Merge remote-tracking branch 'upstream/master'

2017-03-29 15:06:15 -07:00
parent 64573c38e4 30c1923b00
commit 66a8685816
77 changed files with 2213 additions and 1218 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -85,15 +85,60 @@ IF(MSVC)
 	  ADD_DEFINITIONS(-D_WIN64)
 	ELSE()
 	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
+	  option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
+
 	  IF (USE_MSVC_SSE)
 		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
 	  ENDIF()
+	  IF (USE_MSVC_SSE2)
+		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2")
 	  ENDIF()
+
+	ENDIF()
+
+	option(USE_MSVC_AVX "Compile your program with AVX instructions"  OFF)
+
+	IF(USE_MSVC_AVX)
+		add_definitions(/arch:AVX)
+	ENDIF()
+
 	OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option"	ON)
 	IF (USE_MSVC_FAST_FLOATINGPOINT)
 		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
  ENDIF()

+	OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option"	ON)
+	IF (USE_MSVC_STRING_POOLING)
+		SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}")
+	ENDIF()
+
+	OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option"	ON)
+	IF(USE_MSVC_FUNCTION_LEVEL_LINKING)
+		SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}")
+		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF")
+		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF")
+	ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING)
+
+	OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option"	OFF)
+
+	
+
+	OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option"	ON)
+		
+	IF(USE_MSVC_COMDAT_FOLDING)
+		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
+		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
+	ENDIF()
+	
+	OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option"	ON)
+	IF(USE_MSVC_DISABLE_RTTI)
+	  STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
+		SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
+	ENDIF(USE_MSVC_DISABLE_RTTI)
+	
 	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
 ENDIF(MSVC)

--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
@@ -1368,6 +1368,10 @@ typedef struct bInvalidHandle {
        double m_jointTorque[6];
        double m_jointDamping;
        double m_jointFriction;
+        double m_jointLowerLimit;
+        double m_jointUpperLimit;
+        double m_jointMaxForce;
+        double m_jointMaxVelocity;
        char *m_linkName;
        char *m_jointName;
        btCollisionObjectDoubleData *m_linkCollider;
@@ -1395,6 +1399,10 @@ typedef struct bInvalidHandle {
        int m_posVarCount;
        float m_jointDamping;
        float m_jointFriction;
+        float m_jointLowerLimit;
+        float m_jointUpperLimit;
+        float m_jointMaxForce;
+        float m_jointMaxVelocity;
        char *m_linkName;
        char *m_jointName;
        btCollisionObjectFloatData *m_linkCollider;
--- a/Extras/Serialize/HeaderGenerator/apiGen.cpp
+++ b/Extras/Serialize/HeaderGenerator/apiGen.cpp
@@ -20,12 +20,13 @@
 #include "bDNA.h"
 #include "bBlenderFile.h"
 #include "btBulletFile.h"
+#include "LinearMath/btSerializer.h"
 #include "bCommon.h"
 #include <map>
 #include <vector>
 #include <string.h>

-bool isBulletFile = false;
+bool isBulletFile = true;

 using namespace bParse;
 typedef std::string bString;
@@ -216,10 +217,12 @@ int main(int argc,char** argv)
 	using namespace bParse;
 	dump = fopen("dump.py", "w");

+
 	if (!dump) return 0;
 	fprintf(dump, "%s\n", data);


+#if 0
 	char* filename = "../../../../data/r2d2_multibody.bullet";
 	
 	if (argc==2)
@@ -269,9 +272,12 @@ int main(int argc,char** argv)
 		bBlenderFile	f(memBuf,len);
 		swap = (f.getFlags() & FD_ENDIAN_SWAP)!=0;
 	}
-
-	
-	
+#else
+	isBulletFile = true;
+	bool swap = false;
+	char* memBuf = sBulletDNAstr;
+	int len = sBulletDNAlen;
+#endif


 	char *blenderData = memBuf;
--- a/Extras/Serialize/HeaderGenerator/bulletGenerate.py
+++ b/Extras/Serialize/HeaderGenerator/bulletGenerate.py
@@ -1,6 +1,9 @@
+import sys
+sys.path.append(".")
 import dump


+
 header = """/* Copyright (C) 2011 Erwin Coumans & Charlie C
 *
 * This software is provided 'as-is', without any express or implied
--- a/Extras/Serialize/makesdna/CMakeLists.txt
+++ b/Extras/Serialize/makesdna/CMakeLists.txt
@@ -23,15 +23,29 @@ SET (INC_FILES
 SET(SRC makesdna.cpp)
 ADD_EXECUTABLE(makesdna ${SRC} ${INC_FILES})

-# Output BulletDNA.c
-ADD_CUSTOM_COMMAND(
+IF (CMAKE_CL_64)
+	# Output BulletDNA.c
+	ADD_CUSTOM_COMMAND(
+		OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp
+		COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
+		DEPENDS makesdna
+	)
+SET(SRC  ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp)
+
+ELSE()
+	# Output BulletDNA.c
+	ADD_CUSTOM_COMMAND(
 		OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp
 		COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
 		DEPENDS makesdna
-)
+	)
+SET(SRC  ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
+
+ENDIF()

 # Build bf_dna library
-SET(SRC  ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
+
+
 ADD_LIBRARY(BulletDNA ${SRC} ${INC_FILES})

 MESSAGE(STATUS "Configuring makesdna")
--- a/2
+++ b/2
@@ -1 +1 @@
-2.86
+2.87
--- a/data/pr2_gripper.urdf
+++ b/data/pr2_gripper.urdf
@@ -71,9 +71,9 @@
    </visual>
    <collision>
      <geometry>
-        <box size=".03 .03 .02"/>
+        <box size=".03 .01 .02"/>
      </geometry>
-      <origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
+      <origin rpy="0.0 0.0 0" xyz="0.105 -0.005 0"/>
    </collision>
    <inertial>
      <mass value="0.1"/>
@@ -130,10 +130,17 @@
    </visual>
    <collision>
      <geometry>
-      	<box size=".03 .03 .02"/>
+      	<box size=".03 .01 .02"/>
      </geometry>
-      <origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
+      <origin rpy="-3.1415 0 0" xyz="0.105 0.015 0"/>
    </collision>
+	<collision>
+      <geometry>
+        <box size=".01 .02 .02"/>
+      </geometry>
+      <origin rpy="-3.1415 0 -0.5" xyz="0.095 0.005 0"/>
+    </collision>
+
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
--- a/docs/pybullet_quickstartguide.pdf
+++ b/docs/pybullet_quickstartguide.pdf
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -495,10 +495,10 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
 		{
 			fprintf(f,"--enable_experimental_opencl\n");
 		}
-		if (sUseOpenGL2 )
-		{
-			fprintf(f,"--opengl2\n");
-		}
+//		if (sUseOpenGL2 )
+//		{
+//			fprintf(f,"--opengl2\n");
+//		}

 		fclose(f);
 	}
@@ -1237,8 +1237,8 @@ void OpenGLExampleBrowser::update(float deltaTime)
 			if (renderGrid)
            {
                BT_PROFILE("Draw Grid");
-                glPolygonOffset(3.0, 3);
-                glEnable(GL_POLYGON_OFFSET_FILL);
+                //glPolygonOffset(3.0, 3);
+                //glEnable(GL_POLYGON_OFFSET_FILL);
                s_app->drawGrid(dg);
                
            }
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -10,8 +10,6 @@

 #include "../OpenGLWindow/SimpleCamera.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
-//backwards compatibility
-#include "GL_ShapeDrawer.h"


 #define BT_LINE_BATCH_SIZE 512
@@ -147,7 +145,6 @@ struct OpenGLGuiHelperInternalData
 {
 	struct CommonGraphicsApp* m_glApp;
 	class MyDebugDrawer* m_debugDraw;
-	GL_ShapeDrawer* m_gl2ShapeDrawer;
 	bool m_vrMode;
 	int m_vrSkipShadowPass;

@@ -178,19 +175,13 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
 	m_data->m_glApp = glApp;
 	m_data->m_debugDraw = 0;
 	
-	m_data->m_gl2ShapeDrawer = 0;
 	
-	if (useOpenGL2)
-	{
-		m_data->m_gl2ShapeDrawer = new GL_ShapeDrawer();
-
-	}
 }

 OpenGLGuiHelper::~OpenGLGuiHelper()
 {
 	delete m_data->m_debugDraw;
-	delete m_data->m_gl2ShapeDrawer;
+
 	delete m_data;
 }

@@ -337,13 +328,7 @@ void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
 		m_data->m_glApp->m_renderer->renderScene();	
 	}
 	
-	//backwards compatible OpenGL2 rendering
 	
-	if (m_data->m_gl2ShapeDrawer && rbWorld)
-	{
-		m_data->m_gl2ShapeDrawer->enableTexture(true);
-		m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true, m_data->m_glApp->getUpAxis());
-	}
 }
 void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
 {
--- a/examples/ExampleBrowser/main.cpp
+++ b/examples/ExampleBrowser/main.cpp
@@ -1,5 +1,3 @@
-
-
 #include "OpenGLExampleBrowser.h"

 #include "Bullet3Common/b3CommandLineArgs.h"
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -79,7 +79,7 @@ static bool parseVector3(btVector3& vec3, const std::string& vector_str, MJCFErr
 	}
 	if (rgba.size() < 3)
 	{
-		logger->reportWarning("Couldn't parse vector3");
+		logger->reportWarning( ("Couldn't parse vector3 '" + vector_str + "'").c_str() );
 		return false;
 	}
    if (lastThree) {
@@ -113,7 +113,8 @@ static bool parseVector6(btVector3& v0, btVector3& v1, const std::string& vector
 	}
 	if (values.size() < 6)
 	{
-		logger->reportWarning("Couldn't parse 6 floats");
+		logger->reportWarning( ("Couldn't parse 6 floats '" + vector_str + "'").c_str() );
+
 		return false;
 	}
 	v0.setValue(values[0],values[1],values[2]);
@@ -143,6 +144,7 @@ struct BulletMJCFImporterInternalData
 	//<compiler angle="radian" meshdir="mesh/" texturedir="texture/"/>
 	std::string m_meshDir;
 	std::string m_textureDir;
+	std::string m_angleUnits;


 	int m_activeModel;
@@ -173,9 +175,17 @@ struct BulletMJCFImporterInternalData

 	std::string sourceFileLocation(TiXmlElement* e)
 	{
+#if 0
+	//no C++11 snprintf etc
 		char buf[1024];
 		snprintf(buf, sizeof(buf), "%s:%i", m_sourceFileName.c_str(), e->Row());
 		return buf;
+#else
+		char row[1024];
+		sprintf(row,"%d",e->Row());
+		std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row);
+		return str;
+#endif
 	}
 	
 	const UrdfLink* getLink(int modelIndex, int linkIndex) const
@@ -205,6 +215,8 @@ struct BulletMJCFImporterInternalData
 		{
 			m_textureDir = textureDirStr;
 		}
+		const char* angle = root_xml->Attribute("angle");
+		m_angleUnits = angle ? angle : "degree";  // degrees by default, http://www.mujoco.org/book/modeling.html#compiler
 #if 0
 		for (TiXmlElement* child_xml = root_xml->FirstChildElement() ; child_xml ; child_xml = child_xml->NextSiblingElement())
 		{
@@ -337,8 +349,7 @@ struct BulletMJCFImporterInternalData
 			}
 			if (!handled)
 			{
-				logger->reportWarning("Unhandled root element");
-				logger->reportWarning(n.c_str());
+				logger->reportWarning( (sourceFileLocation(rootxml) + ": unhandled root element '" + n + "'").c_str() );
 			}
 		}
 		return true;
@@ -346,6 +357,7 @@ struct BulletMJCFImporterInternalData

 	bool parseJoint(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
 	{
+		bool jointHandled = false;
 		const char* jType = link_xml->Attribute("type");
 		const char* limitedStr = link_xml->Attribute("limited");
 		const char* axisStr = link_xml->Attribute("axis");
@@ -375,79 +387,25 @@ struct BulletMJCFImporterInternalData
 				jointTrans.setRotation(orn);
 			}
 		}
-		btVector3 jointAxis(1,0,0);

+		btVector3 jointAxis(1,0,0);
 		if (axisStr)
 		{
 			std::string ax = axisStr;
 			parseVector3(jointAxis,ax,logger);
 		} else
 		{
-			logger->reportWarning("joint without axis attribute");
+			logger->reportWarning( (sourceFileLocation(link_xml) + ": joint without axis attribute").c_str() );
 		}
-		bool isLimited = false;
-		double range[2] = {1,0};

+		double range[2] = {1,0};
 		std::string lim = m_defaultJointLimited;
 		if (limitedStr)
 		{
 			lim = limitedStr;
 		}
-		if (lim=="true")
-		{
-			isLimited = true;
-			//parse the 'range' field
-			btArray<std::string> pieces;
-			btArray<float> sizes;
-			btAlignedObjectArray<std::string> strArray;
-			urdfIsAnyOf(" ", strArray);
-			urdfStringSplit(pieces, rangeStr, strArray);
-			for (int i = 0; i < pieces.size(); ++i)
-			{
-				if (!pieces[i].empty())
-				{
-					sizes.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
-				}
-			}
-			if (sizes.size()==2)
-			{
-				// TODO angle units are in "<compiler angle="degree" inertiafromgeom="true"/>
-				range[0] = sizes[0] * B3_PI / 180;
-				range[1] = sizes[1] * B3_PI / 180;
-			} else
-			{
-				logger->reportWarning("Expected range[2] in joint with limits");
-			}
-		}
+		bool isLimited = lim=="true";

-		// TODO armature : real, "0" Armature inertia (or rotor inertia) of all
-		// degrees of freedom created by this joint. These are constants added to the
-		// diagonal of the inertia matrix in generalized coordinates. They make the
-		// simulation more stable, and often increase physical realism. This is because
-		// when a motor is attached to the system with a transmission that amplifies
-		// the motor force by c, the inertia of the rotor (i.e. the moving part of the
-		// motor) is amplified by c*c. The same holds for gears in the early stages of
-		// planetary gear boxes. These extra inertias often dominate the inertias of
-		// the robot parts that are represented explicitly in the model, and the
-		// armature attribute is the way to model them.
-
-		// TODO damping : real, "0" Damping applied to all degrees of
-		// freedom created by this joint. Unlike friction loss
-		// which is computed by the constraint solver, damping is
-		// simply a force linear in velocity. It is included in
-		// the passive forces. Despite this simplicity, larger
-		// damping values can make numerical integrators unstable,
-		// which is why our Euler integrator handles damping
-		// implicitly. See Integration in the Computation chapter.
-
-		bool jointHandled = false;
-		const UrdfLink* linkPtr = getLink(modelIndex,linkIndex);
-		
-		btTransform parentLinkToJointTransform;
-		parentLinkToJointTransform.setIdentity();
-		parentLinkToJointTransform = parentToLinkTrans*jointTrans;
-
-		jointTransOut = jointTrans;
 		UrdfJointTypes ejtype;
 		if (jType)
 		{
@@ -475,9 +433,67 @@ struct BulletMJCFImporterInternalData
 			}
 		} else
 		{
-			logger->reportWarning("Expected 'type' attribute for joint");
+			logger->reportWarning( (sourceFileLocation(link_xml) + ": expected 'type' attribute for joint").c_str() );
 		}

+		if (isLimited)
+		{
+			//parse the 'range' field
+			btArray<std::string> pieces;
+			btArray<float> limits;
+			btAlignedObjectArray<std::string> strArray;
+			urdfIsAnyOf(" ", strArray);
+			urdfStringSplit(pieces, rangeStr, strArray);
+			for (int i = 0; i < pieces.size(); ++i)
+			{
+				if (!pieces[i].empty())
+				{
+					limits.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
+				}
+			}
+			if (limits.size()==2)
+			{
+				range[0] = limits[0];
+				range[1] = limits[1];
+				if (m_angleUnits=="degree" && ejtype==URDFRevoluteJoint)
+				{
+					range[0] = limits[0] * B3_PI / 180;
+					range[1] = limits[1] * B3_PI / 180;
+				}
+			}
+			else
+			{
+				logger->reportWarning( (sourceFileLocation(link_xml) + ": cannot parse 'range' attribute (units='" + m_angleUnits + "'')").c_str() );
+			}
+		}
+
+		// TODO armature : real, "0" Armature inertia (or rotor inertia) of all
+		// degrees of freedom created by this joint. These are constants added to the
+		// diagonal of the inertia matrix in generalized coordinates. They make the
+		// simulation more stable, and often increase physical realism. This is because
+		// when a motor is attached to the system with a transmission that amplifies
+		// the motor force by c, the inertia of the rotor (i.e. the moving part of the
+		// motor) is amplified by c*c. The same holds for gears in the early stages of
+		// planetary gear boxes. These extra inertias often dominate the inertias of
+		// the robot parts that are represented explicitly in the model, and the
+		// armature attribute is the way to model them.
+
+		// TODO damping : real, "0" Damping applied to all degrees of
+		// freedom created by this joint. Unlike friction loss
+		// which is computed by the constraint solver, damping is
+		// simply a force linear in velocity. It is included in
+		// the passive forces. Despite this simplicity, larger
+		// damping values can make numerical integrators unstable,
+		// which is why our Euler integrator handles damping
+		// implicitly. See Integration in the Computation chapter.
+
+		const UrdfLink* linkPtr = getLink(modelIndex,linkIndex);
+		
+		btTransform parentLinkToJointTransform;
+		parentLinkToJointTransform.setIdentity();
+		parentLinkToJointTransform = parentToLinkTrans*jointTrans;
+		jointTransOut = jointTrans;
+
 		if (jointHandled)
 		{
 			UrdfJoint* jointPtr = new UrdfJoint();
@@ -520,6 +536,7 @@ struct BulletMJCFImporterInternalData
 		UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
 		if (linkPtrPtr==0)
 		{
+			// XXX: should it be assert?
 			logger->reportWarning("Invalide linkindex");
 			return false;
 		}
@@ -613,7 +630,7 @@ struct BulletMJCFImporterInternalData
 					geom.m_sphereRadius = urdfLexicalCast<double>(sz);
 				} else
 				{
-					logger->reportWarning("Expected size field (scalar) in sphere geom");
+					logger->reportWarning( (sourceFileLocation(link_xml) + ": no size field (scalar) in sphere geom").c_str() );
 				}
 				handledGeomType = true;
 			}
@@ -637,18 +654,18 @@ struct BulletMJCFImporterInternalData
 				}

 				geom.m_capsuleRadius = 0;
-				geom.m_capsuleHalfHeight = 0.f;
+				geom.m_capsuleHeight = 0.f;

 				if (sizes.size()>0)
 				{
 					geom.m_capsuleRadius = sizes[0];
 					if (sizes.size()>1)
 					{
-						geom.m_capsuleHalfHeight = sizes[1];
+						geom.m_capsuleHeight = 2*sizes[1];
 					}
 				} else
 				{
-					logger->reportWarning("couldn't convert 'size' attribute of capsule geom");
+					logger->reportWarning( (sourceFileLocation(link_xml) + ": couldn't convert 'size' attribute of capsule geom").c_str() );
 				}
 				const char* fromtoStr = link_xml->Attribute("fromto");
 				geom.m_hasFromTo = false;
@@ -664,7 +681,7 @@ struct BulletMJCFImporterInternalData
 				{
 					if (sizes.size()<2)
 					{
-						logger->reportWarning("capsule without fromto attribute requires 2 sizes (radius and halfheight)");
+						logger->reportWarning( (sourceFileLocation(link_xml) + ": capsule without fromto attribute requires 2 sizes (radius and halfheight)").c_str() );
 					} else
 					{
 						handledGeomType = true;
@@ -725,13 +742,11 @@ struct BulletMJCFImporterInternalData

 			} else
 			{
-				char warn[1024];
-				sprintf(warn,"Unknown/unhandled geom type: %s", geomType.c_str());
-				logger->reportWarning(warn);
+				logger->reportWarning( (sourceFileLocation(link_xml) + ": unhandled geom type '" + geomType + "'").c_str() );
 			}
 		} else
 		{
-			logger->reportWarning("geom requires type");
+			logger->reportWarning( (sourceFileLocation(link_xml) + ": geom requires type").c_str() );
 		}

 		return handledGeomType;
@@ -1013,10 +1028,7 @@ struct BulletMJCFImporterInternalData
 			}
 			if (!handled)
 			{
-				char warn[1024];
-				std::string n = xml->Value();
-				sprintf(warn,"Unknown/unhandled field: %s", n.c_str());
-				logger->reportWarning(warn);
+				logger->reportWarning( (sourceFileLocation(xml) + ": unknown field '" + n + "'").c_str() );
 			}
 		}

@@ -1395,12 +1407,14 @@ void BulletMJCFImporter::getLinkChildIndices(int urdfLinkIndex, btAlignedObjectA
 	}
 }
    
-bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
+bool BulletMJCFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
 {
 	jointLowerLimit = 0.f;
    jointUpperLimit = 0.f;
 	jointDamping = 0.f;
 	jointFriction = 0.f;
+	jointMaxForce = 0;
+	jointMaxVelocity = 0;

 	const UrdfLink* link = m_data->getLink(m_data->m_activeModel,urdfLinkIndex);
 	if (link)
@@ -1418,6 +1432,8 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
 			jointUpperLimit = pj->m_upperLimit;
 			jointDamping = pj->m_jointDamping;
 			jointFriction = pj->m_jointFriction;
+			jointMaxForce = pj->m_effortLimit;
+			jointMaxVelocity = pj->m_velocityLimit;
 			
 			return true;
 		} else
@@ -1430,6 +1446,14 @@ bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
 	return false;
 }

+bool BulletMJCFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
+{
+	//backwards compatibility for custom file importers
+	btScalar jointMaxForce = 0;
+	btScalar jointMaxVelocity = 0;
+	return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction,jointMaxForce, jointMaxVelocity);
+}
+    
 bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
 {
 	rootTransformInWorld.setIdentity();
@@ -1662,7 +1686,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 				} else
 				{
 					btCapsuleShapeZ* cap = new btCapsuleShapeZ(col->m_geometry.m_capsuleRadius,
-						2.*col->m_geometry.m_capsuleHalfHeight);
+						col->m_geometry.m_capsuleHeight);
 					childShape = cap;
 				}
 				break;
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
@@ -62,6 +62,7 @@ public:
    virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
    
    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
+	virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;

    virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
    
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -365,12 +365,14 @@ void  BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVect
 	}
 }
    
-bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
+bool BulletURDFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const 
 {
    jointLowerLimit = 0.f;
    jointUpperLimit = 0.f;
 	jointDamping = 0.f;
 	jointFriction = 0.f;
+	jointMaxForce = 0.f;
+	jointMaxVelocity = 0.f;

 	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex);
 	btAssert(linkPtr);
@@ -389,7 +391,8 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
 			jointUpperLimit = pj->m_upperLimit;
 			jointDamping = pj->m_jointDamping;
 			jointFriction = pj->m_jointFriction;
-
+			jointMaxForce = pj->m_effortLimit;
+			jointMaxVelocity = pj->m_velocityLimit;
 			return true;
 		} else
 		{
@@ -400,6 +403,14 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
 	
 	return false;

+};
+
+bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
+{
+	btScalar jointMaxForce;
+	btScalar jointMaxVelocity;
+	return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction,jointMaxForce,jointMaxVelocity); 
+	
 }

 bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
@@ -558,7 +569,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 		case URDF_GEOM_CAPSULE:
        {
 			btScalar radius = collision->m_geometry.m_capsuleRadius;
-			btScalar height = btScalar(2.f)*collision->m_geometry.m_capsuleHalfHeight;
+			btScalar height = collision->m_geometry.m_capsuleHeight;
 			btCapsuleShapeZ* capsuleShape = new btCapsuleShapeZ(radius,height);
 			shape = capsuleShape;
 			shape ->setMargin(gUrdfDefaultCollisionMargin);
@@ -568,7 +579,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
        case URDF_GEOM_CYLINDER:
        {
 			btScalar cylRadius = collision->m_geometry.m_capsuleRadius;
-			btScalar cylLength = collision->m_geometry.m_capsuleHalfHeight;
+			btScalar cylLength = collision->m_geometry.m_capsuleHeight;
 			
            btAlignedObjectArray<btVector3> vertices;
            //int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
@@ -791,7 +802,7 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
 			{

 				btScalar cylRadius = visual->m_geometry.m_capsuleRadius;
-				btScalar cylLength = visual->m_geometry.m_capsuleHalfHeight;
+				btScalar cylLength = visual->m_geometry.m_capsuleHeight;
 				
 				btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
 				vertices.push_back(vert);
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -48,6 +48,7 @@ public:
    virtual void  getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;

    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
+    virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;

    virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;

--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -232,9 +232,11 @@ void ConvertURDF2BulletInternal(
    btScalar jointUpperLimit;
    btScalar jointDamping;
    btScalar jointFriction;
+	btScalar jointMaxForce;
+	btScalar jointMaxVelocity;


-    bool hasParentJoint = u2b.getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction);
+    bool hasParentJoint = u2b.getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType,jointLowerLimit,jointUpperLimit, jointDamping, jointFriction,jointMaxForce,jointMaxVelocity);
 	std::string linkName = u2b.getLinkName(urdfLinkIndex);
                          
    if (flags & CUF_USE_SDF)
@@ -344,6 +346,17 @@ void ConvertURDF2BulletInternal(
            btQuaternion parentRotToThis = offsetInB.getRotation() * offsetInA.inverse().getRotation();

            bool disableParentCollision = true;
+
+			if (createMultiBody && cache.m_bulletMultiBody)
+			{
+				cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
+				cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction = jointFriction;
+				cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointLowerLimit = jointLowerLimit;
+				cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointUpperLimit = jointUpperLimit;
+				cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxForce = jointMaxForce;
+				cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxVelocity = jointMaxVelocity;
+			}
+
            switch (jointType)
            {
                case URDFFixedJoint:
@@ -374,8 +387,6 @@ void ConvertURDF2BulletInternal(
                                                                  parentRotToThis, quatRotate(offsetInB.getRotation(),jointAxisInJointSpace), offsetInA.getOrigin(),//parent2joint.getOrigin(),
                                                                  -offsetInB.getOrigin(),
                                                                  disableParentCollision);
-                        cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
-                        cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
                        creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
                        if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit) {
                          //std::string name = u2b.getLinkName(urdfLinkIndex);
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -47,6 +47,14 @@ public:
    
    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const =0;

+	virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const 
+	{
+		//backwards compatibility for custom file importers
+		jointMaxForce = 0;
+		jointMaxVelocity = 0;
+		return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
+	};
+    
    virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
    
 	///quick hack: need to rethink the API/dependencies of this
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -403,7 +403,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
 	  }
 		geom.m_hasFromTo = false;
 		geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
-		geom.m_capsuleHalfHeight = urdfLexicalCast<double>(shape->Attribute("length"));
+		geom.m_capsuleHeight = urdfLexicalCast<double>(shape->Attribute("length"));
 		
 	}
 	else if (type_name == "capsule")
@@ -417,7 +417,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
 		}
 		geom.m_hasFromTo = false;
 		geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
-		geom.m_capsuleHalfHeight = btScalar(0.5)*urdfLexicalCast<double>(shape->Attribute("length"));
+		geom.m_capsuleHeight = urdfLexicalCast<double>(shape->Attribute("length"));
 	}
 	else if (type_name == "mesh")
 	{
@@ -1679,7 +1679,17 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)

 std::string UrdfParser::sourceFileLocation(TiXmlElement* e)
 {
+#if 0
+	//no C++11 etc, no snprintf
+
 	char buf[1024];
 	snprintf(buf, sizeof(buf), "%s:%i", m_urdf2Model.m_sourceFile.c_str(), e->Row());
 	return buf;
+#else
+	char row[1024];
+        sprintf(row,"%d",e->Row());
+        std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row);
+        return str;
+#endif
+
 }
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -65,7 +65,7 @@ struct UrdfGeometry
 	btVector3 m_boxSize;
 	
 	double m_capsuleRadius;
-	double m_capsuleHalfHeight;
+	double m_capsuleHeight;
 	int m_hasFromTo;
 	btVector3 m_capsuleFrom;
 	btVector3 m_capsuleTo;
--- a/examples/OpenGLWindow/SimpleOpenGL2App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2App.cpp
@@ -1,13 +1,15 @@
 #include "SimpleOpenGL2App.h"
 #define USE_OPENGL2
 #include "OpenGLInclude.h"
-
+#include "ShapeData.h"
 #include "Bullet3Common/b3Logging.h"//b3Assert?
 #include "Bullet3Common/b3Scalar.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3Quaternion.h"
 #include "../CommonInterfaces/CommonRenderInterface.h"
 #include "../OpenGLWindow/GLPrimitiveRenderer.h"
+#include "GLInstanceGraphicsShape.h"
 #include "stdlib.h"
 #include "TwFonts.h"
 #ifdef __APPLE__
@@ -161,13 +163,13 @@ SimpleOpenGL2App::SimpleOpenGL2App(const char* title, int width, int height)

    b3Assert(glGetError() ==GL_NO_ERROR);

-	//m_instancingRenderer = new GLInstancingRenderer(128*1024,32*1024*1024);
-	//m_instancingRenderer->init();
-	//m_instancingRenderer->resize(width,height);
+	//m_renderer = new GLInstancingRenderer(128*1024,32*1024*1024);
+	//m_renderer->init();
+	//m_renderer->resize(width,height);

 	b3Assert(glGetError() ==GL_NO_ERROR);

-	//m_instancingRenderer->InitShaders();
+	//m_renderer->InitShaders();

 	m_window->setMouseMoveCallback(Simple2MouseMoveCallback);
 	m_window->setMouseButtonCallback(Simple2MouseButtonCallback);
@@ -275,7 +277,7 @@ void SimpleOpenGL2App::drawGrid(DrawGridData data)

 	//we don't use drawPoints because all points would have the same color
 //	b3Vector3 points[3] = { b3MakeVector3(1, 0, 0), b3MakeVector3(0, 1, 0), b3MakeVector3(0, 0, 1) };
-//	m_instancingRenderer->drawPoints(&points[0].x, b3MakeVector3(1, 0, 0), 3, sizeof(b3Vector3), 6);
+//	m_renderer->drawPoints(&points[0].x, b3MakeVector3(1, 0, 0), 3, sizeof(b3Vector3), 6);
 }
 void SimpleOpenGL2App::setUpAxis(int axis)
 {
@@ -466,8 +468,106 @@ void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float world
 	restoreOpenGLState();
 }

-void SimpleOpenGL2App::registerGrid(int xres, int yres, float color0[4], float color1[4])
+
+void SimpleOpenGL2App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
 {
+	b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
+	cubeExtents[m_data->m_upAxis] = 0;
+	int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
+
+	b3Quaternion orn(0,0,0,1);
+	b3Vector3 center=b3MakeVector3(0,0,0,1);
+	b3Vector3 scaling=b3MakeVector3(1,1,1,1);
+
+	for ( int i = 0; i < cells_x; i++) 
+	{
+		for (int j = 0; j < cells_z; j++) 
+		{
+			float* color =0;
+			if ((i + j) % 2 == 0) 
+			{
+				color = (float*)color0;
+			} else {
+				color = (float*)color1;
+			}
+			if (this->m_data->m_upAxis==1)
+			{
+				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, 0.f, (j + 0.5f) - cells_z * 0.5f);
+			} else
+			{
+				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,0.f );
+			}
+			m_renderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
+		}
+	}
 	
 }

+int	SimpleOpenGL2App::registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId)
+{
+
+	int strideInBytes = 9*sizeof(float);
+
+	int graphicsShapeIndex = -1;
+
+	switch (lod)
+	{
+		case 		SPHERE_LOD_POINT_SPRITE:
+		{
+			int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(point_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_renderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS,textureId);
+			break;
+		}
+
+		case SPHERE_LOD_LOW:
+		{
+			int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(low_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_renderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
+			break;
+		}
+		case SPHERE_LOD_MEDIUM:
+		{
+			int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_renderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
+			break;
+		}
+		case SPHERE_LOD_HIGH:
+		default:
+		{
+			int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_renderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
+			break;
+		}
+	};
+	return graphicsShapeIndex;
+}
+
+
+int	SimpleOpenGL2App::registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex,  float textureScaling )
+{
+	int strideInBytes = 9*sizeof(float);
+	int numVertices = sizeof(cube_vertices_textured)/strideInBytes;
+	int numIndices = sizeof(cube_indices)/sizeof(int);
+
+	b3AlignedObjectArray<GLInstanceVertex> verts;
+	verts.resize(numVertices);
+	for (int i=0;i<numVertices;i++)
+	{
+		verts[i].xyzw[0] = halfExtentsX*cube_vertices_textured[i*9];
+		verts[i].xyzw[1] = halfExtentsY*cube_vertices_textured[i*9+1];
+		verts[i].xyzw[2] = halfExtentsZ*cube_vertices_textured[i*9+2];
+		verts[i].xyzw[3] = cube_vertices_textured[i*9+3];
+		verts[i].normal[0] = cube_vertices_textured[i*9+4];
+		verts[i].normal[1]= cube_vertices_textured[i*9+5];
+		verts[i].normal[2] = cube_vertices_textured[i*9+6];
+		verts[i].uv[0] = cube_vertices_textured[i*9+7]*textureScaling;
+		verts[i].uv[1] = cube_vertices_textured[i*9+8]*textureScaling;
+	}
+	
+	int shapeId = m_renderer->registerShape(&verts[0].xyzw[0],numVertices,cube_indices,numIndices,B3_GL_TRIANGLES,textureIndex);
+	return shapeId;
+}
--- a/examples/OpenGLWindow/SimpleOpenGL2App.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2App.h
@@ -20,14 +20,9 @@ public:
 	virtual void drawText( const char* txt, int posX, int posY, float size);
 	virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA){};
 	virtual void setBackgroundColor(float red, float green, float blue);
-	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1)
-	{
-		return 0;
-	}
-	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1)
-	{
-		return 0;
-	}
+	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1);
+
+	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1);
    virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
    virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);

--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -2,13 +2,63 @@
 #include "SimpleOpenGL2Renderer.h"
 #include "OpenGL2Include.h"
 #include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "GLInstanceGraphicsShape.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3Transform.h"

+B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Shape
+{
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	int m_textureIndex;
+	int m_primitiveType;
+	b3AlignedObjectArray<int> m_indices;
+	b3AlignedObjectArray<GLInstanceVertex> m_vertices;
+	b3Vector3 m_scaling;
+};
+
+B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Instance
+{
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	int m_shapeIndex;
+	b3Vector3 m_position;
+	b3Quaternion orn;
+	b3Vector3 m_rgbColor;
+	b3Vector3 m_scaling;
+};
+
+
+
+struct InternalTextureHandle2
+{
+    GLuint  m_glTexture;
+    int m_width;
+    int m_height;
+};
+
+struct SimpleOpenGL2RendererInternalData
+{
+	int m_width;
+    int m_height;
+    SimpleCamera	m_camera;
+	b3AlignedObjectArray<SimpleGL2Shape*> m_shapes;
+	b3AlignedObjectArray<SimpleGL2Instance> m_graphicsInstances;
+	b3AlignedObjectArray<InternalTextureHandle2>	m_textureHandles;
+
+};

 SimpleOpenGL2Renderer::SimpleOpenGL2Renderer(int width, int height)
- :m_width(width),
- m_height(height)
 {
+    m_data = new SimpleOpenGL2RendererInternalData;
+	m_data->m_width = width;
+	m_data->m_height = height;
+}

+SimpleOpenGL2Renderer::~SimpleOpenGL2Renderer()
+{
+	delete m_data;
 }

 void SimpleOpenGL2Renderer::init()
@@ -17,11 +67,11 @@ void SimpleOpenGL2Renderer::init()

 const CommonCameraInterface* SimpleOpenGL2Renderer::getActiveCamera() const
 {
-	return &m_camera;
+	return &m_data->m_camera;
 }
 CommonCameraInterface* SimpleOpenGL2Renderer::getActiveCamera()
 {
-	return &m_camera;
+	return &m_data->m_camera;
 }
 void SimpleOpenGL2Renderer::setActiveCamera(CommonCameraInterface* cam)
 {
@@ -32,11 +82,11 @@ void SimpleOpenGL2Renderer::updateCamera(int upAxis)
 {
    float projection[16];
    float view[16];
-    m_camera.setAspectRatio((float)m_width/(float)m_height);
-	m_camera.setCameraUpAxis(upAxis);
-    m_camera.update();
-    m_camera.getCameraProjectionMatrix(projection);
-    m_camera.getCameraViewMatrix(view);
+    getActiveCamera()->setAspectRatio((float)m_data->m_width/(float)m_data->m_height);
+	getActiveCamera()->setCameraUpAxis(upAxis);
+    m_data->m_camera.update(); //??
+    getActiveCamera()->getCameraProjectionMatrix(projection);
+    getActiveCamera()->getCameraViewMatrix(view);
    GLfloat projMat[16];
    GLfloat viewMat[16];
    for (int i=0;i<16;i++)
@@ -55,6 +105,14 @@ void SimpleOpenGL2Renderer::updateCamera(int upAxis)

 void SimpleOpenGL2Renderer::removeAllInstances()
 {
+	for (int i=0;i<m_data->m_shapes.size();i++)
+	{
+		delete m_data->m_shapes[i];
+	}
+	m_data->m_shapes.clear();
+	m_data->m_graphicsInstances.clear();
+	//also destroy textures?
+	m_data->m_textureHandles.clear();
 }


@@ -76,7 +134,7 @@ void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int src

 int SimpleOpenGL2Renderer::getTotalNumInstances() const
 {
-    return 0;
+    return m_data->m_graphicsInstances.size();
 }

 void	SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
@@ -90,21 +148,323 @@ void	SimpleOpenGL2Renderer::getCameraProjectionMatrix(float projMat[16]) const
 }


+void SimpleOpenGL2Renderer::drawOpenGL(int instanceIndex)
+{
+	const SimpleGL2Instance& inst = m_data->m_graphicsInstances[instanceIndex];
+	const SimpleGL2Shape* shape = m_data->m_shapes[inst.m_shapeIndex];
+
+
+	glPushMatrix(); 
+	b3Transform tr;
+	tr.setOrigin(b3MakeVector3(inst.m_position[0],inst.m_position[1],inst.m_position[2]));
+	tr.setRotation(b3Quaternion(inst.orn[0],inst.orn[1],inst.orn[2],inst.orn[3]));
+
+	b3Scalar m[16];
+
+	tr.getOpenGLMatrix(m);
+
+#ifdef B3_USE_DOUBLE_PRECISION
+	glMultMatrixd(m);
+#else
+		glMultMatrixf(m);
+#endif
+
+
+	#if 0
+	glMatrixMode(GL_TEXTURE);
+	glLoadIdentity();
+	glScalef(0.025f,0.025f,0.025f);
+	glMatrixMode(GL_MODELVIEW);
+
+	static const GLfloat	planex[]={1,0,0,0};
+	//	static const GLfloat	planey[]={0,1,0,0};
+		static const GLfloat	planez[]={0,0,1,0};
+		glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
+		glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
+		glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+		glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+		glEnable(GL_TEXTURE_GEN_S);
+		glEnable(GL_TEXTURE_GEN_T);
+		glEnable(GL_TEXTURE_GEN_R);
+		m_textureinitialized=true;
+
+		
+			
+		#endif
+
+	//drawCoordSystem();
+
+	//glPushMatrix();
+//	glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
+//	glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
+//	glMatrixMode(GL_TEXTURE);
+//	glLoadIdentity();
+	glMatrixMode(GL_MODELVIEW);
+
+	glEnable(GL_COLOR_MATERIAL);
+
+	if(shape->m_textureIndex>=0)
+	{
+		glEnable(GL_TEXTURE_2D);
+		activateTexture(shape->m_textureIndex);
+	} else
+	{
+		glDisable(GL_TEXTURE_2D);
+	}
+
+
+	glColor3f(inst.m_rgbColor[0],inst.m_rgbColor[1], inst.m_rgbColor[2]);		
+	glScalef(inst.m_scaling[0],inst.m_scaling[1],inst.m_scaling[2]);
+	glShadeModel(GL_SMOOTH);
+
+	glBegin (GL_TRIANGLES);
+	for (int i=0;i<shape->m_indices.size();i+=3)
+	{
+		for (int v=0;v<3;v++)
+		{
+			const GLInstanceVertex& vtx0 = shape->m_vertices[shape->m_indices[i+v]];
+			glNormal3f(vtx0.normal[0],vtx0.normal[1],vtx0.normal[2]);
+			glTexCoord2f(vtx0.uv[0],vtx0.uv[1]);
+			glVertex3f (vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
+		}			
+	}
+	glEnd();
+
+	glPopMatrix();
+
+}
+
+void SimpleOpenGL2Renderer::drawSceneInternal(int pass, int cameraUpAxis)
+{
+	for (int i=0;i<m_data->m_graphicsInstances.size();i++)
+	{
+		drawOpenGL(i);
+	}
+
+	#if 0
+	b3Scalar	m[16];
+	b3Matrix3x3	rot;rot.setIdentity();
+	const int	numObjects=dynamicsWorld->getNumCollisionObjects();
+	btVector3 wireColor(1,0,0);
+	//glDisable(GL_CULL_FACE);
+			
+	for(int i=0;i<numObjects;i++)
+	{
+		const btCollisionObject*	colObj=dynamicsWorld->getCollisionObjectArray()[i];
+		const btRigidBody*		body=btRigidBody::upcast(colObj);
+		if(body&&body->getMotionState())
+		{
+			btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
+			myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
+			rot=myMotionState->m_graphicsWorldTrans.getBasis();
+		}
+		else
+		{
+			colObj->getWorldTransform().getOpenGLMatrix(m);
+			rot=colObj->getWorldTransform().getBasis();
+		}
+		btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
+		if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
+		///color differently for active, sleeping, wantsdeactivation states
+		if (colObj->getActivationState() == 1) //active
+		{
+			if (i & 1)
+			{
+				wireColor += btVector3 (1.f,0.f,0.f);
+			}
+			else
+			{
+				wireColor += btVector3 (.5f,0.f,0.f);
+			}
+		}
+		if(colObj->getActivationState()==2) //ISLAND_SLEEPING
+		{
+			if(i&1)
+			{
+				wireColor += btVector3 (0.f,1.f, 0.f);
+			}
+			else
+			{
+				wireColor += btVector3 (0.f,0.5f,0.f);
+			}
+		}
+
+		btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
+		//m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
+
+		aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+		aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+	//		printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
+	//		printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
+	//		m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
+
+		//switch(pass)
+		
+		//if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe))
+		int debugMode = 0;//getDebugMode()
+		//btVector3 m_sundirection(-1,-1,-1);
+		
+		btVector3 m_sundirection(btVector3(1,-2,1)*1000);
+		if (cameraUpAxis==2)
+		{
+			m_sundirection = btVector3(1,1,-2)*1000;
+		}
+				
+		switch(pass)
+		{
+			case	0:	drawOpenGL(m,colObj->getCollisionShape(),wireColor,debugMode,aabbMin,aabbMax);break;
+			case	1:	drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
+			case	2:	drawOpenGL(m,colObj->getCollisionShape(),wireColor*b3Scalar(0.3),0,aabbMin,aabbMax);break;
+		}
+	}
+	#endif
+
+}
+
 void SimpleOpenGL2Renderer::renderScene()
 {
+	GLfloat light_ambient[] = { b3Scalar(0.2), b3Scalar(0.2), b3Scalar(0.2), b3Scalar(1.0) };
+	GLfloat light_diffuse[] = { b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0) };
+	GLfloat light_specular[] = { b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0 )};
+	/*	light_position is NOT default value	*/
+	GLfloat light_position0[] = { b3Scalar(1.0), b3Scalar(10.0), b3Scalar(1.0), b3Scalar(0.0 )};
+	GLfloat light_position1[] = { b3Scalar(-1.0), b3Scalar(-10.0), b3Scalar(-1.0), b3Scalar(0.0) };
+
+	glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
+	glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
+	glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
+	glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
+
+	glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
+	glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
+	glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
+	glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
+
+	glEnable(GL_LIGHTING);
+	glEnable(GL_LIGHT0);
+	glEnable(GL_LIGHT1);
+
+
+	glShadeModel(GL_SMOOTH);
+	glEnable(GL_DEPTH_TEST);
+	glDepthFunc(GL_LESS);
+
+	drawSceneInternal(0,0);
 }
    
    
+int	SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int width, int height)
+{
+	b3Assert(glGetError() ==GL_NO_ERROR);
+	glActiveTexture(GL_TEXTURE0);
+	int textureIndex = m_data->m_textureHandles.size();
+  //  const GLubyte*	image= (const GLubyte*)texels;	
+	GLuint textureHandle;
+	glGenTextures(1,(GLuint*)&textureHandle);
+	glBindTexture(GL_TEXTURE_2D,textureHandle);
+
+	b3Assert(glGetError() ==GL_NO_ERROR);
+
+	InternalTextureHandle2 h;
+    h.m_glTexture = textureHandle;
+    h.m_width = width;
+    h.m_height = height;
+
+	m_data->m_textureHandles.push_back(h);
+	updateTexture(textureIndex, texels);
+	return textureIndex;
+}
+
+
+void    SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned char* texels)
+{
+    if (textureIndex>=0)
+    {
+		
+		
+
+        glActiveTexture(GL_TEXTURE0);
+        b3Assert(glGetError() ==GL_NO_ERROR);
+        InternalTextureHandle2& h = m_data->m_textureHandles[textureIndex];
+
+		//textures need to be flipped for OpenGL...
+		b3AlignedObjectArray<unsigned char> flippedTexels;
+		flippedTexels.resize(h.m_width* h.m_height * 3);
+		for (int i = 0; i < h.m_width; i++)
+		{
+			for (int j = 0; j < h.m_height; j++)
+			{
+				flippedTexels[(i + j*h.m_width) * 3] =      texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
+				flippedTexels[(i + j*h.m_width) * 3+1] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
+				flippedTexels[(i + j*h.m_width) * 3+2] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
+			}
+		}
+
+
+        glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
+        b3Assert(glGetError() ==GL_NO_ERROR);
+      //  const GLubyte*	image= (const GLubyte*)texels;	
+        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
+        b3Assert(glGetError() ==GL_NO_ERROR);
+        glGenerateMipmap(GL_TEXTURE_2D);
+        b3Assert(glGetError() ==GL_NO_ERROR);
+    }
+}
+
+void SimpleOpenGL2Renderer::activateTexture(int textureIndex)
+{
+    glActiveTexture(GL_TEXTURE0);
+    
+    if (textureIndex>=0)
+    {
+        glBindTexture(GL_TEXTURE_2D,m_data->m_textureHandles[textureIndex].m_glTexture);
+    } else
+    {
+        glBindTexture(GL_TEXTURE_2D,0);
+    }
+}


 int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling)
 {
-    return 0;
+	int sz = m_data->m_graphicsInstances.size();
+	SimpleGL2Instance& instance = m_data->m_graphicsInstances.expand();
+	instance.m_shapeIndex = shapeIndex;
+	instance.m_position[0] = position[0];
+	instance.m_position[1] = position[1];
+	instance.m_position[2] = position[2];
+	instance.orn[0] = quaternion[0];
+	instance.orn[1] = quaternion[1];
+	instance.orn[2] = quaternion[2];
+	instance.orn[3] = quaternion[3];
+	instance.m_rgbColor[0] = color[0];
+	instance.m_rgbColor[1] = color[1];
+	instance.m_rgbColor[2] = color[2];
+	instance.m_scaling[0] = scaling[0];
+	instance.m_scaling[1] = scaling[1];
+	instance.m_scaling[2] = scaling[2];
+	return sz;
 }

 int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
 {
-    return 0;
+	int sz = m_data->m_graphicsInstances.size();
+	SimpleGL2Instance& instance = m_data->m_graphicsInstances.expand();
+	instance.m_shapeIndex = shapeIndex;
+	instance.m_position[0] = position[0];
+	instance.m_position[1] = position[1];
+	instance.m_position[2] = position[2];
+	instance.orn[0] = quaternion[0];
+	instance.orn[1] = quaternion[1];
+	instance.orn[2] = quaternion[2];
+	instance.orn[3] = quaternion[3];
+	instance.m_rgbColor[0] = color[0];
+	instance.m_rgbColor[1] = color[1];
+	instance.m_rgbColor[2] = color[2];
+	instance.m_scaling[0] = scaling[0];
+	instance.m_scaling[1] = scaling[1];
+	instance.m_scaling[2] = scaling[2];
+	return sz;
 }

 void SimpleOpenGL2Renderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize)
@@ -141,25 +501,91 @@ void SimpleOpenGL2Renderer::drawLine(const float from[4], const float to[4], con
        glVertex3d(to[0],to[1],to[2]);
        glEnd();
 }
+
+
 int SimpleOpenGL2Renderer::registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureIndex)
 {
-    return 0;
+
+	SimpleGL2Shape* shape = new SimpleGL2Shape();
+	shape->m_textureIndex = textureIndex;
+	shape->m_indices.resize(numIndices);
+
+	for (int i=0;i<numIndices;i++)
+	{
+		shape->m_indices[i]=indices[i];
+	}
+
+	shape->m_vertices.resize(numvertices);
+
+	for (int v=0;v<numvertices;v++)
+	{
+		GLInstanceVertex& vtx = shape->m_vertices[v];
+		vtx.xyzw[0] = vertices[9*v+0];
+		vtx.xyzw[1] = vertices[9*v+1];
+		vtx.xyzw[2] = vertices[9*v+2];
+		vtx.xyzw[3] = vertices[9*v+3];
+		vtx.normal[0] = vertices[9*v+4];
+		vtx.normal[1] = vertices[9*v+5];
+		vtx.normal[2] = vertices[9*v+6];
+		vtx.uv[0] = vertices[9*v+7];
+		vtx.uv[1] = vertices[9*v+8];
+	}
+	int sz = m_data->m_shapes.size();
+	m_data->m_shapes.push_back(shape);
+	return sz;
 }

 void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)
 {
+	m_data->m_graphicsInstances[srcIndex].m_position[0] = position[0];
+	m_data->m_graphicsInstances[srcIndex].m_position[1] = position[1];
+	m_data->m_graphicsInstances[srcIndex].m_position[2] = position[2];
+
+	m_data->m_graphicsInstances[srcIndex].orn[0] = orientation[0];
+	m_data->m_graphicsInstances[srcIndex].orn[1] = orientation[1];
+	m_data->m_graphicsInstances[srcIndex].orn[2] = orientation[2];
+	m_data->m_graphicsInstances[srcIndex].orn[3] = orientation[3];
+
 }
 void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)
 {
+	m_data->m_graphicsInstances[srcIndex].m_position[0] = position[0];
+	m_data->m_graphicsInstances[srcIndex].m_position[1] = position[1];
+	m_data->m_graphicsInstances[srcIndex].m_position[2] = position[2];
+
+	m_data->m_graphicsInstances[srcIndex].orn[0] = orientation[0];
+	m_data->m_graphicsInstances[srcIndex].orn[1] = orientation[1];
+	m_data->m_graphicsInstances[srcIndex].orn[2] = orientation[2];
+	m_data->m_graphicsInstances[srcIndex].orn[3] = orientation[3];
 }
 void SimpleOpenGL2Renderer::writeTransforms()
 {
 }

+void	SimpleOpenGL2Renderer::resize(int width, int height)
+{
+	m_data->m_width = width;
+	m_data->m_height = height;
+}
+
+int SimpleOpenGL2Renderer::getScreenWidth()
+{
+    return m_data->m_width;
+}
+int SimpleOpenGL2Renderer::getScreenHeight()
+{
+    return m_data->m_height;
+}
+

 void SimpleOpenGL2Renderer::drawLine(const double from[4], const double to[4], const double color[4], double lineWidth)
 {
-    
+    glLineWidth(lineWidth);
+    glBegin(GL_LINES);
+    glColor3f(color[0],color[1],color[2]);
+    glVertex3d(from[0],from[1],from[2]);
+    glVertex3d(to[0],to[1],to[2]);
+    glEnd();
 }
 void SimpleOpenGL2Renderer::drawPoint(const float* position, const float color[4], float pointDrawSize)
 {
@@ -170,6 +596,23 @@ void SimpleOpenGL2Renderer::drawPoint(const double* position, const double color

 void SimpleOpenGL2Renderer::updateShape(int shapeIndex, const float* vertices)
 {
+	SimpleGL2Shape* shape = m_data->m_shapes[shapeIndex];
+	int numvertices = shape->m_vertices.size();
+	
+	for (int i=0;i<numvertices;i++)
+	{
+		shape->m_vertices[i].xyzw[0] = vertices[9*i+0];
+		shape->m_vertices[i].xyzw[1] = vertices[9*i+1];
+		shape->m_vertices[i].xyzw[2] = vertices[9*i+2];
+		shape->m_vertices[i].xyzw[3] = vertices[9*i+3];
+
+		shape->m_vertices[i].normal[0] = vertices[9*i+4];
+		shape->m_vertices[i].normal[1] = vertices[9*i+5];
+		shape->m_vertices[i].normal[2] = vertices[9*i+6];
+
+		shape->m_vertices[i].uv[0] = vertices[9*i+7];
+		shape->m_vertices[i].uv[1] = vertices[9*i+8];
+	}
 }

 void SimpleOpenGL2Renderer::enableBlend(bool blend)
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -5,13 +5,17 @@
 #include "../CommonInterfaces/CommonRenderInterface.h"
 #include "SimpleCamera.h"

-struct SimpleOpenGL2Renderer : public CommonRenderInterface
+class SimpleOpenGL2Renderer : public CommonRenderInterface
 {
-    int m_width;
-    int m_height;
-    SimpleCamera	m_camera;
+	struct SimpleOpenGL2RendererInternalData* m_data;
+  
+	void drawSceneInternal(int pass, int cameraUpAxis);
+	void drawOpenGL(int instanceIndex);
+
+public:

    SimpleOpenGL2Renderer(int width, int height);
+    virtual ~SimpleOpenGL2Renderer();

    virtual void init();
    
@@ -21,11 +25,7 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
 	virtual CommonCameraInterface* getActiveCamera();
 	virtual void setActiveCamera(CommonCameraInterface* cam);

-	virtual void	resize(int width, int height)
-	{
-		m_width = width;
-		m_height = height;
-	}
+	virtual void	resize(int width, int height);

    virtual void removeAllInstances();
    
@@ -40,20 +40,11 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
    
    virtual void renderScene();
    
-    virtual int getScreenWidth()
-    {
-        return m_width;
-    }
-    virtual int getScreenHeight()
-    {
-        return m_height;
-    }
-	virtual int	registerTexture(const unsigned char* texels, int width, int height)
-	{
-		return -1;
-	}
-	virtual void    updateTexture(int textureIndex, const unsigned char* texels) {}
-    virtual void activateTexture(int textureIndex) {}
+    virtual int getScreenWidth();
+    virtual int getScreenHeight();
+	virtual int	registerTexture(const unsigned char* texels, int width, int height);
+	virtual void    updateTexture(int textureIndex, const unsigned char* texels);
+    virtual void activateTexture(int textureIndex);


    virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -260,6 +260,8 @@ int b3RobotSimulatorClientAPI::loadURDF(const std::string& fileName, const struc

 	//setting the initial position, orientation and other arguments are optional

+	b3LoadUrdfCommandSetFlags(command,args.m_flags);
+
 	b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
 									  args.m_startPosition[1],
 									  args.m_startPosition[2]);
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
@@ -15,12 +15,14 @@ struct b3RobotSimulatorLoadUrdfFileArgs
 	b3Quaternion m_startOrientation;
 	bool m_forceOverrideFixedBase;
 	bool m_useMultiBody;
+	int m_flags;

 	b3RobotSimulatorLoadUrdfFileArgs()
 		: m_startPosition(b3MakeVector3(0, 0, 0)),
 		  m_startOrientation(b3Quaternion(0, 0, 0, 1)),
 		  m_forceOverrideFixedBase(false),
-		  m_useMultiBody(true)
+		  m_useMultiBody(true),
+		  m_flags(0)
 	{
 	}
 };
--- a/examples/SharedMemory/BodyJointInfoUtility.h
+++ b/examples/SharedMemory/BodyJointInfoUtility.h
@@ -61,6 +61,10 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
 			info.m_jointType = mb->m_links[link].m_jointType;
 			info.m_jointDamping = mb->m_links[link].m_jointDamping;
 			info.m_jointFriction = mb->m_links[link].m_jointFriction;
+			info.m_jointLowerLimit = mb->m_links[link].m_jointLowerLimit;
+			info.m_jointUpperLimit = mb->m_links[link].m_jointUpperLimit;
+			info.m_jointMaxForce = mb->m_links[link].m_jointMaxForce;
+			info.m_jointMaxVelocity = mb->m_links[link].m_jointMaxVelocity;

 			if ((mb->m_links[link].m_jointType == eRevoluteType) ||
 				(mb->m_links[link].m_jointType == ePrismaticType)) {
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -238,6 +238,19 @@ int	b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
 	return -1;
 }

+int	b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_LOAD_URDF);
+	if (command && (command->m_type == CMD_LOAD_URDF))
+	{
+		command->m_updateFlags |= 	URDF_ARGS_HAS_CUSTOM_URDF_FLAGS;
+		command->m_urdfArguments.m_urdfFlags = flags;
+	}
+	return 0;
+}
+
 int	b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
 {
    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -547,10 +560,24 @@ b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandl
    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
    b3Assert(command);
    command->m_type =CMD_REQUEST_ACTUAL_STATE;
+	command->m_updateFlags = 0;
 	command->m_requestActualStateInformationCommandArgument.m_bodyUniqueId = bodyUniqueId;
    return (b3SharedMemoryCommandHandle) command;
 }

+int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	btAssert(command->m_type == CMD_REQUEST_ACTUAL_STATE);
+	if (computeLinkVelocity && command->m_type == CMD_REQUEST_ACTUAL_STATE)
+	{
+		command->m_updateFlags |= ACTUAL_STATE_COMPUTE_LINKVELOCITY;
+	}
+	return 0;
+}
+
+
 int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, b3JointSensorState *state)
 {
  const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
@@ -604,6 +631,8 @@ int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
    {
      state->m_worldPosition[i] = status->m_sendActualStateArgs.m_linkState[7 * linkIndex + i];
      state->m_localInertialPosition[i] = status->m_sendActualStateArgs.m_linkLocalInertialFrames[7 * linkIndex + i];
+	  state->m_worldLinearVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6*linkIndex+i];
+	  state->m_worldAngularVelocity[i] = status->m_sendActualStateArgs.m_linkWorldVelocities[6*linkIndex+i+3];
    }
    for (int i = 0; i < 4; ++i) 
    {
@@ -1085,6 +1114,7 @@ int	b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory

 b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle)
 {
+	B3_PROFILE("b3SubmitClientCommandAndWaitStatus");
 	b3Clock clock;
 	double startTime = clock.getTimeInSeconds();
 	
@@ -1098,12 +1128,18 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan

 		double timeOutInSeconds = cl->getTimeOut();

+		{
+			B3_PROFILE("b3SubmitClientCommand");
 			b3SubmitClientCommand(physClient, commandHandle);
-
+		}
+		{
+			B3_PROFILE("b3ProcessServerStatus");
 			while (cl->isConnected() && (statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 			{
+					clock.usleep(0);
 					statusHandle = b3ProcessServerStatus(physClient);
 			}
+		}
 		return (b3SharedMemoryStatusHandle)statusHandle;
 	}

--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -217,6 +217,7 @@ int	b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle,
 int	b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
 int	b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
 int	b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
+int	b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);

 b3SharedMemoryCommandHandle	b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
 b3SharedMemoryCommandHandle	b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
@@ -313,6 +314,8 @@ int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle c
 int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, int linkIndex, int enable);

 b3SharedMemoryCommandHandle b3RequestActualStateCommandInit(b3PhysicsClientHandle physClient,int bodyUniqueId);
+int b3RequestActualStateCommandComputeLinkVelocity(b3SharedMemoryCommandHandle commandHandle, int computeLinkVelocity);
+
 int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int jointIndex, struct b3JointSensorState *state);
 int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle, int linkIndex, struct b3LinkState *state);

--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -358,7 +358,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 	 }

    if (m_data->m_testBlock1->m_numServerCommands >
-        m_data->m_testBlock1->m_numProcessedServerCommands) {
+        m_data->m_testBlock1->m_numProcessedServerCommands) 
+	{
+		B3_PROFILE("processServerCMD");
        btAssert(m_data->m_testBlock1->m_numServerCommands ==
                 m_data->m_testBlock1->m_numProcessedServerCommands + 1);

@@ -368,8 +370,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 //       EnumSharedMemoryServerStatus s = (EnumSharedMemoryServerStatus)serverCmd.m_type;
        // consume the command

-        switch (serverCmd.m_type) {
-            case CMD_CLIENT_COMMAND_COMPLETED: {
+        switch (serverCmd.m_type) 
+		{
+
+            case CMD_CLIENT_COMMAND_COMPLETED: 
+			{
+				B3_PROFILE("CMD_CLIENT_COMMAND_COMPLETED");
+
                if (m_data->m_verboseOutput) {
                    b3Printf("Server completed command");
                }
@@ -378,12 +385,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {

 			case CMD_MJCF_LOADING_COMPLETED:
 			{
+				B3_PROFILE("CMD_MJCF_LOADING_COMPLETED");
+
                if (m_data->m_verboseOutput) {
                    b3Printf("Server loading the MJCF OK\n");
                }
                break;
 			}
-            case CMD_SDF_LOADING_COMPLETED: {
+            case CMD_SDF_LOADING_COMPLETED: 
+			{
+				B3_PROFILE("CMD_SDF_LOADING_COMPLETED");

                if (m_data->m_verboseOutput) {
                    b3Printf("Server loading the SDF OK\n");
@@ -392,7 +403,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                break;
            }

-            case CMD_URDF_LOADING_COMPLETED: {
+            case CMD_URDF_LOADING_COMPLETED: 
+			{
+				B3_PROFILE("CMD_URDF_LOADING_COMPLETED");
                
                if (m_data->m_verboseOutput) {
                    b3Printf("Server loading the URDF OK\n");
@@ -444,19 +457,28 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                }
                break;
            }
-            case CMD_DESIRED_STATE_RECEIVED_COMPLETED: {
+            case CMD_DESIRED_STATE_RECEIVED_COMPLETED: 
+			{
+				B3_PROFILE("CMD_DESIRED_STATE_RECEIVED_COMPLETED");
+
                if (m_data->m_verboseOutput) {
                    b3Printf("Server received desired state");
                }
                break;
            }
-            case CMD_STEP_FORWARD_SIMULATION_COMPLETED: {
+            case CMD_STEP_FORWARD_SIMULATION_COMPLETED: 
+			{
+				B3_PROFILE("CMD_STEP_FORWARD_SIMULATION_COMPLETED");
+
                if (m_data->m_verboseOutput) {
                    b3Printf("Server completed step simulation");
                }
                break;
            }
-            case CMD_URDF_LOADING_FAILED: {
+            case CMD_URDF_LOADING_FAILED: 
+			{
+				B3_PROFILE("CMD_URDF_LOADING_FAILED");
+
                if (m_data->m_verboseOutput) {
                    b3Printf("Server failed loading the URDF...\n");
                }
@@ -465,24 +487,30 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
            }
 			case CMD_USER_CONSTRAINT_INFO_COMPLETED:
 			{
+				B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");
+
 				int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
 				m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
 				break;
 			}
 			case CMD_USER_CONSTRAINT_COMPLETED:
 			{
+				B3_PROFILE("CMD_USER_CONSTRAINT_COMPLETED");
 				int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
 				m_data->m_userConstraintInfoMap.insert(cid,serverCmd.m_userConstraintResultArgs);
 				break;
 			}
 			case CMD_REMOVE_USER_CONSTRAINT_COMPLETED:
 			{
+				B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_COMPLETED");
 				int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
 				m_data->m_userConstraintInfoMap.remove(cid);
 				break;
 			}
 			case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
 			{
+				B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_COMPLETED");
+
 				int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
 				b3UserConstraint* userConstraintPtr = m_data->m_userConstraintInfoMap[cid];
 				if (userConstraintPtr)
@@ -511,26 +539,31 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {

 			case CMD_USER_CONSTRAINT_FAILED:
 			{
+				B3_PROFILE("CMD_USER_CONSTRAINT_FAILED");
 				b3Warning("createConstraint failed");
 				break;
 			}
 			case CMD_REMOVE_USER_CONSTRAINT_FAILED:
 			{
+				B3_PROFILE("CMD_REMOVE_USER_CONSTRAINT_FAILED");
 				b3Warning("removeConstraint failed");
 				break;
 			}
 			case CMD_CHANGE_USER_CONSTRAINT_FAILED:
 			{
+				B3_PROFILE("CMD_CHANGE_USER_CONSTRAINT_FAILED");
 				b3Warning("changeConstraint failed");
 				break;
 			}
 			case CMD_ACTUAL_STATE_UPDATE_FAILED:
 			{
+				B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_FAILED");
 				b3Warning("request actual state failed");
 				break;
 			}
            case CMD_BODY_INFO_COMPLETED:
            {
+				B3_PROFILE("CMD_BODY_INFO_COMPLETED");
                if (m_data->m_verboseOutput) {
                    b3Printf("Received body info\n");
                }
@@ -541,12 +574,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
            }
 			case CMD_MJCF_LOADING_FAILED:
 			{
+				B3_PROFILE("CMD_MJCF_LOADING_FAILED");
                if (m_data->m_verboseOutput) {
                    b3Printf("Server failed loading the MJCF...\n");
                }
                break;
 			}
             case CMD_SDF_LOADING_FAILED: {
+				B3_PROFILE("CMD_SDF_LOADING_FAILED");
                if (m_data->m_verboseOutput) {
                    b3Printf("Server failed loading the SDF...\n");
                }
@@ -555,6 +590,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
            }

            case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED: {
+				B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED");
                if (m_data->m_verboseOutput) {
                    b3Printf("Server received bullet data stream OK\n");
                }
@@ -562,6 +598,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                break;
            }
            case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED: {
+				B3_PROFILE("CMD_BULLET_DATA_STREAM_RECEIVED_FAILED");
                if (m_data->m_verboseOutput) {
                    b3Printf("Server failed receiving bullet data stream\n");
                }
@@ -570,18 +607,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
            }

            case CMD_ACTUAL_STATE_UPDATE_COMPLETED: {
-                if (m_data->m_verboseOutput) {
+				B3_PROFILE("CMD_ACTUAL_STATE_UPDATE_COMPLETED");
+                if (m_data->m_verboseOutput) 
+				{
                    b3Printf("Received actual state\n");
-                }
+                
 					SharedMemoryStatus& command = m_data->m_testBlock1->m_serverCommands[0];

 					int numQ = command.m_sendActualStateArgs.m_numDegreeOfFreedomQ;
 					int numU = command.m_sendActualStateArgs.m_numDegreeOfFreedomU;
-                if (m_data->m_verboseOutput) {
                    b3Printf("size Q = %d, size U = %d\n", numQ, numU);
-                }
 					char msg[1024];
-
 					{
 						sprintf(msg, "Q=[");

@@ -596,11 +632,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 						}
 						sprintf(msg, "%s]", msg);
 					}
-                if (m_data->m_verboseOutput) {
                    b3Printf(msg);
-                }
               
-                {
                    sprintf(msg, "U=[");

                    for (int i = 0; i < numU; i++) {
@@ -613,17 +646,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                        }
                    }
                    sprintf(msg, "%s]", msg);
-                }
-                if (m_data->m_verboseOutput) {
-                    b3Printf(msg);
-                }
               
-                if (m_data->m_verboseOutput) {
+                    b3Printf(msg);
                    b3Printf("\n");
                }
                break;
            }
            case CMD_RESET_SIMULATION_COMPLETED: {
+				B3_PROFILE("CMD_RESET_SIMULATION_COMPLETED");
             if (m_data->m_verboseOutput) {
                    b3Printf("CMD_RESET_SIMULATION_COMPLETED clean data\n");
                }
@@ -632,6 +662,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                break;
            }
            case CMD_DEBUG_LINES_COMPLETED: {
+				B3_PROFILE("CMD_DEBUG_LINES_COMPLETED");
                if (m_data->m_verboseOutput) {
                    b3Printf("Success receiving %d debug lines",
                             serverCmd.m_sendDebugLinesArgs.m_numDebugLines);
@@ -675,10 +706,12 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
            }
 			case CMD_RIGID_BODY_CREATION_COMPLETED:
 			{
+				B3_PROFILE("CMD_RIGID_BODY_CREATION_COMPLETED");

 				break;
 			}
            case CMD_DEBUG_LINES_OVERFLOW_FAILED: {
+				B3_PROFILE("CMD_DEBUG_LINES_OVERFLOW_FAILED");
               b3Warning("Error receiving debug lines");
                m_data->m_debugLinesFrom.resize(0);
                m_data->m_debugLinesTo.resize(0);
@@ -689,6 +722,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
            
            case CMD_CAMERA_IMAGE_COMPLETED:
            {
+				B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED");
 				if (m_data->m_verboseOutput) 
 				{
 					b3Printf("Camera image OK\n");
@@ -738,6 +772,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
            
            case CMD_CAMERA_IMAGE_FAILED:
            {
+				B3_PROFILE("CMD_CAMERA_IMAGE_FAILED");
               b3Warning("Camera image FAILED\n");
                break;
            }
@@ -772,6 +807,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {

 			case CMD_REQUEST_VR_EVENTS_DATA_COMPLETED:
 			{
+				B3_PROFILE("CMD_REQUEST_VR_EVENTS_DATA_COMPLETED");
 				if (m_data->m_verboseOutput)
 				{
 					b3Printf("Request VR Events completed");
@@ -786,6 +822,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {

 			case CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED:
 			{
+				B3_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED");
 				if (m_data->m_verboseOutput)
 				{
 					b3Printf("Request keyboard events completed");
@@ -800,6 +837,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {

 			case CMD_REQUEST_AABB_OVERLAP_COMPLETED:
 			{
+				B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED");
 				if (m_data->m_verboseOutput)
 				{
 					b3Printf("Overlapping object request completed");
@@ -819,6 +857,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 			}
            case CMD_CONTACT_POINT_INFORMATION_COMPLETED:
                {
+				B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_COMPLETED");
                 if (m_data->m_verboseOutput) 
                    {
                        b3Printf("Contact Point Information Request OK\n");
@@ -839,29 +878,37 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                }
            case CMD_CONTACT_POINT_INFORMATION_FAILED:
                {
+				B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_FAILED");
                 b3Warning("Contact Point Information Request failed");
                    break;
                }

 			case CMD_SAVE_WORLD_COMPLETED:
+			{
+			B3_PROFILE("CMD_SAVE_WORLD_COMPLETED");
 			break;
+			}
 					
 			case CMD_SAVE_WORLD_FAILED:
 			{
+				B3_PROFILE("CMD_SAVE_WORLD_FAILED");
 					b3Warning("Saving world  failed");
 				break;
 			}
 			case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
 			{
+					B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED");
                   break;
                }
            case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED:
                {
+					B3_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS_FAILED");
                   b3Warning("Calculate Inverse Kinematics Request failed");
                    break;
                }
 			case CMD_VISUAL_SHAPE_INFO_COMPLETED:
 			{
+			B3_PROFILE("CMD_VISUAL_SHAPE_INFO_COMPLETED");
 			if (m_data->m_verboseOutput)
 				{
 					b3Printf("Visual Shape Information Request OK\n");
@@ -949,6 +996,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
            }
        };

+
        m_data->m_testBlock1->m_numProcessedServerCommands++;
        // we don't have more than 1 command outstanding (in total, either server or client)
        btAssert(m_data->m_testBlock1->m_numProcessedServerCommands ==
@@ -964,6 +1012,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {

        if ((serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_MJCF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_SYNC_BODY_INFO_COMPLETED))
        {
+			B3_PROFILE("CMD_LOADING_COMPLETED");
 			int numConstraints = serverCmd.m_sdfLoadedArgs.m_numUserConstraints;
 			for (int i=0;i<numConstraints;i++)
 			{
@@ -994,6 +1043,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
        
 		if (serverCmd.m_type == CMD_USER_CONSTRAINT_INFO_COMPLETED)
 		{
+			B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");
+
 			if (m_data->m_constraintIdsRequestInfo.size())
 			{
 				int cid = m_data->m_constraintIdsRequestInfo[m_data->m_constraintIdsRequestInfo.size()-1];
@@ -1013,6 +1064,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {

        if (serverCmd.m_type == CMD_BODY_INFO_COMPLETED)
        {
+			B3_PROFILE("CMD_BODY_INFO_COMPLETED");
            //are there any bodies left to be processed?
            if (m_data->m_bodyIdsRequestInfo.size())
            {
@@ -1046,6 +1098,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {

 		if (serverCmd.m_type == CMD_REQUEST_AABB_OVERLAP_COMPLETED)
 		{
+			B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED2");
 			SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
 			if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied)
 			{
@@ -1058,6 +1111,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
        
        if (serverCmd.m_type == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
        {
+			B3_PROFILE("CMD_CONTACT_POINT_INFORMATION_COMPLETED2");
            SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
 			if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied)
 			{
@@ -1072,6 +1126,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
        
 		if (serverCmd.m_type == CMD_VISUAL_SHAPE_INFO_COMPLETED)
 		{
+			B3_PROFILE("CMD_VISUAL_SHAPE_INFO_COMPLETED2");
 			SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
 			if (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes >0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied)
 			{
@@ -1087,6 +1142,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {

 		if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED)
 		{
+			B3_PROFILE("CMD_CAMERA_IMAGE_COMPLETED2");
 			SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];

 			if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied)
@@ -1110,7 +1166,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
        }

        if ((serverCmd.m_type == CMD_DEBUG_LINES_COMPLETED) &&
-            (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)) {
+            (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0)) 
+		{
+			B3_PROFILE("CMD_DEBUG_LINES_COMPLETED2");
            SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];

            // continue requesting debug lines for drawing
@@ -1125,7 +1183,10 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
        return &m_data->m_lastServerStatus;

    } else {
-        if (m_data->m_verboseOutput) {
+        if (m_data->m_verboseOutput) 
+		{
+			B3_PROFILE("m_verboseOutput");
+
            b3Printf("m_numServerStatus  = %d, processed = %d\n",
                     m_data->m_testBlock1->m_numServerCommands,
                     m_data->m_testBlock1->m_numProcessedServerCommands);
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1399,8 +1399,8 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,


        //todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-        int rootLinkIndex = u2b.getRootLinkIndex();
-        b3Printf("urdf root link index = %d\n",rootLinkIndex);
+        //int rootLinkIndex = u2b.getRootLinkIndex();
+        //b3Printf("urdf root link index = %d\n",rootLinkIndex);
        MyMultiBodyCreator creation(m_data->m_guiHelper);

        u2b.getRootTransformInWorld(rootTrans);
@@ -1540,7 +1540,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe


 bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
-                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes)
+                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags)
 {
 	BT_PROFILE("loadURDF");
 	btAssert(m_data->m_dynamicsWorld);
@@ -1598,7 +1598,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
        //                      printf("urdf root link index = %d\n",rootLinkIndex);
 		MyMultiBodyCreator creation(m_data->m_guiHelper);

-        ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
+        ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);

        for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
        {
@@ -1761,6 +1761,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*

 bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
 {
+	BT_PROFILE("processCommand");

 	bool hasStatus = false;

@@ -1821,6 +1822,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 #endif
 				case CMD_STATE_LOGGING:
 				{
+					BT_PROFILE("CMD_STATE_LOGGING");
+
 					serverStatusOut.m_type = CMD_STATE_LOGGING_FAILED;
                    hasStatus = true;

@@ -1937,6 +1940,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				}
 				case CMD_SET_VR_CAMERA_STATE:
 				{
+					BT_PROFILE("CMD_SET_VR_CAMERA_STATE");

 					if (clientCmd.m_updateFlags & 	VR_CAMERA_ROOT_POSITION)
 					{
@@ -1963,6 +1967,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				}
 				case CMD_REQUEST_VR_EVENTS_DATA:
 				{
+					BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
+
 					serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
 					for (int i=0;i<MAX_VR_CONTROLLERS;i++)
 					{
@@ -1984,6 +1990,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

 				case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
 				{
+					BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
+
 					serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = m_data->m_keyboardEvents.size();
 					if (serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents>MAX_KEYBOARD_EVENTS)
 					{
@@ -2019,6 +2027,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

 				case CMD_REQUEST_RAY_CAST_INTERSECTIONS:
 				{
+					BT_PROFILE("CMD_REQUEST_RAY_CAST_INTERSECTIONS");
+
 					btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPosition[0],
 						clientCmd.m_requestRaycastIntersections.m_rayFromPosition[1],
 						clientCmd.m_requestRaycastIntersections.m_rayFromPosition[2]);
@@ -2078,6 +2088,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				};
 				case CMD_REQUEST_DEBUG_LINES:
 					{
+						BT_PROFILE("CMD_REQUEST_DEBUG_LINES");
+
 						int curFlags =m_data->m_remoteDebugDrawer->getDebugMode();

                        int debugMode = clientCmd.m_requestDebugLinesArguments.m_debugMode;//clientCmd.btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb;
@@ -2147,7 +2159,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

 				case CMD_REQUEST_CAMERA_IMAGE_DATA:
 				{
-
+					BT_PROFILE("CMD_REQUEST_CAMERA_IMAGE_DATA");
 					int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex;
                    int width = clientCmd.m_requestPixelDataArguments.m_pixelWidth;
                    int height = clientCmd.m_requestPixelDataArguments.m_pixelHeight;
@@ -2276,6 +2288,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

 				case CMD_SYNC_BODY_INFO:
 				{
+					BT_PROFILE("CMD_SYNC_BODY_INFO");
+
 					int numHandles = m_data->getNumHandles();
 					int actualNumBodies = 0;
 					for (int i=0;i<numHandles;i++)
@@ -2304,6 +2318,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				}
                case CMD_REQUEST_BODY_INFO:
                    {
+						BT_PROFILE("CMD_REQUEST_BODY_INFO");
+
                        const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs;
                        //stream info into memory
                        int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
@@ -2317,6 +2333,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                    }
 				case CMD_SAVE_WORLD:
 				{
+					BT_PROFILE("CMD_SAVE_WORLD");
+
 					///this is a very rudimentary way to save the state of the world, for scene authoring
 					///many todo's, for example save the state of motor controllers etc.

@@ -2552,6 +2570,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				}
                case CMD_LOAD_SDF:
                    {
+						BT_PROFILE("CMD_LOAD_SDF");
+
                        const SdfArgs& sdfArgs = clientCmd.m_sdfArguments;
                        if (m_data->m_verboseOutput)
                        {
@@ -2584,7 +2604,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                    }
                case CMD_LOAD_URDF:
                {
-
+					BT_PROFILE("CMD_LOAD_URDF");
                    const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments;
 					if (m_data->m_verboseOutput)
 					{
@@ -2600,6 +2620,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						initialPos[1] = urdfArgs.m_initialPosition[1];
 						initialPos[2] = urdfArgs.m_initialPosition[2];
 					}
+					int urdfFlags = 0;
+					if (clientCmd.m_updateFlags & URDF_ARGS_HAS_CUSTOM_URDF_FLAGS)
+					{
+						urdfFlags = urdfArgs.m_urdfFlags;
+					}
 					if (clientCmd.m_updateFlags & URDF_ARGS_INITIAL_ORIENTATION)
 					{
 						initialOrn[0] = urdfArgs.m_initialOrientation[0];
@@ -2613,8 +2638,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                    //load the actual URDF and send a report: completed or failed
                    bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
                                               initialPos,initialOrn,
-                                               useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
-
+                                               useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags);

                    if (completedOk)
                    {
@@ -2691,6 +2715,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                }
                case CMD_CREATE_SENSOR:
                {
+					BT_PROFILE("CMD_CREATE_SENSOR");
+
 					if (m_data->m_verboseOutput)
 					{
 						b3Printf("Processed CMD_CREATE_SENSOR");
@@ -2759,6 +2785,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                }
 				case CMD_SEND_DESIRED_STATE:
                    {
+						BT_PROFILE("CMD_SEND_DESIRED_STATE");
 						if (m_data->m_verboseOutput)
 						{
                            b3Printf("Processed CMD_SEND_DESIRED_STATE");
@@ -2951,6 +2978,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				}
 				case CMD_REQUEST_ACTUAL_STATE:
 					{
+					BT_PROFILE("CMD_REQUEST_ACTUAL_STATE");
 						if (m_data->m_verboseOutput)
 						{
 							b3Printf("Sending the actual state (Q,U)");
@@ -3024,6 +3052,20 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = mb->getBaseOmega()[2];
 								totalDegreeOfFreedomU += 6;//3 linear and 3 angular DOF
 							}
+
+							btAlignedObjectArray<btVector3> omega;
+							btAlignedObjectArray<btVector3> linVel;
+							
+							bool computeLinkVelocities = ((clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_LINKVELOCITY)!=0);
+							if (computeLinkVelocities)
+							{
+								omega.resize(mb->getNumLinks()+1);
+								linVel.resize(mb->getNumLinks()+1);
+								{
+									B3_PROFILE("compTreeLinkVelocities");
+									mb->compTreeLinkVelocities(&omega[0], &linVel[0]);
+								}
+							}
 							for (int l=0;l<mb->getNumLinks();l++)
 							{
 								for (int d=0;d<mb->getLink(l).m_posVarCount;d++)
@@ -3087,6 +3129,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z();
 								serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w();

+
+								btVector3 worldLinVel(0,0,0);
+								btVector3 worldAngVel(0,0,0);
+								
+								if (computeLinkVelocities)
+								{
+									const btMatrix3x3& linkRotMat = mb->getLink(l).m_cachedWorldTransform.getBasis();
+									worldLinVel = linkRotMat * linVel[l+1];
+									worldAngVel = linkRotMat * omega[l+1];
+								}
+
+								serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+0] = worldLinVel[0];
+								serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+1] = worldLinVel[1];
+								serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+2] = worldLinVel[2];
+								serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+3] = worldAngVel[0];
+								serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+4] = worldAngVel[1];
+								serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+5] = worldAngVel[2];
+								
 								serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = linkLocalInertialOrigin.getX();
 								serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = linkLocalInertialOrigin.getY();
 								serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+2] = linkLocalInertialOrigin.getZ();
@@ -3157,6 +3217,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					}
                case CMD_STEP_FORWARD_SIMULATION:
                {
+					BT_PROFILE("CMD_STEP_FORWARD_SIMULATION");
+

 					if (m_data->m_verboseOutput)
 					{
@@ -3191,6 +3253,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

 				case CMD_REQUEST_INTERNAL_DATA:
 				{
+					BT_PROFILE("CMD_REQUEST_INTERNAL_DATA");
+
 					//todo: also check version etc?

 					SharedMemoryStatus& serverCmd = serverStatusOut;
@@ -3213,6 +3277,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				};
 				case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
 				{
+					BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");
+
 					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
 					{
 						m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;
@@ -3288,6 +3354,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				};
 				case CMD_INIT_POSE:
 				{
+					BT_PROFILE("CMD_INIT_POSE");
+
 					if (m_data->m_verboseOutput)
 					{
 						b3Printf("Server Init Pose not implemented yet");
@@ -3436,6 +3504,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

                case CMD_RESET_SIMULATION:
                {
+					BT_PROFILE("CMD_RESET_SIMULATION");

 					resetSimulation();

@@ -3447,6 +3516,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				case CMD_CREATE_RIGID_BODY:
 				case CMD_CREATE_BOX_COLLISION_SHAPE:
 					{
+						BT_PROFILE("CMD_CREATE_RIGID_BODY");
+
                        btVector3 halfExtents(1,1,1);
                        if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_HALF_EXTENTS)
                        {
@@ -3581,6 +3652,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					}
                case CMD_PICK_BODY:
                    {
+						BT_PROFILE("CMD_PICK_BODY");
+
                        pickBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
                                           clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
                                           clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
@@ -3596,6 +3669,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                    }
                case CMD_MOVE_PICKED_BODY:
                    {
+						BT_PROFILE("CMD_MOVE_PICKED_BODY");
+
                        movePickedBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
                                                 clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
                                                 clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
@@ -3610,6 +3685,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                    }
                case CMD_REMOVE_PICKING_CONSTRAINT_BODY:
                    {
+						BT_PROFILE("CMD_REMOVE_PICKING_CONSTRAINT_BODY");
                        removePickingConstraint();

 						SharedMemoryStatus& serverCmd =serverStatusOut;
@@ -3619,6 +3695,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                    }
 				case CMD_REQUEST_AABB_OVERLAP:
 				{
+					BT_PROFILE("CMD_REQUEST_AABB_OVERLAP");
 					SharedMemoryStatus& serverCmd = serverStatusOut;
 					int curObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex;

@@ -3676,6 +3753,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                    
                case CMD_CONFIGURE_OPENGL_VISUALIZER:
                {
+					BT_PROFILE("CMD_CONFIGURE_OPENGL_VISUALIZER");
                    SharedMemoryStatus& serverCmd = serverStatusOut;
                    serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED;
                    
@@ -3699,6 +3777,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                       
                case CMD_REQUEST_CONTACT_POINT_INFORMATION:
                    {
+						BT_PROFILE("CMD_REQUEST_CONTACT_POINT_INFORMATION");
                        SharedMemoryStatus& serverCmd =serverStatusOut;
                        serverCmd.m_sendContactPointArgs.m_numContactPointsCopied = 0;
                        
@@ -3738,6 +3817,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										linkIndexB = mblB->m_link;
 										objectIndexB = mblB->m_multiBody->getUserIndex2();
+										if (
+											(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
+											clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
+										{
+											continue;
+										}
 									}

 									int objectIndexA = -1;
@@ -3750,8 +3835,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									if (mblA && mblA->m_multiBody)
 									{
 										linkIndexA = mblA->m_link;
-
 										objectIndexA = mblA->m_multiBody->getUserIndex2();
+										if (
+											(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
+											clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
+										{
+											continue;
+										}
 									}

 									btAssert(bodyA || mblA);
@@ -4009,6 +4099,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                    }
 				case CMD_CALCULATE_INVERSE_DYNAMICS:
 				{
+					BT_PROFILE("CMD_CALCULATE_INVERSE_DYNAMICS");
 					SharedMemoryStatus& serverCmd = serverStatusOut;
 					InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
 					if (bodyHandle && bodyHandle->m_multiBody)
@@ -4059,6 +4150,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				}
                case CMD_CALCULATE_JACOBIAN:
                {
+					BT_PROFILE("CMD_CALCULATE_JACOBIAN");
+
                    SharedMemoryStatus& serverCmd = serverStatusOut;
                    InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
                    if (bodyHandle && bodyHandle->m_multiBody)
@@ -4115,6 +4208,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                }
                case CMD_APPLY_EXTERNAL_FORCE:
                {
+					BT_PROFILE("CMD_APPLY_EXTERNAL_FORCE");
+
                	if (m_data->m_verboseOutput)
                    {
                        b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber);
@@ -4214,6 +4309,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                }
                case CMD_USER_CONSTRAINT:
                {
+					BT_PROFILE("CMD_USER_CONSTRAINT");
+
 					SharedMemoryStatus& serverCmd =serverStatusOut;
                    serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED;
                    hasStatus = true;
@@ -4444,6 +4541,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                }
 				case CMD_CALCULATE_INVERSE_KINEMATICS:
 					{
+						BT_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS");
 						SharedMemoryStatus& serverCmd = serverStatusOut;
 						serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED;

@@ -4613,7 +4711,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					}
                case CMD_REQUEST_VISUAL_SHAPE_INFO:
                {
-                    
+                    BT_PROFILE("CMD_REQUEST_VISUAL_SHAPE_INFO");
                    SharedMemoryStatus& serverCmd = serverStatusOut;
                    serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED;
                    //retrieve the visual shape information for a specific body
@@ -4642,6 +4740,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                }
                case CMD_UPDATE_VISUAL_SHAPE:
                {
+					BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE");
                    SharedMemoryStatus& serverCmd = serverStatusOut;
                    serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
                    
@@ -4654,6 +4753,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                }
                case CMD_LOAD_TEXTURE:
                {
+					BT_PROFILE("CMD_LOAD_TEXTURE");
                    SharedMemoryStatus& serverCmd = serverStatusOut;
                    serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
                    
@@ -4673,7 +4773,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

 				case CMD_LOAD_BULLET:
 				{
-					
+					BT_PROFILE("CMD_LOAD_BULLET");
 					SharedMemoryStatus& serverCmd = serverStatusOut;
 					btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);

@@ -4744,6 +4844,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

 				case CMD_SAVE_BULLET:
 				{
+					BT_PROFILE("CMD_SAVE_BULLET");
 					SharedMemoryStatus& serverCmd = serverStatusOut;
 					
 					FILE* f = fopen(clientCmd.m_fileArguments.m_fileName, "wb");
@@ -4763,6 +4864,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm

 				case CMD_LOAD_MJCF:
 				{
+					BT_PROFILE("CMD_LOAD_MJCF");
 					SharedMemoryStatus& serverCmd = serverStatusOut;
 					serverCmd.m_type = CMD_MJCF_LOADING_FAILED;
 					  const MjcfArgs& mjcfArgs = clientCmd.m_mjcfArguments;
@@ -4797,6 +4899,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				
 				case CMD_USER_DEBUG_DRAW:
 					{
+					BT_PROFILE("CMD_USER_DEBUG_DRAW");
 						SharedMemoryStatus& serverCmd = serverStatusOut;
 						serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED;
 						hasStatus = true;
@@ -4919,6 +5022,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					}
                default:
                {
+					BT_PROFILE("CMD_UNKNOWN");
                    b3Error("Unknown command encountered");

 					SharedMemoryStatus& serverCmd =serverStatusOut;
@@ -5313,7 +5417,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		btVector3 spawnDir = mat.getColumn(0);
 		btVector3 shiftPos = spawnDir*spawnDistance;
 		btVector3 spawnPos = gVRGripperPos + shiftPos;
-		loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+		loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size(),0);
 		//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		m_data->m_sphereId = bodyId;
 		InteralBodyData* parentBody = m_data->getHandle(bodyId);
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -35,7 +35,7 @@ protected:
 	bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);

 	bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
-                  bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
+		bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags=0);

 	bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);

--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -23,7 +23,6 @@
 #include "../CommonInterfaces/CommonParameterInterface.h"


-
 //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
 extern btVector3 gLastPickPos;

@@ -305,16 +304,16 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)

 		double deltaTimeInSeconds = 0;
 		int numCmdSinceSleep1ms = 0;
+		unsigned long long int prevTime = clock.getTimeMicroseconds();
 		
 		do
 		{
-			BT_PROFILE("loop");
-			
 			{
-				BT_PROFILE("usleep(0)");
 				b3Clock::usleep(0);
 			}

+			{
+				
 				if (gMaxNumCmdPer1ms>0)
 				{
 					if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
@@ -330,8 +329,17 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 					sleepClock.reset();
 					numCmdSinceSleep1ms = 0;
 				}
+			}
+
+			unsigned long long int curTime = clock.getTimeMicroseconds();
+			unsigned long long int dtMicro = curTime - prevTime;
+			prevTime = curTime;
+#if 1
+			double dt = double(dtMicro)/1000000.;
+#else
 			double dt = double(clock.getTimeMicroseconds())/1000000.;
 			clock.reset();
+#endif
 			deltaTimeInSeconds+= dt;
 			
 			{
@@ -440,7 +448,6 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)

 				args->m_csGUI->unlock();
 				{
-					BT_PROFILE("stepSimulationRealTime");
 					args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size());
 				}
 				deltaTimeInSeconds = 0;
@@ -478,7 +485,6 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 			args->m_csGUI->unlock();

 			{
-				BT_PROFILE("processClientCommands");
 				args->m_physicsServerPtr->processClientCommands();
 				numCmdSinceSleep1ms++;
 			}
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -252,6 +252,7 @@ void PhysicsServerSharedMemory::processClientCommands()
            if (m_data->m_testBlocks[block]->m_numClientCommands> m_data->m_testBlocks[block]->m_numProcessedClientCommands)
            {
               
+				BT_PROFILE("processClientCommand");

                //until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
                btAssert(m_data->m_testBlocks[block]->m_numClientCommands==m_data->m_testBlocks[block]->m_numProcessedClientCommands+1);
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -79,6 +79,7 @@ enum EnumUrdfArgsUpdateFlags
 	URDF_ARGS_INITIAL_ORIENTATION=4,
 	URDF_ARGS_USE_MULTIBODY=8,
 	URDF_ARGS_USE_FIXED_BASE=16,
+	URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32
 };


@@ -89,6 +90,7 @@ struct UrdfArgs
 	double m_initialOrientation[4];
 	int m_useMultiBody;
 	int m_useFixedBase;
+	int m_urdfFlags;
 };

 struct MjcfArgs
@@ -381,6 +383,7 @@ struct SendActualStateArgs
    double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM];
    
    double m_linkState[7*MAX_NUM_LINKS];
+	double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each).
    double m_linkLocalInertialFrames[7*MAX_NUM_LINKS];
 };

--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -5,7 +5,7 @@
 #include "PhysicsClientSharedMemory.h"
 #include"../ExampleBrowser/InProcessExampleBrowser.h"

-
+#include "Bullet3Common/b3Logging.h"
 class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedMemory
 {
    btInProcessExampleBrowserMainThreadInternalData* m_data;
@@ -38,19 +38,34 @@ public:
    
    // return non-null if there is a status, nullptr otherwise
    virtual const struct SharedMemoryStatus* processServerStatus()
+    {
+		
 		{
 			if (btIsExampleBrowserMainThreadTerminated(m_data))
 			{
 				PhysicsClientSharedMemory::disconnectSharedMemory();
 			}
+		}
+			{	
 	   		unsigned long int ms = m_clock.getTimeMilliseconds();
 			if (ms>20)
 			{ 
+				B3_PROFILE("m_clock.reset()");
+
 				m_clock.reset(); 
        			btUpdateInProcessExampleBrowserMainThread(m_data);
 			}
+		}
+		{
 			b3Clock::usleep(0);
-		return PhysicsClientSharedMemory::processServerStatus();
+		}
+		const SharedMemoryStatus* stat = 0;
+
+		{
+			stat = PhysicsClientSharedMemory::processServerStatus();
+		}
+
+		return stat;
        
    }
    
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -4,7 +4,7 @@
 #define SHARED_MEMORY_KEY 12347
 ///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 201703010
+#define SHARED_MEMORY_MAGIC_NUMBER 201703024

 enum EnumSharedMemoryClientCommand
 {
@@ -175,6 +175,10 @@ struct b3JointInfo
        int m_flags;
 		double m_jointDamping;
 		double m_jointFriction;
+		double m_jointLowerLimit;
+		double m_jointUpperLimit;
+		double m_jointMaxForce;
+		double m_jointMaxVelocity;
 		double m_parentFrame[7]; // position and orientation (quaternion)
 		double m_childFrame[7]; // ^^^
 		double m_jointAxis[3]; // joint axis in parent local frame
@@ -378,6 +382,11 @@ struct b3VisualShapeInformation
 	struct b3VisualShapeData* m_visualShapeData;
 };

+enum eLinkStateFlags
+{
+	ACTUAL_STATE_COMPUTE_LINKVELOCITY=1
+};
+
 ///b3LinkState provides extra information such as the Cartesian world coordinates
 ///center of mass (COM) of the link, relative to the world reference frame.
 ///Orientation is a quaternion x,y,z,w
@@ -395,6 +404,10 @@ struct b3LinkState
 	///world position and orientation of the (URDF) link frame
 	double m_worldLinkFramePosition[3];
    double m_worldLinkFrameOrientation[4];
+
+	double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
+	double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
+
 };

 //todo: discuss and decide about control mode and combinations
@@ -435,4 +448,9 @@ enum eCONNECT_METHOD {
  eCONNECT_TCP = 5,
 };

+enum eURDF_Flags
+{
+	URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
+};
+
 #endif//SHARED_MEMORY_PUBLIC_H
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -220,7 +220,7 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
 				rad = visual->m_geometry.m_capsuleRadius;
 			} else {
 				tr = visual->m_linkLocalFrame;
-				len = visual->m_geometry.m_capsuleHalfHeight;
+				len = visual->m_geometry.m_capsuleHeight;
 				rad = visual->m_geometry.m_capsuleRadius;
 			}
 			visualShapeOut.m_localVisualFrame[0] = tr.getOrigin()[0];
@@ -414,6 +414,11 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
 			break;
 		} // case mesh

+		case URDF_GEOM_PLANE:
+			// TODO: plane in tiny renderer
+			// TODO: export visualShapeOut for external render
+			break;
+
 		default:
 		{
 			b3Warning("TinyRenderer: unknown visual geometry type %i\n", visual->m_geometry.m_type);
--- a/examples/pybullet/examples/constraint.py
+++ b/examples/pybullet/examples/constraint.py
--- a/examples/pybullet/examples/forcetorquesensor.py
+++ b/examples/pybullet/examples/forcetorquesensor.py
--- a/examples/pybullet/examples/hand.ino
+++ b/examples/pybullet/examples/hand.ino
--- a/examples/pybullet/examples/hand.py
+++ b/examples/pybullet/examples/hand.py
--- a/examples/pybullet/examples/hello_pybullet.py
+++ b/examples/pybullet/examples/hello_pybullet.py
--- a/examples/pybullet/examples/inverse_kinematics.py
+++ b/examples/pybullet/examples/inverse_kinematics.py
--- a/examples/pybullet/examples/kuka_with_cube.py
+++ b/examples/pybullet/examples/kuka_with_cube.py
--- a/examples/pybullet/examples/kuka_with_cube_playback.py
+++ b/examples/pybullet/examples/kuka_with_cube_playback.py
--- a/examples/pybullet/examples/logMinitaur.py
+++ b/examples/pybullet/examples/logMinitaur.py
--- a/examples/pybullet/examples/manyspheres.py
+++ b/examples/pybullet/examples/manyspheres.py
--- a/examples/pybullet/examples/minitaur.py
+++ b/examples/pybullet/examples/minitaur.py
--- a/examples/pybullet/examples/minitaur_evaluate.py
+++ b/examples/pybullet/examples/minitaur_evaluate.py
--- a/examples/pybullet/examples/minitaur_test.py
+++ b/examples/pybullet/examples/minitaur_test.py
--- a/examples/pybullet/examples/mylittleminitaur.py
+++ b/examples/pybullet/examples/mylittleminitaur.py
--- a/examples/pybullet/examples/quadruped.py
+++ b/examples/pybullet/examples/quadruped.py
--- a/examples/pybullet/examples/quadruped_playback.py
+++ b/examples/pybullet/examples/quadruped_playback.py
--- a/examples/pybullet/examples/quadruped_setup_playback.py
+++ b/examples/pybullet/examples/quadruped_setup_playback.py
--- a/examples/pybullet/examples/robotcontrol.py
+++ b/examples/pybullet/examples/robotcontrol.py
--- a/examples/pybullet/examples/rollPitchYaw.py
+++ b/examples/pybullet/examples/rollPitchYaw.py
--- a/examples/pybullet/examples/saveWorld.py
+++ b/examples/pybullet/examples/saveWorld.py
--- a/examples/pybullet/examples/test.py
+++ b/examples/pybullet/examples/test.py
--- a/examples/pybullet/examples/testrender.py
+++ b/examples/pybullet/examples/testrender.py
--- a/examples/pybullet/examples/testrender_np.py
+++ b/examples/pybullet/examples/testrender_np.py
--- a/examples/pybullet/examples/vrEvent.py
+++ b/examples/pybullet/examples/vrEvent.py
--- a/examples/pybullet/examples/vr_kuka_control.py
+++ b/examples/pybullet/examples/vr_kuka_control.py
--- a/examples/pybullet/examples/vr_kuka_pr2_move.py
+++ b/examples/pybullet/examples/vr_kuka_pr2_move.py
--- a/examples/pybullet/examples/vr_kuka_setup.py
+++ b/examples/pybullet/examples/vr_kuka_setup.py
--- a/examples/pybullet/examples/vrhand.py
+++ b/examples/pybullet/examples/vrhand.py
--- a/examples/pybullet/examples/vrminitaur.py
+++ b/examples/pybullet/examples/vrminitaur.py
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -693,8 +693,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int physicsClientId = 0;
+	int flags = 0;

-	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "physicsClientId", NULL};
+	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","physicsClientId", NULL};

 	static char* kwlistBackwardCompatible4[] = {"fileName", "startPosX", "startPosY", "startPosZ", NULL};
 	static char* kwlistBackwardCompatible8[] = {"fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY", "startOrnZ", "startOrnW", NULL};
@@ -741,7 +742,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 		double basePos[3];
 		double baseOrn[4];

-		if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &physicsClientId))
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &physicsClientId))
 		{
 			return NULL;
 		}
@@ -790,6 +791,8 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 		b3SharedMemoryCommandHandle command =
 			b3LoadUrdfCommandInit(sm, urdfFileName);

+		b3LoadUrdfCommandSetFlags(command,flags);
+
 		// setting the initial position, orientation and other arguments are
 		// optional
 		b3LoadUrdfCommandSetStartPosition(command, startPosX, startPosY, startPosZ);
@@ -2076,7 +2079,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*

 	int bodyUniqueId = -1;
 	int jointIndex = -1;
-	int jointInfoSize = 8;  // size of struct b3JointInfo
+	int jointInfoSize = 12;  // size of struct b3JointInfo
 	b3PhysicsClientHandle sm = 0;
 	int physicsClientId = 0;
 	static char* kwlist[] = {"bodyUniqueId", "jointIndex", "physicsClientId", NULL};
@@ -2120,6 +2123,15 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
 								PyFloat_FromDouble(info.m_jointDamping));
 				PyTuple_SetItem(pyListJointInfo, 7,
 								PyFloat_FromDouble(info.m_jointFriction));
+				PyTuple_SetItem(pyListJointInfo, 8,
+								PyFloat_FromDouble(info.m_jointLowerLimit));
+				PyTuple_SetItem(pyListJointInfo, 9,
+								PyFloat_FromDouble(info.m_jointUpperLimit));
+				PyTuple_SetItem(pyListJointInfo, 10,
+								PyFloat_FromDouble(info.m_jointMaxForce));
+				PyTuple_SetItem(pyListJointInfo, 11,
+								PyFloat_FromDouble(info.m_jointMaxVelocity));
+
 				return pyListJointInfo;
 			}
 			else
@@ -2247,17 +2259,21 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
 	PyObject* pyLinkStateLocalInertialOrientation;
 	PyObject* pyLinkStateWorldLinkFramePosition;
 	PyObject* pyLinkStateWorldLinkFrameOrientation;
+	PyObject* pyLinkStateWorldLinkLinearVelocity;
+	PyObject* pyLinkStateWorldLinkAngularVelocity;

 	struct b3LinkState linkState;

 	int bodyUniqueId = -1;
 	int linkIndex = -1;
+	int computeLinkVelocity = 0;
+
 	int i;
 	b3PhysicsClientHandle sm = 0;

 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "computeLinkVelocity", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &linkIndex,&computeLinkVelocity, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -2287,6 +2303,12 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*

 			cmd_handle =
 				b3RequestActualStateCommandInit(sm, bodyUniqueId);
+
+			if (computeLinkVelocity)
+			{
+				b3RequestActualStateCommandComputeLinkVelocity(cmd_handle,computeLinkVelocity);
+			}
+
 			status_handle =
 				b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);

@@ -2341,7 +2363,16 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
 									PyFloat_FromDouble(linkState.m_worldLinkFrameOrientation[i]));
 				}

+				
+
+				if (computeLinkVelocity)
+				{
+					pyLinkState = PyTuple_New(8);
+				} else
+				{
 					pyLinkState = PyTuple_New(6);
+				}
+
 				PyTuple_SetItem(pyLinkState, 0, pyLinkStateWorldPosition);
 				PyTuple_SetItem(pyLinkState, 1, pyLinkStateWorldOrientation);
 				PyTuple_SetItem(pyLinkState, 2, pyLinkStateLocalInertialPosition);
@@ -2349,6 +2380,20 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
 				PyTuple_SetItem(pyLinkState, 4, pyLinkStateWorldLinkFramePosition);
 				PyTuple_SetItem(pyLinkState, 5, pyLinkStateWorldLinkFrameOrientation);

+				if (computeLinkVelocity)
+				{
+					pyLinkStateWorldLinkLinearVelocity = PyTuple_New(3);
+					pyLinkStateWorldLinkAngularVelocity = PyTuple_New(3);
+					for (i = 0; i < 3; ++i)
+					{
+						PyTuple_SetItem(pyLinkStateWorldLinkLinearVelocity, i,
+										PyFloat_FromDouble(linkState.m_worldLinearVelocity[i]));
+						PyTuple_SetItem(pyLinkStateWorldLinkAngularVelocity, i,
+										PyFloat_FromDouble(linkState.m_worldAngularVelocity[i]));
+					}
+					PyTuple_SetItem(pyLinkState, 6, pyLinkStateWorldLinkLinearVelocity);
+					PyTuple_SetItem(pyLinkState, 7, pyLinkStateWorldLinkAngularVelocity);
+				}
 				return pyLinkState;
 			}
 		}
@@ -3875,15 +3920,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
 	b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);

-	b3RequestCameraImageSelectRenderer(command, renderer);
+	b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL

 	if (b3CanSubmitCommand(sm))
 	{
 		b3SharedMemoryStatusHandle statusHandle;
 		int statusType;

-		// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
-
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
@@ -4308,7 +4351,6 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
 		b3SharedMemoryStatusHandle statusHandle;
 		int statusType;

-		// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);

 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);
@@ -5381,6 +5423,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
 	PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);

+	PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
+	
 	PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);
 	PyModule_AddIntConstant(m, "B3G_F2", B3G_F2);
 	PyModule_AddIntConstant(m, "B3G_F3", B3G_F3);
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -1965,6 +1965,10 @@ const char*	btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
 				memPtr->m_parentIndex = getLink(i).m_parent;
 				memPtr->m_jointDamping = getLink(i).m_jointDamping;
 				memPtr->m_jointFriction = getLink(i).m_jointFriction;
+				memPtr->m_jointLowerLimit = getLink(i).m_jointLowerLimit;
+				memPtr->m_jointUpperLimit = getLink(i).m_jointUpperLimit;
+				memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce;
+				memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity;

 				getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset);
 				getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -728,6 +728,10 @@ struct btMultiBodyLinkDoubleData

 	double					m_jointDamping;
 	double					m_jointFriction;
+	double					m_jointLowerLimit;
+	double					m_jointUpperLimit;
+	double					m_jointMaxForce;
+	double					m_jointMaxVelocity;
 	
 	char					*m_linkName;
 	char					*m_jointName;
@@ -757,6 +761,10 @@ struct btMultiBodyLinkFloatData
 	int						m_posVarCount;
 	float					m_jointDamping;
 	float					m_jointFriction;
+	float					m_jointLowerLimit;
+	float					m_jointUpperLimit;
+	float					m_jointMaxForce;
+	float					m_jointMaxVelocity;
 	
 	char				*m_linkName;
 	char				*m_jointName;
--- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
@@ -136,6 +136,10 @@ btVector3 m_appliedConstraintForce;    // In WORLD frame
    
 	btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
 	btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
+	btScalar m_jointLowerLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader. 
+	btScalar m_jointUpperLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
+	btScalar m_jointMaxForce; //todo: implement this internally. It is unused for now, it is set by a URDF loader. 
+	btScalar m_jointMaxVelocity;//todo: implement this internally. It is unused for now, it is set by a URDF loader. 
 	
 	// ctor: set some sensible defaults
 	btMultibodyLink()
@@ -153,7 +157,11 @@ btVector3 m_appliedConstraintForce;    // In WORLD frame
 			m_jointName(0),
            m_userPtr(0),
 			m_jointDamping(0),
-			m_jointFriction(0)
+			m_jointFriction(0),
+			m_jointLowerLimit(0),
+			m_jointUpperLimit(0),
+			m_jointMaxForce(0),
+			m_jointMaxVelocity(0)
 	{
 		
 		m_inertiaLocal.setValue(1, 1, 1);
--- a/src/LinearMath/CMakeLists.txt
+++ b/src/LinearMath/CMakeLists.txt
@@ -11,6 +11,7 @@ SET(LinearMath_SRCS
 	btPolarDecomposition.cpp
 	btQuickprof.cpp
 	btSerializer.cpp
+	btSerializer64.cpp
 	btThreads.cpp
 	btVector3.cpp
 )
--- a/src/LinearMath/btQuickprof.cpp
+++ b/src/LinearMath/btQuickprof.cpp
@@ -518,7 +518,7 @@ CProfileIterator *	CProfileManager::Get_Iterator( void )
 { 

 		int threadIndex = btQuickprofGetCurrentThreadIndex2();
-		if (threadIndex<0)
+		if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 			return 0;

 		return new CProfileIterator( &gRoots[threadIndex]); 
@@ -549,7 +549,7 @@ void						CProfileManager::CleanupMemory(void)
 void	CProfileManager::Start_Profile( const char * name )
 {
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if (threadIndex<0)
+	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;

 	if (name != gCurrentNodes[threadIndex]->Get_Name()) {
@@ -566,7 +566,7 @@ void	CProfileManager::Start_Profile( const char * name )
 void	CProfileManager::Stop_Profile( void )
 {
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if (threadIndex<0)
+	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;

 	// Return will indicate whether we should back up to our parent (we may
@@ -590,7 +590,7 @@ void	CProfileManager::Reset( void )
 {
 	gProfileClock.reset();
 	int threadIndex = btQuickprofGetCurrentThreadIndex2();
-	if (threadIndex<0)
+	if ((threadIndex<0) || threadIndex >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 	gRoots[threadIndex].Reset();
 	gRoots[threadIndex].Call();
--- a/src/LinearMath/btScalar.h
+++ b/src/LinearMath/btScalar.h
@@ -25,7 +25,7 @@ subject to the following restrictions:
 #include <float.h>

 /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 286
+#define BT_BULLET_VERSION 287

 inline int btGetVersion()
 {
--- a/src/LinearMath/btSerializer.cpp
+++ b/src/LinearMath/btSerializer.cpp
--- a/src/LinearMath/btSerializer.h
+++ b/src/LinearMath/btSerializer.h
@@ -26,7 +26,7 @@ subject to the following restrictions:



-///only the 32bit versions for now
+
 extern char sBulletDNAstr[];
 extern int sBulletDNAlen;
 extern char sBulletDNAstr64[];
@@ -505,7 +505,7 @@ public:

 			buffer[9] = '2';
 			buffer[10] = '8';
-			buffer[11] = '6';
+			buffer[11] = '7';

 		}

--- a/src/LinearMath/btSerializer64.cpp
+++ b/src/LinearMath/btSerializer64.cpp
@@ -0,0 +1,599 @@
+char sBulletDNAstr64[]= {
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
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+char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51),
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+char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),
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+char(17),char(0),char(43),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(45),char(1),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1),
+char(4),char(0),char(48),char(1),char(4),char(0),char(49),char(1),char(4),char(0),char(50),char(1),char(7),char(0),char(10),char(1),char(4),char(0),char(53),char(0),
+char(88),char(0),char(27),char(0),char(19),char(0),char(51),char(1),char(17),char(0),char(52),char(1),char(17),char(0),char(53),char(1),char(13),char(0),char(44),char(1),
+char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1),char(13),char(0),char(56),char(1),char(13),char(0),char(57),char(1),char(13),char(0),char(58),char(1),
+char(4),char(0),char(59),char(1),char(7),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1),
+char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1),char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1),
+char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1),char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),
+char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1),char(4),char(0),char(76),char(1),char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1),
+char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1),char(7),char(0),char(80),char(1),char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),
+char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1),char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),
+char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0),char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),
+char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1),char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),
+char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1),char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),
+char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1),char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),
+char(86),char(0),char(103),char(1),char(91),char(0),char(24),char(0),char(16),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1),
+char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1),char(14),char(0),char(109),char(1),char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1),
+char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1),char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1),
+char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1),char(8),char(0),char(118),char(1),char(8),char(0),char(119),char(1),char(8),char(0),char(120),char(1),
+char(8),char(0),char(121),char(1),char(8),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(49),char(0),char(125),char(1),
+char(0),char(0),char(126),char(1),char(92),char(0),char(24),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),
+char(13),char(0),char(107),char(1),char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),
+char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),
+char(4),char(0),char(113),char(1),char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(7),char(0),char(119),char(1),char(7),char(0),char(120),char(1),
+char(7),char(0),char(121),char(1),char(7),char(0),char(122),char(1),char(0),char(0),char(123),char(1),char(0),char(0),char(124),char(1),char(50),char(0),char(125),char(1),
+char(0),char(0),char(126),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(127),char(1),char(14),char(0),char(-128),char(1),char(8),char(0),char(-127),char(1),
+char(0),char(0),char(-126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(-125),char(1),char(0),char(0),char(126),char(1),char(4),char(0),char(97),char(1),
+char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(-126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(-125),char(1),
+char(19),char(0),char(127),char(1),char(13),char(0),char(-128),char(1),char(7),char(0),char(-127),char(1),char(4),char(0),char(97),char(1),};
+int sBulletDNAlen64= sizeof(sBulletDNAstr64);
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -3,5 +3,5 @@ IF(BUILD_BULLET3)
 	SUBDIRS(  InverseDynamics SharedMemory )
 ENDIF(BUILD_BULLET3)

-SUBDIRS(  gtest-1.7.0 collision RobotLogging BulletDynamics )
+SUBDIRS(  gtest-1.7.0 collision BulletDynamics )
@@ -1 +1 @@
 .86
 .87