add single step simulation, using 'o' key. use 'i' key to suspend simulation first

default background color a bit darker, to show debug lines
tweaked contact point rendering a bit

examples/SharedMemory/PhysicsDirect.cpp

@@ -69,9 +69,27 @@ PhysicsDirect::~PhysicsDirect()
 bool PhysicsDirect::connect()
 {
 	m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
+
 	return true;
 }
 
+// return true if connection succesfull, can also check 'isConnected'
+bool PhysicsDirect::connect(struct GUIHelperInterface* guiHelper)
+{
+	m_data->m_commandProcessor->setGuiHelper(guiHelper);
+	
+	return true;
+}
+
+void PhysicsDirect::renderScene()
+{
+	m_data->m_commandProcessor->renderScene();
+}
+void PhysicsDirect::debugDraw(int debugDrawMode)
+{
+	m_data->m_commandProcessor->physicsDebugDraw(debugDrawMode);
+}
+
 ////todo: rename to 'disconnect'
 void PhysicsDirect::disconnectSharedMemory()
 {

examples/SharedMemory/PhysicsDirect.h

@@ -29,9 +29,10 @@ public:
     
     virtual ~PhysicsDirect();
 
-	  // return true if connection succesfull, can also check 'isConnected'
+	// return true if connection succesfull, can also check 'isConnected'
+	//it is OK to pass a null pointer for the gui helper
     virtual bool connect();
-
+	
 	////todo: rename to 'disconnect'
     virtual void disconnectSharedMemory();
 
@@ -62,7 +63,12 @@ public:
     virtual const float* getDebugLinesColor() const;
 
 	virtual void getCachedCameraImage(b3CameraImageData* cameraData);
-	
+
+	//those 2 APIs are for internal use for visualization
+	virtual bool connect(struct GUIHelperInterface* guiHelper);
+	virtual void renderScene();
+	virtual void debugDraw(int debugDrawMode);
+
 };
 
 #endif //PHYSICS_DIRECT_H