PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin.

Extras/BulletRobotics/CMakeLists.txt

@@ -10,8 +10,8 @@ INCLUDE_DIRECTORIES(
 SET(BulletRobotics_SRCS
 		../../examples/SharedMemory/IKTrajectoryHelper.cpp
 		../../examples/SharedMemory/IKTrajectoryHelper.h
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp

examples/ExampleBrowser/CMakeLists.txt

@@ -143,11 +143,10 @@ SET(BulletExampleBrowser_SRCS
 	../TinyRenderer/tgaimage.cpp
 	../TinyRenderer/our_gl.cpp
 	../TinyRenderer/TinyRenderer.cpp
-	../SharedMemory/TinyRendererVisualShapeConverter.cpp
+	../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-	../SharedMemory/TinyRendererVisualShapeConverter.h
+	../SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 	../SharedMemory/IKTrajectoryHelper.cpp
 	../SharedMemory/IKTrajectoryHelper.h
-	
 	../SharedMemory/PhysicsServer.cpp
 	../SharedMemory/PhysicsClientSharedMemory.cpp
 	../SharedMemory/PhysicsClientSharedMemory_C_API.cpp

examples/ExampleBrowser/premake4.lua

@@ -110,8 +110,8 @@ project "App_BulletExampleBrowser"
 		"../SharedMemory/PhysicsServerCommandProcessor.cpp",
 		"../SharedMemory/PhysicsServerCommandProcessor.h",
 		"../SharedMemory/b3PluginManager.cpp",		
-		"../SharedMemory/TinyRendererVisualShapeConverter.cpp",
+		"../SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
-		"../SharedMemory/TinyRendererVisualShapeConverter.h",
+		"../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
 		"../SharedMemory/SharedMemoryCommands.h",
 		"../SharedMemory/SharedMemoryPublic.h",
 		"../MultiThreading/MultiThreadingExample.cpp",

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp

@@ -184,7 +184,7 @@ struct MyMJCFDefaults
 struct BulletMJCFImporterInternalData
 {
 	GUIHelperInterface* m_guiHelper;
-	struct LinkVisualShapesConverter* m_customVisualShapesConverter;
+	struct UrdfRenderingInterface* m_customVisualShapesConverter;
 	char m_pathPrefix[1024];
 
 	std::string m_sourceFileName; // with path
@@ -1419,7 +1419,7 @@ struct BulletMJCFImporterInternalData
 
 };
 
-BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags)
+BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags)
 {
 	m_data = new BulletMJCFImporterInternalData();
 	m_data->m_guiHelper = helper;

examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h

@@ -2,7 +2,7 @@
 #define BULLET_MJCF_IMPORTER_H
 
 #include "../ImportURDFDemo/URDFImporterInterface.h"
-#include "../ImportURDFDemo/LinkVisualShapesConverter.h"
+#include "../ImportURDFDemo/UrdfRenderingInterface.h"
 
 
 struct MJCFErrorLogger
@@ -27,7 +27,7 @@ class BulletMJCFImporter : public URDFImporterInterface
 	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
 
 public:
-	BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
+	BulletMJCFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, int flags);
 	virtual ~BulletMJCFImporter();
 	
 	virtual bool parseMJCFString(const char* xmlString, MJCFErrorLogger* logger);

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -51,7 +51,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
 	mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
 	btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
 
-	LinkVisualShapesConverter* m_customVisualShapesConverter;
+	UrdfRenderingInterface* m_customVisualShapesConverter;
 	bool m_enableTinyRenderer;
 	int m_flags;
 
@@ -82,7 +82,7 @@ void BulletURDFImporter::printTree()
 //	btAssert(0);
 }
 
-BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling, int flags)
+BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling, int flags)
 {
 	m_data = new BulletURDFInternalData;
 	m_data->setGlobalScaling(globalScaling);

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -3,7 +3,7 @@
 
 #include "URDFImporterInterface.h"
 
-#include "LinkVisualShapesConverter.h"
+#include "UrdfRenderingInterface.h"
 
 struct BulletURDFTexture
 {
@@ -23,7 +23,7 @@ class BulletURDFImporter : public URDFImporterInterface
 
 public:
 
-	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling=1, int flags=0);
+	BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling=1, int flags=0);
 
 	virtual ~BulletURDFImporter();
 

examples/Importers/ImportURDFDemo/SDFAudioTypes.h

@@ -4,7 +4,6 @@
 #include <string>
 
 
-
 ///See audio_source element in http://sdformat.org/spec?ver=1.6&elem=link
 struct SDFAudioSource
 {

examples/Importers/ImportURDFDemo/URDFJointTypes.h

@@ -1,6 +1,7 @@
 #ifndef URDF_JOINT_TYPES_H
 #define URDF_JOINT_TYPES_H
 
+#include "LinearMath/btScalar.h"
 
 enum UrdfJointTypes
 {
@@ -11,7 +12,6 @@ enum UrdfJointTypes
 		URDFPlanarJoint,
 		URDFFixedJoint,
 };
-#include "LinearMath/btScalar.h"
 
 enum URDF_LinkContactFlags
 {

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -6,9 +6,9 @@
 #include "LinearMath/btHashMap.h"
 #include "URDFJointTypes.h"
 #include "SDFAudioTypes.h"
+#include <string>
 
 #define btArray btAlignedObjectArray
-#include <string>
 
 struct ErrorLogger
 {

examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h

@@ -1,12 +1,12 @@
-#ifndef LINK_VISUAL_SHAPES_CONVERTER_H
+#ifndef URDF_RENDERING_INTERFACE_H
-#define LINK_VISUAL_SHAPES_CONVERTER_H
+#define URDF_RENDERING_INTERFACE_H
 
 struct UrdfLink;
 struct UrdfModel;
 class btTransform;
-class btCollisionObject;
 
-struct LinkVisualShapesConverter
+
+struct UrdfRenderingInterface
 {
 	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0;
 	

examples/RobotSimulator/CMakeLists.txt

@@ -17,8 +17,8 @@ SET(RobotSimulator_SRCS
 		../../examples/SharedMemory/IKTrajectoryHelper.cpp
 		../../examples/SharedMemory/IKTrajectoryHelper.h
 		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp

examples/RobotSimulator/premake4.lua

@@ -32,8 +32,8 @@ myfiles =
 			"../../examples/SharedMemory/Win32SharedMemory.h",
 			"../../examples/SharedMemory/PosixSharedMemory.cpp",
 			"../../examples/SharedMemory/PosixSharedMemory.h",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
 			"../../examples/TinyRenderer/geometry.cpp",
 			"../../examples/TinyRenderer/model.cpp",
 			"../../examples/TinyRenderer/tgaimage.cpp",

examples/SharedMemory/CMakeLists.txt

@@ -36,8 +36,8 @@ SET(SharedMemory_SRCS
 	SharedMemoryCommandProcessor.h
 	PhysicsServerCommandProcessor.cpp
 	PhysicsServerCommandProcessor.h
-	TinyRendererVisualShapeConverter.cpp
+	plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-	TinyRendererVisualShapeConverter.h
+	plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 SharedMemoryCommands.h
 	SharedMemoryPublic.h
 	b3PluginManager.cpp

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -5,7 +5,7 @@
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
 #include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
-#include "TinyRendererVisualShapeConverter.h"
+
 #include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
@@ -47,6 +47,12 @@
 #include "plugins/vrSyncPlugin/vrSyncPlugin.h"
 #endif
 
+
+#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
+#include "plugins/tinyRendererPlugin/tinyRendererPlugin.h"
+#endif
+
+
 #ifdef B3_ENABLE_TINY_AUDIO
 #include "../TinyAudio/b3SoundEngine.h"
 #endif
@@ -1564,8 +1570,7 @@ struct PhysicsServerCommandProcessorInternalData
 	btVector3 m_hitPos;
 	btScalar m_oldPickingDist;
 	bool m_prevCanSleep;
-	TinyRendererVisualShapeConverter  m_tempVisualConverter;//we may move this into a plugin
+	
-	LinkVisualShapesConverter* m_visualConverterPtr;
 #ifdef B3_ENABLE_TINY_AUDIO
 	b3SoundEngine m_soundEngine;
 #endif
@@ -1599,14 +1604,16 @@ struct PhysicsServerCommandProcessorInternalData
 		m_pickingMultiBodyPoint2Point(0)
 	{
 
-		m_visualConverterPtr=&m_tempVisualConverter;
-
 		{
 			//register static plugins:
 #ifdef STATIC_LINK_VR_PLUGIN
-			m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin,preTickPluginCallback_vrSyncPlugin,0);
+			m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin,preTickPluginCallback_vrSyncPlugin,0,0);
 #endif //STATIC_LINK_VR_PLUGIN
 
+#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
+			int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin);
+			m_pluginManager.selectPluginRenderer(renderPluginId);
+#endif
 		}
 
 		m_vrControllerEvents.init();
@@ -2121,9 +2128,9 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 		//UrdfVisual vis;
 		//link.m_visualArray.push_back(vis);
 		//UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
-		if (m_data->m_visualConverterPtr)
+		if (m_data->m_pluginManager.getRenderInterface())
 		{
-			m_data->m_visualConverterPtr->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
+			m_data->m_pluginManager.getRenderInterface()->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
 		}
 	}
     virtual void setBodyUniqueId(int bodyId) 
@@ -2708,7 +2715,7 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
 
 	m_data->m_sdfRecentLoadedBodies.clear();
 
-    BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, flags);
+    BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), flags);
 
 	bool useFixedBase = false;
 	MyMJCFLogger2 logger;
@@ -2731,7 +2738,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
 
 	m_data->m_sdfRecentLoadedBodies.clear();
 
-    BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
+    BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
 
 	bool forceFixedBase = false;
@@ -2763,7 +2770,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 
 
 
-    BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
+    BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
     bool loadOk =  u2b.loadURDF(fileName, useFixedBase);
 
@@ -3080,9 +3087,9 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
 	if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
 			(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
 	{
-		if (m_data->m_visualConverterPtr)
+		if (m_data->m_pluginManager.getRenderInterface())
 		{
-			m_data->m_visualConverterPtr->setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
+			m_data->m_pluginManager.getRenderInterface()->setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
 														clientCmd.m_requestPixelDataArguments.m_pixelHeight);
 		}
 	}
@@ -3091,9 +3098,9 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
 	{
 		flags = clientCmd.m_requestPixelDataArguments.m_flags;
 	}
-	if (m_data->m_visualConverterPtr)
+	if (m_data->m_pluginManager.getRenderInterface())
 	{
-		m_data->m_visualConverterPtr->setFlags(flags);
+		m_data->m_pluginManager.getRenderInterface()->setFlags(flags);
 	}
 
 	int numTotalPixels = width*height;
@@ -3168,7 +3175,7 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
 		}
 		if (!handled)
 		{
-			if (m_data->m_visualConverterPtr)
+			if (m_data->m_pluginManager.getRenderInterface())
 			{
 				if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
 				{
@@ -3176,48 +3183,48 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
 
 					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) != 0)
 					{
-						m_data->m_visualConverterPtr->setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]);
+						m_data->m_pluginManager.getRenderInterface()->setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]);
 					}
                                 
 					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR) != 0)
 					{
-						m_data->m_visualConverterPtr->setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]);
+						m_data->m_pluginManager.getRenderInterface()->setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]);
 					}
                                 
 					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE) != 0)
 					{
-						m_data->m_visualConverterPtr->setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance);
+						m_data->m_pluginManager.getRenderInterface()->setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance);
 					}
                                 
 					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
 					{
-						m_data->m_visualConverterPtr->setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
+						m_data->m_pluginManager.getRenderInterface()->setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
 					}
                                 
 					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
 					{
-						m_data->m_visualConverterPtr->setLightAmbientCoeff(clientCmd.m_requestPixelDataArguments.m_lightAmbientCoeff);
+						m_data->m_pluginManager.getRenderInterface()->setLightAmbientCoeff(clientCmd.m_requestPixelDataArguments.m_lightAmbientCoeff);
 					}
                                 
 					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF) != 0)
 					{
-						m_data->m_visualConverterPtr->setLightDiffuseCoeff(clientCmd.m_requestPixelDataArguments.m_lightDiffuseCoeff);
+						m_data->m_pluginManager.getRenderInterface()->setLightDiffuseCoeff(clientCmd.m_requestPixelDataArguments.m_lightDiffuseCoeff);
 					}
                                 
 					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF) != 0)
 					{
-						m_data->m_visualConverterPtr->setLightSpecularCoeff(clientCmd.m_requestPixelDataArguments.m_lightSpecularCoeff);
+						m_data->m_pluginManager.getRenderInterface()->setLightSpecularCoeff(clientCmd.m_requestPixelDataArguments.m_lightSpecularCoeff);
 					}
 
 					for (int i=0;i<m_data->m_dynamicsWorld->getNumCollisionObjects();i++)
 					{
 						const btCollisionObject* colObj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
-						m_data->m_visualConverterPtr->syncTransform(colObj->getBroadphaseHandle()->getUid(),colObj->getWorldTransform(),colObj->getCollisionShape()->getLocalScaling());
+						m_data->m_pluginManager.getRenderInterface()->syncTransform(colObj->getBroadphaseHandle()->getUid(),colObj->getWorldTransform(),colObj->getCollisionShape()->getLocalScaling());
 					}
 
 					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
 					{
-						m_data->m_visualConverterPtr->render(
+						m_data->m_pluginManager.getRenderInterface()->render(
 															clientCmd.m_requestPixelDataArguments.m_viewMatrix,
 															clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
 					} else
@@ -3238,18 +3245,18 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
 							tmpCamResult.m_target);
 						if (result)
 						{
-							m_data->m_visualConverterPtr->render(tmpCamResult.m_viewMatrix,tmpCamResult.m_projectionMatrix);
+							m_data->m_pluginManager.getRenderInterface()->render(tmpCamResult.m_viewMatrix,tmpCamResult.m_projectionMatrix);
 						} else
 						{
-							m_data->m_visualConverterPtr->render();
+							m_data->m_pluginManager.getRenderInterface()->render();
 						}
 					}
 				}
 			}
 
-			if (m_data->m_visualConverterPtr)
+			if (m_data->m_pluginManager.getRenderInterface())
 			{
-				m_data->m_visualConverterPtr->copyCameraImageData(pixelRGBA,numRequestedPixels,
+				m_data->m_pluginManager.getRenderInterface()->copyCameraImageData(pixelRGBA,numRequestedPixels,
 										depthBuffer,numRequestedPixels,
 										segmentationMaskBuffer, numRequestedPixels,
 										startPixelIndex,&width,&height,&numPixelsCopied);
@@ -3889,7 +3896,7 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
 	serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_FAILED;
 	double globalScaling = 1.f;
 	int flags=0;
-	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
+	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
 	btTransform localInertiaFrame;
 	localInertiaFrame.setIdentity();
@@ -6525,7 +6532,7 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 	}
 	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS)
 	{
-		m_data->m_dynamicsWorld->getDispatchInfo().m_deterministicOverlappingPairs = clientCmd.m_physSimParamArgs.m_deterministicOverlappingPairs;
+		m_data->m_dynamicsWorld->getDispatchInfo().m_deterministicOverlappingPairs = (clientCmd.m_physSimParamArgs.m_deterministicOverlappingPairs!=0);
 	}
 	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
 	{
@@ -7450,9 +7457,9 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 
 				if (bodyHandle->m_multiBody->getBaseCollider())
 				{
-					if (m_data->m_visualConverterPtr)
+					if (m_data->m_pluginManager.getRenderInterface())
 					{
-						m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()->getBroadphaseHandle()->getUid());
+						m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()->getBroadphaseHandle()->getUid());
 					}
 					m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
 					int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
@@ -7463,9 +7470,9 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 									
 					if (bodyHandle->m_multiBody->getLink(link).m_collider)
 					{
-						if (m_data->m_visualConverterPtr)
+						if (m_data->m_pluginManager.getRenderInterface())
 						{
-							m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider->getBroadphaseHandle()->getUid());
+							m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider->getBroadphaseHandle()->getUid());
 						}
 						m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider);
 						int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex();
@@ -7483,9 +7490,9 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 			}
 			if (bodyHandle->m_rigidBody)
 			{
-				if (m_data->m_visualConverterPtr)
+				if (m_data->m_pluginManager.getRenderInterface())
 				{
-					m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_rigidBody->getBroadphaseHandle()->getUid());
+					m_data->m_pluginManager.getRenderInterface()->removeVisualShape(bodyHandle->m_rigidBody->getBroadphaseHandle()->getUid());
 				}
 				serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
 				
@@ -8401,9 +8408,9 @@ bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const s
     serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED;
     //retrieve the visual shape information for a specific body
                     
-	if (m_data->m_visualConverterPtr)
+	if (m_data->m_pluginManager.getRenderInterface())
 	{
-		int totalNumVisualShapes = m_data->m_visualConverterPtr->getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
+		int totalNumVisualShapes = m_data->m_pluginManager.getRenderInterface()->getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
 		//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
 		//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
 		b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;
@@ -8411,7 +8418,7 @@ bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const s
 		int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
 		int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
 
-		int success = m_data->m_visualConverterPtr->getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
+		int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
 			shapeIndex,
 			visualShapeStoragePtr);
 		if (success) {
@@ -8444,9 +8451,9 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 		{
 			if (texHandle)
 			{
-				if (m_data->m_visualConverterPtr)
+				if (m_data->m_pluginManager.getRenderInterface())
 				{
-					m_data->m_visualConverterPtr->activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
+					m_data->m_pluginManager.getRenderInterface()->activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
 				}
 			}
 		}
@@ -8476,9 +8483,9 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 						}
 						if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 						{
-							if (m_data->m_visualConverterPtr)
+							if (m_data->m_pluginManager.getRenderInterface())
 							{
-								m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+								m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 							}
 							m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 						}
@@ -8505,9 +8512,9 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 							}
 							if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 							{
-								if (m_data->m_visualConverterPtr)
+								if (m_data->m_pluginManager.getRenderInterface())
 								{
-									m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
+									m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
 								}
 								m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 							}
@@ -8534,9 +8541,9 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 					}
 					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 					{
-						if (m_data->m_visualConverterPtr)
+						if (m_data->m_pluginManager.getRenderInterface())
 						{
-							m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
+							m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
 						}
 						m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 					}
@@ -8595,9 +8602,9 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
 			texH->m_openglTextureId = -1;
 
 			int uid = -1;
-			if (m_data->m_visualConverterPtr)
+			if (m_data->m_pluginManager.getRenderInterface())
 			{
-				m_data->m_visualConverterPtr->loadTextureFile(relativeFileName);
+				m_data->m_pluginManager.getRenderInterface()->loadTextureFile(relativeFileName);
 			}
 			if(uid>=0)
 			{
@@ -9567,9 +9574,9 @@ void PhysicsServerCommandProcessor::resetSimulation()
 	}
 	if (m_data)
 	{
-		if (m_data->m_visualConverterPtr)
+		if (m_data->m_pluginManager.getRenderInterface())
 		{
-			m_data->m_visualConverterPtr->resetAll();
+			m_data->m_pluginManager.getRenderInterface()->resetAll();
 		}
 		for (int i = 0; i < m_data->m_savedStates.size(); i++)
 		{

examples/SharedMemory/b3PluginManager.cpp

@@ -39,6 +39,8 @@ struct b3Plugin
 	PFN_TICK m_preTickFunc;
 	PFN_TICK m_postTickFunc;
 
+	PFN_GET_RENDER_INTERFACE m_getRendererFunc;
+	
 	void* m_userPointer;
 	
 	b3Plugin()
@@ -50,6 +52,7 @@ struct b3Plugin
 		m_executeCommandFunc(0),
 		m_preTickFunc(0),
 		m_postTickFunc(0),
+		m_getRendererFunc(0),
 		m_userPointer(0)
 	{
 	}
@@ -66,6 +69,7 @@ struct b3Plugin
 		m_preTickFunc = 0;
 		m_postTickFunc = 0;
 		m_userPointer = 0;
+		m_getRendererFunc = 0;
 	}
 };
 
@@ -79,6 +83,12 @@ struct b3PluginManagerInternalData
 	b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
 	b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
 	b3AlignedObjectArray<b3MouseEvent> m_mouseEvents;
+	int m_activeRendererPluginUid;
+
+	b3PluginManagerInternalData()
+		:m_activeRendererPluginUid(-1)
+	{
+	}
 };
 
 b3PluginManager::b3PluginManager(class PhysicsCommandProcessorInterface* physSdk)
@@ -151,12 +161,14 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 			std::string executePluginCommandStr = std::string("executePluginCommand") + postFix;
 			std::string preTickPluginCallbackStr = std::string("preTickPluginCallback") + postFix;
 			std::string postTickPluginCallback = std::string("postTickPluginCallback") + postFix;
+			std::string getRendererStr = std::string("getRenderInterface") + postFix;
 			
 			plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, initStr.c_str());
 			plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, exitStr.c_str());
 			plugin->m_executeCommandFunc = (PFN_EXECUTE)B3_DYNLIB_IMPORT(pluginHandle, executePluginCommandStr.c_str());
 			plugin->m_preTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, preTickPluginCallbackStr.c_str());
 			plugin->m_postTickFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, postTickPluginCallback.c_str());
+			plugin->m_getRendererFunc =  (PFN_GET_RENDER_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getRendererStr.c_str());
 			
 			if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
 			{
@@ -201,6 +213,17 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 			pluginUniqueId = -1;
 		}
 	}
+
+	//for now, automatically select the loaded plugin as active renderer. If wanted, we can add some 'select' mechanism.
+	if (pluginUniqueId>=0)
+	{
+		b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
+		if (plugin && plugin->m_getRendererFunc)
+		{
+			selectPluginRenderer(pluginUniqueId);
+		}
+	}
+
 	return pluginUniqueId;
 }
 
@@ -275,12 +298,11 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
 }
 
 
-int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc)
+int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc)
 {
 
 	b3Plugin orgPlugin;
 	
-	
 	int pluginUniqueId = m_data->m_plugins.allocHandle();
 	b3PluginHandle* pluginHandle = m_data->m_plugins.getHandle(pluginUniqueId);
 	pluginHandle->m_pluginHandle = 0;
@@ -291,10 +313,12 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 	pluginHandle->m_initFunc = initFunc;
 	pluginHandle->m_preTickFunc = preTickFunc;
 	pluginHandle->m_postTickFunc = postTickFunc;
+	pluginHandle->m_getRendererFunc = getRendererFunc;
 	pluginHandle->m_pluginHandle = 0;
 	pluginHandle->m_pluginPath = pluginPath;
 	pluginHandle->m_userPointer = 0;
 	
+
 	m_data->m_pluginMap.insert(pluginPath, pluginHandle);
 
 	{
@@ -313,3 +337,34 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 	}
 	return pluginUniqueId;
 }
+
+void b3PluginManager::selectPluginRenderer(int pluginUniqueId)
+{
+	m_data->m_activeRendererPluginUid = pluginUniqueId;
+}
+
+UrdfRenderingInterface* b3PluginManager::getRenderInterface()
+{
+	UrdfRenderingInterface* renderer = 0;
+
+	if (m_data->m_activeRendererPluginUid>=0)
+	{
+		b3PluginHandle* plugin = m_data->m_plugins.getHandle(m_data->m_activeRendererPluginUid);
+		if (plugin)
+		{
+			b3PluginContext context;
+			context.m_userPointer = plugin->m_userPointer;
+			context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
+			context.m_numMouseEvents = 0;
+			context.m_mouseEvents = 0;
+			context.m_numKeyEvents = 0;
+			context.m_keyEvents = 0;
+			context.m_numVRControllerEvents = 0;
+			context.m_vrControllerEvents = 0;
+
+			renderer = plugin->m_getRendererFunc(&context);
+		}
+	}
+	return renderer;
+}
+

examples/SharedMemory/b3PluginManager.h

@@ -20,8 +20,10 @@ class b3PluginManager
 
 		void tickPlugins(double timeStep, bool isPreTick);
 
-		int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc);
+		int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc);
 		
+		void selectPluginRenderer(int pluginUniqueId);
+		UrdfRenderingInterface* getRenderInterface();
 };
 
 #endif //B3_PLUGIN_MANAGER_H

examples/SharedMemory/plugins/b3PluginAPI.h

@@ -30,6 +30,10 @@ extern "C" {
 	typedef B3_API_ENTRY void (B3_API_CALL * PFN_EXIT)(struct b3PluginContext* context);
 	typedef B3_API_ENTRY int (B3_API_CALL * PFN_EXECUTE)(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
 	typedef B3_API_ENTRY int (B3_API_CALL * PFN_TICK)(struct b3PluginContext* context);
+
+	typedef B3_API_ENTRY struct UrdfRenderingInterface* (B3_API_CALL * PFN_GET_RENDER_INTERFACE)(struct b3PluginContext* context);
+	
+
 #ifdef __cplusplus
 }
 #endif

examples/SharedMemory/plugins/testPlugin/testplugin.h

@@ -13,10 +13,10 @@ B3_SHARED_API int initPlugin(struct b3PluginContext* context);
 B3_SHARED_API void exitPlugin(struct b3PluginContext* context);
 B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
 
-//preTickPluginCallback and postTickPluginCallback are optional.
+//all the APIs below are optional
 B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context);
 B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context);
-
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface(struct b3PluginContext* context);
 
 
 #ifdef __cplusplus

examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h

@@ -1,13 +1,9 @@
 #ifndef TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
 #define TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
 
+#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
 
-#include "../Importers/ImportURDFDemo/LinkVisualShapesConverter.h"
+struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
-
-
-
-
-struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 {
 	
 	struct TinyRendererVisualShapeConverterInternalData* m_data;

examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua

@@ -0,0 +1,57 @@
+		
+
+project ("pybullet_tinyRendererPlugin")
+		language "C++"
+		kind "SharedLib"
+		
+		includedirs {".","../../../../src", "../../../../examples",
+		"../../../ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletCollision", "Bullet3Common", "LinearMath"}
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+
+		files {
+			"tinyRendererPlugin.cpp",
+			"tinyRendererPlugin.h",
+			"TinyRendererVisualShapeConverter.cpp",
+			"TinyRendererVisualShapeConverter.h",
+			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
+			"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+			"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.h",
+			"../../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+			"../../../Importers/ImportObjDemo/LoadMeshFromObj.h",
+			"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+			"../../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h",
+			"../../../TinyRenderer/geometry.cpp",
+			"../../../TinyRenderer/model.cpp",
+			"../../../TinyRenderer/our_gl.cpp",
+			"../../../TinyRenderer/tgaimage.cpp",
+			"../../../TinyRenderer/TinyRenderer.cpp",
+			"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+			"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
+			"../../../ThirdPartyLibs/stb_image/stb_image.cpp",
+			"../../../ThirdPartyLibs/stb_image/stb_image.h",
+			"../../../ThirdPartyLibs/tinyxml/tinystr.cpp",
+			"../../../ThirdPartyLibs/tinyxml/tinystr.h",
+			"../../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
+			"../../../ThirdPartyLibs/tinyxml/tinyxml.h",
+			"../../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+			"../../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+			"../../../OpenGLWindow/SimpleCamera.cpp",
+			"../../../OpenGLWindow/SimpleCamera.h",
+			"../../../Utils/b3Clock.cpp",
+			"../../../Utils/b3Clock.h",
+			"../../../Utils/b3ResourcePath.cpp",
+			"../../../Utils/b3ResourcePath.h",
+			}
+	
+	
+	

examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp

@@ -0,0 +1,62 @@
+
+//tinyRenderer plugin
+
+/*
+import pybullet as p
+p.connect(p.GUI)
+pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
+commandUid = 0
+argument = "plane.urdf"
+p.executePluginCommand(pluginUid,commandUid,argument)
+p.unloadPlugin(pluginUid)
+*/
+
+#include "tinyRendererPlugin.h"
+#include "TinyRendererVisualShapeConverter.h"
+
+#include "../../SharedMemoryPublic.h"
+#include "../b3PluginContext.h"
+#include <stdio.h>
+
+
+
+struct MyRendererPluginClass
+{
+	
+	TinyRendererVisualShapeConverter m_renderer;
+	MyRendererPluginClass()
+	{
+	}
+	virtual ~MyRendererPluginClass()
+	{
+	}
+};
+
+B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = new MyRendererPluginClass();
+	context->m_userPointer = obj;
+	return SHARED_MEMORY_MAGIC_NUMBER;
+}
+
+
+B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+{
+		return -1;
+}
+
+
+B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	delete obj;
+	context->m_userPointer = 0;
+}
+
+//all the APIs below are optional
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
+{
+	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	return &obj->m_renderer;
+}
+

examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h

@@ -0,0 +1,25 @@
+#ifndef TINY_RENDERER_PLUGIN_H
+#define TINY_RENDERER_PLUGIN_H
+
+#include "../b3PluginAPI.h"
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
+B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
+
+//all the APIs below are optional
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context);
+
+
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif//#define TEST_PLUGIN_H

examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.h

@@ -13,11 +13,10 @@ B3_SHARED_API int initPlugin_vrSyncPlugin(struct b3PluginContext* context);
 B3_SHARED_API void exitPlugin_vrSyncPlugin(struct b3PluginContext* context);
 B3_SHARED_API int executePluginCommand_vrSyncPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
 
-//preTickPluginCallback and postTickPluginCallback are optional.
+//optional APIs
 B3_SHARED_API int preTickPluginCallback_vrSyncPlugin(struct b3PluginContext* context);
 
 
-
 #ifdef __cplusplus
 };
 #endif

examples/SharedMemory/premake4.lua

@@ -55,13 +55,6 @@ myfiles =
 	"PhysicsServerCommandProcessor.h",
 	"b3PluginManager.cpp",
 	"b3PluginManager.h",
-	"TinyRendererVisualShapeConverter.cpp",
-	"TinyRendererVisualShapeConverter.h",
-	"../TinyRenderer/geometry.cpp",
-	"../TinyRenderer/model.cpp",
-	"../TinyRenderer/tgaimage.cpp",
-	"../TinyRenderer/our_gl.cpp",
-	"../TinyRenderer/TinyRenderer.cpp",
 	"../OpenGLWindow/SimpleCamera.cpp",
 	"../OpenGLWindow/SimpleCamera.h",
 	"../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
@@ -115,6 +108,20 @@ if (_OPTIONS["enable_static_vr_plugin"]) then
 	files {"plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
 end
 
+if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
+	files 
+		{
+		"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+		"plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+		"../TinyRenderer/geometry.cpp",
+		"../TinyRenderer/model.cpp",
+		"../TinyRenderer/tgaimage.cpp",
+		"../TinyRenderer/our_gl.cpp",
+		"../TinyRenderer/TinyRenderer.cpp"
+		}
+else
+	defines("SKIP_STATIC_TINYRENDERER_PLUGIN")
+end
 
 files {
 		"../MultiThreading/b3ThreadSupportInterface.cpp",
@@ -200,6 +207,21 @@ language "C++"
 		
 	end
 
+if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
+	files 
+		{
+		"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+		"plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+		"../TinyRenderer/geometry.cpp",
+		"../TinyRenderer/model.cpp",
+		"../TinyRenderer/tgaimage.cpp",
+		"../TinyRenderer/our_gl.cpp",
+		"../TinyRenderer/TinyRenderer.cpp"
+		}
+else
+	defines("SKIP_STATIC_TINYRENDERER_PLUGIN")
+end
+
 
 files {
         myfiles,
@@ -344,6 +366,21 @@ if os.is("Windows") then
 		initOpenGL()
 	  initGlew()
 	
+	if (not _OPTIONS["disable_static_tinyrenderer_plugin"]) then
+	files 
+		{
+		"plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+		"plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+		"../TinyRenderer/geometry.cpp",
+		"../TinyRenderer/model.cpp",
+		"../TinyRenderer/tgaimage.cpp",
+		"../TinyRenderer/our_gl.cpp",
+		"../TinyRenderer/TinyRenderer.cpp"
+		}
+else
+	defines("SKIP_STATIC_TINYRENDERER_PLUGIN")
+end
+
 
 	files
 	{
@@ -426,5 +463,6 @@ include "udp"
 include "tcp"
 include "plugins/testPlugin"
 include "plugins/vrSyncPlugin"
+include "plugins/tinyRendererPlugin"
 
 

examples/SharedMemory/tcp/premake4.lua

@@ -91,8 +91,8 @@ myfiles =
 	"../b3PluginManager.cpp",
 	"../PhysicsDirect.cpp",
 	"../PhysicsClient.cpp",
-	"../TinyRendererVisualShapeConverter.cpp",
+  "../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
-	"../TinyRendererVisualShapeConverter.h",
+	"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
 	"../../TinyRenderer/geometry.cpp",
 	"../../TinyRenderer/model.cpp",
 	"../../TinyRenderer/tgaimage.cpp",

examples/SharedMemory/udp/premake4.lua

@@ -82,8 +82,8 @@ myfiles =
 	"../b3PluginManager.cpp",
 	"../PhysicsDirect.cpp",
 	"../PhysicsClient.cpp",
-	"../TinyRendererVisualShapeConverter.cpp",
+	"../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
-	"../TinyRendererVisualShapeConverter.h",
+	"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
 	"../../TinyRenderer/geometry.cpp",
 	"../../TinyRenderer/model.cpp",
 	"../../TinyRenderer/tgaimage.cpp",

examples/TwoJoint/CMakeLists.txt

@@ -13,8 +13,8 @@ SET(RobotSimulator_SRCS
 		../../examples/SharedMemory/IKTrajectoryHelper.cpp
 		../../examples/SharedMemory/IKTrajectoryHelper.h
 		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp

examples/pybullet/CMakeLists.txt

@@ -18,8 +18,10 @@ SET(pybullet_SRCS
 		../../examples/SharedMemory/IKTrajectoryHelper.cpp
 		../../examples/SharedMemory/IKTrajectoryHelper.h
 		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp

examples/pybullet/examples/renderPlugin.py

@@ -0,0 +1,9 @@
+
+import pybullet as p
+p.connect(p.GUI)
+plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
+print("plugin=",plugin)
+p.loadURDF("r2d2.urdf")
+
+while (1):
+	p.getCameraImage(320,200)

examples/pybullet/premake4.lua

@@ -91,8 +91,10 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
 			"../../examples/SharedMemory/IKTrajectoryHelper.h",
 			"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h",
 			"../../examples/OpenGLWindow/SimpleCamera.cpp",
 			"../../examples/OpenGLWindow/SimpleCamera.h",
 			"../../examples/TinyRenderer/geometry.cpp",

setup.py

@@ -65,7 +65,8 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/SharedMemory/PhysicsClientC_API.cpp"]\
 +["examples/SharedMemory/Win32SharedMemory.cpp"]\
 +["examples/SharedMemory/PosixSharedMemory.cpp"]\
-+["examples/SharedMemory/TinyRendererVisualShapeConverter.cpp"]\
++["examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp"]\
++["examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp"]\
 +["examples/SharedMemory/PhysicsClientUDP.cpp"]\
 +["examples/SharedMemory/PhysicsClientUDP_C_API.cpp"]\
 +["examples/SharedMemory/PhysicsClientTCP.cpp"]\

test/SharedMemory/CMakeLists.txt

@@ -66,8 +66,8 @@ ENDIF()
 												../../examples/Utils/ChromeTraceUtil.h
 						../../examples/Utils/RobotLoggingUtil.cpp
                         ../../examples/Utils/RobotLoggingUtil.h
-					    ../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+					    ../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-						../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+							../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 						../../examples/OpenGLWindow/SimpleCamera.cpp
 						../../examples/OpenGLWindow/SimpleCamera.h
 						../../examples/TinyRenderer/geometry.cpp

test/SharedMemory/premake4.lua

@@ -191,8 +191,8 @@ project ("Test_PhysicsServerLoopBack")
 			"../../examples/SharedMemory/Win32SharedMemory.h",
 			"../../examples/SharedMemory/PosixSharedMemory.cpp",
 			"../../examples/SharedMemory/PosixSharedMemory.h",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
 			"../../examples/OpenGLWindow/SimpleCamera.cpp",
 			"../../examples/OpenGLWindow/SimpleCamera.h",
 			"../../examples/TinyRenderer/geometry.cpp",
@@ -276,8 +276,8 @@ end
 			"../../examples/SharedMemory/Win32SharedMemory.h",
 			"../../examples/SharedMemory/PosixSharedMemory.cpp",
 			"../../examples/SharedMemory/PosixSharedMemory.h",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
 			"../../examples/TinyRenderer/geometry.cpp",
 			"../../examples/TinyRenderer/model.cpp",
 			"../../examples/TinyRenderer/tgaimage.cpp",
@@ -388,8 +388,8 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
 			"../../examples/SharedMemory/Win32SharedMemory.h",
 			"../../examples/SharedMemory/PosixSharedMemory.cpp",
 			"../../examples/SharedMemory/PosixSharedMemory.h",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
-			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
 			"../../examples/TinyRenderer/geometry.cpp",
 			"../../examples/TinyRenderer/model.cpp",
 			"../../examples/TinyRenderer/tgaimage.cpp",