allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example.

expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -217,6 +217,11 @@ void ExampleBrowserThreadFunc(void* userPtr, void* lsMemory)
 	ExampleBrowserArgs* args = (ExampleBrowserArgs*)userPtr;
 	//int workLeft = true;
 	b3CommandLineArgs args2(args->m_argc, args->m_argv);
+	int minUpdateMs = 4000;
+	if (args2.GetCmdLineArgument("minGraphicsUpdateTimeMs", minUpdateMs))
+	{
+		gMinUpdateTimeMicroSecs = minUpdateMs;
+	}
 	b3Clock clock;
 
 	ExampleEntriesPhysicsServer examples;

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1604,11 +1604,30 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3Physics
 		command->m_createMultiBodyArgs.m_bodyName[0] = 0;
 		command->m_createMultiBodyArgs.m_baseLinkIndex = -1;
 		command->m_createMultiBodyArgs.m_numLinks = 0;
+		command->m_createMultiBodyArgs.m_numBatchObjects = 0;
 		return (b3SharedMemoryCommandHandle)command;
 	}
 	return 0;
 }
 
+//batch creation is an performance feature to create a large number of multi bodies in one command
+B3_SHARED_API int b3CreateMultiBodySetBatchPositions(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, double* batchPositions, int numBatchObjects)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_CREATE_MULTI_BODY);
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	
+	if (cl && command->m_type == CMD_CREATE_MULTI_BODY)
+	{
+		command->m_createMultiBodyArgs.m_numBatchObjects = numBatchObjects;
+		cl->uploadBulletFileToSharedMemory((const char*)batchPositions, sizeof(double) * 3 * numBatchObjects);
+	}
+	return 0;
+}
+
 B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, const double basePosition[3], const double baseOrientation[4], const double baseInertialFramePosition[3], const double baseInertialFrameOrientation[4])
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -511,6 +511,9 @@ extern "C"
 											int linkJointType,
 											const double linkJointAxis[/*3*/]);
 
+	//batch creation is an performance feature to create a large number of multi bodies in one command
+	B3_SHARED_API int b3CreateMultiBodySetBatchPositions(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, double* batchPositions, int numBatchObjects);
+
 	//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
 	B3_SHARED_API void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle);
 	B3_SHARED_API void b3CreateMultiBodySetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -2621,7 +2621,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 #endif
 
 	//Workaround: in a VR application, where we avoid synchronizing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
-	m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(32768);
+	m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(128 * 1024);
 
 	m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
 
@@ -4401,7 +4401,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 								btVector3 v2(vertexUpload[i2*3+0],
 									vertexUpload[i2*3+1],
 									vertexUpload[i2*3+2]);
-								meshInterface->addTriangle(v0, v1, v2);
+								meshInterface->addTriangle(v0*meshScale, v1*meshScale, v2*meshScale);
 							}
 						}
 
@@ -4434,7 +4434,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 							btVector3 pt(vertexUpload[v*3+0],
 								vertexUpload[v*3+1],
 								vertexUpload[v*3+2]);
-							convexHull->addPoint(pt, false);
+							convexHull->addPoint(pt*meshScale, false);
 						}
 
 						convexHull->recalcLocalAabb();
@@ -7048,6 +7048,36 @@ bool PhysicsServerCommandProcessor::processLoadSDFCommand(const struct SharedMem
 
 bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
+	if (clientCmd.m_createMultiBodyArgs.m_numBatchObjects > 0)
+	{
+		//batch of objects, to speed up creation time
+		bool result = false;
+		SharedMemoryCommand clientCmd2 = clientCmd;
+		int baseLinkIndex = clientCmd.m_createMultiBodyArgs.m_baseLinkIndex;
+		double* basePositionAndOrientations = (double*)bufferServerToClient;
+		for (int i = 0; i < clientCmd2.m_createMultiBodyArgs.m_numBatchObjects; i++)
+		{
+			clientCmd2.m_createMultiBodyArgs.m_linkPositions[baseLinkIndex * 3 + 0] = basePositionAndOrientations[0 + i * 3];
+			clientCmd2.m_createMultiBodyArgs.m_linkPositions[baseLinkIndex * 3 + 1] = basePositionAndOrientations[1 + i * 3];
+			clientCmd2.m_createMultiBodyArgs.m_linkPositions[baseLinkIndex * 3 + 2] = basePositionAndOrientations[2 + i * 3];
+			if (i == (clientCmd2.m_createMultiBodyArgs.m_numBatchObjects - 1))
+			{
+				result = processCreateMultiBodyCommandSingle(clientCmd2, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
+			}
+			else
+			{
+				result = processCreateMultiBodyCommandSingle(clientCmd2, serverStatusOut, 0, 0);
+			}
+		}
+		m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
+		return result;
+	}
+	return processCreateMultiBodyCommandSingle(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
+}
+
+bool PhysicsServerCommandProcessor::processCreateMultiBodyCommandSingle(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+{
+	BT_PROFILE("processCreateMultiBodyCommand2");
 	bool hasStatus = true;
 
 	serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_FAILED;
@@ -7072,10 +7102,16 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
 
 
 
-		bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
+
+		bool ok = 0;
+		{
+			BT_PROFILE("processImportedObjects");
+			ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
+		}
 
 		if (ok)
 		{
+			BT_PROFILE("post process");
 			int bodyUniqueId = -1;
 
 			if (m_data->m_sdfRecentLoadedBodies.size() == 1)
@@ -7085,15 +7121,23 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
 			m_data->m_sdfRecentLoadedBodies.clear();
 			if (bodyUniqueId >= 0)
 			{
-				m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
+				
 				serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_COMPLETED;
+				if (bufferSizeInBytes>0 && serverStatusOut.m_numDataStreamBytes==0)
+				{
+					{
+						BT_PROFILE("autogenerateGraphicsObjects");
+						m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
+					}
+					
+					BT_PROFILE("createBodyInfoStream");
+					int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
+					serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
 
-				int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
+					serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
-				serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
+					InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
-
+					strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
-				serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
+				}
-				InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
-				strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
 			}
 		}
 
@@ -8199,6 +8243,11 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 		}
 	}
 
+	if (clientCmd.m_updateFlags & SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE)
+	{
+		m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = clientCmd.m_physSimParamArgs.m_minimumSolverIslandSize;
+	}
+
 	if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
 	{
 		m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
@@ -10967,6 +11016,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 			hasStatus = processCreateVisualShapeCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
 			break;
 		}
+		
 		case CMD_CREATE_MULTI_BODY:
 		{
 			hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -41,6 +41,8 @@ protected:
 	bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processCreateMultiBodyCommandSingle(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
 	bool processLoadURDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processCreateSensorCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);

examples/SharedMemory/SharedMemoryCommands.h

@@ -981,14 +981,8 @@ struct b3CreateMultiBodyArgs
 	int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
 	double m_linkJointAxis[3 * MAX_CREATE_MULTI_BODY_LINKS];
 	int m_flags;
-#if 0
+	int m_numBatchObjects;
-	std::string m_name;
+
-	std::string m_sourceFile;
-    btTransform m_rootTransformInWorld;
-	btHashMap<btHashString, UrdfMaterial*> m_materials;
-	btHashMap<btHashString, UrdfLink*> m_links;
-	btHashMap<btHashString, UrdfJoint*> m_joints;
-#endif
 };
 
 struct b3CreateMultiBodyResultArgs

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp

@@ -2184,6 +2184,21 @@ int b3RobotSimulatorClientAPI_NoDirect::createMultiBody(struct b3RobotSimulatorC
 
 	command = b3CreateMultiBodyCommandInit(sm);
 
+	if (args.m_useMaximalCoordinates)
+	{
+		b3CreateMultiBodyUseMaximalCoordinates(command);
+	}
+	if (args.m_batchPositions.size())
+	{
+		btAlignedObjectArray<double> positionArray;
+		for (int i = 0; i < args.m_batchPositions.size(); i++)
+		{
+			positionArray.push_back(args.m_batchPositions[i][0]);
+			positionArray.push_back(args.m_batchPositions[i][1]);
+			positionArray.push_back(args.m_batchPositions[i][2]);
+		}
+		b3CreateMultiBodySetBatchPositions(sm, command, &positionArray[0], args.m_batchPositions.size());
+	}
 	baseIndex = b3CreateMultiBodyBase(command, args.m_baseMass, args.m_baseCollisionShapeIndex, args.m_baseVisualShapeIndex,
 									  doubleBasePosition, doubleBaseOrientation, doubleBaseInertialFramePosition, doubleBaseInertialFrameOrientation);
 

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h

@@ -418,7 +418,7 @@ struct b3RobotSimulatorCreateMultiBodyArgs
 	int *m_linkParentIndices;
 	int *m_linkJointTypes;
 	btVector3 *m_linkJointAxes;
-
+	btAlignedObjectArray<btVector3> m_batchPositions;
 	int m_useMaximalCoordinates;
 
 	b3RobotSimulatorCreateMultiBodyArgs()

examples/pybullet/examples/createMultiBodyBatch.py

@@ -0,0 +1,150 @@
+import pybullet as p
+import time
+import math
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=16000")
+	
+	
+p.setPhysicsEngineParameter(numSolverIterations=4, minimumSolverIslandSize=1024)
+p.setTimeStep(1./120.)
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
+#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
+p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
+#disable rendering during creation.
+p.setPhysicsEngineParameter(contactBreakingThreshold=0.04)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+#disable tinyrenderer, software (CPU) renderer, we don't use it here
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+
+shift = [0,-0.02,0]
+meshScale=[0.1,0.1,0.1]
+
+vertices=[
+[-1.000000,-1.000000,1.000000],
+[1.000000,-1.000000,1.000000],
+[1.000000,1.000000,1.000000],
+[-1.000000,1.000000,1.000000],
+[-1.000000,-1.000000,-1.000000],
+[1.000000,-1.000000,-1.000000],
+[1.000000,1.000000,-1.000000],
+[-1.000000,1.000000,-1.000000],
+[-1.000000,-1.000000,-1.000000],
+[-1.000000,1.000000,-1.000000],
+[-1.000000,1.000000,1.000000],
+[-1.000000,-1.000000,1.000000],
+[1.000000,-1.000000,-1.000000],
+[1.000000,1.000000,-1.000000],
+[1.000000,1.000000,1.000000],
+[1.000000,-1.000000,1.000000],
+[-1.000000,-1.000000,-1.000000],
+[-1.000000,-1.000000,1.000000],
+[1.000000,-1.000000,1.000000],
+[1.000000,-1.000000,-1.000000],
+[-1.000000,1.000000,-1.000000],
+[-1.000000,1.000000,1.000000],
+[1.000000,1.000000,1.000000],
+[1.000000,1.000000,-1.000000]
+]
+
+normals=[
+[0.000000,0.000000,1.000000],
+[0.000000,0.000000,1.000000],
+[0.000000,0.000000,1.000000],
+[0.000000,0.000000,1.000000],
+[0.000000,0.000000,-1.000000],
+[0.000000,0.000000,-1.000000],
+[0.000000,0.000000,-1.000000],
+[0.000000,0.000000,-1.000000],
+[-1.000000,0.000000,0.000000],
+[-1.000000,0.000000,0.000000],
+[-1.000000,0.000000,0.000000],
+[-1.000000,0.000000,0.000000],
+[1.000000,0.000000,0.000000],
+[1.000000,0.000000,0.000000],
+[1.000000,0.000000,0.000000],
+[1.000000,0.000000,0.000000],
+[0.000000,-1.000000,0.000000],
+[0.000000,-1.000000,0.000000],
+[0.000000,-1.000000,0.000000],
+[0.000000,-1.000000,0.000000],
+[0.000000,1.000000,0.000000],
+[0.000000,1.000000,0.000000],
+[0.000000,1.000000,0.000000],
+[0.000000,1.000000,0.000000]
+]
+
+uvs=[
+[0.750000,0.250000],
+[1.000000,0.250000],
+[1.000000,0.000000],
+[0.750000,0.000000],
+[0.500000,0.250000],
+[0.250000,0.250000],
+[0.250000,0.000000],
+[0.500000,0.000000],
+[0.500000,0.000000],
+[0.750000,0.000000],
+[0.750000,0.250000],
+[0.500000,0.250000],
+[0.250000,0.500000],
+[0.250000,0.250000],
+[0.000000,0.250000],
+[0.000000,0.500000],
+[0.250000,0.500000],
+[0.250000,0.250000],
+[0.500000,0.250000],
+[0.500000,0.500000],
+[0.000000,0.000000],
+[0.000000,0.250000],
+[0.250000,0.250000],
+[0.250000,0.000000]
+]
+indices=[	0, 1, 2, 0, 2, 3,  #//ground face
+		6, 5, 4, 7, 6, 4,  #//top face
+		10, 9, 8, 11, 10, 8,
+		12, 13, 14, 12, 14, 15,
+		18, 17, 16, 19, 18, 16,
+		20, 21, 22, 20, 22, 23]
+
+#p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
+visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, vertices=vertices, indices=indices, uvs=uvs, normals=normals)
+#visualShapeId = p.createVisualShape(shapeType=p.GEOM_BOX,rgbaColor=[1,1,1,1], halfExtents=[0.5,0.5,0.5],specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=[1,1,1], vertices=vertices, indices=indices)
+
+#visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, fileName="duck.obj")
+collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_BOX, halfExtents=meshScale)#MESH, vertices=vertices, collisionFramePosition=shift,meshScale=meshScale)
+
+texUid = p.loadTexture("tex256.png")
+
+
+batchPositions=[]
+
+
+
+for x in range (33):
+  for y in range (34):
+    for z in range (4):
+      batchPositions.append([x*meshScale[0]*5.5,y*meshScale[1]*5.5,(0.5+z)*meshScale[2]*2.5])
+
+bodyUid = p.createMultiBody(baseMass=1,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition =[0,0,2], batchPositions=batchPositions,useMaximalCoordinates=True)
+p.changeVisualShape(bodyUid,-1, textureUniqueId = texUid)		
+
+#p.syncBodyInfo()
+#print("numBodies=",p.getNumBodies())
+p.stopStateLogging(logId)
+p.setGravity(0,0,-10)
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+
+colors = [[1,0,0,1],[0,1,0,1],[0,0,1,1],[1,1,1,1]]
+currentColor = 0
+
+
+while (1):
+  p.stepSimulation()
+  #time.sleep(1./120.)
+  #p.getCameraImage(320,200)
+  

examples/pybullet/pybullet.c

@@ -1501,9 +1501,32 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	int minimumSolverIslandSize = -1;
 
 	int physicsClientId = 0;
-	static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching", "restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "constraintSolverType", "globalCFM", "minimumSolverIslandSize", "physicsClientId", NULL};
+	static char* kwlist[] = {"fixedTimeStep", 
+		"numSolverIterations", 
+		"useSplitImpulse", 
+		"splitImpulsePenetrationThreshold", 
+		"numSubSteps", 
+		"collisionFilterMode", 
+		"contactBreakingThreshold", 
+		"maxNumCmdPer1ms", 
+		"enableFileCaching", 
+		"restitutionVelocityThreshold", 
+		"erp", 
+		"contactERP", 
+		"frictionERP", 
+		"enableConeFriction", 
+		"deterministicOverlappingPairs", 
+		"allowedCcdPenetration", 
+		"jointFeedbackMode", 
+		"solverResidualThreshold", 
+		"contactSlop", 
+		"enableSAT", 
+		"constraintSolverType", 
+		"globalCFM", 
+		"minimumSolverIslandSize", 
+		"physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiiddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
 									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId))
 	{
 		return NULL;
@@ -7656,18 +7679,19 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 	PyObject* linkJointAxisObj = 0;
 	PyObject* linkInertialFramePositionObj = 0;
 	PyObject* linkInertialFrameOrientationObj = 0;
+	PyObject* objBatchPositions = 0;
 
 	static char* kwlist[] = {
 		"baseMass", "baseCollisionShapeIndex", "baseVisualShapeIndex", "basePosition", "baseOrientation",
 		"baseInertialFramePosition", "baseInertialFrameOrientation", "linkMasses", "linkCollisionShapeIndices",
 		"linkVisualShapeIndices", "linkPositions", "linkOrientations", "linkInertialFramePositions", "linkInertialFrameOrientations", "linkParentIndices",
-		"linkJointTypes", "linkJointAxis", "useMaximalCoordinates", "flags", "physicsClientId", NULL};
+		"linkJointTypes", "linkJointAxis", "useMaximalCoordinates", "flags", "batchPositions", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOiii", kwlist,
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOiiOi", kwlist,
 									 &baseMass, &baseCollisionShapeIndex, &baseVisualShapeIndex, &basePosObj, &baseOrnObj,
 									 &baseInertialFramePositionObj, &baseInertialFrameOrientationObj, &linkMassesObj, &linkCollisionShapeIndicesObj,
 									 &linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj, &linkInertialFramePositionObj, &linkInertialFrameOrientationObj, &linkParentIndicesObj,
-									 &linkJointTypesObj, &linkJointAxisObj, &useMaximalCoordinates, &flags, &physicsClientId))
+									 &linkJointTypesObj, &linkJointAxisObj, &useMaximalCoordinates, &flags, &objBatchPositions, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -7690,6 +7714,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 		int numLinkJoinAxis = linkJointAxisObj ? PySequence_Size(linkJointAxisObj) : 0;
 		int numLinkInertialFramePositions = linkInertialFramePositionObj ? PySequence_Size(linkInertialFramePositionObj) : 0;
 		int numLinkInertialFrameOrientations = linkInertialFrameOrientationObj ? PySequence_Size(linkInertialFrameOrientationObj) : 0;
+		int numBatchPositions = objBatchPositions ? PySequence_Size(objBatchPositions) : 0;
 
 		PyObject* seqLinkMasses = linkMassesObj ? PySequence_Fast(linkMassesObj, "expected a sequence") : 0;
 		PyObject* seqLinkCollisionShapes = linkCollisionShapeIndicesObj ? PySequence_Fast(linkCollisionShapeIndicesObj, "expected a sequence") : 0;
@@ -7702,6 +7727,8 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 		PyObject* seqLinkInertialFramePositions = linkInertialFramePositionObj ? PySequence_Fast(linkInertialFramePositionObj, "expected a sequence") : 0;
 		PyObject* seqLinkInertialFrameOrientations = linkInertialFrameOrientationObj ? PySequence_Fast(linkInertialFrameOrientationObj, "expected a sequence") : 0;
 
+		PyObject* seqBatchPositions = objBatchPositions ? PySequence_Fast(objBatchPositions, "expected a sequence") : 0;
+
 		if ((numLinkMasses == numLinkCollisionShapes) &&
 			(numLinkMasses == numLinkVisualShapes) &&
 			(numLinkMasses == numLinkPositions) &&
@@ -7728,6 +7755,18 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 
 			baseIndex = b3CreateMultiBodyBase(commandHandle, baseMass, baseCollisionShapeIndex, baseVisualShapeIndex, basePosition, baseOrientation, baseInertialFramePosition, baseInertialFrameOrientation);
 
+			if (numBatchPositions > 0)
+			{
+				double* batchPositions = malloc(sizeof(double) * 3 * numBatchPositions);
+				for (i = 0; i < numBatchPositions; i++)
+				{
+					pybullet_internalGetVector3FromSequence(seqBatchPositions, i, &batchPositions[3*i]);
+				}
+				b3CreateMultiBodySetBatchPositions(sm, commandHandle, batchPositions, numBatchPositions);
+				free(batchPositions);
+			}
+			
+
 			for (i = 0; i < numLinkMasses; i++)
 			{
 				double linkMass = pybullet_internalGetFloatFromSequence(seqLinkMasses, i);
@@ -7742,7 +7781,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				int linkJointType;
 
 				pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions, i, linkInertialFramePosition);
-				pybullet_internalGetVector4FromSequence(linkInertialFrameOrientationObj, i, linkInertialFrameOrientation);
+				pybullet_internalGetVector4FromSequence(seqLinkInertialFrameOrientations, i, linkInertialFrameOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkPositions, i, linkPosition);
 				pybullet_internalGetVector4FromSequence(seqLinkOrientations, i, linkOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkJoinAxis, i, linkJointAxis);
@@ -7782,6 +7821,8 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				Py_DECREF(seqLinkInertialFramePositions);
 			if (seqLinkInertialFrameOrientations)
 				Py_DECREF(seqLinkInertialFrameOrientations);
+			if (seqBatchPositions)
+				Py_DECREF(seqBatchPositions);
 
 			if (useMaximalCoordinates > 0)
 			{
@@ -7822,7 +7863,8 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				Py_DECREF(seqLinkInertialFramePositions);
 			if (seqLinkInertialFrameOrientations)
 				Py_DECREF(seqLinkInertialFrameOrientations);
-
+			if (seqBatchPositions)
+				Py_DECREF(seqBatchPositions);
 			PyErr_SetString(SpamError, "All link arrays need to be same size.");
 			return NULL;
 		}