Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script:

import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -78,7 +78,7 @@ struct PhysicsClientSharedMemoryInternalData {
           m_hasLastServerStatus(false),
           m_sharedMemoryKey(SHARED_MEMORY_KEY),
           m_verboseOutput(false),
-		  m_timeOutInSeconds(5)
+		  m_timeOutInSeconds(30)
 	{}
 
     void processServerStatus();

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1516,8 +1516,8 @@ struct PhysicsServerCommandProcessorInternalData
 
 	b3HashMap<b3HashString,  char*> m_profileEvents;
 
-	PhysicsServerCommandProcessorInternalData()
-		:
+	PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
+		:m_pluginManager(proc),
 		m_allowRealTimeSimulation(false),
 		m_commandLogger(0),
 		m_logPlayback(0),
@@ -1647,8 +1647,9 @@ void PhysicsServerCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiH
 
 
 PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
+	:m_data(0)
 {
-	m_data = new PhysicsServerCommandProcessorInternalData();
+	m_data = new PhysicsServerCommandProcessorInternalData(this);
 
 	createEmptyDynamicsWorld();
 

examples/SharedMemory/b3PluginManager.cpp

@@ -4,6 +4,8 @@
 #include "Bullet3Common/b3ResizablePool.h"
 #include "plugins/b3PluginAPI.h"
 #include "SharedMemoryPublic.h"
+#include "PhysicsDirect.h"
+#include "plugins/b3PluginContext.h"
 
 #ifdef _WIN32
     #define WIN32_LEAN_AND_MEAN
@@ -50,15 +52,19 @@ struct b3PluginManagerInternalData
 {
 	b3ResizablePool<b3PluginHandle> m_plugins;
 	b3HashMap<b3HashString, b3PluginHandle> m_pluginMap;
+	PhysicsDirect* m_physicsDirect;
 };
 
-b3PluginManager::b3PluginManager()
+b3PluginManager::b3PluginManager(class PhysicsCommandProcessorInterface* physSdk)
 {
 	m_data = new b3PluginManagerInternalData;
+	m_data->m_physicsDirect = new PhysicsDirect(physSdk,false);
+
 }
 
 b3PluginManager::~b3PluginManager()
 {
+	delete m_data->m_physicsDirect;
 	m_data->m_pluginMap.clear();
 	m_data->m_plugins.exitHandles();
 	delete m_data;
@@ -145,7 +151,10 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const char* argume
 	b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
 	if (plugin)
 	{
-		result = plugin->m_executeCommandFunc(arguments);
+		b3PluginContext context;
+		context.m_arguments = arguments;
+		context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
+		result = plugin->m_executeCommandFunc(&context);
 	}
 	return result;
 }

examples/SharedMemory/b3PluginManager.h

@@ -7,7 +7,7 @@ class b3PluginManager
 
 	public:
 		
-		b3PluginManager();
+		b3PluginManager(class PhysicsCommandProcessorInterface* physSdk);
 		virtual ~b3PluginManager();
 		
 		int loadPlugin(const char* pluginPath);

examples/SharedMemory/plugins/b3PluginAPI.h

@@ -28,7 +28,7 @@ extern "C" {
 	/* Plugin API */
 	typedef B3_API_ENTRY int (B3_API_CALL * PFN_INIT)();
 	typedef B3_API_ENTRY void (B3_API_CALL * PFN_EXIT)();
-	typedef B3_API_ENTRY int (B3_API_CALL * PFN_EXECUTE)(const char* arguments);
+	typedef B3_API_ENTRY int (B3_API_CALL * PFN_EXECUTE)(struct b3PluginContext* context);
 
 #ifdef __cplusplus
 }

examples/SharedMemory/plugins/b3PluginContext.h

@@ -0,0 +1,13 @@
+#ifndef B3_PLUGIN_CONTEXT_H
+#define B3_PLUGIN_CONTEXT_H
+
+#include "../PhysicsClientC_API.h"
+
+struct b3PluginContext
+{
+	const char* m_arguments;
+
+	b3PhysicsClientHandle	m_physClient;
+};
+
+#endif //B3_PLUGIN_CONTEXT_H

examples/SharedMemory/plugins/testPlugin/testplugin.cpp

@@ -1,7 +1,7 @@
 
 #include "testplugin.h"
 #include "../../SharedMemoryPublic.h"
-
+#include "../b3PluginContext.h"
 #include <stdio.h>
 
 B3_SHARED_API int initPlugin()
@@ -10,10 +10,24 @@ B3_SHARED_API int initPlugin()
 	return SHARED_MEMORY_MAGIC_NUMBER;
 }
 
-B3_SHARED_API int executePluginCommand(const char* arguments)
+B3_SHARED_API int executePluginCommand(struct b3PluginContext* context)
 {
-	printf("arguments:%s\n",arguments);
-	return 42;
+	printf("arguments:%s\n",context->m_arguments);
+
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType = -1;
+	int bodyUniqueId = -1;
+
+	b3SharedMemoryCommandHandle command =
+		b3LoadUrdfCommandInit(context->m_physClient, context->m_arguments);
+
+	statusHandle = b3SubmitClientCommandAndWaitStatus(context->m_physClient, command);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType == CMD_URDF_LOADING_COMPLETED)
+	{
+		bodyUniqueId = b3GetStatusBodyIndex(statusHandle);	
+	}
+	return bodyUniqueId;
 }
 
 

examples/SharedMemory/plugins/testPlugin/testplugin.h

@@ -10,7 +10,7 @@ extern "C"
 
 B3_SHARED_API int initPlugin();
 B3_SHARED_API void exitPlugin();
-B3_SHARED_API int executePluginCommand(const char* arguments);
+B3_SHARED_API int executePluginCommand(struct b3PluginContext* context);
 
 #ifdef __cplusplus
 };