txt

@@ -55,6 +55,14 @@ SET(pybullet_SRCS
 		../../examples/SharedMemory/PhysicsClient.h
 		../../examples/SharedMemory/PhysicsServer.cpp
 		../../examples/SharedMemory/PhysicsServer.h
+		../SharedMemory/GraphicsServerExample.cpp
+		../SharedMemory/GraphicsClientExample.cpp
+		../SharedMemory/RemoteGUIHelper.cpp
+		../SharedMemory/GraphicsServerExample.h
+		../SharedMemory/GraphicsClientExample.h
+		../SharedMemory/RemoteGUIHelper.h
+		../SharedMemory/GraphicsSharedMemoryCommands.h
+		../SharedMemory/GraphicsSharedMemoryPublic.h
 		../../examples/SharedMemory/PhysicsServerExample.cpp
 		../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

examples/pybullet/examples/inverse_kinematics.py

@@ -6,6 +6,8 @@ from datetime import datetime
 clid = p.connect(p.SHARED_MEMORY)
 if (clid < 0):
   p.connect(p.GUI)
+  #p.connect(p.SHARED_MEMORY_GUI)
+
 p.loadURDF("plane.urdf", [0, 0, -0.3])
 kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0])
 p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1])
@@ -38,24 +40,26 @@ useNullSpace = 1
 useOrientation = 1
 #If we set useSimulation=0, it sets the arm pose to be the IK result directly without using dynamic control.
 #This can be used to test the IK result accuracy.
-useSimulation = 0
+useSimulation = 1
-useRealTimeSimulation = 1
+useRealTimeSimulation = 0
 ikSolver = 0
 p.setRealTimeSimulation(useRealTimeSimulation)
 #trailDuration is duration (in seconds) after debug lines will be removed automatically
 #use 0 for no-removal
 trailDuration = 15
 
+i=0
 while 1:
-  p.getCameraImage(320,
+  i+=1
-                   200,
+  #p.getCameraImage(320,
-                   flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
+  #                 200,
-                   renderer=p.ER_BULLET_HARDWARE_OPENGL)
+  #                 flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX,
+  #                 renderer=p.ER_BULLET_HARDWARE_OPENGL)
   if (useRealTimeSimulation):
     dt = datetime.now()
     t = (dt.second / 60.) * 2. * math.pi
   else:
-    t = t + 0.001
+    t = t + 0.01
 
   if (useSimulation and useRealTimeSimulation == 0):
     p.stepSimulation()
@@ -115,3 +119,4 @@ while 1:
   prevPose = pos
   prevPose1 = ls[4]
   hasPrevPose = 1
+p.disconnect()

examples/pybullet/examples/quadruped.py

@@ -104,7 +104,7 @@ def drawInertiaBox(parentUid, parentLinkIndex, color):
 
 toeConstraint = True
 useMaximalCoordinates = False
-useRealTime = 1
+useRealTime = 0
 
 #the fixedTimeStep and numSolverIterations are the most important parameters to trade-off quality versus performance
 fixedTimeStep = 1. / 100
@@ -123,7 +123,7 @@ kp = 1
 kd = .5
 maxKneeForce = 1000
 
-physId = p.connect(p.SHARED_MEMORY)
+physId = p.connect(p.SHARED_MEMORY_GUI)
 if (physId < 0):
   p.connect(p.GUI)
 #p.resetSimulation()

examples/pybullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py

@@ -7,6 +7,7 @@ import time
 import motion_capture_data
 import quadrupedPoseInterpolator
 
+useKinematic = False
 useConstraints = False
 
 p = bullet_client.BulletClient(connection_mode=p1.GUI)
@@ -56,7 +57,7 @@ for i in range(4):
   jointOffsets.append(-0.7)
   jointOffsets.append(0.7)
 
-maxForceId = p.addUserDebugParameter("maxForce", 0, 100, 20)
+maxForceId = p.addUserDebugParameter("maxForce", 0, 100, 120)
 
 for j in range(p.getNumJoints(quadruped)):
   p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0)
@@ -103,7 +104,7 @@ for i in range(4):
   jointOffsets.append(-0.7)
   jointOffsets.append(0.7)
 
-maxForceId = p.addUserDebugParameter("maxForce", 0, 100, 20)
+maxUpForceId = p.addUserDebugParameter("maxUpForce", 0, 100, 20)
 
 for j in range(p.getNumJoints(quadruped)):
   p.changeDynamics(quadruped, j, linearDamping=0, angularDamping=0)
@@ -162,54 +163,69 @@ while t < 10. * cycleTime:
   jointsStr, qdot = qpi.Slerp(frameFraction, frameData, frameDataNext, p)
 
   maxForce = p.readUserDebugParameter(maxForceId)
-  print("jointIds=", jointIds)
+  #print("jointIds=", jointIds)
+  
+  maxUpForce = p.readUserDebugParameter(maxUpForceId)
+  p.changeConstraint(cid, maxForce=maxUpForce)
 
-  if useConstraints:
+
+  if useKinematic:
+    basePos = startPos
+    basePos =  [float(-jointsStr[0]),-float(jointsStr[1]),float(jointsStr[2])]
+    baseOrn = [float(jointsStr[4]),float(jointsStr[5]),float(jointsStr[6]), float(jointsStr[3])]
+    p.resetBasePositionAndOrientation(quadruped, basePos,baseOrn)
+    
     for j in range(12):
-      #skip the base positional dofs
+        #skip the base positional dofs
-      targetPos = float(jointsStr[j + 7])
+        targetPos = float(jointsStr[j + 7])
-      p.setJointMotorControl2(quadruped,
+        p.resetJointState(quadruped,jointIds[j],jointDirections[j] * targetPos + jointOffsets[j])
-                              jointIds[j],
-                              p.POSITION_CONTROL,
-                              jointDirections[j] * targetPos + jointOffsets[j],
-                              force=maxForce)
-
   else:
-    desiredPositions = []
+	  if useConstraints:
-    for j in range(7):
+	    for j in range(12):
-      targetPosUnmodified = float(jointsStr[j])
+	      #skip the base positional dofs
-      desiredPositions.append(targetPosUnmodified)
+	      targetPos = float(jointsStr[j + 7])
-    for j in range(12):
+	      p.setJointMotorControl2(quadruped,
-      targetPosUnmodified = float(jointsStr[j + 7])
+	                              jointIds[j],
-      targetPos = jointDirections[j] * targetPosUnmodified + jointOffsets[j]
+	                              p.POSITION_CONTROL,
-      desiredPositions.append(targetPos)
+	                              jointDirections[j] * targetPos + jointOffsets[j],
-    numBaseDofs = 6
+	                              force=maxForce)
-    totalDofs = 12 + numBaseDofs
+	
-    desiredVelocities = None
+	  else:
-    if desiredVelocities == None:
+	    desiredPositions = []
-      desiredVelocities = [0] * totalDofs
+	    for j in range(7):
-    taus = stablePD.computePD(bodyUniqueId=quadruped,
+	      targetPosUnmodified = float(jointsStr[j])
-                              jointIndices=jointIds,
+	      desiredPositions.append(targetPosUnmodified)
-                              desiredPositions=desiredPositions,
+	    for j in range(12):
-                              desiredVelocities=desiredVelocities,
+	      targetPosUnmodified = float(jointsStr[j + 7])
-                              kps=[4000] * totalDofs,
+	      targetPos = jointDirections[j] * targetPosUnmodified + jointOffsets[j]
-                              kds=[40] * totalDofs,
+	      desiredPositions.append(targetPos)
-                              maxForces=[500] * totalDofs,
+	    numBaseDofs = 6
-                              timeStep=timeStep)
+	    totalDofs = 12 + numBaseDofs
-
+	    desiredVelocities = None
-    dofIndex = 6
+	    if desiredVelocities == None:
-    scaling = 1
+	      desiredVelocities = [0] * totalDofs
-    for index in range(len(jointIds)):
+	    taus = stablePD.computePD(bodyUniqueId=quadruped,
-      jointIndex = jointIds[index]
+	                              jointIndices=jointIds,
-      force = [scaling * taus[dofIndex]]
+	                              desiredPositions=desiredPositions,
-      print("force[", jointIndex, "]=", force)
+	                              desiredVelocities=desiredVelocities,
-      p.setJointMotorControlMultiDof(quadruped,
+	                              kps=[4000] * totalDofs,
-                                     jointIndex,
+	                              kds=[40] * totalDofs,
-                                     controlMode=p.TORQUE_CONTROL,
+	                              maxForces=[maxForce] * totalDofs,
-                                     force=force)
+	                              timeStep=timeStep)
-      dofIndex += 1
+	
-
+	    dofIndex = 6
-  p.stepSimulation()
+	    scaling = 1
+	    for index in range(len(jointIds)):
+	      jointIndex = jointIds[index]
+	      force = [scaling * taus[dofIndex]]
+	      #print("force[", jointIndex, "]=", force)
+	      p.setJointMotorControlMultiDof(quadruped,
+	                                     jointIndex,
+	                                     controlMode=p.TORQUE_CONTROL,
+	                                     force=force)
+	      dofIndex += 1
+	
+	  p.stepSimulation()
   t += timeStep
   time.sleep(timeStep)
 
@@ -231,8 +247,9 @@ if useOrgData:
                                 force=maxForce)
       p.stepSimulation()
       for lower_leg in lower_legs:
+        pass
         #print("points for ", quadruped, " link: ", lower_leg)
-        pts = p.getContactPoints(quadruped, -1, lower_leg)
+        #pts = p.getContactPoints(quadruped, -1, lower_leg)
         #print("num points=",len(pts))
         #for pt in pts:
         #	print(pt[9])

examples/pybullet/gym/pybullet_utils/pd_controller_stable.py

@@ -227,6 +227,6 @@ class PDControllerStable(object):
     qddot = np.linalg.solve(A, b)
     tau = p + d - Kd.dot(qddot) * timeStep
     maxF = np.array(maxForces)
-    forces = np.clip(tau, -maxF, maxF)
+    tau = np.clip(tau, -maxF, maxF)
     #print("c=",c)
     return tau

examples/pybullet/premake4.lua

@@ -124,6 +124,15 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/PhysicsServer.h",
 			"../../examples/SharedMemory/PhysicsServerExample.cpp",
 			"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
+			"../SharedMemory/GraphicsClientExample.cpp",
+	                "../SharedMemory/GraphicsClientExample.h",
+        	        "../SharedMemory/GraphicsServerExample.cpp",
+                	"../SharedMemory/GraphicsServerExample.h",
+             	   	"../SharedMemory/GraphicsSharedMemoryBlock.h",
+               	 	"../SharedMemory/GraphicsSharedMemoryCommands.h",
+                	"../SharedMemory/GraphicsSharedMemoryPublic.h",
+                	"../SharedMemory/RemoteGUIHelper.cpp",
+                	"../SharedMemory/RemoteGUIHelper.h",
 			"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.h",

examples/pybullet/pybullet.c

@@ -463,6 +463,14 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 				sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3(0, key);
 				break;
 			}
+
+			case eCONNECT_SHARED_MEMORY_GUI:
+			{
+				sm = b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect4(0, key);
+				break;
+			}
+
+			
 			case eCONNECT_DIRECT:
 			{
 				sm = b3ConnectPhysicsDirect();
@@ -10933,6 +10941,9 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER);                      // user read
 	PyModule_AddIntConstant(m, "GUI_MAIN_THREAD", eCONNECT_GUI_MAIN_THREAD);            // user read
 	PyModule_AddIntConstant(m, "SHARED_MEMORY_SERVER", eCONNECT_SHARED_MEMORY_SERVER);  // user read
+	PyModule_AddIntConstant(m, "SHARED_MEMORY_GUI", eCONNECT_SHARED_MEMORY_GUI);  // user read
+
+	
 #ifdef BT_ENABLE_DART
 	PyModule_AddIntConstant(m, "DART", eCONNECT_DART);  // user read
 #endif

setup.py

@@ -117,6 +117,8 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/SharedMemory/InProcessMemory.cpp"]\
 +["examples/SharedMemory/PhysicsClient.cpp"]\
 +["examples/SharedMemory/PhysicsServer.cpp"]\
++["examples/SharedMemory/GraphicsClientExample.cpp"]\
++["examples/SharedMemory/RemoteGUIHelper.cpp"]\
 +["examples/SharedMemory/PhysicsServerExample.cpp"]\
 +["examples/SharedMemory/PhysicsServerExampleBullet2.cpp"]\
 +["examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp"]\