From 60d2b99151650f441f80928d19f01a1e20ae2dc8 Mon Sep 17 00:00:00 2001
From: erwin coumans <erwincoumans@google.com>
Date: Thu, 7 Jul 2016 19:24:44 -0700
Subject: [PATCH] Physics runs in a separate thread from rendering in
 PhysicsServerExample (preliminary) Improve rendering performance. OpenVR
 experience is smooth now. commit needs a bit more testing before pushing in
 main repo.

---
 data/sphere2.urdf                             |  52 +-
 .../CommonGUIHelperInterface.h                |  12 +-
 .../CommonInterfaces/CommonRenderInterface.h  |   2 +
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |  17 +-
 examples/ExampleBrowser/OpenGLGuiHelper.h     |   7 +-
 .../ExtendedTutorials/RigidBodyFromObj.cpp    |   3 +-
 .../ImportURDFDemo/BulletUrdfImporter.cpp     |  14 +-
 .../ImportURDFDemo/ImportURDFSetup.cpp        |  18 +-
 .../ImportURDFDemo/MyMultiBodyCreator.cpp     |   7 +-
 .../ImportURDFDemo/MyMultiBodyCreator.h       |   5 +
 .../MultiThreading/b3PosixThreadSupport.cpp   |   2 +-
 .../MultiThreading/b3Win32ThreadSupport.cpp   |   4 +-
 .../OpenGLWindow/GLInstancingRenderer.cpp     |  60 +-
 examples/OpenGLWindow/GLInstancingRenderer.h  |   2 +
 .../OpenGLWindow/SimpleOpenGL2Renderer.cpp    |   6 +
 examples/OpenGLWindow/SimpleOpenGL2Renderer.h |   3 +
 .../PhysicsClientSharedMemory.cpp             |   2 +
 .../PhysicsServerCommandProcessor.cpp         |  22 +-
 .../SharedMemory/PhysicsServerExample.cpp     | 574 +++++++++++++++++-
 .../PhysicsServerSharedMemory.cpp             |   5 +
 .../SharedMemory/PhysicsServerSharedMemory.h  |   1 +
 examples/SharedMemory/premake4.lua            | 214 +++++--
 .../StandaloneMain/hellovr_opengl_main.cpp    |  44 +-
 .../main_opengl_single_example.cpp            |  21 +-
 .../main_sw_tinyrenderer_single_example.cpp   |  14 +-
 .../main_tinyrenderer_single_example.cpp      |  37 +-
 examples/pybullet/pybullet.c                  |  16 +-
 test/SharedMemory/test.c                      |   2 +-
 28 files changed, 978 insertions(+), 188 deletions(-)

diff --git a/data/sphere2.urdf b/data/sphere2.urdf
index fb0108b3d..ec939e694 100644
--- a/data/sphere2.urdf
+++ b/data/sphere2.urdf
@@ -9,7 +9,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
       </geometry>
     </visual>
     <collision>
@@ -19,55 +19,5 @@
       </geometry>
     </collision>
   </link>
-   <link name="childA">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="10.0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </collision>
-  </link>
-   <joint name="joint_baseLink_childA" type="fixed">
-    <parent link="baseLink"/>
-    <child link="childA"/>
-    <origin xyz="0 0 1.0"/>
-  </joint>
- <link name="childB">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.5"/>
-      <mass value="10.0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.5"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.5"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </collision>
-  </link>
- <joint name="joint_childA_childB" type="continuous">
-    <parent link="childA"/>
-    <child link="childB"/>
-<axis xyz="0 1 0"/>
-    <origin xyz="0 0 0.5"/>
-  </joint>
-
 </robot>
 
diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index b9a4dfd26..f76414126 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -29,9 +29,10 @@ struct GUIHelperInterface
 
 	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=0;
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) =0;
-
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)=0;
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
+    virtual void removeAllGraphicsInstances()=0;
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
 	
@@ -73,9 +74,10 @@ struct DummyGUIHelper : public GUIHelperInterface
 
 	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }
-
-	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;}
+	virtual int	registerTexture(const unsigned char* texels, int width, int height){return -1;}
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId){return -1;}
+	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
+    virtual void removeAllGraphicsInstances(){}
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index e1d6170ef..0242a2bbe 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -53,6 +53,8 @@ struct CommonRenderInterface
 	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
 	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
     
+    virtual int getTotalNumInstances() const = 0;
+    
 	virtual void writeTransforms()=0;
     virtual void enableBlend(bool blend)=0;
 	virtual void clearZBuffer()=0;
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 23c225677..0af5c8577 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -199,9 +199,16 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
 	}
 }
 
-int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+int	OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height)
 {
-	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
+	int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height);
+	return textureId;
+}
+
+
+int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
+{
+	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
 	return shapeId;
 }
 
@@ -210,6 +217,10 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
 	return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
 }
 
+void OpenGLGuiHelper::removeAllGraphicsInstances()
+{
+    m_data->m_glApp->m_renderer->removeAllInstances();
+}
 
 void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 {
@@ -247,7 +258,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 
 	if (gfxVertices.size() && indices.size())
 	{
-		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
+		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1);
 		collisionShape->setUserIndex(shapeId);
 	}
 		
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 0184d6ea0..72d784a0c 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -20,11 +20,10 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 
 	virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices);
-
+	virtual int	registerTexture(const unsigned char* texels, int width, int height);
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
-
-	
+	virtual void removeAllGraphicsInstances();
 
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
diff --git a/examples/ExtendedTutorials/RigidBodyFromObj.cpp b/examples/ExtendedTutorials/RigidBodyFromObj.cpp
index 64d52793d..9e09f9dd9 100644
--- a/examples/ExtendedTutorials/RigidBodyFromObj.cpp
+++ b/examples/ExtendedTutorials/RigidBodyFromObj.cpp
@@ -134,7 +134,8 @@ void RigidBodyFromObjExample::initPhysics()
 		int shapeId = m_guiHelper->registerGraphicsShape(&glmesh->m_vertices->at(0).xyzw[0], 
 																		glmesh->m_numvertices, 
 																		&glmesh->m_indices->at(0), 
-																		glmesh->m_numIndices);
+																		glmesh->m_numIndices,
+																		B3_GL_TRIANGLES, -1);
 		shape->setUserIndex(shapeId);
 		int renderInstance = m_guiHelper->registerGraphicsInstance(shapeId,pos,orn,color,scaling);
 		body->setUserIndex(renderInstance);
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 9b6eb8ae1..555acf530 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -108,7 +108,8 @@ struct BulletErrorLogger : public ErrorLogger
 bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 {
 
-	
+	if (strlen(fileName)==0)
+        return false;
 
 //int argc=0;
 	char relativeFileName[1024];
@@ -132,7 +133,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 
 
         std::fstream xml_file(relativeFileName, std::fstream::in);
-        while ( xml_file.good() )
+        while ( xml_file.good())
         {
             std::string line;
             std::getline( xml_file, line);
@@ -969,16 +970,17 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 //		graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
 		//graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
 		
-		CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
+		//CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
 		
-		if (renderer)
+		if (1)
 		{
 			int textureIndex = -1;
 			if (textures.size())
 			{
-				textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
+				
+				textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
 			}
-			graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
+			graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
 			
 		}
 	}
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 92a917fd7..51b09e079 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -65,7 +65,8 @@ btAlignedObjectArray<std::string> gFileNameArray;
 struct ImportUrdfInternalData
 {
     ImportUrdfInternalData()
-    :m_numMotors(0)
+    :m_numMotors(0),
+    m_mb(0)
     {
 		for (int i=0;i<MAX_NUM_MOTORS;i++)
 		{
@@ -74,10 +75,13 @@ struct ImportUrdfInternalData
 		}
     }
 
+    
     btScalar m_motorTargetVelocities[MAX_NUM_MOTORS];
     btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS];
 	btGeneric6DofSpring2Constraint* m_generic6DofJointMotors [MAX_NUM_MOTORS];
     int m_numMotors;
+    btMultiBody* m_mb;
+    btRigidBody* m_rb;
 
 };
 
@@ -223,7 +227,6 @@ void ImportUrdfSetup::initPhysics()
 		{
 
 
-			btMultiBody* mb = 0;
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
@@ -232,8 +235,10 @@ void ImportUrdfSetup::initPhysics()
 			MyMultiBodyCreator creation(m_guiHelper);
 
 			ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
-			mb = creation.getBulletMultiBody();
-
+			m_data->m_rb = creation.getRigidBody();
+			m_data->m_mb = creation.getBulletMultiBody();
+			btMultiBody* mb = m_data->m_mb;
+            
 			if (m_useMultiBody && mb )
 			{
 				std::string*   name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
@@ -337,7 +342,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 
-		bool createGround=true;
+		bool createGround=false;
 		if (createGround)
 		{
 			btVector3 groundHalfExtents(20,20,20);
@@ -357,8 +362,7 @@ void ImportUrdfSetup::initPhysics()
 			m_guiHelper->createRigidBodyGraphicsObject(body,color);
 		}
 
-		///this extra stepSimulation call makes sure that all the btMultibody transforms are properly propagates.
-		m_dynamicsWorld->stepSimulation(1. / 240., 0);// 1., 10, 1. / 240.);
+		
 	}
 
 #ifdef TEST_MULTIBODY_SERIALIZATION
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
index 28e9023d8..3d34e53f2 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
@@ -13,6 +13,7 @@
 
 MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
 	:m_bulletMultiBody(0),
+	m_rigidBody(0),
 m_guiHelper(guiHelper)
 {
 }
@@ -31,10 +32,10 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
 {
     btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
     rbci.m_startWorldTransform = initialWorldTrans;
-    btRigidBody* body = new btRigidBody(rbci);
-	body->forceActivationState(DISABLE_DEACTIVATION);
+    m_rigidBody = new btRigidBody(rbci);
+	m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
 	
-    return body;
+    return m_rigidBody;
 }
     
 class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider(int /*urdfLinkIndex*/, int mbLinkIndex, btMultiBody* multiBody) 
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
index 7334fbd90..453f97311 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
@@ -24,6 +24,7 @@ class MyMultiBodyCreator : public MultiBodyCreationInterface
 protected:
 
 	btMultiBody* m_bulletMultiBody;
+	btRigidBody* m_rigidBody;
     
 	struct GUIHelperInterface* m_guiHelper;
 
@@ -62,6 +63,10 @@ public:
     virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
 
 	btMultiBody* getBulletMultiBody();
+	btRigidBody* getRigidBody()
+	{
+	    return m_rigidBody;
+    }
 	
 	int	getNum6DofConstraints() const
 	{
diff --git a/examples/MultiThreading/b3PosixThreadSupport.cpp b/examples/MultiThreading/b3PosixThreadSupport.cpp
index 74cdfaba2..c19ab1b48 100644
--- a/examples/MultiThreading/b3PosixThreadSupport.cpp
+++ b/examples/MultiThreading/b3PosixThreadSupport.cpp
@@ -53,7 +53,7 @@ static sem_t* createSem(const char* baseName)
 #ifdef NAMED_SEMAPHORES
         /// Named semaphore begin
         char name[32];
-        snprintf(name, 32, "/%s-%d-%4.4d", baseName, getpid(), semCount++);
+        snprintf(name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++);
         sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
 
         if (tempSem != reinterpret_cast<sem_t *>(SEM_FAILED))
diff --git a/examples/MultiThreading/b3Win32ThreadSupport.cpp b/examples/MultiThreading/b3Win32ThreadSupport.cpp
index 508b89348..db1d5915a 100644
--- a/examples/MultiThreading/b3Win32ThreadSupport.cpp
+++ b/examples/MultiThreading/b3Win32ThreadSupport.cpp
@@ -244,10 +244,10 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 
 		threadStatus.m_userPtr=0;
 
-		sprintf(threadStatus.m_eventStartHandleName,"eventStart%s%d",threadConstructionInfo.m_uniqueName,i);
+		sprintf(threadStatus.m_eventStartHandleName,"eventStart%8.s%d",threadConstructionInfo.m_uniqueName,i);
 		threadStatus.m_eventStartHandle = CreateEventA (0,false,false,threadStatus.m_eventStartHandleName);
 
-		sprintf(threadStatus.m_eventCompletetHandleName,"eventComplete%s%d",threadConstructionInfo.m_uniqueName,i);
+		sprintf(threadStatus.m_eventCompletetHandleName,"eventComplete%8.s%d",threadConstructionInfo.m_uniqueName,i);
 		threadStatus.m_eventCompletetHandle = CreateEventA (0,false,false,threadStatus.m_eventCompletetHandleName);
 
 		m_completeHandles[i] = threadStatus.m_eventCompletetHandle;
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 24002ad25..eff02ec02 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -17,8 +17,8 @@ subject to the following restrictions:
 
 ///todo: make this configurable in the gui
 bool useShadowMap=true;//false;//true;
-int shadowMapWidth=8192;
-int shadowMapHeight=8192;
+int shadowMapWidth=4096;//8192;
+int shadowMapHeight=4096;
 float shadowMapWorldSize=50;
 
 #define MAX_POINTS_IN_BATCH 1024
@@ -386,24 +386,39 @@ void GLInstancingRenderer::writeTransforms()
 
 
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	glFlush();
+	//glFlush();
 
 	b3Assert(glGetError() ==GL_NO_ERROR);
+	int totalNumInstances= 0;
 
+	for (int k=0;k<m_graphicsInstances.size();k++)
+	{
+		b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
+		totalNumInstances+=gfxObj->m_numGraphicsInstances;
+	}
+
+	int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
+	int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
+	int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
+//	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
+
+#if 1
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,totalNumInstances*sizeof(float)*4,
+ 						&m_data->m_instance_positions_ptr[0]);
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,totalNumInstances*sizeof(float)*4,
+ 						&m_data->m_instance_quaternion_ptr[0]);
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, totalNumInstances*sizeof(float)*4,
+ 						&m_data->m_instance_colors_ptr[0]);
+	glBufferSubData(	GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,totalNumInstances*sizeof(float)*3,
+					 	&m_data->m_instance_scale_ptr[0]);
+#else
 
 	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
 	if (orgBase)
 	{
 
 
-		int totalNumInstances= 0;
-
-		for (int k=0;k<m_graphicsInstances.size();k++)
-		{
-			b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
-			totalNumInstances+=gfxObj->m_numGraphicsInstances;
-		}
-
+		
 		m_data->m_totalNumInstances = totalNumInstances;
 
 		for (int k=0;k<m_graphicsInstances.size();k++)
@@ -413,10 +428,7 @@ void GLInstancingRenderer::writeTransforms()
 
 
 
-			int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
-			int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
-			int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
-		//	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
+			
 
 			char* base = orgBase;
 
@@ -465,6 +477,9 @@ void GLInstancingRenderer::writeTransforms()
 	//if this glFinish is removed, the animation is not always working/blocks
 	//@todo: figure out why
 	glFlush();
+
+#endif
+
 	glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
 
     b3Assert(glGetError() ==GL_NO_ERROR);
@@ -1006,7 +1021,7 @@ void GLInstancingRenderer::renderScene()
 	{
 
 		renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
-	//	glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
+		//glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
 		renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
 
 	} else
@@ -1075,6 +1090,9 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
 
 void GLInstancingRenderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float lineWidthIn)
 {
+	glActiveTexture(GL_TEXTURE0);
+	glBindTexture(GL_TEXTURE_2D,0);
+
 	float lineWidth = lineWidthIn;
 	b3Clamp(lineWidth,(float)lineWidthRange[0],(float)lineWidthRange[1]);
 	glLineWidth(lineWidth);
@@ -1510,7 +1528,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 	int curOffset = 0;
 	//GLuint lastBindTexture = 0;
 
-
+	
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 
@@ -1634,6 +1652,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
                             printf("gfxObj->m_numGraphicsInstances=%d\n",gfxObj->m_numGraphicsInstances);
                             printf("indexCount=%d\n",indexCount);
 				*/
+
 							glUseProgram(createShadowMapInstancingShader);
 							glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]);
 							glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
@@ -1667,6 +1686,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
                                 glDisable (GL_BLEND);
                             }
                             glActiveTexture(GL_TEXTURE0);
+							glBindTexture(GL_TEXTURE_2D,0);
                             break;
 						}
 					default:
@@ -1743,4 +1763,10 @@ void GLInstancingRenderer::setRenderFrameBuffer(unsigned int renderFrameBuffer)
 	m_data->m_renderFrameBuffer = (GLuint) renderFrameBuffer;
 }
 
+int GLInstancingRenderer::getTotalNumInstances() const
+{
+    return m_data->m_totalNumInstances;
+}
+
+
 #endif //NO_OPENGL3
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 66664b844..acaaa7655 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -125,6 +125,8 @@ public:
 	
 	virtual int getInstanceCapacity() const;
 	
+	virtual int getTotalNumInstances() const;
+	
 	virtual void enableShadowMap();
     virtual void enableBlend(bool blend)
     {
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
index 74c701aad..dbc90d729 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -64,6 +64,12 @@ void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(double* color, int src
 {
     
 }
+
+int SimpleOpenGL2Renderer::getTotalNumInstances() const
+{
+    return 0;
+}
+
 void	SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
 {
     b3Assert(0);
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index 5fcd08d3e..0e343a4a6 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -68,6 +68,8 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
     
     virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex);
     
+    virtual int getTotalNumInstances() const;
+    
     virtual void writeTransforms();
     
     virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth);
@@ -82,6 +84,7 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
 
 	virtual void clearZBuffer();
 
+
 	virtual struct	GLInstanceRendererInternalData* getInternalData()
 	{
 		return 0;
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 3ca2aa5c5..fa4362caf 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -659,6 +659,8 @@ bool PhysicsClientSharedMemory::canSubmitCommand() const {
 }
 
 struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
+    static int sequence = 0;
+    m_data->m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
     return &m_data->m_testBlock1->m_clientCommands[0];
 }
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 6ead18363..4896bd6f1 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -10,7 +10,7 @@
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
-#include "../CommonInterfaces/CommonRenderInterface.h"
+
 
 #include "btBulletDynamicsCommon.h"
 
@@ -1756,10 +1756,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					}
                 case CMD_STEP_FORWARD_SIMULATION:
                 {
-
+                    
 					if (m_data->m_verboseOutput)
 					{
 						b3Printf("Step simulation request");
+						b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
 					}
                     ///todo(erwincoumans) move this damping inside Bullet
                     for (int i=0;i<m_data->m_bodyHandles.size();i++)
@@ -1864,16 +1865,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                 case CMD_RESET_SIMULATION:
                 {
 					//clean up all data
-					if (m_data && m_data->m_guiHelper && m_data->m_guiHelper->getRenderInterface())
-                    {
-                        m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
-                    }
+					
+					
+					
+					if (m_data && m_data->m_guiHelper)
+					{
+						m_data->m_guiHelper->removeAllGraphicsInstances();
+					}
 					if (m_data)
 					{
 						m_data->m_visualConverter.resetAll();
 					}
+					
 					deleteDynamicsWorld();
 					createEmptyDynamicsWorld();
+					
 					m_data->exitHandles();
 					m_data->initHandles();
 
@@ -2058,6 +2064,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     }
                 case CMD_APPLY_EXTERNAL_FORCE:
                 {
+                	if (m_data->m_verboseOutput)
+									{
+                    b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber);
+                  }
                     for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
                     {
                         InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 7cb76e9c6..003064e94 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -9,11 +9,394 @@
 
 #include "SharedMemoryCommon.h"
 
+#include "../Utils/b3Clock.h"
+#include "../MultiThreading/b3ThreadSupportInterface.h"
+
+int blockme = false;
+int blockme2 = false;
+
+void	MotionThreadFunc(void* userPtr,void* lsMemory);
+void*	MotionlsMemoryFunc();
+#define MAX_MOTION_NUM_THREADS 1
+enum
+	{
+		numCubesX = 20,
+		numCubesY = 20
+	};
+
+
+enum TestExampleBrowserCommunicationEnums
+{
+	eRequestTerminateMotion= 13,
+	eMotionIsUnInitialized,
+	eMotionIsInitialized,
+	eMotionInitializationFailed,
+	eMotionHasTerminated
+};
+
+enum MultiThreadedGUIHelperCommunicationEnums
+{
+	eGUIHelperIdle= 13,
+	eGUIHelperRegisterTexture,
+	eGUIHelperRegisterGraphicsShape,
+	eGUIHelperRegisterGraphicsInstance,
+	eGUIHelperCreateCollisionShapeGraphicsObject,
+	eGUIHelperCreateCollisionObjectGraphicsObject,
+	eGUIHelperRemoveAllGraphicsInstances,
+};
+
+#include <stdio.h>
+//#include "BulletMultiThreaded/PlatformDefinitions.h"
+
+#ifndef _WIN32
+#include "../MultiThreading/b3PosixThreadSupport.h"
+
+b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
+{
+	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("MotionThreads",
+                                                                MotionThreadFunc,
+                                                                MotionlsMemoryFunc,
+                                                                numThreads);
+    b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
+
+	return threadSupport;
+
+}
+
+
+#elif defined( _WIN32)
+#include "../MultiThreading/b3Win32ThreadSupport.h"
+
+b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
+{
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
+	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
+	return threadSupport;
+
+}
+#endif
+
+
+
+struct	MotionArgs
+{
+	MotionArgs()
+		:m_physicsServerPtr(0)
+	{
+	}
+	b3CriticalSection* m_cs;
+	
+	PhysicsServerSharedMemory*	m_physicsServerPtr;
+	b3AlignedObjectArray<b3Vector3> m_positions;
+};
+
+struct MotionThreadLocalStorage
+{
+	int threadId;
+};
+
+int skip = 0;
+
+
+void	MotionThreadFunc(void* userPtr,void* lsMemory)
+{
+	printf("thread started\n");
+
+	MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
+
+	MotionArgs* args = (MotionArgs*) userPtr;
+	int workLeft = true;
+	b3Clock clock;
+	clock.reset();
+	bool init = true;
+	if (init)
+	{
+
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eMotionIsInitialized);
+		args->m_cs->unlock();
+
+		double m_x=0;
+		double m_y=0;
+		double m_z=0;
+
+		do
+		{
+
+			double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
+			//if (deltaTimeInSeconds<.3)
+			//if (deltaTimeInSeconds<(1./15.))
+			if (deltaTimeInSeconds<(1./260.))
+			{
+				skip++;
+			//if (deltaTimeInSeconds<.001)
+				continue;
+			}
+
+			m_x+=deltaTimeInSeconds;
+			m_y+=deltaTimeInSeconds;
+			m_z+=deltaTimeInSeconds;
+
+			clock.reset();
+			
+			
+			int index = 0;
+			index++;
+			
+			if (!blockme)
+			{
+			args->m_physicsServerPtr->processClientCommands();
+			}
+			
+
+			
+
+		} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
+	} else
+	{
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eMotionInitializationFailed);
+		args->m_cs->unlock();
+	}
+
+
+	args->m_cs->lock();
+	args->m_cs->setSharedParam(0,eMotionHasTerminated);
+	args->m_cs->unlock();
+	printf("finished, #skip = %d\n",skip);
+	skip=0;
+	//do nothing
+
+}
+
+
+
+void*	MotionlsMemoryFunc()
+{
+	//don't create local store memory, just return 0
+	return new MotionThreadLocalStorage;
+}
+
+
+
+class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
+{
+	CommonGraphicsApp* m_app;
+	
+	b3CriticalSection* m_cs;
+
+	
+public:
+
+	GUIHelperInterface* m_childGuiHelper;
+
+	const unsigned char* m_texels;
+	int m_textureWidth;
+	int m_textureHeight;
+
+
+	int m_shapeIndex;
+	const float* m_position;
+	const float* m_quaternion;
+	const float* m_color;
+	const float* m_scaling;
+
+	const float* m_vertices;
+	int m_numvertices;
+	const int* m_indices;
+	int m_numIndices;
+	int m_primitiveType;
+	int m_textureId;
+	int m_instanceId;
+	
+
+	MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
+		:m_app(app)
+		,m_cs(0),
+		m_texels(0),
+		m_textureId(-1)
+	{
+		m_childGuiHelper = guiHelper;;
+
+	}
+
+	virtual ~MultiThreadedOpenGLGuiHelper()
+	{
+		delete m_childGuiHelper;
+	}
+
+	void setCriticalSection(b3CriticalSection* cs)
+	{
+		m_cs = cs;
+	}
+
+	b3CriticalSection* getCriticalSection()
+	{
+		return m_cs;
+	}
+
+	virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
+
+	btCollisionObject* m_obj;
+	btVector3 m_color2;
+
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
+	{
+		m_obj = obj;
+		m_color2 = color;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperCreateCollisionObjectGraphicsObject);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+
+	}
+
+	btCollisionShape* m_colShape;
+	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
+	{
+		m_colShape = collisionShape;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperCreateCollisionShapeGraphicsObject);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+
+	}
+
+	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
+	{
+	    //this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
+	    //the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
+        if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
+        {
+            m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
+        }
+	}
+
+	virtual void render(const btDiscreteDynamicsWorld* rbWorld) 
+	{
+		m_childGuiHelper->render(0);
+	}
+
+	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
+
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		m_texels = texels;
+		m_textureWidth = width;
+		m_textureHeight = height;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRegisterTexture);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+		return m_textureId;
+	}
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
+	{
+		m_vertices = vertices;
+		m_numvertices = numvertices;
+		m_indices = indices;
+		m_numIndices = numIndices;
+		m_primitiveType = primitiveType;
+		m_textureId = textureId;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsShape);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+		return m_shapeIndex;
+	}
+	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) 
+	{
+		m_shapeIndex = shapeIndex;
+		m_position = position;
+		m_quaternion = quaternion;
+		m_color = color;
+		m_scaling = scaling;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsInstance);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+		return m_instanceId;
+	}
+
+    virtual void removeAllGraphicsInstances()
+    {
+        m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRemoveAllGraphicsInstances);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+    }
+
+	virtual Common2dCanvasInterface* get2dCanvasInterface()
+	{
+		return 0;
+	}
+	
+	virtual CommonParameterInterface* getParameterInterface()
+	{
+		return 0;
+	}
+
+	virtual CommonRenderInterface* getRenderInterface()
+	{
+		return 0;
+	}
+	
+	virtual CommonGraphicsApp* getAppInterface()
+	{
+		return 0;
+	}
+
+
+	virtual void setUpAxis(int axis)
+	{
+		m_childGuiHelper->setUpAxis(axis);
+	}
+	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+	{
+	}
+
+	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
+	{
+	     if (width)
+            *width = 0;
+        if (height)
+            *height = 0;
+        if (numPixelsCopied)
+            *numPixelsCopied = 0;
+	}
+
+	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) 
+	{
+	}
+    
+	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
+	{
+	}
+};
+
+
 
 class PhysicsServerExample : public SharedMemoryCommon
 {
 	PhysicsServerSharedMemory	m_physicsServer;
-
+	b3ThreadSupportInterface* m_threadSupport;
+	MotionArgs m_args[MAX_MOTION_NUM_THREADS];
+	MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
     bool m_wantsShutdown;
 
     bool m_isConnected;
@@ -23,7 +406,7 @@ class PhysicsServerExample : public SharedMemoryCommon
 
 public:
 
-	PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0, int options=0);
+	PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
 
 	virtual ~PhysicsServerExample();
 
@@ -56,7 +439,7 @@ public:
     virtual bool wantsTermination();
     virtual bool isConnected();
 	virtual void	renderScene();
-	virtual void    exitPhysics(){}
+	virtual void    exitPhysics();
 
 	virtual void	physicsDebugDraw(int debugFlags);
 
@@ -71,7 +454,6 @@ public:
 
 		if (!renderer)
 		{
-			btAssert(0);
 			return false;
 		}
 
@@ -91,7 +473,6 @@ public:
 
 		if (!renderer)
 		{
-			btAssert(0);
 			return false;
 		}
 
@@ -134,7 +515,7 @@ public:
 
 };
 
-PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem, int options)
+PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
 :SharedMemoryCommon(helper),
 m_physicsServer(sharedMem),
 m_wantsShutdown(false),
@@ -142,6 +523,7 @@ m_isConnected(false),
 m_replay(false),
 m_options(options)
 {
+	m_multiThreadedHelper = helper;
 	b3Printf("Started PhysicsServer\n");
 }
 
@@ -165,22 +547,80 @@ void	PhysicsServerExample::initPhysics()
 	int upAxis = 2;
 	m_guiHelper->setUpAxis(upAxis);
 
-#if 0
 
-    createEmptyDynamicsWorld();
+	
 
-	//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
-	btVector3 grav(0,0,0);
-	grav[upAxis] = 0;//-9.8;
-	this->m_dynamicsWorld->setGravity(grav);
 
-#endif
+	m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
+		
+		
 
-	m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
+		for (int i=0;i<m_threadSupport->getNumTasks();i++)
+		{
+			MotionThreadLocalStorage* storage = (MotionThreadLocalStorage*) m_threadSupport->getThreadLocalMemory(i);
+			b3Assert(storage);
+			storage->threadId = i;
+			//storage->m_sharedMem = data->m_sharedMem;
+		}
 
+
+		
+
+		for (int w=0;w<MAX_MOTION_NUM_THREADS;w++)
+		{
+			m_args[w].m_cs = m_threadSupport->createCriticalSection();
+			m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
+			int numMoving = 0;
+ 			m_args[w].m_positions.resize(numMoving);
+			m_args[w].m_physicsServerPtr = &m_physicsServer;
+			int index = 0;
+			
+			m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
+			while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
+			{
+			}
+		}
+
+		m_args[0].m_cs->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
+		m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
 }
 
 
+void    PhysicsServerExample::exitPhysics()
+{
+		for (int i=0;i<MAX_MOTION_NUM_THREADS;i++)
+		{
+			m_args[i].m_cs->lock();
+			m_args[i].m_cs->setSharedParam(0,eRequestTerminateMotion);
+			m_args[i].m_cs->unlock();
+		}
+		int numActiveThreads = MAX_MOTION_NUM_THREADS;
+
+		while (numActiveThreads)
+                {
+			int arg0,arg1;
+                        if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
+                        {
+                                numActiveThreads--;
+                                printf("numActiveThreads = %d\n",numActiveThreads);
+
+                        } else
+                        {
+                        }
+                };
+
+		printf("stopping threads\n");
+
+		delete m_threadSupport;   
+		m_threadSupport = 0;
+
+		m_physicsServer.resetDynamicsWorld();
+		
+}
+
+
+
 bool PhysicsServerExample::wantsTermination()
 {
     return m_wantsShutdown;
@@ -190,6 +630,90 @@ bool PhysicsServerExample::wantsTermination()
 
 void	PhysicsServerExample::stepSimulation(float deltaTime)
 {
+	//this->m_physicsServer.processClientCommands();
+
+	//check if any graphics related tasks are requested
+	
+	switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
+	{
+	case eGUIHelperCreateCollisionShapeGraphicsObject:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+
+		break;
+	}
+	case eGUIHelperCreateCollisionObjectGraphicsObject:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
+			m_multiThreadedHelper->m_color2);
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eGUIHelperRegisterTexture:
+	{
+		
+		m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
+						m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
+
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		
+		break;
+	}
+	case eGUIHelperRegisterGraphicsShape:
+	{
+		m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
+				m_multiThreadedHelper->m_vertices,
+				m_multiThreadedHelper->m_numvertices,
+				m_multiThreadedHelper->m_indices,
+				m_multiThreadedHelper->m_numIndices,
+				m_multiThreadedHelper->m_primitiveType,
+				m_multiThreadedHelper->m_textureId);
+
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eGUIHelperRegisterGraphicsInstance:
+	{
+		m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
+				m_multiThreadedHelper->m_shapeIndex,
+				m_multiThreadedHelper->m_position,
+				m_multiThreadedHelper->m_quaternion,
+				m_multiThreadedHelper->m_color,
+				m_multiThreadedHelper->m_scaling);
+
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eGUIHelperRemoveAllGraphicsInstances:
+        {
+            m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
+            m_multiThreadedHelper->getCriticalSection()->lock();
+            m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+            m_multiThreadedHelper->getCriticalSection()->unlock();
+            break;
+        }
+	case eGUIHelperIdle:
+	default:
+		{
+			
+		}
+	}
+	
+
+
+
+	#if 0
 	if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
 	{
 		btClock rtc;
@@ -201,15 +725,27 @@ void	PhysicsServerExample::stepSimulation(float deltaTime)
 		}
 	} else
 	{
-        for (int i=0;i<10;i++)
+        //for (int i=0;i<10;i++)
 			m_physicsServer.processClientCommands();
 	}
+	#endif
+
+	if (!blockme2)
+	{
+		if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
+		{
+			m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
+		}
+	}
 }
 
 void PhysicsServerExample::renderScene()
 {
 	///debug rendering
+	//m_args[0].m_cs->lock();
+	
 	m_physicsServer.renderScene();
+	//m_args[0].m_cs->unlock();
 }
 
 void    PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
@@ -290,7 +826,13 @@ extern int gSharedMemoryKey;
 
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
 {
-  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem, options.m_option);
+
+	MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
+
+  	PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper, 
+		options.m_sharedMem, 
+		options.m_option);
+
 	if (gSharedMemoryKey>=0)
 	{
 		example->setSharedMemoryKey(gSharedMemoryKey);
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index af8101464..0d29fae1e 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -90,6 +90,11 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
 	delete m_data;
 }
 
+void PhysicsServerSharedMemory::resetDynamicsWorld()
+{
+	m_data->m_commandProcessor->deleteDynamicsWorld();
+	m_data->m_commandProcessor ->createEmptyDynamicsWorld();
+}
 void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
 {
 	m_data->m_sharedMemoryKey = key;
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h
index 3db5ff497..2c08124d0 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.h
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.h
@@ -43,6 +43,7 @@ public:
 	void enableCommandLogging(bool enable, const char* fileName);
 	void replayFromLogFile(const char* fileName);
 	
+	void resetDynamicsWorld();
 
 };
 
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index be3c7102c..c2ceb1a05 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -76,12 +76,12 @@ myfiles =
 	"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 	"../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
 	"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",	
-    "../ThirdPartyLibs/tinyxml/tinystr.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxml.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
-"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",     
+	"../ThirdPartyLibs/tinyxml/tinystr.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+	"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+	"../ThirdPartyLibs/stb_image/stb_image.cpp",     
 }
 
 files {
@@ -90,55 +90,197 @@ files {
 }
 
 
+files {
+		"../MultiThreading/b3ThreadSupportInterface.cpp",
+		"../MultiThreading/b3ThreadSupportInterface.h"
+	}
+	if os.is("Windows") then
 
-project "App_SharedMemoryPhysics_VR"
+		files {
+                "../MultiThreading/b3Win32ThreadSupport.cpp",  
+                "../MultiThreading/b3Win32ThreadSupport.h" 
+		}
+		--links {"winmm"}
+		--defines {"__WINDOWS_MM__", "WIN32"}
+	end
 
-defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
+	if os.is("Linux") then 
+		files {
+                "../MultiThreading/b3PosixThreadSupport.cpp",  
+                "../MultiThreading/b3PosixThreadSupport.h"    
+        	}
+
+		links {"pthread"}
+	end
+
+	if os.is("MacOSX") then
+		files {
+                "../MultiThreading/b3PosixThreadSupport.cpp",
+                "../MultiThreading/b3PosixThreadSupport.h"    
+                }
+
+		links {"pthread"}
+		--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+		--defines {"__MACOSX_CORE__"}
+	end
+
+
+project "App_SharedMemoryPhysics_GUI"
 
 if _OPTIONS["ios"] then
-	kind "WindowedApp"
-else	
-	kind "ConsoleApp"
+        kind "WindowedApp"
+else
+        kind "ConsoleApp"
 end
+defines {"B3_USE_STANDALONE_EXAMPLE"}
+
+includedirs {"../../src"}
 
-includedirs {
-		".","../../src", "../ThirdPartyLibs",
-		"../ThirdPartyLibs/openvr/headers",
-		"../ThirdPartyLibs/openvr/samples/shared"
-	}
-					
 links {
-	"Bullet3Common",	"BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
+        "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
 }
-
-language "C++"
-
-
 	initOpenGL()
   initGlew()
 
+language "C++"
 
-files
-{
-	myfiles,
-	 "../StandaloneMain/hellovr_opengl_main.cpp",
+files {
+        myfiles,
+        "../StandaloneMain/main_opengl_single_example.cpp",
 				"../ExampleBrowser/OpenGLGuiHelper.cpp",
 				"../ExampleBrowser/GL_ShapeDrawer.cpp",
 				"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
-				"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
-				"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
-				"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
-				"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
-				"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
-				"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
-				"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
 }
-if os.is("Windows") then 
-	libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
-end
 
 if os.is("Linux") then initX11() end
 
 if os.is("MacOSX") then
         links{"Cocoa.framework"}
+end
+
+
+files {
+		"../MultiThreading/b3ThreadSupportInterface.cpp",
+		"../MultiThreading/b3ThreadSupportInterface.h"
+	}
+if os.is("Windows") then
+
+	files {
+              "../MultiThreading/b3Win32ThreadSupport.cpp",  
+              "../MultiThreading/b3Win32ThreadSupport.h" 
+	}
+	--links {"winmm"}
+	--defines {"__WINDOWS_MM__", "WIN32"}
+end
+
+if os.is("Linux") then 
+	files {
+              "../MultiThreading/b3PosixThreadSupport.cpp",  
+              "../MultiThreading/b3PosixThreadSupport.h"    
+      	}
+
+	links {"pthread"}
+end
+
+if os.is("MacOSX") then
+	files {
+              "../MultiThreading/b3PosixThreadSupport.cpp",
+              "../MultiThreading/b3PosixThreadSupport.h"    
+              }
+
+	links {"pthread"}
+	--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+	--defines {"__MACOSX_CORE__"}
+end
+
+if os.is("Windows") then 
+	project "App_SharedMemoryPhysics_VR"
+	--for now, only enable VR under Windows, until compilation issues are resolved on Mac/Linux
+	defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
+	
+	if _OPTIONS["ios"] then
+		kind "WindowedApp"
+	else	
+		kind "ConsoleApp"
+	end
+	
+	includedirs {
+			".","../../src", "../ThirdPartyLibs",
+			"../ThirdPartyLibs/openvr/headers",
+			"../ThirdPartyLibs/openvr/samples/shared"
+		}
+						
+	links {
+		"Bullet3Common",	"BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
+	}
+	
+	
+	language "C++"
+	
+	
+		initOpenGL()
+	  initGlew()
+	
+	
+	files
+	{
+		myfiles,
+		 "../StandaloneMain/hellovr_opengl_main.cpp",
+					"../ExampleBrowser/OpenGLGuiHelper.cpp",
+					"../ExampleBrowser/GL_ShapeDrawer.cpp",
+					"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
+					"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
+					"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
+					"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
+	}
+	if os.is("Windows") then 
+		libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
+	end
+	
+	if os.is("Linux") then initX11() end
+	
+	if os.is("MacOSX") then
+	        links{"Cocoa.framework"}
+	end
+	
+	
+	files {
+			"../MultiThreading/b3ThreadSupportInterface.cpp",
+			"../MultiThreading/b3ThreadSupportInterface.h"
+		}
+		if os.is("Windows") then
+	
+			files {
+	                "../MultiThreading/b3Win32ThreadSupport.cpp",  
+	                "../MultiThreading/b3Win32ThreadSupport.h" 
+			}
+			--links {"winmm"}
+			--defines {"__WINDOWS_MM__", "WIN32"}
+		end
+	
+		if os.is("Linux") then 
+			files {
+	                "../MultiThreading/b3PosixThreadSupport.cpp",  
+	                "../MultiThreading/b3PosixThreadSupport.h"    
+	        	}
+	
+			links {"pthread"}
+		end
+	
+		if os.is("MacOSX") then
+			files {
+	                "../MultiThreading/b3PosixThreadSupport.cpp",
+	                "../MultiThreading/b3PosixThreadSupport.h"    
+	                }
+	
+			links {"pthread"}
+			--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+			--defines {"__MACOSX_CORE__"}
+		end
+
+
 end
\ No newline at end of file
diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp
index 547f813fd..6fe0aca97 100644
--- a/examples/StandaloneMain/hellovr_opengl_main.cpp
+++ b/examples/StandaloneMain/hellovr_opengl_main.cpp
@@ -28,7 +28,7 @@ int gSharedMemoryKey = -1;
 #include "pathtools.h"
 
 CommonExampleInterface*    sExample;
-OpenGLGuiHelper* sGuiPtr = 0;
+GUIHelperInterface* sGuiPtr = 0;
 
 
 #if defined(POSIX)
@@ -375,7 +375,9 @@ bool CMainApplication::BInit()
 	*/
 	m_app = new SimpleOpenGL3App("SimpleOpenGL3App",m_nWindowWidth,m_nWindowHeight,true);
 
+	
 	sGuiPtr = new OpenGLGuiHelper(m_app,false);
+	//sGuiPtr = new DummyGUIHelper;
 
     
 	CommonExampleOptions options(sGuiPtr);
@@ -1461,6 +1463,8 @@ void CMainApplication::SetupDistortion()
 //-----------------------------------------------------------------------------
 void CMainApplication::RenderStereoTargets()
 {
+	sExample->stepSimulation(1./60.);
+
 	glClearColor( 0.15f, 0.15f, 0.18f, 1.0f ); // nice background color, but not black
 	glEnable( GL_MULTISAMPLE );
 
@@ -1476,33 +1480,40 @@ void CMainApplication::RenderStereoTargets()
 		rotYtoZ.rotateX(-90);
 	}
 	
+	RenderScene( vr::Eye_Left );
+
 	// Left Eye
 	{
 		
 		Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose * rotYtoZ;
 		
 		m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(),m_mat4ProjectionLeft.get());
-		m_app->m_instancingRenderer->updateCamera();
+		m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
 	}
 
 	glBindFramebuffer( GL_FRAMEBUFFER, leftEyeDesc.m_nRenderFramebufferId );
  	glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
  	
 	
+	
 
 	m_app->m_window->startRendering();
-	RenderScene( vr::Eye_Left );
-	DrawGridData gridUp;
-	gridUp.upAxis = m_app->getUpAxis();
-	m_app->drawGrid(gridUp);
-	sExample->stepSimulation(1./60.);
-	sExample->renderScene();
+	
+
+	
+
+	
 	
 
 	
 	m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)leftEyeDesc.m_nRenderFramebufferId);
 
-	m_app->m_instancingRenderer->renderScene();
+	sExample->renderScene();
+	//m_app->m_instancingRenderer->renderScene();
+	DrawGridData gridUp;
+	gridUp.upAxis = m_app->getUpAxis();
+	m_app->drawGrid(gridUp);
+
 	
  	glBindFramebuffer( GL_FRAMEBUFFER, 0 );
 	
@@ -1522,22 +1533,25 @@ void CMainApplication::RenderStereoTargets()
 
 	// Right Eye
 	
+	RenderScene( vr::Eye_Right );
+
 	{
 		Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ;
 		m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get());
-		m_app->m_instancingRenderer->updateCamera();
+		m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
 	}
-
+	
 	glBindFramebuffer( GL_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId );
  	glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
  	
 	m_app->m_window->startRendering();
-	RenderScene( vr::Eye_Right );
 	
-	m_app->drawGrid(gridUp);
+	
+	
 	m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId);
-
-	m_app->m_renderer->renderScene();
+	//m_app->m_renderer->renderScene();
+	sExample->renderScene();
+	m_app->drawGrid(gridUp);
 	
  	glBindFramebuffer( GL_FRAMEBUFFER, 0 );
  	
diff --git a/examples/StandaloneMain/main_opengl_single_example.cpp b/examples/StandaloneMain/main_opengl_single_example.cpp
index a7410433c..d331e7607 100644
--- a/examples/StandaloneMain/main_opengl_single_example.cpp
+++ b/examples/StandaloneMain/main_opengl_single_example.cpp
@@ -32,6 +32,7 @@ subject to the following restrictions:
 #include "../ExampleBrowser/OpenGLGuiHelper.h"
 
 CommonExampleInterface*    example;
+int gSharedMemoryKey=-1;
 
 b3MouseMoveCallback prevMouseMoveCallback = 0;
 static void OnMouseMove( float x, float y)
@@ -57,6 +58,20 @@ static void OnMouseDown(int button, int state, float x, float y) {
 	}
 }
 
+class LessDummyGuiHelper : public DummyGUIHelper
+{
+	CommonGraphicsApp* m_app;
+public:
+	virtual CommonGraphicsApp* getAppInterface()
+	{
+		return m_app;
+	}
+
+	LessDummyGuiHelper(CommonGraphicsApp* app)
+		:m_app(app)
+	{
+	}
+};
 int main(int argc, char* argv[])
 {
 
@@ -69,11 +84,13 @@ int main(int argc, char* argv[])
 	app->m_window->setMouseMoveCallback((b3MouseMoveCallback)OnMouseMove);
 	
 	OpenGLGuiHelper gui(app,false);
-    
+	//LessDummyGuiHelper gui(app);
+	//DummyGUIHelper gui;
+
 	CommonExampleOptions options(&gui);
 
 	example = StandaloneExampleCreateFunc(options);
-  example->initPhysics();
+	example->initPhysics();
 	example->resetCamera();
 	
 	do
diff --git a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
index 1fa1b0ccd..2ab5d3992 100644
--- a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
+++ b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
@@ -105,14 +105,20 @@ public:
 		
 	}
 	
-   	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		return -1;
+	}
+	
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
    	{
-   	    int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
+   	    int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices,primitiveType, textureId);
    	    if (shapeIndex>=0)
         {
             TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
-        float rgbaColor[4] = {1,1,1,1};    
-	swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+			float rgbaColor[4] = {1,1,1,1};    
+			swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
 			//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
             m_swRenderObjects.insert(shapeIndex,swObj);
         }
diff --git a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp
index 565b771e7..d4e0fd77b 100644
--- a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp
+++ b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp
@@ -37,6 +37,12 @@ static btVector4 sMyColors[4] =
 	//btVector4(1,1,0,1),
 };
 
+struct TinyRendererTexture
+{
+	const unsigned char* m_texels;
+	int m_width;
+	int m_height;
+};
 
 struct TinyRendererGUIHelper : public GUIHelperInterface
 {
@@ -45,6 +51,7 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
 	btHashMap<btHashInt,int> m_swInstances;
+	btHashMap<btHashInt,TinyRendererTexture> m_textures;
 	
 	int m_swWidth;
 	int m_swHeight;
@@ -151,7 +158,8 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	if (gfxVertices.size() && indices.size())
 	{
-		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
+		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),
+			1,-1);
 		collisionShape->setUserIndex(shapeId);
 	}
 	}
@@ -249,18 +257,41 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) 
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		//do we need to make a copy?
+		int textureId = m_textures.size();
+		TinyRendererTexture t;
+		t.m_texels = texels;
+		t.m_width = width;
+		t.m_height = height;
+		this->m_textures.insert(textureId,t);
+		return textureId;
+	}
+
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
 	{
 		int shapeIndex = m_swRenderObjects.size();
 
 		TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
         float rgbaColor[4] = {1,1,1,1};
-	swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+
+		//if (textureId>=0)
+		//{
+		//	swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+		//} else
+		{
+			swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+		}
 		//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
         m_swRenderObjects.insert(shapeIndex,swObj);
 		return shapeIndex;
 	}
 
+	 virtual void removeAllGraphicsInstances()
+	 {
+	 }
+
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) 
 	{
 		int colIndex = m_colObjUniqueIndex++;
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 9f2919ded..771d1b16c 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -172,6 +172,8 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
 			&startOrnX,&startOrnY,&startOrnZ, &startOrnW))
                 return NULL;
 	}
+	
+		if (strlen(urdfFileName))
     {
       // printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW);
         
@@ -185,12 +187,16 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
         statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
         statusType = b3GetStatusType(statusHandle);
         if (statusType!=CMD_URDF_LOADING_COMPLETED)
-		{
-			PyErr_SetString(SpamError, "Cannot load URDF file.");
-			return NULL;
-		}
+				{
+					PyErr_SetString(SpamError, "Cannot load URDF file.");
+					return NULL;
+				}
         bodyIndex = b3GetStatusBodyIndex(statusHandle);
-    }
+    } else
+    	{
+    		PyErr_SetString(SpamError, "Empty filename, method expects 1, 4 or 8 arguments.");
+				return NULL;
+    	}
 	return PyLong_FromLong(bodyIndex);
 }
 
diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c
index 6bc517c8e..fab7129cc 100644
--- a/test/SharedMemory/test.c
+++ b/test/SharedMemory/test.c
@@ -106,7 +106,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
 			b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
 			
             //setting the initial position, orientation and other arguments are optional
-            startPosX =0;
+            startPosX =2;
             startPosY =0;
             startPosZ = 1;
             ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);