PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin

Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
2018-06-05 11:41:41 +10:00
parent e4cd88e24f
commit 7bd84740d7
23 changed files with 719 additions and 198 deletions
--- a/Extras/BulletRobotics/CMakeLists.txt
+++ b/Extras/BulletRobotics/CMakeLists.txt
@@ -9,6 +9,10 @@ INCLUDE_DIRECTORIES(
 )

 SET(BulletRobotics_SRCS
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
 		../../examples/SharedMemory/IKTrajectoryHelper.cpp
 		../../examples/SharedMemory/IKTrajectoryHelper.h
 		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
@@ -91,8 +95,6 @@ SET(BulletRobotics_SRCS
 		../../examples/MultiThreading/b3PosixThreadSupport.cpp
 		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
 		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
-		../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
-		../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
 )

 IF(BUILD_CLSOCKET)
@@ -174,7 +176,8 @@ IF (INSTALL_EXTRA_LIBS)
 		../../examples/SharedMemory/PhysicsClientTCP_C_API.h
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
 		../../examples/SharedMemory/SharedMemoryPublic.h
-		../../examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
 		DESTINATION include/bullet
 		)
 	INSTALL(TARGETS
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -175,10 +175,12 @@ SET(BulletExampleBrowser_SRCS
 	../SharedMemory/SharedMemoryCommands.h
 	../SharedMemory/SharedMemoryPublic.h
 	../SharedMemory/b3PluginManager.cpp
+	../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+	../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+	../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+	../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
 	../RobotSimulator/b3RobotSimulatorClientAPI.cpp
 	../RobotSimulator/b3RobotSimulatorClientAPI.h
-	../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
-	../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
 	../BasicDemo/BasicExample.cpp
 	../BasicDemo/BasicExample.h
 	../InverseDynamics/InverseDynamicsExample.cpp
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -119,6 +119,10 @@ project "App_BulletExampleBrowser"
 		"../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
 		"../SharedMemory/SharedMemoryCommands.h",
 		"../SharedMemory/SharedMemoryPublic.h",
+		"../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
+		"../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",		
+		"../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
+		"../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",		
 		"../MultiThreading/MultiThreadingExample.cpp",
 		"../MultiThreading/b3PosixThreadSupport.cpp",
 		"../MultiThreading/b3Win32ThreadSupport.cpp",
@@ -127,8 +131,6 @@ project "App_BulletExampleBrowser"
 		"../InverseDynamics/InverseDynamicsExample.h",
 		"../RobotSimulator/b3RobotSimulatorClientAPI.cpp",
 		"../RobotSimulator/b3RobotSimulatorClientAPI.h",		
-		"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp",
-		"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h",		
 		"../BasicDemo/BasicExample.*",
 		"../Tutorial/*",
 		"../ExtendedTutorials/*",
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -1,7 +1,7 @@
 #include "b3RobotSimulatorClientAPI.h"

 #include "../SharedMemory/PhysicsClientC_API.h"
-#include "b3RobotSimulatorClientAPI_InternalData.h"
+#include "../SharedMemory/b3RobotSimulatorClientAPI_InternalData.h"
 #ifdef BT_ENABLE_ENET
 #include "../SharedMemory/PhysicsClientUDP_C_API.h"
 #endif  //PHYSICS_UDP
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
@@ -1,7 +1,7 @@
 #ifndef B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H
 #define B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H

-#include "b3RobotSimulatorClientAPI_NoGUI.h"
+#include "../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h"


 ///The b3RobotSimulatorClientAPI_GUI is pretty much the C++ version of pybullet
--- a/examples/RobotSimulator/premake4.lua
+++ b/examples/RobotSimulator/premake4.lua
@@ -1,6 +1,10 @@

 myfiles = 
 {
+			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
+			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
+			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
+			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",			
 			"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
 			"../../examples/SharedMemory/IKTrajectoryHelper.h",
 			"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
@@ -191,8 +195,6 @@ if not _OPTIONS["no-enet"] then
 			"RobotSimulatorMain.cpp",
 			"b3RobotSimulatorClientAPI.cpp",
 			"b3RobotSimulatorClientAPI.h",
-			"b3RobotSimulatorClientAPI_NoGUI.cpp",
-			"b3RobotSimulatorClientAPI_NoGUI.h",
 			"MinitaurSetup.cpp",
 			"MinitaurSetup.h",
 			myfiles
@@ -283,8 +285,6 @@ project ("App_VRGloveHandSimulator")
 			"VRGloveSimulatorMain.cpp",
 			"b3RobotSimulatorClientAPI.cpp",
 			"b3RobotSimulatorClientAPI.h",
-			"b3RobotSimulatorClientAPI_NoGUI.cpp",
-			"b3RobotSimulatorClientAPI_NoGUI.h",
 			myfiles
 		}

--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -45,6 +45,9 @@
 #include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
 #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"

+#ifdef STATIC_PD_CONTROL_PLUGIN
+#include "plugins/pdControlPlugin/pdControlPlugin.h"
+#endif //STATIC_PD_CONTROL_PLUGIN

 #ifdef STATIC_LINK_VR_PLUGIN
 #include "plugins/vrSyncPlugin/vrSyncPlugin.h"
@@ -1647,7 +1650,7 @@ struct PhysicsServerCommandProcessorInternalData
 	btVector3 m_hitPos;
 	btScalar m_oldPickingDist;
 	bool m_prevCanSleep;
-	
+	int m_pdControlPlugin;
 #ifdef B3_ENABLE_TINY_AUDIO
 	b3SoundEngine m_soundEngine;
 #endif
@@ -1679,7 +1682,8 @@ struct PhysicsServerCommandProcessorInternalData
 		m_verboseOutput(false),
 		m_pickedBody(0),
 		m_pickedConstraint(0),
-		m_pickingMultiBodyPoint2Point(0)
+		m_pickingMultiBodyPoint2Point(0),
+		m_pdControlPlugin(-1)
 	{

 		{
@@ -1688,6 +1692,13 @@ struct PhysicsServerCommandProcessorInternalData
 			m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin, preTickPluginCallback_vrSyncPlugin, 0, 0);
 #endif //STATIC_LINK_VR_PLUGIN

+#ifdef STATIC_PD_CONTROL_PLUGIN
+		{
+			m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin, preTickPluginCallback_pdControlPlugin, postTickPluginCallback_pdControlPlugin, 0);
+		}
+#endif //STATIC_PD_CONTROL_PLUGIN
+
+
 #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
 			int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin,0,0,getRenderInterface_tinyRendererPlugin);
 			m_pluginManager.selectPluginRenderer(renderPluginId);
@@ -4949,6 +4960,13 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct

 		switch (clientCmd.m_sendDesiredStateCommandArgument.m_controlMode)
 		{
+/*		case CONTROL_MODE_PD:
+		{
+			b3PluginArguments args;
+			m_data->m_pluginManager.executePluginCommand(pdControlPlugin, args);
+			//#p.executePluginCommand(plugin ,"r2d2.urdf", [1,2,3],[50.0,3.3])
+		}
+		*/
 		case CONTROL_MODE_TORQUE:
 			{
 				if (m_data->m_verboseOutput)
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI_InternalData.h
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI_InternalData.h
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
@@ -1,20 +1,10 @@
-#include "b3RobotSimulatorClientAPI_NoGUI.h"
+#include "b3RobotSimulatorClientAPI_NoDirect.h"


-#include "../SharedMemory/PhysicsClientC_API.h"
+#include "PhysicsClientC_API.h"
 #include "b3RobotSimulatorClientAPI_InternalData.h"

-#ifdef BT_ENABLE_ENET
-#include "../SharedMemory/PhysicsClientUDP_C_API.h"
-#endif  //PHYSICS_UDP
-
-#ifdef BT_ENABLE_CLSOCKET
-#include "../SharedMemory/PhysicsClientTCP_C_API.h"
-#endif  //PHYSICS_TCP
-
-#include "../SharedMemory/PhysicsDirectC_API.h"
-
-#include "../SharedMemory/SharedMemoryPublic.h"
+#include "SharedMemoryPublic.h"
 #include "Bullet3Common/b3Logging.h"

 static void scalarToDouble3(btScalar a[3], double b[3]) 
@@ -34,18 +24,18 @@ static void scalarToDouble4(btScalar a[4], double b[4])
 }


-b3RobotSimulatorClientAPI_NoGUI::b3RobotSimulatorClientAPI_NoGUI()
+b3RobotSimulatorClientAPI_NoDirect::b3RobotSimulatorClientAPI_NoDirect()
 {
 	m_data = new b3RobotSimulatorClientAPI_InternalData();
 }

-b3RobotSimulatorClientAPI_NoGUI::~b3RobotSimulatorClientAPI_NoGUI()
+b3RobotSimulatorClientAPI_NoDirect::~b3RobotSimulatorClientAPI_NoDirect()
 {
 	delete m_data;
 }


-bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostName, int portOrKey)
+bool b3RobotSimulatorClientAPI_NoDirect::connect(int mode, const std::string& hostName, int portOrKey)
 {
 	if (m_data->m_physicsClientHandle)
 	{
@@ -53,7 +43,6 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
 		return false;
 	}
 	b3PhysicsClientHandle sm = 0;
-
 	int udpPort = 1234;
 	int tcpPort = 6667;
 	int key = SHARED_MEMORY_KEY;
@@ -64,7 +53,6 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
 	
 	case eCONNECT_DIRECT:
 		{
-			sm = b3ConnectPhysicsDirect();
 			break;
 		}
 	case eCONNECT_SHARED_MEMORY:
@@ -82,12 +70,6 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
 			{
 				udpPort = portOrKey;
 			}
-#ifdef BT_ENABLE_ENET
-
-			sm = b3ConnectPhysicsUDP(hostName.c_str(), udpPort);
-#else
-			b3Warning("UDP is not enabled in this build");
-#endif  //BT_ENABLE_ENET

 			break;
 		}
@@ -97,12 +79,6 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
 			{
 				tcpPort = portOrKey;
 			}
-#ifdef BT_ENABLE_CLSOCKET
-
-			sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort);
-#else
-			b3Warning("TCP is not enabled in this pybullet build");
-#endif  //BT_ENABLE_CLSOCKET
 			break;
 		}

@@ -125,12 +101,12 @@ bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostN
 	return false;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::isConnected() const
+bool b3RobotSimulatorClientAPI_NoDirect::isConnected() const
 {
 	return (m_data->m_physicsClientHandle != 0);
 }

-void b3RobotSimulatorClientAPI_NoGUI::setTimeOut(double timeOutInSec)
+void b3RobotSimulatorClientAPI_NoDirect::setTimeOut(double timeOutInSec)
 {
 	if (!isConnected())
 	{
@@ -142,19 +118,22 @@ void b3RobotSimulatorClientAPI_NoGUI::setTimeOut(double timeOutInSec)
 }


-void b3RobotSimulatorClientAPI_NoGUI::disconnect()
+void b3RobotSimulatorClientAPI_NoDirect::disconnect()
 {
 	if (!isConnected())
 	{
 		b3Warning("Not connected");
 		return;
 	}
-
+#ifndef BT_DISABLE_PHYSICS_DIRECT
 	b3DisconnectSharedMemory(m_data->m_physicsClientHandle);
 	m_data->m_physicsClientHandle = 0;
+#endif 
+
 }

-void b3RobotSimulatorClientAPI_NoGUI::syncBodies()
+
+void b3RobotSimulatorClientAPI_NoDirect::syncBodies()
 {
 	if (!isConnected())
 	{
@@ -171,7 +150,7 @@ void b3RobotSimulatorClientAPI_NoGUI::syncBodies()
 	statusType = b3GetStatusType(statusHandle);
 }

-void b3RobotSimulatorClientAPI_NoGUI::resetSimulation()
+void b3RobotSimulatorClientAPI_NoDirect::resetSimulation()
 {
 	if (!isConnected())
 	{
@@ -183,7 +162,7 @@ void b3RobotSimulatorClientAPI_NoGUI::resetSimulation()
 		m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
 }

-bool b3RobotSimulatorClientAPI_NoGUI::canSubmitCommand() const
+bool b3RobotSimulatorClientAPI_NoDirect::canSubmitCommand() const
 {
 	if (!isConnected())
 	{
@@ -192,7 +171,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::canSubmitCommand() const
 	return (b3CanSubmitCommand(m_data->m_physicsClientHandle) != 0);
 }

-void b3RobotSimulatorClientAPI_NoGUI::stepSimulation()
+void b3RobotSimulatorClientAPI_NoDirect::stepSimulation()
 {
 	if (!isConnected())
 	{
@@ -210,7 +189,7 @@ void b3RobotSimulatorClientAPI_NoGUI::stepSimulation()
 	}
 }

-void b3RobotSimulatorClientAPI_NoGUI::setGravity(const btVector3& gravityAcceleration)
+void b3RobotSimulatorClientAPI_NoDirect::setGravity(const btVector3& gravityAcceleration)
 {
 	if (!isConnected())
 	{
@@ -226,14 +205,14 @@ void b3RobotSimulatorClientAPI_NoGUI::setGravity(const btVector3& gravityAcceler
 	//	btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
 }

-btQuaternion b3RobotSimulatorClientAPI_NoGUI::getQuaternionFromEuler(const btVector3& rollPitchYaw)
+btQuaternion b3RobotSimulatorClientAPI_NoDirect::getQuaternionFromEuler(const btVector3& rollPitchYaw)
 {
 	btQuaternion q;
 	q.setEulerZYX(rollPitchYaw[2],rollPitchYaw[1],rollPitchYaw[0]);
 	return q;
 }

-btVector3 b3RobotSimulatorClientAPI_NoGUI::getEulerFromQuaternion(const btQuaternion& quat)
+btVector3 b3RobotSimulatorClientAPI_NoDirect::getEulerFromQuaternion(const btQuaternion& quat)
 {
 	btScalar roll,pitch,yaw;
 	quat.getEulerZYX(yaw,pitch,roll);
@@ -241,7 +220,7 @@ btVector3 b3RobotSimulatorClientAPI_NoGUI::getEulerFromQuaternion(const btQuater
 	return rpy2;
 }

-int b3RobotSimulatorClientAPI_NoGUI::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args)
+int b3RobotSimulatorClientAPI_NoDirect::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args)
 {
 	int robotUniqueId = -1;

@@ -279,7 +258,7 @@ int b3RobotSimulatorClientAPI_NoGUI::loadURDF(const std::string& fileName, const
 	return robotUniqueId;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
+bool b3RobotSimulatorClientAPI_NoDirect::loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
 {
 	if (!isConnected())
 	{
@@ -310,7 +289,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::loadMJCF(const std::string& fileName, b3Ro
 	return true;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
+bool b3RobotSimulatorClientAPI_NoDirect::loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
 {
 	if (!isConnected())
 	{
@@ -340,7 +319,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::loadBullet(const std::string& fileName, b3
 	return true;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args)
+bool b3RobotSimulatorClientAPI_NoDirect::loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args)
 {
 	if (!isConnected())
 	{
@@ -372,7 +351,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::loadSDF(const std::string& fileName, b3Rob
 	return statusOk;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo)
+bool b3RobotSimulatorClientAPI_NoDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo)
 {
 	if (!isConnected())
 	{
@@ -384,7 +363,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBodyInfo(int bodyUniqueId, struct b3Bod
 	return (result != 0);
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const
+bool b3RobotSimulatorClientAPI_NoDirect::getBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation) const
 {
 	if (!isConnected())
 	{
@@ -422,7 +401,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBasePositionAndOrientation(int bodyUniq
 	return true;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation)
+bool b3RobotSimulatorClientAPI_NoDirect::resetBasePositionAndOrientation(int bodyUniqueId, btVector3& basePosition, btQuaternion& baseOrientation)
 {
 	if (!isConnected())
 	{
@@ -444,7 +423,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetBasePositionAndOrientation(int bodyUn
 	return true;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const
+bool b3RobotSimulatorClientAPI_NoDirect::getBaseVelocity(int bodyUniqueId, btVector3& baseLinearVelocity, btVector3& baseAngularVelocity) const
 {
 	if (!isConnected())
 	{
@@ -478,7 +457,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBaseVelocity(int bodyUniqueId, btVector
 	return true;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const
+bool b3RobotSimulatorClientAPI_NoDirect::resetBaseVelocity(int bodyUniqueId, const btVector3& linearVelocity, const btVector3& angularVelocity) const
 {
 	if (!isConnected())
 	{
@@ -503,7 +482,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetBaseVelocity(int bodyUniqueId, const
 	return true;
 }

-void b3RobotSimulatorClientAPI_NoGUI::setInternalSimFlags(int flags)
+void b3RobotSimulatorClientAPI_NoDirect::setInternalSimFlags(int flags)
 {
 	if (!isConnected())
 	{
@@ -519,7 +498,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setInternalSimFlags(int flags)
 }


-void b3RobotSimulatorClientAPI_NoGUI::setRealTimeSimulation(bool enableRealTimeSimulation)
+void b3RobotSimulatorClientAPI_NoDirect::setRealTimeSimulation(bool enableRealTimeSimulation)
 {
 	if (!isConnected())
 	{
@@ -537,7 +516,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setRealTimeSimulation(bool enableRealTimeS
 	btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
 }

-int b3RobotSimulatorClientAPI_NoGUI::getNumJoints(int bodyUniqueId) const
+int b3RobotSimulatorClientAPI_NoDirect::getNumJoints(int bodyUniqueId) const
 {
 	if (!isConnected())
 	{
@@ -547,7 +526,7 @@ int b3RobotSimulatorClientAPI_NoGUI::getNumJoints(int bodyUniqueId) const
 	return b3GetNumJoints(m_data->m_physicsClientHandle, bodyUniqueId);
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
+bool b3RobotSimulatorClientAPI_NoDirect::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
 {
 	if (!isConnected())
 	{
@@ -557,7 +536,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getJointInfo(int bodyUniqueId, int jointIn
 	return (b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, jointInfo) != 0);
 }

-int b3RobotSimulatorClientAPI_NoGUI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
+int b3RobotSimulatorClientAPI_NoDirect::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
 {
 	if (!isConnected())
 	{
@@ -579,7 +558,7 @@ int b3RobotSimulatorClientAPI_NoGUI::createConstraint(int parentBodyIndex, int p
 	return -1;
 }

-int b3RobotSimulatorClientAPI_NoGUI::changeConstraint(int constraintId, b3JointInfo* jointInfo)
+int b3RobotSimulatorClientAPI_NoDirect::changeConstraint(int constraintId, b3JointInfo* jointInfo)
 {

 	if (!isConnected())
@@ -608,7 +587,7 @@ int b3RobotSimulatorClientAPI_NoGUI::changeConstraint(int constraintId, b3JointI
 	return statusType;
 }

-void b3RobotSimulatorClientAPI_NoGUI::removeConstraint(int constraintId)
+void b3RobotSimulatorClientAPI_NoDirect::removeConstraint(int constraintId)
 {
 	if (!isConnected())
 	{
@@ -621,7 +600,7 @@ void b3RobotSimulatorClientAPI_NoGUI::removeConstraint(int constraintId)
 }


-bool b3RobotSimulatorClientAPI_NoGUI::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state)
+bool b3RobotSimulatorClientAPI_NoDirect::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state)
 {
 	if (!isConnected())
 	{
@@ -641,7 +620,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getJointState(int bodyUniqueId, int jointI
 	return false;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getJointStates(int bodyUniqueId, b3JointStates2& state)
+bool b3RobotSimulatorClientAPI_NoDirect::getJointStates(int bodyUniqueId, b3JointStates2& state)
 {
 	if (!isConnected())
 	{
@@ -700,7 +679,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getJointStates(int bodyUniqueId, b3JointSt
 	return false;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::resetJointState(int bodyUniqueId, int jointIndex, double targetValue)
+bool b3RobotSimulatorClientAPI_NoDirect::resetJointState(int bodyUniqueId, int jointIndex, double targetValue)
 {
 	if (!isConnected())
 	{
@@ -726,7 +705,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::resetJointState(int bodyUniqueId, int join
 	return false;
 }

-void b3RobotSimulatorClientAPI_NoGUI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3RobotSimulatorJointMotorArgs& args)
+void b3RobotSimulatorClientAPI_NoDirect::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3RobotSimulatorJointMotorArgs& args)
 {
 	if (!isConnected())
 	{
@@ -781,7 +760,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setJointMotorControl(int bodyUniqueId, int
 	}
 }

-void b3RobotSimulatorClientAPI_NoGUI::setNumSolverIterations(int numIterations)
+void b3RobotSimulatorClientAPI_NoDirect::setNumSolverIterations(int numIterations)
 {
 	if (!isConnected())
 	{
@@ -795,7 +774,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setNumSolverIterations(int numIterations)
 	btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
 }

-void b3RobotSimulatorClientAPI_NoGUI::setContactBreakingThreshold(double threshold)
+void b3RobotSimulatorClientAPI_NoDirect::setContactBreakingThreshold(double threshold)
 {
 	if (!isConnected())
 	{
@@ -810,7 +789,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setContactBreakingThreshold(double thresho
 }


-void b3RobotSimulatorClientAPI_NoGUI::setTimeStep(double timeStepInSeconds)
+void b3RobotSimulatorClientAPI_NoDirect::setTimeStep(double timeStepInSeconds)
 {
 	if (!isConnected())
 	{
@@ -825,7 +804,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setTimeStep(double timeStepInSeconds)
 	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
 }

-void b3RobotSimulatorClientAPI_NoGUI::setNumSimulationSubSteps(int numSubSteps)
+void b3RobotSimulatorClientAPI_NoDirect::setNumSimulationSubSteps(int numSubSteps)
 {
 	if (!isConnected())
 	{
@@ -839,7 +818,7 @@ void b3RobotSimulatorClientAPI_NoGUI::setNumSimulationSubSteps(int numSubSteps)
 	btAssert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
 }

-bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results)
+bool b3RobotSimulatorClientAPI_NoDirect::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results)
 {
 	if (!isConnected())
 	{
@@ -892,7 +871,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseKinematics(const struct b3
 	return result;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
+bool b3RobotSimulatorClientAPI_NoDirect::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
 {
 	if (!isConnected())
 	{
@@ -912,7 +891,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getBodyJacobian(int bodyUniqueId, int link
 }


-bool b3RobotSimulatorClientAPI_NoGUI::getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState)
+bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState)
 {
 	bool computeLinkVelocity = true;
 	bool computeForwardKinematics = true;
@@ -920,7 +899,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getLinkState(int bodyUniqueId, int linkInd
 	return getLinkState(bodyUniqueId, linkIndex, computeLinkVelocity, computeForwardKinematics, linkState);
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeForwardKinematics, b3LinkState* linkState)
+bool b3RobotSimulatorClientAPI_NoDirect::getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeForwardKinematics, b3LinkState* linkState)
 {
 	if (!isConnected()) {
 		b3Warning("Not connected");
@@ -946,7 +925,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getLinkState(int bodyUniqueId, int linkInd
 	return false;
 }

-void b3RobotSimulatorClientAPI_NoGUI::configureDebugVisualizer(b3ConfigureDebugVisualizerEnum flag, int enable)
+void b3RobotSimulatorClientAPI_NoDirect::configureDebugVisualizer(b3ConfigureDebugVisualizerEnum flag, int enable)
 {
 	if (!isConnected())
 	{
@@ -958,7 +937,7 @@ void b3RobotSimulatorClientAPI_NoGUI::configureDebugVisualizer(b3ConfigureDebugV
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
 }

-void b3RobotSimulatorClientAPI_NoGUI::getVREvents(b3VREventsData* vrEventsData,int deviceTypeFilter)
+void b3RobotSimulatorClientAPI_NoDirect::getVREvents(b3VREventsData* vrEventsData,int deviceTypeFilter)
 {
 	vrEventsData->m_numControllerEvents = 0;
 	vrEventsData->m_controllerEvents = 0;
@@ -974,7 +953,7 @@ void b3RobotSimulatorClientAPI_NoGUI::getVREvents(b3VREventsData* vrEventsData,i
 	b3GetVREventsData(m_data->m_physicsClientHandle, vrEventsData);
 }

-void b3RobotSimulatorClientAPI_NoGUI::getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData)
+void b3RobotSimulatorClientAPI_NoDirect::getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData)
 {
 	keyboardEventsData->m_numKeyboardEvents = 0;
 	keyboardEventsData->m_keyboardEvents = 0;
@@ -989,7 +968,7 @@ void b3RobotSimulatorClientAPI_NoGUI::getKeyboardEvents(b3KeyboardEventsData* ke
 	b3GetKeyboardEventsData(m_data->m_physicsClientHandle, keyboardEventsData);
 }

-int b3RobotSimulatorClientAPI_NoGUI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
+int b3RobotSimulatorClientAPI_NoDirect::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const btAlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
 {
 	if (!isConnected())
 	{
@@ -1024,7 +1003,7 @@ int b3RobotSimulatorClientAPI_NoGUI::startStateLogging(b3StateLoggingType loggin
 	return loggingUniqueId;
 }

-void b3RobotSimulatorClientAPI_NoGUI::stopStateLogging(int stateLoggerUniqueId)
+void b3RobotSimulatorClientAPI_NoDirect::stopStateLogging(int stateLoggerUniqueId)
 {
 	if (!isConnected())
 	{
@@ -1039,7 +1018,7 @@ void b3RobotSimulatorClientAPI_NoGUI::stopStateLogging(int stateLoggerUniqueId)
 	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
 }

-void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos)
+void b3RobotSimulatorClientAPI_NoDirect::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const btVector3& targetPos)
 {
 	if (!isConnected())
 	{
@@ -1060,7 +1039,7 @@ void b3RobotSimulatorClientAPI_NoGUI::resetDebugVisualizerCamera(double cameraDi
 	}
 }

-void b3RobotSimulatorClientAPI_NoGUI::submitProfileTiming(const std::string&  profileName, int durationInMicroSeconds)
+void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string&  profileName, int durationInMicroSeconds)
 {
 	if (!isConnected())
 	{
@@ -1076,7 +1055,7 @@ void b3RobotSimulatorClientAPI_NoGUI::submitProfileTiming(const std::string&  pr
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
 }

-void b3RobotSimulatorClientAPI_NoGUI::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin)
+void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin)
 {
 	if (!isConnected())
 	{
@@ -1091,7 +1070,7 @@ void b3RobotSimulatorClientAPI_NoGUI::loadSoftBody(const std::string& fileName,
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
 }

-void b3RobotSimulatorClientAPI_NoGUI::getMouseEvents(b3MouseEventsData* mouseEventsData)
+void b3RobotSimulatorClientAPI_NoDirect::getMouseEvents(b3MouseEventsData* mouseEventsData)
 {
 	mouseEventsData->m_numMouseEvents = 0;
 	mouseEventsData->m_mouseEvents = 0;
@@ -1106,7 +1085,7 @@ void b3RobotSimulatorClientAPI_NoGUI::getMouseEvents(b3MouseEventsData* mouseEve
 }


-bool b3RobotSimulatorClientAPI_NoGUI::getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, struct b3CameraImageData &imageData)
+bool b3RobotSimulatorClientAPI_NoDirect::getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, struct b3CameraImageData &imageData)
 {
 	if (!isConnected()) {
 		b3Warning("Not connected");
@@ -1172,7 +1151,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getCameraImage(int width, int height, stru
 	return true;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities,
+bool b3RobotSimulatorClientAPI_NoDirect::calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities,
 	double *jointAccelerations, double *jointForcesOutput) 
 {
 	if (!isConnected()) {
@@ -1204,7 +1183,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::calculateInverseDynamics(int bodyUniqueId,
 	return false;
 }

-int b3RobotSimulatorClientAPI_NoGUI::getNumBodies() const
+int b3RobotSimulatorClientAPI_NoDirect::getNumBodies() const
 {
 	if (!isConnected()) {
 		b3Warning("Not connected");
@@ -1213,7 +1192,7 @@ int b3RobotSimulatorClientAPI_NoGUI::getNumBodies() const
 	return b3GetNumBodies(m_data->m_physicsClientHandle);
 }

-int b3RobotSimulatorClientAPI_NoGUI::getBodyUniqueId(int bodyId) const
+int b3RobotSimulatorClientAPI_NoDirect::getBodyUniqueId(int bodyId) const
 {
 	if (!isConnected()) {
 		b3Warning("Not connected");
@@ -1222,7 +1201,7 @@ int b3RobotSimulatorClientAPI_NoGUI::getBodyUniqueId(int bodyId) const
 	return b3GetBodyUniqueId(m_data->m_physicsClientHandle, bodyId);
 }

-bool b3RobotSimulatorClientAPI_NoGUI::removeBody(int bodyUniqueId) 
+bool b3RobotSimulatorClientAPI_NoDirect::removeBody(int bodyUniqueId) 
 {
 	if (!isConnected()) {
 		b3Warning("Not connected");
@@ -1246,7 +1225,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::removeBody(int bodyUniqueId)
 	return false;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getDynamicsInfo(int bodyUniqueId, int linkIndex, b3DynamicsInfo *dynamicsInfo) {
+bool b3RobotSimulatorClientAPI_NoDirect::getDynamicsInfo(int bodyUniqueId, int linkIndex, b3DynamicsInfo *dynamicsInfo) {
 	if (!isConnected()) {
 		b3Warning("Not connected");
 		return false;
@@ -1282,7 +1261,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getDynamicsInfo(int bodyUniqueId, int link
 }


-bool b3RobotSimulatorClientAPI_NoGUI::changeDynamics(int bodyUniqueId, int linkIndex, struct b3RobotSimulatorChangeDynamicsArgs &args)
+bool b3RobotSimulatorClientAPI_NoDirect::changeDynamics(int bodyUniqueId, int linkIndex, struct b3RobotSimulatorChangeDynamicsArgs &args)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1331,7 +1310,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::changeDynamics(int bodyUniqueId, int linkI
 	return true;
 }

-int b3RobotSimulatorClientAPI_NoGUI::addUserDebugParameter(char * paramName, double rangeMin, double rangeMax, double startValue) {
+int b3RobotSimulatorClientAPI_NoDirect::addUserDebugParameter(char * paramName, double rangeMin, double rangeMax, double startValue) {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
 		b3Warning("Not connected to physics server.");
@@ -1354,7 +1333,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugParameter(char * paramName, dou
 }


-double b3RobotSimulatorClientAPI_NoGUI::readUserDebugParameter(int itemUniqueId) {
+double b3RobotSimulatorClientAPI_NoDirect::readUserDebugParameter(int itemUniqueId) {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
 		b3Warning("Not connected to physics server.");
@@ -1380,7 +1359,7 @@ double b3RobotSimulatorClientAPI_NoGUI::readUserDebugParameter(int itemUniqueId)
 }


-bool b3RobotSimulatorClientAPI_NoGUI::removeUserDebugItem(int itemUniqueId) {
+bool b3RobotSimulatorClientAPI_NoDirect::removeUserDebugItem(int itemUniqueId) {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
 		b3Warning("Not connected to physics server.");
@@ -1397,7 +1376,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::removeUserDebugItem(int itemUniqueId) {
 }


-int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args)
+int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1429,7 +1408,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, double *textPo
 	return -1;
 }

-int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args)
+int b3RobotSimulatorClientAPI_NoDirect::addUserDebugText(char *text, btVector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs & args)
 {
 	double dposXYZ[3];
 	dposXYZ[0] = textPosition.x();
@@ -1439,7 +1418,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugText(char *text, btVector3 &tex
 	return addUserDebugText(text, &dposXYZ[0], args);
 }

-int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
+int b3RobotSimulatorClientAPI_NoDirect::addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1467,7 +1446,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(double *fromXYZ, double *t
 	return -1;
 }

-int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
+int b3RobotSimulatorClientAPI_NoDirect::addUserDebugLine(btVector3 &fromXYZ, btVector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs & args)
 {
 	double dfromXYZ[3];
 	double dtoXYZ[3];
@@ -1483,7 +1462,7 @@ int b3RobotSimulatorClientAPI_NoGUI::addUserDebugLine(btVector3 &fromXYZ, btVect



-bool b3RobotSimulatorClientAPI_NoGUI::setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args)
+bool b3RobotSimulatorClientAPI_NoDirect::setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1565,7 +1544,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::setJointMotorControlArray(int bodyUniqueId
 }


-bool b3RobotSimulatorClientAPI_NoGUI::setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args)
+bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1636,7 +1615,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::setPhysicsEngineParameter(struct b3RobotSi
 }


-bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags) 
+bool b3RobotSimulatorClientAPI_NoDirect::applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags) 
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1652,7 +1631,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int
 	return true;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags)
+bool b3RobotSimulatorClientAPI_NoDirect::applyExternalForce(int objectUniqueId, int linkIndex, btVector3 &force, btVector3 &position, int flags)
 {
 	double dforce[3];
 	double dposition[3];
@@ -1669,7 +1648,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalForce(int objectUniqueId, int
 }


-bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags) 
+bool b3RobotSimulatorClientAPI_NoDirect::applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags) 
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1685,7 +1664,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, in
 	return true;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags)
+bool b3RobotSimulatorClientAPI_NoDirect::applyExternalTorque(int objectUniqueId, int linkIndex, btVector3 &torque, int flags)
 {
 	double dtorque[3];

@@ -1697,7 +1676,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::applyExternalTorque(int objectUniqueId, in
 }


-bool  b3RobotSimulatorClientAPI_NoGUI::enableJointForceTorqueSensor(int bodyUniqueId, int jointIndex, bool enable)
+bool  b3RobotSimulatorClientAPI_NoDirect::enableJointForceTorqueSensor(int bodyUniqueId, int jointIndex, bool enable)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1723,7 +1702,7 @@ bool  b3RobotSimulatorClientAPI_NoGUI::enableJointForceTorqueSensor(int bodyUniq
 	return false;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getDebugVisualizerCamera(struct b3OpenGLVisualizerCameraInfo *cameraInfo)
+bool b3RobotSimulatorClientAPI_NoDirect::getDebugVisualizerCamera(struct b3OpenGLVisualizerCameraInfo *cameraInfo)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1744,7 +1723,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getDebugVisualizerCamera(struct b3OpenGLVi
 	return false;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getContactPoints(struct b3RobotSimulatorGetContactPointsArgs &args, struct b3ContactInformation *contactInfo)
+bool b3RobotSimulatorClientAPI_NoDirect::getContactPoints(struct b3RobotSimulatorGetContactPointsArgs &args, struct b3ContactInformation *contactInfo)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1780,7 +1759,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getContactPoints(struct b3RobotSimulatorGe
 	return false;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getClosestPoints(struct b3RobotSimulatorGetContactPointsArgs &args, double distance, struct b3ContactInformation *contactInfo)
+bool b3RobotSimulatorClientAPI_NoDirect::getClosestPoints(struct b3RobotSimulatorGetContactPointsArgs &args, double distance, struct b3ContactInformation *contactInfo)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1815,7 +1794,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getClosestPoints(struct b3RobotSimulatorGe
 }


-bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData)
+bool b3RobotSimulatorClientAPI_NoDirect::getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1834,7 +1813,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(double *aabbMin, dou
 }


-bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData)
+bool b3RobotSimulatorClientAPI_NoDirect::getOverlappingObjects(btVector3 &aabbMin, btVector3 &aabbMax, struct b3AABBOverlapData *overlapData)
 {
 	double daabbMin[3];
 	double daabbMax[3];
@@ -1852,7 +1831,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getOverlappingObjects(btVector3 &aabbMin,



-bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax)
+bool b3RobotSimulatorClientAPI_NoDirect::getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1891,7 +1870,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, d
 	return false;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax)
+bool b3RobotSimulatorClientAPI_NoDirect::getAABB(int bodyUniqueId, int linkIndex, btVector3 &aabbMin, btVector3 &aabbMax)
 {
 	double daabbMin[3];
 	double daabbMax[3];
@@ -1910,7 +1889,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getAABB(int bodyUniqueId, int linkIndex, b
 }


-int b3RobotSimulatorClientAPI_NoGUI::createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args)
+int b3RobotSimulatorClientAPI_NoDirect::createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -1962,7 +1941,7 @@ int b3RobotSimulatorClientAPI_NoGUI::createCollisionShape(int shapeType, struct
 	return -1;
 }

-int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args)
+int b3RobotSimulatorClientAPI_NoDirect::createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
@@ -2035,7 +2014,7 @@ int b3RobotSimulatorClientAPI_NoGUI::createMultiBody(struct b3RobotSimulatorCrea
 	return -1;
 }

-int b3RobotSimulatorClientAPI_NoGUI::getNumConstraints() const
+int b3RobotSimulatorClientAPI_NoDirect::getNumConstraints() const
 {
 	if (!isConnected()) {
 		b3Warning("Not connected");
@@ -2044,7 +2023,7 @@ int b3RobotSimulatorClientAPI_NoGUI::getNumConstraints() const
 	return b3GetNumUserConstraints(m_data->m_physicsClientHandle);
 }

-int b3RobotSimulatorClientAPI_NoGUI::getConstraintUniqueId(int serialIndex)
+int b3RobotSimulatorClientAPI_NoDirect::getConstraintUniqueId(int serialIndex)
 {
 	if (!isConnected()) {
 		b3Warning("Not connected");
@@ -2057,17 +2036,24 @@ int b3RobotSimulatorClientAPI_NoGUI::getConstraintUniqueId(int serialIndex)



-void b3RobotSimulatorClientAPI_NoGUI::setGuiHelper(struct GUIHelperInterface* guiHelper)
+void b3RobotSimulatorClientAPI_NoDirect::setGuiHelper(struct GUIHelperInterface* guiHelper)
 {
 	m_data->m_guiHelper = guiHelper;
 }

-struct GUIHelperInterface* b3RobotSimulatorClientAPI_NoGUI::getGuiHelper()
+
+struct GUIHelperInterface* b3RobotSimulatorClientAPI_NoDirect::getGuiHelper()
 {
 	return m_data->m_guiHelper;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getCollisionShapeData(int bodyUniqueId, int linkIndex,
+void b3RobotSimulatorClientAPI_NoDirect::setInternalData(struct b3RobotSimulatorClientAPI_InternalData* data)
+{
+	*m_data = *data;
+}
+
+
+bool b3RobotSimulatorClientAPI_NoDirect::getCollisionShapeData(int bodyUniqueId, int linkIndex,
 															b3CollisionShapeInformation &collisionShapeInfo)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
@@ -2092,7 +2078,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getCollisionShapeData(int bodyUniqueId, in
 	return true;
 }

-bool b3RobotSimulatorClientAPI_NoGUI::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
+bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
 	if (sm == 0) {
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
@@ -1,5 +1,9 @@
-#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
-#define B3_ROBOT_SIMULATOR_CLIENT_API_H
+#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H
+#define B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H
+
+///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
+///as documented in the pybullet Quickstart Guide
+///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA

 #include "SharedMemoryPublic.h"
 #include "LinearMath/btVector3.h"
@@ -404,11 +408,7 @@ struct b3RobotSimulatorCreateMultiBodyArgs
 };


-
-///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
-///as documented in the pybullet Quickstart Guide
-///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
-class b3RobotSimulatorClientAPI_NoGUI
+class b3RobotSimulatorClientAPI_NoDirect
 {
 protected:

@@ -416,8 +416,8 @@ protected:

 public:
 	
-	b3RobotSimulatorClientAPI_NoGUI();
-	virtual ~b3RobotSimulatorClientAPI_NoGUI();
+	b3RobotSimulatorClientAPI_NoDirect();
+	virtual ~b3RobotSimulatorClientAPI_NoDirect();

 	bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);

@@ -580,6 +580,10 @@ public:

 	bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
 	
+	virtual void setInternalData(struct b3RobotSimulatorClientAPI_InternalData* data);
+
 };

-#endif  //B3_ROBOT_SIMULATOR_CLIENT_API_H
+
+
+#endif  //B3_ROBOT_SIMULATOR_CLIENT_API_NO_DIRECT_H
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
@@ -0,0 +1,112 @@
+#include "b3RobotSimulatorClientAPI_NoGUI.h"
+
+#include "PhysicsClientC_API.h"
+#include "b3RobotSimulatorClientAPI_InternalData.h"
+
+#ifdef BT_ENABLE_ENET
+#include "PhysicsClientUDP_C_API.h"
+#endif  //PHYSICS_UDP
+
+#ifdef BT_ENABLE_CLSOCKET
+#include "PhysicsClientTCP_C_API.h"
+#endif  //PHYSICS_TCP
+
+#ifndef BT_DISABLE_PHYSICS_DIRECT
+#include "PhysicsDirectC_API.h"
+#endif //BT_DISABLE_PHYSICS_DIRECT
+
+#include "SharedMemoryPublic.h"
+#include "Bullet3Common/b3Logging.h"
+
+
+
+b3RobotSimulatorClientAPI_NoGUI::b3RobotSimulatorClientAPI_NoGUI()
+{
+}
+
+b3RobotSimulatorClientAPI_NoGUI::~b3RobotSimulatorClientAPI_NoGUI()
+{
+}
+
+
+bool b3RobotSimulatorClientAPI_NoGUI::connect(int mode, const std::string& hostName, int portOrKey)
+{
+	if (m_data->m_physicsClientHandle)
+	{
+		b3Warning("Already connected, disconnect first.");
+		return false;
+	}
+	b3PhysicsClientHandle sm = 0;
+	int udpPort = 1234;
+	int tcpPort = 6667;
+	int key = SHARED_MEMORY_KEY;
+	bool connected = false;
+
+	switch (mode)
+	{
+	
+	case eCONNECT_DIRECT:
+		{
+#ifndef BT_DISABLE_PHYSICS_DIRECT
+			sm = b3ConnectPhysicsDirect();
+#endif //BT_DISABLE_PHYSICS_DIRECT
+
+			break;
+		}
+	case eCONNECT_SHARED_MEMORY:
+		{
+			if (portOrKey >= 0)
+			{
+				key = portOrKey;
+			}
+			sm = b3ConnectSharedMemory(key);
+			break;
+		}
+	case eCONNECT_UDP:
+		{
+			if (portOrKey >= 0)
+			{
+				udpPort = portOrKey;
+			}
+#ifdef BT_ENABLE_ENET
+
+			sm = b3ConnectPhysicsUDP(hostName.c_str(), udpPort);
+#else
+			b3Warning("UDP is not enabled in this build");
+#endif  //BT_ENABLE_ENET
+
+			break;
+		}
+	case eCONNECT_TCP:
+		{
+			if (portOrKey >= 0)
+			{
+				tcpPort = portOrKey;
+			}
+#ifdef BT_ENABLE_CLSOCKET
+
+			sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort);
+#else
+			b3Warning("TCP is not enabled in this pybullet build");
+#endif  //BT_ENABLE_CLSOCKET
+			break;
+		}
+
+	default:
+		{
+			b3Warning("connectPhysicsServer unexpected argument");
+		}
+	};
+
+	if (sm)
+	{
+		m_data->m_physicsClientHandle = sm;
+		if (!b3CanSubmitCommand(m_data->m_physicsClientHandle))
+		{
+			disconnect();
+			return false;
+		}
+		return true;
+	}
+	return false;
+}
--- a/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+++ b/examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
@@ -0,0 +1,22 @@
+#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
+#define B3_ROBOT_SIMULATOR_CLIENT_API_H
+
+#include "b3RobotSimulatorClientAPI_NoDirect.h"
+
+
+///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
+///as documented in the pybullet Quickstart Guide
+///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
+class b3RobotSimulatorClientAPI_NoGUI : public b3RobotSimulatorClientAPI_NoDirect
+{
+
+public:
+	
+	b3RobotSimulatorClientAPI_NoGUI();
+	virtual ~b3RobotSimulatorClientAPI_NoGUI();
+
+	bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
+
+};
+
+#endif  //B3_ROBOT_SIMULATOR_CLIENT_API_H
--- a/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+++ b/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
@@ -0,0 +1,98 @@
+
+//tinyRendererPlugin implements the TinyRenderer as a plugin
+//it is statically linked when using preprocessor #define STATIC_LINK_VR_PLUGIN 
+//otherwise you can dynamically load it using pybullet.loadPlugin
+
+#include "collisionFilterPlugin.h"
+#include "../../SharedMemoryPublic.h"
+#include "../b3PluginContext.h"
+#include <stdio.h>
+
+struct MyClass
+{
+	int m_testData;
+
+	MyClass()
+		:m_testData(42)
+	{
+	}
+	virtual ~MyClass()
+	{
+	}
+};
+
+B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
+{
+	MyClass* obj = new MyClass();
+	context->m_userPointer = obj;
+
+	printf("hi!\n");
+	return SHARED_MEMORY_MAGIC_NUMBER;
+}
+
+
+B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context)
+{
+	//apply pd control here, apply forces using the PD gains
+	return 0;
+}
+
+
+B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context)
+{
+	MyClass* obj = (MyClass* )context->m_userPointer;
+	obj->m_testData++;
+	return 0;
+}
+
+B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+{
+	//set the PD gains
+	printf("text argument:%s\n",arguments->m_text);
+	printf("int args: [");
+	for (int i=0;i<arguments->m_numInts;i++)
+	{
+		printf("%d", arguments->m_ints[i]);
+		if ((i+1)<arguments->m_numInts)
+		{
+			printf(",");
+		}
+	}
+	printf("]\nfloat args: [");
+	for (int i=0;i<arguments->m_numFloats;i++)
+	{
+		printf("%f", arguments->m_floats[i]);
+		if ((i+1)<arguments->m_numFloats)
+		{
+			printf(",");
+		}
+	}
+	printf("]\n");
+
+	MyClass* obj = (MyClass*) context->m_userPointer;
+	
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType = -1;
+	int bodyUniqueId = -1;
+
+	b3SharedMemoryCommandHandle command =
+		b3LoadUrdfCommandInit(context->m_physClient, arguments->m_text);
+
+	statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType == CMD_URDF_LOADING_COMPLETED)
+	{
+		bodyUniqueId = b3GetStatusBodyIndex(statusHandle);	
+	}
+	return bodyUniqueId;
+}
+
+
+B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context)
+{
+	MyClass* obj = (MyClass*) context->m_userPointer;
+	delete obj;
+	context->m_userPointer = 0;
+
+	printf("bye!\n");
+}
--- a/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
+++ b/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
@@ -0,0 +1,25 @@
+#ifndef COLLISION_FILTER_PLUGIN_H
+#define COLLISION_FILTER_PLUGIN_H
+
+#include "../b3PluginAPI.h"
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+//the following 3 APIs are required
+B3_SHARED_API int initPlugin_collisionFilterPlugin(struct b3PluginContext* context);
+B3_SHARED_API void exitPlugin_collisionFilterPlugin(struct b3PluginContext* context);
+B3_SHARED_API int executePluginCommand_collisionFilterPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
+
+//all the APIs below are optional
+B3_SHARED_API int preTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context);
+B3_SHARED_API int postTickPluginCallback_collisionFilterPlugin(struct b3PluginContext* context);
+
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif//#define COLLISION_FILTER_PLUGIN_H
--- a/examples/SharedMemory/plugins/collisionFilterPlugin/premake4.lua
+++ b/examples/SharedMemory/plugins/collisionFilterPlugin/premake4.lua
@@ -0,0 +1,42 @@
+		
+
+project ("pybullet_collisionFilterPlugin")
+		language "C++"
+		kind "SharedLib"
+		
+		includedirs {".","../../../../src", "../../../../examples",
+		"../../../ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletFileLoader", "Bullet3Common", "LinearMath"}
+
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+
+		files {
+			"collisionFilterPlugin.cpp",
+			"../../PhysicsClient.cpp",
+			"../../PhysicsClient.h",
+			"../../PhysicsClientSharedMemory.cpp",
+			"../../PhysicsClientSharedMemory.h",
+			"../../PhysicsClientSharedMemory_C_API.cpp",
+			"../../PhysicsClientSharedMemory_C_API.h",
+			"../../PhysicsClientC_API.cpp",
+			"../../PhysicsClientC_API.h",
+			"../../Win32SharedMemory.cpp",
+			"../../Win32SharedMemory.h",
+			"../../PosixSharedMemory.cpp",
+			"../../PosixSharedMemory.h",
+			"../../../Utils/b3Clock.cpp",
+			"../../../Utils/b3Clock.h",
+			"../../../Utils/b3ResourcePath.cpp",
+			"../../../Utils/b3ResourcePath.h",
+				}
+	
+	
+	
--- a/examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
+++ b/examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
@@ -0,0 +1,162 @@
+
+#include "pdControlPlugin.h"
+#include "../../SharedMemoryPublic.h"
+#include "../b3PluginContext.h"
+#include <stdio.h>
+
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+#include "../../b3RobotSimulatorClientAPI_NoDirect.h"
+#include "../../b3RobotSimulatorClientAPI_InternalData.h"
+
+struct MyPDControl
+{
+	int m_objectUniqueId;
+	int m_linkIndex;
+	btScalar m_desiredPosition;
+	btScalar m_desiredVelocity;
+	btScalar m_kd;
+	btScalar m_kp;
+	btScalar m_maxForce;
+};
+
+struct MyPDControlContainer
+{
+	int m_testData;
+	btAlignedObjectArray<MyPDControl> m_controllers;
+	b3RobotSimulatorClientAPI_NoDirect m_api;
+	MyPDControlContainer()
+		:m_testData(42)
+	{
+	}
+	virtual ~MyPDControlContainer()
+	{
+	}
+};
+
+B3_SHARED_API int initPlugin_pdControlPlugin(struct b3PluginContext* context)
+{
+	MyPDControlContainer* obj = new MyPDControlContainer();
+	b3RobotSimulatorClientAPI_InternalData data;
+	data.m_physicsClientHandle = context->m_physClient;
+	data.m_guiHelper = 0;
+	obj->m_api.setInternalData(&data);
+	context->m_userPointer = obj;
+
+	return SHARED_MEMORY_MAGIC_NUMBER;
+}
+
+
+B3_SHARED_API int preTickPluginCallback_pdControlPlugin(struct b3PluginContext* context)
+{
+	//apply pd control here, apply forces using the PD gains
+	MyPDControlContainer* obj = (MyPDControlContainer*)context->m_userPointer;
+	for (int i = 0; i < obj->m_controllers.size(); i++)
+	{
+		const MyPDControl& pdControl = obj->m_controllers[i];
+		//compute torque
+		//apply torque
+	}
+	//for each registered pd controller, execute PD control
+
+	return 0;
+}
+
+
+B3_SHARED_API int postTickPluginCallback_pdControlPlugin(struct b3PluginContext* context)
+{
+	MyPDControlContainer* obj = (MyPDControlContainer* )context->m_userPointer;
+	obj->m_testData++;
+	return 0;
+}
+
+B3_SHARED_API int executePluginCommand_pdControlPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+{
+	MyPDControlContainer* obj = (MyPDControlContainer*)context->m_userPointer;
+
+	int numObj = obj->m_api.getNumBodies();
+	printf("numObj = %d\n", numObj);
+
+	//protocol:
+	//first int is the type of command
+	//second int is body unique id
+	//third int is link index
+
+	if (arguments->m_numInts != 3)
+		return -1;
+
+	
+	switch (arguments->m_ints[0])
+	{
+	case eAddPDControl:
+	{
+		if (arguments->m_numFloats < 5)
+			return -1;
+		MyPDControl controller;
+		controller.m_desiredPosition = arguments->m_floats[0];
+		controller.m_desiredVelocity = arguments->m_floats[1];
+		controller.m_kd = arguments->m_floats[2];
+		controller.m_kp = arguments->m_floats[3];
+		controller.m_maxForce = arguments->m_floats[4];
+		controller.m_objectUniqueId = arguments->m_ints[1];
+		controller.m_linkIndex = arguments->m_ints[2];
+		obj->m_controllers.push_back(controller);
+	}
+	case	eSetPDControl:
+	{
+		if (arguments->m_numFloats < 5)
+			return -1;
+		MyPDControl controller;
+		controller.m_desiredPosition = arguments->m_floats[0];
+		controller.m_desiredVelocity = arguments->m_floats[1];
+		controller.m_kd = arguments->m_floats[2];
+		controller.m_kp = arguments->m_floats[3];
+		controller.m_maxForce = arguments->m_floats[4];
+		controller.m_objectUniqueId = arguments->m_ints[1];
+		controller.m_linkIndex = arguments->m_ints[2];
+
+		for (int i = 0; i < obj->m_controllers.size(); i++)
+		{
+			if (obj->m_controllers[i].m_objectUniqueId == controller.m_objectUniqueId && obj->m_controllers[i].m_linkIndex == controller.m_linkIndex)
+			{
+				obj->m_controllers[i] = controller;
+				break;
+			}
+		}
+		break;
+	}
+	case	eRemovePDControl:
+	{
+		MyPDControl controller;
+		controller.m_objectUniqueId = arguments->m_ints[1];
+		controller.m_linkIndex = arguments->m_ints[2];
+
+		for (int i = 0; i < obj->m_controllers.size(); i++)
+		{
+			if (obj->m_controllers[i].m_objectUniqueId == controller.m_objectUniqueId && obj->m_controllers[i].m_linkIndex == controller.m_linkIndex)
+			{
+				obj->m_controllers.removeAtIndex(i);
+				break;
+			}
+		}
+		break;
+	}
+	default:
+		{
+			return -1;
+		}
+	}
+
+	int result = 42;
+	return result;
+}
+
+
+B3_SHARED_API void exitPlugin_pdControlPlugin(struct b3PluginContext* context)
+{
+	MyPDControlContainer* obj = (MyPDControlContainer*) context->m_userPointer;
+	delete obj;
+	context->m_userPointer = 0;
+
+}
--- a/examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
+++ b/examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
@@ -0,0 +1,33 @@
+#ifndef PID_CONTROL_PLUGIN_H
+#define PID_CONTROL_PLUGIN_H
+
+#include "../b3PluginAPI.h"
+
+#ifdef __cplusplus
+extern "C" 
+{
+#endif
+
+//the following 3 APIs are required
+B3_SHARED_API int initPlugin_pdControlPlugin(struct b3PluginContext* context);
+B3_SHARED_API void exitPlugin_pdControlPlugin(struct b3PluginContext* context);
+B3_SHARED_API int executePluginCommand_pdControlPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
+
+///
+enum PDControlCommandEnum
+{
+	eAddPDControl = 1,
+	eSetPDControl = 2,
+	eRemovePDControl = 4,
+};
+
+//all the APIs below are optional
+B3_SHARED_API int preTickPluginCallback_pdControlPlugin(struct b3PluginContext* context);
+B3_SHARED_API int postTickPluginCallback_pdControlPlugin(struct b3PluginContext* context);
+
+
+#ifdef __cplusplus
+};
+#endif
+
+#endif//#define PID_CONTROL_PLUGIN_H
--- a/examples/SharedMemory/plugins/pdControlPlugin/premake4.lua
+++ b/examples/SharedMemory/plugins/pdControlPlugin/premake4.lua
@@ -0,0 +1,44 @@
+		
+
+project ("pybullet_pdControlPlugin")
+		language "C++"
+		kind "SharedLib"
+		
+		includedirs {".","../../../../src", "../../../../examples",
+		"../../../ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletFileLoader", "Bullet3Common", "LinearMath"}
+
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+
+		files {
+			"pdControlPlugin.cpp",
+			"../../b3RobotSimulatorClientAPI_NoDirect.cpp",
+			"../../b3RobotSimulatorClientAPI_NoDirect.h",
+			"../../PhysicsClient.cpp",
+			"../../PhysicsClient.h",
+			"../../PhysicsClientSharedMemory.cpp",
+			"../../PhysicsClientSharedMemory.h",
+			"../../PhysicsClientSharedMemory_C_API.cpp",
+			"../../PhysicsClientSharedMemory_C_API.h",
+			"../../PhysicsClientC_API.cpp",
+			"../../PhysicsClientC_API.h",
+			"../../Win32SharedMemory.cpp",
+			"../../Win32SharedMemory.h",
+			"../../PosixSharedMemory.cpp",
+			"../../PosixSharedMemory.h",
+			"../../../Utils/b3Clock.cpp",
+			"../../../Utils/b3Clock.h",
+			"../../../Utils/b3ResourcePath.cpp",
+			"../../../Utils/b3ResourcePath.h",
+				}
+	
+	
+	
--- a/examples/SharedMemory/plugins/testPlugin/testplugin.cpp
+++ b/examples/SharedMemory/plugins/testPlugin/testplugin.cpp
@@ -29,7 +29,7 @@ struct MyClass
 	}
 };

-B3_SHARED_API int initPlugin(struct b3PluginContext* context)
+B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context)
 {
 	MyClass* obj = new MyClass();
 	context->m_userPointer = obj;
@@ -39,67 +39,23 @@ B3_SHARED_API int initPlugin(struct b3PluginContext* context)
 }


-B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context)
+B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context)
 {
-	MyClass* obj = (MyClass* )context->m_userPointer;
-	
-	{
-		b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(context->m_physClient);
-		int deviceTypeFilter = VR_DEVICE_CONTROLLER;
-		b3VREventsSetDeviceTypeFilter(commandHandle, deviceTypeFilter);
-
-		b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
-		int statusType = b3GetStatusType(statusHandle);
-		if (statusType == CMD_REQUEST_VR_EVENTS_DATA_COMPLETED)
-		{
-			struct b3VREventsData vrEvents;
-		
-			int i = 0;
-			b3GetVREventsData(context->m_physClient, &vrEvents);
-			if (vrEvents.m_numControllerEvents)
-			{
-				//this is only for a test, normally you wouldn't print to the console at each simulation substep!
-				printf("got %d VR controller events!\n", vrEvents.m_numControllerEvents);
-			}
-		}
-	}
-	{
-		b3KeyboardEventsData keyboardEventsData;
-		b3SharedMemoryCommandHandle	commandHandle = b3RequestKeyboardEventsCommandInit(context->m_physClient);
-		b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
-		b3GetKeyboardEventsData(context->m_physClient, &keyboardEventsData);
-		if (keyboardEventsData.m_numKeyboardEvents)
-		{
-			//this is only for a test, normally you wouldn't print to the console at each simulation substep!
-			printf("got %d keyboard events\n", keyboardEventsData.m_numKeyboardEvents);
-		}
-	}
-
-	{
-		b3MouseEventsData mouseEventsData;
-		b3SharedMemoryCommandHandle commandHandle = b3RequestMouseEventsCommandInit(context->m_physClient);
-		b3SubmitClientCommandAndWaitStatus(context->m_physClient, commandHandle);
-		b3GetMouseEventsData(context->m_physClient, &mouseEventsData);
-		if (mouseEventsData.m_numMouseEvents)
-		{
-			//this is only for a test, normally you wouldn't print to the console at each simulation substep!
-			printf("got %d mouse events\n", mouseEventsData.m_numMouseEvents);
-		}
-	}
 	
 	return 0;
 }


-B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context)
+B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context)
 {
 	MyClass* obj = (MyClass* )context->m_userPointer;
 	obj->m_testData++;
 	return 0;
 }

-B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
 {
+	
 	printf("text argument:%s\n",arguments->m_text);
 	printf("int args: [");
 	for (int i=0;i<arguments->m_numInts;i++)
@@ -140,7 +96,7 @@ B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const st
 }


-B3_SHARED_API void exitPlugin(struct b3PluginContext* context)
+B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context)
 {
 	MyClass* obj = (MyClass*) context->m_userPointer;
 	delete obj;
--- a/examples/SharedMemory/plugins/testPlugin/testplugin.h
+++ b/examples/SharedMemory/plugins/testPlugin/testplugin.h
@@ -9,14 +9,13 @@ extern "C"
 #endif

 //initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
-B3_SHARED_API int initPlugin(struct b3PluginContext* context);
-B3_SHARED_API void exitPlugin(struct b3PluginContext* context);
-B3_SHARED_API int executePluginCommand(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
+B3_SHARED_API int initPlugin_testPlugin(struct b3PluginContext* context);
+B3_SHARED_API void exitPlugin_testPlugin(struct b3PluginContext* context);
+B3_SHARED_API int executePluginCommand_testPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);

 //all the APIs below are optional
-B3_SHARED_API int preTickPluginCallback(struct b3PluginContext* context);
-B3_SHARED_API int postTickPluginCallback(struct b3PluginContext* context);
-B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface(struct b3PluginContext* context);
+B3_SHARED_API int preTickPluginCallback_testPlugin(struct b3PluginContext* context);
+B3_SHARED_API int postTickPluginCallback_testPlugin(struct b3PluginContext* context);


 #ifdef __cplusplus
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -465,4 +465,7 @@ include "plugins/testPlugin"
 include "plugins/vrSyncPlugin"
 include "plugins/tinyRendererPlugin"

+include "plugins/pdControlPlugin"
+include "plugins/collisionFilterPlugin"
+

--- a/examples/pybullet/examples/renderPlugin.py
+++ b/examples/pybullet/examples/renderPlugin.py
@@ -1,7 +1,7 @@

 import pybullet as p
 p.connect(p.GUI)
-plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
+plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll","_testPlugin")
 print("plugin=",plugin)
 p.loadURDF("r2d2.urdf")

--- a/examples/pybullet/examples/testPlugin.py
+++ b/examples/pybullet/examples/testPlugin.py
@@ -0,0 +1,10 @@
+
+import pybullet as p
+p.connect(p.GUI)
+plugin = p.loadPlugin("D:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll","_testPlugin")
+print("plugin=",plugin)
+p.executePluginCommand(plugin ,"r2d2.urdf", [1,2,3],[50.0,3.3])
+
+while (1):
+	p.getCameraImage(320,200)
+	p.stepSimulation()