diff --git a/Extras/Serialize/BulletFileLoader/bDNA.cpp b/Extras/Serialize/BulletFileLoader/bDNA.cpp
index f30f7fec6..86d15cfdd 100644
--- a/Extras/Serialize/BulletFileLoader/bDNA.cpp
+++ b/Extras/Serialize/BulletFileLoader/bDNA.cpp
@@ -389,18 +389,10 @@ void bDNA::init(char *data, int len, bool swap)
 		cp++;
 	}
 
+
+	
+	cp = btAlignPointer(cp,4);
 	
-	{
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
-
 	/*
 		TYPE (4 bytes)
 		<nr> amount of types (int)
@@ -426,17 +418,8 @@ void bDNA::init(char *data, int len, bool swap)
 		cp++;
 	}
 
-{
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
-
+	cp = btAlignPointer(cp,4);
+	
 	/*
 		TLEN (4 bytes)
 		<len> (short) the lengths of types
diff --git a/Extras/Serialize/BulletFileLoader/bFile.cpp b/Extras/Serialize/BulletFileLoader/bFile.cpp
index 35135ba7a..cb8010dc2 100644
--- a/Extras/Serialize/BulletFileLoader/bFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/bFile.cpp
@@ -460,15 +460,7 @@ void bFile::swapDNA(char* ptr)
 	}
 
 	
-	{
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
+	cp = btAlignPointer(cp,4);
 
 
 	/*
@@ -497,16 +489,7 @@ void bFile::swapDNA(char* ptr)
 		cp++;
 	}
 
-{
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
+	cp = btAlignPointer(cp,4);
 
 	/*
 		TLEN (4 bytes)
diff --git a/build_visual_studio.bat b/build_visual_studio.bat
index de3b886c9..56ee9f610 100644
--- a/build_visual_studio.bat
+++ b/build_visual_studio.bat
@@ -2,7 +2,7 @@
 rem premake4 --with-pe  vs2010
 rem premake4  --bullet2demos vs2010
 cd build3
-premake4   --targetdir="../bin" vs2010 
+premake4   --enable_openvr --targetdir="../bin" vs2010 
 rem premake4   --targetdir="../server2bin" vs2010 
 rem cd vs2010
 rem rename 0_Bullet3Solution.sln 0_server.sln
diff --git a/data/sphere2.urdf b/data/sphere2.urdf
index fb0108b3d..ec939e694 100644
--- a/data/sphere2.urdf
+++ b/data/sphere2.urdf
@@ -9,7 +9,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
       </geometry>
     </visual>
     <collision>
@@ -19,55 +19,5 @@
       </geometry>
     </collision>
   </link>
-   <link name="childA">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="10.0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </collision>
-  </link>
-   <joint name="joint_baseLink_childA" type="fixed">
-    <parent link="baseLink"/>
-    <child link="childA"/>
-    <origin xyz="0 0 1.0"/>
-  </joint>
- <link name="childB">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.5"/>
-      <mass value="10.0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.5"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.5"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </collision>
-  </link>
- <joint name="joint_childA_childB" type="continuous">
-    <parent link="childA"/>
-    <child link="childB"/>
-<axis xyz="0 1 0"/>
-    <origin xyz="0 0 0.5"/>
-  </joint>
-
 </robot>
 
diff --git a/examples/BasicDemo/BasicExample.cpp b/examples/BasicDemo/BasicExample.cpp
index b6365df36..b687c35b1 100644
--- a/examples/BasicDemo/BasicExample.cpp
+++ b/examples/BasicDemo/BasicExample.cpp
@@ -39,7 +39,7 @@ struct BasicExample : public CommonRigidBodyBase
 	virtual void renderScene();
 	void resetCamera()
 	{
-		float dist = 41;
+		float dist = 4;
 		float pitch = 52;
 		float yaw = 35;
 		float targetPos[3]={0,0,0};
@@ -81,7 +81,7 @@ void BasicExample::initPhysics()
 		//create a few dynamic rigidbodies
 		// Re-using the same collision is better for memory usage and performance
 
-		btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		btBoxShape* colShape = createBoxShape(btVector3(.1,.1,.1));
 		
 
 		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
@@ -108,9 +108,9 @@ void BasicExample::initPhysics()
 				for(int j = 0;j<ARRAY_SIZE_Z;j++)
 				{
 					startTransform.setOrigin(btVector3(
-										btScalar(2.0*i),
-										btScalar(20+2.0*k),
-										btScalar(2.0*j)));
+										btScalar(0.2*i),
+										btScalar(2+.2*k),
+										btScalar(0.2*j)));
 
 			
 					createRigidBody(mass,startTransform,colShape);
@@ -121,7 +121,9 @@ void BasicExample::initPhysics()
 		}
 	}
 
+	
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+	
 }
 
 
diff --git a/examples/BasicDemo/CMakeLists.txt b/examples/BasicDemo/CMakeLists.txt
index 2ad8f8ccf..f01a03a51 100644
--- a/examples/BasicDemo/CMakeLists.txt
+++ b/examples/BasicDemo/CMakeLists.txt
@@ -53,6 +53,7 @@ SET(AppBasicExampleGui_SRCS
         ../ExampleBrowser/OpenGLGuiHelper.cpp
         ../ExampleBrowser/GL_ShapeDrawer.cpp
         ../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+		../Utils/b3Clock.cpp
 )
 
 #this define maps StandaloneExampleCreateFunc to the right 'CreateFunc'
diff --git a/examples/BasicDemo/premake4.lua b/examples/BasicDemo/premake4.lua
index dd88389e1..dd924249e 100644
--- a/examples/BasicDemo/premake4.lua
+++ b/examples/BasicDemo/premake4.lua
@@ -49,6 +49,8 @@ files {
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
 	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
 
 if os.is("Linux") then initX11() end
@@ -93,7 +95,9 @@ files {
 	"../TinyRenderer/tgaimage.cpp",
 	"../TinyRenderer/our_gl.cpp",
 	"../TinyRenderer/TinyRenderer.cpp",
-	"../Utils/b3ResourcePath.cpp"
+	"../Utils/b3ResourcePath.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
 
 if os.is("Linux") then initX11() end
@@ -132,7 +136,9 @@ files {
 	"../TinyRenderer/tgaimage.cpp",
 	"../TinyRenderer/our_gl.cpp",
 	"../TinyRenderer/TinyRenderer.cpp",
-	"../Utils/b3ResourcePath.cpp"
+	"../Utils/b3ResourcePath.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
 
 
@@ -179,6 +185,8 @@ files {
 				"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
 				"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
 				"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
+				"../Utils/b3Clock.cpp",
+				"../Utils/b3Clock.h",
 				
 }
 
diff --git a/examples/CommonInterfaces/CommonCameraInterface.h b/examples/CommonInterfaces/CommonCameraInterface.h
index 73147d760..9c1740788 100644
--- a/examples/CommonInterfaces/CommonCameraInterface.h
+++ b/examples/CommonInterfaces/CommonCameraInterface.h
@@ -6,7 +6,9 @@ struct CommonCameraInterface
 	virtual void getCameraProjectionMatrix(float m[16])const = 0;
 	virtual void getCameraViewMatrix(float m[16]) const = 0;
 		
-	virtual void	setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
+	virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
+	virtual void disableVRCamera()=0;
+	virtual bool isVRCamera() const =0;
 
 	virtual void getCameraTargetPosition(float pos[3]) const = 0;
 	virtual void getCameraPosition(float pos[3]) const = 0;
diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index b9a4dfd26..a8ff41d4f 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -29,10 +29,11 @@ struct GUIHelperInterface
 
 	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=0;
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) =0;
-
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)=0;
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
-
+    virtual void removeAllGraphicsInstances()=0;
+	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
 	
 	virtual CommonParameterInterface* getParameterInterface()=0;
@@ -73,10 +74,11 @@ struct DummyGUIHelper : public GUIHelperInterface
 
 	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }
-
-	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;}
-
+	virtual int	registerTexture(const unsigned char* texels, int width, int height){return -1;}
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId){return -1;}
+	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
+    virtual void removeAllGraphicsInstances(){}
+	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
 		return 0;
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index e1d6170ef..0ac09975f 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -22,7 +22,7 @@ struct CommonRenderInterface
 	virtual void init()=0;
 	virtual void updateCamera(int upAxis)=0;
 	virtual void removeAllInstances() = 0;
-
+	
 	virtual const CommonCameraInterface* getActiveCamera() const =0;
 	virtual CommonCameraInterface* getActiveCamera()=0;
 	virtual void setActiveCamera(CommonCameraInterface* cam)=0;
@@ -52,6 +52,10 @@ struct CommonRenderInterface
 	virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
 	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
 	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
+	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex)=0;
+	virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex)=0;
+    
+    virtual int getTotalNumInstances() const = 0;
     
 	virtual void writeTransforms()=0;
     virtual void enableBlend(bool blend)=0;
diff --git a/examples/ExampleBrowser/InProcessExampleBrowser.cpp b/examples/ExampleBrowser/InProcessExampleBrowser.cpp
index b7254db71..e562b5d52 100644
--- a/examples/ExampleBrowser/InProcessExampleBrowser.cpp
+++ b/examples/ExampleBrowser/InProcessExampleBrowser.cpp
@@ -226,7 +226,7 @@ enum TestExampleBrowserCommunicationEnums
 
 void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 {
-	printf("thread started\n");
+	printf("ExampleBrowserThreadFunc started\n");
 
 	ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
 
@@ -369,7 +369,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
                         }
                 };
 
-	printf("stopping threads\n");
+	printf("btShutDownExampleBrowser stopping threads\n");
 	delete data->m_threadSupport;
 	delete data->m_sharedMem;
 	delete data;
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 23c225677..0af5c8577 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -199,9 +199,16 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
 	}
 }
 
-int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+int	OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height)
 {
-	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
+	int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height);
+	return textureId;
+}
+
+
+int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
+{
+	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
 	return shapeId;
 }
 
@@ -210,6 +217,10 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
 	return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
 }
 
+void OpenGLGuiHelper::removeAllGraphicsInstances()
+{
+    m_data->m_glApp->m_renderer->removeAllInstances();
+}
 
 void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 {
@@ -247,7 +258,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 
 	if (gfxVertices.size() && indices.size())
 	{
-		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
+		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1);
 		collisionShape->setUserIndex(shapeId);
 	}
 		
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 0184d6ea0..707b325ae 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -20,12 +20,11 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 
 	virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices);
-
+	virtual int	registerTexture(const unsigned char* texels, int width, int height);
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
-
+	virtual void removeAllGraphicsInstances();
 	
-
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
diff --git a/examples/ExtendedTutorials/RigidBodyFromObj.cpp b/examples/ExtendedTutorials/RigidBodyFromObj.cpp
index 64d52793d..9e09f9dd9 100644
--- a/examples/ExtendedTutorials/RigidBodyFromObj.cpp
+++ b/examples/ExtendedTutorials/RigidBodyFromObj.cpp
@@ -134,7 +134,8 @@ void RigidBodyFromObjExample::initPhysics()
 		int shapeId = m_guiHelper->registerGraphicsShape(&glmesh->m_vertices->at(0).xyzw[0], 
 																		glmesh->m_numvertices, 
 																		&glmesh->m_indices->at(0), 
-																		glmesh->m_numIndices);
+																		glmesh->m_numIndices,
+																		B3_GL_TRIANGLES, -1);
 		shape->setUserIndex(shapeId);
 		int renderInstance = m_guiHelper->registerGraphicsInstance(shapeId,pos,orn,color,scaling);
 		body->setUserIndex(renderInstance);
diff --git a/examples/ExtendedTutorials/premake4.lua b/examples/ExtendedTutorials/premake4.lua
index 92ac12d45..41126e0af 100644
--- a/examples/ExtendedTutorials/premake4.lua
+++ b/examples/ExtendedTutorials/premake4.lua
@@ -39,7 +39,7 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",
+  		"../ThirdPartyLibs/stb_image/stb_image.cpp",
 }
 
 
@@ -91,7 +91,9 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",
+      "../ThirdPartyLibs/stb_image/stb_image.cpp",
+      "../Utils/b3Clock.cpp",
+			"../Utils/b3Clock.h",
 }
 
 if os.is("Linux") then initX11() end
@@ -156,7 +158,7 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",     
+			"../ThirdPartyLibs/stb_image/stb_image.cpp",     
 }
 
 if os.is("Linux") then initX11() end
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 9b6eb8ae1..555acf530 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -108,7 +108,8 @@ struct BulletErrorLogger : public ErrorLogger
 bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 {
 
-	
+	if (strlen(fileName)==0)
+        return false;
 
 //int argc=0;
 	char relativeFileName[1024];
@@ -132,7 +133,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 
 
         std::fstream xml_file(relativeFileName, std::fstream::in);
-        while ( xml_file.good() )
+        while ( xml_file.good())
         {
             std::string line;
             std::getline( xml_file, line);
@@ -969,16 +970,17 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 //		graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
 		//graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
 		
-		CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
+		//CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
 		
-		if (renderer)
+		if (1)
 		{
 			int textureIndex = -1;
 			if (textures.size())
 			{
-				textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
+				
+				textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
 			}
-			graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
+			graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
 			
 		}
 	}
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 92a917fd7..51b09e079 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -65,7 +65,8 @@ btAlignedObjectArray<std::string> gFileNameArray;
 struct ImportUrdfInternalData
 {
     ImportUrdfInternalData()
-    :m_numMotors(0)
+    :m_numMotors(0),
+    m_mb(0)
     {
 		for (int i=0;i<MAX_NUM_MOTORS;i++)
 		{
@@ -74,10 +75,13 @@ struct ImportUrdfInternalData
 		}
     }
 
+    
     btScalar m_motorTargetVelocities[MAX_NUM_MOTORS];
     btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS];
 	btGeneric6DofSpring2Constraint* m_generic6DofJointMotors [MAX_NUM_MOTORS];
     int m_numMotors;
+    btMultiBody* m_mb;
+    btRigidBody* m_rb;
 
 };
 
@@ -223,7 +227,6 @@ void ImportUrdfSetup::initPhysics()
 		{
 
 
-			btMultiBody* mb = 0;
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
@@ -232,8 +235,10 @@ void ImportUrdfSetup::initPhysics()
 			MyMultiBodyCreator creation(m_guiHelper);
 
 			ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
-			mb = creation.getBulletMultiBody();
-
+			m_data->m_rb = creation.getRigidBody();
+			m_data->m_mb = creation.getBulletMultiBody();
+			btMultiBody* mb = m_data->m_mb;
+            
 			if (m_useMultiBody && mb )
 			{
 				std::string*   name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
@@ -337,7 +342,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 
-		bool createGround=true;
+		bool createGround=false;
 		if (createGround)
 		{
 			btVector3 groundHalfExtents(20,20,20);
@@ -357,8 +362,7 @@ void ImportUrdfSetup::initPhysics()
 			m_guiHelper->createRigidBodyGraphicsObject(body,color);
 		}
 
-		///this extra stepSimulation call makes sure that all the btMultibody transforms are properly propagates.
-		m_dynamicsWorld->stepSimulation(1. / 240., 0);// 1., 10, 1. / 240.);
+		
 	}
 
 #ifdef TEST_MULTIBODY_SERIALIZATION
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
index 28e9023d8..3d34e53f2 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
@@ -13,6 +13,7 @@
 
 MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
 	:m_bulletMultiBody(0),
+	m_rigidBody(0),
 m_guiHelper(guiHelper)
 {
 }
@@ -31,10 +32,10 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
 {
     btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
     rbci.m_startWorldTransform = initialWorldTrans;
-    btRigidBody* body = new btRigidBody(rbci);
-	body->forceActivationState(DISABLE_DEACTIVATION);
+    m_rigidBody = new btRigidBody(rbci);
+	m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
 	
-    return body;
+    return m_rigidBody;
 }
     
 class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider(int /*urdfLinkIndex*/, int mbLinkIndex, btMultiBody* multiBody) 
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
index 7334fbd90..453f97311 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
@@ -24,6 +24,7 @@ class MyMultiBodyCreator : public MultiBodyCreationInterface
 protected:
 
 	btMultiBody* m_bulletMultiBody;
+	btRigidBody* m_rigidBody;
     
 	struct GUIHelperInterface* m_guiHelper;
 
@@ -62,6 +63,10 @@ public:
     virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
 
 	btMultiBody* getBulletMultiBody();
+	btRigidBody* getRigidBody()
+	{
+	    return m_rigidBody;
+    }
 	
 	int	getNum6DofConstraints() const
 	{
diff --git a/examples/MultiThreading/MultiThreadingExample.cpp b/examples/MultiThreading/MultiThreadingExample.cpp
index 2e9f9ee15..1969912b9 100644
--- a/examples/MultiThreading/MultiThreadingExample.cpp
+++ b/examples/MultiThreading/MultiThreadingExample.cpp
@@ -119,7 +119,7 @@ struct SampleThreadLocalStorage
 
 void	SampleThreadFunc(void* userPtr,void* lsMemory)
 {
-	printf("thread started\n");
+	printf("SampleThreadFunc thread started\n");
 
 	SampleThreadLocalStorage* localStorage = (SampleThreadLocalStorage*) lsMemory;
 
diff --git a/examples/MultiThreading/b3PosixThreadSupport.cpp b/examples/MultiThreading/b3PosixThreadSupport.cpp
index 74cdfaba2..c19ab1b48 100644
--- a/examples/MultiThreading/b3PosixThreadSupport.cpp
+++ b/examples/MultiThreading/b3PosixThreadSupport.cpp
@@ -53,7 +53,7 @@ static sem_t* createSem(const char* baseName)
 #ifdef NAMED_SEMAPHORES
         /// Named semaphore begin
         char name[32];
-        snprintf(name, 32, "/%s-%d-%4.4d", baseName, getpid(), semCount++);
+        snprintf(name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++);
         sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
 
         if (tempSem != reinterpret_cast<sem_t *>(SEM_FAILED))
diff --git a/examples/MultiThreading/b3Win32ThreadSupport.cpp b/examples/MultiThreading/b3Win32ThreadSupport.cpp
index 508b89348..199533b1b 100644
--- a/examples/MultiThreading/b3Win32ThreadSupport.cpp
+++ b/examples/MultiThreading/b3Win32ThreadSupport.cpp
@@ -223,7 +223,8 @@ bool b3Win32ThreadSupport::isTaskCompleted(int *puiArgument0, int *puiArgument1,
 
 void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo)
 {
-
+	static int uniqueId = 0;
+	uniqueId++;
 	m_activeThreadStatus.resize(threadConstructionInfo.m_numThreads);
 	m_completeHandles.resize(threadConstructionInfo.m_numThreads);
 
@@ -244,18 +245,40 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 
 		threadStatus.m_userPtr=0;
 
-		sprintf(threadStatus.m_eventStartHandleName,"eventStart%s%d",threadConstructionInfo.m_uniqueName,i);
+		sprintf(threadStatus.m_eventStartHandleName,"es%.8s%d%d",threadConstructionInfo.m_uniqueName,uniqueId,i);
 		threadStatus.m_eventStartHandle = CreateEventA (0,false,false,threadStatus.m_eventStartHandleName);
 
-		sprintf(threadStatus.m_eventCompletetHandleName,"eventComplete%s%d",threadConstructionInfo.m_uniqueName,i);
+		sprintf(threadStatus.m_eventCompletetHandleName,"ec%.8s%d%d",threadConstructionInfo.m_uniqueName,uniqueId,i);
 		threadStatus.m_eventCompletetHandle = CreateEventA (0,false,false,threadStatus.m_eventCompletetHandleName);
 
 		m_completeHandles[i] = threadStatus.m_eventCompletetHandle;
 
 		HANDLE handle = CreateThread(lpThreadAttributes,dwStackSize,lpStartAddress,lpParameter,	dwCreationFlags,lpThreadId);
-		//SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
-		SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
+		switch(threadConstructionInfo.m_priority)
+		{
+		case 0:
+		{
+			SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
+			break;
+		}
+		case 1:
+		{
+			SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
+			break;
+		}
+		case 2:
+		{
+			SetThreadPriority(handle,THREAD_PRIORITY_BELOW_NORMAL);
+			break;
+		}
+		
+		default:
+		{
+			
+		}
 
+		}
+		
 		SetThreadAffinityMask(handle, 1<<i);
 
 		threadStatus.m_taskId = i;
@@ -265,7 +288,7 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 		threadStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
 		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
 
-		printf("started thread %d with threadHandle %p\n",i,handle);
+		printf("started %s thread %d with threadHandle %p\n",threadConstructionInfo.m_uniqueName,i,handle);
 		
 	}
 
diff --git a/examples/MultiThreading/b3Win32ThreadSupport.h b/examples/MultiThreading/b3Win32ThreadSupport.h
index b94722cbc..df9f3d7ea 100644
--- a/examples/MultiThreading/b3Win32ThreadSupport.h
+++ b/examples/MultiThreading/b3Win32ThreadSupport.h
@@ -74,7 +74,8 @@ public:
 									m_userThreadFunc(userThreadFunc),
 									m_lsMemoryFunc(lsMemoryFunc),
 									m_numThreads(numThreads),
-									m_threadStackSize(threadStackSize)
+									m_threadStackSize(threadStackSize),
+									m_priority(0)
 		{
 
 		}
@@ -84,6 +85,7 @@ public:
 		b3Win32lsMemorySetupFunc	m_lsMemoryFunc;
 		int						m_numThreads;
 		int						m_threadStackSize;
+		int						m_priority;
 
 	};
 
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 24002ad25..2c86310ed 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -17,8 +17,8 @@ subject to the following restrictions:
 
 ///todo: make this configurable in the gui
 bool useShadowMap=true;//false;//true;
-int shadowMapWidth=8192;
-int shadowMapHeight=8192;
+int shadowMapWidth=4096;//8192;
+int shadowMapHeight=4096;
 float shadowMapWorldSize=50;
 
 #define MAX_POINTS_IN_BATCH 1024
@@ -261,6 +261,8 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
 
 void GLInstancingRenderer::removeAllInstances()
 {
+	m_data->m_totalNumInstances = 0;
+
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 		if (m_graphicsInstances[i]->m_index_vbo)
@@ -276,6 +278,7 @@ void GLInstancingRenderer::removeAllInstances()
 	m_graphicsInstances.clear();
 }
 
+
 GLInstancingRenderer::~GLInstancingRenderer()
 {
 	delete m_data->m_shadowMap;
@@ -323,6 +326,7 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
 	*/
 }
 
+
 void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
 {
 	m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);
@@ -340,7 +344,19 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int srcIn
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
 }
 
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
+{
+	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
+	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
+	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
+}
 
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
+{
+	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
+	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
+	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
+}
 
 void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectIndex)
 {
@@ -386,25 +402,46 @@ void GLInstancingRenderer::writeTransforms()
 
 
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	glFlush();
+	//glFlush();
 
 	b3Assert(glGetError() ==GL_NO_ERROR);
+	
 
+#ifdef B3_DEBUG
+	{
+		int totalNumInstances= 0;
+		for (int k=0;k<m_graphicsInstances.size();k++)
+		{
+			b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
+			totalNumInstances+=gfxObj->m_numGraphicsInstances;
+		}
+		b3Assert(m_data->m_totalNumInstances == totalNumInstances);
+	}
+#endif//B3_DEBUG
+
+	int POSITION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
+	int ORIENTATION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
+	int COLOR_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
+//	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
+
+#if 1
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
+ 						&m_data->m_instance_positions_ptr[0]);
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
+ 						&m_data->m_instance_quaternion_ptr[0]);
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
+ 						&m_data->m_instance_colors_ptr[0]);
+	glBufferSubData(	GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
+					 	&m_data->m_instance_scale_ptr[0]);
+#else
 
 	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
 	if (orgBase)
 	{
 
 
-		int totalNumInstances= 0;
-
-		for (int k=0;k<m_graphicsInstances.size();k++)
-		{
-			b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
-			totalNumInstances+=gfxObj->m_numGraphicsInstances;
-		}
-
-		m_data->m_totalNumInstances = totalNumInstances;
+		
+		
 
 		for (int k=0;k<m_graphicsInstances.size();k++)
 		{
@@ -413,10 +450,7 @@ void GLInstancingRenderer::writeTransforms()
 
 
 
-			int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
-			int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
-			int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
-		//	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
+			
 
 			char* base = orgBase;
 
@@ -465,6 +499,9 @@ void GLInstancingRenderer::writeTransforms()
 	//if this glFinish is removed, the animation is not always working/blocks
 	//@todo: figure out why
 	glFlush();
+
+#endif
+
 	glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
 
     b3Assert(glGetError() ==GL_NO_ERROR);
@@ -1006,7 +1043,7 @@ void GLInstancingRenderer::renderScene()
 	{
 
 		renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
-	//	glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
+		//glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
 		renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
 
 	} else
@@ -1075,6 +1112,9 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
 
 void GLInstancingRenderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float lineWidthIn)
 {
+	glActiveTexture(GL_TEXTURE0);
+	glBindTexture(GL_TEXTURE_2D,0);
+
 	float lineWidth = lineWidthIn;
 	b3Clamp(lineWidth,(float)lineWidthRange[0],(float)lineWidthRange[1]);
 	glLineWidth(lineWidth);
@@ -1510,7 +1550,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 	int curOffset = 0;
 	//GLuint lastBindTexture = 0;
 
-
+	
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 
@@ -1634,6 +1674,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
                             printf("gfxObj->m_numGraphicsInstances=%d\n",gfxObj->m_numGraphicsInstances);
                             printf("indexCount=%d\n",indexCount);
 				*/
+
 							glUseProgram(createShadowMapInstancingShader);
 							glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]);
 							glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
@@ -1667,6 +1708,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
                                 glDisable (GL_BLEND);
                             }
                             glActiveTexture(GL_TEXTURE0);
+							glBindTexture(GL_TEXTURE_2D,0);
                             break;
 						}
 					default:
@@ -1743,4 +1785,10 @@ void GLInstancingRenderer::setRenderFrameBuffer(unsigned int renderFrameBuffer)
 	m_data->m_renderFrameBuffer = (GLuint) renderFrameBuffer;
 }
 
+int GLInstancingRenderer::getTotalNumInstances() const
+{
+    return m_data->m_totalNumInstances;
+}
+
+
 #endif //NO_OPENGL3
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 66664b844..135f44133 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -56,7 +56,7 @@ public:
 	void InitShaders();
 	void CleanupShaders();
 	virtual void removeAllInstances();
-
+	
 	virtual void updateShape(int shapeIndex, const float* vertices);
 
 	///vertices must be in the format x,y,z, nx,ny,nz, u,v
@@ -95,6 +95,9 @@ public:
 	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
 	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
 
+	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
+	virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
+
 	
 	virtual struct	GLInstanceRendererInternalData* getInternalData();
 
@@ -125,6 +128,8 @@ public:
 	
 	virtual int getInstanceCapacity() const;
 	
+	virtual int getTotalNumInstances() const;
+	
 	virtual void enableShadowMap();
     virtual void enableBlend(bool blend)
     {
diff --git a/examples/OpenGLWindow/SimpleCamera.cpp b/examples/OpenGLWindow/SimpleCamera.cpp
index 774a1629a..43729b236 100644
--- a/examples/OpenGLWindow/SimpleCamera.cpp
+++ b/examples/OpenGLWindow/SimpleCamera.cpp
@@ -62,6 +62,16 @@ void	SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMa
 	}
 }
 
+void SimpleCamera::disableVRCamera()
+{
+	m_data->m_enableVR = false;
+}
+
+bool SimpleCamera::isVRCamera() const
+{
+	return m_data->m_enableVR ;
+}
+
 
 static void    b3CreateFrustum(
                         float left,
diff --git a/examples/OpenGLWindow/SimpleCamera.h b/examples/OpenGLWindow/SimpleCamera.h
index 51f802f9b..5a057baf0 100644
--- a/examples/OpenGLWindow/SimpleCamera.h
+++ b/examples/OpenGLWindow/SimpleCamera.h
@@ -15,6 +15,8 @@ struct SimpleCamera : public CommonCameraInterface
 	virtual void getCameraViewMatrix(float m[16]) const;
 	
 	virtual void	setVRCamera(const float viewMat[16], const float projectionMatrix[16]);
+	virtual void disableVRCamera();
+	virtual bool isVRCamera() const;
 
 	virtual void getCameraTargetPosition(float pos[3]) const;
 	virtual void getCameraPosition(float pos[3]) const;
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
index 74c701aad..050ec447e 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -64,6 +64,20 @@ void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(double* color, int src
 {
     
 }
+
+void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
+{
+}
+void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
+{
+}
+
+
+int SimpleOpenGL2Renderer::getTotalNumInstances() const
+{
+    return 0;
+}
+
 void	SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
 {
     b3Assert(0);
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index 5fcd08d3e..393cc7375 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -32,6 +32,8 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
     
     virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
     virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
+	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
+    virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
     virtual void	getCameraViewMatrix(float viewMat[16]) const;
     virtual void	getCameraProjectionMatrix(float projMat[16]) const;
 
@@ -68,6 +70,8 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
     
     virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex);
     
+    virtual int getTotalNumInstances() const;
+    
     virtual void writeTransforms();
     
     virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth);
@@ -82,6 +86,7 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
 
 	virtual void clearZBuffer();
 
+
 	virtual struct	GLInstanceRendererInternalData* getInternalData()
 	{
 		return 0;
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index a4199071a..e8e181992 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -835,7 +835,7 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
             enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
 			if (m_options != eCLIENTEXAMPLE_SERVER)
 			{
-				enqueueCommand(CMD_REQUEST_DEBUG_LINES);
+				//enqueueCommand(CMD_REQUEST_DEBUG_LINES);
 			}
         }
     }
@@ -855,3 +855,4 @@ class CommonExampleInterface*    PhysicsClientCreateFunc(struct CommonExampleOpt
 	}
 	return example;
 }
+
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 3ca2aa5c5..fa4362caf 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -659,6 +659,8 @@ bool PhysicsClientSharedMemory::canSubmitCommand() const {
 }
 
 struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
+    static int sequence = 0;
+    m_data->m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
     return &m_data->m_testBlock1->m_clientCommands[0];
 }
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 6ead18363..4896bd6f1 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -10,7 +10,7 @@
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
-#include "../CommonInterfaces/CommonRenderInterface.h"
+
 
 #include "btBulletDynamicsCommon.h"
 
@@ -1756,10 +1756,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					}
                 case CMD_STEP_FORWARD_SIMULATION:
                 {
-
+                    
 					if (m_data->m_verboseOutput)
 					{
 						b3Printf("Step simulation request");
+						b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
 					}
                     ///todo(erwincoumans) move this damping inside Bullet
                     for (int i=0;i<m_data->m_bodyHandles.size();i++)
@@ -1864,16 +1865,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                 case CMD_RESET_SIMULATION:
                 {
 					//clean up all data
-					if (m_data && m_data->m_guiHelper && m_data->m_guiHelper->getRenderInterface())
-                    {
-                        m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
-                    }
+					
+					
+					
+					if (m_data && m_data->m_guiHelper)
+					{
+						m_data->m_guiHelper->removeAllGraphicsInstances();
+					}
 					if (m_data)
 					{
 						m_data->m_visualConverter.resetAll();
 					}
+					
 					deleteDynamicsWorld();
 					createEmptyDynamicsWorld();
+					
 					m_data->exitHandles();
 					m_data->initHandles();
 
@@ -2058,6 +2064,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     }
                 case CMD_APPLY_EXTERNAL_FORCE:
                 {
+                	if (m_data->m_verboseOutput)
+									{
+                    b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber);
+                  }
                     for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
                     {
                         InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 05c689e8a..85d896a72 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -9,11 +9,371 @@
 
 #include "SharedMemoryCommon.h"
 
+#include "../Utils/b3Clock.h"
+#include "../MultiThreading/b3ThreadSupportInterface.h"
+
+int blockme = false;
+int blockme2 = false;
+
+void	MotionThreadFunc(void* userPtr,void* lsMemory);
+void*	MotionlsMemoryFunc();
+#define MAX_MOTION_NUM_THREADS 1
+enum
+	{
+		numCubesX = 20,
+		numCubesY = 20
+	};
+
+
+enum TestExampleBrowserCommunicationEnums
+{
+	eRequestTerminateMotion= 13,
+	eMotionIsUnInitialized,
+	eMotionIsInitialized,
+	eMotionInitializationFailed,
+	eMotionHasTerminated
+};
+
+enum MultiThreadedGUIHelperCommunicationEnums
+{
+	eGUIHelperIdle= 13,
+	eGUIHelperRegisterTexture,
+	eGUIHelperRegisterGraphicsShape,
+	eGUIHelperRegisterGraphicsInstance,
+	eGUIHelperCreateCollisionShapeGraphicsObject,
+	eGUIHelperCreateCollisionObjectGraphicsObject,
+	eGUIHelperRemoveAllGraphicsInstances,
+};
+
+#include <stdio.h>
+//#include "BulletMultiThreaded/PlatformDefinitions.h"
+
+#ifndef _WIN32
+#include "../MultiThreading/b3PosixThreadSupport.h"
+
+b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
+{
+	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("MotionThreads",
+                                                                MotionThreadFunc,
+                                                                MotionlsMemoryFunc,
+                                                                numThreads);
+    b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
+
+	return threadSupport;
+
+}
+
+
+#elif defined( _WIN32)
+#include "../MultiThreading/b3Win32ThreadSupport.h"
+
+b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
+{
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
+	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
+	return threadSupport;
+
+}
+#endif
+
+
+
+struct	MotionArgs
+{
+	MotionArgs()
+		:m_physicsServerPtr(0)
+	{
+	}
+	b3CriticalSection* m_cs;
+	
+	PhysicsServerSharedMemory*	m_physicsServerPtr;
+	b3AlignedObjectArray<b3Vector3> m_positions;
+};
+
+struct MotionThreadLocalStorage
+{
+	int threadId;
+};
+
+int skip = 0;
+
+void	MotionThreadFunc(void* userPtr,void* lsMemory)
+{
+	printf("MotionThreadFunc thread started\n");
+	MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
+
+	MotionArgs* args = (MotionArgs*) userPtr;
+	int workLeft = true;
+	b3Clock clock;
+	clock.reset();
+	bool init = true;
+	if (init)
+	{
+
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eMotionIsInitialized);
+		args->m_cs->unlock();
+
+		do
+		{
+			double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
+			if (deltaTimeInSeconds<(1./260.))
+			{
+				skip++;
+				if (deltaTimeInSeconds<.001)
+					continue;
+			}
+
+			clock.reset();
+			
+			if (!blockme)
+			{
+				args->m_physicsServerPtr->processClientCommands();
+			}
+			
+		} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
+	} else
+	{
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eMotionInitializationFailed);
+		args->m_cs->unlock();
+	}
+
+
+	printf("finished, #skip = %d\n",skip);
+	skip=0;
+	//do nothing
+
+}
+
+
+
+void*	MotionlsMemoryFunc()
+{
+	//don't create local store memory, just return 0
+	return new MotionThreadLocalStorage;
+}
+
+
+
+class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
+{
+	CommonGraphicsApp* m_app;
+	
+	b3CriticalSection* m_cs;
+
+	
+public:
+
+	GUIHelperInterface* m_childGuiHelper;
+
+	const unsigned char* m_texels;
+	int m_textureWidth;
+	int m_textureHeight;
+
+
+	int m_shapeIndex;
+	const float* m_position;
+	const float* m_quaternion;
+	const float* m_color;
+	const float* m_scaling;
+
+	const float* m_vertices;
+	int m_numvertices;
+	const int* m_indices;
+	int m_numIndices;
+	int m_primitiveType;
+	int m_textureId;
+	int m_instanceId;
+	
+
+	MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
+		:m_app(app)
+		,m_cs(0),
+		m_texels(0),
+		m_textureId(-1)
+	{
+		m_childGuiHelper = guiHelper;;
+
+	}
+
+	virtual ~MultiThreadedOpenGLGuiHelper()
+	{
+		delete m_childGuiHelper;
+	}
+
+	void setCriticalSection(b3CriticalSection* cs)
+	{
+		m_cs = cs;
+	}
+
+	b3CriticalSection* getCriticalSection()
+	{
+		return m_cs;
+	}
+
+	virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
+
+	btCollisionObject* m_obj;
+	btVector3 m_color2;
+
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
+	{
+		m_obj = obj;
+		m_color2 = color;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperCreateCollisionObjectGraphicsObject);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+
+	}
+
+	btCollisionShape* m_colShape;
+	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
+	{
+		m_colShape = collisionShape;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperCreateCollisionShapeGraphicsObject);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+
+	}
+
+	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
+	{
+	    //this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
+	    //the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
+        if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
+        {
+            m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
+        }
+	}
+
+	virtual void render(const btDiscreteDynamicsWorld* rbWorld) 
+	{
+		m_childGuiHelper->render(0);
+	}
+
+	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
+
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		m_texels = texels;
+		m_textureWidth = width;
+		m_textureHeight = height;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRegisterTexture);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+		return m_textureId;
+	}
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
+	{
+		m_vertices = vertices;
+		m_numvertices = numvertices;
+		m_indices = indices;
+		m_numIndices = numIndices;
+		m_primitiveType = primitiveType;
+		m_textureId = textureId;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsShape);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+		return m_shapeIndex;
+	}
+	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) 
+	{
+		m_shapeIndex = shapeIndex;
+		m_position = position;
+		m_quaternion = quaternion;
+		m_color = color;
+		m_scaling = scaling;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsInstance);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+		return m_instanceId;
+	}
+
+    virtual void removeAllGraphicsInstances()
+    {
+        m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRemoveAllGraphicsInstances);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+    }
+
+	virtual Common2dCanvasInterface* get2dCanvasInterface()
+	{
+		return 0;
+	}
+	
+	virtual CommonParameterInterface* getParameterInterface()
+	{
+		return 0;
+	}
+
+	virtual CommonRenderInterface* getRenderInterface()
+	{
+		return 0;
+	}
+	
+	virtual CommonGraphicsApp* getAppInterface()
+	{
+		return m_childGuiHelper->getAppInterface();
+	}
+
+
+	virtual void setUpAxis(int axis)
+	{
+		m_childGuiHelper->setUpAxis(axis);
+	}
+	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+	{
+	}
+
+	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
+	{
+	     if (width)
+            *width = 0;
+        if (height)
+            *height = 0;
+        if (numPixelsCopied)
+            *numPixelsCopied = 0;
+	}
+
+	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) 
+	{
+	}
+    
+	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
+	{
+	}
+};
+
+
 
 class PhysicsServerExample : public SharedMemoryCommon
 {
 	PhysicsServerSharedMemory	m_physicsServer;
-
+	b3ThreadSupportInterface* m_threadSupport;
+	MotionArgs m_args[MAX_MOTION_NUM_THREADS];
+	MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
     bool m_wantsShutdown;
 
     bool m_isConnected;
@@ -23,7 +383,7 @@ class PhysicsServerExample : public SharedMemoryCommon
 
 public:
 
-	PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0, int options=0);
+	PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
 
 	virtual ~PhysicsServerExample();
 
@@ -56,7 +416,7 @@ public:
     virtual bool wantsTermination();
     virtual bool isConnected();
 	virtual void	renderScene();
-	virtual void    exitPhysics(){}
+	virtual void    exitPhysics();
 
 	virtual void	physicsDebugDraw(int debugFlags);
 
@@ -71,7 +431,6 @@ public:
 
 		if (!renderer)
 		{
-			btAssert(0);
 			return false;
 		}
 
@@ -91,7 +450,6 @@ public:
 
 		if (!renderer)
 		{
-			btAssert(0);
 			return false;
 		}
 
@@ -134,7 +492,7 @@ public:
 
 };
 
-PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem, int options)
+PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
 :SharedMemoryCommon(helper),
 m_physicsServer(sharedMem),
 m_wantsShutdown(false),
@@ -142,6 +500,7 @@ m_isConnected(false),
 m_replay(false),
 m_options(options)
 {
+	m_multiThreadedHelper = helper;
 	b3Printf("Started PhysicsServer\n");
 }
 
@@ -165,22 +524,80 @@ void	PhysicsServerExample::initPhysics()
 	int upAxis = 2;
 	m_guiHelper->setUpAxis(upAxis);
 
-#if 0
 
-    createEmptyDynamicsWorld();
+	
 
-	//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
-	btVector3 grav(0,0,0);
-	grav[upAxis] = 0;//-9.8;
-	this->m_dynamicsWorld->setGravity(grav);
 
-#endif
+	m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
+		
+		
 
-	m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
+		for (int i=0;i<m_threadSupport->getNumTasks();i++)
+		{
+			MotionThreadLocalStorage* storage = (MotionThreadLocalStorage*) m_threadSupport->getThreadLocalMemory(i);
+			b3Assert(storage);
+			storage->threadId = i;
+			//storage->m_sharedMem = data->m_sharedMem;
+		}
 
+
+		
+
+		for (int w=0;w<MAX_MOTION_NUM_THREADS;w++)
+		{
+			m_args[w].m_cs = m_threadSupport->createCriticalSection();
+			m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
+			int numMoving = 0;
+ 			m_args[w].m_positions.resize(numMoving);
+			m_args[w].m_physicsServerPtr = &m_physicsServer;
+			int index = 0;
+			
+			m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
+			while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
+			{
+			}
+		}
+
+		m_args[0].m_cs->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
+		m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
 }
 
 
+void    PhysicsServerExample::exitPhysics()
+{
+		for (int i=0;i<MAX_MOTION_NUM_THREADS;i++)
+		{
+			m_args[i].m_cs->lock();
+			m_args[i].m_cs->setSharedParam(0,eRequestTerminateMotion);
+			m_args[i].m_cs->unlock();
+		}
+		int numActiveThreads = MAX_MOTION_NUM_THREADS;
+
+		while (numActiveThreads)
+                {
+			int arg0,arg1;
+                        if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
+                        {
+                                numActiveThreads--;
+                                printf("numActiveThreads = %d\n",numActiveThreads);
+
+                        } else
+                        {
+                        }
+                };
+
+		printf("stopping threads\n");
+
+		delete m_threadSupport;   
+		m_threadSupport = 0;
+
+		//m_physicsServer.resetDynamicsWorld();
+		
+}
+
+
+
 bool PhysicsServerExample::wantsTermination()
 {
     return m_wantsShutdown;
@@ -190,6 +607,93 @@ bool PhysicsServerExample::wantsTermination()
 
 void	PhysicsServerExample::stepSimulation(float deltaTime)
 {
+	//this->m_physicsServer.processClientCommands();
+
+	//check if any graphics related tasks are requested
+	
+	switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
+	{
+	case eGUIHelperCreateCollisionShapeGraphicsObject:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+
+		break;
+	}
+	case eGUIHelperCreateCollisionObjectGraphicsObject:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
+			m_multiThreadedHelper->m_color2);
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eGUIHelperRegisterTexture:
+	{
+		
+		m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
+						m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
+
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		
+		break;
+	}
+	case eGUIHelperRegisterGraphicsShape:
+	{
+		m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
+				m_multiThreadedHelper->m_vertices,
+				m_multiThreadedHelper->m_numvertices,
+				m_multiThreadedHelper->m_indices,
+				m_multiThreadedHelper->m_numIndices,
+				m_multiThreadedHelper->m_primitiveType,
+				m_multiThreadedHelper->m_textureId);
+
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eGUIHelperRegisterGraphicsInstance:
+	{
+		m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
+				m_multiThreadedHelper->m_shapeIndex,
+				m_multiThreadedHelper->m_position,
+				m_multiThreadedHelper->m_quaternion,
+				m_multiThreadedHelper->m_color,
+				m_multiThreadedHelper->m_scaling);
+
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eGUIHelperRemoveAllGraphicsInstances:
+        {
+            m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
+			int numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
+			b3Assert(numRenderInstances==0);
+
+            m_multiThreadedHelper->getCriticalSection()->lock();
+            m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+            m_multiThreadedHelper->getCriticalSection()->unlock();
+            break;
+        }
+	case eGUIHelperIdle:
+	default:
+		{
+			
+		}
+	}
+	
+
+
+
+	#if 0
 	if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
 	{
 		btClock rtc;
@@ -201,15 +705,60 @@ void	PhysicsServerExample::stepSimulation(float deltaTime)
 		}
 	} else
 	{
-        for (int i=0;i<10;i++)
+        //for (int i=0;i<10;i++)
 			m_physicsServer.processClientCommands();
 	}
+	#endif
+
+	if (!blockme2)
+	{
+		if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
+		{
+			m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
+		}
+	}
 }
 
+
 void PhysicsServerExample::renderScene()
 {
 	///debug rendering
+	//m_args[0].m_cs->lock();
+	
 	m_physicsServer.renderScene();
+
+	if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
+	{
+		//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
+
+		static int frameCount=0;
+		frameCount++;
+		char bla[1024];
+		sprintf(bla,"VR sub-title text test, frame %d", frameCount/2);
+		float pos[4];
+		m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
+		btTransform viewTr;
+		btScalar m[16];
+		float mf[16];
+		m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraViewMatrix(mf);
+		for (int i=0;i<16;i++)
+		{
+			m[i] = mf[i];
+		}
+		viewTr.setFromOpenGLMatrix(m);
+		btTransform viewTrInv = viewTr.inverse();
+		float upMag = -.6;
+		btVector3 side = viewTrInv.getBasis().getColumn(0);
+		btVector3 up = viewTrInv.getBasis().getColumn(1);
+		up+=0.35*side;
+		m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
+		//btVector3 fwd = viewTrInv.getBasis().getColumn(2);
+		sprintf(bla,"VR line 2 sub-title text test, frame %d", frameCount/2);
+		upMag = -0.7;
+		m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
+	}
+
+	//m_args[0].m_cs->unlock();
 }
 
 void    PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
@@ -290,7 +839,13 @@ extern int gSharedMemoryKey;
 
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
 {
-  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem, options.m_option);
+
+	MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
+
+  	PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper, 
+		options.m_sharedMem, 
+		options.m_option);
+
 	if (gSharedMemoryKey>=0)
 	{
 		example->setSharedMemoryKey(gSharedMemoryKey);
@@ -306,3 +861,5 @@ class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOpt
 	return example;
 
 }
+
+B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)
\ No newline at end of file
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index af8101464..0d29fae1e 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -90,6 +90,11 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
 	delete m_data;
 }
 
+void PhysicsServerSharedMemory::resetDynamicsWorld()
+{
+	m_data->m_commandProcessor->deleteDynamicsWorld();
+	m_data->m_commandProcessor ->createEmptyDynamicsWorld();
+}
 void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
 {
 	m_data->m_sharedMemoryKey = key;
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h
index 3db5ff497..2c08124d0 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.h
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.h
@@ -43,6 +43,7 @@ public:
 	void enableCommandLogging(bool enable, const char* fileName);
 	void replayFromLogFile(const char* fileName);
 	
+	void resetDynamicsWorld();
 
 };
 
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index 34aea2de5..c2ceb1a05 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -15,7 +15,8 @@ links {
 
 language "C++"
 
-files {
+myfiles = 
+{
 	"PhysicsClient.cpp",
 	"PhysicsClientSharedMemory.cpp",
 	"PhysicsClientExample.cpp",
@@ -24,7 +25,6 @@ files {
 	"PhysicsServerSharedMemory.h",
 	"PhysicsServer.cpp",
 	"PhysicsServer.h",
-	"main.cpp",
 	"PhysicsClientC_API.cpp",
 	"SharedMemoryCommands.h",
 	"SharedMemoryPublic.h",
@@ -76,11 +76,211 @@ files {
 	"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 	"../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
 	"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",	
-    "../ThirdPartyLibs/tinyxml/tinystr.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxml.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
-"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",     
+	"../ThirdPartyLibs/tinyxml/tinystr.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+	"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+	"../ThirdPartyLibs/stb_image/stb_image.cpp",     
 }
 
+files {
+	myfiles,
+	"main.cpp",
+}
+
+
+files {
+		"../MultiThreading/b3ThreadSupportInterface.cpp",
+		"../MultiThreading/b3ThreadSupportInterface.h"
+	}
+	if os.is("Windows") then
+
+		files {
+                "../MultiThreading/b3Win32ThreadSupport.cpp",  
+                "../MultiThreading/b3Win32ThreadSupport.h" 
+		}
+		--links {"winmm"}
+		--defines {"__WINDOWS_MM__", "WIN32"}
+	end
+
+	if os.is("Linux") then 
+		files {
+                "../MultiThreading/b3PosixThreadSupport.cpp",  
+                "../MultiThreading/b3PosixThreadSupport.h"    
+        	}
+
+		links {"pthread"}
+	end
+
+	if os.is("MacOSX") then
+		files {
+                "../MultiThreading/b3PosixThreadSupport.cpp",
+                "../MultiThreading/b3PosixThreadSupport.h"    
+                }
+
+		links {"pthread"}
+		--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+		--defines {"__MACOSX_CORE__"}
+	end
+
+
+project "App_SharedMemoryPhysics_GUI"
+
+if _OPTIONS["ios"] then
+        kind "WindowedApp"
+else
+        kind "ConsoleApp"
+end
+defines {"B3_USE_STANDALONE_EXAMPLE"}
+
+includedirs {"../../src"}
+
+links {
+        "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
+}
+	initOpenGL()
+  initGlew()
+
+language "C++"
+
+files {
+        myfiles,
+        "../StandaloneMain/main_opengl_single_example.cpp",
+				"../ExampleBrowser/OpenGLGuiHelper.cpp",
+				"../ExampleBrowser/GL_ShapeDrawer.cpp",
+				"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+}
+
+if os.is("Linux") then initX11() end
+
+if os.is("MacOSX") then
+        links{"Cocoa.framework"}
+end
+
+
+files {
+		"../MultiThreading/b3ThreadSupportInterface.cpp",
+		"../MultiThreading/b3ThreadSupportInterface.h"
+	}
+if os.is("Windows") then
+
+	files {
+              "../MultiThreading/b3Win32ThreadSupport.cpp",  
+              "../MultiThreading/b3Win32ThreadSupport.h" 
+	}
+	--links {"winmm"}
+	--defines {"__WINDOWS_MM__", "WIN32"}
+end
+
+if os.is("Linux") then 
+	files {
+              "../MultiThreading/b3PosixThreadSupport.cpp",  
+              "../MultiThreading/b3PosixThreadSupport.h"    
+      	}
+
+	links {"pthread"}
+end
+
+if os.is("MacOSX") then
+	files {
+              "../MultiThreading/b3PosixThreadSupport.cpp",
+              "../MultiThreading/b3PosixThreadSupport.h"    
+              }
+
+	links {"pthread"}
+	--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+	--defines {"__MACOSX_CORE__"}
+end
+
+if os.is("Windows") then 
+	project "App_SharedMemoryPhysics_VR"
+	--for now, only enable VR under Windows, until compilation issues are resolved on Mac/Linux
+	defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
+	
+	if _OPTIONS["ios"] then
+		kind "WindowedApp"
+	else	
+		kind "ConsoleApp"
+	end
+	
+	includedirs {
+			".","../../src", "../ThirdPartyLibs",
+			"../ThirdPartyLibs/openvr/headers",
+			"../ThirdPartyLibs/openvr/samples/shared"
+		}
+						
+	links {
+		"Bullet3Common",	"BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
+	}
+	
+	
+	language "C++"
+	
+	
+		initOpenGL()
+	  initGlew()
+	
+	
+	files
+	{
+		myfiles,
+		 "../StandaloneMain/hellovr_opengl_main.cpp",
+					"../ExampleBrowser/OpenGLGuiHelper.cpp",
+					"../ExampleBrowser/GL_ShapeDrawer.cpp",
+					"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
+					"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
+					"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
+					"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
+	}
+	if os.is("Windows") then 
+		libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
+	end
+	
+	if os.is("Linux") then initX11() end
+	
+	if os.is("MacOSX") then
+	        links{"Cocoa.framework"}
+	end
+	
+	
+	files {
+			"../MultiThreading/b3ThreadSupportInterface.cpp",
+			"../MultiThreading/b3ThreadSupportInterface.h"
+		}
+		if os.is("Windows") then
+	
+			files {
+	                "../MultiThreading/b3Win32ThreadSupport.cpp",  
+	                "../MultiThreading/b3Win32ThreadSupport.h" 
+			}
+			--links {"winmm"}
+			--defines {"__WINDOWS_MM__", "WIN32"}
+		end
+	
+		if os.is("Linux") then 
+			files {
+	                "../MultiThreading/b3PosixThreadSupport.cpp",  
+	                "../MultiThreading/b3PosixThreadSupport.h"    
+	        	}
+	
+			links {"pthread"}
+		end
+	
+		if os.is("MacOSX") then
+			files {
+	                "../MultiThreading/b3PosixThreadSupport.cpp",
+	                "../MultiThreading/b3PosixThreadSupport.h"    
+	                }
+	
+			links {"pthread"}
+			--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+			--defines {"__MACOSX_CORE__"}
+		end
+
+
+end
\ No newline at end of file
diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp
index 746f10835..dcb7aa22f 100644
--- a/examples/StandaloneMain/hellovr_opengl_main.cpp
+++ b/examples/StandaloneMain/hellovr_opengl_main.cpp
@@ -11,6 +11,7 @@
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
 
+int gSharedMemoryKey = -1;
 
 //how can you try typing on a keyboard, without seeing it?
 //it is pretty funny, to see the desktop in VR!
@@ -27,7 +28,7 @@
 #include "pathtools.h"
 
 CommonExampleInterface*    sExample;
-OpenGLGuiHelper* sGuiPtr = 0;
+GUIHelperInterface* sGuiPtr = 0;
 
 
 #if defined(POSIX)
@@ -139,7 +140,7 @@ private:
 	SimpleOpenGL3App* m_app;
 	uint32_t m_nWindowWidth;
 	uint32_t m_nWindowHeight;
-
+	bool m_hasContext;
 
 private: // OpenGL bookkeeping
 	int m_iTrackedControllerCount;
@@ -234,6 +235,7 @@ private: // OpenGL bookkeeping
 //-----------------------------------------------------------------------------
 CMainApplication::CMainApplication( int argc, char *argv[] )
 	: m_app(NULL)
+	, m_hasContext(false)
 	, m_nWindowWidth( 1280 )
 	, m_nWindowHeight( 720 )
 	, m_unSceneProgramID( 0 )
@@ -373,7 +375,9 @@ bool CMainApplication::BInit()
 	*/
 	m_app = new SimpleOpenGL3App("SimpleOpenGL3App",m_nWindowWidth,m_nWindowHeight,true);
 
+	
 	sGuiPtr = new OpenGLGuiHelper(m_app,false);
+	//sGuiPtr = new DummyGUIHelper;
 
     
 	CommonExampleOptions options(sGuiPtr);
@@ -556,13 +560,16 @@ void CMainApplication::Shutdown()
 	}
 	m_vecRenderModels.clear();
 	
-	if( 1)//m_pContext )
+	if( m_hasContext)
 	{
-		glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
-		glDebugMessageCallback(nullptr, nullptr);
-		glDeleteBuffers(1, &m_glSceneVertBuffer);
-		glDeleteBuffers(1, &m_glIDVertBuffer);
-		glDeleteBuffers(1, &m_glIDIndexBuffer);
+		if (m_glSceneVertBuffer)
+		{
+			glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
+			glDebugMessageCallback(nullptr, nullptr);
+			glDeleteBuffers(1, &m_glSceneVertBuffer);
+			glDeleteBuffers(1, &m_glIDVertBuffer);
+			glDeleteBuffers(1, &m_glIDIndexBuffer);
+		}
 
 		if ( m_unSceneProgramID )
 		{
@@ -1067,6 +1074,7 @@ void CMainApplication::SetupScene()
 	glDisableVertexAttribArray(0);
 	glDisableVertexAttribArray(1);
 
+	m_hasContext = true;
 }
 
 
@@ -1455,6 +1463,8 @@ void CMainApplication::SetupDistortion()
 //-----------------------------------------------------------------------------
 void CMainApplication::RenderStereoTargets()
 {
+	sExample->stepSimulation(1./60.);
+
 	glClearColor( 0.15f, 0.15f, 0.18f, 1.0f ); // nice background color, but not black
 	glEnable( GL_MULTISAMPLE );
 
@@ -1462,31 +1472,75 @@ void CMainApplication::RenderStereoTargets()
 	m_app->m_instancingRenderer->init();
 	
 	
+	Matrix4 rotYtoZ = rotYtoZ.identity();
 	
+	//some Bullet apps (especially robotics related) require Z as up-axis)
+	if (m_app->getUpAxis()==2)
+	{
+		rotYtoZ.rotateX(-90);
+	}
+	
+	RenderScene( vr::Eye_Left );
+
 	// Left Eye
 	{
-		Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose;
+		
+		Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose * rotYtoZ;
+		Matrix4 viewMatCenter = m_mat4HMDPose * rotYtoZ;
+		//0,1,2,3
+		//4,5,6,7,
+		//8,9,10,11
+		//12,13,14,15
+		
+		//m_mat4eyePosLeft.get()[10]
+		//m_app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(
+		//	m_mat4eyePosLeft.get()[3],
+		//	m_mat4eyePosLeft.get()[7],
+		//	m_mat4eyePosLeft.get()[11]);
+		Matrix4 m;
+		m = viewMatCenter;
+		const float* mat = m.invertAffine().get();
+		
+		/*printf("camera:\n,%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f",
+			mat[0],mat[1],mat[2],mat[3],
+			mat[4],mat[5],mat[6],mat[7],
+			mat[8],mat[9],mat[10],mat[11],
+			mat[12],mat[13],mat[14],mat[15]);
+			*/
+		float dist=1;
+		m_app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(
+			mat[12]-dist*mat[8],
+			mat[13]-dist*mat[9],
+			mat[14]-dist*mat[10]
+			);
+		m_app->m_instancingRenderer->getActiveCamera()->setCameraUpVector(mat[0],mat[1],mat[2]);
 		m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(),m_mat4ProjectionLeft.get());
-		m_app->m_instancingRenderer->updateCamera();
+		m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
 	}
 
 	glBindFramebuffer( GL_FRAMEBUFFER, leftEyeDesc.m_nRenderFramebufferId );
  	glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
  	
 	
+	
 
 	m_app->m_window->startRendering();
-	RenderScene( vr::Eye_Left );
 	
-	m_app->drawGrid();
-	sExample->stepSimulation(1./60.);
-	sExample->renderScene();
+
+	
+
+	
 	
 
 	
 	m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)leftEyeDesc.m_nRenderFramebufferId);
 
-	m_app->m_instancingRenderer->renderScene();
+	sExample->renderScene();
+	//m_app->m_instancingRenderer->renderScene();
+	DrawGridData gridUp;
+	gridUp.upAxis = m_app->getUpAxis();
+	m_app->drawGrid(gridUp);
+
 	
  	glBindFramebuffer( GL_FRAMEBUFFER, 0 );
 	
@@ -1506,22 +1560,25 @@ void CMainApplication::RenderStereoTargets()
 
 	// Right Eye
 	
-	{
-		Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose;
-		m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get());
-		m_app->m_instancingRenderer->updateCamera();
-	}
+	RenderScene( vr::Eye_Right );
 
+	{
+		Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ;
+		m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get());
+		m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
+	}
+	
 	glBindFramebuffer( GL_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId );
  	glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
  	
 	m_app->m_window->startRendering();
-	RenderScene( vr::Eye_Right );
 	
-	m_app->drawGrid();
+	
+	
 	m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId);
-
-	m_app->m_renderer->renderScene();
+	//m_app->m_renderer->renderScene();
+	sExample->renderScene();
+	m_app->drawGrid(gridUp);
 	
  	glBindFramebuffer( GL_FRAMEBUFFER, 0 );
  	
diff --git a/examples/StandaloneMain/main_opengl_single_example.cpp b/examples/StandaloneMain/main_opengl_single_example.cpp
index a7410433c..8bf97619d 100644
--- a/examples/StandaloneMain/main_opengl_single_example.cpp
+++ b/examples/StandaloneMain/main_opengl_single_example.cpp
@@ -17,14 +17,9 @@ subject to the following restrictions:
 
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "../Utils/b3Clock.h"
 
 
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btHashMap.h"
-
 
 
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
@@ -32,6 +27,7 @@ subject to the following restrictions:
 #include "../ExampleBrowser/OpenGLGuiHelper.h"
 
 CommonExampleInterface*    example;
+int gSharedMemoryKey=-1;
 
 b3MouseMoveCallback prevMouseMoveCallback = 0;
 static void OnMouseMove( float x, float y)
@@ -57,9 +53,23 @@ static void OnMouseDown(int button, int state, float x, float y) {
 	}
 }
 
+class LessDummyGuiHelper : public DummyGUIHelper
+{
+	CommonGraphicsApp* m_app;
+public:
+	virtual CommonGraphicsApp* getAppInterface()
+	{
+		return m_app;
+	}
+
+	LessDummyGuiHelper(CommonGraphicsApp* app)
+		:m_app(app)
+	{
+	}
+};
 int main(int argc, char* argv[])
 {
-
+	
 	SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet Standalone Example",1024,768,true);
 	
 	prevMouseButtonCallback = app->m_window->getMouseButtonCallback();
@@ -69,20 +79,26 @@ int main(int argc, char* argv[])
 	app->m_window->setMouseMoveCallback((b3MouseMoveCallback)OnMouseMove);
 	
 	OpenGLGuiHelper gui(app,false);
-    
+	//LessDummyGuiHelper gui(app);
+	//DummyGUIHelper gui;
+
 	CommonExampleOptions options(&gui);
 
 	example = StandaloneExampleCreateFunc(options);
-  example->initPhysics();
+	example->initPhysics();
 	example->resetCamera();
 	
+	b3Clock clock;
+
 	do
 	{
 		app->m_instancingRenderer->init();
         app->m_instancingRenderer->updateCamera(app->getUpAxis());
 
-		example->stepSimulation(1./60.);
-	  	
+		btScalar dtSec = btScalar(clock.getTimeInSeconds());
+		example->stepSimulation(dtSec);
+	  	clock.reset();
+
 		example->renderScene();
  	
 		DrawGridData dg;
diff --git a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
index 1fa1b0ccd..2ab5d3992 100644
--- a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
+++ b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
@@ -105,14 +105,20 @@ public:
 		
 	}
 	
-   	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		return -1;
+	}
+	
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
    	{
-   	    int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
+   	    int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices,primitiveType, textureId);
    	    if (shapeIndex>=0)
         {
             TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
-        float rgbaColor[4] = {1,1,1,1};    
-	swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+			float rgbaColor[4] = {1,1,1,1};    
+			swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
 			//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
             m_swRenderObjects.insert(shapeIndex,swObj);
         }
diff --git a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp
index 565b771e7..d4e0fd77b 100644
--- a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp
+++ b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp
@@ -37,6 +37,12 @@ static btVector4 sMyColors[4] =
 	//btVector4(1,1,0,1),
 };
 
+struct TinyRendererTexture
+{
+	const unsigned char* m_texels;
+	int m_width;
+	int m_height;
+};
 
 struct TinyRendererGUIHelper : public GUIHelperInterface
 {
@@ -45,6 +51,7 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
 	btHashMap<btHashInt,int> m_swInstances;
+	btHashMap<btHashInt,TinyRendererTexture> m_textures;
 	
 	int m_swWidth;
 	int m_swHeight;
@@ -151,7 +158,8 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	if (gfxVertices.size() && indices.size())
 	{
-		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
+		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),
+			1,-1);
 		collisionShape->setUserIndex(shapeId);
 	}
 	}
@@ -249,18 +257,41 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) 
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		//do we need to make a copy?
+		int textureId = m_textures.size();
+		TinyRendererTexture t;
+		t.m_texels = texels;
+		t.m_width = width;
+		t.m_height = height;
+		this->m_textures.insert(textureId,t);
+		return textureId;
+	}
+
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
 	{
 		int shapeIndex = m_swRenderObjects.size();
 
 		TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
         float rgbaColor[4] = {1,1,1,1};
-	swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+
+		//if (textureId>=0)
+		//{
+		//	swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+		//} else
+		{
+			swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+		}
 		//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
         m_swRenderObjects.insert(shapeIndex,swObj);
 		return shapeIndex;
 	}
 
+	 virtual void removeAllGraphicsInstances()
+	 {
+	 }
+
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) 
 	{
 		int colIndex = m_colObjUniqueIndex++;
diff --git a/examples/ThirdPartyLibs/openvr/LICENSE b/examples/ThirdPartyLibs/openvr/LICENSE
new file mode 100644
index 000000000..ee83337d7
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/LICENSE
@@ -0,0 +1,27 @@
+Copyright (c) 2015, Valve Corporation
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/examples/ThirdPartyLibs/openvr/README b/examples/ThirdPartyLibs/openvr/README
new file mode 100644
index 000000000..9a8923159
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/README
@@ -0,0 +1,9 @@
+OpenVR is an API and runtime that allows access to VR hardware from multiple 
+vendors without requiring that applications have specific knowledge of the 
+hardware they are targeting. This repository is an SDK that contains the API 
+and samples. The runtime is under SteamVR in Tools on Steam. 
+
+Documentation for the API is available in the wiki: https://github.com/ValveSoftware/openvr/wiki/API-Documentation
+
+More information on OpenVR and SteamVR can be found on http://steamvr.com
+
diff --git a/examples/Utils/b3Clock.cpp b/examples/Utils/b3Clock.cpp
index a504ba856..6802726d9 100644
--- a/examples/Utils/b3Clock.cpp
+++ b/examples/Utils/b3Clock.cpp
@@ -166,7 +166,7 @@ unsigned long int b3Clock::getTimeMilliseconds()
 
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
-unsigned long int b3Clock::getTimeMicroseconds()
+unsigned long long int b3Clock::getTimeMicroseconds()
 {
 #ifdef B3_USE_WINDOWS_TIMERS
 		LARGE_INTEGER currentTime;
@@ -175,14 +175,14 @@ unsigned long int b3Clock::getTimeMicroseconds()
 			m_data->mStartTime.QuadPart;
 
 		// Compute the number of millisecond ticks elapsed.
-		unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
+		unsigned long long msecTicks = (unsigned long long)(1000 * elapsedTime / 
 			m_data->mClockFrequency.QuadPart);
 
 		// Check for unexpected leaps in the Win32 performance counter.  
 		// (This is caused by unexpected data across the PCI to ISA 
 		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+		unsigned long long elapsedTicks = GetTickCount() - m_data->mStartTick;
+		signed long long msecOff = (signed long)(msecTicks - elapsedTicks);
 		if (msecOff < -100 || msecOff > 100)
 		{
 			// Adjust the starting time forwards.
@@ -197,7 +197,7 @@ unsigned long int b3Clock::getTimeMicroseconds()
 		m_data->mPrevElapsedTime = elapsedTime;
 
 		// Convert to microseconds.
-		unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / 
+		unsigned long long usecTicks = (unsigned long)(1000000 * elapsedTime / 
 			m_data->mClockFrequency.QuadPart);
 
 		return usecTicks;
@@ -222,3 +222,8 @@ unsigned long int b3Clock::getTimeMicroseconds()
 #endif 
 }
 
+double b3Clock::getTimeInSeconds()
+{
+	return double(getTimeMicroseconds()/1.e6);
+}
+
diff --git a/examples/Utils/b3Clock.h b/examples/Utils/b3Clock.h
index d30c615a3..cb1c0c29d 100644
--- a/examples/Utils/b3Clock.h
+++ b/examples/Utils/b3Clock.h
@@ -22,7 +22,12 @@ public:
 
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
-	unsigned long int getTimeMicroseconds();
+	unsigned long long int getTimeMicroseconds();
+
+	/// Returns the time in seconds since the last call to reset or since 
+	/// the Clock was created.
+	double getTimeInSeconds();
+
 private:
 	struct b3ClockData* m_data;
 };
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 501bcf515..58e4df4c2 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -172,6 +172,8 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
 			&startOrnX,&startOrnY,&startOrnZ, &startOrnW))
                 return NULL;
 	}
+	
+		if (strlen(urdfFileName))
     {
       // printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW);
         
@@ -185,12 +187,16 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
         statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
         statusType = b3GetStatusType(statusHandle);
         if (statusType!=CMD_URDF_LOADING_COMPLETED)
-		{
-			PyErr_SetString(SpamError, "Cannot load URDF file.");
-			return NULL;
-		}
+				{
+					PyErr_SetString(SpamError, "Cannot load URDF file.");
+					return NULL;
+				}
         bodyIndex = b3GetStatusBodyIndex(statusHandle);
-    }
+    } else
+    	{
+    		PyErr_SetString(SpamError, "Empty filename, method expects 1, 4 or 8 arguments.");
+				return NULL;
+    	}
 	return PyLong_FromLong(bodyIndex);
 }
 
@@ -368,8 +374,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
         {
             case CONTROL_MODE_VELOCITY:
             {
+				double kd = gains;
                 b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue);
-                double kd = gains;
                 b3JointControlSetKd(commandHandle,info.m_uIndex,kd);
                 b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
                 break;
@@ -383,8 +389,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
                     
             case CONTROL_MODE_POSITION_VELOCITY_PD:
             {
+				double kp = gains;
                 b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue);
-                double kp = gains;
                 b3JointControlSetKp(commandHandle,info.m_uIndex,kp);
                 b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
                 break;
@@ -1264,10 +1270,12 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
                 PyErr_SetString(SpamError, "flag has to be either WORLD_FRAME or LINK_FRAME");
                 return NULL;
             }
-            b3SharedMemoryStatusHandle statusHandle;
-            b3SharedMemoryCommandHandle command = b3ApplyExternalForceCommandInit(sm);
-            b3ApplyExternalTorque(command,objectUniqueId,-1,torque, flags);
-            statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+			{
+				b3SharedMemoryStatusHandle statusHandle;
+				b3SharedMemoryCommandHandle command = b3ApplyExternalForceCommandInit(sm);
+				b3ApplyExternalTorque(command,objectUniqueId,-1,torque, flags);
+				statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+			}
 
         }
     }
@@ -1383,12 +1391,13 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
 
     {
         double rpy[3];
-        sqx = quat[0] * quat[0];
+        double sarg;
+		sqx = quat[0] * quat[0];
         sqy = quat[1] * quat[1];
         sqz = quat[2] * quat[2];
         squ = quat[3] * quat[3];
         rpy[0] = atan2(2 * (quat[1]*quat[2] + quat[3]*quat[0]), squ - sqx - sqy + sqz);
-        double sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
+        sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
         rpy[1] = sarg <= -1.0 ? -0.5*3.141592538 : (sarg >= 1.0 ? 0.5*3.141592538 : asin(sarg));
         rpy[2] = atan2(2 * (quat[0]*quat[1] + quat[3]*quat[2]), squ + sqx - sqy - sqz);
         {
diff --git a/src/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp b/src/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp
index 6b332f50c..b78f76331 100644
--- a/src/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp
+++ b/src/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp
@@ -389,16 +389,8 @@ void bDNA::init(char *data, int len, bool swap)
 	}
 
 	
-	{
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
+	cp = b3AlignPointer(cp,4);
+	
 
 	/*
 		TYPE (4 bytes)
@@ -425,16 +417,8 @@ void bDNA::init(char *data, int len, bool swap)
 		cp++;
 	}
 
-{
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
 
+	cp = b3AlignPointer(cp,4);
 
 	/*
 		TLEN (4 bytes)
diff --git a/src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp b/src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
index 01d3a696c..71d3b9e30 100644
--- a/src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
+++ b/src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
@@ -428,16 +428,7 @@ void bFile::swapDNA(char* ptr)
 	}
 
 
-	{
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
+	cp = b3AlignPointer(cp,4);
 
 	/*
 		TYPE (4 bytes)
@@ -465,16 +456,7 @@ void bFile::swapDNA(char* ptr)
 		cp++;
 	}
 
-{
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
+	cp = b3AlignPointer(cp,4);
 
 	/*
 		TLEN (4 bytes)
diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c
index 6bc517c8e..fab7129cc 100644
--- a/test/SharedMemory/test.c
+++ b/test/SharedMemory/test.c
@@ -106,7 +106,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
 			b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
 			
             //setting the initial position, orientation and other arguments are optional
-            startPosX =0;
+            startPosX =2;
             startPosY =0;
             startPosZ = 1;
             ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);