From df89ce6f924a3e3c327bb72da410b300447c09aa Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 16 Jan 2018 17:58:19 -0800
Subject: [PATCH 1/7] small refactor of LinkVisualShapesConverter /
 TinyRendererVisualShapeConverter, it allows to use it in a Python module and
 in a PyBullet plugin.

---
 .../ImportMJCFDemo/BulletMJCFImporter.cpp     |   4 +-
 .../ImportURDFDemo/BulletUrdfImporter.cpp     |   2 +-
 .../LinkVisualShapesConverter.h               |  41 ++-
 .../Importers/ImportURDFDemo/URDF2Bullet.cpp  |   4 +-
 .../PhysicsServerCommandProcessor.cpp         | 247 +++++++++++-------
 .../TinyRendererVisualShapeConverter.cpp      |  67 +++--
 .../TinyRendererVisualShapeConverter.h        |  50 ++--
 7 files changed, 260 insertions(+), 155 deletions(-)

diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index daa3a0c59..e95a6c112 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -21,7 +21,7 @@
 
 #include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
 #include "../ImportMeshUtility/b3ImportMeshUtility.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
@@ -2277,7 +2277,7 @@ void BulletMJCFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
 	if (m_data->m_customVisualShapesConverter)
 	{
 		const UrdfLink* link = m_data->getLink(m_data->m_activeModel, urdfIndex);
-		m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,inertialFrame, link, 0, colObj, objectIndex);
+		m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,inertialFrame, link, 0, colObj->getBroadphaseHandle()->getUid(), objectIndex);
 	}
 }
 
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 0c50643ab..9189c268e 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -1248,7 +1248,7 @@ void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
 		UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
 		if (linkPtr)
 		{
-			m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj, bodyUniqueId);
+			m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
 		}
 	}
 }
diff --git a/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h b/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
index edc7559ba..0010964f7 100644
--- a/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
+++ b/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
@@ -8,9 +8,46 @@ class btCollisionObject;
 
 struct LinkVisualShapesConverter
 {
-	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, class btCollisionObject* colShape, int objectIndex) =0;
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0;
 	
-	virtual void removeVisualShape(class btCollisionObject* colObj)=0;
+	virtual void removeVisualShape(int shapeUid)=0;
+
+	virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
+
+	virtual int getNumVisualShapes(int bodyUniqueId)=0;
+
+	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
+	
+	virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0;
+
+	virtual void setUpAxis(int axis)=0;
+	
+    virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
+	
+    virtual void clearBuffers(struct TGAColor& clearColor)=0;
+
+	virtual void resetAll()=0;
+
+    virtual void getWidthAndHeight(int& width, int& height)=0;
+	virtual void setWidthAndHeight(int width, int height)=0;
+	virtual void setLightDirection(float x, float y, float z)=0;
+    virtual void setLightColor(float x, float y, float z)=0;
+    virtual void setLightDistance(float dist)=0;
+    virtual void setLightAmbientCoeff(float ambientCoeff)=0;
+    virtual void setLightDiffuseCoeff(float diffuseCoeff)=0;
+    virtual void setLightSpecularCoeff(float specularCoeff)=0;
+    virtual void setShadow(bool hasShadow)=0;
+	virtual void setFlags(int flags)=0;
+
+    virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)=0;
+    
+	virtual void render()=0;
+	virtual void render(const float viewMat[16], const float projMat[16])=0;
+    
+    virtual int loadTextureFile(const char* filename)=0;
+    virtual int registerTexture(unsigned char* texels, int width, int height)=0;
+   
+    virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
 
 };
 
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 5382682a2..25bae7c86 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -566,7 +566,9 @@ void ConvertURDF2BulletInternal(
             }
         } else
         {
-            //u2b.convertLinkVisualShapes2(urdfLinkIndex,urdfIndex,pathPrefix,localInertialFrame,compoundShape);
+		    int mbLinkIndex =cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
+			//u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
+            u2b.convertLinkVisualShapes2(-1,urdfLinkIndex,pathPrefix,localInertialFrame,linkRigidBody,u2b.getBodyUniqueId());
         }
     }
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 3ca3a8a54..60b98da82 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1564,7 +1564,8 @@ struct PhysicsServerCommandProcessorInternalData
 	btVector3 m_hitPos;
 	btScalar m_oldPickingDist;
 	bool m_prevCanSleep;
-	TinyRendererVisualShapeConverter  m_visualConverter;
+	TinyRendererVisualShapeConverter  m_tempVisualConverter;//we may move this into a plugin
+	LinkVisualShapesConverter* m_visualConverterPtr;
 #ifdef B3_ENABLE_TINY_AUDIO
 	b3SoundEngine m_soundEngine;
 #endif
@@ -1598,7 +1599,7 @@ struct PhysicsServerCommandProcessorInternalData
 		m_pickingMultiBodyPoint2Point(0)
 	{
 
-		
+		m_visualConverterPtr=&m_tempVisualConverter;
 
 		{
 			//register static plugins:
@@ -2120,7 +2121,10 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 		//UrdfVisual vis;
 		//link.m_visualArray.push_back(vis);
 		//UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
-		m_data->m_visualConverter.convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj, bodyUniqueId);
+		if (m_data->m_visualConverterPtr)
+		{
+			m_data->m_visualConverterPtr->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId);
+		}
 	}
     virtual void setBodyUniqueId(int bodyId) 
 	{
@@ -2704,7 +2708,7 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
 
 	m_data->m_sdfRecentLoadedBodies.clear();
 
-    BulletMJCFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, flags);
+    BulletMJCFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, flags);
 
 	bool useFixedBase = false;
 	MyMJCFLogger2 logger;
@@ -2727,7 +2731,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
 
 	m_data->m_sdfRecentLoadedBodies.clear();
 
-    BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling, flags);
+    BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
 
 	bool forceFixedBase = false;
@@ -2759,7 +2763,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 
 
 
-    BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling, flags);
+    BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
     bool loadOk =  u2b.loadURDF(fileName, useFixedBase);
 
@@ -3076,15 +3080,21 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
 	if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
 			(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
 	{
-			m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
+		if (m_data->m_visualConverterPtr)
+		{
+			m_data->m_visualConverterPtr->setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
 														clientCmd.m_requestPixelDataArguments.m_pixelHeight);
+		}
 	}
 	int flags = 0;
 	if (clientCmd.m_updateFlags&REQUEST_PIXEL_ARGS_HAS_FLAGS)
 	{
 		flags = clientCmd.m_requestPixelDataArguments.m_flags;
 	}
-	m_data->m_visualConverter.setFlags(flags);
+	if (m_data->m_visualConverterPtr)
+	{
+		m_data->m_visualConverterPtr->setFlags(flags);
+	}
 
 	int numTotalPixels = width*height;
 	int numRemainingPixels = numTotalPixels - startPixelIndex;
@@ -3158,82 +3168,92 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
 		}
 		if (!handled)
 		{
-
-			if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
+			if (m_data->m_visualConverterPtr)
 			{
-				//   printf("-------------------------------\nRendering\n");
+				if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
+				{
+					//   printf("-------------------------------\nRendering\n");
 
-				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) != 0)
-				{
-					m_data->m_visualConverter.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_visualConverter.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_visualConverter.setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance);
-				}
-                                
-				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
-				{
-					m_data->m_visualConverter.setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
-				}
-                                
-				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
-				{
-					m_data->m_visualConverter.setLightAmbientCoeff(clientCmd.m_requestPixelDataArguments.m_lightAmbientCoeff);
-				}
-                                
-				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF) != 0)
-				{
-					m_data->m_visualConverter.setLightDiffuseCoeff(clientCmd.m_requestPixelDataArguments.m_lightDiffuseCoeff);
-				}
-                                
-				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF) != 0)
-				{
-					m_data->m_visualConverter.setLightSpecularCoeff(clientCmd.m_requestPixelDataArguments.m_lightSpecularCoeff);
-				}
-
-				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
-				{
-					m_data->m_visualConverter.render(
-														clientCmd.m_requestPixelDataArguments.m_viewMatrix,
-														clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
-				} else
-				{
-					b3OpenGLVisualizerCameraInfo tmpCamResult;
-					bool result = this->m_data->m_guiHelper->getCameraInfo(
-						&tmpCamResult.m_width,
-						&tmpCamResult.m_height,
-						tmpCamResult.m_viewMatrix,
-						tmpCamResult.m_projectionMatrix,
-						tmpCamResult.m_camUp,
-						tmpCamResult.m_camForward,
-						tmpCamResult.m_horizontal,
-						tmpCamResult.m_vertical,
-						&tmpCamResult.m_yaw,
-						&tmpCamResult.m_pitch,
-						&tmpCamResult.m_dist,
-						tmpCamResult.m_target);
-					if (result)
+					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) != 0)
 					{
-						m_data->m_visualConverter.render(tmpCamResult.m_viewMatrix,
-						tmpCamResult.m_projectionMatrix);
+						m_data->m_visualConverterPtr->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]);
+					}
+                                
+					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE) != 0)
+					{
+						m_data->m_visualConverterPtr->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));
+					}
+                                
+					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
+					{
+						m_data->m_visualConverterPtr->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);
+					}
+                                
+					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF) != 0)
+					{
+						m_data->m_visualConverterPtr->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());
+					}
+
+					if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
+					{
+						m_data->m_visualConverterPtr->render(
+															clientCmd.m_requestPixelDataArguments.m_viewMatrix,
+															clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
 					} else
 					{
-						m_data->m_visualConverter.render();
+						b3OpenGLVisualizerCameraInfo tmpCamResult;
+						bool result = this->m_data->m_guiHelper->getCameraInfo(
+							&tmpCamResult.m_width,
+							&tmpCamResult.m_height,
+							tmpCamResult.m_viewMatrix,
+							tmpCamResult.m_projectionMatrix,
+							tmpCamResult.m_camUp,
+							tmpCamResult.m_camForward,
+							tmpCamResult.m_horizontal,
+							tmpCamResult.m_vertical,
+							&tmpCamResult.m_yaw,
+							&tmpCamResult.m_pitch,
+							&tmpCamResult.m_dist,
+							tmpCamResult.m_target);
+						if (result)
+						{
+							m_data->m_visualConverterPtr->render(tmpCamResult.m_viewMatrix,tmpCamResult.m_projectionMatrix);
+						} else
+						{
+							m_data->m_visualConverterPtr->render();
+						}
 					}
 				}
 			}
 
-			m_data->m_visualConverter.copyCameraImageData(pixelRGBA,numRequestedPixels,
+			if (m_data->m_visualConverterPtr)
+			{
+				m_data->m_visualConverterPtr->copyCameraImageData(pixelRGBA,numRequestedPixels,
 										depthBuffer,numRequestedPixels,
 										segmentationMaskBuffer, numRequestedPixels,
 										startPixelIndex,&width,&height,&numPixelsCopied);
+			}
 
 			m_data->m_guiHelper->debugDisplayCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,
 								clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,
@@ -3869,7 +3889,7 @@ 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_visualConverter, globalScaling, flags);
+	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_visualConverterPtr, globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
 	btTransform localInertiaFrame;
 	localInertiaFrame.setIdentity();
@@ -7430,7 +7450,10 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 
 				if (bodyHandle->m_multiBody->getBaseCollider())
 				{
-					m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getBaseCollider());
+					if (m_data->m_visualConverterPtr)
+					{
+						m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_multiBody->getBaseCollider()->getBroadphaseHandle()->getUid());
+					}
 					m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
 					int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
 					m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
@@ -7440,7 +7463,10 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 									
 					if (bodyHandle->m_multiBody->getLink(link).m_collider)
 					{
-						m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider);
+						if (m_data->m_visualConverterPtr)
+						{
+							m_data->m_visualConverterPtr->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();
 						m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
@@ -7457,7 +7483,10 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
 			}
 			if (bodyHandle->m_rigidBody)
 			{
-				m_data->m_visualConverter.removeVisualShape(bodyHandle->m_rigidBody);
+				if (m_data->m_visualConverterPtr)
+				{
+					m_data->m_visualConverterPtr->removeVisualShape(bodyHandle->m_rigidBody->getBroadphaseHandle()->getUid());
+				}
 				serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
 				
 				if (m_data->m_pickedConstraint && m_data->m_pickedBody==bodyHandle->m_rigidBody)
@@ -8372,24 +8401,27 @@ bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const s
     serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED;
     //retrieve the visual shape information for a specific body
                     
-	int totalNumVisualShapes = m_data->m_visualConverter.getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
-	//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
-	//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
-	b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;
+	if (m_data->m_visualConverterPtr)
+	{
+		int totalNumVisualShapes = m_data->m_visualConverterPtr->getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
+		//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
+		//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
+		b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;
 
-	int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
-	int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
+		int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
+		int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
 
-	int success = m_data->m_visualConverter.getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
-		shapeIndex,
-		visualShapeStoragePtr);
-	if (success) {
-		serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1;
-		serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1;
-		serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
-		serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId;
-		serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData)*serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
-		serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_COMPLETED;
+		int success = m_data->m_visualConverterPtr->getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
+			shapeIndex,
+			visualShapeStoragePtr);
+		if (success) {
+			serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1;
+			serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1;
+			serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
+			serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId;
+			serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData)*serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
+			serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_COMPLETED;
+		}
 	}
 	return hasStatus;
 }
@@ -8412,7 +8444,10 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 		{
 			if (texHandle)
 			{
-			    m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
+				if (m_data->m_visualConverterPtr)
+				{
+					m_data->m_visualConverterPtr->activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
+				}
 			}
 		}
 	}                    
@@ -8441,7 +8476,10 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 						}
 						if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 						{
-							m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+							if (m_data->m_visualConverterPtr)
+							{
+								m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+							}
 							m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 						}
 						if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
@@ -8467,7 +8505,10 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 							}
 							if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 							{
-								m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
+								if (m_data->m_visualConverterPtr)
+								{
+									m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
+								}
 								m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 							}
 							if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
@@ -8493,7 +8534,10 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 					}
 					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 					{
-						m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
+						if (m_data->m_visualConverterPtr)
+						{
+							m_data->m_visualConverterPtr->changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
+						}
 						m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 					}
 					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
@@ -8550,7 +8594,11 @@ bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct Share
 			texH->m_tinyRendererTextureId = -1;
 			texH->m_openglTextureId = -1;
 
-			int uid = m_data->m_visualConverter.loadTextureFile(relativeFileName);
+			int uid = -1;
+			if (m_data->m_visualConverterPtr)
+			{
+				m_data->m_visualConverterPtr->loadTextureFile(relativeFileName);
+			}
 			if(uid>=0)
 			{
 				texH->m_tinyRendererTextureId = uid;
@@ -9519,7 +9567,10 @@ void PhysicsServerCommandProcessor::resetSimulation()
 	}
 	if (m_data)
 	{
-		m_data->m_visualConverter.resetAll();
+		if (m_data->m_visualConverterPtr)
+		{
+			m_data->m_visualConverterPtr->resetAll();
+		}
 		for (int i = 0; i < m_data->m_savedStates.size(); i++)
 		{
 			delete m_data->m_savedStates[i].m_bulletFile;
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index aa7756416..e5c595f3c 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -49,6 +49,14 @@ struct TinyRendererObjectArray
   btAlignedObjectArray<  TinyRenderObjectData*> m_renderObjects;
   int m_objectUniqueId;
   int m_linkIndex;
+  btTransform m_worldTransform;
+  btVector3 m_localScaling;
+
+  TinyRendererObjectArray()
+  {
+	  m_worldTransform.setIdentity();
+	  m_localScaling.setValue(1,1,1);
+  }
 };
 
 #define START_WIDTH 640
@@ -57,7 +65,7 @@ struct TinyRendererObjectArray
 struct TinyRendererVisualShapeConverterInternalData
 {
 	
-    btHashMap<btHashPtr,TinyRendererObjectArray*> m_swRenderInstances;
+    btHashMap<btHashInt,TinyRendererObjectArray*> m_swRenderInstances;
 
 	btAlignedObjectArray<b3VisualShapeData> m_visualShapes;
     
@@ -542,7 +550,7 @@ static btVector4 sColors[4] =
 void TinyRendererVisualShapeConverter::convertVisualShapes(
 	int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
 	const UrdfLink* linkPtr, const UrdfModel* model,
-	class btCollisionObject* colObj, int bodyUniqueId)
+	int shapeUid, int bodyUniqueId)
 {
 	btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
 	if (linkPtr)
@@ -579,15 +587,16 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 
 			
 
-			int colorIndex = colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0;
-
+			int colorIndex = linkIndex;//colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0;
+			if (colorIndex<0)
+				colorIndex=0;
 			btVector4 color;
 			color = sColors[colorIndex];
 			float rgbaColor[4] = {color[0],color[1],color[2],color[3]};
-			if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
-			{
-				color.setValue(1,1,1,1);
-			}
+			//if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
+			//{
+			//	color.setValue(1,1,1,1);
+			//}
 			if (model)
 			{
 				if (useVisual)
@@ -618,12 +627,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 				}
 			}
 			
-			TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[colObj];
+			TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[shapeUid];
             if (visualsPtr==0)
             {
-                m_data->m_swRenderInstances.insert(colObj,new TinyRendererObjectArray);
+                m_data->m_swRenderInstances.insert(shapeUid,new TinyRendererObjectArray);
             }
-            visualsPtr = m_data->m_swRenderInstances[colObj];
+            visualsPtr = m_data->m_swRenderInstances[shapeUid];
 			
             btAssert(visualsPtr);
             TinyRendererObjectArray* visuals = *visualsPtr;
@@ -822,6 +831,19 @@ void TinyRendererVisualShapeConverter::render()
 	render(viewMat,projMat);
 }    
 
+
+void TinyRendererVisualShapeConverter::syncTransform(int shapeUid, const btTransform& worldTransform, const btVector3& localScaling)
+{
+	TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[shapeUid];
+	if (renderObjPtr)
+	{
+		TinyRendererObjectArray* renderObj = *renderObjPtr;
+		renderObj->m_worldTransform = worldTransform;
+		renderObj->m_localScaling = localScaling;
+	}
+}
+
+
 void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16]) 
 {
     //clear the color buffer
@@ -902,11 +924,6 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
                 continue;//can this ever happen?
             TinyRendererObjectArray* visualArray = *visualArrayPtr;
             
-            btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n);
-            
-            
-            const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
-            
             for (int v=0;v<visualArray->m_renderObjects.size();v++)
             {
                 
@@ -914,7 +931,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
                 
                 
                 //sync the object transform
-                const btTransform& tr = colObj->getWorldTransform();
+				const btTransform& tr = visualArray->m_worldTransform;
                 tr.getOpenGLMatrix(modelMat);
                 
                 for (int i=0;i<4;i++)
@@ -927,7 +944,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
                         renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
                     }
                 }
-                renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
+				renderObj->m_localScaling = visualArray->m_localScaling;
                 renderObj->m_lightDirWorld = lightDirWorld;
                 renderObj->m_lightColor = lightColor;
                 renderObj->m_lightDistance = lightDistance;
@@ -946,10 +963,6 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
             continue;//can this ever happen?
         TinyRendererObjectArray* visualArray = *visualArrayPtr;
         
-        btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n);
-        
-        
-        const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
         
         for (int v=0;v<visualArray->m_renderObjects.size();v++)
         {
@@ -958,7 +971,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
             
             
             //sync the object transform
-            const btTransform& tr = colObj->getWorldTransform();
+			const btTransform& tr = visualArray->m_worldTransform;
             tr.getOpenGLMatrix(modelMat);
             
             for (int i=0;i<4;i++)
@@ -971,7 +984,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
                     renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
                 }
             }
-            renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
+			renderObj->m_localScaling = visualArray->m_localScaling;
             renderObj->m_lightDirWorld = lightDirWorld;
             renderObj->m_lightColor = lightColor;
             renderObj->m_lightDistance = lightDistance;
@@ -1096,9 +1109,9 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
     }    
 }
 
-void TinyRendererVisualShapeConverter::removeVisualShape(class btCollisionObject* colObj)
+void TinyRendererVisualShapeConverter::removeVisualShape(int shapeUid)
 {
-	TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[colObj];
+	TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[shapeUid];
 	if (ptrptr && *ptrptr)
 	{
 		TinyRendererObjectArray* ptr = *ptrptr;
@@ -1110,7 +1123,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(class btCollisionObject
 			}
 		}
 		delete ptr;
-		m_data->m_swRenderInstances.remove(colObj);
+		m_data->m_swRenderInstances.remove(shapeUid);
 	}
 }
 
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
index 4c5abbfbb..df70ea0a3 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
@@ -16,45 +16,47 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 	
 	virtual ~TinyRendererVisualShapeConverter();
 	
-	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, class btCollisionObject* colShape, int objectIndex);
-
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
+	
 	virtual int getNumVisualShapes(int bodyUniqueId);
 
 	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
 	
 	virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4]);
 
-	virtual void removeVisualShape(class btCollisionObject* colObj);
+	virtual void removeVisualShape(int shapeUid);
 
-	void setUpAxis(int axis);
+	virtual void setUpAxis(int axis);
 	
-    void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
+    virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
 	
-    void clearBuffers(struct TGAColor& clearColor);
+    virtual void clearBuffers(struct TGAColor& clearColor);
 
-	void resetAll();
+	virtual void resetAll();
 
-    void getWidthAndHeight(int& width, int& height);
-	void setWidthAndHeight(int width, int height);
-	void setLightDirection(float x, float y, float z);
-    void setLightColor(float x, float y, float z);
-    void setLightDistance(float dist);
-    void setLightAmbientCoeff(float ambientCoeff);
-    void setLightDiffuseCoeff(float diffuseCoeff);
-    void setLightSpecularCoeff(float specularCoeff);
-    void setShadow(bool hasShadow);
-	void setFlags(int flags);
+    virtual void getWidthAndHeight(int& width, int& height);
+	virtual void setWidthAndHeight(int width, int height);
+	virtual void setLightDirection(float x, float y, float z);
+    virtual void setLightColor(float x, float y, float z);
+    virtual void setLightDistance(float dist);
+    virtual void setLightAmbientCoeff(float ambientCoeff);
+    virtual void setLightDiffuseCoeff(float diffuseCoeff);
+    virtual void setLightSpecularCoeff(float specularCoeff);
+    virtual void setShadow(bool hasShadow);
+	virtual void setFlags(int flags);
 
-    void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
+    virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
     
-	void render();
-	void render(const float viewMat[16], const float projMat[16]);
+	virtual void render();
+	virtual void render(const float viewMat[16], const float projMat[16]);
     
-    int loadTextureFile(const char* filename);
-    int registerTexture(unsigned char* texels, int width, int height);
+    virtual int loadTextureFile(const char* filename);
+    virtual int registerTexture(unsigned char* texels, int width, int height);
    
-    void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
-	
+    virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
+
+	virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
+
 };
 
 

From c6a350b807f7b715836f57ac115faca2559d3ba7 Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Tue, 16 Jan 2018 21:54:46 -0800
Subject: [PATCH 2/7] BulletInverseDynaimcs: re-applied fix PyBullet: increase
 humanoid training from 30 to 300M (need to figure out the right
 hyperparameters...)

---
 examples/pybullet/gym/pybullet_envs/agents/configs.py       | 2 +-
 src/BulletInverseDynamics/details/IDLinearMathInterface.hpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/pybullet/gym/pybullet_envs/agents/configs.py b/examples/pybullet/gym/pybullet_envs/agents/configs.py
index a16fb1a62..6ac584db6 100644
--- a/examples/pybullet/gym/pybullet_envs/agents/configs.py
+++ b/examples/pybullet/gym/pybullet_envs/agents/configs.py
@@ -124,7 +124,7 @@ def pybullet_humanoid():
   randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer())
   env = 'HumanoidBulletEnv-v0'
   max_length = 1000
-  steps = 3e7  # 30M
+  steps = 3e8  # 300M
   return locals()
 
 
diff --git a/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
index 5bb4a33bd..a44f779be 100644
--- a/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
+++ b/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp
@@ -49,9 +49,9 @@ inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
 
 class vecx : public btVectorX<idScalar> {
 public:
-	vecx(int size) : btVectorX(size) {}
+	vecx(int size) : btVectorX<idScalar>(size) {}
 	const vecx& operator=(const btVectorX<idScalar>& rhs) {
-		*static_cast<btVectorX*>(this) = rhs;
+		*static_cast<btVectorX<idScalar>*>(this) = rhs;
 		return *this;
 	}
 

From 329a1f5a74ac22cc7c86acd1b284aaba96c689a5 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 17 Jan 2018 12:48:48 -0800
Subject: [PATCH 3/7] 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          |   4 +-
 examples/ExampleBrowser/CMakeLists.txt        |   5 +-
 examples/ExampleBrowser/premake4.lua          |   4 +-
 .../ImportMJCFDemo/BulletMJCFImporter.cpp     |   4 +-
 .../ImportMJCFDemo/BulletMJCFImporter.h       |   4 +-
 .../ImportURDFDemo/BulletUrdfImporter.cpp     |   4 +-
 .../ImportURDFDemo/BulletUrdfImporter.h       |   4 +-
 .../Importers/ImportURDFDemo/SDFAudioTypes.h  |   1 -
 .../Importers/ImportURDFDemo/URDFJointTypes.h |   2 +-
 .../Importers/ImportURDFDemo/UrdfParser.h     |   2 +-
 ...esConverter.h => UrdfRenderingInterface.h} |   8 +-
 examples/RobotSimulator/CMakeLists.txt        |   4 +-
 examples/RobotSimulator/premake4.lua          |   4 +-
 examples/SharedMemory/CMakeLists.txt          |   6 +-
 .../PhysicsServerCommandProcessor.cpp         | 111 ++++++++++--------
 examples/SharedMemory/b3PluginManager.cpp     |  63 +++++++++-
 examples/SharedMemory/b3PluginManager.h       |   8 +-
 examples/SharedMemory/plugins/b3PluginAPI.h   |   4 +
 .../SharedMemory/plugins/b3PluginContext.h    |   2 +-
 .../plugins/testPlugin/testplugin.h           |   4 +-
 .../TinyRendererVisualShapeConverter.cpp      |   0
 .../TinyRendererVisualShapeConverter.h        |  34 +++---
 .../plugins/tinyRendererPlugin/premake4.lua   |  57 +++++++++
 .../tinyRendererPlugin/tinyRendererPlugin.cpp |  62 ++++++++++
 .../tinyRendererPlugin/tinyRendererPlugin.h   |  25 ++++
 .../plugins/vrSyncPlugin/vrSyncPlugin.h       |   3 +-
 examples/SharedMemory/premake4.lua            |  54 +++++++--
 examples/SharedMemory/tcp/premake4.lua        |   6 +-
 examples/SharedMemory/udp/premake4.lua        |   4 +-
 examples/TwoJoint/CMakeLists.txt              |   4 +-
 examples/pybullet/CMakeLists.txt              |   6 +-
 examples/pybullet/examples/renderPlugin.py    |   9 ++
 examples/pybullet/premake4.lua                |   6 +-
 setup.py                                      |   3 +-
 test/SharedMemory/CMakeLists.txt              |   4 +-
 test/SharedMemory/premake4.lua                |  12 +-
 36 files changed, 397 insertions(+), 140 deletions(-)
 rename examples/Importers/ImportURDFDemo/{LinkVisualShapesConverter.h => UrdfRenderingInterface.h} (94%)
 rename examples/SharedMemory/{ => plugins/tinyRendererPlugin}/TinyRendererVisualShapeConverter.cpp (100%)
 rename examples/SharedMemory/{ => plugins/tinyRendererPlugin}/TinyRendererVisualShapeConverter.h (50%)
 create mode 100644 examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua
 create mode 100644 examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
 create mode 100644 examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
 create mode 100644 examples/pybullet/examples/renderPlugin.py

diff --git a/Extras/BulletRobotics/CMakeLists.txt b/Extras/BulletRobotics/CMakeLists.txt
index 3c1b66f53..8abac18f5 100644
--- a/Extras/BulletRobotics/CMakeLists.txt
+++ b/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/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index fdf958dfb..2554ac4fa 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/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/TinyRendererVisualShapeConverter.h
+	../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+	../SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 	../SharedMemory/IKTrajectoryHelper.cpp
 	../SharedMemory/IKTrajectoryHelper.h
-	
 	../SharedMemory/PhysicsServer.cpp
 	../SharedMemory/PhysicsClientSharedMemory.cpp
 	../SharedMemory/PhysicsClientSharedMemory_C_API.cpp
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index 0e77672a8..56789385c 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -110,8 +110,8 @@ project "App_BulletExampleBrowser"
 		"../SharedMemory/PhysicsServerCommandProcessor.cpp",
 		"../SharedMemory/PhysicsServerCommandProcessor.h",
 		"../SharedMemory/b3PluginManager.cpp",		
-		"../SharedMemory/TinyRendererVisualShapeConverter.cpp",
-		"../SharedMemory/TinyRendererVisualShapeConverter.h",
+		"../SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+		"../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
 		"../SharedMemory/SharedMemoryCommands.h",
 		"../SharedMemory/SharedMemoryPublic.h",
 		"../MultiThreading/MultiThreadingExample.cpp",
diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index e95a6c112..e6a39b05a 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/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;
diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
index fa3422bd6..d5959a0f8 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+++ b/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);
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 9189c268e..b5968490a 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/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);
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 96060ffbb..a74fb5117 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/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();
 
diff --git a/examples/Importers/ImportURDFDemo/SDFAudioTypes.h b/examples/Importers/ImportURDFDemo/SDFAudioTypes.h
index 5dd7b827c..02b5a0cf4 100644
--- a/examples/Importers/ImportURDFDemo/SDFAudioTypes.h
+++ b/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
 {
diff --git a/examples/Importers/ImportURDFDemo/URDFJointTypes.h b/examples/Importers/ImportURDFDemo/URDFJointTypes.h
index 2edad8617..d494d4fe5 100644
--- a/examples/Importers/ImportURDFDemo/URDFJointTypes.h
+++ b/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
 {
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 7a87ffcc1..eae3a8f53 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/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
 {
diff --git a/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h b/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
similarity index 94%
rename from examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
rename to examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
index 0010964f7..8b6a649fd 100644
--- a/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
+++ b/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
@@ -1,12 +1,12 @@
-#ifndef LINK_VISUAL_SHAPES_CONVERTER_H
-#define LINK_VISUAL_SHAPES_CONVERTER_H
+#ifndef URDF_RENDERING_INTERFACE_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;
 	
diff --git a/examples/RobotSimulator/CMakeLists.txt b/examples/RobotSimulator/CMakeLists.txt
index 9549709b0..d0bb13eaf 100644
--- a/examples/RobotSimulator/CMakeLists.txt
+++ b/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/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp
diff --git a/examples/RobotSimulator/premake4.lua b/examples/RobotSimulator/premake4.lua
index 27a1a4e56..020ef2c64 100644
--- a/examples/RobotSimulator/premake4.lua
+++ b/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/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
 			"../../examples/TinyRenderer/geometry.cpp",
 			"../../examples/TinyRenderer/model.cpp",
 			"../../examples/TinyRenderer/tgaimage.cpp",
diff --git a/examples/SharedMemory/CMakeLists.txt b/examples/SharedMemory/CMakeLists.txt
index d883250b3..4ea326d98 100644
--- a/examples/SharedMemory/CMakeLists.txt
+++ b/examples/SharedMemory/CMakeLists.txt
@@ -36,9 +36,9 @@ SET(SharedMemory_SRCS
 	SharedMemoryCommandProcessor.h
 	PhysicsServerCommandProcessor.cpp
 	PhysicsServerCommandProcessor.h
-	TinyRendererVisualShapeConverter.cpp
-	TinyRendererVisualShapeConverter.h
-	SharedMemoryCommands.h
+	plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+	plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+SharedMemoryCommands.h
 	SharedMemoryPublic.h
 	b3PluginManager.cpp
 	../TinyRenderer/geometry.cpp
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 60b98da82..de13c05ce 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/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++)
 		{
diff --git a/examples/SharedMemory/b3PluginManager.cpp b/examples/SharedMemory/b3PluginManager.cpp
index afd352d41..7814bfee5 100644
--- a/examples/SharedMemory/b3PluginManager.cpp
+++ b/examples/SharedMemory/b3PluginManager.cpp
@@ -39,8 +39,10 @@ struct b3Plugin
 	PFN_TICK m_preTickFunc;
 	PFN_TICK m_postTickFunc;
 
+	PFN_GET_RENDER_INTERFACE m_getRendererFunc;
+	
 	void* m_userPointer;
-
+	
 	b3Plugin()
 		:m_pluginHandle(0),
 		m_ownsPluginHandle(false),
@@ -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;
 }
 
@@ -275,11 +298,10 @@ 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);
@@ -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;
+}
+
diff --git a/examples/SharedMemory/b3PluginManager.h b/examples/SharedMemory/b3PluginManager.h
index d9466b071..060aae27d 100644
--- a/examples/SharedMemory/b3PluginManager.h
+++ b/examples/SharedMemory/b3PluginManager.h
@@ -17,11 +17,13 @@ class b3PluginManager
 		int executePluginCommand(int pluginUniqueId, const struct b3PluginArguments* arguments);
 		void addEvents(const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
 		void clearEvents();
-		
+
 		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
diff --git a/examples/SharedMemory/plugins/b3PluginAPI.h b/examples/SharedMemory/plugins/b3PluginAPI.h
index 54387668f..71025e8e1 100644
--- a/examples/SharedMemory/plugins/b3PluginAPI.h
+++ b/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
diff --git a/examples/SharedMemory/plugins/b3PluginContext.h b/examples/SharedMemory/plugins/b3PluginContext.h
index 8d042a3b8..a6fc4e767 100644
--- a/examples/SharedMemory/plugins/b3PluginContext.h
+++ b/examples/SharedMemory/plugins/b3PluginContext.h
@@ -9,7 +9,7 @@ struct b3PluginContext
 
 	//plugin can modify the m_userPointer to store persistent object pointer (class or struct instance etc)
 	void* m_userPointer;
-
+	
 	const struct b3VRControllerEvent* m_vrControllerEvents;
 	int m_numVRControllerEvents;
 	const struct b3KeyboardEvent* m_keyEvents;
diff --git a/examples/SharedMemory/plugins/testPlugin/testplugin.h b/examples/SharedMemory/plugins/testPlugin/testplugin.h
index bb14345cc..433634762 100644
--- a/examples/SharedMemory/plugins/testPlugin/testplugin.h
+++ b/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
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
similarity index 100%
rename from examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
rename to examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
similarity index 50%
rename from examples/SharedMemory/TinyRendererVisualShapeConverter.h
rename to examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
index df70ea0a3..60f9089b4 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h
+++ b/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 LinkVisualShapesConverter
+struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
 {
 	
 	struct TinyRendererVisualShapeConverterInternalData* m_data;
@@ -28,32 +24,32 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 
 	virtual void setUpAxis(int axis);
 	
-    virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
 	
-    virtual void clearBuffers(struct TGAColor& clearColor);
+	virtual void clearBuffers(struct TGAColor& clearColor);
 
 	virtual void resetAll();
 
-    virtual void getWidthAndHeight(int& width, int& height);
+	virtual void getWidthAndHeight(int& width, int& height);
 	virtual void setWidthAndHeight(int width, int height);
 	virtual void setLightDirection(float x, float y, float z);
-    virtual void setLightColor(float x, float y, float z);
-    virtual void setLightDistance(float dist);
-    virtual void setLightAmbientCoeff(float ambientCoeff);
-    virtual void setLightDiffuseCoeff(float diffuseCoeff);
-    virtual void setLightSpecularCoeff(float specularCoeff);
-    virtual void setShadow(bool hasShadow);
+	virtual void setLightColor(float x, float y, float z);
+	virtual void setLightDistance(float dist);
+	virtual void setLightAmbientCoeff(float ambientCoeff);
+	virtual void setLightDiffuseCoeff(float diffuseCoeff);
+	virtual void setLightSpecularCoeff(float specularCoeff);
+	virtual void setShadow(bool hasShadow);
 	virtual void setFlags(int flags);
 
-    virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
+	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
     
 	virtual void render();
 	virtual void render(const float viewMat[16], const float projMat[16]);
     
-    virtual int loadTextureFile(const char* filename);
-    virtual int registerTexture(unsigned char* texels, int width, int height);
+	virtual int loadTextureFile(const char* filename);
+	virtual int registerTexture(unsigned char* texels, int width, int height);
    
-    virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
+	virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
 
 	virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling);
 
diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua b/examples/SharedMemory/plugins/tinyRendererPlugin/premake4.lua
new file mode 100644
index 000000000..eff081ac0
--- /dev/null
+++ b/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",
+			}
+	
+	
+	
diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp b/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
new file mode 100644
index 000000000..fc73a732e
--- /dev/null
+++ b/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;
+}
+
diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h b/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
new file mode 100644
index 000000000..9f1d9330a
--- /dev/null
+++ b/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
diff --git a/examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.h b/examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.h
index 9b4cebd1a..507b5c301 100644
--- a/examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.h
+++ b/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
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index e0818dd2c..a81acd4b9 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/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,
@@ -344,7 +366,22 @@ 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
 	{
 		myfiles,
@@ -426,5 +463,6 @@ include "udp"
 include "tcp"
 include "plugins/testPlugin"
 include "plugins/vrSyncPlugin"
+include "plugins/tinyRendererPlugin"
 
 
diff --git a/examples/SharedMemory/tcp/premake4.lua b/examples/SharedMemory/tcp/premake4.lua
index 7a72fb04e..790294228 100644
--- a/examples/SharedMemory/tcp/premake4.lua
+++ b/examples/SharedMemory/tcp/premake4.lua
@@ -90,9 +90,9 @@ myfiles =
 	"../PhysicsServerCommandProcessor.h",
 	"../b3PluginManager.cpp",
 	"../PhysicsDirect.cpp",
-        "../PhysicsClient.cpp",
-	"../TinyRendererVisualShapeConverter.cpp",
-	"../TinyRendererVisualShapeConverter.h",
+	"../PhysicsClient.cpp",
+  "../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+	"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
 	"../../TinyRenderer/geometry.cpp",
 	"../../TinyRenderer/model.cpp",
 	"../../TinyRenderer/tgaimage.cpp",
diff --git a/examples/SharedMemory/udp/premake4.lua b/examples/SharedMemory/udp/premake4.lua
index ec8a8f2a5..1255c236c 100644
--- a/examples/SharedMemory/udp/premake4.lua
+++ b/examples/SharedMemory/udp/premake4.lua
@@ -82,8 +82,8 @@ myfiles =
 	"../b3PluginManager.cpp",
 	"../PhysicsDirect.cpp",
 	"../PhysicsClient.cpp",
-	"../TinyRendererVisualShapeConverter.cpp",
-	"../TinyRendererVisualShapeConverter.h",
+	"../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+	"../plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
 	"../../TinyRenderer/geometry.cpp",
 	"../../TinyRenderer/model.cpp",
 	"../../TinyRenderer/tgaimage.cpp",
diff --git a/examples/TwoJoint/CMakeLists.txt b/examples/TwoJoint/CMakeLists.txt
index 4b3259b82..ff9004935 100644
--- a/examples/TwoJoint/CMakeLists.txt
+++ b/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/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index 7ca72805b..1d6ecd2bd 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/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/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+		../../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
diff --git a/examples/pybullet/examples/renderPlugin.py b/examples/pybullet/examples/renderPlugin.py
new file mode 100644
index 000000000..91c188fbf
--- /dev/null
+++ b/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)
\ No newline at end of file
diff --git a/examples/pybullet/premake4.lua b/examples/pybullet/premake4.lua
index 69fe0abe7..82b04aa1e 100644
--- a/examples/pybullet/premake4.lua
+++ b/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/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+			"../../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",
diff --git a/setup.py b/setup.py
index 2ccfcc0b5..b78e6404a 100644
--- a/setup.py
+++ b/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"]\
diff --git a/test/SharedMemory/CMakeLists.txt b/test/SharedMemory/CMakeLists.txt
index 0feab4306..cba4b587c 100644
--- a/test/SharedMemory/CMakeLists.txt
+++ b/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/TinyRendererVisualShapeConverter.h
+					    ../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+							../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 						../../examples/OpenGLWindow/SimpleCamera.cpp
 						../../examples/OpenGLWindow/SimpleCamera.h
 						../../examples/TinyRenderer/geometry.cpp
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index 90529aeca..31f19ada2 100644
--- a/test/SharedMemory/premake4.lua
+++ b/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/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+			"../../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/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+			"../../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/TinyRendererVisualShapeConverter.h",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+			"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
 			"../../examples/TinyRenderer/geometry.cpp",
 			"../../examples/TinyRenderer/model.cpp",
 			"../../examples/TinyRenderer/tgaimage.cpp",

From 585f858842be86da976335324a9147f13cb355f7 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 17 Jan 2018 12:51:19 -0800
Subject: [PATCH 4/7] PyBullet: bump up API version due to move of tinyrenderer
 into a plugin

---
 examples/SharedMemory/SharedMemoryPublic.h | 3 ++-
 setup.py                                   | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index dd7d31db8..6db0355e3 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -5,7 +5,8 @@
 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
 ///my convention is year/month/day/rev
 
-#define SHARED_MEMORY_MAGIC_NUMBER 201801080
+#define SHARED_MEMORY_MAGIC_NUMBER 201801170
+//#define SHARED_MEMORY_MAGIC_NUMBER 201801080
 //#define SHARED_MEMORY_MAGIC_NUMBER 201801010
 //#define SHARED_MEMORY_MAGIC_NUMBER 201710180
 //#define SHARED_MEMORY_MAGIC_NUMBER 201710050
diff --git a/setup.py b/setup.py
index b78e6404a..d5d1a4b16 100644
--- a/setup.py
+++ b/setup.py
@@ -444,7 +444,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.8.2',
+	version='1.8.3',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From 3073d60845572a5fd788186a44a8e319618d9fb0 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 17 Jan 2018 12:53:00 -0800
Subject: [PATCH 5/7] Update tinyRendererPlugin.cpp

---
 .../plugins/tinyRendererPlugin/tinyRendererPlugin.cpp  | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp b/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
index fc73a732e..0c5d75baf 100644
--- a/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+++ b/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
@@ -4,11 +4,11 @@
 /*
 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)
+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)
 */
 
 #include "tinyRendererPlugin.h"

From c781e98de4367fb537583219f6d50e30d3596b02 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 17 Jan 2018 13:06:44 -0800
Subject: [PATCH 6/7] add a little bit of documentation to the
 UrdfRenderingInterface

---
 .../ImportURDFDemo/UrdfRenderingInterface.h   | 70 +++++++++++++++----
 1 file changed, 56 insertions(+), 14 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h b/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
index 8b6a649fd..762f6dc9d 100644
--- a/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
+++ b/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
@@ -1,53 +1,95 @@
 #ifndef URDF_RENDERING_INTERFACE_H
 #define URDF_RENDERING_INTERFACE_H
 
+///UrdfLink and UrdfModel are the main URDF structures to define a robot
 struct UrdfLink;
 struct UrdfModel;
+///btTransform is a position and 3x3 matrix, as defined in Bullet/src/LinearMath/btTransform
 class btTransform;
 
-
+///UrdfRenderingInterface is a simple rendering interface, mainly for URDF-based robots. 
+///There is an implementation in 
+///bullet3\examples\SharedMemory\plugins\tinyRendererPlugin\TinyRendererVisualShapeConverter.cpp
 struct UrdfRenderingInterface
 {
+	///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
+	///use the shapeUid as a unique identified to remove it
 	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0;
 	
+	///remove a visual shapes, based on the shape unique id (shapeUid)
 	virtual void removeVisualShape(int shapeUid)=0;
 
+	///update the world transform + scaling of the visual shape, using the shapeUid
 	virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
 
+	///return the number of visual shapes, for a particular body unique id
 	virtual int getNumVisualShapes(int bodyUniqueId)=0;
 
+	///return the visual shape information, for a particular body unique id and 'shape index'
 	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
 	
+	///change the RGBA color for a body unique id and link index
 	virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0;
 
+	///pick the up-axis, either Y (1) or Z (2)
 	virtual void setUpAxis(int axis)=0;
 	
-    virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
+	///compute the view matrix based on those parameters
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
 	
-    virtual void clearBuffers(struct TGAColor& clearColor)=0;
+	///clear the render buffer with a particular color.
+	virtual void clearBuffers(struct TGAColor& clearColor)=0;
 
+	///remove all visual shapes.
 	virtual void resetAll()=0;
 
-    virtual void getWidthAndHeight(int& width, int& height)=0;
+	///return the frame buffer width and height for the renderer
+	virtual void getWidthAndHeight(int& width, int& height)=0;
+	
+	///set the frame buffer width and height for the renderer
 	virtual void setWidthAndHeight(int width, int height)=0;
+	
+	///set the light direction, in world coordinates
 	virtual void setLightDirection(float x, float y, float z)=0;
-    virtual void setLightColor(float x, float y, float z)=0;
-    virtual void setLightDistance(float dist)=0;
-    virtual void setLightAmbientCoeff(float ambientCoeff)=0;
-    virtual void setLightDiffuseCoeff(float diffuseCoeff)=0;
-    virtual void setLightSpecularCoeff(float specularCoeff)=0;
-    virtual void setShadow(bool hasShadow)=0;
+	
+	///set the ambient light color, in world coordinates
+	virtual void setLightColor(float x, float y, float z)=0;
+	
+	///set the light distance
+	virtual void setLightDistance(float dist)=0;
+	
+	///set the light ambient coefficient
+	virtual void setLightAmbientCoeff(float ambientCoeff)=0;
+	
+	///set the light diffuse coefficient
+	virtual void setLightDiffuseCoeff(float diffuseCoeff)=0;
+	
+	///set the light specular coefficient
+	virtual void setLightSpecularCoeff(float specularCoeff)=0;
+	
+	///enable or disable rendering of shadows
+	virtual void setShadow(bool hasShadow)=0;
+	
+	///some undocumented flags for experimentation (todo: document)
 	virtual void setFlags(int flags)=0;
 
-    virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)=0;
+	///provide the image pixels as a part of a stream.
+	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)=0;
     
+  ///render an image, using some arbitraty view and projection matrix
 	virtual void render()=0;
+	
+	///render an image using the provided view and projection matrix
 	virtual void render(const float viewMat[16], const float projMat[16])=0;
     
-    virtual int loadTextureFile(const char* filename)=0;
-    virtual int registerTexture(unsigned char* texels, int width, int height)=0;
+  ///load a texture from file, in png or other popular/supported format
+	virtual int loadTextureFile(const char* filename)=0;
+	
+	///register a texture using an in-memory pixel buffer of a given width and height
+	virtual int registerTexture(unsigned char* texels, int width, int height)=0;
    
-    virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
+  ///select a given texture for some visual shape.
+	virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
 
 };
 

From 1661f25fd86c725f950943320fab3ba611e59d3f Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 17 Jan 2018 13:11:02 -0800
Subject: [PATCH 7/7] minor indentation fix

---
 .../ImportURDFDemo/UrdfRenderingInterface.h   | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h b/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
index 762f6dc9d..8c5c9a5d6 100644
--- a/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
+++ b/examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
@@ -11,26 +11,26 @@ class btTransform;
 ///There is an implementation in 
 ///bullet3\examples\SharedMemory\plugins\tinyRendererPlugin\TinyRendererVisualShapeConverter.cpp
 struct UrdfRenderingInterface
-{
+	{
 	///given a URDF link, convert all visual shapes into internal renderer (loading graphics meshes, textures etc)
 	///use the shapeUid as a unique identified to remove it
 	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex) =0;
 	
 	///remove a visual shapes, based on the shape unique id (shapeUid)
 	virtual void removeVisualShape(int shapeUid)=0;
-
+	
 	///update the world transform + scaling of the visual shape, using the shapeUid
 	virtual void syncTransform(int shapeUid, const class btTransform& worldTransform, const class btVector3& localScaling)=0;
-
+	
 	///return the number of visual shapes, for a particular body unique id
 	virtual int getNumVisualShapes(int bodyUniqueId)=0;
-
+	
 	///return the visual shape information, for a particular body unique id and 'shape index'
 	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)=0;
 	
 	///change the RGBA color for a body unique id and link index
 	virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])=0;
-
+	
 	///pick the up-axis, either Y (1) or Z (2)
 	virtual void setUpAxis(int axis)=0;
 	
@@ -39,10 +39,10 @@ struct UrdfRenderingInterface
 	
 	///clear the render buffer with a particular color.
 	virtual void clearBuffers(struct TGAColor& clearColor)=0;
-
+	
 	///remove all visual shapes.
 	virtual void resetAll()=0;
-
+	
 	///return the frame buffer width and height for the renderer
 	virtual void getWidthAndHeight(int& width, int& height)=0;
 	
@@ -72,23 +72,23 @@ struct UrdfRenderingInterface
 	
 	///some undocumented flags for experimentation (todo: document)
 	virtual void setFlags(int flags)=0;
-
+	
 	///provide the image pixels as a part of a stream.
 	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,  int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)=0;
-    
-  ///render an image, using some arbitraty view and projection matrix
+	
+	///render an image, using some arbitraty view and projection matrix
 	virtual void render()=0;
 	
 	///render an image using the provided view and projection matrix
 	virtual void render(const float viewMat[16], const float projMat[16])=0;
-    
-  ///load a texture from file, in png or other popular/supported format
+	
+	///load a texture from file, in png or other popular/supported format
 	virtual int loadTextureFile(const char* filename)=0;
 	
 	///register a texture using an in-memory pixel buffer of a given width and height
 	virtual int registerTexture(unsigned char* texels, int width, int height)=0;
-   
-  ///select a given texture for some visual shape.
+	
+	///select a given texture for some visual shape.
 	virtual void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)=0;
 
 };