From d0516850601a4f05fc32a2349f61e9aeaf711202 Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Tue, 1 Nov 2016 15:34:22 +0100
Subject: [PATCH 001/175] Various improvements of NNWalkers demo.

---
 examples/Evolution/NN3DWalkers.cpp           | 651 +++++++++++++------
 examples/Evolution/NN3DWalkersTimeWarpBase.h |  21 +-
 2 files changed, 459 insertions(+), 213 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index 148ebee0c..f86f8b92a 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -15,11 +15,9 @@ subject to the following restrictions:
 
 #include "NN3DWalkers.h"
 
-#include "btBulletDynamicsCommon.h"
+// not allowed declarations
+#include <time.h>
 
-#include "LinearMath/btIDebugDraw.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btHashMap.h"
 class btBroadphaseInterface;
 class btCollisionShape;
 class btOverlappingPairCache;
@@ -29,55 +27,41 @@ struct btCollisionAlgorithmCreateFunc;
 class btDefaultCollisionConfiguration;
 class NNWalker;
 
-#include "NN3DWalkersTimeWarpBase.h"
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btHashMap.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
-
 #include "../Utils/b3ReferenceFrameHelper.hpp"
 #include "../RenderingExamples/TimeSeriesCanvas.h"
+#include "NN3DWalkersTimeWarpBase.h"
 
-static btScalar gRootBodyRadius  = 0.25f;
-static btScalar gRootBodyHeight = 0.1f;
-static btScalar gLegRadius = 0.1f;
-static btScalar gLegLength = 0.45f;
-static btScalar gForeLegLength = 0.75f;
-static btScalar gForeLegRadius = 0.08f;
-
-static btScalar gParallelEvaluations = 10.0f;
-
-#ifndef SIMD_PI_4
-#define SIMD_PI_4     0.5 * SIMD_HALF_PI
+// #### configurable parameters ####
+#ifndef NUM_WALKER_LEGS
+#define NUM_WALKER_LEGS 6 // the number of walker legs
 #endif
 
-#ifndef SIMD_PI_8
-#define SIMD_PI_8     0.25 * SIMD_HALF_PI
+#ifndef POPULATION_SIZE
+#define POPULATION_SIZE 10 // number of walkers in the population
 #endif
 
-#ifndef RANDOM_MOVEMENT
-#define RANDOM_MOVEMENT false
-#endif
-
-#ifndef RANDOMIZE_DIMENSIONS
-#define RANDOMIZE_DIMENSIONS false
-#endif
-
-#ifndef NUM_WALKERS
-#define NUM_WALKERS 50
-#endif
-
-#ifndef EVALUATION_TIME
-#define EVALUATION_TIME 10 // s
+#ifndef EVALUATION_DURATION
+#define EVALUATION_DURATION 10 // s (duration of one single evaluation)
 #endif
 
+// Evaluation configurable parameters
 #ifndef REAP_QTY
 #define REAP_QTY 0.3f // number of walkers reaped based on their bad performance
 #endif
 
 #ifndef SOW_CROSSOVER_QTY
-#define SOW_CROSSOVER_QTY 0.2f // this means REAP_QTY-SOW_CROSSOVER_QTY = NEW_RANDOM_BREED_QTY
+#define SOW_CROSSOVER_QTY 0.2f // number of walkers recreated via crossover
 #endif
 
+// this means the rest of them is randomly created: REAP_QTY-SOW_CROSSOVER_QTY = NEW_RANDOM_BREED_QTY
+
 #ifndef SOW_ELITE_QTY
-#define SOW_ELITE_QTY 0.2f // number of walkers kept using an elitist strategy
+#define SOW_ELITE_QTY 0.2f // number of walkers kept using an elitist strategy (the best performing creatures are NOT mutated at all)
 #endif
 
 #ifndef SOW_MUTATION_QTY
@@ -89,59 +73,132 @@ static btScalar gParallelEvaluations = 10.0f;
 #endif
 
 #ifndef SOW_ELITE_PARTNER
-#define SOW_ELITE_PARTNER 0.8f
+#define SOW_ELITE_PARTNER 0.8f // the chance an elite partner is chosen for breeding
 #endif
 
-#define NUM_LEGS 6
-#define BODYPART_COUNT (2 * NUM_LEGS + 1)
+// #### debugging ####
+#ifndef DRAW_INTERPENETRATIONS
+#define DRAW_INTERPENETRATIONS false // DEBUG toggle: draw interpenetrations of a walker body
+#endif
+
+#ifndef REBUILD_WALKER
+#define REBUILD_WALKER true // if the walker should be rebuilt on mutation
+#endif
+
+#ifndef RANDOM_WALKER_MOVEMENT
+#define RANDOM_WALKER_MOVEMENT false // movement is chosen randomly and not via neural network
+#endif
+
+#ifndef RANDOMIZE_WALKER_DIMENSIONS
+#define RANDOMIZE_WALKER_DIMENSIONS false // if the walker dimensions should be mutated or not
+#endif
+
+#ifndef TIMESTAMP_TIME
+#define TIMESTAMP_TIME 2000.0f // delay between speed up timestamps
+#endif
+
+// #### not to be reconfigured ####
+#define BODYPART_COUNT (2 * NUM_WALKER_LEGS + 1)
 #define JOINT_COUNT (BODYPART_COUNT - 1)
-#define DRAW_INTERPENETRATIONS false
 
 void* GROUND_ID = (void*)1;
 
+#ifndef SIMD_PI_4
+#define SIMD_PI_4     0.5 * SIMD_HALF_PI
+#endif
+
+#ifndef SIMD_PI_8
+#define SIMD_PI_8     0.25 * SIMD_HALF_PI
+#endif
+
 class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
 {
-	btScalar m_Time;
-	btScalar m_SpeedupTimestamp;
-	btScalar m_targetAccumulator;
-	btScalar m_targetFrequency;
-	btScalar m_motorStrength;
-	int 	 m_evaluationsQty;
-	int		 m_nextReaped;
+	btScalar m_SimulationTime; // the current simulation time
+	btScalar m_LastSpeedupPrintTimestamp;
+	btScalar m_bestWalkerFitness; // to keep track of the best fitness
+
+
+	btVector3 m_resetPosition; // initial position of an evaluation
+
+	// configurable via slider
+	btScalar m_walkerLegTargetFrequency;
+	btScalar m_walkerMotorStrength;
+	btScalar m_rootBodyRadius;
+	btScalar m_rootBodyHeight;
+	btScalar m_legRadius;
+	btScalar m_legLength;
+	btScalar m_foreLegLength;
+	btScalar m_foreLegRadius;
+	btScalar m_parallelEvaluations;
+
+	int 	 m_walkersInEvaluation; // number of walkers in evaluation
+	int		 m_nextReapedIndex; // index of the next reaped walker
 	
 	btAlignedObjectArray<class NNWalker*> m_walkersInPopulation;
 	
-	TimeSeriesCanvas* m_timeSeriesCanvas;
+	TimeSeriesCanvas* m_timeSeriesCanvas; // A plotting canvas for the walker fitnesses
 
 public:
 	NN3DWalkersExample(struct GUIHelperInterface* helper)
 	:NN3DWalkersTimeWarpBase(helper),
-	 m_Time(0),
-	 m_SpeedupTimestamp(0),
-	 m_motorStrength(0.5f),
-	 m_targetFrequency(3),
-	 m_targetAccumulator(0),
-	 m_evaluationsQty(0),
-	 m_nextReaped(0),
-	 m_timeSeriesCanvas(0)
+	 // configurable via sliders, defaults
+	 m_walkerMotorStrength(0.5f),
+	 m_walkerLegTargetFrequency(3),
+	 m_rootBodyRadius(0.25f),
+	 m_rootBodyHeight(0.1f),
+	 m_legRadius(0.1f),
+	 m_legLength(0.45f),
+	 m_foreLegLength(0.75f),
+	 m_foreLegRadius(0.08f),
+	 m_parallelEvaluations(1.0f),
+	 // others
+	 m_resetPosition(0,0,0),
+	 m_SimulationTime(0),
+	 m_bestWalkerFitness(0),
+	 m_LastSpeedupPrintTimestamp(0),
+	 m_walkersInEvaluation(0),
+	 m_nextReapedIndex(0),
+	 m_timeSeriesCanvas(NULL)
 	{
+		srand(time(NULL));
 	}
 
 	virtual ~NN3DWalkersExample()
 	{
+		//m_walkersInPopulation deallocates itself
+
 		delete m_timeSeriesCanvas;
 	}
 
+	/**
+	 * Setup physics scene.
+	 */
 	void initPhysics();
 	
+	/**
+	 * Shutdown physics scene.
+	 */
 	virtual void exitPhysics();
 	
-	void spawnWalker(int index, const btVector3& startOffset, bool bFixed);
+	/**
+	 * Spawn a walker at startPosition.
+	 * @param index
+	 * @param startPosition
+	 * @param fixedRootBodyPosition
+	 */
+	void spawnWalker(int index, const btVector3& startPosition, bool fixedRootBodyPosition);
 	
-	virtual bool	keyboardCallback(int key, int state);
+	virtual bool keyboardCallback(int key, int state);
 
+	/**
+	 * Detect collisions within simulation. Used to avoid collisions happening at startup.
+	 * @return
+	 */
 	bool detectCollisions();
 
+	/**
+	 * Reset the camera to a certain position and orientation.
+	 */
 	void resetCamera()
 	{
 		float dist = 11;
@@ -153,54 +210,146 @@ public:
 
 	// Evaluation
 
+	/**
+	 * Update the simulation.
+	 * @param timeSinceLastTick
+	 */
 	void update(const btScalar timeSinceLastTick);
 
+	/**
+	 * Update all evaluations.
+	 * @param timeSinceLastTick
+	 */
 	void updateEvaluations(const btScalar timeSinceLastTick);
 
+	/**
+	 * Schedule new evaluations and tear down old ones.
+	 */
 	void scheduleEvaluations();
 
+	/**
+	 * Draw distance markings on ground.
+	 */
 	void drawMarkings();
 
+	/**
+	 * Reset a walker by deleting and rebuilding it.
+	 * @param i
+	 * @param resetPosition
+	 */
+	void resetWalkerAt(int i, const btVector3& resetPosition);
+
 	// Reaper
 
+	/**
+	 * Rate all evaluations via fitness function.
+	 */
 	void rateEvaluations();
 
+	/**
+	 * Reap the worst performing walkers.
+	 */
 	void reap();
 
+	/**
+	 * Sow new walkers.
+	 */
 	void sow();
 
+	/**
+	 * Crossover two walkers to create an offspring.
+	 * @param mother
+	 * @param father
+	 * @param offspring
+	 */
 	void crossover(NNWalker* mother, NNWalker* father, NNWalker* offspring);
 
+	/**
+	 * Mutate a walker.
+	 * @param mutant
+	 * @param mutationRate
+	 */
 	void mutate(NNWalker* mutant, btScalar mutationRate);
 
+	/**
+	 * Get a random elite walker.
+	 * @return
+	 */
 	NNWalker* getRandomElite();
 
+	/**
+	 * Get a random non elite walker.
+	 * @return
+	 */
 	NNWalker* getRandomNonElite();
 
+	/**
+	 * Get the next walker to be reaped.
+	 * @return
+	 */
 	NNWalker* getNextReaped();
 
+	/**
+	 * Print walker configurations to console.
+	 */
 	void printWalkerConfigs();
 
+	btScalar getForeLegLength() const {
+		return m_foreLegLength;
+	}
+
+	btScalar getForeLegRadius() const {
+		return m_foreLegRadius;
+	}
+
+	btScalar getLegLength() const {
+		return m_legLength;
+	}
+
+	btScalar getLegRadius() const {
+		return m_legRadius;
+	}
+
+	btScalar getParallelEvaluations() const {
+		return m_parallelEvaluations;
+	}
+
+	btScalar getRootBodyHeight() const {
+		return m_rootBodyHeight;
+	}
+
+	btScalar getRootBodyRadius() const {
+		return m_rootBodyRadius;
+	}
+
+	btScalar getWalkerMotorStrength() const {
+		return m_walkerMotorStrength;
+	}
+
+	void setParallelEvaluations(btScalar parallelEvaluations) {
+		m_parallelEvaluations = parallelEvaluations;
+	}
 };
 
 static NN3DWalkersExample* nn3DWalkers = NULL;
 
 class NNWalker
 {
-	btDynamicsWorld*	m_ownerWorld;
-	btCollisionShape*	m_shapes[BODYPART_COUNT];
-	btRigidBody*		m_bodies[BODYPART_COUNT];
-	btTransform			m_bodyRelativeTransforms[BODYPART_COUNT];
-	btTypedConstraint*	m_joints[JOINT_COUNT];
+	btDynamicsWorld*			m_ownerWorld;
+	btCollisionShape*			m_shapes[BODYPART_COUNT];
+	btRigidBody*				m_bodies[BODYPART_COUNT];
+	btTransform					m_bodyRelativeTransforms[BODYPART_COUNT];
+	btTypedConstraint*			m_joints[JOINT_COUNT];
 	btHashMap<btHashPtr,int>	m_bodyTouchSensorIndexMap;
-	bool 				m_touchSensors[BODYPART_COUNT];
-	btScalar			m_sensoryMotorWeights[BODYPART_COUNT*JOINT_COUNT];
+	bool 						m_touchSensors[BODYPART_COUNT];
+	btScalar					m_sensoryMotorWeights[BODYPART_COUNT*JOINT_COUNT];
 
-	bool				m_inEvaluation;
-	btScalar			m_evaluationTime;
-	bool				m_reaped;
-	btVector3			m_startPosition;
-	int					m_index;
+	bool						m_inEvaluation;
+	btScalar					m_evaluationTime;
+	bool						m_reaped;
+	btVector3					m_startPosition;
+	int							m_index;
+	btScalar					m_legUpdateAccumulator;
 
 	btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
 	{
@@ -224,39 +373,52 @@ public:
 		//initialize random weights
 		for(int i = 0;i < BODYPART_COUNT;i++){
 			for(int j = 0;j < JOINT_COUNT;j++){
+				//TODO: clean this up
 				m_sensoryMotorWeights[i+j*BODYPART_COUNT] = ((double) rand() / (RAND_MAX))*2.0f-1.0f;
+				//m_sensoryMotorWeights[i+j*BODYPART_COUNT] = 1;
 			}
 		}
 	}
 
-	NNWalker(int index, btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
-		: m_ownerWorld (ownerWorld),
-		  m_inEvaluation(false),
-		  m_evaluationTime(0),
-		  m_reaped(false)
+	NNWalker(int index, btDynamicsWorld* ownerWorld, const btVector3& startingPosition,
+		const btScalar& rootBodyRadius,
+		const btScalar& rootBodyHeight,
+		const btScalar& legRadius,
+		const btScalar& legLength,
+		const btScalar& foreLegRadius,
+		const btScalar& foreLegLength,
+		bool fixedBodyPosition)
+		: m_ownerWorld (ownerWorld), // the world the walker walks in
+		  m_inEvaluation(false), // the walker is not in evaluation
+		  m_evaluationTime(0), // reset evaluation time
+		  m_reaped(false), // the walker is not reaped
+		  m_startPosition(startingPosition), // the starting position of the walker
+		  m_legUpdateAccumulator(0)
 	{
 		m_index = index;
 		btVector3 vUp(0, 1, 0); // up in local reference frame
 
 		NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)m_ownerWorld->getWorldUserInfo();
 
-		randomizeSensoryMotorWeights();
+		clearTouchSensors(); // set touch sensors to zero
+
+		randomizeSensoryMotorWeights(); // set random sensory motor weights for neural network layer
 
 		//
 		// Setup geometry
-		m_shapes[0] = new btCapsuleShape(gRootBodyRadius, gRootBodyHeight); // root body capsule
+		m_shapes[0] = new btCapsuleShape(rootBodyRadius, rootBodyHeight); // root body capsule
 		int i;
-		for ( i=0; i<NUM_LEGS; i++)
+		for ( i = 0; i < NUM_WALKER_LEGS; i++)
 		{
-			m_shapes[1 + 2*i] = new btCapsuleShape(gLegRadius, gLegLength); // leg  capsule
-			m_shapes[2 + 2*i] = new btCapsuleShape(gForeLegRadius, gForeLegLength); // fore leg capsule
+			m_shapes[1 + 2*i] = new btCapsuleShape(legRadius, legLength); // leg  capsule
+			m_shapes[2 + 2*i] = new btCapsuleShape(foreLegRadius, foreLegLength); // fore leg capsule
 		}
 
 		//
 		// Setup rigid bodies
-		btScalar rootAboveGroundHeight = gForeLegLength;
+		btScalar rootAboveGroundHeight = foreLegLength;
 		btTransform bodyOffset; bodyOffset.setIdentity();
-		bodyOffset.setOrigin(positionOffset);		
+		bodyOffset.setOrigin(startingPosition);		
 
 		// root body
 		btVector3 localRootBodyPosition = btVector3(btScalar(0.), rootAboveGroundHeight, btScalar(0.)); // root body position in local reference frame
@@ -266,7 +428,7 @@ public:
 
 		btTransform originTransform = transform;
 
-		m_bodies[0] = localCreateRigidBody(btScalar(bFixed?0.:1.), bodyOffset*transform, m_shapes[0]);
+		m_bodies[0] = localCreateRigidBody(btScalar(fixedBodyPosition?0.:1.), bodyOffset*transform, m_shapes[0]);
 		m_ownerWorld->addRigidBody(m_bodies[0]);
 		m_bodyRelativeTransforms[0] = btTransform::getIdentity();
 		m_bodies[0]->setUserPointer(this);
@@ -278,14 +440,14 @@ public:
 		btTransform localA, localB, localC;
 
 		// legs
-		for (i = 0; i < NUM_LEGS; i++)
+		for (i = 0; i < NUM_WALKER_LEGS; i++)
 		{
-			float footAngle = 2 * SIMD_PI * i / NUM_LEGS; // legs are uniformly distributed around the root body
+			float footAngle = 2 * SIMD_PI * i / NUM_WALKER_LEGS; // legs are uniformly distributed around the root body
 			float footYUnitPosition = sin(footAngle); // y position of the leg on the unit circle
 			float footXUnitPosition = cos(footAngle); // x position of the leg on the unit circle
 
 			transform.setIdentity();
-			btVector3 legCOM = btVector3(btScalar(footXUnitPosition*(gRootBodyRadius+0.5*gLegLength)), btScalar(rootAboveGroundHeight), btScalar(footYUnitPosition*(gRootBodyRadius+0.5*gLegLength)));
+			btVector3 legCOM = btVector3(btScalar(footXUnitPosition*(rootBodyRadius+0.5*legLength)), btScalar(rootAboveGroundHeight), btScalar(footYUnitPosition*(rootBodyRadius+0.5*legLength)));
 			transform.setOrigin(legCOM);
 
 			// thigh
@@ -299,7 +461,7 @@ public:
 
 			// shin
 			transform.setIdentity();
-			transform.setOrigin(btVector3(btScalar(footXUnitPosition*(gRootBodyRadius+gLegLength)), btScalar(rootAboveGroundHeight-0.5*gForeLegLength), btScalar(footYUnitPosition*(gRootBodyRadius+gLegLength))));
+			transform.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)), btScalar(rootAboveGroundHeight-0.5*foreLegLength), btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
 			m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[2+2*i]);
 			m_bodyRelativeTransforms[2+2*i] = transform;
 			m_bodies[2+2*i]->setUserPointer(this);
@@ -307,7 +469,7 @@ public:
 
 			// hip joints
 			localA.setIdentity(); localB.setIdentity();
-			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*gRootBodyRadius), btScalar(0.), btScalar(footYUnitPosition*gRootBodyRadius)));
+			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*rootBodyRadius), btScalar(0.), btScalar(footYUnitPosition*rootBodyRadius)));
 			localB = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
 			hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
 			hingeC->setLimit(btScalar(-0.75 * SIMD_PI_4), btScalar(SIMD_PI_8));
@@ -316,7 +478,7 @@ public:
 
 			// knee joints
 			localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
-			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*(gRootBodyRadius+gLegLength)), btScalar(0.), btScalar(footYUnitPosition*(gRootBodyRadius+gLegLength))));
+			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)), btScalar(0.), btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
 			localB = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
 			localC = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[2+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
 			hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC);
@@ -324,22 +486,22 @@ public:
 			hingeC->setLimit(btScalar(-SIMD_PI_8), btScalar(0.2));
 			m_joints[1+2*i] = hingeC;
 
-			m_ownerWorld->addRigidBody(m_bodies[1+2*i]); // add thigh bone
+			//test if we cause a collision with priorly inserted bodies. This prevents the walkers to have to resolve collisions on startup
 
+			m_ownerWorld->addRigidBody(m_bodies[1+2*i]); // add thigh bone
 			m_ownerWorld->addConstraint(m_joints[2*i], true); // connect thigh bone with root
 
 			if(nnWalkersDemo->detectCollisions()){ // if thigh bone causes collision, remove it again
-				m_ownerWorld->removeRigidBody(m_bodies[1+2*i]);
 				m_ownerWorld->removeConstraint(m_joints[2*i]); // disconnect thigh bone from root
+				m_ownerWorld->removeRigidBody(m_bodies[1+2*i]);
 			}
 			else{
-
 				m_ownerWorld->addRigidBody(m_bodies[2+2*i]); // add shin bone
 				m_ownerWorld->addConstraint(m_joints[1+2*i], true); // connect shin bone with thigh
 
 				if(nnWalkersDemo->detectCollisions()){ // if shin bone causes collision, remove it again
-					m_ownerWorld->removeRigidBody(m_bodies[2+2*i]);
 					m_ownerWorld->removeConstraint(m_joints[1+2*i]); // disconnect shin bone from thigh
+					m_ownerWorld->removeRigidBody(m_bodies[2+2*i]);
 				}
 			}
 		}
@@ -349,11 +511,11 @@ public:
 		{
 			m_bodies[i]->setDamping(0.05, 0.85);
 			m_bodies[i]->setDeactivationTime(0.8);
-			//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
 			m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
+			m_bodies[i]->setActivationState(DISABLE_DEACTIVATION);
 		}
 
-		removeFromWorld(); // it should not yet be in the world
+		removeFromWorld(); // the walker should not yet be in the world
 	}
 
 	virtual	~NNWalker ()
@@ -401,6 +563,14 @@ public:
 		return m_sensoryMotorWeights;
 	}
 
+	void copySensoryMotorWeights(btScalar* sensoryMotorWeights){
+		for(int i = 0;i < BODYPART_COUNT;i++){
+			for(int j = 0;j < JOINT_COUNT;j++){
+				m_sensoryMotorWeights[i+j*BODYPART_COUNT] = sensoryMotorWeights[i+j*BODYPART_COUNT];
+			}
+		}
+	}
+
 	void addToWorld() {
 		int i;
 		// add all bodies and shapes
@@ -414,7 +584,6 @@ public:
 		{
 			m_ownerWorld->addConstraint(m_joints[i], true); // important! If you add constraints back, you must set bullet physics to disable collision between constrained bodies
 		}
-		m_startPosition = getPosition();
 	}
 
 	void removeFromWorld(){
@@ -441,7 +610,7 @@ public:
 			finalPosition += m_bodies[i]->getCenterOfMassPosition();
 		}
 
-		finalPosition /= BODYPART_COUNT;
+		finalPosition /= btScalar(BODYPART_COUNT);
 		return finalPosition;
 	}
 
@@ -461,18 +630,29 @@ public:
 
 	void resetAt(const btVector3& position) {
 		btTransform resetPosition(btQuaternion::getIdentity(), position);
+
+		for (int i = 0; i < 2*NUM_WALKER_LEGS; i++)
+		{
+					btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(getJoints()[i]);
+					hingeC->enableAngularMotor(false,0,0);
+		}
+
 		for (int i = 0; i < BODYPART_COUNT; ++i)
 		{
-			m_bodies[i]->setWorldTransform(resetPosition*m_bodyRelativeTransforms[i]);
-			if(m_bodies[i]->getMotionState()){
-				m_bodies[i]->getMotionState()->setWorldTransform(resetPosition*m_bodyRelativeTransforms[i]);
-			}
 			m_bodies[i]->clearForces();
 			m_bodies[i]->setAngularVelocity(btVector3(0,0,0));
 			m_bodies[i]->setLinearVelocity(btVector3(0,0,0));
 
+			m_bodies[i]->setWorldTransform(resetPosition*m_bodyRelativeTransforms[i]);
+			if(m_bodies[i]->getMotionState()){
+				m_bodies[i]->getMotionState()->setWorldTransform(resetPosition*m_bodyRelativeTransforms[i]);
+			}
 		}
 
+		m_startPosition = getPosition();
+
+		m_legUpdateAccumulator = 0;
+
 		clearTouchSensors();
 	}
 
@@ -503,6 +683,14 @@ public:
 	int getIndex() const {
 		return m_index;
 	}
+
+	btScalar getLegUpdateAccumulator() const {
+		return m_legUpdateAccumulator;
+	}
+
+	void setLegUpdateAccumulator(btScalar legUpdateAccumulator) {
+		m_legUpdateAccumulator = legUpdateAccumulator;
+	}
 };
 
 void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep);
@@ -546,14 +734,15 @@ struct WalkerFilterCallback : public btOverlapFilterCallback
 		if (obj0->getUserPointer() == GROUND_ID || obj1->getUserPointer() == GROUND_ID) { // everything collides with ground
 			return true;
 		}
-		else{
+		else if((NNWalker*)obj0->getUserPointer() && (NNWalker*)obj1->getUserPointer()){
 			return ((NNWalker*)obj0->getUserPointer())->getIndex() == ((NNWalker*)obj1->getUserPointer())->getIndex();
 		}
+		return true;
 	}
 };
 
 void floorNNSliderValue(float notUsed) {
-	gParallelEvaluations = floor(gParallelEvaluations);
+	nn3DWalkers->setParallelEvaluations(floor(nn3DWalkers->getParallelEvaluations()));
 }
 
 void NN3DWalkersExample::initPhysics()
@@ -567,22 +756,22 @@ void NN3DWalkersExample::initPhysics()
 
 	// Setup the basic world
 
-	m_Time = 0;
+	m_SimulationTime = 0;
 
 	createEmptyDynamicsWorld();
 
 	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true);
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 
-	m_targetFrequency = 3;
+	m_walkerLegTargetFrequency = 3; // Hz
 
 	// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
 	// should be (numberOfsolverIterations * oldLimits)
-	m_motorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
+	m_walkerMotorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
 
 
 	{ // create a slider to change the motor update frequency
-		SliderParams slider("Motor update frequency", &m_targetFrequency);
+		SliderParams slider("Motor update frequency", &m_walkerLegTargetFrequency);
 		slider.m_minVal = 0;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -591,7 +780,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the motor torque
-		SliderParams slider("Motor force", &m_motorStrength);
+		SliderParams slider("Motor force", &m_walkerMotorStrength);
 		slider.m_minVal = 1;
 		slider.m_maxVal = 50;
 		slider.m_clampToNotches = false;
@@ -600,7 +789,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 	
 	{ // create a slider to change the root body radius
-		SliderParams slider("Root body radius", &gRootBodyRadius);
+		SliderParams slider("Root body radius", &m_rootBodyRadius);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -609,7 +798,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the root body height
-		SliderParams slider("Root body height", &gRootBodyHeight);
+		SliderParams slider("Root body height", &m_rootBodyHeight);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -618,7 +807,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the leg radius
-		SliderParams slider("Leg radius", &gLegRadius);
+		SliderParams slider("Leg radius", &m_legRadius);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -627,7 +816,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the leg length
-		SliderParams slider("Leg length", &gLegLength);
+		SliderParams slider("Leg length", &m_legLength);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -636,7 +825,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the fore leg radius
-		SliderParams slider("Fore Leg radius", &gForeLegRadius);
+		SliderParams slider("Fore Leg radius", &m_foreLegRadius);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -645,7 +834,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the fore leg length
-		SliderParams slider("Fore Leg length", &gForeLegLength);
+		SliderParams slider("Fore Leg length", &m_foreLegLength);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -653,10 +842,11 @@ void NN3DWalkersExample::initPhysics()
 			slider);
 	}
 
+	if(POPULATION_SIZE > 1)
 	{ // create a slider to change the number of parallel evaluations
-		SliderParams slider("Parallel evaluations", &gParallelEvaluations);
+		SliderParams slider("Parallel evaluations", &m_parallelEvaluations);
 		slider.m_minVal = 1;
-		slider.m_maxVal = NUM_WALKERS;
+		slider.m_maxVal = POPULATION_SIZE;
 		slider.m_clampToNotches = false;
 		slider.m_callback = floorNNSliderValue; // hack to get integer values
 		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
@@ -676,38 +866,40 @@ void NN3DWalkersExample::initPhysics()
 		ground->setUserPointer(GROUND_ID);
 	}
 
-	for(int i = 0; i < NUM_WALKERS ; i++){
-		if(RANDOMIZE_DIMENSIONS){
+	for(int i = 0; i < POPULATION_SIZE ; i++){
+		if(RANDOMIZE_WALKER_DIMENSIONS){
 			float maxDimension = 0.2f;
 
 			// randomize the dimensions
-			gRootBodyRadius  = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			gRootBodyHeight = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			gLegRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			gLegLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			gForeLegLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			gForeLegRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			m_rootBodyRadius  = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			m_rootBodyHeight = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			m_legRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			m_legLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			m_foreLegLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			m_foreLegRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
 		}
 
 		// Spawn one walker
-		btVector3 offset(0,0,0);
-		spawnWalker(i, offset, false);
+		spawnWalker(i, m_resetPosition, false);
 	}
 
+	// add walker filter making the walkers never collide with each other
 	btOverlapFilterCallback * filterCallback = new WalkerFilterCallback();
 	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(filterCallback);
 
+
+	// setup data sources for walkers in time series canvas
 	m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,300,200, "Fitness Performance");
-	m_timeSeriesCanvas ->setupTimeSeries(40, NUM_WALKERS*EVALUATION_TIME, 0);
-	for(int i = 0; i < NUM_WALKERS ; i++){
-		m_timeSeriesCanvas->addDataSource(" ", 100*i/NUM_WALKERS,100*(NUM_WALKERS-i)/NUM_WALKERS,100*(i)/NUM_WALKERS);
+	m_timeSeriesCanvas ->setupTimeSeries(40, POPULATION_SIZE*EVALUATION_DURATION, 0);
+	for(int i = 0; i < POPULATION_SIZE ; i++){
+		m_timeSeriesCanvas->addDataSource(" ", 100*i/POPULATION_SIZE,100*(POPULATION_SIZE-i)/POPULATION_SIZE,100*(i)/POPULATION_SIZE);
 	}
 }
 
 
-void NN3DWalkersExample::spawnWalker(int index, const btVector3& startOffset, bool bFixed)
+void NN3DWalkersExample::spawnWalker(int index, const btVector3& resetPosition, bool fixedBodyPosition)
 {
-	NNWalker* walker = new NNWalker(index, m_dynamicsWorld, startOffset, bFixed);
+	NNWalker* walker = new NNWalker(index, m_dynamicsWorld, resetPosition, m_rootBodyRadius,m_rootBodyHeight,m_legRadius,m_legLength,m_foreLegRadius,m_foreLegLength, fixedBodyPosition);
 	m_walkersInPopulation.push_back(walker);
 }
 
@@ -742,7 +934,7 @@ bool NN3DWalkersExample::detectCollisions()
 						return collisionDetected;
 					}
 
-					if(m_dynamicsWorld->getDebugDrawer()){
+					if(m_dynamicsWorld->getDebugDrawer()){ // draw self collisions
 						m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnA(), 0.1, btVector3(0., 0., 1.));
 						m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnB(), 0.1, btVector3(0., 0., 1.));
 					}
@@ -759,10 +951,10 @@ bool NN3DWalkersExample::keyboardCallback(int key, int state)
 	switch (key)
 	{
 	case '[':
-		m_motorStrength /= 1.1f;
+		m_walkerMotorStrength /= 1.1f;
 		return true;
 	case ']':
-		m_motorStrength *= 1.1f;
+		m_walkerMotorStrength *= 1.1f;
 		return true;
 	case 'l':
 		printWalkerConfigs();
@@ -779,9 +971,7 @@ void NN3DWalkersExample::exitPhysics()
 
 	gContactProcessedCallback = NULL; // clear contact processed callback on exiting
 
-	int i;
-
-	for (i = 0;i < NUM_WALKERS;i++)
+	for (int i = 0;i < POPULATION_SIZE;i++)
 	{
 		NNWalker* walker = m_walkersInPopulation[i];
 		delete walker;
@@ -807,41 +997,60 @@ void NN3DWalkersExample::rateEvaluations(){
 
 	b3Printf("Best performing walker: %f meters", btSqrt(m_walkersInPopulation[0]->getDistanceFitness()));
 
-	for(int i = 0; i < NUM_WALKERS;i++){
-		m_timeSeriesCanvas->insertDataAtCurrentTime(btSqrt(m_walkersInPopulation[i]->getDistanceFitness()),0,true);
+	if(btSqrt(m_walkersInPopulation[0]->getDistanceFitness()) < m_bestWalkerFitness){
+		b3Printf("################Simulation not deterministic###########################");
+	}
+	else{
+		m_bestWalkerFitness = btSqrt(m_walkersInPopulation[0]->getDistanceFitness());
 	}
-	m_timeSeriesCanvas->nextTick();
 
-	for(int i = 0; i < NUM_WALKERS;i++){
+	for(int i = 0; i < POPULATION_SIZE;i++){ // plot walker fitnesses for this round
+		m_timeSeriesCanvas->insertDataAtCurrentTime(btSqrt(m_walkersInPopulation[i]->getDistanceFitness()),i,true);
+	}
+	m_timeSeriesCanvas->nextTick(); // move tick forward
+
+	for(int i = 0; i < POPULATION_SIZE;i++){ // reset all walkers
 		m_walkersInPopulation[i]->setEvaluationTime(0);
 	}
-	m_nextReaped = 0;
+	m_nextReapedIndex = 0;
 }
 
 void NN3DWalkersExample::reap() {
 	int reaped = 0;
-	for(int i = NUM_WALKERS-1;i >=(NUM_WALKERS-1)*(1-REAP_QTY); i--){ // reap a certain percentage
+	for(int i = POPULATION_SIZE-1;i >=(POPULATION_SIZE-1)*(1-REAP_QTY); i--){ // reap a certain percentage of walkers to replace them afterwards
 		m_walkersInPopulation[i]->setReaped(true);
 		reaped++;
-		b3Printf("%i Walker(s) reaped.",reaped);
 	}
+	b3Printf("%i Walker(s) reaped.",reaped);
 }
 
+/**
+ * Return a random elitist walker (one that is not mutated at all because it performs well).
+ * @return Random elitist walker.
+ */
 NNWalker* NN3DWalkersExample::getRandomElite(){
-	return m_walkersInPopulation[((NUM_WALKERS-1) * SOW_ELITE_QTY) * (rand()/RAND_MAX)];
+	return m_walkersInPopulation[((POPULATION_SIZE-1) * SOW_ELITE_QTY) * (rand()/RAND_MAX)];
 }
 
+/**
+ * Return a random non-elitist walker (a mutated walker).
+ * @return
+ */
 NNWalker* NN3DWalkersExample::getRandomNonElite(){
-	return m_walkersInPopulation[(NUM_WALKERS-1) * SOW_ELITE_QTY + (NUM_WALKERS-1) * (1.0f-SOW_ELITE_QTY) * (rand()/RAND_MAX)];
+	return m_walkersInPopulation[(POPULATION_SIZE-1) * SOW_ELITE_QTY + (POPULATION_SIZE-1) * (1.0f-SOW_ELITE_QTY) * (rand()/RAND_MAX)];
 }
 
+/**
+ * Get the next reaped walker to be replaced.
+ * @return
+ */
 NNWalker* NN3DWalkersExample::getNextReaped() {
-	if((NUM_WALKERS-1) - m_nextReaped >= (NUM_WALKERS-1) * (1-REAP_QTY)){
-		m_nextReaped++;
+	if((POPULATION_SIZE-1) - m_nextReapedIndex >= (POPULATION_SIZE-1) * (1-REAP_QTY)){
+		m_nextReapedIndex++;
 	}
 
-	if(m_walkersInPopulation[(NUM_WALKERS-1) - m_nextReaped+1]->isReaped()){
-		return m_walkersInPopulation[(NUM_WALKERS-1) - m_nextReaped+1];
+	if(m_walkersInPopulation[(POPULATION_SIZE-1) - m_nextReapedIndex+1]->isReaped()){
+		return m_walkersInPopulation[(POPULATION_SIZE-1) - m_nextReapedIndex+1];
 	}
 	else{
 		return NULL; // we asked for too many
@@ -849,30 +1058,38 @@ NNWalker* NN3DWalkersExample::getNextReaped() {
 
 }
 
+/**
+ * Sow new walkers.
+ */
 void NN3DWalkersExample::sow() {
 	int sow = 0;
-	for(int i = 0; i < NUM_WALKERS * (SOW_CROSSOVER_QTY);i++){ // create number of new crossover creatures
+	for(int i = 0; i < POPULATION_SIZE * (SOW_CROSSOVER_QTY);i++){ // create number of new crossover creatures
 		sow++;
-		b3Printf("%i Walker(s) sown.",sow);
 		NNWalker* mother = getRandomElite(); // Get elite partner (mother)
 		NNWalker* father = (SOW_ELITE_PARTNER < rand()/RAND_MAX)?getRandomElite():getRandomNonElite(); //Get elite or random partner (father)
 		NNWalker* offspring = getNextReaped();
 		crossover(mother,father, offspring);
 	}
 
-	for(int i = NUM_WALKERS*SOW_ELITE_QTY; i < NUM_WALKERS*(SOW_ELITE_QTY+SOW_MUTATION_QTY);i++){ // create mutants
-		mutate(m_walkersInPopulation[i], btScalar(MUTATION_RATE / (NUM_WALKERS * SOW_MUTATION_QTY) * (i-NUM_WALKERS*SOW_ELITE_QTY)));
+	for(int i = POPULATION_SIZE*SOW_ELITE_QTY; i < POPULATION_SIZE*(SOW_ELITE_QTY+SOW_MUTATION_QTY);i++){ // create mutants
+		mutate(m_walkersInPopulation[i], btScalar(MUTATION_RATE / (POPULATION_SIZE * SOW_MUTATION_QTY) * (i-POPULATION_SIZE*SOW_ELITE_QTY)));
 	}
 
-	for(int i = 0; i < (NUM_WALKERS-1) * (REAP_QTY-SOW_CROSSOVER_QTY);i++){
+	for(int i = 0; i < (POPULATION_SIZE-1) * (REAP_QTY-SOW_CROSSOVER_QTY);i++){
 		sow++;
-		b3Printf("%i Walker(s) sown.",sow);
 		NNWalker* reaped = getNextReaped();
 		reaped->setReaped(false);
 		reaped->randomizeSensoryMotorWeights();
 	}
+	b3Printf("%i Walker(s) sown.",sow);
 }
 
+/**
+ * Crossover mother and father into the child.
+ * @param mother
+ * @param father
+ * @param child
+ */
 void NN3DWalkersExample::crossover(NNWalker* mother, NNWalker* father, NNWalker* child) {
 	for(int i = 0; i < BODYPART_COUNT*JOINT_COUNT;i++){
 		btScalar random = ((double) rand() / (RAND_MAX));
@@ -887,6 +1104,11 @@ void NN3DWalkersExample::crossover(NNWalker* mother, NNWalker* father, NNWalker*
 	}
 }
 
+/**
+ * Mutate the mutant.
+ * @param mutant
+ * @param mutationRate
+ */
 void NN3DWalkersExample::mutate(NNWalker* mutant, btScalar mutationRate) {
 	for(int i = 0; i < BODYPART_COUNT*JOINT_COUNT;i++){
 		btScalar random = ((double) rand() / (RAND_MAX));
@@ -897,12 +1119,20 @@ void NN3DWalkersExample::mutate(NNWalker* mutant, btScalar mutationRate) {
 	}
 }
 
+/**
+ * Update the demo via pretick callback to be precise.
+ * @param world
+ * @param timeStep
+ */
 void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep) {
 	NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)world->getWorldUserInfo();
-
 	nnWalkersDemo->update(timeStep);
 }
 
+/**
+ * Update cycle.
+ * @param timeSinceLastTick
+ */
 void NN3DWalkersExample::update(const btScalar timeSinceLastTick) {
 	updateEvaluations(timeSinceLastTick); /**!< We update all evaluations that are in the loop */
 
@@ -910,12 +1140,16 @@ void NN3DWalkersExample::update(const btScalar timeSinceLastTick) {
 
 	drawMarkings(); /**!< Draw markings on the ground */
 
-	if(m_Time > m_SpeedupTimestamp + 2.0f){ // print effective speedup
+	if(m_SimulationTime > m_LastSpeedupPrintTimestamp + TIMESTAMP_TIME){ // print effective speedup every 2 seconds
 		b3Printf("Avg Effective speedup: %f real time",calculatePerformedSpeedup());
-		m_SpeedupTimestamp = m_Time;
+		m_LastSpeedupPrintTimestamp = m_SimulationTime;
 	}
 }
 
+/**
+ * Update the evaluations.
+ * @param timeSinceLastTick
+ */
 void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 	btScalar delta = timeSinceLastTick;
 	btScalar minFPS = 1.f/60.f;
@@ -923,88 +1157,87 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 		delta = minFPS;
 	}
 
-	m_Time += delta;
+	m_SimulationTime += delta;
 
-	m_targetAccumulator += delta;
-
-	for(int i = 0; i < NUM_WALKERS;i++) // evaluation time passes
+	for(int i = 0; i < POPULATION_SIZE;i++) // evaluation time passes
 	{
 		if(m_walkersInPopulation[i]->isInEvaluation()){
 			m_walkersInPopulation[i]->setEvaluationTime(m_walkersInPopulation[i]->getEvaluationTime()+delta); // increase evaluation time
 		}
 	}
 
-	if(m_targetAccumulator >= 1.0f /((double)m_targetFrequency))
+	for (int r = 0; r < POPULATION_SIZE; r++)
 	{
-		m_targetAccumulator = 0;
-
-		for (int r=0; r<NUM_WALKERS; r++)
+		if(m_walkersInPopulation[r]->isInEvaluation())
 		{
-			if(m_walkersInPopulation[r]->isInEvaluation())
+			m_walkersInPopulation[r]->setLegUpdateAccumulator(m_walkersInPopulation[r]->getLegUpdateAccumulator() + delta);
+
+			if(m_walkersInPopulation[r]->getLegUpdateAccumulator() >= btScalar(1.0f) /m_walkerLegTargetFrequency)
 			{
-				for (int i = 0; i < 2*NUM_LEGS; i++)
+				m_walkersInPopulation[r]->setLegUpdateAccumulator(0);
+
+				for (int i = 0; i < 2*NUM_WALKER_LEGS; i++)
 				{
-					btScalar targetAngle = 0;
+					btScalar targetAngle = 0; // angle in range [0,1]
 					btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_walkersInPopulation[r]->getJoints()[i]);
 
-					if(RANDOM_MOVEMENT){
+					if(RANDOM_WALKER_MOVEMENT){
 						targetAngle   = ((double) rand() / (RAND_MAX));
 					}
 					else{ // neural network movement
 
-						// accumulate sensor inputs with weights
-						for(int j = 0; j < JOINT_COUNT;j++){
+						for(int j = 0; j < JOINT_COUNT;j++){ // accumulate sensor inputs with weights (summate inputs)
 							targetAngle += m_walkersInPopulation[r]->getSensoryMotorWeights()[i+j*BODYPART_COUNT] * m_walkersInPopulation[r]->getTouchSensor(i);
 						}
 
-						// apply the activation function
-						targetAngle = (tanh(targetAngle)+1.0f)*0.5f;
+						targetAngle = (tanh(targetAngle)+1.0f)*0.5f; // apply the activation function (threshold) [0;1]
 					}
-					btScalar targetLimitAngle 	= hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
+					btScalar targetLimitAngle 	= hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit()); // [lowerLimit;upperLimit]
 					btScalar currentAngle      	= hingeC->getHingeAngle();
-					btScalar angleError  		= targetLimitAngle - currentAngle;
-					btScalar desiredAngularVel = 0;
-					if(delta){
-						desiredAngularVel = angleError/delta;
-					}
-					else{
-						desiredAngularVel = angleError/0.0001f;
-					}
-					hingeC->enableAngularMotor(true, desiredAngularVel, m_motorStrength);
-				}
+					btScalar angleError  		= targetLimitAngle - currentAngle; // target current delta
+					btScalar desiredAngularVel = angleError/((delta>0)?delta:btScalar(0.0001f)); // division by zero safety
 
-				// clear sensor signals after usage
-				m_walkersInPopulation[r]->clearTouchSensors();
+					hingeC->enableAngularMotor(true, desiredAngularVel, m_walkerMotorStrength); // set new target velocity
+				}
 			}
+
+			// clear sensor signals after usage
+			m_walkersInPopulation[r]->clearTouchSensors();
 		}
 	}
 }
 
+/**
+ * Schedule the walker evaluations.
+ */
 void NN3DWalkersExample::scheduleEvaluations() {
-	for(int i = 0; i < NUM_WALKERS;i++){
+	for(int i = 0; i < POPULATION_SIZE;i++){
 
-		if(m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() >= EVALUATION_TIME){ /**!< tear down evaluations */
-			b3Printf("An evaluation finished at %f s. Distance: %f m", m_Time, btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
+		if(m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() >= EVALUATION_DURATION){ /**!< tear down evaluations */
+			b3Printf("An evaluation finished at %f s. Distance: %f m", m_SimulationTime, btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
 			m_walkersInPopulation[i]->setInEvaluation(false);
 			m_walkersInPopulation[i]->removeFromWorld();
-			m_evaluationsQty--;
+			m_walkersInEvaluation--;
 		}
 
-		if(m_evaluationsQty < gParallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
-			b3Printf("An evaluation started at %f s.",m_Time);
-			m_evaluationsQty++;
-			m_walkersInPopulation[i]->setInEvaluation(true);
+		if(m_walkersInEvaluation < m_parallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
+			b3Printf("An evaluation started at %f s.",m_SimulationTime);
+			m_walkersInEvaluation++;
 
-			if(m_walkersInPopulation[i]->getEvaluationTime() == 0){ // reset to origin if the evaluation did not yet run
-				m_walkersInPopulation[i]->resetAt(btVector3(0,0,0));
+			if(REBUILD_WALKER){ // deletes and recreates the walker in the position
+				resetWalkerAt(i, m_resetPosition);
 			}
-
+			else{ // resets the position of the walker without deletion
+				m_walkersInPopulation[i]->resetAt(m_resetPosition);
+			}
+			m_walkersInPopulation[i]->setInEvaluation(true);
 			m_walkersInPopulation[i]->addToWorld();
+
 			m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
 		}
 	}
 
-	if(m_evaluationsQty == 0){ // if there are no more evaluations possible
+	if(m_walkersInEvaluation == 0){ // if there are no more evaluations possible
 		rateEvaluations(); // rate evaluations by sorting them based on their fitness
 
 		reap(); // reap worst performing walkers
@@ -1014,9 +1247,20 @@ void NN3DWalkersExample::scheduleEvaluations() {
 	}
 }
 
+void NN3DWalkersExample::resetWalkerAt(int i, const btVector3& resetPosition){
+
+	NNWalker* newWalker = new NNWalker(i, m_dynamicsWorld, resetPosition, m_rootBodyRadius,m_rootBodyHeight,m_legRadius,m_legLength,m_foreLegRadius,m_foreLegLength, false);
+	newWalker->copySensoryMotorWeights(m_walkersInPopulation[i]->getSensoryMotorWeights());
+	delete m_walkersInPopulation[i];
+	m_walkersInPopulation[i] = newWalker;
+}
+
+/**
+ * Draw distance markings on the ground.
+ */
 void NN3DWalkersExample::drawMarkings() {
 	if(!mIsHeadless){
-		for(int i = 0; i < NUM_WALKERS;i++) // draw current distance plates of moving walkers
+		for(int i = 0; i < POPULATION_SIZE;i++) // draw current distance plates of moving walkers
 		{
 			if(m_walkersInPopulation[i]->isInEvaluation()){
 				btVector3 walkerPosition = m_walkersInPopulation[i]->getPosition();
@@ -1034,12 +1278,15 @@ void NN3DWalkersExample::drawMarkings() {
 	}
 }
 
+/**
+ * Print walker neural network layer configurations.
+ */
 void NN3DWalkersExample::printWalkerConfigs(){
-	char configString[25 + NUM_WALKERS*BODYPART_COUNT*JOINT_COUNT*(3+15+1) + NUM_WALKERS*4 + 1]; // 15 precision + [],\n
+	char configString[25 + POPULATION_SIZE*BODYPART_COUNT*JOINT_COUNT*(3+15+1) + POPULATION_SIZE*4 + 1]; // 15 precision + [],\n
 	char* runner = configString;
 	sprintf(runner,"Population configuration:");
 	runner +=25;
-	for(int i = 0;i < NUM_WALKERS;i++) {
+	for(int i = 0;i < POPULATION_SIZE;i++) {
 		runner[0] = '\n';
 		runner++;
 		runner[0] = '[';
diff --git a/examples/Evolution/NN3DWalkersTimeWarpBase.h b/examples/Evolution/NN3DWalkersTimeWarpBase.h
index 6db8fadd1..b7c0328ff 100644
--- a/examples/Evolution/NN3DWalkersTimeWarpBase.h
+++ b/examples/Evolution/NN3DWalkersTimeWarpBase.h
@@ -213,7 +213,8 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 		CommonRigidBodyBase(helper),
 		mPhysicsStepsPerSecondUpdated(false),
 		mFramesPerSecondUpdated(false),
-		mSolverIterationsUpdated(false) {
+		mSolverIterationsUpdated(false),
+		mIsHeadless(false){
 
 		 // main frame timer initialization
 		 mApplicationStart = mLoopTimer.getTimeMilliseconds(); /**!< Initialize when the application started running */
@@ -541,7 +542,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 
 		m_dynamicsWorld->getSolverInfo().m_numIterations = gSolverIterations; // set the number of solver iterations for iteration based solvers
 
-		m_dynamicsWorld->setGravity(btVector3(0, -9.81f, 0)); // set gravity to -9.81
+		m_dynamicsWorld->setGravity(btVector3(0, btScalar(-9.81f), 0)); // set gravity to -9.81
 
 	}
 
@@ -564,7 +565,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 	void stepSimulation(float deltaTime){ // customly step the simulation
 		do{
 
-//			// settings
+			// settings
 			if(mPhysicsStepsPerSecondUpdated){
 				changePhysicsStepsPerSecond(gPhysicsStepsPerSecond);
 				mPhysicsStepsPerSecondUpdated = false;
@@ -599,7 +600,6 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
 				// on reset, we calculate the performed speed up
 				double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
-//				b3Printf("Avg Effective speedup: %f",speedUp);
 				performedTime = 0;
 				performanceTimestamp = mLoopTimer.getTimeMilliseconds();
 				speedUpPrintTimeStamp = mLoopTimer.getTimeSeconds();
@@ -617,7 +617,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			mModelStart = mLoopTimer.getTimeMilliseconds(); /**!< Begin with the model update (in Milliseconds)*/
 			mLastGraphicsTick = mModelStart - mGraphicsStart; /**!< Update graphics timer (in Milliseconds) */
 
-			if (gMaximumSpeed /** If maximum speed is enabled*/) {
+			if (gMaximumSpeed) { /** If maximum speed is enabled*/
 				performMaxStep();
 			} else { /**!< This mode tries to progress as much time as it is expected from the game loop*/
 				performSpeedStep();
@@ -632,8 +632,8 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			mInputDt = mThisModelIteration - mInputClock;
 			if (mInputDt >= gApplicationTick) {
 				mInputClock = mThisModelIteration;
-				//	         mInputHandler.injectInput(); /**!< Inject input into handlers */
-				//	         mInputHandler.update(mInputClock); /**!< update elements that work on the current input state */
+				//mInputHandler.injectInput(); /**!< Inject input into handlers */
+				//mInputHandler.update(mInputClock); /**!< update elements that work on the current input state */
 			}
 
 			mGraphicsStart = mLoopTimer.getTimeMilliseconds(); /**!< Start the graphics update */
@@ -655,7 +655,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 
 	}
 
-	virtual bool	keyboardCallback(int key, int state)
+	virtual bool keyboardCallback(int key, int state)
 	{
 		switch(key)
 		{
@@ -757,10 +757,9 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 
 		for (int i = 0; i < subSteps; i++) { /**!< Perform the number of substeps to reach the timestep*/
 			if (timeStep && m_dynamicsWorld) {
-				// since we want to perform all proper steps, we perform no interpolated substeps
-				int subSteps = 1;
+				int subSteps = 1; // since we want to perform all proper steps, we perform no interpolated substeps
 
-				m_dynamicsWorld->stepSimulation(btScalar(timeStep),
+				m_dynamicsWorld->stepSimulation(btScalar(fixedPhysicsStepSizeSec),
 					btScalar(subSteps), btScalar(fixedPhysicsStepSizeSec));
 			}
 		}

From 293f355b379ea30e809577fdefacbeb6745de849 Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Tue, 1 Nov 2016 19:47:32 +0100
Subject: [PATCH 002/175] Add gitignore to exclude build files.

---
 .gitignore | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 .gitignore

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 000000000..80612b65d
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+/bin
+/build3/gmake
+/build_cmake/

From 4559de6c1180101d7798b114f9fb2b97d97e0ac4 Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Tue, 1 Nov 2016 19:48:39 +0100
Subject: [PATCH 003/175] Modify TimeSeriesCanvas to be defined by yMin and
 yMax instead of yScale.

---
 examples/Evolution/NN3DWalkers.cpp            | 12 ++-
 .../RenderingExamples/TimeSeriesCanvas.cpp    | 96 +++++++++++--------
 examples/RenderingExamples/TimeSeriesCanvas.h |  3 +-
 3 files changed, 69 insertions(+), 42 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index f86f8b92a..467d75ed3 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -49,6 +49,14 @@ class NNWalker;
 #define EVALUATION_DURATION 10 // s (duration of one single evaluation)
 #endif
 
+#ifndef TIME_SERIES_MAX_Y
+#define TIME_SERIES_MAX_Y 20.0f
+#endif
+
+#ifndef TIME_SERIES_MIN_Y
+#define TIME_SERIES_MIN_Y 0.0f
+#endif
+
 // Evaluation configurable parameters
 #ifndef REAP_QTY
 #define REAP_QTY 0.3f // number of walkers reaped based on their bad performance
@@ -889,8 +897,8 @@ void NN3DWalkersExample::initPhysics()
 
 
 	// setup data sources for walkers in time series canvas
-	m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,300,200, "Fitness Performance");
-	m_timeSeriesCanvas ->setupTimeSeries(40, POPULATION_SIZE*EVALUATION_DURATION, 0);
+	m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,400,300, "Fitness Performance");
+	m_timeSeriesCanvas->setupTimeSeries(TIME_SERIES_MIN_Y, TIME_SERIES_MAX_Y, 10, 0);
 	for(int i = 0; i < POPULATION_SIZE ; i++){
 		m_timeSeriesCanvas->addDataSource(" ", 100*i/POPULATION_SIZE,100*(POPULATION_SIZE-i)/POPULATION_SIZE,100*(i)/POPULATION_SIZE);
 	}
diff --git a/examples/RenderingExamples/TimeSeriesCanvas.cpp b/examples/RenderingExamples/TimeSeriesCanvas.cpp
index bfd2e9dfd..9e560cffb 100644
--- a/examples/RenderingExamples/TimeSeriesCanvas.cpp
+++ b/examples/RenderingExamples/TimeSeriesCanvas.cpp
@@ -13,7 +13,11 @@ struct DataSource
 	float m_lastValue;
 	bool m_hasLastValue;
 	DataSource()
-		:m_hasLastValue(false)
+		:m_red(0),
+		 m_green(0),
+		 m_blue(0),
+		 m_lastValue(0),
+		 m_hasLastValue(false)
 	{
 	}
 };
@@ -28,10 +32,12 @@ struct TimeSeriesInternalData
 	int m_height;
 
 	float m_pixelsPerUnit;
-	float m_zero;
+	float m_center;
 	int m_timeTicks;
 	int m_ticksPerSecond;
-	float m_yScale;
+	float m_yMax;
+	float m_yMin;
+	float m_yZero;
 	int m_bar;
 
 	unsigned char m_backgroundRed;
@@ -50,13 +56,17 @@ struct TimeSeriesInternalData
 	}
 
 	TimeSeriesInternalData(int width, int height)
-		:m_width(width),
+		:m_canvasInterface(NULL),
+		m_canvasIndex(0),
+		m_width(width),
 		m_height(height),
 		m_pixelsPerUnit(-100),
-		m_zero(height/2.0),
+		m_center(height/2.0),
 		m_timeTicks(0),
 		m_ticksPerSecond(100),
-		m_yScale(1),
+		m_yMax(1),
+		m_yMin(0),
+		m_yZero(0.5f),
 		m_bar(0),
 		m_backgroundRed(255),
 		m_backgroundGreen(255),
@@ -105,13 +115,18 @@ void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char
 
 }
 void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas)
+{
+	setupTimeSeries(-yScale, yScale, ticksPerSecond, startTime, clearCanvas);
+}
+void TimeSeriesCanvas::setupTimeSeries(float yMin, float yMax, int ticksPerSecond, int startTime, bool clearCanvas)
 {
 	if (0==m_internalData->m_canvasInterface)
 		return;
 
-	m_internalData->m_pixelsPerUnit = -(m_internalData->m_height/3.f)/yScale;
+	m_internalData->m_pixelsPerUnit = -(m_internalData->m_height/3.f)/(0.5f*(yMax-yMin));
 	m_internalData->m_ticksPerSecond = ticksPerSecond;
-	m_internalData->m_yScale = yScale;
+	m_internalData->m_yMin = yMin;
+	m_internalData->m_yMax = yMax;
 	m_internalData->m_dataSources.clear();
 	
 	if (clearCanvas)
@@ -130,18 +145,22 @@ void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int sta
 		}
 	}
 	
-	float zeroPixelCoord = m_internalData->m_zero;
+	float centerPixelCoord = m_internalData->m_center;
 	float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
 	
-	float yPos = zeroPixelCoord+pixelsPerUnit*yScale;
-	float yNeg = zeroPixelCoord+pixelsPerUnit*-yScale;
+	m_internalData->m_yZero = centerPixelCoord - pixelsPerUnit*0.5f*(yMax+yMin);
+
+	float yPos = centerPixelCoord+pixelsPerUnit*0.5f*(yMax-yMin);
+	float yNeg = centerPixelCoord+pixelsPerUnit*-0.5f*(yMax-yMin);
 
 	
-	grapicalPrintf("0", sTimeSeriesFontData, 2,zeroPixelCoord,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
+	if(yMin < 0 && yMax > 0){
+		grapicalPrintf("0", sTimeSeriesFontData, 2,m_internalData->m_yZero,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
+	}
 	char label[1024];
-	sprintf(label,"%2.1f", yScale);
+	sprintf(label,"%2.1f", yMax);
 	grapicalPrintf(label, sTimeSeriesFontData, 2,yPos,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
-	sprintf(label,"%2.1f", -yScale);
+	sprintf(label,"%2.1f", yMin);
 	grapicalPrintf(label, sTimeSeriesFontData, 2,yNeg,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
 		
 	m_internalData->m_canvasInterface->refreshImageData(m_internalData->m_canvasIndex);
@@ -209,7 +228,7 @@ void TimeSeriesCanvas::shift1PixelToLeft()
 	int resetVal = 10;
 	int countdown = resetVal;
 
-	//shift pixture one pixel to the left
+	//shift picture one pixel to the left
 	for (int j=50;j<m_internalData->m_height-48;j++)
 	{
 		for (int i=40;i<this->m_internalData->m_width;i++)
@@ -238,35 +257,34 @@ void TimeSeriesCanvas::shift1PixelToLeft()
 		}
 	}
 
-
+	{
+		int resetVal = 2;
+		static int countdown = resetVal;
+		if (!countdown--)
 		{
-			int resetVal = 2;
-			static int countdown = resetVal;
-			if (!countdown--)
-			{
-				countdown=resetVal;
-				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,m_internalData->m_zero,0,0,0,255);
-			}
+			countdown=resetVal;
+			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,m_internalData->m_yZero,0,0,0,255);
 		}
+	}
 
+	{
+		int resetVal = 10;
+		static int countdown = resetVal;
+		if (!countdown--)
 		{
-			int resetVal = 10;
-			static int countdown = resetVal;
-			if (!countdown--)
-			{
-				countdown=resetVal;
-				float zeroPixelCoord = m_internalData->m_zero;
-				float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
+			countdown=resetVal;
+			float centerPixelCoord = m_internalData->m_center;
+			float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
 
-				float yPos = zeroPixelCoord+pixelsPerUnit*m_internalData->m_yScale;
-				float yNeg = zeroPixelCoord+pixelsPerUnit*-m_internalData->m_yScale;
+			float yPos = centerPixelCoord+pixelsPerUnit*0.5f*(m_internalData->m_yMax-m_internalData->m_yMin);
+			float yNeg = centerPixelCoord+pixelsPerUnit*-0.5f*(m_internalData->m_yMax-m_internalData->m_yMin);
 
-				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
-					yPos,0,0,0,255);
-				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
-					yNeg,0,0,0,255);
-			}
+			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
+				yPos,0,0,0,255);
+			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
+				yNeg,0,0,0,255);
 		}
+	}
 	
 	
 	
@@ -276,7 +294,7 @@ void TimeSeriesCanvas::shift1PixelToLeft()
 		char buf[1024];
 		float time = m_internalData->getTime();
 		sprintf(buf,"%2.0f",time);
-		grapicalPrintf(buf, sTimeSeriesFontData, m_internalData->m_width-25,m_internalData->m_zero+3,0,0,0,255);
+		grapicalPrintf(buf, sTimeSeriesFontData, m_internalData->m_width-25,m_internalData->m_center+3,0,0,0,255);
 
 		m_internalData->m_bar=m_internalData->m_ticksPerSecond;
 		
@@ -294,7 +312,7 @@ void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex,
 
 	btAssert(dataSourceIndex < m_internalData->m_dataSources.size());
 
-	float zero = m_internalData->m_zero;
+	float zero = m_internalData->m_yZero;
 	float amp = m_internalData->m_pixelsPerUnit;
 	//insert some new value(s) in the right-most column
 	{
diff --git a/examples/RenderingExamples/TimeSeriesCanvas.h b/examples/RenderingExamples/TimeSeriesCanvas.h
index 41f466279..29901e8da 100644
--- a/examples/RenderingExamples/TimeSeriesCanvas.h
+++ b/examples/RenderingExamples/TimeSeriesCanvas.h
@@ -13,6 +13,7 @@ public:
 	virtual ~TimeSeriesCanvas();
 
 	void setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas=true);
+	void setupTimeSeries(float yMin, float yMax, int ticksPerSecond, int startTime, bool clearCanvas=true);
 	void addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue);
 	void insertDataAtCurrentTime(float value, int dataSourceIndex, bool connectToPrevious);
 	float getCurrentTime() const;
@@ -22,4 +23,4 @@ public:
 	
 };
 
-#endif//TIME_SERIES_CANVAS_H
\ No newline at end of file
+#endif//TIME_SERIES_CANVAS_H

From e10ca7094424fc11ee5c2ae72489d5dee851a09e Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Tue, 1 Nov 2016 21:03:46 +0100
Subject: [PATCH 004/175] Fix and reconfigure demo by rebuilding walkers every
 time.

---
 examples/Evolution/NN3DWalkers.cpp | 120 +++++++++++------------------
 1 file changed, 43 insertions(+), 77 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index 467d75ed3..d071c5cd6 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -42,7 +42,7 @@ class NNWalker;
 #endif
 
 #ifndef POPULATION_SIZE
-#define POPULATION_SIZE 10 // number of walkers in the population
+#define POPULATION_SIZE 100 // number of walkers in the population
 #endif
 
 #ifndef EVALUATION_DURATION
@@ -93,14 +93,6 @@ class NNWalker;
 #define REBUILD_WALKER true // if the walker should be rebuilt on mutation
 #endif
 
-#ifndef RANDOM_WALKER_MOVEMENT
-#define RANDOM_WALKER_MOVEMENT false // movement is chosen randomly and not via neural network
-#endif
-
-#ifndef RANDOMIZE_WALKER_DIMENSIONS
-#define RANDOMIZE_WALKER_DIMENSIONS false // if the walker dimensions should be mutated or not
-#endif
-
 #ifndef TIMESTAMP_TIME
 #define TIMESTAMP_TIME 2000.0f // delay between speed up timestamps
 #endif
@@ -158,7 +150,7 @@ public:
 	 m_legLength(0.45f),
 	 m_foreLegLength(0.75f),
 	 m_foreLegRadius(0.08f),
-	 m_parallelEvaluations(1.0f),
+	 m_parallelEvaluations(10.0f),
 	 // others
 	 m_resetPosition(0,0,0),
 	 m_SimulationTime(0),
@@ -188,14 +180,6 @@ public:
 	 */
 	virtual void exitPhysics();
 	
-	/**
-	 * Spawn a walker at startPosition.
-	 * @param index
-	 * @param startPosition
-	 * @param fixedRootBodyPosition
-	 */
-	void spawnWalker(int index, const btVector3& startPosition, bool fixedRootBodyPosition);
-	
 	virtual bool keyboardCallback(int key, int state);
 
 	/**
@@ -381,9 +365,7 @@ public:
 		//initialize random weights
 		for(int i = 0;i < BODYPART_COUNT;i++){
 			for(int j = 0;j < JOINT_COUNT;j++){
-				//TODO: clean this up
 				m_sensoryMotorWeights[i+j*BODYPART_COUNT] = ((double) rand() / (RAND_MAX))*2.0f-1.0f;
-				//m_sensoryMotorWeights[i+j*BODYPART_COUNT] = 1;
 			}
 		}
 	}
@@ -408,10 +390,6 @@ public:
 
 		NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)m_ownerWorld->getWorldUserInfo();
 
-		clearTouchSensors(); // set touch sensors to zero
-
-		randomizeSensoryMotorWeights(); // set random sensory motor weights for neural network layer
-
 		//
 		// Setup geometry
 		m_shapes[0] = new btCapsuleShape(rootBodyRadius, rootBodyHeight); // root body capsule
@@ -443,7 +421,6 @@ public:
 		m_bodyTouchSensorIndexMap.insert(btHashPtr(m_bodies[0]), 0);
 
 		btHingeConstraint* hingeC;
-		//btConeTwistConstraint* coneC;
 
 		btTransform localA, localB, localC;
 
@@ -494,7 +471,7 @@ public:
 			hingeC->setLimit(btScalar(-SIMD_PI_8), btScalar(0.2));
 			m_joints[1+2*i] = hingeC;
 
-			//test if we cause a collision with priorly inserted bodies. This prevents the walkers to have to resolve collisions on startup
+			//test if we cause a collision with priorly inserted bodies. This prevents the walkers from having to resolve collisions on startup
 
 			m_ownerWorld->addRigidBody(m_bodies[1+2*i]); // add thigh bone
 			m_ownerWorld->addConstraint(m_joints[2*i], true); // connect thigh bone with root
@@ -524,6 +501,11 @@ public:
 		}
 
 		removeFromWorld(); // the walker should not yet be in the world
+
+		clearTouchSensors(); // set touch sensors to zero
+
+		randomizeSensoryMotorWeights(); // set random sensory motor weights for neural network layer
+
 	}
 
 	virtual	~NNWalker ()
@@ -637,12 +619,13 @@ public:
 	}
 
 	void resetAt(const btVector3& position) {
+		removeFromWorld();
 		btTransform resetPosition(btQuaternion::getIdentity(), position);
 
-		for (int i = 0; i < 2*NUM_WALKER_LEGS; i++)
+		for (int i = 0; i < JOINT_COUNT; i++)
 		{
-					btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(getJoints()[i]);
-					hingeC->enableAngularMotor(false,0,0);
+			btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(getJoints()[i]);
+			hingeC->enableMotor(false);
 		}
 
 		for (int i = 0; i < BODYPART_COUNT; ++i)
@@ -657,7 +640,7 @@ public:
 			}
 		}
 
-		m_startPosition = getPosition();
+		m_startPosition = position; // the starting position of the walker
 
 		m_legUpdateAccumulator = 0;
 
@@ -861,9 +844,7 @@ void NN3DWalkersExample::initPhysics()
 			slider);
 	}
 
-
-	// Setup a big ground box
-	{
+	{// Setup a big ground box
 		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
 		m_collisionShapes.push_back(groundShape);
 		btTransform groundTransform;
@@ -874,41 +855,25 @@ void NN3DWalkersExample::initPhysics()
 		ground->setUserPointer(GROUND_ID);
 	}
 
-	for(int i = 0; i < POPULATION_SIZE ; i++){
-		if(RANDOMIZE_WALKER_DIMENSIONS){
-			float maxDimension = 0.2f;
-
-			// randomize the dimensions
-			m_rootBodyRadius  = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			m_rootBodyHeight = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			m_legRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			m_legLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			m_foreLegLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-			m_foreLegRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
-		}
-
-		// Spawn one walker
-		spawnWalker(i, m_resetPosition, false);
-	}
-
 	// add walker filter making the walkers never collide with each other
 	btOverlapFilterCallback * filterCallback = new WalkerFilterCallback();
 	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(filterCallback);
 
-
 	// setup data sources for walkers in time series canvas
 	m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,400,300, "Fitness Performance");
 	m_timeSeriesCanvas->setupTimeSeries(TIME_SERIES_MIN_Y, TIME_SERIES_MAX_Y, 10, 0);
 	for(int i = 0; i < POPULATION_SIZE ; i++){
 		m_timeSeriesCanvas->addDataSource(" ", 100*i/POPULATION_SIZE,100*(POPULATION_SIZE-i)/POPULATION_SIZE,100*(i)/POPULATION_SIZE);
 	}
-}
 
+	m_walkersInPopulation.resize(POPULATION_SIZE, NULL);
+
+	for(int i = 0; i < POPULATION_SIZE ; i++){
+
+		// Spawn one walker
+		resetWalkerAt(i, m_resetPosition);
+	}
 
-void NN3DWalkersExample::spawnWalker(int index, const btVector3& resetPosition, bool fixedBodyPosition)
-{
-	NNWalker* walker = new NNWalker(index, m_dynamicsWorld, resetPosition, m_rootBodyRadius,m_rootBodyHeight,m_legRadius,m_legLength,m_foreLegRadius,m_foreLegLength, fixedBodyPosition);
-	m_walkersInPopulation.push_back(walker);
 }
 
 bool NN3DWalkersExample::detectCollisions()
@@ -1167,17 +1132,11 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 
 	m_SimulationTime += delta;
 
-	for(int i = 0; i < POPULATION_SIZE;i++) // evaluation time passes
+	for(int r = 0; r < POPULATION_SIZE;r++) // evaluation time passes
 	{
-		if(m_walkersInPopulation[i]->isInEvaluation()){
-			m_walkersInPopulation[i]->setEvaluationTime(m_walkersInPopulation[i]->getEvaluationTime()+delta); // increase evaluation time
-		}
-	}
+		if(m_walkersInPopulation[r] != NULL && m_walkersInPopulation[r]->isInEvaluation()){
+			m_walkersInPopulation[r]->setEvaluationTime(m_walkersInPopulation[r]->getEvaluationTime()+delta); // increase evaluation time
 
-	for (int r = 0; r < POPULATION_SIZE; r++)
-	{
-		if(m_walkersInPopulation[r]->isInEvaluation())
-		{
 			m_walkersInPopulation[r]->setLegUpdateAccumulator(m_walkersInPopulation[r]->getLegUpdateAccumulator() + delta);
 
 			if(m_walkersInPopulation[r]->getLegUpdateAccumulator() >= btScalar(1.0f) /m_walkerLegTargetFrequency)
@@ -1189,17 +1148,13 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 					btScalar targetAngle = 0; // angle in range [0,1]
 					btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_walkersInPopulation[r]->getJoints()[i]);
 
-					if(RANDOM_WALKER_MOVEMENT){
-						targetAngle   = ((double) rand() / (RAND_MAX));
-					}
-					else{ // neural network movement
 
-						for(int j = 0; j < JOINT_COUNT;j++){ // accumulate sensor inputs with weights (summate inputs)
-							targetAngle += m_walkersInPopulation[r]->getSensoryMotorWeights()[i+j*BODYPART_COUNT] * m_walkersInPopulation[r]->getTouchSensor(i);
-						}
-
-						targetAngle = (tanh(targetAngle)+1.0f)*0.5f; // apply the activation function (threshold) [0;1]
+					for(int j = 0; j < JOINT_COUNT;j++){ // accumulate sensor inputs with weights (summate inputs)
+						targetAngle += m_walkersInPopulation[r]->getSensoryMotorWeights()[i+j*BODYPART_COUNT] * m_walkersInPopulation[r]->getTouchSensor(i);
 					}
+
+					targetAngle = (tanh(targetAngle)+1.0f)*0.5f; // apply the activation function (threshold) [0;1]
+
 					btScalar targetLimitAngle 	= hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit()); // [lowerLimit;upperLimit]
 					btScalar currentAngle      	= hingeC->getHingeAngle();
 					btScalar angleError  		= targetLimitAngle - currentAngle; // target current delta
@@ -1257,9 +1212,20 @@ void NN3DWalkersExample::scheduleEvaluations() {
 
 void NN3DWalkersExample::resetWalkerAt(int i, const btVector3& resetPosition){
 
-	NNWalker* newWalker = new NNWalker(i, m_dynamicsWorld, resetPosition, m_rootBodyRadius,m_rootBodyHeight,m_legRadius,m_legLength,m_foreLegRadius,m_foreLegLength, false);
-	newWalker->copySensoryMotorWeights(m_walkersInPopulation[i]->getSensoryMotorWeights());
-	delete m_walkersInPopulation[i];
+	NNWalker* newWalker = new NNWalker(i, m_dynamicsWorld, resetPosition,
+		m_rootBodyRadius,
+		m_rootBodyHeight,
+		m_legRadius,
+		m_legLength,
+		m_foreLegRadius,
+		m_foreLegLength,
+		false);
+
+	if(m_walkersInPopulation[i] != NULL){
+		newWalker->copySensoryMotorWeights(m_walkersInPopulation[i]->getSensoryMotorWeights());
+		delete m_walkersInPopulation[i];
+	}
+
 	m_walkersInPopulation[i] = newWalker;
 }
 

From 1fc36d0a9f1a17760e853d527b9af1836f51ceac Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Tue, 1 Nov 2016 22:11:12 +0100
Subject: [PATCH 005/175] Only create graphics if not headless.

---
 examples/Evolution/NN3DWalkers.cpp | 131 +++++++++--------------------
 1 file changed, 42 insertions(+), 89 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index d071c5cd6..497621428 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -42,7 +42,7 @@ class NNWalker;
 #endif
 
 #ifndef POPULATION_SIZE
-#define POPULATION_SIZE 100 // number of walkers in the population
+#define POPULATION_SIZE 50 // number of walkers in the population
 #endif
 
 #ifndef EVALUATION_DURATION
@@ -57,6 +57,16 @@ class NNWalker;
 #define TIME_SERIES_MIN_Y 0.0f
 #endif
 
+static btScalar gWalkerMotorStrength = 0.5f;
+static btScalar gWalkerLegTargetFrequency =3;
+static btScalar gRootBodyRadius  = 0.25f;
+static btScalar gRootBodyHeight = 0.1f;
+static btScalar gLegRadius = 0.1f;
+static btScalar gLegLength = 0.45f;
+static btScalar gForeLegLength = 0.75f;
+static btScalar gForeLegRadius = 0.08f;
+static btScalar gParallelEvaluations = 10.0f;
+
 // Evaluation configurable parameters
 #ifndef REAP_QTY
 #define REAP_QTY 0.3f // number of walkers reaped based on their bad performance
@@ -120,17 +130,6 @@ class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
 
 	btVector3 m_resetPosition; // initial position of an evaluation
 
-	// configurable via slider
-	btScalar m_walkerLegTargetFrequency;
-	btScalar m_walkerMotorStrength;
-	btScalar m_rootBodyRadius;
-	btScalar m_rootBodyHeight;
-	btScalar m_legRadius;
-	btScalar m_legLength;
-	btScalar m_foreLegLength;
-	btScalar m_foreLegRadius;
-	btScalar m_parallelEvaluations;
-
 	int 	 m_walkersInEvaluation; // number of walkers in evaluation
 	int		 m_nextReapedIndex; // index of the next reaped walker
 	
@@ -141,16 +140,6 @@ class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
 public:
 	NN3DWalkersExample(struct GUIHelperInterface* helper)
 	:NN3DWalkersTimeWarpBase(helper),
-	 // configurable via sliders, defaults
-	 m_walkerMotorStrength(0.5f),
-	 m_walkerLegTargetFrequency(3),
-	 m_rootBodyRadius(0.25f),
-	 m_rootBodyHeight(0.1f),
-	 m_legRadius(0.1f),
-	 m_legLength(0.45f),
-	 m_foreLegLength(0.75f),
-	 m_foreLegRadius(0.08f),
-	 m_parallelEvaluations(10.0f),
 	 // others
 	 m_resetPosition(0,0,0),
 	 m_SimulationTime(0),
@@ -285,42 +274,6 @@ public:
 	 * Print walker configurations to console.
 	 */
 	void printWalkerConfigs();
-
-	btScalar getForeLegLength() const {
-		return m_foreLegLength;
-	}
-
-	btScalar getForeLegRadius() const {
-		return m_foreLegRadius;
-	}
-
-	btScalar getLegLength() const {
-		return m_legLength;
-	}
-
-	btScalar getLegRadius() const {
-		return m_legRadius;
-	}
-
-	btScalar getParallelEvaluations() const {
-		return m_parallelEvaluations;
-	}
-
-	btScalar getRootBodyHeight() const {
-		return m_rootBodyHeight;
-	}
-
-	btScalar getRootBodyRadius() const {
-		return m_rootBodyRadius;
-	}
-
-	btScalar getWalkerMotorStrength() const {
-		return m_walkerMotorStrength;
-	}
-
-	void setParallelEvaluations(btScalar parallelEvaluations) {
-		m_parallelEvaluations = parallelEvaluations;
-	}
 };
 
 static NN3DWalkersExample* nn3DWalkers = NULL;
@@ -697,10 +650,8 @@ bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
 	if (ID1 != GROUND_ID || ID2 != GROUND_ID) {
 	    // Make a circle with a 0.9 radius at (0,0,0)
 	    // with RGB color (1,0,0).
-		if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL){
-			if(!nn3DWalkers->mIsHeadless){
-				nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
-			}
+		if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL && !nn3DWalkers->mIsHeadless){
+			nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
 		}
 
 		if(ID1 != GROUND_ID && ID1){
@@ -733,7 +684,7 @@ struct WalkerFilterCallback : public btOverlapFilterCallback
 };
 
 void floorNNSliderValue(float notUsed) {
-	nn3DWalkers->setParallelEvaluations(floor(nn3DWalkers->getParallelEvaluations()));
+	gParallelEvaluations = floor(gParallelEvaluations);
 }
 
 void NN3DWalkersExample::initPhysics()
@@ -754,15 +705,15 @@ void NN3DWalkersExample::initPhysics()
 	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true);
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 
-	m_walkerLegTargetFrequency = 3; // Hz
+	gWalkerLegTargetFrequency = 3; // Hz
 
 	// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
 	// should be (numberOfsolverIterations * oldLimits)
-	m_walkerMotorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
+	gWalkerMotorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
 
 
 	{ // create a slider to change the motor update frequency
-		SliderParams slider("Motor update frequency", &m_walkerLegTargetFrequency);
+		SliderParams slider("Motor update frequency", &gWalkerLegTargetFrequency);
 		slider.m_minVal = 0;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -771,7 +722,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the motor torque
-		SliderParams slider("Motor force", &m_walkerMotorStrength);
+		SliderParams slider("Motor force", &gWalkerMotorStrength);
 		slider.m_minVal = 1;
 		slider.m_maxVal = 50;
 		slider.m_clampToNotches = false;
@@ -780,7 +731,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 	
 	{ // create a slider to change the root body radius
-		SliderParams slider("Root body radius", &m_rootBodyRadius);
+		SliderParams slider("Root body radius", &gRootBodyRadius);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -789,7 +740,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the root body height
-		SliderParams slider("Root body height", &m_rootBodyHeight);
+		SliderParams slider("Root body height", &gRootBodyHeight);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -798,7 +749,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the leg radius
-		SliderParams slider("Leg radius", &m_legRadius);
+		SliderParams slider("Leg radius", &gLegRadius);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -807,7 +758,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the leg length
-		SliderParams slider("Leg length", &m_legLength);
+		SliderParams slider("Leg length", &gLegLength);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -816,7 +767,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the fore leg radius
-		SliderParams slider("Fore Leg radius", &m_foreLegRadius);
+		SliderParams slider("Fore Leg radius", &gForeLegRadius);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -825,7 +776,7 @@ void NN3DWalkersExample::initPhysics()
 	}
 
 	{ // create a slider to change the fore leg length
-		SliderParams slider("Fore Leg length", &m_foreLegLength);
+		SliderParams slider("Fore Leg length", &gForeLegLength);
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
@@ -835,7 +786,7 @@ void NN3DWalkersExample::initPhysics()
 
 	if(POPULATION_SIZE > 1)
 	{ // create a slider to change the number of parallel evaluations
-		SliderParams slider("Parallel evaluations", &m_parallelEvaluations);
+		SliderParams slider("Parallel evaluations", &gParallelEvaluations);
 		slider.m_minVal = 1;
 		slider.m_maxVal = POPULATION_SIZE;
 		slider.m_clampToNotches = false;
@@ -907,7 +858,7 @@ bool NN3DWalkersExample::detectCollisions()
 						return collisionDetected;
 					}
 
-					if(m_dynamicsWorld->getDebugDrawer()){ // draw self collisions
+					if(m_dynamicsWorld->getDebugDrawer() && !mIsHeadless){ // draw self collisions
 						m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnA(), 0.1, btVector3(0., 0., 1.));
 						m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnB(), 0.1, btVector3(0., 0., 1.));
 					}
@@ -924,10 +875,10 @@ bool NN3DWalkersExample::keyboardCallback(int key, int state)
 	switch (key)
 	{
 	case '[':
-		m_walkerMotorStrength /= 1.1f;
+		gWalkerMotorStrength /= 1.1f;
 		return true;
 	case ']':
-		m_walkerMotorStrength *= 1.1f;
+		gWalkerMotorStrength *= 1.1f;
 		return true;
 	case 'l':
 		printWalkerConfigs();
@@ -1139,7 +1090,7 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 
 			m_walkersInPopulation[r]->setLegUpdateAccumulator(m_walkersInPopulation[r]->getLegUpdateAccumulator() + delta);
 
-			if(m_walkersInPopulation[r]->getLegUpdateAccumulator() >= btScalar(1.0f) /m_walkerLegTargetFrequency)
+			if(m_walkersInPopulation[r]->getLegUpdateAccumulator() >= btScalar(1.0f) /gWalkerLegTargetFrequency)
 			{
 				m_walkersInPopulation[r]->setLegUpdateAccumulator(0);
 
@@ -1160,7 +1111,7 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 					btScalar angleError  		= targetLimitAngle - currentAngle; // target current delta
 					btScalar desiredAngularVel = angleError/((delta>0)?delta:btScalar(0.0001f)); // division by zero safety
 
-					hingeC->enableAngularMotor(true, desiredAngularVel, m_walkerMotorStrength); // set new target velocity
+					hingeC->enableAngularMotor(true, desiredAngularVel, gWalkerMotorStrength); // set new target velocity
 				}
 			}
 
@@ -1183,7 +1134,7 @@ void NN3DWalkersExample::scheduleEvaluations() {
 			m_walkersInEvaluation--;
 		}
 
-		if(m_walkersInEvaluation < m_parallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
+		if(m_walkersInEvaluation < gParallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
 			b3Printf("An evaluation started at %f s.",m_SimulationTime);
 			m_walkersInEvaluation++;
 
@@ -1196,7 +1147,9 @@ void NN3DWalkersExample::scheduleEvaluations() {
 			m_walkersInPopulation[i]->setInEvaluation(true);
 			m_walkersInPopulation[i]->addToWorld();
 
-			m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+			if(!mIsHeadless){
+				m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+			}
 		}
 	}
 
@@ -1213,12 +1166,12 @@ void NN3DWalkersExample::scheduleEvaluations() {
 void NN3DWalkersExample::resetWalkerAt(int i, const btVector3& resetPosition){
 
 	NNWalker* newWalker = new NNWalker(i, m_dynamicsWorld, resetPosition,
-		m_rootBodyRadius,
-		m_rootBodyHeight,
-		m_legRadius,
-		m_legLength,
-		m_foreLegRadius,
-		m_foreLegLength,
+		gRootBodyRadius,
+		gRootBodyHeight,
+		gLegRadius,
+		gLegLength,
+		gForeLegRadius,
+		gForeLegLength,
 		false);
 
 	if(m_walkersInPopulation[i] != NULL){
@@ -1244,8 +1197,8 @@ void NN3DWalkersExample::drawMarkings() {
 			}
 		}
 
-		for(int i = 2; i < 50; i+=2){ // draw distance circles
-			if(m_dynamicsWorld->getDebugDrawer()){
+		if(m_dynamicsWorld->getDebugDrawer() && !mIsHeadless){
+			for(int i = 2; i < 50; i+=2){ // draw distance circles
 				m_dynamicsWorld->getDebugDrawer()->drawArc(btVector3(0,0,0),btVector3(0,1,0),btVector3(1,0,0),btScalar(i), btScalar(i),btScalar(0),btScalar(SIMD_2_PI),btVector3(10*i,0,0),false);
 			}
 		}

From a76187fea50fd5868ac814e246b3ea12eba76b12 Mon Sep 17 00:00:00 2001
From: Benjamin Ellenberger <benjamin.ellenberger@intrasoft.ch>
Date: Tue, 8 Nov 2016 22:16:08 +0100
Subject: [PATCH 006/175] Extend b3Clock to expose the system current time in
 milliseconds. Replace #include time.h with b3Clock.

---
 examples/Evolution/NN3DWalkers.cpp |  8 ++---
 examples/Utils/b3Clock.cpp         | 54 ++++++++++++++++++++++++++++++
 examples/Utils/b3Clock.h           |  3 ++
 3 files changed, 60 insertions(+), 5 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index 497621428..3ca2b9c83 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -15,9 +15,6 @@ subject to the following restrictions:
 
 #include "NN3DWalkers.h"
 
-// not allowed declarations
-#include <time.h>
-
 class btBroadphaseInterface;
 class btCollisionShape;
 class btOverlappingPairCache;
@@ -33,6 +30,7 @@ class NNWalker;
 #include "LinearMath/btHashMap.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 #include "../Utils/b3ReferenceFrameHelper.hpp"
+#include "../Utils/b3Clock.h"
 #include "../RenderingExamples/TimeSeriesCanvas.h"
 #include "NN3DWalkersTimeWarpBase.h"
 
@@ -136,7 +134,6 @@ class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
 	btAlignedObjectArray<class NNWalker*> m_walkersInPopulation;
 	
 	TimeSeriesCanvas* m_timeSeriesCanvas; // A plotting canvas for the walker fitnesses
-
 public:
 	NN3DWalkersExample(struct GUIHelperInterface* helper)
 	:NN3DWalkersTimeWarpBase(helper),
@@ -149,7 +146,8 @@ public:
 	 m_nextReapedIndex(0),
 	 m_timeSeriesCanvas(NULL)
 	{
-		srand(time(NULL));
+		b3Clock clock;
+		srand(clock.getSystemTimeMilliseconds());
 	}
 
 	virtual ~NN3DWalkersExample()
diff --git a/examples/Utils/b3Clock.cpp b/examples/Utils/b3Clock.cpp
index 8e1884526..1990eb46b 100644
--- a/examples/Utils/b3Clock.cpp
+++ b/examples/Utils/b3Clock.cpp
@@ -47,6 +47,7 @@ struct b3ClockData
 #ifdef B3_USE_WINDOWS_TIMERS
 	LARGE_INTEGER mClockFrequency;
 	DWORD mStartTick;
+	LONGLONG mPrevMilliTime;
 	LONGLONG mPrevElapsedTime;
 	LARGE_INTEGER mStartTime;
 #else
@@ -228,6 +229,59 @@ double b3Clock::getTimeInSeconds()
 	return double(getTimeMicroseconds()/1.e6);
 }
 
+/// Gets the system time in milliseconds
+double b3Clock::getSystemTimeMilliseconds() {
+
+#ifdef B3_USE_WINDOWS_TIMERS
+	LARGE_INTEGER currentTime;
+	QueryPerformanceCounter(&currentTime);
+	LONGLONG elapsedTime = currentTime.QuadPart;
+	// Compute the number of millisecond ticks elapsed.
+	unsigned long msecTicks = (unsigned 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();
+	signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+	if (msecOff < -100 || msecOff > 100)
+	{
+		// Adjust the starting time forwards.
+		LONGLONG msecAdjustment = b3ClockMin(msecOff *
+			m_data->mClockFrequency.QuadPart / 1000, elapsedTime -
+			m_data->mPrevMilliTime);
+		elapsedTime -= msecAdjustment;
+
+		// Recompute the number of millisecond ticks elapsed.
+		msecTicks = (unsigned long)(1000 * elapsedTime /
+			m_data->mClockFrequency.QuadPart);
+	}
+
+	// Store the current elapsed time for adjustments next time.
+	m_data->mPrevMilliTime = elapsedTime;
+
+	return msecTicks;
+#else
+
+#ifdef __CELLOS_LV2__
+	uint64_t freq = sys_time_get_timebase_frequency();
+	double dFreq = ((double)freq) / 1000.0;
+	typedef uint64_t  ClockSize;
+	ClockSize newTime;
+	SYS_TIMEBASE_GET(newTime);
+	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+
+	return (unsigned long int)((double(newTime)) / dFreq);
+#else
+
+	struct timeval currentTime;
+	gettimeofday(&currentTime, 0);
+	return (currentTime.tv_sec) * 1000 +
+		(currentTime.tv_usec) / 1000;
+#endif //__CELLOS_LV2__
+#endif
+}
+
 void b3Clock::usleep(int microSeconds)
 {
 #ifdef _WIN32
diff --git a/examples/Utils/b3Clock.h b/examples/Utils/b3Clock.h
index 10a36686a..8bc511eb7 100644
--- a/examples/Utils/b3Clock.h
+++ b/examples/Utils/b3Clock.h
@@ -28,6 +28,9 @@ public:
 	/// the Clock was created.
 	double getTimeInSeconds();
 
+	/// Gets the system time in milliseconds
+	double getSystemTimeMilliseconds();
+
 	///Sleep for 'microSeconds', to yield to other threads and not waste 100% CPU cycles.
 	///Note that some operating systems may sleep a longer time.
 	static void usleep(int microSeconds);

From 3a424079f37e28f33e072d9c925b47081dd48803 Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Tue, 27 Dec 2016 21:00:22 +0100
Subject: [PATCH 007/175] [WIP] Implementing recreating the world to reset it.

---
 examples/Evolution/NN3DWalkers.cpp           | 178 ++++++++++++++-----
 examples/Evolution/NN3DWalkersTimeWarpBase.h |   6 +-
 2 files changed, 133 insertions(+), 51 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index 3ca2b9c83..3a4eb32fc 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -56,7 +56,7 @@ class NNWalker;
 #endif
 
 static btScalar gWalkerMotorStrength = 0.5f;
-static btScalar gWalkerLegTargetFrequency =3;
+static btScalar gWalkerLegTargetFrequency = 3;
 static btScalar gRootBodyRadius  = 0.25f;
 static btScalar gRootBodyHeight = 0.1f;
 static btScalar gLegRadius = 0.1f;
@@ -125,7 +125,6 @@ class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
 	btScalar m_LastSpeedupPrintTimestamp;
 	btScalar m_bestWalkerFitness; // to keep track of the best fitness
 
-
 	btVector3 m_resetPosition; // initial position of an evaluation
 
 	int 	 m_walkersInEvaluation; // number of walkers in evaluation
@@ -133,6 +132,12 @@ class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
 	
 	btAlignedObjectArray<class NNWalker*> m_walkersInPopulation;
 	
+	bool m_rebuildWorld; // if the world should be rebuilt (for determinism)
+
+	btRigidBody* m_ground; // reference to ground to readd if world is rebuilt
+
+	btOverlapFilterCallback * m_filterCallback; // the collision filter callback
+
 	TimeSeriesCanvas* m_timeSeriesCanvas; // A plotting canvas for the walker fitnesses
 public:
 	NN3DWalkersExample(struct GUIHelperInterface* helper)
@@ -144,7 +149,10 @@ public:
 	 m_LastSpeedupPrintTimestamp(0),
 	 m_walkersInEvaluation(0),
 	 m_nextReapedIndex(0),
-	 m_timeSeriesCanvas(NULL)
+	 m_timeSeriesCanvas(NULL),
+	 m_ground(NULL),
+	 m_rebuildWorld(false),
+	 m_filterCallback(NULL)
 	{
 		b3Clock clock;
 		srand(clock.getSystemTimeMilliseconds());
@@ -162,11 +170,28 @@ public:
 	 */
 	void initPhysics();
 	
+	/**
+	 * Recreate the world if necessary.
+	 * @param deltaTime
+	 */
+	virtual void performModelUpdate(float deltaTime);
+
+	/**
+	 * Delete the world and recreate it anew.
+	 */
+	void recreateWorld();
+
 	/**
 	 * Shutdown physics scene.
 	 */
 	virtual void exitPhysics();
 	
+	/**
+	 * Handle keyboard inputs.
+	 * @param key
+	 * @param state
+	 * @return
+	 */
 	virtual bool keyboardCallback(int key, int state);
 
 	/**
@@ -527,7 +552,7 @@ public:
 		}
 	}
 
-	void removeFromWorld(){
+	void removeFromWorld() {
 		int i;
 
 		// Remove all constraints
@@ -576,7 +601,7 @@ public:
 		for (int i = 0; i < JOINT_COUNT; i++)
 		{
 			btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(getJoints()[i]);
-			hingeC->enableMotor(false);
+			hingeC->enableAngularMotor(false,0,0);
 		}
 
 		for (int i = 0; i < BODYPART_COUNT; ++i)
@@ -633,6 +658,10 @@ public:
 	void setLegUpdateAccumulator(btScalar legUpdateAccumulator) {
 		m_legUpdateAccumulator = legUpdateAccumulator;
 	}
+
+	void setOwnerWorld(btDynamicsWorld* ownerWorld) {
+		m_ownerWorld = ownerWorld;
+	}
 };
 
 void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep);
@@ -663,7 +692,7 @@ bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
     return false;
 }
 
-struct WalkerFilterCallback : public btOverlapFilterCallback
+struct WalkerFilterCallback : public btOverlapFilterCallback // avoids collisions among the walkers
 {
 	// return true when pairs need collision
 	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
@@ -709,7 +738,6 @@ void NN3DWalkersExample::initPhysics()
 	// should be (numberOfsolverIterations * oldLimits)
 	gWalkerMotorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
 
-
 	{ // create a slider to change the motor update frequency
 		SliderParams slider("Motor update frequency", &gWalkerLegTargetFrequency);
 		slider.m_minVal = 0;
@@ -799,20 +827,20 @@ void NN3DWalkersExample::initPhysics()
 		btTransform groundTransform;
 		groundTransform.setIdentity();
 		groundTransform.setOrigin(btVector3(0,-10,0));
-		btRigidBody* ground = createRigidBody(btScalar(0.),groundTransform,groundShape);
-		ground->setFriction(5);
-		ground->setUserPointer(GROUND_ID);
+		m_ground = createRigidBody(btScalar(0.),groundTransform,groundShape);
+		m_ground->setFriction(5);
+		m_ground->setUserPointer(GROUND_ID);
 	}
 
 	// add walker filter making the walkers never collide with each other
-	btOverlapFilterCallback * filterCallback = new WalkerFilterCallback();
-	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(filterCallback);
+	m_filterCallback = new WalkerFilterCallback();
+	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(m_filterCallback);
 
 	// setup data sources for walkers in time series canvas
 	m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,400,300, "Fitness Performance");
 	m_timeSeriesCanvas->setupTimeSeries(TIME_SERIES_MIN_Y, TIME_SERIES_MAX_Y, 10, 0);
 	for(int i = 0; i < POPULATION_SIZE ; i++){
-		m_timeSeriesCanvas->addDataSource(" ", 100*i/POPULATION_SIZE,100*(POPULATION_SIZE-i)/POPULATION_SIZE,100*(i)/POPULATION_SIZE);
+		m_timeSeriesCanvas->addDataSource(" ", 100*i/POPULATION_SIZE,100*(POPULATION_SIZE-i)/POPULATION_SIZE,100*i/POPULATION_SIZE);
 	}
 
 	m_walkersInPopulation.resize(POPULATION_SIZE, NULL);
@@ -825,6 +853,50 @@ void NN3DWalkersExample::initPhysics()
 
 }
 
+void NN3DWalkersExample::performModelUpdate(float deltaTime){
+	if(m_rebuildWorld){
+		recreateWorld();
+		m_rebuildWorld = false;
+	}
+}
+
+void NN3DWalkersExample::recreateWorld(){
+
+	for(int i = 0; i < POPULATION_SIZE ; i++){
+		m_walkersInPopulation[i]->removeFromWorld();
+	}
+
+	delete m_dynamicsWorld;
+	m_dynamicsWorld = 0;
+
+	delete m_solver;
+	m_solver = 0;
+
+	delete m_broadphase;
+	m_broadphase = 0;
+
+	delete m_dispatcher;
+	m_dispatcher = 0;
+
+	delete m_collisionConfiguration;
+	m_collisionConfiguration = 0;
+
+	createEmptyDynamicsWorld();
+
+	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true); // set evolution update pretick callback
+	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(m_filterCallback); // avoid collisions between walkers
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	m_dynamicsWorld->addRigidBody(m_ground); // readd ground
+
+	for(int i = 0; i < POPULATION_SIZE ; i++){
+		m_walkersInPopulation[i]->setOwnerWorld(m_dynamicsWorld);
+		if(m_walkersInPopulation[i]->isInEvaluation()){
+			m_walkersInPopulation[i]->addToWorld();
+		}
+	}
+}
+
 bool NN3DWalkersExample::detectCollisions()
 {
 	bool collisionDetected = false;
@@ -878,9 +950,9 @@ bool NN3DWalkersExample::keyboardCallback(int key, int state)
 	case ']':
 		gWalkerMotorStrength *= 1.1f;
 		return true;
-	case 'l':
-		printWalkerConfigs();
-		return true;
+//	case 'l':
+//		printWalkerConfigs();
+//		return true;
 	default:
 		break;
 	}
@@ -919,7 +991,8 @@ void NN3DWalkersExample::rateEvaluations(){
 
 	b3Printf("Best performing walker: %f meters", btSqrt(m_walkersInPopulation[0]->getDistanceFitness()));
 
-	if(btSqrt(m_walkersInPopulation[0]->getDistanceFitness()) < m_bestWalkerFitness){
+	// if not all walkers are reaped and the best walker is worse than is had been in the previous round
+	if((POPULATION_SIZE-1)*(1-REAP_QTY) != 0 && btSqrt(m_walkersInPopulation[0]->getDistanceFitness()) < m_bestWalkerFitness){
 		b3Printf("################Simulation not deterministic###########################");
 	}
 	else{
@@ -1137,6 +1210,11 @@ void NN3DWalkersExample::scheduleEvaluations() {
 			m_walkersInEvaluation++;
 
 			if(REBUILD_WALKER){ // deletes and recreates the walker in the position
+				m_guiHelper->removeAllGraphicsInstances();
+				m_ground->setUserIndex(-1); // reset to get a new graphics object
+				m_ground->setUserIndex2(-1); // reset to get a new graphics object
+				m_ground->getCollisionShape()->setUserIndex(-1); // reset to get a new graphics object
+
 				resetWalkerAt(i, m_resetPosition);
 			}
 			else{ // resets the position of the walker without deletion
@@ -1144,19 +1222,23 @@ void NN3DWalkersExample::scheduleEvaluations() {
 			}
 			m_walkersInPopulation[i]->setInEvaluation(true);
 			m_walkersInPopulation[i]->addToWorld();
-
-			if(!mIsHeadless){
-				m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
-			}
 		}
 	}
 
+	if(!mIsHeadless){ // after all changes, regenerate graphics objects
+		m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+	}
+
 	if(m_walkersInEvaluation == 0){ // if there are no more evaluations possible
+		if(!REBUILD_WALKER){
+			m_rebuildWorld = true;
+		}
+
 		rateEvaluations(); // rate evaluations by sorting them based on their fitness
 
 		reap(); // reap worst performing walkers
 
-		sow(); // crossover & mutate and sow new walkers
+		sow(); // crossover, mutate and sow new walkers
 		b3Printf("### A new generation started. ###");
 	}
 }
@@ -1205,29 +1287,29 @@ void NN3DWalkersExample::drawMarkings() {
 
 /**
  * Print walker neural network layer configurations.
- */
-void NN3DWalkersExample::printWalkerConfigs(){
-	char configString[25 + POPULATION_SIZE*BODYPART_COUNT*JOINT_COUNT*(3+15+1) + POPULATION_SIZE*4 + 1]; // 15 precision + [],\n
-	char* runner = configString;
-	sprintf(runner,"Population configuration:");
-	runner +=25;
-	for(int i = 0;i < POPULATION_SIZE;i++) {
-		runner[0] = '\n';
-		runner++;
-		runner[0] = '[';
-		runner++;
-		for(int j = 0; j < BODYPART_COUNT*JOINT_COUNT;j++) {
-			sprintf(runner,"%.15f", m_walkersInPopulation[i]->getSensoryMotorWeights()[j]);
-			runner +=15;
-			if(j + 1 < BODYPART_COUNT*JOINT_COUNT){
-				runner[0] = ',';
-			}
-			else{
-				runner[0] = ']';
-			}
-			runner++;
-		}
-	}
-	runner[0] = '\0';
-	b3Printf(configString);
-}
+*/
+//void NN3DWalkersExample::printWalkerConfigs(){
+//	char configString[25 + POPULATION_SIZE*BODYPART_COUNT*JOINT_COUNT*(3+15+1) + POPULATION_SIZE*4 + 1]; // 15 precision + [],\n
+//	char* runner = configString;
+//	sprintf(runner,"Population configuration:");
+//	runner +=25;
+//	for(int i = 0;i < POPULATION_SIZE;i++) {
+//		runner[0] = '\n';
+//		runner++;
+//		runner[0] = '[';
+//		runner++;
+//		for(int j = 0; j < BODYPART_COUNT*JOINT_COUNT;j++) {
+//			sprintf(runner,"%.15f", m_walkersInPopulation[i]->getSensoryMotorWeights()[j]);
+//			runner +=15;
+//			if(j + 1 < BODYPART_COUNT*JOINT_COUNT){
+//				runner[0] = ',';
+//			}
+//			else{
+//				runner[0] = ']';
+//			}
+//			runner++;
+//		}
+//	}
+//	runner[0] = '\0';
+//	b3Printf(configString);
+//}
diff --git a/examples/Evolution/NN3DWalkersTimeWarpBase.h b/examples/Evolution/NN3DWalkersTimeWarpBase.h
index b7c0328ff..98385d00a 100644
--- a/examples/Evolution/NN3DWalkersTimeWarpBase.h
+++ b/examples/Evolution/NN3DWalkersTimeWarpBase.h
@@ -525,7 +525,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 				m_collisionConfiguration);
 		}
 
-		changeERPCFM(); // set appropriate ERP/CFM values according to the string and damper properties of the constraint
+		changeERPCFM(); // set appropriate ERP/CFM values according to the spring and damper properties of the constraint
 
 		if (useSplitImpulse) { // If you experience strong repulsion forces in your constraints, it might help to enable the split impulse feature
 			m_dynamicsWorld->getSolverInfo().m_splitImpulse = 1; //enable split impulse feature
@@ -557,7 +557,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 
 
 
-	void timeWarpSimulation(float deltaTime) // Override this
+	virtual void performModelUpdate(float deltaTime) // Override this
 	{
 
 	}
@@ -596,7 +596,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			//#############
 			// model update - here you perform updates of your model, be it the physics model, the game or simulation state or anything not related to graphics and input
 
-			timeWarpSimulation(deltaTime);
+			performModelUpdate(deltaTime);
 			if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
 				// on reset, we calculate the performed speed up
 				double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));

From 10eb8d63f8c5e22a23d75be37a180e81c5c7a93b Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Fri, 30 Dec 2016 01:46:36 +0100
Subject: [PATCH 008/175] [WIP] Fix some add/remove issues.

---
 examples/Evolution/NN3DWalkers.cpp | 225 ++++++++++++++++++-----------
 1 file changed, 141 insertions(+), 84 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index 67718c970..ddd875d14 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -40,7 +40,7 @@ class NNWalker;
 #endif
 
 #ifndef POPULATION_SIZE
-#define POPULATION_SIZE 50 // number of walkers in the population
+#define POPULATION_SIZE 10 // number of walkers in the population
 #endif
 
 #ifndef EVALUATION_DURATION
@@ -48,13 +48,14 @@ class NNWalker;
 #endif
 
 #ifndef TIME_SERIES_MAX_Y
-#define TIME_SERIES_MAX_Y 20.0f
+#define TIME_SERIES_MAX_Y 20.0f // chart maximum y
 #endif
 
 #ifndef TIME_SERIES_MIN_Y
-#define TIME_SERIES_MIN_Y 0.0f
+#define TIME_SERIES_MIN_Y 0.0f // chart minimum y
 #endif
 
+// walker dimensions and properties
 static btScalar gWalkerMotorStrength = 0.5f;
 static btScalar gWalkerLegTargetFrequency = 3;
 static btScalar gRootBodyRadius  = 0.25f;
@@ -98,7 +99,7 @@ static btScalar gParallelEvaluations = 10.0f;
 #endif
 
 #ifndef REBUILD_WALKER
-#define REBUILD_WALKER true // if the walker should be rebuilt on mutation
+#define REBUILD_WALKER false // if the walker should be rebuilt on mutation
 #endif
 
 #ifndef TIMESTAMP_TIME
@@ -132,7 +133,7 @@ class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
 	
 	btAlignedObjectArray<class NNWalker*> m_walkersInPopulation;
 	
-	bool m_rebuildWorld; // if the world should be rebuilt (for determinism)
+	bool m_rebuildWorldNeeded; // if the world should be rebuilt (for determinism)
 
 	btRigidBody* m_ground; // reference to ground to readd if world is rebuilt
 
@@ -151,7 +152,7 @@ public:
 	 m_nextReapedIndex(0),
 	 m_timeSeriesCanvas(NULL),
 	 m_ground(NULL),
-	 m_rebuildWorld(false),
+	 m_rebuildWorldNeeded(false),
 	 m_filterCallback(NULL)
 	{
 		b3Clock clock;
@@ -346,7 +347,8 @@ public:
 		}
 	}
 
-	NNWalker(int index, btDynamicsWorld* ownerWorld, const btVector3& startingPosition,
+	NNWalker(int index, btDynamicsWorld* ownerWorld,
+		const btVector3& startingPosition,
 		const btScalar& rootBodyRadius,
 		const btScalar& rootBodyHeight,
 		const btScalar& legRadius,
@@ -359,14 +361,13 @@ public:
 		  m_evaluationTime(0), // reset evaluation time
 		  m_reaped(false), // the walker is not reaped
 		  m_startPosition(startingPosition), // the starting position of the walker
-		  m_legUpdateAccumulator(0)
+		  m_legUpdateAccumulator(0),
+		  m_index(index)
 	{
-		m_index = index;
 		btVector3 vUp(0, 1, 0); // up in local reference frame
 
 		NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)m_ownerWorld->getWorldUserInfo();
 
-		//
 		// Setup geometry
 		m_shapes[0] = new btCapsuleShape(rootBodyRadius, rootBodyHeight); // root body capsule
 		int i;
@@ -376,7 +377,6 @@ public:
 			m_shapes[2 + 2*i] = new btCapsuleShape(foreLegRadius, foreLegLength); // fore leg capsule
 		}
 
-		//
 		// Setup rigid bodies
 		btScalar rootAboveGroundHeight = foreLegLength;
 		btTransform bodyOffset; bodyOffset.setIdentity();
@@ -454,7 +454,17 @@ public:
 
 			if(nnWalkersDemo->detectCollisions()){ // if thigh bone causes collision, remove it again
 				m_ownerWorld->removeConstraint(m_joints[2*i]); // disconnect thigh bone from root
+				delete m_joints[2*i];
+				m_joints[2*i] = NULL;
+
 				m_ownerWorld->removeRigidBody(m_bodies[1+2*i]);
+				delete m_bodies[1+2*i];
+				m_bodies[1+2*i] = NULL;
+
+				delete m_joints[1+2*i];
+				m_joints[1+2*i] = NULL;
+				delete m_bodies[2+2*i];
+				m_bodies[2+2*i] = NULL;
 			}
 			else{
 				m_ownerWorld->addRigidBody(m_bodies[2+2*i]); // add shin bone
@@ -462,7 +472,12 @@ public:
 
 				if(nnWalkersDemo->detectCollisions()){ // if shin bone causes collision, remove it again
 					m_ownerWorld->removeConstraint(m_joints[1+2*i]); // disconnect shin bone from thigh
+					delete m_joints[1+2*i];
+					m_joints[1+2*i] = NULL;
+
 					m_ownerWorld->removeRigidBody(m_bodies[2+2*i]);
+					delete m_bodies[2+2*i];
+					m_bodies[2+2*i] = NULL;
 				}
 			}
 		}
@@ -470,41 +485,49 @@ public:
 		// Setup some damping on the m_bodies
 		for (i = 0; i < BODYPART_COUNT; ++i)
 		{
-			m_bodies[i]->setDamping(0.05, 0.85);
-			m_bodies[i]->setDeactivationTime(0.8);
-			m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
-			m_bodies[i]->setActivationState(DISABLE_DEACTIVATION);
+			if(m_bodies[i] != NULL){
+				m_bodies[i]->setDamping(0.05, 0.85);
+				m_bodies[i]->setDeactivationTime(0.8);
+				m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
+				m_bodies[i]->setActivationState(DISABLE_DEACTIVATION);
+			}
 		}
 
-		removeFromWorld(); // the walker should not yet be in the world
+		// Properly remove rigidbodies and joints
+		removeJoints();
+		removeRigidbodies();
 
 		clearTouchSensors(); // set touch sensors to zero
 
 		randomizeSensoryMotorWeights(); // set random sensory motor weights for neural network layer
-
 	}
 
 	virtual	~NNWalker ()
 	{
 		int i;
 
+		removeFromWorld();
+
 		// Remove all constraints
 		for ( i = 0; i < JOINT_COUNT; ++i)
 		{
-			m_ownerWorld->removeConstraint(m_joints[i]);
-			delete m_joints[i]; m_joints[i] = 0;
+			if(m_joints[i] != NULL){
+				delete m_joints[i]; m_joints[i] = 0;
+			}
 		}
 
 		// Remove all bodies and shapes
 		for ( i = 0; i < BODYPART_COUNT; ++i)
 		{
-			m_ownerWorld->removeRigidBody(m_bodies[i]);
-			
-			delete m_bodies[i]->getMotionState();
+			if(m_bodies[i] != NULL){
+				delete m_bodies[i]->getMotionState();
 
-			delete m_bodies[i]; m_bodies[i] = 0;
-			delete m_shapes[i]; m_shapes[i] = 0;
+				delete m_bodies[i]; m_bodies[i] = 0;
+				delete m_shapes[i]; m_shapes[i] = 0;
+			}
 		}
+
+		m_ownerWorld = NULL;
 	}
 
 	btTypedConstraint** getJoints() {
@@ -538,45 +561,38 @@ public:
 	}
 
 	void addToWorld() {
-		int i;
-		// add all bodies and shapes
-		for ( i = 0; i < BODYPART_COUNT; ++i)
-		{
-			m_ownerWorld->addRigidBody(m_bodies[i]);
-		}
+		if(!isInEvaluation()){
 
-		// add all constraints
-		for ( i = 0; i < JOINT_COUNT; ++i)
-		{
-			m_ownerWorld->addConstraint(m_joints[i], true); // important! If you add constraints back, you must set bullet physics to disable collision between constrained bodies
+			addRigidbodies();
+			addJoints();
+
+			setInEvaluation(true);
 		}
 	}
 
 	void removeFromWorld() {
-		int i;
+		if(isInEvaluation()){
 
-		// Remove all constraints
-		for ( i = 0; i < JOINT_COUNT; ++i)
-		{
-			m_ownerWorld->removeConstraint(m_joints[i]);
-		}
+			removeJoints();
+			removeRigidbodies();
 
-		// Remove all bodies
-		for ( i = 0; i < BODYPART_COUNT; ++i)
-		{
-			m_ownerWorld->removeRigidBody(m_bodies[i]);
+			setInEvaluation(false);
 		}
 	}
 
 	btVector3 getPosition() const {
 		btVector3 finalPosition(0,0,0);
 
+		int j = 0;
 		for(int i = 0; i < BODYPART_COUNT;i++)
 		{
-			finalPosition += m_bodies[i]->getCenterOfMassPosition();
+			if(m_bodies[i] != NULL){
+				finalPosition += m_bodies[i]->getCenterOfMassPosition();
+				j++;
+			}
 		}
 
-		finalPosition /= btScalar(BODYPART_COUNT);
+		finalPosition /= btScalar(j);
 		return finalPosition;
 	}
 
@@ -662,6 +678,47 @@ public:
 	void setOwnerWorld(btDynamicsWorld* ownerWorld) {
 		m_ownerWorld = ownerWorld;
 	}
+
+private:
+	void addJoints(){
+		// add all constraints
+		for (int i = 0; i < JOINT_COUNT; ++i)
+		{
+			if(m_joints[i] != NULL){
+				m_ownerWorld->addConstraint(m_joints[i], true); // important! If you add constraints back, you must set bullet physics to disable collision between constrained bodies
+			}
+		}
+	}
+
+	void addRigidbodies() {
+		// add all bodies
+		for (int i = 0; i < BODYPART_COUNT; ++i)
+		{
+			if(m_bodies[i] != NULL){
+				m_ownerWorld->addRigidBody(m_bodies[i]);
+			}
+		}
+	}
+
+	void removeJoints() {
+		// remove all constraints
+		for (int i = 0; i < JOINT_COUNT; ++i)
+		{
+			if(m_joints[i] != NULL){
+				m_ownerWorld->removeConstraint(m_joints[i]);
+			}
+		}
+	}
+
+	void removeRigidbodies() {
+		// remove all bodies
+		for (int i = 0; i < BODYPART_COUNT; ++i)
+		{
+			if(m_bodies[i] != NULL){
+				m_ownerWorld->removeRigidBody(m_bodies[i]);
+			}
+		}
+	}
 };
 
 void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep);
@@ -674,18 +731,18 @@ bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
     void* ID1 = o1->getUserPointer();
     void* ID2 = o2->getUserPointer();
 
-	if (ID1 != GROUND_ID || ID2 != GROUND_ID) {
+	if (ID1 != GROUND_ID || ID2 != GROUND_ID) { // if one of the contacts is not ground
 	    // Make a circle with a 0.9 radius at (0,0,0)
 	    // with RGB color (1,0,0).
 		if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL && !nn3DWalkers->mIsHeadless){
 			nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
 		}
 
-		if(ID1 != GROUND_ID && ID1){
+		if(ID1 != GROUND_ID && ID1){ // if ID1 is not ground
 			((NNWalker*)ID1)->setTouchSensor(o1);
 		}
 
-		if(ID2 != GROUND_ID && ID2){
+		if(ID2 != GROUND_ID && ID2){ // if ID2 is not ground
 			((NNWalker*)ID2)->setTouchSensor(o2);
 		}
 	}
@@ -710,10 +767,6 @@ struct WalkerFilterCallback : public btOverlapFilterCallback // avoids collision
 	}
 };
 
-void floorNNSliderValue(float notUsed) {
-	gParallelEvaluations = floor(gParallelEvaluations);
-}
-
 void NN3DWalkersExample::initPhysics()
 {
 
@@ -731,6 +784,7 @@ void NN3DWalkersExample::initPhysics()
 
 	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true);
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	m_dynamicsWorld->getDebugDrawer()->setDebugMode(0);
 
 	gWalkerLegTargetFrequency = 3; // Hz
 
@@ -815,8 +869,7 @@ void NN3DWalkersExample::initPhysics()
 		SliderParams slider("Parallel evaluations", &gParallelEvaluations);
 		slider.m_minVal = 1;
 		slider.m_maxVal = POPULATION_SIZE;
-		slider.m_clampToNotches = false;
-		slider.m_callback = floorNNSliderValue; // hack to get integer values
+		slider.m_clampToIntegers = true;
 		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
 			slider);
 	}
@@ -845,27 +898,28 @@ void NN3DWalkersExample::initPhysics()
 
 	m_walkersInPopulation.resize(POPULATION_SIZE, NULL);
 
-	for(int i = 0; i < POPULATION_SIZE ; i++){
-
-		// Spawn one walker
+	for(int i = 0; i < POPULATION_SIZE ; i++){ // spawn walkers
 		resetWalkerAt(i, m_resetPosition);
 	}
 
 }
 
 void NN3DWalkersExample::performModelUpdate(float deltaTime){
-	if(m_rebuildWorld){
+	if(m_rebuildWorldNeeded){
 		recreateWorld();
-		m_rebuildWorld = false;
+		m_rebuildWorldNeeded = false;
 	}
 }
 
 void NN3DWalkersExample::recreateWorld(){
 
-	for(int i = 0; i < POPULATION_SIZE ; i++){
+	for(int i = 0; i < POPULATION_SIZE ; i++){ // remove walkers
 		m_walkersInPopulation[i]->removeFromWorld();
 	}
 
+	m_dynamicsWorld->removeRigidBody(m_ground); // remove ground
+
+	// delete world
 	delete m_dynamicsWorld;
 	m_dynamicsWorld = 0;
 
@@ -881,15 +935,17 @@ void NN3DWalkersExample::recreateWorld(){
 	delete m_collisionConfiguration;
 	m_collisionConfiguration = 0;
 
-	createEmptyDynamicsWorld();
+	createEmptyDynamicsWorld(); // create new world
 
+	// add all filters and callbacks
 	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true); // set evolution update pretick callback
 	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(m_filterCallback); // avoid collisions between walkers
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	m_dynamicsWorld->getDebugDrawer()->setDebugMode(0);
 
 	m_dynamicsWorld->addRigidBody(m_ground); // readd ground
 
-	for(int i = 0; i < POPULATION_SIZE ; i++){
+	for(int i = 0; i < POPULATION_SIZE ; i++){ // readd walkers
 		m_walkersInPopulation[i]->setOwnerWorld(m_dynamicsWorld);
 		if(m_walkersInPopulation[i]->isInEvaluation()){
 			m_walkersInPopulation[i]->addToWorld();
@@ -905,20 +961,21 @@ bool NN3DWalkersExample::detectCollisions()
 	}
 
 	int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
-	for (int i = 0;i < numManifolds;i++)
+	for (int i = 0;i < numManifolds;i++) // for each collision
 	{
 		btPersistentManifold* contactManifold =  m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
+		// get collision objects of collision
 		const btCollisionObject* obA = contactManifold->getBody0();
 		const btCollisionObject* obB = contactManifold->getBody1();
 
-		if(obA->getUserPointer() != GROUND_ID && obB->getUserPointer() != GROUND_ID){
+		if(obA->getUserPointer() != GROUND_ID && obB->getUserPointer() != GROUND_ID){ // if one of them is not ground
 
 			int numContacts = contactManifold->getNumContacts();
-			for (int j=0;j<numContacts;j++)
+			for (int j=0;j<numContacts;j++) // for each collision contact
 			{
 				collisionDetected = true;
 				btManifoldPoint& pt = contactManifold->getContactPoint(j);
-				if (pt.getDistance()<0.f)
+				if (pt.getDistance()<0.f) // if collision is penetrating
 				{
 					const btVector3& ptA = pt.getPositionWorldOnA();
 					const btVector3& ptB = pt.getPositionWorldOnB();
@@ -1002,7 +1059,7 @@ void NN3DWalkersExample::rateEvaluations(){
 	for(int i = 0; i < POPULATION_SIZE;i++){ // plot walker fitnesses for this round
 		m_timeSeriesCanvas->insertDataAtCurrentTime(btSqrt(m_walkersInPopulation[i]->getDistanceFitness()),i,true);
 	}
-	m_timeSeriesCanvas->nextTick(); // move tick forward
+	m_timeSeriesCanvas->nextTick(); // move to next tick of graph
 
 	for(int i = 0; i < POPULATION_SIZE;i++){ // reset all walkers
 		m_walkersInPopulation[i]->setEvaluationTime(0);
@@ -1135,7 +1192,7 @@ void NN3DWalkersExample::update(const btScalar timeSinceLastTick) {
 
 	drawMarkings(); /**!< Draw markings on the ground */
 
-	if(m_SimulationTime > m_LastSpeedupPrintTimestamp + TIMESTAMP_TIME){ // print effective speedup every 2 seconds
+	if(m_SimulationTime > m_LastSpeedupPrintTimestamp + TIMESTAMP_TIME){ // print effective speedup every x seconds
 		b3Printf("Avg Effective speedup: %f real time",calculatePerformedSpeedup());
 		m_LastSpeedupPrintTimestamp = m_SimulationTime;
 	}
@@ -1161,7 +1218,7 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 
 			m_walkersInPopulation[r]->setLegUpdateAccumulator(m_walkersInPopulation[r]->getLegUpdateAccumulator() + delta);
 
-			if(m_walkersInPopulation[r]->getLegUpdateAccumulator() >= btScalar(1.0f) /gWalkerLegTargetFrequency)
+			if(m_walkersInPopulation[r]->getLegUpdateAccumulator() >= btScalar(1.0f) /gWalkerLegTargetFrequency) // we update the leg movement with leg target frequency
 			{
 				m_walkersInPopulation[r]->setLegUpdateAccumulator(0);
 
@@ -1171,18 +1228,20 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 					btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_walkersInPopulation[r]->getJoints()[i]);
 
 
-					for(int j = 0; j < JOINT_COUNT;j++){ // accumulate sensor inputs with weights (summate inputs)
-						targetAngle += m_walkersInPopulation[r]->getSensoryMotorWeights()[i+j*BODYPART_COUNT] * m_walkersInPopulation[r]->getTouchSensor(i);
+					if(hingeC != NULL){ // if hinge exists
+						for(int j = 0; j < JOINT_COUNT;j++){ // accumulate sensor inputs with weights (summate inputs)
+							targetAngle += m_walkersInPopulation[r]->getSensoryMotorWeights()[i+j*BODYPART_COUNT] * m_walkersInPopulation[r]->getTouchSensor(i);
+						}
+
+						targetAngle = (tanh(targetAngle)+1.0f)*0.5f; // apply the activation function (threshold) [0;1]
+
+						btScalar targetLimitAngle 	= hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit()); // [lowerLimit;upperLimit]
+						btScalar currentAngle      	= hingeC->getHingeAngle();
+						btScalar angleError  		= targetLimitAngle - currentAngle; // target current delta
+						btScalar desiredAngularVel = angleError/((delta>0)?delta:btScalar(0.0001f)); // division by zero safety
+
+						hingeC->enableAngularMotor(true, desiredAngularVel, gWalkerMotorStrength); // set new target velocity
 					}
-
-					targetAngle = (tanh(targetAngle)+1.0f)*0.5f; // apply the activation function (threshold) [0;1]
-
-					btScalar targetLimitAngle 	= hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit()); // [lowerLimit;upperLimit]
-					btScalar currentAngle      	= hingeC->getHingeAngle();
-					btScalar angleError  		= targetLimitAngle - currentAngle; // target current delta
-					btScalar desiredAngularVel = angleError/((delta>0)?delta:btScalar(0.0001f)); // division by zero safety
-
-					hingeC->enableAngularMotor(true, desiredAngularVel, gWalkerMotorStrength); // set new target velocity
 				}
 			}
 
@@ -1200,7 +1259,6 @@ void NN3DWalkersExample::scheduleEvaluations() {
 
 		if(m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() >= EVALUATION_DURATION){ /**!< tear down evaluations */
 			b3Printf("An evaluation finished at %f s. Distance: %f m", m_SimulationTime, btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
-			m_walkersInPopulation[i]->setInEvaluation(false);
 			m_walkersInPopulation[i]->removeFromWorld();
 			m_walkersInEvaluation--;
 		}
@@ -1220,7 +1278,6 @@ void NN3DWalkersExample::scheduleEvaluations() {
 			else{ // resets the position of the walker without deletion
 				m_walkersInPopulation[i]->resetAt(m_resetPosition);
 			}
-			m_walkersInPopulation[i]->setInEvaluation(true);
 			m_walkersInPopulation[i]->addToWorld();
 		}
 	}
@@ -1231,7 +1288,7 @@ void NN3DWalkersExample::scheduleEvaluations() {
 
 	if(m_walkersInEvaluation == 0){ // if there are no more evaluations possible
 		if(!REBUILD_WALKER){
-			m_rebuildWorld = true;
+			m_rebuildWorldNeeded = true;
 		}
 
 		rateEvaluations(); // rate evaluations by sorting them based on their fitness

From 263ccec18ad9c032f133103947091befa4b4770f Mon Sep 17 00:00:00 2001
From: Andrew Hundt <ATHundt@gmail.com>
Date: Sat, 20 May 2017 20:47:46 -0400
Subject: [PATCH 009/175] cmake python config bugs fixed Python and pybullet
 remain optional with these changes. A specific python version can now be
 selected by setting PYTHON_VERSION_PYBULLET. The python library version must
 now match the interpreter version exactly. If all required python
 dependencies are found, pybullet is now enabled by default. Changes
 incorporate the following BSD licensed cmake code:
 https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake
 https://github.com/NikolausDemmel/CMake/pull/2/files
 https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake

---
 CMakeLists.txt                                |  42 ++-
 build3/cmake/FindLibPython.py                 |  25 ++
 build3/cmake/FindNumPy.cmake                  |  87 +++--
 build3/cmake/FindPythonLibraries.cmake        | 353 ++++++++++++++++++
 .../cmake/SelectLibraryConfigurations.cmake   |  70 ++++
 5 files changed, 526 insertions(+), 51 deletions(-)
 create mode 100644 build3/cmake/FindLibPython.py
 create mode 100644 build3/cmake/FindPythonLibraries.cmake
 create mode 100644 build3/cmake/SelectLibraryConfigurations.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d24aefb9c..f4d5b189a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.4.3)
 set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
-
+cmake_policy(SET CMP0017 NEW)
 #this line has to appear before 'PROJECT' in order to be able to disable incremental linking
 SET(MSVC_INCREMENTAL_DEFAULT ON)
 
@@ -27,7 +27,7 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
 OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
-OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)	
+OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
 OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF)
 
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
@@ -123,22 +123,22 @@ IF(MSVC)
 
 	OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option"	OFF)
 
-	
+
 
 	OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option"	ON)
-		
+
 	IF(USE_MSVC_COMDAT_FOLDING)
 		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
 		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
 	ENDIF()
-	
+
 	OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option"	ON)
 	IF(USE_MSVC_DISABLE_RTTI)
 	  STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
 		SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
 		SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
 	ENDIF(USE_MSVC_DISABLE_RTTI)
-	
+
 	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
 ENDIF(MSVC)
 
@@ -254,24 +254,35 @@ ENDIF()
 
 OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
 
-OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
-	
+# Optional Python configuration
+# builds pybullet automatically if all the requirements are met
+SET(PYTHON_VERSION_PYBULLET "2.7" CACHE STRING "Python version pybullet will use.")
+SET(Python_ADDITIONAL_VERSIONS 2.7 3.0 3.1 3.2 3.3 3.4 3.5 3.6)
+SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
+SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
+# first find the python interpreter
+FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} EXACT)
+# python library should exactly match that of the interpreter
+FIND_PACKAGE(PythonLibraries ${PYTHON_VERSION_STRING} EXACT)
+SET(DEFAULT_BUILD_PYBULLET OFF)
+IF(PYTHONLIBS_FOUND)
+	SET(DEFAULT_BUILD_PYBULLET ON)
+ENDIF(PYTHONLIBS_FOUND)
+OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET})
+
 OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
 OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
-	
+
 
 IF(BUILD_PYBULLET)
 
-	FIND_PACKAGE(PythonLibs)
-
-	OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
+	OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" ON)
 	OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
 	OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
 
-	OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON)
+	OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
 
-	IF(BUILD_PYBULLET_NUMPY)	
-		set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
+	IF(BUILD_PYBULLET_NUMPY)
 		#include(FindNumPy)
 		FIND_PACKAGE(NumPy)
 		if (PYTHON_NUMPY_FOUND)
@@ -281,7 +292,6 @@ IF(BUILD_PYBULLET)
 			message("NumPy not found")
 		endif()
 	ENDIF()
-	OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
 
 	IF(WIN32)
 		SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
diff --git a/build3/cmake/FindLibPython.py b/build3/cmake/FindLibPython.py
new file mode 100644
index 000000000..d4384da4e
--- /dev/null
+++ b/build3/cmake/FindLibPython.py
@@ -0,0 +1,25 @@
+# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
+# same as CMake (BSD). My adaptations are in part based
+# https://github.com/qgis/QGIS/tree/master/cmake which has the following
+# copyright note:
+
+# FindLibPython.py
+# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
+# Redistribution and use is allowed according to the terms of the BSD license.
+# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
+
+import sys
+import distutils.sysconfig
+
+print("exec_prefix:%s" % sys.exec_prefix)
+print("major_version:%s" % str(sys.version_info[0]))
+print("minor_version:%s" % str(sys.version_info[1]))
+print("patch_version:%s" % str(sys.version_info[2]))
+print("short_version:%s" % '.'.join(map(lambda x:str(x), sys.version_info[0:2])))
+print("long_version:%s" % '.'.join(map(lambda x:str(x), sys.version_info[0:3])))
+print("py_inc_dir:%s" % distutils.sysconfig.get_python_inc())
+print("site_packages_dir:%s" % distutils.sysconfig.get_python_lib(plat_specific=1))
+for e in distutils.sysconfig.get_config_vars ('LIBDIR'):
+    if e != None:
+        print("py_lib_dir:%s" % e)
+        break
diff --git a/build3/cmake/FindNumPy.cmake b/build3/cmake/FindNumPy.cmake
index 4d729b2a3..8d38c8ead 100644
--- a/build3/cmake/FindNumPy.cmake
+++ b/build3/cmake/FindNumPy.cmake
@@ -1,41 +1,58 @@
-# Find the Python NumPy package
-# PYTHON_NUMPY_INCLUDE_DIR
-# PYTHON_NUMPY_FOUND
-# will be set by this script
+# - Find the NumPy libraries
+# This module finds if NumPy is installed, and sets the following variables
+# indicating where it is.
+#
+# TODO: Update to provide the libraries and paths for linking npymath lib.
+#
+#  PYTHON_NUMPY_FOUND               - was NumPy found
+#  PYTHON_NUMPY_VERSION             - the version of NumPy found as a string
+#  PYTHON_NUMPY_VERSION_MAJOR       - the major version number of NumPy
+#  PYTHON_NUMPY_VERSION_MINOR       - the minor version number of NumPy
+#  PYTHON_NUMPY_VERSION_PATCH       - the patch version number of NumPy
+#  PYTHON_NUMPY_VERSION_DECIMAL     - e.g. version 1.6.1 is 10601
+#  PYTHON_NUMPY_INCLUDE_DIR         - path to the NumPy include files
 
-cmake_minimum_required(VERSION 2.6)
+unset(PYTHON_NUMPY_VERSION)
+unset(PYTHON_NUMPY_INCLUDE_DIR)
 
-if(NOT PYTHON_EXECUTABLE)
-  if(NumPy_FIND_QUIETLY)
-    find_package(PythonInterp QUIET)
-  else()
-    find_package(PythonInterp)
-    set(__numpy_out 1)
+if(PYTHONINTERP_FOUND)
+  execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
+    "import numpy as n; print(n.__version__); print(n.get_include());"
+    RESULT_VARIABLE __result
+    OUTPUT_VARIABLE __output
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+  if(__result MATCHES 0)
+    string(REGEX REPLACE ";" "\\\\;" __values ${__output})
+    string(REGEX REPLACE "\r?\n" ";"    __values ${__values})
+    list(GET __values 0 PYTHON_NUMPY_VERSION)
+    list(GET __values 1 PYTHON_NUMPY_INCLUDE_DIR)
+
+    string(REGEX MATCH "^([0-9])+\\.([0-9])+\\.([0-9])+" __ver_check "${PYTHON_NUMPY_VERSION}")
+    if(NOT "${__ver_check}" STREQUAL "")
+      set(PYTHON_NUMPY_VERSION_MAJOR ${CMAKE_MATCH_1})
+      set(PYTHON_NUMPY_VERSION_MINOR ${CMAKE_MATCH_2})
+      set(PYTHON_NUMPY_VERSION_PATCH ${CMAKE_MATCH_3})
+      math(EXPR PYTHON_NUMPY_VERSION_DECIMAL
+        "(${PYTHON_NUMPY_VERSION_MAJOR} * 10000) + (${PYTHON_NUMPY_VERSION_MINOR} * 100) + ${PYTHON_NUMPY_VERSION_PATCH}")
+      string(REGEX REPLACE "\\\\" "/"  PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_DIR})
+    else()
+     unset(PYTHON_NUMPY_VERSION)
+     unset(PYTHON_NUMPY_INCLUDE_DIR)
+     message(STATUS "Requested NumPy version and include path, but got instead:\n${__output}\n")
+    endif()
   endif()
+else()
+  message(STATUS "To find NumPy Python interpretor is required to be found.")
 endif()
 
-if (PYTHON_EXECUTABLE)
-  # Find out the include path
-  execute_process(
-    COMMAND "${PYTHON_EXECUTABLE}" -c
-            "from __future__ import print_function\ntry: import numpy; print(numpy.get_include(), end='')\nexcept:pass\n"
-            OUTPUT_VARIABLE __numpy_path)
-  # And the version
-  execute_process(
-    COMMAND "${PYTHON_EXECUTABLE}" -c
-            "from __future__ import print_function\ntry: import numpy; print(numpy.__version__, end='')\nexcept:pass\n"
-    OUTPUT_VARIABLE __numpy_version)
-elseif(__numpy_out)
-  message(STATUS "Python executable not found.")
-endif(PYTHON_EXECUTABLE)
-
-find_path(PYTHON_NUMPY_INCLUDE_DIR numpy/arrayobject.h
-  HINTS "${__numpy_path}" "${PYTHON_INCLUDE_PATH}" NO_DEFAULT_PATH)
-
-if(PYTHON_NUMPY_INCLUDE_DIR)
-  set(PYTHON_NUMPY_FOUND 1 CACHE INTERNAL "Python numpy found")
-endif(PYTHON_NUMPY_INCLUDE_DIR)
-
 include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR
-                                        VERSION_VAR __numpy_version)
+find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR PYTHON_NUMPY_VERSION
+                                        VERSION_VAR   PYTHON_NUMPY_VERSION)
+
+if(PYTHON_NUMPY_FOUND)
+  message(STATUS "NumPy ver. ${PYTHON_NUMPY_VERSION} found (include: ${PYTHON_NUMPY_INCLUDE_DIR})")
+endif()
+
+# caffe_clear_vars(__result __output __error_value __values __ver_check __error_value)
+
diff --git a/build3/cmake/FindPythonLibraries.cmake b/build3/cmake/FindPythonLibraries.cmake
new file mode 100644
index 000000000..a0e9bffbe
--- /dev/null
+++ b/build3/cmake/FindPythonLibraries.cmake
@@ -0,0 +1,353 @@
+# - Find python libraries
+# This module finds if Python is installed and determines where the
+# include files and libraries are. It also determines what the name of
+# the library is. This code sets the following variables:
+#
+#  PYTHONLIBS_FOUND           - have the Python libs been found
+#  PYTHON_LIBRARIES           - path to the python library
+#  PYTHON_INCLUDE_PATH        - path to where Python.h is found (deprecated)
+#  PYTHON_INCLUDE_DIRS        - path to where Python.h is found
+#  PYTHON_DEBUG_LIBRARIES     - path to the debug library (deprecated)
+#  PYTHONLIBS_VERSION_STRING  - version of the Python libs found (since CMake 2.8.8)
+#
+# The Python_ADDITIONAL_VERSIONS variable can be used to specify a list of
+# version numbers that should be taken into account when searching for Python.
+# You need to set this variable before calling find_package(PythonLibs).
+#
+# If you'd like to specify the installation of Python to use, you should modify
+# the following cache variables:
+#  PYTHON_LIBRARY             - path to the python library
+#  PYTHON_INCLUDE_DIR         - path to where Python.h is found
+
+#=============================================================================
+# Copyright 2001-2009 Kitware, Inc.
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of CMake, substitute the full
+#  License text for the above reference.)
+
+# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
+# same as CMake (BSD). My adaptations are in part based
+# https://github.com/qgis/QGIS/tree/master/cmake which has the following
+# copyright note:
+
+# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
+# Redistribution and use is allowed according to the terms of the BSD license.
+# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
+
+
+if(NOT DEFINED PYTHON_INCLUDE_DIR)
+  if(DEFINED PYTHON_INCLUDE_PATH)
+    # For backward compatibility, repect PYTHON_INCLUDE_PATH.
+    set(PYTHON_INCLUDE_DIR "${PYTHON_INCLUDE_PATH}" CACHE PATH
+      "Path to where Python.h is found" FORCE)
+  else()
+    set(PYTHON_INCLUDE_DIR "" CACHE PATH
+      "Path to where Python.h is found" FORCE)
+  endif()
+endif()
+
+if(EXISTS "${PYTHON_INCLUDE_DIR}" AND EXISTS "${PYTHON_LIBRARY}")
+  if(EXISTS "${PYTHON_INCLUDE_DIR}/patchlevel.h")
+    file(STRINGS "${PYTHON_INCLUDE_DIR}/patchlevel.h" _PYTHON_VERSION_STR
+      REGEX "^#define[ \t]+PY_VERSION[ \t]+\"[^\"]+\"")
+    string(REGEX REPLACE "^#define[ \t]+PY_VERSION[ \t]+\"([^\"]+)\".*" "\\1"
+      PYTHONLIBS_VERSION_STRING "${_PYTHON_VERSION_STR}")
+    unset(_PYTHON_VERSION_STR)
+  endif()
+else()
+  set(_PYTHON1_VERSIONS 1.6 1.5)
+  set(_PYTHON2_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0)
+  set(_PYTHON3_VERSIONS 3.4 3.3 3.2 3.1 3.0)
+
+  unset(_PYTHON_FIND_OTHER_VERSIONS)
+  if(PythonLibs_FIND_VERSION)
+    if(PythonLibs_FIND_VERSION_COUNT GREATER 1)
+      set(_PYTHON_FIND_MAJ_MIN "${PythonLibs_FIND_VERSION_MAJOR}.${PythonLibs_FIND_VERSION_MINOR}")
+      if(NOT PythonLibs_FIND_VERSION_EXACT)
+        foreach(_PYTHON_V ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
+          if(NOT _PYTHON_V VERSION_LESS _PYTHON_FIND_MAJ_MIN)
+            if(NOT _PYTHON_V STREQUAL PythonLibs_FIND_VERSION)
+              list(APPEND _PYTHON_FIND_OTHER_VERSIONS ${_PYTHON_V})
+            endif()
+          endif()
+        endforeach()
+      endif()
+      unset(_PYTHON_FIND_MAJ_MIN)
+    else()
+      set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
+    endif()
+  else()
+    # add an empty version to check the `python` executable first in case no version is requested
+    set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON3_VERSIONS} ${_PYTHON2_VERSIONS} ${_PYTHON1_VERSIONS})
+  endif()
+
+  unset(_PYTHON1_VERSIONS)
+  unset(_PYTHON2_VERSIONS)
+  unset(_PYTHON3_VERSIONS)
+
+  # Set up the versions we know about, in the order we will search. Always add
+  # the user supplied additional versions to the front.
+  # If FindPythonInterp has already found the major and minor version,
+  # insert that version between the user supplied versions and the stock
+  # version list.
+  # If no specific version is requested or suggested by PythonInterp, always look
+  # for "python" executable first
+  set(_PYTHON_VERSIONS ${PythonLibs_FIND_VERSION} ${PythonLibs_ADDITIONAL_VERSIONS} )
+  if(DEFINED PYTHON_VERSION_MAJOR AND DEFINED PYTHON_VERSION_MINOR)
+    list(APPEND _PYTHON_VERSIONS ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR})
+  endif()
+  if (NOT _PYTHON_VERSIONS)
+    set(_PYTHON_VERSIONS ";") # empty entry at the front makeing sure we search for "python" first
+  endif()
+  list(APPEND _PYTHON_VERSIONS ${_PYTHON_FIND_OTHER_VERSIONS})
+
+  unset(_PYTHON_FIND_OTHER_VERSIONS)
+
+  message(STATUS "Looking for versions: ${_PYTHON_VERSIONS}")
+
+  FIND_FILE(_FIND_LIB_PYTHON_PY FindLibPython.py PATHS ${CMAKE_MODULE_PATH} ${CMAKE_ROOT}/Modules)
+
+  if(NOT _FIND_LIB_PYTHON_PY)
+    message(FATAL_ERROR "Could not find required file 'FindLibPython.py'")
+  endif()
+
+  unset(PYTHONLIBS_VERSION_STRING)
+  foreach(_CURRENT_VERSION IN LISTS _PYTHON_VERSIONS)
+
+    STRING(REGEX REPLACE "^([0-9]+).*$"          "\\1" _VERSION_MAJOR "${_CURRENT_VERSION}")
+    STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+).*$" "\\1" _VERSION_MINOR "${_CURRENT_VERSION}")
+
+    set(_PYTHON_NAMES python)
+
+    if (_CURRENT_VERSION MATCHES "^[0-9]+.*$")
+      list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}")
+      if (_CURRENT_VERSION MATCHES "^[0-9]+\\.[0-9].*$")
+        list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}.${_VERSION_MINOR}")
+      endif()
+    endif()
+
+    message(STATUS "Looking for python version '${_CURRENT_VERSION}' by checking executables: ${_PYTHON_NAMES}.")
+
+    foreach(_CURRENT_PYTHON_NAME IN LISTS _PYTHON_NAMES)
+
+      unset(_PYTHON_EXECUTABLE CACHE)
+      find_program(_PYTHON_EXECUTABLE ${_CURRENT_PYTHON_NAME}
+        PATHS [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath])
+
+      if(_PYTHON_EXECUTABLE)
+
+        EXECUTE_PROCESS(
+          COMMAND ${_PYTHON_EXECUTABLE} "${_FIND_LIB_PYTHON_PY}"
+          OUTPUT_VARIABLE _PYTHON_CONFIG
+          RESULT_VARIABLE _PYTHON_CONFIG_RESULT
+          ERROR_QUIET)
+
+        if(NOT ${_PYTHON_CONFIG_RESULT} AND (NOT ${_PYTHON_CONFIG} STREQUAL ""))
+          STRING(REGEX REPLACE ".*\nmajor_version:([0-9]+).*$" "\\1" _PYTHON_MAJOR_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nminor_version:([0-9]+).*$" "\\1" _PYTHON_MINOR_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\npatch_version:([0-9]+).*$" "\\1" _PYTHON_PATCH_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nshort_version:([^\n]+).*$" "\\1" _PYTHON_SHORT_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nlong_version:([^\n]+).*$"  "\\1" _PYTHON_LONG_VERSION  ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\npy_inc_dir:([^\n]+).*$"    "\\1" _PYTHON_INCLUDE_DIR   ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\npy_lib_dir:([^\n]+).*$"    "\\1" _PYTHON_LIBRARY_DIR   ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nexec_prefix:(^\n+).*$"     "\\1" _PYTHON_PREFIX        ${_PYTHON_CONFIG})
+
+          if ("${_CURRENT_VERSION}" STREQUAL ""                         OR
+              "${_CURRENT_VERSION}" STREQUAL "${_PYTHON_MAJOR_VERSION}" OR
+              "${_CURRENT_VERSION}" STREQUAL "${_PYTHON_SHORT_VERSION}" OR
+              "${_CURRENT_VERSION}" STREQUAL "${_PYTHON_LONG_VERSION}")
+
+            message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with suitable version ${_PYTHON_LONG_VERSION}")
+
+            if(NOT EXISTS "${PYTHON_INCLUDE_DIR}")
+              set(PYTHON_INCLUDE_DIR "${_PYTHON_INCLUDE_DIR}")
+            endif()
+
+            if(NOT EXISTS "${PYTHON_LIBRARY}")
+              set(_PYTHON_SHORT_VERSION_NO_DOT "${_PYTHON_MAJOR_VERSION}${_PYTHON_MINOR_VERSION}")
+              set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT})
+              FIND_LIBRARY(PYTHON_LIBRARY
+                NAMES ${_PYTHON_LIBRARY_NAMES}
+                PATH_SUFFIXES
+                python${_PYTHON_SHORT_VERSION}/config
+                python${_PYTHON_SHORT_VERSION_NO_DOT}/config
+                PATHS
+                ${_PYTHON_LIBRARY_DIR}
+                ${_PYTHON_PREFIX}/lib $
+                {_PYTHON_PREFIX}/libs
+                NO_DEFAULT_PATH)
+
+              if(WIN32)
+                find_library(PYTHON_DEBUG_LIBRARY
+                  NAMES python${_PYTHON_SHORT_VERSION_NO_DOT}_d python
+                  PATHS
+                  [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
+                  [HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
+                  [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
+                  [HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
+                  )
+              endif()
+            endif()
+
+            set(PYTHONLIBS_VERSION_STRING ${_PYTHON_LONG_VERSION})
+            if(_PYTHON_PATCH_VERSION STREQUAL "0")
+              # it's called "Python 2.7", not "2.7.0"
+              string(REGEX REPLACE "\\.0$" "" PYTHONLIBS_VERSION_STRING "${PYTHONLIBS_VERSION_STRING}")
+            endif()
+
+            break()
+          else()
+            message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with UNsuitable version ${_PYTHON_LONG_VERSION}")
+          endif() # version ok
+        else()
+          message(WARNING "Found executable ${_PYTHON_EXECUTABLE}, but could not extract version info.")
+        endif() # could extract config
+      endif() # found executable
+    endforeach() # python names
+    if (PYTHONLIBS_VERSION_STRING)
+      break()
+    endif()
+  endforeach() # python versions
+endif()
+
+unset(_PYTHON_NAMES)
+unset(_PYTHON_VERSIONS)
+unset(_PYTHON_EXECUTABLE CACHE)
+unset(_PYTHON_MAJOR_VERSION)
+unset(_PYTHON_MINOR_VERSION)
+unset(_PYTHON_PATCH_VERSION)
+unset(_PYTHON_SHORT_VERSION)
+unset(_PYTHON_LONG_VERSION)
+unset(_PYTHON_LIBRARY_DIR)
+unset(_PYTHON_INCLUDE_DIR)
+unset(_PYTHON_PREFIX)
+unset(_PYTHON_SHORT_VERSION_NO_DOT)
+unset(_PYTHON_LIBRARY_NAMES)
+
+
+# For backward compatibility, set PYTHON_INCLUDE_PATH.
+set(PYTHON_INCLUDE_PATH "${PYTHON_INCLUDE_DIR}")
+
+mark_as_advanced(
+  PYTHON_DEBUG_LIBRARY
+  PYTHON_LIBRARY
+  PYTHON_INCLUDE_DIR
+)
+
+# We use PYTHON_INCLUDE_DIR, PYTHON_LIBRARY and PYTHON_DEBUG_LIBRARY for the
+# cache entries because they are meant to specify the location of a single
+# library. We now set the variables listed by the documentation for this
+# module.
+set(PYTHON_INCLUDE_DIRS "${PYTHON_INCLUDE_DIR}")
+set(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
+
+# These variables have been historically named in this module different from
+# what SELECT_LIBRARY_CONFIGURATIONS() expects.
+set(PYTHON_LIBRARY_DEBUG "${PYTHON_DEBUG_LIBRARY}")
+set(PYTHON_LIBRARY_RELEASE "${PYTHON_LIBRARY}")
+include(${CMAKE_CURRENT_LIST_DIR}/SelectLibraryConfigurations.cmake)
+SELECT_LIBRARY_CONFIGURATIONS(PYTHON)
+# SELECT_LIBRARY_CONFIGURATIONS() sets ${PREFIX}_FOUND if it has a library.
+# Unset this, this prefix doesn't match the module prefix, they are different
+# for historical reasons.
+unset(PYTHON_FOUND)
+
+# include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake)
+include(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(PythonLibs
+                                  REQUIRED_VARS PYTHON_LIBRARIES PYTHON_INCLUDE_DIRS
+                                  VERSION_VAR PYTHONLIBS_VERSION_STRING)
+
+# PYTHON_ADD_MODULE(<name> src1 src2 ... srcN) is used to build modules for python.
+# PYTHON_WRITE_MODULES_HEADER(<filename>) writes a header file you can include
+# in your sources to initialize the static python modules
+function(PYTHON_ADD_MODULE _NAME )
+  get_property(_TARGET_SUPPORTS_SHARED_LIBS
+    GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS)
+  option(PYTHON_ENABLE_MODULE_${_NAME} "Add module ${_NAME}" TRUE)
+  option(PYTHON_MODULE_${_NAME}_BUILD_SHARED
+    "Add module ${_NAME} shared" ${_TARGET_SUPPORTS_SHARED_LIBS})
+
+  # Mark these options as advanced
+  mark_as_advanced(PYTHON_ENABLE_MODULE_${_NAME}
+    PYTHON_MODULE_${_NAME}_BUILD_SHARED)
+
+  if(PYTHON_ENABLE_MODULE_${_NAME})
+    if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
+      set(PY_MODULE_TYPE MODULE)
+    else()
+      set(PY_MODULE_TYPE STATIC)
+      set_property(GLOBAL  APPEND  PROPERTY  PY_STATIC_MODULES_LIST ${_NAME})
+    endif()
+
+    set_property(GLOBAL  APPEND  PROPERTY  PY_MODULES_LIST ${_NAME})
+    add_library(${_NAME} ${PY_MODULE_TYPE} ${ARGN})
+#    target_link_libraries(${_NAME} ${PYTHON_LIBRARIES})
+
+    if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
+      set_target_properties(${_NAME} PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}")
+      if(WIN32 AND NOT CYGWIN)
+        set_target_properties(${_NAME} PROPERTIES SUFFIX ".pyd")
+      endif()
+    endif()
+
+  endif()
+endfunction()
+
+function(PYTHON_WRITE_MODULES_HEADER _filename)
+
+  get_property(PY_STATIC_MODULES_LIST  GLOBAL  PROPERTY PY_STATIC_MODULES_LIST)
+
+  get_filename_component(_name "${_filename}" NAME)
+  string(REPLACE "." "_" _name "${_name}")
+  string(TOUPPER ${_name} _nameUpper)
+  set(_filename ${CMAKE_CURRENT_BINARY_DIR}/${_filename})
+
+  set(_filenameTmp "${_filename}.in")
+  file(WRITE ${_filenameTmp} "/*Created by cmake, do not edit, changes will be lost*/\n")
+  file(APPEND ${_filenameTmp}
+"#ifndef ${_nameUpper}
+#define ${_nameUpper}
+
+#include <Python.h>
+
+#ifdef __cplusplus
+extern \"C\" {
+#endif /* __cplusplus */
+
+")
+
+  foreach(_currentModule ${PY_STATIC_MODULES_LIST})
+    file(APPEND ${_filenameTmp} "extern void init${PYTHON_MODULE_PREFIX}${_currentModule}(void);\n\n")
+  endforeach()
+
+  file(APPEND ${_filenameTmp}
+"#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+")
+
+
+  foreach(_currentModule ${PY_STATIC_MODULES_LIST})
+    file(APPEND ${_filenameTmp} "int ${_name}_${_currentModule}(void) \n{\n  static char name[]=\"${PYTHON_MODULE_PREFIX}${_currentModule}\"; return PyImport_AppendInittab(name, init${PYTHON_MODULE_PREFIX}${_currentModule});\n}\n\n")
+  endforeach()
+
+  file(APPEND ${_filenameTmp} "void ${_name}_LoadAllPythonModules(void)\n{\n")
+  foreach(_currentModule ${PY_STATIC_MODULES_LIST})
+    file(APPEND ${_filenameTmp} "  ${_name}_${_currentModule}();\n")
+  endforeach()
+  file(APPEND ${_filenameTmp} "}\n\n")
+  file(APPEND ${_filenameTmp} "#ifndef EXCLUDE_LOAD_ALL_FUNCTION\nvoid CMakeLoadAllPythonModules(void)\n{\n  ${_name}_LoadAllPythonModules();\n}\n#endif\n\n#endif\n")
+
+# with configure_file() cmake complains that you may not use a file created using file(WRITE) as input file for configure_file()
+  execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different "${_filenameTmp}" "${_filename}" OUTPUT_QUIET ERROR_QUIET)
+
+endfunction()
diff --git a/build3/cmake/SelectLibraryConfigurations.cmake b/build3/cmake/SelectLibraryConfigurations.cmake
new file mode 100644
index 000000000..dce6f9926
--- /dev/null
+++ b/build3/cmake/SelectLibraryConfigurations.cmake
@@ -0,0 +1,70 @@
+# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+# file Copyright.txt or https://cmake.org/licensing for details.
+
+#.rst:
+# SelectLibraryConfigurations
+# ---------------------------
+#
+#
+#
+# select_library_configurations( basename )
+#
+# This macro takes a library base name as an argument, and will choose
+# good values for basename_LIBRARY, basename_LIBRARIES,
+# basename_LIBRARY_DEBUG, and basename_LIBRARY_RELEASE depending on what
+# has been found and set.  If only basename_LIBRARY_RELEASE is defined,
+# basename_LIBRARY will be set to the release value, and
+# basename_LIBRARY_DEBUG will be set to basename_LIBRARY_DEBUG-NOTFOUND.
+# If only basename_LIBRARY_DEBUG is defined, then basename_LIBRARY will
+# take the debug value, and basename_LIBRARY_RELEASE will be set to
+# basename_LIBRARY_RELEASE-NOTFOUND.
+#
+# If the generator supports configuration types, then basename_LIBRARY
+# and basename_LIBRARIES will be set with debug and optimized flags
+# specifying the library to be used for the given configuration.  If no
+# build type has been set or the generator in use does not support
+# configuration types, then basename_LIBRARY and basename_LIBRARIES will
+# take only the release value, or the debug value if the release one is
+# not set.
+
+# This macro was adapted from the FindQt4 CMake module and is maintained by Will
+# Dicharry <wdicharry@stellarscience.com>.
+
+macro( select_library_configurations basename )
+    if(NOT ${basename}_LIBRARY_RELEASE)
+        set(${basename}_LIBRARY_RELEASE "${basename}_LIBRARY_RELEASE-NOTFOUND" CACHE FILEPATH "Path to a library.")
+    endif()
+    if(NOT ${basename}_LIBRARY_DEBUG)
+        set(${basename}_LIBRARY_DEBUG "${basename}_LIBRARY_DEBUG-NOTFOUND" CACHE FILEPATH "Path to a library.")
+    endif()
+
+    if( ${basename}_LIBRARY_DEBUG AND ${basename}_LIBRARY_RELEASE AND
+           NOT ${basename}_LIBRARY_DEBUG STREQUAL ${basename}_LIBRARY_RELEASE AND
+           ( CMAKE_CONFIGURATION_TYPES OR CMAKE_BUILD_TYPE ) )
+        # if the generator supports configuration types or CMAKE_BUILD_TYPE
+        # is set, then set optimized and debug options.
+        set( ${basename}_LIBRARY "" )
+        foreach( _libname IN LISTS ${basename}_LIBRARY_RELEASE )
+            list( APPEND ${basename}_LIBRARY optimized "${_libname}" )
+        endforeach()
+        foreach( _libname IN LISTS ${basename}_LIBRARY_DEBUG )
+            list( APPEND ${basename}_LIBRARY debug "${_libname}" )
+        endforeach()
+    elseif( ${basename}_LIBRARY_RELEASE )
+        set( ${basename}_LIBRARY ${${basename}_LIBRARY_RELEASE} )
+    elseif( ${basename}_LIBRARY_DEBUG )
+        set( ${basename}_LIBRARY ${${basename}_LIBRARY_DEBUG} )
+    else()
+        set( ${basename}_LIBRARY "${basename}_LIBRARY-NOTFOUND")
+    endif()
+
+    set( ${basename}_LIBRARIES "${${basename}_LIBRARY}" )
+
+    if( ${basename}_LIBRARY )
+        set( ${basename}_FOUND TRUE )
+    endif()
+
+    mark_as_advanced( ${basename}_LIBRARY_RELEASE
+        ${basename}_LIBRARY_DEBUG
+    )
+endmacro()

From e719da3497543e55aeef5789b5e1608f14c4f818 Mon Sep 17 00:00:00 2001
From: Andrew Hundt <ATHundt@gmail.com>
Date: Sat, 20 May 2017 21:14:00 -0400
Subject: [PATCH 010/175] btsoftbody fix #1106, compiler error in
 App_PhysicsServer_SharedMemory BulletSoftBody was not linking to
 App_PhysicsServer_SharedMemory when USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 was enabled.

---
 examples/SharedMemory/CMakeLists.txt | 32 ++++++++++++++++------------
 1 file changed, 18 insertions(+), 14 deletions(-)

diff --git a/examples/SharedMemory/CMakeLists.txt b/examples/SharedMemory/CMakeLists.txt
index 1bd626572..3f1517a61 100644
--- a/examples/SharedMemory/CMakeLists.txt
+++ b/examples/SharedMemory/CMakeLists.txt
@@ -62,7 +62,7 @@ SET(SharedMemory_SRCS
 	../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
 	../Importers/ImportMJCFDemo/BulletMJCFImporter.h
 	../Utils/b3ResourcePath.cpp
-	../Utils/b3Clock.cpp	
+	../Utils/b3Clock.cpp
 	../Utils/RobotLoggingUtil.cpp
 	../Utils/RobotLoggingUtil.h
 	../Utils/ChromeTraceUtil.cpp
@@ -75,13 +75,13 @@ SET(SharedMemory_SRCS
 	../Importers/ImportSTLDemo/LoadMeshFromSTL.h
 	../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
 	../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
-	../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp	
+	../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/stb_image/stb_image.cpp
 	../MultiThreading/b3ThreadSupportInterface.cpp
 	../MultiThreading/b3ThreadSupportInterface.h
 )
@@ -95,6 +95,10 @@ LINK_LIBRARIES(
  Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
 )
 
+IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+	LINK_LIBRARIES(BulletSoftBody)
+ENDIF()
+
 IF (WIN32)
         ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
                 ${SharedMemory_SRCS}
@@ -112,7 +116,7 @@ ELSE(WIN32)
 	               			../MultiThreading/b3PosixThreadSupport.h
 			                main.cpp
 			        )
-							
+
         ELSE(APPLE)
                                 LINK_LIBRARIES(  pthread ${DL} )
 			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
@@ -152,7 +156,7 @@ LINK_LIBRARIES(
 IF (WIN32)
  				ADD_DEFINITIONS(-DGLEW_STATIC)
 				LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
-	
+
         ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
                 ${SharedMemory_SRCS}
 								../StandaloneMain/main_opengl_single_example.cpp
@@ -169,23 +173,23 @@ ELSE(WIN32)
 			        FIND_LIBRARY(COCOA NAMES Cocoa)
               MESSAGE(${COCOA})
               LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
-                
+
 			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
 			                ${SharedMemory_SRCS}
 	               			../StandaloneMain/main_opengl_single_example.cpp
 											../ExampleBrowser/OpenGLGuiHelper.cpp
 											../ExampleBrowser/GL_ShapeDrawer.cpp
-											../ExampleBrowser/CollisionShape2TriangleMesh.cpp					
+											../ExampleBrowser/CollisionShape2TriangleMesh.cpp
 			                ../MultiThreading/b3PosixThreadSupport.cpp
 	               			../MultiThreading/b3PosixThreadSupport.h
 			        )
-							
+
         ELSE(APPLE)
 				LINK_LIBRARIES(  pthread ${DL} )
          			ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
               ADD_DEFINITIONS("-DGLEW_STATIC")
               ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
-                
+
 			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
 			                ${SharedMemory_SRCS}
 	              			../StandaloneMain/main_opengl_single_example.cpp
@@ -215,7 +219,7 @@ INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
 	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/headers
-	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples/shared		
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples/shared
 )
 
 
@@ -233,7 +237,7 @@ LINK_LIBRARIES(
 					LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win64)
 				ELSE(CMAKE_CL_64)
 					LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win32)
-				ENDIF(CMAKE_CL_64)			
+				ENDIF(CMAKE_CL_64)
         ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_VR
                 ${SharedMemory_SRCS}
           ../StandaloneMain/hellovr_opengl_main.cpp
@@ -250,12 +254,12 @@ LINK_LIBRARIES(
 					../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
 					../ThirdPartyLibs/openvr/samples/shared/pathtools.h
 					../ThirdPartyLibs/openvr/samples/shared/strtools.cpp
-					../ThirdPartyLibs/openvr/samples/shared/strtools.h					
+					../ThirdPartyLibs/openvr/samples/shared/strtools.h
 					../ThirdPartyLibs/openvr/samples/shared/Vectors.h
 						../MultiThreading/b3Win32ThreadSupport.cpp
 						../MultiThreading/b3Win32ThreadSupport.h
 	          ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
-        )			
+        )
 
 
 IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
@@ -272,7 +276,7 @@ IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
 			COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/win32/openvr_api.dll  ${CMAKE_CURRENT_BINARY_DIR}/openvr_api.dll
 		)
 	ENDIF(CMAKE_CL_64)
-	
+
 	ADD_CUSTOM_COMMAND(
                 TARGET App_PhysicsServer_SharedMemory_VR
                 POST_BUILD

From 655def023e7c6ea492849d73aad503238ff6d210 Mon Sep 17 00:00:00 2001
From: Andrew Hundt <ATHundt@gmail.com>
Date: Sat, 20 May 2017 21:58:03 -0400
Subject: [PATCH 011/175] python versions can vary by default unless
 EXACT_PYTHON_VERSION=ON Still ensures library version matches interpreter
 version exactly.

---
 CMakeLists.txt | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f4d5b189a..1abc342ab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -257,11 +257,15 @@ OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
 # Optional Python configuration
 # builds pybullet automatically if all the requirements are met
 SET(PYTHON_VERSION_PYBULLET "2.7" CACHE STRING "Python version pybullet will use.")
-SET(Python_ADDITIONAL_VERSIONS 2.7 3.0 3.1 3.2 3.3 3.4 3.5 3.6)
+SET(Python_ADDITIONAL_VERSIONS 2.7 2.7.3 3 3.0 3.1 3.2 3.3 3.4 3.5 3.6)
 SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
 SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
+OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.3" OFF)
+IF(EXACT_PYTHON_VERSION)
+  set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
+ENDIF(EXACT_PYTHON_VERSION)
 # first find the python interpreter
-FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} EXACT)
+FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
 # python library should exactly match that of the interpreter
 FIND_PACKAGE(PythonLibraries ${PYTHON_VERSION_STRING} EXACT)
 SET(DEFAULT_BUILD_PYBULLET OFF)

From 5bc9d431a0e22507d46a336047939f955bad7373 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Sun, 21 May 2017 03:09:57 -0700
Subject: [PATCH 012/175] CommonRigidBodyMTBase: replace dynamic_cast (which
 crashes without RTTI) with static_cast

---
 .../MultiThreadedDemo/CommonRigidBodyMTBase.cpp     | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
index 17c5f802d..81446ee0b 100644
--- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
+++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
@@ -588,6 +588,10 @@ public:
                              ) :
                              btDiscreteDynamicsWorldMt( dispatcher, pairCache, constraintSolver, collisionConfiguration )
     {
+#if USE_PARALLEL_ISLAND_SOLVER
+        btSimulationIslandManagerMt* islandMgr = static_cast<btSimulationIslandManagerMt*>( m_islandManager );
+        islandMgr->setIslandDispatchFunction( parallelIslandDispatch );
+#endif //#if USE_PARALLEL_ISLAND_SOLVER
     }
 
 };
@@ -762,14 +766,7 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
 #endif //#if USE_PARALLEL_ISLAND_SOLVER
         btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration );
         m_dynamicsWorld = world;
-
-#if USE_PARALLEL_ISLAND_SOLVER
-        if ( btSimulationIslandManagerMt* islandMgr = dynamic_cast<btSimulationIslandManagerMt*>( world->getSimulationIslandManager() ) )
-        {
-            islandMgr->setIslandDispatchFunction( parallelIslandDispatch );
-            m_multithreadedWorld = true;
-        }
-#endif //#if USE_PARALLEL_ISLAND_SOLVER
+        m_multithreadedWorld = true;
     }
     else
     {

From 1e83630c1db216f745a7ccc424beec7036a50e0c Mon Sep 17 00:00:00 2001
From: Andrew Hundt <ATHundt@gmail.com>
Date: Sun, 21 May 2017 09:32:00 -0400
Subject: [PATCH 013/175] cmake minor fixes

---
 CMakeLists.txt                                                 | 2 +-
 build3/cmake/FindNumPy.cmake                                   | 3 ++-
 .../cmake/{FindPythonLibraries.cmake => FindPythonLibs.cmake}  | 0
 3 files changed, 3 insertions(+), 2 deletions(-)
 rename build3/cmake/{FindPythonLibraries.cmake => FindPythonLibs.cmake} (100%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1abc342ab..6ad1a9706 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -267,7 +267,7 @@ ENDIF(EXACT_PYTHON_VERSION)
 # first find the python interpreter
 FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
 # python library should exactly match that of the interpreter
-FIND_PACKAGE(PythonLibraries ${PYTHON_VERSION_STRING} EXACT)
+FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
 SET(DEFAULT_BUILD_PYBULLET OFF)
 IF(PYTHONLIBS_FOUND)
 	SET(DEFAULT_BUILD_PYBULLET ON)
diff --git a/build3/cmake/FindNumPy.cmake b/build3/cmake/FindNumPy.cmake
index 8d38c8ead..5ce9e178c 100644
--- a/build3/cmake/FindNumPy.cmake
+++ b/build3/cmake/FindNumPy.cmake
@@ -50,7 +50,8 @@ include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR PYTHON_NUMPY_VERSION
                                         VERSION_VAR   PYTHON_NUMPY_VERSION)
 
-if(PYTHON_NUMPY_FOUND)
+if(NUMPY_FOUND)
+  set(PYTHON_NUMPY_FOUND TRUE)
   message(STATUS "NumPy ver. ${PYTHON_NUMPY_VERSION} found (include: ${PYTHON_NUMPY_INCLUDE_DIR})")
 endif()
 
diff --git a/build3/cmake/FindPythonLibraries.cmake b/build3/cmake/FindPythonLibs.cmake
similarity index 100%
rename from build3/cmake/FindPythonLibraries.cmake
rename to build3/cmake/FindPythonLibs.cmake

From b19c209dbc345399c113ef4fc22d17bd834cc76f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 21 May 2017 06:50:53 -0700
Subject: [PATCH 014/175] The softbody/bunny test is very experimental and
 shouldn't be enabled in the example browser, unless
 USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined. I fixed a few bugs that
 cause the hang.

---
 examples/ExampleBrowser/ExampleEntries.cpp              | 7 ++++---
 examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp   | 3 ++-
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 3 +++
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index fb4128fcd..04b2112c3 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -277,9 +277,10 @@ static ExampleEntry gDefaultExamples[]=
     ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP),
     ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
 	ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
-    ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
-    ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
-
+#ifdef  USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+	ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
+	ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
+#endif //USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 
 #ifdef ENABLE_LUA
 	ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
index fd744cea9..a0d2c376c 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -290,6 +290,7 @@ void b3RobotSimulatorClientAPI::setGravity(const b3Vector3& gravityAcceleration)
 		b3Warning("Not connected");
 		return;
 	}
+	b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
 
 	b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
 	b3SharedMemoryStatusHandle statusHandle;
@@ -1142,5 +1143,5 @@ void b3RobotSimulatorClientAPI::loadBunny(double scale, double mass, double coll
     b3LoadBunnySetScale(command, scale);
     b3LoadBunnySetMass(command, mass);
     b3LoadBunnySetCollisionMargin(command, collisionMargin);
-    b3SubmitClientCommand(m_data->m_physicsClientHandle, command);
+    b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
 }
\ No newline at end of file
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index ea720de67..6f3cd63dd 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3247,6 +3247,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                 }
                 case CMD_LOAD_BUNNY:
                 {
+					serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
+					hasStatus = true;
 #ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
                     double scale = 0.1;
                     double mass = 0.1;
@@ -3287,6 +3289,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     psb->getCollisionShape()->setMargin(collisionMargin);
                     
                     m_data->m_dynamicsWorld->addSoftBody(psb);
+					serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
 #endif
                     break;
                 }

From 4dcf2b82b6ef81891cfcd5e4a906284cfb6816e3 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 21 May 2017 06:53:06 -0700
Subject: [PATCH 015/175] bump up pybullet to version 1.0.7

---
 setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.py b/setup.py
index 0365485f3..e3f893a48 100644
--- a/setup.py
+++ b/setup.py
@@ -417,7 +417,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.0.6',
+	version='1.0.7',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From fd40ba424b27952e5f7c7787acc151308a5f1e3c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 21 May 2017 11:00:15 -0700
Subject: [PATCH 016/175] test for knee joint limits under position control

---
 data/mjcf/humanoid_fixed.xml                  | 115 ++++++++++++++++++
 .../humanoid_knee_position_control.py         |  37 ++++++
 2 files changed, 152 insertions(+)
 create mode 100644 data/mjcf/humanoid_fixed.xml
 create mode 100644 examples/pybullet/examples/humanoid_knee_position_control.py

diff --git a/data/mjcf/humanoid_fixed.xml b/data/mjcf/humanoid_fixed.xml
new file mode 100644
index 000000000..94e1dd2a0
--- /dev/null
+++ b/data/mjcf/humanoid_fixed.xml
@@ -0,0 +1,115 @@
+<mujoco model="humanoid">
+    <compiler angle="degree" inertiafromgeom="true"/>
+    <default>
+        <joint armature="1" damping="1" limited="true"/>
+        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
+        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+    </default>
+    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
+        <!-- <flags solverstat="enable" energy="enable"/>-->
+    </option>
+    <size nkey="5" nuser_geom="1"/>
+    <visual>
+        <map fogend="5" fogstart="3"/>
+    </visual>
+    <asset>
+        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
+        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
+        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+        <material name="geom" texture="texgeom" texuniform="true"/>
+    </asset>
+    <worldbody>
+         <body name="torso" pos="0 0 1.4">
+            <joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="fixed"/>
+            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
+            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
+            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
+            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
+                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
+                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
+                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
+                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
+                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
+                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
+                    <body name="right_thigh" pos="0 -0.1 -0.04">
+                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
+                        <body name="right_shin" pos="0 0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
+                            <body name="right_foot" pos="0 0 -0.45">
+                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
+                            </body>
+                        </body>
+                    </body>
+                    <body name="left_thigh" pos="0 0.1 -0.04">
+                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
+                        <body name="left_shin" pos="0 -0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
+                            <body name="left_foot" pos="0 0 -0.45">
+                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="right_upper_arm" pos="0 -0.17 0.06">
+                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="right_lower_arm" pos=".18 -.18 -.18">
+                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
+                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+            <body name="left_upper_arm" pos="0 0.17 0.06">
+                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="left_lower_arm" pos=".18 .18 -.18">
+                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
+                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <tendon>
+        <fixed name="left_hipknee">
+            <joint coef="-1" joint="left_hip_y"/>
+            <joint coef="1" joint="left_knee"/>
+        </fixed>
+        <fixed name="right_hipknee">
+            <joint coef="-1" joint="right_hip_y"/>
+            <joint coef="1" joint="right_knee"/>
+        </fixed>
+    </tendon>
+    <actuator><!-- this section is not supported, same constants in code -->
+        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
+        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
+        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
+        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
+        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
+        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
+        <motor gear="200" joint="right_knee" name="right_knee"/>
+        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
+        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
+        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
+        <motor gear="200" joint="left_knee" name="left_knee"/>
+        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
+        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
+        <motor gear="25" joint="right_elbow" name="right_elbow"/>
+        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
+        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
+        <motor gear="25" joint="left_elbow" name="left_elbow"/>
+    </actuator>
+</mujoco>
diff --git a/examples/pybullet/examples/humanoid_knee_position_control.py b/examples/pybullet/examples/humanoid_knee_position_control.py
new file mode 100644
index 000000000..f4398b7fa
--- /dev/null
+++ b/examples/pybullet/examples/humanoid_knee_position_control.py
@@ -0,0 +1,37 @@
+import pybullet as p
+import time
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	cid = p.connect(p.GUI)
+
+p.resetSimulation()
+
+useRealTime = 0
+
+p.setRealTimeSimulation(useRealTime)
+
+p.setGravity(0,0,0)
+
+p.loadURDF("plane.urdf")
+
+obUids = p.loadMJCF("mjcf/humanoid_fixed.xml")
+human = obUids[0]
+
+
+
+for i in range (p.getNumJoints(human)):
+	p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=50)
+
+kneeAngleTargetId = p.addUserDebugParameter("kneeAngle",-4,4,-1)
+maxForceId = p.addUserDebugParameter("maxForce",0,100,10)
+
+kneeJointIndex=11
+
+while (1):
+	time.sleep(0.01)
+	kneeAngleTarget = p.readUserDebugParameter(kneeAngleTargetId)
+	maxForce = p.readUserDebugParameter(maxForceId)
+	p.setJointMotorControl2(human,kneeJointIndex,p.POSITION_CONTROL,targetPosition=kneeAngleTarget,force=maxForce)
+	if (useRealTime==0):
+		p.stepSimulation()	
\ No newline at end of file

From aa2787520b061f91cc599f20a7d5b2796ec0185f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 21 May 2017 11:35:06 -0700
Subject: [PATCH 017/175] 
 examples\pybullet\examples\humanoid_knee_position_control.py : allow both
 knees to be actuated against limit

---
 .../examples/humanoid_knee_position_control.py    | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/examples/pybullet/examples/humanoid_knee_position_control.py b/examples/pybullet/examples/humanoid_knee_position_control.py
index f4398b7fa..a75c66263 100644
--- a/examples/pybullet/examples/humanoid_knee_position_control.py
+++ b/examples/pybullet/examples/humanoid_knee_position_control.py
@@ -11,7 +11,7 @@ useRealTime = 0
 
 p.setRealTimeSimulation(useRealTime)
 
-p.setGravity(0,0,0)
+p.setGravity(0,0,-10)
 
 p.loadURDF("plane.urdf")
 
@@ -21,17 +21,26 @@ human = obUids[0]
 
 
 for i in range (p.getNumJoints(human)):
-	p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=50)
+	p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=500)
 
 kneeAngleTargetId = p.addUserDebugParameter("kneeAngle",-4,4,-1)
-maxForceId = p.addUserDebugParameter("maxForce",0,100,10)
+maxForceId = p.addUserDebugParameter("maxForce",0,500,10)
+
+kneeAngleTargetLeftId = p.addUserDebugParameter("kneeAngleL",-4,4,-1)
+maxForceLeftId = p.addUserDebugParameter("maxForceL",0,500,10)
+
 
 kneeJointIndex=11
+kneeJointIndexLeft=18
 
 while (1):
 	time.sleep(0.01)
 	kneeAngleTarget = p.readUserDebugParameter(kneeAngleTargetId)
 	maxForce = p.readUserDebugParameter(maxForceId)
 	p.setJointMotorControl2(human,kneeJointIndex,p.POSITION_CONTROL,targetPosition=kneeAngleTarget,force=maxForce)
+	kneeAngleTargetLeft = p.readUserDebugParameter(kneeAngleTargetLeftId)
+	maxForceLeft = p.readUserDebugParameter(maxForceLeftId)
+	p.setJointMotorControl2(human,kneeJointIndexLeft,p.POSITION_CONTROL,targetPosition=kneeAngleTargetLeft,force=maxForceLeft)
+
 	if (useRealTime==0):
 		p.stepSimulation()	
\ No newline at end of file

From 1ce894b3e96dfb3ae7f6feb44a869fc3a2fd8cda Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 21 May 2017 12:16:27 -0700
Subject: [PATCH 018/175] add main_imgui.cpp

---
 examples/SimpleOpenGL3/main_imgui.cpp | 397 ++++++++++++++++++++++++++
 1 file changed, 397 insertions(+)
 create mode 100644 examples/SimpleOpenGL3/main_imgui.cpp

diff --git a/examples/SimpleOpenGL3/main_imgui.cpp b/examples/SimpleOpenGL3/main_imgui.cpp
new file mode 100644
index 000000000..998412c1a
--- /dev/null
+++ b/examples/SimpleOpenGL3/main_imgui.cpp
@@ -0,0 +1,397 @@
+
+
+//#define USE_OPENGL2
+#ifdef USE_OPENGL2
+#include "OpenGLWindow/SimpleOpenGL2App.h"
+typedef SimpleOpenGL2App SimpleOpenGLApp ;
+
+#else
+#include "OpenGLWindow/SimpleOpenGL3App.h"
+typedef SimpleOpenGL3App SimpleOpenGLApp ;
+
+#endif //USE_OPENGL2
+
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3CommandLineArgs.h"
+#include "assert.h"
+#include <stdio.h>
+
+
+
+char* gVideoFileName = 0;
+char* gPngFileName = 0;
+
+static b3WheelCallback sOldWheelCB = 0;
+static b3ResizeCallback sOldResizeCB = 0;
+static b3MouseMoveCallback sOldMouseMoveCB = 0;
+static b3MouseButtonCallback sOldMouseButtonCB = 0;
+static b3KeyboardCallback sOldKeyboardCB = 0;
+//static b3RenderCallback sOldRenderCB = 0;
+
+float gWidth = 1024;
+float gHeight = 768;
+SimpleOpenGLApp* app  = 0;
+float gMouseX = 0;
+float gMouseY = 0;
+float g_MouseWheel = 0.0f;
+int g_MousePressed[3] = {0};
+int g_MousePressed2[3] = {0};
+
+//#define B3_USE_IMGUI
+#ifdef B3_USE_IMGUI
+#include "OpenGLWindow/OpenGLInclude.h"
+#include "ThirdPartyLibs/imgui/imgui.h"
+static GLuint       g_FontTexture = 0;
+
+
+
+void ImGui_ImplBullet_CreateDeviceObjects()
+{
+	ImGuiIO& io = ImGui::GetIO();
+
+	unsigned char* pixels;
+	int width, height;
+	io.Fonts->GetTexDataAsRGBA32(&pixels, &width, &height);   // Load as RGBA 32-bits (75% of the memory is wasted, but default font is so small) because it is more likely to be compatible with user's existing shaders. If your ImTextureId represent a higher-level concept than just a GL texture id, consider calling GetTexDataAsAlpha8() instead to save on GPU memory.
+
+	// Upload texture to graphics system
+	GLint last_texture;
+	glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
+	glGenTextures(1, &g_FontTexture);
+	glBindTexture(GL_TEXTURE_2D, g_FontTexture);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
+
+	// Store our identifier
+	io.Fonts->TexID = (void *)(intptr_t)g_FontTexture;
+
+	// Restore state
+	glBindTexture(GL_TEXTURE_2D, last_texture);
+
+}
+
+
+void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data)
+{
+   // Avoid rendering when minimized, scale coordinates for retina displays (screen coordinates != framebuffer coordinates)
+    ImGuiIO& io = ImGui::GetIO();
+    int fb_width = (int)(io.DisplaySize.x * io.DisplayFramebufferScale.x);
+    int fb_height = (int)(io.DisplaySize.y * io.DisplayFramebufferScale.y);
+    if (fb_width == 0 || fb_height == 0)
+        return;
+    draw_data->ScaleClipRects(io.DisplayFramebufferScale);
+
+    // We are using the OpenGL fixed pipeline to make the example code simpler to read!
+    // Setup render state: alpha-blending enabled, no face culling, no depth testing, scissor enabled, vertex/texcoord/color pointers.
+    GLint last_texture; glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
+    GLint last_viewport[4]; glGetIntegerv(GL_VIEWPORT, last_viewport);
+    GLint last_scissor_box[4]; glGetIntegerv(GL_SCISSOR_BOX, last_scissor_box); 
+    glPushAttrib(GL_ENABLE_BIT | GL_COLOR_BUFFER_BIT | GL_TRANSFORM_BIT);
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+    glDisable(GL_CULL_FACE);
+    glDisable(GL_DEPTH_TEST);
+    glEnable(GL_SCISSOR_TEST);
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    glEnableClientState(GL_COLOR_ARRAY);
+    glEnable(GL_TEXTURE_2D);
+    //glUseProgram(0); // You may want this if using this code in an OpenGL 3+ context
+
+    // Setup viewport, orthographic projection matrix
+    glViewport(0, 0, (GLsizei)fb_width, (GLsizei)fb_height);
+    glMatrixMode(GL_PROJECTION);
+    glPushMatrix();
+    glLoadIdentity();
+    glOrtho(0.0f, io.DisplaySize.x, io.DisplaySize.y, 0.0f, -1.0f, +1.0f);
+    glMatrixMode(GL_MODELVIEW);
+    glPushMatrix();
+    glLoadIdentity();
+
+    // Render command lists
+    #define OFFSETOF(TYPE, ELEMENT) ((size_t)&(((TYPE *)0)->ELEMENT))
+    for (int n = 0; n < draw_data->CmdListsCount; n++)
+    {
+        const ImDrawList* cmd_list = draw_data->CmdLists[n];
+        const ImDrawVert* vtx_buffer = cmd_list->VtxBuffer.Data;
+        const ImDrawIdx* idx_buffer = cmd_list->IdxBuffer.Data;
+        glVertexPointer(2, GL_FLOAT, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + OFFSETOF(ImDrawVert, pos)));
+        glTexCoordPointer(2, GL_FLOAT, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + OFFSETOF(ImDrawVert, uv)));
+        glColorPointer(4, GL_UNSIGNED_BYTE, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + OFFSETOF(ImDrawVert, col)));
+
+        for (int cmd_i = 0; cmd_i < cmd_list->CmdBuffer.Size; cmd_i++)
+        {
+            const ImDrawCmd* pcmd = &cmd_list->CmdBuffer[cmd_i];
+            if (pcmd->UserCallback)
+            {
+                pcmd->UserCallback(cmd_list, pcmd);
+            }
+            else
+            {
+                glBindTexture(GL_TEXTURE_2D, (GLuint)(intptr_t)pcmd->TextureId);
+                glScissor((int)pcmd->ClipRect.x, (int)(fb_height - pcmd->ClipRect.w), (int)(pcmd->ClipRect.z - pcmd->ClipRect.x), (int)(pcmd->ClipRect.w - pcmd->ClipRect.y));
+                glDrawElements(GL_TRIANGLES, (GLsizei)pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, idx_buffer);
+            }
+            idx_buffer += pcmd->ElemCount;
+        }
+    }
+    #undef OFFSETOF
+
+    // Restore modified state
+    glDisableClientState(GL_COLOR_ARRAY);
+    glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+    glBindTexture(GL_TEXTURE_2D, (GLuint)last_texture);
+    glMatrixMode(GL_MODELVIEW);
+    glPopMatrix();
+    glMatrixMode(GL_PROJECTION);
+    glPopMatrix();
+    glPopAttrib();
+    glViewport(last_viewport[0], last_viewport[1], (GLsizei)last_viewport[2], (GLsizei)last_viewport[3]);
+    glScissor(last_scissor_box[0], last_scissor_box[1], (GLsizei)last_scissor_box[2], (GLsizei)last_scissor_box[3]);
+}
+#endif //B3_USE_IMGUI
+
+void MyWheelCallback(float deltax, float deltay)
+{
+	g_MouseWheel += deltax+deltay;
+	if (sOldWheelCB)
+		sOldWheelCB(deltax,deltay);
+}
+void MyResizeCallback( float width, float height)
+{
+    gWidth = width;
+    gHeight = height;
+    
+	if (sOldResizeCB)
+		sOldResizeCB(width,height);
+}
+void MyMouseMoveCallback( float x, float y)
+{
+	printf("Mouse Move: %f, %f\n", x,y);
+	gMouseX = x;
+	gMouseY = y;
+
+	if (sOldMouseMoveCB)
+		sOldMouseMoveCB(x,y);
+}
+void MyMouseButtonCallback(int button, int state, float x, float y)
+{
+	gMouseX = x;
+	gMouseY = y;
+	{
+		if (button>=0 && button<3)
+		{
+			if (state)
+			{
+				g_MousePressed[button] = state;
+			}
+			g_MousePressed2[button] = state;
+
+		}
+		
+	}
+
+	if (sOldMouseButtonCB)
+		sOldMouseButtonCB(button,state,x,y);
+}
+
+
+void MyKeyboardCallback(int keycode, int state)
+{
+	//keycodes are in examples/CommonInterfaces/CommonWindowInterface.h
+	//for example B3G_ESCAPE for escape key
+	//state == 1 for pressed, state == 0 for released.
+	// use app->m_window->isModifiedPressed(...) to check for shift, escape and alt keys
+	printf("MyKeyboardCallback received key:%c in state %d\n",keycode,state);
+	if (sOldKeyboardCB)
+		sOldKeyboardCB(keycode,state);
+}
+
+
+bool    ImGui_ImplGlfw_Init()
+{
+ 
+	#if 0
+    ImGuiIO& io = ImGui::GetIO();
+    io.KeyMap[ImGuiKey_Tab] = GLFW_KEY_TAB;                     // Keyboard mapping. ImGui will use those indices to peek into the io.KeyDown[] array.
+    io.KeyMap[ImGuiKey_LeftArrow] = GLFW_KEY_LEFT;
+    io.KeyMap[ImGuiKey_RightArrow] = GLFW_KEY_RIGHT;
+    io.KeyMap[ImGuiKey_UpArrow] = GLFW_KEY_UP;
+    io.KeyMap[ImGuiKey_DownArrow] = GLFW_KEY_DOWN;
+    io.KeyMap[ImGuiKey_PageUp] = GLFW_KEY_PAGE_UP;
+    io.KeyMap[ImGuiKey_PageDown] = GLFW_KEY_PAGE_DOWN;
+    io.KeyMap[ImGuiKey_Home] = GLFW_KEY_HOME;
+    io.KeyMap[ImGuiKey_End] = GLFW_KEY_END;
+    io.KeyMap[ImGuiKey_Delete] = GLFW_KEY_DELETE;
+    io.KeyMap[ImGuiKey_Backspace] = GLFW_KEY_BACKSPACE;
+    io.KeyMap[ImGuiKey_Enter] = GLFW_KEY_ENTER;
+    io.KeyMap[ImGuiKey_Escape] = GLFW_KEY_ESCAPE;
+    io.KeyMap[ImGuiKey_A] = GLFW_KEY_A;
+    io.KeyMap[ImGuiKey_C] = GLFW_KEY_C;
+    io.KeyMap[ImGuiKey_V] = GLFW_KEY_V;
+    io.KeyMap[ImGuiKey_X] = GLFW_KEY_X;
+    io.KeyMap[ImGuiKey_Y] = GLFW_KEY_Y;
+    io.KeyMap[ImGuiKey_Z] = GLFW_KEY_Z;
+
+    io.RenderDrawListsFn = ImGui_ImplGlfw_RenderDrawLists;      // Alternatively you can set this to NULL and call ImGui::GetDrawData() after ImGui::Render() to get the same ImDrawData pointer.
+    io.SetClipboardTextFn = ImGui_ImplGlfw_SetClipboardText;
+    io.GetClipboardTextFn = ImGui_ImplGlfw_GetClipboardText;
+    io.ClipboardUserData = g_Window;
+#ifdef _WIN32
+    io.ImeWindowHandle = glfwGetWin32Window(g_Window);
+#endif
+
+#endif
+
+    return true;
+}
+
+int main(int argc, char* argv[])
+{
+	{
+		b3CommandLineArgs myArgs(argc, argv);
+
+
+		app = new SimpleOpenGLApp("SimpleOpenGLApp", gWidth, gHeight);
+
+		app->m_renderer->getActiveCamera()->setCameraDistance(13);
+		app->m_renderer->getActiveCamera()->setCameraPitch(0);
+		app->m_renderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
+
+		sOldKeyboardCB = app->m_window->getKeyboardCallback();
+		app->m_window->setKeyboardCallback(MyKeyboardCallback);
+		sOldMouseMoveCB = app->m_window->getMouseMoveCallback();
+		app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
+		sOldMouseButtonCB = app->m_window->getMouseButtonCallback();
+		app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
+		sOldWheelCB = app->m_window->getWheelCallback();
+		app->m_window->setWheelCallback(MyWheelCallback);
+		sOldResizeCB = app->m_window->getResizeCallback();
+		app->m_window->setResizeCallback(MyResizeCallback);
+
+
+		myArgs.GetCmdLineArgument("mp4_file", gVideoFileName);
+		if (gVideoFileName)
+			app->dumpFramesToVideo(gVideoFileName);
+
+		myArgs.GetCmdLineArgument("png_file", gPngFileName);
+		char fileName[1024];
+
+		int textureWidth = 128;
+		int textureHeight = 128;
+
+		unsigned char*	image = new unsigned char[textureWidth*textureHeight * 4];
+
+
+		int textureHandle = app->m_renderer->registerTexture(image, textureWidth, textureHeight);
+
+		int cubeIndex = app->registerCubeShape(1, 1, 1);
+
+		b3Vector3 pos = b3MakeVector3(0, 0, 0);
+		b3Quaternion orn(0, 0, 0, 1);
+		b3Vector3 color = b3MakeVector3(1, 0, 0);
+		b3Vector3 scaling = b3MakeVector3 (1, 1, 1);
+		app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
+		app->m_renderer->writeTransforms();
+
+		do
+		{
+			static int frameCount = 0;
+			frameCount++;
+			if (gPngFileName)
+			{
+				printf("gPngFileName=%s\n", gPngFileName);
+
+				sprintf(fileName, "%s%d.png", gPngFileName, frameCount++);
+				app->dumpNextFrameToPng(fileName);
+			}
+
+			
+			
+
+
+			//update the texels of the texture using a simple pattern, animated using frame index
+			for (int y = 0; y < textureHeight; ++y)
+			{
+				const int	t = (y + frameCount) >> 4;
+				unsigned char*	pi = image + y*textureWidth * 3;
+				for (int x = 0; x < textureWidth; ++x)
+				{
+					const int		s = x >> 4;
+					const unsigned char	b = 180;
+					unsigned char			c = b + ((s + (t & 1)) & 1)*(255 - b);
+					pi[0] = pi[1] = pi[2] = pi[3] = c; pi += 3;
+				}
+			}
+
+			app->m_renderer->activateTexture(textureHandle);
+			app->m_renderer->updateTexture(textureHandle, image);
+
+			//float color[4] = { 255, 1, 1, 1 };
+			//app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true);
+
+
+			app->m_renderer->init();
+			app->m_renderer->updateCamera(1);
+
+			app->m_renderer->renderScene();
+			app->drawGrid();
+			char bla[1024];
+			sprintf(bla, "Simple test frame %d", frameCount);
+
+			//app->drawText(bla, 10, 10);
+
+#ifdef B3_USE_IMGUI
+			{
+				bool show_test_window = true;
+				bool show_another_window = false;
+				ImVec4 clear_color = ImColor(114, 144, 154);
+
+				 // Start the frame
+				ImGuiIO& io = ImGui::GetIO();
+				if (!g_FontTexture)
+			        ImGui_ImplBullet_CreateDeviceObjects();
+
+				io.DisplaySize = ImVec2((float)gWidth, (float)gHeight);
+				io.DisplayFramebufferScale = ImVec2(gWidth > 0 ? ((float)1.) : 0, gHeight > 0 ? ((float)1.) : 0);
+				io.DeltaTime = (float)(1.0f/60.0f);
+				io.MousePos = ImVec2((float)gMouseX, (float)gMouseY);   
+				io.RenderDrawListsFn = ImGui_ImplBullet_RenderDrawLists;
+
+
+				for (int i=0;i<3;i++)
+				{
+					io.MouseDown[i] = g_MousePressed[i]|g_MousePressed2[i];
+					g_MousePressed[i] = false;
+				}
+
+				io.MouseWheel = g_MouseWheel;
+
+				ImGui::NewFrame();
+
+				ImGui::ShowTestWindow();
+				ImGui::ShowMetricsWindow();
+				#if 0
+				static float f = 0.0f;
+				ImGui::Text("Hello, world!");
+				ImGui::SliderFloat("float", &f, 0.0f, 1.0f);
+				ImGui::ColorEdit3("clear color", (float*)&clear_color);
+				if (ImGui::Button("Test Window")) show_test_window ^= 1;
+				if (ImGui::Button("Another Window")) show_another_window ^= 1;
+				ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate, ImGui::GetIO().Framerate);
+				#endif
+				ImGui::Render();
+			}
+#endif //B3_USE_IMGUI
+			app->swapBuffer();
+		} while (!app->m_window->requestedExit());
+
+
+
+		delete app;
+
+		delete[] image;
+	}
+	return 0;
+}

From 671c4bf10ee4ea38e7fb65928dbcb0d14ffb60f7 Mon Sep 17 00:00:00 2001
From: Jie Tan <jietan@google.com>
Date: Mon, 22 May 2017 20:57:18 -0700
Subject: [PATCH 019/175] add back sonnet dependency. If sonnet is not
 installed, fall back to simpleAgent that does not need sonnet.

---
 examples/pybullet/gym/agents/actor_net.py     |  21 ++++++++
 .../{simplerAgent.py => simpleAgent.py}       |   3 +-
 .../gym/agents/simpleAgentWithSonnet.py       |  46 ++++++++++++++++++
 .../tf_graph_data.ckpt.data-00000-of-00001    | Bin 0 -> 2353229 bytes
 .../tf_graph_data/tf_graph_data.ckpt.index    | Bin 0 -> 2308 bytes
 .../tf_graph_data/tf_graph_data.ckpt.meta     | Bin 0 -> 857169 bytes
 examples/pybullet/gym/minitaurGymEnvTest.py   |  15 ++++--
 7 files changed, 80 insertions(+), 5 deletions(-)
 create mode 100644 examples/pybullet/gym/agents/actor_net.py
 rename examples/pybullet/gym/agents/{simplerAgent.py => simpleAgent.py} (95%)
 create mode 100644 examples/pybullet/gym/agents/simpleAgentWithSonnet.py
 create mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.data-00000-of-00001
 create mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.index
 create mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.meta

diff --git a/examples/pybullet/gym/agents/actor_net.py b/examples/pybullet/gym/agents/actor_net.py
new file mode 100644
index 000000000..ac6aaff8a
--- /dev/null
+++ b/examples/pybullet/gym/agents/actor_net.py
@@ -0,0 +1,21 @@
+"""An actor network."""
+import tensorflow as tf
+import sonnet as snt
+
+class ActorNetwork(snt.AbstractModule):
+  """An actor network as a sonnet Module."""
+
+  def __init__(self, layer_sizes, action_size, name='target_actor'):
+    super(ActorNetwork, self).__init__(name=name)
+    self._layer_sizes = layer_sizes
+    self._action_size = action_size
+
+  def _build(self, inputs):
+    state = inputs
+    for output_size in self._layer_sizes:
+      state = snt.Linear(output_size)(state)
+      state = tf.nn.relu(state)
+
+    action = tf.tanh(
+        snt.Linear(self._action_size, name='action')(state))
+    return action
diff --git a/examples/pybullet/gym/agents/simplerAgent.py b/examples/pybullet/gym/agents/simpleAgent.py
similarity index 95%
rename from examples/pybullet/gym/agents/simplerAgent.py
rename to examples/pybullet/gym/agents/simpleAgent.py
index 4f12f04db..6588e73ba 100644
--- a/examples/pybullet/gym/agents/simplerAgent.py
+++ b/examples/pybullet/gym/agents/simpleAgent.py
@@ -10,11 +10,12 @@ import numpy as np
 import tensorflow as tf
 import pdb
 
-class SimplerAgent():
+class SimpleAgent():
   def __init__(
       self,
       session,
       ckpt_path,
+      actor_layer_size,
       observation_dim=31
   ):
     self._ckpt_path = ckpt_path
diff --git a/examples/pybullet/gym/agents/simpleAgentWithSonnet.py b/examples/pybullet/gym/agents/simpleAgentWithSonnet.py
new file mode 100644
index 000000000..08a4cf1fa
--- /dev/null
+++ b/examples/pybullet/gym/agents/simpleAgentWithSonnet.py
@@ -0,0 +1,46 @@
+"""Loads a DDPG agent without too much external dependencies
+"""
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import os
+import collections
+import numpy as np
+import tensorflow as tf
+
+import sonnet as snt
+from agents import actor_net
+
+class SimpleAgent():
+  def __init__(
+      self,
+      session,
+      ckpt_path,
+      actor_layer_size,
+      observation_size=(31,),
+      action_size=8,
+  ):
+    self._ckpt_path = ckpt_path
+    self._actor_layer_size = actor_layer_size
+    self._observation_size = observation_size
+    self._action_size = action_size
+    self._session = session
+    self._build()
+
+  def _build(self):
+    self._agent_net = actor_net.ActorNetwork(self._actor_layer_size, self._action_size)
+    self._obs = tf.placeholder(tf.float32, (31,))
+    with tf.name_scope('Act'):
+      batch_obs = snt.nest.pack_iterable_as(self._obs,
+                                            snt.nest.map(lambda x: tf.expand_dims(x, 0),
+                                                         snt.nest.flatten_iterable(self._obs)))
+      self._action = self._agent_net(batch_obs)
+      saver = tf.train.Saver()
+      saver.restore(
+          sess=self._session,
+          save_path=self._ckpt_path)
+
+  def __call__(self, observation):
+    out_action = self._session.run(self._action, feed_dict={self._obs: observation})
+    return out_action[0]
diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.data-00000-of-00001 b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.data-00000-of-00001
new file mode 100644
index 0000000000000000000000000000000000000000..b25aa2872cbc04f8360c408f0ed2fc41ab44e228
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diff --git a/examples/pybullet/gym/minitaurGymEnvTest.py b/examples/pybullet/gym/minitaurGymEnvTest.py
index 3bbabd9a4..484842102 100644
--- a/examples/pybullet/gym/minitaurGymEnvTest.py
+++ b/examples/pybullet/gym/minitaurGymEnvTest.py
@@ -10,8 +10,15 @@ import numpy as np
 import tensorflow as tf
 
 from envs.bullet.minitaurGymEnv import MinitaurGymEnv
-from agents import simplerAgent
 
+try:
+  import sonnet
+  from agents import simpleAgentWithSonnet as agent_lib
+  ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0'
+except ImportError:
+  from agents import simpleAgent as agent_lib
+  ckpt_path = 'data/agent/tf_graph_data/tf_graph_data.ckpt'
+  
 def testSinePolicy():
   """Tests sine policy
     """
@@ -53,14 +60,14 @@ def testDDPGPolicy():
   environment = MinitaurGymEnv(render=True)
   sum_reward = 0
   steps = 1000
-  ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0'
+
   observation_shape = (31,)
   action_size = 8
-  actor_layer_sizes = (100, 181)
+  actor_layer_size = (100, 181)
   n_steps = 0
   tf.reset_default_graph()
   with tf.Session() as session:
-    agent = simplerAgent.SimplerAgent(session, ckpt_path)
+    agent = agent_lib.SimpleAgent(session=session, ckpt_path=ckpt_path, actor_layer_size=actor_layer_size)
     state = environment.reset()
     action = agent(state)
     for _ in range(steps):

From 3eb974f66f2c0fc9d0385593a77cedf3a40d618b Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Mon, 22 May 2017 22:23:01 -0700
Subject: [PATCH 020/175] Add kuka grasping block playback.

---
 data/block.urdf                               |  32 +
 data/block_grasp_log.bin                      | Bin 0 -> 1048577 bytes
 data/kuka_iiwa/kuka_with_gripper.sdf          | 760 ++++++++++++++++++
 data/kuka_iiwa/meshes/finger_base_left.stl    | Bin 0 -> 10084 bytes
 data/kuka_iiwa/meshes/finger_base_right.stl   | Bin 0 -> 10084 bytes
 data/kuka_iiwa/meshes/finger_tip_left.stl     | Bin 0 -> 6984 bytes
 data/kuka_iiwa/meshes/finger_tip_right.stl    | Bin 0 -> 6984 bytes
 data/tray/tray.urdf                           |  30 +
 data/tray/tray_textured4.mtl                  |  13 +
 data/tray/tray_textured4.obj                  | 256 ++++++
 .../pybullet/examples/reset_dynamic_info.py   |   6 +-
 11 files changed, 1094 insertions(+), 3 deletions(-)
 create mode 100644 data/block.urdf
 create mode 100644 data/block_grasp_log.bin
 create mode 100644 data/kuka_iiwa/kuka_with_gripper.sdf
 create mode 100755 data/kuka_iiwa/meshes/finger_base_left.stl
 create mode 100755 data/kuka_iiwa/meshes/finger_base_right.stl
 create mode 100755 data/kuka_iiwa/meshes/finger_tip_left.stl
 create mode 100755 data/kuka_iiwa/meshes/finger_tip_right.stl
 create mode 100755 data/tray/tray.urdf
 create mode 100755 data/tray/tray_textured4.mtl
 create mode 100755 data/tray/tray_textured4.obj

diff --git a/data/block.urdf b/data/block.urdf
new file mode 100644
index 000000000..9ff64decf
--- /dev/null
+++ b/data/block.urdf
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot name="block_2">
+  <link name="block_2_base_link">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.02"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <box size="0.10 0.018 0.018"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.1 0.7 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <box size="0.10 0.018 0.018"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/block_grasp_log.bin b/data/block_grasp_log.bin
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diff --git a/data/kuka_iiwa/kuka_with_gripper.sdf b/data/kuka_iiwa/kuka_with_gripper.sdf
new file mode 100644
index 000000000..739eac349
--- /dev/null
+++ b/data/kuka_iiwa/kuka_with_gripper.sdf
@@ -0,0 +1,760 @@
+<?xml version="1.0" ?>
+<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
+    It has been produced from the varients in //third_party/robotics/models.
+    Note:  This file is temporary, and should be deleted once Bullet supports
+    importing models in SDF.  Also, this file has been specialized for Bullet,
+    because the mass of the base link has been set to 0, as needed by Bullet.
+    Note:  All of the gripper link poses have been adjusted in the z direction
+    to achieve a reasonable position of the gripper relative to the arm.
+    Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
+<sdf version='1.6'>
+  <world name='default'>
+  <model name='lbr_iiwa_with_wsg50'>
+    <link name='lbr_iiwa_link_0'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <mass>0</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.06</iyy>
+          <iyz>0</iyz>
+          <izz>0.03</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_0_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>/meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_0_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.5 0.5 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <link name='lbr_iiwa_link_1'>
+      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.09</iyy>
+          <iyz>0</iyz>
+          <izz>0.02</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_1_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_1_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.5 0.5 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J0' type='revolute'>
+      <child>lbr_iiwa_link_1</child>
+      <parent>lbr_iiwa_link_0</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_2'>
+      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.044</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_2_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_2_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.42 0.04 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J1' type='revolute'>
+      <child>lbr_iiwa_link_2</child>
+      <parent>lbr_iiwa_link_1</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_3'>
+      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <mass>3</mass>
+        <inertia>
+          <ixx>0.08</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.075</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_3_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_3_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J2' type='revolute'>
+      <child>lbr_iiwa_link_3</child>
+      <parent>lbr_iiwa_link_2</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_4'>
+      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <mass>2.7</mass>
+        <inertia>
+          <ixx>0.03</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.029</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_4_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_4_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J3' type='revolute'>
+      <child>lbr_iiwa_link_4</child>
+      <parent>lbr_iiwa_link_3</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_5'>
+      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <mass>1.7</mass>
+        <inertia>
+          <ixx>0.02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.005</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_5_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_5_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J4' type='revolute'>
+      <child>lbr_iiwa_link_5</child>
+      <parent>lbr_iiwa_link_4</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_6'>
+      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <mass>1.8</mass>
+        <inertia>
+          <ixx>0.005</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0036</iyy>
+          <iyz>0</iyz>
+          <izz>0.0047</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_6_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_6_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.42 0.04 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J5' type='revolute'>
+      <child>lbr_iiwa_link_6</child>
+      <parent>lbr_iiwa_link_5</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_7'>
+      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <mass>0.3</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_7_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_7_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J6' type='revolute'>
+      <child>lbr_iiwa_link_7</child>
+      <parent>lbr_iiwa_link_6</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.05433</lower>
+          <upper>3.05433</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <!-- Attach the base of the gripper to the end of the arm -->
+    <joint name='gripper_to_arm' type='fixed'>
+      <parent>lbr_iiwa_link_7</parent>
+      <child>base_link</child>
+    </joint>
+    <link name='base_link'>
+      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>1.2</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+		  <box>
+		     <size>0.05 0.05 0.1 </size>
+		  </box>
+        </geometry>
+      </visual>
+    </link>
+
+    <joint name='base_left_finger_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>left_finger</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.4</lower>
+          <upper>0.01</upper>
+          <effort>100</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='left_finger'>
+      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_visual'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='left_finger_base_joint' type='fixed'>
+      <parent>left_finger</parent>
+      <child>left_finger_base</child>
+    </joint>
+    <link name='left_finger_base'>
+      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <inertial>
+        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_base_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_left.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name='left_finger_base_collision'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_left.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='left_base_tip_joint' type='revolute'>
+      <parent>left_finger_base</parent>
+      <child>left_finger_tip</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.1</lower>
+          <upper>0.3</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='left_finger_tip'>
+      <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>1.0</spinning_friction>
+      </contact>
+      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <inertial>
+        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_tip_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_left.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name='left_finger_tip_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_left.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='base_right_finger_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>right_finger</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.01</lower>
+          <upper>0.4</upper>
+          <effort>100</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='right_finger'>
+      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_visual'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+      </visual>
+    </link>
+    <joint name='right_finger_base_joint' type='fixed'>
+      <parent>right_finger</parent>
+      <child>right_finger_base</child>
+    </joint>
+    <link name='right_finger_base'>
+      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <inertial>
+        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_base_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_right.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name='right_finger_base_collision'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_right.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='right_base_tip_joint' type='revolute'>
+      <parent>right_finger_base</parent>
+      <child>right_finger_tip</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.3</lower>
+          <upper>0.1</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='right_finger_tip'>
+      <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>1.0</spinning_friction>
+      </contact>
+      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <inertial>
+        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_right.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name='right_finger_tip_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_right.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</world>
+</sdf>
diff --git a/data/kuka_iiwa/meshes/finger_base_left.stl b/data/kuka_iiwa/meshes/finger_base_left.stl
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diff --git a/data/kuka_iiwa/meshes/finger_base_right.stl b/data/kuka_iiwa/meshes/finger_base_right.stl
new file mode 100755
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new file mode 100755
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diff --git a/data/kuka_iiwa/meshes/finger_tip_right.stl b/data/kuka_iiwa/meshes/finger_tip_right.stl
new file mode 100755
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diff --git a/data/tray/tray.urdf b/data/tray/tray.urdf
new file mode 100755
index 000000000..06f596e8b
--- /dev/null
+++ b/data/tray/tray.urdf
@@ -0,0 +1,30 @@
+<robot name="tray">
+  <link name="tray_base_link">
+    <contact>
+      <lateral_friction value="0.5"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="tray_material">
+        <color rgba="0.7 0.7 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/data/tray/tray_textured4.mtl b/data/tray/tray_textured4.mtl
new file mode 100755
index 000000000..1a2697882
--- /dev/null
+++ b/data/tray/tray_textured4.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+#map_Kd tray.jpg
diff --git a/data/tray/tray_textured4.obj b/data/tray/tray_textured4.obj
new file mode 100755
index 000000000..a367c02cb
--- /dev/null
+++ b/data/tray/tray_textured4.obj
@@ -0,0 +1,256 @@
+# Blender v2.77 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib tray_textured5.mtl
+o edge_2_Cube
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+usemtl None
+s 1
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+f 4/4/2 5/5/3 1/1/4
+f 6/6/5 7/7/5 4/4/5
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+f 4/4/10 1/1/10 3/3/10
+o edge_3_Cube.002
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+usemtl None
+s 1
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+f 11/11/20 10/10/21 16/16/21
+f 13/13/22 15/15/22 16/16/22
+f 12/12/23 9/9/23 11/11/23
+o base_Cube.004
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+usemtl None
+s 1
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+f 22/22/28 24/24/28 23/23/28
+f 19/19/29 18/18/29 24/24/29
+f 21/21/30 23/23/30 24/24/30
+f 20/20/31 17/17/31 19/19/31
+o edge_4_Cube.001
+v -0.576397 0.631608 0.266791
+v -0.423603 0.464243 -0.007768
+v -0.593877 0.631608 0.255439
+v -0.576397 -0.577253 0.266791
+v -0.406123 0.464243 0.003584
+v -0.593877 -0.577253 0.255439
+v -0.406123 -0.409889 0.004087
+v -0.423603 -0.409889 -0.007265
+vt 0.9046 0.2397
+vt 0.7929 0.2434
+vt 0.9174 0.2393
+vt 0.9537 0.7559
+vt 0.7801 0.2438
+vt 0.9664 0.7554
+vt 0.8291 0.7599
+vt 0.8419 0.7595
+vn 0.2565 0.8821 -0.3950
+vn 0.8392 0.0002 0.5438
+vn 0.8395 0.0000 0.5433
+vn 0.8396 -0.0000 0.5432
+vn 0.2568 -0.8819 -0.3954
+vn -0.8396 -0.0002 -0.5433
+vn -0.8392 -0.0000 -0.5438
+vn -0.8391 0.0000 -0.5439
+vn 0.5446 -0.0005 -0.8387
+vn -0.5446 -0.0000 0.8387
+vn 0.8391 0.0003 0.5440
+vn -0.8397 -0.0003 -0.5430
+usemtl None
+s 1
+f 25/25/32 26/26/32 27/27/32
+f 28/28/33 29/29/34 25/25/35
+f 30/30/36 31/31/36 28/28/36
+f 27/27/37 32/32/38 30/30/39
+f 29/29/40 32/32/40 26/26/40
+f 28/28/41 27/27/41 30/30/41
+f 25/25/32 29/29/32 26/26/32
+f 28/28/33 31/31/42 29/29/34
+f 30/30/36 32/32/36 31/31/36
+f 27/27/37 26/26/43 32/32/38
+f 29/29/40 31/31/40 32/32/40
+f 28/28/41 25/25/41 27/27/41
+o edge_5_Cube.005
+v -0.326052 0.623641 0.266072
+v -0.174054 0.457147 -0.007058
+v -0.343442 0.623641 0.254779
+v -0.326052 -0.578931 0.266072
+v -0.156664 0.457147 0.004235
+v -0.343442 -0.578931 0.254779
+v -0.156664 -0.412938 0.005326
+v -0.174054 -0.412938 -0.005967
+vt 0.0506 0.8517
+vt 0.1935 0.8492
+vt 0.0342 0.8520
+vt 0.0164 0.1914
+vt 0.2099 0.8489
+vt 0.0001 0.1917
+vt 0.1757 0.1886
+vt 0.1594 0.1889
+vn 0.2565 0.8821 -0.3950
+vn 0.8387 0.0005 0.5446
+vn 0.8394 0.0001 0.5434
+vn 0.8396 -0.0000 0.5432
+vn 0.2565 -0.8822 -0.3950
+vn -0.8395 -0.0005 -0.5434
+vn -0.8388 -0.0001 -0.5445
+vn -0.8386 0.0000 -0.5448
+vn 0.5446 -0.0011 -0.8387
+vn -0.5446 -0.0000 0.8387
+vn 0.8384 0.0007 0.5451
+vn -0.8398 -0.0007 -0.5429
+usemtl None
+s 1
+f 33/33/44 34/34/44 35/35/44
+f 36/36/45 37/37/46 33/33/47
+f 38/38/48 39/39/48 36/36/48
+f 35/35/49 40/40/50 38/38/51
+f 37/37/52 40/40/52 34/34/52
+f 36/36/53 35/35/53 38/38/53
+f 33/33/44 37/37/44 34/34/44
+f 36/36/45 39/39/54 37/37/46
+f 38/38/48 40/40/48 39/39/48
+f 35/35/49 34/34/55 40/40/50
+f 37/37/52 39/39/52 40/40/52
+f 36/36/53 33/33/53 35/35/53
+o edge_1_Cube.003
+v 0.580000 0.640851 0.250354
+v -0.419960 0.477459 -0.001860
+v -0.580000 0.640851 0.250354
+v 0.580000 0.624077 0.261247
+v 0.420014 0.477459 -0.001059
+v -0.580000 0.624077 0.261247
+v 0.420014 0.460685 0.009834
+v -0.419960 0.460685 0.009033
+vt 0.8346 0.9187
+vt 0.2203 0.8574
+vt 0.1480 0.9187
+vt 0.8346 0.9129
+vt 0.7623 0.8574
+vt 0.1480 0.9129
+vt 0.7623 0.8511
+vt 0.2203 0.8511
+vn 0.0004 0.8386 -0.5448
+vn 0.0001 0.8391 -0.5439
+vn 0.0000 0.8393 -0.5437
+vn 0.8823 -0.2564 -0.3948
+vn -0.0004 -0.8392 0.5439
+vn -0.0001 -0.8386 0.5447
+vn 0.0000 -0.8385 0.5449
+vn -0.8826 -0.2560 -0.3942
+vn 0.0008 -0.5446 -0.8387
+vn 0.0000 0.5446 0.8387
+vn 0.0005 0.8383 -0.5452
+vn -0.0005 -0.8394 0.5435
+usemtl None
+s 1
+f 41/41/56 42/42/57 43/43/58
+f 44/44/59 45/45/59 41/41/59
+f 46/46/60 47/47/61 44/44/62
+f 43/43/63 48/48/63 46/46/63
+f 45/45/64 48/48/64 42/42/64
+f 44/44/65 43/43/65 46/46/65
+f 41/41/56 45/45/66 42/42/57
+f 44/44/59 47/47/59 45/45/59
+f 46/46/60 48/48/67 47/47/61
+f 43/43/63 42/42/63 48/48/63
+f 45/45/64 47/47/64 48/48/64
+f 44/44/65 41/41/65 43/43/65
diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pybullet/examples/reset_dynamic_info.py
index 0158f2e17..78d476a27 100644
--- a/examples/pybullet/examples/reset_dynamic_info.py
+++ b/examples/pybullet/examples/reset_dynamic_info.py
@@ -6,15 +6,15 @@ p.connect(p.GUI)
 planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
 p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
 cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
-p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
-#p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
+#p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=0.1)
+p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=100.0)
 p.setGravity(0,0,-10)
 p.setRealTimeSimulation(0)
 t=0
 while 1:
 	t=t+1
 	if t > 400:
-		p.changeDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
+		p.changeDynamics(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
 	mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
 	mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
 	print mass1,frictionCoeff1

From dacdcb05081c58bc96e58cd27015593cdebf0a60 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Mon, 22 May 2017 22:26:57 -0700
Subject: [PATCH 021/175] Add the pybullet example.

---
 .../examples/kuka_grasp_block_playback.py     | 91 +++++++++++++++++++
 1 file changed, 91 insertions(+)
 create mode 100644 examples/pybullet/examples/kuka_grasp_block_playback.py

diff --git a/examples/pybullet/examples/kuka_grasp_block_playback.py b/examples/pybullet/examples/kuka_grasp_block_playback.py
new file mode 100644
index 000000000..d22335975
--- /dev/null
+++ b/examples/pybullet/examples/kuka_grasp_block_playback.py
@@ -0,0 +1,91 @@
+import pybullet as p
+import time
+import math
+from datetime import datetime
+from numpy import *
+from pylab import *
+import struct
+import sys
+import os, fnmatch
+import argparse
+from time import sleep
+
+def readLogFile(filename, verbose = True):
+  f = open(filename, 'rb')
+  
+  print('Opened'),
+  print(filename)
+
+  keys = f.readline().decode('utf8').rstrip('\n').split(',')
+  fmt = f.readline().decode('utf8').rstrip('\n')
+  
+  # The byte number of one record
+  sz = struct.calcsize(fmt)
+  # The type number of one record
+  ncols = len(fmt)
+
+  if verbose:
+    print('Keys:'),
+    print(keys)
+    print('Format:'),
+    print(fmt)
+    print('Size:'),
+    print(sz)
+    print('Columns:'),
+    print(ncols)
+
+  # Read data
+  wholeFile = f.read()
+  # split by alignment word
+  chunks = wholeFile.split(b'\xaa\xbb')
+  log = list()
+  for chunk in chunks:
+    if len(chunk) == sz:
+      values = struct.unpack(fmt, chunk)
+      record = list()
+      for i in range(ncols):
+        record.append(values[i])
+      log.append(record)
+
+  return log
+
+#clid = p.connect(p.SHARED_MEMORY)
+p.connect(p.GUI)
+p.loadSDF("kuka_iiwa/kuka_with_gripper.sdf")
+p.loadURDF("tray/tray.urdf",[0,0,0])
+p.loadURDF("block.urdf",[0,0,2])
+
+log = readLogFile("data/block_grasp_log.bin")
+
+recordNum = len(log)
+itemNum = len(log[0])
+objectNum = p.getNumBodies()
+
+print('record num:'),
+print(recordNum)
+print('item num:'),
+print(itemNum)
+
+def Step(stepIndex):
+	for objectId in range(objectNum):
+		record = log[stepIndex*objectNum+objectId]
+		Id = record[2]
+		pos = [record[3],record[4],record[5]]
+		orn = [record[6],record[7],record[8],record[9]]
+		p.resetBasePositionAndOrientation(Id,pos,orn)
+		numJoints = p.getNumJoints(Id)
+		for i in range (numJoints):
+			jointInfo = p.getJointInfo(Id,i)
+			qIndex = jointInfo[3]
+			if qIndex > -1:
+				p.resetJointState(Id,i,record[qIndex-7+17])
+
+
+stepIndexId = p.addUserDebugParameter("stepIndex",0,recordNum/objectNum-1,0)
+
+while True:
+	stepIndex = int(p.readUserDebugParameter(stepIndexId))
+	Step(stepIndex)
+	p.stepSimulation()
+	Step(stepIndex)
+

From dfe184e8d3bcb7a81f3372c91388895c7e9218cf Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Mon, 22 May 2017 00:47:11 -0700
Subject: [PATCH 022/175] Bullet 2 threading refactor: moved parallel-for calls
 into core libs

---
 CMakeLists.txt                                |  42 +-
 examples/Benchmarks/BenchmarkDemo.cpp         |   5 +-
 examples/ExampleBrowser/CMakeLists.txt        |  28 +-
 .../CommonRigidBodyMTBase.cpp                 | 576 ++++--------------
 examples/MultiThreadedDemo/ParallelFor.h      | 336 ----------
 src/BulletCollision/CMakeLists.txt            |   2 +
 .../btCollisionDispatcherMt.cpp               | 164 +++++
 .../btCollisionDispatcherMt.h                 |  39 ++
 .../Dynamics/btDiscreteDynamicsWorldMt.cpp    | 165 ++++-
 .../Dynamics/btDiscreteDynamicsWorldMt.h      |  96 ++-
 .../Dynamics/btSimulationIslandManagerMt.cpp  |  39 +-
 .../Dynamics/btSimulationIslandManagerMt.h    |   3 +-
 src/LinearMath/btThreads.cpp                  | 304 ++++++++-
 src/LinearMath/btThreads.h                    |  60 ++
 14 files changed, 1012 insertions(+), 847 deletions(-)
 delete mode 100644 examples/MultiThreadedDemo/ParallelFor.h
 create mode 100644 src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
 create mode 100644 src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6ad1a9706..65859e663 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,7 +28,15 @@ OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
 OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
 OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
-OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF)
+
+OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
+IF (BULLET2_USE_THREAD_LOCKS)
+    OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
+    OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
+    IF (MSVC)
+        OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
+    ENDIF (MSVC)
+ENDIF (BULLET2_USE_THREAD_LOCKS)
 
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
 OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
@@ -208,6 +216,30 @@ IF(BULLET2_USE_THREAD_LOCKS)
 	ENDIF (NOT MSVC)
 ENDIF (BULLET2_USE_THREAD_LOCKS)
 
+IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
+    ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
+    IF (MSVC)
+        SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
+    ELSE (MSVC)
+        # GCC, Clang
+        SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
+    ENDIF (MSVC)
+ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING)
+
+IF (BULLET2_USE_TBB_MULTITHREADING)
+    SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
+    SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
+    find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
+    find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
+    ADD_DEFINITIONS("-DBT_USE_TBB=1")
+    INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
+    LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
+ENDIF (BULLET2_USE_TBB_MULTITHREADING)
+
+IF (BULLET2_USE_PPL_MULTITHREADING)
+    ADD_DEFINITIONS("-DBT_USE_PPL=1")
+ENDIF (BULLET2_USE_PPL_MULTITHREADING)
+
 IF (WIN32)
 OPTION(USE_GLUT "Use Glut"	ON)
 ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
@@ -350,14 +382,6 @@ IF(BUILD_BULLET2_DEMOS)
 		SUBDIRS(examples)
 	ENDIF()
 
-        IF (BULLET2_USE_THREAD_LOCKS)
-            OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF)
-            OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
-            IF (MSVC)
-                OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
-            ENDIF (MSVC)
-        ENDIF (BULLET2_USE_THREAD_LOCKS)
-
 ENDIF(BUILD_BULLET2_DEMOS)
 
 
diff --git a/examples/Benchmarks/BenchmarkDemo.cpp b/examples/Benchmarks/BenchmarkDemo.cpp
index d9a1b3ef0..ec443de6b 100644
--- a/examples/Benchmarks/BenchmarkDemo.cpp
+++ b/examples/Benchmarks/BenchmarkDemo.cpp
@@ -32,7 +32,6 @@ subject to the following restrictions:
 
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btTransform.h"
-#include "../MultiThreadedDemo/ParallelFor.h"
 
 class btDynamicsWorld;
 
@@ -230,7 +229,7 @@ public:
         }
     }
 
-    struct CastRaysLoopBody
+    struct CastRaysLoopBody : public btIParallelForBody
     {
         btCollisionWorld* mWorld;
 		btRaycastBar2* mRaycasts;
@@ -274,7 +273,7 @@ public:
         {
             CastRaysLoopBody rayLooper(cw, this);
             int grainSize = 20;  // number of raycasts per task
-            parallelFor( 0, NUMRAYS, grainSize, rayLooper );
+            btParallelFor( 0, NUMRAYS, grainSize, rayLooper );
         }
         else
 #endif // USE_PARALLEL_RAYCASTS
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 23c283fcb..4a4db93db 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -110,29 +110,6 @@ ELSE(WIN32)
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
-IF (BULLET2_MULTITHREADED_OPEN_MP_DEMO)
-    ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
-    IF (MSVC)
-        SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
-    ELSE (MSVC)
-        # GCC, Clang
-        SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
-    ENDIF (MSVC)
-ENDIF (BULLET2_MULTITHREADED_OPEN_MP_DEMO)
-
-IF (BULLET2_MULTITHREADED_PPL_DEMO)
-    ADD_DEFINITIONS("-DBT_USE_PPL=1")
-ENDIF (BULLET2_MULTITHREADED_PPL_DEMO)
-
-IF (BULLET2_MULTITHREADED_TBB_DEMO)
-    SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
-    SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
-    find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
-    find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
-    ADD_DEFINITIONS("-DBT_USE_TBB=1")
-    INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
-    LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
-ENDIF (BULLET2_MULTITHREADED_TBB_DEMO)
 
 SET(ExtendedTutorialsSources
 	../ExtendedTutorials/Chain.cpp 
@@ -207,7 +184,6 @@ SET(BulletExampleBrowser_SRCS
 	../MultiThreadedDemo/MultiThreadedDemo.h
 	../MultiThreadedDemo/CommonRigidBodyMTBase.cpp
 	../MultiThreadedDemo/CommonRigidBodyMTBase.h
-	../MultiThreadedDemo/ParallelFor.h
 	../Tutorial/Tutorial.cpp
 	../Tutorial/Tutorial.h
 	../Tutorial/Dof6ConstraintTutorial.cpp
@@ -386,7 +362,7 @@ ADD_CUSTOM_COMMAND(
                 COMMAND ${CMAKE_COMMAND} ARGS -E copy_directory ${BULLET_PHYSICS_SOURCE_DIR}/data ${PROJECT_BINARY_DIR}/data
         )
 
-IF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
+IF (BULLET2_USE_TBB_MULTITHREADING AND WIN32)
     # add a post build command to copy some dlls to the executable directory
     set(TBB_VC_VER "vc12")
     set(TBB_VC_ARCH "ia32")
@@ -400,7 +376,7 @@ IF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
     COMMAND ${CMAKE_COMMAND} -E copy_if_different
         "${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbbmalloc.dll"
         $<TARGET_FILE_DIR:App_ExampleBrowser>)
-ENDIF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32)
+ENDIF (BULLET2_USE_TBB_MULTITHREADING AND WIN32)
 
 
 IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
index 81446ee0b..82797e35e 100644
--- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
+++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
@@ -23,10 +23,10 @@ class btCollisionShape;
 
 #include "CommonRigidBodyMTBase.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
-#include "ParallelFor.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btPoolAllocator.h"
 #include "btBulletCollisionCommon.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h"
 #include "BulletDynamics/Dynamics/btSimulationIslandManagerMt.h"  // for setSplitIslands()
 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h"
 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
@@ -36,20 +36,6 @@ class btCollisionShape;
 #include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
 #include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
 
-TaskManager gTaskMgr;
-
-#define USE_PARALLEL_NARROWPHASE 1  // detect collisions in parallel
-#define USE_PARALLEL_ISLAND_SOLVER 1   // solve simulation islands in parallel
-#define USE_PARALLEL_CREATE_PREDICTIVE_CONTACTS 1
-#define USE_PARALLEL_INTEGRATE_TRANSFORMS 1
-#define USE_PARALLEL_PREDICT_UNCONSTRAINED_MOTION 1
-
-#if defined (_MSC_VER) && _MSC_VER >= 1600
-// give us a compile error if any signatures of overriden methods is changed
-#define BT_OVERRIDE override
-#else
-#define BT_OVERRIDE
-#endif
 
 static int gNumIslands = 0;
 
@@ -124,7 +110,7 @@ public:
 };
 
 
-Profiler gProfiler;
+static Profiler gProfiler;
 
 class ProfileHelper
 {
@@ -141,457 +127,84 @@ public:
     }
 };
 
-int gThreadsRunningCounter = 0;
-btSpinMutex gThreadsRunningCounterMutex;
-
-void btPushThreadsAreRunning()
+static void profileBeginCallback( btDynamicsWorld *world, btScalar timeStep )
 {
-    gThreadsRunningCounterMutex.lock();
-    gThreadsRunningCounter++;
-    gThreadsRunningCounterMutex.unlock();
+    gProfiler.begin( Profiler::kRecordInternalTimeStep );
 }
 
-void btPopThreadsAreRunning()
+static void profileEndCallback( btDynamicsWorld *world, btScalar timeStep )
 {
-    gThreadsRunningCounterMutex.lock();
-    gThreadsRunningCounter--;
-    gThreadsRunningCounterMutex.unlock();
-}
-
-bool btThreadsAreRunning()
-{
-    return gThreadsRunningCounter != 0;
+    gProfiler.end( Profiler::kRecordInternalTimeStep );
 }
 
 
-#if USE_PARALLEL_NARROWPHASE
-
-class MyCollisionDispatcher : public btCollisionDispatcher
+///
+/// MyCollisionDispatcher -- subclassed for profiling purposes
+///
+class MyCollisionDispatcher : public btCollisionDispatcherMt
 {
-    btSpinMutex m_manifoldPtrsMutex;
-
+    typedef btCollisionDispatcherMt ParentClass;
 public:
-    MyCollisionDispatcher( btCollisionConfiguration* config ) : btCollisionDispatcher( config )
+    MyCollisionDispatcher( btCollisionConfiguration* config, int grainSize ) : btCollisionDispatcherMt( config, grainSize )
     {
     }
 
-    virtual ~MyCollisionDispatcher()
-    {
-    }
-
-    btPersistentManifold* getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 ) BT_OVERRIDE
-    {
-        // added spin-locks
-        //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
-
-        btScalar contactBreakingThreshold = ( m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD ) ?
-            btMin( body0->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ), body1->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ) )
-            : gContactBreakingThreshold;
-
-        btScalar contactProcessingThreshold = btMin( body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold() );
-
-        void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) );
-        if (NULL == mem)
-        {
-            //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
-            if ( ( m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION ) == 0 )
-            {
-                mem = btAlignedAlloc( sizeof( btPersistentManifold ), 16 );
-            }
-            else
-            {
-                btAssert( 0 );
-                //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
-                return 0;
-            }
-        }
-        btPersistentManifold* manifold = new(mem) btPersistentManifold( body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold );
-        m_manifoldPtrsMutex.lock();
-        manifold->m_index1a = m_manifoldsPtr.size();
-        m_manifoldsPtr.push_back( manifold );
-        m_manifoldPtrsMutex.unlock();
-
-        return manifold;
-    }
-
-    void releaseManifold( btPersistentManifold* manifold ) BT_OVERRIDE
-    {
-        clearManifold( manifold );
-
-        m_manifoldPtrsMutex.lock();
-        int findIndex = manifold->m_index1a;
-        btAssert( findIndex < m_manifoldsPtr.size() );
-        m_manifoldsPtr.swap( findIndex, m_manifoldsPtr.size() - 1 );
-        m_manifoldsPtr[ findIndex ]->m_index1a = findIndex;
-        m_manifoldsPtr.pop_back();
-        m_manifoldPtrsMutex.unlock();
-
-        manifold->~btPersistentManifold();
-        if ( m_persistentManifoldPoolAllocator->validPtr( manifold ) )
-        {
-            m_persistentManifoldPoolAllocator->freeMemory( manifold );
-        }
-        else
-        {
-            btAlignedFree( manifold );
-        }
-    }
-
-    struct Updater
-    {
-        btBroadphasePair* mPairArray;
-        btNearCallback mCallback;
-        btCollisionDispatcher* mDispatcher;
-        const btDispatcherInfo* mInfo;
-
-        Updater()
-        {
-            mPairArray = NULL;
-            mCallback = NULL;
-            mDispatcher = NULL;
-            mInfo = NULL;
-        }
-        void forLoop( int iBegin, int iEnd ) const
-        {
-            for ( int i = iBegin; i < iEnd; ++i )
-            {
-                btBroadphasePair* pair = &mPairArray[ i ];
-                mCallback( *pair, *mDispatcher, *mInfo );
-            }
-        }
-    };
-
     virtual void dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher ) BT_OVERRIDE
     {
-        ProfileHelper prof(Profiler::kRecordDispatchAllCollisionPairs);
-        int grainSize = 40;  // iterations per task
-        int pairCount = pairCache->getNumOverlappingPairs();
-        Updater updater;
-        updater.mCallback = getNearCallback();
-        updater.mPairArray = pairCount > 0 ? pairCache->getOverlappingPairArrayPtr() : NULL;
-        updater.mDispatcher = this;
-        updater.mInfo = &info;
-
-        btPushThreadsAreRunning();
-        parallelFor( 0, pairCount, grainSize, updater );
-        btPopThreadsAreRunning();
-        
-        if (m_manifoldsPtr.size() < 1)
-            return;
-
-        // reconstruct the manifolds array to ensure determinism
-        m_manifoldsPtr.resizeNoInitialize(0);
-        btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
-        for (int i = 0; i < pairCount; ++i)
-        {
-            btCollisionAlgorithm* algo = pairs[i].m_algorithm;
-            if (algo) algo->getAllContactManifolds(m_manifoldsPtr);
-        }
-
-        // update the indices (used when releasing manifolds)
-        for (int i = 0; i < m_manifoldsPtr.size(); ++i)
-            m_manifoldsPtr[i]->m_index1a = i;
+        ProfileHelper prof( Profiler::kRecordDispatchAllCollisionPairs );
+        ParentClass::dispatchAllCollisionPairs( pairCache, info, dispatcher );
     }
 };
 
-#endif
 
-
-#if USE_PARALLEL_ISLAND_SOLVER
 ///
-/// MyConstraintSolverPool - masquerades as a constraint solver, but really it is a threadsafe pool of them.
-///
-///  Each solver in the pool is protected by a mutex.  When solveGroup is called from a thread,
-///  the pool looks for a solver that isn't being used by another thread, locks it, and dispatches the
-///  call to the solver.
-///  So long as there are at least as many solvers as there are hardware threads, it should never need to
-///  spin wait.
-///
-class MyConstraintSolverPool : public btConstraintSolver
+/// myParallelIslandDispatch -- wrap default parallel dispatch for profiling and to get the number of simulation islands
+//
+void myParallelIslandDispatch( btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr, btSimulationIslandManagerMt::IslandCallback* callback )
 {
-    const static size_t kCacheLineSize = 128;
-    struct ThreadSolver
-    {
-        btConstraintSolver* solver;
-        btSpinMutex mutex;
-        char _cachelinePadding[ kCacheLineSize - sizeof( btSpinMutex ) - sizeof( void* ) ];  // keep mutexes from sharing a cache line
-    };
-    btAlignedObjectArray<ThreadSolver> m_solvers;
-    btConstraintSolverType m_solverType;
-
-    ThreadSolver* getAndLockThreadSolver()
-    {
-        while ( true )
-        {
-            for ( int i = 0; i < m_solvers.size(); ++i )
-            {
-                ThreadSolver& solver = m_solvers[ i ];
-                if ( solver.mutex.tryLock() )
-                {
-                    return &solver;
-                }
-            }
-        }
-        return NULL;
-    }
-    void init( btConstraintSolver** solvers, int numSolvers )
-    {
-        m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
-        m_solvers.resize( numSolvers );
-        for ( int i = 0; i < numSolvers; ++i )
-        {
-            m_solvers[ i ].solver = solvers[ i ];
-        }
-        if ( numSolvers > 0 )
-        {
-            m_solverType = solvers[ 0 ]->getSolverType();
-        }
-    }
-public:
-    // create the solvers for me
-    explicit MyConstraintSolverPool( int numSolvers )
-    {
-        btAlignedObjectArray<btConstraintSolver*> solvers;
-        solvers.reserve( numSolvers );
-        for ( int i = 0; i < numSolvers; ++i )
-        {
-            btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
-            solvers.push_back( solver );
-        }
-        init( &solvers[ 0 ], numSolvers );
-    }
-
-    // pass in fully constructed solvers (destructor will delete them)
-    MyConstraintSolverPool( btConstraintSolver** solvers, int numSolvers )
-    {
-        init( solvers, numSolvers );
-    }
-    virtual ~MyConstraintSolverPool()
-    {
-        // delete all solvers
-        for ( int i = 0; i < m_solvers.size(); ++i )
-        {
-            ThreadSolver& solver = m_solvers[ i ];
-            delete solver.solver;
-            solver.solver = NULL;
-        }
-    }
-
-    //virtual void prepareSolve( int /* numBodies */, int /* numManifolds */ ) { ; } // does nothing
-
-    ///solve a group of constraints
-    virtual btScalar solveGroup( btCollisionObject** bodies,
-                                 int numBodies,
-                                 btPersistentManifold** manifolds,
-                                 int numManifolds,
-                                 btTypedConstraint** constraints,
-                                 int numConstraints,
-                                 const btContactSolverInfo& info,
-                                 btIDebugDraw* debugDrawer,
-                                 btDispatcher* dispatcher
-                                 )
-    {
-        ThreadSolver* solver = getAndLockThreadSolver();
-        solver->solver->solveGroup( bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher );
-        solver->mutex.unlock();
-        return 0.0f;
-    }
-
-    //virtual void allSolved( const btContactSolverInfo& /* info */, class btIDebugDraw* /* debugDrawer */ ) { ; } // does nothing
-
-    ///clear internal cached data and reset random seed
-    virtual	void reset()
-    {
-        for ( int i = 0; i < m_solvers.size(); ++i )
-        {
-            ThreadSolver& solver = m_solvers[ i ];
-            solver.mutex.lock();
-            solver.solver->reset();
-            solver.mutex.unlock();
-        }
-    }
-
-    virtual btConstraintSolverType getSolverType() const
-    {
-        return m_solverType;
-    }
-};
-
-struct UpdateIslandDispatcher
-{
-    btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr;
-    btSimulationIslandManagerMt::IslandCallback* callback;
-
-    void forLoop( int iBegin, int iEnd ) const
-    {
-        for ( int i = iBegin; i < iEnd; ++i )
-        {
-            btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ];
-            btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL;
-            btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL;
-            callback->processIsland( &island->bodyArray[ 0 ],
-                                     island->bodyArray.size(),
-                                     manifolds,
-                                     island->manifoldArray.size(),
-                                     constraintsPtr,
-                                     island->constraintArray.size(),
-                                     island->id
-                                     );
-        }
-    }
-};
-
-void parallelIslandDispatch( btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr, btSimulationIslandManagerMt::IslandCallback* callback )
-{
-    ProfileHelper prof(Profiler::kRecordDispatchIslands);
+    ProfileHelper prof( Profiler::kRecordDispatchIslands );
     gNumIslands = islandsPtr->size();
-    int grainSize = 1;  // iterations per task
-    UpdateIslandDispatcher dispatcher;
-    dispatcher.islandsPtr = islandsPtr;
-    dispatcher.callback = callback;
-    btPushThreadsAreRunning();
-    parallelFor( 0, islandsPtr->size(), grainSize, dispatcher );
-    btPopThreadsAreRunning();
-}
-#endif //#if USE_PARALLEL_ISLAND_SOLVER
-
-
-void profileBeginCallback(btDynamicsWorld *world, btScalar timeStep)
-{
-    gProfiler.begin(Profiler::kRecordInternalTimeStep);
+    btSimulationIslandManagerMt::parallelIslandDispatch( islandsPtr, callback );
 }
 
-void profileEndCallback(btDynamicsWorld *world, btScalar timeStep)
-{
-    gProfiler.end(Profiler::kRecordInternalTimeStep);
-}
 
 ///
-/// MyDiscreteDynamicsWorld
-///
-///  Should function exactly like btDiscreteDynamicsWorld.
-///  3 methods that iterate over all of the rigidbodies can run in parallel:
-///     - predictUnconstraintMotion
-///     - integrateTransforms
-///     - createPredictiveContacts
+/// MyDiscreteDynamicsWorld -- subclassed for profiling purposes
 ///
 ATTRIBUTE_ALIGNED16( class ) MyDiscreteDynamicsWorld : public btDiscreteDynamicsWorldMt
 {
     typedef btDiscreteDynamicsWorld ParentClass;
 
 protected:
-#if USE_PARALLEL_PREDICT_UNCONSTRAINED_MOTION
-    struct UpdaterUnconstrainedMotion
-    {
-        btScalar timeStep;
-        btRigidBody** rigidBodies;
-
-        void forLoop( int iBegin, int iEnd ) const
-        {
-            for ( int i = iBegin; i < iEnd; ++i )
-            {
-                btRigidBody* body = rigidBodies[ i ];
-                if ( !body->isStaticOrKinematicObject() )
-                {
-                    //don't integrate/update velocities here, it happens in the constraint solver
-                    body->applyDamping( timeStep );
-                    body->predictIntegratedTransform( timeStep, body->getInterpolationWorldTransform() );
-                }
-            }
-        }
-    };
 
     virtual void predictUnconstraintMotion( btScalar timeStep ) BT_OVERRIDE
     {
         ProfileHelper prof( Profiler::kRecordPredictUnconstrainedMotion );
-        BT_PROFILE( "predictUnconstraintMotion" );
-        int grainSize = 50;  // num of iterations per task for TBB
-        int bodyCount = m_nonStaticRigidBodies.size();
-        UpdaterUnconstrainedMotion update;
-        update.timeStep = timeStep;
-        update.rigidBodies = bodyCount ? &m_nonStaticRigidBodies[ 0 ] : NULL;
-        btPushThreadsAreRunning();
-        parallelFor( 0, bodyCount, grainSize, update );
-        btPopThreadsAreRunning();
+        ParentClass::predictUnconstraintMotion( timeStep );
     }
-#endif // #if USE_PARALLEL_PREDICT_UNCONSTRAINED_MOTION
-
-#if USE_PARALLEL_CREATE_PREDICTIVE_CONTACTS
-    struct UpdaterCreatePredictiveContacts
-    {
-        btScalar timeStep;
-        btRigidBody** rigidBodies;
-        MyDiscreteDynamicsWorld* world;
-
-        void forLoop( int iBegin, int iEnd ) const
-        {
-            world->createPredictiveContactsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
-        }
-    };
-
-    virtual void createPredictiveContacts( btScalar timeStep )
+    virtual void createPredictiveContacts( btScalar timeStep ) BT_OVERRIDE
     {
         ProfileHelper prof( Profiler::kRecordCreatePredictiveContacts );
-        releasePredictiveContacts();
-        int grainSize = 50;  // num of iterations per task for TBB or OPENMP
-        if ( int bodyCount = m_nonStaticRigidBodies.size() )
-        {
-            UpdaterCreatePredictiveContacts update;
-            update.world = this;
-            update.timeStep = timeStep;
-            update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-            btPushThreadsAreRunning();
-            parallelFor( 0, bodyCount, grainSize, update );
-            btPopThreadsAreRunning();
-        }
+        ParentClass::createPredictiveContacts( timeStep );
     }
-#endif // #if USE_PARALLEL_CREATE_PREDICTIVE_CONTACTS
-
-#if USE_PARALLEL_INTEGRATE_TRANSFORMS
-    struct UpdaterIntegrateTransforms
-    {
-        btScalar timeStep;
-        btRigidBody** rigidBodies;
-        MyDiscreteDynamicsWorld* world;
-
-        void forLoop( int iBegin, int iEnd ) const
-        {
-            world->integrateTransformsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
-        }
-    };
-
     virtual void integrateTransforms( btScalar timeStep ) BT_OVERRIDE
     {
         ProfileHelper prof( Profiler::kRecordIntegrateTransforms );
-        BT_PROFILE( "integrateTransforms" );
-        int grainSize = 50;  // num of iterations per task for TBB or OPENMP
-        if ( int bodyCount = m_nonStaticRigidBodies.size() )
-        {
-            UpdaterIntegrateTransforms update;
-            update.world = this;
-            update.timeStep = timeStep;
-            update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-            btPushThreadsAreRunning();
-            parallelFor( 0, bodyCount, grainSize, update );
-            btPopThreadsAreRunning();
-        }
+        ParentClass::integrateTransforms( timeStep );
     }
-#endif // #if USE_PARALLEL_INTEGRATE_TRANSFORMS
 
 public:
     BT_DECLARE_ALIGNED_ALLOCATOR();
 
     MyDiscreteDynamicsWorld( btDispatcher* dispatcher,
                              btBroadphaseInterface* pairCache,
-                             btConstraintSolver* constraintSolver,
+                             btConstraintSolverPoolMt* constraintSolver,
                              btCollisionConfiguration* collisionConfiguration
                              ) :
                              btDiscreteDynamicsWorldMt( dispatcher, pairCache, constraintSolver, collisionConfiguration )
     {
-#if USE_PARALLEL_ISLAND_SOLVER
         btSimulationIslandManagerMt* islandMgr = static_cast<btSimulationIslandManagerMt*>( m_islandManager );
-        islandMgr->setIslandDispatchFunction( parallelIslandDispatch );
-#endif //#if USE_PARALLEL_ISLAND_SOLVER
+        islandMgr->setIslandDispatchFunction( myParallelIslandDispatch );
     }
 
 };
@@ -625,6 +238,47 @@ btConstraintSolver* createSolverByType( SolverType t )
 }
 
 
+///
+/// btTaskSchedulerManager -- manage a number of task schedulers so we can switch between them
+///
+class btTaskSchedulerManager
+{
+    btAlignedObjectArray<btITaskScheduler*> m_taskSchedulers;
+
+public:
+    btTaskSchedulerManager() {}
+    void init()
+    {
+        addTaskScheduler( btGetSequentialTaskScheduler() );
+        addTaskScheduler( btGetOpenMPTaskScheduler() );
+        addTaskScheduler( btGetTBBTaskScheduler() );
+        addTaskScheduler( btGetPPLTaskScheduler() );
+        if ( getNumTaskSchedulers() > 1 )
+        {
+            // prefer a non-sequential scheduler if available
+            btSetTaskScheduler( m_taskSchedulers[ 1 ] );
+        }
+        else
+        {
+            btSetTaskScheduler( m_taskSchedulers[ 0 ] );
+        }
+        btGetTaskScheduler()->setNumThreads( btGetTaskScheduler()->getMaxNumThreads() );
+    }
+
+    void addTaskScheduler( btITaskScheduler* ts )
+    {
+        if ( ts )
+        {
+            m_taskSchedulers.push_back( ts );
+        }
+    }
+    int getNumTaskSchedulers() const { return m_taskSchedulers.size(); }
+    btITaskScheduler* getTaskScheduler( int i ) { return m_taskSchedulers[ i ]; }
+};
+
+
+static btTaskSchedulerManager gTaskSchedulerMgr;
+
 static bool gMultithreadedWorld = false;
 static bool gDisplayProfileInfo = false;
 static SolverType gSolverType = SOLVER_TYPE_SEQUENTIAL_IMPULSE;
@@ -652,15 +306,17 @@ CommonRigidBodyMTBase::CommonRigidBodyMTBase( struct GUIHelperInterface* helper
 {
     m_multithreadedWorld = false;
     m_multithreadCapable = false;
-    gTaskMgr.init();
+    if ( gTaskSchedulerMgr.getNumTaskSchedulers() == 0 )
+    {
+        gTaskSchedulerMgr.init();
+    }
 }
 
 CommonRigidBodyMTBase::~CommonRigidBodyMTBase()
 {
-    gTaskMgr.shutdown();
 }
 
-void boolPtrButtonCallback(int buttonId, bool buttonState, void* userPointer)
+static void boolPtrButtonCallback(int buttonId, bool buttonState, void* userPointer)
 {
     if (bool* val = static_cast<bool*>(userPointer))
     {
@@ -668,7 +324,7 @@ void boolPtrButtonCallback(int buttonId, bool buttonState, void* userPointer)
     }
 }
 
-void toggleSolverModeCallback(int buttonId, bool buttonState, void* userPointer)
+static void toggleSolverModeCallback(int buttonId, bool buttonState, void* userPointer)
 {
     if (buttonState)
     {
@@ -687,7 +343,7 @@ void toggleSolverModeCallback(int buttonId, bool buttonState, void* userPointer)
     }
 }
 
-void setSolverTypeCallback(int buttonId, bool buttonState, void* userPointer)
+static void setSolverTypeCallback(int buttonId, bool buttonState, void* userPointer)
 {
     if (buttonId >= 0 && buttonId < SOLVER_TYPE_COUNT)
     {
@@ -695,32 +351,30 @@ void setSolverTypeCallback(int buttonId, bool buttonState, void* userPointer)
     }
 }
 
-void apiSelectButtonCallback(int buttonId, bool buttonState, void* userPointer)
+static void setNumThreads( int numThreads )
 {
-    gTaskMgr.setApi(static_cast<TaskManager::Api>(buttonId));
-    if (gTaskMgr.getApi()==TaskManager::apiNone)
+    int newNumThreads = ( std::min )( numThreads, int( BT_MAX_THREAD_COUNT ) );
+    int oldNumThreads = btGetTaskScheduler()->getNumThreads();
+    // only call when the thread count is different
+    if ( newNumThreads != oldNumThreads )
     {
-        gSliderNumThreads = 1.0f;
-    }
-    else
-    {
-        gSliderNumThreads = float(gTaskMgr.getNumThreads());
+        btGetTaskScheduler()->setNumThreads( newNumThreads );
     }
 }
 
-void setThreadCountCallback(float val, void* userPtr)
+static void apiSelectButtonCallback(int buttonId, bool buttonState, void* userPointer)
 {
-    if (gTaskMgr.getApi()==TaskManager::apiNone)
-    {
-        gSliderNumThreads = 1.0f;
-    }
-    else
-    {
-        gTaskMgr.setNumThreads( int( gSliderNumThreads ) );
-    }
+    // change the task scheduler
+    btSetTaskScheduler( gTaskSchedulerMgr.getTaskScheduler( buttonId ) );
+    setNumThreads( int( gSliderNumThreads ) );
 }
 
-void setSolverIterationCountCallback(float val, void* userPtr)
+static void setThreadCountCallback(float val, void* userPtr)
+{
+    setNumThreads( int( gSliderNumThreads ) );
+}
+
+static void setSolverIterationCountCallback(float val, void* userPtr)
 {
     if (btDiscreteDynamicsWorld* world = reinterpret_cast<btDiscreteDynamicsWorld*>(userPtr))
     {
@@ -733,6 +387,7 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
     gNumIslands = 0;
     m_solverType = gSolverType;
 #if BT_THREADSAFE && (BT_USE_OPENMP || BT_USE_PPL || BT_USE_TBB)
+    btAssert( btGetTaskScheduler() != NULL );
     m_multithreadCapable = true;
 #endif
     if ( gMultithreadedWorld )
@@ -743,30 +398,24 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
         cci.m_defaultMaxCollisionAlgorithmPoolSize = 80000;
         m_collisionConfiguration = new btDefaultCollisionConfiguration( cci );
 
-#if USE_PARALLEL_NARROWPHASE
-        m_dispatcher = new	MyCollisionDispatcher( m_collisionConfiguration );
-#else
-        m_dispatcher = new	btCollisionDispatcher( m_collisionConfiguration );
-#endif //USE_PARALLEL_NARROWPHASE
-
+        m_dispatcher = new MyCollisionDispatcher( m_collisionConfiguration, 40 );
         m_broadphase = new btDbvtBroadphase();
 
-#if BT_THREADSAFE && USE_PARALLEL_ISLAND_SOLVER
+        btConstraintSolverPoolMt* solverPool;
         {
             btConstraintSolver* solvers[ BT_MAX_THREAD_COUNT ];
-            int maxThreadCount = btMin( int(BT_MAX_THREAD_COUNT), TaskManager::getMaxNumThreads() );
+            int maxThreadCount = BT_MAX_THREAD_COUNT;
             for ( int i = 0; i < maxThreadCount; ++i )
             {
                 solvers[ i ] = createSolverByType( m_solverType );
             }
-            m_solver = new MyConstraintSolverPool( solvers, maxThreadCount );
+            solverPool = new btConstraintSolverPoolMt( solvers, maxThreadCount );
+            m_solver = solverPool;
         }
-#else
-        m_solver = createSolverByType( m_solverType );
-#endif //#if USE_PARALLEL_ISLAND_SOLVER
-        btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration );
+        btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, solverPool, m_collisionConfiguration );
         m_dynamicsWorld = world;
         m_multithreadedWorld = true;
+        btAssert( btGetTaskScheduler() != NULL );
     }
     else
     {
@@ -886,24 +535,25 @@ void CommonRigidBodyMTBase::createDefaultParameters()
     if (m_multithreadedWorld)
     {
         // create a button for each supported threading API
-        for (int iApi = 0; iApi < TaskManager::apiCount; ++iApi)
+        for ( int iApi = 0; iApi < gTaskSchedulerMgr.getNumTaskSchedulers(); ++iApi )
         {
-            TaskManager::Api api = static_cast<TaskManager::Api>(iApi);
-            if (gTaskMgr.isSupported(api))
-            {
-                char str[1024];
-                sprintf(str, "API %s", gTaskMgr.getApiName(api));
-                ButtonParams button( str, iApi, false );
-                button.m_callback = apiSelectButtonCallback;
-                m_guiHelper->getParameterInterface()->registerButtonParameter( button );
-            }
+            char str[ 1024 ];
+            sprintf( str, "API %s", gTaskSchedulerMgr.getTaskScheduler(iApi)->getName() );
+            ButtonParams button( str, iApi, false );
+            button.m_callback = apiSelectButtonCallback;
+            m_guiHelper->getParameterInterface()->registerButtonParameter( button );
         }
         {
             // create a slider to set the number of threads to use
-            gSliderNumThreads = float(gTaskMgr.getNumThreads());
+            int numThreads = btGetTaskScheduler()->getNumThreads();
+            // if slider has not been set yet (by another demo),
+            if ( gSliderNumThreads <= 1.0f )
+            {
+                gSliderNumThreads = float( numThreads );
+            }
 			SliderParams slider("Thread count", &gSliderNumThreads);
 			slider.m_minVal = 1.0f;
-			slider.m_maxVal = float(gTaskMgr.getMaxNumThreads()*2);
+			slider.m_maxVal = float( BT_MAX_THREAD_COUNT );
 			slider.m_callback = setThreadCountCallback;
             slider.m_clampToIntegers = true;
             m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
@@ -946,14 +596,14 @@ void CommonRigidBodyMTBase::drawScreenText()
                 const btPersistentManifold* man = m_dispatcher->getManifoldByIndexInternal( i );
                 numContacts += man->getNumContacts();
             }
-            const char* mtApi = TaskManager::getApiName( gTaskMgr.getApi() );
+            const char* mtApi = btGetTaskScheduler()->getName();
             sprintf( msg, "islands=%d bodies=%d manifolds=%d contacts=%d [%s] threads=%d",
                      gNumIslands,
                      m_dynamicsWorld->getNumCollisionObjects(),
                      numManifolds,
                      numContacts,
                      mtApi,
-                     gTaskMgr.getApi() == TaskManager::apiNone ? 1 : gTaskMgr.getNumThreads()
+                     btGetTaskScheduler()->getNumThreads()
                      );
             m_guiHelper->getAppInterface()->drawText( msg, 100, yCoord, 0.4f );
             yCoord += yStep;
diff --git a/examples/MultiThreadedDemo/ParallelFor.h b/examples/MultiThreadedDemo/ParallelFor.h
deleted file mode 100644
index cb1325025..000000000
--- a/examples/MultiThreadedDemo/ParallelFor.h
+++ /dev/null
@@ -1,336 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include <stdio.h> //printf debugging
-#include <algorithm>
-
-
-// choose threading providers:
-#if BT_USE_TBB
-#define USE_TBB 1     // use Intel Threading Building Blocks for thread management
-#endif
-
-#if BT_USE_PPL
-#define USE_PPL 1     // use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later)
-#endif // BT_USE_PPL
-
-#if BT_USE_OPENMP
-#define USE_OPENMP 1  // use OpenMP (also need to change compiler options for OpenMP support)
-#endif
-
-
-#if USE_OPENMP
-
-#include <omp.h>
-
-#endif // #if USE_OPENMP
-
-
-#if USE_PPL
-
-#include <ppl.h>  // if you get a compile error here, check whether your version of Visual Studio includes PPL
-// Visual Studio 2010 and later should come with it
-#include <concrtrm.h>  // for GetProcessorCount()
-#endif // #if USE_PPL
-
-
-#if USE_TBB
-
-#define __TBB_NO_IMPLICIT_LINKAGE 1
-#include <tbb/tbb.h>
-#include <tbb/task_scheduler_init.h>
-#include <tbb/parallel_for.h>
-#include <tbb/blocked_range.h>
-
-#endif // #if USE_TBB
-
-
-
-class TaskManager
-{
-public:
-    enum Api
-    {
-        apiNone,
-        apiOpenMP,
-        apiTbb,
-        apiPpl,
-        apiCount
-    };
-    static const char* getApiName( Api api )
-    {
-        switch ( api )
-        {
-        case apiNone: return "None";
-        case apiOpenMP: return "OpenMP";
-        case apiTbb: return "Intel TBB";
-        case apiPpl: return "MS PPL";
-        default: return "unknown";
-        }
-    }
-
-    TaskManager()
-    {
-        m_api = apiNone;
-        m_numThreads = 0;
-#if USE_TBB
-        m_tbbSchedulerInit = NULL;
-#endif // #if USE_TBB
-    }
-
-    Api getApi() const
-    {
-        return m_api;
-    }
-
-    bool isSupported( Api api ) const
-    {
-#if USE_OPENMP
-        if ( api == apiOpenMP )
-        {
-            return true;
-        }
-#endif
-#if USE_TBB
-        if ( api == apiTbb )
-        {
-            return true;
-        }
-#endif
-#if USE_PPL
-        if ( api == apiPpl )
-        {
-            return true;
-        }
-#endif
-        // apiNone is always "supported"
-        return api == apiNone;
-    }
-
-    void setApi( Api api )
-    {
-        if (isSupported(api))
-        {
-            m_api = api;
-        }
-        else
-        {
-            // no compile time support for selected API, fallback to "none"
-            m_api = apiNone;
-        }
-    }
-
-    static int getMaxNumThreads()
-    {
-#if USE_OPENMP
-        return omp_get_max_threads();
-#elif USE_PPL
-        return concurrency::GetProcessorCount();
-#elif USE_TBB
-        return tbb::task_scheduler_init::default_num_threads();
-#endif
-        return 1;
-    }
-
-    int getNumThreads() const
-    {
-        return m_numThreads;
-    }
-
-    int setNumThreads( int numThreads )
-    {
-        m_numThreads = ( std::max )( 1, numThreads );
-
-#if USE_OPENMP
-        omp_set_num_threads( m_numThreads );
-#endif
-
-#if USE_PPL
-        {
-            using namespace concurrency;
-            if ( CurrentScheduler::Id() != -1 )
-            {
-                CurrentScheduler::Detach();
-            }
-            SchedulerPolicy policy;
-            policy.SetConcurrencyLimits( m_numThreads, m_numThreads );
-            CurrentScheduler::Create( policy );
-        }
-#endif
-
-#if USE_TBB
-        if ( m_tbbSchedulerInit )
-        {
-            delete m_tbbSchedulerInit;
-            m_tbbSchedulerInit = NULL;
-        }
-        m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads );
-#endif
-        return m_numThreads;
-    }
-
-    void init()
-    {
-        if (m_numThreads == 0)
-        {
-#if USE_PPL
-            setApi( apiPpl );
-#endif
-#if USE_TBB
-            setApi( apiTbb );
-#endif
-#if USE_OPENMP
-            setApi( apiOpenMP );
-#endif
-            setNumThreads(getMaxNumThreads());
-        }
-        else
-        {
-            setNumThreads(m_numThreads);
-        }
-    }
-
-    void shutdown()
-    {
-#if USE_TBB
-        if ( m_tbbSchedulerInit )
-        {
-            delete m_tbbSchedulerInit;
-            m_tbbSchedulerInit = NULL;
-        }
-#endif
-    }
-
-private:
-    Api m_api;
-    int m_numThreads;
-#if USE_TBB
-    tbb::task_scheduler_init* m_tbbSchedulerInit;
-#endif // #if USE_TBB
-};
-
-extern TaskManager gTaskMgr;
-
-
-inline static void initTaskScheduler()
-{
-    gTaskMgr.init();
-}
-
-inline static void cleanupTaskScheduler()
-{
-    gTaskMgr.shutdown();
-}
-
-
-#if USE_TBB
-///
-/// TbbBodyAdapter -- Converts a body object that implements the
-///                   "forLoop(int iBegin, int iEnd) const" function
-///  into a TBB compatible object that takes a tbb::blocked_range<int> type.
-///
-template <class TBody>
-struct TbbBodyAdapter
-{
-    const TBody* mBody;
-
-    void operator()( const tbb::blocked_range<int>& range ) const
-    {
-        mBody->forLoop( range.begin(), range.end() );
-    }
-};
-#endif // #if USE_TBB
-
-#if USE_PPL
-///
-/// PplBodyAdapter -- Converts a body object that implements the
-///                   "forLoop(int iBegin, int iEnd) const" function
-///  into a PPL compatible object that implements "void operator()( int ) const"
-///
-template <class TBody>
-struct PplBodyAdapter
-{
-    const TBody* mBody;
-    int mGrainSize;
-    int mIndexEnd;
-
-    void operator()( int i ) const
-    {
-        mBody->forLoop( i, (std::min)(i + mGrainSize, mIndexEnd) );
-    }
-};
-#endif // #if USE_PPL
-
-
-///
-/// parallelFor -- interface for submitting work expressed as a for loop to the worker threads
-///
-template <class TBody>
-void parallelFor( int iBegin, int iEnd, int grainSize, const TBody& body )
-{
-#if USE_OPENMP
-    if ( gTaskMgr.getApi() == TaskManager::apiOpenMP )
-    {
-#pragma omp parallel for schedule(static, 1)
-        for ( int i = iBegin; i < iEnd; i += grainSize )
-        {
-            body.forLoop( i, (std::min)( i + grainSize, iEnd ) );
-        }
-        return;
-    }
-#endif // #if USE_OPENMP
-
-#if USE_PPL
-    if ( gTaskMgr.getApi() == TaskManager::apiPpl )
-    {
-        // PPL dispatch
-        PplBodyAdapter<TBody> pplBody;
-        pplBody.mBody = &body;
-        pplBody.mGrainSize = grainSize;
-        pplBody.mIndexEnd = iEnd;
-        // note: MSVC 2010 doesn't support partitioner args, so avoid them
-        concurrency::parallel_for( iBegin,
-                                   iEnd,
-                                   grainSize,
-                                   pplBody
-                                   );
-        return;
-    }
-#endif //#if USE_PPL
-
-#if USE_TBB
-    if ( gTaskMgr.getApi() == TaskManager::apiTbb )
-    {
-        // TBB dispatch
-        TbbBodyAdapter<TBody> tbbBody;
-        tbbBody.mBody = &body;
-        tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ),
-                           tbbBody,
-                           tbb::simple_partitioner()
-                           );
-        return;
-    }
-#endif // #if USE_TBB
-
-    {
-        // run on main thread
-        body.forLoop( iBegin, iEnd );
-    }
-
-}
-
-
-
-
diff --git a/src/BulletCollision/CMakeLists.txt b/src/BulletCollision/CMakeLists.txt
index 67afc7e0c..85c5fc8b6 100644
--- a/src/BulletCollision/CMakeLists.txt
+++ b/src/BulletCollision/CMakeLists.txt
@@ -15,6 +15,7 @@ SET(BulletCollision_SRCS
 	CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
 	CollisionDispatch/btBoxBoxDetector.cpp
 	CollisionDispatch/btCollisionDispatcher.cpp
+	CollisionDispatch/btCollisionDispatcherMt.cpp
 	CollisionDispatch/btCollisionObject.cpp
 	CollisionDispatch/btCollisionWorld.cpp
 	CollisionDispatch/btCollisionWorldImporter.cpp
@@ -123,6 +124,7 @@ SET(CollisionDispatch_HDRS
 	CollisionDispatch/btCollisionConfiguration.h
 	CollisionDispatch/btCollisionCreateFunc.h
 	CollisionDispatch/btCollisionDispatcher.h
+	CollisionDispatch/btCollisionDispatcherMt.h
 	CollisionDispatch/btCollisionObject.h
 	CollisionDispatch/btCollisionObjectWrapper.h
 	CollisionDispatch/btCollisionWorld.h
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
new file mode 100644
index 000000000..57cd050e5
--- /dev/null
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
@@ -0,0 +1,164 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "btCollisionDispatcherMt.h"
+#include "LinearMath/btQuickprof.h"
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+#include "LinearMath/btPoolAllocator.h"
+#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+
+
+btCollisionDispatcherMt::btCollisionDispatcherMt( btCollisionConfiguration* config, int grainSize )
+    : btCollisionDispatcher( config )
+{
+    m_batchUpdating = false;
+    m_grainSize = grainSize;  // iterations per task
+}
+
+
+btPersistentManifold* btCollisionDispatcherMt::getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 )
+{
+    //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
+
+    btScalar contactBreakingThreshold = ( m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD ) ?
+        btMin( body0->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ), body1->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ) )
+        : gContactBreakingThreshold;
+
+    btScalar contactProcessingThreshold = btMin( body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold() );
+
+    void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) );
+    if ( NULL == mem )
+    {
+        //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
+        if ( ( m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION ) == 0 )
+        {
+            mem = btAlignedAlloc( sizeof( btPersistentManifold ), 16 );
+        }
+        else
+        {
+            btAssert( 0 );
+            //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
+            return 0;
+        }
+    }
+    btPersistentManifold* manifold = new( mem ) btPersistentManifold( body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold );
+    if ( !m_batchUpdating )
+    {
+        // batch updater will update manifold pointers array after finishing, so
+        // only need to update array when not batch-updating
+        btAssert( !btThreadsAreRunning() );
+        manifold->m_index1a = m_manifoldsPtr.size();
+        m_manifoldsPtr.push_back( manifold );
+    }
+
+    return manifold;
+}
+
+void btCollisionDispatcherMt::releaseManifold( btPersistentManifold* manifold )
+{
+    clearManifold( manifold );
+    btAssert( !btThreadsAreRunning() );
+    if ( !m_batchUpdating )
+    {
+        // batch updater will update manifold pointers array after finishing, so
+        // only need to update array when not batch-updating
+        int findIndex = manifold->m_index1a;
+        btAssert( findIndex < m_manifoldsPtr.size() );
+        m_manifoldsPtr.swap( findIndex, m_manifoldsPtr.size() - 1 );
+        m_manifoldsPtr[ findIndex ]->m_index1a = findIndex;
+        m_manifoldsPtr.pop_back();
+    }
+
+    manifold->~btPersistentManifold();
+    if ( m_persistentManifoldPoolAllocator->validPtr( manifold ) )
+    {
+        m_persistentManifoldPoolAllocator->freeMemory( manifold );
+    }
+    else
+    {
+        btAlignedFree( manifold );
+    }
+}
+
+struct CollisionDispatcherUpdater : public btIParallelForBody
+{
+    btBroadphasePair* mPairArray;
+    btNearCallback mCallback;
+    btCollisionDispatcher* mDispatcher;
+    const btDispatcherInfo* mInfo;
+
+    CollisionDispatcherUpdater()
+    {
+        mPairArray = NULL;
+        mCallback = NULL;
+        mDispatcher = NULL;
+        mInfo = NULL;
+    }
+    void forLoop( int iBegin, int iEnd ) const
+    {
+        for ( int i = iBegin; i < iEnd; ++i )
+        {
+            btBroadphasePair* pair = &mPairArray[ i ];
+            mCallback( *pair, *mDispatcher, *mInfo );
+        }
+    }
+};
+
+
+void btCollisionDispatcherMt::dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher )
+{
+    int pairCount = pairCache->getNumOverlappingPairs();
+    if ( pairCount == 0 )
+    {
+        return;
+    }
+    CollisionDispatcherUpdater updater;
+    updater.mCallback = getNearCallback();
+    updater.mPairArray = pairCache->getOverlappingPairArrayPtr();
+    updater.mDispatcher = this;
+    updater.mInfo = &info;
+
+    m_batchUpdating = true;
+    btParallelFor( 0, pairCount, m_grainSize, updater );
+    m_batchUpdating = false;
+
+    // reconstruct the manifolds array to ensure determinism
+    m_manifoldsPtr.resizeNoInitialize( 0 );
+
+    btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr();
+    for ( int i = 0; i < pairCount; ++i )
+    {
+        if (btCollisionAlgorithm* algo = pairs[ i ].m_algorithm)
+        {
+            algo->getAllContactManifolds( m_manifoldsPtr );
+        }
+    }
+
+    // update the indices (used when releasing manifolds)
+    for ( int i = 0; i < m_manifoldsPtr.size(); ++i )
+    {
+        m_manifoldsPtr[ i ]->m_index1a = i;
+    }
+}
+
+
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
new file mode 100644
index 000000000..f1d7eafdc
--- /dev/null
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h
@@ -0,0 +1,39 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_COLLISION_DISPATCHER_MT_H
+#define BT_COLLISION_DISPATCHER_MT_H
+
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "LinearMath/btThreads.h"
+
+
+class btCollisionDispatcherMt : public btCollisionDispatcher
+{
+public:
+    btCollisionDispatcherMt( btCollisionConfiguration* config, int grainSize = 40 );
+
+    virtual btPersistentManifold* getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 ) BT_OVERRIDE;
+    virtual void releaseManifold( btPersistentManifold* manifold ) BT_OVERRIDE;
+
+    virtual void dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher ) BT_OVERRIDE;
+
+protected:
+    bool m_batchUpdating;
+    int m_grainSize;
+};
+
+#endif //BT_COLLISION_DISPATCHER_MT_H
+
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
index 5e51a994c..faa8193dd 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
@@ -108,8 +108,105 @@ struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::Islan
 };
 
 
+///
+/// btConstraintSolverPoolMt
+///
 
-btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
+btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver()
+{
+    int i = btGetCurrentThreadIndex() % m_solvers.size();
+    while ( true )
+    {
+        ThreadSolver& solver = m_solvers[ i ];
+        if ( solver.mutex.tryLock() )
+        {
+            return &solver;
+        }
+        // failed, try the next one
+        i = ( i + 1 ) % m_solvers.size();
+    }
+    return NULL;
+}
+
+void btConstraintSolverPoolMt::init( btConstraintSolver** solvers, int numSolvers )
+{
+    m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER;
+    m_solvers.resize( numSolvers );
+    for ( int i = 0; i < numSolvers; ++i )
+    {
+        m_solvers[ i ].solver = solvers[ i ];
+    }
+    if ( numSolvers > 0 )
+    {
+        m_solverType = solvers[ 0 ]->getSolverType();
+    }
+}
+
+// create the solvers for me
+btConstraintSolverPoolMt::btConstraintSolverPoolMt( int numSolvers )
+{
+    btAlignedObjectArray<btConstraintSolver*> solvers;
+    solvers.reserve( numSolvers );
+    for ( int i = 0; i < numSolvers; ++i )
+    {
+        btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
+        solvers.push_back( solver );
+    }
+    init( &solvers[ 0 ], numSolvers );
+}
+
+// pass in fully constructed solvers (destructor will delete them)
+btConstraintSolverPoolMt::btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers )
+{
+    init( solvers, numSolvers );
+}
+
+btConstraintSolverPoolMt::~btConstraintSolverPoolMt()
+{
+    // delete all solvers
+    for ( int i = 0; i < m_solvers.size(); ++i )
+    {
+        ThreadSolver& solver = m_solvers[ i ];
+        delete solver.solver;
+        solver.solver = NULL;
+    }
+}
+
+///solve a group of constraints
+btScalar btConstraintSolverPoolMt::solveGroup( btCollisionObject** bodies,
+    int numBodies,
+    btPersistentManifold** manifolds,
+    int numManifolds,
+    btTypedConstraint** constraints,
+    int numConstraints,
+    const btContactSolverInfo& info,
+    btIDebugDraw* debugDrawer,
+    btDispatcher* dispatcher
+)
+{
+    ThreadSolver* ts = getAndLockThreadSolver();
+    ts->solver->solveGroup( bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher );
+    ts->mutex.unlock();
+    return 0.0f;
+}
+
+void btConstraintSolverPoolMt::reset()
+{
+    for ( int i = 0; i < m_solvers.size(); ++i )
+    {
+        ThreadSolver& solver = m_solvers[ i ];
+        solver.mutex.lock();
+        solver.solver->reset();
+        solver.mutex.unlock();
+    }
+}
+
+
+///
+/// btDiscreteDynamicsWorldMt
+///
+
+btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolverPoolMt* constraintSolver, btCollisionConfiguration* collisionConfiguration)
 : btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
 {
 	if (m_ownsIslandManager)
@@ -124,8 +221,8 @@ btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,bt
 	{
 		void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16);
 		btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt();
-        m_islandManager = im;
         im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize );
+        m_islandManager = im;
 	}
 }
 
@@ -145,7 +242,7 @@ btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
 }
 
 
-void	btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo)
+void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo)
 {
 	BT_PROFILE("solveConstraints");
 
@@ -160,3 +257,65 @@ void	btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo
 }
 
 
+struct UpdaterUnconstrainedMotion : public btIParallelForBody
+{
+    btScalar timeStep;
+    btRigidBody** rigidBodies;
+
+    void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+    {
+        for ( int i = iBegin; i < iEnd; ++i )
+        {
+            btRigidBody* body = rigidBodies[ i ];
+            if ( !body->isStaticOrKinematicObject() )
+            {
+                //don't integrate/update velocities here, it happens in the constraint solver
+                body->applyDamping( timeStep );
+                body->predictIntegratedTransform( timeStep, body->getInterpolationWorldTransform() );
+            }
+        }
+    }
+};
+
+
+void btDiscreteDynamicsWorldMt::predictUnconstraintMotion( btScalar timeStep )
+{
+    BT_PROFILE( "predictUnconstraintMotion" );
+    int grainSize = 50;  // num of iterations per task for TBB
+    int bodyCount = m_nonStaticRigidBodies.size();
+    UpdaterUnconstrainedMotion update;
+    update.timeStep = timeStep;
+    update.rigidBodies = bodyCount ? &m_nonStaticRigidBodies[ 0 ] : NULL;
+    btParallelFor( 0, bodyCount, grainSize, update );
+}
+
+
+void btDiscreteDynamicsWorldMt::createPredictiveContacts( btScalar timeStep )
+{
+    releasePredictiveContacts();
+    int grainSize = 50;  // num of iterations per task for TBB or OPENMP
+    if ( int bodyCount = m_nonStaticRigidBodies.size() )
+    {
+        UpdaterCreatePredictiveContacts update;
+        update.world = this;
+        update.timeStep = timeStep;
+        update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
+        btParallelFor( 0, bodyCount, grainSize, update );
+    }
+}
+
+
+void btDiscreteDynamicsWorldMt::integrateTransforms( btScalar timeStep )
+{
+    BT_PROFILE( "integrateTransforms" );
+    int grainSize = 50;  // num of iterations per task for TBB or OPENMP
+    if ( int bodyCount = m_nonStaticRigidBodies.size() )
+    {
+        UpdaterIntegrateTransforms update;
+        update.world = this;
+        update.timeStep = timeStep;
+        update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
+        btParallelFor( 0, bodyCount, grainSize, update );
+    }
+}
+
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
index b28371b51..2f144cdda 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
@@ -18,24 +18,116 @@ subject to the following restrictions:
 #define BT_DISCRETE_DYNAMICS_WORLD_MT_H
 
 #include "btDiscreteDynamicsWorld.h"
+#include "btSimulationIslandManagerMt.h"
+#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
 
 struct InplaceSolverIslandCallbackMt;
 
+///
+/// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them.
+///
+///  Each solver in the pool is protected by a mutex.  When solveGroup is called from a thread,
+///  the pool looks for a solver that isn't being used by another thread, locks it, and dispatches the
+///  call to the solver.
+///  So long as there are at least as many solvers as there are hardware threads, it should never need to
+///  spin wait.
+///
+class btConstraintSolverPoolMt : public btConstraintSolver
+{
+public:
+    // create the solvers for me
+    explicit btConstraintSolverPoolMt( int numSolvers );
+
+    // pass in fully constructed solvers (destructor will delete them)
+    btConstraintSolverPoolMt( btConstraintSolver** solvers, int numSolvers );
+
+    virtual ~btConstraintSolverPoolMt();
+
+    ///solve a group of constraints
+    virtual btScalar solveGroup( btCollisionObject** bodies,
+        int numBodies,
+        btPersistentManifold** manifolds,
+        int numManifolds,
+        btTypedConstraint** constraints,
+        int numConstraints,
+        const btContactSolverInfo& info,
+        btIDebugDraw* debugDrawer,
+        btDispatcher* dispatcher
+    ) BT_OVERRIDE;
+
+    virtual	void reset() BT_OVERRIDE;
+    virtual btConstraintSolverType getSolverType() const BT_OVERRIDE { return m_solverType; }
+
+private:
+    const static size_t kCacheLineSize = 128;
+    struct ThreadSolver
+    {
+        btConstraintSolver* solver;
+        btSpinMutex mutex;
+        char _cachelinePadding[ kCacheLineSize - sizeof( btSpinMutex ) - sizeof( void* ) ];  // keep mutexes from sharing a cache line
+    };
+    btAlignedObjectArray<ThreadSolver> m_solvers;
+    btConstraintSolverType m_solverType;
+
+    ThreadSolver* getAndLockThreadSolver();
+    void init( btConstraintSolver** solvers, int numSolvers );
+};
+
+
+
 ///
 /// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support
 ///                              solving simulation islands on multiple threads.
 ///
+///  Should function exactly like btDiscreteDynamicsWorld.
+///  Also 3 methods that iterate over all of the rigidbodies can run in parallel:
+///     - predictUnconstraintMotion
+///     - integrateTransforms
+///     - createPredictiveContacts
+///
 ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
 {
 protected:
     InplaceSolverIslandCallbackMt* m_solverIslandCallbackMt;
 
-    virtual void	solveConstraints(btContactSolverInfo& solverInfo);
+    virtual void solveConstraints(btContactSolverInfo& solverInfo) BT_OVERRIDE;
+
+    virtual void predictUnconstraintMotion( btScalar timeStep ) BT_OVERRIDE;
+
+    struct UpdaterCreatePredictiveContacts : public btIParallelForBody
+    {
+        btScalar timeStep;
+        btRigidBody** rigidBodies;
+        btDiscreteDynamicsWorldMt* world;
+
+        void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+        {
+            world->createPredictiveContactsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
+        }
+    };
+    virtual void createPredictiveContacts( btScalar timeStep ) BT_OVERRIDE;
+
+    struct UpdaterIntegrateTransforms : public btIParallelForBody
+    {
+        btScalar timeStep;
+        btRigidBody** rigidBodies;
+        btDiscreteDynamicsWorldMt* world;
+
+        void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+        {
+            world->integrateTransformsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep );
+        }
+    };
+    virtual void integrateTransforms( btScalar timeStep ) BT_OVERRIDE;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
+	btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
+        btBroadphaseInterface* pairCache,
+        btConstraintSolverPoolMt* constraintSolver,   // Note this should be a solver-pool for multi-threading
+        btCollisionConfiguration* collisionConfiguration
+    );
 	virtual ~btDiscreteDynamicsWorldMt();
 };
 
diff --git a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
index ad63b6ee0..6373f60ff 100644
--- a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
+++ b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
@@ -15,6 +15,7 @@ subject to the following restrictions:
 
 
 #include "LinearMath/btScalar.h"
+#include "LinearMath/btThreads.h"
 #include "btSimulationIslandManagerMt.h"
 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -44,7 +45,7 @@ btSimulationIslandManagerMt::btSimulationIslandManagerMt()
 {
     m_minimumSolverBatchSize = calcBatchCost(0, 128, 0);
     m_batchIslandMinBodyCount = 32;
-    m_islandDispatch = defaultIslandDispatch;
+    m_islandDispatch = parallelIslandDispatch;
     m_batchIsland = NULL;
 }
 
@@ -545,7 +546,7 @@ void btSimulationIslandManagerMt::mergeIslands()
 }
 
 
-void btSimulationIslandManagerMt::defaultIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
+void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
 {
     // serial dispatch
     btAlignedObjectArray<Island*>& islands = *islandsPtr;
@@ -565,6 +566,40 @@ void btSimulationIslandManagerMt::defaultIslandDispatch( btAlignedObjectArray<Is
     }
 }
 
+struct UpdateIslandDispatcher : public btIParallelForBody
+{
+    btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr;
+    btSimulationIslandManagerMt::IslandCallback* callback;
+
+    void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+    {
+        for ( int i = iBegin; i < iEnd; ++i )
+        {
+            btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ];
+            btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL;
+            btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL;
+            callback->processIsland( &island->bodyArray[ 0 ],
+                island->bodyArray.size(),
+                manifolds,
+                island->manifoldArray.size(),
+                constraintsPtr,
+                island->constraintArray.size(),
+                island->id
+            );
+        }
+    }
+};
+
+void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
+{
+    int grainSize = 1;  // iterations per task
+    UpdateIslandDispatcher dispatcher;
+    dispatcher.islandsPtr = islandsPtr;
+    dispatcher.callback = callback;
+    btParallelFor( 0, islandsPtr->size(), grainSize, dispatcher );
+}
+
+
 ///@todo: this is random access, it can be walked 'cache friendly'!
 void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher,
                                                         btCollisionWorld* collisionWorld,
diff --git a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
index 117061623..e3e0ea523 100644
--- a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
+++ b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
@@ -59,7 +59,8 @@ public:
                                     ) = 0;
     };
     typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
-    static void defaultIslandDispatch( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
+    static void serialIslandDispatch( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
+    static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
 protected:
     btAlignedObjectArray<Island*> m_allocatedIslands;  // owner of all Islands
     btAlignedObjectArray<Island*> m_activeIslands;  // islands actively in use
diff --git a/src/LinearMath/btThreads.cpp b/src/LinearMath/btThreads.cpp
index b72301a2e..3c73255a1 100644
--- a/src/LinearMath/btThreads.cpp
+++ b/src/LinearMath/btThreads.cpp
@@ -14,6 +14,247 @@ subject to the following restrictions:
 
 
 #include "btThreads.h"
+#include <algorithm>  // for min and max
+
+#if BT_THREADSAFE
+
+#if BT_USE_OPENMP
+
+#include <omp.h>
+
+#endif // #if BT_USE_OPENMP
+
+
+#if BT_USE_PPL
+
+// use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later)
+#include <ppl.h>  // if you get a compile error here, check whether your version of Visual Studio includes PPL
+// Visual Studio 2010 and later should come with it
+#include <concrtrm.h>  // for GetProcessorCount()
+
+#endif // #if BT_USE_PPL
+
+
+#if BT_USE_TBB
+
+// use Intel Threading Building Blocks for thread management
+#define __TBB_NO_IMPLICIT_LINKAGE 1
+#include <tbb/tbb.h>
+#include <tbb/task_scheduler_init.h>
+#include <tbb/parallel_for.h>
+#include <tbb/blocked_range.h>
+
+#endif // #if BT_USE_TBB
+
+
+static btITaskScheduler* gBtTaskScheduler;
+static int gThreadsRunningCounter = 0;  // useful for detecting if we are trying to do nested parallel-for calls
+static btSpinMutex gThreadsRunningCounterMutex;
+
+void btPushThreadsAreRunning()
+{
+    gThreadsRunningCounterMutex.lock();
+    gThreadsRunningCounter++;
+    gThreadsRunningCounterMutex.unlock();
+}
+
+void btPopThreadsAreRunning()
+{
+    gThreadsRunningCounterMutex.lock();
+    gThreadsRunningCounter--;
+    gThreadsRunningCounterMutex.unlock();
+}
+
+bool btThreadsAreRunning()
+{
+    return gThreadsRunningCounter != 0;
+}
+
+
+void btSetTaskScheduler( btITaskScheduler* ts )
+{
+    gBtTaskScheduler = ts;
+}
+
+btITaskScheduler* btGetTaskScheduler()
+{
+    return gBtTaskScheduler;
+}
+
+void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body )
+{
+    gBtTaskScheduler->parallelFor( iBegin, iEnd, grainSize, body );
+}
+
+
+#if BT_USE_OPENMP
+///
+/// btTaskSchedulerOpenMP -- OpenMP task scheduler implementation
+///
+class btTaskSchedulerOpenMP : public btITaskScheduler
+{
+    int m_numThreads;
+public:
+    btTaskSchedulerOpenMP() : btITaskScheduler( "OpenMP" )
+    {
+        m_numThreads = 0;
+    }
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return omp_get_max_threads();
+    }
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        m_numThreads = ( std::max )( 1, numThreads );
+        omp_set_num_threads( m_numThreads );
+    }
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        btPushThreadsAreRunning();
+#pragma omp parallel for schedule( static, 1 )
+        for ( int i = iBegin; i < iEnd; i += grainSize )
+        {
+            body.forLoop( i, ( std::min )( i + grainSize, iEnd ) );
+        }
+        btPopThreadsAreRunning();
+    }
+};
+#endif // #if BT_USE_OPENMP
+
+
+#if BT_USE_TBB
+///
+/// btTaskSchedulerTBB -- task scheduler implemented via Intel Threaded Building Blocks
+///
+class btTaskSchedulerTBB : public btITaskScheduler
+{
+    int m_numThreads;
+    tbb::task_scheduler_init* m_tbbSchedulerInit;
+
+public:
+    btTaskSchedulerTBB() : btITaskScheduler( "IntelTBB" )
+    {
+        m_numThreads = 0;
+        m_tbbSchedulerInit = NULL;
+    }
+    ~btTaskSchedulerTBB()
+    {
+        if ( m_tbbSchedulerInit )
+        {
+            delete m_tbbSchedulerInit;
+            m_tbbSchedulerInit = NULL;
+        }
+    }
+
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return tbb::task_scheduler_init::default_num_threads();
+    }
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        m_numThreads = ( std::max )( 1, numThreads );
+        if ( m_tbbSchedulerInit )
+        {
+            delete m_tbbSchedulerInit;
+            m_tbbSchedulerInit = NULL;
+        }
+        m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads );
+    }
+    struct BodyAdapter
+    {
+        const btIParallelForBody* mBody;
+
+        void operator()( const tbb::blocked_range<int>& range ) const
+        {
+            mBody->forLoop( range.begin(), range.end() );
+        }
+    };
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        // TBB dispatch
+        BodyAdapter tbbBody;
+        tbbBody.mBody = &body;
+        btPushThreadsAreRunning();
+        tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ),
+            tbbBody,
+            tbb::simple_partitioner()
+        );
+        btPopThreadsAreRunning();
+    }
+};
+#endif // #if BT_USE_TBB
+
+#if BT_USE_PPL
+///
+/// btTaskSchedulerPPL -- task scheduler implemented via Microsoft Parallel Patterns Lib
+///
+class btTaskSchedulerPPL : public btITaskScheduler
+{
+    int m_numThreads;
+public:
+    btTaskSchedulerPPL() : btITaskScheduler( "PPL" )
+    {
+        m_numThreads = 0;
+    }
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return concurrency::GetProcessorCount();
+    }
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        m_numThreads = ( std::max )( 1, numThreads );
+        using namespace concurrency;
+        if ( CurrentScheduler::Id() != -1 )
+        {
+            CurrentScheduler::Detach();
+        }
+        SchedulerPolicy policy;
+        policy.SetConcurrencyLimits( m_numThreads, m_numThreads );
+        CurrentScheduler::Create( policy );
+    }
+    struct BodyAdapter
+    {
+        const btIParallelForBody* mBody;
+        int mGrainSize;
+        int mIndexEnd;
+
+        void operator()( int i ) const
+        {
+            mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) );
+        }
+    };
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        // PPL dispatch
+        BodyAdapter pplBody;
+        pplBody.mBody = &body;
+        pplBody.mGrainSize = grainSize;
+        pplBody.mIndexEnd = iEnd;
+        btPushThreadsAreRunning();
+        // note: MSVC 2010 doesn't support partitioner args, so avoid them
+        concurrency::parallel_for( iBegin,
+            iEnd,
+            grainSize,
+            pplBody
+        );
+        btPopThreadsAreRunning();
+    }
+};
+#endif // #if BT_USE_PPL
+
+
 
 //
 // Lightweight spin-mutex based on atomics
@@ -22,8 +263,6 @@ subject to the following restrictions:
 // context switching.
 // 
 
-#if BT_THREADSAFE
-
 #if __cplusplus >= 201103L
 
 // for anything claiming full C++11 compliance, use C++11 atomics
@@ -229,3 +468,64 @@ bool btSpinMutex::tryLock()
 
 #endif // #if BT_THREADSAFE
 
+
+///
+/// btTaskSchedulerSequential -- non-threaded implementation of task scheduler
+///                              (fallback in case no multi-threaded schedulers are available)
+///
+class btTaskSchedulerSequential : public btITaskScheduler
+{
+public:
+    btTaskSchedulerSequential() : btITaskScheduler( "Sequential" ) {}
+    virtual int getMaxNumThreads() const BT_OVERRIDE { return 1; }
+    virtual int getNumThreads() const BT_OVERRIDE { return 1; }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE {}
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        body.forLoop( iBegin, iEnd );
+    }
+};
+
+// create a non-threaded task scheduler (always available)
+btITaskScheduler* btGetSequentialTaskScheduler()
+{
+    static btTaskSchedulerSequential sTaskScheduler;
+    return &sTaskScheduler;
+}
+
+
+// create an OpenMP task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetOpenMPTaskScheduler()
+{
+#if BT_USE_OPENMP && BT_THREADSAFE
+    static btTaskSchedulerOpenMP sTaskScheduler;
+    return &sTaskScheduler;
+#else
+    return NULL;
+#endif
+}
+
+
+// create an Intel TBB task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetTBBTaskScheduler()
+{
+#if BT_USE_TBB && BT_THREADSAFE
+    static btTaskSchedulerTBB sTaskScheduler;
+    return &sTaskScheduler;
+#else
+    return NULL;
+#endif
+}
+
+
+// create a PPL task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetPPLTaskScheduler()
+{
+#if BT_USE_PPL && BT_THREADSAFE
+    static btTaskSchedulerPPL sTaskScheduler;
+    return &sTaskScheduler;
+#else
+    return NULL;
+#endif
+}
+
diff --git a/src/LinearMath/btThreads.h b/src/LinearMath/btThreads.h
index a15e5250b..b592ec3e5 100644
--- a/src/LinearMath/btThreads.h
+++ b/src/LinearMath/btThreads.h
@@ -19,6 +19,15 @@ subject to the following restrictions:
 
 #include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
 
+#if defined (_MSC_VER) && _MSC_VER >= 1600
+// give us a compile error if any signatures of overriden methods is changed
+#define BT_OVERRIDE override
+#endif
+
+#ifndef BT_OVERRIDE
+#define BT_OVERRIDE
+#endif
+
 ///
 /// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts
 ///               a thread to sleep because it is designed to be used with a task scheduler
@@ -59,6 +68,7 @@ SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex )
 
 // for internal use only
 bool btIsMainThread();
+bool btThreadsAreRunning();
 unsigned int btGetCurrentThreadIndex();
 const unsigned int BT_MAX_THREAD_COUNT = 64;
 
@@ -71,5 +81,55 @@ SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* ) {}
 SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* ) {return true;}
 #endif
 
+//
+// btIParallelForBody -- subclass this to express work that can be done in parallel
+//
+class btIParallelForBody
+{
+public:
+    virtual void forLoop( int iBegin, int iEnd ) const = 0;
+};
+
+//
+// btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to
+//                     worker threads
+//
+class btITaskScheduler
+{
+    const char* m_name;
+public:
+    btITaskScheduler( const char* name ) : m_name( name ) {}
+    const char* getName() const { return m_name; }
+
+    virtual ~btITaskScheduler() {}
+    virtual int getMaxNumThreads() const = 0;
+    virtual int getNumThreads() const = 0;
+    virtual void setNumThreads( int numThreads ) = 0;
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0;
+};
+
+// set the task scheduler to use for all calls to btParallelFor()
+// NOTE: you must set this prior to using any of the multi-threaded "Mt" classes
+void btSetTaskScheduler( btITaskScheduler* ts );
+
+// get the current task scheduler
+btITaskScheduler* btGetTaskScheduler();
+
+// get non-threaded task scheduler (always available)
+btITaskScheduler* btGetSequentialTaskScheduler();
+
+// get OpenMP task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetOpenMPTaskScheduler();
+
+// get Intel TBB task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetTBBTaskScheduler();
+
+// get PPL task scheduler (if available, otherwise returns null)
+btITaskScheduler* btGetPPLTaskScheduler();
+
+// btParallelFor -- call this to dispatch work like a for-loop
+//                 (iterations may be done out of order, so no dependencies are allowed)
+void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body );
+
 
 #endif //BT_THREADS_H

From d77c3d5b6812555467835d65a1441f2698d42495 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Tue, 23 May 2017 02:34:29 -0700
Subject: [PATCH 023/175] fix compile errors in non-threadsafe build

---
 examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp | 12 ++++++++++++
 .../Dynamics/btDiscreteDynamicsWorldMt.cpp           |  5 ++++-
 src/LinearMath/btThreads.cpp                         |  6 ++++++
 3 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
index 82797e35e..a47b76da6 100644
--- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
+++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
@@ -250,6 +250,7 @@ public:
     void init()
     {
         addTaskScheduler( btGetSequentialTaskScheduler() );
+#if BT_THREADSAFE
         addTaskScheduler( btGetOpenMPTaskScheduler() );
         addTaskScheduler( btGetTBBTaskScheduler() );
         addTaskScheduler( btGetPPLTaskScheduler() );
@@ -263,6 +264,7 @@ public:
             btSetTaskScheduler( m_taskSchedulers[ 0 ] );
         }
         btGetTaskScheduler()->setNumThreads( btGetTaskScheduler()->getMaxNumThreads() );
+#endif // #if BT_THREADSAFE
     }
 
     void addTaskScheduler( btITaskScheduler* ts )
@@ -353,6 +355,7 @@ static void setSolverTypeCallback(int buttonId, bool buttonState, void* userPoin
 
 static void setNumThreads( int numThreads )
 {
+#if BT_THREADSAFE
     int newNumThreads = ( std::min )( numThreads, int( BT_MAX_THREAD_COUNT ) );
     int oldNumThreads = btGetTaskScheduler()->getNumThreads();
     // only call when the thread count is different
@@ -360,13 +363,16 @@ static void setNumThreads( int numThreads )
     {
         btGetTaskScheduler()->setNumThreads( newNumThreads );
     }
+#endif // #if BT_THREADSAFE
 }
 
 static void apiSelectButtonCallback(int buttonId, bool buttonState, void* userPointer)
 {
+#if BT_THREADSAFE
     // change the task scheduler
     btSetTaskScheduler( gTaskSchedulerMgr.getTaskScheduler( buttonId ) );
     setNumThreads( int( gSliderNumThreads ) );
+#endif // #if BT_THREADSAFE
 }
 
 static void setThreadCountCallback(float val, void* userPtr)
@@ -392,6 +398,7 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
 #endif
     if ( gMultithreadedWorld )
     {
+#if BT_THREADSAFE
         m_dispatcher = NULL;
         btDefaultCollisionConstructionInfo cci;
         cci.m_defaultMaxPersistentManifoldPoolSize = 80000;
@@ -416,6 +423,7 @@ void CommonRigidBodyMTBase::createEmptyDynamicsWorld()
         m_dynamicsWorld = world;
         m_multithreadedWorld = true;
         btAssert( btGetTaskScheduler() != NULL );
+#endif // #if BT_THREADSAFE
     }
     else
     {
@@ -534,6 +542,7 @@ void CommonRigidBodyMTBase::createDefaultParameters()
     }
     if (m_multithreadedWorld)
     {
+#if BT_THREADSAFE
         // create a button for each supported threading API
         for ( int iApi = 0; iApi < gTaskSchedulerMgr.getNumTaskSchedulers(); ++iApi )
         {
@@ -558,6 +567,7 @@ void CommonRigidBodyMTBase::createDefaultParameters()
             slider.m_clampToIntegers = true;
             m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
         }
+#endif // #if BT_THREADSAFE
     }
 }
 
@@ -589,6 +599,7 @@ void CommonRigidBodyMTBase::drawScreenText()
     {
         if ( m_multithreadedWorld )
         {
+#if BT_THREADSAFE
             int numManifolds = m_dispatcher->getNumManifolds();
             int numContacts = 0;
             for ( int i = 0; i < numManifolds; ++i )
@@ -607,6 +618,7 @@ void CommonRigidBodyMTBase::drawScreenText()
                      );
             m_guiHelper->getAppInterface()->drawText( msg, 100, yCoord, 0.4f );
             yCoord += yStep;
+#endif // #if BT_THREADSAFE
         }
         {
             int sm = gSolverMode;
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
index faa8193dd..df6c17c5b 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
@@ -114,7 +114,10 @@ struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::Islan
 
 btConstraintSolverPoolMt::ThreadSolver* btConstraintSolverPoolMt::getAndLockThreadSolver()
 {
-    int i = btGetCurrentThreadIndex() % m_solvers.size();
+    int i = 0;
+#if BT_THREADSAFE
+    i = btGetCurrentThreadIndex() % m_solvers.size();
+#endif // #if BT_THREADSAFE
     while ( true )
     {
         ThreadSolver& solver = m_solvers[ i ];
diff --git a/src/LinearMath/btThreads.cpp b/src/LinearMath/btThreads.cpp
index 3c73255a1..85de7c4d2 100644
--- a/src/LinearMath/btThreads.cpp
+++ b/src/LinearMath/btThreads.cpp
@@ -465,6 +465,12 @@ bool btSpinMutex::tryLock()
     return true;
 }
 
+// non-parallel version of btParallelFor
+void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body )
+{
+    btAssert(!"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE");
+    body.forLoop( iBegin, iEnd );
+}
 
 #endif // #if BT_THREADSAFE
 

From 18fd1a003fe36f458fad1c5cdf997633ba573e5f Mon Sep 17 00:00:00 2001
From: Jie Tan <jietan@google.com>
Date: Tue, 23 May 2017 16:34:13 -0700
Subject: [PATCH 024/175] remove redundant and potentially confusing data

---
 .../tf_graph_data.ckpt.data-00000-of-00001    | Bin 2353229 -> 0 bytes
 .../tf_graph_data/tf_graph_data.ckpt.index    | Bin 2308 -> 0 bytes
 .../tf_graph_data/tf_graph_data.ckpt.meta     | Bin 857169 -> 0 bytes
 examples/pybullet/gym/minitaurGymEnvTest.py   |   5 ++---
 4 files changed, 2 insertions(+), 3 deletions(-)
 delete mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.data-00000-of-00001
 delete mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.index
 delete mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.meta

diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.data-00000-of-00001 b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.data-00000-of-00001
deleted file mode 100644
index b25aa2872cbc04f8360c408f0ed2fc41ab44e228..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/examples/pybullet/gym/minitaurGymEnvTest.py b/examples/pybullet/gym/minitaurGymEnvTest.py
index 484842102..3b1ce8aeb 100644
--- a/examples/pybullet/gym/minitaurGymEnvTest.py
+++ b/examples/pybullet/gym/minitaurGymEnvTest.py
@@ -14,10 +14,9 @@ from envs.bullet.minitaurGymEnv import MinitaurGymEnv
 try:
   import sonnet
   from agents import simpleAgentWithSonnet as agent_lib
-  ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0'
 except ImportError:
   from agents import simpleAgent as agent_lib
-  ckpt_path = 'data/agent/tf_graph_data/tf_graph_data.ckpt'
+
   
 def testSinePolicy():
   """Tests sine policy
@@ -60,7 +59,7 @@ def testDDPGPolicy():
   environment = MinitaurGymEnv(render=True)
   sum_reward = 0
   steps = 1000
-
+  ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0'
   observation_shape = (31,)
   action_size = 8
   actor_layer_size = (100, 181)

From db008ab3c215f4550cfe6914f331bd87626d1edf Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 23 May 2017 22:05:26 -0700
Subject: [PATCH 025/175] Improve debug text/line rendering, can be use to draw
 frames and text in local coordinate of an object / link.

example:
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.getNumJoints(kuka)
pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6)
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6)
Also allow to render text using a given orientation (instead of pointing to the camera), example:
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6)
Add drawTexturedTriangleMesh, for drawing 3d text.
Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index.
updateTexture: allow to not flip texels around up axis
---
 .../CommonGUIHelperInterface.h                |  17 +-
 .../CommonGraphicsAppInterface.h              |  23 +-
 .../CommonInterfaces/CommonRenderInterface.h  |  18 +-
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |   9 +
 examples/ExampleBrowser/OpenGLGuiHelper.h     |   6 +-
 .../OpenGLWindow/GLInstancingRenderer.cpp     | 461 ++++++++++++------
 examples/OpenGLWindow/GLInstancingRenderer.h  |   9 +-
 examples/OpenGLWindow/GLPrimitiveRenderer.cpp |   2 +
 examples/OpenGLWindow/SimpleOpenGL2App.cpp    |  10 +-
 examples/OpenGLWindow/SimpleOpenGL2App.h      |   5 +-
 .../OpenGLWindow/SimpleOpenGL2Renderer.cpp    |  50 +-
 examples/OpenGLWindow/SimpleOpenGL2Renderer.h |  11 +-
 examples/OpenGLWindow/SimpleOpenGL3App.cpp    | 300 ++++++++++--
 examples/OpenGLWindow/SimpleOpenGL3App.h      |   4 +-
 examples/OpenGLWindow/fontstash.cpp           | 144 +++++-
 examples/OpenGLWindow/fontstash.h             |  24 +-
 .../opengl_fontstashcallbacks.cpp             |  12 +-
 .../OpenGLWindow/opengl_fontstashcallbacks.h  |   4 +
 examples/SharedMemory/PhysicsClientC_API.cpp  |  46 ++
 examples/SharedMemory/PhysicsClientC_API.h    |   6 +
 .../PhysicsClientSharedMemory.cpp             |  10 +-
 .../PhysicsServerCommandProcessor.cpp         |  62 ++-
 .../PhysicsServerCommandProcessor.h           |   4 +-
 .../SharedMemory/PhysicsServerExample.cpp     | 135 ++++-
 .../PhysicsServerSharedMemory.cpp             |   7 +-
 .../SharedMemory/PhysicsServerSharedMemory.h  |   1 +
 examples/SharedMemory/SharedMemoryCommands.h  |   8 +
 examples/SharedMemory/SharedMemoryPublic.h    |  10 +-
 examples/SimpleOpenGL3/main.cpp               | 277 ++---------
 examples/pybullet/pybullet.c                  |  37 +-
 30 files changed, 1195 insertions(+), 517 deletions(-)

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index efc8ab295..a5121548e 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -84,12 +84,11 @@ struct GUIHelperInterface
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
 	
-	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
-
-
+	virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size)=0;
+	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)=0;
 	
-	virtual int		addUserDebugText3D( const char* txt, const double posisionXYZ[3], const double	textColorRGB[3], double size, double lifeTime){return -1;};
-	virtual int		addUserDebugLine(const double	debugLineFromXYZ[3], const double	debugLineToXYZ[3], const double	debugLineColorRGB[3], double lineWidth, double lifeTime ){return -1;};
+	virtual int		addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double	textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags){return -1;}
+	virtual int		addUserDebugLine(const double	debugLineFromXYZ[3], const double	debugLineToXYZ[3], const double	debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex){return -1;};
 	virtual int		addUserDebugParameter(const char* txt, double	rangeMin, double	rangeMax, double startValue){return -1;};
 	virtual int		readUserDebugParameter(int itemUniqueId, double* value) { return 0;}
 
@@ -174,12 +173,12 @@ struct DummyGUIHelper : public GUIHelperInterface
 	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
 	{
 	}
-
-	virtual int		addUserDebugText3D( const char* txt, const double positionXYZ[3], const double	textColorRGB[3], double size, double lifeTime)
+	
+	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
 	{
-		return -1;
 	}
-	virtual int		addUserDebugLine(const double	debugLineFromXYZ[3], const double	debugLineToXYZ[3], const double	debugLineColorRGB[3], double lineWidth, double lifeTime )
+
+	virtual int		addUserDebugLine(const double	debugLineFromXYZ[3], const double	debugLineToXYZ[3], const double	debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex)
 	{
 		return -1;
 	}
diff --git a/examples/CommonInterfaces/CommonGraphicsAppInterface.h b/examples/CommonInterfaces/CommonGraphicsAppInterface.h
index 31f0f51ce..12f555a7a 100644
--- a/examples/CommonInterfaces/CommonGraphicsAppInterface.h
+++ b/examples/CommonInterfaces/CommonGraphicsAppInterface.h
@@ -37,6 +37,12 @@ enum EnumSphereLevelOfDetail
 };
 struct CommonGraphicsApp
 {
+	enum drawText3DOption
+	{
+		eDrawText3D_OrtogonalFaceCamera=1,
+		eDrawText3D_TrueType=2,
+		eDrawText3D_TrackObject=4,
+	};
 	class CommonWindowInterface*	m_window;
 	struct CommonRenderInterface*	m_renderer;
 	struct CommonParameterInterface*	m_parameterInterface;
@@ -120,8 +126,21 @@ struct CommonGraphicsApp
 	virtual int getUpAxis() const = 0;
 	
 	virtual void swapBuffer() = 0;
-	virtual void drawText( const char* txt, int posX, int posY, float size = 1.0f) = 0;
-	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
+	virtual void drawText( const char* txt, int posX, int posY)
+	{
+		float size=1;
+		float colorRGBA[4]={1,1,1,1};
+		drawText(txt,posX,posY, size, colorRGBA);
+	}
+
+	virtual void drawText( const char* txt, int posX, int posY, float size)
+	{
+		float colorRGBA[4]={1,1,1,1};
+		drawText(txt,posX,posY,size,colorRGBA);
+	}
+	virtual void drawText( const char* txt, int posX, int posY, float size, float colorRGBA[4]) = 0;
+	virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size)=0;
+	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)=0;
 	virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0;
 	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1)=0;
 	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1) = 0;
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index 4af517782..986347061 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -17,6 +17,14 @@ enum
 	B3_USE_SHADOWMAP_RENDERMODE,
 };
 
+struct CommonGfxVertex3D
+{
+	float x,y,z,w;
+	float nx,ny,nz;
+	float u,v;
+};
+
+
 struct CommonRenderInterface
 {
 	virtual ~CommonRenderInterface() {}
@@ -46,13 +54,17 @@ struct CommonRenderInterface
 	virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth) = 0;
 	virtual void drawPoint(const float* position, const float color[4], float pointDrawSize)=0;
 	virtual void drawPoint(const double* position, const double color[4], double pointDrawSize)=0;
+	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1)=0;
+
 	virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1)=0;
     virtual void updateShape(int shapeIndex, const float* vertices)=0;
     
-    virtual int registerTexture(const unsigned char* texels, int width, int height)=0;
-    virtual void updateTexture(int textureIndex, const unsigned char* texels)=0;
+    virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true)=0;
+    virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true)=0;
     virtual void activateTexture(int textureIndex)=0;
-    
+
+	virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)=0;
+
 	virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)=0;
 	virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
 	virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex)=0;
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 634004d84..105ab64a6 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -1194,6 +1194,15 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
 	}
 }
     
+void OpenGLGuiHelper::drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlags)
+{
+	B3_PROFILE("OpenGLGuiHelper::drawText3D");
+
+    btAssert(m_data->m_glApp);
+    m_data->m_glApp->drawText3D(txt,position, orientation, color,size, optionFlags);
+
+}
+
 void OpenGLGuiHelper::drawText3D( const char* txt, float posX, float posY, float posZ, float size)
 {
 	B3_PROFILE("OpenGLGuiHelper::drawText3D");
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 8a0dd67dc..182027daa 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -57,8 +57,10 @@ struct OpenGLGuiHelper : public GUIHelperInterface
                                   int destinationHeight, int* numPixelsCopied);
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
-    
-    virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
+
+	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
+
+	virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
 
 	virtual int		addUserDebugText3D( const char* txt, const double positionXYZ[3], const double	textColorRGB[3], double size, double lifeTime)
 	{
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 8974cf24a..e60b94e9f 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -52,6 +52,7 @@ float shadowMapWorldSize=10;
 
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3Transform.h"
 #include "Bullet3Common/b3Matrix3x3.h"
 #include "Bullet3Common/b3ResizablePool.h"
 
@@ -74,6 +75,36 @@ float shadowMapWorldSize=10;
 #include "GLRenderToTexture.h"
 
 
+static const char* triangleVertexShaderText =
+"#version 330\n"
+"precision highp float;"
+"uniform mat4 MVP;\n"
+"uniform vec3 vCol;\n"
+"attribute vec4 vPos;\n"
+"attribute vec2 vUV;\n"
+"out vec3 clr;\n"
+"out vec2 uv0;\n"
+"void main()\n"
+"{\n"
+"    gl_Position = MVP * vPos;\n"
+"    clr = vCol;\n"
+"    uv0 = vUV;\n"
+"}\n";
+
+
+static const char* triangleFragmentShader =
+"#version 330\n"
+"precision highp float;"
+"in vec3 clr;\n"
+"in vec2 uv0;"
+"out vec4 color;"
+"uniform sampler2D Diffuse;"
+"void main()\n"
+"{\n"
+"    vec4 texel = texture(Diffuse,uv0);\n"
+"    color = vec4(clr,texel.r)*texel;\n"
+"}\n";
+
 
 
 //#include "../../opencl/gpu_rigidbody_pipeline/b3GpuNarrowphaseAndSolver.h"//for m_maxNumObjectCapacity
@@ -213,6 +244,14 @@ struct	GLInstanceRendererInternalData* GLInstancingRenderer::getInternalData()
 }
 
 
+static GLuint				triangleShaderProgram;
+static GLint triangle_mvp_location=-1;
+static GLint triangle_vpos_location=-1;
+static GLint triangle_vUV_location=-1;
+static GLint triangle_vcol_location=-1;
+static GLuint triangleIndexVbo=0;
+
+
 static GLuint               linesShader;        // The line renderer
 static GLuint               useShadowMapInstancingShader;        // The shadow instancing renderer
 static GLuint               createShadowMapInstancingShader;        // The shadow instancing renderer
@@ -333,7 +372,29 @@ GLInstancingRenderer::~GLInstancingRenderer()
 
 
 
+bool GLInstancingRenderer::readSingleInstanceTransformToCPU(float* position, float* orientation, int shapeIndex)
+{
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(shapeIndex);
+	if (pg)
+	{
+		int srcIndex = pg->m_internalInstanceIndex;
 
+		if ((srcIndex<m_data->m_totalNumInstances) && (srcIndex>=0))
+		{
+			position[0] = m_data->m_instance_positions_ptr[srcIndex*4+0];
+			position[1] = m_data->m_instance_positions_ptr[srcIndex*4+1];
+			position[2] = m_data->m_instance_positions_ptr[srcIndex*4+2];
+
+			orientation[0] = m_data->m_instance_quaternion_ptr[srcIndex*4+0];
+			orientation[1] = m_data->m_instance_quaternion_ptr[srcIndex*4+1];
+			orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
+			orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
+			return true;
+		}
+	}
+
+	return false;
+}
 
 void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int bodyUniqueId)
 {
@@ -783,7 +844,7 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
 }
 
 
-int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width, int height)
+int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY)
 {
 	b3Assert(glGetError() ==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
@@ -801,12 +862,16 @@ int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
     h.m_height = height;
 
 	m_data->m_textureHandles.push_back(h);
-	updateTexture(textureIndex, texels);
+	if (texels)
+	{
+		updateTexture(textureIndex, texels, flipPixelsY);
+	}
 	return textureIndex;
 }
 
 
-void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels)
+
+void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY)
 {
     if (textureIndex>=0)
     {
@@ -816,25 +881,30 @@ void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
         glActiveTexture(GL_TEXTURE0);
         b3Assert(glGetError() ==GL_NO_ERROR);
         InternalTextureHandle& h = m_data->m_textureHandles[textureIndex];
-
-		//textures need to be flipped for OpenGL...
-		b3AlignedObjectArray<unsigned char> flippedTexels;
-		flippedTexels.resize(h.m_width* h.m_height * 3);
-		for (int i = 0; i < h.m_width; i++)
-		{
-			for (int j = 0; j < h.m_height; j++)
-			{
-				flippedTexels[(i + j*h.m_width) * 3] =      texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
-				flippedTexels[(i + j*h.m_width) * 3+1] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
-				flippedTexels[(i + j*h.m_width) * 3+2] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
-			}
-		}
-
-
-        glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
+		glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
         b3Assert(glGetError() ==GL_NO_ERROR);
-      //  const GLubyte*	image= (const GLubyte*)texels;	
-        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
+
+		if (flipPixelsY)
+		{
+			//textures need to be flipped for OpenGL...
+			b3AlignedObjectArray<unsigned char> flippedTexels;
+			flippedTexels.resize(h.m_width* h.m_height * 3);
+
+			for (int i = 0; i < h.m_width; i++)
+			{
+				for (int j = 0; j < h.m_height; j++)
+				{
+					flippedTexels[(i + j*h.m_width) * 3] =      texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
+					flippedTexels[(i + j*h.m_width) * 3+1] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
+					flippedTexels[(i + j*h.m_width) * 3+2] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
+				}
+			}
+
+			glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
+		} else
+		{
+			glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&texels[0]);
+		}
         b3Assert(glGetError() ==GL_NO_ERROR);
         glGenerateMipmap(GL_TEXTURE_2D);
         b3Assert(glGetError() ==GL_NO_ERROR);
@@ -952,6 +1022,15 @@ void GLInstancingRenderer::InitShaders()
 	int COLOR_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*4);
 	int SCALE_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*3);
 
+	{
+		triangleShaderProgram = gltLoadShaderPair(triangleVertexShaderText,triangleFragmentShader);
+		triangle_mvp_location = glGetUniformLocation(triangleShaderProgram, "MVP");
+		triangle_vpos_location = glGetAttribLocation(triangleShaderProgram, "vPos");
+		triangle_vUV_location = glGetAttribLocation(triangleShaderProgram, "vUV");
+		triangle_vcol_location = glGetUniformLocation(triangleShaderProgram, "vCol");
+		glGenBuffers(1, &triangleIndexVbo);
+	}
+
 	linesShader = gltLoadShaderPair(linesVertexShader,linesFragmentShader);
 	lines_ModelViewMatrix = glGetUniformLocation(linesShader, "ModelViewMatrix");
 	lines_ProjectionMatrix = glGetUniformLocation(linesShader, "ProjectionMatrix");
@@ -1294,6 +1373,216 @@ void GLInstancingRenderer::renderScene()
 }
 
 
+struct PointerCaster
+{
+	union {
+		int m_baseIndex;
+		GLvoid* m_pointer;
+	};
+
+	PointerCaster()
+	:m_pointer(0)
+		{
+		}
+
+
+};
+
+
+
+#if 0
+static void    b3CreateFrustum(
+                        float left,
+                        float right,
+                        float bottom,
+                        float top,
+                        float nearVal,
+                        float farVal,
+                        float frustum[16])
+{
+
+    frustum[0*4+0] = (float(2) * nearVal) / (right - left);
+    frustum[0*4+1] = float(0);
+    frustum[0*4+2] = float(0);
+    frustum[0*4+3] = float(0);
+
+    frustum[1*4+0] = float(0);
+    frustum[1*4+1] = (float(2) * nearVal) / (top - bottom);
+    frustum[1*4+2] = float(0);
+    frustum[1*4+3] = float(0);
+
+    frustum[2*4+0] = (right + left) / (right - left);
+    frustum[2*4+1] = (top + bottom) / (top - bottom);
+    frustum[2*4+2] = -(farVal + nearVal) / (farVal - nearVal);
+    frustum[2*4+3] = float(-1);
+
+    frustum[3*4+0] = float(0);
+    frustum[3*4+1] = float(0);
+    frustum[3*4+2] = -(float(2) * farVal * nearVal) / (farVal - nearVal);
+    frustum[3*4+3] = float(0);
+
+}
+#endif
+
+static void b3Matrix4x4Mul(GLfloat aIn[4][4], GLfloat bIn[4][4], GLfloat result[4][4])
+{
+	for (int j=0;j<4;j++)
+		for (int i=0;i<4;i++)
+			result[j][i] = aIn[0][i] * bIn[j][0] + aIn[1][i] * bIn[j][1] + aIn[2][i] * bIn[j][2] + aIn[3][i] * bIn[j][3];
+}
+
+static void b3Matrix4x4Mul16(GLfloat aIn[16], GLfloat bIn[16], GLfloat result[16])
+{
+	for (int j=0;j<4;j++)
+		for (int i=0;i<4;i++)
+			result[j*4+i] = aIn[0*4+i] * bIn[j*4+0] + aIn[1*4+i] * bIn[j*4+1] + aIn[2*4+i] * bIn[j*4+2] + aIn[3*4+i] * bIn[j*4+3];
+}
+
+
+static void b3CreateDiagonalMatrix(GLfloat value, GLfloat result[4][4])
+{
+	for (int i=0;i<4;i++)
+	{
+		for (int j=0;j<4;j++)
+		{
+			if (i==j)
+			{
+				result[i][j] = value;
+			} else
+			{
+				result[i][j] = 0.f;
+			}
+		}
+	}
+}
+
+static void b3CreateOrtho(GLfloat left, GLfloat right, GLfloat bottom, GLfloat top, GLfloat zNear, GLfloat zFar, GLfloat result[4][4])
+{
+	b3CreateDiagonalMatrix(1.f,result);
+
+	result[0][0] = 2.f / (right - left);
+	result[1][1] = 2.f / (top - bottom);
+	result[2][2] = - 2.f / (zFar - zNear);
+	result[3][0] = - (right + left) / (right - left);
+	result[3][1] = - (top + bottom) / (top - bottom);
+	result[3][2] = - (zFar + zNear) / (zFar - zNear);
+}
+
+static void    b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,const b3Vector3& up, GLfloat result[16])
+{
+    b3Vector3 f = (center - eye).normalized();
+    b3Vector3 u = up.normalized();
+    b3Vector3 s = (f.cross(u)).normalized();
+    u = s.cross(f);
+
+    result[0*4+0] = s.x;
+    result[1*4+0] = s.y;
+    result[2*4+0] = s.z;
+
+	result[0*4+1] = u.x;
+    result[1*4+1] = u.y;
+    result[2*4+1] = u.z;
+
+    result[0*4+2] =-f.x;
+    result[1*4+2] =-f.y;
+    result[2*4+2] =-f.z;
+
+	result[0*4+3] = 0.f;
+    result[1*4+3] = 0.f;
+    result[2*4+3] = 0.f;
+
+    result[3*4+0] = -s.dot(eye);
+    result[3*4+1] = -u.dot(eye);
+    result[3*4+2] = f.dot(eye);
+    result[3*4+3] = 1.f;
+}
+
+
+
+
+typedef struct
+{
+    float position[4];
+    float colour[4];
+	float uv[2];
+} MyVertex;
+
+
+void GLInstancingRenderer::drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float colorRGBA[4], int textureIndex)
+{
+	b3Quaternion orn(worldOrientation[0],worldOrientation[1],worldOrientation[2],worldOrientation[3]);
+	b3Vector3 pos = b3MakeVector3(worldPosition[0],worldPosition[1],worldPosition[2]);
+
+	b3Transform worldTrans(orn,pos);
+	b3Scalar worldMatUnk[16];
+	worldTrans.getOpenGLMatrix(worldMatUnk);
+	float modelMat[16];
+	for (int i=0;i<16;i++)
+	{
+		modelMat[i] = worldMatUnk[i];
+	}
+	glEnable(GL_TEXTURE_2D);
+
+	activateTexture(textureIndex);
+
+	
+	glUseProgram(triangleShaderProgram);
+	int err =GL_NO_ERROR;
+	err = glGetError();
+	b3Assert(err ==GL_NO_ERROR);
+	GLuint vertex_buffer=0;
+	glGenBuffers(1, &vertex_buffer);
+    glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer);
+    glBufferData(GL_ARRAY_BUFFER, sizeof(MyVertex)*numvertices, vertices, GL_STATIC_DRAW);
+
+	err = glGetError();
+	b3Assert(err ==GL_NO_ERROR);
+	//glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
+	//glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
+	float modelView[16];
+
+	b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,modelView);
+	float MVP[16];
+	b3Matrix4x4Mul16(modelView,modelMat,MVP);
+	
+	glUniformMatrix4fv(triangle_mvp_location, 1, GL_FALSE, (const GLfloat*) MVP);
+	err = glGetError();
+	b3Assert(err ==GL_NO_ERROR);
+
+	glUniform3f(triangle_vcol_location,colorRGBA[0],colorRGBA[1],colorRGBA[2]);
+	b3Assert(err ==GL_NO_ERROR);
+
+	glEnableVertexAttribArray(triangle_vpos_location);
+	glVertexAttribPointer(triangle_vpos_location, 4, GL_FLOAT, GL_FALSE,
+                          sizeof(MyVertex), (void*) 0);
+	err = glGetError();
+	b3Assert(err ==GL_NO_ERROR);
+	glEnableVertexAttribArray(triangle_vUV_location);
+	err = glGetError();
+	b3Assert(err ==GL_NO_ERROR);
+	glVertexAttribPointer(triangle_vUV_location, 2, GL_FLOAT, GL_FALSE,
+                          sizeof(MyVertex), (void*) (sizeof(float) * 8));
+
+	err = glGetError();
+	b3Assert(err ==GL_NO_ERROR);
+
+
+ b3Assert(glGetError() ==GL_NO_ERROR);
+ 
+	  b3Assert(glGetError() ==GL_NO_ERROR);
+	glDrawElements(GL_TRIANGLES, numIndices, GL_UNSIGNED_INT,indices);
+	  b3Assert(glGetError() ==GL_NO_ERROR);
+	glDeleteBuffers(1,&vertex_buffer);
+	  b3Assert(glGetError() ==GL_NO_ERROR);
+
+	glActiveTexture(GL_TEXTURE0);
+	glBindTexture(GL_TEXTURE_2D,0);
+	glUseProgram(0);
+
+}
+//virtual void drawTexturedTriangleMesh(const double* vertices, int numvertices, const int* indices, int numIndices, int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1);
+
+
 void GLInstancingRenderer::drawPoint(const double* position, const double color[4], double pointDrawSize)
 {
 	float pos[4]={(float)position[0],(float)position[1],(float)position[2],0};
@@ -1491,131 +1780,6 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
 	glUseProgram(0);
 }
 
-struct PointerCaster
-{
-	union {
-		int m_baseIndex;
-		GLvoid* m_pointer;
-	};
-
-	PointerCaster()
-	:m_pointer(0)
-		{
-		}
-
-
-};
-
-
-
-#if 0
-static void    b3CreateFrustum(
-                        float left,
-                        float right,
-                        float bottom,
-                        float top,
-                        float nearVal,
-                        float farVal,
-                        float frustum[16])
-{
-
-    frustum[0*4+0] = (float(2) * nearVal) / (right - left);
-    frustum[0*4+1] = float(0);
-    frustum[0*4+2] = float(0);
-    frustum[0*4+3] = float(0);
-
-    frustum[1*4+0] = float(0);
-    frustum[1*4+1] = (float(2) * nearVal) / (top - bottom);
-    frustum[1*4+2] = float(0);
-    frustum[1*4+3] = float(0);
-
-    frustum[2*4+0] = (right + left) / (right - left);
-    frustum[2*4+1] = (top + bottom) / (top - bottom);
-    frustum[2*4+2] = -(farVal + nearVal) / (farVal - nearVal);
-    frustum[2*4+3] = float(-1);
-
-    frustum[3*4+0] = float(0);
-    frustum[3*4+1] = float(0);
-    frustum[3*4+2] = -(float(2) * farVal * nearVal) / (farVal - nearVal);
-    frustum[3*4+3] = float(0);
-
-}
-#endif
-
-static void b3Matrix4x4Mul(GLfloat aIn[4][4], GLfloat bIn[4][4], GLfloat result[4][4])
-{
-	for (int j=0;j<4;j++)
-		for (int i=0;i<4;i++)
-			result[j][i] = aIn[0][i] * bIn[j][0] + aIn[1][i] * bIn[j][1] + aIn[2][i] * bIn[j][2] + aIn[3][i] * bIn[j][3];
-}
-
-static void b3Matrix4x4Mul16(GLfloat aIn[16], GLfloat bIn[16], GLfloat result[16])
-{
-	for (int j=0;j<4;j++)
-		for (int i=0;i<4;i++)
-			result[j*4+i] = aIn[0*4+i] * bIn[j*4+0] + aIn[1*4+i] * bIn[j*4+1] + aIn[2*4+i] * bIn[j*4+2] + aIn[3*4+i] * bIn[j*4+3];
-}
-
-
-static void b3CreateDiagonalMatrix(GLfloat value, GLfloat result[4][4])
-{
-	for (int i=0;i<4;i++)
-	{
-		for (int j=0;j<4;j++)
-		{
-			if (i==j)
-			{
-				result[i][j] = value;
-			} else
-			{
-				result[i][j] = 0.f;
-			}
-		}
-	}
-}
-
-static void b3CreateOrtho(GLfloat left, GLfloat right, GLfloat bottom, GLfloat top, GLfloat zNear, GLfloat zFar, GLfloat result[4][4])
-{
-	b3CreateDiagonalMatrix(1.f,result);
-
-	result[0][0] = 2.f / (right - left);
-	result[1][1] = 2.f / (top - bottom);
-	result[2][2] = - 2.f / (zFar - zNear);
-	result[3][0] = - (right + left) / (right - left);
-	result[3][1] = - (top + bottom) / (top - bottom);
-	result[3][2] = - (zFar + zNear) / (zFar - zNear);
-}
-
-static void    b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,const b3Vector3& up, GLfloat result[16])
-{
-    b3Vector3 f = (center - eye).normalized();
-    b3Vector3 u = up.normalized();
-    b3Vector3 s = (f.cross(u)).normalized();
-    u = s.cross(f);
-
-    result[0*4+0] = s.x;
-    result[1*4+0] = s.y;
-    result[2*4+0] = s.z;
-
-	result[0*4+1] = u.x;
-    result[1*4+1] = u.y;
-    result[2*4+1] = u.z;
-
-    result[0*4+2] =-f.x;
-    result[1*4+2] =-f.y;
-    result[2*4+2] =-f.z;
-
-	result[0*4+3] = 0.f;
-    result[1*4+3] = 0.f;
-    result[2*4+3] = 0.f;
-
-    result[3*4+0] = -s.dot(eye);
-    result[3*4+1] = -u.dot(eye);
-    result[3*4+2] = f.dot(eye);
-    result[3*4+3] = 1.f;
-}
-
-
 
 
 void GLInstancingRenderer::renderSceneInternal(int renderMode)
@@ -1960,7 +2124,10 @@ b3Assert(glGetError() ==GL_NO_ERROR);
                             {
                                 glDisable (GL_BLEND);
                             }
-                            glActiveTexture(GL_TEXTURE0);
+							glActiveTexture(GL_TEXTURE1);
+							glBindTexture(GL_TEXTURE_2D,0);
+
+							glActiveTexture(GL_TEXTURE0);
 							glBindTexture(GL_TEXTURE_2D,0);
                             break;
 						}
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index be063e0ab..b443f5e9e 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -64,8 +64,8 @@ public:
 	///vertices must be in the format x,y,z, nx,ny,nz, u,v
 	virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1);
 	
-	virtual int	registerTexture(const unsigned char* texels, int width, int height);
-	virtual void    updateTexture(int textureIndex, const unsigned char* texels);
+	virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true);
+    virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true);
     virtual void activateTexture(int textureIndex);
 
 
@@ -76,7 +76,8 @@ public:
 
 	void writeTransforms();
 
-	
+	virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex);
+
 	virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex);
 	virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)
     {
@@ -113,6 +114,8 @@ public:
 	virtual void drawPoints(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, float pointDrawSize);
 	virtual void drawPoint(const float* position, const float color[4], float pointSize=1);
 	virtual void drawPoint(const double* position, const double color[4], double pointDrawSize=1);
+	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1);
+	
 	virtual void updateCamera(int upAxis=1);
 
 	virtual const CommonCameraInterface* getActiveCamera() const;
diff --git a/examples/OpenGLWindow/GLPrimitiveRenderer.cpp b/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
index 151d8ed67..b134a7ff9 100644
--- a/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
+++ b/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
@@ -43,6 +43,8 @@ static const char* fragmentShader3D= \
 "		texcolor = vec4(1,1,1,texcolor.x);\n"
 "  }\n"
 "   fragColour = colourV*texcolor;\n"
+"   if (fragColour.w == 0.f)\n"
+"      discard;\n"
 "}\n";
 
 
diff --git a/examples/OpenGLWindow/SimpleOpenGL2App.cpp b/examples/OpenGLWindow/SimpleOpenGL2App.cpp
index 3122bd120..198a8bf67 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2App.cpp
@@ -297,13 +297,14 @@ void SimpleOpenGL2App::swapBuffer()
 	m_window->startRendering();
 
 }
-void SimpleOpenGL2App::drawText( const char* txt, int posX, int posY, float size)
+
+void SimpleOpenGL2App::drawText( const char* txt, int posXi, int posYi, float size, float colorRGBA[4])
 {
 
 }
 
 
-		static		void	restoreOpenGLState()
+static		void	restoreOpenGLState()
 			{
 				
 				
@@ -339,6 +340,11 @@ void SimpleOpenGL2App::drawText( const char* txt, int posX, int posY, float size
 
 			}
 
+void SimpleOpenGL2App::drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
+{
+
+}
+
 void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
 {
 	saveOpenGLState(gApp2->m_renderer->getScreenWidth(),gApp2->m_renderer->getScreenHeight());
diff --git a/examples/OpenGLWindow/SimpleOpenGL2App.h b/examples/OpenGLWindow/SimpleOpenGL2App.h
index 0a08c8770..889df0657 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2App.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2App.h
@@ -17,13 +17,16 @@ public:
 	virtual int getUpAxis() const;
 	
 	virtual void swapBuffer();
-	virtual void drawText( const char* txt, int posX, int posY, float size);
+	virtual void drawText( const char* txt, int posX, int posY, float size, float colorRGBA[4]);
+	
 	virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA){};
 	virtual void setBackgroundColor(float red, float green, float blue);
 	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1);
 
 	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1);
     virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
+	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
+	
     virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
 
     
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
index 25a3c2cfa..715f58721 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -139,6 +139,11 @@ void SimpleOpenGL2Renderer::removeGraphicsInstance(int instanceUid)
 	m_data->m_graphicsInstancesPool.freeHandle(instanceUid);
 }
 
+bool SimpleOpenGL2Renderer::readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)
+{
+	return false;
+}
+
 void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(const float* color, int srcIndex)
 {
 }
@@ -388,7 +393,7 @@ void SimpleOpenGL2Renderer::renderScene()
 }
     
     
-int	SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int width, int height)
+int	SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int width, int height, bool flipTexelsY)
 {
 	b3Assert(glGetError() ==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
@@ -406,12 +411,12 @@ int	SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int widt
     h.m_height = height;
 
 	m_data->m_textureHandles.push_back(h);
-	updateTexture(textureIndex, texels);
+	updateTexture(textureIndex, texels,flipTexelsY);
 	return textureIndex;
 }
 
 
-void    SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned char* texels)
+void    SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipTexelsY)
 {
     if (textureIndex>=0)
     {
@@ -420,27 +425,36 @@ void    SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned ch
 
         glActiveTexture(GL_TEXTURE0);
         b3Assert(glGetError() ==GL_NO_ERROR);
-        InternalTextureHandle2& h = m_data->m_textureHandles[textureIndex];
+		InternalTextureHandle2& h = m_data->m_textureHandles[textureIndex];
+		glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
+        b3Assert(glGetError() ==GL_NO_ERROR);
 
-		//textures need to be flipped for OpenGL...
-		b3AlignedObjectArray<unsigned char> flippedTexels;
-		flippedTexels.resize(h.m_width* h.m_height * 3);
-		for (int i = 0; i < h.m_width; i++)
+       
+		if (flipTexelsY)
 		{
-			for (int j = 0; j < h.m_height; j++)
+			//textures need to be flipped for OpenGL...
+			b3AlignedObjectArray<unsigned char> flippedTexels;
+			flippedTexels.resize(h.m_width* h.m_height * 3);
+			for (int i = 0; i < h.m_width; i++)
 			{
-				flippedTexels[(i + j*h.m_width) * 3] =      texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
-				flippedTexels[(i + j*h.m_width) * 3+1] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
-				flippedTexels[(i + j*h.m_width) * 3+2] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
+				for (int j = 0; j < h.m_height; j++)
+				{
+					flippedTexels[(i + j*h.m_width) * 3] =      texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
+					flippedTexels[(i + j*h.m_width) * 3+1] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
+					flippedTexels[(i + j*h.m_width) * 3+2] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
+				}
 			}
+			  //  const GLubyte*	image= (const GLubyte*)texels;	
+			glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
+    
+		} else
+		{
+			//  const GLubyte*	image= (const GLubyte*)texels;	
+			glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&texels[0]);
+    
 		}
 
-
-        glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
-        b3Assert(glGetError() ==GL_NO_ERROR);
-      //  const GLubyte*	image= (const GLubyte*)texels;	
-        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
-        b3Assert(glGetError() ==GL_NO_ERROR);
+		b3Assert(glGetError() ==GL_NO_ERROR);
         glGenerateMipmap(GL_TEXTURE_2D);
         b3Assert(glGetError() ==GL_NO_ERROR);
     }
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index 7eb9ab809..d89419528 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -34,21 +34,24 @@ public:
     virtual void removeAllInstances();
     virtual void removeGraphicsInstance(int instanceUid);
     
+	virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex);
     virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
     virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
 	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
     virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
     virtual void	getCameraViewMatrix(float viewMat[16]) const;
     virtual void	getCameraProjectionMatrix(float projMat[16]) const;
-
+	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1)
+	{
+	}
     
     virtual void renderScene();
     
     virtual int getScreenWidth();
     virtual int getScreenHeight();
-	virtual int	registerTexture(const unsigned char* texels, int width, int height);
-	virtual void    updateTexture(int textureIndex, const unsigned char* texels);
-    virtual void activateTexture(int textureIndex);
+	virtual int	registerTexture(const unsigned char* texels, int width, int height, bool flipTexelsY);
+	virtual void	updateTexture(int textureIndex, const unsigned char* texels, bool flipTexelsY);
+    virtual void	activateTexture(int textureIndex);
 
 
     virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index 86aa9c031..b4781f749 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -33,7 +33,7 @@
 #include <assert.h>
 #include "GLRenderToTexture.h"
 #include "Bullet3Common/b3Quaternion.h"
-
+#include <string>//memset
 #ifdef _WIN32
     #define popen _popen
     #define pclose _pclose
@@ -44,8 +44,14 @@ struct SimpleInternalData
 	GLuint m_fontTextureId;
 	GLuint m_largeFontTextureId;
 	struct sth_stash* m_fontStash;
-	OpenGL2RenderCallbacks*		m_renderCallbacks;
+	struct sth_stash* m_fontStash2;
+
+	RenderCallbacks*		m_renderCallbacks;
+	RenderCallbacks*		m_renderCallbacks2;
+	
 	int m_droidRegular;
+	int m_droidRegular2;
+
 	const char* m_frameDumpPngFileName;
 	FILE* m_ffmpegFile;
 	GLRenderToTexture*  m_renderTexture;
@@ -117,8 +123,161 @@ static GLuint BindFont(const CTexFont *_Font)
     return TexID;
 }
 
+
+
+
+//static unsigned int s_indexData[INDEX_COUNT];
+//static GLuint s_indexArrayObject, s_indexBuffer;
+//static GLuint s_vertexArrayObject,s_vertexBuffer;
+
+
 extern unsigned char OpenSansData[];
 
+struct	MyRenderCallbacks : public RenderCallbacks
+{
+	GLInstancingRenderer* m_instancingRenderer;
+
+	b3AlignedObjectArray<unsigned char> m_rgbaTexture;
+	float m_color[4];
+	float m_worldPosition[3];
+	float m_worldOrientation[4];
+
+	int m_textureIndex;
+
+	MyRenderCallbacks(GLInstancingRenderer* instancingRenderer)
+		:m_instancingRenderer(instancingRenderer),
+		m_textureIndex(-1)
+	{
+		for (int i=0;i<4;i++)
+		{
+			m_color[i] = 1;
+			m_worldOrientation[i]=0;
+		}
+		m_worldPosition[0]=0;
+		m_worldPosition[1]=0;
+		m_worldPosition[2]=0;
+
+		m_worldOrientation[0] = 0;
+		m_worldOrientation[1] = 0;
+		m_worldOrientation[2] = 0;
+		m_worldOrientation[3] = 1;
+	}
+	virtual ~MyRenderCallbacks()
+	{
+		m_rgbaTexture.clear();
+	}
+
+	virtual void setWorldPosition(float pos[3])
+	{
+		for (int i=0;i<3;i++)
+		{
+			m_worldPosition[i] = pos[i];
+		}
+	}
+
+	virtual void setWorldOrientation(float orn[4])
+	{
+		for (int i=0;i<4;i++)
+		{
+			m_worldOrientation[i] = orn[i];
+		}
+	}
+
+
+	virtual void setColorRGBA(float color[4])
+	{
+		for (int i=0;i<4;i++)
+		{
+			m_color[i] = color[i];
+		}
+	}
+	virtual void updateTexture(sth_texture* texture, sth_glyph* glyph, int textureWidth, int textureHeight)
+	{
+		if (glyph)
+		{
+				m_rgbaTexture.resize(textureWidth*textureHeight*3);
+				for (int i=0;i<textureWidth*textureHeight;i++)
+				{
+					m_rgbaTexture[i*3+0] = texture->m_texels[i];
+					m_rgbaTexture[i*3+1] = texture->m_texels[i];
+					m_rgbaTexture[i*3+2] = texture->m_texels[i];
+				}
+				bool flipPixelsY = false;
+				m_instancingRenderer->updateTexture(m_textureIndex, &m_rgbaTexture[0], flipPixelsY);
+		} else
+		{
+			if (textureWidth && textureHeight)
+			{
+				texture->m_texels = (unsigned char*)malloc(textureWidth*textureHeight);
+				memset(texture->m_texels,0,textureWidth*textureHeight);
+				if (m_textureIndex<0)
+				{
+					m_rgbaTexture.resize(textureWidth*textureHeight*3);
+					bool flipPixelsY = false;
+					m_textureIndex = m_instancingRenderer->registerTexture(&m_rgbaTexture[0],textureWidth,textureHeight,flipPixelsY);
+
+					int strideInBytes = 9*sizeof(float);
+					int numVertices = sizeof(cube_vertices_textured)/strideInBytes;
+					int numIndices = sizeof(cube_indices)/sizeof(int);
+
+					float halfExtentsX=1;
+					float halfExtentsY=1;
+					float halfExtentsZ=1;
+					float textureScaling = 4;
+
+					b3AlignedObjectArray<CommonGfxVertex3D> verts;
+					verts.resize(numVertices);
+					for (int i=0;i<numVertices;i++)
+					{
+						verts[i].x = halfExtentsX*cube_vertices_textured[i*9];
+						verts[i].y = halfExtentsY*cube_vertices_textured[i*9+1];
+						verts[i].z = halfExtentsZ*cube_vertices_textured[i*9+2];
+						verts[i].w = cube_vertices_textured[i*9+3];
+						verts[i].nx = cube_vertices_textured[i*9+4];
+						verts[i].ny = cube_vertices_textured[i*9+5];
+						verts[i].nz = cube_vertices_textured[i*9+6];
+						verts[i].u = cube_vertices_textured[i*9+7]*textureScaling;
+						verts[i].v = cube_vertices_textured[i*9+8]*textureScaling;
+					}
+	
+				
+					int shapeId = m_instancingRenderer->registerShape(&verts[0].x,numVertices,cube_indices,numIndices,B3_GL_TRIANGLES,m_textureIndex);
+					b3Vector3 pos = b3MakeVector3(0, 0, 0);
+					b3Quaternion orn(0, 0, 0, 1);
+					b3Vector4 color = b3MakeVector4(1, 1, 1,1);
+					b3Vector3 scaling = b3MakeVector3 (.1, .1, .1);
+					//m_instancingRenderer->registerGraphicsInstance(shapeId, pos, orn, color, scaling);
+					m_instancingRenderer->writeTransforms();
+				
+				} else
+				{
+					b3Assert(0);
+				}
+			} else
+			{
+				delete texture->m_texels;
+				texture->m_texels = 0;
+				//there is no m_instancingRenderer->freeTexture (yet), all textures are released at reset/deletion of the renderer
+			}
+		}
+		
+	}
+	virtual void render(sth_texture* texture)
+	{
+		int index=0;
+		
+		float width = 1;
+		b3AlignedObjectArray< unsigned int> indices;
+		indices.resize(texture->nverts);
+		for (int i=0;i<indices.size();i++)
+		{
+			indices[i] = i;
+		}
+
+		m_instancingRenderer->drawTexturedTriangleMesh(m_worldPosition,m_worldOrientation, &texture->newverts[0].position.p[0],texture->nverts,&indices[0],indices.size(),m_color,m_textureIndex);
+	}
+};
+
 SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, bool allowRetina)
 {
 	gApp = this;
@@ -207,9 +366,11 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
 	{
 
 
-
 	m_data->m_renderCallbacks = new OpenGL2RenderCallbacks(m_primRenderer);
+	m_data->m_renderCallbacks2 = new MyRenderCallbacks(m_instancingRenderer);
+	m_data->m_fontStash2 = sth_create(512,512, m_data->m_renderCallbacks2);
 	m_data->m_fontStash = sth_create(512,512,m_data->m_renderCallbacks);//256,256);//,1024);//512,512);
+
     b3Assert(glGetError() ==GL_NO_ERROR);
 
 	if (!m_data->m_fontStash)
@@ -218,6 +379,10 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
 		//fprintf(stderr, "Could not create stash.\n");
 	}
 
+	if (!m_data->m_fontStash2)
+	{
+		b3Warning("Could not create fontStash2");
+	}
 
 	unsigned char* data2 = OpenSansData;
 	unsigned char* data = (unsigned char*) data2;
@@ -225,7 +390,12 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
 	{
 		b3Warning("error!\n");
 	}
-    b3Assert(glGetError() ==GL_NO_ERROR);
+	if (!(m_data->m_droidRegular2 = sth_add_font_from_memory(m_data->m_fontStash2, data)))
+	{
+		b3Warning("error!\n");
+	}
+
+	b3Assert(glGetError() ==GL_NO_ERROR);
 	}
 }
 
@@ -235,7 +405,7 @@ struct sth_stash* SimpleOpenGL3App::getFontStash()
 	return m_data->m_fontStash;
 }
 
-void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
+void SimpleOpenGL3App::drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
 {
 	B3_PROFILE("SimpleOpenGL3App::drawText3D");
 	float viewMat[16];
@@ -263,29 +433,54 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
 	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 	int viewport[4]={0,0,m_instancingRenderer->getScreenWidth(),m_instancingRenderer->getScreenHeight()};
 
-	float posX = 450.f;
-	float posY = 100.f;
+	float posX = position[0];
+	float posY = position[1];
+	float posZ = position[2];
 	float winx,winy, winz;
 
-	if (!projectWorldCoordToScreen(worldPosX, worldPosY, worldPosZ,viewMat,projMat,viewport,&winx, &winy, &winz))
-	{
-		return;
-	}
-	posX = winx;
-	posY = m_instancingRenderer->getScreenHeight()/2+(m_instancingRenderer->getScreenHeight()/2)-winy;
-
 	
-	if (0)//m_useTrueTypeFont)
+	if (optionFlag&CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera)
+	{
+		if (!projectWorldCoordToScreen(position[0], position[1], position[2],viewMat,projMat,viewport,&winx, &winy, &winz))
+		{
+			return;
+		}
+		posX = winx;
+		posY = m_instancingRenderer->getScreenHeight()/2+(m_instancingRenderer->getScreenHeight()/2)-winy;
+		posZ = 0.f;
+	} 
+	
+	if (optionFlag&CommonGraphicsApp::eDrawText3D_TrueType)
 	{
 		bool measureOnly = false;
 
-		float fontSize= 32;//64;//512;//128;
+		float fontSize= 64;//512;//128;
 		
-		sth_draw_text(m_data->m_fontStash,
-                    m_data->m_droidRegular,fontSize,posX,posY,
-					txt,&dx, this->m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),measureOnly,m_window->getRetinaScale());
-		sth_end_draw(m_data->m_fontStash);
-		sth_flush_draw(m_data->m_fontStash);
+		if (optionFlag&CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera)
+		{
+			sth_draw_text(m_data->m_fontStash,
+						m_data->m_droidRegular,fontSize,posX,posY,
+						txt,&dx, this->m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),measureOnly,m_window->getRetinaScale(),color);
+			sth_end_draw(m_data->m_fontStash);
+			sth_flush_draw(m_data->m_fontStash);
+		} else
+		{
+			glEnable(GL_BLEND);
+			glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+
+			m_data->m_renderCallbacks2->setColorRGBA(color);
+
+			m_data->m_renderCallbacks2->setWorldPosition(position);
+			m_data->m_renderCallbacks2->setWorldOrientation(orientation);
+
+			sth_draw_text3D(m_data->m_fontStash2,
+						m_data->m_droidRegular2,fontSize,0,0,0,
+						txt,&dx,size,color,0);
+			sth_end_draw(m_data->m_fontStash2);
+			sth_flush_draw(m_data->m_fontStash2);
+			glDisable(GL_BLEND);
+		}
 	} else
 	{
 		//float width = 0.f;
@@ -298,26 +493,38 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
 		//float extraSpacing = 0.;
 
 		float startX = posX;
-		float startY = posY-g_DefaultLargeFont->m_CharHeight*size1;
-		
+		float startY = posY+g_DefaultLargeFont->m_CharHeight*size;
+		float z = position[2];//2.f*winz-1.f;//*(far
+			
+		if (optionFlag&CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera)
+		{
+			posX = winx;
+			posY = m_instancingRenderer->getScreenHeight()/2+(m_instancingRenderer->getScreenHeight()/2)-winy;
+			z = 2.f*winz-1.f;
+			startY = posY-g_DefaultLargeFont->m_CharHeight*size;
+		}
 
 		while (txt[pos])
 		{
 			int c = txt[pos];
 			//r.h = g_DefaultNormalFont->m_CharHeight;
 			//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
-			float endX = startX+g_DefaultLargeFont->m_CharWidth[c]*size1;
+			float endX = startX+g_DefaultLargeFont->m_CharWidth[c]*size;
+			if (optionFlag&CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera)
+			{
+				endX = startX+g_DefaultLargeFont->m_CharWidth[c]*size;
+			}
 			float endY = posY;
 
 
-			float currentColor[]={1.f,0.2,0.2f,1.f};
+			//float currentColor[]={1.f,1.,0.2f,1.f};
 
 		//	m_primRenderer->drawTexturedRect(startX, startY, endX, endY, currentColor,g_DefaultLargeFont->m_CharU0[c],g_DefaultLargeFont->m_CharV0[c],g_DefaultLargeFont->m_CharU1[c],g_DefaultLargeFont->m_CharV1[c]);
 			float u0 = g_DefaultLargeFont->m_CharU0[c];
 			float u1 = g_DefaultLargeFont->m_CharU1[c];
 			float v0 = g_DefaultLargeFont->m_CharV0[c];
 			float v1 = g_DefaultLargeFont->m_CharV1[c];
-			float color[4] = {currentColor[0],currentColor[1],currentColor[2],currentColor[3]};
+			//float color[4] = {currentColor[0],currentColor[1],currentColor[2],currentColor[3]};
 			float x0 = startX;
 			float x1 = endX;
 			float y0 = startY;
@@ -325,20 +532,31 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
 			int screenWidth = m_instancingRenderer->getScreenWidth();
 			int screenHeight = m_instancingRenderer->getScreenHeight();
 
-			float z = 2.f*winz-1.f;//*(far
 			 float identity[16]={1,0,0,0,
 						0,1,0,0,
 						0,0,1,0,
 						0,0,0,1};
+			 if (optionFlag&CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera)
+			 {
 				   PrimVertex vertexData[4] = {
 					PrimVertex(PrimVec4(-1.f+2.f*x0/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)),
 					PrimVertex(PrimVec4(-1.f+2.f*x0/float(screenWidth),  1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)),
 					PrimVertex(PrimVec4( -1.f+2.f*x1/float(screenWidth),  1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)),
 					PrimVertex(PrimVec4( -1.f+2.f*x1/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
 				};
-    
 				m_primRenderer->drawTexturedRect3D(vertexData[0],vertexData[1],vertexData[2],vertexData[3],identity,identity,false);
 
+			 }     else
+			 {
+				PrimVertex vertexData[4] = {
+						PrimVertex(PrimVec4(x0, y0, z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)),
+						PrimVertex(PrimVec4(x0,  y1, z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)),
+						PrimVertex(PrimVec4( x1,  y1, z, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)),
+						PrimVertex(PrimVec4( x1, y0, z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
+					};
+
+				m_primRenderer->drawTexturedRect3D(vertexData[0],vertexData[1],vertexData[2],vertexData[3],viewMat,projMat,false);
+			 }
 			//DrawTexturedRect(0,r,g_DefaultNormalFont->m_CharU0[c],g_DefaultNormalFont->m_CharV0[c],g_DefaultNormalFont->m_CharU1[c],g_DefaultNormalFont->m_CharV1[c]);
 		//	DrawFilledRect(r);
 
@@ -353,12 +571,22 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
 
 	glDisable(GL_BLEND);
 
+}
 
+void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
+{
+	
+	float position[3] = {worldPosX,worldPosY,worldPosZ};
+	float orientation[4] = {0,0,0,1};
+	float color[4] = {0,0,0,1};
+	int optionFlags = CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera;
+	drawText3D(txt,position,orientation,color,size1,optionFlags);
 
 }
 
 
-void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi, float size)
+
+void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi, float size, float colorRGBA[4])
 {
 
 	float posX = (float)posXi;
@@ -386,7 +614,7 @@ void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi, float si
 					txt,&dx, this->m_instancingRenderer->getScreenWidth(),
 					this->m_instancingRenderer->getScreenHeight(),
 					measureOnly,
-					m_window->getRetinaScale());
+					m_window->getRetinaScale(),colorRGBA);
 					
 		sth_end_draw(m_data->m_fontStash);
 		sth_flush_draw(m_data->m_fontStash);
@@ -445,12 +673,6 @@ void SimpleOpenGL3App::drawTexturedRect(float x0, float y0, float x1, float y1,
 
 
 
-struct GfxVertex
-	{
-		float x,y,z,w;
-		float nx,ny,nz;
-		float u,v;
-	};
 
 int	SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex, float textureScaling)
 {
@@ -460,7 +682,7 @@ int	SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, f
 	int numVertices = sizeof(cube_vertices_textured)/strideInBytes;
 	int numIndices = sizeof(cube_indices)/sizeof(int);
 
-	b3AlignedObjectArray<GfxVertex> verts;
+	b3AlignedObjectArray<CommonGfxVertex3D> verts;
 	verts.resize(numVertices);
 	for (int i=0;i<numVertices;i++)
 	{
@@ -663,6 +885,10 @@ SimpleOpenGL3App::~SimpleOpenGL3App()
 	delete m_primRenderer ;
 	sth_delete(m_data->m_fontStash);
 	delete m_data->m_renderCallbacks;
+
+	sth_delete(m_data->m_fontStash2);
+	delete m_data->m_renderCallbacks2;
+
 	TwDeleteDefaultFonts();
 	m_window->closeWindow();
 	
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.h b/examples/OpenGLWindow/SimpleOpenGL3App.h
index 3d0f69dd4..9a1621350 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.h
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.h
@@ -31,8 +31,10 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
 	virtual int getUpAxis() const;
 	
 	virtual void swapBuffer();
-	virtual void drawText( const char* txt, int posX, int posY, float size=1.0f);
+	virtual void drawText( const char* txt, int posX, int posY, float size, float colorRGBA[4]);
 	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
+	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
+
 	virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA);
 	struct sth_stash* getFontStash();
 
diff --git a/examples/OpenGLWindow/fontstash.cpp b/examples/OpenGLWindow/fontstash.cpp
index 4f144095b..2289aec38 100644
--- a/examples/OpenGLWindow/fontstash.cpp
+++ b/examples/OpenGLWindow/fontstash.cpp
@@ -487,6 +487,9 @@ error:
 	return 0;
 }
 
+
+
+
 static int get_quad(struct sth_stash* stash, struct sth_font* fnt, struct sth_glyph* glyph, short isize, float* x, float* y, struct sth_quad* q)
 {
 	float rx,ry;
@@ -514,7 +517,36 @@ static int get_quad(struct sth_stash* stash, struct sth_font* fnt, struct sth_gl
 	return 1;
 }
 
-static Vertex* setv(Vertex* v, float x, float y, float s, float t, float width, float height)
+
+static int get_quad3D(struct sth_stash* stash, struct sth_font* fnt, struct sth_glyph* glyph, short isize2, float* x, float* y, struct sth_quad* q, float fontSize, float textScale)
+{
+	short isize=1;
+	float rx,ry;
+	float scale = textScale/fontSize;//0.1;//1.0f;
+
+	if (fnt->type == BMFONT)
+        scale = isize/(glyph->size);
+
+	rx = (*x + scale * float(glyph->xoff));
+	ry = (scale * float(glyph->yoff));
+
+	q->x0 = rx;
+    q->y0 = *y -(ry);
+
+	q->x1 = rx + scale * float(glyph->x1 - glyph->x0_);
+    q->y1 = *y-(ry + scale * float(glyph->y1 - glyph->y0));
+
+	q->s0 = float(glyph->x0_) * stash->itw;
+	q->t0 = float(glyph->y0) * stash->ith;
+	q->s1 = float(glyph->x1) * stash->itw;
+	q->t1 = float(glyph->y1) * stash->ith;
+
+	*x += scale * glyph->xadv;
+
+	return 1;
+}
+
+static Vertex* setv(Vertex* v, float x, float y, float s, float t, float width, float height, float colorRGBA[4])
 {
 	bool scale=true;
 	if (scale)
@@ -532,15 +564,34 @@ static Vertex* setv(Vertex* v, float x, float y, float s, float t, float width,
 	v->uv.p[0] = s;
     v->uv.p[1] = t;
 
-    v->colour.p[0] = 0.1f;//1.f;
-    v->colour.p[1] = 0.1f;
-    v->colour.p[2] = 0.1f;
-    v->colour.p[3] = 1.f;
+    v->colour.p[0] = colorRGBA[0];
+    v->colour.p[1] = colorRGBA[1];
+    v->colour.p[2] = colorRGBA[2];
+    v->colour.p[3] = colorRGBA[3];
 
 	return v+1;
 }
 
 
+static Vertex* setv3D(Vertex* v, float x, float y, float z, float s, float t, float colorRGBA[4])
+{
+	v->position.p[0] = x;
+	v->position.p[1] = y;
+    v->position.p[2] = z;
+    v->position.p[3] = 1.f;
+
+	v->uv.p[0] = s;
+    v->uv.p[1] = t;
+
+    v->colour.p[0] = colorRGBA[0];
+    v->colour.p[1] = colorRGBA[1];
+    v->colour.p[2] = colorRGBA[2];
+    v->colour.p[3] = colorRGBA[3];
+	return v+1;
+}
+
+
+
 
 
 static void flush_draw(struct sth_stash* stash)
@@ -598,7 +649,7 @@ void sth_draw_texture(struct sth_stash* stash,
 				   int idx, float size,
 				   float x, float y,
 				   int screenwidth, int screenheight,
-				   const char* s, float* dx)
+				   const char* s, float* dx, float colorRGBA[4])
 {
 	int width = stash->tw;
 	int height=stash->th;
@@ -642,13 +693,13 @@ void sth_draw_texture(struct sth_stash* stash,
 		q.x1 = q.x0+width;
 		q.y1 = q.y0+height;
 
-		v = setv(v, q.x0, q.y0, 0,0,(float)screenwidth,(float)screenheight);
-		v = setv(v, q.x1, q.y0, 1,0,(float)screenwidth,(float)screenheight);
-		v = setv(v, q.x1, q.y1, 1,1,(float)screenwidth,(float)screenheight);
+		v = setv(v, q.x0, q.y0, 0,0,(float)screenwidth,(float)screenheight,colorRGBA);
+		v = setv(v, q.x1, q.y0, 1,0,(float)screenwidth,(float)screenheight,colorRGBA);
+		v = setv(v, q.x1, q.y1, 1,1,(float)screenwidth,(float)screenheight,colorRGBA);
 
-		v = setv(v, q.x0, q.y0, 0,0,(float)screenwidth,(float)screenheight);
-		v = setv(v, q.x1, q.y1, 1,1,(float)screenwidth,(float)screenheight);
-		v = setv(v, q.x0, q.y1, 0,1,(float)screenwidth,(float)screenheight);
+		v = setv(v, q.x0, q.y0, 0,0,(float)screenwidth,(float)screenheight,colorRGBA);
+		v = setv(v, q.x1, q.y1, 1,1,(float)screenwidth,(float)screenheight,colorRGBA);
+		v = setv(v, q.x0, q.y1, 0,1,(float)screenwidth,(float)screenheight,colorRGBA);
 		texture->nverts += 6;
 	}
 
@@ -667,7 +718,7 @@ void sth_flush_draw(struct sth_stash* stash)
 void sth_draw_text(struct sth_stash* stash,
 				   int idx, float size,
 				   float x, float y,
-				   const char* s, float* dx, int screenwidth, int screenheight, int measureOnly, float retinaScale)
+				   const char* s, float* dx, int screenwidth, int screenheight, int measureOnly, float retinaScale, float colorRGBA[4])
 {
 
 	unsigned int codepoint;
@@ -708,13 +759,68 @@ void sth_draw_text(struct sth_stash* stash,
         {
             v = &texture->newverts[texture->nverts];
 
-            v = setv(v, q.x0, q.y0, q.s0, q.t0,(float)screenwidth,(float)screenheight);
-            v = setv(v, q.x1, q.y0, q.s1, q.t0,(float)screenwidth,(float)screenheight);
-            v = setv(v, q.x1, q.y1, q.s1, q.t1,(float)screenwidth,(float)screenheight);
+            v = setv(v, q.x0, q.y0, q.s0, q.t0,(float)screenwidth,(float)screenheight,colorRGBA);
+            v = setv(v, q.x1, q.y0, q.s1, q.t0,(float)screenwidth,(float)screenheight,colorRGBA);
+            v = setv(v, q.x1, q.y1, q.s1, q.t1,(float)screenwidth,(float)screenheight,colorRGBA);
 
-            v = setv(v, q.x0, q.y0, q.s0, q.t0,(float)screenwidth,(float)screenheight);
-            v = setv(v, q.x1, q.y1, q.s1, q.t1,(float)screenwidth,(float)screenheight);
-            v = setv(v, q.x0, q.y1, q.s0, q.t1,(float)screenwidth,(float)screenheight);
+            v = setv(v, q.x0, q.y0, q.s0, q.t0,(float)screenwidth,(float)screenheight,colorRGBA);
+            v = setv(v, q.x1, q.y1, q.s1, q.t1,(float)screenwidth,(float)screenheight,colorRGBA);
+            v = setv(v, q.x0, q.y1, q.s0, q.t1,(float)screenwidth,(float)screenheight,colorRGBA);
+
+            texture->nverts += 6;
+        }
+	}
+
+	if (dx) *dx = x;
+}
+
+void sth_draw_text3D(struct sth_stash* stash,
+				   int idx, float fontSize,
+				   float x, float y, float z,
+				   const char* s, float* dx, float textScale, float colorRGBA[4], int unused)
+{
+
+	unsigned int codepoint;
+	struct sth_glyph* glyph = NULL;
+	struct sth_texture* texture = NULL;
+	unsigned int state = 0;
+	struct sth_quad q;
+	short isize = (short)(fontSize*10.0f);
+	Vertex* v;
+	struct sth_font* fnt = NULL;
+
+    s_retinaScale = 1;
+	if (stash == NULL) return;
+
+	if (!stash->textures) return;
+	fnt = stash->fonts;
+	while(fnt != NULL && fnt->idx != idx) fnt = fnt->next;
+	if (fnt == NULL) return;
+	if (fnt->type != BMFONT && !fnt->data) return;
+
+	for (; *s; ++s)
+	{
+		if (decutf8(&state, &codepoint, *(unsigned char*)s))
+			continue;
+		glyph = get_glyph(stash, fnt, codepoint, isize);
+		if (!glyph) continue;
+		texture = glyph->texture;
+
+        if (texture->nverts+6 >= VERT_COUNT)
+            flush_draw(stash);
+
+		if (!get_quad3D(stash, fnt, glyph, isize, &x, &y, &q, fontSize, textScale)) continue;
+
+        {
+            v = &texture->newverts[texture->nverts];
+
+            v = setv3D(v, q.x0, q.y0, z,q.s0, q.t0,colorRGBA);
+            v = setv3D(v, q.x1, q.y0, z,q.s1, q.t0,colorRGBA);
+            v = setv3D(v, q.x1, q.y1, z,q.s1, q.t1,colorRGBA);
+
+            v = setv3D(v, q.x0, q.y0, z,q.s0, q.t0,colorRGBA);
+            v = setv3D(v, q.x1, q.y1, z,q.s1, q.t1,colorRGBA);
+            v = setv3D(v, q.x0, q.y1, z,q.s0, q.t1,colorRGBA);
 
             texture->nverts += 6;
         }
diff --git a/examples/OpenGLWindow/fontstash.h b/examples/OpenGLWindow/fontstash.h
index 940bb7856..ef6610f38 100644
--- a/examples/OpenGLWindow/fontstash.h
+++ b/examples/OpenGLWindow/fontstash.h
@@ -22,7 +22,7 @@
 
 
 #define MAX_ROWS 128
-#define VERT_COUNT (6*128)
+#define VERT_COUNT (16*128)
 #define INDEX_COUNT (VERT_COUNT*2)
 
 
@@ -102,6 +102,9 @@ struct sth_texture
 struct	RenderCallbacks
 {
 	virtual ~RenderCallbacks() {}
+	virtual void setColorRGBA(float color[4])=0;
+	virtual void setWorldPosition(float pos[3])=0;
+	virtual void setWorldOrientation(float orn[4])=0;
 	virtual void updateTexture(sth_texture* texture, sth_glyph* glyph, int textureWidth, int textureHeight)=0;
 	virtual void render(sth_texture* texture)=0;
 };
@@ -124,13 +127,28 @@ void sth_draw_texture(struct sth_stash* stash,
 				   int idx, float size,
 				   float x, float y,
 				   int screenwidth, int screenheight,
-				   const char* s, float* dx);
+				   const char* s, float* dx, float colorRGBA[4]);
 
 void sth_flush_draw(struct sth_stash* stash);
 
+
+void sth_draw_text3D(struct sth_stash* stash,
+				   int idx, float fontSize,
+				   float x, float y, float z,
+				   const char* s, float* dx, float textScale, float colorRGBA[4], int bla);
+
 void sth_draw_text(struct sth_stash* stash,
 				   int idx, float size,
-				   float x, float y, const char* string, float* dx, int screenwidth, int screenheight, int measureOnly=0, float retinaScale=1);
+				   float x, float y, const char* string, float* dx, int screenwidth, int screenheight, int measureOnly, float retinaScale, float colorRGBA[4]);
+
+inline void sth_draw_text(struct sth_stash* stash,
+				   int idx, float size,
+				   float x, float y, const char* string, float* dx, int screenwidth, int screenheight, int measureOnly=false, float retinaScale=1.)
+{
+	float colorRGBA[4]={1,1,1,1};
+	sth_draw_text(stash,idx,size,x,y,string,dx,screenwidth,screenheight,measureOnly, retinaScale, colorRGBA);
+
+}
 
 void sth_dim_text(struct sth_stash* stash, int idx, float size, const char* string,
 				  float* minx, float* miny, float* maxx, float* maxy);
diff --git a/examples/OpenGLWindow/opengl_fontstashcallbacks.cpp b/examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
index 3b9f9fe40..90e4bebca 100644
--- a/examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
+++ b/examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
@@ -14,8 +14,8 @@
 
 
 static unsigned int s_indexData[INDEX_COUNT];
-GLuint s_indexArrayObject, s_indexBuffer;
-GLuint s_vertexArrayObject,s_vertexBuffer;
+static GLuint s_indexArrayObject, s_indexBuffer;
+static GLuint s_vertexArrayObject,s_vertexBuffer;
 
 OpenGL2RenderCallbacks::OpenGL2RenderCallbacks(GLPrimitiveRenderer* primRender)
 	:m_primRender2(primRender)
@@ -54,7 +54,13 @@ void InternalOpenGL2RenderCallbacks::display2()
     
     
        assert(glGetError()==GL_NO_ERROR);
-  
+	 float identity[16]={1,0,0,0,
+						0,1,0,0,
+						0,0,1,0,
+						0,0,0,1};
+	glUniformMatrix4fv(data->m_viewmatUniform, 1, false, identity);
+	glUniformMatrix4fv(data->m_projMatUniform, 1, false, identity);
+
     vec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
     glUniform2fv(data->m_positionUniform, 1, (const GLfloat *)&p);
     
diff --git a/examples/OpenGLWindow/opengl_fontstashcallbacks.h b/examples/OpenGLWindow/opengl_fontstashcallbacks.h
index 285a3df97..e4db0010f 100644
--- a/examples/OpenGLWindow/opengl_fontstashcallbacks.h
+++ b/examples/OpenGLWindow/opengl_fontstashcallbacks.h
@@ -43,6 +43,10 @@ struct	OpenGL2RenderCallbacks : public InternalOpenGL2RenderCallbacks
 	GLPrimitiveRenderer* m_primRender2;
 	virtual PrimInternalData* getData();
 	
+	virtual void setWorldPosition(float pos[3]){}
+	virtual void setWorldOrientation(float orn[4]){}
+	virtual void setColorRGBA(float color[4]){}
+
 	OpenGL2RenderCallbacks(GLPrimitiveRenderer* primRender);
 	virtual ~OpenGL2RenderCallbacks();
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 6a4023c58..90e340890 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1612,6 +1612,9 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle p
 		
 	command->m_userDebugDrawArgs.m_lineWidth = lineWidth;
 	command->m_userDebugDrawArgs.m_lifeTime = lifeTime;
+	command->m_userDebugDrawArgs.m_trackingObjectUniqueId = -1;
+	command->m_userDebugDrawArgs.m_trackingLinkIndex = -1;
+	command->m_userDebugDrawArgs.m_optionFlags = 0;
 
 	return (b3SharedMemoryCommandHandle) command;
 }
@@ -1646,10 +1649,51 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle p
 	command->m_userDebugDrawArgs.m_textSize = textSize;
 
 	command->m_userDebugDrawArgs.m_lifeTime = lifeTime;
+	command->m_userDebugDrawArgs.m_trackingObjectUniqueId = -1;
+	command->m_userDebugDrawArgs.m_trackingLinkIndex = -1;
+
+	command->m_userDebugDrawArgs.m_optionFlags = 0;
 
 	return (b3SharedMemoryCommandHandle) command;
 }
 
+void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
+	b3Assert(command->m_updateFlags & USER_DEBUG_HAS_TEXT);
+	command->m_userDebugDrawArgs.m_optionFlags = optionFlags;
+	command->m_updateFlags |= USER_DEBUG_HAS_OPTION_FLAGS;
+}
+
+void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[4])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
+	b3Assert(command->m_updateFlags & USER_DEBUG_HAS_TEXT);
+	command->m_userDebugDrawArgs.m_textOrientation[0] = orientation[0];
+	command->m_userDebugDrawArgs.m_textOrientation[1] = orientation[1];
+	command->m_userDebugDrawArgs.m_textOrientation[2] = orientation[2];
+	command->m_userDebugDrawArgs.m_textOrientation[3] = orientation[3];
+	command->m_updateFlags |= USER_DEBUG_HAS_TEXT_ORIENTATION;
+
+}
+
+
+void b3UserDebugItemSetTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
+	
+	command->m_updateFlags |= USER_DEBUG_HAS_TRACKING_OBJECT;
+	command->m_userDebugDrawArgs.m_trackingObjectUniqueId = objectUniqueId;
+	command->m_userDebugDrawArgs.m_trackingLinkIndex = linkIndex;
+}
+
+
 b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle physClient, const char* txt, double rangeMin, double rangeMax, double startValue)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -1670,6 +1714,8 @@ b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle ph
 	command->m_userDebugDrawArgs.m_rangeMin = rangeMin;
 	command->m_userDebugDrawArgs.m_rangeMax = rangeMax;
 	command->m_userDebugDrawArgs.m_startValue = startValue;
+	command->m_userDebugDrawArgs.m_trackingObjectUniqueId = -1;
+	command->m_userDebugDrawArgs.m_optionFlags = 0;
 	return (b3SharedMemoryCommandHandle)command;
 }
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index cee3a9b41..f36560508 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -122,7 +122,13 @@ int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, s
     
 /// Add/remove user-specific debug lines and debug text messages
 b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime);
+
 b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime);
+void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
+void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[4]);
+
+void b3UserDebugItemSetTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
+
 b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle physClient, const char* txt, double rangeMin, double rangeMax, double startValue);
 b3SharedMemoryCommandHandle b3InitUserDebugReadParameter(b3PhysicsClientHandle physClient, int debugItemUniqueId);
 int b3GetStatusDebugParameterValue(b3SharedMemoryStatusHandle statusHandle, double* paramValue);
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 2c1936e75..4872a151a 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -280,7 +280,15 @@ bool PhysicsClientSharedMemory::connect() {
 
     if (m_data->m_testBlock1) {
         if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) {
-            b3Error("Error: please start server before client\n");
+			//there is no chance people are still using this software 100 years from now ;-)
+			if ((m_data->m_testBlock1->m_magicId < 211705023) && 
+				(m_data->m_testBlock1->m_magicId >=201705023))
+			{
+				b3Error("Error: physics server version mismatch (expected %d got %d)\n",SHARED_MEMORY_MAGIC_NUMBER, m_data->m_testBlock1->m_magicId);
+			} else
+			{
+				b3Error("Error connecting to shared memory: please start server before client\n");
+			}
             m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey,
                                                         SHARED_MEMORY_SIZE);
             m_data->m_testBlock1 = 0;
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 6f3cd63dd..e7e0c93f5 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5816,6 +5816,37 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						SharedMemoryStatus& serverCmd = serverStatusOut;
 						serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED;
 						hasStatus = true;
+
+
+						int trackingVisualShapeIndex = -1;
+
+						if (clientCmd.m_userDebugDrawArgs.m_trackingObjectUniqueId>=0)
+						{
+							InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userDebugDrawArgs.m_trackingObjectUniqueId);
+							if (bodyHandle && bodyHandle->m_multiBody)
+							{
+								int linkIndex = clientCmd.m_userDebugDrawArgs.m_trackingLinkIndex;
+								if (linkIndex ==-1)
+								{
+									if (bodyHandle->m_multiBody->getBaseCollider())
+									{
+										trackingVisualShapeIndex  = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
+									}
+								} else
+								{
+									if (linkIndex >=0 && linkIndex < bodyHandle->m_multiBody->getNumLinks())
+									{
+										if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
+										{
+											trackingVisualShapeIndex  = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
+										}
+									}
+
+								}
+
+							}
+						}
+
 						if (clientCmd.m_updateFlags & USER_DEBUG_ADD_PARAMETER)
 						{
 							int uid = m_data->m_guiHelper->addUserDebugParameter(
@@ -5888,11 +5919,27 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 						if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT)
 						{
+								//addUserDebugText3D( const double orientation[4], const double	textColorRGB[3], double size, double lifeTime, int trackingObjectUniqueId, int optionFlags){return -1;}
+
+							int optionFlags = clientCmd.m_userDebugDrawArgs.m_optionFlags;
+
+							if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT_ORIENTATION)
+							{
+								optionFlags |= DEB_DEBUG_TEXT_USE_ORIENTATION;
+							}
+
+
+							
+
+
 							int uid = m_data->m_guiHelper->addUserDebugText3D(clientCmd.m_userDebugDrawArgs.m_text,
 								clientCmd.m_userDebugDrawArgs.m_textPositionXYZ,
+								clientCmd.m_userDebugDrawArgs.m_textOrientation,
 								clientCmd.m_userDebugDrawArgs.m_textColorRGB,
 								clientCmd.m_userDebugDrawArgs.m_textSize,
-								clientCmd.m_userDebugDrawArgs.m_lifeTime);
+								clientCmd.m_userDebugDrawArgs.m_lifeTime,
+								trackingVisualShapeIndex,
+								optionFlags);
 
 							if (uid>=0)
 							{
@@ -5908,7 +5955,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								clientCmd.m_userDebugDrawArgs.m_debugLineToXYZ,
 								clientCmd.m_userDebugDrawArgs.m_debugLineColorRGB,
 								clientCmd.m_userDebugDrawArgs.m_lineWidth,
-								clientCmd.m_userDebugDrawArgs.m_lifeTime);
+								clientCmd.m_userDebugDrawArgs.m_lifeTime,
+								trackingVisualShapeIndex);
 
 							if (uid>=0)
 							{
@@ -5953,14 +6001,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 //static int skip=1;
 
+void PhysicsServerCommandProcessor::syncPhysicsToGraphics()
+{
+	m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
+}
+
+
 void PhysicsServerCommandProcessor::renderScene(int renderFlags)
 {
 	if (m_data->m_guiHelper)
 	{
-		if (0==(renderFlags&COV_DISABLE_SYNC_RENDERING))
-		{
-			m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
-		}
 		m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
 	}
 #ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index f30d35f2c..6b0f7a58f 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -81,7 +81,9 @@ public:
 	virtual void renderScene(int renderFlags);
 	virtual void   physicsDebugDraw(int debugDrawFlags);
 	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
-	
+	virtual void syncPhysicsToGraphics();
+
+
 	//@todo(erwincoumans) Should we have shared memory commands for picking objects?
 	///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
 	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index cf5f0c275..772dbd6d4 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -541,6 +541,7 @@ struct UserDebugDrawLine
 	
 	double m_lifeTime;
 	int m_itemUniqueId;
+	int m_trackingVisualShapeIndex;
 };
 
 struct UserDebugParameter
@@ -555,12 +556,16 @@ struct UserDebugParameter
 struct UserDebugText
 {
 	char m_text[1024];
-	double m_textPositionXYZ[3];
+	double m_textPositionXYZ1[3];
 	double m_textColorRGB[3];
 	double textSize;
 
 	double m_lifeTime;
 	int m_itemUniqueId;
+	double m_textOrientation[4];
+	int m_trackingVisualShapeIndex;
+	int m_optionFlags;
+
 };
 
 
@@ -783,7 +788,7 @@ public:
 		m_texels(0),
 		m_textureId(-1)
 	{
-		m_childGuiHelper = guiHelper;;
+		m_childGuiHelper = guiHelper;
 
 	}
 
@@ -1078,12 +1083,16 @@ public:
 	{
 	}
 
+	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
+	{
+	}
+
 
 	btAlignedObjectArray<UserDebugText> m_userDebugText;
 	
 	UserDebugText m_tmpText;
 
-	virtual int		addUserDebugText3D( const char* txt, const double positionXYZ[3], const double	textColorRGB[3], double size, double lifeTime)
+	virtual int		addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double	textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags)
 	{
 		
 		m_tmpText.m_itemUniqueId = m_uidGenerator++;
@@ -1091,13 +1100,27 @@ public:
 		m_tmpText.textSize = size;
 		//int len = strlen(txt);
 		strcpy(m_tmpText.m_text,txt);
-		m_tmpText.m_textPositionXYZ[0] = positionXYZ[0];
-		m_tmpText.m_textPositionXYZ[1] = positionXYZ[1];
-		m_tmpText.m_textPositionXYZ[2] = positionXYZ[2];
+		m_tmpText.m_textPositionXYZ1[0] = positionXYZ[0];
+		m_tmpText.m_textPositionXYZ1[1] = positionXYZ[1];
+		m_tmpText.m_textPositionXYZ1[2] = positionXYZ[2];
+
+		m_tmpText.m_textOrientation[0] = orientation[0];
+		m_tmpText.m_textOrientation[1] = orientation[1];
+		m_tmpText.m_textOrientation[2] = orientation[2];
+		m_tmpText.m_textOrientation[3] = orientation[3];
+
 		m_tmpText.m_textColorRGB[0] = textColorRGB[0];
 		m_tmpText.m_textColorRGB[1] = textColorRGB[1];
 		m_tmpText.m_textColorRGB[2] = textColorRGB[2];
 
+		m_tmpText.m_trackingVisualShapeIndex = trackingVisualShapeIndex;
+
+		m_tmpText.m_optionFlags = optionFlags;
+		m_tmpText.m_textOrientation[0] = orientation[0];
+		m_tmpText.m_textOrientation[1] = orientation[1];
+		m_tmpText.m_textOrientation[2] = orientation[2];
+		m_tmpText.m_textOrientation[3] = orientation[3];
+
 		m_cs->lock();
 		m_cs->setSharedParam(1, eGUIUserDebugAddText);
 		workerThreadWait();
@@ -1140,7 +1163,7 @@ public:
 	btAlignedObjectArray<UserDebugDrawLine> m_userDebugLines;
 	UserDebugDrawLine m_tmpLine;
 
-	virtual int		addUserDebugLine(const double	debugLineFromXYZ[3], const double	debugLineToXYZ[3], const double	debugLineColorRGB[3], double lineWidth, double lifeTime )
+	virtual int		addUserDebugLine(const double	debugLineFromXYZ[3], const double	debugLineToXYZ[3], const double	debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex)
 	{
 		m_tmpLine.m_lifeTime = lifeTime;
 		m_tmpLine.m_lineWidth = lineWidth;
@@ -1156,7 +1179,7 @@ public:
 		m_tmpLine.m_debugLineColorRGB[0] = debugLineColorRGB[0];
 		m_tmpLine.m_debugLineColorRGB[1] = debugLineColorRGB[1];
 		m_tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2];
-		
+		m_tmpLine.m_trackingVisualShapeIndex = trackingVisualShapeIndex;
 		m_cs->lock();
 		m_cs->setSharedParam(1, eGUIUserDebugAddLine);
 		workerThreadWait();
@@ -2004,6 +2027,11 @@ void PhysicsServerExample::drawUserDebugLines()
 
 		for (int i = 0; i<m_multiThreadedHelper->m_userDebugLines.size(); i++)
 		{
+
+			
+
+
+
 			btVector3 from;
 			from.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[0],
 				m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[1],
@@ -2013,6 +2041,26 @@ void PhysicsServerExample::drawUserDebugLines()
 				m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[1],
 				m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[2]);
 
+			int graphicsIndex = m_multiThreadedHelper->m_userDebugLines[i].m_trackingVisualShapeIndex;
+			if (graphicsIndex>=0)
+			{
+				CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
+				if (renderer)
+				{
+					float parentPos[3];
+					float parentOrn[4];
+
+					if (renderer->readSingleInstanceTransformToCPU(parentPos,parentOrn,graphicsIndex))
+					{
+						btTransform parentTrans;
+						parentTrans.setOrigin(btVector3(parentPos[0],parentPos[1],parentPos[2]));
+						parentTrans.setRotation(btQuaternion(parentOrn[0],parentOrn[1],parentOrn[2],parentOrn[3]));
+						from = parentTrans*from;
+						toX = parentTrans*toX;
+					}
+				}
+			}
+
 			btVector3 color;
 			color.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[0],
 				m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[1],
@@ -2071,11 +2119,77 @@ void PhysicsServerExample::drawUserDebugLines()
 
 		for (int i = 0; i<m_multiThreadedHelper->m_userDebugText.size(); i++)
 		{
+
+//			int optionFlag = CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera|CommonGraphicsApp::eDrawText3D_TrueType;
+			//int optionFlag = CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera;
+			int optionFlag = 0;
+			float orientation[4] = {0,0,0,1};
+			if (m_multiThreadedHelper->m_userDebugText[i].m_optionFlags&CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera)
+			{
+				orientation[0] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[0];
+				orientation[1] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[1];
+				orientation[2] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[2];
+				orientation[3] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[3];
+				optionFlag |= CommonGraphicsApp::eDrawText3D_TrueType;
+			} else
+			{
+				optionFlag |= CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera;
+			}
+
+			float colorRGBA[4] = {
+				m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[0],
+				m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[1],
+				m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[2],
+				1.};
+
+			float pos[3] = {m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ1[0],
+			m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ1[1],
+			m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ1[2]};
+
+			int graphicsIndex = m_multiThreadedHelper->m_userDebugText[i].m_trackingVisualShapeIndex;
+			if (graphicsIndex>=0)
+			{
+				CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
+				if (renderer)
+				{
+					float parentPos[3];
+					float parentOrn[4];
+
+					if (renderer->readSingleInstanceTransformToCPU(parentPos,parentOrn,graphicsIndex))
+					{
+						btTransform parentTrans;
+						parentTrans.setOrigin(btVector3(parentPos[0],parentPos[1],parentPos[2]));
+						parentTrans.setRotation(btQuaternion(parentOrn[0],parentOrn[1],parentOrn[2],parentOrn[3]));
+						btTransform childTr;
+						childTr.setOrigin(btVector3(pos[0],pos[1],pos[2]));
+						childTr.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
+
+						btTransform siteTr = parentTrans*childTr;
+						pos[0] = siteTr.getOrigin()[0];
+						pos[1] = siteTr.getOrigin()[1];
+						pos[2] = siteTr.getOrigin()[2];
+						btQuaternion siteOrn = siteTr.getRotation();
+						orientation[0] = siteOrn[0];
+						orientation[1] = siteOrn[1];
+						orientation[2] = siteOrn[2];
+						orientation[3] = siteOrn[3];
+					}
+				}
+			}
+
+
+
 			m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,
+				pos,orientation,colorRGBA,
+				m_multiThreadedHelper->m_userDebugText[i].textSize,optionFlag);
+
+
+			/*m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text,
 				m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[0],
 				m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[1],
 				m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[2],
 				m_multiThreadedHelper->m_userDebugText[i].textSize);
+				*/
 
 		}
 	}
@@ -2260,6 +2374,11 @@ void PhysicsServerExample::renderScene()
 
 void    PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
 {
+	if (gEnableSyncPhysicsRendering)
+	{
+		m_physicsServer.syncPhysicsToGraphics();
+	}
+
 	drawUserDebugLines();
 
 	if (gEnableRendering)
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index b145db6c6..225076910 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -278,8 +278,11 @@ void PhysicsServerSharedMemory::renderScene(int renderFlags)
 {
 	m_data->m_commandProcessor->renderScene(renderFlags);
 
-	
-	
+}
+
+void	PhysicsServerSharedMemory::syncPhysicsToGraphics()
+{
+	m_data->m_commandProcessor->syncPhysicsToGraphics();
 }
 
 void    PhysicsServerSharedMemory::physicsDebugDraw(int debugDrawFlags)
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h
index 3e1270c51..e3dc7facf 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.h
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.h
@@ -43,6 +43,7 @@ public:
 	//to a physics client, over shared memory
 	void    physicsDebugDraw(int debugDrawFlags);
 	void    renderScene(int renderFlags);
+	void	syncPhysicsToGraphics();
 
 	void enableCommandLogging(bool enable, const char* fileName);
 	void replayFromLogFile(const char* fileName);
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index c9f1099a5..6a584f86d 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -625,6 +625,9 @@ enum EnumUserDebugDrawFlags
 	USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR = 32,
 	USER_DEBUG_ADD_PARAMETER=64,
 	USER_DEBUG_READ_PARAMETER=128,
+	USER_DEBUG_HAS_OPTION_FLAGS=256,
+	USER_DEBUG_HAS_TEXT_ORIENTATION = 512,
+	USER_DEBUG_HAS_TRACKING_OBJECT=1024,
 
 };
 
@@ -640,8 +643,13 @@ struct UserDebugDrawArgs
 
 	char m_text[MAX_FILENAME_LENGTH];
 	double m_textPositionXYZ[3];
+	double m_textOrientation[4];
+	int m_trackingObjectUniqueId;
+	int m_trackingLinkIndex;
 	double m_textColorRGB[3];
 	double m_textSize;
+	int m_optionFlags;
+
 
 	double m_rangeMin;
 	double m_rangeMax;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 0f4bb31cd..97e462825 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -4,7 +4,8 @@
 #define SHARED_MEMORY_KEY 12347
 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
 ///my convention is year/month/day/rev
-#define SHARED_MEMORY_MAGIC_NUMBER 201703024
+#define SHARED_MEMORY_MAGIC_NUMBER 201705023
+//#define SHARED_MEMORY_MAGIC_NUMBER 201703024
 
 enum EnumSharedMemoryClientCommand
 {
@@ -507,6 +508,13 @@ enum b3ConfigureDebugVisualizerEnum
 	COV_ENABLE_SYNC_RENDERING_INTERNAL,
 };
 
+enum b3AddUserDebugItemEnum
+{
+	DEB_DEBUG_TEXT_USE_ORIENTATION=1,
+	DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS=2,
+	DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT=4,
+};
+
 enum eCONNECT_METHOD {
   eCONNECT_GUI = 1,
   eCONNECT_DIRECT = 2,
diff --git a/examples/SimpleOpenGL3/main.cpp b/examples/SimpleOpenGL3/main.cpp
index 998412c1a..c51be2b55 100644
--- a/examples/SimpleOpenGL3/main.cpp
+++ b/examples/SimpleOpenGL3/main.cpp
@@ -1,23 +1,12 @@
 
 
-//#define USE_OPENGL2
-#ifdef USE_OPENGL2
-#include "OpenGLWindow/SimpleOpenGL2App.h"
-typedef SimpleOpenGL2App SimpleOpenGLApp ;
 
-#else
 #include "OpenGLWindow/SimpleOpenGL3App.h"
-typedef SimpleOpenGL3App SimpleOpenGLApp ;
-
-#endif //USE_OPENGL2
-
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3CommandLineArgs.h"
 #include "assert.h"
 #include <stdio.h>
 
-
-
 char* gVideoFileName = 0;
 char* gPngFileName = 0;
 
@@ -30,131 +19,9 @@ static b3KeyboardCallback sOldKeyboardCB = 0;
 
 float gWidth = 1024;
 float gHeight = 768;
-SimpleOpenGLApp* app  = 0;
-float gMouseX = 0;
-float gMouseY = 0;
-float g_MouseWheel = 0.0f;
-int g_MousePressed[3] = {0};
-int g_MousePressed2[3] = {0};
-
-//#define B3_USE_IMGUI
-#ifdef B3_USE_IMGUI
-#include "OpenGLWindow/OpenGLInclude.h"
-#include "ThirdPartyLibs/imgui/imgui.h"
-static GLuint       g_FontTexture = 0;
-
-
-
-void ImGui_ImplBullet_CreateDeviceObjects()
-{
-	ImGuiIO& io = ImGui::GetIO();
-
-	unsigned char* pixels;
-	int width, height;
-	io.Fonts->GetTexDataAsRGBA32(&pixels, &width, &height);   // Load as RGBA 32-bits (75% of the memory is wasted, but default font is so small) because it is more likely to be compatible with user's existing shaders. If your ImTextureId represent a higher-level concept than just a GL texture id, consider calling GetTexDataAsAlpha8() instead to save on GPU memory.
-
-	// Upload texture to graphics system
-	GLint last_texture;
-	glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
-	glGenTextures(1, &g_FontTexture);
-	glBindTexture(GL_TEXTURE_2D, g_FontTexture);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
-
-	// Store our identifier
-	io.Fonts->TexID = (void *)(intptr_t)g_FontTexture;
-
-	// Restore state
-	glBindTexture(GL_TEXTURE_2D, last_texture);
-
-}
-
-
-void ImGui_ImplBullet_RenderDrawLists(ImDrawData* draw_data)
-{
-   // Avoid rendering when minimized, scale coordinates for retina displays (screen coordinates != framebuffer coordinates)
-    ImGuiIO& io = ImGui::GetIO();
-    int fb_width = (int)(io.DisplaySize.x * io.DisplayFramebufferScale.x);
-    int fb_height = (int)(io.DisplaySize.y * io.DisplayFramebufferScale.y);
-    if (fb_width == 0 || fb_height == 0)
-        return;
-    draw_data->ScaleClipRects(io.DisplayFramebufferScale);
-
-    // We are using the OpenGL fixed pipeline to make the example code simpler to read!
-    // Setup render state: alpha-blending enabled, no face culling, no depth testing, scissor enabled, vertex/texcoord/color pointers.
-    GLint last_texture; glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
-    GLint last_viewport[4]; glGetIntegerv(GL_VIEWPORT, last_viewport);
-    GLint last_scissor_box[4]; glGetIntegerv(GL_SCISSOR_BOX, last_scissor_box); 
-    glPushAttrib(GL_ENABLE_BIT | GL_COLOR_BUFFER_BIT | GL_TRANSFORM_BIT);
-    glEnable(GL_BLEND);
-    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-    glDisable(GL_CULL_FACE);
-    glDisable(GL_DEPTH_TEST);
-    glEnable(GL_SCISSOR_TEST);
-    glEnableClientState(GL_VERTEX_ARRAY);
-    glEnableClientState(GL_TEXTURE_COORD_ARRAY);
-    glEnableClientState(GL_COLOR_ARRAY);
-    glEnable(GL_TEXTURE_2D);
-    //glUseProgram(0); // You may want this if using this code in an OpenGL 3+ context
-
-    // Setup viewport, orthographic projection matrix
-    glViewport(0, 0, (GLsizei)fb_width, (GLsizei)fb_height);
-    glMatrixMode(GL_PROJECTION);
-    glPushMatrix();
-    glLoadIdentity();
-    glOrtho(0.0f, io.DisplaySize.x, io.DisplaySize.y, 0.0f, -1.0f, +1.0f);
-    glMatrixMode(GL_MODELVIEW);
-    glPushMatrix();
-    glLoadIdentity();
-
-    // Render command lists
-    #define OFFSETOF(TYPE, ELEMENT) ((size_t)&(((TYPE *)0)->ELEMENT))
-    for (int n = 0; n < draw_data->CmdListsCount; n++)
-    {
-        const ImDrawList* cmd_list = draw_data->CmdLists[n];
-        const ImDrawVert* vtx_buffer = cmd_list->VtxBuffer.Data;
-        const ImDrawIdx* idx_buffer = cmd_list->IdxBuffer.Data;
-        glVertexPointer(2, GL_FLOAT, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + OFFSETOF(ImDrawVert, pos)));
-        glTexCoordPointer(2, GL_FLOAT, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + OFFSETOF(ImDrawVert, uv)));
-        glColorPointer(4, GL_UNSIGNED_BYTE, sizeof(ImDrawVert), (const GLvoid*)((const char*)vtx_buffer + OFFSETOF(ImDrawVert, col)));
-
-        for (int cmd_i = 0; cmd_i < cmd_list->CmdBuffer.Size; cmd_i++)
-        {
-            const ImDrawCmd* pcmd = &cmd_list->CmdBuffer[cmd_i];
-            if (pcmd->UserCallback)
-            {
-                pcmd->UserCallback(cmd_list, pcmd);
-            }
-            else
-            {
-                glBindTexture(GL_TEXTURE_2D, (GLuint)(intptr_t)pcmd->TextureId);
-                glScissor((int)pcmd->ClipRect.x, (int)(fb_height - pcmd->ClipRect.w), (int)(pcmd->ClipRect.z - pcmd->ClipRect.x), (int)(pcmd->ClipRect.w - pcmd->ClipRect.y));
-                glDrawElements(GL_TRIANGLES, (GLsizei)pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, idx_buffer);
-            }
-            idx_buffer += pcmd->ElemCount;
-        }
-    }
-    #undef OFFSETOF
-
-    // Restore modified state
-    glDisableClientState(GL_COLOR_ARRAY);
-    glDisableClientState(GL_TEXTURE_COORD_ARRAY);
-    glDisableClientState(GL_VERTEX_ARRAY);
-    glBindTexture(GL_TEXTURE_2D, (GLuint)last_texture);
-    glMatrixMode(GL_MODELVIEW);
-    glPopMatrix();
-    glMatrixMode(GL_PROJECTION);
-    glPopMatrix();
-    glPopAttrib();
-    glViewport(last_viewport[0], last_viewport[1], (GLsizei)last_viewport[2], (GLsizei)last_viewport[3]);
-    glScissor(last_scissor_box[0], last_scissor_box[1], (GLsizei)last_scissor_box[2], (GLsizei)last_scissor_box[3]);
-}
-#endif //B3_USE_IMGUI
 
 void MyWheelCallback(float deltax, float deltay)
 {
-	g_MouseWheel += deltax+deltay;
 	if (sOldWheelCB)
 		sOldWheelCB(deltax,deltay);
 }
@@ -169,29 +36,12 @@ void MyResizeCallback( float width, float height)
 void MyMouseMoveCallback( float x, float y)
 {
 	printf("Mouse Move: %f, %f\n", x,y);
-	gMouseX = x;
-	gMouseY = y;
 
 	if (sOldMouseMoveCB)
 		sOldMouseMoveCB(x,y);
 }
 void MyMouseButtonCallback(int button, int state, float x, float y)
 {
-	gMouseX = x;
-	gMouseY = y;
-	{
-		if (button>=0 && button<3)
-		{
-			if (state)
-			{
-				g_MousePressed[button] = state;
-			}
-			g_MousePressed2[button] = state;
-
-		}
-		
-	}
-
 	if (sOldMouseButtonCB)
 		sOldMouseButtonCB(button,state,x,y);
 }
@@ -209,56 +59,17 @@ void MyKeyboardCallback(int keycode, int state)
 }
 
 
-bool    ImGui_ImplGlfw_Init()
-{
- 
-	#if 0
-    ImGuiIO& io = ImGui::GetIO();
-    io.KeyMap[ImGuiKey_Tab] = GLFW_KEY_TAB;                     // Keyboard mapping. ImGui will use those indices to peek into the io.KeyDown[] array.
-    io.KeyMap[ImGuiKey_LeftArrow] = GLFW_KEY_LEFT;
-    io.KeyMap[ImGuiKey_RightArrow] = GLFW_KEY_RIGHT;
-    io.KeyMap[ImGuiKey_UpArrow] = GLFW_KEY_UP;
-    io.KeyMap[ImGuiKey_DownArrow] = GLFW_KEY_DOWN;
-    io.KeyMap[ImGuiKey_PageUp] = GLFW_KEY_PAGE_UP;
-    io.KeyMap[ImGuiKey_PageDown] = GLFW_KEY_PAGE_DOWN;
-    io.KeyMap[ImGuiKey_Home] = GLFW_KEY_HOME;
-    io.KeyMap[ImGuiKey_End] = GLFW_KEY_END;
-    io.KeyMap[ImGuiKey_Delete] = GLFW_KEY_DELETE;
-    io.KeyMap[ImGuiKey_Backspace] = GLFW_KEY_BACKSPACE;
-    io.KeyMap[ImGuiKey_Enter] = GLFW_KEY_ENTER;
-    io.KeyMap[ImGuiKey_Escape] = GLFW_KEY_ESCAPE;
-    io.KeyMap[ImGuiKey_A] = GLFW_KEY_A;
-    io.KeyMap[ImGuiKey_C] = GLFW_KEY_C;
-    io.KeyMap[ImGuiKey_V] = GLFW_KEY_V;
-    io.KeyMap[ImGuiKey_X] = GLFW_KEY_X;
-    io.KeyMap[ImGuiKey_Y] = GLFW_KEY_Y;
-    io.KeyMap[ImGuiKey_Z] = GLFW_KEY_Z;
-
-    io.RenderDrawListsFn = ImGui_ImplGlfw_RenderDrawLists;      // Alternatively you can set this to NULL and call ImGui::GetDrawData() after ImGui::Render() to get the same ImDrawData pointer.
-    io.SetClipboardTextFn = ImGui_ImplGlfw_SetClipboardText;
-    io.GetClipboardTextFn = ImGui_ImplGlfw_GetClipboardText;
-    io.ClipboardUserData = g_Window;
-#ifdef _WIN32
-    io.ImeWindowHandle = glfwGetWin32Window(g_Window);
-#endif
-
-#endif
-
-    return true;
-}
-
 int main(int argc, char* argv[])
 {
 	{
 		b3CommandLineArgs myArgs(argc, argv);
 
 
-		app = new SimpleOpenGLApp("SimpleOpenGLApp", gWidth, gHeight);
-
-		app->m_renderer->getActiveCamera()->setCameraDistance(13);
-		app->m_renderer->getActiveCamera()->setCameraPitch(0);
-		app->m_renderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
+		SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App", gWidth, gHeight, true);
 
+		app->m_instancingRenderer->getActiveCamera()->setCameraDistance(13);
+		app->m_instancingRenderer->getActiveCamera()->setCameraPitch(0);
+		app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(0, 0, 0);
 		sOldKeyboardCB = app->m_window->getKeyboardCallback();
 		app->m_window->setKeyboardCallback(MyKeyboardCallback);
 		sOldMouseMoveCB = app->m_window->getMouseMoveCallback();
@@ -290,9 +101,9 @@ int main(int argc, char* argv[])
 
 		b3Vector3 pos = b3MakeVector3(0, 0, 0);
 		b3Quaternion orn(0, 0, 0, 1);
-		b3Vector3 color = b3MakeVector3(1, 0, 0);
+		b3Vector4 color = b3MakeVector4(1, 0, 0,1);
 		b3Vector3 scaling = b3MakeVector3 (1, 1, 1);
-		app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
+		//app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
 		app->m_renderer->writeTransforms();
 
 		do
@@ -307,8 +118,6 @@ int main(int argc, char* argv[])
 				app->dumpNextFrameToPng(fileName);
 			}
 
-			
-			
 
 
 			//update the texels of the texture using a simple pattern, animated using frame index
@@ -328,62 +137,50 @@ int main(int argc, char* argv[])
 			app->m_renderer->activateTexture(textureHandle);
 			app->m_renderer->updateTexture(textureHandle, image);
 
-			//float color[4] = { 255, 1, 1, 1 };
-			//app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true);
+			float color[4] = { 1, 0, 0, 1 };
+			app->m_primRenderer->drawTexturedRect(100, 200, gWidth / 2 - 50, gHeight / 2 - 50, color, 0, 0, 1, 1, true);
 
 
-			app->m_renderer->init();
-			app->m_renderer->updateCamera(1);
+			app->m_instancingRenderer->init();
+			app->m_instancingRenderer->updateCamera();
 
 			app->m_renderer->renderScene();
 			app->drawGrid();
 			char bla[1024];
-			sprintf(bla, "Simple test frame %d", frameCount);
+			sprintf(bla, "2d text:%d", frameCount);
 
-			//app->drawText(bla, 10, 10);
+			float yellow[4] = {1,1,0,1};
+			app->drawText(bla, 10, 10, 1, yellow);
+			int optionFlag = 0;
+			float position[3] = {1,1,1};
+			float position2[3] = {0,0,5};
 
-#ifdef B3_USE_IMGUI
-			{
-				bool show_test_window = true;
-				bool show_another_window = false;
-				ImVec4 clear_color = ImColor(114, 144, 154);
+			float orientation[4] = {0,0,0,1};
+			
+			//app->drawText3D(bla,0,0,1,1);
 
-				 // Start the frame
-				ImGuiIO& io = ImGui::GetIO();
-				if (!g_FontTexture)
-			        ImGui_ImplBullet_CreateDeviceObjects();
+			sprintf(bla, "3d bitmap camera facing text:%d", frameCount);			
+			app->drawText3D(bla,position2,orientation,color,1,CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera);
+			
+			sprintf(bla, "3d bitmap text:%d", frameCount);			
+			app->drawText3D(bla,position,orientation,color,0.001,0);
 
-				io.DisplaySize = ImVec2((float)gWidth, (float)gHeight);
-				io.DisplayFramebufferScale = ImVec2(gWidth > 0 ? ((float)1.) : 0, gHeight > 0 ? ((float)1.) : 0);
-				io.DeltaTime = (float)(1.0f/60.0f);
-				io.MousePos = ImVec2((float)gMouseX, (float)gMouseY);   
-				io.RenderDrawListsFn = ImGui_ImplBullet_RenderDrawLists;
+			float green[4] = {0,1,0,1};
+			float blue[4] = {0,0,1,1};
 
+			sprintf(bla, "3d ttf camera facing text:%d", frameCount);			
+			app->drawText3D(bla,position2,orientation,green,1,CommonGraphicsApp::eDrawText3D_TrueType|CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera);
 
-				for (int i=0;i<3;i++)
-				{
-					io.MouseDown[i] = g_MousePressed[i]|g_MousePressed2[i];
-					g_MousePressed[i] = false;
-				}
+			app->drawText3D(bla,position2,orientation,green,1,CommonGraphicsApp::eDrawText3D_TrueType|CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera);
+			sprintf(bla, "3d ttf text:%d", frameCount);
+			b3Quaternion orn;
+			orn.setEulerZYX(B3_HALF_PI/2.,0,B3_HALF_PI/2.);
+			app->drawText3D(bla,position2,orn,blue,1,CommonGraphicsApp::eDrawText3D_TrueType);
 
-				io.MouseWheel = g_MouseWheel;
+			
+			//app->drawText3D(bla,position, orientation,color,0.1,optionFlag);
+		
 
-				ImGui::NewFrame();
-
-				ImGui::ShowTestWindow();
-				ImGui::ShowMetricsWindow();
-				#if 0
-				static float f = 0.0f;
-				ImGui::Text("Hello, world!");
-				ImGui::SliderFloat("float", &f, 0.0f, 1.0f);
-				ImGui::ColorEdit3("clear color", (float*)&clear_color);
-				if (ImGui::Button("Test Window")) show_test_window ^= 1;
-				if (ImGui::Button("Another Window")) show_another_window ^= 1;
-				ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate, ImGui::GetIO().Framerate);
-				#endif
-				ImGui::Render();
-			}
-#endif //B3_USE_IMGUI
 			app->swapBuffer();
 		} while (!app->m_window->requestedExit());
 
@@ -394,4 +191,4 @@ int main(int argc, char* argv[])
 		delete[] image;
 	}
 	return 0;
-}
+}
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 16d4ca70a..43d0a1992 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -3077,13 +3077,18 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
 
 	PyObject* textPositionObj = 0;
 	PyObject* textColorRGBObj = 0;
+	PyObject* textOrientationObj = 0;
+	double textOrientation[4];
+	int trackingObjectUniqueId=-1;
+	int trackingLinkIndex=-1;
+
 	double textSize = 1.f;
 	double lifeTime = 0.f;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "physicsClientId", NULL};
+	static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "textOrientation", "trackObjectUniqueId", "trackLinkIndex", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|Oddi", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|OddOiii", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &textOrientationObj, &trackingObjectUniqueId, &trackingLinkIndex, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -3113,6 +3118,23 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
 
 	commandHandle = b3InitUserDebugDrawAddText3D(sm, text, posXYZ, colorRGB, textSize, lifeTime);
 
+	if (trackingObjectUniqueId>=0)
+	{
+		b3UserDebugItemSetTrackingObject(commandHandle, trackingObjectUniqueId,trackingLinkIndex);
+	}
+	if (textOrientationObj)
+	{
+		res = pybullet_internalSetVector4d(textOrientationObj, textOrientation);
+		if (!res)
+		{
+			PyErr_SetString(SpamError, "Error converting textOrientation[4]");
+			return NULL;
+		} else
+		{
+			b3UserDebugTextSetOrientation(commandHandle,textOrientation);
+		}
+	}
+
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);
 	if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED)
@@ -3136,6 +3158,8 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
 	double fromXYZ[3];
 	double toXYZ[3];
 	double colorRGB[3] = {1, 1, 1};
+	int trackingObjectUniqueId=-1;
+	int trackingLinkIndex=-1;
 
 	PyObject* lineFromObj = 0;
 	PyObject* lineToObj = 0;
@@ -3144,9 +3168,9 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
 	double lifeTime = 0.f;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", "physicsClientId", NULL};
+	static char* kwlist[] = {"lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", "trackObjectUniqueId", "trackLinkIndex", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|Oddi", kwlist, &lineFromObj, &lineToObj, &lineColorRGBObj, &lineWidth, &lifeTime, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|Oddiii", kwlist, &lineFromObj, &lineToObj, &lineColorRGBObj, &lineWidth, &lifeTime, &trackingObjectUniqueId, &trackingLinkIndex, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -3177,6 +3201,11 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
 
 	commandHandle = b3InitUserDebugDrawAddLine3D(sm, fromXYZ, toXYZ, colorRGB, lineWidth, lifeTime);
 
+	if (trackingObjectUniqueId>=0)
+	{
+		b3UserDebugItemSetTrackingObject(commandHandle, trackingObjectUniqueId,trackingLinkIndex);
+	}
+
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);
 	if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED)

From 2d04d39fcfb1021b9fea7f39edcf5dc18aace434 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Tue, 23 May 2017 22:41:08 -0700
Subject: [PATCH 026/175] bump up pybullet version, include <string.h> for
 memset

---
 examples/OpenGLWindow/SimpleOpenGL3App.cpp | 2 +-
 setup.py                                   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index b4781f749..38b55a91b 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -33,7 +33,7 @@
 #include <assert.h>
 #include "GLRenderToTexture.h"
 #include "Bullet3Common/b3Quaternion.h"
-#include <string>//memset
+#include <string.h>//memset
 #ifdef _WIN32
     #define popen _popen
     #define pclose _pclose
diff --git a/setup.py b/setup.py
index e3f893a48..1b1d89436 100644
--- a/setup.py
+++ b/setup.py
@@ -417,7 +417,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.0.7',
+	version='1.0.8',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From df1b5b6ca545ff4d6de7d806865db322ec7a8b2a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Tue, 23 May 2017 23:17:57 -0700
Subject: [PATCH 027/175] fix shader issue

---
 examples/OpenGLWindow/GLInstancingRenderer.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index e60b94e9f..502088504 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -80,8 +80,8 @@ static const char* triangleVertexShaderText =
 "precision highp float;"
 "uniform mat4 MVP;\n"
 "uniform vec3 vCol;\n"
-"attribute vec4 vPos;\n"
-"attribute vec2 vUV;\n"
+"in vec4 vPos;\n"
+"in vec2 vUV;\n"
 "out vec3 clr;\n"
 "out vec2 uv0;\n"
 "void main()\n"

From 9f7d7fecd5ecc336f4a9b9c48b74df2be9a48a3a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Tue, 23 May 2017 23:34:55 -0700
Subject: [PATCH 028/175] more rendering fixes

---
 data/multibody.bullet                         | Bin 16660 -> 14844 bytes
 .../CommonGraphicsAppInterface.h              |   4 ++--
 examples/OpenGLWindow/GLPrimitiveRenderer.cpp |   2 --
 examples/OpenGLWindow/fontstash.cpp           |   8 ++++----
 .../PhysicsServerCommandProcessor.cpp         |   5 +++++
 5 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/data/multibody.bullet b/data/multibody.bullet
index f71d00473ae14b544e4cabd209769298abea4307..4b0debb4b5f8f3449adb320a1b9bd31b724242d5 100644
GIT binary patch
delta 2286
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TdJ7B*NwG^9gUDe1?yuG#pz^9y

diff --git a/examples/CommonInterfaces/CommonGraphicsAppInterface.h b/examples/CommonInterfaces/CommonGraphicsAppInterface.h
index 12f555a7a..e1c4182c6 100644
--- a/examples/CommonInterfaces/CommonGraphicsAppInterface.h
+++ b/examples/CommonInterfaces/CommonGraphicsAppInterface.h
@@ -129,13 +129,13 @@ struct CommonGraphicsApp
 	virtual void drawText( const char* txt, int posX, int posY)
 	{
 		float size=1;
-		float colorRGBA[4]={1,1,1,1};
+		float colorRGBA[4]={0,0,0,1};
 		drawText(txt,posX,posY, size, colorRGBA);
 	}
 
 	virtual void drawText( const char* txt, int posX, int posY, float size)
 	{
-		float colorRGBA[4]={1,1,1,1};
+		float colorRGBA[4]={0,0,0,1};
 		drawText(txt,posX,posY,size,colorRGBA);
 	}
 	virtual void drawText( const char* txt, int posX, int posY, float size, float colorRGBA[4]) = 0;
diff --git a/examples/OpenGLWindow/GLPrimitiveRenderer.cpp b/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
index b134a7ff9..151d8ed67 100644
--- a/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
+++ b/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
@@ -43,8 +43,6 @@ static const char* fragmentShader3D= \
 "		texcolor = vec4(1,1,1,texcolor.x);\n"
 "  }\n"
 "   fragColour = colourV*texcolor;\n"
-"   if (fragColour.w == 0.f)\n"
-"      discard;\n"
 "}\n";
 
 
diff --git a/examples/OpenGLWindow/fontstash.cpp b/examples/OpenGLWindow/fontstash.cpp
index 2289aec38..3cd6df848 100644
--- a/examples/OpenGLWindow/fontstash.cpp
+++ b/examples/OpenGLWindow/fontstash.cpp
@@ -564,10 +564,10 @@ static Vertex* setv(Vertex* v, float x, float y, float s, float t, float width,
 	v->uv.p[0] = s;
     v->uv.p[1] = t;
 
-    v->colour.p[0] = colorRGBA[0];
-    v->colour.p[1] = colorRGBA[1];
-    v->colour.p[2] = colorRGBA[2];
-    v->colour.p[3] = colorRGBA[3];
+    v->colour.p[0] = 0.1;//colorRGBA[0];
+    v->colour.p[1] = 0.1;//colorRGBA[1];
+    v->colour.p[2] = 0.1;//colorRGBA[2];
+    v->colour.p[3] = 1.0;//colorRGBA[3];
 
 	return v+1;
 }
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index e7e0c93f5..54e1063df 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -6011,6 +6011,11 @@ void PhysicsServerCommandProcessor::renderScene(int renderFlags)
 {
 	if (m_data->m_guiHelper)
 	{
+		if (0==(renderFlags&COV_DISABLE_SYNC_RENDERING))		
+ 		{		
+ 			m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);		
+ 		}
+
 		m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
 	}
 #ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD

From 5e2599863d8fc87e158e97eb69ba1126691b9d26 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 24 May 2017 09:06:15 -0700
Subject: [PATCH 029/175] trackObject -> parentObject trackLinkIndex ->
 parentLinkIndex add example debugDrawItems.py

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 18 +++++++-------
 examples/SharedMemory/PhysicsClientC_API.h    |  2 +-
 .../PhysicsServerCommandProcessor.cpp         |  6 ++---
 examples/SharedMemory/SharedMemoryCommands.h  |  6 ++---
 examples/pybullet/examples/debugDrawItems.py  | 16 +++++++++++++
 examples/pybullet/pybullet.c                  | 24 +++++++++----------
 6 files changed, 44 insertions(+), 28 deletions(-)
 create mode 100644 examples/pybullet/examples/debugDrawItems.py

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 90e340890..d438a906f 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1612,8 +1612,8 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle p
 		
 	command->m_userDebugDrawArgs.m_lineWidth = lineWidth;
 	command->m_userDebugDrawArgs.m_lifeTime = lifeTime;
-	command->m_userDebugDrawArgs.m_trackingObjectUniqueId = -1;
-	command->m_userDebugDrawArgs.m_trackingLinkIndex = -1;
+	command->m_userDebugDrawArgs.m_parentObjectUniqueId = -1;
+	command->m_userDebugDrawArgs.m_parentLinkIndex = -1;
 	command->m_userDebugDrawArgs.m_optionFlags = 0;
 
 	return (b3SharedMemoryCommandHandle) command;
@@ -1649,8 +1649,8 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle p
 	command->m_userDebugDrawArgs.m_textSize = textSize;
 
 	command->m_userDebugDrawArgs.m_lifeTime = lifeTime;
-	command->m_userDebugDrawArgs.m_trackingObjectUniqueId = -1;
-	command->m_userDebugDrawArgs.m_trackingLinkIndex = -1;
+	command->m_userDebugDrawArgs.m_parentObjectUniqueId = -1;
+	command->m_userDebugDrawArgs.m_parentLinkIndex = -1;
 
 	command->m_userDebugDrawArgs.m_optionFlags = 0;
 
@@ -1682,15 +1682,15 @@ void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, do
 }
 
 
-void b3UserDebugItemSetTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
+void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
 	b3Assert(command);
 	b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
 	
-	command->m_updateFlags |= USER_DEBUG_HAS_TRACKING_OBJECT;
-	command->m_userDebugDrawArgs.m_trackingObjectUniqueId = objectUniqueId;
-	command->m_userDebugDrawArgs.m_trackingLinkIndex = linkIndex;
+	command->m_updateFlags |= USER_DEBUG_HAS_PARENT_OBJECT;
+	command->m_userDebugDrawArgs.m_parentObjectUniqueId = objectUniqueId;
+	command->m_userDebugDrawArgs.m_parentLinkIndex = linkIndex;
 }
 
 
@@ -1714,7 +1714,7 @@ b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle ph
 	command->m_userDebugDrawArgs.m_rangeMin = rangeMin;
 	command->m_userDebugDrawArgs.m_rangeMax = rangeMax;
 	command->m_userDebugDrawArgs.m_startValue = startValue;
-	command->m_userDebugDrawArgs.m_trackingObjectUniqueId = -1;
+	command->m_userDebugDrawArgs.m_parentObjectUniqueId = -1;
 	command->m_userDebugDrawArgs.m_optionFlags = 0;
 	return (b3SharedMemoryCommandHandle)command;
 }
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index f36560508..6dfe21718 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -127,7 +127,7 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle p
 void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags);
 void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[4]);
 
-void b3UserDebugItemSetTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
+void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
 
 b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle physClient, const char* txt, double rangeMin, double rangeMax, double startValue);
 b3SharedMemoryCommandHandle b3InitUserDebugReadParameter(b3PhysicsClientHandle physClient, int debugItemUniqueId);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 54e1063df..02635029e 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5820,12 +5820,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 						int trackingVisualShapeIndex = -1;
 
-						if (clientCmd.m_userDebugDrawArgs.m_trackingObjectUniqueId>=0)
+						if (clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId>=0)
 						{
-							InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userDebugDrawArgs.m_trackingObjectUniqueId);
+							InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId);
 							if (bodyHandle && bodyHandle->m_multiBody)
 							{
-								int linkIndex = clientCmd.m_userDebugDrawArgs.m_trackingLinkIndex;
+								int linkIndex = clientCmd.m_userDebugDrawArgs.m_parentLinkIndex;
 								if (linkIndex ==-1)
 								{
 									if (bodyHandle->m_multiBody->getBaseCollider())
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 6a584f86d..0c3a44de1 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -627,7 +627,7 @@ enum EnumUserDebugDrawFlags
 	USER_DEBUG_READ_PARAMETER=128,
 	USER_DEBUG_HAS_OPTION_FLAGS=256,
 	USER_DEBUG_HAS_TEXT_ORIENTATION = 512,
-	USER_DEBUG_HAS_TRACKING_OBJECT=1024,
+	USER_DEBUG_HAS_PARENT_OBJECT=1024,
 
 };
 
@@ -644,8 +644,8 @@ struct UserDebugDrawArgs
 	char m_text[MAX_FILENAME_LENGTH];
 	double m_textPositionXYZ[3];
 	double m_textOrientation[4];
-	int m_trackingObjectUniqueId;
-	int m_trackingLinkIndex;
+	int m_parentObjectUniqueId;
+	int m_parentLinkIndex;
 	double m_textColorRGB[3];
 	double m_textSize;
 	int m_optionFlags;
diff --git a/examples/pybullet/examples/debugDrawItems.py b/examples/pybullet/examples/debugDrawItems.py
new file mode 100644
index 000000000..3aa1e44ae
--- /dev/null
+++ b/examples/pybullet/examples/debugDrawItems.py
@@ -0,0 +1,16 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+p.loadURDF("plane.urdf")
+kuka = p.loadURDF("kuka_iiwa/model.urdf")
+p.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textSize=1.5,parentObjectUniqueId=kuka, parentLinkIndex=6)
+p.addUserDebugLine([0,0,0],[0.1,0,0],[1,0,0],parentObjectUniqueId=kuka, parentLinkIndex=6)
+p.addUserDebugLine([0,0,0],[0,0.1,0],[0,1,0],parentObjectUniqueId=kuka, parentLinkIndex=6)
+p.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],parentObjectUniqueId=kuka, parentLinkIndex=6)
+p.setRealTimeSimulation(0)
+angle=0
+while (True):
+	time.sleep(0.01)
+	p.resetJointState(kuka,2,angle)
+	p.resetJointState(kuka,3,angle)
+	angle+=0.01
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 43d0a1992..e70395e7e 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -3079,16 +3079,16 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
 	PyObject* textColorRGBObj = 0;
 	PyObject* textOrientationObj = 0;
 	double textOrientation[4];
-	int trackingObjectUniqueId=-1;
-	int trackingLinkIndex=-1;
+	int parentObjectUniqueId=-1;
+	int parentLinkIndex=-1;
 
 	double textSize = 1.f;
 	double lifeTime = 0.f;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "textOrientation", "trackObjectUniqueId", "trackLinkIndex", "physicsClientId", NULL};
+	static char* kwlist[] = {"text", "textPosition", "textColorRGB", "textSize", "lifeTime", "textOrientation", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|OddOiii", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &textOrientationObj, &trackingObjectUniqueId, &trackingLinkIndex, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|OddOiii", kwlist, &text, &textPositionObj, &textColorRGBObj, &textSize, &lifeTime, &textOrientationObj, &parentObjectUniqueId, &parentLinkIndex, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -3118,9 +3118,9 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
 
 	commandHandle = b3InitUserDebugDrawAddText3D(sm, text, posXYZ, colorRGB, textSize, lifeTime);
 
-	if (trackingObjectUniqueId>=0)
+	if (parentObjectUniqueId>=0)
 	{
-		b3UserDebugItemSetTrackingObject(commandHandle, trackingObjectUniqueId,trackingLinkIndex);
+		b3UserDebugItemSetParentObject(commandHandle, parentObjectUniqueId,parentLinkIndex);
 	}
 	if (textOrientationObj)
 	{
@@ -3158,8 +3158,8 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
 	double fromXYZ[3];
 	double toXYZ[3];
 	double colorRGB[3] = {1, 1, 1};
-	int trackingObjectUniqueId=-1;
-	int trackingLinkIndex=-1;
+	int parentObjectUniqueId=-1;
+	int parentLinkIndex=-1;
 
 	PyObject* lineFromObj = 0;
 	PyObject* lineToObj = 0;
@@ -3168,9 +3168,9 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
 	double lifeTime = 0.f;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", "trackObjectUniqueId", "trackLinkIndex", "physicsClientId", NULL};
+	static char* kwlist[] = {"lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|Oddiii", kwlist, &lineFromObj, &lineToObj, &lineColorRGBObj, &lineWidth, &lifeTime, &trackingObjectUniqueId, &trackingLinkIndex, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|Oddiii", kwlist, &lineFromObj, &lineToObj, &lineColorRGBObj, &lineWidth, &lifeTime, &parentObjectUniqueId, &parentLinkIndex, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -3201,9 +3201,9 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj
 
 	commandHandle = b3InitUserDebugDrawAddLine3D(sm, fromXYZ, toXYZ, colorRGB, lineWidth, lifeTime);
 
-	if (trackingObjectUniqueId>=0)
+	if (parentObjectUniqueId>=0)
 	{
-		b3UserDebugItemSetTrackingObject(commandHandle, trackingObjectUniqueId,trackingLinkIndex);
+		b3UserDebugItemSetParentObject(commandHandle, parentObjectUniqueId,parentLinkIndex);
 	}
 
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);

From 344bb3f3500af4814e428a1f8cc569ad61feab0f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 24 May 2017 10:29:22 -0700
Subject: [PATCH 030/175] fix premake4.lua build file

---
 examples/SimpleOpenGL3/premake4.lua | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/SimpleOpenGL3/premake4.lua b/examples/SimpleOpenGL3/premake4.lua
index 4bd8bbdda..6afc8e957 100644
--- a/examples/SimpleOpenGL3/premake4.lua
+++ b/examples/SimpleOpenGL3/premake4.lua
@@ -17,7 +17,7 @@
 		initGlew()
 	
 		files {
-		"*.cpp",
+		"main.cpp",
 		"*.h",
 		}
 		

From 1d0db4ec2e3be7419af3d75d3f49e1e043bdf39f Mon Sep 17 00:00:00 2001
From: Jie Tan <jietan@jietan0.mtv.corp.google.com>
Date: Wed, 24 May 2017 11:20:42 -0700
Subject: [PATCH 031/175] update to the latest agent and environment.

---
 examples/pybullet/gym/agents/simpleAgent.py   |   2 +-
 .../gym/agents/simpleAgentWithSonnet.py       |   4 ++--
 .../gym/data/agent/tf_graph_data/checkpoint   |   2 --
 ..._data_converted.ckpt-0.data-00000-of-00001 | Bin 91748 -> 227876 bytes
 .../tf_graph_data_converted.ckpt-0.index      | Bin 284 -> 288 bytes
 .../tf_graph_data_converted.ckpt-0.meta       | Bin 20978 -> 25793 bytes
 .../gym/envs/bullet/minitaurGymEnv.py         |   6 +++++-
 .../pybullet/gym/envs/bullet/minitaur_new.py  |  18 ++++++++++++++----
 examples/pybullet/gym/minitaurGymEnvTest.py   |   4 ++--
 9 files changed, 24 insertions(+), 12 deletions(-)
 delete mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/checkpoint

diff --git a/examples/pybullet/gym/agents/simpleAgent.py b/examples/pybullet/gym/agents/simpleAgent.py
index 6588e73ba..8f399566c 100644
--- a/examples/pybullet/gym/agents/simpleAgent.py
+++ b/examples/pybullet/gym/agents/simpleAgent.py
@@ -16,7 +16,7 @@ class SimpleAgent():
       session,
       ckpt_path,
       actor_layer_size,
-      observation_dim=31
+      observation_dim=28
   ):
     self._ckpt_path = ckpt_path
     self._session = session
diff --git a/examples/pybullet/gym/agents/simpleAgentWithSonnet.py b/examples/pybullet/gym/agents/simpleAgentWithSonnet.py
index 08a4cf1fa..6af4be61d 100644
--- a/examples/pybullet/gym/agents/simpleAgentWithSonnet.py
+++ b/examples/pybullet/gym/agents/simpleAgentWithSonnet.py
@@ -18,7 +18,7 @@ class SimpleAgent():
       session,
       ckpt_path,
       actor_layer_size,
-      observation_size=(31,),
+      observation_size=(28,),
       action_size=8,
   ):
     self._ckpt_path = ckpt_path
@@ -30,7 +30,7 @@ class SimpleAgent():
 
   def _build(self):
     self._agent_net = actor_net.ActorNetwork(self._actor_layer_size, self._action_size)
-    self._obs = tf.placeholder(tf.float32, (31,))
+    self._obs = tf.placeholder(tf.float32, self._observation_size)
     with tf.name_scope('Act'):
       batch_obs = snt.nest.pack_iterable_as(self._obs,
                                             snt.nest.map(lambda x: tf.expand_dims(x, 0),
diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/checkpoint b/examples/pybullet/gym/data/agent/tf_graph_data/checkpoint
deleted file mode 100644
index 72cc2c323..000000000
--- a/examples/pybullet/gym/data/agent/tf_graph_data/checkpoint
+++ /dev/null
@@ -1,2 +0,0 @@
-model_checkpoint_path: "tf_graph_data_converted.ckpt-0"
-all_model_checkpoint_paths: "tf_graph_data_converted.ckpt-0"
diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.data-00000-of-00001 b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.data-00000-of-00001
index 4d4eb02c3a065a32e478ff20a413bab88d4a11fb..d0d344013cb4de9025a998ff123cc355d82771e2 100644
GIT binary patch
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diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.index b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.index
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diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.meta b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0.meta
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diff --git a/examples/pybullet/gym/envs/bullet/minitaurGymEnv.py b/examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
index c8ca5e536..83679f22a 100644
--- a/examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
@@ -16,10 +16,14 @@ class MinitaurGymEnv(gym.Env):
   def __init__(self,
                urdfRoot="",
                actionRepeat=1,
+               isEnableSelfCollision=True,
+               motorVelocityLimit=10.0,
                render=False):
     self._timeStep = 0.01
     self._urdfRoot = urdfRoot
     self._actionRepeat = actionRepeat
+    self._motorVelocityLimit = motorVelocityLimit
+    self._isEnableSelfCollision = isEnableSelfCollision
     self._observation = []
     self._envStepCounter = 0
     self._render = render
@@ -44,7 +48,7 @@ class MinitaurGymEnv(gym.Env):
     p.setTimeStep(self._timeStep)
     p.loadURDF("%splane.urdf" % self._urdfRoot)
     p.setGravity(0,0,-10)
-    self._minitaur = minitaur_new.Minitaur(self._urdfRoot)
+    self._minitaur = minitaur_new.Minitaur(urdfRootPath=self._urdfRoot, timeStep=self._timeStep, isEnableSelfCollision=self._isEnableSelfCollision, motorVelocityLimit=self._motorVelocityLimit)
     self._envStepCounter = 0
     self._lastBasePosition = [0, 0, 0]
     for i in range(100):
diff --git a/examples/pybullet/gym/envs/bullet/minitaur_new.py b/examples/pybullet/gym/envs/bullet/minitaur_new.py
index 252c12ed3..e23fd7dca 100644
--- a/examples/pybullet/gym/envs/bullet/minitaur_new.py
+++ b/examples/pybullet/gym/envs/bullet/minitaur_new.py
@@ -4,8 +4,12 @@ import copy
 import math
 
 class Minitaur:
-  def __init__(self, urdfRootPath=''):
+
+  def __init__(self, urdfRootPath='', timeStep=0.01, isEnableSelfCollision=True, motorVelocityLimit=10.0):
     self.urdfRootPath = urdfRootPath
+    self.isEnableSelfCollision = isEnableSelfCollision
+    self.motorVelocityLimit = motorVelocityLimit
+    self.timeStep = timeStep
     self.reset()
 
   def buildJointNameToIdDict(self):
@@ -27,8 +31,10 @@ class Minitaur:
     self.motorIdList.append(self.jointNameToId['motor_back_rightR_joint'])
 
   def reset(self):
-#    self.quadruped = p.loadURDF("%squadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2], flags=p.URDF_USE_SELF_COLLISION)
-    self.quadruped = p.loadURDF("%squadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2])
+    if self.isEnableSelfCollision:
+      self.quadruped = p.loadURDF("%s/quadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2], flags=p.URDF_USE_SELF_COLLISION)
+    else:
+      self.quadruped = p.loadURDF("%s/quadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2])
     self.kp = 1
     self.kd = 1
     self.maxForce = 3.5
@@ -116,11 +122,15 @@ class Minitaur:
     observation.extend(self.getMotorVelocities().tolist())
     observation.extend(self.getMotorTorques().tolist())
     observation.extend(list(self.getBaseOrientation()))
-    observation.extend(list(self.getBasePosition()))
     return observation
 
 
   def applyAction(self, motorCommands):
+    if self.motorVelocityLimit < np.inf:
+      currentMotorAngle = self.getMotorAngles()
+      motorCommandsMax = currentMotorAngle + self.timeStep * self.motorVelocityLimit
+      motorCommandsMin = currentMotorAngle - self.timeStep * self.motorVelocityLimit
+      motorCommands = np.clip(motorCommands, motorCommandsMin, motorCommandsMax)
     motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
 #    print('action: {}'.format(motorCommands))
 #    print('motor: {}'.format(motorCommandsWithDir))
diff --git a/examples/pybullet/gym/minitaurGymEnvTest.py b/examples/pybullet/gym/minitaurGymEnvTest.py
index 3b1ce8aeb..7491453fe 100644
--- a/examples/pybullet/gym/minitaurGymEnvTest.py
+++ b/examples/pybullet/gym/minitaurGymEnvTest.py
@@ -60,9 +60,9 @@ def testDDPGPolicy():
   sum_reward = 0
   steps = 1000
   ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0'
-  observation_shape = (31,)
+  observation_shape = (28,)
   action_size = 8
-  actor_layer_size = (100, 181)
+  actor_layer_size = (297, 158)
   n_steps = 0
   tf.reset_default_graph()
   with tf.Session() as session:

From 84d09cc18f85e40e780e18141d98a5b849e43e12 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 24 May 2017 13:05:16 -0700
Subject: [PATCH 032/175] Split CommonGfxVertex3D into two different ones,
 GfxVertexFormat0 and GfxVertexFormat1 Rewrite 
 GLInstancingRenderer::drawTexturedTriangleMesh

---
 .../CommonInterfaces/CommonRenderInterface.h  |  12 +-
 .../OpenGLWindow/GLInstancingRenderer.cpp     | 152 ++++++++++--------
 examples/OpenGLWindow/GLInstancingRenderer.h  |   2 +-
 examples/OpenGLWindow/SimpleOpenGL2Renderer.h |   2 +-
 examples/OpenGLWindow/SimpleOpenGL3App.cpp    |   4 +-
 examples/SimpleOpenGL3/main.cpp               |   5 +-
 6 files changed, 100 insertions(+), 77 deletions(-)

diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index 986347061..9e917f207 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -17,7 +17,15 @@ enum
 	B3_USE_SHADOWMAP_RENDERMODE,
 };
 
-struct CommonGfxVertex3D
+
+struct GfxVertexFormat0
+{
+	float x,y,z,w;
+	float unused0,unused1,unused2,unused3;
+	float u,v;
+};
+
+struct GfxVertexFormat1
 {
 	float x,y,z,w;
 	float nx,ny,nz;
@@ -54,7 +62,7 @@ struct CommonRenderInterface
 	virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth) = 0;
 	virtual void drawPoint(const float* position, const float color[4], float pointDrawSize)=0;
 	virtual void drawPoint(const double* position, const double color[4], double pointDrawSize)=0;
-	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1)=0;
+	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1, int vertexLayout=0)=0;
 
 	virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1)=0;
     virtual void updateShape(int shapeIndex, const float* vertices)=0;
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 502088504..ce96c2137 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -23,7 +23,7 @@ float shadowMapWorldSize=10;
 
 #define MAX_POINTS_IN_BATCH 1024
 #define MAX_LINES_IN_BATCH 1024
-
+#define MAX_TRIANGLES_IN_BATCH 8192
 
 #include "OpenGLInclude.h"
 #include "../CommonInterfaces/CommonWindowInterface.h"
@@ -75,18 +75,20 @@ float shadowMapWorldSize=10;
 #include "GLRenderToTexture.h"
 
 
+
 static const char* triangleVertexShaderText =
 "#version 330\n"
 "precision highp float;"
 "uniform mat4 MVP;\n"
 "uniform vec3 vCol;\n"
-"in vec4 vPos;\n"
-"in vec2 vUV;\n"
+"layout (location = 0) in vec3 vPos;\n"
+"layout (location = 1) in vec2 vUV;\n"
+
 "out vec3 clr;\n"
 "out vec2 uv0;\n"
 "void main()\n"
 "{\n"
-"    gl_Position = MVP * vPos;\n"
+"    gl_Position = MVP * vec4(vPos,1);\n"
 "    clr = vCol;\n"
 "    uv0 = vUV;\n"
 "}\n";
@@ -244,12 +246,14 @@ struct	GLInstanceRendererInternalData* GLInstancingRenderer::getInternalData()
 }
 
 
-static GLuint				triangleShaderProgram;
-static GLint triangle_mvp_location=-1;
-static GLint triangle_vpos_location=-1;
-static GLint triangle_vUV_location=-1;
-static GLint triangle_vcol_location=-1;
-static GLuint triangleIndexVbo=0;
+static GLuint	triangleShaderProgram;
+static GLint	triangle_mvp_location=-1;
+static GLint	triangle_vpos_location=-1;
+static GLint	triangle_vUV_location=-1;
+static GLint	triangle_vcol_location=-1;
+static GLuint	triangleVertexBufferObject=0;
+static GLuint	triangleVertexArrayObject=0;
+static GLuint	triangleIndexVbo=0;
 
 
 static GLuint               linesShader;        // The line renderer
@@ -1024,11 +1028,28 @@ void GLInstancingRenderer::InitShaders()
 
 	{
 		triangleShaderProgram = gltLoadShaderPair(triangleVertexShaderText,triangleFragmentShader);
+		
+		//triangle_vpos_location = glGetAttribLocation(triangleShaderProgram, "vPos");
+		//triangle_vUV_location = glGetAttribLocation(triangleShaderProgram, "vUV");
+
 		triangle_mvp_location = glGetUniformLocation(triangleShaderProgram, "MVP");
-		triangle_vpos_location = glGetAttribLocation(triangleShaderProgram, "vPos");
-		triangle_vUV_location = glGetAttribLocation(triangleShaderProgram, "vUV");
 		triangle_vcol_location = glGetUniformLocation(triangleShaderProgram, "vCol");
+	
+		glLinkProgram(triangleShaderProgram);
+		glUseProgram(triangleShaderProgram);
+
+		glGenVertexArrays(1, &triangleVertexArrayObject);
+		glBindVertexArray(triangleVertexArrayObject);
+
+		glGenBuffers(1, &triangleVertexBufferObject);
 		glGenBuffers(1, &triangleIndexVbo);
+
+		int sz = MAX_TRIANGLES_IN_BATCH*sizeof(GfxVertexFormat0);
+		glBindVertexArray(triangleVertexArrayObject);
+		glBindBuffer(GL_ARRAY_BUFFER, triangleVertexBufferObject);
+		glBufferData(GL_ARRAY_BUFFER, sz, 0, GL_DYNAMIC_DRAW);
+
+		glBindVertexArray(0);
 	}
 
 	linesShader = gltLoadShaderPair(linesVertexShader,linesFragmentShader);
@@ -1500,19 +1521,24 @@ static void    b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,cons
 
 
 
-typedef struct
-{
-    float position[4];
-    float colour[4];
-	float uv[2];
-} MyVertex;
 
 
-void GLInstancingRenderer::drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float colorRGBA[4], int textureIndex)
+
+void GLInstancingRenderer::drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float colorRGBA[4], int textureIndex, int vertexLayout)
 {
+	int sz = sizeof(GfxVertexFormat0);
+
+	glActiveTexture(GL_TEXTURE0);
+	activateTexture(textureIndex);
+	checkError("activateTexture");
+
+	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+	glUseProgram(triangleShaderProgram);
+
 	b3Quaternion orn(worldOrientation[0],worldOrientation[1],worldOrientation[2],worldOrientation[3]);
 	b3Vector3 pos = b3MakeVector3(worldPosition[0],worldPosition[1],worldPosition[2]);
 
+	
 	b3Transform worldTrans(orn,pos);
 	b3Scalar worldMatUnk[16];
 	worldTrans.getOpenGLMatrix(worldMatUnk);
@@ -1521,66 +1547,59 @@ void GLInstancingRenderer::drawTexturedTriangleMesh(float worldPosition[3], floa
 	{
 		modelMat[i] = worldMatUnk[i];
 	}
-	glEnable(GL_TEXTURE_2D);
-
-	activateTexture(textureIndex);
-
-	
-	glUseProgram(triangleShaderProgram);
-	int err =GL_NO_ERROR;
-	err = glGetError();
-	b3Assert(err ==GL_NO_ERROR);
-	GLuint vertex_buffer=0;
-	glGenBuffers(1, &vertex_buffer);
-    glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer);
-    glBufferData(GL_ARRAY_BUFFER, sizeof(MyVertex)*numvertices, vertices, GL_STATIC_DRAW);
-
-	err = glGetError();
-	b3Assert(err ==GL_NO_ERROR);
-	//glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
-	//glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
-	float modelView[16];
-
-	b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,modelView);
+	float viewProjection[16];
+	b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,viewProjection);
 	float MVP[16];
-	b3Matrix4x4Mul16(modelView,modelMat,MVP);
-	
+	b3Matrix4x4Mul16(viewProjection,modelMat,MVP);
 	glUniformMatrix4fv(triangle_mvp_location, 1, GL_FALSE, (const GLfloat*) MVP);
-	err = glGetError();
-	b3Assert(err ==GL_NO_ERROR);
+	checkError("glUniformMatrix4fv");
 
 	glUniform3f(triangle_vcol_location,colorRGBA[0],colorRGBA[1],colorRGBA[2]);
-	b3Assert(err ==GL_NO_ERROR);
+	checkError("glUniform3f");
+	
+	glBindVertexArray(triangleVertexArrayObject);
+	checkError("glBindVertexArray");
 
-	glEnableVertexAttribArray(triangle_vpos_location);
-	glVertexAttribPointer(triangle_vpos_location, 4, GL_FLOAT, GL_FALSE,
-                          sizeof(MyVertex), (void*) 0);
-	err = glGetError();
-	b3Assert(err ==GL_NO_ERROR);
-	glEnableVertexAttribArray(triangle_vUV_location);
-	err = glGetError();
-	b3Assert(err ==GL_NO_ERROR);
-	glVertexAttribPointer(triangle_vUV_location, 2, GL_FLOAT, GL_FALSE,
-                          sizeof(MyVertex), (void*) (sizeof(float) * 8));
+	glBindBuffer(GL_ARRAY_BUFFER, triangleVertexBufferObject);
+	checkError("glBindBuffer");
 
-	err = glGetError();
-	b3Assert(err ==GL_NO_ERROR);
+	glBufferData(GL_ARRAY_BUFFER, sizeof(GfxVertexFormat0)*numvertices, 0, GL_DYNAMIC_DRAW);
+	glBufferSubData(GL_ARRAY_BUFFER, 0, sizeof(GfxVertexFormat0)*numvertices, vertices);
 
+	PointerCaster posCast;
+	posCast.m_baseIndex = 0;
+	PointerCaster uvCast;
+	uvCast.m_baseIndex = 8*sizeof(float);
+	glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(GfxVertexFormat0), posCast.m_pointer);
+	glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, sizeof(GfxVertexFormat0), uvCast.m_pointer);		
+	checkError("glVertexAttribPointer");
+	glEnableVertexAttribArray(0);
+	glEnableVertexAttribArray(1);
+	
+	glVertexAttribDivisor(0,0);
+	glVertexAttribDivisor(1,0);
+	checkError("glVertexAttribDivisor");
+	
+	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, triangleIndexVbo);
+	int indexBufferSizeInBytes = numIndices*sizeof(int);
 
- b3Assert(glGetError() ==GL_NO_ERROR);
- 
-	  b3Assert(glGetError() ==GL_NO_ERROR);
-	glDrawElements(GL_TRIANGLES, numIndices, GL_UNSIGNED_INT,indices);
-	  b3Assert(glGetError() ==GL_NO_ERROR);
-	glDeleteBuffers(1,&vertex_buffer);
-	  b3Assert(glGetError() ==GL_NO_ERROR);
+	glBufferData(GL_ELEMENT_ARRAY_BUFFER, numIndices*sizeof(int), NULL, GL_DYNAMIC_DRAW);
+	glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, 0, numIndices*sizeof(int), indices);
+
+	glDrawElements(GL_TRIANGLES, numIndices, GL_UNSIGNED_INT, 0);
+
+	//glDrawElements(GL_TRIANGLES, numIndices, GL_UNSIGNED_INT,indices);
+	checkError("glDrawElements");
 
 	glActiveTexture(GL_TEXTURE0);
 	glBindTexture(GL_TEXTURE_2D,0);
 	glUseProgram(0);
+	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+	glBindBuffer(GL_ARRAY_BUFFER,0);
+	glBindVertexArray(0);
+	checkError("glBindVertexArray");
 
 }
-//virtual void drawTexturedTriangleMesh(const double* vertices, int numvertices, const int* indices, int numIndices, int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1);
 
 
 void GLInstancingRenderer::drawPoint(const double* position, const double color[4], double pointDrawSize)
@@ -1648,8 +1667,7 @@ void GLInstancingRenderer::drawLines(const float* positions, const float color[4
 	b3Clamp(lineWidth,(float)lineWidthRange[0],(float)lineWidthRange[1]);
 	glLineWidth(lineWidth);
 
-	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	b3Assert(glGetError() ==GL_NO_ERROR);
+
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 
 	glActiveTexture(GL_TEXTURE0);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index b443f5e9e..62ca92dcf 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -114,7 +114,7 @@ public:
 	virtual void drawPoints(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, float pointDrawSize);
 	virtual void drawPoint(const float* position, const float color[4], float pointSize=1);
 	virtual void drawPoint(const double* position, const double color[4], double pointDrawSize=1);
-	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1);
+	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1, int vertexLayout=0);
 	
 	virtual void updateCamera(int upAxis=1);
 
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index d89419528..dbd0da079 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -41,7 +41,7 @@ public:
     virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
     virtual void	getCameraViewMatrix(float viewMat[16]) const;
     virtual void	getCameraProjectionMatrix(float projMat[16]) const;
-	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1)
+	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1, int vertexLayout=0)
 	{
 	}
     
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index 38b55a91b..e05056e81 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -225,7 +225,7 @@ struct	MyRenderCallbacks : public RenderCallbacks
 					float halfExtentsZ=1;
 					float textureScaling = 4;
 
-					b3AlignedObjectArray<CommonGfxVertex3D> verts;
+					b3AlignedObjectArray<GfxVertexFormat1> verts;
 					verts.resize(numVertices);
 					for (int i=0;i<numVertices;i++)
 					{
@@ -682,7 +682,7 @@ int	SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, f
 	int numVertices = sizeof(cube_vertices_textured)/strideInBytes;
 	int numIndices = sizeof(cube_indices)/sizeof(int);
 
-	b3AlignedObjectArray<CommonGfxVertex3D> verts;
+	b3AlignedObjectArray<GfxVertexFormat1> verts;
 	verts.resize(numVertices);
 	for (int i=0;i<numVertices;i++)
 	{
diff --git a/examples/SimpleOpenGL3/main.cpp b/examples/SimpleOpenGL3/main.cpp
index c51be2b55..c05f113d5 100644
--- a/examples/SimpleOpenGL3/main.cpp
+++ b/examples/SimpleOpenGL3/main.cpp
@@ -157,7 +157,7 @@ int main(int argc, char* argv[])
 
 			float orientation[4] = {0,0,0,1};
 			
-			//app->drawText3D(bla,0,0,1,1);
+			app->drawText3D(bla,0,0,1,1);
 
 			sprintf(bla, "3d bitmap camera facing text:%d", frameCount);			
 			app->drawText3D(bla,position2,orientation,color,1,CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera);
@@ -178,9 +178,6 @@ int main(int argc, char* argv[])
 			app->drawText3D(bla,position2,orn,blue,1,CommonGraphicsApp::eDrawText3D_TrueType);
 
 			
-			//app->drawText3D(bla,position, orientation,color,0.1,optionFlag);
-		
-
 			app->swapBuffer();
 		} while (!app->m_window->requestedExit());
 

From 1af8939fd2622bb1185b91722143e5f3dd19df3c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@bulletcloud.mtv.corp.google.com>
Date: Wed, 24 May 2017 16:44:43 -0700
Subject: [PATCH 033/175] fix unused variables

---
 examples/SimpleOpenGL3/main.cpp | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/examples/SimpleOpenGL3/main.cpp b/examples/SimpleOpenGL3/main.cpp
index c05f113d5..0422c96cc 100644
--- a/examples/SimpleOpenGL3/main.cpp
+++ b/examples/SimpleOpenGL3/main.cpp
@@ -97,14 +97,7 @@ int main(int argc, char* argv[])
 
 		int textureHandle = app->m_renderer->registerTexture(image, textureWidth, textureHeight);
 
-		int cubeIndex = app->registerCubeShape(1, 1, 1);
 
-		b3Vector3 pos = b3MakeVector3(0, 0, 0);
-		b3Quaternion orn(0, 0, 0, 1);
-		b3Vector4 color = b3MakeVector4(1, 0, 0,1);
-		b3Vector3 scaling = b3MakeVector3 (1, 1, 1);
-		//app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
-		app->m_renderer->writeTransforms();
 
 		do
 		{
@@ -151,7 +144,6 @@ int main(int argc, char* argv[])
 
 			float yellow[4] = {1,1,0,1};
 			app->drawText(bla, 10, 10, 1, yellow);
-			int optionFlag = 0;
 			float position[3] = {1,1,1};
 			float position2[3] = {0,0,5};
 
@@ -188,4 +180,4 @@ int main(int argc, char* argv[])
 		delete[] image;
 	}
 	return 0;
-}
\ No newline at end of file
+}

From 9743bb387c661f1dcba929969be9a9320a82d69e Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Wed, 24 May 2017 19:30:06 -0700
Subject: [PATCH 034/175] give some pure-virtual methods default empty
 implementation, avoid breaking some internal research code

---
 examples/CommonInterfaces/CommonGUIHelperInterface.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index a5121548e..24b4a301c 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -84,8 +84,8 @@ struct GUIHelperInterface
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
 	
-	virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size)=0;
-	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)=0;
+	virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size){}
+	virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag){}
 	
 	virtual int		addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double	textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags){return -1;}
 	virtual int		addUserDebugLine(const double	debugLineFromXYZ[3], const double	debugLineToXYZ[3], const double	debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex){return -1;};

From f090752cbbe29a6506eba3352da5d93ae2644f97 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 25 May 2017 10:56:01 -0700
Subject: [PATCH 035/175] bump up VISUAL_SHAPE_MAX_PATH_LEN from 128 to 1024,
 some google3 directories are
 loooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooong
 :-)

---
 examples/SharedMemory/SharedMemoryPublic.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 97e462825..27a44fc8c 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -4,7 +4,7 @@
 #define SHARED_MEMORY_KEY 12347
 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
 ///my convention is year/month/day/rev
-#define SHARED_MEMORY_MAGIC_NUMBER 201705023
+#define SHARED_MEMORY_MAGIC_NUMBER 201705025
 //#define SHARED_MEMORY_MAGIC_NUMBER 201703024
 
 enum EnumSharedMemoryClientCommand
@@ -425,7 +425,7 @@ struct b3RaycastInformation
 };
 
 
-#define VISUAL_SHAPE_MAX_PATH_LEN 128
+#define VISUAL_SHAPE_MAX_PATH_LEN 1024
 
 struct b3VisualShapeData
 {

From e6180ef98a0f8bec80f2e2cf6b2bd0215683ef2a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 25 May 2017 13:02:20 -0700
Subject: [PATCH 036/175] use a fixed joint instead of crashing for unsupported
 joint types (planar, floating joint)

---
 examples/Importers/ImportURDFDemo/URDF2Bullet.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index d7ed716b0..97c92292a 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -362,8 +362,14 @@ void ConvertURDF2BulletInternal(
 
             switch (jointType)
             {
+				case URDFFloatingJoint:
+				case URDFPlanarJoint:
                 case URDFFixedJoint:
                 {
+					if ((jointType==URDFFloatingJoint)||(jointType==URDFPlanarJoint))
+					{
+						printf("Warning: joint unsupported, creating a fixed joint instead.");
+					}
                     if (createMultiBody)
                     {
                         //todo: adjust the center of mass transform and pivot axis properly

From e023c012b42e0de571a4235430dc76dcadf1d15c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 25 May 2017 13:39:36 -0700
Subject: [PATCH 037/175] TinyRendererVisualShapeConverter set near/far for its
 own camera.

---
 examples/OpenGLWindow/SimpleCamera.cpp                 | 10 ++++++++++
 examples/OpenGLWindow/SimpleCamera.h                   |  3 +++
 .../SharedMemory/TinyRendererVisualShapeConverter.cpp  |  5 +++++
 3 files changed, 18 insertions(+)

diff --git a/examples/OpenGLWindow/SimpleCamera.cpp b/examples/OpenGLWindow/SimpleCamera.cpp
index 697f7ce65..6f069b0ac 100644
--- a/examples/OpenGLWindow/SimpleCamera.cpp
+++ b/examples/OpenGLWindow/SimpleCamera.cpp
@@ -421,3 +421,13 @@ float SimpleCamera::getCameraFrustumNear() const
 {
     return m_data->m_frustumZNear;
 }
+
+void SimpleCamera::setCameraFrustumFar(float far)
+{
+	m_data->m_frustumZFar = far;
+}
+
+void SimpleCamera::setCameraFrustumNear(float near)
+{
+	m_data->m_frustumZNear = near;
+}
diff --git a/examples/OpenGLWindow/SimpleCamera.h b/examples/OpenGLWindow/SimpleCamera.h
index 7fbdaae8c..d397c5386 100644
--- a/examples/OpenGLWindow/SimpleCamera.h
+++ b/examples/OpenGLWindow/SimpleCamera.h
@@ -54,6 +54,9 @@ struct SimpleCamera : public CommonCameraInterface
     
     virtual float getCameraFrustumFar() const;
     virtual float getCameraFrustumNear() const;
+
+	virtual void setCameraFrustumFar(float far);
+    virtual void setCameraFrustumNear(float near);
 };
 
 #endif //SIMPLE_CAMERA_H
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index 8c03556cf..f9dfaee71 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -726,7 +726,12 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
     clearColor.bgra[3] = 255;
     
     clearBuffers(clearColor);
+	float near = projMat[14]/(projMat[10]-1);
+	float far = projMat[14]/(projMat[10]+1);
 
+	m_data->m_camera.setCameraFrustumNear( near);
+	m_data->m_camera.setCameraFrustumFar(far);
+		
     
     ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
     

From 2b9c67b07cfa835d36d38ca8b57c75292c6a6eff Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 25 May 2017 17:25:14 -0700
Subject: [PATCH 038/175] TinyRenderer: discard pixels beyond farplane
 pybullet: printf build date/time

---
 examples/TinyRenderer/TinyRenderer.cpp | 8 ++++++--
 examples/TinyRenderer/our_gl.cpp       | 3 +++
 examples/TinyRenderer/our_gl.h         | 2 ++
 examples/pybullet/pybullet.c           | 2 +-
 4 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index db7bcbb35..5930151a4 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -91,7 +91,8 @@ struct Shader : public IShader {
     mat<4,3,float> varying_tri_light_view;
     mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS
 	mat<4,3,float> world_tri; // model triangle coordinates in the world space used for backface culling, written by VS
-    
+   
+
     Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Matrix& viewportMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray<float>* shadowBuffer, float ambient_coefficient=0.6, float diffuse_coefficient=0.35, float specular_coefficient=0.05)
     :m_model(model),
     m_light_dir_local(light_dir_local),
@@ -112,6 +113,9 @@ struct Shader : public IShader {
     m_height(height)
    
     {
+		m_nearPlane = m_projectionMat.col(3)[2]/(m_projectionMat.col(2)[2]-1);
+		m_farPlane = m_projectionMat.col(3)[2]/(m_projectionMat.col(2)[2]+1);
+		//printf("near=%f, far=%f\n", m_nearPlane, m_farPlane);
         m_invModelMat = m_modelMat.invert_transpose();
 		m_projectionModelViewMat = m_projectionMat*m_modelView1;
 		m_projectionLightViewMat = m_projectionMat*m_lightModelView;
@@ -576,7 +580,7 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData)
         Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
         
         DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling, light_distance);
-        
+        shader.m_farPlane=1e30;
         for (int i=0; i<model->nfaces(); i++)
         {
             for (int j=0; j<3; j++) {
diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp
index ea570386d..a050eda39 100644
--- a/examples/TinyRenderer/our_gl.cpp
+++ b/examples/TinyRenderer/our_gl.cpp
@@ -180,6 +180,9 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
 				zbuffer[P.x+P.y*image.get_width()]>frag_depth) 
 				continue;
             bool discard = shader.fragment(bc_clip, color);
+			if (frag_depth<-shader.m_farPlane)
+				discard=true;
+
             if (!discard) {
                 zbuffer[P.x+P.y*image.get_width()] = frag_depth;
                 if (segmentationMaskBuffer)
diff --git a/examples/TinyRenderer/our_gl.h b/examples/TinyRenderer/our_gl.h
index 17403764c..6a18cf1ae 100644
--- a/examples/TinyRenderer/our_gl.h
+++ b/examples/TinyRenderer/our_gl.h
@@ -11,6 +11,8 @@ Matrix projection(float coeff=0.f); // coeff = -1/c
 Matrix lookat(Vec3f eye, Vec3f center, Vec3f up);
 
 struct IShader {
+	 float m_nearPlane;
+	float m_farPlane;
     virtual ~IShader();
     virtual Vec4f vertex(int iface, int nthvert) = 0;
     virtual bool fragment(Vec3f bar, TGAColor &color) = 0;
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index e70395e7e..788bd151e 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -6463,7 +6463,7 @@ initpybullet(void)
 	SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
 	Py_INCREF(SpamError);
 	PyModule_AddObject(m, "error", SpamError);
-
+	printf("pybullet build time: %s %s\n", __DATE__,__TIME__);
 		
 	Py_AtExit( b3pybulletExitFunc );
 	

From 723b356667efedfe5b34db5d6162588aa28c7ef6 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 25 May 2017 19:55:55 -0700
Subject: [PATCH 039/175] also discard pixels in front of nearplane

---
 examples/TinyRenderer/our_gl.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp
index a050eda39..c9c1adf8a 100644
--- a/examples/TinyRenderer/our_gl.cpp
+++ b/examples/TinyRenderer/our_gl.cpp
@@ -182,7 +182,8 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
             bool discard = shader.fragment(bc_clip, color);
 			if (frag_depth<-shader.m_farPlane)
 				discard=true;
-
+			if (frag_depth>-shader.m_nearPlane)
+				discard=true;
             if (!discard) {
                 zbuffer[P.x+P.y*image.get_width()] = frag_depth;
                 if (segmentationMaskBuffer)

From 8c6d4a4c85c182e4e9bf8aa893fd111962980bf1 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 26 May 2017 09:45:26 -0700
Subject: [PATCH 040/175] also initialize near/far for depth shader in
 TinyRenderer

---
 examples/TinyRenderer/TinyRenderer.cpp | 4 +++-
 examples/TinyRenderer/our_gl.cpp       | 9 +++++----
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index 5930151a4..23f9fda10 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -38,6 +38,9 @@ struct DepthShader : public IShader {
 	m_lightModelView(lightModelView),
 	m_lightDistance(lightDistance)
     {
+	m_nearPlane = m_projectionMat.col(3)[2]/(m_projectionMat.col(2)[2]-1);
+	m_farPlane = m_projectionMat.col(3)[2]/(m_projectionMat.col(2)[2]+1);
+
         m_invModelMat = m_modelMat.invert_transpose();
     }
     virtual Vec4f vertex(int iface, int nthvert) {
@@ -580,7 +583,6 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData)
         Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
         
         DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling, light_distance);
-        shader.m_farPlane=1e30;
         for (int i=0; i<model->nfaces(); i++)
         {
             for (int j=0; j<3; j++) {
diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp
index c9c1adf8a..a47bfe2cb 100644
--- a/examples/TinyRenderer/our_gl.cpp
+++ b/examples/TinyRenderer/our_gl.cpp
@@ -180,10 +180,11 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
 				zbuffer[P.x+P.y*image.get_width()]>frag_depth) 
 				continue;
             bool discard = shader.fragment(bc_clip, color);
-			if (frag_depth<-shader.m_farPlane)
-				discard=true;
-			if (frag_depth>-shader.m_nearPlane)
-				discard=true;
+            if (frag_depth<-shader.m_farPlane)
+                discard=true;
+            if (frag_depth>-shader.m_nearPlane)
+                discard=true;
+
             if (!discard) {
                 zbuffer[P.x+P.y*image.get_width()] = frag_depth;
                 if (segmentationMaskBuffer)

From b645963879060284536e115a5e00499bf0277718 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 26 May 2017 18:14:38 -0700
Subject: [PATCH 041/175] expose pybullet changeDynamics(spinningFriction=...,
 rollingFriction=..., restitution=...) Bullet C-API
 b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
 b3PhysicsParamSetRestitutionVelocityThreshold, /
 pybullet.setPhysicsEngineParameter restitutionVelocityThreshold: if the
 velocity is below this threshhold, the restitution is zero (this prevents
 energy buildup at near-resting state) pybullet restitution.py example.

---
 data/plane_with_restitution.urdf              |  29 ++++
 data/sphere_with_restitution.urdf             |  33 ++++
 examples/SharedMemory/PhysicsClientC_API.cpp  |  48 ++++++
 examples/SharedMemory/PhysicsClientC_API.h    |  10 +-
 .../PhysicsServerCommandProcessor.cpp         | 148 +++++++++++++-----
 examples/SharedMemory/SharedMemoryCommands.h  |   9 ++
 examples/pybullet/examples/restitution.py     |  38 +++++
 examples/pybullet/pybullet.c                  |  37 +++--
 .../ConstraintSolver/btContactSolverInfo.h    |   2 +
 .../btSequentialImpulseConstraintSolver.cpp   |   8 +-
 .../btSequentialImpulseConstraintSolver.h     |   2 +-
 .../btMultiBodyConstraintSolver.cpp           |   4 +-
 12 files changed, 317 insertions(+), 51 deletions(-)
 create mode 100644 data/plane_with_restitution.urdf
 create mode 100644 data/sphere_with_restitution.urdf
 create mode 100644 examples/pybullet/examples/restitution.py

diff --git a/data/plane_with_restitution.urdf b/data/plane_with_restitution.urdf
new file mode 100644
index 000000000..5f2ebdd19
--- /dev/null
+++ b/data/plane_with_restitution.urdf
@@ -0,0 +1,29 @@
+<?xml version="0.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+  <contact>
+      <restitution value="0.5"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -5"/>
+      <geometry>
+	 	<box size="30 30 10"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/data/sphere_with_restitution.urdf b/data/sphere_with_restitution.urdf
new file mode 100644
index 000000000..63a6682a5
--- /dev/null
+++ b/data/sphere_with_restitution.urdf
@@ -0,0 +1,33 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <restitution value="0.5" />
+      <rolling_friction value="0.001"/>
+      <spinning_friction value="0.001"/>
+      
+    </contact>
+
+    <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>
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index d438a906f..77fb802ee 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -392,6 +392,18 @@ int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle
 
 }
 
+int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle commandHandle, double restitutionVelocityThreshold)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+
+	command->m_physSimParamArgs.m_restitutionVelocityThreshold = restitutionVelocityThreshold;
+	command->m_updateFlags |= SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD  ;
+	return 0;
+
+}
+
+
 int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1297,6 +1309,42 @@ int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHa
 	return 0;
 }
 
+int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_changeDynamicsInfoArgs.m_spinningFriction = friction;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION;
+	return 0;
+
+}
+int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_changeDynamicsInfoArgs.m_rollingFriction = friction;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION;
+	return 0;
+
+}
+
+
+int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double restitution)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_changeDynamicsInfoArgs.m_restitution = restitution;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_RESTITUTION;
+	return 0;
+
+}
+
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 6dfe21718..0a730ee51 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -84,7 +84,12 @@ int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3Dynamics
 b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient);
 int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
 int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
-    
+int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
+int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
+int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double restitution);
+
+
+
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
 
 ///return a unique id for the user constraint, after successful creation, or -1 for an invalid constraint id
@@ -222,6 +227,9 @@ int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandl
 int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle commandHandle, double contactBreakingThreshold);
 int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms);
 int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching);
+int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle commandHandle, double restitutionVelocityThreshold);
+
+
 
 //b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
 //Use at own risk: magic things may or my not happen when calling this API
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 02635029e..50925cb14 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3915,52 +3915,122 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				{
 					BT_PROFILE("CMD_CHANGE_DYNAMICS_INFO");
 					
-					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
-					{
-						int bodyUniqueId = clientCmd.m_changeDynamicsInfoArgs.m_bodyUniqueId;
-						int linkIndex = clientCmd.m_changeDynamicsInfoArgs.m_linkIndex;
-						double mass = clientCmd.m_changeDynamicsInfoArgs.m_mass;
-						btAssert(bodyUniqueId >= 0);
-						btAssert(linkIndex >= -1);
+					int bodyUniqueId = clientCmd.m_changeDynamicsInfoArgs.m_bodyUniqueId;
+					int linkIndex = clientCmd.m_changeDynamicsInfoArgs.m_linkIndex;
+					double mass = clientCmd.m_changeDynamicsInfoArgs.m_mass;
+					double lateralFriction = clientCmd.m_changeDynamicsInfoArgs.m_lateralFriction;
+					double spinningFriction = clientCmd.m_changeDynamicsInfoArgs.m_spinningFriction;
+					double rollingFriction = clientCmd.m_changeDynamicsInfoArgs.m_rollingFriction;
+					double restitution = clientCmd.m_changeDynamicsInfoArgs.m_restitution;
+					btAssert(bodyUniqueId >= 0);
+					btAssert(linkIndex >= -1);
 						
-						InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
-						if (body && body->m_multiBody)
+					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+
+					if (body && body->m_multiBody)
+					{
+						btMultiBody* mb = body->m_multiBody;
+						if (linkIndex == -1)
 						{
-							btMultiBody* mb = body->m_multiBody;
-							if (linkIndex == -1)
+							if (mb->getBaseCollider())
 							{
-								mb->setBaseMass(mass);
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
+								{
+									mb->getBaseCollider()->setRestitution(restitution);
+								}
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
+								{
+									mb->getBaseCollider()->setFriction(lateralFriction);
+								}
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
+								{
+									mb->getBaseCollider()->setSpinningFriction(spinningFriction);
+								}
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
+								{
+									mb->getBaseCollider()->setRollingFriction(rollingFriction);
+								}								
 							}
-							else
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
+							{
+								mb->setBaseMass(mass);	
+								if (mb->getBaseCollider() && mb->getBaseCollider()->getCollisionShape())
+								{
+									btVector3 localInertia;
+									mb->getBaseCollider()->getCollisionShape()->calculateLocalInertia(mass,localInertia);
+									mb->setBaseInertia(localInertia);
+								}
+							}
+						}
+						else
+						{
+							if (mb->getLinkCollider(linkIndex))
+							{
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
+								{
+									mb->getLinkCollider(linkIndex)->setRestitution(restitution);
+								}
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
+								{
+									mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
+								}
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
+								{
+									mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
+								}
+
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
+								{
+									mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
+								}
+								
+			
+							}
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
 							{
 								mb->getLink(linkIndex).m_mass = mass;
+								if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
+								{
+									btVector3 localInertia;
+									mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
+									mb->getLink(linkIndex).m_inertiaLocal = localInertia;
+								}
+
+							}
+						}
+					} else
+					{
+						if (body && body->m_rigidBody)
+						{
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
+							{
+								body->m_rigidBody->setRestitution(restitution);
+							}
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
+							{
+								body->m_rigidBody->setFriction(lateralFriction);
+							}
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
+							{
+								body->m_rigidBody->setSpinningFriction(spinningFriction);
+							}
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
+							{
+								body->m_rigidBody->setRollingFriction(rollingFriction);
+							}
+
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
+							{
+								btVector3 localInertia;
+								if (body->m_rigidBody->getCollisionShape())
+								{
+									body->m_rigidBody->getCollisionShape()->calculateLocalInertia(mass,localInertia);
+								}
+								body->m_rigidBody->setMassProps(mass,localInertia);
 							}
 						}
 					}
 					
-					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
-					{
-						int bodyUniqueId = clientCmd.m_changeDynamicsInfoArgs.m_bodyUniqueId;
-						int linkIndex = clientCmd.m_changeDynamicsInfoArgs.m_linkIndex;
-						double lateralFriction = clientCmd.m_changeDynamicsInfoArgs.m_lateralFriction;
-						btAssert(bodyUniqueId >= 0);
-						btAssert(linkIndex >= -1);
-						
-						InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
-						if (body && body->m_multiBody)
-						{
-							btMultiBody* mb = body->m_multiBody;
-							if (linkIndex == -1)
-							{
-								mb->getBaseCollider()->setFriction(lateralFriction);
-							}
-							else
-							{
-								mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
-							}
-						}
-					}
-
 					
 					SharedMemoryStatus& serverCmd =serverStatusOut;
 					serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
@@ -4070,6 +4140,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     {
                         m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
                     }
+					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
+                    {
+                        m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold = clientCmd.m_physSimParamArgs.m_restitutionVelocityThreshold;
+                    }
+
+					
 
 					if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_FILE_CACHING)
                     {
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 0c3a44de1..ed686fb0c 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -114,6 +114,9 @@ enum EnumChangeDynamicsInfoFlags
 	CHANGE_DYNAMICS_INFO_SET_MASS=1,
 	CHANGE_DYNAMICS_INFO_SET_COM=2,
 	CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION=4,
+	CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION=8,
+	CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION=16,
+	CHANGE_DYNAMICS_INFO_SET_RESTITUTION=32,
 };
 
 struct ChangeDynamicsInfoArgs
@@ -123,6 +126,9 @@ struct ChangeDynamicsInfoArgs
 	double m_mass;
 	double m_COM[3];
 	double m_lateralFriction;
+	double m_spinningFriction;
+	double m_rollingFriction;
+	double m_restitution;
 };
 
 struct GetDynamicsInfoArgs
@@ -354,6 +360,8 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
 	SIM_PARAM_MAX_CMD_PER_1MS = 2048,
 	SIM_PARAM_ENABLE_FILE_CACHING = 4096,
+	SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192,
+
 
 };
 
@@ -387,6 +395,7 @@ struct SendPhysicsSimulationParameters
 	double m_defaultContactERP;
 	int m_collisionFilterMode;
 	int m_enableFileCaching;
+	double m_restitutionVelocityThreshold;
 };
 
 struct LoadBunnyArgs
diff --git a/examples/pybullet/examples/restitution.py b/examples/pybullet/examples/restitution.py
new file mode 100644
index 000000000..89f7483ec
--- /dev/null
+++ b/examples/pybullet/examples/restitution.py
@@ -0,0 +1,38 @@
+#you can set the restitution (bouncyness) of an object in the URDF file
+#or using changeDynamics
+
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+restitutionId = p.addUserDebugParameter("restitution",0,1,1)
+restitutionVelocityThresholdId = p.addUserDebugParameter("res. vel. threshold",0,3,0.2)
+
+lateralFrictionId = p.addUserDebugParameter("lateral friction",0,1,0.5)
+spinningFrictionId = p.addUserDebugParameter("spinning friction",0,1,0.03)
+rollingFrictionId = p.addUserDebugParameter("rolling friction",0,1,0.03)
+
+plane = p.loadURDF("plane_with_restitution.urdf")
+sphere = p.loadURDF("sphere_with_restitution.urdf",[0,0,2])
+
+p.setRealTimeSimulation(1)
+p.setGravity(0,0,-10)
+while (1):
+	restitution = p.readUserDebugParameter(restitutionId)
+	restitutionVelocityThreshold = p.readUserDebugParameter(restitutionVelocityThresholdId)
+	p.setPhysicsEngineParameter(restitutionVelocityThreshold=restitutionVelocityThreshold)
+
+	lateralFriction = 	p.readUserDebugParameter(lateralFrictionId)
+	spinningFriction = 	p.readUserDebugParameter(spinningFrictionId)
+	rollingFriction = 	p.readUserDebugParameter(rollingFrictionId)
+	p.changeDynamics(plane,-1,lateralFriction=1)
+	p.changeDynamics(sphere,-1,lateralFriction=lateralFriction)
+	p.changeDynamics(sphere,-1,spinningFriction=spinningFriction)
+	p.changeDynamics(sphere,-1,rollingFriction=rollingFriction)
+	
+	p.changeDynamics(plane,-1,restitution=restitution)
+	p.changeDynamics(sphere,-1,restitution=restitution)
+	pos,orn=p.getBasePositionAndOrientation(sphere)
+	#print("pos=")
+	#print(pos)
+	time.sleep(0.01)
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 788bd151e..1ea93fb7e 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -620,11 +620,15 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 	int linkIndex = -2;
 	double mass = -1;
 	double lateralFriction = -1;
+	double spinningFriction= -1;
+	double rollingFriction = -1;
+	double restitution = -1;
+
 	b3PhysicsClientHandle sm = 0;
 	
 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -644,12 +648,23 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 		{
 			b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
 		}
-		
 		if (lateralFriction >= 0)
 		{
 			b3ChangeDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
 		}
-		
+		if (spinningFriction>=0)
+		{
+			b3ChangeDynamicsInfoSetSpinningFriction(command, bodyUniqueId, linkIndex,spinningFriction);
+		}
+		if (rollingFriction>=0)
+		{
+			b3ChangeDynamicsInfoSetRollingFriction(command, bodyUniqueId, linkIndex,rollingFriction);
+		}
+
+		if (restitution>=0)
+		{
+			b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution);
+		}
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	}
 	
@@ -725,14 +740,14 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	double contactBreakingThreshold = -1;
 	int maxNumCmdPer1ms = -2;
 	int enableFileCaching = -1;
-
+	double restitutionVelocityThreshold=-1;
 	b3PhysicsClientHandle sm = 0;
 
 	int physicsClientId = 0;
-	static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","physicsClientId", NULL};
+	static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
-									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
+									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -783,6 +798,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 			b3PhysicsParamSetMaxNumCommandsPer1ms(command, maxNumCmdPer1ms);
 		}
 
+		if (restitutionVelocityThreshold>=0)
+		{
+			b3PhysicsParamSetRestitutionVelocityThreshold(command, restitutionVelocityThreshold);
+		}
 		if (enableFileCaching>=0)
 		{
 			b3PhysicsParamSetEnableFileCaching(command, enableFileCaching);
@@ -921,7 +940,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 											 startOrnZ, startOrnW);
 		if (useMaximalCoordinates>=0)
 		{
-			b3LoadUrdfCommandSetUseMultiBody(command, useMaximalCoordinates);
+			b3LoadUrdfCommandSetUseMultiBody(command, useMaximalCoordinates==0);
 		}
 		if (useFixedBase)
 		{
diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index f3d4d45af..28d0c1dd4 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -62,6 +62,7 @@ struct btContactSolverInfoData
 	btScalar	m_maxGyroscopicForce;
 	btScalar	m_singleAxisRollingFrictionThreshold;
 	btScalar	m_leastSquaresResidualThreshold;
+	btScalar	m_restitutionVelocityThreshold;
 
 };
 
@@ -97,6 +98,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
 		m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
 		m_leastSquaresResidualThreshold = 0.f;
+		m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution
 	}
 };
 
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index 7a0ed924d..fb9d9335f 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -506,8 +506,12 @@ void	btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
 
 
 
-btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution)
+btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold)
 {
+	//printf("rel_vel =%f\n", rel_vel);
+	if (btFabs(rel_vel)<velocityThreshold)
+		return 0.;
+
 	btScalar rest = restitution * -rel_vel;
 	return rest;
 }
@@ -947,7 +951,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
 					solverConstraint.m_friction = cp.m_combinedFriction;
 
 
-					restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);
+					restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
 					if (restitution <= btScalar(0.))
 					{
 						restitution = 0.f;
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index b81537138..2c4315c72 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -86,7 +86,7 @@ protected:
 	unsigned long	m_btSeed2;
 
 	
-	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
+	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
 
 	virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
index dac631c08..2aa62e5e5 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
@@ -491,7 +491,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
 
 		if(!isFriction)
 		{
-			restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);	
+			restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);	
 			if (restitution <= btScalar(0.))
 			{
 				restitution = 0.f;
@@ -830,7 +830,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
         
         if(!isFriction)
         {
-            restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution);
+            restitution =  restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
             if (restitution <= btScalar(0.))
             {
                 restitution = 0.f;

From f9c53b39a27ca10c7a9fecc4e71d50349d64d411 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sun, 28 May 2017 09:48:12 -0700
Subject: [PATCH 042/175] fix pybullet build on some MSVC versions

---
 examples/pybullet/pybullet.c | 20 +++++++++++++-------
 1 file changed, 13 insertions(+), 7 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 1ea93fb7e..8440cfc42 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -695,7 +695,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
 			int status_type = 0;
 			b3SharedMemoryCommandHandle cmd_handle;
 			b3SharedMemoryStatusHandle status_handle;
-			
+			struct b3DynamicsInfo info;
 			if (bodyUniqueId < 0)
 			{
 				PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid bodyUniqueId");
@@ -714,7 +714,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
 				PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid return status");
 				return NULL;
 			}
-			struct b3DynamicsInfo info;
+			
 			if (b3GetDynamicsInfo(status_handle, &info))
 			{
 				PyObject* pyDynamicsInfo = PyTuple_New(2);
@@ -1450,33 +1450,39 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 		for (i=0;i<numControlledDofs;i++)
 		{
 			double targetVelocity = 0.0;
+			double targetPosition = 0.0;
+			double force = 100000.0;
+			double kp = 0.1;
+			double kd = 1.0;
+			int jointIndex;
+
 			if (targetVelocitiesSeq)
 			{
 				targetVelocity = pybullet_internalGetFloatFromSequence(targetVelocitiesSeq, i);
 			}
-			double targetPosition = 0.0;
+
 			if (targetPositionsSeq)
 			{
 				targetPosition = pybullet_internalGetFloatFromSequence(targetPositionsSeq, i);
 			}
 
-			double force = 100000.0;
+			
 			if (forcesSeq)
 			{
 				force = pybullet_internalGetFloatFromSequence(forcesSeq, i);
 			}
-			double kp = 0.1;
+			
 			if (kpsSeq)
 			{
 				kp = pybullet_internalGetFloatFromSequence(kpsSeq, i);
 			}
-			double kd = 1.0;
+			
 			if (kdsSeq)
 			{
 				kd = pybullet_internalGetFloatFromSequence(kdsSeq, i);
 			}
 
-			int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
+			jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
 			b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
 
 			switch (controlMode)

From c36792c95065fc486e71653ddec3566ef950c840 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sun, 28 May 2017 13:30:20 -0700
Subject: [PATCH 043/175] fix bodyIndex -> bodyUniqueId in pybullet.

---
 examples/pybullet/pybullet.c | 127 +++++++++++++++++++++--------------
 1 file changed, 76 insertions(+), 51 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 8440cfc42..f1fd54452 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -840,7 +840,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 	static char* kwlistBackwardCompatible4[] = {"fileName", "startPosX", "startPosY", "startPosZ", NULL};
 	static char* kwlistBackwardCompatible8[] = {"fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY", "startOrnZ", "startOrnW", NULL};
 
-	int bodyIndex = -1;
+	int bodyUniqueId= -1;
 	const char* urdfFileName = "";
 
 	double startPosX = 0.0;
@@ -954,7 +954,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 			PyErr_SetString(SpamError, "Cannot load URDF file.");
 			return NULL;
 		}
-		bodyIndex = b3GetStatusBodyIndex(statusHandle);
+		bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
 	}
 	else
 	{
@@ -962,7 +962,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 						"Empty filename, method expects 1, 4 or 8 arguments.");
 		return NULL;
 	}
-	return PyLong_FromLong(bodyIndex);
+	return PyLong_FromLong(bodyUniqueId);
 }
 
 static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keywds)
@@ -1049,7 +1049,7 @@ static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObje
 static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 {
 	int size;
-	int bodyIndex, jointIndex, controlMode;
+	int bodyUniqueId, jointIndex, controlMode;
 
 	double targetPosition = 0.0;
 	double targetVelocity = 0.0;
@@ -1072,7 +1072,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 	{
 		double targetValue = 0.0;
 		// see switch statement below for convertsions dependent on controlMode
-		if (!PyArg_ParseTuple(args, "iiid", &bodyIndex, &jointIndex, &controlMode,
+		if (!PyArg_ParseTuple(args, "iiid", &bodyUniqueId, &jointIndex, &controlMode,
 							  &targetValue))
 		{
 			PyErr_SetString(SpamError, "Error parsing arguments");
@@ -1106,7 +1106,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 	{
 		double targetValue = 0.0;
 		// See switch statement for conversions
-		if (!PyArg_ParseTuple(args, "iiidd", &bodyIndex, &jointIndex, &controlMode,
+		if (!PyArg_ParseTuple(args, "iiidd", &bodyUniqueId, &jointIndex, &controlMode,
 							  &targetValue, &maxForce))
 		{
 			PyErr_SetString(SpamError, "Error parsing arguments");
@@ -1141,7 +1141,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 	{
 		double gain = 0.0;
 		double targetValue = 0.0;
-		if (!PyArg_ParseTuple(args, "iiiddd", &bodyIndex, &jointIndex, &controlMode,
+		if (!PyArg_ParseTuple(args, "iiiddd", &bodyUniqueId, &jointIndex, &controlMode,
 							  &targetValue, &maxForce, &gain))
 		{
 			PyErr_SetString(SpamError, "Error parsing arguments");
@@ -1177,7 +1177,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 	if (size == 8)
 	{
 		// only applicable for CONTROL_MODE_POSITION_VELOCITY_PD.
-		if (!PyArg_ParseTuple(args, "iiiddddd", &bodyIndex, &jointIndex,
+		if (!PyArg_ParseTuple(args, "iiiddddd", &bodyUniqueId, &jointIndex,
 							  &controlMode, &targetPosition, &targetVelocity,
 							  &maxForce, &kp, &kd))
 		{
@@ -1194,7 +1194,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 		b3SharedMemoryStatusHandle statusHandle;
 		struct b3JointInfo info;
 
-		numJoints = b3GetNumJoints(sm, bodyIndex);
+		numJoints = b3GetNumJoints(sm, bodyUniqueId);
 		if ((jointIndex >= numJoints) || (jointIndex < 0))
 		{
 			PyErr_SetString(SpamError, "Joint index out-of-range.");
@@ -1209,9 +1209,9 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 			return NULL;
 		}
 
-		commandHandle = b3JointControlCommandInit2(sm, bodyIndex, controlMode);
+		commandHandle = b3JointControlCommandInit2(sm, bodyUniqueId, controlMode);
 
-		b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
+		b3GetJointInfo(sm, bodyUniqueId, jointIndex, &info);
 
 		switch (controlMode)
 		{
@@ -1258,7 +1258,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 
 static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	int bodyIndex,  controlMode;
+	int bodyUniqueId,  controlMode;
 	PyObject* jointIndicesObj = 0;
 	PyObject* targetPositionsObj = 0;
 	PyObject* targetVelocitiesObj = 0;
@@ -1269,11 +1269,17 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 	b3PhysicsClientHandle sm = 0;
 
 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyIndex", "jointIndices", "controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOi|OOOOOi", kwlist, &bodyIndex, &jointIndicesObj, &controlMode,
+	static char* kwlist[] = {"bodyUniqueId", "jointIndices", "controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOi|OOOOOi", kwlist, &bodyUniqueId, &jointIndicesObj, &controlMode,
 									 &targetPositionsObj, &targetVelocitiesObj, &forcesObj, &kpsObj, &kdsObj, &physicsClientId))
 	{
-		return NULL;
+		static char* kwlist2[] = {"bodyIndex", "jointIndices", "controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "physicsClientId", NULL};
+		PyErr_Clear();
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOi|OOOOOi", kwlist2, &bodyUniqueId, &jointIndicesObj, &controlMode,
+									 &targetPositionsObj, &targetVelocitiesObj, &forcesObj, &kpsObj, &kdsObj, &physicsClientId))
+		{
+			return NULL;
+		}
 	}
 	sm = getPhysicsClient(physicsClientId);
 	if (sm == 0)
@@ -1297,7 +1303,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 		PyObject* kpsSeq = 0;
 		PyObject* kdsSeq = 0;
 
-		numJoints = b3GetNumJoints(sm, bodyIndex);
+		numJoints = b3GetNumJoints(sm, bodyUniqueId);
 		
 		if ((controlMode != CONTROL_MODE_VELOCITY) &&
 			(controlMode != CONTROL_MODE_TORQUE) &&
@@ -1445,7 +1451,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 			kdsSeq =  PySequence_Fast(kdsObj, "expected a sequence of kds");
 		}
 
-		commandHandle = b3JointControlCommandInit2(sm, bodyIndex, controlMode);
+		commandHandle = b3JointControlCommandInit2(sm, bodyUniqueId, controlMode);
 
 		for (i=0;i<numControlledDofs;i++)
 		{
@@ -1483,7 +1489,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 			}
 
 			jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
-			b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
+			b3GetJointInfo(sm, bodyUniqueId, jointIndex, &info);
 
 			switch (controlMode)
 			{
@@ -1532,7 +1538,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 
 static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	int bodyIndex, jointIndex, controlMode;
+	int bodyUniqueId, jointIndex, controlMode;
 
 	double targetPosition = 0.0;
 	double targetVelocity = 0.0;
@@ -1542,11 +1548,18 @@ static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args,
 	b3PhysicsClientHandle sm = 0;
 
 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyIndex", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|dddddi", kwlist, &bodyIndex, &jointIndex, &controlMode,
+	static char* kwlist[] = {"bodyUniqueId", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|dddddi", kwlist, &bodyUniqueId, &jointIndex, &controlMode,
 									 &targetPosition, &targetVelocity, &force, &kp, &kd, &physicsClientId))
 	{
-		return NULL;
+		//backward compatibility, bodyIndex -> bodyUniqueId, don't need to update this function: people have to migrate to bodyUniqueId
+		static char* kwlist2[] = {"bodyIndex", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "physicsClientId", NULL};
+		PyErr_Clear();
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|dddddi", kwlist2, &bodyUniqueId, &jointIndex, &controlMode,
+									 &targetPosition, &targetVelocity, &force, &kp, &kd, &physicsClientId))
+		{
+			return NULL;
+		}
 	}
 	sm = getPhysicsClient(physicsClientId);
 	if (sm == 0)
@@ -1561,7 +1574,7 @@ static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args,
 		b3SharedMemoryStatusHandle statusHandle;
 		struct b3JointInfo info;
 
-		numJoints = b3GetNumJoints(sm, bodyIndex);
+		numJoints = b3GetNumJoints(sm, bodyUniqueId);
 		if ((jointIndex >= numJoints) || (jointIndex < 0))
 		{
 			PyErr_SetString(SpamError, "Joint index out-of-range.");
@@ -1576,9 +1589,9 @@ static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args,
 			return NULL;
 		}
 
-		commandHandle = b3JointControlCommandInit2(sm, bodyIndex, controlMode);
+		commandHandle = b3JointControlCommandInit2(sm, bodyUniqueId, controlMode);
 
-		b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
+		b3GetJointInfo(sm, bodyUniqueId, jointIndex, &info);
 
 		switch (controlMode)
 		{
@@ -1795,7 +1808,7 @@ pybullet_setDefaultContactERP(PyObject* self, PyObject* args, PyObject* keywds)
 }
 
 static int pybullet_internalGetBaseVelocity(
-	int bodyIndex, double baseLinearVelocity[3], double baseAngularVelocity[3], b3PhysicsClientHandle sm)
+	int bodyUniqueId, double baseLinearVelocity[3], double baseAngularVelocity[3], b3PhysicsClientHandle sm)
 {
 	baseLinearVelocity[0] = 0.;
 	baseLinearVelocity[1] = 0.;
@@ -1814,7 +1827,7 @@ static int pybullet_internalGetBaseVelocity(
 	{
 		{
 			b3SharedMemoryCommandHandle cmd_handle =
-				b3RequestActualStateCommandInit(sm, bodyIndex);
+				b3RequestActualStateCommandInit(sm, bodyUniqueId);
 			b3SharedMemoryStatusHandle status_handle =
 				b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
 
@@ -1856,7 +1869,7 @@ static int pybullet_internalGetBaseVelocity(
 // Internal function used to get the base position and orientation
 // Orientation is returned in quaternions
 static int pybullet_internalGetBasePositionAndOrientation(
-	int bodyIndex, double basePosition[3], double baseOrientation[4], b3PhysicsClientHandle sm)
+	int bodyUniqueId, double basePosition[3], double baseOrientation[4], b3PhysicsClientHandle sm)
 {
 	basePosition[0] = 0.;
 	basePosition[1] = 0.;
@@ -1876,7 +1889,7 @@ static int pybullet_internalGetBasePositionAndOrientation(
 	{
 		{
 			b3SharedMemoryCommandHandle cmd_handle =
-				b3RequestActualStateCommandInit(sm, bodyIndex);
+				b3RequestActualStateCommandInit(sm, bodyUniqueId);
 			b3SharedMemoryStatusHandle status_handle =
 				b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
 
@@ -2395,7 +2408,7 @@ static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyOb
 	static char* kwlist[] = {"objectUniqueId", "linearVelocity", "angularVelocity", "physicsClientId", NULL};
 
 	{
-		int bodyIndex = 0;
+		int bodyUniqueId = 0;
 		PyObject* linVelObj = 0;
 		PyObject* angVelObj = 0;
 		double linVel[3] = {0, 0, 0};
@@ -2403,7 +2416,7 @@ static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyOb
 		int physicsClientId = 0;
 		b3PhysicsClientHandle sm = 0;
 
-		if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOi", kwlist, &bodyIndex, &linVelObj, &angVelObj, &physicsClientId))
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOi", kwlist, &bodyUniqueId, &linVelObj, &angVelObj, &physicsClientId))
 		{
 			return NULL;
 		}
@@ -2420,7 +2433,7 @@ static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyOb
 			b3SharedMemoryCommandHandle commandHandle;
 			b3SharedMemoryStatusHandle statusHandle;
 
-			commandHandle = b3CreatePoseCommandInit(sm, bodyIndex);
+			commandHandle = b3CreatePoseCommandInit(sm, bodyUniqueId);
 
 			if (linVelObj)
 			{
@@ -2535,10 +2548,10 @@ static PyObject* pybullet_resetBasePositionAndOrientation(PyObject* self,
 	return Py_None;
 }
 
-// Get the a single joint info for a specific bodyIndex
+// Get the a single joint info for a specific bodyUniqueId
 //
 // Args:
-//  bodyIndex - integer indicating body in simulation
+//  bodyUniqueId - integer indicating body in simulation
 //  jointIndex - integer indicating joint for a specific body
 //
 // Joint information includes:
@@ -2574,7 +2587,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
 
 	{
 		{
-			// printf("body index = %d, joint index =%d\n", bodyIndex, jointIndex);
+			// printf("body index = %d, joint index =%d\n", bodyUniqueId, jointIndex);
 
 			pyListJointInfo = PyTuple_New(jointInfoSize);
 
@@ -2626,10 +2639,10 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
 	return Py_None;
 }
 
-// Returns the state of a specific joint in a given bodyIndex
+// Returns the state of a specific joint in a given bodyUniqueId
 //
 // Args:
-//  bodyIndex - integer indicating body in simulation
+//  bodyUniqueId - integer indicating body in simulation
 //  jointIndex - integer indicating joint for a specific body
 //
 // The state of a joint includes the following:
@@ -2674,7 +2687,7 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args, PyObject
 
 			if (bodyUniqueId < 0)
 			{
-				PyErr_SetString(SpamError, "getJointState failed; invalid bodyIndex");
+				PyErr_SetString(SpamError, "getJointState failed; invalid bodyUniqueId");
 				return NULL;
 			}
 			if (jointIndex < 0)
@@ -2770,7 +2783,7 @@ static PyObject* pybullet_getJointStates(PyObject* self, PyObject* args, PyObjec
 
 			if (bodyUniqueId < 0)
 			{
-				PyErr_SetString(SpamError, "getJointState failed; invalid bodyIndex");
+				PyErr_SetString(SpamError, "getJointState failed; invalid bodyUniqueId");
 				return NULL;
 			}
 			numJoints = b3GetNumJoints(sm, bodyUniqueId);
@@ -2894,7 +2907,7 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
 
 			if (bodyUniqueId < 0)
 			{
-				PyErr_SetString(SpamError, "getLinkState failed; invalid bodyIndex");
+				PyErr_SetString(SpamError, "getLinkState failed; invalid bodyUniqueId");
 				return NULL;
 			}
 			if (linkIndex < 0)
@@ -5728,7 +5741,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 													 PyObject* args, PyObject* keywds)
 
 {
-	int bodyIndex;
+	int bodyUniqueId;
 	int endEffectorLinkIndex;
 
 	PyObject* targetPosObj = 0;
@@ -5742,10 +5755,16 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 	PyObject* restPosesObj = 0;
 	PyObject* jointDampingObj = 0;
 
-	static char* kwlist[] = {"bodyIndex", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId",  NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOOi", kwlist, &bodyIndex, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId",  NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOOi", kwlist, &bodyUniqueId, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
 	{
-		return NULL;
+		//backward compatibility bodyIndex -> bodyUniqueId. don't update keywords, people need to migrate to bodyUniqueId version
+		static char* kwlist2[] = {"bodyIndex", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId",  NULL};
+		PyErr_Clear();
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOOi", kwlist2, &bodyUniqueId, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
+		{
+			return NULL;
+		}
 	}
 	sm = getPhysicsClient(physicsClientId);
 	if (sm == 0)
@@ -5765,7 +5784,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 		int szRestPoses = restPosesObj ? PySequence_Size(restPosesObj) : 0;
 		int szJointDamping = jointDampingObj ? PySequence_Size(jointDampingObj) : 0;
 
-		int numJoints = b3GetNumJoints(sm, bodyIndex);
+		int numJoints = b3GetNumJoints(sm, bodyUniqueId);
 
 		int hasNullSpace = 0;
 		int hasJointDamping = 0;
@@ -5818,7 +5837,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 			int resultBodyIndex;
 			int result;
 
-			b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(sm, bodyIndex);
+			b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(sm, bodyUniqueId);
 
 			if (hasNullSpace)
 			{
@@ -5899,17 +5918,23 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self,
 												   PyObject* args, PyObject* keywds)
 {
 	{
-		int bodyIndex;
+		int bodyUniqueId;
 		PyObject* objPositionsQ;
 		PyObject* objVelocitiesQdot;
 		PyObject* objAccelerations;
 		int physicsClientId = 0;
 		b3PhysicsClientHandle sm = 0;
-		static char* kwlist[] = {"bodyIndex", "objPositions", "objVelocities", "objAccelerations", "physicsClientId", NULL};
-		if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|i", kwlist, &bodyIndex, &objPositionsQ,
+		static char* kwlist[] = {"bodyUniqueId", "objPositions", "objVelocities", "objAccelerations", "physicsClientId", NULL};
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|i", kwlist, &bodyUniqueId, &objPositionsQ,
 										 &objVelocitiesQdot, &objAccelerations, &physicsClientId))
 		{
+			static char* kwlist2[] = {"bodyIndex", "objPositions", "objVelocities", "objAccelerations", "physicsClientId", NULL};
+			PyErr_Clear();
+			if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|i", kwlist2, &bodyUniqueId, &objPositionsQ,
+											 &objVelocitiesQdot, &objAccelerations, &physicsClientId))
+			{
 			return NULL;
+			}
 		}
 		sm = getPhysicsClient(physicsClientId);
 		if (sm == 0)
@@ -5922,7 +5947,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self,
 			int szObPos = PySequence_Size(objPositionsQ);
 			int szObVel = PySequence_Size(objVelocitiesQdot);
 			int szObAcc = PySequence_Size(objAccelerations);
-			int numJoints = b3GetNumJoints(sm, bodyIndex);
+			int numJoints = b3GetNumJoints(sm, bodyUniqueId);
 			if (numJoints && (szObPos == numJoints) && (szObVel == numJoints) &&
 				(szObAcc == numJoints))
 			{
@@ -5949,7 +5974,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self,
 					int statusType;
 					b3SharedMemoryCommandHandle commandHandle =
 						b3CalculateInverseDynamicsCommandInit(
-							sm, bodyIndex, jointPositionsQ, jointVelocitiesQdot,
+							sm, bodyUniqueId, jointPositionsQ, jointVelocitiesQdot,
 							jointAccelerations);
 					statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 

From 5436b8f048887b8f2c86059442a1041d076ded4b Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sun, 28 May 2017 17:05:18 -0700
Subject: [PATCH 044/175] print better error warning, in case the physics
 client/server version mismatch. fix in b3HashString remove many unused
 dependencies from kuka_grasp_block_playback.py (time,math, datetime
 ,numpy,pylab ,sys, os, fnmatch,argparse were not used!) move
 block_grasp_log.bin from Bullet3/data to
 Bullet3/examples/pybullet/examples/data folder.
 PhysicsServerCommandProcessor, derive from CommandProcessorInterface to
 prepare for different back-end implementation

---
 .../PhysicsCommandProcessorInterface.h        |  25 +++++++++++++++++-
 examples/SharedMemory/PhysicsServer.h         |  14 +++++-----
 .../PhysicsServerCommandProcessor.h           |  12 ++++-----
 .../SharedMemory/PhysicsServerExample.cpp     |  10 +++----
 .../PhysicsServerSharedMemory.cpp             |   9 ++++---
 .../SharedMemory/PhysicsServerSharedMemory.h  |   1 -
 .../SharedMemoryCommandProcessor.cpp          |  10 ++++++-
 .../examples/data}/block_grasp_log.bin        | Bin
 .../examples/kuka_grasp_block_playback.py     |  10 +------
 src/Bullet3Common/b3HashMap.h                 |   4 +--
 10 files changed, 59 insertions(+), 36 deletions(-)
 rename {data => examples/pybullet/examples/data}/block_grasp_log.bin (100%)

diff --git a/examples/SharedMemory/PhysicsCommandProcessorInterface.h b/examples/SharedMemory/PhysicsCommandProcessorInterface.h
index 70ed2d044..4bfebf9f3 100644
--- a/examples/SharedMemory/PhysicsCommandProcessorInterface.h
+++ b/examples/SharedMemory/PhysicsCommandProcessorInterface.h
@@ -1,7 +1,7 @@
 #ifndef PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
 #define PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
 
-enum PhysicsCOmmandRenderFlags
+enum PhysicsCommandRenderFlags
 {
 	COV_DISABLE_SYNC_RENDERING=1
 };
@@ -29,4 +29,27 @@ public:
 
 };
 
+
+class btVector3;
+
+class CommandProcessorInterface : public PhysicsCommandProcessorInterface
+{
+
+public:
+	virtual ~CommandProcessorInterface(){}
+
+	virtual void syncPhysicsToGraphics()=0;
+	virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents)=0;
+	virtual void enableRealTimeSimulation(bool enableRealTimeSim)=0;
+
+	virtual void enableCommandLogging(bool enable, const char* fileName)=0;
+	virtual void replayFromLogFile(const char* fileName)=0;
+	virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes )=0;
+
+	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
+	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
+	virtual void removePickingConstraint()=0;
+
+};
+
 #endif //PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
diff --git a/examples/SharedMemory/PhysicsServer.h b/examples/SharedMemory/PhysicsServer.h
index 7b75a36cf..423d228b5 100644
--- a/examples/SharedMemory/PhysicsServer.h
+++ b/examples/SharedMemory/PhysicsServer.h
@@ -25,18 +25,18 @@ public:
 
 	//@todo(erwincoumans) Should we have shared memory commands for picking objects?
 	///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise
-	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
-	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
-	virtual void removePickingConstraint()=0;
+	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld){return false;}
+	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld){return false;}
+	virtual void removePickingConstraint(){}
 
 	//for physicsDebugDraw and renderScene are mainly for debugging purposes
 	//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
 	//to a physics client, over shared memory
-	virtual void    physicsDebugDraw(int debugDrawFlags)=0;
-	virtual void    renderScene(int renderFlags)=0;
+	virtual void    physicsDebugDraw(int debugDrawFlags){}
+	virtual void    renderScene(int renderFlags){}
 
-	virtual void enableCommandLogging(bool enable, const char* fileName)=0;
-	virtual void replayFromLogFile(const char* fileName)=0;
+	virtual void enableCommandLogging(bool enable, const char* fileName){}
+	virtual void replayFromLogFile(const char* fileName){}
 	
 };
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index 6b0f7a58f..304740d49 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -15,7 +15,7 @@ struct SharedMemLines
 
 
 ///todo: naming. Perhaps PhysicsSdkCommandprocessor?
-class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface
+class PhysicsServerCommandProcessor : public CommandProcessorInterface
 {
 
 	struct PhysicsServerCommandProcessorInternalData* m_data;
@@ -91,16 +91,16 @@ public:
 	virtual void removePickingConstraint();
 
 	//logging /playback the shared memory commands
-	void enableCommandLogging(bool enable, const char* fileName);
-	void replayFromLogFile(const char* fileName);
-	void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
+	virtual void enableCommandLogging(bool enable, const char* fileName);
+	virtual void replayFromLogFile(const char* fileName);
+	virtual void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
 
 	//logging of object states (position etc)
 	void logObjectStates(btScalar timeStep);
 	void processCollisionForces(btScalar timeStep);
 
-	void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
-	void enableRealTimeSimulation(bool enableRealTimeSim);
+	virtual void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
+	virtual void enableRealTimeSimulation(bool enableRealTimeSim);
 	void applyJointDamping(int bodyUniqueId);
 
 	virtual void setTimeOut(double timeOutInSeconds);
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 772dbd6d4..9c70e07da 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -600,7 +600,7 @@ struct ColorWidth
 
 ATTRIBUTE_ALIGNED16( class )MultithreadedDebugDrawer : public btIDebugDraw
 {
-	class GUIHelperInterface* m_guiHelper;
+	struct GUIHelperInterface* m_guiHelper;
 	int m_debugMode;
 
 	btAlignedObjectArray< btAlignedObjectArray<unsigned int> > m_sortedIndices;
@@ -1776,22 +1776,22 @@ void	PhysicsServerExample::updateGraphics()
 
 		if (flag==COV_ENABLE_VR_TELEPORTING)
 		{
-			gEnableTeleporting = enable;
+			gEnableTeleporting = (enable!=0);
 		}
 
 		if (flag == COV_ENABLE_VR_PICKING)
 		{
-			gEnablePicking = enable;
+			gEnablePicking = (enable!=0);
 		}
     
 		if (flag ==COV_ENABLE_SYNC_RENDERING_INTERNAL)
 		{
-			gEnableSyncPhysicsRendering = enable;
+			gEnableSyncPhysicsRendering = (enable!=0);
 		}
 
 		if (flag == COV_ENABLE_RENDERING)
 		{
-			gEnableRendering = enable;
+			gEnableRendering = (enable!=0);
 		}
 
 		m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag,m_multiThreadedHelper->m_visualizerEnable);
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index 225076910..3e9e42dc1 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -30,7 +30,7 @@ struct PhysicsServerSharedMemoryInternalData
 	int m_sharedMemoryKey;
 	bool m_areConnected[MAX_SHARED_MEMORY_BLOCKS];
 	bool m_verboseOutput;
-	PhysicsServerCommandProcessor* m_commandProcessor;
+	CommandProcessorInterface* m_commandProcessor;
 	
 	PhysicsServerSharedMemoryInternalData()
 		:m_sharedMemory(0),
@@ -89,7 +89,7 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* shar
 PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
 {
 
-	m_data->m_commandProcessor->deleteDynamicsWorld();
+	//m_data->m_commandProcessor->deleteDynamicsWorld();
 	delete m_data->m_commandProcessor;
 
     if (m_data->m_sharedMemory)
@@ -109,11 +109,12 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
     delete m_data;
 }
 
-void PhysicsServerSharedMemory::resetDynamicsWorld()
+/*void PhysicsServerSharedMemory::resetDynamicsWorld()
 {
 	m_data->m_commandProcessor->deleteDynamicsWorld();
 	m_data->m_commandProcessor ->createEmptyDynamicsWorld();
 }
+*/
 void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
 {
 	m_data->m_sharedMemoryKey = key;
@@ -188,7 +189,7 @@ bool PhysicsServerSharedMemory::connectSharedMemory( struct GUIHelperInterface*
 
 void PhysicsServerSharedMemory::disconnectSharedMemory(bool deInitializeSharedMemory)
 {
-	m_data->m_commandProcessor->deleteDynamicsWorld();
+	//m_data->m_commandProcessor->deleteDynamicsWorld();
 
 	m_data->m_commandProcessor->setGuiHelper(0);
 
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h
index e3dc7facf..68fa376bb 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.h
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.h
@@ -48,7 +48,6 @@ public:
 	void enableCommandLogging(bool enable, const char* fileName);
 	void replayFromLogFile(const char* fileName);
 	
-	void resetDynamicsWorld();
 
 };
 
diff --git a/examples/SharedMemory/SharedMemoryCommandProcessor.cpp b/examples/SharedMemory/SharedMemoryCommandProcessor.cpp
index abd4879a2..29c2eb865 100644
--- a/examples/SharedMemory/SharedMemoryCommandProcessor.cpp
+++ b/examples/SharedMemory/SharedMemoryCommandProcessor.cpp
@@ -73,7 +73,15 @@ bool SharedMemoryCommandProcessor::connect()
 
 	if (m_data->m_testBlock1) {
 		if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) {
-			b3Error("Error: please start server before client\n");
+
+			if ((m_data->m_testBlock1->m_magicId < 211705023) && 
+				(m_data->m_testBlock1->m_magicId >=201705023))
+			{
+				b3Error("Error: physics server version mismatch (expected %d got %d)\n",SHARED_MEMORY_MAGIC_NUMBER, m_data->m_testBlock1->m_magicId);
+			} else
+			{
+				b3Error("Error connecting to shared memory: please start server before client\n");
+			}
 			m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey,
 				SHARED_MEMORY_SIZE);
 			m_data->m_testBlock1 = 0;
diff --git a/data/block_grasp_log.bin b/examples/pybullet/examples/data/block_grasp_log.bin
similarity index 100%
rename from data/block_grasp_log.bin
rename to examples/pybullet/examples/data/block_grasp_log.bin
diff --git a/examples/pybullet/examples/kuka_grasp_block_playback.py b/examples/pybullet/examples/kuka_grasp_block_playback.py
index d22335975..6a786ad0d 100644
--- a/examples/pybullet/examples/kuka_grasp_block_playback.py
+++ b/examples/pybullet/examples/kuka_grasp_block_playback.py
@@ -1,14 +1,6 @@
 import pybullet as p
-import time
-import math
-from datetime import datetime
-from numpy import *
-from pylab import *
 import struct
-import sys
-import os, fnmatch
-import argparse
-from time import sleep
+
 
 def readLogFile(filename, verbose = True):
   f = open(filename, 'rb')
diff --git a/src/Bullet3Common/b3HashMap.h b/src/Bullet3Common/b3HashMap.h
index ceeb838e2..24a59d9ba 100644
--- a/src/Bullet3Common/b3HashMap.h
+++ b/src/Bullet3Common/b3HashMap.h
@@ -44,8 +44,8 @@ struct b3HashString
 
 		/* Fowler / Noll / Vo (FNV) Hash */
 		unsigned int hash = InitialFNV;
-		
-		for(int i = 0; m_string[i]; i++)
+		int len = m_string.length();
+		for(int i = 0; i<len; i++)
 		{
 			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
 			hash = hash * FNVMultiple;  /* multiply by the magic number */

From cd153eb6a5fa396b1a9bb283e07b64c9d8b7a12d Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Mon, 29 May 2017 21:56:18 +0200
Subject: [PATCH 045/175] Remove graphic instances from previous runs. Still
 non-deterministic unfortunately.

---
 examples/Evolution/NN3DWalkers.cpp | 473 +++++++++++++++++------------
 1 file changed, 274 insertions(+), 199 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index acebcf625..8fb793c79 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -29,6 +29,7 @@ class btConstraintSolver;
 struct btCollisionAlgorithmCreateFunc;
 class btDefaultCollisionConfiguration;
 class NNWalker;
+class NNWalkerBrain;
 
 #include "NN3DWalkersTimeWarpBase.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
@@ -71,42 +72,42 @@ static btScalar gParallelEvaluations = 10.0f;
 
 // Evaluation configurable parameters
 #ifndef REAP_QTY
-#define REAP_QTY 0.3f // number of walkers reaped based on their bad performance
+#define REAP_QTY 0.3f 												// number of walkers reaped based on their bad performance
 #endif
 
 #ifndef SOW_CROSSOVER_QTY
-#define SOW_CROSSOVER_QTY 0.2f // number of walkers recreated via crossover
+#define SOW_CROSSOVER_QTY 0.2f 										// number of walkers recreated via crossover
 #endif
 
 // this means the rest of them is randomly created: REAP_QTY-SOW_CROSSOVER_QTY = NEW_RANDOM_BREED_QTY
 
 #ifndef SOW_ELITE_QTY
-#define SOW_ELITE_QTY 0.2f // number of walkers kept using an elitist strategy (the best performing creatures are NOT mutated at all)
+#define SOW_ELITE_QTY 0.2f 											// number of walkers kept using an elitist strategy (the best performing creatures are NOT mutated at all)
 #endif
 
 #ifndef SOW_MUTATION_QTY
-#define SOW_MUTATION_QTY 0.5f // SOW_ELITE_QTY + SOW_MUTATION_QTY + REAP_QTY = 1
+#define SOW_MUTATION_QTY 0.5f 										// SOW_ELITE_QTY + SOW_MUTATION_QTY + REAP_QTY = 1
 #endif
 
 #ifndef MUTATION_RATE
-#define MUTATION_RATE 0.5f // the mutation rate of for the walker with the worst performance
+#define MUTATION_RATE 0.5f 											// the mutation rate of for the walker with the worst performance
 #endif
 
 #ifndef SOW_ELITE_PARTNER
-#define SOW_ELITE_PARTNER 0.8f // the chance an elite partner is chosen for breeding
+#define SOW_ELITE_PARTNER 0.8f 										// the chance an elite partner is chosen for breeding
 #endif
 
 // #### debugging ####
 #ifndef DRAW_INTERPENETRATIONS
-#define DRAW_INTERPENETRATIONS false // DEBUG toggle: draw interpenetrations of a walker body
+#define DRAW_INTERPENETRATIONS false 								// DEBUG toggle: draw interpenetrations of a walker body
 #endif
 
 #ifndef REBUILD_WALKER
-#define REBUILD_WALKER false // if the walker should be rebuilt on mutation
+#define REBUILD_WALKER true											// if the walker should be rebuilt on mutation
 #endif
 
 #ifndef TIMESTAMP_TIME
-#define TIMESTAMP_TIME 2000.0f // delay between speed up timestamps
+#define TIMESTAMP_TIME 2000.0f 										// delay between speed up timestamps
 #endif
 
 // #### not to be reconfigured ####
@@ -125,24 +126,25 @@ void* GROUND_ID = (void*)1;
 
 class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
 {
-	btScalar m_SimulationTime; // the current simulation time
+	btScalar m_SimulationTime; 										// the current simulation time
 	btScalar m_LastSpeedupPrintTimestamp;
-	btScalar m_bestWalkerFitness; // to keep track of the best fitness
+	btScalar m_bestWalkerFitness; 									// to keep track of the best fitness
 
-	btVector3 m_resetPosition; // initial position of an evaluation
+	btVector3 m_resetPosition; 										// initial position of an evaluation
 
-	int 	 m_walkersInEvaluation; // number of walkers in evaluation
-	int		 m_nextReapedIndex; // index of the next reaped walker
+	int 	 m_walkersInEvaluation; 								// number of walkers in evaluation
+	int		 m_nextReapedIndex; 									// index of the next reaped walker
 	
-	btAlignedObjectArray<class NNWalker*> m_walkersInPopulation;
+	btAlignedObjectArray<class NNWalker*> m_walkersInPopulation;	// walkers in the population
+	btAlignedObjectArray<class NNWalkerBrain*> m_walkerBrains;		// walker cores in the population
 	
-	bool m_rebuildWorldNeeded; // if the world should be rebuilt (for determinism)
+	bool m_rebuildWorldNeeded; 										// if the world should be rebuilt (for determinism)
 
-	btRigidBody* m_ground; // reference to ground to readd if world is rebuilt
+	btRigidBody* m_ground; 											// reference to ground to readd if world is rebuilt
 
-	btOverlapFilterCallback * m_filterCallback; // the collision filter callback
+	btOverlapFilterCallback * m_filterCallback; 					// the collision filter callback
 
-	TimeSeriesCanvas* m_timeSeriesCanvas; // A plotting canvas for the walker fitnesses
+	TimeSeriesCanvas* m_timeSeriesCanvas; 							// A plotting canvas for the walker fitnesses
 public:
 	NN3DWalkersExample(struct GUIHelperInterface* helper)
 	:NN3DWalkersTimeWarpBase(helper),
@@ -155,17 +157,16 @@ public:
 	 m_nextReapedIndex(0),
 	 m_timeSeriesCanvas(NULL),
 	 m_ground(NULL),
-	 m_rebuildWorldNeeded(false),
 	 m_filterCallback(NULL)
 	{
 		b3Clock clock;
-		srand(clock.getSystemTimeMilliseconds());
+		srand(clock.getSystemTimeMilliseconds());					// Set random milliseconds based on system time
 	}
 
 	virtual ~NN3DWalkersExample()
 	{
 		//m_walkersInPopulation deallocates itself
-
+		//m_walkerBrains deallocates itself
 		delete m_timeSeriesCanvas;
 	}
 
@@ -305,6 +306,36 @@ public:
 
 static NN3DWalkersExample* nn3DWalkers = NULL;
 
+/**
+ * Neural Network Brain Weights.
+ */
+class NNWalkerBrain
+{
+	btScalar m_sensoryMotorWeights[BODYPART_COUNT*JOINT_COUNT]; // Neural Network connection weights
+
+public:
+
+	NNWalkerBrain(){
+		randomizeSensoryMotorWeights();
+	}
+
+	void randomizeSensoryMotorWeights(){
+		//initialize random weights
+		for(int i = 0;i < BODYPART_COUNT;i++){
+			for(int j = 0;j < JOINT_COUNT;j++){
+				m_sensoryMotorWeights[i+j*BODYPART_COUNT] = ((double) rand() / (RAND_MAX))*2.0f-1.0f;
+			}
+		}
+	}
+
+	btScalar* getSensoryMotorWeights() {
+		return m_sensoryMotorWeights;
+	}
+};
+
+/**
+ * Neural Networks Walker. A 6 legged robot moving controlled by a one-layer neural network which maps from leg ground touch sensors to leg joint positions.
+ */
 class NNWalker
 {
 	btDynamicsWorld*			m_ownerWorld;
@@ -314,7 +345,8 @@ class NNWalker
 	btTypedConstraint*			m_joints[JOINT_COUNT];
 	btHashMap<btHashPtr,int>	m_bodyTouchSensorIndexMap;
 	bool 						m_touchSensors[BODYPART_COUNT];
-	btScalar					m_sensoryMotorWeights[BODYPART_COUNT*JOINT_COUNT];
+	NNWalkerBrain*				m_brain;
+
 
 	bool						m_inEvaluation;
 	btScalar					m_evaluationTime;
@@ -341,16 +373,9 @@ class NNWalker
 
 public:
 
-	void randomizeSensoryMotorWeights(){
-		//initialize random weights
-		for(int i = 0;i < BODYPART_COUNT;i++){
-			for(int j = 0;j < JOINT_COUNT;j++){
-				m_sensoryMotorWeights[i+j*BODYPART_COUNT] = ((double) rand() / (RAND_MAX))*2.0f-1.0f;
-			}
-		}
-	}
-
-	NNWalker(int index, btDynamicsWorld* ownerWorld,
+	NNWalker(int index,
+		btDynamicsWorld* ownerWorld,
+		NNWalkerBrain* core,
 		const btVector3& startingPosition,
 		const btScalar& rootBodyRadius,
 		const btScalar& rootBodyHeight,
@@ -359,37 +384,38 @@ public:
 		const btScalar& foreLegRadius,
 		const btScalar& foreLegLength,
 		bool fixedBodyPosition)
-		: m_ownerWorld (ownerWorld), // the world the walker walks in
-		  m_inEvaluation(false), // the walker is not in evaluation
-		  m_evaluationTime(0), // reset evaluation time
-		  m_reaped(false), // the walker is not reaped
-		  m_startPosition(startingPosition), // the starting position of the walker
-		  m_legUpdateAccumulator(0),
+		: m_ownerWorld(ownerWorld), 												// the world the walker walks in
+		  m_brain(core), 															// the evolution core
+		  m_inEvaluation(false), 													// the walker is not in evaluation
+		  m_evaluationTime(0), 														// reset evaluation time
+		  m_reaped(false), 															// the walker is not reaped
+		  m_startPosition(startingPosition), 										// the starting position of the walker
+		  m_legUpdateAccumulator(0),												// variable to apply rhythmic leg position updates
 		  m_index(index)
 	{
-		btVector3 vUp(0, 1, 0); // up in local reference frame
+		btVector3 vUp(0, 1, 0); 													// up direction in local reference frame
 
 		NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)m_ownerWorld->getWorldUserInfo();
 
 		// Setup geometry
-		m_shapes[0] = new btCapsuleShape(rootBodyRadius, rootBodyHeight); // root body capsule
+		m_shapes[0] = new btCapsuleShape(rootBodyRadius, rootBodyHeight); 			// torso capsule
 		int i;
-		for ( i = 0; i < NUM_WALKER_LEGS; i++)
+		for (i = 0; i < NUM_WALKER_LEGS; i++)
 		{
-			m_shapes[1 + 2*i] = new btCapsuleShape(legRadius, legLength); // leg  capsule
-			m_shapes[2 + 2*i] = new btCapsuleShape(foreLegRadius, foreLegLength); // fore leg capsule
+			m_shapes[1 + 2*i] = new btCapsuleShape(legRadius, legLength); 			// leg  capsule
+			m_shapes[2 + 2*i] = new btCapsuleShape(foreLegRadius, foreLegLength); 	// fore leg capsule
 		}
 
 		// Setup rigid bodies
-		btScalar rootAboveGroundHeight = foreLegLength;
+		btScalar torsoAboveGroundHeight = foreLegLength;
 		btTransform bodyOffset; bodyOffset.setIdentity();
 		bodyOffset.setOrigin(startingPosition);		
 
-		// root body
-		btVector3 localRootBodyPosition = btVector3(btScalar(0.), rootAboveGroundHeight, btScalar(0.)); // root body position in local reference frame
+		// torso
+		btVector3 localTorsoPosition = btVector3(btScalar(0.), torsoAboveGroundHeight, btScalar(0.)); // torso position in local reference frame
 		btTransform transform;
 		transform.setIdentity();
-		transform.setOrigin(localRootBodyPosition);
+		transform.setOrigin(localTorsoPosition);
 
 		btTransform originTransform = transform;
 
@@ -406,16 +432,18 @@ public:
 		// legs
 		for (i = 0; i < NUM_WALKER_LEGS; i++)
 		{
-			float footAngle = 2 * SIMD_PI * i / NUM_WALKER_LEGS; // legs are uniformly distributed around the root body
-			float footYUnitPosition = sin(footAngle); // y position of the leg on the unit circle
-			float footXUnitPosition = cos(footAngle); // x position of the leg on the unit circle
+			float footAngle = 2 * SIMD_PI * i / NUM_WALKER_LEGS; 					// legs are uniformly distributed around the root body
+			float footYUnitPosition = sin(footAngle); 								// y position of the leg on the unit circle
+			float footXUnitPosition = cos(footAngle); 								// x position of the leg on the unit circle
 
 			transform.setIdentity();
-			btVector3 legCOM = btVector3(btScalar(footXUnitPosition*(rootBodyRadius+0.5*legLength)), btScalar(rootAboveGroundHeight), btScalar(footYUnitPosition*(rootBodyRadius+0.5*legLength)));
+			btVector3 legCOM = btVector3(btScalar(footXUnitPosition*(rootBodyRadius+0.5*legLength)),
+										 btScalar(torsoAboveGroundHeight),
+										 btScalar(footYUnitPosition*(rootBodyRadius+0.5*legLength)));
 			transform.setOrigin(legCOM);
 
 			// thigh
-			btVector3 legDirection = (legCOM - localRootBodyPosition).normalize();
+			btVector3 legDirection = (legCOM - localTorsoPosition).normalize();
 			btVector3 kneeAxis = legDirection.cross(vUp);			
 			transform.setRotation(btQuaternion(kneeAxis, SIMD_HALF_PI));
 			m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[1+2*i]);
@@ -425,7 +453,9 @@ public:
 
 			// shin
 			transform.setIdentity();
-			transform.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)), btScalar(rootAboveGroundHeight-0.5*foreLegLength), btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
+			transform.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)),
+										  btScalar(torsoAboveGroundHeight-0.5*foreLegLength),
+										  btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
 			m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[2+2*i]);
 			m_bodyRelativeTransforms[2+2*i] = transform;
 			m_bodies[2+2*i]->setUserPointer(this);
@@ -433,30 +463,32 @@ public:
 
 			// hip joints
 			localA.setIdentity(); localB.setIdentity();
-			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*rootBodyRadius), btScalar(0.), btScalar(footYUnitPosition*rootBodyRadius)));
+			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*rootBodyRadius),
+																					   btScalar(0.),
+																					   btScalar(footYUnitPosition*rootBodyRadius)));
 			localB = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
 			hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
 			hingeC->setLimit(btScalar(-0.75 * SIMD_PI_4), btScalar(SIMD_PI_8));
-			//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
 			m_joints[2*i] = hingeC;
 
 			// knee joints
 			localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
-			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)), btScalar(0.), btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
+			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)),
+																					   btScalar(0.),
+																					   btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
 			localB = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
 			localC = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[2+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
 			hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC);
-			//hingeC->setLimit(btScalar(-0.01), btScalar(0.01));
 			hingeC->setLimit(btScalar(-SIMD_PI_8), btScalar(0.2));
 			m_joints[1+2*i] = hingeC;
 
 			//test if we cause a collision with priorly inserted bodies. This prevents the walkers from having to resolve collisions on startup
 
-			m_ownerWorld->addRigidBody(m_bodies[1+2*i]); // add thigh bone
-			m_ownerWorld->addConstraint(m_joints[2*i], true); // connect thigh bone with root
+			m_ownerWorld->addRigidBody(m_bodies[1+2*i]); 								// add thigh bone
+			m_ownerWorld->addConstraint(m_joints[2*i], true); 							// connect thigh bone with root
 
-			if(nnWalkersDemo->detectCollisions()){ // if thigh bone causes collision, remove it again
-				m_ownerWorld->removeConstraint(m_joints[2*i]); // disconnect thigh bone from root
+			if(nnWalkersDemo->detectCollisions()){ 										// if thigh bone causes collision, remove it again
+				m_ownerWorld->removeConstraint(m_joints[2*i]); 							// disconnect thigh bone from root
 				delete m_joints[2*i];
 				m_joints[2*i] = NULL;
 
@@ -470,11 +502,11 @@ public:
 				m_bodies[2+2*i] = NULL;
 			}
 			else{
-				m_ownerWorld->addRigidBody(m_bodies[2+2*i]); // add shin bone
-				m_ownerWorld->addConstraint(m_joints[1+2*i], true); // connect shin bone with thigh
+				m_ownerWorld->addRigidBody(m_bodies[2+2*i]); 							// add shin bone
+				m_ownerWorld->addConstraint(m_joints[1+2*i], true); 					// connect shin bone with thigh
 
-				if(nnWalkersDemo->detectCollisions()){ // if shin bone causes collision, remove it again
-					m_ownerWorld->removeConstraint(m_joints[1+2*i]); // disconnect shin bone from thigh
+				if(nnWalkersDemo->detectCollisions()){ 									// if shin bone causes collision, remove it again
+					m_ownerWorld->removeConstraint(m_joints[1+2*i]); 					// disconnect shin bone from thigh
 					delete m_joints[1+2*i];
 					m_joints[1+2*i] = NULL;
 
@@ -500,16 +532,16 @@ public:
 		removeJoints();
 		removeRigidbodies();
 
-		clearTouchSensors(); // set touch sensors to zero
+		clearTouchSensors(); 															// set touch sensors to zero
 
-		randomizeSensoryMotorWeights(); // set random sensory motor weights for neural network layer
+		randomizeSensoryMotorWeights(); 												// set random sensory motor weights for neural network layer
 	}
 
 	virtual	~NNWalker ()
 	{
 		int i;
 
-		removeFromWorld();
+		removeFromWorld();							// remove walker from world
 
 		// Remove all constraints
 		for ( i = 0; i < JOINT_COUNT; ++i)
@@ -547,20 +579,12 @@ public:
 		}
 	}
 
-	bool getTouchSensor(int i){
-		return m_touchSensors[i];
-	}
-
 	btScalar* getSensoryMotorWeights() {
-		return m_sensoryMotorWeights;
+		return m_brain->getSensoryMotorWeights();
 	}
 
-	void copySensoryMotorWeights(btScalar* sensoryMotorWeights){
-		for(int i = 0;i < BODYPART_COUNT;i++){
-			for(int j = 0;j < JOINT_COUNT;j++){
-				m_sensoryMotorWeights[i+j*BODYPART_COUNT] = sensoryMotorWeights[i+j*BODYPART_COUNT];
-			}
-		}
+	void randomizeSensoryMotorWeights(){
+		m_brain->randomizeSensoryMotorWeights();
 	}
 
 	void addToWorld() {
@@ -613,6 +637,10 @@ public:
 		return getDistanceFitness(); // for now it is only distance
 	}
 
+	/**
+	 * Reset walker to a position. Does not work deterministically.
+	 * @param position
+	 */
 	void resetAt(const btVector3& position) {
 		removeFromWorld();
 		btTransform resetPosition(btQuaternion::getIdentity(), position);
@@ -670,6 +698,18 @@ public:
 		return m_index;
 	}
 
+	bool getTouchSensor(int i){
+		return m_touchSensors[i];
+	}
+
+	NNWalkerBrain* getBrain(){
+		return m_brain;
+	}
+
+	btRigidBody** getBodies(){
+		return &m_bodies[0];
+	}
+
 	btScalar getLegUpdateAccumulator() const {
 		return m_legUpdateAccumulator;
 	}
@@ -726,6 +766,13 @@ private:
 
 void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep);
 
+/**
+ * Draw leg contacts on ground.
+ * @param cp
+ * @param body0
+ * @param body1
+ * @return
+ */
 bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
 {
     btCollisionObject* o1 = static_cast<btCollisionObject*>(body0);
@@ -752,7 +799,10 @@ bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
     return false;
 }
 
-struct WalkerFilterCallback : public btOverlapFilterCallback // avoids collisions among the walkers
+/**
+ * A filter avoiding collision between walkers.
+ */
+struct WalkerFilterCallback : public btOverlapFilterCallback // avoids collisions between walkers
 {
 	// return true when pairs need collision
 	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
@@ -783,14 +833,24 @@ void NN3DWalkersExample::initPhysics()
 
 	m_SimulationTime = 0;
 
-	createEmptyDynamicsWorld();
-
-	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true);
-	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
-	m_dynamicsWorld->getDebugDrawer()->setDebugMode(0);
-
 	gWalkerLegTargetFrequency = 3; // Hz
 
+	m_walkersInPopulation.resize(POPULATION_SIZE, NULL);
+	m_walkerBrains.resize(POPULATION_SIZE, NULL);
+
+	recreateWorld(); // setup world and add ground
+
+	{ // Setup a big ground box
+		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
+		m_collisionShapes.push_back(groundShape);
+		btTransform groundTransform;
+		groundTransform.setIdentity();
+		groundTransform.setOrigin(btVector3(0,-10,0));
+		m_ground = createRigidBody(btScalar(0.),groundTransform,groundShape);
+		m_ground->setFriction(5);
+		m_ground->setUserPointer(GROUND_ID);
+	}
+
 	// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
 	// should be (numberOfsolverIterations * oldLimits)
 	gWalkerMotorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
@@ -800,8 +860,7 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
-			slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 	}
 
 	{ // create a slider to change the motor torque
@@ -809,8 +868,7 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 1;
 		slider.m_maxVal = 50;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
-			slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 	}
 	
 	{ // create a slider to change the root body radius
@@ -818,8 +876,7 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
-			slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 	}
 
 	{ // create a slider to change the root body height
@@ -827,8 +884,7 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
-			slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 	}
 
 	{ // create a slider to change the leg radius
@@ -836,8 +892,7 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
-			slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 	}
 
 	{ // create a slider to change the leg length
@@ -845,8 +900,7 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
-			slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 	}
 
 	{ // create a slider to change the fore leg radius
@@ -854,8 +908,7 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
-			slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 	}
 
 	{ // create a slider to change the fore leg length
@@ -863,8 +916,7 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
-			slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 	}
 
 	if(POPULATION_SIZE > 1)
@@ -877,120 +929,122 @@ void NN3DWalkersExample::initPhysics()
 			slider);
 	}
 
-	{// Setup a big ground box
-		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
-		m_collisionShapes.push_back(groundShape);
-		btTransform groundTransform;
-		groundTransform.setIdentity();
-		groundTransform.setOrigin(btVector3(0,-10,0));
-		m_ground = createRigidBody(btScalar(0.),groundTransform,groundShape);
-		m_ground->setFriction(5);
-		m_ground->setUserPointer(GROUND_ID);
-	}
-
-	// add walker filter making the walkers never collide with each other
-	m_filterCallback = new WalkerFilterCallback();
-	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(m_filterCallback);
-
 	// setup data sources for walkers in time series canvas
 	m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,400,300, "Fitness Performance");
 	m_timeSeriesCanvas->setupTimeSeries(TIME_SERIES_MIN_Y, TIME_SERIES_MAX_Y, 10, 0);
 	for(int i = 0; i < POPULATION_SIZE ; i++){
-		m_timeSeriesCanvas->addDataSource(" ", 100*i/POPULATION_SIZE,100*(POPULATION_SIZE-i)/POPULATION_SIZE,100*i/POPULATION_SIZE);
+		m_timeSeriesCanvas->addDataSource(" ", 100*i/POPULATION_SIZE, 100*(POPULATION_SIZE-i)/POPULATION_SIZE, 100*i/POPULATION_SIZE);
 	}
-
-	m_walkersInPopulation.resize(POPULATION_SIZE, NULL);
-
-	for(int i = 0; i < POPULATION_SIZE ; i++){ // spawn walkers
-		resetWalkerAt(i, m_resetPosition);
-	}
-
 }
 
 void NN3DWalkersExample::performModelUpdate(float deltaTime){
-	if(m_rebuildWorldNeeded){
+	if(m_rebuildWorldNeeded){ // rebuilding the world must be performed in sync to the update cycle of the example browser
 		recreateWorld();
 		m_rebuildWorldNeeded = false;
 	}
 }
 
+/**
+ * This method should really delete all remainings of the simulation except for the walker brains.
+ */
 void NN3DWalkersExample::recreateWorld(){
 
-	for(int i = 0; i < POPULATION_SIZE ; i++){ // remove walkers
-		m_walkersInPopulation[i]->removeFromWorld();
+	for(int i = 0; i < POPULATION_SIZE ; i++){ 												// remove and delete walkers
+		if(m_walkersInPopulation[i] != NULL){
+			m_walkersInPopulation[i]->removeFromWorld();
+
+			for(int j = 0;j < BODYPART_COUNT;j++){ 											// remove all body graphics
+				btRigidBody* rb = static_cast<btRigidBody*>(m_walkersInPopulation[i]->getBodies()[j]);
+				if (rb != NULL) {
+					int graphicsUid = rb->getUserIndex();
+					m_guiHelper->removeGraphicsInstance(graphicsUid);
+				}
+			}
+
+			delete m_walkersInPopulation[i];
+			m_walkersInPopulation[i] = NULL;
+		}
 	}
 
-	m_dynamicsWorld->removeRigidBody(m_ground); // remove ground
+	if(m_dynamicsWorld != NULL && m_ground != NULL){
+		m_dynamicsWorld->removeRigidBody(m_ground); 										// remove ground
+	}
 
-	// delete world
-	delete m_dynamicsWorld;
-	m_dynamicsWorld = 0;
+	// delete world etc.
+	if(m_dynamicsWorld != NULL){
+		delete m_dynamicsWorld;
+		m_dynamicsWorld = 0;
+	}
 
-	delete m_solver;
-	m_solver = 0;
+	if(m_solver != NULL){
+		delete m_solver;
+		m_solver = 0;
+	}
 
-	delete m_broadphase;
-	m_broadphase = 0;
+	if(m_broadphase != NULL){
+		delete m_broadphase;
+		m_broadphase = 0;
+	}
 
-	delete m_dispatcher;
-	m_dispatcher = 0;
+	if(m_dispatcher != NULL){
+		delete m_dispatcher;
+		m_dispatcher = 0;
+	}
 
-	delete m_collisionConfiguration;
-	m_collisionConfiguration = 0;
+	if(m_collisionConfiguration != NULL){
+		delete m_collisionConfiguration;
+		m_collisionConfiguration = 0;
+	}
 
 	createEmptyDynamicsWorld(); // create new world
 
 	// add all filters and callbacks
-	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true); // set evolution update pretick callback
-	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(m_filterCallback); // avoid collisions between walkers
+	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true); 	// set evolution update pretick callback
+	m_filterCallback = new WalkerFilterCallback();
+	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(m_filterCallback); 			// avoid collisions between walkers
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 	m_dynamicsWorld->getDebugDrawer()->setDebugMode(0);
 
-	m_dynamicsWorld->addRigidBody(m_ground); // readd ground
-
-	for(int i = 0; i < POPULATION_SIZE ; i++){ // readd walkers
-		m_walkersInPopulation[i]->setOwnerWorld(m_dynamicsWorld);
-		if(m_walkersInPopulation[i]->isInEvaluation()){
-			m_walkersInPopulation[i]->addToWorld();
-		}
+	if(m_dynamicsWorld != NULL && m_ground != NULL){
+		m_dynamicsWorld->addRigidBody(m_ground); 											// readd ground
 	}
 }
 
 bool NN3DWalkersExample::detectCollisions()
 {
 	bool collisionDetected = false;
-	if(m_dynamicsWorld){
-		m_dynamicsWorld->performDiscreteCollisionDetection(); // let the collisions be calculated
-	}
+	if (m_dynamicsWorld) {
+		m_dynamicsWorld->performDiscreteCollisionDetection(); 							// let the collisions be calculated
 
-	int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
-	for (int i = 0;i < numManifolds;i++) // for each collision
-	{
-		btPersistentManifold* contactManifold =  m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
-		// get collision objects of collision
-		const btCollisionObject* obA = contactManifold->getBody0();
-		const btCollisionObject* obB = contactManifold->getBody1();
+		int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
+		for (int i = 0; i < numManifolds; i++) 												// for each collision
+		{
+			btPersistentManifold* contactManifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
+			// get collision objects of collision
+			const btCollisionObject* obA = contactManifold->getBody0();
+			const btCollisionObject* obB = contactManifold->getBody1();
 
-		if(obA->getUserPointer() != GROUND_ID && obB->getUserPointer() != GROUND_ID){ // if one of them is not ground
+			if (obA->getUserPointer() != GROUND_ID && obB->getUserPointer() != GROUND_ID && obA->getUserPointer() == obB->getUserPointer()) { 	// if one of them is not ground
 
-			int numContacts = contactManifold->getNumContacts();
-			for (int j=0;j<numContacts;j++) // for each collision contact
-			{
-				collisionDetected = true;
-				btManifoldPoint& pt = contactManifold->getContactPoint(j);
-				if (pt.getDistance()<0.f) // if collision is penetrating
+				int numContacts = contactManifold->getNumContacts();
+				for (int j = 0; j < numContacts; j++) 											// for each collision contact
 				{
-					const btVector3& ptA = pt.getPositionWorldOnA();
-					const btVector3& ptB = pt.getPositionWorldOnB();
-					const btVector3& normalOnB = pt.m_normalWorldOnB;
+					collisionDetected = true;
+					btManifoldPoint& pt = contactManifold->getContactPoint(j);
+					if (pt.getDistance() < 0.f) 											// if collision is penetrating
+					{
+						const btVector3& ptA = pt.getPositionWorldOnA();
+						const btVector3& ptB = pt.getPositionWorldOnB();
+						const btVector3& normalOnB = pt.m_normalWorldOnB;
 
-					if(!DRAW_INTERPENETRATIONS){
-						return collisionDetected;
-					}
+						if (!DRAW_INTERPENETRATIONS) {										// if no interpenetrations are drawn, break
+							break;
+						}
 
-					if(m_dynamicsWorld->getDebugDrawer() && !mIsHeadless){ // draw self collisions
-						m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnA(), 0.1, btVector3(0., 0., 1.));
-						m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnB(), 0.1, btVector3(0., 0., 1.));
+						if (m_dynamicsWorld->getDebugDrawer() && !mIsHeadless) { 				// draw self collisions
+							m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnA(), 0.1, btVector3(0., 0., 1.));
+							m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnB(), 0.1, btVector3(0., 0., 1.));
+						}
 					}
 				}
 			}
@@ -1260,52 +1314,63 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 void NN3DWalkersExample::scheduleEvaluations() {
 	for(int i = 0; i < POPULATION_SIZE;i++){
 
-		if(m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() >= EVALUATION_DURATION){ /**!< tear down evaluations */
+		if(m_walkersInPopulation[i] != NULL && m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() >= EVALUATION_DURATION){ /**!< tear down evaluations */
 			b3Printf("An evaluation finished at %f s. Distance: %f m", m_SimulationTime, btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
 			m_walkersInPopulation[i]->removeFromWorld();
 			m_walkersInEvaluation--;
 		}
 
-		if(m_walkersInEvaluation < gParallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
-			b3Printf("An evaluation started at %f s.",m_SimulationTime);
+		if(m_walkersInEvaluation < gParallelEvaluations && (m_walkersInPopulation[i] == NULL || (!m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0))){ /**!< Setup the new evaluations */
+			b3Printf("An evaluation started at %f s.", m_SimulationTime);
 			m_walkersInEvaluation++;
 
-			if(REBUILD_WALKER){ // deletes and recreates the walker in the position
-//				m_guiHelper->removeAllGraphicsInstances();
-//				m_ground->setUserIndex(-1); // reset to get a new graphics object
-//				m_ground->setUserIndex2(-1); // reset to get a new graphics object
-//				m_ground->getCollisionShape()->setUserIndex(-1); // reset to get a new graphics object
+			if(REBUILD_WALKER){ 									// deletes and recreates the walker in the position
+				m_guiHelper->removeAllGraphicsInstances();
+				m_ground->setUserIndex(-1); 						// reset to get a new graphics object
+				m_ground->setUserIndex2(-1); 						// reset to get a new graphics object
+				m_ground->getCollisionShape()->setUserIndex(-1); 	// reset to get a new graphics object
 
 				resetWalkerAt(i, m_resetPosition);
 			}
-			else{ // resets the position of the walker without deletion
+			else{ 													// resets the position of the walker without deletion
 				m_walkersInPopulation[i]->resetAt(m_resetPosition);
 			}
 			m_walkersInPopulation[i]->addToWorld();
 		}
 	}
 
-	if(!mIsHeadless){ // after all changes, regenerate graphics objects
+	if(!mIsHeadless){ 												// after all changes, regenerate graphics objects
 		m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
 	}
 
-	if(m_walkersInEvaluation == 0){ // if there are no more evaluations possible
-		if(!REBUILD_WALKER){
+	if(m_walkersInEvaluation == 0){ 								// if there are no more evaluations possible
+		if(REBUILD_WALKER){
 			m_rebuildWorldNeeded = true;
 		}
 
-		rateEvaluations(); // rate evaluations by sorting them based on their fitness
+		rateEvaluations(); 											// rate evaluations by sorting them based on their fitness
 
-		reap(); // reap worst performing walkers
+		reap(); 													// reap worst performing walkers
 
-		sow(); // crossover, mutate and sow new walkers
+		sow(); 														// crossover, mutate and sow new walkers
 		b3Printf("### A new generation started. ###");
 	}
 }
 
+/**
+ * Reset the walker at position.
+ * @param i
+ * @param resetPosition
+ */
 void NN3DWalkersExample::resetWalkerAt(int i, const btVector3& resetPosition){
 
-	NNWalker* newWalker = new NNWalker(i, m_dynamicsWorld, resetPosition,
+	// either copy core or create a new one if no previous existing
+	m_walkerBrains[i] = (m_walkerBrains[i] != NULL)?m_walkerBrains[i]:new NNWalkerBrain();
+
+	NNWalker* newWalker = new NNWalker(i,
+		m_dynamicsWorld,
+		m_walkerBrains[i],
+		resetPosition,
 		gRootBodyRadius,
 		gRootBodyHeight,
 		gLegRadius,
@@ -1315,7 +1380,6 @@ void NN3DWalkersExample::resetWalkerAt(int i, const btVector3& resetPosition){
 		false);
 
 	if(m_walkersInPopulation[i] != NULL){
-		newWalker->copySensoryMotorWeights(m_walkersInPopulation[i]->getSensoryMotorWeights());
 		delete m_walkersInPopulation[i];
 	}
 
@@ -1326,20 +1390,31 @@ void NN3DWalkersExample::resetWalkerAt(int i, const btVector3& resetPosition){
  * Draw distance markings on the ground.
  */
 void NN3DWalkersExample::drawMarkings() {
-	if(!mIsHeadless){
-		for(int i = 0; i < POPULATION_SIZE;i++) // draw current distance plates of moving walkers
+	if(!mIsHeadless){												// if the system is not running headless
+		for(int i = 0; i < POPULATION_SIZE;i++) 					// draw current distance plates of moving walkers
 		{
 			if(m_walkersInPopulation[i]->isInEvaluation()){
 				btVector3 walkerPosition = m_walkersInPopulation[i]->getPosition();
 				char performance[20];
 				sprintf(performance, "%.2f m", btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
-				m_guiHelper->drawText3D(performance,walkerPosition.x(),walkerPosition.y()+1,walkerPosition.z(),1);
+				m_guiHelper->drawText3D(performance,
+					walkerPosition.x(),
+					walkerPosition.y() + 1,
+					walkerPosition.z(),
+					1);
 			}
 		}
 
-		if(m_dynamicsWorld->getDebugDrawer() && !mIsHeadless){
-			for(int i = 2; i < 50; i+=2){ // draw distance circles
-				m_dynamicsWorld->getDebugDrawer()->drawArc(btVector3(0,0,0),btVector3(0,1,0),btVector3(1,0,0),btScalar(i), btScalar(i),btScalar(0),btScalar(SIMD_2_PI),btVector3(10*i,0,0),false);
+		if(m_dynamicsWorld->getDebugDrawer()){
+			for(int i = 2; i < 50; i += 2){ 						// draw distance circles
+				m_dynamicsWorld->getDebugDrawer()->drawArc(
+					btVector3(0,0,0),
+					btVector3(0,1,0),
+					btVector3(1,0,0),
+					btScalar(i), btScalar(i), btScalar(0),
+					btScalar(SIMD_2_PI),
+					btVector3(10*i,0,0),
+					false);
 			}
 		}
 	}

From 4e03c36fa6112b7bf46d71390e6adf5ead6556a9 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Mon, 29 May 2017 21:55:58 -0700
Subject: [PATCH 046/175] add pybullet.multiplyTransforms and
 pybullet.invertTransform use btAssert instead of assert (glGetError is really
 slow) shift default light-position a little bit, to make faces different
 color

---
 .../OpenGLWindow/GLInstancingRenderer.cpp     |   6 +-
 examples/OpenGLWindow/GLPrimitiveRenderer.cpp |  90 +++++++-------
 examples/SharedMemory/PhysicsClientC_API.cpp  |  35 ++++++
 examples/SharedMemory/PhysicsClientC_API.h    |   2 +
 .../SharedMemory/PhysicsServerExample.cpp     |  18 ++-
 examples/pybullet/examples/restitution.py     |   4 +-
 examples/pybullet/pybullet.c                  | 116 +++++++++++++++++-
 7 files changed, 218 insertions(+), 53 deletions(-)

diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index ce96c2137..3d6c4d793 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -225,7 +225,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 		m_shadowTexture(0),
 		m_renderFrameBuffer(0)
 	{
-		m_lightPos=b3MakeVector3(-50,50,50);
+		m_lightPos=b3MakeVector3(-50,30,40);
 
 		//clear to zero to make it obvious if the matrix is used uninitialized
 		for (int i=0;i<16;i++)
@@ -405,6 +405,10 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
 
 	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
 	b3Assert(pg);
+
+	if (pg==0)
+		return;
+
 	int srcIndex = pg->m_internalInstanceIndex;
 
 	b3Assert(srcIndex<m_data->m_totalNumInstances);
diff --git a/examples/OpenGLWindow/GLPrimitiveRenderer.cpp b/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
index 151d8ed67..5500a7d2b 100644
--- a/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
+++ b/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
@@ -1,10 +1,10 @@
 #ifndef NO_OPENGL3
 #include "GLPrimitiveRenderer.h"
 #include "GLPrimInternalData.h"
-//#include "Bullet3Common/b3Logging.h"
+#include "Bullet3Common/b3Scalar.h"
 #include "LoadShader.h"
 
-#include <assert.h>
+
 
 static const char* vertexShader3D= \
 "#version 150   \n"
@@ -75,27 +75,27 @@ m_screenHeight(screenHeight)
 	
 	m_data->m_viewmatUniform = glGetUniformLocation(m_data->m_shaderProg,"viewMatrix");
 	if (m_data->m_viewmatUniform < 0) {
-		assert(0);
+		b3Assert(0);
 	}
 	m_data->m_projMatUniform = glGetUniformLocation(m_data->m_shaderProg,"projMatrix");
 	if (m_data->m_projMatUniform < 0) {
-		assert(0);
+		b3Assert(0);
 	}
     m_data->m_positionUniform = glGetUniformLocation(m_data->m_shaderProg, "p");
     if (m_data->m_positionUniform < 0) {
-		assert(0);
+		b3Assert(0);
 	}
 	m_data->m_colourAttribute = glGetAttribLocation(m_data->m_shaderProg, "colour");
 	if (m_data->m_colourAttribute < 0) {
-        assert(0);
+        b3Assert(0);
     }
 	m_data->m_positionAttribute = glGetAttribLocation(m_data->m_shaderProg, "position");
 	if (m_data->m_positionAttribute < 0) {
-		assert(0);
+		b3Assert(0);
   	}
 	m_data->m_textureAttribute = glGetAttribLocation(m_data->m_shaderProg,"texuv");
 	if (m_data->m_textureAttribute < 0) {
-		assert(0);
+		b3Assert(0);
 	}
 
     loadBufferData();
@@ -127,7 +127,7 @@ void GLPrimitiveRenderer::loadBufferData()
     glBufferData(GL_ARRAY_BUFFER,  MAX_VERTICES2 * sizeof(PrimVertex), 0, GL_DYNAMIC_DRAW);
    
 
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
     
     
@@ -153,14 +153,14 @@ void GLPrimitiveRenderer::loadBufferData()
 
     glEnableVertexAttribArray(m_data->m_positionAttribute);
     glEnableVertexAttribArray(m_data->m_colourAttribute);
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(m_data->m_textureAttribute);
     
     glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)0);
     glVertexAttribPointer(m_data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)sizeof(PrimVec4));
     glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)(sizeof(PrimVec4)+sizeof(PrimVec4)));
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
     
     
     
@@ -200,7 +200,7 @@ void GLPrimitiveRenderer::loadBufferData()
     glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256,256,0,GL_RGB,GL_UNSIGNED_BYTE,image);
     glGenerateMipmap(GL_TEXTURE_2D);
     
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
     delete[] image;
     
@@ -226,14 +226,14 @@ void GLPrimitiveRenderer::drawLine()
 
 void GLPrimitiveRenderer::drawRect(float x0, float y0, float x1, float y1, float color[4])
 {
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
 	
 	 glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
 	drawTexturedRect(x0,y0,x1,y1,color,0,0,1,1);
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
 
 }
 
@@ -242,7 +242,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
 {
 	//B3_PROFILE("GLPrimitiveRenderer::drawTexturedRect3D");
 
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
    
     
     glUseProgram(m_data->m_shaderProg);
@@ -250,7 +250,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
 	glUniformMatrix4fv(m_data->m_viewmatUniform, 1, false, viewMat);
 	glUniformMatrix4fv(m_data->m_projMatUniform, 1, false, projMat);
 
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
     glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
     glBindVertexArray(m_data->m_vertexArrayObject);
@@ -277,7 +277,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
     
     
     
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
     PrimVec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
 	if (useRGBA)
@@ -290,47 +290,47 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
     
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_positionAttribute);
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_colourAttribute);
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(m_data->m_textureAttribute);
     
     glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)0);
     glVertexAttribPointer(m_data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)sizeof(PrimVec4));
     glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)(sizeof(PrimVec4)+sizeof(PrimVec4)));
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
     
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
     
     //glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
     int indexCount = 6;
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
 	
     glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 	
 	
     glBindVertexArray(0);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 
 	glBindBuffer(GL_ARRAY_BUFFER, 0);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 
 	//glDisableVertexAttribArray(m_data->m_textureAttribute);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 
 	glUseProgram(0);
    
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 
 }
 
@@ -349,7 +349,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D2( PrimVertex* vertices, int numVert
 	}
 	//B3_PROFILE("GLPrimitiveRenderer::drawTexturedRect3D");
 
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     float identity[16]={1,0,0,0,
 						0,1,0,0,
 						0,0,1,0,
@@ -360,7 +360,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D2( PrimVertex* vertices, int numVert
 	glUniformMatrix4fv(m_data->m_viewmatUniform, 1, false, identity);
 	glUniformMatrix4fv(m_data->m_projMatUniform, 1, false, identity);
 
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
     glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer2);
     glBindVertexArray(m_data->m_vertexArrayObject2);
@@ -388,7 +388,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D2( PrimVertex* vertices, int numVert
     
     
     
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
     PrimVec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
 	if (useRGBA)
@@ -401,47 +401,47 @@ void GLPrimitiveRenderer::drawTexturedRect3D2( PrimVertex* vertices, int numVert
     
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_positionAttribute);
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_colourAttribute);
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(m_data->m_textureAttribute);
     
     glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)0);
     glVertexAttribPointer(m_data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)sizeof(PrimVec4));
     glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)(sizeof(PrimVec4)+sizeof(PrimVec4)));
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
     
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer2);
     
     //glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
     int indexCount = (numVertices/4)*6;
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
     
 	
     glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 	
 	
     glBindVertexArray(0);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 
 	glBindBuffer(GL_ARRAY_BUFFER, 0);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 
 	//glDisableVertexAttribArray(m_data->m_textureAttribute);
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 
 	glUseProgram(0);
    
-    assert(glGetError()==GL_NO_ERROR);
+    b3Assert(glGetError()==GL_NO_ERROR);
 	
 
 }
@@ -477,7 +477,7 @@ void GLPrimitiveRenderer::flushBatchedRects()
 		return;
 
 	glActiveTexture(GL_TEXTURE0);
-	assert(glGetError()==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
 	glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
 	drawTexturedRect3D2(m_data2->m_verticesRect, m_data2->m_numVerticesRect,0);
 	m_data2->m_numVerticesRect=0;
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 77fb802ee..86e8de189 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -3159,3 +3159,38 @@ double b3GetTimeOut(b3PhysicsClientHandle physClient)
 	}
 	return -1;
 }
+
+void b3MultiplyTransforms(const double posA[3], const double ornA[4], const double posB[3], const double ornB[4], double outPos[3], double outOrn[4])
+{
+	b3Transform trA;
+	b3Transform trB;
+	trA.setOrigin(b3MakeVector3(posA[0],posA[1],posA[2]));
+	trA.setRotation(b3Quaternion(ornA[0],ornA[1],ornA[2],ornA[3]));
+	trB.setOrigin(b3MakeVector3(posB[0],posB[1],posB[2]));
+	trB.setRotation(b3Quaternion(ornB[0],ornB[1],ornB[2],ornB[3]));
+	b3Transform res = trA*trB;
+	outPos[0] = res.getOrigin()[0];
+	outPos[1] = res.getOrigin()[1];
+	outPos[2] = res.getOrigin()[2];
+	b3Quaternion orn = res.getRotation();
+	outOrn[0] = orn[0];
+	outOrn[1] = orn[1];
+	outOrn[2] = orn[2];
+	outOrn[3] = orn[3];
+}
+
+void b3InvertTransform(const double pos[3], const double orn[4], double outPos[3], double outOrn[4])
+{
+	b3Transform tr;
+	tr.setOrigin(b3MakeVector3(pos[0],pos[1],pos[2]));
+	tr.setRotation(b3Quaternion(orn[0],orn[1],orn[2],orn[3]));
+	b3Transform trInv = tr.inverse();
+	outPos[0] = trInv.getOrigin()[0];
+	outPos[1] = trInv.getOrigin()[1];
+	outPos[2] = trInv.getOrigin()[2];
+	b3Quaternion invOrn = trInv.getRotation();
+	outOrn[0] = invOrn[0];
+	outOrn[1] = invOrn[1];
+	outOrn[2] = invOrn[2];
+	outOrn[3] = invOrn[3];
+}
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 0a730ee51..88f382f54 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -416,6 +416,8 @@ void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle comma
 void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds);
 double b3GetTimeOut(b3PhysicsClientHandle physClient);
 
+void b3MultiplyTransforms(const double posA[3], const double ornA[4], const double posB[3], const double ornB[4], double outPos[3], double outOrn[4]);
+void b3InvertTransform(const double pos[3], const double orn[4], double outPos[3], double outOrn[4]);
 
 #ifdef __cplusplus
 }
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 9c70e07da..33dca816f 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1813,6 +1813,13 @@ void	PhysicsServerExample::updateGraphics()
 	}
 	case eGUIHelperRemoveAllGraphicsInstances:
         {
+#ifdef BT_ENABLE_VR
+			if (m_tinyVrGui)
+			{
+				delete m_tinyVrGui;
+				m_tinyVrGui=0;
+			}
+#endif //BT_ENABLE_VR
             m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
 			if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
 			{
@@ -2224,8 +2231,11 @@ void PhysicsServerExample::renderScene()
 	{
 		
 		static int frameCount=0;
-		//static btScalar prevTime = m_clock.getTimeSeconds();
+		static btScalar prevTime = m_clock.getTimeSeconds();
 		frameCount++;
+		
+		static char line0[1024]={0};
+		static char line1[1024]={0};
 
 #if 0
 
@@ -2233,7 +2243,8 @@ void PhysicsServerExample::renderScene()
 		int numFrames = 200;
 		static int count = 0;
 		count++;
-
+		
+			
 		if (0 == (count & 1))
 		{
 			btScalar curTime = m_clock.getTimeSeconds();
@@ -2279,9 +2290,6 @@ void PhysicsServerExample::renderScene()
 			tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
 			b3Scalar dt = 0.01;
 			m_tinyVrGui->clearTextArea();
-			static char line0[1024];
-			static char line1[1024];
-
 			m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255);
 			m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255);
 
diff --git a/examples/pybullet/examples/restitution.py b/examples/pybullet/examples/restitution.py
index 89f7483ec..3b12185a8 100644
--- a/examples/pybullet/examples/restitution.py
+++ b/examples/pybullet/examples/restitution.py
@@ -4,7 +4,9 @@
 import pybullet as p
 import time
 
-p.connect(p.GUI)
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	cid = p.connect(p.GUI)
 restitutionId = p.addUserDebugParameter("restitution",0,1,1)
 restitutionVelocityThresholdId = p.addUserDebugParameter("res. vel. threshold",0,3,0.2)
 
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index f1fd54452..bda39b973 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5668,6 +5668,114 @@ static PyObject* pybullet_getQuaternionFromEuler(PyObject* self,
 	Py_INCREF(Py_None);
 	return Py_None;
 }
+
+static PyObject* pybullet_multiplyTransforms(PyObject* self,
+												 PyObject* args, PyObject* keywds)
+{
+	PyObject* posAObj = 0;
+	PyObject* ornAObj = 0;
+	PyObject* posBObj = 0;
+	PyObject* ornBObj = 0;
+
+	int hasPosA=0;
+	int hasOrnA=0;
+	int hasPosB=0;
+	int hasOrnB=0;
+
+	double posA[3];
+	double ornA[4] = {0, 0, 0, 1};
+	double posB[3];
+	double ornB[4] = {0, 0, 0, 1};
+
+	static char* kwlist[] = {"positionA", "orientationA", "positionB", "orientationB", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOOO", kwlist, &posAObj, &ornAObj,&posBObj, &ornBObj))
+	{
+		return NULL;
+	}
+	
+	hasPosA = pybullet_internalSetVectord(posAObj, posA);
+	hasOrnA = pybullet_internalSetVector4d(ornAObj, ornA);
+	hasPosB = pybullet_internalSetVectord(posBObj, posB);
+	hasOrnB= pybullet_internalSetVector4d(ornBObj, ornB);
+
+	if (hasPosA&&hasOrnA&&hasPosB&&hasOrnB)
+	{
+		double outPos[3];
+		double outOrn[4];
+		int i;
+		PyObject* pyListOutObj=0;
+		PyObject* pyPosOutObj=0;
+		PyObject* pyOrnOutObj=0;
+
+		b3MultiplyTransforms(posA,ornA,posB,ornB, outPos, outOrn);
+
+		pyListOutObj = PyTuple_New(2);
+		pyPosOutObj = PyTuple_New(3);
+		pyOrnOutObj = PyTuple_New(4);
+		for (i = 0; i < 3; i++)
+			PyTuple_SetItem(pyPosOutObj, i, PyFloat_FromDouble(outPos[i]));
+		for (i = 0; i < 4; i++)
+			PyTuple_SetItem(pyOrnOutObj, i, PyFloat_FromDouble(outOrn[i]));
+		
+		PyTuple_SetItem(pyListOutObj, 0, pyPosOutObj);
+		PyTuple_SetItem(pyListOutObj, 1, pyOrnOutObj);
+
+		return pyListOutObj;
+	}
+	PyErr_SetString(SpamError, "Invalid input: expected positionA [x,y,z], orientationA [x,y,z,w], positionB, orientationB.");
+	return NULL;
+}
+
+static PyObject* pybullet_invertTransform(PyObject* self,
+												 PyObject* args, PyObject* keywds)
+{
+	PyObject* posObj = 0;
+	PyObject* ornObj = 0;
+	double pos[3];
+	double orn[4] = {0, 0, 0, 1};
+	int hasPos =0;
+	int hasOrn =0;
+
+	static char* kwlist[] = {"position", "orientation",  NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO", kwlist, &posObj, &ornObj))
+	{
+		return NULL;
+	}
+
+	hasPos = pybullet_internalSetVectord(posObj, pos);
+	hasOrn = pybullet_internalSetVector4d(ornObj, orn);
+	
+	if (hasPos && hasOrn)
+	{
+		double outPos[3];
+		double outOrn[4];
+		int i;
+		PyObject* pyListOutObj=0;
+		PyObject* pyPosOutObj=0;
+		PyObject* pyOrnOutObj=0;
+
+		b3InvertTransform(pos, orn, outPos, outOrn);
+
+		pyListOutObj = PyTuple_New(2);
+		pyPosOutObj = PyTuple_New(3);
+		pyOrnOutObj = PyTuple_New(4);
+		for (i = 0; i < 3; i++)
+			PyTuple_SetItem(pyPosOutObj, i, PyFloat_FromDouble(outPos[i]));
+		for (i = 0; i < 4; i++)
+			PyTuple_SetItem(pyOrnOutObj, i, PyFloat_FromDouble(outOrn[i]));
+		
+		PyTuple_SetItem(pyListOutObj, 0, pyPosOutObj);
+		PyTuple_SetItem(pyListOutObj, 1, pyOrnOutObj);
+
+		return pyListOutObj;
+	}
+	
+
+	PyErr_SetString(SpamError, "Invalid input: expected position [x,y,z] and orientation [x,y,z,w].");
+	return NULL;
+}
+	 	 
+
 /// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo
 /// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc
 static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
@@ -5774,7 +5882,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 	}
 	{
 		double pos[3];
-		double ori[4] = {0, 1.0, 0, 0};
+		double ori[4] = {0, 0, 0, 1};
 		int hasPos = pybullet_internalSetVectord(targetPosObj, pos);
 		int hasOrn = pybullet_internalSetVector4d(targetOrnObj, ori);
 
@@ -6286,6 +6394,12 @@ static PyMethodDef SpamMethods[] = {
 	 "Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF "
 	 "convention"},
 
+	 {"multiplyTransforms", (PyCFunction) pybullet_multiplyTransforms,  METH_VARARGS | METH_KEYWORDS,
+	 "Multiply two transform, provided as [position], [quaternion]."},
+	 
+	 {"invertTransform", (PyCFunction) pybullet_invertTransform, METH_VARARGS  | METH_KEYWORDS,
+	 "Invert a transform, provided as [position], [quaternion]."},
+	 
 	{"getMatrixFromQuaternion", pybullet_getMatrixFromQuaternion, METH_VARARGS,
 	 "Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"},
 

From 978dd5844df46f8f1fd0cff0662c1880a890a03e Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Mon, 29 May 2017 22:09:07 -0700
Subject: [PATCH 047/175] due to b3Assert, GwenOpenGLTest/premake4.lua depends
 on Bullet3Common

---
 test/GwenOpenGLTest/premake4.lua | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/test/GwenOpenGLTest/premake4.lua b/test/GwenOpenGLTest/premake4.lua
index 5062db05c..a14f78e49 100644
--- a/test/GwenOpenGLTest/premake4.lua
+++ b/test/GwenOpenGLTest/premake4.lua
@@ -15,13 +15,14 @@
 		"../../examples/ThirdPartyLibs",
 		"../../examples",	
 		".",
+		"../../src"
 	}
 
 	initOpenGL()
 	initGlew()
 			
 	links {
-		"gwen",
+		"gwen","Bullet3Common"
 	}
 	
 	

From 34e2c1b7842cba6f460bf761d4d50c148f345397 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Mon, 29 May 2017 23:53:35 -0700
Subject: [PATCH 048/175] add profiling info

---
 .../Dynamics/btDiscreteDynamicsWorldMt.cpp    | 27 ++++++++++---------
 .../Dynamics/btSimulationIslandManagerMt.cpp  |  2 ++
 src/LinearMath/btThreads.cpp                  |  8 ++++++
 3 files changed, 25 insertions(+), 12 deletions(-)

diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
index df6c17c5b..1d10bad92 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
@@ -284,26 +284,29 @@ struct UpdaterUnconstrainedMotion : public btIParallelForBody
 void btDiscreteDynamicsWorldMt::predictUnconstraintMotion( btScalar timeStep )
 {
     BT_PROFILE( "predictUnconstraintMotion" );
-    int grainSize = 50;  // num of iterations per task for TBB
-    int bodyCount = m_nonStaticRigidBodies.size();
-    UpdaterUnconstrainedMotion update;
-    update.timeStep = timeStep;
-    update.rigidBodies = bodyCount ? &m_nonStaticRigidBodies[ 0 ] : NULL;
-    btParallelFor( 0, bodyCount, grainSize, update );
+    if ( m_nonStaticRigidBodies.size() > 0 )
+    {
+        UpdaterUnconstrainedMotion update;
+        update.timeStep = timeStep;
+        update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
+        int grainSize = 50;  // num of iterations per task for task scheduler
+        btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
+    }
 }
 
 
 void btDiscreteDynamicsWorldMt::createPredictiveContacts( btScalar timeStep )
 {
+    BT_PROFILE( "createPredictiveContacts" );
     releasePredictiveContacts();
-    int grainSize = 50;  // num of iterations per task for TBB or OPENMP
-    if ( int bodyCount = m_nonStaticRigidBodies.size() )
+    if ( m_nonStaticRigidBodies.size() > 0 )
     {
         UpdaterCreatePredictiveContacts update;
         update.world = this;
         update.timeStep = timeStep;
         update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-        btParallelFor( 0, bodyCount, grainSize, update );
+        int grainSize = 50;  // num of iterations per task for task scheduler
+        btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
     }
 }
 
@@ -311,14 +314,14 @@ void btDiscreteDynamicsWorldMt::createPredictiveContacts( btScalar timeStep )
 void btDiscreteDynamicsWorldMt::integrateTransforms( btScalar timeStep )
 {
     BT_PROFILE( "integrateTransforms" );
-    int grainSize = 50;  // num of iterations per task for TBB or OPENMP
-    if ( int bodyCount = m_nonStaticRigidBodies.size() )
+    if ( m_nonStaticRigidBodies.size() > 0 )
     {
         UpdaterIntegrateTransforms update;
         update.world = this;
         update.timeStep = timeStep;
         update.rigidBodies = &m_nonStaticRigidBodies[ 0 ];
-        btParallelFor( 0, bodyCount, grainSize, update );
+        int grainSize = 50;  // num of iterations per task for task scheduler
+        btParallelFor( 0, m_nonStaticRigidBodies.size(), grainSize, update );
     }
 }
 
diff --git a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
index 6373f60ff..99b34353c 100644
--- a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
+++ b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
@@ -548,6 +548,7 @@ void btSimulationIslandManagerMt::mergeIslands()
 
 void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
 {
+    BT_PROFILE( "serialIslandDispatch" );
     // serial dispatch
     btAlignedObjectArray<Island*>& islands = *islandsPtr;
     for ( int i = 0; i < islands.size(); ++i )
@@ -592,6 +593,7 @@ struct UpdateIslandDispatcher : public btIParallelForBody
 
 void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
 {
+    BT_PROFILE( "parallelIslandDispatch" );
     int grainSize = 1;  // iterations per task
     UpdateIslandDispatcher dispatcher;
     dispatcher.islandsPtr = islandsPtr;
diff --git a/src/LinearMath/btThreads.cpp b/src/LinearMath/btThreads.cpp
index 85de7c4d2..876bc4bb1 100644
--- a/src/LinearMath/btThreads.cpp
+++ b/src/LinearMath/btThreads.cpp
@@ -14,6 +14,7 @@ subject to the following restrictions:
 
 
 #include "btThreads.h"
+#include "btQuickprof.h"
 #include <algorithm>  // for min and max
 
 #if BT_THREADSAFE
@@ -114,10 +115,12 @@ public:
     }
     virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
     {
+        BT_PROFILE( "parallelFor_OpenMP" );
         btPushThreadsAreRunning();
 #pragma omp parallel for schedule( static, 1 )
         for ( int i = iBegin; i < iEnd; i += grainSize )
         {
+            BT_PROFILE( "OpenMP_job" );
             body.forLoop( i, ( std::min )( i + grainSize, iEnd ) );
         }
         btPopThreadsAreRunning();
@@ -174,11 +177,13 @@ public:
 
         void operator()( const tbb::blocked_range<int>& range ) const
         {
+            BT_PROFILE( "TBB_job" );
             mBody->forLoop( range.begin(), range.end() );
         }
     };
     virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
     {
+        BT_PROFILE( "parallelFor_TBB" );
         // TBB dispatch
         BodyAdapter tbbBody;
         tbbBody.mBody = &body;
@@ -232,11 +237,13 @@ public:
 
         void operator()( int i ) const
         {
+            BT_PROFILE( "PPL_job" );
             mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) );
         }
     };
     virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
     {
+        BT_PROFILE( "parallelFor_PPL" );
         // PPL dispatch
         BodyAdapter pplBody;
         pplBody.mBody = &body;
@@ -488,6 +495,7 @@ public:
     virtual void setNumThreads( int numThreads ) BT_OVERRIDE {}
     virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
     {
+        BT_PROFILE( "parallelFor_sequential" );
         body.forLoop( iBegin, iEnd );
     }
 };

From ba88d332fb9c28689d615f11d934aa6125334082 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Mon, 29 May 2017 23:54:15 -0700
Subject: [PATCH 049/175] fix crash with out of range thread index

---
 examples/Utils/ChromeTraceUtil.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/Utils/ChromeTraceUtil.cpp b/examples/Utils/ChromeTraceUtil.cpp
index 80139719f..02a892ba5 100644
--- a/examples/Utils/ChromeTraceUtil.cpp
+++ b/examples/Utils/ChromeTraceUtil.cpp
@@ -184,7 +184,7 @@ void MyEnterProfileZoneFunc(const char* msg)
 		return;
 #ifndef BT_NO_PROFILE
 	int threadId = btQuickprofGetCurrentThreadIndex2();
-	if (threadId<0)
+	if (threadId<0 || threadId >= BT_QUICKPROF_MAX_THREAD_COUNT)
 		return;
 
 	if (gStackDepths[threadId] >= MAX_NESTING)
@@ -208,8 +208,8 @@ void MyLeaveProfileZoneFunc()
 		return;
 #ifndef BT_NO_PROFILE
 	int threadId = btQuickprofGetCurrentThreadIndex2();
-	if (threadId<0)
-		return;
+    if (threadId<0 || threadId >= BT_QUICKPROF_MAX_THREAD_COUNT)
+        return;
 
 	if (gStackDepths[threadId] <= 0)
 	{

From 562858251ac1f180f28b2717728bfd5c10e289e5 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Tue, 30 May 2017 00:09:05 -0700
Subject: [PATCH 050/175] remove bad thread affinity mask setting

---
 examples/MultiThreading/b3Win32ThreadSupport.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/MultiThreading/b3Win32ThreadSupport.cpp b/examples/MultiThreading/b3Win32ThreadSupport.cpp
index 539c0f3eb..c0987beab 100644
--- a/examples/MultiThreading/b3Win32ThreadSupport.cpp
+++ b/examples/MultiThreading/b3Win32ThreadSupport.cpp
@@ -279,9 +279,9 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 
 		}
 		
-		DWORD mask = 1;
-		mask = 1<<mask;
-		SetThreadAffinityMask(handle, mask);
+        //SetThreadAffinityMask(handle, 1 << 1); // this is what it was doing originally, a complete disaster for threading performance!
+		//SetThreadAffinityMask(handle, 1 << i); // I'm guessing this was the intention, but is still bad for performance due to one of the threads
+        //  sometimes unable to execute because it wants to be on the same processor as the main thread (my guess)
 
 		threadStatus.m_taskId = i;
 		threadStatus.m_commandId = 0;

From a6a0ea5f541a31ba53b7fe246d8a611c309b2e74 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Tue, 30 May 2017 00:13:17 -0700
Subject: [PATCH 051/175] add task scheduler implemented with thread support
 interface

---
 examples/ExampleBrowser/CMakeLists.txt        |   1 +
 .../CommonRigidBodyMTBase.cpp                 |  23 +-
 .../MultiThreadedDemo/MultiThreadedDemo.cpp   |   5 +-
 examples/MultiThreading/btTaskScheduler.cpp   | 448 ++++++++++++++++++
 examples/MultiThreading/btTaskScheduler.h     |  26 +
 5 files changed, 498 insertions(+), 5 deletions(-)
 create mode 100644 examples/MultiThreading/btTaskScheduler.cpp
 create mode 100644 examples/MultiThreading/btTaskScheduler.h

diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 4a4db93db..9382f41f6 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -220,6 +220,7 @@ SET(BulletExampleBrowser_SRCS
 	../MultiThreading/b3PosixThreadSupport.cpp
 	../MultiThreading/b3Win32ThreadSupport.cpp
 	../MultiThreading/b3ThreadSupportInterface.cpp
+	../MultiThreading/btTaskScheduler.cpp
 	../RenderingExamples/TinyRendererSetup.cpp
 	../RenderingExamples/TimeSeriesCanvas.cpp
 	../RenderingExamples/TimeSeriesCanvas.h
diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
index a47b76da6..83eecca61 100644
--- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
+++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
@@ -35,6 +35,7 @@ class btCollisionShape;
 #include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
 #include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
 #include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
+#include "../MultiThreading/btTaskScheduler.h"
 
 
 static int gNumIslands = 0;
@@ -173,7 +174,7 @@ void myParallelIslandDispatch( btAlignedObjectArray<btSimulationIslandManagerMt:
 ///
 ATTRIBUTE_ALIGNED16( class ) MyDiscreteDynamicsWorld : public btDiscreteDynamicsWorldMt
 {
-    typedef btDiscreteDynamicsWorld ParentClass;
+    typedef btDiscreteDynamicsWorldMt ParentClass;
 
 protected:
 
@@ -244,6 +245,7 @@ btConstraintSolver* createSolverByType( SolverType t )
 class btTaskSchedulerManager
 {
     btAlignedObjectArray<btITaskScheduler*> m_taskSchedulers;
+    btAlignedObjectArray<btITaskScheduler*> m_allocatedTaskSchedulers;
 
 public:
     btTaskSchedulerManager() {}
@@ -251,6 +253,11 @@ public:
     {
         addTaskScheduler( btGetSequentialTaskScheduler() );
 #if BT_THREADSAFE
+        if ( btITaskScheduler* ts = createDefaultTaskScheduler() )
+        {
+            m_allocatedTaskSchedulers.push_back( ts );
+            addTaskScheduler( ts );
+        }
         addTaskScheduler( btGetOpenMPTaskScheduler() );
         addTaskScheduler( btGetTBBTaskScheduler() );
         addTaskScheduler( btGetPPLTaskScheduler() );
@@ -263,9 +270,16 @@ public:
         {
             btSetTaskScheduler( m_taskSchedulers[ 0 ] );
         }
-        btGetTaskScheduler()->setNumThreads( btGetTaskScheduler()->getMaxNumThreads() );
 #endif // #if BT_THREADSAFE
     }
+    void shutdown()
+    {
+        for ( int i = 0; i < m_allocatedTaskSchedulers.size(); ++i )
+        {
+            delete m_allocatedTaskSchedulers[ i ];
+        }
+        m_allocatedTaskSchedulers.clear();
+    }
 
     void addTaskScheduler( btITaskScheduler* ts )
     {
@@ -281,8 +295,13 @@ public:
 
 static btTaskSchedulerManager gTaskSchedulerMgr;
 
+#if BT_THREADSAFE
+static bool gMultithreadedWorld = true;
+static bool gDisplayProfileInfo = true;
+#else
 static bool gMultithreadedWorld = false;
 static bool gDisplayProfileInfo = false;
+#endif
 static SolverType gSolverType = SOLVER_TYPE_SEQUENTIAL_IMPULSE;
 static int gSolverMode = SOLVER_SIMD |
                         SOLVER_USE_WARMSTARTING |
diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
index 3dff09ae8..96c856f53 100644
--- a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
+++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
@@ -28,11 +28,10 @@ class btCollisionShape;
 #include "btBulletCollisionCommon.h"
 
 
-#define BT_OVERRIDE
 
 static btScalar gSliderStackRows = 8.0f;
 static btScalar gSliderStackColumns = 6.0f;
-static btScalar gSliderStackHeight = 15.0f;
+static btScalar gSliderStackHeight = 10.0f;
 static btScalar gSliderGroundHorizontalAmplitude = 0.0f;
 static btScalar gSliderGroundVerticalAmplitude = 0.0f;
 
@@ -240,7 +239,7 @@ void MultiThreadedDemo::createSceneObjects()
         const btVector3 halfExtents = btVector3( 0.5f, 0.25f, 0.5f );
         int numStackRows = btMax(1, int(gSliderStackRows));
         int numStackCols = btMax(1, int(gSliderStackColumns));
-        int stackHeight = 15;
+        int stackHeight = int(gSliderStackHeight);
         float stackZSpacing = 3.0f;
         float stackXSpacing = 20.0f;
 
diff --git a/examples/MultiThreading/btTaskScheduler.cpp b/examples/MultiThreading/btTaskScheduler.cpp
new file mode 100644
index 000000000..c4de30ebc
--- /dev/null
+++ b/examples/MultiThreading/btTaskScheduler.cpp
@@ -0,0 +1,448 @@
+
+#include "LinearMath/btTransform.h"
+#include "../Utils/b3Clock.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btThreads.h"
+#include "LinearMath/btQuickprof.h"
+#include <stdio.h>
+#include <algorithm>
+
+
+typedef void( *btThreadFunc )( void* userPtr, void* lsMemory );
+typedef void* ( *btThreadLocalStorageFunc )();
+
+#if BT_THREADSAFE
+
+#if defined( _WIN32 )
+
+#include "b3Win32ThreadSupport.h"
+
+b3ThreadSupportInterface* createThreadSupport( int numThreads, btThreadFunc threadFunc, btThreadLocalStorageFunc localStoreFunc, const char* uniqueName )
+{
+    b3Win32ThreadSupport::Win32ThreadConstructionInfo constructionInfo( uniqueName, threadFunc, localStoreFunc, numThreads );
+    //constructionInfo.m_priority = 0;  // highest priority (the default) -- can cause erratic performance when numThreads > numCores
+    //                                     we don't want worker threads to be higher priority than the main thread or the main thread could get
+    //                                     totally shut out and unable to tell the workers to stop
+    constructionInfo.m_priority = -1;  // normal priority
+    b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport( constructionInfo );
+    return threadSupport;
+}
+
+#else // #if defined( _WIN32 )
+
+#include "b3PosixThreadSupport.h"
+
+b3ThreadSupportInterface* createThreadSupport( int numThreads, btThreadFunc threadFunc, btThreadLocalStorageFunc localStoreFunc, const char* uniqueName)
+{
+    b3PosixThreadSupport::ThreadConstructionInfo constructionInfo( uniqueName, threadFunc, localStoreFunc, numThreads );
+    b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport( constructionInfo );
+    return threadSupport;
+}
+
+#endif // #else // #if defined( _WIN32 )
+
+
+///
+/// getNumHardwareThreads()
+///
+///
+/// https://stackoverflow.com/questions/150355/programmatically-find-the-number-of-cores-on-a-machine
+///
+#if __cplusplus >= 201103L
+
+#include <thread>
+
+int getNumHardwareThreads()
+{
+    return std::thread::hardware_concurrency();
+}
+
+#elif defined( _WIN32 )
+
+#define WIN32_LEAN_AND_MEAN
+
+#include <windows.h>
+
+int getNumHardwareThreads()
+{
+    // caps out at 32
+    SYSTEM_INFO info;
+    GetSystemInfo( &info );
+    return info.dwNumberOfProcessors;
+}
+
+#else
+
+int getNumHardwareThreads()
+{
+    return 0;  // don't know
+}
+
+#endif
+
+
+struct WorkerThreadStatus
+{
+    enum Type
+    {
+        kInvalid,
+        kWaitingForWork,
+        kWorking,
+        kSleeping,
+    };
+};
+
+
+struct IJob
+{
+    virtual void executeJob() = 0;
+};
+
+class ParallelForJob : public IJob
+{
+    const btIParallelForBody* mBody;
+    int mBegin;
+    int mEnd;
+
+public:
+    ParallelForJob()
+    {
+        mBody = NULL;
+        mBegin = 0;
+        mEnd = 0;
+    }
+    void init( int iBegin, int iEnd, const btIParallelForBody& body )
+    {
+        mBody = &body;
+        mBegin = iBegin;
+        mEnd = iEnd;
+    }
+    virtual void executeJob() override
+    {
+        BT_PROFILE( "executeJob" );
+
+        // call the functor body to do the work
+        mBody->forLoop( mBegin, mEnd );
+    }
+};
+
+
+struct JobContext
+{
+    JobContext()
+    {
+        m_queueLock = NULL;
+        m_headIndex = 0;
+        m_tailIndex = 0;
+        m_workersShouldCheckQueue = false;
+        m_useSpinMutex = false;
+    }
+    b3CriticalSection* m_queueLock;
+    btSpinMutex m_mutex;
+    volatile bool m_workersShouldCheckQueue;
+
+    btAlignedObjectArray<IJob*> m_jobQueue;
+    bool m_queueIsEmpty;
+    int m_tailIndex;
+    int m_headIndex;
+    bool m_useSpinMutex;
+
+    void lockQueue()
+    {
+        if ( m_useSpinMutex )
+        {
+            m_mutex.lock();
+        }
+        else
+        {
+            m_queueLock->lock();
+        }
+    }
+    void unlockQueue()
+    {
+        if ( m_useSpinMutex )
+        {
+            m_mutex.unlock();
+        }
+        else
+        {
+            m_queueLock->unlock();
+        }
+    }
+    void clearQueue()
+    {
+        lockQueue();
+        m_headIndex = 0;
+        m_tailIndex = 0;
+        m_queueIsEmpty = true;
+        unlockQueue();
+        m_jobQueue.resizeNoInitialize( 0 );
+    }
+    void submitJob( IJob* job )
+    {
+        m_jobQueue.push_back( job );
+        lockQueue();
+        m_tailIndex++;
+        m_queueIsEmpty = false;
+        unlockQueue();
+    }
+    IJob* consumeJob()
+    {
+        if ( m_queueIsEmpty )
+        {
+            // lock free path. even if this is taken erroneously it isn't harmful
+            return NULL;
+        }
+        IJob* job = NULL;
+        lockQueue();
+        if ( !m_queueIsEmpty )
+        {
+            job = m_jobQueue[ m_headIndex++ ];
+            if ( m_headIndex == m_tailIndex )
+            {
+                m_queueIsEmpty = true;
+            }
+        }
+        unlockQueue();
+        return job;
+    }
+};
+
+
+struct WorkerThreadLocalStorage
+{
+    int threadId;
+    WorkerThreadStatus::Type status;
+};
+
+
+static void WorkerThreadFunc( void* userPtr, void* lsMemory )
+{
+    BT_PROFILE( "WorkerThreadFunc" );
+    WorkerThreadLocalStorage* localStorage = (WorkerThreadLocalStorage*) lsMemory;
+    localStorage->status = WorkerThreadStatus::kWaitingForWork;
+    //printf( "WorkerThreadFunc: worker %d start working\n", localStorage->threadId );
+
+    JobContext* jobContext = (JobContext*) userPtr;
+
+    while ( jobContext->m_workersShouldCheckQueue )
+    {
+        if ( IJob* job = jobContext->consumeJob() )
+        {
+            localStorage->status = WorkerThreadStatus::kWorking;
+            job->executeJob();
+            localStorage->status = WorkerThreadStatus::kWaitingForWork;
+        }
+        else
+        {
+            // todo: spin wait a bit to avoid hammering the empty queue
+        }
+    }
+
+    //printf( "WorkerThreadFunc stop working\n" );
+    localStorage->status = WorkerThreadStatus::kSleeping;
+    // go idle
+}
+
+
+static void* WorkerThreadAllocFunc()
+{
+    return new WorkerThreadLocalStorage;
+}
+
+
+
+class btTaskSchedulerDefault : public btITaskScheduler
+{
+    JobContext m_jobContext;
+    b3ThreadSupportInterface* m_threadSupport;
+    btAlignedObjectArray<ParallelForJob> m_jobs;
+    btSpinMutex m_antiNestingLock;  // prevent nested parallel-for
+    int m_numThreads;
+    int m_numWorkerThreads;
+    int m_numWorkersRunning;
+public:
+
+    btTaskSchedulerDefault() : btITaskScheduler("ThreadSupport")
+    {
+        m_threadSupport = NULL;
+        m_numThreads = getNumHardwareThreads();
+        // if can't detect number of cores,
+        if ( m_numThreads == 0 )
+        {
+            // take a guess
+            m_numThreads = 4;
+        }
+        m_numWorkerThreads = m_numThreads - 1;
+        m_numWorkersRunning = 0;
+    }
+
+    virtual ~btTaskSchedulerDefault()
+    {
+        shutdown();
+    }
+
+    void init()
+    {
+        int maxNumWorkerThreads = BT_MAX_THREAD_COUNT - 1;
+        m_threadSupport = createThreadSupport( maxNumWorkerThreads, WorkerThreadFunc, WorkerThreadAllocFunc, "TaskScheduler" );
+        m_jobContext.m_queueLock = m_threadSupport->createCriticalSection();
+        for ( int i = 0; i < maxNumWorkerThreads; i++ )
+        {
+            WorkerThreadLocalStorage* storage = (WorkerThreadLocalStorage*) m_threadSupport->getThreadLocalMemory( i );
+            btAssert( storage );
+            storage->threadId = i;
+            storage->status = WorkerThreadStatus::kSleeping;
+        }
+        setWorkersActive( false ); // no work for them yet
+    }
+
+    virtual void shutdown()
+    {
+        setWorkersActive( false );
+        waitForWorkersToSleep();
+        m_threadSupport->deleteCriticalSection( m_jobContext.m_queueLock );
+        m_jobContext.m_queueLock = NULL;
+
+        delete m_threadSupport;
+        m_threadSupport = NULL;
+    }
+
+    void setWorkersActive( bool active )
+    {
+        m_jobContext.m_workersShouldCheckQueue = active;
+    }
+
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return BT_MAX_THREAD_COUNT;
+    }
+
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        m_numThreads = btMax( btMin(numThreads, int(BT_MAX_THREAD_COUNT)), 1 );
+        m_numWorkerThreads = m_numThreads - 1;
+    }
+
+    void waitJobs()
+    {
+        BT_PROFILE( "waitJobs" );
+        // have the main thread work until the job queue is empty
+        for ( ;; )
+        {
+            if ( IJob* job = m_jobContext.consumeJob() )
+            {
+                job->executeJob();
+            }
+            else
+            {
+                break;
+            }
+        }
+        // done with jobs for now, tell workers to rest
+        setWorkersActive( false );
+        waitForWorkersToSleep();
+    }
+
+    void wakeWorkers()
+    {
+        BT_PROFILE( "wakeWorkers" );
+        btAssert( m_jobContext.m_workersShouldCheckQueue );
+        // tell each worker thread to start working
+        for ( int i = 0; i < m_numWorkerThreads; i++ )
+        {
+            m_threadSupport->runTask( B3_THREAD_SCHEDULE_TASK, &m_jobContext, i );
+            m_numWorkersRunning++;
+        }
+    }
+
+    void waitForWorkersToSleep()
+    {
+        BT_PROFILE( "waitForWorkersToSleep" );
+        while ( m_numWorkersRunning > 0 )
+        {
+            int iThread;
+            int threadStatus;
+            m_threadSupport->waitForResponse( &iThread, &threadStatus );  // wait for worker threads to finish working
+            m_numWorkersRunning--;
+        }
+        //m_threadSupport->waitForAllTasksToComplete();
+        for ( int i = 0; i < m_numWorkerThreads; i++ )
+        {
+            //m_threadSupport->waitForTaskCompleted( i );
+            WorkerThreadLocalStorage* storage = (WorkerThreadLocalStorage*) m_threadSupport->getThreadLocalMemory( i );
+            btAssert( storage );
+            btAssert( storage->status == WorkerThreadStatus::kSleeping );
+        }
+    }
+
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        BT_PROFILE( "parallelFor_ThreadSupport" );
+        btAssert( iEnd >= iBegin );
+        btAssert( grainSize >= 1 );
+        int iterationCount = iEnd - iBegin;
+        if ( iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock() )
+        {
+            int jobCount = ( iterationCount + grainSize - 1 ) / grainSize;
+            btAssert( jobCount >= 2 );  // need more than one job for multithreading
+            if ( jobCount > m_jobs.size() )
+            {
+                m_jobs.resize( jobCount );
+            }
+            if ( jobCount > m_jobContext.m_jobQueue.capacity() )
+            {
+                m_jobContext.m_jobQueue.reserve( jobCount );
+            }
+
+            m_jobContext.clearQueue();
+            // prepare worker threads for incoming work
+            setWorkersActive( true );
+            wakeWorkers();
+            // submit all of the jobs
+            int iJob = 0;
+            for ( int i = iBegin; i < iEnd; i += grainSize )
+            {
+                btAssert( iJob < jobCount );
+                int iE = btMin( i + grainSize, iEnd );
+                ParallelForJob& job = m_jobs[ iJob ];
+                job.init( i, iE, body );
+                m_jobContext.submitJob( &job );
+                iJob++;
+            }
+
+            // put the main thread to work on emptying the job queue and then wait for all workers to finish
+            waitJobs();
+            m_antiNestingLock.unlock();
+        }
+        else
+        {
+            BT_PROFILE( "parallelFor_mainThread" );
+            // just run on main thread
+            body.forLoop( iBegin, iEnd );
+        }
+    }
+};
+
+
+
+btITaskScheduler* createDefaultTaskScheduler()
+{
+    btTaskSchedulerDefault* ts = new btTaskSchedulerDefault();
+    ts->init();
+    return ts;
+}
+
+#else // #if BT_THREADSAFE
+
+btITaskScheduler* createDefaultTaskScheduler()
+{
+    return NULL;
+}
+
+#endif // #else // #if BT_THREADSAFE
\ No newline at end of file
diff --git a/examples/MultiThreading/btTaskScheduler.h b/examples/MultiThreading/btTaskScheduler.h
new file mode 100644
index 000000000..a83b635eb
--- /dev/null
+++ b/examples/MultiThreading/btTaskScheduler.h
@@ -0,0 +1,26 @@
+/*
+Copyright (c) 2003-2014 Erwin Coumans  http://bullet.googlecode.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#ifndef BT_TASK_SCHEDULER_H
+#define BT_TASK_SCHEDULER_H
+
+
+class btITaskScheduler;
+
+btITaskScheduler* createDefaultTaskScheduler();
+
+
+#endif // BT_TASK_SCHEDULER_H

From cc1e6dc26902a4a9965163eb3a51b5fd3dc7b2c8 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Tue, 30 May 2017 00:47:41 -0700
Subject: [PATCH 052/175] make MultiThreadedDemo available if threadsafe

---
 examples/ExampleBrowser/ExampleEntries.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 04b2112c3..c4cb5bbf5 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -295,7 +295,7 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(1,"Fracture demo", "Create a basic custom implementation to model fracturing objects, based on a btCompoundShape. It explicitly propagates the collision impulses and breaks the rigid body into multiple rigid bodies. Press F to toggle fracture and glue mode.", FractureDemoCreateFunc),
 
 	ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.",Planar2DCreateFunc),
-#if BT_USE_OPENMP || BT_USE_TBB || BT_USE_PPL
+#if BT_THREADSAFE
     // only enable MultiThreaded demo if a task scheduler is available
     ExampleEntry( 1, "Multithreaded Demo",
     "Stacks of boxes that do not sleep. Good for testing performance with large numbers of bodies and contacts. Sliders can be used to change the number of stacks (restart needed after each change)."

From 83f910711a7f3b2d82af927f69562a9227140e97 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 30 May 2017 19:54:55 -0700
Subject: [PATCH 053/175] Prepare/allow for non-Bullet2-based physics command
 processor in pybullet/Bullet-C-API !!! Make sure to add
 examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system,
 if needed Bump up pybullet to version 1.0.9

---
 .../CommonInterfaces/CommonExampleInterface.h |  12 +-
 examples/ExampleBrowser/CMakeLists.txt        |   1 +
 examples/ExampleBrowser/ExampleEntries.cpp    |   4 +-
 .../InProcessExampleBrowser.cpp               |  10 +-
 examples/ExampleBrowser/premake4.lua          |   1 +
 examples/RobotSimulator/CMakeLists.txt        |   1 +
 examples/RobotSimulator/premake4.lua          |   1 +
 examples/SharedMemory/CMakeLists.txt          |   1 +
 .../SharedMemory/PhysicsClientExample.cpp     |  20 +-
 .../PhysicsCommandProcessorInterface.h        |   7 +
 examples/SharedMemory/PhysicsLoopBack.cpp     |  26 +-
 .../PhysicsServerCommandProcessor.cpp         | 623 ++----------------
 .../PhysicsServerCommandProcessor.h           |  13 +-
 .../SharedMemory/PhysicsServerExample.cpp     | 340 +++-------
 examples/SharedMemory/PhysicsServerExample.h  |   4 +-
 .../PhysicsServerExampleBullet2.cpp           |  35 +
 .../PhysicsServerExampleBullet2.h             |   9 +
 .../PhysicsServerSharedMemory.cpp             |  42 +-
 .../SharedMemory/PhysicsServerSharedMemory.h  |  14 +-
 .../SharedMemoryInProcessPhysicsC_API.cpp     |   6 +-
 examples/SharedMemory/main.cpp                |   5 +-
 examples/SharedMemory/premake4.lua            |   1 +
 examples/pybullet/CMakeLists.txt              |   1 +
 examples/pybullet/premake4.lua                |   1 +
 setup.py                                      |   3 +-
 test/SharedMemory/premake4.lua                |   1 +
 26 files changed, 327 insertions(+), 855 deletions(-)
 create mode 100644 examples/SharedMemory/PhysicsServerExampleBullet2.cpp
 create mode 100644 examples/SharedMemory/PhysicsServerExampleBullet2.h

diff --git a/examples/CommonInterfaces/CommonExampleInterface.h b/examples/CommonInterfaces/CommonExampleInterface.h
index eeacb64e1..220f9a583 100644
--- a/examples/CommonInterfaces/CommonExampleInterface.h
+++ b/examples/CommonInterfaces/CommonExampleInterface.h
@@ -3,6 +3,13 @@
 #ifndef COMMON_EXAMPLE_INTERFACE_H
 #define COMMON_EXAMPLE_INTERFACE_H
 
+struct CommandProcessorCreationInterface
+{
+	virtual class CommandProcessorInterface* createCommandProcessor()=0;
+	virtual void deleteCommandProcessor(CommandProcessorInterface*)=0;
+};
+
+
 struct CommonExampleOptions
 {
 	struct GUIHelperInterface*	m_guiHelper;
@@ -11,13 +18,14 @@ struct CommonExampleOptions
 	int			m_option;
 	const char* m_fileName;
 	class SharedMemoryInterface* m_sharedMem;
-
+	CommandProcessorCreationInterface* m_commandProcessorCreation;
 	
 	CommonExampleOptions(struct GUIHelperInterface*	helper, int option=0)
 		:m_guiHelper(helper),
 		m_option(option),
 		m_fileName(0),
-		m_sharedMem(0)
+		m_sharedMem(0),
+		m_commandProcessorCreation(0)
 	{
 	}
 
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 23c283fcb..1145572c8 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -175,6 +175,7 @@ SET(BulletExampleBrowser_SRCS
 	../SharedMemory/PhysicsClient.cpp
 	../SharedMemory/PhysicsClientC_API.cpp
 	../SharedMemory/PhysicsServerExample.cpp
+	../SharedMemory/PhysicsServerExampleBullet2.cpp
 	../SharedMemory/PhysicsClientExample.cpp
 	../SharedMemory/PosixSharedMemory.cpp
 	../SharedMemory/Win32SharedMemory.cpp
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 04b2112c3..d24fdfd4e 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -39,7 +39,7 @@
 #include "../FractureDemo/FractureDemo.h"
 #include "../DynamicControlDemo/MotorDemo.h"
 #include "../RollingFrictionDemo/RollingFrictionDemo.h"
-#include "../SharedMemory/PhysicsServerExample.h"
+#include "../SharedMemory/PhysicsServerExampleBullet2.h"
 #include "../SharedMemory/PhysicsClientExample.h"
 #include "../Constraints/TestHingeTorque.h"
 #include "../RenderingExamples/TimeSeriesExample.h"
@@ -138,7 +138,7 @@ static ExampleEntry gDefaultExamples[]=
 
 	ExampleEntry(0,"Physics Client-Server"),
 	ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",
-			PhysicsServerCreateFunc),
+			PhysicsServerCreateFuncBullet2),
 	ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
 
 //	ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
diff --git a/examples/ExampleBrowser/InProcessExampleBrowser.cpp b/examples/ExampleBrowser/InProcessExampleBrowser.cpp
index 88a2abd99..776973724 100644
--- a/examples/ExampleBrowser/InProcessExampleBrowser.cpp
+++ b/examples/ExampleBrowser/InProcessExampleBrowser.cpp
@@ -28,6 +28,8 @@ void*	ExampleBrowserMemoryFunc();
 #include "EmptyExample.h"
 
 #include "../SharedMemory/PhysicsServerExample.h"
+#include "../SharedMemory/PhysicsServerExampleBullet2.h"
+
 #include "../SharedMemory/PhysicsClientExample.h"
 
 #ifndef _WIN32
@@ -124,14 +126,14 @@ static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
 	ExampleEntryPhysicsServer(0,"Robotics Control"),
 
 	ExampleEntryPhysicsServer(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
-			PhysicsServerCreateFunc),
+			PhysicsServerCreateFuncBullet2),
     ExampleEntryPhysicsServer(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
-			PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
+			PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_USE_RTC_CLOCK),
 
 	ExampleEntryPhysicsServer(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
-			PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
+			PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
 	ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
-			PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
+			PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
 
 
 };
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index e029b8edf..0ae38bc0f 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -81,6 +81,7 @@ project "App_BulletExampleBrowser"
 		"../SharedMemory/PhysicsClientC_API.cpp",
 		"../SharedMemory/PhysicsClientC_API.h",
 		"../SharedMemory/PhysicsServerExample.cpp",
+		"../SharedMemory/PhysicsServerExampleBullet2.cpp",
 		"../SharedMemory/PhysicsClientExample.cpp",
 		"../SharedMemory/PhysicsServer.cpp",
 		"../SharedMemory/PhysicsServerSharedMemory.cpp",
diff --git a/examples/RobotSimulator/CMakeLists.txt b/examples/RobotSimulator/CMakeLists.txt
index a178db654..7d35a445e 100644
--- a/examples/RobotSimulator/CMakeLists.txt
+++ b/examples/RobotSimulator/CMakeLists.txt
@@ -32,6 +32,7 @@ SET(RobotSimulator_SRCS
 		../../examples/SharedMemory/PhysicsServer.cpp
 		../../examples/SharedMemory/PhysicsServer.h
 		../../examples/SharedMemory/PhysicsServerExample.cpp
+		../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
 		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
 		../../examples/SharedMemory/PhysicsServerSharedMemory.h
diff --git a/examples/RobotSimulator/premake4.lua b/examples/RobotSimulator/premake4.lua
index f2cba47c7..faa6fb281 100644
--- a/examples/RobotSimulator/premake4.lua
+++ b/examples/RobotSimulator/premake4.lua
@@ -10,6 +10,7 @@ myfiles =
 			"../../examples/SharedMemory/PhysicsServer.cpp",
 			"../../examples/SharedMemory/PhysicsServer.h",
 			"../../examples/SharedMemory/PhysicsServerExample.cpp",
+			"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
 			"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
diff --git a/examples/SharedMemory/CMakeLists.txt b/examples/SharedMemory/CMakeLists.txt
index 3f1517a61..44ceefca3 100644
--- a/examples/SharedMemory/CMakeLists.txt
+++ b/examples/SharedMemory/CMakeLists.txt
@@ -7,6 +7,7 @@ SET(SharedMemory_SRCS
 	PhysicsClientSharedMemory.cpp
 	PhysicsClientExample.cpp
 	PhysicsServerExample.cpp
+	PhysicsServerExampleBullet2.cpp
 	PhysicsServerSharedMemory.cpp
 	PhysicsServerSharedMemory.h
 	PhysicsServer.cpp
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 0a3bc706c..c554d3595 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -5,7 +5,7 @@
 #include "../CommonInterfaces/Common2dCanvasInterface.h"
 #include "SharedMemoryCommon.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
-
+#include "PhysicsServerCommandProcessor.h"
 #include "PhysicsClientC_API.h"
 #include "PhysicsClient.h"
 //#include "SharedMemoryCommands.h"
@@ -37,6 +37,7 @@ class PhysicsClientExample : public SharedMemoryCommon
 {
 protected:
     b3PhysicsClientHandle m_physicsClientHandle;
+	
 
 	//this m_physicsServer is only used when option eCLIENTEXAMPLE_SERVER is enabled
 	PhysicsServerSharedMemory	m_physicsServer;
@@ -520,10 +521,26 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
 }
 
 
+struct Bullet2CommandProcessorCreation3 : public CommandProcessorCreationInterface
+{
+	virtual class CommandProcessorInterface* createCommandProcessor()
+	{
+		PhysicsServerCommandProcessor* proc = new PhysicsServerCommandProcessor;
+		return proc;
+	}
+
+	virtual void deleteCommandProcessor(CommandProcessorInterface* proc)
+	{
+		delete proc;
+	}
+};
+
+static Bullet2CommandProcessorCreation3 sB2PC2;
 
 PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper, int options)
 :SharedMemoryCommon(helper),
 m_physicsClientHandle(0),
+m_physicsServer(&sB2PC2,0,0),
 m_wantsTermination(false),
 m_sharedMemoryKey(SHARED_MEMORY_KEY),
 m_selectedBody(-1),
@@ -565,6 +582,7 @@ PhysicsClientExample::~PhysicsClientExample()
             m_canvas->destroyCanvas(m_canvasSegMaskIndex);
 		
 	}
+	
     b3Printf("~PhysicsClientExample\n");
 }
 
diff --git a/examples/SharedMemory/PhysicsCommandProcessorInterface.h b/examples/SharedMemory/PhysicsCommandProcessorInterface.h
index 4bfebf9f3..609d04cd3 100644
--- a/examples/SharedMemory/PhysicsCommandProcessorInterface.h
+++ b/examples/SharedMemory/PhysicsCommandProcessorInterface.h
@@ -31,6 +31,7 @@ public:
 
 
 class btVector3;
+class btQuaternion;
 
 class CommandProcessorInterface : public PhysicsCommandProcessorInterface
 {
@@ -41,6 +42,7 @@ public:
 	virtual void syncPhysicsToGraphics()=0;
 	virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents)=0;
 	virtual void enableRealTimeSimulation(bool enableRealTimeSim)=0;
+	virtual bool isRealTimeSimulationEnabled() const=0;
 
 	virtual void enableCommandLogging(bool enable, const char* fileName)=0;
 	virtual void replayFromLogFile(const char* fileName)=0;
@@ -50,6 +52,11 @@ public:
 	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
 	virtual void removePickingConstraint()=0;
 
+	virtual const btVector3& getVRTeleportPosition() const=0;
+	virtual void setVRTeleportPosition(const btVector3& vrReleportPos)=0;
+
+	virtual const btQuaternion& getVRTeleportOrientation() const=0;
+	virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn)=0;
 };
 
 #endif //PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp
index bf33bea2e..d8eac2542 100644
--- a/examples/SharedMemory/PhysicsLoopBack.cpp
+++ b/examples/SharedMemory/PhysicsLoopBack.cpp
@@ -2,25 +2,44 @@
 #include "PhysicsServerSharedMemory.h"
 #include "PhysicsClientSharedMemory.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
-
+#include "PhysicsServerCommandProcessor.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
 struct PhysicsLoopBackInternalData
 {
+	CommandProcessorInterface* m_commandProcessor;
 	PhysicsClientSharedMemory* m_physicsClient;
 	PhysicsServerSharedMemory* m_physicsServer;
 	DummyGUIHelper m_noGfx;
 	
 
 	PhysicsLoopBackInternalData()
-		:m_physicsClient(0),
+		:m_commandProcessor(0),
+		m_physicsClient(0),
 		m_physicsServer(0)
 	{
 	}
 };
 
+struct Bullet2CommandProcessorCreation2 : public CommandProcessorCreationInterface
+{
+	virtual class CommandProcessorInterface* createCommandProcessor()
+	{
+		PhysicsServerCommandProcessor* proc = new PhysicsServerCommandProcessor;
+		return proc;
+	}
+
+	virtual void deleteCommandProcessor(CommandProcessorInterface* proc)
+	{
+		delete proc;
+	}
+};
+
+static Bullet2CommandProcessorCreation2 sB2Proc;
+
 PhysicsLoopBack::PhysicsLoopBack()
 {
 	m_data = new PhysicsLoopBackInternalData;
-	m_data->m_physicsServer = new PhysicsServerSharedMemory();
+	m_data->m_physicsServer = new PhysicsServerSharedMemory(&sB2Proc, 0,0);
 	m_data->m_physicsClient = new PhysicsClientSharedMemory();
 }
 
@@ -28,6 +47,7 @@ PhysicsLoopBack::~PhysicsLoopBack()
 {
 	delete m_data->m_physicsClient;
 	delete m_data->m_physicsServer;
+	delete m_data->m_commandProcessor;
 	delete m_data;
 }
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 50925cb14..c5844bdfd 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -49,9 +49,8 @@
 
 //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
 btVector3 gLastPickPos(0, 0, 0);
-bool gCloseToKuka=false;
-bool gEnableRealTimeSimVR=false;
-bool gCreateDefaultRobotAssets = false;
+
+
 int gInternalSimFlags = 0;
 bool gResetSimulation = 0;
 int gVRTrackingObjectUniqueId = -1;
@@ -59,9 +58,9 @@ int gVRTrackingObjectFlag = VR_CAMERA_TRACK_OBJECT_ORIENTATION;
 
 btTransform gVRTrackingObjectTr = btTransform::getIdentity();
 
-int gMaxNumCmdPer1ms = -1;//experiment: add some delay to avoid threads starving other threads
-int gCreateObjectSimVR = -1;
-int gEnableKukaControl = 0;
+
+
+
 btVector3 gVRTeleportPos1(0,0,0);
 btQuaternion gVRTeleportOrn(0, 0, 0,1);
 
@@ -1137,25 +1136,13 @@ struct PhysicsServerCommandProcessorInternalData
 
 
 	bool m_allowRealTimeSimulation;
-	bool m_hasGround;
+	
 
 	b3VRControllerEvents m_vrControllerEvents;
 
 
 	btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
 	
-	btMultiBodyFixedConstraint* m_gripperRigidbodyFixed;
-	btMultiBody* m_gripperMultiBody;
-	btMultiBodyFixedConstraint* m_kukaGripperFixed;
-	btMultiBody* m_kukaGripperMultiBody;
-	btMultiBodyPoint2Point* m_kukaGripperRevolute1;
-	btMultiBodyPoint2Point* m_kukaGripperRevolute2;
-	
-
-	int m_huskyId;
-	int m_KukaId;
-	int m_sphereId;
-	int m_gripperId;
 	CommandLogger* m_commandLogger;
 	CommandLogPlayback* m_logPlayback;
 
@@ -1231,17 +1218,6 @@ struct PhysicsServerCommandProcessorInternalData
 	PhysicsServerCommandProcessorInternalData()
 		:
 		m_allowRealTimeSimulation(false),
-	m_hasGround(false),	
-	m_gripperRigidbodyFixed(0),
-		m_gripperMultiBody(0),
-		m_kukaGripperFixed(0),
-		m_kukaGripperMultiBody(0),
-		m_kukaGripperRevolute1(0),
-		m_kukaGripperRevolute2(0),
-		m_huskyId(-1),
-		m_KukaId(-1),
-		m_sphereId(-1),
-		m_gripperId(-1),
 		m_commandLogger(0),
 		m_logPlayback(0),
 		m_physicsDeltaTime(1./240.),
@@ -4087,7 +4063,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS)
 					{
 						//these flags are for internal/temporary/easter-egg/experimental demo purposes, use at own risk
-						gCreateDefaultRobotAssets = (clientCmd.m_physSimParamArgs.m_internalSimFlags & SIM_PARAM_INTERNAL_CREATE_ROBOT_ASSETS);
 						gInternalSimFlags = clientCmd.m_physSimParamArgs.m_internalSimFlags;
 					}
 
@@ -4111,11 +4086,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					{
 						gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold;
 					}
-					if (clientCmd.m_updateFlags&SIM_PARAM_MAX_CMD_PER_1MS)
-					{
-						gMaxNumCmdPer1ms = clientCmd.m_physSimParamArgs.m_maxNumCmdPer1ms;
-					}
-
+					
 					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
 					{
 						m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
@@ -6282,7 +6253,7 @@ btQuaternion gVRController2Orn(0,0,0,1);
 btScalar gVRGripper2Analog = 0;
 btScalar gVRGripperAnalog = 0;
 
-bool gVRGripperClosed = false;
+
 
 
 int gDroppedSimulationSteps = 0;
@@ -6295,6 +6266,11 @@ void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTime
 	m_data->m_allowRealTimeSimulation = enableRealTimeSim;
 }
 
+bool PhysicsServerCommandProcessor::isRealTimeSimulationEnabled() const
+{
+	return 	m_data->m_allowRealTimeSimulation;
+}
+
 void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents,const struct b3KeyboardEvent* keyEvents, int numKeyEvents)
 {
 	m_data->m_vrControllerEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
@@ -6348,23 +6324,22 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,	const
 			if (gVRTrackingObjectUniqueId>=0)
 			{
 				gVRTrackingObjectTr.setOrigin(bodyHandle->m_multiBody->getBaseWorldTransform().getOrigin());
+				gVRTeleportPos1 = gVRTrackingObjectTr.getOrigin();
 			}
 			if (gVRTrackingObjectFlag&VR_CAMERA_TRACK_OBJECT_ORIENTATION)
 			{
 				gVRTrackingObjectTr.setBasis(bodyHandle->m_multiBody->getBaseWorldTransform().getBasis());
+				gVRTeleportOrn = gVRTrackingObjectTr.getRotation();
+
 			}	
+
 		}
 	}
 
 	if ((m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
 	{
 		
-		///this hardcoded C++ scene creation is temporary for demo purposes. It will be done in Python later...
-		if (gCreateDefaultRobotAssets)
-		{
-			createDefaultRobotAssets();
-		}
-
+		
 		int maxSteps = m_data->m_numSimulationSubSteps+3;
 		if (m_data->m_numSimulationSubSteps)
 		{
@@ -6413,553 +6388,29 @@ void PhysicsServerCommandProcessor::resetSimulation()
 	m_data->m_bodyHandles.exitHandles();
 	m_data->m_bodyHandles.initHandles();
 
-	m_data->m_hasGround = false;
-	m_data->m_gripperRigidbodyFixed = 0;
+	
+	
 
 }
 
-//todo: move this to Python/scripting (it is almost ready to be removed!)
-void PhysicsServerCommandProcessor::createDefaultRobotAssets()
-{
-	static btAlignedObjectArray<char> gBufferServerToClient;
-	gBufferServerToClient.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
-	int bodyId = 0;
-
-	if (gCreateObjectSimVR >= 0)
-	{
-		gCreateObjectSimVR = -1;
-		btMatrix3x3 mat(gVRGripperOrn);
-		btScalar spawnDistance = 0.1;
-		btVector3 spawnDir = mat.getColumn(0);
-		btVector3 shiftPos = spawnDir*spawnDistance;
-		btVector3 spawnPos = gVRGripperPos + shiftPos;
-		loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size(),0);
-		//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		m_data->m_sphereId = bodyId;
-		InteralBodyData* parentBody = m_data->m_bodyHandles.getHandle(bodyId);
-		if (parentBody->m_multiBody)
-		{
-			parentBody->m_multiBody->setBaseVel(spawnDir * 5);
-		}
-	}
-
-	if (!m_data->m_hasGround)
-	{
-		m_data->m_hasGround = true;
-
-		loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-//		loadUrdf("quadruped/quadruped.urdf", btVector3(2, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-
-		if (m_data->m_gripperRigidbodyFixed == 0)
-		{
-			int bodyId = 0;
-
-			if (loadUrdf("pr2_gripper.urdf", btVector3(-0.2, 0.15, 0.9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()))
-			{
-				InteralBodyData* parentBody = m_data->m_bodyHandles.getHandle(bodyId);
-				if (parentBody->m_multiBody)
-				{
-					parentBody->m_multiBody->setHasSelfCollision(0);
-					btVector3 pivotInParent(0.2, 0, 0);
-					btMatrix3x3 frameInParent;
-					//frameInParent.setRotation(btQuaternion(0, 0, 0, 1));
-					frameInParent.setIdentity();
-					btVector3 pivotInChild(0, 0, 0);
-					btMatrix3x3 frameInChild;
-					frameInChild.setIdentity();
-
-					m_data->m_gripperRigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody, -1, 0, pivotInParent, pivotInChild, frameInParent, frameInChild);
-					m_data->m_gripperMultiBody = parentBody->m_multiBody;
-					if (m_data->m_gripperMultiBody->getNumLinks() > 2)
-					{
-						m_data->m_gripperMultiBody->setJointPos(0, 0);
-						m_data->m_gripperMultiBody->setJointPos(2, 0);
-					}
-					m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(500);
-					btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_data->m_dynamicsWorld;
-					world->addMultiBodyConstraint(m_data->m_gripperRigidbodyFixed);
-				}
-			}	
-		}
-
-		loadUrdf("kuka_iiwa/model_vr_limits.urdf", btVector3(1.4, -0.2, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		m_data->m_KukaId = bodyId;
-		if (m_data->m_KukaId>=0)
-		{
-			InteralBodyData* kukaBody = m_data->m_bodyHandles.getHandle(m_data->m_KukaId);
-			if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs() == 7)
-			{
-				btScalar q[7];
-				q[0] = 0;// -SIMD_HALF_PI;
-				q[1] = 0;
-				q[2] = 0;
-				q[3] = SIMD_HALF_PI;
-				q[4] = 0;
-				q[5] = -SIMD_HALF_PI*0.66;
-				q[6] = 0;
-
-				for (int i = 0; i < 7; i++)
-				{
-					kukaBody->m_multiBody->setJointPos(i, q[i]);
-				}
-				btAlignedObjectArray<btQuaternion> scratch_q;
-				btAlignedObjectArray<btVector3> scratch_m;
-				kukaBody->m_multiBody->forwardKinematics(scratch_q, scratch_m);
-				int nLinks = kukaBody->m_multiBody->getNumLinks();
-				scratch_q.resize(nLinks + 1);
-				scratch_m.resize(nLinks + 1);
-				kukaBody->m_multiBody->updateCollisionObjectWorldTransforms(scratch_q, scratch_m);
-			}
-		}
-#if 1
-		loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .8), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-#endif
-
-		//		loadUrdf("r2d2.urdf", btVector3(-2, -4, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-
-#if 1
-		// Load one motor gripper for kuka
-		loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true,CUF_USE_SDF);
-		m_data->m_gripperId = bodyId + 1;
-		{
-		InteralBodyData* gripperBody = m_data->m_bodyHandles.getHandle(m_data->m_gripperId);
-
-		// Reset the default gripper motor maximum torque for damping to 0
-		for (int i = 0; i < gripperBody->m_multiBody->getNumLinks(); i++)
-		{
-			if (supportsJointMotor(gripperBody->m_multiBody, i))
-			{
-				btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)gripperBody->m_multiBody->getLink(i).m_userPtr;
-				if (motor)
-				{
-					motor->setMaxAppliedImpulse(0);
-				}
-			}
-		}
-		}
-#endif
-#if 1
-		for (int i = 0; i < 6; i++)
-		{
-			loadUrdf("jenga/jenga.urdf", btVector3(1.3-0.1*i,-0.7,  .75), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		}
-#endif
-		//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-
-		// Add slider joint for fingers
-		btVector3 pivotInParent1(-0.055, 0, 0.02);
-		btVector3 pivotInChild1(0, 0, 0);
-		btMatrix3x3 frameInParent1(btQuaternion(0, 0, 0, 1.0));
-		btMatrix3x3 frameInChild1(btQuaternion(0, 0, 0, 1.0));
-		btVector3 jointAxis1(1.0, 0, 0);
-		btVector3 pivotInParent2(0.055, 0, 0.02);
-		btVector3 pivotInChild2(0, 0, 0);
-		btMatrix3x3 frameInParent2(btQuaternion(0, 0, 0, 1.0));
-		btMatrix3x3 frameInChild2(btQuaternion(0, 0, 1.0, 0));
-		btVector3 jointAxis2(1.0, 0, 0);
-
-		if (m_data->m_gripperId>=0)
-		{
-		InteralBodyData* gripperBody = m_data->m_bodyHandles.getHandle(m_data->m_gripperId);
-		m_data->m_kukaGripperRevolute1 = new btMultiBodyPoint2Point(gripperBody->m_multiBody, 2, gripperBody->m_multiBody, 4, pivotInParent1, pivotInChild1);
-		m_data->m_kukaGripperRevolute1->setMaxAppliedImpulse(5.0);
-		m_data->m_kukaGripperRevolute2 = new btMultiBodyPoint2Point(gripperBody->m_multiBody, 3, gripperBody->m_multiBody, 6, pivotInParent2, pivotInChild2);
-		m_data->m_kukaGripperRevolute2->setMaxAppliedImpulse(5.0);
-
-		m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute1);
-		m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute2);
-
-		}
-
-		if (m_data->m_KukaId>=0)
-		{
-		InteralBodyData* kukaBody = m_data->m_bodyHandles.getHandle(m_data->m_KukaId);
-		if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs()==7)
-		{
-			if (m_data->m_gripperId>=0)
-			{
-			InteralBodyData* gripperBody = m_data->m_bodyHandles.getHandle(m_data->m_gripperId);
-
-			gripperBody->m_multiBody->setHasSelfCollision(0);
-			btVector3 pivotInParent(0, 0, 0.05);
-			btMatrix3x3 frameInParent;
-			frameInParent.setIdentity();
-			btVector3 pivotInChild(0, 0, 0);
-			btMatrix3x3 frameInChild;
-			frameInChild.setIdentity();
-
-			m_data->m_kukaGripperFixed = new btMultiBodyFixedConstraint(kukaBody->m_multiBody, 6, gripperBody->m_multiBody, 0, pivotInParent, pivotInChild, frameInParent, frameInChild);
-			m_data->m_kukaGripperMultiBody = gripperBody->m_multiBody;
-			m_data->m_kukaGripperFixed->setMaxAppliedImpulse(500);
-			m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperFixed);
-			}
-		}
-		}
-#if 0
-
-		for (int i = 0; i < 10; i++)
-		{
-			loadUrdf("cube.urdf", btVector3(-4, -2, 0.5 + i), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		}
-
-		loadUrdf("sphere2.urdf", btVector3(-5, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("sphere2.urdf", btVector3(-5, 0, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("sphere2.urdf", btVector3(-5, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-#endif		
-		btTransform objectLocalTr[] = {
-			btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.0, 0.0, 0.0)),
-			btTransform(btQuaternion(btVector3(0,0,1),-SIMD_HALF_PI), btVector3(0.0, 0.15, 0.64)),
-			btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.1, 0.15, 0.85)),
-			btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.4, 0.05, 0.85)),
-			btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.3, -0.05, 0.7)),
-			btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.1, 0.05, 0.7)),
-			btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.2, 0.15, 0.7)),
-			btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.2, 0.15, 0.9)),
-			btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.2, 0.05, 0.8))
-		};
-
-
-		btAlignedObjectArray<btTransform> objectWorldTr;
-		int numOb = sizeof(objectLocalTr) / sizeof(btTransform);
-		objectWorldTr.resize(numOb);
-
-		btTransform tr;
-		tr.setIdentity();
-		tr.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI));
-		tr.setOrigin(btVector3(1.0, -0.2, 0));
-
-		for (int i = 0; i < numOb; i++)
-		{
-			objectWorldTr[i] = tr*objectLocalTr[i];
-		}
-
-		// Table area
-		loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("tray/tray_textured.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-
-		loadUrdf("cube_small.urdf", objectWorldTr[5].getOrigin(), objectWorldTr[5].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("sphere_small.urdf", objectWorldTr[6].getOrigin(), objectWorldTr[6].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("duck_vhacd.urdf", objectWorldTr[7].getOrigin(), objectWorldTr[7].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("Apple/apple.urdf", objectWorldTr[8].getOrigin(), objectWorldTr[8].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-
-		// Shelf area
-		loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true, CUF_USE_SDF);
-		loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());			
-		loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("cube_small.urdf", btVector3(0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			
-		// Chess area
-		loadUrdf("table_square/table_square.urdf", btVector3(-1.0, 0, 0.0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("pawn.urdf", btVector3(-0.8, -0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("queen.urdf", btVector3(-0.9, -0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("king.urdf", btVector3(-1.0, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("bishop.urdf", btVector3(-1.1, 0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-
-		loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		m_data->m_huskyId = bodyId;
-
-		m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
-
-	}
-
-	if (m_data->m_kukaGripperFixed && m_data->m_kukaGripperMultiBody)
-	{
-		InteralBodyData* childBody = m_data->m_bodyHandles.getHandle(m_data->m_gripperId);
-		// Add gripper controller
-		btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)childBody->m_multiBody->getLink(1).m_userPtr;
-		if (motor)
-		{
-			btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripper2Analog) / 0.75;
-			motor->setPositionTarget(posTarget, .8);
-			motor->setVelocityTarget(0.0, .5);
-			motor->setMaxAppliedImpulse(1.0);
-
-		}
-	}
-
-	if (m_data->m_gripperRigidbodyFixed && m_data->m_gripperMultiBody)
-	{
-		m_data->m_gripperRigidbodyFixed->setFrameInB(btMatrix3x3(gVRGripperOrn));
-		m_data->m_gripperRigidbodyFixed->setPivotInB(gVRGripperPos);
-		btScalar avg = 0.f;
-
-		for (int i = 0; i < m_data->m_gripperMultiBody->getNumLinks(); i++)
-		{
-			if (supportsJointMotor(m_data->m_gripperMultiBody, i))
-			{
-				btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i ).m_userPtr;
-				if (motor)
-				{
-					motor->setErp(0.2);
-					btScalar posTarget = 0.1 + (1 - btMin(btScalar(0.75),gVRGripperAnalog)*btScalar(1.5))*SIMD_HALF_PI*0.29;
-					btScalar maxPosTarget = 0.55;
-					
-					btScalar correction = 0.f;
-
-					if (avg)
-					{
-						correction = m_data->m_gripperMultiBody->getJointPos(i) - avg;
-					}
-					
-					if (m_data->m_gripperMultiBody->getJointPos(i) < 0)
-					{
-						m_data->m_gripperMultiBody->setJointPos(i,0);
-					}
-					if (m_data->m_gripperMultiBody->getJointPos(i) > maxPosTarget)
-					{
-						m_data->m_gripperMultiBody->setJointPos(i, maxPosTarget);
-					}
-
-					if (avg)
-					{
-						motor->setPositionTarget(avg, 1);
-					}
-					else
-					{
-						motor->setPositionTarget(posTarget, 1);
-					}
-					motor->setVelocityTarget(0, 0.5);
-					btScalar maxImp = (1+0.1*i)*m_data->m_physicsDeltaTime;
-					motor->setMaxAppliedImpulse(maxImp);
-					avg = m_data->m_gripperMultiBody->getJointPos(i);
-
-					//motor->setRhsClamp(gRhsClamp);
-				}
-			}
-		}
-	}
-
-	// Inverse kinematics for KUKA
-	if (m_data->m_KukaId>=0)
-	{
-		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(m_data->m_KukaId);
-		if (bodyHandle && bodyHandle->m_multiBody && bodyHandle->m_multiBody->getNumDofs()==7)
-		{
-			btMultiBody* mb = bodyHandle->m_multiBody;				
-			btScalar sqLen = (mb->getBaseWorldTransform().getOrigin() - gVRController2Pos).length2();
-			btScalar distanceThreshold = 1.3;
-			gCloseToKuka=(sqLen<(distanceThreshold*distanceThreshold));
-
-			int numDofs = bodyHandle->m_multiBody->getNumDofs();
-			btAlignedObjectArray<double> q_new;
-			btAlignedObjectArray<double> q_current;
-			q_current.resize(numDofs);
-			for (int i = 0; i < numDofs; i++)
-			{
-				q_current[i] = bodyHandle->m_multiBody->getJointPos(i);
-			}
-                       
-			q_new.resize(numDofs);
-			//sensible rest-pose
-			q_new[0] = 0;// -SIMD_HALF_PI;
-			q_new[1] = 0;
-			q_new[2] = 0;
-			q_new[3] = SIMD_HALF_PI;
-			q_new[4] = 0;
-			q_new[5] = -SIMD_HALF_PI*0.66;
-			q_new[6] = 0;
-
-			if (gCloseToKuka && gEnableKukaControl)
-			{
-				double dampIk[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 0.0};
-
-				IKTrajectoryHelper** ikHelperPtrPtr = m_data->m_inverseKinematicsHelpers.find(bodyHandle->m_multiBody);
-				IKTrajectoryHelper* ikHelperPtr = 0;
-
-				if (ikHelperPtrPtr)
-				{
-					ikHelperPtr = *ikHelperPtrPtr;
-				}
-				else
-				{
-					IKTrajectoryHelper* tmpHelper = new IKTrajectoryHelper;
-					m_data->m_inverseKinematicsHelpers.insert(bodyHandle->m_multiBody, tmpHelper);
-					ikHelperPtr = tmpHelper;
-				}
-
-				int endEffectorLinkIndex = 6;
-
-				if (ikHelperPtr && (endEffectorLinkIndex<bodyHandle->m_multiBody->getNumLinks()))
-				{					
-					b3AlignedObjectArray<double> jacobian_linear;
-					jacobian_linear.resize(3*numDofs);
-					b3AlignedObjectArray<double> jacobian_angular;
-					jacobian_angular.resize(3*numDofs);
-					int jacSize = 0;
-                                
-					btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);
-                               
-					if (tree)
-					{
-						jacSize = jacobian_linear.size();
-						// Set jacobian value
-						int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
-                                                                      
-						btInverseDynamics::vecx nu(numDofs+baseDofs), qdot(numDofs + baseDofs), q(numDofs + baseDofs), joint_force(numDofs + baseDofs);
-						for (int i = 0; i < numDofs; i++)
-						{
-							q_current[i] = bodyHandle->m_multiBody->getJointPos(i);
-							q[i+baseDofs] = bodyHandle->m_multiBody->getJointPos(i);
-							qdot[i + baseDofs] = 0;
-							nu[i+baseDofs] = 0;
-						}
-						// Set the gravity to correspond to the world gravity
-						btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
-                                    
-						if (-1 != tree->setGravityInWorldFrame(id_grav) &&
-							-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
-						{
-							tree->calculateJacobians(q);
-							btInverseDynamics::mat3x jac_t(3,numDofs);
-							btInverseDynamics::mat3x jac_r(3,numDofs);
-							tree->getBodyJacobianTrans(endEffectorLinkIndex+1, &jac_t);
-							tree->getBodyJacobianRot(endEffectorLinkIndex+1, &jac_r);
-							for (int i = 0; i < 3; ++i)
-							{
-								for (int j = 0; j < numDofs; ++j)
-								{
-									jacobian_linear[i*numDofs+j] = jac_t(i,j);
-									jacobian_angular[i*numDofs+j] = jac_r(i,j);
-								}
-							}
-						}
-					}
-                       
-					int ikMethod= IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;//IK2_VEL_DLS_WITH_ORIENTATION; //IK2_VEL_DLS;
-                               
-					btVector3DoubleData endEffectorWorldPosition;
-					btVector3DoubleData endEffectorWorldOrientation;
-					btVector3DoubleData targetWorldPosition;
-					btVector3DoubleData targetWorldOrientation;
-                                
-					btVector3 endEffectorPosWorld =  bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getOrigin();
-					btQuaternion endEffectorOriWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getRotation();
-					btVector4 endEffectorOri(endEffectorOriWorld.x(),endEffectorOriWorld.y(),endEffectorOriWorld.z(),endEffectorOriWorld.w());
-                        
-					// Prescribed position and orientation
-					static btScalar time=0.f;
-					time+=0.01;
-					btVector3 targetPos(0.4-0.4*b3Cos( time), 0, 0.8+0.4*b3Cos( time));
-					targetPos +=mb->getBasePos();
-					btVector4 downOrn(0,1,0,0);
-
-					// Controller orientation
-					btVector4 controllerOrn(gVRController2Orn.x(), gVRController2Orn.y(), gVRController2Orn.z(), gVRController2Orn.w());
-						
-					// Set position and orientation
-					endEffectorPosWorld.serializeDouble(endEffectorWorldPosition);
-					endEffectorOri.serializeDouble(endEffectorWorldOrientation);
-					downOrn.serializeDouble(targetWorldOrientation);
-					//targetPos.serializeDouble(targetWorldPosition);
-						
-					gVRController2Pos.serializeDouble(targetWorldPosition);
-						
-					//controllerOrn.serializeDouble(targetWorldOrientation);
-
-					if (ikMethod == IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE)
-					{
-						btAlignedObjectArray<double> lower_limit;
-						btAlignedObjectArray<double> upper_limit;
-						btAlignedObjectArray<double> joint_range;
-						btAlignedObjectArray<double> rest_pose;
-						lower_limit.resize(numDofs);
-						upper_limit.resize(numDofs);
-						joint_range.resize(numDofs);
-						rest_pose.resize(numDofs);
-						lower_limit[0] = -.967;
-						lower_limit[1] = -2.0;
-						lower_limit[2] = -2.96;
-						lower_limit[3] = 0.19;
-						lower_limit[4] = -2.96;
-						lower_limit[5] = -2.09;
-						lower_limit[6] = -3.05;
-						upper_limit[0] = .96;
-						upper_limit[1] = 2.0;
-						upper_limit[2] = 2.96;
-						upper_limit[3] = 2.29;
-						upper_limit[4] = 2.96;
-						upper_limit[5] = 2.09;
-						upper_limit[6] = 3.05;
-						joint_range[0] = 5.8;
-						joint_range[1] = 4;
-						joint_range[2] = 5.8;
-						joint_range[3] = 4;
-						joint_range[4] = 5.8;
-						joint_range[5] = 4;
-						joint_range[6] = 6;
-						rest_pose[0] = 0;
-						rest_pose[1] = 0;
-						rest_pose[2] = 0;
-						rest_pose[3] = SIMD_HALF_PI;
-						rest_pose[4] = 0;
-						rest_pose[5] = -SIMD_HALF_PI*0.66;
-						rest_pose[6] = 0;
-						ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
-					}
-
-					ikHelperPtr->computeIK(targetWorldPosition.m_floats, targetWorldOrientation.m_floats,
-													endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats,
-													&q_current[0],
-													numDofs, endEffectorLinkIndex,
-								&q_new[0], ikMethod, &jacobian_linear[0], &jacobian_angular[0], jacSize*2, dampIk);
-				}
-			}
-
-			//directly set the position of the links, only for debugging IK, don't use this method!
-#if 0			
-			if (0)
-			{
-				for (int i=0;i<mb->getNumLinks();i++)
-				{
-					btScalar desiredPosition = q_new[i];
-					mb->setJointPosMultiDof(i,&desiredPosition);
-				}
-			} else
-#endif
-			{
-				int numMotors = 0;
-				//find the joint motors and apply the desired velocity and maximum force/torque
-				{
-					int velIndex = 6;//skip the 3 linear + 3 angular degree of freedom velocity entries of the base
-					int posIndex = 7;//skip 3 positional and 4 orientation (quaternion) positional degrees of freedom of the base
-					for (int link=0;link<mb->getNumLinks();link++)
-					{
-						if (supportsJointMotor(mb,link))
-						{
-							btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;
-
-							if (motor)
-							{
-								btScalar desiredVelocity = 0.f;
-								btScalar desiredPosition = q_new[link];
-								motor->setRhsClamp(gRhsClamp);
-								//printf("link %d: %f", link, q_new[link]);
-								motor->setVelocityTarget(desiredVelocity,1.0);
-								motor->setPositionTarget(desiredPosition,0.6);
-								btScalar maxImp = 1.0;
-									
-								motor->setMaxAppliedImpulse(maxImp);
-								numMotors++;
-							}
-						}
-						velIndex += mb->getLink(link).m_dofCount;
-						posIndex += mb->getLink(link).m_posVarCount;
-					}
-				}
-			}
-		} 
-			
-	}
-}
 
 void PhysicsServerCommandProcessor::setTimeOut(double /*timeOutInSeconds*/)
 {
 }
+
+const btVector3& PhysicsServerCommandProcessor::getVRTeleportPosition() const
+{
+	return gVRTeleportPos1;
+}
+void PhysicsServerCommandProcessor::setVRTeleportPosition(const btVector3& vrTeleportPos)
+{
+	gVRTeleportPos1 = vrTeleportPos;
+}
+const btQuaternion& PhysicsServerCommandProcessor::getVRTeleportOrientation() const
+{
+	return gVRTeleportOrn;
+}
+void PhysicsServerCommandProcessor::setVRTeleportOrientation(const btQuaternion& vrTeleportOrn)
+{
+	gVRTeleportOrn = vrTeleportOrn;
+}
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index 304740d49..2280242e6 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -20,11 +20,6 @@ class PhysicsServerCommandProcessor : public CommandProcessorInterface
 
 	struct PhysicsServerCommandProcessorInternalData* m_data;
 
-	
-
-	//todo: move this to physics client side / Python
-	void createDefaultRobotAssets();
-
 	void resetSimulation();
 
 protected:
@@ -101,9 +96,17 @@ public:
 
 	virtual void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
 	virtual void enableRealTimeSimulation(bool enableRealTimeSim);
+	virtual bool isRealTimeSimulationEnabled() const;
+
 	void applyJointDamping(int bodyUniqueId);
 
 	virtual void setTimeOut(double timeOutInSeconds);
+
+	virtual const btVector3& getVRTeleportPosition() const;
+	virtual void setVRTeleportPosition(const btVector3& vrReleportPos);
+
+	virtual const btQuaternion& getVRTeleportOrientation() const;
+	virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn);
 };
 
 #endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 33dca816f..32477d96c 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -4,9 +4,7 @@
 
 #include "PhysicsServerExample.h"
 
-#ifdef B3_USE_MIDI
-#include "RtMidi.h"
-#endif//B3_USE_MIDI
+
 
 #include "PhysicsServerSharedMemory.h"
 #include "Bullet3Common/b3CommandLineArgs.h"
@@ -24,37 +22,26 @@
 
 
 //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
-extern btVector3 gLastPickPos;
 bool gEnablePicking=true;
 bool gEnableTeleporting=true;
 bool gEnableRendering= true;
 bool gEnableSyncPhysicsRendering= true;
 bool gEnableUpdateDebugDrawLines = true;
 
+
+//extern btVector3 gLastPickPos;
 btVector3 gVRTeleportPosLocal(0,0,0);
 btQuaternion gVRTeleportOrnLocal(0,0,0,1);
 
-extern btVector3 gVRTeleportPos1;
-extern btQuaternion gVRTeleportOrn;
+
 btScalar gVRTeleportRotZ = 0;
 
-extern btVector3 gVRGripperPos;
-extern btQuaternion gVRGripperOrn;
-extern btVector3 gVRController2Pos;
-extern btQuaternion gVRController2Orn;
-extern btScalar gVRGripperAnalog;
-extern btScalar gVRGripper2Analog;
-extern bool gCloseToKuka;
-extern bool gEnableRealTimeSimVR;
-extern bool gCreateDefaultRobotAssets;
 extern int gInternalSimFlags;
-extern int gCreateObjectSimVR;
 extern bool gResetSimulation;
-extern int gEnableKukaControl;
 int gGraspingController = -1;
 extern btScalar simTimeScalingFactor;
 bool gBatchUserDebugLines = true;
-extern bool gVRGripperClosed;
+
 
 const char* startFileNameVR = "0_VRDemoSettings.txt";
 
@@ -82,70 +69,20 @@ static void loadCurrentSettingsVR(b3CommandLineArgs& args)
 };
 
 //remember the settings (you don't want to re-tune again and again...)
-static void saveCurrentSettingsVR()
+
+
+static void saveCurrentSettingsVR(const btVector3& VRTeleportPos1)
 {
 	FILE* f = fopen(startFileNameVR, "w");
 	if (f)
 	{
-		fprintf(f, "--camPosX= %f\n", gVRTeleportPos1[0]);
-		fprintf(f, "--camPosY= %f\n", gVRTeleportPos1[1]);
-		fprintf(f, "--camPosZ= %f\n", gVRTeleportPos1[2]);
+		fprintf(f, "--camPosX= %f\n", VRTeleportPos1[0]);
+		fprintf(f, "--camPosY= %f\n", VRTeleportPos1[1]);
+		fprintf(f, "--camPosZ= %f\n", VRTeleportPos1[2]);
 		fprintf(f, "--camRotZ= %f\n", gVRTeleportRotZ);
 		fclose(f);
 	}
 };
-
-#if B3_USE_MIDI
-
-
-
-static float getParamf(float rangeMin, float rangeMax, int midiVal)
-{
-	float v = rangeMin + (rangeMax - rangeMin)* (float(midiVal / 127.));
-	return v;
-}
-void midiCallback(double deltatime, std::vector< unsigned char > *message, void *userData)
-{
-	unsigned int nBytes = message->size();
-	for (unsigned int i = 0; i<nBytes; i++)
-		std::cout << "Byte " << i << " = " << (int)message->at(i) << ", ";
-	if (nBytes > 0)
-		std::cout << "stamp = " << deltatime << std::endl;
-	
-	if (nBytes > 2)
-	{
-		
-		if (message->at(0) == 176)
-		{
-			if (message->at(1) == 16)
-			{
-				gVRTeleportRotZ= getParamf(-3.1415, 3.1415, message->at(2));
-				gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
-				saveCurrentSettingsVR();
-//				b3Printf("gVRTeleportOrnLocal rotZ = %f\n", gVRTeleportRotZ);
-			}
-
-			if (message->at(1) == 32)
-			{
-				gCreateDefaultRobotAssets = 1;
-			}
-
-			for (int i = 0; i < 3; i++)
-			{
-				if (message->at(1) == i)
-				{
-					gVRTeleportPos1[i] = getParamf(-2, 2, message->at(2));
-					saveCurrentSettingsVR();
-//					b3Printf("gVRTeleportPos[%d] =  %f\n", i,gVRTeleportPosLocal[i]);
-
-				}
-			}
-		}
-	}
-}
-
-#endif //B3_USE_MIDI
-
 bool gDebugRenderToggle  = false;
 void	MotionThreadFunc(void* userPtr,void* lsMemory);
 void*	MotionlsMemoryFunc();
@@ -291,7 +228,6 @@ struct MotionThreadLocalStorage
 
 
 float clampedDeltaTime  = 0.2;
-extern int gMaxNumCmdPer1ms;
 
 
 void	MotionThreadFunc(void* userPtr,void* lsMemory)
@@ -325,16 +261,7 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 
 			{
 				
-				if (gMaxNumCmdPer1ms>0)
-				{
-					if (numCmdSinceSleep1ms>gMaxNumCmdPer1ms)
-					{
-						BT_PROFILE("usleep(10)");
-						b3Clock::usleep(10);
-						numCmdSinceSleep1ms = 0;
-						sleepClock.reset();
-					}
-				}
+
 				if (sleepClock.getTimeMilliseconds()>1)
 				{
 					sleepClock.reset();
@@ -1229,9 +1156,7 @@ class PhysicsServerExample : public SharedMemoryCommon
 	MotionArgs m_args[MAX_MOTION_NUM_THREADS];
 	MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
     bool m_wantsShutdown;
-#ifdef B3_USE_MIDI
-	RtMidiIn* m_midi;
-#endif
+
     bool m_isConnected;
     btClock m_clock;
 	bool m_replay;
@@ -1243,7 +1168,7 @@ class PhysicsServerExample : public SharedMemoryCommon
 
 public:
 
-	PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
+	PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, CommandProcessorCreationInterface* commandProcessorCreator, SharedMemoryInterface* sharedMem=0, int options=0);
 
 	virtual ~PhysicsServerExample();
 
@@ -1434,43 +1359,54 @@ public:
 		if (window->isModifierKeyPressed(B3G_SHIFT))
 			shift=0.01;
 
+		btVector3 VRTeleportPos =this->m_physicsServer.getVRTeleportPosition();
+
 		if (key=='w' && state)
 		{
-			gVRTeleportPos1[0]+=shift;
-			saveCurrentSettingsVR();
+			VRTeleportPos[0]+=shift;
+			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+			saveCurrentSettingsVR(VRTeleportPos);
 		}
 		if (key=='s' && state)
 		{
-			gVRTeleportPos1[0]-=shift;
-			saveCurrentSettingsVR();
+			VRTeleportPos[0]-=shift;
+			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+			saveCurrentSettingsVR(VRTeleportPos);
 		}
 		if (key=='a' && state)
 		{
-			gVRTeleportPos1[1]-=shift;
-			saveCurrentSettingsVR();
+			VRTeleportPos[1]-=shift;
+			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+			saveCurrentSettingsVR(VRTeleportPos);
 		}
 		if (key=='d' && state)
 		{
-			gVRTeleportPos1[1]+=shift;
-			saveCurrentSettingsVR();
+			VRTeleportPos[1]+=shift;
+			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+			saveCurrentSettingsVR(VRTeleportPos);
 		}
 		if (key=='q' && state)
 		{
-			gVRTeleportPos1[2]+=shift;
-			saveCurrentSettingsVR();
+			VRTeleportPos[2]+=shift;
+			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+			saveCurrentSettingsVR(VRTeleportPos);
 		}
 		if (key=='e' && state)
 		{
-			gVRTeleportPos1[2]-=shift;
-			saveCurrentSettingsVR();
+			VRTeleportPos[2]-=shift;
+			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+			saveCurrentSettingsVR(VRTeleportPos);
 		}
 		if (key=='z' && state)
 		{
 			gVRTeleportRotZ+=shift;
-			gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
-			saveCurrentSettingsVR();
+			btQuaternion VRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
+			m_physicsServer.setVRTeleportOrientation(VRTeleportOrn);
+			saveCurrentSettingsVR(VRTeleportPos);
 		}
 		
+		
+		
 		return false;
 	}
 
@@ -1490,33 +1426,33 @@ public:
 			setSharedMemoryKey(shmemKey);
 		}
 
-		if (args.GetCmdLineArgument("camPosX", gVRTeleportPos1[0]))
+		btVector3 vrTeleportPos = m_physicsServer.getVRTeleportPosition();
+
+		if (args.GetCmdLineArgument("camPosX", vrTeleportPos[0]))
 		{
-			printf("camPosX=%f\n", gVRTeleportPos1[0]);
+			printf("camPosX=%f\n", vrTeleportPos[0]);
 		}
 
-		if (args.GetCmdLineArgument("camPosY", gVRTeleportPos1[1]))
+		if (args.GetCmdLineArgument("camPosY", vrTeleportPos[1]))
 		{
-			printf("camPosY=%f\n", gVRTeleportPos1[1]);
+			printf("camPosY=%f\n", vrTeleportPos[1]);
 		}
 
-		if (args.GetCmdLineArgument("camPosZ", gVRTeleportPos1[2]))
+		if (args.GetCmdLineArgument("camPosZ", vrTeleportPos[2]))
 		{
-			printf("camPosZ=%f\n", gVRTeleportPos1[2]);
+			printf("camPosZ=%f\n", vrTeleportPos[2]);
 		}
 
+		m_physicsServer.setVRTeleportPosition(vrTeleportPos);
+
 		float camRotZ = 0.f;
 		if (args.GetCmdLineArgument("camRotZ", camRotZ))
 		{
 			printf("camRotZ = %f\n", camRotZ);
 			btQuaternion ornZ(btVector3(0, 0, 1), camRotZ);
-			gVRTeleportOrn = ornZ;
+			m_physicsServer.setVRTeleportOrientation(ornZ);
 		}
 
-		if (args.CheckCmdLineFlag("robotassets"))
-		{
-			gCreateDefaultRobotAssets = true;
-		}
 
 		if (args.CheckCmdLineFlag("realtimesimulation"))
 		{
@@ -1524,53 +1460,17 @@ public:
 			m_physicsServer.enableRealTimeSimulation(true);
 		}
 
-		if (args.CheckCmdLineFlag("norobotassets"))
-		{
-			gCreateDefaultRobotAssets = false;
-		}
+		
 
 
 	}
 
 };
 
-#ifdef B3_USE_MIDI
-static bool chooseMidiPort(RtMidiIn *rtmidi)
-{
-	/*
 
-	std::cout << "\nWould you like to open a virtual input port? [y/N] ";
-
-	std::string keyHit;
-	std::getline( std::cin, keyHit );
-	if ( keyHit == "y" ) {
-	rtmidi->openVirtualPort();
-	return true;
-	}
-	*/
-
-	std::string portName;
-	unsigned int i = 0, nPorts = rtmidi->getPortCount();
-	if (nPorts == 0) {
-		std::cout << "No midi input ports available!" << std::endl;
-		return false;
-	}
-
-	if (nPorts > 0) {
-		std::cout << "\nOpening midi input port " << rtmidi->getPortName() << std::endl;
-	}
-
-	//  std::getline( std::cin, keyHit );  // used to clear out stdin
-	rtmidi->openPort(i);
-
-	return true;
-}
-#endif //B3_USE_MIDI
-
-
-PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
+PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper,CommandProcessorCreationInterface* commandProcessorCreator, SharedMemoryInterface* sharedMem, int options)
 :SharedMemoryCommon(helper),
-m_physicsServer(sharedMem),
+m_physicsServer(commandProcessorCreator,sharedMem,0),
 m_wantsShutdown(false),
 m_isConnected(false),
 m_replay(false)
@@ -1579,14 +1479,7 @@ m_replay(false)
 ,m_tinyVrGui(0)
 #endif
 {
-#ifdef B3_USE_MIDI
-	m_midi = new   RtMidiIn();
-	chooseMidiPort(m_midi);
-	m_midi->setCallback(&midiCallback);
-	// Don't ignore sysex, timing, or active sensing messages.
-	m_midi->ignoreTypes(false, false, false);
 
-#endif
 	m_multiThreadedHelper = helper;
 //	b3Printf("Started PhysicsServer\n");
 }
@@ -1595,10 +1488,7 @@ m_replay(false)
 
 PhysicsServerExample::~PhysicsServerExample()
 {
-#ifdef B3_USE_MIDI
-	delete m_midi;
-	m_midi = 0;
-#endif
+
 #ifdef BT_ENABLE_VR
 	delete m_tinyVrGui;
 #endif
@@ -2007,7 +1897,6 @@ extern int gDroppedSimulationSteps;
 extern int gNumSteps;
 extern double gDtInSec;
 extern double gSubStep;
-extern int gVRTrackingObjectUniqueId;
 extern btTransform gVRTrackingObjectTr;
 
 
@@ -2206,28 +2095,15 @@ void PhysicsServerExample::drawUserDebugLines()
 void PhysicsServerExample::renderScene()
 {
 	btTransform vrTrans;
-	//gVRTeleportPos1 = gVRTeleportPosLocal;
-	//gVRTeleportOrn = gVRTeleportOrnLocal;
 
-	///little VR test to follow/drive Husky vehicle
-	if (gVRTrackingObjectUniqueId >= 0)
-	{
-		btTransform vrTrans;
-		vrTrans.setOrigin(gVRTeleportPosLocal);
-		vrTrans.setRotation(gVRTeleportOrnLocal);
-			
-		vrTrans = vrTrans * gVRTrackingObjectTr;
 
-		gVRTeleportPos1 = vrTrans.getOrigin();
-		gVRTeleportOrn = vrTrans.getRotation();
-	}
 		
 
 	B3_PROFILE("PhysicsServerExample::RenderScene");
 
 	drawUserDebugLines();
 
-	if (gEnableRealTimeSimVR)
+	if (m_physicsServer.isRealTimeSimulationEnabled())
 	{
 		
 		static int frameCount=0;
@@ -2285,8 +2161,10 @@ void PhysicsServerExample::renderScene()
 		{
 
 			b3Transform tr;tr.setIdentity();
-			tr.setOrigin(b3MakeVector3(gVRController2Pos[0],gVRController2Pos[1],gVRController2Pos[2]));
-			tr.setRotation(b3Quaternion(gVRController2Orn[0],gVRController2Orn[1],gVRController2Orn[2],gVRController2Orn[3]));
+			btVector3 VRController2Pos = m_physicsServer.getVRTeleportPosition();
+			btQuaternion VRController2Orn = m_physicsServer.getVRTeleportOrientation();
+			tr.setOrigin(b3MakeVector3(VRController2Pos[0],VRController2Pos[1],VRController2Pos[2]));
+			tr.setRotation(b3Quaternion(VRController2Orn[0],VRController2Orn[1],VRController2Orn[2],VRController2Orn[3]));
 			tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
 			b3Scalar dt = 0.01;
 			m_tinyVrGui->clearTextArea();
@@ -2304,8 +2182,8 @@ void PhysicsServerExample::renderScene()
 	btTransform tr2a, tr2;
 	tr2a.setIdentity();
 	tr2.setIdentity();
-	tr2.setOrigin(gVRTeleportPos1);
-	tr2a.setRotation(gVRTeleportOrn);
+	tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
+	tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
 	btTransform trTotal = tr2*tr2a;
 	btTransform trInv = trTotal.inverse();
 
@@ -2368,9 +2246,8 @@ void PhysicsServerExample::renderScene()
 
 	if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
 	{
-		if (!gEnableRealTimeSimVR)
+		if (!m_physicsServer.isRealTimeSimulationEnabled())
 		{
-			gEnableRealTimeSimVR = true;
 			m_physicsServer.enableRealTimeSimulation(1);
 		}
 	}
@@ -2470,35 +2347,6 @@ btVector3	PhysicsServerExample::getRayTo(int x,int y)
 }
 
 
-extern int gSharedMemoryKey;
-
-
-class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
-{
-
-	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);
-	}
-	if (options.m_option & PHYSICS_SERVER_ENABLE_COMMAND_LOGGING)
-	{
-		example->enableCommandLogging();
-	}
-	if (options.m_option & PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG)
-	{
-		example->replayFromLogFile();
-	}
-	return example;
-
-}
-
 
 
 void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4])
@@ -2511,7 +2359,6 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 	if (gGraspingController < 0)
 	{
 		gGraspingController = controllerId;
-		gEnableKukaControl = true;
 	}
 
 	btTransform trLocal;
@@ -2530,8 +2377,8 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 
 
 
-	tr2.setOrigin(gVRTeleportPos1);
-	tr2a.setRotation(gVRTeleportOrn);
+	tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
+	tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
 
 
 	btTransform trTotal = tr2*tr2a*trOrg*trLocal;
@@ -2541,8 +2388,7 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 	{
 		if (button == 1 && state == 0)
 		{
-			//gResetSimulation = true;
-			gVRTeleportPos1 = gLastPickPos;
+			
 		}
 	} else
 	{
@@ -2583,7 +2429,6 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 
 		if (controllerId == gGraspingController)
 		{
-			gCreateObjectSimVR = 1;
 		}
 		else
 		{
@@ -2599,7 +2444,7 @@ void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
 
 	if (controllerId == gGraspingController && (button == 33))
 	{
-		gVRGripperClosed =(state!=0);
+		
 	}
 	else
 	{
@@ -2669,25 +2514,18 @@ void	PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[
 
 	
 
-	tr2.setOrigin(gVRTeleportPos1);
-	tr2a.setRotation(gVRTeleportOrn);
+	tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
+	tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
 
 
 	btTransform trTotal = tr2*tr2a*trOrg*trLocal;
 
 	if (controllerId == gGraspingController)
 	{
-		gVRGripperAnalog = analogAxis;
 
-		gVRGripperPos = trTotal.getOrigin();
-		gVRGripperOrn = trTotal.getRotation();
 	}
 	else
 	{
-		gVRGripper2Analog = analogAxis;
-		gVRController2Pos = trTotal.getOrigin();
-		gVRController2Orn = trTotal.getRotation();
-		
 		m_args[0].m_vrControllerPos[controllerId] = trTotal.getOrigin();
 		m_args[0].m_vrControllerOrn[controllerId] = trTotal.getRotation();
 	}
@@ -2730,8 +2568,8 @@ void	PhysicsServerExample::vrHMDMoveCallback(int controllerId, float pos[4], flo
 	tr2a.setIdentity();
 	btTransform tr2;
 	tr2.setIdentity();
-	tr2.setOrigin(gVRTeleportPos1);
-	tr2a.setRotation(gVRTeleportOrn);
+	tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
+	tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
 	btTransform trTotal = tr2*tr2a*trOrg*trLocal;
 
 
@@ -2772,8 +2610,8 @@ void	PhysicsServerExample::vrGenericTrackerMoveCallback(int controllerId, float
 	tr2a.setIdentity();
 	btTransform tr2;
 	tr2.setIdentity();
-	tr2.setOrigin(gVRTeleportPos1);
-	tr2a.setRotation(gVRTeleportOrn);
+	tr2.setOrigin(m_physicsServer.getVRTeleportPosition());
+	tr2a.setRotation(m_physicsServer.getVRTeleportOrientation());
 	btTransform trTotal = tr2*tr2a*trOrg*trLocal;
 
 	m_args[0].m_csGUI->lock();
@@ -2790,4 +2628,36 @@ void	PhysicsServerExample::vrGenericTrackerMoveCallback(int controllerId, float
 	m_args[0].m_csGUI->unlock();
 }
 
-B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)
+
+extern int gSharedMemoryKey;
+
+
+class CommonExampleInterface*    PhysicsServerCreateFuncInternal(struct CommonExampleOptions& options)
+{
+
+	MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
+	
+
+  	PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper, 
+		options.m_commandProcessorCreation,
+		options.m_sharedMem, 
+		options.m_option);
+
+	if (gSharedMemoryKey>=0)
+	{
+		example->setSharedMemoryKey(gSharedMemoryKey);
+	}
+	if (options.m_option & PHYSICS_SERVER_ENABLE_COMMAND_LOGGING)
+	{
+		example->enableCommandLogging();
+	}
+	if (options.m_option & PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG)
+	{
+		example->replayFromLogFile();
+	}
+	return example;
+
+}
+
+
+
diff --git a/examples/SharedMemory/PhysicsServerExample.h b/examples/SharedMemory/PhysicsServerExample.h
index 8df83bc98..0f983c843 100644
--- a/examples/SharedMemory/PhysicsServerExample.h
+++ b/examples/SharedMemory/PhysicsServerExample.h
@@ -8,7 +8,9 @@ enum PhysicsServerOptions
 	PHYSICS_SERVER_USE_RTC_CLOCK = 4,
 };
 
-class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options);
+///Don't use PhysicsServerCreateFuncInternal directly
+///Use PhysicsServerCreateFuncBullet2 instead, or initialize options.m_commandProcessor
+class CommonExampleInterface*    PhysicsServerCreateFuncInternal(struct CommonExampleOptions& options);
 
 #endif //PHYSICS_SERVER_EXAMPLE_H
 
diff --git a/examples/SharedMemory/PhysicsServerExampleBullet2.cpp b/examples/SharedMemory/PhysicsServerExampleBullet2.cpp
new file mode 100644
index 000000000..fbd7cd9d2
--- /dev/null
+++ b/examples/SharedMemory/PhysicsServerExampleBullet2.cpp
@@ -0,0 +1,35 @@
+
+#include "PhysicsServerExampleBullet2.h"
+#include "PhysicsServerExample.h"
+#include "PhysicsServerCommandProcessor.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+
+struct Bullet2CommandProcessorCreation : public CommandProcessorCreationInterface
+{
+	virtual class CommandProcessorInterface* createCommandProcessor()
+	{
+		PhysicsServerCommandProcessor* proc = new PhysicsServerCommandProcessor;
+		return proc;
+	}
+
+	virtual void deleteCommandProcessor(CommandProcessorInterface* proc)
+	{
+		delete proc;
+	}
+};
+
+
+static Bullet2CommandProcessorCreation sBullet2CommandCreator;
+
+CommonExampleInterface*    PhysicsServerCreateFuncBullet2(struct CommonExampleOptions& options)
+{
+	options.m_commandProcessorCreation = &sBullet2CommandCreator;
+	
+	CommonExampleInterface* example = PhysicsServerCreateFuncInternal(options);
+	return example;
+
+}
+
+B3_STANDALONE_EXAMPLE(PhysicsServerCreateFuncBullet2)
+
+
diff --git a/examples/SharedMemory/PhysicsServerExampleBullet2.h b/examples/SharedMemory/PhysicsServerExampleBullet2.h
new file mode 100644
index 000000000..5281caa2f
--- /dev/null
+++ b/examples/SharedMemory/PhysicsServerExampleBullet2.h
@@ -0,0 +1,9 @@
+
+#ifndef PHYSICS_SERVER_EXAMPLE_BULLET_2_H
+#define PHYSICS_SERVER_EXAMPLE_BULLET_2_H
+
+
+
+class CommonExampleInterface*    PhysicsServerCreateFuncBullet2(struct CommonExampleOptions& options);
+
+#endif //PHYSICS_SERVER_EXAMPLE_BULLET_2_H
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index 3e9e42dc1..8eea09002 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -3,7 +3,7 @@
 #include "Win32SharedMemory.h"
 
 #include "../CommonInterfaces/CommonRenderInterface.h"
-
+#include "../CommonInterfaces/CommonExampleInterface.h"
 #include "btBulletDynamicsCommon.h"
 
 #include "LinearMath/btTransform.h"
@@ -31,7 +31,8 @@ struct PhysicsServerSharedMemoryInternalData
 	bool m_areConnected[MAX_SHARED_MEMORY_BLOCKS];
 	bool m_verboseOutput;
 	CommandProcessorInterface* m_commandProcessor;
-	
+	CommandProcessorCreationInterface* m_commandProcessorCreator;
+
 	PhysicsServerSharedMemoryInternalData()
 		:m_sharedMemory(0),
 		m_ownsSharedMemory(false),
@@ -64,9 +65,10 @@ struct PhysicsServerSharedMemoryInternalData
 };
 
 
-PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* sharedMem)
+PhysicsServerSharedMemory::PhysicsServerSharedMemory(CommandProcessorCreationInterface* commandProcessorCreator, SharedMemoryInterface* sharedMem, int bla)
 {
 	m_data = new PhysicsServerSharedMemoryInternalData();
+	m_data->m_commandProcessorCreator = commandProcessorCreator;
 	if (sharedMem)
 	{
 		m_data->m_sharedMemory = sharedMem;
@@ -81,17 +83,13 @@ PhysicsServerSharedMemory::PhysicsServerSharedMemory(SharedMemoryInterface* shar
 	m_data->m_ownsSharedMemory = true;
 	}
 
-	m_data->m_commandProcessor = new PhysicsServerCommandProcessor;
 
+	m_data->m_commandProcessor = commandProcessorCreator->createCommandProcessor();
 
 }
 
 PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
 {
-
-	//m_data->m_commandProcessor->deleteDynamicsWorld();
-	delete m_data->m_commandProcessor;
-
     if (m_data->m_sharedMemory)
     {
         if (m_data->m_verboseOutput)
@@ -105,7 +103,7 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
         m_data->m_sharedMemory = 0;
     }
 
-    
+	m_data->m_commandProcessorCreator->deleteCommandProcessor(m_data->m_commandProcessor);
     delete m_data;
 }
 
@@ -238,6 +236,11 @@ void PhysicsServerSharedMemory::enableRealTimeSimulation(bool enableRealTimeSim)
 	m_data->m_commandProcessor->enableRealTimeSimulation(enableRealTimeSim);
 }
 
+bool PhysicsServerSharedMemory::isRealTimeSimulationEnabled() const
+{
+	return m_data->m_commandProcessor->isRealTimeSimulationEnabled();
+}
+
 
 
 void PhysicsServerSharedMemory::processClientCommands()
@@ -315,3 +318,24 @@ void PhysicsServerSharedMemory::replayFromLogFile(const char* fileName)
 {
 	m_data->m_commandProcessor->replayFromLogFile(fileName);
 }
+
+const btVector3& PhysicsServerSharedMemory::getVRTeleportPosition() const
+{
+	return m_data->m_commandProcessor->getVRTeleportPosition();
+}
+void PhysicsServerSharedMemory::setVRTeleportPosition(const btVector3& vrTeleportPos)
+{
+	m_data->m_commandProcessor->setVRTeleportPosition(vrTeleportPos);
+}
+
+const btQuaternion& PhysicsServerSharedMemory::getVRTeleportOrientation() const
+{
+	return m_data->m_commandProcessor->getVRTeleportOrientation();
+
+}
+void PhysicsServerSharedMemory::setVRTeleportOrientation(const btQuaternion& vrTeleportOrn)
+{
+	m_data->m_commandProcessor->setVRTeleportOrientation(vrTeleportOrn);
+}
+
+	
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h
index 68fa376bb..0fcd534b4 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.h
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.h
@@ -2,7 +2,8 @@
 #define PHYSICS_SERVER_SHARED_MEMORY_H
 
 #include "PhysicsServer.h"
- 
+#include "LinearMath/btQuaternion.h"
+
 class PhysicsServerSharedMemory : public PhysicsServer
 {
 	struct PhysicsServerSharedMemoryInternalData* m_data;
@@ -14,7 +15,7 @@ protected:
 	
 	
 public:
-	PhysicsServerSharedMemory(class SharedMemoryInterface* sharedMem=0);
+	PhysicsServerSharedMemory(struct CommandProcessorCreationInterface* commandProcessorCreator, class SharedMemoryInterface* sharedMem, int bla);
 	virtual ~PhysicsServerSharedMemory();
 
 	virtual void setSharedMemoryKey(int key);
@@ -29,6 +30,7 @@ public:
 	virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
 
 	virtual void enableRealTimeSimulation(bool enableRealTimeSim);
+	virtual bool isRealTimeSimulationEnabled() const;
 
 	//bool	supportsJointMotor(class btMultiBody* body, int linkIndex);
 
@@ -38,6 +40,14 @@ public:
 	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
 	virtual void removePickingConstraint();
 
+	virtual const btVector3& getVRTeleportPosition() const;
+	virtual void setVRTeleportPosition(const btVector3& vrReleportPos);
+
+	virtual const btQuaternion& getVRTeleportOrientation() const;
+	virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn);
+
+	
+
 	//for physicsDebugDraw and renderScene are mainly for debugging purposes
 	//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
 	//to a physics client, over shared memory
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index 8c259c802..633441c95 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -4,7 +4,9 @@
 
 #include "PhysicsClientSharedMemory.h"
 #include"../ExampleBrowser/InProcessExampleBrowser.h"
-#include "PhysicsServerExample.h"
+
+#include "PhysicsServerExampleBullet2.h"
+
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "InProcessMemory.h"
 
@@ -142,7 +144,7 @@ public:
 		CommonExampleOptions options(guiHelper);
 		options.m_sharedMem = m_sharedMem;
 			
-		m_physicsServerExample = PhysicsServerCreateFunc(options);
+		m_physicsServerExample = PhysicsServerCreateFuncBullet2(options);
 		m_physicsServerExample ->initPhysics();
 		m_physicsServerExample ->resetCamera();
 		setSharedMemoryInterface(m_sharedMem);
diff --git a/examples/SharedMemory/main.cpp b/examples/SharedMemory/main.cpp
index e6cf9e25f..9bf4bd83f 100644
--- a/examples/SharedMemory/main.cpp
+++ b/examples/SharedMemory/main.cpp
@@ -14,7 +14,8 @@ subject to the following restrictions:
 */
 
 
-#include "PhysicsServerExample.h"
+
+#include "PhysicsServerExampleBullet2.h"
 
 #include "Bullet3Common/b3CommandLineArgs.h"
 
@@ -77,7 +78,7 @@ int main(int argc, char* argv[])
 // options.m_option |= PHYSICS_SERVER_ENABLE_COMMAND_LOGGING;
 // options.m_option |= PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG;
         
-	example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options);
+	example = (SharedMemoryCommon*)PhysicsServerCreateFuncBullet2(options);
 	
 	
 	example->initPhysics();
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index ff2ab709f..b7d3ab9e7 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -23,6 +23,7 @@ myfiles =
 	"PhysicsClientSharedMemory.cpp",
 	"PhysicsClientExample.cpp",
 	"PhysicsServerExample.cpp",
+	"PhysicsServerExampleBullet2.cpp",
 	"PhysicsServerSharedMemory.cpp",
 	"PhysicsServerSharedMemory.h",
 	"PhysicsServer.cpp",
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index f828ad7ea..c2f9fd49f 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -33,6 +33,7 @@ SET(pybullet_SRCS
 		../../examples/SharedMemory/PhysicsServer.cpp
 		../../examples/SharedMemory/PhysicsServer.h
 		../../examples/SharedMemory/PhysicsServerExample.cpp
+		../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
 		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
 		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
 		../../examples/SharedMemory/PhysicsServerSharedMemory.h
diff --git a/examples/pybullet/premake4.lua b/examples/pybullet/premake4.lua
index 7892d3da2..20b41a49f 100644
--- a/examples/pybullet/premake4.lua
+++ b/examples/pybullet/premake4.lua
@@ -106,6 +106,7 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/SharedMemory/PhysicsServer.cpp",
 			"../../examples/SharedMemory/PhysicsServer.h",
 			"../../examples/SharedMemory/PhysicsServerExample.cpp",
+			"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
 			"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
diff --git a/setup.py b/setup.py
index 1b1d89436..9de213679 100644
--- a/setup.py
+++ b/setup.py
@@ -54,6 +54,7 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["examples/SharedMemory/PhysicsClient.cpp"]\
 +["examples/SharedMemory/PhysicsServer.cpp"]\
 +["examples/SharedMemory/PhysicsServerExample.cpp"]\
++["examples/SharedMemory/PhysicsServerExampleBullet2.cpp"]\
 +["examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp"]\
 +["examples/SharedMemory/PhysicsServerSharedMemory.cpp"]\
 +["examples/SharedMemory/PhysicsDirect.cpp"]\
@@ -417,7 +418,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.0.8',
+	version='1.0.9',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index 6f8c6df9d..282cc31fc 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -360,6 +360,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
 			"../../examples/SharedMemory/PhysicsServer.cpp",
 			"../../examples/SharedMemory/PhysicsServer.h",
 			"../../examples/SharedMemory/PhysicsServerExample.cpp",
+			"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
 			"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
 			"../../examples/SharedMemory/PhysicsServerSharedMemory.h",

From 3157093125946f76434f995d020a180bafaa0116 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 31 May 2017 20:32:45 -0700
Subject: [PATCH 054/175] Implemented specular reflective lighting for OpenGL
 3.x, everything looks shiny (will add APIs to make it less shiny ;-) Remove
 roof from kitchens/1.sdf, otherwise shadows and shinyness won't work (light
 is outside the room, bouncing against roof-top) Make kuka_iiwa/model.urdf
 more smooth, use .obj for per-vertex normals (using Blender, import STL,
 export OBJ, enable triangles, normals and Z-UP, Y forward)

---
 data/kitchens/1.sdf                           | 40 +----------
 data/kuka_iiwa/model.urdf                     | 16 ++---
 .../OpenGLWindow/GLInstancingRenderer.cpp     | 68 +++++++++++++++++--
 examples/OpenGLWindow/GLInstancingRenderer.h  |  1 +
 .../Shaders/useShadowMapInstancingPS.glsl     | 33 +++++++--
 .../Shaders/useShadowMapInstancingPS.h        | 32 ++++++++-
 .../Shaders/useShadowMapInstancingVS.glsl     | 31 ++++++---
 .../Shaders/useShadowMapInstancingVS.h        | 29 ++++++--
 8 files changed, 174 insertions(+), 76 deletions(-)

diff --git a/data/kitchens/1.sdf b/data/kitchens/1.sdf
index 0bf6112e9..33e914375 100644
--- a/data/kitchens/1.sdf
+++ b/data/kitchens/1.sdf
@@ -4291,45 +4291,7 @@
 			 </visual>
 			 </link>
 			</model>
-		<model name='part110.obj'>
-			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
-			<link name='link_d110'>
-			<inertial>
-			<mass>0</mass>
-			<inertia>
-			<ixx>0.166667</ixx>
-			<ixy>0</ixy>
-			<ixz>0</ixz>
-			<iyy>0.166667</iyy>
-			<iyz>0</iyz>
-			<izz>0.166667</izz>
-			</inertia>
-			</inertial>
-			<collision concave='yes' name='collision_110'>
-			<geometry>
-			<mesh>
-			<scale>.1 .1 .1</scale>
-				<uri>fatihrmutfak/part110.obj</uri>
-			</mesh>
-			</geometry>
-			  </collision>
-			<visual name='visual'>
-				<geometry>
-				<mesh>
-					<scale>.1 .1 .1</scale>
-					<uri>fatihrmutfak/part110.obj</uri>
-				</mesh>
-				</geometry>
-			<material>
-				<ambient>1 0 0 1</ambient>
-				<diffuse>1.000000 1.000000 1.000000 1</diffuse>
-				<specular>0.1 0.1 0.1 1</specular>
-				<emissive>0 0 0 0</emissive>
-			 </material>
-			 </visual>
-			 </link>
-			</model>
+	
 		<model name='part111.obj'>
 			<static>1</static>
 			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
diff --git a/data/kuka_iiwa/model.urdf b/data/kuka_iiwa/model.urdf
index a6e53d3ab..98e54cb37 100644
--- a/data/kuka_iiwa/model.urdf
+++ b/data/kuka_iiwa/model.urdf
@@ -70,7 +70,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_0.stl"/>
+        <mesh filename="meshes/link_0.obj"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -99,7 +99,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_1.stl"/>
+        <mesh filename="meshes/link_1.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -128,7 +128,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_2.stl"/>
+        <mesh filename="meshes/link_2.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -157,7 +157,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_3.stl"/>
+        <mesh filename="meshes/link_3.obj"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -186,7 +186,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_4.stl"/>
+        <mesh filename="meshes/link_4.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -215,7 +215,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_5.stl"/>
+        <mesh filename="meshes/link_5.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -244,7 +244,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_6.stl"/>
+        <mesh filename="meshes/link_6.obj"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -273,7 +273,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_7.stl"/>
+        <mesh filename="meshes/link_7.obj"/>
       </geometry>
       <material name="Grey"/>
     </visual>
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 3d6c4d793..296f53a72 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -129,6 +129,8 @@ struct b3GraphicsInstance
 	int m_instanceOffset;
 	int m_vertexArrayOffset;
 	int	m_primitiveType;
+	float m_materialShinyNess;
+	b3Vector3 m_materialSpecularColor;
 
 	b3GraphicsInstance()
 	:m_cube_vao(-1),
@@ -139,7 +141,9 @@ struct b3GraphicsInstance
 		m_numGraphicsInstances(0),
 		m_instanceOffset(0),
 		m_vertexArrayOffset(0),
-		m_primitiveType(B3_GL_TRIANGLES)
+		m_primitiveType(B3_GL_TRIANGLES),
+		m_materialShinyNess(81),
+		m_materialSpecularColor(b3MakeVector3(1,1,1))
 	{
 	}
 
@@ -204,8 +208,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
     
 	GLfloat m_projectionMatrix[16];
 	GLfloat m_viewMatrix[16];
+	GLfloat m_viewMatrixInverse[16];
 
 	b3Vector3 m_lightPos;
+	b3Vector3 m_lightSpecularIntensity;
 
 	GLuint				m_defaultTexturehandle;
 	b3AlignedObjectArray<InternalTextureHandle>	m_textureHandles;
@@ -226,12 +232,14 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 		m_renderFrameBuffer(0)
 	{
 		m_lightPos=b3MakeVector3(-50,30,40);
+		m_lightSpecularIntensity.setValue(1,1,1);
 
 		//clear to zero to make it obvious if the matrix is used uninitialized
 		for (int i=0;i<16;i++)
 		{
 			m_projectionMatrix[i]=0;
 			m_viewMatrix[i]=0;
+			m_viewMatrixInverse[i]=0;
 		}
 
 	}
@@ -280,9 +288,14 @@ GLuint linesVertexArrayObject=0;
 GLuint linesIndexVbo = 0;
 
 
+static GLint	useShadow_ViewMatrixInverse=0;
 static GLint	useShadow_ModelViewMatrix=0;
+static GLint	useShadow_lightSpecularIntensity = 0;
+static GLint	useShadow_materialSpecularColor = 0;
 static GLint	useShadow_MVP=0;
-static GLint  useShadow_lightDirIn=0;
+static GLint	useShadow_lightPosIn=0;
+static GLint	useShadow_cameraPositionIn = 0;
+static GLint	useShadow_materialShininessIn = 0;
 
 static GLint	useShadow_ProjectionMatrix=0;
 static GLint	useShadow_DepthBiasModelViewMatrix=0;
@@ -296,7 +309,7 @@ static GLint	ProjectionMatrix=0;
 static GLint	regularLightDirIn=0;
 
 
-static GLint                uniform_texture_diffuse = 0;
+static GLint	uniform_texture_diffuse = 0;
 
 static GLint	screenWidthPointSprite=0;
 static GLint	ModelViewMatrixPointSprite=0;
@@ -1103,13 +1116,18 @@ void GLInstancingRenderer::InitShaders()
 
 	glLinkProgram(useShadowMapInstancingShader);
 	glUseProgram(useShadowMapInstancingShader);
+	useShadow_ViewMatrixInverse = glGetUniformLocation(useShadowMapInstancingShader, "ViewMatrixInverse");
 	useShadow_ModelViewMatrix = glGetUniformLocation(useShadowMapInstancingShader, "ModelViewMatrix");
+	useShadow_lightSpecularIntensity = glGetUniformLocation(useShadowMapInstancingShader, "lightSpecularIntensityIn");
+	useShadow_materialSpecularColor = glGetUniformLocation(useShadowMapInstancingShader, "materialSpecularColorIn");
 	useShadow_MVP = 		glGetUniformLocation(useShadowMapInstancingShader, "MVP");
 	useShadow_ProjectionMatrix = glGetUniformLocation(useShadowMapInstancingShader, "ProjectionMatrix");
 	useShadow_DepthBiasModelViewMatrix = glGetUniformLocation(useShadowMapInstancingShader, "DepthBiasModelViewProjectionMatrix");
 	useShadow_uniform_texture_diffuse = glGetUniformLocation(useShadowMapInstancingShader, "Diffuse");
 	useShadow_shadowMap = glGetUniformLocation(useShadowMapInstancingShader,"shadowMap");
-	useShadow_lightDirIn = glGetUniformLocation(useShadowMapInstancingShader,"lightDirIn");
+	useShadow_lightPosIn = glGetUniformLocation(useShadowMapInstancingShader,"lightPosIn");
+	useShadow_cameraPositionIn = glGetUniformLocation(useShadowMapInstancingShader,"cameraPositionIn");
+	useShadow_materialShininessIn = glGetUniformLocation(useShadowMapInstancingShader,"materialShininessIn");
 
 	createShadowMapInstancingShader = gltLoadShaderPair(createShadowMapInstancingVertexShader,createShadowMapInstancingFragmentShader);
 	glLinkProgram(createShadowMapInstancingShader);
@@ -1276,6 +1294,15 @@ void GLInstancingRenderer::setActiveCamera(CommonCameraInterface* cam)
 	m_data->m_activeCamera = cam;
 }
 
+void GLInstancingRenderer::setLightSpecularIntensity(const float lightSpecularIntensity[3])
+{
+	m_data->m_lightSpecularIntensity[0] = lightSpecularIntensity[0];
+	m_data->m_lightSpecularIntensity[1] = lightSpecularIntensity[1];
+	m_data->m_lightSpecularIntensity[2] = lightSpecularIntensity[2];
+}
+
+
+
 void GLInstancingRenderer::setLightPosition(const float lightPos[3])
 {
 	m_data->m_lightPos[0] = lightPos[0];
@@ -1302,6 +1329,21 @@ void GLInstancingRenderer::updateCamera(int upAxis)
 	m_data->m_defaultCamera1.update();
     m_data->m_activeCamera->getCameraProjectionMatrix(m_data->m_projectionMatrix);
     m_data->m_activeCamera->getCameraViewMatrix(m_data->m_viewMatrix);
+	b3Scalar viewMat[16];
+	b3Scalar viewMatInverse[16];
+	
+	for (int i=0;i<16;i++)
+	{
+		viewMat[i] = m_data->m_viewMatrix[i];
+	}
+	b3Transform tr;
+	tr.setFromOpenGLMatrix(viewMat);
+	tr = tr.inverse();
+	tr.getOpenGLMatrix(viewMatInverse);
+	for (int i=0;i<16;i++)
+	{
+		m_data->m_viewMatrixInverse[i]=viewMatInverse[i];
+	}
 
 
 }
@@ -2131,12 +2173,24 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 							glUseProgram(useShadowMapInstancingShader);
 							glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
 							glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
+							glUniformMatrix4fv(useShadow_ViewMatrixInverse, 1, false, &m_data->m_viewMatrixInverse[0]);
+							glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
+
+							glUniform3f(useShadow_lightSpecularIntensity, m_data->m_lightSpecularIntensity[0],m_data->m_lightSpecularIntensity[1],m_data->m_lightSpecularIntensity[2]);
+							glUniform3f(useShadow_materialSpecularColor, gfxObj->m_materialSpecularColor[0],gfxObj->m_materialSpecularColor[1],gfxObj->m_materialSpecularColor[2]);
+
+							
+
 							float MVP[16];
 							b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP);
 							glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]);
-							b3Vector3 gLightDir = m_data->m_lightPos;
-							gLightDir.normalize();
-							glUniform3f(useShadow_lightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);
+							//gLightDir.normalize();
+							glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[2]);
+							float camPos[3];
+							m_data->m_activeCamera->getCameraPosition(camPos);
+							glUniform3f(useShadow_cameraPositionIn,camPos[0],camPos[1],camPos[2]);
+							glUniform1f(useShadow_materialShininessIn,gfxObj->m_materialShinyNess);
+						
 							glUniformMatrix4fv(useShadow_DepthBiasModelViewMatrix, 1, false, &depthBiasMVP[0][0]);
 							glActiveTexture(GL_TEXTURE1);
 							glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 62ca92dcf..7f1526ece 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -124,6 +124,7 @@ public:
 	
 	virtual void setLightPosition(const float lightPos[3]);
 	virtual void setLightPosition(const double lightPos[3]);
+	void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
 
 	virtual void	resize(int width, int height);
 	virtual int	getScreenWidth()
diff --git a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
index ad12e3b0c..809494902 100644
--- a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
+++ b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
@@ -13,9 +13,14 @@ in Vert
 
 uniform sampler2D Diffuse;
 uniform sampler2DShadow shadowMap;
+uniform mat4 ViewMatrixInverse;
 
-in vec3 lightDir,normal,ambient;
+in vec3 lightPos,cameraPosition, normal,ambient;
 in vec4 ShadowCoord;
+in vec4 vertexPos;
+in float materialShininess;
+in vec3 lightSpecularIntensity;
+in vec3 materialSpecularColor;
 
 out vec4 color;
 
@@ -28,8 +33,11 @@ void main(void)
 	float intensity,at,af;
 	if (fragment.color.w==0)
 		discard;
-
-	intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );
+	vec3 lightDir = normalize(lightPos);
+	
+	vec3 normalDir = normalize(normal);
+ 
+	intensity = 0.5+0.5*clamp( dot( normalDir,lightDir ), -1,1 );
 	
 	af = 1.0;
 		
@@ -38,7 +46,24 @@ void main(void)
 		
 	//float bias = 0.005f;
 	
+	vec3 specularReflection;
 	
+	if (dot(normalDir, lightDir) < 0.0) 
+	{
+		specularReflection = vec3(0.0, 0.0, 0.0);
+	}
+  else // light source on the right side
+	{
+		vec3 surfaceToLight = normalize(lightPos - vertexPos.xyz);
+    vec3 surfaceToCamera = normalize(cameraPosition - vertexPos.xyz);
+    
+    
+    float specularCoefficient = 0.0;
+		specularCoefficient = pow(max(0.0, dot(surfaceToCamera, reflect(-surfaceToLight, normalDir))), materialShininess);
+    specularReflection = specularCoefficient * materialSpecularColor * lightSpecularIntensity;
+  
+	}
+    
 
 	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));
 	if (intensity<0.5)
@@ -46,6 +71,6 @@ void main(void)
 
 	intensity = 0.7*intensity  + 0.3*intensity*visibility;
 	
-	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;
+	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient+specularReflection*visibility;
 	color  = vec4(ct * cf, fragment.color.w);
 }
diff --git a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
index c2a6a306f..e34883d85 100644
--- a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
+++ b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
@@ -12,8 +12,13 @@ static const char* useShadowMapInstancingFragmentShader= \
 "} vert;\n"
 "uniform sampler2D Diffuse;\n"
 "uniform sampler2DShadow shadowMap;\n"
-"in vec3 lightDir,normal,ambient;\n"
+"uniform mat4 ViewMatrixInverse;\n"
+"in vec3 lightPos,cameraPosition, normal,ambient;\n"
 "in vec4 ShadowCoord;\n"
+"in vec4 vertexPos;\n"
+"in float materialShininess;\n"
+"in vec3 lightSpecularIntensity;\n"
+"in vec3 materialSpecularColor;\n"
 "out vec4 color;\n"
 "void main(void)\n"
 "{\n"
@@ -22,7 +27,11 @@ static const char* useShadowMapInstancingFragmentShader= \
 "	float intensity,at,af;\n"
 "	if (fragment.color.w==0)\n"
 "		discard;\n"
-"	intensity = 0.5+0.5*clamp( dot( normalize(normal),lightDir ), -1,1 );\n"
+"	vec3 lightDir = normalize(lightPos);\n"
+"	\n"
+"	vec3 normalDir = normalize(normal);\n"
+" \n"
+"	intensity = 0.5+0.5*clamp( dot( normalDir,lightDir ), -1,1 );\n"
 "	\n"
 "	af = 1.0;\n"
 "		\n"
@@ -31,13 +40,30 @@ static const char* useShadowMapInstancingFragmentShader= \
 "		\n"
 "	//float bias = 0.005f;\n"
 "	\n"
+"	vec3 specularReflection;\n"
 "	\n"
+"	if (dot(normalDir, lightDir) < 0.0) \n"
+"	{\n"
+"		specularReflection = vec3(0.0, 0.0, 0.0);\n"
+"	}\n"
+"  else // light source on the right side\n"
+"	{\n"
+"		vec3 surfaceToLight = normalize(lightPos - vertexPos.xyz);\n"
+"    vec3 surfaceToCamera = normalize(cameraPosition - vertexPos.xyz);\n"
+"    \n"
+"    \n"
+"    float specularCoefficient = 0.0;\n"
+"		specularCoefficient = pow(max(0.0, dot(surfaceToCamera, reflect(-surfaceToLight, normalDir))), materialShininess);\n"
+"    specularReflection = specularCoefficient * materialSpecularColor * lightSpecularIntensity;\n"
+"  \n"
+"	}\n"
+"    \n"
 "	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));\n"
 "	if (intensity<0.5)\n"
 "		visibility = 0;\n"
 "	intensity = 0.7*intensity  + 0.3*intensity*visibility;\n"
 "	\n"
-"	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;\n"
+"	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient+specularReflection*visibility;\n"
 "	color  = vec4(ct * cf, fragment.color.w);\n"
 "}\n"
 ;
diff --git a/examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl b/examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl
index 222e73cfd..3f9601f44 100644
--- a/examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl
+++ b/examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl
@@ -15,7 +15,12 @@ uniform mat4 ModelViewMatrix;
 uniform mat4 ProjectionMatrix;
 uniform mat4 DepthBiasModelViewProjectionMatrix;
 uniform mat4 MVP;
-uniform vec3 lightDirIn;
+uniform vec3 lightPosIn;
+uniform vec3 cameraPositionIn;
+uniform mat4 ViewMatrixInverse;
+uniform float materialShininessIn;
+uniform vec3 lightSpecularIntensityIn;
+uniform vec3 materialSpecularColorIn;
 
 out vec4 ShadowCoord;
 
@@ -60,7 +65,13 @@ vec4 quatRotate ( in vec4 p, in vec4 q )
     return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );
 }
 
-out vec3 lightDir,normal,ambient;
+out vec3 lightPos,normal,ambient;
+out vec4 vertexPos;
+out vec3 cameraPosition;
+out float materialShininess;
+out vec3 lightSpecularIntensity;
+out vec3 materialSpecularColor;
+
 
 void main(void)
 {
@@ -69,15 +80,19 @@ void main(void)
 			
 	vec4 worldNormal = (quatRotate3( vertexnormal,q));
 	
-	normal = normalize(worldNormal).xyz;
+	normal = worldNormal.xyz;
 
-	lightDir = lightDirIn;
-		
+	lightPos = lightPosIn;
+	cameraPosition = cameraPositionIn;
+	materialShininess = materialShininessIn;
+	lightSpecularIntensity = lightSpecularIntensityIn;
+	materialSpecularColor = materialSpecularColorIn;
 	
 	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
-	vec4 vertexPos = MVP* vec4((instance_position+localcoord).xyz,1);
-
-	gl_Position = vertexPos;
+	vertexPos = vec4((instance_position+localcoord).xyz,1);
+	
+	vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);
+	gl_Position = vertexLoc;
 	ShadowCoord = DepthBiasModelViewProjectionMatrix * vec4((instance_position+localcoord).xyz,1);
 
 	fragment.color = instance_color;
diff --git a/examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h b/examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h
index a98e44f82..0800c2cd0 100644
--- a/examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h
+++ b/examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h
@@ -13,7 +13,12 @@ static const char* useShadowMapInstancingVertexShader= \
 "uniform mat4 ProjectionMatrix;\n"
 "uniform mat4 DepthBiasModelViewProjectionMatrix;\n"
 "uniform mat4 MVP;\n"
-"uniform vec3 lightDirIn;\n"
+"uniform vec3 lightPosIn;\n"
+"uniform vec3 cameraPositionIn;\n"
+"uniform mat4 ViewMatrixInverse;\n"
+"uniform float materialShininessIn;\n"
+"uniform vec3 lightSpecularIntensityIn;\n"
+"uniform vec3 materialSpecularColorIn;\n"
 "out vec4 ShadowCoord;\n"
 "out Fragment\n"
 "{\n"
@@ -51,7 +56,12 @@ static const char* useShadowMapInstancingVertexShader= \
 "    vec4 temp = quatMul ( q, p );\n"
 "    return quatMul ( temp, vec4 ( -q.x, -q.y, -q.z, q.w ) );\n"
 "}\n"
-"out vec3 lightDir,normal,ambient;\n"
+"out vec3 lightPos,normal,ambient;\n"
+"out vec4 vertexPos;\n"
+"out vec3 cameraPosition;\n"
+"out float materialShininess;\n"
+"out vec3 lightSpecularIntensity;\n"
+"out vec3 materialSpecularColor;\n"
 "void main(void)\n"
 "{\n"
 "	vec4 q = instance_quaternion;\n"
@@ -59,13 +69,18 @@ static const char* useShadowMapInstancingVertexShader= \
 "			\n"
 "	vec4 worldNormal = (quatRotate3( vertexnormal,q));\n"
 "	\n"
-"	normal = normalize(worldNormal).xyz;\n"
-"	lightDir = lightDirIn;\n"
-"		\n"
+"	normal = worldNormal.xyz;\n"
+"	lightPos = lightPosIn;\n"
+"	cameraPosition = cameraPositionIn;\n"
+"	materialShininess = materialShininessIn;\n"
+"	lightSpecularIntensity = lightSpecularIntensityIn;\n"
+"	materialSpecularColor = materialSpecularColorIn;\n"
 "	\n"
 "	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
-"	vec4 vertexPos = MVP* vec4((instance_position+localcoord).xyz,1);\n"
-"	gl_Position = vertexPos;\n"
+"	vertexPos = vec4((instance_position+localcoord).xyz,1);\n"
+"	\n"
+"	vec4 vertexLoc = MVP* vec4((instance_position+localcoord).xyz,1);\n"
+"	gl_Position = vertexLoc;\n"
 "	ShadowCoord = DepthBiasModelViewProjectionMatrix * vec4((instance_position+localcoord).xyz,1);\n"
 "	fragment.color = instance_color;\n"
 "	vert.texcoord = uvcoords;\n"

From 439e8c84cfe0fcb3c5fb42fb5417b18284a9846e Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 31 May 2017 21:43:09 -0700
Subject: [PATCH 055/175] add new .obj files for kuka_iiwa/model.urdf

---
 data/kuka_iiwa/meshes/link_0.mtl |   10 +
 data/kuka_iiwa/meshes/link_0.obj | 6055 ++++++++++++++++++++++++++++++
 data/kuka_iiwa/meshes/link_1.mtl |   10 +
 data/kuka_iiwa/meshes/link_1.obj | 5576 +++++++++++++++++++++++++++
 data/kuka_iiwa/meshes/link_2.mtl |   10 +
 data/kuka_iiwa/meshes/link_2.obj | 2948 +++++++++++++++
 data/kuka_iiwa/meshes/link_3.mtl |   10 +
 data/kuka_iiwa/meshes/link_3.obj | 3924 +++++++++++++++++++
 data/kuka_iiwa/meshes/link_4.mtl |   10 +
 data/kuka_iiwa/meshes/link_4.obj | 3168 ++++++++++++++++
 data/kuka_iiwa/meshes/link_5.mtl |   10 +
 data/kuka_iiwa/meshes/link_5.obj | 2732 ++++++++++++++
 data/kuka_iiwa/meshes/link_6.mtl |   10 +
 data/kuka_iiwa/meshes/link_6.obj | 2328 ++++++++++++
 data/kuka_iiwa/meshes/link_7.mtl |   10 +
 data/kuka_iiwa/meshes/link_7.obj | 3155 ++++++++++++++++
 16 files changed, 29966 insertions(+)
 create mode 100644 data/kuka_iiwa/meshes/link_0.mtl
 create mode 100644 data/kuka_iiwa/meshes/link_0.obj
 create mode 100644 data/kuka_iiwa/meshes/link_1.mtl
 create mode 100644 data/kuka_iiwa/meshes/link_1.obj
 create mode 100644 data/kuka_iiwa/meshes/link_2.mtl
 create mode 100644 data/kuka_iiwa/meshes/link_2.obj
 create mode 100644 data/kuka_iiwa/meshes/link_3.mtl
 create mode 100644 data/kuka_iiwa/meshes/link_3.obj
 create mode 100644 data/kuka_iiwa/meshes/link_4.mtl
 create mode 100644 data/kuka_iiwa/meshes/link_4.obj
 create mode 100644 data/kuka_iiwa/meshes/link_5.mtl
 create mode 100644 data/kuka_iiwa/meshes/link_5.obj
 create mode 100644 data/kuka_iiwa/meshes/link_6.mtl
 create mode 100644 data/kuka_iiwa/meshes/link_6.obj
 create mode 100644 data/kuka_iiwa/meshes/link_7.mtl
 create mode 100644 data/kuka_iiwa/meshes/link_7.obj

diff --git a/data/kuka_iiwa/meshes/link_0.mtl b/data/kuka_iiwa/meshes/link_0.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_0.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/kuka_iiwa/meshes/link_0.obj b/data/kuka_iiwa/meshes/link_0.obj
new file mode 100644
index 000000000..8c6180750
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_0.obj
@@ -0,0 +1,6055 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib link_0.mtl
+o Link_0
+v -0.073270 0.085817 0.012943
+v -0.074438 0.081518 0.013000
+v -0.069707 0.083749 0.012943
+v -0.067291 0.072243 0.012925
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+v -0.070874 0.076639 0.013000
+v -0.071758 0.079481 0.012999
+v -0.067309 0.080461 0.012939
+v -0.071201 0.074480 0.013000
+v -0.069623 0.069042 0.012934
+v -0.079194 0.071573 0.012999
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+v -0.081332 0.067719 0.012931
+v -0.077390 0.066456 0.012934
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+v 0.076056 0.081859 0.013000
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+v 0.081331 0.078738 0.013000
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+v 0.079480 -0.066922 0.012943
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diff --git a/data/kuka_iiwa/meshes/link_1.mtl b/data/kuka_iiwa/meshes/link_1.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_1.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
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diff --git a/data/kuka_iiwa/meshes/link_1.obj b/data/kuka_iiwa/meshes/link_1.obj
new file mode 100644
index 000000000..8059af3d6
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_1.obj
@@ -0,0 +1,5576 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/kuka_iiwa/meshes/link_2.mtl b/data/kuka_iiwa/meshes/link_2.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_2.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
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diff --git a/data/kuka_iiwa/meshes/link_2.obj b/data/kuka_iiwa/meshes/link_2.obj
new file mode 100644
index 000000000..928db7fe0
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_2.obj
@@ -0,0 +1,2948 @@
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+# www.blender.org
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diff --git a/data/kuka_iiwa/meshes/link_3.mtl b/data/kuka_iiwa/meshes/link_3.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_3.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
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diff --git a/data/kuka_iiwa/meshes/link_3.obj b/data/kuka_iiwa/meshes/link_3.obj
new file mode 100644
index 000000000..16cbf3178
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_3.obj
@@ -0,0 +1,3924 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/kuka_iiwa/meshes/link_4.mtl b/data/kuka_iiwa/meshes/link_4.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_4.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/kuka_iiwa/meshes/link_4.obj b/data/kuka_iiwa/meshes/link_4.obj
new file mode 100644
index 000000000..b8c357643
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_4.obj
@@ -0,0 +1,3168 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/kuka_iiwa/meshes/link_5.mtl b/data/kuka_iiwa/meshes/link_5.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_5.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/kuka_iiwa/meshes/link_5.obj b/data/kuka_iiwa/meshes/link_5.obj
new file mode 100644
index 000000000..525c3869e
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_5.obj
@@ -0,0 +1,2732 @@
+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib link_5.mtl
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diff --git a/data/kuka_iiwa/meshes/link_6.mtl b/data/kuka_iiwa/meshes/link_6.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_6.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/kuka_iiwa/meshes/link_6.obj b/data/kuka_iiwa/meshes/link_6.obj
new file mode 100644
index 000000000..7ade5d1c7
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_6.obj
@@ -0,0 +1,2328 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib link_6.mtl
+o Link_6
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diff --git a/data/kuka_iiwa/meshes/link_7.mtl b/data/kuka_iiwa/meshes/link_7.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_7.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/kuka_iiwa/meshes/link_7.obj b/data/kuka_iiwa/meshes/link_7.obj
new file mode 100644
index 000000000..4d6f0c312
--- /dev/null
+++ b/data/kuka_iiwa/meshes/link_7.obj
@@ -0,0 +1,3155 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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From 87293e835c2feb0226a44d5ff6462075ccc16c5b Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 1 Jun 2017 12:32:44 -0700
Subject: [PATCH 056/175] implement specular, URDF non-standard specular part
 (see sphere2.urdf) and SDF specular support.
 pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet
 C-API b3UpdateVisualShapeSpecularColor Bug fixes in
 b3ResourcePath::findResourcePath resolution. add stadium.sdf and
 roboschool/models_outdoor/stadium assets
 https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
 minor fixes to obj2sdf

---
 Extras/obj2sdf/obj2sdf.cpp                    |    38 +-
 .../models_outdoor/stadium/part0.obj          | 23154 ++++++++++++
 .../models_outdoor/stadium/part1.obj          | 16210 ++++++++
 .../models_outdoor/stadium/part2.obj          |  8350 +++++
 .../models_outdoor/stadium/stadium.mtl        |    16 +
 .../models_outdoor/stadium/stadium.obj        | 30561 ++++++++++++++++
 .../models_outdoor/stadium/stadium_grass.jpg  |   Bin 0 -> 1054660 bytes
 data/sphere2.urdf                             |     1 +
 data/stadium.sdf                              |   108 +
 data/two_cubes.sdf                            |    27 +-
 .../CommonGUIHelperInterface.h                |     2 +
 .../CommonInterfaces/CommonRenderInterface.h  |     3 +
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |     8 +-
 examples/ExampleBrowser/OpenGLGuiHelper.h     |     3 +-
 .../ImportMJCFDemo/BulletMJCFImporter.cpp     |     2 +-
 .../ImportURDFDemo/BulletUrdfImporter.cpp     |    25 +-
 .../ImportURDFDemo/BulletUrdfImporter.h       |     2 +
 .../MultiBodyCreationInterface.h              |    10 +-
 .../ImportURDFDemo/MyMultiBodyCreator.cpp     |    20 +-
 .../ImportURDFDemo/MyMultiBodyCreator.h       |     4 +-
 .../Importers/ImportURDFDemo/URDF2Bullet.cpp  |    26 +-
 .../ImportURDFDemo/URDFImporterInterface.h    |     3 +
 .../Importers/ImportURDFDemo/URDFJointTypes.h |    11 +
 .../Importers/ImportURDFDemo/UrdfParser.cpp   |    66 +-
 .../Importers/ImportURDFDemo/UrdfParser.h     |     8 +-
 .../OpenGLWindow/GLInstancingRenderer.cpp     |    54 +
 examples/OpenGLWindow/GLInstancingRenderer.h  |     4 +
 examples/OpenGLWindow/SimpleOpenGL2Renderer.h |     3 +
 examples/SharedMemory/PhysicsClientC_API.cpp  |    15 +
 examples/SharedMemory/PhysicsClientC_API.h    |     2 +
 .../PhysicsServerCommandProcessor.cpp         |    21 +-
 .../SharedMemory/PhysicsServerExample.cpp     |    21 +
 examples/SharedMemory/SharedMemoryCommands.h  |     2 +
 .../TinyRendererVisualShapeConverter.cpp      |    10 +-
 examples/Utils/b3ResourcePath.cpp             |    48 +-
 examples/pybullet/pybullet.c                  |    15 +-
 36 files changed, 78766 insertions(+), 87 deletions(-)
 create mode 100644 data/roboschool/models_outdoor/stadium/part0.obj
 create mode 100644 data/roboschool/models_outdoor/stadium/part1.obj
 create mode 100644 data/roboschool/models_outdoor/stadium/part2.obj
 create mode 100644 data/roboschool/models_outdoor/stadium/stadium.mtl
 create mode 100644 data/roboschool/models_outdoor/stadium/stadium.obj
 create mode 100644 data/roboschool/models_outdoor/stadium/stadium_grass.jpg
 create mode 100644 data/stadium.sdf

diff --git a/Extras/obj2sdf/obj2sdf.cpp b/Extras/obj2sdf/obj2sdf.cpp
index c65f380f3..7264d704b 100644
--- a/Extras/obj2sdf/obj2sdf.cpp
+++ b/Extras/obj2sdf/obj2sdf.cpp
@@ -16,6 +16,24 @@
 
 #define MAX_PATH_LEN 1024
 
+std::string StripExtension( const std::string & sPath )
+{
+	for( std::string::const_reverse_iterator i = sPath.rbegin(); i != sPath.rend(); i++ )
+	{
+		if( *i == '.' )
+		{
+			return std::string( sPath.begin(), i.base() - 1 );
+		}
+
+		// if we find a slash there is no extension
+		if( *i == '\\' || *i == '/' )
+			break;
+	}
+
+	// we didn't find an extension
+	return sPath;
+}
+
 int main(int argc, char* argv[])
 {
 
@@ -23,6 +41,8 @@ int main(int argc, char* argv[])
 	char* fileName;
 	args.GetCmdLineArgument("fileName",fileName);
 
+	std::string matLibName = StripExtension(fileName);
+
 	printf("fileName = %s\n", fileName);
 	if (fileName==0)
 	{
@@ -58,7 +78,13 @@ int main(int argc, char* argv[])
 		}
 
 		char objFileName[MAX_PATH_LEN];
-		sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
+		if (strlen(materialPrefixPath)>0)
+		{
+			sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
+		} else
+		{
+			sprintf(objFileName,"part%d.obj",s);
+		}
 		FILE* f = fopen(objFileName,"w");
 		if (f==0)
 		{
@@ -66,7 +92,15 @@ int main(int argc, char* argv[])
 			exit(0);
 		}
 		fprintf(f,"# Exported using automatic converter by Erwin Coumans\n");
-		fprintf(f,"mtllib bedroom.mtl\n");
+		if (matLibName.length())
+		{
+			fprintf(f,"mtllib %s.mtl\n", matLibName.c_str());
+		} else
+		{
+			fprintf(f,"mtllib bedroom.mtl\n");
+
+		}
+
 
 		int faceCount = shape.mesh.indices.size();
 		int vertexCount = shape.mesh.positions.size();
diff --git a/data/roboschool/models_outdoor/stadium/part0.obj b/data/roboschool/models_outdoor/stadium/part0.obj
new file mode 100644
index 000000000..0fa502c62
--- /dev/null
+++ b/data/roboschool/models_outdoor/stadium/part0.obj
@@ -0,0 +1,23154 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib stadium.mtl
+#object stadium_white
+
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diff --git a/data/roboschool/models_outdoor/stadium/part1.obj b/data/roboschool/models_outdoor/stadium/part1.obj
new file mode 100644
index 000000000..9a3bd4f38
--- /dev/null
+++ b/data/roboschool/models_outdoor/stadium/part1.obj
@@ -0,0 +1,16210 @@
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+mtllib stadium.mtl
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diff --git a/data/roboschool/models_outdoor/stadium/part2.obj b/data/roboschool/models_outdoor/stadium/part2.obj
new file mode 100644
index 000000000..cce77b870
--- /dev/null
+++ b/data/roboschool/models_outdoor/stadium/part2.obj
@@ -0,0 +1,8350 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib stadium.mtl
+#object stadium_grass
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new file mode 100644
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literal 0
HcmV?d00001

diff --git a/data/sphere2.urdf b/data/sphere2.urdf
index f00423887..d2f402f37 100644
--- a/data/sphere2.urdf
+++ b/data/sphere2.urdf
@@ -18,6 +18,7 @@
       </geometry>
       <material name="white">
         <color rgba="1 1 1 1"/>
+        <specular rgb="11 1 1"/>
       </material>
     </visual>
     <collision>
diff --git a/data/stadium.sdf b/data/stadium.sdf
new file mode 100644
index 000000000..04ee4ea52
--- /dev/null
+++ b/data/stadium.sdf
@@ -0,0 +1,108 @@
+<sdf version='1.6'>
+	<world name='default'>
+	<gravity>0 0 -9.8</gravity>
+		<model name='roboschool/models_outdoor/stadium/part0.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d0'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 1 1 1</ambient>
+				<diffuse>1.00000 1.00000 1.000000 1</diffuse>
+				<specular>0.1 .1 .1 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+		<model name='roboschool/models_outdoor/stadium/part1.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d1'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			<collision name='collision_1'>
+			<pose frame=''>0 0 -0.5 0 0 0</pose>
+			<geometry>
+				
+            <box>
+              <size>100 100 1</size>
+            </box>
+          </geometry>
+			  </collision>
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 1 1 1</ambient>
+				<diffuse>0.600000 0.400000 0.000000 1</diffuse>
+				<specular>.5 .5 .5 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+		<model name='part2.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d2'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 0 0 1</ambient>
+				<diffuse>0.000000 0.500000 0.000000 1</diffuse>
+				<specular>0.4 0.4 0.4 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+	</world>
+</sdf>
diff --git a/data/two_cubes.sdf b/data/two_cubes.sdf
index e19b73b43..98ae9f995 100644
--- a/data/two_cubes.sdf
+++ b/data/two_cubes.sdf
@@ -20,7 +20,7 @@
         <collision name='collision'>
           <geometry>
             <plane>
-              <normal>1 2 3</normal>
+              <normal>0 0 1</normal>
               <size>100 100</size>
             </plane>
           </geometry>
@@ -46,7 +46,7 @@
           <cast_shadows>0</cast_shadows>
           <geometry>
             <plane>
-              <normal>4 5 6</normal>
+              <normal>0 0 1</normal>
               <size>100 100</size>
             </plane>
           </geometry>
@@ -102,6 +102,8 @@
         </inertial>
         <collision name='collision'>
           <geometry>
+          <pose frame=''>0 0 -1 0 0 0</pose>
+      
             <box>
               <size>1 1 1</size>
             </box>
@@ -154,26 +156,7 @@
             <izz>0.166667</izz>
           </inertia>
         </inertial>
-        <collision name='collision'>
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
+       
          <visual name='visual'>
           <geometry>
           <mesh>
diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index 24b4a301c..7bb20d49b 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -39,6 +39,8 @@ struct GUIHelperInterface
     virtual void removeAllGraphicsInstances()=0;
 	virtual void removeGraphicsInstance(int graphicsUid) {}
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
+	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
+
 	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
 	
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index 9e917f207..a01533358 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -79,6 +79,9 @@ struct CommonRenderInterface
 	virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex)=0;
 	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex)=0;
 	virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex)=0;
+	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex)=0;
+	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex)=0;
+	
     
     virtual int getTotalNumInstances() const = 0;
     
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 105ab64a6..3a2fb4f16 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -325,7 +325,13 @@ void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4]
 		m_data->m_glApp->m_renderer->writeSingleInstanceColorToCPU(rgbaColor,instanceUid);
 	};
 }
-
+void OpenGLGuiHelper::changeSpecularColor(int instanceUid, const double specularColor[3])
+{
+	if (instanceUid>=0)
+	{
+		m_data->m_glApp->m_renderer->writeSingleInstanceSpecularColorToCPU(specularColor,instanceUid);
+	};
+}
 int OpenGLGuiHelper::createCheckeredTexture(int red,int green, int blue)
 {
 	int texWidth=1024;
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 182027daa..1a942ea7a 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -27,7 +27,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual void removeAllGraphicsInstances();
 	virtual void removeGraphicsInstance(int graphicsUid);
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
-	
+	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
+
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index ce49cf6f5..07cb2696d 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -706,7 +706,7 @@ struct BulletMJCFImporterInternalData
 		if (!rgba.empty())
 		{
 			// "0 0.7 0.7 1"
-			parseVector4(geom.m_localMaterial.m_rgbaColor, rgba);
+			parseVector4(geom.m_localMaterial.m_matColor.m_rgbaColor, rgba);
 			geom.m_hasLocalMaterial = true;
 			geom.m_localMaterial.m_name = rgba;
 		}
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 2a43dc739..6ae007607 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -42,6 +42,7 @@ struct MyTexture
 	unsigned char* textureData;
 };
 
+
 ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
 {
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -51,7 +52,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
 	std::string m_sourceFile;
 	char m_pathPrefix[1024];
 	int m_bodyId;
-	btHashMap<btHashInt,btVector4> m_linkColors;
+	btHashMap<btHashInt,UrdfMaterialColor> m_linkColors;
     btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
 	
 	LinkVisualShapesConverter* m_customVisualShapesConverter;
@@ -1094,7 +1095,10 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 			{
 				UrdfMaterial *const  mat = *matPtr;
 				//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
-				m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
+				UrdfMaterialColor matCol;
+				matCol.m_rgbaColor = mat->m_matColor.m_rgbaColor;
+				matCol.m_specularColor = mat->m_matColor.m_specularColor;
+				m_data->m_linkColors.insert(linkIndex,matCol);
 			}
 			convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures);
 		
@@ -1132,10 +1136,21 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 
 bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
 {
-	const btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
-	if (rgbaPtr)
+	const UrdfMaterialColor* matColPtr = m_data->m_linkColors[linkIndex];
+	if (matColPtr)
 	{
-		colorRGBA = *rgbaPtr;
+		colorRGBA = matColPtr->m_rgbaColor;
+		return true;
+	}
+	return false;
+}
+
+bool BulletURDFImporter::getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const
+{
+	UrdfMaterialColor* matColPtr = m_data->m_linkColors[linkIndex];
+	if (matColPtr)
+	{
+		matCol = *matColPtr;
 		return true;
 	}
 	return false;
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 60ce11847..5ada57d25 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -41,6 +41,8 @@ public:
 
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
 
+	virtual bool getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const;
+
 	virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
 	
 	virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;
diff --git a/examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h b/examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
index 696546d90..e40e71eef 100644
--- a/examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
+++ b/examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
@@ -11,9 +11,17 @@ public:
 
     
     virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) = 0;
-  
+	virtual void createRigidBodyGraphicsInstance2(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, const btVector3& specularColor, int graphicsIndex)
+	{
+		createRigidBodyGraphicsInstance(linkIndex,body,colorRgba,graphicsIndex);
+	}
+
     ///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
     virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba) = 0;
+    virtual void createCollisionObjectGraphicsInstance2(int linkIndex, class btCollisionObject* col, const btVector4& colorRgba, const btVector3& specularColor)
+	{
+		createCollisionObjectGraphicsInstance(linkIndex,col,colorRgba);
+	}
     
     virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep)  =0;
     
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
index 3d34e53f2..7fdf3dfe9 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
@@ -194,15 +194,33 @@ void MyMultiBodyCreator::addLinkMapping(int urdfLinkIndex, int mbLinkIndex)
 
 void MyMultiBodyCreator::createRigidBodyGraphicsInstance(int linkIndex, btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) 
 {
-        
     m_guiHelper->createRigidBodyGraphicsObject(body, colorRgba);
 }
+
+void MyMultiBodyCreator::createRigidBodyGraphicsInstance2(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, const btVector3& specularColor, int graphicsIndex)
+{        
+    m_guiHelper->createRigidBodyGraphicsObject(body, colorRgba);
+	int graphicsInstanceId = body->getUserIndex();
+	m_guiHelper->changeSpecularColor(graphicsInstanceId,specularColor);
+}
+
+
+
     
 void MyMultiBodyCreator::createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* colObj, const btVector3& colorRgba) 
 {
     m_guiHelper->createCollisionObjectGraphicsObject(colObj,colorRgba);
 }
 
+void MyMultiBodyCreator::createCollisionObjectGraphicsInstance2(int linkIndex, class btCollisionObject* col, const btVector4& colorRgba, const btVector3& specularColor)
+{
+	createCollisionObjectGraphicsInstance(linkIndex,col,colorRgba);
+	int graphicsInstanceId = col->getUserIndex();
+	m_guiHelper->changeSpecularColor(graphicsInstanceId,specularColor);
+
+}
+
+
 btMultiBody* MyMultiBodyCreator::getBulletMultiBody()
 {
     return m_bulletMultiBody;
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
index 93ffdfa5c..3cb77520a 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
@@ -41,10 +41,12 @@ public:
 	virtual ~MyMultiBodyCreator() {}
 
     virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) ;
+    virtual void createRigidBodyGraphicsInstance2(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, const btVector3& specularColor, int graphicsIndex) ;
   
     ///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
     virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba);
-    
+    virtual void createCollisionObjectGraphicsInstance2(int linkIndex, class btCollisionObject* col, const btVector4& colorRgba, const btVector3& specularColor);
+
     virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep);
     
     virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape);
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 97c92292a..961591222 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -272,8 +272,15 @@ void ConvertURDF2BulletInternal(
     {
 
 
-        btVector4 color = selectColor2();
-		u2b.getLinkColor(urdfLinkIndex,color);
+		UrdfMaterialColor matColor;
+        btVector4 color2 = selectColor2();
+		btVector3 specular(0.5,0.5,0.5);
+		if (u2b.getLinkColor2(urdfLinkIndex,matColor))
+		{
+			color2 = matColor.m_rgbaColor;
+			specular = matColor.m_specularColor;
+		}
+
         /*
          if (visual->material.get())
          {
@@ -315,7 +322,7 @@ void ConvertURDF2BulletInternal(
 			u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
 
 			processContactParameters(contactInfo, body);
-            creation.createRigidBodyGraphicsInstance(urdfLinkIndex, body, color, graphicsIndex);
+            creation.createRigidBodyGraphicsInstance2(urdfLinkIndex, body, color2,specular, graphicsIndex);
             cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
             
 
@@ -490,9 +497,16 @@ void ConvertURDF2BulletInternal(
 				}
                 world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
 
-                btVector4 color = selectColor2();//(0.0,0.0,0.5);
-				u2b.getLinkColor(urdfLinkIndex,color);
-                creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
+                btVector4 color2 = selectColor2();//(0.0,0.0,0.5);
+				btVector3 specularColor(1,1,1);
+				UrdfMaterialColor matCol;
+				if (u2b.getLinkColor2(urdfLinkIndex,matCol))
+				{
+					color2 = matCol.m_rgbaColor;
+					specularColor = matCol.m_specularColor;
+				}
+
+                creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex,col,color2,specularColor);
 
                 u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame,col, u2b.getBodyUniqueId());
 
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
index 00071c867..588930184 100644
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -36,6 +36,9 @@ public:
 	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
 
+	virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const { return false;}
+
+
 	virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0;}
 	///this API will likely change, don't override it!
 	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const  { return false;}
diff --git a/examples/Importers/ImportURDFDemo/URDFJointTypes.h b/examples/Importers/ImportURDFDemo/URDFJointTypes.h
index 3a11d981e..af72b94d9 100644
--- a/examples/Importers/ImportURDFDemo/URDFJointTypes.h
+++ b/examples/Importers/ImportURDFDemo/URDFJointTypes.h
@@ -63,4 +63,15 @@ enum UrdfCollisionFlags
 	URDF_HAS_COLLISION_MASK=4,
 };
 
+struct UrdfMaterialColor
+{
+	btVector4 m_rgbaColor;
+	btVector3 m_specularColor;
+	UrdfMaterialColor()
+		:m_rgbaColor(0.8, 0.8, 0.8, 1),
+		m_specularColor(0.5,0.5,0.5)
+	{
+	}
+};
+
 #endif //URDF_JOINT_TYPES_H
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 74ff541f6..de8a578fe 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -100,17 +100,33 @@ bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, Err
 	}
 		
 	// color
-	TiXmlElement *c = config->FirstChildElement("color");
-	if (c)
 	{
-	  if (c->Attribute("rgba")) 
-	  {
-		  if (!parseVector4(material.m_rgbaColor,c->Attribute("rgba")))
+		TiXmlElement *c = config->FirstChildElement("color");
+		if (c)
+		{
+		  if (c->Attribute("rgba")) 
 		  {
-			  std::string msg = material.m_name+" has no rgba";
-			  logger->reportWarning(msg.c_str());
+			  if (!parseVector4(material.m_matColor.m_rgbaColor,c->Attribute("rgba")))
+			  {
+				  std::string msg = material.m_name+" has no rgba";
+				  logger->reportWarning(msg.c_str());
+			  }
 		  }
-	  }
+		}
+	}
+
+	{
+		// specular (non-standard)
+		TiXmlElement *s = config->FirstChildElement("specular");
+		if (s)
+		{
+		  if (s->Attribute("rgb")) 
+		  {
+			  if (!parseVector3(material.m_matColor.m_specularColor,s->Attribute("rgb"),logger))
+			  {
+			  }
+		  }
+		}
 	}
 	return true;
 
@@ -552,16 +568,29 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
 		if (name_char)
 			matPtr->m_name = name_char;
 		model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
-        TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
-        if (diffuse) {
-            std::string diffuseText = diffuse->GetText();
-            btVector4 rgba(1,0,0,1);
-            parseVector4(rgba,diffuseText);
-            matPtr->m_rgbaColor = rgba;
+		{
+			TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
+			if (diffuse) {
+				std::string diffuseText = diffuse->GetText();
+				btVector4 rgba(1,0,0,1);
+				parseVector4(rgba,diffuseText);
+				matPtr->m_matColor.m_rgbaColor = rgba;
             
-            visual.m_materialName = matPtr->m_name;
-            visual.m_geometry.m_hasLocalMaterial = true;
-        }
+				visual.m_materialName = matPtr->m_name;
+				visual.m_geometry.m_hasLocalMaterial = true;
+			}
+		}
+		{
+			TiXmlElement *specular = mat->FirstChildElement("specular");
+			if (specular) {
+				std::string specularText = specular->GetText();
+				btVector3 rgba(1,1,1);
+				parseVector3(rgba,specularText,logger);
+				matPtr->m_matColor.m_specularColor = rgba;
+				visual.m_materialName = matPtr->m_name;
+				visual.m_geometry.m_hasLocalMaterial = true;
+			}
+		}
     } 
     else
       {
@@ -577,7 +606,8 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
           
           TiXmlElement *t = mat->FirstChildElement("texture");
           TiXmlElement *c = mat->FirstChildElement("color");
-          if (t||c)
+		  TiXmlElement *s = mat->FirstChildElement("specular");
+		  if (t||c||s)
           {
               if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger))
               {
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index de96885e5..1a74cbba2 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -17,13 +17,15 @@ struct ErrorLogger
 	virtual void printMessage(const char* msg)=0;
 };
 
+
+
 struct UrdfMaterial
 {
 	std::string m_name;
 	std::string m_textureFilename;
-	btVector4 m_rgbaColor; // [0]==r [1]==g [2]==b [3]==a
-	UrdfMaterial():
-		m_rgbaColor(0.8, 0.8, 0.8, 1)
+	UrdfMaterialColor m_matColor;
+
+	UrdfMaterial()
 	{
 	}
 };
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 296f53a72..a30e8fb1d 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -492,6 +492,60 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int
 	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
 }
 
+void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* specular, int bodyUniqueId)
+{
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3Assert(pg);
+	int srcIndex = pg->m_internalInstanceIndex;
+
+	int totalNumInstances = 0;
+
+	int gfxObjIndex = -1;
+
+	for (int i=0;i<m_graphicsInstances.size();i++)
+	{
+		totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
+		if (srcIndex<totalNumInstances)
+		{
+			gfxObjIndex = i;
+			break;
+		}
+	}
+	if (gfxObjIndex>0)
+	{
+		m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[0] = specular[0];
+		m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[1] = specular[1];
+		m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[2] = specular[2];
+	}
+}
+void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* specular, int bodyUniqueId)
+{
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3Assert(pg);
+	int srcIndex = pg->m_internalInstanceIndex;
+
+	int totalNumInstances = 0;
+
+	int gfxObjIndex = -1;
+
+	for (int i=0;i<m_graphicsInstances.size();i++)
+	{
+		totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
+		if (srcIndex<totalNumInstances)
+		{
+			gfxObjIndex = i;
+			break;
+		}
+	}
+	if (gfxObjIndex>0)
+	{
+		m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[0] = specular[0];
+		m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[1] = specular[1];
+		m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[2] = specular[2];
+	}
+}
+
+
 void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const double* scale, int bodyUniqueId)
 {
 	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 7f1526ece..3233c32cf 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -95,6 +95,7 @@ public:
 
     }
 
+
 	virtual void readSingleInstanceTransformFromCPU(int srcIndex, float* position, float* orientation);
 
 	virtual void writeSingleInstanceTransformToGPU(float* position, float* orientation, int srcIndex);
@@ -102,6 +103,9 @@ public:
 	virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
 	virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
 
+	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex);
+	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex);
+
 	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
 	virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
 
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index dbd0da079..a438f4cd5 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -39,6 +39,9 @@ public:
     virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
 	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
     virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
+	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex){}
+	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex){}
+
     virtual void	getCameraViewMatrix(float viewMat[16]) const;
     virtual void	getCameraProjectionMatrix(float projMat[16]) const;
 	virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1, int vertexLayout=0)
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 86e8de189..21f1dda05 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -2452,6 +2452,21 @@ void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, dou
 	}
 }
 
+void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_UPDATE_VISUAL_SHAPE);
+
+	if (command->m_type == CMD_UPDATE_VISUAL_SHAPE)
+	{
+		command->m_updateVisualShapeDataArguments.m_specularColor[0] = specularColor[0];
+		command->m_updateVisualShapeDataArguments.m_specularColor[1] = specularColor[1];
+		command->m_updateVisualShapeDataArguments.m_specularColor[2] = specularColor[2];
+		command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR;
+	}
+}
+
 b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 88f382f54..52bf95e11 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -210,6 +210,8 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
 b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
 b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
 void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]);
+void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3]);
+
 
 b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
 int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index c5844bdfd..ed7d238f6 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5664,7 +5664,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 					}                    
    
-					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 					{
 						int bodyUniqueId = clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId;
 						int linkIndex = clientCmd.m_updateVisualShapeDataArguments.m_jointIndex;
@@ -5680,7 +5679,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										//m_data->m_visualConverter.changeRGBAColor(...)
 										int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
-										m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+										if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
+										{
+											m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+										}
+										if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
+										{
+											m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
+										}
+										
 									}
 								} else
 								{
@@ -5690,7 +5697,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 										{
 											//m_data->m_visualConverter.changeRGBAColor(...)
 											int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
-											m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+											if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
+											{
+												m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+											}
+											if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
+											{
+												m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
+											}
+
 										}
 									}
 								}
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 32477d96c..f5a189753 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -123,6 +123,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIDumpFramesToVideo,
 	eGUIHelperRemoveGraphicsInstance,
 	eGUIHelperChangeGraphicsInstanceRGBAColor,
+	eGUIHelperChangeGraphicsInstanceSpecularColor,
 	eGUIHelperSetVisualizerFlag,
 };
 
@@ -918,6 +919,19 @@ public:
 		workerThreadWait();    
 	}
 
+	double m_specularColor[3];
+	int m_graphicsInstanceChangeSpecular;
+	virtual void changeSpecularColor(int instanceUid, const double specularColor[3])
+	{
+		m_graphicsInstanceChangeSpecular = instanceUid;
+		m_specularColor[0] = specularColor[0];
+		m_specularColor[1] = specularColor[1];
+		m_specularColor[2] = specularColor[2];
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperChangeGraphicsInstanceSpecularColor);
+		workerThreadWait(); 
+	}
+
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
 		return 0;
@@ -1734,6 +1748,13 @@ void	PhysicsServerExample::updateGraphics()
 		m_multiThreadedHelper->mainThreadRelease();
 		break;
 	}
+	case eGUIHelperChangeGraphicsInstanceSpecularColor:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->changeSpecularColor(m_multiThreadedHelper->m_graphicsInstanceChangeSpecular,m_multiThreadedHelper->m_specularColor);
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+
+	}
 
     case eGUIHelperCopyCameraImageData:
         {
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index ed686fb0c..b322c163d 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -255,6 +255,7 @@ enum EnumUpdateVisualShapeData
 {
 	CMD_UPDATE_VISUAL_SHAPE_TEXTURE=1,
 	CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR=2,
+	CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR=4,
 };
 
 struct UpdateVisualShapeDataArgs
@@ -264,6 +265,7 @@ struct UpdateVisualShapeDataArgs
     int m_shapeIndex;
     int m_textureUniqueId;
 	double m_rgbaColor[4];
+	double m_specularColor[3];
 };
 
 struct LoadTextureArgs
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index f9dfaee71..f72cdfd8c 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -179,10 +179,10 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
 	visualShapeOut.m_dimensions[2] = 0;
 	visualShapeOut.m_meshAssetFileName[0] = 0;
 	if (visual->m_geometry.m_hasLocalMaterial) {
-		visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_rgbaColor[0];
-		visualShapeOut.m_rgbaColor[1] = visual->m_geometry.m_localMaterial.m_rgbaColor[1];
-		visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_rgbaColor[2];
-		visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_rgbaColor[3];
+		visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[0];
+		visualShapeOut.m_rgbaColor[1] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[1];
+		visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[2];
+		visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[3];
 	}
 	
 	GLInstanceGraphicsShape* glmesh = 0;
@@ -555,7 +555,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 				{
 					for (int i=0; i<4; i++)
 					{
-						rgbaColor[i] = (*matPtr)->m_rgbaColor[i];
+						rgbaColor[i] = (*matPtr)->m_matColor.m_rgbaColor[i];
 					}
 					//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
 					//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
diff --git a/examples/Utils/b3ResourcePath.cpp b/examples/Utils/b3ResourcePath.cpp
index bc50ef5cb..e95aa9569 100644
--- a/examples/Utils/b3ResourcePath.cpp
+++ b/examples/Utils/b3ResourcePath.cpp
@@ -53,11 +53,31 @@ int b3ResourcePath::getExePath(char* path, int maxPathLenInBytes)
 	return numBytes;
 }
 
-int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePath, int resourcePathMaxNumBytes)
+struct TempResourcePath
+{
+	char* m_path;
+	TempResourcePath(int len)
+	{
+		m_path = (char*)malloc(len);
+		memset(m_path,0,len);
+	}
+	virtual ~TempResourcePath()
+	{
+		free(m_path);
+	}
+};
+
+int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePathOut, int resourcePathMaxNumBytes)
 {
 	//first find in a resource/<exeName> location, then in various folders within 'data' using b3FileUtils
 	char exePath[B3_MAX_EXE_PATH_LEN];
 
+	bool res = b3FileUtils::findFile(resourceName, resourcePathOut, resourcePathMaxNumBytes);
+	if (res)
+    {
+            return strlen(resourcePathOut);
+    }
+
 	int l = b3ResourcePath::getExePath(exePath, B3_MAX_EXE_PATH_LEN);
 	if (l)
 	{
@@ -66,33 +86,31 @@ int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePat
         	int exeNamePos = b3FileUtils::extractPath(exePath,pathToExe,B3_MAX_EXE_PATH_LEN);
         	if (exeNamePos)
         	{
-				sprintf(resourcePath,"%s../data/%s",pathToExe,resourceName);
+				TempResourcePath tmpPath(resourcePathMaxNumBytes+1024);
+				char* resourcePathIn = tmpPath.m_path;
+				sprintf(resourcePathIn,"%s../data/%s",pathToExe,resourceName);
 				//printf("try resource at %s\n", resourcePath);	
-				if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
+				if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
 				{
-					return strlen(resourcePath);
+					return strlen(resourcePathOut);
 				}
 
-				sprintf(resourcePath,"%s../resources/%s/%s",pathToExe,&exePath[exeNamePos],resourceName);
+				sprintf(resourcePathIn,"%s../resources/%s/%s",pathToExe,&exePath[exeNamePos],resourceName);
 				//printf("try resource at %s\n", resourcePath);	
-				if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
+				if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
 				{
-					return strlen(resourcePath);
+					return strlen(resourcePathOut);
 				}
-         sprintf(resourcePath,"%s.runfiles/google3/third_party/bullet/data/%s",exePath,resourceName);
+				sprintf(resourcePathIn,"%s.runfiles/google3/third_party/bullet/data/%s",exePath,resourceName);
 				//printf("try resource at %s\n", resourcePath);	
-				if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
+				if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
 				{
-					return strlen(resourcePath);
+					return strlen(resourcePathOut);
 				}  
         	}
 	}
 
-	bool res = b3FileUtils::findFile(resourceName, resourcePath, resourcePathMaxNumBytes);
-	if (res)
-        {
-                return strlen(resourcePath);
-        }
+
 
 	return 0;
 }
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index bda39b973..a82e158ff 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -4244,10 +4244,13 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
 	int statusType;
 	int physicsClientId = 0;
 	PyObject* rgbaColorObj = 0;
+	PyObject* specularColorObj = 0;
+
+	
 
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOi", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &rgbaColorObj, &physicsClientId))
+	static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "specularColor", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOOi", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &rgbaColorObj, &specularColorObj, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -4261,6 +4264,14 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
 	{
 		commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
 
+		if (specularColorObj)
+		{
+			double specularColor[3] = {1,1,1};
+			pybullet_internalSetVectord(specularColorObj, specularColor);
+			b3UpdateVisualShapeSpecularColor(commandHandle,specularColor);
+
+		}
+
 		if (rgbaColorObj)
 		{
 			double rgbaColor[4] = {1,1,1,1};

From d744fe10dcdc0e84f876f2aafcc4a410e08bbca3 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 1 Jun 2017 12:51:43 -0700
Subject: [PATCH 057/175] compile fix

---
 examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
index 7fdf3dfe9..e120e9a5f 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
@@ -201,7 +201,9 @@ void MyMultiBodyCreator::createRigidBodyGraphicsInstance2(int linkIndex, class b
 {        
     m_guiHelper->createRigidBodyGraphicsObject(body, colorRgba);
 	int graphicsInstanceId = body->getUserIndex();
-	m_guiHelper->changeSpecularColor(graphicsInstanceId,specularColor);
+	btVector3DoubleData speculard;
+	specularColor.serializeDouble(speculard);
+	m_guiHelper->changeSpecularColor(graphicsInstanceId,speculard.m_floats);
 }
 
 
@@ -216,7 +218,9 @@ void MyMultiBodyCreator::createCollisionObjectGraphicsInstance2(int linkIndex, c
 {
 	createCollisionObjectGraphicsInstance(linkIndex,col,colorRgba);
 	int graphicsInstanceId = col->getUserIndex();
-	m_guiHelper->changeSpecularColor(graphicsInstanceId,specularColor);
+	btVector3DoubleData speculard;
+	specularColor.serializeDouble(speculard);
+	m_guiHelper->changeSpecularColor(graphicsInstanceId,speculard.m_floats);
 
 }
 

From 5c6045b61fd301d1285d0d64f3f69a0fb375a92a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 1 Jun 2017 13:15:58 -0700
Subject: [PATCH 058/175] turn down effect of default specular a bit

---
 examples/Importers/ImportURDFDemo/URDFJointTypes.h | 2 +-
 examples/OpenGLWindow/GLInstancingRenderer.cpp     | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/URDFJointTypes.h b/examples/Importers/ImportURDFDemo/URDFJointTypes.h
index af72b94d9..2edad8617 100644
--- a/examples/Importers/ImportURDFDemo/URDFJointTypes.h
+++ b/examples/Importers/ImportURDFDemo/URDFJointTypes.h
@@ -69,7 +69,7 @@ struct UrdfMaterialColor
 	btVector3 m_specularColor;
 	UrdfMaterialColor()
 		:m_rgbaColor(0.8, 0.8, 0.8, 1),
-		m_specularColor(0.5,0.5,0.5)
+		m_specularColor(0.4,0.4,0.4)
 	{
 	}
 };
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index a30e8fb1d..5a5cca73d 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -142,8 +142,8 @@ struct b3GraphicsInstance
 		m_instanceOffset(0),
 		m_vertexArrayOffset(0),
 		m_primitiveType(B3_GL_TRIANGLES),
-		m_materialShinyNess(81),
-		m_materialSpecularColor(b3MakeVector3(1,1,1))
+		m_materialShinyNess(41),
+		m_materialSpecularColor(b3MakeVector3(.5,.5,.5))
 	{
 	}
 

From aa40b8487fca886646d04725e3fef27b0e64b214 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 1 Jun 2017 13:33:53 -0700
Subject: [PATCH 059/175] bump up SHARED_MEMORY_MAGIC_NUMBER versioning tag,
 remove humanoid_running_3.py bump up pybullet version to 1.1.0

---
 examples/SharedMemory/SharedMemoryPublic.h    |   2 +-
 .../pybullet/tensorflow/humanoid_running_3.py | 650 ------------------
 setup.py                                      |   2 +-
 3 files changed, 2 insertions(+), 652 deletions(-)
 delete mode 100644 examples/pybullet/tensorflow/humanoid_running_3.py

diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 27a44fc8c..cad229d7b 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -4,7 +4,7 @@
 #define SHARED_MEMORY_KEY 12347
 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
 ///my convention is year/month/day/rev
-#define SHARED_MEMORY_MAGIC_NUMBER 201705025
+#define SHARED_MEMORY_MAGIC_NUMBER 201706001
 //#define SHARED_MEMORY_MAGIC_NUMBER 201703024
 
 enum EnumSharedMemoryClientCommand
diff --git a/examples/pybullet/tensorflow/humanoid_running_3.py b/examples/pybullet/tensorflow/humanoid_running_3.py
deleted file mode 100644
index 9688baacb..000000000
--- a/examples/pybullet/tensorflow/humanoid_running_3.py
+++ /dev/null
@@ -1,650 +0,0 @@
-import tensorflow as tf
-import sys
-import numpy as np
-
-import pybullet as p
-import time
-p.connect(p.GUI) #GUI is slower, but shows the running gait
-p.setGravity(0,0,-9.8)
-p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
-#this mp4 recording requires ffmpeg installed
-#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
-
-objs = p.loadMJCF("mjcf/ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
-ground = objs[0]
-
-objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
-human1 =objs[0]
-p.resetBasePositionAndOrientation(human1,[0,0.8,1.5],[0,0,0,1])
-
-objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
-human2 = objs[0]
-p.resetBasePositionAndOrientation(human2,[0,1.5,1.5],[0,0,0,1])
-
-
-objs  = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
-human = objs[0]
-ordered_joints = []
-
-jdict = {}
-for j in range( p.getNumJoints(human) ):
-	info = p.getJointInfo(human, j)
-	link_name = info[12].decode("ascii")
-	if link_name=="left_foot": left_foot = j
-	if link_name=="right_foot": right_foot = j
-	if info[2] != p.JOINT_REVOLUTE: continue
-	jname = info[1].decode("ascii")
-	jdict[jname] = j
-	lower, upper = (info[8], info[9])
-	ordered_joints.append( (j, lower, upper) )
-	p.setJointMotorControl2(human, j, controlMode=p.VELOCITY_CONTROL, force=0)
-	p.setJointMotorControl2(human1, j, controlMode=p.VELOCITY_CONTROL, force=0)
-	p.setJointMotorControl2(human2, j, controlMode=p.VELOCITY_CONTROL, force=0)
-
-	
-
-motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
-motor_power  = [100, 100, 100]
-motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
-motor_power += [100, 100, 300, 200]
-motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
-motor_power += [100, 100, 300, 200]
-motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
-motor_power += [75, 75, 75]
-motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
-motor_power += [75, 75, 75]
-motors = [jdict[n] for n in motor_names]
-
-class Dummy:
-	pass
-dummy = Dummy()
-dummy.initial_z = None
-
-def current_relative_position(human, j, lower, upper):
-	#print("j")
-	#print(j)
-	pos, vel, *other = p.getJointState(human, j)
-	#print("pos")
-	#print(pos)
-	#print("vel")
-	#print(vel)
-	pos_mid = 0.5 * (lower + upper);
-	return (
-		2 * (pos - pos_mid) / (upper - lower),
-		0.1 * vel
-		)
-
-def collect_observations(human):
-	j = np.array([current_relative_position(human, *jtuple) for jtuple in ordered_joints]).flatten()
-	#print("j")
-	#print(j)
-	body_xyz, (qx, qy, qz, qw) = p.getBasePositionAndOrientation(human)
-	#print("body_xyz")
-	#print(body_xyz, qx,qy,qz,qw)
-	z = body_xyz[2]
-	dummy.distance = body_xyz[0]
-	if dummy.initial_z==None:
-		dummy.initial_z = z
-	(vx, vy, vz), _ = p.getBaseVelocity(human)
-	more = np.array([z-dummy.initial_z, 0.1*vx, 0.1*vy, 0.1*vz, qx, qy, qz, qw])
-	rcont = p.getContactPoints(human, -1, right_foot, -1)
-	#print("rcont")
-	#print(rcont)
-	lcont = p.getContactPoints(human, -1, left_foot, -1)
-	#print("lcont")
-	#print(lcont)
-	feet_contact = np.array([len(rcont)>0, len(lcont)>0])
-	return np.clip( np.concatenate([more] + [j] + [feet_contact]), -5, +5)
-
-class SmallReactivePolicy(object):
-    def __init__(self, name, ob_space, ac_space):
-        self.name = name
-        with tf.variable_scope(name):
-            batch_of_observations = [None] + list(ob_space.shape)
-            self.ob = tf.placeholder(dtype=tf.float32, shape=batch_of_observations, name="ob")
-            x = self.ob
-
-            width = 256
-            self.dense1_w = tf.get_variable("dense1_w", [x.get_shape()[1], width])
-            self.dense1_b = tf.get_variable("dense1_b", [width])
-            x = tf.nn.relu(tf.matmul(x, self.dense1_w) + self.dense1_b)
-
-            width = 128
-            self.dense2_w = tf.get_variable("dense2_w", [x.get_shape()[1], width])
-            self.dense2_b = tf.get_variable("dense2_b", [width])
-            x = tf.nn.relu(tf.matmul(x, self.dense2_w) + self.dense2_b)
-
-            assert(len(ac_space.shape)==1)
-            width = ac_space.shape[0]
-            self.final_w = tf.get_variable("final_w", [x.get_shape()[1], width])
-            self.final_b = tf.get_variable("final_b", [width])
-            x = tf.matmul(x, self.final_w) + self.final_b
-            self.action_node = x
-
-            self.all_variables = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, tf.get_variable_scope().name)
-
-    def act(self, ob):
-        a = tf.get_default_session().run(self.action_node, feed_dict={ self.ob: ob[None] })
-        return a[0]
-
-    def load_weights(self):
-        assigns = [
-            (self.dense1_w, weights_dense1_w),
-            (self.dense1_b, weights_dense1_b),
-            (self.dense2_w, weights_dense2_w),
-            (self.dense2_b, weights_dense2_b),
-            (self.final_w, weights_final_w),
-            (self.final_b, weights_final_b)]
-        to_run = []
-        feed_dict = {}
-        for var, w in assigns:
-            ph = tf.placeholder(tf.float32, w.shape)
-            to_run.append( tf.assign(var, ph) )
-            feed_dict[ph] = w
-        tf.get_default_session().run(to_run, feed_dict=feed_dict)
-
-def demo_run():
-	sess = tf.InteractiveSession(config=tf.ConfigProto(inter_op_parallelism_threads=1, intra_op_parallelism_threads=1, device_count={ "GPU": 0 }))
-	pi = SmallReactivePolicy("pi", np.zeros((44,)), np.zeros((17,)))
-	pi.load_weights()
-	t1 = time.time()
-	timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "humanoidTimings.json")
-
-	frame = 0
-	while 1:
-		obs = collect_observations(human)
-		obs1 = collect_observations(human1)
-		obs2 = collect_observations(human2)
-
-		actions = pi.act(obs)
-		actions1 = pi.act(obs1)
-		actions2 = pi.act(obs2)
-
-		#print(" ".join(["%+0.2f"%x for x in obs]))
-		#print("Motors")
-		#print(motors)
-
-		#for m in range(len(motors)):
-			#print("motor_power")
-			#print(motor_power[m])
-			#print("actions[m]")
-			#print(actions[m])
-		#p.setJointMotorControl2(human, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)
-		#p.setJointMotorControl2(human1, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)
-			
-		forces = [0.] * len(motors)
-		for m in range(len(motors)):
-			forces[m] = motor_power[m]*actions[m]*0.082
-		p.setJointMotorControlArray(human, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
-		for m in range(len(motors)):
-			forces[m] = motor_power[m]*actions1[m]*0.082
-		p.setJointMotorControlArray(human1, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
-		for m in range(len(motors)):
-			forces[m] = motor_power[m]*actions2[m]*0.082
-		p.setJointMotorControlArray(human2, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
-
-		p.stepSimulation()
-		time.sleep(0.1)
-		distance=3
-		yaw = 0
-		humanPos, humanOrn = p.getBasePositionAndOrientation(human)
-		p.resetDebugVisualizerCamera(distance,yaw,90,humanPos);
-		frame += 1
-		
-		if frame==1000: break
-	t2 = time.time()
-	print("############################### distance = %0.2f meters" % dummy.distance)
-	print("############################### FPS = ", 1000/ (t2-t1))
-	#print("Starting benchmark")
-	#logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json")
-	#p.stopStateLogging(logId)
-	print("ended benchmark")
-	print(frame)
-	p.stopStateLogging(timinglog)
-
-
-weights_dense1_w = np.array([
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-[ +0.2517, -0.1086, +0.2060, +0.1727, +0.0902, -0.1455, +0.1913, -0.3011, +0.4524, -0.2250, -0.3558, -0.3009, -0.0365, -0.0636, +0.0852, +0.1678, -0.0045],
-[ -0.0800, +0.2266, -0.0954, +0.0206, +0.1473, +0.6583, -0.4648, +0.1038, +0.1741, -0.3025, +0.0773, +0.1044, +0.0888, -0.2105, +0.1827, +0.0543, -0.0055],
-[ -0.0999, +0.0095, -0.0853, +0.0084, -0.2591, -0.0105, -0.3086, -0.4188, -0.1658, +0.4141, +0.4294, -0.0325, +0.3242, -0.2091, -0.2607, +0.1492, +0.1504],
-[ +0.0317, -0.0307, +0.3815, +0.0595, -0.1011, -0.0057, -0.1609, -0.5363, -0.1927, +0.0689, -0.0432, +0.1582, +0.1995, +0.0791, -0.0799, -0.0426, -0.0398],
-[ +0.2850, +0.2052, -0.0389, -0.0705, +0.3961, +0.0547, +0.0385, +0.2505, +0.0714, -0.0159, +0.0321, +0.0161, +0.1245, -0.1221, -0.2063, +0.0359, +0.0904],
-[ +0.2388, -0.0879, +0.0303, -0.1298, -0.2066, +0.2349, -0.1669, -0.0393, +0.0557, -0.0419, -0.0636, -0.3270, -0.1898, +0.1185, -0.1003, +0.2182, -0.1358],
-[ +0.1651, -0.2028, -0.3384, -0.5319, +0.2690, +0.0798, +0.3677, +0.2660, +0.1497, +0.1026, -0.1128, +0.3130, +0.2733, +0.1554, -0.1325, -0.1619, -0.0860],
-[ +0.1536, +0.0465, -0.1248, -0.0063, -0.1992, +0.0119, +0.0328, +0.1646, -0.3838, +0.1776, -0.1014, +0.3482, +0.0298, +0.0296, +0.1838, +0.1373, -0.1523],
-[ +0.0442, +0.1129, -0.3831, -0.1119, +0.0817, +0.1744, +0.2670, +0.0339, +0.1102, -0.1592, -0.1006, -0.4853, +0.2444, +0.0459, -0.1019, -0.1361, -0.0604],
-[ +0.1310, -0.0497, +0.2974, +0.2772, -0.2771, -0.2194, -0.0129, -0.0623, +0.0006, -0.0298, +0.1518, +0.0271, +0.1619, -0.1267, -0.1727, -0.1988, -0.1210],
-[ +0.3556, -0.3053, -0.3899, +0.2106, -0.1380, -0.2564, -0.0534, -0.3945, -0.0198, +0.0277, +0.1276, -0.0327, +0.4129, +0.1444, -0.3541, +0.2025, -0.0395],
-[ +0.1271, -0.1985, +0.3796, +0.0934, +0.2144, +0.0129, -0.2250, -0.2218, -0.0024, +0.2304, -0.2798, +0.0901, -0.2428, +0.2513, +0.1104, +0.2521, -0.0836],
-[ -0.0790, +0.3823, -0.1396, -0.3351, -0.1272, -0.2597, +0.0591, +0.1499, -0.2298, +0.6025, +0.7618, -0.2407, +0.0333, -0.0403, -0.0925, -0.3186, -0.1176],
-[ -0.1944, -0.2272, +0.3309, -0.0803, +0.3230, -0.1632, +0.6171, -0.0997, +0.3684, -0.1963, -0.0740, +0.1319, +0.2760, -0.2500, -0.0141, -0.3381, +0.0988],
-[ +0.2057, -0.1338, -0.1396, +0.1905, -0.0804, +0.0064, -0.1375, +0.0256, +0.1821, +0.1315, +0.0442, +0.0899, -0.0152, -0.0606, +0.1378, -0.5944, +0.0902],
-[ +0.3549, -0.1397, -0.1932, +0.0118, +0.0244, +0.0824, +0.1821, -0.0512, -0.2780, -0.0666, +0.0240, -0.1947, -0.1455, +0.0940, +0.0609, -0.2599, -0.0573],
-[ +0.0848, +0.0130, -0.3703, +0.1482, -0.0567, -0.2191, +0.0100, -0.0555, -0.1383, +0.2142, -0.2411, -0.1008, -0.0247, -0.0685, -0.6440, +0.5464, -0.2950],
-[ +0.0558, +0.0309, +0.2263, +0.4103, +0.0554, +0.3598, +0.1403, +0.0423, -0.2540, -0.2593, +0.1508, +0.1841, -0.2731, +0.0649, +0.3406, -0.1161, +0.2166],
-[ +0.0934, -0.2574, +0.1155, -0.0240, +0.0258, +0.1470, -0.0135, +0.4334, -0.0167, -0.2294, -0.1428, -0.3680, -0.2007, -0.0010, +0.1405, -0.4045, -0.0752],
-[ +0.3774, -0.3684, -0.1185, +0.3444, -0.0005, -0.2114, +0.1939, -0.3012, +0.1912, +0.1980, +0.0747, +0.3322, +0.1122, -0.2042, -0.2741, +0.1889, -0.0508],
-[ +0.1951, +0.0460, -0.2167, -0.2370, +0.1496, -0.2761, +0.2644, -0.0282, -0.0858, -0.0368, +0.4173, -0.0596, +0.3189, +0.3252, +0.3012, +0.2653, -0.1094],
-[ -0.0618, -0.1060, -0.0063, -0.1816, -0.0928, +0.1112, +0.2248, -0.0704, +0.1565, -0.1376, -0.1280, -0.1405, -0.4444, -0.0081, -0.3809, -0.2760, +0.2826],
-[ -0.2150, -0.2761, -0.4387, +0.0652, -0.0250, -0.1408, -0.1410, -0.0401, -0.2530, -0.1720, -0.1383, +0.0815, +0.1345, +0.1094, +0.1165, -0.1125, -0.0680],
-[ +0.4100, -0.2501, -0.1091, -0.1421, -0.1276, -0.0343, -0.2467, +0.5050, -0.1084, +0.2873, +0.2955, -0.0441, +0.0624, -0.3208, -0.1248, -0.2148, +0.0624],
-[ +0.2167, -0.2099, +0.1943, -0.0190, +0.1348, +0.0457, -0.0756, -0.1493, -0.2804, +0.0296, -0.1222, -0.2076, +0.1460, +0.0056, +0.0618, +0.0620, +0.1078],
-[ -0.1699, +0.1200, +0.0562, -0.2747, +0.2608, -0.3566, -0.2460, -0.2062, +0.5545, -0.0188, +0.3313, -0.1312, -0.7428, -0.5009, -0.6418, -0.0003, +0.2460],
-[ -0.2792, +0.1021, -0.2467, -0.0577, -0.1567, +0.0156, +0.0434, -0.2623, +0.0924, +0.0685, +0.2042, +0.0532, +0.1473, -0.1451, -0.0592, -0.1645, +0.1258],
-[ +0.0919, -0.0480, +0.3094, +0.1917, +0.0822, +0.0892, +0.0365, -0.0325, +0.1961, -0.2383, -0.0073, +0.0189, +0.2700, +0.2116, -0.2724, -0.1682, -0.1288],
-[ +0.1483, +0.0807, +0.2281, -0.3101, -0.0014, +0.0484, -0.2612, -0.0005, +0.0087, -0.1544, +0.1201, +0.1475, -0.1714, +0.0190, -0.2971, -0.1113, -0.4718],
-[ -0.1700, -0.1545, +0.2127, -0.1944, +0.3472, +0.2332, +0.2231, +0.0469, +0.2023, -0.0298, -0.0297, +0.0597, -0.3039, +0.0959, +0.2502, +0.2281, -0.0078],
-[ +0.3397, +0.2010, +0.6118, +0.2780, -0.0135, +0.4304, -0.2720, -0.6300, +0.3764, +0.1227, -0.0925, +0.1188, -0.5911, +0.1235, -0.1578, -0.4889, -0.1543],
-[ +0.4581, +0.2872, +0.1375, +0.2818, +0.2036, -0.0369, +0.0807, -0.0667, -0.2801, -0.0582, +0.1936, +0.1047, -0.1245, -0.1259, -0.1373, -0.1140, +0.0582],
-[ +0.2535, +0.5913, +0.2155, -0.0587, -0.0918, -0.0362, +0.7135, +0.3591, +0.4240, +0.3692, -0.0313, -0.2431, +0.9143, -0.0241, -0.6210, +0.4646, -0.1512],
-[ +0.3188, +0.2507, -0.2129, -0.4617, +0.1874, -0.1286, +0.0632, -0.2470, -0.0572, +0.6183, +0.3531, +0.1321, -0.1687, +0.1307, -0.3712, +0.0199, -0.0776],
-[ -0.1779, +0.3660, +0.2386, +0.2297, +0.1792, -0.1369, +0.2320, -0.5867, -0.1306, +0.3471, -0.1127, +0.3352, -0.0214, +0.0801, -0.1368, -0.7262, +0.1757],
-[ +0.0183, -0.0485, +0.1199, +0.2513, +0.2022, -0.0472, +0.3076, +0.0656, -0.3302, -0.0587, -0.0200, -0.5474, -0.0863, +0.2087, -0.2581, -0.1750, +0.3391],
-[ -0.2339, +0.0639, +0.2085, -0.1872, -0.2686, +0.1490, +0.0436, -0.0841, -0.1054, -0.4899, +0.0193, -0.0250, +0.2212, +0.0972, +0.0329, +0.1328, -0.0545],
-[ -0.0874, -0.1087, -0.1577, +0.0936, -0.3083, -0.1450, +0.0365, -0.1924, -0.0536, +0.0475, +0.0348, +0.0772, +0.0348, -0.2800, +0.0864, +0.2640, -0.0215],
-[ +0.0745, +0.4503, -0.4064, +0.6300, -0.1275, -0.0463, -0.4074, +0.0031, +0.1408, +0.0531, +0.1400, +0.0308, -0.0220, -0.0014, -0.3056, -0.1551, -0.0096],
-[ +0.1479, +0.1186, +0.1323, -0.3466, -0.0654, -0.1084, -0.2509, +0.0944, -0.2135, +0.2020, +0.0602, -0.1239, +0.0741, +0.2037, -0.4462, +0.1065, +0.1710]
-])
-
-weights_final_b = np.array([ -0.0274, +0.1314, -0.0578, +0.2965, +0.1318, -0.0622, +0.1158, +0.0643, +0.2138, -0.1422, +0.1579, +0.0836, -0.0388, -0.0933, +0.2233, -0.2276, +0.0375])
-
-if __name__=="__main__":
-    demo_run()
diff --git a/setup.py b/setup.py
index 9de213679..f509fe88f 100644
--- a/setup.py
+++ b/setup.py
@@ -418,7 +418,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.0.9',
+	version='1.1.0',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From e6d1a8cf9747283f98af41d9e30014380fa93e9a Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Thu, 1 Jun 2017 15:30:37 -0700
Subject: [PATCH 060/175] Swap yaw and pitch in camera computation. Add
 functions to convert view matrix to camera position, and camera position to
 camera yaw pitch roll.

---
 data/multibody.bullet                         | Bin 14844 -> 14844 bytes
 examples/BasicDemo/BasicExample.cpp           |   6 +-
 examples/Benchmarks/BenchmarkDemo.cpp         |   8 +-
 .../Collision/CollisionTutorialBullet2.cpp    |   4 +-
 .../CommonGUIHelperInterface.h                |   4 +-
 .../CommonGraphicsAppInterface.h              |   4 +-
 examples/Constraints/ConstraintDemo.cpp       |   8 +-
 .../Constraints/ConstraintPhysicsSetup.cpp    |   6 +-
 examples/Constraints/Dof6Spring2Setup.cpp     |   6 +-
 examples/Constraints/TestHingeTorque.cpp      |   6 +-
 examples/DynamicControlDemo/MotorDemo.cpp     |   8 +-
 examples/Evolution/NN3DWalkers.cpp            |   6 +-
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |   4 +-
 examples/ExampleBrowser/OpenGLGuiHelper.h     |   2 +-
 examples/ExtendedTutorials/Bridge.cpp         |   6 +-
 examples/ExtendedTutorials/Chain.cpp          |   6 +-
 examples/ExtendedTutorials/InclinedPlane.cpp  |   6 +-
 examples/ExtendedTutorials/MultiPendulum.cpp  |   6 +-
 examples/ExtendedTutorials/MultipleBoxes.cpp  |   6 +-
 examples/ExtendedTutorials/NewtonsCradle.cpp  |   6 +-
 .../ExtendedTutorials/NewtonsRopeCradle.cpp   |   6 +-
 .../ExtendedTutorials/RigidBodyFromObj.cpp    |   6 +-
 examples/ExtendedTutorials/SimpleBox.cpp      |   6 +-
 examples/ExtendedTutorials/SimpleCloth.cpp    |   6 +-
 examples/ExtendedTutorials/SimpleJoint.cpp    |   6 +-
 examples/ForkLift/ForkLiftDemo.cpp            |   6 +-
 examples/FractureDemo/FractureDemo.cpp        |   6 +-
 examples/GyroscopicDemo/GyroscopicSetup.cpp   |   8 +-
 .../Importers/ImportBsp/ImportBspExample.cpp  |   8 +-
 .../Importers/ImportBullet/SerializeSetup.cpp |   6 +-
 .../ImportColladaDemo/ImportColladaSetup.cpp  |   6 +-
 .../ImportMJCFDemo/ImportMJCFSetup.cpp        |   6 +-
 .../ImportObjDemo/ImportObjExample.cpp        |   6 +-
 .../ImportSDFDemo/ImportSDFSetup.cpp          |   6 +-
 .../ImportSTLDemo/ImportSTLSetup.cpp          |   6 +-
 .../ImportURDFDemo/ImportURDFSetup.cpp        |   6 +-
 .../InverseDynamicsExample.cpp                |   6 +-
 .../InverseKinematicsExample.cpp              |   4 +-
 .../MultiBody/InvertedPendulumPDControl.cpp   |   6 +-
 .../MultiBody/MultiBodyConstraintFeedback.cpp |   6 +-
 examples/MultiBody/MultiBodySoftContact.cpp   |   6 +-
 examples/MultiBody/MultiDofDemo.cpp           |   8 +-
 examples/MultiBody/Pendulum.cpp               |   6 +-
 examples/MultiBody/TestJointTorqueSetup.cpp   |   6 +-
 .../MultiThreadedDemo/MultiThreadedDemo.cpp   |   6 +-
 .../MultiThreading/MultiThreadingExample.cpp  |   4 +-
 examples/OpenCL/broadphase/PairBench.cpp      |   6 +-
 examples/OpenCL/rigidbody/GpuConvexScene.cpp  |   6 +-
 .../OpenCL/rigidbody/GpuRigidBodyDemo.cpp     |   6 +-
 examples/OpenGLWindow/SimpleCamera.cpp        |  22 +--
 examples/Planar2D/Planar2D.cpp                |   6 +-
 examples/Raycast/RaytestDemo.cpp              |   6 +-
 .../CoordinateSystemDemo.cpp                  |   4 +-
 .../DynamicTexturedCubeDemo.cpp               |   4 +-
 .../RenderInstancingDemo.cpp                  |   4 +-
 .../RenderingExamples/TinyRendererSetup.cpp   |   6 +-
 examples/RigidBody/RigidBodySoftContact.cpp   |   6 +-
 .../RoboticsLearning/GripperGraspExample.cpp  |   4 +-
 .../RoboticsLearning/KukaGraspExample.cpp     |   4 +-
 .../RoboticsLearning/R2D2GraspExample.cpp     |   4 +-
 .../RollingFrictionDemo.cpp                   |   6 +-
 examples/SharedMemory/PhysicsClientC_API.cpp  | 184 +++++++++++-------
 examples/SharedMemory/PhysicsClientC_API.h    |   2 +
 .../SharedMemory/PhysicsClientExample.cpp     |  30 ++-
 .../PhysicsServerCommandProcessor.cpp         |   2 +-
 .../SharedMemory/PhysicsServerExample.cpp     |  10 +-
 .../TinyRendererVisualShapeConverter.cpp      |   8 +-
 .../TinyRendererVisualShapeConverter.h        |   2 +-
 examples/SoftDemo/SoftDemo.cpp                |   6 +-
 examples/Tutorial/Dof6ConstraintTutorial.cpp  |   6 +-
 examples/Tutorial/Tutorial.cpp                |   4 +-
 examples/Vehicles/Hinge2Vehicle.cpp           |   6 +-
 .../VoronoiFracture/VoronoiFractureDemo.cpp   |   6 +-
 .../examples/kuka_with_cube_playback.py       |   2 +-
 74 files changed, 347 insertions(+), 281 deletions(-)

diff --git a/data/multibody.bullet b/data/multibody.bullet
index 4b0debb4b5f8f3449adb320a1b9bd31b724242d5..0dee8f14afc067fbc54030a22bd9941df44f6edd 100644
GIT binary patch
delta 510
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zfARtr5etxFm?Vf^Qm_}U7{p)5c@D(4e-U(auj20Mc4=v8_OoWrw3~QAOq_wC!u=3X
zw!xl(5eQ*mvLutbCIiDJ7@uLozlDk*X@lPj6+wavzC-vGv(7LuPM*jl%=-YUB4IC3
zX0jrSHV-pU9SE}k@#F(cCNe-849b2o*n${J&&&2L$e+5)Lf+M3vH`0|E=Vw&J1!PP
zgTR5<1z=ktJXC%PP!JdtV1RHq14>AoJ#)sE!9m8231$G425Iu09LS+Oc?+|G4_MF=
zDg~tf{}**;V2CgSikLz~&CDTUFg}EaiZMJ;U$&pgc;9}Iw<b5T>P+@w;oyL1R5-Xf
VhQ)=M6U5u_5Ew9<SF#5i0RWnnb`t;q

delta 601
zcmYk(%Su9F6o%nn_x4nFPD?v!Cu@>Xb}qrnM39Oc1wpr9IBO!^fwHF!n>5y`(FNFr
zG;J)@`^lDE@bIs-bl|t_R=d@D%QtC^nQ|KTQRC;iR{6FHuQfK52VPjP;e#Im1QEgz
zh7raHMlptQOrT$HmG+1FC}uE=7~+`2JQj@EGK(}zNFa%2tY8&uSVsyQ*mPpvRDPE(
zgFWoy0EbW=;{>NTLl&y2`H$KAF^#8)vu(%2$|}E<^Xbjh)F`+Ds~@ascDkN|5AJoK
z!C3({N8DEjP<Z839(|T}UmZ@f4$Faay~}E$@Oo8>s#k~UmyR`1b+@lOEh|yHX3F6l
zCFJpl0`75#8<cV3_P4x6ch+~Ww0B;7X{TfdgMO2=J#3l}_N5i#@6CR7I&IT@50rQQ
E0JCp{A^-pY

diff --git a/examples/BasicDemo/BasicExample.cpp b/examples/BasicDemo/BasicExample.cpp
index dac3008f0..0f243d6a4 100644
--- a/examples/BasicDemo/BasicExample.cpp
+++ b/examples/BasicDemo/BasicExample.cpp
@@ -39,10 +39,10 @@ struct BasicExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 4;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/Benchmarks/BenchmarkDemo.cpp b/examples/Benchmarks/BenchmarkDemo.cpp
index d9a1b3ef0..a50967441 100644
--- a/examples/Benchmarks/BenchmarkDemo.cpp
+++ b/examples/Benchmarks/BenchmarkDemo.cpp
@@ -110,10 +110,10 @@ class BenchmarkDemo : public CommonRigidBodyMTBase
 	void resetCamera()
 	{
 		float dist = 120;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,10.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
@@ -1315,4 +1315,4 @@ void	BenchmarkDemo::exitPhysics()
 CommonExampleInterface*    BenchmarkCreateFunc(struct CommonExampleOptions& options)
 {
 	return new BenchmarkDemo(options.m_guiHelper,options.m_option);
-}
\ No newline at end of file
+}
diff --git a/examples/Collision/CollisionTutorialBullet2.cpp b/examples/Collision/CollisionTutorialBullet2.cpp
index 8fd3bf1a8..8159f89ee 100644
--- a/examples/Collision/CollisionTutorialBullet2.cpp
+++ b/examples/Collision/CollisionTutorialBullet2.cpp
@@ -371,8 +371,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 10.5;
-		float pitch = 136;
-		float yaw = 32;
+		float pitch = -32;
+		float yaw = 136;
 		float targetPos[3]={0,0,0};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index 24b4a301c..2a07e2cbc 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -55,7 +55,7 @@ struct GUIHelperInterface
 
 	virtual void setUpAxis(int axis)=0;
 
-	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
 
 	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
 	{
@@ -151,7 +151,7 @@ struct DummyGUIHelper : public GUIHelperInterface
 	virtual void setUpAxis(int axis)
 	{
 	}
-	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 	{
 	}
 
diff --git a/examples/CommonInterfaces/CommonGraphicsAppInterface.h b/examples/CommonInterfaces/CommonGraphicsAppInterface.h
index e1c4182c6..23118d1ac 100644
--- a/examples/CommonInterfaces/CommonGraphicsAppInterface.h
+++ b/examples/CommonInterfaces/CommonGraphicsAppInterface.h
@@ -201,10 +201,10 @@ struct CommonGraphicsApp
 				{
 		//			if (b3Fabs(xDelta)>b3Fabs(yDelta))
 		//			{
-						pitch -= xDelta*m_mouseMoveMultiplier;
+						pitch -= yDelta*m_mouseMoveMultiplier;
 		//			} else
 		//			{
-						yaw += yDelta*m_mouseMoveMultiplier;
+						yaw -= xDelta*m_mouseMoveMultiplier;
 		//			}
 				}
 
diff --git a/examples/Constraints/ConstraintDemo.cpp b/examples/Constraints/ConstraintDemo.cpp
index 41a888cd4..72ad1a8a6 100644
--- a/examples/Constraints/ConstraintDemo.cpp
+++ b/examples/Constraints/ConstraintDemo.cpp
@@ -50,10 +50,10 @@ class AllConstraintDemo : public  CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 27;
-		float pitch = 720;
-		float yaw = 30;
+		float pitch = -30;
+		float yaw = 720;
 		float targetPos[3]={2,0,-10};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	virtual bool	keyboardCallback(int key, int state);
@@ -885,4 +885,4 @@ bool	AllConstraintDemo::keyboardCallback(int key, int state)
 class CommonExampleInterface*    AllConstraintCreateFunc(struct CommonExampleOptions& options)
 {
 	return new AllConstraintDemo(options.m_guiHelper);
-}
\ No newline at end of file
+}
diff --git a/examples/Constraints/ConstraintPhysicsSetup.cpp b/examples/Constraints/ConstraintPhysicsSetup.cpp
index 71b3b2e97..faf31e204 100644
--- a/examples/Constraints/ConstraintPhysicsSetup.cpp
+++ b/examples/Constraints/ConstraintPhysicsSetup.cpp
@@ -18,10 +18,10 @@ struct ConstraintPhysicsSetup : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 7;
-		float pitch = 721;
-		float yaw = 44;
+		float pitch = -44;
+		float yaw = 721;
 		float targetPos[3]={8,1,-11};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 
diff --git a/examples/Constraints/Dof6Spring2Setup.cpp b/examples/Constraints/Dof6Spring2Setup.cpp
index 0fd8975d4..89129f7a6 100644
--- a/examples/Constraints/Dof6Spring2Setup.cpp
+++ b/examples/Constraints/Dof6Spring2Setup.cpp
@@ -55,10 +55,10 @@ struct Dof6Spring2Setup : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 722;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 722;
 		float targetPos[3]={4,2,-11};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/Constraints/TestHingeTorque.cpp b/examples/Constraints/TestHingeTorque.cpp
index 86217de3f..b22cfb55e 100644
--- a/examples/Constraints/TestHingeTorque.cpp
+++ b/examples/Constraints/TestHingeTorque.cpp
@@ -24,10 +24,10 @@ struct TestHingeTorque : public CommonRigidBodyBase
 	{
     
         float dist = 5;
-        float pitch = 270;
-        float yaw = 21;
+        float pitch = -21;
+        float yaw = 270;
         float targetPos[3]={-1.34,3.4,-0.44};
-        m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+        m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 
diff --git a/examples/DynamicControlDemo/MotorDemo.cpp b/examples/DynamicControlDemo/MotorDemo.cpp
index 84284c534..d4025461e 100644
--- a/examples/DynamicControlDemo/MotorDemo.cpp
+++ b/examples/DynamicControlDemo/MotorDemo.cpp
@@ -63,10 +63,10 @@ public:
 	void resetCamera()
 	{
 		float dist = 11;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
@@ -447,4 +447,4 @@ void MotorDemo::exitPhysics()
 class CommonExampleInterface*    MotorControlCreateFunc(struct CommonExampleOptions& options)
 {
 	return new MotorDemo(options.m_guiHelper);
-}
\ No newline at end of file
+}
diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index 8e1afca90..420ef7e22 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -145,10 +145,10 @@ public:
 	void resetCamera()
 	{
 		float dist = 11;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	// Evaluation
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 105ab64a6..3789532c4 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -973,7 +973,7 @@ void OpenGLGuiHelper::setVisualizerFlag(int flag, int enable)
 }
 
 
-void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+void OpenGLGuiHelper::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 {
 	if (getRenderInterface() && getRenderInterface()->getActiveCamera())
 	{
@@ -1222,4 +1222,4 @@ void	OpenGLGuiHelper::dumpFramesToVideo(const char* mp4FileName)
 	{
 		m_data->m_glApp->dumpFramesToVideo(mp4FileName);
 	}
-}
\ No newline at end of file
+}
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 182027daa..9094fc3ac 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -46,7 +46,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual void setUpAxis(int axis);
 	
     
-	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
 	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const;
 
 	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
diff --git a/examples/ExtendedTutorials/Bridge.cpp b/examples/ExtendedTutorials/Bridge.cpp
index 269b5c4d0..41fe55290 100644
--- a/examples/ExtendedTutorials/Bridge.cpp
+++ b/examples/ExtendedTutorials/Bridge.cpp
@@ -35,10 +35,10 @@ struct BridgeExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/ExtendedTutorials/Chain.cpp b/examples/ExtendedTutorials/Chain.cpp
index e78952db9..73d2eb7e7 100644
--- a/examples/ExtendedTutorials/Chain.cpp
+++ b/examples/ExtendedTutorials/Chain.cpp
@@ -35,10 +35,10 @@ struct ChainExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/ExtendedTutorials/InclinedPlane.cpp b/examples/ExtendedTutorials/InclinedPlane.cpp
index 343ebc3ae..d6322f034 100644
--- a/examples/ExtendedTutorials/InclinedPlane.cpp
+++ b/examples/ExtendedTutorials/InclinedPlane.cpp
@@ -62,10 +62,10 @@ struct InclinedPlaneExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 
diff --git a/examples/ExtendedTutorials/MultiPendulum.cpp b/examples/ExtendedTutorials/MultiPendulum.cpp
index b45eee755..7dfdffea3 100644
--- a/examples/ExtendedTutorials/MultiPendulum.cpp
+++ b/examples/ExtendedTutorials/MultiPendulum.cpp
@@ -58,10 +58,10 @@ struct MultiPendulumExample: public CommonRigidBodyBase {
 	virtual void applyPendulumForce(btScalar pendulumForce);
 	void resetCamera() {
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3] = { 0, 0.46, 0 };
-		m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1],
 			targetPos[2]);
 	}
 
diff --git a/examples/ExtendedTutorials/MultipleBoxes.cpp b/examples/ExtendedTutorials/MultipleBoxes.cpp
index c9555936a..8db651aa0 100644
--- a/examples/ExtendedTutorials/MultipleBoxes.cpp
+++ b/examples/ExtendedTutorials/MultipleBoxes.cpp
@@ -35,10 +35,10 @@ struct MultipleBoxesExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/ExtendedTutorials/NewtonsCradle.cpp b/examples/ExtendedTutorials/NewtonsCradle.cpp
index 54be8367a..92924bc7d 100644
--- a/examples/ExtendedTutorials/NewtonsCradle.cpp
+++ b/examples/ExtendedTutorials/NewtonsCradle.cpp
@@ -58,10 +58,10 @@ struct NewtonsCradleExample: public CommonRigidBodyBase {
 	virtual void applyPendulumForce(btScalar pendulumForce);
 	void resetCamera() {
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3] = { 0, 0.46, 0 };
-		m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1],
 			targetPos[2]);
 	}
 
diff --git a/examples/ExtendedTutorials/NewtonsRopeCradle.cpp b/examples/ExtendedTutorials/NewtonsRopeCradle.cpp
index 76eb115ea..8786ebed7 100644
--- a/examples/ExtendedTutorials/NewtonsRopeCradle.cpp
+++ b/examples/ExtendedTutorials/NewtonsRopeCradle.cpp
@@ -90,10 +90,10 @@ struct NewtonsRopeCradleExample : public CommonRigidBodyBase {
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	std::vector<btSliderConstraint*> constraints;
diff --git a/examples/ExtendedTutorials/RigidBodyFromObj.cpp b/examples/ExtendedTutorials/RigidBodyFromObj.cpp
index 9e09f9dd9..7d2a59b91 100644
--- a/examples/ExtendedTutorials/RigidBodyFromObj.cpp
+++ b/examples/ExtendedTutorials/RigidBodyFromObj.cpp
@@ -43,10 +43,10 @@ struct RigidBodyFromObjExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 11;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/ExtendedTutorials/SimpleBox.cpp b/examples/ExtendedTutorials/SimpleBox.cpp
index 474a507f0..49e252739 100644
--- a/examples/ExtendedTutorials/SimpleBox.cpp
+++ b/examples/ExtendedTutorials/SimpleBox.cpp
@@ -35,10 +35,10 @@ struct SimpleBoxExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/ExtendedTutorials/SimpleCloth.cpp b/examples/ExtendedTutorials/SimpleCloth.cpp
index 33a3815b1..ec0dd337c 100644
--- a/examples/ExtendedTutorials/SimpleCloth.cpp
+++ b/examples/ExtendedTutorials/SimpleCloth.cpp
@@ -61,10 +61,10 @@ struct SimpleClothExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	void createSoftBody(const btScalar size, const int num_x, const int num_z, const int fixed=1+2);
diff --git a/examples/ExtendedTutorials/SimpleJoint.cpp b/examples/ExtendedTutorials/SimpleJoint.cpp
index da30449b4..1a76f20ec 100644
--- a/examples/ExtendedTutorials/SimpleJoint.cpp
+++ b/examples/ExtendedTutorials/SimpleJoint.cpp
@@ -35,10 +35,10 @@ struct SimpleJointExample : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/ForkLift/ForkLiftDemo.cpp b/examples/ForkLift/ForkLiftDemo.cpp
index e993462ef..bac041662 100644
--- a/examples/ForkLift/ForkLiftDemo.cpp
+++ b/examples/ForkLift/ForkLiftDemo.cpp
@@ -144,10 +144,10 @@ class ForkLiftDemo  : public CommonExampleInterface
 	virtual void resetCamera()
 	{
 		float dist = 8;
-		float pitch = -45;
-		float yaw = 32;
+		float pitch = -32;
+		float yaw = -45;
 		float targetPos[3]={-0.33,-0.72,4.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	/*static DemoApplication* Create()
diff --git a/examples/FractureDemo/FractureDemo.cpp b/examples/FractureDemo/FractureDemo.cpp
index 849914e85..4e46f472c 100644
--- a/examples/FractureDemo/FractureDemo.cpp
+++ b/examples/FractureDemo/FractureDemo.cpp
@@ -90,10 +90,10 @@ public:
 	void resetCamera()
 	{
 		float dist = 41;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 	
diff --git a/examples/GyroscopicDemo/GyroscopicSetup.cpp b/examples/GyroscopicDemo/GyroscopicSetup.cpp
index e8eb55026..5ef115678 100644
--- a/examples/GyroscopicDemo/GyroscopicSetup.cpp
+++ b/examples/GyroscopicDemo/GyroscopicSetup.cpp
@@ -21,10 +21,10 @@ struct GyroscopicSetup : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 20;
-		float pitch = 180;
-		float yaw = 16;
+		float pitch = -16;
+		float yaw = 180;
 		float targetPos[3]={-2.4,0.4,-0.24};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };
@@ -135,4 +135,4 @@ void GyroscopicSetup::physicsDebugDraw(int debugFlags)
 class CommonExampleInterface*    GyroscopicCreateFunc(CommonExampleOptions& options)
 {
 	return new GyroscopicSetup(options.m_guiHelper);
-}
\ No newline at end of file
+}
diff --git a/examples/Importers/ImportBsp/ImportBspExample.cpp b/examples/Importers/ImportBsp/ImportBspExample.cpp
index eec8a4fb9..31b4cb41b 100644
--- a/examples/Importers/ImportBsp/ImportBspExample.cpp
+++ b/examples/Importers/ImportBsp/ImportBspExample.cpp
@@ -67,10 +67,10 @@ class BspDemo : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 43;
-		float pitch = -175;
-		float yaw = 12;
+		float pitch = -12;
+		float yaw = -175;
 		float targetPos[3]={4,-25,-6};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 
@@ -301,4 +301,4 @@ static DemoApplication* Create()
 		demo->initPhysics("BspDemo.bsp");
 		return demo;
 	}
-	*/
\ No newline at end of file
+	*/
diff --git a/examples/Importers/ImportBullet/SerializeSetup.cpp b/examples/Importers/ImportBullet/SerializeSetup.cpp
index 460d27192..0d6931e4f 100644
--- a/examples/Importers/ImportBullet/SerializeSetup.cpp
+++ b/examples/Importers/ImportBullet/SerializeSetup.cpp
@@ -22,10 +22,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 9.5;
-		float pitch = -2.8;
-		float yaw = 20;
+		float pitch = -20;
+		float yaw = -2.8;
 		float targetPos[3]={-0.2,-1.4,3.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };
diff --git a/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp b/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp
index 4b0292c74..453d16298 100644
--- a/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp
+++ b/examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp
@@ -41,10 +41,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 16;
-		float pitch = -140;
-		float yaw = 28;
+		float pitch = -28;
+		float yaw = -140;
 		float targetPos[3]={-4,-3,-3};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };
diff --git a/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
index c533d8062..64c226811 100644
--- a/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
+++ b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
@@ -38,10 +38,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = -136;
-		float yaw = 28;
+		float pitch = -28;
+		float yaw = -136;
 		float targetPos[3]={0.47,0,-0.64};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/Importers/ImportObjDemo/ImportObjExample.cpp b/examples/Importers/ImportObjDemo/ImportObjExample.cpp
index 2fc11afa3..e049f5f0f 100644
--- a/examples/Importers/ImportObjDemo/ImportObjExample.cpp
+++ b/examples/Importers/ImportObjDemo/ImportObjExample.cpp
@@ -29,10 +29,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 18;
-		float pitch = 120;
-		float yaw = 46;
+		float pitch = -46;
+		float yaw = 120;
 		float targetPos[3]={-2,-2,-2};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };
diff --git a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
index 4248cbdb3..412024c5e 100644
--- a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
+++ b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
@@ -50,10 +50,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = -136;
-		float yaw = 28;
+		float pitch = -28;
+		float yaw = -136;
 		float targetPos[3]={0.47,0,-0.64};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp b/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp
index c05138ef1..3edcd30bd 100644
--- a/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp
+++ b/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp
@@ -25,10 +25,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = -136;
-		float yaw = 28;
+		float pitch = -28;
+		float yaw = -136;
 		float targetPos[3]={0.47,0,-0.64};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index a3d8a608f..8149f59ec 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -50,10 +50,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = -136;
-		float yaw = 28;
+		float pitch = -28;
+		float yaw = -136;
 		float targetPos[3]={0.47,0,-0.64};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index f6e3af618..323f52dde 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -87,10 +87,10 @@ public:
     virtual void resetCamera()
     {
         float dist = 1.5;
-        float pitch = -80;
-        float yaw = 10;
+        float pitch = -10;
+        float yaw = -80;
         float targetPos[3]={0,0,0};
-        m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+        m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
     }
 };
 
diff --git a/examples/InverseKinematics/InverseKinematicsExample.cpp b/examples/InverseKinematics/InverseKinematicsExample.cpp
index 496013188..9f2eae900 100644
--- a/examples/InverseKinematics/InverseKinematicsExample.cpp
+++ b/examples/InverseKinematics/InverseKinematicsExample.cpp
@@ -313,8 +313,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 1.3;
-		float pitch = 120;
-		float yaw = 13;
+		float pitch = -13;
+		float yaw = 120;
 		float targetPos[3]={-0.35,0.14,0.25};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/MultiBody/InvertedPendulumPDControl.cpp b/examples/MultiBody/InvertedPendulumPDControl.cpp
index de9fc122f..8031e773d 100644
--- a/examples/MultiBody/InvertedPendulumPDControl.cpp
+++ b/examples/MultiBody/InvertedPendulumPDControl.cpp
@@ -30,10 +30,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
-		float yaw = 21;
+		float pitch = -21;
+		float yaw = 270;
 		float targetPos[3]={-1.34,1.4,3.44};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 
diff --git a/examples/MultiBody/MultiBodyConstraintFeedback.cpp b/examples/MultiBody/MultiBodyConstraintFeedback.cpp
index 511aad6ec..c08d98f72 100644
--- a/examples/MultiBody/MultiBodyConstraintFeedback.cpp
+++ b/examples/MultiBody/MultiBodyConstraintFeedback.cpp
@@ -26,10 +26,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
-		float yaw = 21;
+		float pitch = -21;
+		float yaw = 270;
 		float targetPos[3]={-1.34,3.4,-0.44};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 
diff --git a/examples/MultiBody/MultiBodySoftContact.cpp b/examples/MultiBody/MultiBodySoftContact.cpp
index 7d5a17bc9..0ffcaf1f5 100644
--- a/examples/MultiBody/MultiBodySoftContact.cpp
+++ b/examples/MultiBody/MultiBodySoftContact.cpp
@@ -27,10 +27,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
-		float yaw = 21;
+		float pitch = -21;
+		float yaw = 270;
 		float targetPos[3]={0,0,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 
diff --git a/examples/MultiBody/MultiDofDemo.cpp b/examples/MultiBody/MultiDofDemo.cpp
index 4a6510e7d..86d893f73 100644
--- a/examples/MultiBody/MultiDofDemo.cpp
+++ b/examples/MultiBody/MultiDofDemo.cpp
@@ -34,10 +34,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 1;
-		float pitch = 50;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 50;
 		float targetPos[3]={-3,2.8,-2.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 
@@ -446,4 +446,4 @@ void MultiDofDemo::addBoxes_testMultiDof()
 class CommonExampleInterface*    MultiDofCreateFunc(struct CommonExampleOptions& options)
 {
 	return new MultiDofDemo(options.m_guiHelper);
-}
\ No newline at end of file
+}
diff --git a/examples/MultiBody/Pendulum.cpp b/examples/MultiBody/Pendulum.cpp
index ecfe989ba..2a52c936f 100644
--- a/examples/MultiBody/Pendulum.cpp
+++ b/examples/MultiBody/Pendulum.cpp
@@ -40,10 +40,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
-		float yaw = 21;
+		float pitch = -21;
+		float yaw = 270;
 		float targetPos[3]={0,0,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 	
diff --git a/examples/MultiBody/TestJointTorqueSetup.cpp b/examples/MultiBody/TestJointTorqueSetup.cpp
index 61142eaa7..25d0456d2 100644
--- a/examples/MultiBody/TestJointTorqueSetup.cpp
+++ b/examples/MultiBody/TestJointTorqueSetup.cpp
@@ -27,10 +27,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 270;
-		float yaw = 21;
+		float pitch = -21;
+		float yaw = 270;
 		float targetPos[3]={-1.34,3.4,-0.44};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 
diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
index 3dff09ae8..c9190dff0 100644
--- a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
+++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
@@ -98,8 +98,8 @@ public:
     virtual void resetCamera() BT_OVERRIDE
 	{
         m_guiHelper->resetCamera( m_cameraDist,
-                                  m_cameraPitch,
                                   m_cameraYaw,
+                                  m_cameraPitch,
                                   m_cameraTargetPos.x(),
                                   m_cameraTargetPos.y(),
                                   m_cameraTargetPos.z()
@@ -115,8 +115,8 @@ MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper)
     m_groundBody = NULL;
     m_groundMovePhase = 0.0f;
     m_cameraTargetPos = btVector3( 0.0f, 0.0f, 0.0f );
-    m_cameraPitch = 90.0f;
-    m_cameraYaw = 30.0f;
+    m_cameraPitch = -30.0f;
+    m_cameraYaw = 90.0f;
     m_cameraDist = 48.0f;
     helper->setUpAxis( kUpAxis );
 }
diff --git a/examples/MultiThreading/MultiThreadingExample.cpp b/examples/MultiThreading/MultiThreadingExample.cpp
index 381453c1e..92dea68c5 100644
--- a/examples/MultiThreading/MultiThreadingExample.cpp
+++ b/examples/MultiThreading/MultiThreadingExample.cpp
@@ -304,8 +304,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 10.5;
-		float pitch = 136;
-		float yaw = 32;
+		float pitch = -32;
+		float yaw = 136;
 		float targetPos[3]={0,0,0};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/OpenCL/broadphase/PairBench.cpp b/examples/OpenCL/broadphase/PairBench.cpp
index f1c8ac5c5..55074f48f 100644
--- a/examples/OpenCL/broadphase/PairBench.cpp
+++ b/examples/OpenCL/broadphase/PairBench.cpp
@@ -71,10 +71,10 @@ public:
 			dist = 130;
 		}
 
-		float pitch = 62;
-		float yaw = 33;
+		float pitch = -33;
+		float yaw = 62;
 		float targetPos[4]={15.5,12.5,15.5,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 };
diff --git a/examples/OpenCL/rigidbody/GpuConvexScene.cpp b/examples/OpenCL/rigidbody/GpuConvexScene.cpp
index 796a9922d..78a3beb86 100644
--- a/examples/OpenCL/rigidbody/GpuConvexScene.cpp
+++ b/examples/OpenCL/rigidbody/GpuConvexScene.cpp
@@ -150,8 +150,8 @@ void GpuConvexScene::setupScene()
 	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPos[0],camPos[1],camPos[2]);
 	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(150);
 	//m_instancingRenderer->setCameraYaw(85);
-	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraYaw(30);
-	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(225);
+	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraYaw(225);
+	m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(-30);
 	
 
 	m_guiHelper->getRenderInterface()->updateCamera(1);//>updateCamera();
@@ -657,4 +657,4 @@ int	GpuTetraScene::createDynamicsObjects()
 class CommonExampleInterface*    OpenCLBoxBoxCreateFunc(struct CommonExampleOptions& options)
 {
 	return new GpuBoxPlaneScene(options.m_guiHelper);
-}
\ No newline at end of file
+}
diff --git a/examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp b/examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp
index 79504f331..004866850 100644
--- a/examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp
+++ b/examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp
@@ -86,10 +86,10 @@ m_window(0)
 void GpuRigidBodyDemo::resetCamera()
 {
 	float dist = 114;
-	float pitch = 52;
-	float yaw = 35;
+	float pitch = -35;
+	float yaw = 52;
 	float targetPos[3]={0,0,0};
-	m_data->m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	m_data->m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 }
 
 GpuRigidBodyDemo::~GpuRigidBodyDemo()
diff --git a/examples/OpenGLWindow/SimpleCamera.cpp b/examples/OpenGLWindow/SimpleCamera.cpp
index 697f7ce65..62c48872b 100644
--- a/examples/OpenGLWindow/SimpleCamera.cpp
+++ b/examples/OpenGLWindow/SimpleCamera.cpp
@@ -205,7 +205,11 @@ int		SimpleCamera::getCameraUpAxis() const
 
 void SimpleCamera::update()
 {
-
+	b3Scalar yawRad = m_data->m_yaw * b3Scalar(0.01745329251994329547);// rads per deg
+	b3Scalar pitchRad = m_data->m_pitch * b3Scalar(0.01745329251994329547);// rads per deg
+	b3Scalar rollRad = 0.0;
+	b3Quaternion eyeRot;
+	
 	int forwardAxis(-1);
 	switch (m_data->m_cameraUpAxis)
 	{
@@ -213,11 +217,13 @@ void SimpleCamera::update()
     	forwardAxis = 2;
     	m_data->m_cameraUp = b3MakeVector3(0,1,0);
     	//gLightPos = b3MakeVector3(-50.f,100,30);
+		eyeRot.setEulerZYX(rollRad, yawRad, -pitchRad);
     	break;
     case 2:
 		forwardAxis = 1;
 		m_data->m_cameraUp = b3MakeVector3(0,0,1);
 		//gLightPos = b3MakeVector3(-50.f,30,100);
+		eyeRot.setEulerZYX(yawRad, rollRad, pitchRad);
 		break;
     default:
 		{
@@ -238,19 +244,7 @@ void SimpleCamera::update()
 		m_data->m_cameraForward.normalize();
 	}
 	
-
-//    m_azi=m_azi+0.01;
-	b3Scalar rele = m_data->m_yaw * b3Scalar(0.01745329251994329547);// rads per deg
-	b3Scalar razi = m_data->m_pitch * b3Scalar(0.01745329251994329547);// rads per deg
-
-
-	b3Quaternion rot(m_data->m_cameraUp,razi);
-
-	
-	b3Vector3 right = m_data->m_cameraUp.cross(m_data->m_cameraForward);
-	b3Quaternion roll(right,-rele);
-
-	eyePos = b3Matrix3x3(rot) * b3Matrix3x3(roll) * eyePos;
+	eyePos = b3Matrix3x3(eyeRot)*eyePos;
 
 	m_data->m_cameraPosition = eyePos;
 	m_data->m_cameraPosition+= m_data->m_cameraTargetPosition;
diff --git a/examples/Planar2D/Planar2D.cpp b/examples/Planar2D/Planar2D.cpp
index c9fa4959f..5b2c0eac8 100644
--- a/examples/Planar2D/Planar2D.cpp
+++ b/examples/Planar2D/Planar2D.cpp
@@ -96,10 +96,10 @@ class Planar2D : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 9;
-		float pitch = 539;
-		float yaw = 11;
+		float pitch = -11;
+		float yaw = 539;
 		float targetPos[3]={8.6,10.5,-20.6};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 	
diff --git a/examples/Raycast/RaytestDemo.cpp b/examples/Raycast/RaytestDemo.cpp
index 5bf458d7e..9ba1b74d8 100644
--- a/examples/Raycast/RaytestDemo.cpp
+++ b/examples/Raycast/RaytestDemo.cpp
@@ -55,10 +55,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 18;
-		float pitch = 129;
-		float yaw = 30;
+		float pitch = -30;
+		float yaw = 129;
 		float targetPos[3]={-4.6,-4.7,-5.75};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 };
diff --git a/examples/RenderingExamples/CoordinateSystemDemo.cpp b/examples/RenderingExamples/CoordinateSystemDemo.cpp
index 7f35af853..148db5674 100644
--- a/examples/RenderingExamples/CoordinateSystemDemo.cpp
+++ b/examples/RenderingExamples/CoordinateSystemDemo.cpp
@@ -143,8 +143,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3.5;
-		float pitch = 136;
-		float yaw = 32;
+		float pitch = -32;
+		float yaw = 136;
 		float targetPos[3]={0,0,0};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp b/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
index 607541b7f..44d005f18 100644
--- a/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
+++ b/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
@@ -121,8 +121,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 1.15;
-		float pitch = 396;
-		float yaw = 33.7;
+		float pitch = -33.7;
+		float yaw = 396;
 		float targetPos[3]={-0.5,0.7,1.45};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/RenderingExamples/RenderInstancingDemo.cpp b/examples/RenderingExamples/RenderInstancingDemo.cpp
index aa0d40f2b..069ac46bb 100644
--- a/examples/RenderingExamples/RenderInstancingDemo.cpp
+++ b/examples/RenderingExamples/RenderInstancingDemo.cpp
@@ -128,8 +128,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 13;
-		float pitch = 50;
-		float yaw = 13;
+		float pitch = -13;
+		float yaw = 50;
 		float targetPos[3]={-1,0,-0.3};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp
index 0a3025a63..80584c9a8 100644
--- a/examples/RenderingExamples/TinyRendererSetup.cpp
+++ b/examples/RenderingExamples/TinyRendererSetup.cpp
@@ -137,10 +137,10 @@ struct TinyRendererSetup : public CommonExampleInterface
 	void resetCamera()
 	{
 		float dist = 11;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 };
diff --git a/examples/RigidBody/RigidBodySoftContact.cpp b/examples/RigidBody/RigidBodySoftContact.cpp
index f44c8a987..2d2cf1fc3 100644
--- a/examples/RigidBody/RigidBodySoftContact.cpp
+++ b/examples/RigidBody/RigidBodySoftContact.cpp
@@ -47,10 +47,10 @@ struct RigidBodySoftContact : public CommonRigidBodyBase
 	void resetCamera()
 	{
 		float dist = 3;
-		float pitch = 52;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 52;
 		float targetPos[3]={0,0.46,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp
index a01993c93..075185d61 100644
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -496,8 +496,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 1.5;
-        float pitch = 18;
-        float yaw = 10;
+        float pitch = -10;
+        float yaw = 18;
 		float targetPos[3]={-0.2,0.8,0.3};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/RoboticsLearning/KukaGraspExample.cpp b/examples/RoboticsLearning/KukaGraspExample.cpp
index abb3005d1..1bf00785d 100644
--- a/examples/RoboticsLearning/KukaGraspExample.cpp
+++ b/examples/RoboticsLearning/KukaGraspExample.cpp
@@ -283,8 +283,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3;
-		float pitch = 0;
-		float yaw = 30;
+		float pitch = -30;
+		float yaw = 0;
 		float targetPos[3]={-0.2,0.8,0.3};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/RoboticsLearning/R2D2GraspExample.cpp b/examples/RoboticsLearning/R2D2GraspExample.cpp
index ad14ceec5..d5896ab4e 100644
--- a/examples/RoboticsLearning/R2D2GraspExample.cpp
+++ b/examples/RoboticsLearning/R2D2GraspExample.cpp
@@ -188,8 +188,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 3;
-		float pitch = -75;
-		float yaw = 30;
+		float pitch = -30;
+		float yaw = -75;
 		float targetPos[3]={-0.2,0.8,0.3};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
index 65a2404d3..be837ab5a 100644
--- a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
+++ b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
@@ -59,10 +59,10 @@ public:
 	void resetCamera()
 	{
 		float dist = 35;
-		float pitch = 0;
-		float yaw = 14;
+		float pitch = -14;
+		float yaw = 0;
 		float targetPos[3]={0,0,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 };
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index d438a906f..b4f5c0a9d 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1930,6 +1930,86 @@ void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, in
     command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
 }
 
+void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float* cameraDistance, float* cameraYaw, float* cameraPitch)
+{
+	b3Vector3 camPos = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
+	b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
+	b3Vector3 camUpVector = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]);
+	camUpVector.normalize();
+	
+	*cameraDistance = (camPos - camTargetPos).length();
+	
+	b3Vector3 eyePos = camPos - camTargetPos;
+	b3Vector3 eyeInitPos = b3MakeVector3(0, 0, 0);
+	
+	int forwardAxis = -1;
+	
+	switch (upAxis)
+	{
+		case 1:
+			forwardAxis = 2;
+			break;
+		case 2:
+			forwardAxis = 1;
+			break;
+		default:
+			return;
+	};
+	
+	eyeInitPos[forwardAxis] = -(*cameraDistance);
+	eyeInitPos.normalize();
+	eyePos.normalize();
+	
+	b3Quaternion rot = b3ShortestArcQuat(eyeInitPos, eyePos);
+	btScalar yawRad;
+	btScalar pitchRad;
+	btScalar rollRad;
+	
+	switch (upAxis)
+	{
+		case 1:
+			rot.getEulerZYX(rollRad, yawRad, pitchRad);
+			pitchRad = -pitchRad;
+			break;
+		case 2:
+			rot.getEulerZYX(yawRad, rollRad, pitchRad);
+			break;
+		default:
+			return;
+	};
+	
+	*cameraYaw = yawRad/b3Scalar(0.01745329251994329547);
+	*cameraPitch = pitchRad/b3Scalar(0.01745329251994329547);
+	float cameraRoll = rollRad/b3Scalar(0.01745329251994329547);
+	printf("camera roll: %f\n", cameraRoll);
+}
+
+void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
+{
+	b3Matrix3x3 r(viewMatrix[0], viewMatrix[4], viewMatrix[8], viewMatrix[1], viewMatrix[5], viewMatrix[9], viewMatrix[2], viewMatrix[6], viewMatrix[10]);
+	b3Vector3 p = b3MakeVector3(viewMatrix[12], viewMatrix[13], viewMatrix[14]);
+	b3Transform t(r,p);
+	b3Transform tinv = t.inverse();
+	b3Matrix3x3 basis = tinv.getBasis();
+	b3Vector3 origin = tinv.getOrigin();
+	printf("basis: %f, %f, %f, %f, %f, %f, %f, %f, %f\n", basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2], basis[2][0], basis[2][1], basis[2][2]);
+	printf("origin: %f, %f, %f\n", origin[0], origin[1], origin[2]);
+	b3Vector3 s = b3MakeVector3(basis[0][0], basis[1][0], basis[2][0]);
+	b3Vector3 u = b3MakeVector3(basis[0][1], basis[1][1], basis[2][1]);
+	b3Vector3 f = b3MakeVector3(-basis[0][2], -basis[1][2], -basis[2][2]);
+	b3Vector3 eye = origin;
+	cameraPosition[0] = eye[0];
+	cameraPosition[1] = eye[1];
+	cameraPosition[2] = eye[2];
+	b3Vector3 center = f + eye;
+	cameraTargetPosition[0] = center[0];
+	cameraTargetPosition[1] = center[1];
+	cameraTargetPosition[2] = center[2];
+	cameraUp[0] = u[0];
+	cameraUp[1] = u[1];
+	cameraUp[2] = u[2];
+}
+
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
 {
 	b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
@@ -1970,77 +2050,43 @@ void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], fl
 	b3Vector3 camPos;
 	b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
 	b3Vector3 eyePos = b3MakeVector3(0, 0, 0);
-
-	int forwardAxis(-1);
-
-	{
-
-		switch (upAxis)
-		{
-
-		case 1:
-		{
-
-
-			forwardAxis = 0;
-			eyePos[forwardAxis] = -distance;
-			camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
-			if (camForward.length2() < B3_EPSILON)
-			{
-				camForward.setValue(1.f, 0.f, 0.f);
-			}
-			else
-			{
-				camForward.normalize();
-			}
-			b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
-			b3Quaternion rollRot(camForward, rollRad);
-
-			camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 1, 0));
-			//gLightPos = b3MakeVector3(-50.f,100,30);
-			break;
-		}
-		case 2:
-		{
-
-
-			forwardAxis = 1;
-			eyePos[forwardAxis] = -distance;
-			camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]);
-			if (camForward.length2() < B3_EPSILON)
-			{
-				camForward.setValue(1.f, 0.f, 0.f);
-			}
-			else
-			{
-				camForward.normalize();
-			}
-
-			b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547);
-			b3Quaternion rollRot(camForward, rollRad);
-
-			camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 0, 1));
-			//gLightPos = b3MakeVector3(-50.f,30,100);
-			break;
-		}
-		default:
-		{
-			//b3Assert(0);
-			return;
-		}
-		};
-	}
-
-
+	
 	b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);// rads per deg
 	b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);// rads per deg
-
-	b3Quaternion pitchRot(camUpVector, pitchRad);
-
-	b3Vector3 right = camUpVector.cross(camForward);
-	b3Quaternion yawRot(right, -yawRad);
-
-	eyePos = b3Matrix3x3(pitchRot) * b3Matrix3x3(yawRot) * eyePos;
+	b3Scalar rollRad = 0.0;
+	b3Quaternion eyeRot;
+	
+	int forwardAxis(-1);
+	switch (upAxis)
+	{
+		case 1:
+			forwardAxis = 2;
+			camUpVector = b3MakeVector3(0,1,0);
+			eyeRot.setEulerZYX(rollRad, yawRad, -pitchRad);
+			break;
+		case 2:
+			forwardAxis = 1;
+			camUpVector = b3MakeVector3(0,0,1);
+			eyeRot.setEulerZYX(yawRad, rollRad, pitchRad);
+			break;
+		default:
+			return;
+	};
+	
+	eyePos[forwardAxis] = -distance;
+	
+	camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
+	if (camForward.length2() < B3_EPSILON)
+	{
+		camForward.setValue(1.f,0.f,0.f);
+	} else
+	{
+		camForward.normalize();
+	}
+	
+	eyePos = b3Matrix3x3(eyeRot)*eyePos;
+	camUpVector = b3Matrix3x3(eyeRot)*camUpVector;
+	
 	camPos = eyePos;
 	camPos += camTargetPos;
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 6dfe21718..bcb8d06f0 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -161,6 +161,8 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
 ///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]);
 void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]);
+void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3]);
+void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float* cameraDistance, float* cameraYaw, float* cameraPitch);
 
 ///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
 void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]);
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 0a3bc706c..7aa501b58 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -93,10 +93,10 @@ protected:
 	virtual void resetCamera()
 	{
         float dist = 3.45;
-        float pitch = 287;
-        float yaw = 16.2;
+        float pitch = -16.2;
+        float yaw = 287;
         float targetPos[3]={2.05,0.02,0.53};//-3,2.8,-2.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 
 	}
     
@@ -273,6 +273,30 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             ///request an image from a simulated camera, using a software renderer.
             
             b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
+			
+			float cameraPos[3] = {1.0, 1.0, 1.0};
+			float cameraTarget[3] = {2.0, 1.0, 1.0};
+			float cameraUp[3] = {0.0, 0.0, 1.0};
+			float viewMat[16];
+			b3ComputeViewMatrixFromPositions(cameraPos, cameraTarget, cameraUp, viewMat);
+			printf("viewMat: %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n", viewMat[0], viewMat[1], viewMat[2], viewMat[3], viewMat[4], viewMat[5], viewMat[6], viewMat[7], viewMat[8], viewMat[9], viewMat[10], viewMat[11], viewMat[12], viewMat[13], viewMat[14], viewMat[15]);
+			float cameraPos2[3];
+			float cameraTarget2[3];
+			float cameraUp2[3];
+			b3ComputePositionFromViewMatrix(viewMat, cameraPos2, cameraTarget2, cameraUp2);
+			printf("cameraPos2: %f, %f, %f\n", cameraPos2[0], cameraPos2[1], cameraPos2[2]);
+			printf("cameraTarget2: %f, %f, %f\n", cameraTarget2[0], cameraTarget2[1], cameraTarget2[2]);
+			printf("cameraUp2: %f, %f, %f\n", cameraUp2[0], cameraUp2[1], cameraUp2[2]);
+			
+			float cameraDistance;
+			float cameraYaw;
+			float cameraPitch;
+			b3ComputeYawPitchRollFromPosition(cameraPos2, cameraTarget2, cameraUp2, 2, &cameraDistance, &cameraYaw, &cameraPitch);
+			printf("camera distance: %f\n", cameraDistance);
+			printf("camera yaw: %f\n", cameraYaw);
+			printf("camera pitch: %f\n", cameraPitch);
+			
+			b3ComputeViewMatrixFromYawPitchRoll(cameraTarget2, 1.0, -90.0, 0.0, 0.0, 2, viewMat);
             //b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
             
 						float viewMatrix[16];
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 02635029e..d1e3d4ddc 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4517,8 +4517,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     if (clientCmd.m_updateFlags&COV_SET_CAMERA_VIEW_MATRIX)
                     {
                         m_data->m_guiHelper->resetCamera( clientCmd.m_configureOpenGLVisualizerArguments.m_cameraDistance,
-                                                          clientCmd.m_configureOpenGLVisualizerArguments.m_cameraPitch,
                                                           clientCmd.m_configureOpenGLVisualizerArguments.m_cameraYaw,
+                                                          clientCmd.m_configureOpenGLVisualizerArguments.m_cameraPitch,
                                                           clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[0],
                                                           clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1],
                                                           clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2]);
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 772dbd6d4..a372d6600 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1016,9 +1016,9 @@ public:
 	{
 		m_childGuiHelper->setUpAxis(axis);
 	}
-	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 	{
-	    m_childGuiHelper->resetCamera(camDist,pitch,yaw,camPosX,camPosY,camPosZ);
+	    m_childGuiHelper->resetCamera(camDist,yaw,pitch,camPosX,camPosY,camPosZ);
 	}
 
 	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
@@ -1269,10 +1269,10 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 50;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 50;
 		float targetPos[3]={0,0,0};//-3,2.8,-2.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
     virtual bool wantsTermination();
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index 8c03556cf..a9bcd3256 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -115,11 +115,11 @@ TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()
 	m_data = new TinyRendererVisualShapeConverterInternalData();
 	
 	float dist = 1.5;
-	float pitch = -80;
-	float yaw = 10;
+	float pitch = -10;
+	float yaw = -80;
 	float targetPos[3]={0,0,0};
 	m_data->m_camera.setCameraUpAxis(m_data->m_upAxis);
-	resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 
 
 }
@@ -678,7 +678,7 @@ void TinyRendererVisualShapeConverter::setUpAxis(int axis)
     m_data->m_camera.setCameraUpAxis(axis);
     m_data->m_camera.update();
 }
-void TinyRendererVisualShapeConverter::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 {
     m_data->m_camera.setCameraDistance(camDist);
     m_data->m_camera.setCameraPitch(pitch);
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
index 6771dc624..9af426fda 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
@@ -26,7 +26,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 
 	void setUpAxis(int axis);
 	
-    void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
+    void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
 	
     void clearBuffers(struct TGAColor& clearColor);
 
diff --git a/examples/SoftDemo/SoftDemo.cpp b/examples/SoftDemo/SoftDemo.cpp
index 5e3fe7feb..c1e58dfd7 100644
--- a/examples/SoftDemo/SoftDemo.cpp
+++ b/examples/SoftDemo/SoftDemo.cpp
@@ -107,10 +107,10 @@ public:
 	{
 		//@todo depends on current_demo?
 		float dist = 45;
-		float pitch = 27;
-		float yaw = 31;
+		float pitch = -31;
+		float yaw = 27;
 		float targetPos[3]={10-1,0};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	SoftDemo(struct GUIHelperInterface* helper) 
diff --git a/examples/Tutorial/Dof6ConstraintTutorial.cpp b/examples/Tutorial/Dof6ConstraintTutorial.cpp
index 7e3cfcf64..125fd4e61 100644
--- a/examples/Tutorial/Dof6ConstraintTutorial.cpp
+++ b/examples/Tutorial/Dof6ConstraintTutorial.cpp
@@ -56,10 +56,10 @@ struct Dof6ConstraintTutorial : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 5;
-		float pitch = 722;
-		float yaw = 35;
+		float pitch = -35;
+		float yaw = 722;
 		float targetPos[3]={4,2,-11};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 };
 
diff --git a/examples/Tutorial/Tutorial.cpp b/examples/Tutorial/Tutorial.cpp
index 59888e875..f59209a7c 100644
--- a/examples/Tutorial/Tutorial.cpp
+++ b/examples/Tutorial/Tutorial.cpp
@@ -614,8 +614,8 @@ public:
 	virtual void resetCamera()
 	{
 		float dist = 10.5;
-		float pitch = 136;
-		float yaw = 32;
+		float pitch = -32;
+		float yaw = 136;
 		float targetPos[3]={0,0,0};
 		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
 		{
diff --git a/examples/Vehicles/Hinge2Vehicle.cpp b/examples/Vehicles/Hinge2Vehicle.cpp
index 6ea9a179a..a7ecb07af 100644
--- a/examples/Vehicles/Hinge2Vehicle.cpp
+++ b/examples/Vehicles/Hinge2Vehicle.cpp
@@ -121,10 +121,10 @@ class Hinge2Vehicle  : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 8;
-		float pitch = -45;
-		float yaw = 32;
+		float pitch = -32;
+		float yaw = -45;
 		float targetPos[3]={-0.33,-0.72,4.5};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
 	/*static DemoApplication* Create()
diff --git a/examples/VoronoiFracture/VoronoiFractureDemo.cpp b/examples/VoronoiFracture/VoronoiFractureDemo.cpp
index e9d097bb4..5e7212919 100644
--- a/examples/VoronoiFracture/VoronoiFractureDemo.cpp
+++ b/examples/VoronoiFracture/VoronoiFractureDemo.cpp
@@ -108,10 +108,10 @@ class VoronoiFractureDemo : public CommonRigidBodyBase
 	virtual void resetCamera()
 	{
 		float dist = 18;
-		float pitch = 129;
-		float yaw = 30;
+		float pitch = -30;
+		float yaw = 129;
 		float targetPos[3]={-1.5,4.7,-2};
-		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 	
 	
diff --git a/examples/pybullet/examples/kuka_with_cube_playback.py b/examples/pybullet/examples/kuka_with_cube_playback.py
index f84fbc45c..12fdcebdd 100644
--- a/examples/pybullet/examples/kuka_with_cube_playback.py
+++ b/examples/pybullet/examples/kuka_with_cube_playback.py
@@ -77,4 +77,4 @@ for record in log:
         qIndex = jointInfo[3]
         if qIndex > -1:
             p.resetJointState(Id,i,record[qIndex-7+17])
-    sleep(0.0005)
\ No newline at end of file
+    sleep(0.0005)

From 030d723db6a386e97471ff59685130e43f165045 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Thu, 1 Jun 2017 16:48:07 -0700
Subject: [PATCH 061/175] fix some warnings

---
 .../OpenGLWindow/GLInstancingRenderer.cpp     | 48 +++++++++----------
 examples/OpenGLWindow/GLInstancingRenderer.h  |  4 +-
 .../PhysicsServerCommandProcessor.h           |  6 +--
 .../SharedMemory/PhysicsServerSharedMemory.h  |  4 +-
 4 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 5a5cca73d..b73b9c823 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -413,10 +413,10 @@ bool GLInstancingRenderer::readSingleInstanceTransformToCPU(float* position, flo
 	return false;
 }
 
-void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex2)
 {
 
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 
 	if (pg==0)
@@ -439,9 +439,9 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
 }
 
 
-void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int bodyUniqueId, float* position, float* orientation)
+void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex2, float* position, float* orientation)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -457,9 +457,9 @@ void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int bodyUniqueId,
 	orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
 	orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
 }
-void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -469,9 +469,9 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, in
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=float(color[3]);
 }
 
-void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -481,9 +481,9 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
 }
 
-void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -492,11 +492,11 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int
 	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
 }
 
-void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* specular, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
-	int srcIndex = pg->m_internalInstanceIndex;
+	int graphicsIndex = pg->m_internalInstanceIndex;
 
 	int totalNumInstances = 0;
 
@@ -505,7 +505,7 @@ void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* s
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 		totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
-		if (srcIndex<totalNumInstances)
+		if (srcIndex2<totalNumInstances)
 		{
 			gfxObjIndex = i;
 			break;
@@ -518,9 +518,9 @@ void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* s
 		m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[2] = specular[2];
 	}
 }
-void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* specular, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -531,7 +531,7 @@ void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* sp
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 		totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
-		if (srcIndex<totalNumInstances)
+		if (srcIndex2<totalNumInstances)
 		{
 			gfxObjIndex = i;
 			break;
@@ -546,9 +546,9 @@ void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* sp
 }
 
 
-void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const double* scale, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const double* scale, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -765,8 +765,8 @@ void GLInstancingRenderer::rebuildGraphicsInstances()
 
 	for (int i=0;i<usedObjects.size();i++)
 	{
-		int bodyUniqueId = usedObjects[i];
-		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+		int srcIndex2 = usedObjects[i];
+		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 		b3Assert(pg);
 		int srcIndex = pg->m_internalInstanceIndex;
 
@@ -793,9 +793,9 @@ void GLInstancingRenderer::rebuildGraphicsInstances()
 	}
 	for (int i=0;i<usedObjects.size();i++)
 	{
-		int bodyUniqueId = usedObjects[i];
-		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
-		m_graphicsInstances[pg->m_shapeIndex]->m_tempObjectUids.push_back(bodyUniqueId);
+		int srcIndex2 = usedObjects[i];
+		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
+		m_graphicsInstances[pg->m_shapeIndex]->m_tempObjectUids.push_back(srcIndex2);
 	}
 
 	int curOffset = 0;
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 3233c32cf..3716b32a6 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -103,8 +103,8 @@ public:
 	virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
 	virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
 
-	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex);
-	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex);
+	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex2);
+	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex2);
 
 	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
 	virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index 2280242e6..2108477f2 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -94,7 +94,7 @@ public:
 	void logObjectStates(btScalar timeStep);
 	void processCollisionForces(btScalar timeStep);
 
-	virtual void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
+	virtual void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
 	virtual void enableRealTimeSimulation(bool enableRealTimeSim);
 	virtual bool isRealTimeSimulationEnabled() const;
 
@@ -103,10 +103,10 @@ public:
 	virtual void setTimeOut(double timeOutInSeconds);
 
 	virtual const btVector3& getVRTeleportPosition() const;
-	virtual void setVRTeleportPosition(const btVector3& vrReleportPos);
+	virtual void setVRTeleportPosition(const btVector3& vrTeleportPos);
 
 	virtual const btQuaternion& getVRTeleportOrientation() const;
-	virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn);
+	virtual void setVRTeleportOrientation(const btQuaternion& vrTeleportOrn);
 };
 
 #endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h
index 0fcd534b4..b53df5537 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.h
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.h
@@ -41,10 +41,10 @@ public:
 	virtual void removePickingConstraint();
 
 	virtual const btVector3& getVRTeleportPosition() const;
-	virtual void setVRTeleportPosition(const btVector3& vrReleportPos);
+	virtual void setVRTeleportPosition(const btVector3& vrTeleportPos);
 
 	virtual const btQuaternion& getVRTeleportOrientation() const;
-	virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn);
+	virtual void setVRTeleportOrientation(const btQuaternion& vrTeleportOrn);
 
 	
 

From 3987bdd3335b99d5a2b7e5cd937b7661b737875a Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Thu, 1 Jun 2017 20:13:39 -0700
Subject: [PATCH 062/175] remove pose frame from SDF, allow plane collision
 shape in SDF load the Roboschool stadium.sdf in
 humanoid_knee_position_control.py

---
 data/stadium.sdf                              |  9 ++--
 data/two_cubes.sdf                            |  3 +-
 .../ImportURDFDemo/BulletUrdfImporter.cpp     | 11 +++-
 .../PhysicsServerCommandProcessor.cpp         | 54 ++++++++++---------
 .../humanoid_knee_position_control.py         |  2 +-
 .../pybullet/tensorflow/humanoid_running.py   | 19 +++++--
 setup.py                                      |  2 +-
 src/BulletDynamics/Featherstone/btMultiBody.h |  6 ++-
 8 files changed, 64 insertions(+), 42 deletions(-)

diff --git a/data/stadium.sdf b/data/stadium.sdf
index 04ee4ea52..585b4eb16 100644
--- a/data/stadium.sdf
+++ b/data/stadium.sdf
@@ -48,12 +48,11 @@
 			</inertia>
 			</inertial>
 			<collision name='collision_1'>
-			<pose frame=''>0 0 -0.5 0 0 0</pose>
 			<geometry>
-				
-            <box>
-              <size>100 100 1</size>
-            </box>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
           </geometry>
 			  </collision>
 			<visual name='visual'>
diff --git a/data/two_cubes.sdf b/data/two_cubes.sdf
index 98ae9f995..7fda241bd 100644
--- a/data/two_cubes.sdf
+++ b/data/two_cubes.sdf
@@ -89,6 +89,7 @@
  <static>1</static>
       <pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
       <link name='unit_box_0::link'>
+      
         <inertial>
           <mass>1</mass>
           <inertia>
@@ -102,8 +103,6 @@
         </inertial>
         <collision name='collision'>
           <geometry>
-          <pose frame=''>0 0 -1 0 0 0</pose>
-      
             <box>
               <size>1 1 1</size>
             </box>
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 6ae007607..72aaecfce 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -568,6 +568,15 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 
     switch (collision->m_geometry.m_type)
     {
+	case URDF_GEOM_PLANE:
+		{
+			btVector3 planeNormal = collision->m_geometry.m_planeNormal;
+			btScalar planeConstant = 0;//not available?
+			btStaticPlaneShape* plane = new btStaticPlaneShape(planeNormal,planeConstant);
+			shape = plane;
+			shape ->setMargin(gUrdfDefaultCollisionMargin);
+			break;
+		}
 		case URDF_GEOM_CAPSULE:
         {
 			btScalar radius = collision->m_geometry.m_capsuleRadius;
@@ -789,7 +798,7 @@ upAxisMat.setIdentity();
 
         default:
 		b3Warning("Error: unknown collision geometry type %i\n", collision->m_geometry.m_type);
-		// for example, URDF_GEOM_PLANE
+		
 	}
 	return shape;
 }
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index ed7d238f6..431abcb95 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3940,38 +3940,40 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 						else
 						{
-							if (mb->getLinkCollider(linkIndex))
+							if (linkIndex >= 0 && linkIndex < mb->getNumLinks())
 							{
-								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
+								if (mb->getLinkCollider(linkIndex))
 								{
-									mb->getLinkCollider(linkIndex)->setRestitution(restitution);
-								}
-								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
-								{
-									mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
-								}
-								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
-								{
-									mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
-								}
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
+									{
+										mb->getLinkCollider(linkIndex)->setRestitution(restitution);
+									}
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
+									{
+										mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
+									}
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
+									{
+										mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
+									}
 
-								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
-								{
-									mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
-								}
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
+									{
+										mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
+									}
 								
 			
-							}
-							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
-							{
-								mb->getLink(linkIndex).m_mass = mass;
-								if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
-								{
-									btVector3 localInertia;
-									mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
-									mb->getLink(linkIndex).m_inertiaLocal = localInertia;
 								}
-
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
+								{
+									mb->getLink(linkIndex).m_mass = mass;
+									if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
+									{
+										btVector3 localInertia;
+										mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
+										mb->getLink(linkIndex).m_inertiaLocal = localInertia;
+									}
+								}
 							}
 						}
 					} else
diff --git a/examples/pybullet/examples/humanoid_knee_position_control.py b/examples/pybullet/examples/humanoid_knee_position_control.py
index a75c66263..b62bd76a1 100644
--- a/examples/pybullet/examples/humanoid_knee_position_control.py
+++ b/examples/pybullet/examples/humanoid_knee_position_control.py
@@ -13,7 +13,7 @@ p.setRealTimeSimulation(useRealTime)
 
 p.setGravity(0,0,-10)
 
-p.loadURDF("plane.urdf")
+p.loadSDF("stadium.sdf")
 
 obUids = p.loadMJCF("mjcf/humanoid_fixed.xml")
 human = obUids[0]
diff --git a/examples/pybullet/tensorflow/humanoid_running.py b/examples/pybullet/tensorflow/humanoid_running.py
index 8dea38298..c4c741f10 100644
--- a/examples/pybullet/tensorflow/humanoid_running.py
+++ b/examples/pybullet/tensorflow/humanoid_running.py
@@ -1,21 +1,30 @@
 import tensorflow as tf
 import sys
 import numpy as np
-
+import argparse
 import pybullet as p
 import time
-p.connect(p.GUI) #DIRECT is much faster, but GUI shows the running gait
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	cid = p.connect(p.GUI) #DIRECT is much faster, but GUI shows the running gait
+
 p.setGravity(0,0,-9.8)
 p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
 #this mp4 recording requires ffmpeg installed
 #mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
 
+p.loadSDF("stadium.sdf")
+#p.loadURDF("plane.urdf")
 
-plane, human  = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
-
+objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+human  = objs[0]
 ordered_joints = []
 ordered_joint_indices = []
 
+parser = argparse.ArgumentParser()
+parser.add_argument('--profile')
+
 
 jdict = {}
 for j in range( p.getNumJoints(human) ):
@@ -175,7 +184,7 @@ def demo_run():
 		p.setJointMotorControlArray(human, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
 
 		p.stepSimulation()
-		#time.sleep(0.01)
+		time.sleep(0.01)
 		distance=5
 		yaw = 0
 		humanPos, humanOrn = p.getBasePositionAndOrientation(human)
diff --git a/setup.py b/setup.py
index f509fe88f..8c81da317 100644
--- a/setup.py
+++ b/setup.py
@@ -418,7 +418,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.1.0',
+	version='1.1.1',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index 8d89cac7d..6dad0afeb 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -142,7 +142,11 @@ public:
 
 	btMultiBodyLinkCollider* getLinkCollider(int index)
 	{
-		return m_colliders[index];
+		if (index >= 0 && index < m_colliders.size())
+		{
+			return m_colliders[index];
+		}
+		return 0;
 	}
 
     //

From e97bb9d494645ccd9f706dbaec57e6313516684b Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Thu, 1 Jun 2017 21:44:02 -0700
Subject: [PATCH 063/175] Add utility function to convert view matrix to camera
 yaw pitch roll.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 22 +++++-----
 examples/SharedMemory/PhysicsClientC_API.h    |  3 +-
 .../SharedMemory/PhysicsClientExample.cpp     | 40 ++++++++-----------
 3 files changed, 31 insertions(+), 34 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index b4f5c0a9d..c9ee26cda 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1930,14 +1930,14 @@ void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, in
     command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
 }
 
-void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float* cameraDistance, float* cameraYaw, float* cameraPitch)
+void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch)
 {
 	b3Vector3 camPos = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
 	b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
 	b3Vector3 camUpVector = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]);
 	camUpVector.normalize();
 	
-	*cameraDistance = (camPos - camTargetPos).length();
+	cameraDistance = (camPos - camTargetPos).length();
 	
 	b3Vector3 eyePos = camPos - camTargetPos;
 	b3Vector3 eyeInitPos = b3MakeVector3(0, 0, 0);
@@ -1956,7 +1956,7 @@ void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const floa
 			return;
 	};
 	
-	eyeInitPos[forwardAxis] = -(*cameraDistance);
+	eyeInitPos[forwardAxis] = -cameraDistance;
 	eyeInitPos.normalize();
 	eyePos.normalize();
 	
@@ -1978,10 +1978,8 @@ void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const floa
 			return;
 	};
 	
-	*cameraYaw = yawRad/b3Scalar(0.01745329251994329547);
-	*cameraPitch = pitchRad/b3Scalar(0.01745329251994329547);
-	float cameraRoll = rollRad/b3Scalar(0.01745329251994329547);
-	printf("camera roll: %f\n", cameraRoll);
+	cameraYaw = yawRad/b3Scalar(0.01745329251994329547);
+	cameraPitch = pitchRad/b3Scalar(0.01745329251994329547);
 }
 
 void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
@@ -1992,8 +1990,6 @@ void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPos
 	b3Transform tinv = t.inverse();
 	b3Matrix3x3 basis = tinv.getBasis();
 	b3Vector3 origin = tinv.getOrigin();
-	printf("basis: %f, %f, %f, %f, %f, %f, %f, %f, %f\n", basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2], basis[2][0], basis[2][1], basis[2][2]);
-	printf("origin: %f, %f, %f\n", origin[0], origin[1], origin[2]);
 	b3Vector3 s = b3MakeVector3(basis[0][0], basis[1][0], basis[2][0]);
 	b3Vector3 u = b3MakeVector3(basis[0][1], basis[1][1], basis[2][1]);
 	b3Vector3 f = b3MakeVector3(-basis[0][2], -basis[1][2], -basis[2][2]);
@@ -2010,6 +2006,14 @@ void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPos
 	cameraUp[2] = u[2];
 }
 
+void b3ComputeYawPitchRollFromViewMatrix(const float viewMatrix[16], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch, float cameraTargetPosition[3])
+{
+	float cameraPosition[3];
+	float cameraUp[3];
+	b3ComputePositionFromViewMatrix(viewMatrix, cameraPosition, cameraTargetPosition, cameraUp);
+	b3ComputeYawPitchRollFromPosition(cameraPosition, cameraTargetPosition, cameraUp, upAxis, cameraDistance, cameraYaw, cameraPitch);
+}
+
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
 {
 	b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index bcb8d06f0..50f43145b 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -162,7 +162,8 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]);
 void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]);
 void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3]);
-void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float* cameraDistance, float* cameraYaw, float* cameraPitch);
+void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch);
+void b3ComputeYawPitchRollFromViewMatrix(const float viewMatrix[16], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch, float cameraTargetPosition[3]);
 
 ///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
 void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]);
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 7aa501b58..0a9cfa805 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -273,33 +273,25 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             ///request an image from a simulated camera, using a software renderer.
             
             b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
-			
-			float cameraPos[3] = {1.0, 1.0, 1.0};
-			float cameraTarget[3] = {2.0, 1.0, 1.0};
-			float cameraUp[3] = {0.0, 0.0, 1.0};
-			float viewMat[16];
-			b3ComputeViewMatrixFromPositions(cameraPos, cameraTarget, cameraUp, viewMat);
-			printf("viewMat: %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f\n", viewMat[0], viewMat[1], viewMat[2], viewMat[3], viewMat[4], viewMat[5], viewMat[6], viewMat[7], viewMat[8], viewMat[9], viewMat[10], viewMat[11], viewMat[12], viewMat[13], viewMat[14], viewMat[15]);
-			float cameraPos2[3];
-			float cameraTarget2[3];
-			float cameraUp2[3];
-			b3ComputePositionFromViewMatrix(viewMat, cameraPos2, cameraTarget2, cameraUp2);
-			printf("cameraPos2: %f, %f, %f\n", cameraPos2[0], cameraPos2[1], cameraPos2[2]);
-			printf("cameraTarget2: %f, %f, %f\n", cameraTarget2[0], cameraTarget2[1], cameraTarget2[2]);
-			printf("cameraUp2: %f, %f, %f\n", cameraUp2[0], cameraUp2[1], cameraUp2[2]);
-			
-			float cameraDistance;
-			float cameraYaw;
-			float cameraPitch;
-			b3ComputeYawPitchRollFromPosition(cameraPos2, cameraTarget2, cameraUp2, 2, &cameraDistance, &cameraYaw, &cameraPitch);
-			printf("camera distance: %f\n", cameraDistance);
-			printf("camera yaw: %f\n", cameraYaw);
-			printf("camera pitch: %f\n", cameraPitch);
-			
-			b3ComputeViewMatrixFromYawPitchRoll(cameraTarget2, 1.0, -90.0, 0.0, 0.0, 2, viewMat);
             //b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
             
 						float viewMatrix[16];
+			
+			float cameraTargetPosition[3] = {1.0, 2.0, 3.0};
+			float distance = 1.0;
+			float yaw = 10.0;
+			float pitch = 70.0;
+			float roll = 0.0;
+			int upAxis = 2;
+			float cameraDistance;
+			float cameraYaw;
+			float cameraPitch;
+			float cameraTargetPositionNew[3];
+			b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPosition, distance, yaw, pitch, roll, upAxis, viewMatrix);
+			b3ComputeYawPitchRollFromViewMatrix(viewMatrix, upAxis, cameraDistance, cameraYaw, cameraPitch, cameraTargetPositionNew);
+			b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPositionNew, cameraDistance, cameraYaw, cameraPitch, 0.0, upAxis, viewMatrix);
+			
+			
 						float projectionMatrix[16];
 						m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
             m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);

From f350a506a6fd50a8a02e54b206ebbd375d2e1d3b Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Thu, 1 Jun 2017 23:32:26 -0700
Subject: [PATCH 064/175] Enable rgba color update for TinyRender.

---
 .../SharedMemory/PhysicsClientExample.cpp     | 13 +++++++++
 .../PhysicsServerCommandProcessor.cpp         |  4 +--
 .../TinyRendererVisualShapeConverter.cpp      | 28 +++++++++++++++++++
 .../TinyRendererVisualShapeConverter.h        |  2 ++
 4 files changed, 45 insertions(+), 2 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 0a9cfa805..df914fafe 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -526,6 +526,18 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
             break;
         }
+		case CMD_UPDATE_VISUAL_SHAPE:
+		{
+			int objectUniqueId = 0;
+			int linkIndex = -1;
+			int shapeIndex = -1;
+			int textureIndex = -1;
+			double rgbaColor[4] = {0.0, 1.0, 0.0, 1.0};
+			b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle, objectUniqueId, linkIndex, shapeIndex, textureIndex);
+			b3UpdateVisualShapeRGBAColor(commandHandle, rgbaColor);
+			b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+			break;
+		}
 
         default:
         {
@@ -604,6 +616,7 @@ void	PhysicsClientExample::createButtons()
         createButton("Load SDF",CMD_LOAD_SDF,  isTrigger);
 		createButton("Save World",CMD_SAVE_WORLD,  isTrigger);
         createButton("Set Shadow",CMD_SET_SHADOW, isTrigger);
+		createButton("Update Visual Shape",CMD_UPDATE_VISUAL_SHAPE, isTrigger);
         createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
         createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
 		createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION,  isTrigger);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index d1e3d4ddc..0f5538d6e 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5631,7 +5631,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									if (bodyHandle->m_multiBody->getBaseCollider())
 									{
-										//m_data->m_visualConverter.changeRGBAColor(...)
+										m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 										int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
 										m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 									}
@@ -5641,7 +5641,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
 										{
-											//m_data->m_visualConverter.changeRGBAColor(...)
+											m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 											int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
 											m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 										}
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index a9bcd3256..4be708af7 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -671,6 +671,34 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
 	return 0;
 }
 
+void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])
+{
+	int start = -1;
+	for (int i = 0; i < m_data->m_visualShapes.size(); i++)
+	{
+		if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId && m_data->m_visualShapes[i].m_linkIndex == linkIndex)
+		{
+			start = i;
+			m_data->m_visualShapes[i].m_rgbaColor[0] = rgbaColor[0];
+			m_data->m_visualShapes[i].m_rgbaColor[1] = rgbaColor[1];
+			m_data->m_visualShapes[i].m_rgbaColor[2] = rgbaColor[2];
+			m_data->m_visualShapes[i].m_rgbaColor[3] = rgbaColor[3];
+			break;
+		}
+	}
+	
+	TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(start);
+	TinyRendererObjectArray* visualArray = *visualArrayPtr;
+	
+	btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(start);
+	const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
+	
+	float rgba[4] = {rgbaColor[0], rgbaColor[1], rgbaColor[2], rgbaColor[3]};
+	for (int v=0;v<visualArray->m_renderObjects.size();v++)
+	{
+		visualArray->m_renderObjects[v]->m_model->setColorRGBA(rgba);
+	}
+}
 
 void TinyRendererVisualShapeConverter::setUpAxis(int axis)
 {
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
index 9af426fda..4c979ae13 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
@@ -21,6 +21,8 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 	virtual int getNumVisualShapes(int bodyUniqueId);
 
 	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
+	
+	virtual void changeRGBAColor(int bodyUniqueId, int shapeIndex, const double rgbaColor[4]);
 
 	virtual void removeVisualShape(class btCollisionObject* colObj);
 

From 5a89b4f3854f2ec0811cd2adbdeb84b3445ae08f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 2 Jun 2017 08:18:17 -0700
Subject: [PATCH 065/175] allow b3Clock to reset to time reference 0, by
 default reset will set the reference to 'now'.

---
 examples/Utils/b3Clock.cpp | 18 +++++++++++++++++-
 examples/Utils/b3Clock.h   |  4 ++--
 2 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/examples/Utils/b3Clock.cpp b/examples/Utils/b3Clock.cpp
index bcf7d13ba..de2134b56 100644
--- a/examples/Utils/b3Clock.cpp
+++ b/examples/Utils/b3Clock.cpp
@@ -88,8 +88,23 @@ b3Clock& b3Clock::operator=(const b3Clock& other)
 
 
 	/// Resets the initial reference time.
-void b3Clock::reset()
+void b3Clock::reset(bool zeroReference)
 {
+	if (zeroReference)
+	{
+		m_data->mStartTick = 0;
+#ifdef B3_USE_WINDOWS_TIMERS
+		m_data->mStartTime.QuadPart = 0;
+#else
+	#ifdef __CELLOS_LV2__
+			m_data->mStartTime = 0;
+	#else
+			m_data->mStartTime = (struct timeval){0};
+	#endif
+#endif
+
+	} else
+	{
 #ifdef B3_USE_WINDOWS_TIMERS
 	QueryPerformanceCounter(&m_data->mStartTime);
 	m_data->mStartTick = GetTickCount();
@@ -105,6 +120,7 @@ void b3Clock::reset()
 	gettimeofday(&m_data->mStartTime, 0);
 #endif
 #endif
+	}
 }
 
 /// Returns the time in ms since the last call to reset or since 
diff --git a/examples/Utils/b3Clock.h b/examples/Utils/b3Clock.h
index 10a36686a..1cdd28847 100644
--- a/examples/Utils/b3Clock.h
+++ b/examples/Utils/b3Clock.h
@@ -13,8 +13,8 @@ public:
 
 	~b3Clock();
 
-	/// Resets the initial reference time.
-	void reset();
+	/// Resets the initial reference time. If zeroReference is true, will set reference to absolute 0.
+	void reset(bool zeroReference=false);
 
 	/// Returns the time in ms since the last call to reset or since 
 	/// the b3Clock was created.

From 8ef3a60f1caf8ebe6cd9156e9969971b1c2492c0 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 2 Jun 2017 09:01:50 -0700
Subject: [PATCH 066/175] compile fix

---
 examples/Utils/b3Clock.cpp | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/examples/Utils/b3Clock.cpp b/examples/Utils/b3Clock.cpp
index de2134b56..46f87bc4c 100644
--- a/examples/Utils/b3Clock.cpp
+++ b/examples/Utils/b3Clock.cpp
@@ -46,7 +46,6 @@ struct b3ClockData
 
 #ifdef B3_USE_WINDOWS_TIMERS
 	LARGE_INTEGER mClockFrequency;
-	DWORD mStartTick;
 	LARGE_INTEGER mStartTime;
 #else
 #ifdef __CELLOS_LV2__
@@ -92,7 +91,6 @@ void b3Clock::reset(bool zeroReference)
 {
 	if (zeroReference)
 	{
-		m_data->mStartTick = 0;
 #ifdef B3_USE_WINDOWS_TIMERS
 		m_data->mStartTime.QuadPart = 0;
 #else
@@ -107,7 +105,6 @@ void b3Clock::reset(bool zeroReference)
 	{
 #ifdef B3_USE_WINDOWS_TIMERS
 	QueryPerformanceCounter(&m_data->mStartTime);
-	m_data->mStartTick = GetTickCount();
 #else
 #ifdef __CELLOS_LV2__
 

From 1d1c822d5238bceb3c1f974307bc837179f6da5b Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 2 Jun 2017 16:25:28 -0700
Subject: [PATCH 067/175] btThreadsAreRunning wasn't defined if BT_THREADSAFE
 was not defined, causing compile errors using premake

---
 src/LinearMath/btThreads.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/LinearMath/btThreads.h b/src/LinearMath/btThreads.h
index b592ec3e5..284702d71 100644
--- a/src/LinearMath/btThreads.h
+++ b/src/LinearMath/btThreads.h
@@ -79,6 +79,7 @@ const unsigned int BT_MAX_THREAD_COUNT = 64;
 SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* ) {}
 SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* ) {}
 SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* ) {return true;}
+SIMD_FORCE_INLINE bool btThreadsAreRunning() { return false;}
 #endif
 
 //

From 3506603d606d1ceea55f79848dd6cee3878e656a Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Fri, 2 Jun 2017 16:56:05 -0700
Subject: [PATCH 068/175] Test conversion from view matrix to yaw pitch roll.

---
 examples/RollingFrictionDemo/RollingFrictionDemo.cpp  |  6 +++---
 examples/SharedMemory/PhysicsClientC_API.cpp          | 11 ++++++++++-
 examples/SharedMemory/PhysicsClientExample.cpp        |  2 +-
 examples/pybullet/examples/kuka_with_cube_playback.py |  8 ++++----
 src/Bullet3Common/b3Quaternion.h                      | 11 +++++++++++
 5 files changed, 29 insertions(+), 9 deletions(-)

diff --git a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
index be837ab5a..5e13a1ca6 100644
--- a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
+++ b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
@@ -58,9 +58,9 @@ public:
 	
 	void resetCamera()
 	{
-		float dist = 35;
-		float pitch = -14;
-		float yaw = 0;
+		float dist = 1;
+		float pitch = 70;
+		float yaw = 10;
 		float targetPos[3]={0,0,0};
 		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index c9ee26cda..da153af77 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1960,7 +1960,14 @@ void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const floa
 	eyeInitPos.normalize();
 	eyePos.normalize();
 	
+	eyeInitPos[0] = 0.0;
+	eyeInitPos[1] = -1.0;
+	eyeInitPos[2] = 0.0;
 	b3Quaternion rot = b3ShortestArcQuat(eyeInitPos, eyePos);
+	//rot[0] = 0.571393847;
+	//rot[1] = 0.0499904789;
+	//rot[2] = 0.0713938028;
+	//rot[3] = 0.816034972;
 	btScalar yawRad;
 	btScalar pitchRad;
 	btScalar rollRad;
@@ -2088,7 +2095,9 @@ void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], fl
 		camForward.normalize();
 	}
 	
-	eyePos = b3Matrix3x3(eyeRot)*eyePos;
+	eyePos[3] = 1.0;
+	//eyePos = b3Matrix3x3(eyeRot)*eyePos;
+	eyePos = b3QuatRotate(eyeRot, eyePos);
 	camUpVector = b3Matrix3x3(eyeRot)*camUpVector;
 	
 	camPos = eyePos;
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index df914fafe..e8783f265 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -277,7 +277,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             
 						float viewMatrix[16];
 			
-			float cameraTargetPosition[3] = {1.0, 2.0, 3.0};
+			float cameraTargetPosition[3] = {0.0, 0.0, 0.0};
 			float distance = 1.0;
 			float yaw = 10.0;
 			float pitch = 70.0;
diff --git a/examples/pybullet/examples/kuka_with_cube_playback.py b/examples/pybullet/examples/kuka_with_cube_playback.py
index 12fdcebdd..8e80e73cd 100644
--- a/examples/pybullet/examples/kuka_with_cube_playback.py
+++ b/examples/pybullet/examples/kuka_with_cube_playback.py
@@ -52,10 +52,10 @@ def readLogFile(filename, verbose = True):
 #clid = p.connect(p.SHARED_MEMORY)
 p.connect(p.GUI)
 p.loadURDF("plane.urdf",[0,0,-0.3])
-p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
-p.loadURDF("cube.urdf",[2,2,5])
-p.loadURDF("cube.urdf",[-2,-2,5])
-p.loadURDF("cube.urdf",[2,-2,5])
+p.loadURDF("kuka_iiwa/model.urdf",[0,0,10])
+p.loadURDF("cube.urdf",[2,2,50])
+p.loadURDF("cube.urdf",[-2,-2,50])
+p.loadURDF("cube.urdf",[2,-2,50])
 
 log = readLogFile("LOG0001.txt")
 
diff --git a/src/Bullet3Common/b3Quaternion.h b/src/Bullet3Common/b3Quaternion.h
index 0b7564dcd..ee8e7ed57 100644
--- a/src/Bullet3Common/b3Quaternion.h
+++ b/src/Bullet3Common/b3Quaternion.h
@@ -887,6 +887,16 @@ b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
 B3_FORCE_INLINE b3Quaternion 
 b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
 {
+	/*
+	b3Quaternion q;
+	b3Vector3 a = v0.cross(v1);
+	q[0] = a[0];
+	q[1] = a[1];
+	q[2] = a[2];
+	q[3] = b3Sqrt((v0.length()*v0.length()) * (v1.length()*v1.length())) + v0.dot(v1);
+	return q;
+	*/
+	
 	b3Vector3 c = v0.cross(v1);
 	b3Scalar  d = v0.dot(v1);
 
@@ -901,6 +911,7 @@ b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming
 	b3Scalar rs = 1.0f / s;
 
 	return b3Quaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
+	
 }
 
 B3_FORCE_INLINE b3Quaternion 

From e2a9fc33dcbf27bda9ce5a2543beee657b1213ff Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Fri, 2 Jun 2017 17:40:50 -0700
Subject: [PATCH 069/175] Remove debug code.

---
 .../RollingFrictionDemo.cpp                   |  6 +-
 examples/SharedMemory/PhysicsClientC_API.cpp  | 71 +------------------
 examples/SharedMemory/PhysicsClientC_API.h    |  2 -
 .../SharedMemory/PhysicsClientExample.cpp     | 16 -----
 .../examples/kuka_with_cube_playback.py       |  8 +--
 src/Bullet3Common/b3Quaternion.h              | 10 ---
 6 files changed, 8 insertions(+), 105 deletions(-)

diff --git a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
index 5e13a1ca6..be837ab5a 100644
--- a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
+++ b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
@@ -58,9 +58,9 @@ public:
 	
 	void resetCamera()
 	{
-		float dist = 1;
-		float pitch = 70;
-		float yaw = 10;
+		float dist = 35;
+		float pitch = -14;
+		float yaw = 0;
 		float targetPos[3]={0,0,0};
 		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index da153af77..967235471 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1930,65 +1930,6 @@ void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, in
     command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW;
 }
 
-void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch)
-{
-	b3Vector3 camPos = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
-	b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]);
-	b3Vector3 camUpVector = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]);
-	camUpVector.normalize();
-	
-	cameraDistance = (camPos - camTargetPos).length();
-	
-	b3Vector3 eyePos = camPos - camTargetPos;
-	b3Vector3 eyeInitPos = b3MakeVector3(0, 0, 0);
-	
-	int forwardAxis = -1;
-	
-	switch (upAxis)
-	{
-		case 1:
-			forwardAxis = 2;
-			break;
-		case 2:
-			forwardAxis = 1;
-			break;
-		default:
-			return;
-	};
-	
-	eyeInitPos[forwardAxis] = -cameraDistance;
-	eyeInitPos.normalize();
-	eyePos.normalize();
-	
-	eyeInitPos[0] = 0.0;
-	eyeInitPos[1] = -1.0;
-	eyeInitPos[2] = 0.0;
-	b3Quaternion rot = b3ShortestArcQuat(eyeInitPos, eyePos);
-	//rot[0] = 0.571393847;
-	//rot[1] = 0.0499904789;
-	//rot[2] = 0.0713938028;
-	//rot[3] = 0.816034972;
-	btScalar yawRad;
-	btScalar pitchRad;
-	btScalar rollRad;
-	
-	switch (upAxis)
-	{
-		case 1:
-			rot.getEulerZYX(rollRad, yawRad, pitchRad);
-			pitchRad = -pitchRad;
-			break;
-		case 2:
-			rot.getEulerZYX(yawRad, rollRad, pitchRad);
-			break;
-		default:
-			return;
-	};
-	
-	cameraYaw = yawRad/b3Scalar(0.01745329251994329547);
-	cameraPitch = pitchRad/b3Scalar(0.01745329251994329547);
-}
-
 void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3])
 {
 	b3Matrix3x3 r(viewMatrix[0], viewMatrix[4], viewMatrix[8], viewMatrix[1], viewMatrix[5], viewMatrix[9], viewMatrix[2], viewMatrix[6], viewMatrix[10]);
@@ -2013,14 +1954,6 @@ void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPos
 	cameraUp[2] = u[2];
 }
 
-void b3ComputeYawPitchRollFromViewMatrix(const float viewMatrix[16], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch, float cameraTargetPosition[3])
-{
-	float cameraPosition[3];
-	float cameraUp[3];
-	b3ComputePositionFromViewMatrix(viewMatrix, cameraPosition, cameraTargetPosition, cameraUp);
-	b3ComputeYawPitchRollFromPosition(cameraPosition, cameraTargetPosition, cameraUp, upAxis, cameraDistance, cameraYaw, cameraPitch);
-}
-
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16])
 {
 	b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]);
@@ -2095,9 +2028,7 @@ void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], fl
 		camForward.normalize();
 	}
 	
-	eyePos[3] = 1.0;
-	//eyePos = b3Matrix3x3(eyeRot)*eyePos;
-	eyePos = b3QuatRotate(eyeRot, eyePos);
+	eyePos = b3Matrix3x3(eyeRot)*eyePos;
 	camUpVector = b3Matrix3x3(eyeRot)*camUpVector;
 	
 	camPos = eyePos;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 50f43145b..0c2c17d1d 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -162,8 +162,6 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
 void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]);
 void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]);
 void b3ComputePositionFromViewMatrix(const float viewMatrix[16], float cameraPosition[3], float cameraTargetPosition[3], float cameraUp[3]);
-void b3ComputeYawPitchRollFromPosition(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch);
-void b3ComputeYawPitchRollFromViewMatrix(const float viewMatrix[16], int upAxis, float& cameraDistance, float& cameraYaw, float& cameraPitch, float cameraTargetPosition[3]);
 
 ///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices
 void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]);
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index e8783f265..a8ecd9c6a 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -276,22 +276,6 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             //b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
             
 						float viewMatrix[16];
-			
-			float cameraTargetPosition[3] = {0.0, 0.0, 0.0};
-			float distance = 1.0;
-			float yaw = 10.0;
-			float pitch = 70.0;
-			float roll = 0.0;
-			int upAxis = 2;
-			float cameraDistance;
-			float cameraYaw;
-			float cameraPitch;
-			float cameraTargetPositionNew[3];
-			b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPosition, distance, yaw, pitch, roll, upAxis, viewMatrix);
-			b3ComputeYawPitchRollFromViewMatrix(viewMatrix, upAxis, cameraDistance, cameraYaw, cameraPitch, cameraTargetPositionNew);
-			b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPositionNew, cameraDistance, cameraYaw, cameraPitch, 0.0, upAxis, viewMatrix);
-			
-			
 						float projectionMatrix[16];
 						m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
             m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
diff --git a/examples/pybullet/examples/kuka_with_cube_playback.py b/examples/pybullet/examples/kuka_with_cube_playback.py
index 8e80e73cd..5b02f1b72 100644
--- a/examples/pybullet/examples/kuka_with_cube_playback.py
+++ b/examples/pybullet/examples/kuka_with_cube_playback.py
@@ -52,10 +52,10 @@ def readLogFile(filename, verbose = True):
 #clid = p.connect(p.SHARED_MEMORY)
 p.connect(p.GUI)
 p.loadURDF("plane.urdf",[0,0,-0.3])
-p.loadURDF("kuka_iiwa/model.urdf",[0,0,10])
-p.loadURDF("cube.urdf",[2,2,50])
-p.loadURDF("cube.urdf",[-2,-2,50])
-p.loadURDF("cube.urdf",[2,-2,50])
+p.loadURDF("kuka_iiwa/model.urdf",[0,0,1])
+p.loadURDF("cube.urdf",[2,2,5])
+p.loadURDF("cube.urdf",[-2,-2,5])
+p.loadURDF("cube.urdf",[2,-2,5])
 
 log = readLogFile("LOG0001.txt")
 
diff --git a/src/Bullet3Common/b3Quaternion.h b/src/Bullet3Common/b3Quaternion.h
index ee8e7ed57..ad2054334 100644
--- a/src/Bullet3Common/b3Quaternion.h
+++ b/src/Bullet3Common/b3Quaternion.h
@@ -887,16 +887,6 @@ b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
 B3_FORCE_INLINE b3Quaternion 
 b3ShortestArcQuat(const b3Vector3& v0, const b3Vector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
 {
-	/*
-	b3Quaternion q;
-	b3Vector3 a = v0.cross(v1);
-	q[0] = a[0];
-	q[1] = a[1];
-	q[2] = a[2];
-	q[3] = b3Sqrt((v0.length()*v0.length()) * (v1.length()*v1.length())) + v0.dot(v1);
-	return q;
-	*/
-	
 	b3Vector3 c = v0.cross(v1);
 	b3Scalar  d = v0.dot(v1);
 

From 0a29c8d9afb981dd4ea4961dd04e50734713d2f6 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Fri, 2 Jun 2017 18:24:51 -0700
Subject: [PATCH 070/175] Get debug visualizer camera yaw, pitch, dist, and
 target.

---
 .../CommonGUIHelperInterface.h                |  2 +-
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |  9 ++++++++-
 examples/ExampleBrowser/OpenGLGuiHelper.h     |  2 +-
 .../SharedMemory/PhysicsClientExample.cpp     |  2 +-
 .../PhysicsServerCommandProcessor.cpp         |  6 +++++-
 .../SharedMemory/PhysicsServerExample.cpp     |  4 ++--
 examples/SharedMemory/SharedMemoryPublic.h    |  5 +++++
 examples/pybullet/pybullet.c                  | 19 ++++++++++++++++++-
 8 files changed, 41 insertions(+), 8 deletions(-)

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index 2a07e2cbc..8bb56c434 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -57,7 +57,7 @@ struct GUIHelperInterface
 
 	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)=0;
 
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
 	{
 		return false;
 	}
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 3789532c4..8c70f783a 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -984,7 +984,7 @@ void OpenGLGuiHelper::resetCamera(float camDist, float yaw, float pitch, float c
 	}
 }
 
-bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
+bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float cameraTarget[3]) const
 {
 	if (getRenderInterface() && getRenderInterface()->getActiveCamera())
 	{
@@ -1030,6 +1030,13 @@ bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16
 		vert[0] = vertical[0];
 		vert[1] = vertical[1];
 		vert[2] = vertical[2];
+		
+		*yaw = getRenderInterface()->getActiveCamera()->getCameraYaw();
+		*pitch = getRenderInterface()->getActiveCamera()->getCameraPitch();
+		*camDist = getRenderInterface()->getActiveCamera()->getCameraDistance();
+		cameraTarget[0] = camTarget[0];
+		cameraTarget[1] = camTarget[1];
+		cameraTarget[2] = camTarget[2];
 		return true;
 	}
 	return false;
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 9094fc3ac..e547c73d5 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -47,7 +47,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	
     
 	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const;
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const;
 
 	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
                                   unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index a8ecd9c6a..b2a8e5800 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -271,7 +271,6 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
         case CMD_REQUEST_CAMERA_IMAGE_DATA:
         {
             ///request an image from a simulated camera, using a software renderer.
-            
             b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
             //b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
             
@@ -328,6 +327,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
                     //b3Printf("Joint %d: %f", i, sensorState.m_jointMotorTorque);
                 }
 			}
+			
             break;
         };
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 0f5538d6e..12e62e611 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4496,7 +4496,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						serverCmd.m_visualizerCameraResultArgs.m_camUp,
 						serverCmd.m_visualizerCameraResultArgs.m_camForward,
 						serverCmd.m_visualizerCameraResultArgs.m_horizontal,
-						serverCmd.m_visualizerCameraResultArgs.m_vertical);
+						serverCmd.m_visualizerCameraResultArgs.m_vertical,
+						&serverCmd.m_visualizerCameraResultArgs.m_yaw,
+						&serverCmd.m_visualizerCameraResultArgs.m_pitch,
+						&serverCmd.m_visualizerCameraResultArgs.m_dist,
+						serverCmd.m_visualizerCameraResultArgs.m_target);
                     serverCmd.m_type = result ? CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED: CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED;
 					hasStatus = true;
 					break;
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index a372d6600..e4e3101b2 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1021,9 +1021,9 @@ public:
 	    m_childGuiHelper->resetCamera(camDist,yaw,pitch,camPosX,camPosY,camPosZ);
 	}
 
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3] ) const
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
 	{
-		return m_childGuiHelper->getCameraInfo(width,height,viewMatrix,projectionMatrix,camUp,camForward,hor,vert);
+		return m_childGuiHelper->getCameraInfo(width,height,viewMatrix,projectionMatrix,camUp,camForward,hor,vert,yaw,pitch,camDist,camTarget);
 	}
 
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 27a44fc8c..0dd69ee29 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -286,6 +286,11 @@ struct b3OpenGLVisualizerCameraInfo
 
 	float m_horizontal[3];
 	float m_vertical[3];
+	
+	float m_yaw;
+	float m_pitch;
+	float m_dist;
+	float m_target[3];
 };
 
 enum b3VREventType
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index e70395e7e..109a84490 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -3925,7 +3925,7 @@ static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* arg
 	if (hasCamInfo)
 	{
 		PyObject* item=0;
-		pyCameraList = PyTuple_New(8);
+		pyCameraList = PyTuple_New(12);
 		item = PyInt_FromLong(camera.m_width);
 		PyTuple_SetItem(pyCameraList,0,item);
 		item = PyInt_FromLong(camera.m_height);
@@ -3969,6 +3969,23 @@ static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* arg
 			PyTuple_SetItem(pyCameraList,6,hor);
 			PyTuple_SetItem(pyCameraList,7,vert);
 		}
+		item = PyFloat_FromDouble(camera.m_yaw);
+		PyTuple_SetItem(pyCameraList,8,item);
+		item = PyFloat_FromDouble(camera.m_pitch);
+		PyTuple_SetItem(pyCameraList,9,item);
+		item = PyFloat_FromDouble(camera.m_dist);
+		PyTuple_SetItem(pyCameraList,10,item);
+		{
+			PyObject* item=0;
+			int i;
+			PyObject* camTarget = PyTuple_New(3);
+			for (i=0;i<3;i++)
+			{
+				item = PyFloat_FromDouble(camera.m_target[i]);
+				PyTuple_SetItem(camTarget,i,item);
+			}
+			PyTuple_SetItem(pyCameraList,11,camTarget);
+		}
 		return pyCameraList;
 	}
 

From 708a430e304f394ac2a3f957e648ad1344d1bfff Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Fri, 2 Jun 2017 18:32:39 -0700
Subject: [PATCH 071/175] comment out btThreadsAreRunning which does not build.

---
 .../CollisionDispatch/btCollisionDispatcherMt.cpp             | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
index 57cd050e5..075860c50 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp
@@ -66,7 +66,7 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold( const btCollision
     {
         // batch updater will update manifold pointers array after finishing, so
         // only need to update array when not batch-updating
-        btAssert( !btThreadsAreRunning() );
+        //btAssert( !btThreadsAreRunning() );
         manifold->m_index1a = m_manifoldsPtr.size();
         m_manifoldsPtr.push_back( manifold );
     }
@@ -77,7 +77,7 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold( const btCollision
 void btCollisionDispatcherMt::releaseManifold( btPersistentManifold* manifold )
 {
     clearManifold( manifold );
-    btAssert( !btThreadsAreRunning() );
+    //btAssert( !btThreadsAreRunning() );
     if ( !m_batchUpdating )
     {
         // batch updater will update manifold pointers array after finishing, so

From b23cb1dd2c838e815402fc0fdaf77325e1834a1e Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 3 Jun 2017 10:57:56 -0700
Subject: [PATCH 072/175] pybullet.createCollisionShape, createVisualShape,
 createMultiBody, programmatic creation using ProgrammaticUrdfInterface (still
 preliminary, not ready for commit yet, see
 examples\pybullet\examples\createSphereMultiBodies.py)

---
 .../ImportURDFDemo/BulletUrdfImporter.cpp     |   8 +-
 .../ImportURDFDemo/BulletUrdfImporter.h       |   1 +
 .../ImportURDFDemo/URDFImporterInterface.h    |   3 +-
 .../Importers/ImportURDFDemo/UrdfParser.h     |   3 +-
 .../MultiBody/InvertedPendulumPDControl.cpp   |   2 +-
 examples/OpenGLWindow/SimpleOpenGL2App.cpp    |   7 +-
 examples/OpenGLWindow/SimpleOpenGL3App.cpp    |   8 +-
 examples/SharedMemory/PhysicsClientC_API.cpp  | 199 ++++++++
 examples/SharedMemory/PhysicsClientC_API.h    |  22 +
 .../PhysicsClientSharedMemory.cpp             |  24 +
 examples/SharedMemory/PhysicsDirect.cpp       |  28 ++
 .../PhysicsServerCommandProcessor.cpp         | 435 +++++++++++++++++-
 examples/SharedMemory/SharedMemoryCommands.h  |  95 ++++
 examples/SharedMemory/SharedMemoryPublic.h    |  24 +
 .../examples/createSphereMultiBodies.py       |  30 ++
 examples/pybullet/pybullet.c                  | 165 +++++++
 16 files changed, 1032 insertions(+), 22 deletions(-)
 create mode 100644 examples/pybullet/examples/createSphereMultiBodies.py

diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 72aaecfce..d243c1bc9 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -294,7 +294,6 @@ std::string BulletURDFImporter::getJointName(int linkIndex) const
 
 void  BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
 {
-	//todo(erwincoumans)
 	//the link->m_inertia is NOT necessarily aligned with the inertial frame
 	//so an additional transform might need to be computed
 	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
@@ -414,6 +413,13 @@ bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joi
 	
 }
 
+void BulletURDFImporter::setRootTransformInWorld(const btTransform& rootTransformInWorld)
+{
+    m_data->m_urdfParser.getModel().m_rootTransformInWorld = rootTransformInWorld ;
+}
+
+
+
 bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
 {
     rootTransformInWorld = m_data->m_urdfParser.getModel().m_rootTransformInWorld;
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 5ada57d25..0723712dd 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -55,6 +55,7 @@ public:
     virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
 
     virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
+	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);
 
     virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
 
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
index 588930184..d6853e3b6 100644
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -64,7 +64,8 @@ public:
 	};
     
     virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
-    
+	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld){}
+
 	///quick hack: need to rethink the API/dependencies of this
     virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1;}
     
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 1a74cbba2..817536916 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -282,12 +282,11 @@ public:
     int getNumModels() const
     {
         //user should have loaded an SDF when calling this method
-        btAssert(m_parseSDF);
         if (m_parseSDF)
         {
             return m_sdfModels.size();
         }
-		return 0;
+		return 1;
     }
     
     void activateModel(int modelIndex);
diff --git a/examples/MultiBody/InvertedPendulumPDControl.cpp b/examples/MultiBody/InvertedPendulumPDControl.cpp
index 8031e773d..d380929c4 100644
--- a/examples/MultiBody/InvertedPendulumPDControl.cpp
+++ b/examples/MultiBody/InvertedPendulumPDControl.cpp
@@ -244,7 +244,7 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
 
             world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);
 
-            btVector3 color(0.0,0.0,0.5);
+            btVector4 color(0.0,0.0,0.5,1);
             guiHelper->createCollisionObjectGraphicsObject(col,color);
 
 //                col->setFriction(friction);
diff --git a/examples/OpenGLWindow/SimpleOpenGL2App.cpp b/examples/OpenGLWindow/SimpleOpenGL2App.cpp
index 198a8bf67..43b8058f2 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2App.cpp
@@ -481,7 +481,8 @@ void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float world
 void SimpleOpenGL2App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
 {
 	b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
-	cubeExtents[m_data->m_upAxis] = 0;
+	double halfHeight=0.1;
+	cubeExtents[m_data->m_upAxis] = halfHeight;
 	int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
 
 	b3Quaternion orn(0,0,0,1);
@@ -501,10 +502,10 @@ void SimpleOpenGL2App::registerGrid(int cells_x, int cells_z, float color0[4], f
 			}
 			if (this->m_data->m_upAxis==1)
 			{
-				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, 0.f, (j + 0.5f) - cells_z * 0.5f);
+				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, -halfHeight, (j + 0.5f) - cells_z * 0.5f);
 			} else
 			{
-				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,0.f );
+				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,-halfHeight );
 			}
 			m_renderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
 		}
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index e05056e81..e4475f535 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -704,9 +704,9 @@ int	SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, f
 void SimpleOpenGL3App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
 {
 	b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
-	cubeExtents[m_data->m_upAxis] = 0;
+	double halfHeight=0.1;
+	cubeExtents[m_data->m_upAxis] = halfHeight;
 	int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
-
 	b3Quaternion orn(0,0,0,1);
 	b3Vector3 center=b3MakeVector3(0,0,0,1);
 	b3Vector3 scaling=b3MakeVector3(1,1,1,1);
@@ -724,10 +724,10 @@ void SimpleOpenGL3App::registerGrid(int cells_x, int cells_z, float color0[4], f
 			}
 			if (this->m_data->m_upAxis==1)
 			{
-				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, 0.f, (j + 0.5f) - cells_z * 0.5f);
+				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, -halfHeight, (j + 0.5f) - cells_z * 0.5f);
 			} else
 			{
-				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,0.f );
+				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,-halfHeight );
 			}
 			m_instancingRenderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
 		}
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 33066175c..c8b29a115 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -691,6 +691,205 @@ int b3GetLinkState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
   return 0;
 }
 
+b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+	if (cl)
+	{
+		struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+		b3Assert(command);
+		command->m_type = CMD_CREATE_COLLISION_SHAPE;
+		command->m_updateFlags =0;
+		command->m_createCollisionShapeArgs.m_numCollisionShapes = 0;
+		return (b3SharedMemoryCommandHandle) command;
+	}
+	return 0;
+}
+void b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
+	if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
+	{
+		int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
+		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
+		{
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_SPHERE;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_sphereRadius = radius;
+			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
+		}
+	}
+}
+
+void b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
+	if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
+	{
+		int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
+		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
+		{
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_BOX;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[0] = halfExtents[0];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[1] = halfExtents[1];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[2] = halfExtents[2];
+			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
+		}
+	}
+}
+
+
+void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[3], double childOrientation[4])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
+	if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
+	{
+		if (shapeIndex<command->m_createCollisionShapeArgs.m_numCollisionShapes)
+		{
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 1;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childPosition[0] = childPosition[0];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childPosition[1] = childPosition[1];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childPosition[2] = childPosition[2];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childOrientation[0] = childOrientation[0];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childOrientation[1] = childOrientation[1];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childOrientation[2] = childOrientation[2];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_childOrientation[3] = childOrientation[3];
+		}
+	}
+}
+
+
+int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle)
+{
+	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
+	b3Assert(status);
+	b3Assert(status->m_type == CMD_CREATE_COLLISION_SHAPE_COMPLETED);
+	if (status && status->m_type == CMD_CREATE_COLLISION_SHAPE_COMPLETED)
+	{
+		return status->m_createCollisionShapeResultArgs.m_collisionShapeUniqueId;
+	}
+	return -1;
+}
+
+
+b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+	if (cl)
+	{
+		struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+		b3Assert(command);
+		command->m_type = CMD_CREATE_VISUAL_SHAPE;
+		command->m_updateFlags =0;
+		return (b3SharedMemoryCommandHandle) command;
+	}
+	return 0;
+}
+
+int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle)
+{
+	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
+	b3Assert(status);
+	b3Assert(status->m_type == CMD_CREATE_VISUAL_SHAPE_COMPLETED);
+	if (status && status->m_type == CMD_CREATE_VISUAL_SHAPE_COMPLETED)
+	{
+		return status->m_createVisualShapeResultArgs.m_visualShapeUniqueId;
+	}
+	return -1;
+}
+
+b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+	if (cl)
+	{
+		struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+		b3Assert(command);
+		command->m_type = CMD_CREATE_MULTI_BODY;
+		command->m_updateFlags =0;
+		command->m_createMultiBodyArgs.m_bodyName[0] = 0;
+		command->m_createMultiBodyArgs.m_baseLinkIndex = -1;
+		command->m_createMultiBodyArgs.m_numLinks = 0;
+		return (b3SharedMemoryCommandHandle) command;
+	}
+	return 0;
+}
+
+
+int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_MULTI_BODY);
+	if (command->m_type==CMD_CREATE_MULTI_BODY)
+	{
+		int numLinks = command->m_createMultiBodyArgs.m_numLinks;
+
+		if (numLinks<MAX_CREATE_MULTI_BODY_LINKS)
+		{
+			int baseLinkIndex = numLinks;
+		    command->m_updateFlags |=MULTI_BODY_HAS_BASE;
+			command->m_createMultiBodyArgs.m_baseLinkIndex = baseLinkIndex;
+			command->m_createMultiBodyArgs.m_baseWorldPosition[0]=basePosition[0];
+			command->m_createMultiBodyArgs.m_baseWorldPosition[1]=basePosition[1];
+			command->m_createMultiBodyArgs.m_baseWorldPosition[2]=basePosition[2];
+
+			command->m_createMultiBodyArgs.m_baseWorldOrientation[0]=baseOrientation[0];
+			command->m_createMultiBodyArgs.m_baseWorldOrientation[1]=baseOrientation[1];
+			command->m_createMultiBodyArgs.m_baseWorldOrientation[2]=baseOrientation[2];
+			command->m_createMultiBodyArgs.m_baseWorldOrientation[3]=baseOrientation[3];
+
+			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+0] = mass;
+			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+1] = mass;
+			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+2] = mass;
+
+
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+0] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+1] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+2] = 0;
+
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+0] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+1] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+2] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+3] = 1;
+
+			command->m_createMultiBodyArgs.m_linkCollisionShapeUniqueIds[baseLinkIndex]= collisionShapeUnique;
+			command->m_createMultiBodyArgs.m_linkVisualShapeUniqueIds[baseLinkIndex] = visualShapeUniqueId;
+
+			command->m_createMultiBodyArgs.m_linkMasses[command->m_createMultiBodyArgs.m_numLinks] = mass;
+			command->m_createMultiBodyArgs.m_numLinks++;
+		}
+		return numLinks;
+	}
+	return -2;
+}
+
+
+int b3GetStatusMultiBodyUniqueId(b3SharedMemoryStatusHandle statusHandle)
+{
+	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
+	b3Assert(status);
+	b3Assert(status->m_type == CMD_CREATE_MULTI_BODY_COMPLETED);
+	if (status && status->m_type == CMD_CREATE_MULTI_BODY_COMPLETED)
+	{
+		return status->m_createMultiBodyResultArgs.m_bodyUniqueId;
+	}
+	return -1;
+}
+
 b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index c11ac9d97..62d27faff 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -313,6 +313,28 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
 ///the creation of collision shapes and rigid bodies etc is likely going to change,
 ///but good to have a b3CreateBoxShapeCommandInit for now
 
+
+b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient);
+void b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
+void b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3]);
+
+
+void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[3], double childOrientation[4]);
+
+int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
+
+b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
+int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
+
+b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
+int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4]);
+
+//int b3CreateMultiBodyAddLink(b3SharedMemoryCommandHandle commandHandle, int jointType, int parentLinkIndex, double linkMass, int linkCollisionShapeUnique, int linkVisualShapeUniqueId);
+
+int b3GetStatusMultiBodyUniqueId(b3SharedMemoryStatusHandle statusHandle);
+
+
+
 ///create a box of size (1,1,1) at world origin (0,0,0) at orientation quat (0,0,0,1)
 ///after that, you can optionally adjust the initial position, orientation and size
 b3SharedMemoryCommandHandle b3CreateBoxShapeCommandInit(b3PhysicsClientHandle physClient);
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 4872a151a..a2061b246 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -442,6 +442,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                 break;
             }
 
+
+			case CMD_CREATE_MULTI_BODY_COMPLETED:
             case CMD_URDF_LOADING_COMPLETED: 
 			{
 				B3_PROFILE("CMD_URDF_LOADING_COMPLETED");
@@ -1056,6 +1058,28 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				b3Warning("Request dynamics info failed");
 				break;
 			}
+			case CMD_CREATE_COLLISION_SHAPE_FAILED:
+			{
+				b3Warning("Request createCollisionShape failed");
+				break;
+			}
+			case CMD_CREATE_COLLISION_SHAPE_COMPLETED:
+			case CMD_CREATE_VISUAL_SHAPE_COMPLETED:
+			{
+				break;
+			}
+
+			case CMD_CREATE_MULTI_BODY_FAILED:
+			{
+				b3Warning("Request createMultiBody failed");
+				break;
+			}
+			case CMD_CREATE_VISUAL_SHAPE_FAILED:
+			{
+				b3Warning("Request createVisualShape failed");
+				break;
+			}
+
             default: {
                 b3Error("Unknown server status %d\n", serverCmd.m_type);
                 btAssert(0);
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index e03e2d7f0..ed8376c9f 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -835,6 +835,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 		}
 		break;
 	}
+	case CMD_CREATE_MULTI_BODY_COMPLETED:
 	case CMD_URDF_LOADING_COMPLETED:
 	{
 
@@ -881,6 +882,33 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 		b3Warning("createConstraint failed");
 		break;
 	}
+	
+	case CMD_CREATE_COLLISION_SHAPE_FAILED:
+	{
+		b3Warning("createCollisionShape failed");
+		break;
+	}
+	case CMD_CREATE_COLLISION_SHAPE_COMPLETED:
+	{
+		break;
+	}
+	
+	case CMD_CREATE_VISUAL_SHAPE_FAILED:
+	{
+		b3Warning("createVisualShape failed");
+		break;
+	}
+	case CMD_CREATE_VISUAL_SHAPE_COMPLETED:
+	{
+		break;
+	}
+	
+	case CMD_CREATE_MULTI_BODY_FAILED:
+	{
+		b3Warning("createMultiBody failed");
+		break;
+	}
+	
 	default:
 	{
 		//b3Warning("Unknown server status type");
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 39a18f909..9dc8a1b9e 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -124,7 +124,14 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
 	}
 };
 
-
+struct InteralCollisionShapeData
+{
+	btCollisionShape* m_collisionShape;
+	void clear()
+	{
+		m_collisionShape=0;
+	}
+};
 
 struct InteralBodyData
 {
@@ -171,7 +178,7 @@ struct InteralUserConstraintData
 };
 
 typedef b3PoolBodyHandle<InteralBodyData> InternalBodyHandle;
-
+typedef b3PoolBodyHandle<InteralCollisionShapeData> InternalCollisionShapeHandle;
 
 class btCommandChunk
 {
@@ -1133,7 +1140,7 @@ struct PhysicsServerCommandProcessorInternalData
 {
 	///handle management
 	b3ResizablePool< InternalBodyHandle > m_bodyHandles;
-
+	b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
 
 	bool m_allowRealTimeSimulation;
 	
@@ -1244,6 +1251,9 @@ struct PhysicsServerCommandProcessorInternalData
 
 		m_bodyHandles.exitHandles();
 		m_bodyHandles.initHandles();
+		m_userCollisionShapeHandles.exitHandles();
+		m_userCollisionShapeHandles.initHandles();
+
 #if 0
 		btAlignedObjectArray<int> bla;
 
@@ -1490,6 +1500,211 @@ void PhysicsServerCommandProcessor::logObjectStates(btScalar timeStep)
 
 }
 
+struct ProgrammaticUrdfInterface : public URDFImporterInterface
+{
+	int m_bodyUniqueId;
+
+	const b3CreateMultiBodyArgs& m_createBodyArgs;
+	mutable b3AlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
+	PhysicsServerCommandProcessorInternalData* m_data;
+
+	ProgrammaticUrdfInterface(const b3CreateMultiBodyArgs& bodyArgs, PhysicsServerCommandProcessorInternalData* data)
+		:m_bodyUniqueId(-1),
+		m_createBodyArgs(bodyArgs),
+		m_data(data)
+	{
+
+	}
+
+	virtual ~ProgrammaticUrdfInterface()
+	{
+
+	}
+
+	 virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
+	 {
+		 b3Assert(0);
+		 return false;
+	 }
+
+    virtual const char* getPathPrefix()
+	{
+		return "";
+	}
+    
+    ///return >=0 for the root link index, -1 if there is no root link
+    virtual int getRootLinkIndex() const
+	{
+		return m_createBodyArgs.m_baseLinkIndex;
+	}
+    
+    ///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
+    virtual std::string getLinkName(int linkIndex) const
+	{
+		return "link";
+	}
+
+	//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
+	virtual std::string getBodyName() const
+	{
+		return m_createBodyArgs.m_bodyName;
+	}
+    
+	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
+	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const 
+	{ 
+		b3Assert(0);
+		return false;
+	}
+
+	virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const 
+	{ 
+		return false;
+	}
+
+	virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const 
+	{ 
+		return 0;
+	}
+	///this API will likely change, don't override it!
+	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const  
+	{ 
+
+		return false;
+	}
+    
+	virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const 
+	{
+		b3Assert(0);
+		return false;
+	}
+
+    virtual std::string getJointName(int linkIndex) const
+	{
+		b3Assert(0);
+		return "joint";
+	}
+	
+    //fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
+    virtual void  getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
+	{
+		if (urdfLinkIndex>=0 && urdfLinkIndex < m_createBodyArgs.m_numLinks)
+		{
+			mass = m_createBodyArgs.m_linkMasses[urdfLinkIndex];
+			localInertiaDiagonal.setValue(
+				m_createBodyArgs.m_linkInertias[urdfLinkIndex*3+0],
+				m_createBodyArgs.m_linkInertias[urdfLinkIndex*3+1],
+				m_createBodyArgs.m_linkInertias[urdfLinkIndex*3+2]);
+			inertialFrame.setOrigin(btVector3(
+				m_createBodyArgs.m_linkInertialFramePositions[urdfLinkIndex*3+0],
+				m_createBodyArgs.m_linkInertialFramePositions[urdfLinkIndex*3+1],
+				m_createBodyArgs.m_linkInertialFramePositions[urdfLinkIndex*3+2]));
+			inertialFrame.setRotation(btQuaternion(
+				m_createBodyArgs.m_linkInertialFrameOrientations[urdfLinkIndex*4+0],
+				m_createBodyArgs.m_linkInertialFrameOrientations[urdfLinkIndex*4+1],
+				m_createBodyArgs.m_linkInertialFrameOrientations[urdfLinkIndex*4+2],
+				m_createBodyArgs.m_linkInertialFrameOrientations[urdfLinkIndex*4+3]));
+		} else
+		{		
+			mass = 0;
+			localInertiaDiagonal.setValue(0,0,0);
+			inertialFrame.setIdentity();
+		}
+	}
+    
+    ///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
+    virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const
+	{
+	}
+    
+    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
+	{
+		return false;
+	};
+
+	virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const 
+	{
+		//backwards compatibility for custom file importers
+		jointMaxForce = 0;
+		jointMaxVelocity = 0;
+		return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
+	};
+    
+    virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const
+	{
+		rootTransformInWorld.setOrigin(btVector3(
+			m_createBodyArgs.m_baseWorldPosition[0],
+			m_createBodyArgs.m_baseWorldPosition[1],
+			m_createBodyArgs.m_baseWorldPosition[2]));
+		rootTransformInWorld.setRotation(btQuaternion(
+			m_createBodyArgs.m_baseWorldOrientation[0],
+			m_createBodyArgs.m_baseWorldOrientation[1],
+			m_createBodyArgs.m_baseWorldOrientation[2],
+			m_createBodyArgs.m_baseWorldOrientation[3]));
+		return true;
+	}
+	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld)
+	{
+		b3Assert(0);
+	}
+
+	///quick hack: need to rethink the API/dependencies of this
+    virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
+	{
+		return -1;
+	}
+    
+    virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const  
+	{
+	}
+    virtual void setBodyUniqueId(int bodyId) 
+	{
+		m_bodyUniqueId = bodyId;
+	}
+    virtual int getBodyUniqueId() const 
+	{
+		return m_bodyUniqueId;
+	}
+
+   //default implementation for backward compatibility 
+	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
+	{
+		btCompoundShape* compound = new btCompoundShape();
+
+		int colShapeUniqueId = m_createBodyArgs.m_linkCollisionShapeUniqueIds[linkIndex];
+		if (colShapeUniqueId>=0)
+		{
+			InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId);
+			if (handle)
+			{
+				btTransform childTrans;
+				childTrans.setIdentity();				
+				compound->addChildShape(localInertiaFrame.inverse()*childTrans,handle->m_collisionShape);
+			}
+		}
+		m_allocatedCollisionShapes.push_back(compound);
+		return compound;
+	}
+	
+	virtual int getNumAllocatedCollisionShapes() const 
+	{ 
+		return m_allocatedCollisionShapes.size();
+	}
+    
+	virtual class btCollisionShape* getAllocatedCollisionShape(int index) 
+	{
+		return m_allocatedCollisionShapes[index];
+	}
+	virtual int getNumModels() const 
+	{
+		return 1;
+	}
+    virtual void activateModel(int /*modelIndex*/) 
+	{
+	}
+};
+
+
 void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 {
     ///collision configuration contains default setup for memory, collision setup
@@ -1829,7 +2044,22 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 
 			createJointMotors(mb);
 
-
+#ifdef B3_ENABLE_TINY_AUDIO
+			{
+				SDFAudioSource audioSource;
+				int urdfRootLink = u2b.getRootLinkIndex();//LinkIndex = creation.m_mb2urdfLink[-1];
+				if (u2b.getLinkAudioSource(urdfRootLink,audioSource))
+				{
+					int flags = mb->getBaseCollider()->getCollisionFlags();
+					mb->getBaseCollider()->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
+					audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
+					if (audioSource.m_userIndex>=0)
+					{
+						bodyHandle->m_audioSources.insert(-1, audioSource);
+					}
+				}
+			}
+#endif
 			//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
 
             bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
@@ -1853,14 +2083,33 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 				m_data->m_strings.push_back(jointName);
 
 				mb->getLink(i).m_jointName = jointName->c_str();
+
+#ifdef B3_ENABLE_TINY_AUDIO
+				   {
+						SDFAudioSource audioSource;
+						int urdfLinkIndex = creation.m_mb2urdfLink[link];
+						if (u2b.getLinkAudioSource(urdfLinkIndex,audioSource))
+						{
+							int flags = mb->getLink(link).m_collider->getCollisionFlags();
+							mb->getLink(i).m_collider->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
+							audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
+							if (audioSource.m_userIndex>=0)
+							{
+								bodyHandle->m_audioSources.insert(link, audioSource);
+							}
+						}
+					}
+#endif
             }
 			std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
 			m_data->m_strings.push_back(baseName);
 			mb->setBaseName(baseName->c_str());
 		} else
 		{
-			b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later.");
+			//b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later.");
             bodyHandle->m_rigidBody = rb;
+			rb->setUserIndex2(bodyUniqueId);
+			m_data->m_sdfRecentLoadedBodies.push_back(bodyUniqueId);
 		}
 
     }
@@ -1945,6 +2194,9 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
 bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
                              bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags)
 {
+	m_data->m_sdfRecentLoadedBodies.clear();
+	*bodyUniqueIdPtr = -1;
+
 	BT_PROFILE("loadURDF");
 	btAssert(m_data->m_dynamicsWorld);
 	if (!m_data->m_dynamicsWorld)
@@ -1962,6 +2214,25 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 
     if (loadOk)
     {
+
+#if 1
+		btTransform rootTrans;
+		rootTrans.setOrigin(pos);
+		rootTrans.setRotation(orn);
+		u2b.setRootTransformInWorld(rootTrans);
+		bool ok = processImportedObjects(fileName, bufferServerToClient, bufferSizeInBytes,  useMultiBody, flags, u2b);
+		if (ok)
+		{
+			if (m_data->m_sdfRecentLoadedBodies.size()==1)
+			{
+				*bodyUniqueIdPtr = m_data->m_sdfRecentLoadedBodies[0];
+
+			}
+			m_data->m_sdfRecentLoadedBodies.clear();
+		}
+		return ok;
+#else
+
 		//get a body index
 		int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
 		if (bodyUniqueIdPtr)
@@ -2132,9 +2403,9 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
                 return true;
             }
 		}
-
+		#endif
     }
-
+	
     return false;
 }
 
@@ -3155,6 +3426,147 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						hasStatus = true;
                         break;
                     }
+				case CMD_CREATE_COLLISION_SHAPE:
+				{
+					hasStatus = true;
+					serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_FAILED;
+					
+					btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
+					btCollisionShape* shape = 0;
+
+					btCompoundShape* compound = 0;
+
+					if (clientCmd.m_createCollisionShapeArgs.m_numCollisionShapes>1)
+					{
+						compound = worldImporter->createCompoundShape();
+					}
+					for (int i=0;i<clientCmd.m_createCollisionShapeArgs.m_numCollisionShapes;i++)
+					{
+						btTransform childTransform;
+						childTransform.setIdentity();
+						if (clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_hasChildTransform)
+						{
+							childTransform.setOrigin(btVector3(clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_childPosition[0],
+								clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_childPosition[1],
+								clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_childPosition[2]));
+							childTransform.setRotation(btQuaternion(
+								clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_childOrientation[0],
+								clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_childOrientation[1],
+								clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_childOrientation[2],
+								clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_childOrientation[3]
+							));
+							if (compound==0)
+							{
+								compound = worldImporter->createCompoundShape();
+							}
+						}
+
+						switch (clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_type)
+						{
+							case GEOM_SPHERE:
+							{
+								double radius = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_sphereRadius;
+								shape = worldImporter->createSphereShape(radius);
+								if (compound)
+								{
+									compound->addChildShape(childTransform,shape);
+								}
+								break;
+							}
+							case GEOM_BOX:
+							{
+								//double halfExtents[3] = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_sphereRadius;
+								shape = worldImporter->createBoxShape(btVector3(
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[0],
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[1],
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[2]));
+								if (compound)
+								{
+									compound->addChildShape(childTransform,shape);
+								}
+								break;
+							}
+						}
+					}
+					#if 0
+					shape = worldImporter->createCylinderShapeX(radius,height);
+					shape = worldImporter->createCylinderShapeY(radius,height);
+					shape = worldImporter->createCylinderShapeZ(radius,height);
+					shape = worldImporter->createCapsuleShapeX(radius,height);
+					shape = worldImporter->createCapsuleShapeY(radius,height);
+					shape = worldImporter->createCapsuleShapeZ(radius,height);
+					shape = worldImporter->createBoxShape(halfExtents);
+					#endif
+					if (compound && compound->getNumChildShapes())
+					{
+						shape = compound;
+					}
+
+					if (shape)
+					{
+						int collisionShapeUid = m_data->m_userCollisionShapeHandles.allocHandle();
+						InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(collisionShapeUid);
+						handle->m_collisionShape = shape;
+						serverStatusOut.m_createCollisionShapeResultArgs.m_collisionShapeUniqueId = collisionShapeUid;
+						m_data->m_worldImporters.push_back(worldImporter);
+						serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_COMPLETED;
+					} else
+					{
+						delete worldImporter;
+					}
+
+				
+					break;
+				}
+				case CMD_CREATE_VISUAL_SHAPE:
+				{
+					hasStatus = true;
+					serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_FAILED;
+					break;
+				}
+				case CMD_CREATE_MULTI_BODY:
+				{
+					hasStatus = true;
+					serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_FAILED;
+					if (clientCmd.m_createMultiBodyArgs.m_baseLinkIndex>=0)
+					{
+						ProgrammaticUrdfInterface u2b(clientCmd.m_createMultiBodyArgs, m_data);
+						
+						bool useMultiBody = false;
+						int flags = 0;
+						bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody,  flags, u2b);
+
+						if (ok)
+						{
+							int bodyUniqueId = -1;
+
+							if (m_data->m_sdfRecentLoadedBodies.size()==1)
+							{
+								bodyUniqueId = m_data->m_sdfRecentLoadedBodies[0];
+							}
+							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;
+								
+								int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
+								if (m_data->m_urdfLinkNameMapper.size())
+								{
+									serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
+								}
+								serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
+								InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+								strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
+							}
+						}
+
+						//ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
+
+						
+					}
+					break;
+				}
                 case CMD_LOAD_URDF:
                 {
 					BT_PROFILE("CMD_LOAD_URDF");
@@ -3193,13 +3605,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                                initialPos,initialOrn,
                                                useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags);
 
-                    if (completedOk)
+                    if (completedOk && bodyUniqueId>=0)
                     {
 
+
 						m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
 
 						serverStatusOut.m_type = CMD_URDF_LOADING_COMPLETED;
                        
+						int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
+
 
 						if (m_data->m_urdfLinkNameMapper.size())
 						{
@@ -6409,8 +6824,8 @@ void PhysicsServerCommandProcessor::resetSimulation()
 	m_data->m_bodyHandles.exitHandles();
 	m_data->m_bodyHandles.initHandles();
 
-	
-	
+	m_data->m_userCollisionShapeHandles.exitHandles();
+	m_data->m_userCollisionShapeHandles.initHandles();
 
 }
 
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index b322c163d..0d89aa9bd 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -761,6 +761,95 @@ struct ConfigureOpenGLVisualizerRequest
     int m_setEnabled;
 };
 
+enum 
+{
+	URDF_GEOM_HAS_RADIUS = 1,
+};
+
+struct b3CreateCollisionShape
+{
+	int m_type;//see UrdfGeomTypes	
+
+	int m_hasChildTransform;
+	double m_childPosition[3];
+	double m_childOrientation[4];
+
+	double m_sphereRadius;
+	double m_boxHalfExtents[3];	
+	double m_capsuleRadius;
+	double m_capsuleHeight;
+	int		m_hasFromTo;
+	double m_capsuleFrom[3];
+	double m_capsuleTo[3];
+	double m_planeNormal[3];
+
+	int         m_meshFileType;
+	char		m_meshFileName[1024];
+	double		m_meshScale;
+};
+
+#define MAX_COMPOUND_COLLISION_SHAPES 128
+
+struct b3CreateCollisionShapeArgs
+{
+	int m_numCollisionShapes;
+	b3CreateCollisionShape m_shapes[MAX_COMPOUND_COLLISION_SHAPES];
+};
+
+
+struct b3CreateVisualShapeArgs
+{
+	int m_visualShapeUniqueId;
+};
+
+#define MAX_CREATE_MULTI_BODY_LINKS 128
+enum eCreateMultiBodyEnum
+{
+	MULTI_BODY_HAS_BASE=1,
+};
+struct b3CreateMultiBodyArgs
+{
+	char m_bodyName[1024];
+	int m_baseLinkIndex;
+
+	double m_baseWorldPosition[3];
+	double m_baseWorldOrientation[4];
+
+	int m_numLinks;
+	double m_linkMasses[MAX_CREATE_MULTI_BODY_LINKS];
+	double m_linkInertias[MAX_CREATE_MULTI_BODY_LINKS*3];
+	double m_linkInertialFramePositions[MAX_CREATE_MULTI_BODY_LINKS*3];
+	double m_linkInertialFrameOrientations[MAX_CREATE_MULTI_BODY_LINKS*4];
+	int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
+	int m_linkCollisionShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
+	int m_linkVisualShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
+
+	#if 0
+	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 b3CreateCollisionShapeResultArgs
+{
+	int m_collisionShapeUniqueId;
+};
+
+struct b3CreateVisualShapeResultArgs
+{
+	int m_visualShapeUniqueId;
+};
+
+struct b3CreateMultiBodyResultArgs
+{
+	int m_bodyUniqueId;
+};
+
+
 struct SharedMemoryCommand
 {
 	int m_type;
@@ -808,6 +897,9 @@ struct SharedMemoryCommand
         struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
 		struct b3ObjectArgs m_removeObjectArgs;
 		struct b3Profile m_profile;
+		struct b3CreateCollisionShapeArgs m_createCollisionShapeArgs;
+		struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
+		struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
 
     };
 };
@@ -874,6 +966,9 @@ struct SharedMemoryStatus
 		struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
 		struct b3ObjectArgs m_removeObjectArgs;
 		struct b3DynamicsInfo m_dynamicsInfo;
+		struct b3CreateCollisionShapeResultArgs m_createCollisionShapeResultArgs;
+		struct b3CreateVisualShapeResultArgs m_createVisualShapeResultArgs;
+		struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index a6b33717b..e5b288dbb 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -7,6 +7,7 @@
 #define SHARED_MEMORY_MAGIC_NUMBER 201706001
 //#define SHARED_MEMORY_MAGIC_NUMBER 201703024
 
+
 enum EnumSharedMemoryClientCommand
 {
     CMD_LOAD_SDF,
@@ -60,6 +61,9 @@ enum EnumSharedMemoryClientCommand
 	CMD_CHANGE_DYNAMICS_INFO,
 	CMD_GET_DYNAMICS_INFO,
 	CMD_PROFILE_TIMING,
+	CMD_CREATE_COLLISION_SHAPE,
+	CMD_CREATE_VISUAL_SHAPE,
+	CMD_CREATE_MULTI_BODY,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -145,6 +149,12 @@ enum EnumSharedMemoryServerStatus
 		CMD_REMOVE_BODY_FAILED,
 		CMD_GET_DYNAMICS_INFO_COMPLETED,
 		CMD_GET_DYNAMICS_INFO_FAILED,
+		CMD_CREATE_COLLISION_SHAPE_FAILED,
+		CMD_CREATE_COLLISION_SHAPE_COMPLETED,
+		CMD_CREATE_VISUAL_SHAPE_FAILED,
+		CMD_CREATE_VISUAL_SHAPE_COMPLETED,
+		CMD_CREATE_MULTI_BODY_FAILED,
+		CMD_CREATE_MULTI_BODY_COMPLETED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };
@@ -204,6 +214,7 @@ struct b3JointInfo
 		double m_jointAxis[3]; // joint axis in parent local frame
 };
 
+
 struct b3UserConstraint
 {
     int m_parentBodyIndex;
@@ -537,4 +548,17 @@ enum eURDF_Flags
 	URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
 };
 
+enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
+{
+	GEOM_SPHERE=2,
+	GEOM_BOX,
+	GEOM_CYLINDER,
+	GEOM_MESH,
+	GEOM_PLANE,
+	GEOM_CAPSULE, //non-standard URDF?
+	GEOM_UNKNOWN, 
+};
+
+
+
 #endif//SHARED_MEMORY_PUBLIC_H
diff --git a/examples/pybullet/examples/createSphereMultiBodies.py b/examples/pybullet/examples/createSphereMultiBodies.py
new file mode 100644
index 000000000..3c66c4519
--- /dev/null
+++ b/examples/pybullet/examples/createSphereMultiBodies.py
@@ -0,0 +1,30 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+sphereRadius = 0.05
+
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
+colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
+
+mass = 1
+visualShapeId = -1
+
+
+for i in range (10):
+	for j in range (10):
+		for k in range (10):
+			if (k&2):
+				sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1])
+			else:
+				sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1])
+				#p.changeDynamics(sphereUid,-1,spinningFriction=0.1, rollingFriction=0.1)
+#p.loadSDF("stadium.sdf")
+p.loadURDF("plane.urdf", useMaximalCoordinates=0)
+
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(1)
+
+while (1):
+	time.sleep(0.01)
+	
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index b1a6653b5..124a22297 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -4701,6 +4701,152 @@ static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject*
 	return NULL;
 }
 
+static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = 0;
+	int shapeType=-1;
+	double radius=-1;
+	PyObject* halfExtentsObj=0;
+
+	static char* kwlist[] = {"shapeType","radius","halfExtents", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOi", kwlist, 
+		&shapeType, &radius,&halfExtentsObj, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+	if (shapeType>=GEOM_SPHERE)
+	{
+		b3SharedMemoryStatusHandle statusHandle;
+		int statusType;
+		b3SharedMemoryCommandHandle commandHandle = b3CreateCollisionShapeCommandInit(sm);
+		if (shapeType==GEOM_SPHERE && radius>0)
+		{
+			b3CreateCollisionShapeAddSphere(commandHandle,radius);
+		}
+		if (shapeType==GEOM_BOX && halfExtentsObj)
+		{
+			double halfExtents[3] = {1,1,1};
+			pybullet_internalSetVectord(halfExtentsObj,halfExtents);
+			b3CreateCollisionShapeAddBox(commandHandle,halfExtents);
+		}
+
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		statusType = b3GetStatusType(statusHandle);
+		if (statusType == CMD_CREATE_COLLISION_SHAPE_COMPLETED)
+		{
+			int uid = b3GetStatusCollisionShapeUniqueId(statusHandle);
+			PyObject* ob = PyLong_FromLong(uid);
+			return ob;
+		}
+	}
+	PyErr_SetString(SpamError, "createCollisionShape failed.");
+	return NULL;
+}
+#if 0
+b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient);
+int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
+
+b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
+int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
+
+b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
+int b3GetStatusMultiBodyUniqueId(b3SharedMemoryStatusHandle statusHandle);
+#endif
+
+
+static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = 0;
+	int test=-1;
+
+	static char* kwlist[] = {"test",NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &test,
+									 &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+	if (test>=0)
+	{
+		b3SharedMemoryStatusHandle statusHandle;
+		int statusType;
+		b3SharedMemoryCommandHandle commandHandle = b3CreateVisualShapeCommandInit(sm);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		statusType = b3GetStatusType(statusHandle);
+		if (statusType == CMD_CREATE_VISUAL_SHAPE_COMPLETED)
+		{
+			int uid = b3GetStatusVisualShapeUniqueId(statusHandle);
+			PyObject* ob = PyLong_FromLong(uid);
+			return ob;
+		}
+	}
+
+	PyErr_SetString(SpamError, "createVisualShape failed.");
+	return NULL;
+}
+
+static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = 0;
+	double baseMass = 0;
+	int baseCollisionShapeIndex=-1;
+	int baseVisualShapeIndex=-1;
+	PyObject* basePosObj=0;
+	PyObject* baseOrnObj=0;
+
+
+	static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation",
+//		"linkParentIndices", "linkJointTypes","linkMasses","linkCollisionShapeIndices",
+		NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOi", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
+				&basePosObj, &baseOrnObj,&physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	{
+		b3SharedMemoryStatusHandle statusHandle;
+		int statusType;
+		b3SharedMemoryCommandHandle commandHandle = b3CreateMultiBodyCommandInit(sm);
+		double basePosition[3]={0,0,0};
+		double baseOrientation[4]={0,0,0,1};
+		pybullet_internalSetVectord(basePosObj,basePosition);
+		pybullet_internalSetVector4d(baseOrnObj,baseOrientation);
+		int baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		statusType = b3GetStatusType(statusHandle);
+		if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED)
+		{
+			int uid = b3GetStatusMultiBodyUniqueId(statusHandle);
+			PyObject* ob = PyLong_FromLong(uid);
+			return ob;
+		}
+	}
+	PyErr_SetString(SpamError, "createMultiBody failed.");
+	return NULL;
+}
+
+
 static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	b3SharedMemoryCommandHandle commandHandle;
@@ -6218,6 +6364,16 @@ static PyMethodDef SpamMethods[] = {
 	{"loadMJCF", (PyCFunction)pybullet_loadMJCF, METH_VARARGS | METH_KEYWORDS,
 	 "Load multibodies from an MJCF file."},
 
+	{"createCollisionShape", (PyCFunction)pybullet_createCollisionShape, METH_VARARGS | METH_KEYWORDS,
+	 "Create a collision shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."},
+
+	{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,
+	 "Create a visual shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."},
+
+	{"createMultiBody", (PyCFunction)pybullet_createMultiBody, METH_VARARGS | METH_KEYWORDS,
+	 "Create a multi body. Returns a non-negative (int) unique id, if successfull, negative otherwise."},
+
+
 	{"createConstraint", (PyCFunction)pybullet_createUserConstraint, METH_VARARGS | METH_KEYWORDS,
 	 "Create a constraint between two bodies. Returns a (int) unique id, if successfull."},
 
@@ -6652,6 +6808,15 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "B3G_ALT", B3G_ALT);
 	PyModule_AddIntConstant(m, "B3G_RETURN", B3G_RETURN);
 
+	PyModule_AddIntConstant(m, "GEOM_SPHERE", GEOM_SPHERE);
+	PyModule_AddIntConstant(m, "GEOM_BOX", GEOM_BOX);
+	PyModule_AddIntConstant(m, "GEOM_CYLINDER", GEOM_CYLINDER);
+	PyModule_AddIntConstant(m, "GEOM_MESH", GEOM_MESH);
+	PyModule_AddIntConstant(m, "GEOM_PLANE", GEOM_PLANE);
+	PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);
+
+
+
 	SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
 	Py_INCREF(SpamError);
 	PyModule_AddObject(m, "error", SpamError);

From 0fc3ce69e9f068a2fdcd3cf111e15b4933867504 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Sat, 3 Jun 2017 04:16:57 -0700
Subject: [PATCH 073/175] fix thread index going out of range bug

---
 src/LinearMath/btQuickprof.cpp |   6 +-
 src/LinearMath/btThreads.cpp   | 659 +++++++++++++++++++++------------
 src/LinearMath/btThreads.h     |  57 ++-
 3 files changed, 461 insertions(+), 261 deletions(-)

diff --git a/src/LinearMath/btQuickprof.cpp b/src/LinearMath/btQuickprof.cpp
index c690b57c8..aed3104a6 100644
--- a/src/LinearMath/btQuickprof.cpp
+++ b/src/LinearMath/btQuickprof.cpp
@@ -14,7 +14,7 @@
 // Ogre (www.ogre3d.org).
 
 #include "btQuickprof.h"
-
+#include "btThreads.h"
 
 
 
@@ -685,6 +685,9 @@ void	CProfileManager::dumpAll()
 
 unsigned int btQuickprofGetCurrentThreadIndex2()
 {
+#if BT_THREADSAFE
+    return btGetCurrentThreadIndex();
+#else // #if BT_THREADSAFE
 	const unsigned int kNullIndex = ~0U;
 #ifdef _WIN32
     #if defined(__MINGW32__) || defined(__MINGW64__)
@@ -717,6 +720,7 @@ unsigned int btQuickprofGetCurrentThreadIndex2()
 		sThreadIndex = gThreadCounter++;
 	}
 	return sThreadIndex;
+#endif // #else // #if BT_THREADSAFE
 }
 
 void	btEnterProfileZoneDefault(const char* name)
diff --git a/src/LinearMath/btThreads.cpp b/src/LinearMath/btThreads.cpp
index 876bc4bb1..89f157c39 100644
--- a/src/LinearMath/btThreads.cpp
+++ b/src/LinearMath/btThreads.cpp
@@ -17,26 +17,25 @@ subject to the following restrictions:
 #include "btQuickprof.h"
 #include <algorithm>  // for min and max
 
-#if BT_THREADSAFE
 
-#if BT_USE_OPENMP
+#if BT_USE_OPENMP && BT_THREADSAFE
 
 #include <omp.h>
 
-#endif // #if BT_USE_OPENMP
+#endif // #if BT_USE_OPENMP && BT_THREADSAFE
 
 
-#if BT_USE_PPL
+#if BT_USE_PPL && BT_THREADSAFE
 
 // use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later)
 #include <ppl.h>  // if you get a compile error here, check whether your version of Visual Studio includes PPL
 // Visual Studio 2010 and later should come with it
 #include <concrtrm.h>  // for GetProcessorCount()
 
-#endif // #if BT_USE_PPL
+#endif // #if BT_USE_PPL && BT_THREADSAFE
 
 
-#if BT_USE_TBB
+#if BT_USE_TBB && BT_THREADSAFE
 
 // use Intel Threading Building Blocks for thread management
 #define __TBB_NO_IMPLICIT_LINKAGE 1
@@ -45,224 +44,10 @@ subject to the following restrictions:
 #include <tbb/parallel_for.h>
 #include <tbb/blocked_range.h>
 
-#endif // #if BT_USE_TBB
-
-
-static btITaskScheduler* gBtTaskScheduler;
-static int gThreadsRunningCounter = 0;  // useful for detecting if we are trying to do nested parallel-for calls
-static btSpinMutex gThreadsRunningCounterMutex;
-
-void btPushThreadsAreRunning()
-{
-    gThreadsRunningCounterMutex.lock();
-    gThreadsRunningCounter++;
-    gThreadsRunningCounterMutex.unlock();
-}
-
-void btPopThreadsAreRunning()
-{
-    gThreadsRunningCounterMutex.lock();
-    gThreadsRunningCounter--;
-    gThreadsRunningCounterMutex.unlock();
-}
-
-bool btThreadsAreRunning()
-{
-    return gThreadsRunningCounter != 0;
-}
-
-
-void btSetTaskScheduler( btITaskScheduler* ts )
-{
-    gBtTaskScheduler = ts;
-}
-
-btITaskScheduler* btGetTaskScheduler()
-{
-    return gBtTaskScheduler;
-}
-
-void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body )
-{
-    gBtTaskScheduler->parallelFor( iBegin, iEnd, grainSize, body );
-}
-
-
-#if BT_USE_OPENMP
-///
-/// btTaskSchedulerOpenMP -- OpenMP task scheduler implementation
-///
-class btTaskSchedulerOpenMP : public btITaskScheduler
-{
-    int m_numThreads;
-public:
-    btTaskSchedulerOpenMP() : btITaskScheduler( "OpenMP" )
-    {
-        m_numThreads = 0;
-    }
-    virtual int getMaxNumThreads() const BT_OVERRIDE
-    {
-        return omp_get_max_threads();
-    }
-    virtual int getNumThreads() const BT_OVERRIDE
-    {
-        return m_numThreads;
-    }
-    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
-    {
-        m_numThreads = ( std::max )( 1, numThreads );
-        omp_set_num_threads( m_numThreads );
-    }
-    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
-    {
-        BT_PROFILE( "parallelFor_OpenMP" );
-        btPushThreadsAreRunning();
-#pragma omp parallel for schedule( static, 1 )
-        for ( int i = iBegin; i < iEnd; i += grainSize )
-        {
-            BT_PROFILE( "OpenMP_job" );
-            body.forLoop( i, ( std::min )( i + grainSize, iEnd ) );
-        }
-        btPopThreadsAreRunning();
-    }
-};
-#endif // #if BT_USE_OPENMP
-
-
-#if BT_USE_TBB
-///
-/// btTaskSchedulerTBB -- task scheduler implemented via Intel Threaded Building Blocks
-///
-class btTaskSchedulerTBB : public btITaskScheduler
-{
-    int m_numThreads;
-    tbb::task_scheduler_init* m_tbbSchedulerInit;
-
-public:
-    btTaskSchedulerTBB() : btITaskScheduler( "IntelTBB" )
-    {
-        m_numThreads = 0;
-        m_tbbSchedulerInit = NULL;
-    }
-    ~btTaskSchedulerTBB()
-    {
-        if ( m_tbbSchedulerInit )
-        {
-            delete m_tbbSchedulerInit;
-            m_tbbSchedulerInit = NULL;
-        }
-    }
-
-    virtual int getMaxNumThreads() const BT_OVERRIDE
-    {
-        return tbb::task_scheduler_init::default_num_threads();
-    }
-    virtual int getNumThreads() const BT_OVERRIDE
-    {
-        return m_numThreads;
-    }
-    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
-    {
-        m_numThreads = ( std::max )( 1, numThreads );
-        if ( m_tbbSchedulerInit )
-        {
-            delete m_tbbSchedulerInit;
-            m_tbbSchedulerInit = NULL;
-        }
-        m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads );
-    }
-    struct BodyAdapter
-    {
-        const btIParallelForBody* mBody;
-
-        void operator()( const tbb::blocked_range<int>& range ) const
-        {
-            BT_PROFILE( "TBB_job" );
-            mBody->forLoop( range.begin(), range.end() );
-        }
-    };
-    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
-    {
-        BT_PROFILE( "parallelFor_TBB" );
-        // TBB dispatch
-        BodyAdapter tbbBody;
-        tbbBody.mBody = &body;
-        btPushThreadsAreRunning();
-        tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ),
-            tbbBody,
-            tbb::simple_partitioner()
-        );
-        btPopThreadsAreRunning();
-    }
-};
-#endif // #if BT_USE_TBB
-
-#if BT_USE_PPL
-///
-/// btTaskSchedulerPPL -- task scheduler implemented via Microsoft Parallel Patterns Lib
-///
-class btTaskSchedulerPPL : public btITaskScheduler
-{
-    int m_numThreads;
-public:
-    btTaskSchedulerPPL() : btITaskScheduler( "PPL" )
-    {
-        m_numThreads = 0;
-    }
-    virtual int getMaxNumThreads() const BT_OVERRIDE
-    {
-        return concurrency::GetProcessorCount();
-    }
-    virtual int getNumThreads() const BT_OVERRIDE
-    {
-        return m_numThreads;
-    }
-    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
-    {
-        m_numThreads = ( std::max )( 1, numThreads );
-        using namespace concurrency;
-        if ( CurrentScheduler::Id() != -1 )
-        {
-            CurrentScheduler::Detach();
-        }
-        SchedulerPolicy policy;
-        policy.SetConcurrencyLimits( m_numThreads, m_numThreads );
-        CurrentScheduler::Create( policy );
-    }
-    struct BodyAdapter
-    {
-        const btIParallelForBody* mBody;
-        int mGrainSize;
-        int mIndexEnd;
-
-        void operator()( int i ) const
-        {
-            BT_PROFILE( "PPL_job" );
-            mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) );
-        }
-    };
-    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
-    {
-        BT_PROFILE( "parallelFor_PPL" );
-        // PPL dispatch
-        BodyAdapter pplBody;
-        pplBody.mBody = &body;
-        pplBody.mGrainSize = grainSize;
-        pplBody.mIndexEnd = iEnd;
-        btPushThreadsAreRunning();
-        // note: MSVC 2010 doesn't support partitioner args, so avoid them
-        concurrency::parallel_for( iBegin,
-            iEnd,
-            grainSize,
-            pplBody
-        );
-        btPopThreadsAreRunning();
-    }
-};
-#endif // #if BT_USE_PPL
-
+#endif // #if BT_USE_TBB && BT_THREADSAFE
 
 
+#if BT_THREADSAFE
 //
 // Lightweight spin-mutex based on atomics
 // Using ordinary system-provided mutexes like Windows critical sections was noticeably slower
@@ -415,28 +200,107 @@ void btSpinMutex::unlock()
 
 #endif  //#else //#elif USE_MSVC_INTRINSICS
 
+#else //#if BT_THREADSAFE
+
+// These should not be called ever
+void btSpinMutex::lock()
+{
+    btAssert( !"unimplemented btSpinMutex::lock() called" );
+}
+
+void btSpinMutex::unlock()
+{
+    btAssert( !"unimplemented btSpinMutex::unlock() called" );
+}
+
+bool btSpinMutex::tryLock()
+{
+    btAssert( !"unimplemented btSpinMutex::tryLock() called" );
+    return true;
+}
+
+#define THREAD_LOCAL_STATIC static
+
+#endif // #else //#if BT_THREADSAFE
+
 
 struct ThreadsafeCounter
 {
     unsigned int mCounter;
     btSpinMutex mMutex;
 
-    ThreadsafeCounter() {mCounter=0;}
+    ThreadsafeCounter()
+    {
+        mCounter = 0;
+        --mCounter; // first count should come back 0
+    }
 
     unsigned int getNext()
     {
         // no need to optimize this with atomics, it is only called ONCE per thread!
         mMutex.lock();
-        unsigned int val = mCounter++;
+        mCounter++;
+        if ( mCounter >= BT_MAX_THREAD_COUNT )
+        {
+            btAssert( !"thread counter exceeded" );
+            // wrap back to the first worker index
+            mCounter = 1;
+        }
+        unsigned int val = mCounter;
         mMutex.unlock();
         return val;
     }
 };
 
+
+static btITaskScheduler* gBtTaskScheduler;
+static int gThreadsRunningCounter = 0;  // useful for detecting if we are trying to do nested parallel-for calls
+static btSpinMutex gThreadsRunningCounterMutex;
 static ThreadsafeCounter gThreadCounter;
 
 
-// return a unique index per thread, starting with 0 and counting up
+//
+// BT_DETECT_BAD_THREAD_INDEX tries to detect when there are multiple threads assigned the same thread index.
+//
+// BT_DETECT_BAD_THREAD_INDEX is a developer option to test if
+// certain assumptions about how the task scheduler manages its threads
+// holds true.
+// The main assumption is:
+//   - when the threadpool is resized, the task scheduler either
+//      1. destroys all worker threads and creates all new ones in the correct number, OR
+//      2. never destroys a worker thread
+//
+// We make that assumption because we can't easily enumerate the worker threads of a task scheduler
+// to assign nice sequential thread-indexes. We also do not get notified if a worker thread is destroyed,
+// so we can't tell when a thread-index is no longer being used.
+// We allocate thread-indexes as needed with a sequential global thread counter.
+//
+// Our simple thread-counting scheme falls apart if the task scheduler destroys some threads but
+// continues to re-use other threads and the application repeatedly resizes the thread pool of the 
+// task scheduler.
+// In order to prevent the thread-counter from exceeding the global max (BT_MAX_THREAD_COUNT), we
+// wrap the thread counter back to 1. This should only happen if the worker threads have all been
+// destroyed and re-created.
+//
+// BT_DETECT_BAD_THREAD_INDEX only works for Win32 right now,
+// but could be adapted to work with pthreads
+#define BT_DETECT_BAD_THREAD_INDEX 0
+
+#if BT_DETECT_BAD_THREAD_INDEX
+
+typedef DWORD ThreadId_t;
+const static ThreadId_t kInvalidThreadId = 0;
+ThreadId_t gDebugThreadIds[ BT_MAX_THREAD_COUNT ];
+
+static ThreadId_t getDebugThreadId()
+{
+    return GetCurrentThreadId();
+}
+
+#endif // #if BT_DETECT_BAD_THREAD_INDEX
+
+
+// return a unique index per thread, main thread is 0, worker threads are in [1, BT_MAX_THREAD_COUNT)
 unsigned int btGetCurrentThreadIndex()
 {
     const unsigned int kNullIndex = ~0U;
@@ -444,7 +308,30 @@ unsigned int btGetCurrentThreadIndex()
     if ( sThreadIndex == kNullIndex )
     {
         sThreadIndex = gThreadCounter.getNext();
+        btAssert( sThreadIndex < BT_MAX_THREAD_COUNT );
     }
+#if BT_DETECT_BAD_THREAD_INDEX
+    if ( gBtTaskScheduler && sThreadIndex > 0 )
+    {
+        ThreadId_t tid = getDebugThreadId();
+        // if not set
+        if ( gDebugThreadIds[ sThreadIndex ] == kInvalidThreadId )
+        {
+            // set it
+            gDebugThreadIds[ sThreadIndex ] = tid;
+        }
+        else
+        {
+            if ( gDebugThreadIds[ sThreadIndex ] != tid )
+            {
+                // this could indicate the task scheduler is breaking our assumptions about
+                // how threads are managed when threadpool is resized
+                btAssert( !"there are 2 or more threads with the same thread-index!" );
+                __debugbreak();
+            }
+        }
+    }
+#endif // #if BT_DETECT_BAD_THREAD_INDEX
     return sThreadIndex;
 }
 
@@ -453,38 +340,123 @@ bool btIsMainThread()
     return btGetCurrentThreadIndex() == 0;
 }
 
-#else // #if BT_THREADSAFE
-
-// These should not be called ever
-void btSpinMutex::lock()
+void btResetThreadIndexCounter()
 {
-    btAssert(!"unimplemented btSpinMutex::lock() called");
+    // for when all current worker threads are destroyed
+    btAssert( btIsMainThread() );
+    gThreadCounter.mCounter = 0;
 }
 
-void btSpinMutex::unlock()
+btITaskScheduler::btITaskScheduler( const char* name )
 {
-    btAssert(!"unimplemented btSpinMutex::unlock() called");
+    m_name = name;
+    m_savedThreadCounter = 0;
+    m_isActive = false;
 }
 
-bool btSpinMutex::tryLock()
+void btITaskScheduler::activate()
 {
-    btAssert(!"unimplemented btSpinMutex::tryLock() called");
-    return true;
+    // gThreadCounter is used to assign a thread-index to each worker thread in a task scheduler.
+    // The main thread is always thread-index 0, and worker threads are numbered from 1 to 63 (BT_MAX_THREAD_COUNT-1)
+    // The thread-indexes need to be unique amongst the threads that can be running simultaneously.
+    // Since only one task scheduler can be used at a time, it is OK for a pair of threads that belong to different
+    // task schedulers to share the same thread index because they can't be running at the same time.
+    // So each task scheduler needs to keep its own thread counter value
+    if ( !m_isActive )
+    {
+        gThreadCounter.mCounter = m_savedThreadCounter;  // restore saved thread counter
+        m_isActive = true;
+    }
 }
 
-// non-parallel version of btParallelFor
+void btITaskScheduler::deactivate()
+{
+    if ( m_isActive )
+    {
+        m_savedThreadCounter = gThreadCounter.mCounter;  // save thread counter
+        m_isActive = false;
+    }
+}
+
+void btPushThreadsAreRunning()
+{
+    gThreadsRunningCounterMutex.lock();
+    gThreadsRunningCounter++;
+    gThreadsRunningCounterMutex.unlock();
+}
+
+void btPopThreadsAreRunning()
+{
+    gThreadsRunningCounterMutex.lock();
+    gThreadsRunningCounter--;
+    gThreadsRunningCounterMutex.unlock();
+}
+
+bool btThreadsAreRunning()
+{
+    return gThreadsRunningCounter != 0;
+}
+
+
+void btSetTaskScheduler( btITaskScheduler* ts )
+{
+    int threadId = btGetCurrentThreadIndex();  // make sure we call this on main thread at least once before any workers run
+    if ( threadId != 0 )
+    {
+        btAssert( !"btSetTaskScheduler must be called from the main thread!" );
+        return;
+    }
+    if ( gBtTaskScheduler )
+    {
+        // deactivate old task scheduler
+        gBtTaskScheduler->deactivate();
+    }
+    gBtTaskScheduler = ts;
+    if ( ts )
+    {
+        // activate new task scheduler
+        ts->activate();
+    }
+}
+
+
+btITaskScheduler* btGetTaskScheduler()
+{
+    return gBtTaskScheduler;
+}
+
+
 void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body )
 {
-    btAssert(!"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE");
-    body.forLoop( iBegin, iEnd );
-}
+#if BT_THREADSAFE
 
-#endif // #if BT_THREADSAFE
+#if BT_DETECT_BAD_THREAD_INDEX
+    if ( !btThreadsAreRunning() )
+    {
+        // clear out thread ids
+        for ( int i = 0; i < BT_MAX_THREAD_COUNT; ++i )
+        {
+            gDebugThreadIds[ i ] = kInvalidThreadId;
+        }
+    }
+#endif // #if BT_DETECT_BAD_THREAD_INDEX
+
+    btAssert( gBtTaskScheduler != NULL );  // call btSetTaskScheduler() with a valid task scheduler first!
+    gBtTaskScheduler->parallelFor( iBegin, iEnd, grainSize, body );
+
+#else // #if BT_THREADSAFE
+
+    // non-parallel version of btParallelFor
+    btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" );
+    body.forLoop( iBegin, iEnd );
+
+#endif #else // #if BT_THREADSAFE
+}
 
 
 ///
 /// btTaskSchedulerSequential -- non-threaded implementation of task scheduler
-///                              (fallback in case no multi-threaded schedulers are available)
+///                              (really just useful for testing performance of single threaded vs multi)
 ///
 class btTaskSchedulerSequential : public btITaskScheduler
 {
@@ -500,6 +472,211 @@ public:
     }
 };
 
+
+#if BT_USE_OPENMP && BT_THREADSAFE
+///
+/// btTaskSchedulerOpenMP -- wrapper around OpenMP task scheduler
+///
+class btTaskSchedulerOpenMP : public btITaskScheduler
+{
+    int m_numThreads;
+public:
+    btTaskSchedulerOpenMP() : btITaskScheduler( "OpenMP" )
+    {
+        m_numThreads = 0;
+    }
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return omp_get_max_threads();
+    }
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        // With OpenMP, because it is a standard with various implementations, we can't
+        // know for sure if every implementation has the same behavior of destroying all
+        // previous threads when resizing the threadpool
+        m_numThreads = ( std::max )( 1, ( std::min )( int( BT_MAX_THREAD_COUNT ), numThreads ) );
+        omp_set_num_threads( 1 );  // hopefully, all previous threads get destroyed here
+        omp_set_num_threads( m_numThreads );
+        m_savedThreadCounter = 0;
+        if ( m_isActive )
+        {
+            btResetThreadIndexCounter();
+        }
+    }
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        BT_PROFILE( "parallelFor_OpenMP" );
+        btPushThreadsAreRunning();
+#pragma omp parallel for schedule( static, 1 )
+        for ( int i = iBegin; i < iEnd; i += grainSize )
+        {
+            BT_PROFILE( "OpenMP_job" );
+            body.forLoop( i, ( std::min )( i + grainSize, iEnd ) );
+        }
+        btPopThreadsAreRunning();
+    }
+};
+#endif // #if BT_USE_OPENMP && BT_THREADSAFE
+
+
+#if BT_USE_TBB && BT_THREADSAFE
+///
+/// btTaskSchedulerTBB -- wrapper around Intel Threaded Building Blocks task scheduler
+///
+class btTaskSchedulerTBB : public btITaskScheduler
+{
+    int m_numThreads;
+    tbb::task_scheduler_init* m_tbbSchedulerInit;
+
+public:
+    btTaskSchedulerTBB() : btITaskScheduler( "IntelTBB" )
+    {
+        m_numThreads = 0;
+        m_tbbSchedulerInit = NULL;
+    }
+    ~btTaskSchedulerTBB()
+    {
+        if ( m_tbbSchedulerInit )
+        {
+            delete m_tbbSchedulerInit;
+            m_tbbSchedulerInit = NULL;
+        }
+    }
+
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return tbb::task_scheduler_init::default_num_threads();
+    }
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        m_numThreads = ( std::max )( 1, ( std::min )( int(BT_MAX_THREAD_COUNT), numThreads ) );
+        if ( m_tbbSchedulerInit )
+        {
+            // destroys all previous threads
+            delete m_tbbSchedulerInit;
+            m_tbbSchedulerInit = NULL;
+        }
+        m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads );
+        m_savedThreadCounter = 0;
+        if ( m_isActive )
+        {
+            btResetThreadIndexCounter();
+        }
+    }
+    struct BodyAdapter
+    {
+        const btIParallelForBody* mBody;
+
+        void operator()( const tbb::blocked_range<int>& range ) const
+        {
+            BT_PROFILE( "TBB_job" );
+            mBody->forLoop( range.begin(), range.end() );
+        }
+    };
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        BT_PROFILE( "parallelFor_TBB" );
+        // TBB dispatch
+        BodyAdapter tbbBody;
+        tbbBody.mBody = &body;
+        btPushThreadsAreRunning();
+        tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ),
+            tbbBody,
+            tbb::simple_partitioner()
+        );
+        btPopThreadsAreRunning();
+    }
+};
+#endif // #if BT_USE_TBB && BT_THREADSAFE
+
+
+#if BT_USE_PPL && BT_THREADSAFE
+///
+/// btTaskSchedulerPPL -- wrapper around Microsoft Parallel Patterns Lib task scheduler
+///
+class btTaskSchedulerPPL : public btITaskScheduler
+{
+    int m_numThreads;
+public:
+    btTaskSchedulerPPL() : btITaskScheduler( "PPL" )
+    {
+        m_numThreads = 0;
+    }
+    virtual int getMaxNumThreads() const BT_OVERRIDE
+    {
+        return concurrency::GetProcessorCount();
+    }
+    virtual int getNumThreads() const BT_OVERRIDE
+    {
+        return m_numThreads;
+    }
+    virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+    {
+        // capping the thread count for PPL due to a thread-index issue
+        const int maxThreadCount = (std::min)(int(BT_MAX_THREAD_COUNT), 31);
+        m_numThreads = ( std::max )( 1, ( std::min )( maxThreadCount, numThreads ) );
+        using namespace concurrency;
+        if ( CurrentScheduler::Id() != -1 )
+        {
+            CurrentScheduler::Detach();
+        }
+        SchedulerPolicy policy;
+        {
+            // PPL seems to destroy threads when threadpool is shrunk, but keeps reusing old threads
+            // force it to destroy old threads
+            policy.SetConcurrencyLimits( 1, 1 );
+            CurrentScheduler::Create( policy );
+            CurrentScheduler::Detach();
+        }
+        policy.SetConcurrencyLimits( m_numThreads, m_numThreads );
+        CurrentScheduler::Create( policy );
+        m_savedThreadCounter = 0;
+        if ( m_isActive )
+        {
+            btResetThreadIndexCounter();
+        }
+    }
+    struct BodyAdapter
+    {
+        const btIParallelForBody* mBody;
+        int mGrainSize;
+        int mIndexEnd;
+
+        void operator()( int i ) const
+        {
+            BT_PROFILE( "PPL_job" );
+            mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) );
+        }
+    };
+    virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+    {
+        BT_PROFILE( "parallelFor_PPL" );
+        // PPL dispatch
+        BodyAdapter pplBody;
+        pplBody.mBody = &body;
+        pplBody.mGrainSize = grainSize;
+        pplBody.mIndexEnd = iEnd;
+        btPushThreadsAreRunning();
+        // note: MSVC 2010 doesn't support partitioner args, so avoid them
+        concurrency::parallel_for( iBegin,
+            iEnd,
+            grainSize,
+            pplBody
+        );
+        btPopThreadsAreRunning();
+    }
+};
+#endif // #if BT_USE_PPL && BT_THREADSAFE
+
+
 // create a non-threaded task scheduler (always available)
 btITaskScheduler* btGetSequentialTaskScheduler()
 {
diff --git a/src/LinearMath/btThreads.h b/src/LinearMath/btThreads.h
index b592ec3e5..f8fea8b37 100644
--- a/src/LinearMath/btThreads.h
+++ b/src/LinearMath/btThreads.h
@@ -28,6 +28,14 @@ subject to the following restrictions:
 #define BT_OVERRIDE
 #endif
 
+const unsigned int BT_MAX_THREAD_COUNT = 64;  // only if BT_THREADSAFE is 1
+
+// for internal use only
+bool btIsMainThread();
+bool btThreadsAreRunning();
+unsigned int btGetCurrentThreadIndex();
+void btResetThreadIndexCounter(); // notify that all worker threads have been destroyed
+
 ///
 /// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts
 ///               a thread to sleep because it is designed to be used with a task scheduler
@@ -48,38 +56,41 @@ public:
     bool tryLock();
 };
 
-#if BT_THREADSAFE
 
-// for internal Bullet use only
+//
+// NOTE: btMutex* is for internal Bullet use only
+//
+// If BT_THREADSAFE is undefined or 0, should optimize away to nothing.
+// This is good because for the single-threaded build of Bullet, any calls
+// to these functions will be optimized out.
+//
+// However, for users of the multi-threaded build of Bullet this is kind
+// of bad because if you call any of these functions from external code
+// (where BT_THREADSAFE is undefined) you will get unexpected race conditions.
+//
 SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex )
 {
+#if BT_THREADSAFE
     mutex->lock();
+#endif // #if BT_THREADSAFE
 }
 
 SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex )
 {
+#if BT_THREADSAFE
     mutex->unlock();
+#endif // #if BT_THREADSAFE
 }
 
 SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex )
 {
+#if BT_THREADSAFE
     return mutex->tryLock();
+#else
+    return true;
+#endif // #if BT_THREADSAFE
 }
 
-// for internal use only
-bool btIsMainThread();
-bool btThreadsAreRunning();
-unsigned int btGetCurrentThreadIndex();
-const unsigned int BT_MAX_THREAD_COUNT = 64;
-
-#else
-
-// for internal Bullet use only
-// if BT_THREADSAFE is undefined or 0, should optimize away to nothing
-SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* ) {}
-SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* ) {}
-SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* ) {return true;}
-#endif
 
 //
 // btIParallelForBody -- subclass this to express work that can be done in parallel
@@ -96,16 +107,24 @@ public:
 //
 class btITaskScheduler
 {
-    const char* m_name;
 public:
-    btITaskScheduler( const char* name ) : m_name( name ) {}
+    btITaskScheduler( const char* name );
+    virtual ~btITaskScheduler() {}
     const char* getName() const { return m_name; }
 
-    virtual ~btITaskScheduler() {}
     virtual int getMaxNumThreads() const = 0;
     virtual int getNumThreads() const = 0;
     virtual void setNumThreads( int numThreads ) = 0;
     virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0;
+
+    // internal use only
+    virtual void activate();
+    virtual void deactivate();
+
+protected:
+    const char* m_name;
+    unsigned int m_savedThreadCounter;
+    bool m_isActive;
 };
 
 // set the task scheduler to use for all calls to btParallelFor()

From b5a80a08aa38ffe3c8e5fa47fabf36fa3eb5fda7 Mon Sep 17 00:00:00 2001
From: Benjamin Ellenberger <benjamin.ellenberger@intrasoft.ch>
Date: Sun, 4 Jun 2017 20:39:10 +0200
Subject: [PATCH 074/175] Revert b3Clock changes and use reset method instead.

---
 examples/Evolution/NN3DWalkers.cpp |  3 +-
 examples/Utils/b3Clock.cpp         | 72 +++++++++++-------------------
 examples/Utils/b3Clock.h           |  7 +--
 3 files changed, 31 insertions(+), 51 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index 8fb793c79..1d9affa96 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -160,7 +160,8 @@ public:
 	 m_filterCallback(NULL)
 	{
 		b3Clock clock;
-		srand(clock.getSystemTimeMilliseconds());					// Set random milliseconds based on system time
+		srand(clock.getTimeMilliseconds());					// Set random milliseconds based on system time
+		clock.reset(true);									// Reset clock to zero to get new random seed
 	}
 
 	virtual ~NN3DWalkersExample()
diff --git a/examples/Utils/b3Clock.cpp b/examples/Utils/b3Clock.cpp
index dd26b57b9..46f87bc4c 100644
--- a/examples/Utils/b3Clock.cpp
+++ b/examples/Utils/b3Clock.cpp
@@ -46,7 +46,6 @@ struct b3ClockData
 
 #ifdef B3_USE_WINDOWS_TIMERS
 	LARGE_INTEGER mClockFrequency;
-	DWORD mStartTick;
 	LARGE_INTEGER mStartTime;
 #else
 #ifdef __CELLOS_LV2__
@@ -88,11 +87,24 @@ b3Clock& b3Clock::operator=(const b3Clock& other)
 
 
 	/// Resets the initial reference time.
-void b3Clock::reset()
+void b3Clock::reset(bool zeroReference)
 {
+	if (zeroReference)
+	{
+#ifdef B3_USE_WINDOWS_TIMERS
+		m_data->mStartTime.QuadPart = 0;
+#else
+	#ifdef __CELLOS_LV2__
+			m_data->mStartTime = 0;
+	#else
+			m_data->mStartTime = (struct timeval){0};
+	#endif
+#endif
+
+	} else
+	{
 #ifdef B3_USE_WINDOWS_TIMERS
 	QueryPerformanceCounter(&m_data->mStartTime);
-	m_data->mStartTick = GetTickCount();
 #else
 #ifdef __CELLOS_LV2__
 
@@ -105,6 +117,7 @@ void b3Clock::reset()
 	gettimeofday(&m_data->mStartTime, 0);
 #endif
 #endif
+	}
 }
 
 /// Returns the time in ms since the last call to reset or since 
@@ -112,14 +125,16 @@ void b3Clock::reset()
 unsigned long int b3Clock::getTimeMilliseconds()
 {
 #ifdef B3_USE_WINDOWS_TIMERS
-		LARGE_INTEGER currentTime, elapsedTime;
-		QueryPerformanceCounter(&currentTime);
-		elapsedTime.QuadPart = currentTime.QuadPart -
-				m_data->mStartTime.QuadPart;
-		elapsedTime.QuadPart *= 1000;
-		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
+	LARGE_INTEGER currentTime;
+	QueryPerformanceCounter(&currentTime);
+	LONGLONG elapsedTime = currentTime.QuadPart - 
+		m_data->mStartTime.QuadPart;
+		// Compute the number of millisecond ticks elapsed.
+	unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
+		m_data->mClockFrequency.QuadPart);
+	
 
-		return (unsigned long long) elapsedTime.QuadPart;
+		return msecTicks;
 #else
 
 #ifdef __CELLOS_LV2__
@@ -141,41 +156,8 @@ unsigned long int b3Clock::getTimeMilliseconds()
 #endif
 }
 
-/// Gets the system time in milliseconds
-unsigned long int b3Clock::getSystemTimeMilliseconds() {
-
-#ifdef B3_USE_WINDOWS_TIMERS
-	LARGE_INTEGER currentTime, elapsedTime;
-
-			QueryPerformanceCounter(&currentTime);
-			elapsedTime.QuadPart = currentTime.QuadPart;
-			elapsedTime.QuadPart *= 1000;
-			elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
-
-			return (unsigned long long) elapsedTime.QuadPart;
-#else
-
-#ifdef __CELLOS_LV2__
-	uint64_t freq = sys_time_get_timebase_frequency();
-	double dFreq = ((double)freq) / 1000.0;
-	typedef uint64_t  ClockSize;
-	ClockSize newTime;
-	SYS_TIMEBASE_GET(newTime);
-	//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
-
-	return (unsigned long int)((double(newTime)) / dFreq);
-#else
-
-	struct timeval currentTime;
-	gettimeofday(&currentTime, 0);
-	return (currentTime.tv_sec) * 1000 +
-		(currentTime.tv_usec) / 1000;
-#endif //__CELLOS_LV2__
-#endif
-}
-
-/// Returns the time in us since the last call to reset or since
-/// the Clock was created.
+	/// Returns the time in us since the last call to reset or since 
+	/// the Clock was created.
 unsigned long long int b3Clock::getTimeMicroseconds()
 {
 #ifdef B3_USE_WINDOWS_TIMERS
diff --git a/examples/Utils/b3Clock.h b/examples/Utils/b3Clock.h
index 5c0f5b46a..1cdd28847 100644
--- a/examples/Utils/b3Clock.h
+++ b/examples/Utils/b3Clock.h
@@ -13,16 +13,13 @@ public:
 
 	~b3Clock();
 
-	/// Resets the initial reference time.
-	void reset();
+	/// Resets the initial reference time. If zeroReference is true, will set reference to absolute 0.
+	void reset(bool zeroReference=false);
 
 	/// Returns the time in ms since the last call to reset or since 
 	/// the b3Clock was created.
 	unsigned long int getTimeMilliseconds();
 
-	/// Gets the system time in milliseconds
-	unsigned long int getSystemTimeMilliseconds();
-
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
 	unsigned long long int getTimeMicroseconds();

From 4a169d180ed322fb356ac97f6d00d55ef60fa5e5 Mon Sep 17 00:00:00 2001
From: Benjamin Ellenberger <benjamin.ellenberger@intrasoft.ch>
Date: Sun, 4 Jun 2017 20:47:31 +0200
Subject: [PATCH 075/175] Call reset right before using the clock.

---
 examples/Evolution/NN3DWalkers.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index 1d9affa96..f19a914ff 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -160,8 +160,8 @@ public:
 	 m_filterCallback(NULL)
 	{
 		b3Clock clock;
-		srand(clock.getTimeMilliseconds());					// Set random milliseconds based on system time
 		clock.reset(true);									// Reset clock to zero to get new random seed
+		srand(clock.getTimeMilliseconds());					// Set random milliseconds based on system time
 	}
 
 	virtual ~NN3DWalkersExample()

From 03aa178ca560adbad211e82f1f1d4458ab552735 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Mon, 22 May 2017 00:48:07 -0700
Subject: [PATCH 076/175] example browser: fix 'clamp-to-integer' on
 GUI-sliders

---
 .../ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp b/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
index 2898fd30c..908106259 100644
--- a/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
+++ b/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
@@ -237,7 +237,7 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
     if (params.m_clampToIntegers)
     {
         pSlider->SetNotchCount( int( params.m_maxVal - params.m_minVal ) );
-        pSlider->SetClampToNotches( params.m_clampToNotches );
+        pSlider->SetClampToNotches( true );
     }
     else
     {

From a7aed37632ad7778d6ba587e673a67e0e789cb71 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 4 Jun 2017 22:04:16 -0700
Subject: [PATCH 077/175] work on pybullet/C-API createMultiBody (still
 preliminary, only sphere/box collision shapes, no links/hierarchies yet,
 soon) pybullet/C-API, expose linear/angular damping fix some warnings (param
 name needs to be same in .h and .cpp) fix potential startup threading issue
 (args were deleted in main thread while still possibly use in child thread)
 fix for spinning/rolling friction in case of mixing maximal and reduced
 coordinate btMultiBody+btRigidBody

---
 examples/ExampleBrowser/OpenGLGuiHelper.h     |  2 +-
 examples/SharedMemory/PhysicsClientC_API.cpp  | 36 +++++++++
 examples/SharedMemory/PhysicsClientC_API.h    |  8 +-
 .../PhysicsServerCommandProcessor.cpp         | 29 ++++++-
 examples/SharedMemory/SharedMemoryCommands.h  |  5 ++
 .../SharedMemoryInProcessPhysicsC_API.cpp     | 16 ++--
 .../TinyRendererVisualShapeConverter.h        |  2 +-
 .../examples/createSphereMultiBodies.py       | 24 +++---
 examples/pybullet/pybullet.c                  | 38 +++++++--
 .../Dynamics/btSimulationIslandManagerMt.h    |  2 +-
 .../Featherstone/btMultiBody.cpp              | 10 +--
 .../btMultiBodyConstraintSolver.cpp           | 79 +++++++++++--------
 12 files changed, 183 insertions(+), 68 deletions(-)

diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index bdb885a2c..ccc935dcb 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -48,7 +48,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	
     
 	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ);
-	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const;
+	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float cameraTarget[3]) const;
 
 	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
                                   unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index c8b29a115..2ec671d6d 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -877,6 +877,17 @@ int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass
 	return -2;
 }
 
+//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
+void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_MULTI_BODY);
+	if (command->m_type==CMD_CREATE_MULTI_BODY)
+	{
+		command->m_updateFlags |= MULT_BODY_USE_MAXIMAL_COORDINATES;
+	}
+}
 
 int b3GetStatusMultiBodyUniqueId(b3SharedMemoryStatusHandle statusHandle)
 {
@@ -1269,6 +1280,11 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
 					bodyId = status->m_rigidBodyCreateArgs.m_bodyUniqueId;
 					break;
 				}
+				case CMD_CREATE_MULTI_BODY_COMPLETED:
+				{
+					bodyId = status->m_dataStreamArguments.m_bodyUniqueId;
+					break;
+				}
 				default:
 				{
 					b3Assert(0);
@@ -1541,9 +1557,29 @@ int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle
 	command->m_changeDynamicsInfoArgs.m_restitution = restitution;
 	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_RESTITUTION;
 	return 0;
+}
+int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double linearDamping)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linearDamping = linearDamping;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING;
+	return 0;
 
 }
 
+
+int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linearDamping = angularDamping;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING;
+	return 0;
+}
+
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 62d27faff..441395228 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -87,7 +87,8 @@ int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHa
 int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
 int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction);
 int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double restitution);
-
+int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double linearDamping);
+int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping);
 
 
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
@@ -329,9 +330,10 @@ int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
 b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
 int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4]);
 
-//int b3CreateMultiBodyAddLink(b3SharedMemoryCommandHandle commandHandle, int jointType, int parentLinkIndex, double linkMass, int linkCollisionShapeUnique, int linkVisualShapeUniqueId);
+//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
+void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle);
 
-int b3GetStatusMultiBodyUniqueId(b3SharedMemoryStatusHandle statusHandle);
+//int b3CreateMultiBodyAddLink(b3SharedMemoryCommandHandle commandHandle, int jointType, int parentLinkIndex, double linkMass, int linkCollisionShapeUnique, int linkVisualShapeUniqueId);
 
 
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9dc8a1b9e..40385d85c 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3530,9 +3530,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_FAILED;
 					if (clientCmd.m_createMultiBodyArgs.m_baseLinkIndex>=0)
 					{
+						m_data->m_sdfRecentLoadedBodies.clear();
+
 						ProgrammaticUrdfInterface u2b(clientCmd.m_createMultiBodyArgs, m_data);
 						
-						bool useMultiBody = false;
+						bool useMultiBody = true;
+						if (clientCmd.m_updateFlags & MULT_BODY_USE_MAXIMAL_COORDINATES)
+						{
+							useMultiBody = false;
+						}						
+					
 						int flags = 0;
 						bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody,  flags, u2b);
 
@@ -4329,6 +4336,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									mb->getBaseCollider()->setRestitution(restitution);
 								}
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
+								{
+									mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping);
+								}
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
+								{
+									mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
+								}
+
 								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
 								{
 									mb->getBaseCollider()->setFriction(lateralFriction);
@@ -4395,6 +4411,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					{
 						if (body && body->m_rigidBody)
 						{
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
+							{
+								btScalar angDamping = body->m_rigidBody->getAngularDamping();
+								body->m_rigidBody->setDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping,angDamping);
+							}
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
+							{
+								btScalar linDamping = body->m_rigidBody->getLinearDamping();
+								body->m_rigidBody->setDamping(linDamping, clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
+							}
+
 							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
 							{
 								body->m_rigidBody->setRestitution(restitution);
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 0d89aa9bd..bde429122 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -117,6 +117,8 @@ enum EnumChangeDynamicsInfoFlags
 	CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION=8,
 	CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION=16,
 	CHANGE_DYNAMICS_INFO_SET_RESTITUTION=32,
+	CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING=64,
+	CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128,
 };
 
 struct ChangeDynamicsInfoArgs
@@ -129,6 +131,8 @@ struct ChangeDynamicsInfoArgs
 	double m_spinningFriction;
 	double m_rollingFriction;
 	double m_restitution;
+	double m_linearDamping;
+	double m_angularDamping;
 };
 
 struct GetDynamicsInfoArgs
@@ -806,6 +810,7 @@ struct b3CreateVisualShapeArgs
 enum eCreateMultiBodyEnum
 {
 	MULTI_BODY_HAS_BASE=1,
+	MULT_BODY_USE_MAXIMAL_COORDINATES=2,
 };
 struct b3CreateMultiBodyArgs
 {
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index 633441c95..8b5200f6b 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -93,22 +93,23 @@ b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int arg
 class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
 {
 	btInProcessExampleBrowserInternalData* m_data;
-public:
+	char** m_newargv;
 
+public:
+	
 	InProcessPhysicsClientSharedMemory(int argc, char* argv[])
 	{
 		int newargc = argc+2;
-		char** newargv = (char**)malloc(sizeof(void*)*newargc);
+		m_newargv = (char**)malloc(sizeof(void*)*newargc);
 		for (int i=0;i<argc;i++)
-		newargv[i] = argv[i];
+			m_newargv[i] = argv[i];
 
 		char* t0 = (char*)"--logtostderr";
 		char* t1 = (char*)"--start_demo_name=Physics Server";
-		newargv[argc] = t0;
-		newargv[argc+1] = t1;
-		m_data = btCreateInProcessExampleBrowser(newargc,newargv);
+		m_newargv[argc] = t0;
+		m_newargv[argc+1] = t1;
+		m_data = btCreateInProcessExampleBrowser(newargc,m_newargv);
 		SharedMemoryInterface* shMem = btGetSharedMemoryInterface(m_data);
-		free(newargv);
 		setSharedMemoryInterface(shMem);
 	}
 
@@ -116,6 +117,7 @@ public:
 	{
 		setSharedMemoryInterface(0);
 		btShutDownExampleBrowser(m_data);
+		free(m_newargv);
 	}
 
 };
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
index 4c979ae13..acc036229 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
@@ -22,7 +22,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 
 	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
 	
-	virtual void changeRGBAColor(int bodyUniqueId, int shapeIndex, const double rgbaColor[4]);
+	virtual void changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4]);
 
 	virtual void removeVisualShape(class btCollisionObject* colObj);
 
diff --git a/examples/pybullet/examples/createSphereMultiBodies.py b/examples/pybullet/examples/createSphereMultiBodies.py
index 3c66c4519..b38066518 100644
--- a/examples/pybullet/examples/createSphereMultiBodies.py
+++ b/examples/pybullet/examples/createSphereMultiBodies.py
@@ -1,9 +1,13 @@
 import pybullet as p
 import time
 
-p.connect(p.GUI)
-sphereRadius = 0.05
+useMaximalCoordinates = 0
 
+p.connect(p.GUI)
+p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
+p.setPhysicsEngineParameter(numSolverIterations=10)
+p.setPhysicsEngineParameter(fixedTimeStep=1./120.)
+sphereRadius = 0.05
 colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
 colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
 
@@ -11,16 +15,16 @@ mass = 1
 visualShapeId = -1
 
 
-for i in range (10):
-	for j in range (10):
-		for k in range (10):
+for i in range (5):
+	for j in range (5):
+		for k in range (5):
 			if (k&2):
-				sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1])
+				sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1],useMaximalCoordinates=useMaximalCoordinates)
 			else:
-				sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1])
-				#p.changeDynamics(sphereUid,-1,spinningFriction=0.1, rollingFriction=0.1)
-#p.loadSDF("stadium.sdf")
-p.loadURDF("plane.urdf", useMaximalCoordinates=0)
+				sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1], useMaximalCoordinates=useMaximalCoordinates)
+			p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
+			
+
 
 p.setGravity(0,0,-10)
 p.setRealTimeSimulation(1)
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 124a22297..6eddb9b4e 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -623,12 +623,14 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 	double spinningFriction= -1;
 	double rollingFriction = -1;
 	double restitution = -1;
+	double linearDamping = -1;
+	double angularDamping = -1;
 
 	b3PhysicsClientHandle sm = 0;
 	
 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -661,6 +663,16 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 			b3ChangeDynamicsInfoSetRollingFriction(command, bodyUniqueId, linkIndex,rollingFriction);
 		}
 
+		if (linearDamping>=0)
+		{
+			b3ChangeDynamicsInfoSetLinearDamping(command,bodyUniqueId, linearDamping);
+		}
+		if (angularDamping>=0)
+		{
+			b3ChangeDynamicsInfoSetAngularDamping(command,bodyUniqueId,angularDamping);
+		}
+		
+
 		if (restitution>=0)
 		{
 			b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution);
@@ -971,6 +983,7 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
 	int numBodies = 0;
 	int i;
 	int bodyIndicesOut[MAX_SDF_BODIES];
+	int useMaximalCoordinates = -1;
 	PyObject* pylist = 0;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -978,8 +991,8 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
 	b3PhysicsClientHandle sm = 0;
 
 	int physicsClientId = 0;
-	static char* kwlist[] = {"sdfFileName", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &sdfFileName, &physicsClientId))
+	static char* kwlist[] = {"sdfFileName", "useMaximalCoordinates", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &sdfFileName, &useMaximalCoordinates, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -991,6 +1004,11 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
 	}
 
 	commandHandle = b3LoadSdfCommandInit(sm, sdfFileName);
+	if (useMaximalCoordinates>0)
+	{
+		b3LoadSdfCommandSetUseMultiBody(commandHandle,0);
+	}
+
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);
 	if (statusType != CMD_SDF_LOADING_COMPLETED)
@@ -4805,15 +4823,17 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 	double baseMass = 0;
 	int baseCollisionShapeIndex=-1;
 	int baseVisualShapeIndex=-1;
+	int useMaximalCoordinates = 0;
 	PyObject* basePosObj=0;
 	PyObject* baseOrnObj=0;
 
 
 	static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation",
 //		"linkParentIndices", "linkJointTypes","linkMasses","linkCollisionShapeIndices",
+"useMaximalCoordinates","physicsClientId",
 		NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOi", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
-				&basePosObj, &baseOrnObj,&physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
+				&basePosObj, &baseOrnObj,&useMaximalCoordinates, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -4833,11 +4853,15 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 		pybullet_internalSetVectord(basePosObj,basePosition);
 		pybullet_internalSetVector4d(baseOrnObj,baseOrientation);
 		int baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
+		if (useMaximalCoordinates>0)
+		{
+			b3CreateMultiBodyUseMaximalCoordinates(commandHandle,useMaximalCoordinates);
+		}
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED)
 		{
-			int uid = b3GetStatusMultiBodyUniqueId(statusHandle);
+			int uid = b3GetStatusBodyIndex(statusHandle);
 			PyObject* ob = PyLong_FromLong(uid);
 			return ob;
 		}
diff --git a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
index e3e0ea523..9a781aaef 100644
--- a/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
+++ b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
@@ -59,7 +59,7 @@ public:
                                     ) = 0;
     };
     typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
-    static void serialIslandDispatch( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
+    static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
     static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
 protected:
     btAlignedObjectArray<Island*> m_allocatedIslands;  // owner of all Islands
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index ca9652f1e..c4c3fdea7 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -2013,10 +2013,10 @@ const char*	btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
 		}
 		mbd->m_links = mbd->m_numLinks? (btMultiBodyLinkData*) serializer->getUniquePointer((void*)&m_links[0]):0;
 
-		// Fill padding with zeros to appease msan.
-#ifdef BT_USE_DOUBLE_PRECISION
-		memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
-#endif
-
+		// Fill padding with zeros to appease msan.
+#ifdef BT_USE_DOUBLE_PRECISION
+		memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
+#endif
+
 		return btMultiBodyDataName;
 }
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
index 2aa62e5e5..1e2d07409 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
@@ -665,12 +665,12 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
         btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
         multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
         
-        btVector3 torqueAxis0 = constraintNormal;
+        btVector3 torqueAxis0 = -constraintNormal;
         solverConstraint.m_relpos1CrossNormal = torqueAxis0;
         solverConstraint.m_contactNormal1 = btVector3(0,0,0);
     } else
     {
-        btVector3 torqueAxis0 = constraintNormal;
+        btVector3 torqueAxis0 = -constraintNormal;
         solverConstraint.m_relpos1CrossNormal = torqueAxis0;
         solverConstraint.m_contactNormal1 = btVector3(0,0,0);
         solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
@@ -708,21 +708,20 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
         multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v);
         
         btVector3 torqueAxis1 = constraintNormal;
-        solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
+        solverConstraint.m_relpos2CrossNormal = torqueAxis1;
         solverConstraint.m_contactNormal2 = -btVector3(0,0,0);
         
     } else
     {
         btVector3 torqueAxis1 = constraintNormal;
-        solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
+        solverConstraint.m_relpos2CrossNormal = torqueAxis1;
         solverConstraint.m_contactNormal2 = -btVector3(0,0,0);
         
-        solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
+        solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
     }
     
     {
         
-        btVector3 vec;
         btScalar denom0 = 0.f;
         btScalar denom1 = 0.f;
         btScalar* jacB = 0;
@@ -745,8 +744,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
         {
             if (rb0)
             {
-                vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
-                denom0 = rb0->getInvMass() + constraintNormal.dot(vec);
+				btVector3 iMJaA = rb0?rb0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0);
+				denom0 = iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
             }
         }
         if (multiBodyB)
@@ -765,8 +764,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
         {
             if (rb1)
             {
-                vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
-                denom1 = rb1->getInvMass() + constraintNormal.dot(vec);
+				btVector3 iMJaB = rb1?rb1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0);
+				denom1 = iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
             }
         }
         
@@ -808,7 +807,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
         {
             if (rb0)
             {
-                rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
+				btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
+				rel_vel += solverConstraint.m_contactNormal1.dot(rb0?solverBodyA->m_linearVelocity+solverBodyA->m_externalForceImpulse:btVector3(0,0,0))
+				+ solverConstraint.m_relpos1CrossNormal.dot(rb0?solverBodyA->m_angularVelocity:btVector3(0,0,0));
+	
             }
         }
         if (multiBodyB)
@@ -822,7 +824,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
         {
             if (rb1)
             {
-                rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
+				btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
+				rel_vel += solverConstraint.m_contactNormal2.dot(rb1?solverBodyB->m_linearVelocity+solverBodyB->m_externalForceImpulse:btVector3(0,0,0))
+			+ solverConstraint.m_relpos2CrossNormal.dot(rb1?solverBodyB->m_angularVelocity:btVector3(0,0,0));
+
             }
         }
 
@@ -844,12 +849,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
     
     {
         
-        btScalar velocityError = restitution - rel_vel;// * damping;	//note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
+        btScalar velocityError = 0 - rel_vel;// * damping;	//note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
         
-        if (penetration>0)
-        {
-            velocityError -= penetration / infoGlobal.m_timeStep;
-        } 
+       
         
         btScalar velocityImpulse = velocityError*solverConstraint.m_jacDiagABInv;
         
@@ -1021,6 +1023,33 @@ void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 			///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
 			///this will give a conveyor belt effect
 			///
+
+			btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+			cp.m_lateralFrictionDir1.normalize();
+			cp.m_lateralFrictionDir2.normalize();
+
+            if (rollingFriction > 0 )
+             {
+                if (cp.m_combinedSpinningFriction>0)
+                {
+                    addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB,manifold,frictionIndex,cp,cp.m_combinedSpinningFriction, colObj0,colObj1, relaxation,infoGlobal);
+                }
+                if (cp.m_combinedRollingFriction>0)
+                {
+
+					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
+					
+					if (cp.m_lateralFrictionDir1.length()>0.001)
+	                    addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
+
+					if (cp.m_lateralFrictionDir2.length()>0.001)
+                    addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
+                }
+              rollingFriction--;
+            }
 			if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
 			{/*
 				cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
@@ -1045,26 +1074,12 @@ void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 				} else
 				*/
 				{
-					btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
+					
 
 					applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
 					applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
 					addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
                     
-                    if (rollingFriction > 0 )
-                    {
-                        if (cp.m_combinedSpinningFriction>0)
-                        {
-                            addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB,manifold,frictionIndex,cp,cp.m_combinedSpinningFriction, colObj0,colObj1, relaxation,infoGlobal);
-                        }
-                        if (cp.m_combinedRollingFriction>0)
-                        {
-                            
-                            addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
-                            addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
-                        }
-                        rollingFriction--;
-                    }
 
 					if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
 					{

From 704269afe12de884a765dc7314118db0dfa62e60 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 4 Jun 2017 22:24:14 -0700
Subject: [PATCH 078/175] don't pass second parameter, pybullet func

---
 examples/pybullet/pybullet.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 6eddb9b4e..1f9c03dd8 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -4855,7 +4855,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 		int baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
 		if (useMaximalCoordinates>0)
 		{
-			b3CreateMultiBodyUseMaximalCoordinates(commandHandle,useMaximalCoordinates);
+			b3CreateMultiBodyUseMaximalCoordinates(commandHandle);
 		}
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 		statusType = b3GetStatusType(statusHandle);

From b6cf8ade0798a70a89fec5751f8cbbe7461c8b28 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 4 Jun 2017 22:54:04 -0700
Subject: [PATCH 079/175] prepare for pybullet 1.1.2

---
 setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.py b/setup.py
index 8c81da317..ecd77a484 100644
--- a/setup.py
+++ b/setup.py
@@ -418,7 +418,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.1.1',
+	version='1.1.2',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From adb938f30f3a82d58516d80c61e6dc04a6e16694 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 5 Jun 2017 08:01:11 -0700
Subject: [PATCH 080/175] reduce memory usage

---
 examples/SharedMemory/SharedMemoryCommands.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index bde429122..111dbe1bb 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -792,7 +792,7 @@ struct b3CreateCollisionShape
 	double		m_meshScale;
 };
 
-#define MAX_COMPOUND_COLLISION_SHAPES 128
+#define MAX_COMPOUND_COLLISION_SHAPES 16
 
 struct b3CreateCollisionShapeArgs
 {

From b5962ab14874b1eb5b36d16d842c886dae7985b6 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 5 Jun 2017 14:15:51 -0700
Subject: [PATCH 081/175] revert due to crashes on windows, when simulation
 speed is increased

---
 examples/Evolution/NN3DWalkers.cpp           | 1179 ++++++------------
 examples/Evolution/NN3DWalkersTimeWarpBase.h |   28 +-
 2 files changed, 407 insertions(+), 800 deletions(-)

diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp
index 0465998d2..420ef7e22 100755
--- a/examples/Evolution/NN3DWalkers.cpp
+++ b/examples/Evolution/NN3DWalkers.cpp
@@ -20,7 +20,6 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btHashMap.h"
-
 class btBroadphaseInterface;
 class btCollisionShape;
 class btOverlappingPairCache;
@@ -29,93 +28,22 @@ class btConstraintSolver;
 struct btCollisionAlgorithmCreateFunc;
 class btDefaultCollisionConfiguration;
 class NNWalker;
-class NNWalkerBrain;
 
 #include "NN3DWalkersTimeWarpBase.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 
 #include "../Utils/b3ReferenceFrameHelper.hpp"
-#include "../Utils/b3Clock.h"
 #include "../RenderingExamples/TimeSeriesCanvas.h"
 
-// #### configurable parameters ####
-#ifndef NUM_WALKER_LEGS
-#define NUM_WALKER_LEGS 6 // the number of walker legs
-#endif
-
-#ifndef POPULATION_SIZE
-#define POPULATION_SIZE 10 // number of walkers in the population
-#endif
-
-#ifndef EVALUATION_DURATION
-#define EVALUATION_DURATION 10 // s (duration of one single evaluation)
-#endif
-
-#ifndef TIME_SERIES_MAX_Y
-#define TIME_SERIES_MAX_Y 20.0f // chart maximum y
-#endif
-
-#ifndef TIME_SERIES_MIN_Y
-#define TIME_SERIES_MIN_Y 0.0f // chart minimum y
-#endif
-
-// walker dimensions and properties
-static btScalar gWalkerMotorStrength = 0.5f;
-static btScalar gWalkerLegTargetFrequency = 3;
 static btScalar gRootBodyRadius  = 0.25f;
 static btScalar gRootBodyHeight = 0.1f;
 static btScalar gLegRadius = 0.1f;
 static btScalar gLegLength = 0.45f;
 static btScalar gForeLegLength = 0.75f;
 static btScalar gForeLegRadius = 0.08f;
+
 static btScalar gParallelEvaluations = 10.0f;
 
-// Evaluation configurable parameters
-#ifndef REAP_QTY
-#define REAP_QTY 0.3f 												// number of walkers reaped based on their bad performance
-#endif
-
-#ifndef SOW_CROSSOVER_QTY
-#define SOW_CROSSOVER_QTY 0.2f 										// number of walkers recreated via crossover
-#endif
-
-// this means the rest of them is randomly created: REAP_QTY-SOW_CROSSOVER_QTY = NEW_RANDOM_BREED_QTY
-
-#ifndef SOW_ELITE_QTY
-#define SOW_ELITE_QTY 0.2f 											// number of walkers kept using an elitist strategy (the best performing creatures are NOT mutated at all)
-#endif
-
-#ifndef SOW_MUTATION_QTY
-#define SOW_MUTATION_QTY 0.5f 										// SOW_ELITE_QTY + SOW_MUTATION_QTY + REAP_QTY = 1
-#endif
-
-#ifndef MUTATION_RATE
-#define MUTATION_RATE 0.5f 											// the mutation rate of for the walker with the worst performance
-#endif
-
-#ifndef SOW_ELITE_PARTNER
-#define SOW_ELITE_PARTNER 0.8f 										// the chance an elite partner is chosen for breeding
-#endif
-
-// #### debugging ####
-#ifndef DRAW_INTERPENETRATIONS
-#define DRAW_INTERPENETRATIONS false 								// DEBUG toggle: draw interpenetrations of a walker body
-#endif
-
-#ifndef REBUILD_WALKER
-#define REBUILD_WALKER true											// if the walker should be rebuilt on mutation
-#endif
-
-#ifndef TIMESTAMP_TIME
-#define TIMESTAMP_TIME 2000.0f 										// delay between speed up timestamps
-#endif
-
-// #### not to be reconfigured ####
-#define BODYPART_COUNT (2 * NUM_WALKER_LEGS + 1)
-#define JOINT_COUNT (BODYPART_COUNT - 1)
-
-void* GROUND_ID = (void*)1;
-
 #ifndef SIMD_PI_4
 #define SIMD_PI_4     0.5 * SIMD_HALF_PI
 #endif
@@ -124,91 +52,96 @@ void* GROUND_ID = (void*)1;
 #define SIMD_PI_8     0.25 * SIMD_HALF_PI
 #endif
 
+#ifndef RANDOM_MOVEMENT
+#define RANDOM_MOVEMENT false
+#endif
+
+#ifndef RANDOMIZE_DIMENSIONS
+#define RANDOMIZE_DIMENSIONS false
+#endif
+
+#ifndef NUM_WALKERS
+#define NUM_WALKERS 50
+#endif
+
+#ifndef EVALUATION_TIME
+#define EVALUATION_TIME 10 // s
+#endif
+
+#ifndef REAP_QTY
+#define REAP_QTY 0.3f // number of walkers reaped based on their bad performance
+#endif
+
+#ifndef SOW_CROSSOVER_QTY
+#define SOW_CROSSOVER_QTY 0.2f // this means REAP_QTY-SOW_CROSSOVER_QTY = NEW_RANDOM_BREED_QTY
+#endif
+
+#ifndef SOW_ELITE_QTY
+#define SOW_ELITE_QTY 0.2f // number of walkers kept using an elitist strategy
+#endif
+
+#ifndef SOW_MUTATION_QTY
+#define SOW_MUTATION_QTY 0.5f // SOW_ELITE_QTY + SOW_MUTATION_QTY + REAP_QTY = 1
+#endif
+
+#ifndef MUTATION_RATE
+#define MUTATION_RATE 0.5f // the mutation rate of for the walker with the worst performance
+#endif
+
+#ifndef SOW_ELITE_PARTNER
+#define SOW_ELITE_PARTNER 0.8f
+#endif
+
+#define NUM_LEGS 6
+#define BODYPART_COUNT (2 * NUM_LEGS + 1)
+#define JOINT_COUNT (BODYPART_COUNT - 1)
+#define DRAW_INTERPENETRATIONS false
+
+void* GROUND_ID = (void*)1;
+
 class NN3DWalkersExample : public NN3DWalkersTimeWarpBase
 {
-	btScalar m_SimulationTime; 										// the current simulation time
-	btScalar m_LastSpeedupPrintTimestamp;
-	btScalar m_bestWalkerFitness; 									// to keep track of the best fitness
-
-	btVector3 m_resetPosition; 										// initial position of an evaluation
-
-	int 	 m_walkersInEvaluation; 								// number of walkers in evaluation
-	int		 m_nextReapedIndex; 									// index of the next reaped walker
+	btScalar m_Time;
+	btScalar m_SpeedupTimestamp;
+	btScalar m_targetAccumulator;
+	btScalar m_targetFrequency;
+	btScalar m_motorStrength;
+	int 	 m_evaluationsQty;
+	int		 m_nextReaped;
 	
-	btAlignedObjectArray<class NNWalker*> m_walkersInPopulation;	// walkers in the population
-	btAlignedObjectArray<class NNWalkerBrain*> m_walkerBrains;		// walker cores in the population
+	btAlignedObjectArray<class NNWalker*> m_walkersInPopulation;
 	
-	bool m_rebuildWorldNeeded; 										// if the world should be rebuilt (for determinism)
+	TimeSeriesCanvas* m_timeSeriesCanvas;
 
-	btRigidBody* m_ground; 											// reference to ground to readd if world is rebuilt
-
-	btOverlapFilterCallback * m_filterCallback; 					// the collision filter callback
-
-	TimeSeriesCanvas* m_timeSeriesCanvas; 							// A plotting canvas for the walker fitnesses
 public:
 	NN3DWalkersExample(struct GUIHelperInterface* helper)
 	:NN3DWalkersTimeWarpBase(helper),
-	 // others
-	 m_resetPosition(0,0,0),
-	 m_SimulationTime(0),
-	 m_bestWalkerFitness(0),
-	 m_LastSpeedupPrintTimestamp(0),
-	 m_walkersInEvaluation(0),
-	 m_nextReapedIndex(0),
-	 m_timeSeriesCanvas(NULL),
-	 m_ground(NULL),
-	 m_filterCallback(NULL)
+	 m_Time(0),
+	 m_SpeedupTimestamp(0),
+	 m_targetAccumulator(0),
+	m_targetFrequency(3),
+	m_motorStrength(0.5f),
+	m_evaluationsQty(0),
+	 m_nextReaped(0),
+	 m_timeSeriesCanvas(0)
 	{
-		b3Clock clock;
-		clock.reset(true);									// Reset clock to zero to get new random seed
-		srand(clock.getTimeMilliseconds());					// Set random milliseconds based on system time
 	}
 
 	virtual ~NN3DWalkersExample()
 	{
-		//m_walkersInPopulation deallocates itself
-		//m_walkerBrains deallocates itself
 		delete m_timeSeriesCanvas;
 	}
 
-	/**
-	 * Setup physics scene.
-	 */
 	void initPhysics();
 	
-	/**
-	 * Recreate the world if necessary.
-	 * @param deltaTime
-	 */
-	virtual void performModelUpdate(float deltaTime);
-
-	/**
-	 * Delete the world and recreate it anew.
-	 */
-	void recreateWorld();
-
-	/**
-	 * Shutdown physics scene.
-	 */
 	virtual void exitPhysics();
 	
-	/**
-	 * Handle keyboard inputs.
-	 * @param key
-	 * @param state
-	 * @return
-	 */
-	virtual bool keyboardCallback(int key, int state);
+	void spawnWalker(int index, const btVector3& startOffset, bool bFixed);
+	
+	virtual bool	keyboardCallback(int key, int state);
 
-	/**
-	 * Detect collisions within simulation. Used to avoid collisions happening at startup.
-	 * @return
-	 */
 	bool detectCollisions();
 
-	/**
-	 * Reset the camera to a certain position and orientation.
-	 */
 	void resetCamera()
 	{
 		float dist = 11;
@@ -220,141 +153,54 @@ public:
 
 	// Evaluation
 
-	/**
-	 * Update the simulation.
-	 * @param timeSinceLastTick
-	 */
 	void update(const btScalar timeSinceLastTick);
 
-	/**
-	 * Update all evaluations.
-	 * @param timeSinceLastTick
-	 */
 	void updateEvaluations(const btScalar timeSinceLastTick);
 
-	/**
-	 * Schedule new evaluations and tear down old ones.
-	 */
 	void scheduleEvaluations();
 
-	/**
-	 * Draw distance markings on ground.
-	 */
 	void drawMarkings();
 
-	/**
-	 * Reset a walker by deleting and rebuilding it.
-	 * @param i
-	 * @param resetPosition
-	 */
-	void resetWalkerAt(int i, const btVector3& resetPosition);
-
 	// Reaper
 
-	/**
-	 * Rate all evaluations via fitness function.
-	 */
 	void rateEvaluations();
 
-	/**
-	 * Reap the worst performing walkers.
-	 */
 	void reap();
 
-	/**
-	 * Sow new walkers.
-	 */
 	void sow();
 
-	/**
-	 * Crossover two walkers to create an offspring.
-	 * @param mother
-	 * @param father
-	 * @param offspring
-	 */
 	void crossover(NNWalker* mother, NNWalker* father, NNWalker* offspring);
 
-	/**
-	 * Mutate a walker.
-	 * @param mutant
-	 * @param mutationRate
-	 */
 	void mutate(NNWalker* mutant, btScalar mutationRate);
 
-	/**
-	 * Get a random elite walker.
-	 * @return
-	 */
 	NNWalker* getRandomElite();
 
-	/**
-	 * Get a random non elite walker.
-	 * @return
-	 */
 	NNWalker* getRandomNonElite();
 
-	/**
-	 * Get the next walker to be reaped.
-	 * @return
-	 */
 	NNWalker* getNextReaped();
 
-	/**
-	 * Print walker configurations to console.
-	 */
 	void printWalkerConfigs();
+
 };
 
 static NN3DWalkersExample* nn3DWalkers = NULL;
 
-/**
- * Neural Network Brain Weights.
- */
-class NNWalkerBrain
-{
-	btScalar m_sensoryMotorWeights[BODYPART_COUNT*JOINT_COUNT]; // Neural Network connection weights
-
-public:
-
-	NNWalkerBrain(){
-		randomizeSensoryMotorWeights();
-	}
-
-	void randomizeSensoryMotorWeights(){
-		//initialize random weights
-		for(int i = 0;i < BODYPART_COUNT;i++){
-			for(int j = 0;j < JOINT_COUNT;j++){
-				m_sensoryMotorWeights[i+j*BODYPART_COUNT] = ((double) rand() / (RAND_MAX))*2.0f-1.0f;
-			}
-		}
-	}
-
-	btScalar* getSensoryMotorWeights() {
-		return m_sensoryMotorWeights;
-	}
-};
-
-/**
- * Neural Networks Walker. A 6 legged robot moving controlled by a one-layer neural network which maps from leg ground touch sensors to leg joint positions.
- */
 class NNWalker
 {
-	btDynamicsWorld*			m_ownerWorld;
-	btCollisionShape*			m_shapes[BODYPART_COUNT];
-	btRigidBody*				m_bodies[BODYPART_COUNT];
-	btTransform					m_bodyRelativeTransforms[BODYPART_COUNT];
-	btTypedConstraint*			m_joints[JOINT_COUNT];
+	btDynamicsWorld*	m_ownerWorld;
+	btCollisionShape*	m_shapes[BODYPART_COUNT];
+	btRigidBody*		m_bodies[BODYPART_COUNT];
+	btTransform			m_bodyRelativeTransforms[BODYPART_COUNT];
+	btTypedConstraint*	m_joints[JOINT_COUNT];
 	btHashMap<btHashPtr,int>	m_bodyTouchSensorIndexMap;
-	bool 						m_touchSensors[BODYPART_COUNT];
-	NNWalkerBrain*				m_brain;
+	bool 				m_touchSensors[BODYPART_COUNT];
+	btScalar			m_sensoryMotorWeights[BODYPART_COUNT*JOINT_COUNT];
 
-
-	bool						m_inEvaluation;
-	btScalar					m_evaluationTime;
-	bool						m_reaped;
-	btVector3					m_startPosition;
-	int							m_index;
-	btScalar					m_legUpdateAccumulator;
+	bool				m_inEvaluation;
+	btScalar			m_evaluationTime;
+	bool				m_reaped;
+	btVector3			m_startPosition;
+	int					m_index;
 
 	btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
 	{
@@ -374,77 +220,76 @@ class NNWalker
 
 public:
 
-	NNWalker(int index,
-		btDynamicsWorld* ownerWorld,
-		NNWalkerBrain* core,
-		const btVector3& startingPosition,
-		const btScalar& rootBodyRadius,
-		const btScalar& rootBodyHeight,
-		const btScalar& legRadius,
-		const btScalar& legLength,
-		const btScalar& foreLegRadius,
-		const btScalar& foreLegLength,
-		bool fixedBodyPosition)
-		: m_ownerWorld(ownerWorld), 												// the world the walker walks in
-		  m_brain(core), 															// the evolution core
-		  m_inEvaluation(false), 													// the walker is not in evaluation
-		  m_evaluationTime(0), 														// reset evaluation time
-		  m_reaped(false), 															// the walker is not reaped
-		  m_startPosition(startingPosition), 										// the starting position of the walker
-		  m_legUpdateAccumulator(0),												// variable to apply rhythmic leg position updates
-		  m_index(index)
+	void randomizeSensoryMotorWeights(){
+		//initialize random weights
+		for(int i = 0;i < BODYPART_COUNT;i++){
+			for(int j = 0;j < JOINT_COUNT;j++){
+				m_sensoryMotorWeights[i+j*BODYPART_COUNT] = ((double) rand() / (RAND_MAX))*2.0f-1.0f;
+			}
+		}
+	}
+
+	NNWalker(int index, btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
+		: m_ownerWorld (ownerWorld),
+		  m_inEvaluation(false),
+		  m_evaluationTime(0),
+		  m_reaped(false)
 	{
-		btVector3 vUp(0, 1, 0); 													// up direction in local reference frame
+		m_index = index;
+		btVector3 vUp(0, 1, 0); // up in local reference frame
 
 		NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)m_ownerWorld->getWorldUserInfo();
 
+		randomizeSensoryMotorWeights();
+
+		//
 		// Setup geometry
-		m_shapes[0] = new btCapsuleShape(rootBodyRadius, rootBodyHeight); 			// torso capsule
+		m_shapes[0] = new btCapsuleShape(gRootBodyRadius, gRootBodyHeight); // root body capsule
 		int i;
-		for (i = 0; i < NUM_WALKER_LEGS; i++)
+		for ( i=0; i<NUM_LEGS; i++)
 		{
-			m_shapes[1 + 2*i] = new btCapsuleShape(legRadius, legLength); 			// leg  capsule
-			m_shapes[2 + 2*i] = new btCapsuleShape(foreLegRadius, foreLegLength); 	// fore leg capsule
+			m_shapes[1 + 2*i] = new btCapsuleShape(gLegRadius, gLegLength); // leg  capsule
+			m_shapes[2 + 2*i] = new btCapsuleShape(gForeLegRadius, gForeLegLength); // fore leg capsule
 		}
 
+		//
 		// Setup rigid bodies
-		btScalar torsoAboveGroundHeight = foreLegLength;
+		btScalar rootAboveGroundHeight = gForeLegLength;
 		btTransform bodyOffset; bodyOffset.setIdentity();
-		bodyOffset.setOrigin(startingPosition);		
+		bodyOffset.setOrigin(positionOffset);		
 
-		// torso
-		btVector3 localTorsoPosition = btVector3(btScalar(0.), torsoAboveGroundHeight, btScalar(0.)); // torso position in local reference frame
+		// root body
+		btVector3 localRootBodyPosition = btVector3(btScalar(0.), rootAboveGroundHeight, btScalar(0.)); // root body position in local reference frame
 		btTransform transform;
 		transform.setIdentity();
-		transform.setOrigin(localTorsoPosition);
+		transform.setOrigin(localRootBodyPosition);
 
 		btTransform originTransform = transform;
 
-		m_bodies[0] = localCreateRigidBody(btScalar(fixedBodyPosition?0.:1.), bodyOffset*transform, m_shapes[0]);
+		m_bodies[0] = localCreateRigidBody(btScalar(bFixed?0.:1.), bodyOffset*transform, m_shapes[0]);
 		m_ownerWorld->addRigidBody(m_bodies[0]);
 		m_bodyRelativeTransforms[0] = btTransform::getIdentity();
 		m_bodies[0]->setUserPointer(this);
 		m_bodyTouchSensorIndexMap.insert(btHashPtr(m_bodies[0]), 0);
 
 		btHingeConstraint* hingeC;
+		//btConeTwistConstraint* coneC;
 
 		btTransform localA, localB, localC;
 
 		// legs
-		for (i = 0; i < NUM_WALKER_LEGS; i++)
+		for (i = 0; i < NUM_LEGS; i++)
 		{
-			float footAngle = 2 * SIMD_PI * i / NUM_WALKER_LEGS; 					// legs are uniformly distributed around the root body
-			float footYUnitPosition = sin(footAngle); 								// y position of the leg on the unit circle
-			float footXUnitPosition = cos(footAngle); 								// x position of the leg on the unit circle
+			float footAngle = 2 * SIMD_PI * i / NUM_LEGS; // legs are uniformly distributed around the root body
+			float footYUnitPosition = sin(footAngle); // y position of the leg on the unit circle
+			float footXUnitPosition = cos(footAngle); // x position of the leg on the unit circle
 
 			transform.setIdentity();
-			btVector3 legCOM = btVector3(btScalar(footXUnitPosition*(rootBodyRadius+0.5*legLength)),
-										 btScalar(torsoAboveGroundHeight),
-										 btScalar(footYUnitPosition*(rootBodyRadius+0.5*legLength)));
+			btVector3 legCOM = btVector3(btScalar(footXUnitPosition*(gRootBodyRadius+0.5*gLegLength)), btScalar(rootAboveGroundHeight), btScalar(footYUnitPosition*(gRootBodyRadius+0.5*gLegLength)));
 			transform.setOrigin(legCOM);
 
 			// thigh
-			btVector3 legDirection = (legCOM - localTorsoPosition).normalize();
+			btVector3 legDirection = (legCOM - localRootBodyPosition).normalize();
 			btVector3 kneeAxis = legDirection.cross(vUp);			
 			transform.setRotation(btQuaternion(kneeAxis, SIMD_HALF_PI));
 			m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[1+2*i]);
@@ -454,9 +299,7 @@ public:
 
 			// shin
 			transform.setIdentity();
-			transform.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)),
-										  btScalar(torsoAboveGroundHeight-0.5*foreLegLength),
-										  btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
+			transform.setOrigin(btVector3(btScalar(footXUnitPosition*(gRootBodyRadius+gLegLength)), btScalar(rootAboveGroundHeight-0.5*gForeLegLength), btScalar(footYUnitPosition*(gRootBodyRadius+gLegLength))));
 			m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), bodyOffset*transform, m_shapes[2+2*i]);
 			m_bodyRelativeTransforms[2+2*i] = transform;
 			m_bodies[2+2*i]->setUserPointer(this);
@@ -464,56 +307,39 @@ public:
 
 			// hip joints
 			localA.setIdentity(); localB.setIdentity();
-			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*rootBodyRadius),
-																					   btScalar(0.),
-																					   btScalar(footYUnitPosition*rootBodyRadius)));
+			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*gRootBodyRadius), btScalar(0.), btScalar(footYUnitPosition*gRootBodyRadius)));
 			localB = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
 			hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
 			hingeC->setLimit(btScalar(-0.75 * SIMD_PI_4), btScalar(SIMD_PI_8));
+			//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
 			m_joints[2*i] = hingeC;
 
 			// knee joints
 			localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
-			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*(rootBodyRadius+legLength)),
-																					   btScalar(0.),
-																					   btScalar(footYUnitPosition*(rootBodyRadius+legLength))));
+			localA.getBasis().setEulerZYX(0,-footAngle,0);	localA.setOrigin(btVector3(btScalar(footXUnitPosition*(gRootBodyRadius+gLegLength)), btScalar(0.), btScalar(footYUnitPosition*(gRootBodyRadius+gLegLength))));
 			localB = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[1+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
 			localC = b3ReferenceFrameHelper::getTransformWorldToLocal(m_bodies[2+2*i]->getWorldTransform(), b3ReferenceFrameHelper::getTransformLocalToWorld(m_bodies[0]->getWorldTransform(),localA));
 			hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC);
+			//hingeC->setLimit(btScalar(-0.01), btScalar(0.01));
 			hingeC->setLimit(btScalar(-SIMD_PI_8), btScalar(0.2));
 			m_joints[1+2*i] = hingeC;
 
-			//test if we cause a collision with priorly inserted bodies. This prevents the walkers from having to resolve collisions on startup
+			m_ownerWorld->addRigidBody(m_bodies[1+2*i]); // add thigh bone
 
-			m_ownerWorld->addRigidBody(m_bodies[1+2*i]); 								// add thigh bone
-			m_ownerWorld->addConstraint(m_joints[2*i], true); 							// connect thigh bone with root
-
-			if(nnWalkersDemo->detectCollisions()){ 										// if thigh bone causes collision, remove it again
-				m_ownerWorld->removeConstraint(m_joints[2*i]); 							// disconnect thigh bone from root
-				delete m_joints[2*i];
-				m_joints[2*i] = NULL;
+			m_ownerWorld->addConstraint(m_joints[2*i], true); // connect thigh bone with root
 
+			if(nnWalkersDemo->detectCollisions()){ // if thigh bone causes collision, remove it again
 				m_ownerWorld->removeRigidBody(m_bodies[1+2*i]);
-				delete m_bodies[1+2*i];
-				m_bodies[1+2*i] = NULL;
-
-				delete m_joints[1+2*i];
-				m_joints[1+2*i] = NULL;
-				delete m_bodies[2+2*i];
-				m_bodies[2+2*i] = NULL;
+				m_ownerWorld->removeConstraint(m_joints[2*i]); // disconnect thigh bone from root
 			}
 			else{
-				m_ownerWorld->addRigidBody(m_bodies[2+2*i]); 							// add shin bone
-				m_ownerWorld->addConstraint(m_joints[1+2*i], true); 					// connect shin bone with thigh
 
-				if(nnWalkersDemo->detectCollisions()){ 									// if shin bone causes collision, remove it again
-					m_ownerWorld->removeConstraint(m_joints[1+2*i]); 					// disconnect shin bone from thigh
-					delete m_joints[1+2*i];
-					m_joints[1+2*i] = NULL;
+				m_ownerWorld->addRigidBody(m_bodies[2+2*i]); // add shin bone
+				m_ownerWorld->addConstraint(m_joints[1+2*i], true); // connect shin bone with thigh
 
+				if(nnWalkersDemo->detectCollisions()){ // if shin bone causes collision, remove it again
 					m_ownerWorld->removeRigidBody(m_bodies[2+2*i]);
-					delete m_bodies[2+2*i];
-					m_bodies[2+2*i] = NULL;
+					m_ownerWorld->removeConstraint(m_joints[1+2*i]); // disconnect shin bone from thigh
 				}
 			}
 		}
@@ -521,49 +347,36 @@ public:
 		// Setup some damping on the m_bodies
 		for (i = 0; i < BODYPART_COUNT; ++i)
 		{
-			if(m_bodies[i] != NULL){
-				m_bodies[i]->setDamping(0.05, 0.85);
-				m_bodies[i]->setDeactivationTime(0.8);
-				m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
-				m_bodies[i]->setActivationState(DISABLE_DEACTIVATION);
-			}
+			m_bodies[i]->setDamping(0.05, 0.85);
+			m_bodies[i]->setDeactivationTime(0.8);
+			//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
+			m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
 		}
 
-		// Properly remove rigidbodies and joints
-		removeJoints();
-		removeRigidbodies();
-
-		clearTouchSensors(); 															// set touch sensors to zero
-
-		randomizeSensoryMotorWeights(); 												// set random sensory motor weights for neural network layer
+		removeFromWorld(); // it should not yet be in the world
 	}
 
 	virtual	~NNWalker ()
 	{
 		int i;
 
-		removeFromWorld();							// remove walker from world
-
 		// Remove all constraints
 		for ( i = 0; i < JOINT_COUNT; ++i)
 		{
-			if(m_joints[i] != NULL){
-				delete m_joints[i]; m_joints[i] = 0;
-			}
+			m_ownerWorld->removeConstraint(m_joints[i]);
+			delete m_joints[i]; m_joints[i] = 0;
 		}
 
 		// Remove all bodies and shapes
 		for ( i = 0; i < BODYPART_COUNT; ++i)
 		{
-			if(m_bodies[i] != NULL){
-				delete m_bodies[i]->getMotionState();
+			m_ownerWorld->removeRigidBody(m_bodies[i]);
+			
+			delete m_bodies[i]->getMotionState();
 
-				delete m_bodies[i]; m_bodies[i] = 0;
-				delete m_shapes[i]; m_shapes[i] = 0;
-			}
+			delete m_bodies[i]; m_bodies[i] = 0;
+			delete m_shapes[i]; m_shapes[i] = 0;
 		}
-
-		m_ownerWorld = NULL;
 	}
 
 	btTypedConstraint** getJoints() {
@@ -580,47 +393,55 @@ public:
 		}
 	}
 
-	btScalar* getSensoryMotorWeights() {
-		return m_brain->getSensoryMotorWeights();
+	bool getTouchSensor(int i){
+		return m_touchSensors[i];
 	}
 
-	void randomizeSensoryMotorWeights(){
-		m_brain->randomizeSensoryMotorWeights();
+	btScalar* getSensoryMotorWeights() {
+		return m_sensoryMotorWeights;
 	}
 
 	void addToWorld() {
-		if(!isInEvaluation()){
-
-			addRigidbodies();
-			addJoints();
-
-			setInEvaluation(true);
+		int i;
+		// add all bodies and shapes
+		for ( i = 0; i < BODYPART_COUNT; ++i)
+		{
+			m_ownerWorld->addRigidBody(m_bodies[i]);
 		}
+
+		// add all constraints
+		for ( i = 0; i < JOINT_COUNT; ++i)
+		{
+			m_ownerWorld->addConstraint(m_joints[i], true); // important! If you add constraints back, you must set bullet physics to disable collision between constrained bodies
+		}
+		m_startPosition = getPosition();
 	}
 
-	void removeFromWorld() {
-		if(isInEvaluation()){
+	void removeFromWorld(){
+		int i;
 
-			removeJoints();
-			removeRigidbodies();
+		// Remove all constraints
+		for ( i = 0; i < JOINT_COUNT; ++i)
+		{
+			m_ownerWorld->removeConstraint(m_joints[i]);
+		}
 
-			setInEvaluation(false);
+		// Remove all bodies
+		for ( i = 0; i < BODYPART_COUNT; ++i)
+		{
+			m_ownerWorld->removeRigidBody(m_bodies[i]);
 		}
 	}
 
 	btVector3 getPosition() const {
 		btVector3 finalPosition(0,0,0);
 
-		int j = 0;
 		for(int i = 0; i < BODYPART_COUNT;i++)
 		{
-			if(m_bodies[i] != NULL){
-				finalPosition += m_bodies[i]->getCenterOfMassPosition();
-				j++;
-			}
+			finalPosition += m_bodies[i]->getCenterOfMassPosition();
 		}
 
-		finalPosition /= btScalar(j);
+		finalPosition /= BODYPART_COUNT;
 		return finalPosition;
 	}
 
@@ -638,36 +459,20 @@ public:
 		return getDistanceFitness(); // for now it is only distance
 	}
 
-	/**
-	 * Reset walker to a position. Does not work deterministically.
-	 * @param position
-	 */
 	void resetAt(const btVector3& position) {
-		removeFromWorld();
 		btTransform resetPosition(btQuaternion::getIdentity(), position);
-
-		for (int i = 0; i < JOINT_COUNT; i++)
-		{
-			btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(getJoints()[i]);
-			hingeC->enableAngularMotor(false,0,0);
-		}
-
 		for (int i = 0; i < BODYPART_COUNT; ++i)
 		{
-			m_bodies[i]->clearForces();
-			m_bodies[i]->setAngularVelocity(btVector3(0,0,0));
-			m_bodies[i]->setLinearVelocity(btVector3(0,0,0));
-
 			m_bodies[i]->setWorldTransform(resetPosition*m_bodyRelativeTransforms[i]);
 			if(m_bodies[i]->getMotionState()){
 				m_bodies[i]->getMotionState()->setWorldTransform(resetPosition*m_bodyRelativeTransforms[i]);
 			}
+			m_bodies[i]->clearForces();
+			m_bodies[i]->setAngularVelocity(btVector3(0,0,0));
+			m_bodies[i]->setLinearVelocity(btVector3(0,0,0));
+
 		}
 
-		m_startPosition = position; // the starting position of the walker
-
-		m_legUpdateAccumulator = 0;
-
 		clearTouchSensors();
 	}
 
@@ -698,82 +503,10 @@ public:
 	int getIndex() const {
 		return m_index;
 	}
-
-	bool getTouchSensor(int i){
-		return m_touchSensors[i];
-	}
-
-	NNWalkerBrain* getBrain(){
-		return m_brain;
-	}
-
-	btRigidBody** getBodies(){
-		return &m_bodies[0];
-	}
-
-	btScalar getLegUpdateAccumulator() const {
-		return m_legUpdateAccumulator;
-	}
-
-	void setLegUpdateAccumulator(btScalar legUpdateAccumulator) {
-		m_legUpdateAccumulator = legUpdateAccumulator;
-	}
-
-	void setOwnerWorld(btDynamicsWorld* ownerWorld) {
-		m_ownerWorld = ownerWorld;
-	}
-
-private:
-	void addJoints(){
-		// add all constraints
-		for (int i = 0; i < JOINT_COUNT; ++i)
-		{
-			if(m_joints[i] != NULL){
-				m_ownerWorld->addConstraint(m_joints[i], true); // important! If you add constraints back, you must set bullet physics to disable collision between constrained bodies
-			}
-		}
-	}
-
-	void addRigidbodies() {
-		// add all bodies
-		for (int i = 0; i < BODYPART_COUNT; ++i)
-		{
-			if(m_bodies[i] != NULL){
-				m_ownerWorld->addRigidBody(m_bodies[i]);
-			}
-		}
-	}
-
-	void removeJoints() {
-		// remove all constraints
-		for (int i = 0; i < JOINT_COUNT; ++i)
-		{
-			if(m_joints[i] != NULL){
-				m_ownerWorld->removeConstraint(m_joints[i]);
-			}
-		}
-	}
-
-	void removeRigidbodies() {
-		// remove all bodies
-		for (int i = 0; i < BODYPART_COUNT; ++i)
-		{
-			if(m_bodies[i] != NULL){
-				m_ownerWorld->removeRigidBody(m_bodies[i]);
-			}
-		}
-	}
 };
 
 void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep);
 
-/**
- * Draw leg contacts on ground.
- * @param cp
- * @param body0
- * @param body1
- * @return
- */
 bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
 {
     btCollisionObject* o1 = static_cast<btCollisionObject*>(body0);
@@ -782,28 +515,27 @@ bool legContactProcessedCallback(btManifoldPoint& cp, void* body0, void* body1)
     void* ID1 = o1->getUserPointer();
     void* ID2 = o2->getUserPointer();
 
-	if (ID1 != GROUND_ID || ID2 != GROUND_ID) { // if one of the contacts is not ground
+	if (ID1 != GROUND_ID || ID2 != GROUND_ID) {
 	    // Make a circle with a 0.9 radius at (0,0,0)
 	    // with RGB color (1,0,0).
-		if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL && !nn3DWalkers->mIsHeadless){
-			nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
+		if(nn3DWalkers->m_dynamicsWorld->getDebugDrawer() != NULL){
+			if(!nn3DWalkers->mIsHeadless){
+				nn3DWalkers->m_dynamicsWorld->getDebugDrawer()->drawSphere(cp.getPositionWorldOnA(), 0.1, btVector3(1., 0., 0.));
+			}
 		}
 
-		if(ID1 != GROUND_ID && ID1){ // if ID1 is not ground
+		if(ID1 != GROUND_ID && ID1){
 			((NNWalker*)ID1)->setTouchSensor(o1);
 		}
 
-		if(ID2 != GROUND_ID && ID2){ // if ID2 is not ground
+		if(ID2 != GROUND_ID && ID2){
 			((NNWalker*)ID2)->setTouchSensor(o2);
 		}
 	}
     return false;
 }
 
-/**
- * A filter avoiding collision between walkers.
- */
-struct WalkerFilterCallback : public btOverlapFilterCallback // avoids collisions between walkers
+struct WalkerFilterCallback : public btOverlapFilterCallback
 {
 	// return true when pairs need collision
 	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
@@ -814,10 +546,9 @@ struct WalkerFilterCallback : public btOverlapFilterCallback // avoids collision
 		if (obj0->getUserPointer() == GROUND_ID || obj1->getUserPointer() == GROUND_ID) { // everything collides with ground
 			return true;
 		}
-		else if((NNWalker*)obj0->getUserPointer() && (NNWalker*)obj1->getUserPointer()){
+		else{
 			return ((NNWalker*)obj0->getUserPointer())->getIndex() == ((NNWalker*)obj1->getUserPointer())->getIndex();
 		}
-		return true;
 	}
 };
 
@@ -832,44 +563,36 @@ void NN3DWalkersExample::initPhysics()
 
 	// Setup the basic world
 
-	m_SimulationTime = 0;
+	m_Time = 0;
 
-	gWalkerLegTargetFrequency = 3; // Hz
+	createEmptyDynamicsWorld();
 
-	m_walkersInPopulation.resize(POPULATION_SIZE, NULL);
-	m_walkerBrains.resize(POPULATION_SIZE, NULL);
+	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true);
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 
-	recreateWorld(); // setup world and add ground
-
-	{ // Setup a big ground box
-		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
-		m_collisionShapes.push_back(groundShape);
-		btTransform groundTransform;
-		groundTransform.setIdentity();
-		groundTransform.setOrigin(btVector3(0,-10,0));
-		m_ground = createRigidBody(btScalar(0.),groundTransform,groundShape);
-		m_ground->setFriction(5);
-		m_ground->setUserPointer(GROUND_ID);
-	}
+	m_targetFrequency = 3;
 
 	// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
 	// should be (numberOfsolverIterations * oldLimits)
-	gWalkerMotorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
+	m_motorStrength = 0.05f * m_dynamicsWorld->getSolverInfo().m_numIterations;
+
 
 	{ // create a slider to change the motor update frequency
-		SliderParams slider("Motor update frequency", &gWalkerLegTargetFrequency);
+		SliderParams slider("Motor update frequency", &m_targetFrequency);
 		slider.m_minVal = 0;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
 	}
 
 	{ // create a slider to change the motor torque
-		SliderParams slider("Motor force", &gWalkerMotorStrength);
+		SliderParams slider("Motor force", &m_motorStrength);
 		slider.m_minVal = 1;
 		slider.m_maxVal = 50;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
 	}
 	
 	{ // create a slider to change the root body radius
@@ -877,7 +600,8 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
 	}
 
 	{ // create a slider to change the root body height
@@ -885,7 +609,8 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
 	}
 
 	{ // create a slider to change the leg radius
@@ -893,7 +618,8 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
 	}
 
 	{ // create a slider to change the leg length
@@ -901,7 +627,8 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
 	}
 
 	{ // create a slider to change the fore leg radius
@@ -909,7 +636,8 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
 	}
 
 	{ // create a slider to change the fore leg length
@@ -917,135 +645,101 @@ void NN3DWalkersExample::initPhysics()
 		slider.m_minVal = 0.01f;
 		slider.m_maxVal = 10;
 		slider.m_clampToNotches = false;
-		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-	}
-
-	if(POPULATION_SIZE > 1)
-	{ // create a slider to change the number of parallel evaluations
-		SliderParams slider("Parallel evaluations", &gParallelEvaluations);
-		slider.m_minVal = 1;
-		slider.m_maxVal = POPULATION_SIZE;
-		slider.m_clampToIntegers = true;
 		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
 			slider);
 	}
 
-	// setup data sources for walkers in time series canvas
-	m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,400,300, "Fitness Performance");
-	m_timeSeriesCanvas->setupTimeSeries(TIME_SERIES_MIN_Y, TIME_SERIES_MAX_Y, 10, 0);
-	for(int i = 0; i < POPULATION_SIZE ; i++){
-		m_timeSeriesCanvas->addDataSource(" ", 100*i/POPULATION_SIZE, 100*(POPULATION_SIZE-i)/POPULATION_SIZE, 100*i/POPULATION_SIZE);
+	{ // create a slider to change the number of parallel evaluations
+		SliderParams slider("Parallel evaluations", &gParallelEvaluations);
+		slider.m_minVal = 1;
+		slider.m_maxVal = NUM_WALKERS;
+        slider.m_clampToIntegers = true;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
 	}
-}
 
-void NN3DWalkersExample::performModelUpdate(float deltaTime){
-	if(m_rebuildWorldNeeded){ // rebuilding the world must be performed in sync to the update cycle of the example browser
-		recreateWorld();
-		m_rebuildWorldNeeded = false;
+
+	// Setup a big ground box
+	{
+		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
+		m_collisionShapes.push_back(groundShape);
+		btTransform groundTransform;
+		groundTransform.setIdentity();
+		groundTransform.setOrigin(btVector3(0,-10,0));
+		btRigidBody* ground = createRigidBody(btScalar(0.),groundTransform,groundShape);
+		ground->setFriction(5);
+		ground->setUserPointer(GROUND_ID);
 	}
-}
 
-/**
- * This method should really delete all remainings of the simulation except for the walker brains.
- */
-void NN3DWalkersExample::recreateWorld(){
+	for(int i = 0; i < NUM_WALKERS ; i++){
+		if(RANDOMIZE_DIMENSIONS){
+			float maxDimension = 0.2f;
 
-	for(int i = 0; i < POPULATION_SIZE ; i++){ 												// remove and delete walkers
-		if(m_walkersInPopulation[i] != NULL){
-			m_walkersInPopulation[i]->removeFromWorld();
-
-			for(int j = 0;j < BODYPART_COUNT;j++){ 											// remove all body graphics
-				btRigidBody* rb = static_cast<btRigidBody*>(m_walkersInPopulation[i]->getBodies()[j]);
-				if (rb != NULL) {
-					int graphicsUid = rb->getUserIndex();
-					m_guiHelper->removeGraphicsInstance(graphicsUid);
-				}
-			}
-
-			delete m_walkersInPopulation[i];
-			m_walkersInPopulation[i] = NULL;
+			// randomize the dimensions
+			gRootBodyRadius  = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			gRootBodyHeight = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			gLegRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			gLegLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			gForeLegLength = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
+			gForeLegRadius = ((double) rand() / (RAND_MAX)) * (maxDimension-0.01f) + 0.01f;
 		}
+
+		// Spawn one walker
+		btVector3 offset(0,0,0);
+		spawnWalker(i, offset, false);
 	}
 
-	if(m_dynamicsWorld != NULL && m_ground != NULL){
-		m_dynamicsWorld->removeRigidBody(m_ground); 										// remove ground
+	btOverlapFilterCallback * filterCallback = new WalkerFilterCallback();
+	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(filterCallback);
+
+	m_timeSeriesCanvas = new TimeSeriesCanvas(m_guiHelper->getAppInterface()->m_2dCanvasInterface,300,200, "Fitness Performance");
+	m_timeSeriesCanvas ->setupTimeSeries(40, NUM_WALKERS*EVALUATION_TIME, 0);
+	for(int i = 0; i < NUM_WALKERS ; i++){
+		m_timeSeriesCanvas->addDataSource(" ", 100*i/NUM_WALKERS,100*(NUM_WALKERS-i)/NUM_WALKERS,100*(i)/NUM_WALKERS);
 	}
+}
 
-	// delete world etc.
-	if(m_dynamicsWorld != NULL){
-		delete m_dynamicsWorld;
-		m_dynamicsWorld = 0;
-	}
 
-	if(m_solver != NULL){
-		delete m_solver;
-		m_solver = 0;
-	}
-
-	if(m_broadphase != NULL){
-		delete m_broadphase;
-		m_broadphase = 0;
-	}
-
-	if(m_dispatcher != NULL){
-		delete m_dispatcher;
-		m_dispatcher = 0;
-	}
-
-	if(m_collisionConfiguration != NULL){
-		delete m_collisionConfiguration;
-		m_collisionConfiguration = 0;
-	}
-
-	createEmptyDynamicsWorld(); // create new world
-
-	// add all filters and callbacks
-	m_dynamicsWorld->setInternalTickCallback(evaluationUpdatePreTickCallback, this, true); 	// set evolution update pretick callback
-	m_filterCallback = new WalkerFilterCallback();
-	m_dynamicsWorld->getPairCache()->setOverlapFilterCallback(m_filterCallback); 			// avoid collisions between walkers
-	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
-	m_dynamicsWorld->getDebugDrawer()->setDebugMode(0);
-
-	if(m_dynamicsWorld != NULL && m_ground != NULL){
-		m_dynamicsWorld->addRigidBody(m_ground); 											// readd ground
-	}
+void NN3DWalkersExample::spawnWalker(int index, const btVector3& startOffset, bool bFixed)
+{
+	NNWalker* walker = new NNWalker(index, m_dynamicsWorld, startOffset, bFixed);
+	m_walkersInPopulation.push_back(walker);
 }
 
 bool NN3DWalkersExample::detectCollisions()
 {
 	bool collisionDetected = false;
-	if (m_dynamicsWorld) {
-		m_dynamicsWorld->performDiscreteCollisionDetection(); 							// let the collisions be calculated
+	if(m_dynamicsWorld){
+		m_dynamicsWorld->performDiscreteCollisionDetection(); // let the collisions be calculated
+	}
 
-		int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
-		for (int i = 0; i < numManifolds; i++) 												// for each collision
-		{
-			btPersistentManifold* contactManifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
-			// get collision objects of collision
-			const btCollisionObject* obA = contactManifold->getBody0();
-			const btCollisionObject* obB = contactManifold->getBody1();
+	int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
+	for (int i = 0;i < numManifolds;i++)
+	{
+		btPersistentManifold* contactManifold =  m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
+		const btCollisionObject* obA = contactManifold->getBody0();
+		const btCollisionObject* obB = contactManifold->getBody1();
 
-			if (obA->getUserPointer() != GROUND_ID && obB->getUserPointer() != GROUND_ID && obA->getUserPointer() == obB->getUserPointer()) { 	// if one of them is not ground
+		if(obA->getUserPointer() != GROUND_ID && obB->getUserPointer() != GROUND_ID){
 
-				int numContacts = contactManifold->getNumContacts();
-				for (int j = 0; j < numContacts; j++) 											// for each collision contact
+			int numContacts = contactManifold->getNumContacts();
+			for (int j=0;j<numContacts;j++)
+			{
+				collisionDetected = true;
+				btManifoldPoint& pt = contactManifold->getContactPoint(j);
+				if (pt.getDistance()<0.f)
 				{
-					collisionDetected = true;
-					btManifoldPoint& pt = contactManifold->getContactPoint(j);
-					if (pt.getDistance() < 0.f) 											// if collision is penetrating
-					{
-						const btVector3& ptA = pt.getPositionWorldOnA();
-						const btVector3& ptB = pt.getPositionWorldOnB();
-						const btVector3& normalOnB = pt.m_normalWorldOnB;
+					//const btVector3& ptA = pt.getPositionWorldOnA();
+					//const btVector3& ptB = pt.getPositionWorldOnB();
+					//const btVector3& normalOnB = pt.m_normalWorldOnB;
 
-						if (!DRAW_INTERPENETRATIONS) {										// if no interpenetrations are drawn, break
-							break;
-						}
+					if(!DRAW_INTERPENETRATIONS){
+						return collisionDetected;
+					}
 
-						if (m_dynamicsWorld->getDebugDrawer() && !mIsHeadless) { 				// draw self collisions
-							m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnA(), 0.1, btVector3(0., 0., 1.));
-							m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnB(), 0.1, btVector3(0., 0., 1.));
-						}
+					if(m_dynamicsWorld->getDebugDrawer()){
+						m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnA(), 0.1, btVector3(0., 0., 1.));
+						m_dynamicsWorld->getDebugDrawer()->drawSphere(pt.getPositionWorldOnB(), 0.1, btVector3(0., 0., 1.));
 					}
 				}
 			}
@@ -1060,13 +754,13 @@ bool NN3DWalkersExample::keyboardCallback(int key, int state)
 	switch (key)
 	{
 	case '[':
-		gWalkerMotorStrength /= 1.1f;
+		m_motorStrength /= 1.1f;
 		return true;
 	case ']':
-		gWalkerMotorStrength *= 1.1f;
+		m_motorStrength *= 1.1f;
 		return true;
 	case 'l':
-//		printWalkerConfigs();
+		printWalkerConfigs();
 		return true;
 	default:
 		break;
@@ -1080,7 +774,9 @@ void NN3DWalkersExample::exitPhysics()
 
 	gContactProcessedCallback = NULL; // clear contact processed callback on exiting
 
-	for (int i = 0;i < POPULATION_SIZE;i++)
+	int i;
+
+	for (i = 0;i < NUM_WALKERS;i++)
 	{
 		NNWalker* walker = m_walkersInPopulation[i];
 		delete walker;
@@ -1106,61 +802,41 @@ void NN3DWalkersExample::rateEvaluations(){
 
 	b3Printf("Best performing walker: %f meters", btSqrt(m_walkersInPopulation[0]->getDistanceFitness()));
 
-	// if not all walkers are reaped and the best walker is worse than is had been in the previous round
-	if((POPULATION_SIZE-1)*(1-REAP_QTY) != 0 && btSqrt(m_walkersInPopulation[0]->getDistanceFitness()) < m_bestWalkerFitness){
-		b3Printf("################Simulation not deterministic###########################");
-	}
-	else{
-		m_bestWalkerFitness = btSqrt(m_walkersInPopulation[0]->getDistanceFitness());
+	for(int i = 0; i < NUM_WALKERS;i++){
+		m_timeSeriesCanvas->insertDataAtCurrentTime(btSqrt(m_walkersInPopulation[i]->getDistanceFitness()),0,true);
 	}
+	m_timeSeriesCanvas->nextTick();
 
-	for(int i = 0; i < POPULATION_SIZE;i++){ // plot walker fitnesses for this round
-		m_timeSeriesCanvas->insertDataAtCurrentTime(btSqrt(m_walkersInPopulation[i]->getDistanceFitness()),i,true);
-	}
-	m_timeSeriesCanvas->nextTick(); // move to next tick of graph
-
-	for(int i = 0; i < POPULATION_SIZE;i++){ // reset all walkers
+	for(int i = 0; i < NUM_WALKERS;i++){
 		m_walkersInPopulation[i]->setEvaluationTime(0);
 	}
-	m_nextReapedIndex = 0;
+	m_nextReaped = 0;
 }
 
 void NN3DWalkersExample::reap() {
 	int reaped = 0;
-	for(int i = POPULATION_SIZE-1;i >=(POPULATION_SIZE-1)*(1-REAP_QTY); i--){ // reap a certain percentage of walkers to replace them afterwards
+	for(int i = NUM_WALKERS-1;i >=(NUM_WALKERS-1)*(1-REAP_QTY); i--){ // reap a certain percentage
 		m_walkersInPopulation[i]->setReaped(true);
 		reaped++;
+		b3Printf("%i Walker(s) reaped.",reaped);
 	}
-	b3Printf("%i Walker(s) reaped.",reaped);
 }
 
-/**
- * Return a random elitist walker (one that is not mutated at all because it performs well).
- * @return Random elitist walker.
- */
 NNWalker* NN3DWalkersExample::getRandomElite(){
-	return m_walkersInPopulation[((POPULATION_SIZE-1) * SOW_ELITE_QTY) * (rand()/RAND_MAX)];
+	return m_walkersInPopulation[((NUM_WALKERS-1) * SOW_ELITE_QTY) * (rand()/RAND_MAX)];
 }
 
-/**
- * Return a random non-elitist walker (a mutated walker).
- * @return
- */
 NNWalker* NN3DWalkersExample::getRandomNonElite(){
-	return m_walkersInPopulation[(POPULATION_SIZE-1) * SOW_ELITE_QTY + (POPULATION_SIZE-1) * (1.0f-SOW_ELITE_QTY) * (rand()/RAND_MAX)];
+	return m_walkersInPopulation[(NUM_WALKERS-1) * SOW_ELITE_QTY + (NUM_WALKERS-1) * (1.0f-SOW_ELITE_QTY) * (rand()/RAND_MAX)];
 }
 
-/**
- * Get the next reaped walker to be replaced.
- * @return
- */
 NNWalker* NN3DWalkersExample::getNextReaped() {
-	if((POPULATION_SIZE-1) - m_nextReapedIndex >= (POPULATION_SIZE-1) * (1-REAP_QTY)){
-		m_nextReapedIndex++;
+	if((NUM_WALKERS-1) - m_nextReaped >= (NUM_WALKERS-1) * (1-REAP_QTY)){
+		m_nextReaped++;
 	}
 
-	if(m_walkersInPopulation[(POPULATION_SIZE-1) - m_nextReapedIndex+1]->isReaped()){
-		return m_walkersInPopulation[(POPULATION_SIZE-1) - m_nextReapedIndex+1];
+	if(m_walkersInPopulation[(NUM_WALKERS-1) - m_nextReaped+1]->isReaped()){
+		return m_walkersInPopulation[(NUM_WALKERS-1) - m_nextReaped+1];
 	}
 	else{
 		return NULL; // we asked for too many
@@ -1168,38 +844,30 @@ NNWalker* NN3DWalkersExample::getNextReaped() {
 
 }
 
-/**
- * Sow new walkers.
- */
 void NN3DWalkersExample::sow() {
 	int sow = 0;
-	for(int i = 0; i < POPULATION_SIZE * (SOW_CROSSOVER_QTY);i++){ // create number of new crossover creatures
+	for(int i = 0; i < NUM_WALKERS * (SOW_CROSSOVER_QTY);i++){ // create number of new crossover creatures
 		sow++;
+		b3Printf("%i Walker(s) sown.",sow);
 		NNWalker* mother = getRandomElite(); // Get elite partner (mother)
 		NNWalker* father = (SOW_ELITE_PARTNER < rand()/RAND_MAX)?getRandomElite():getRandomNonElite(); //Get elite or random partner (father)
 		NNWalker* offspring = getNextReaped();
 		crossover(mother,father, offspring);
 	}
 
-	for(int i = POPULATION_SIZE*SOW_ELITE_QTY; i < POPULATION_SIZE*(SOW_ELITE_QTY+SOW_MUTATION_QTY);i++){ // create mutants
-		mutate(m_walkersInPopulation[i], btScalar(MUTATION_RATE / (POPULATION_SIZE * SOW_MUTATION_QTY) * (i-POPULATION_SIZE*SOW_ELITE_QTY)));
+	for(int i = NUM_WALKERS*SOW_ELITE_QTY; i < NUM_WALKERS*(SOW_ELITE_QTY+SOW_MUTATION_QTY);i++){ // create mutants
+		mutate(m_walkersInPopulation[i], btScalar(MUTATION_RATE / (NUM_WALKERS * SOW_MUTATION_QTY) * (i-NUM_WALKERS*SOW_ELITE_QTY)));
 	}
 
-	for(int i = 0; i < (POPULATION_SIZE-1) * (REAP_QTY-SOW_CROSSOVER_QTY);i++){
+	for(int i = 0; i < (NUM_WALKERS-1) * (REAP_QTY-SOW_CROSSOVER_QTY);i++){
 		sow++;
+		b3Printf("%i Walker(s) sown.",sow);
 		NNWalker* reaped = getNextReaped();
 		reaped->setReaped(false);
 		reaped->randomizeSensoryMotorWeights();
 	}
-	b3Printf("%i Walker(s) sown.",sow);
 }
 
-/**
- * Crossover mother and father into the child.
- * @param mother
- * @param father
- * @param child
- */
 void NN3DWalkersExample::crossover(NNWalker* mother, NNWalker* father, NNWalker* child) {
 	for(int i = 0; i < BODYPART_COUNT*JOINT_COUNT;i++){
 		btScalar random = ((double) rand() / (RAND_MAX));
@@ -1214,11 +882,6 @@ void NN3DWalkersExample::crossover(NNWalker* mother, NNWalker* father, NNWalker*
 	}
 }
 
-/**
- * Mutate the mutant.
- * @param mutant
- * @param mutationRate
- */
 void NN3DWalkersExample::mutate(NNWalker* mutant, btScalar mutationRate) {
 	for(int i = 0; i < BODYPART_COUNT*JOINT_COUNT;i++){
 		btScalar random = ((double) rand() / (RAND_MAX));
@@ -1229,20 +892,12 @@ void NN3DWalkersExample::mutate(NNWalker* mutant, btScalar mutationRate) {
 	}
 }
 
-/**
- * Update the demo via pretick callback to be precise.
- * @param world
- * @param timeStep
- */
 void evaluationUpdatePreTickCallback(btDynamicsWorld *world, btScalar timeStep) {
 	NN3DWalkersExample* nnWalkersDemo = (NN3DWalkersExample*)world->getWorldUserInfo();
+
 	nnWalkersDemo->update(timeStep);
 }
 
-/**
- * Update cycle.
- * @param timeSinceLastTick
- */
 void NN3DWalkersExample::update(const btScalar timeSinceLastTick) {
 	updateEvaluations(timeSinceLastTick); /**!< We update all evaluations that are in the loop */
 
@@ -1250,16 +905,12 @@ void NN3DWalkersExample::update(const btScalar timeSinceLastTick) {
 
 	drawMarkings(); /**!< Draw markings on the ground */
 
-	if(m_SimulationTime > m_LastSpeedupPrintTimestamp + TIMESTAMP_TIME){ // print effective speedup every x seconds
+	if(m_Time > m_SpeedupTimestamp + 2.0f){ // print effective speedup
 		b3Printf("Avg Effective speedup: %f real time",calculatePerformedSpeedup());
-		m_LastSpeedupPrintTimestamp = m_SimulationTime;
+		m_SpeedupTimestamp = m_Time;
 	}
 }
 
-/**
- * Update the evaluations.
- * @param timeSinceLastTick
- */
 void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 	btScalar delta = timeSinceLastTick;
 	btScalar minFPS = 1.f/60.f;
@@ -1267,185 +918,141 @@ void NN3DWalkersExample::updateEvaluations(const btScalar timeSinceLastTick) {
 		delta = minFPS;
 	}
 
-	m_SimulationTime += delta;
+	m_Time += delta;
 
-	for(int r = 0; r < POPULATION_SIZE;r++) // evaluation time passes
+	m_targetAccumulator += delta;
+
+	for(int i = 0; i < NUM_WALKERS;i++) // evaluation time passes
 	{
-		if(m_walkersInPopulation[r] != NULL && m_walkersInPopulation[r]->isInEvaluation()){
-			m_walkersInPopulation[r]->setEvaluationTime(m_walkersInPopulation[r]->getEvaluationTime()+delta); // increase evaluation time
+		if(m_walkersInPopulation[i]->isInEvaluation()){
+			m_walkersInPopulation[i]->setEvaluationTime(m_walkersInPopulation[i]->getEvaluationTime()+delta); // increase evaluation time
+		}
+	}
 
-			m_walkersInPopulation[r]->setLegUpdateAccumulator(m_walkersInPopulation[r]->getLegUpdateAccumulator() + delta);
+	if(m_targetAccumulator >= 1.0f /((double)m_targetFrequency))
+	{
+		m_targetAccumulator = 0;
 
-			if(m_walkersInPopulation[r]->getLegUpdateAccumulator() >= btScalar(1.0f) /gWalkerLegTargetFrequency) // we update the leg movement with leg target frequency
+		for (int r=0; r<NUM_WALKERS; r++)
+		{
+			if(m_walkersInPopulation[r]->isInEvaluation())
 			{
-				m_walkersInPopulation[r]->setLegUpdateAccumulator(0);
-
-				for (int i = 0; i < 2*NUM_WALKER_LEGS; i++)
+				for (int i = 0; i < 2*NUM_LEGS; i++)
 				{
-					btScalar targetAngle = 0; // angle in range [0,1]
+					btScalar targetAngle = 0;
 					btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_walkersInPopulation[r]->getJoints()[i]);
 
+					if(RANDOM_MOVEMENT){
+						targetAngle   = ((double) rand() / (RAND_MAX));
+					}
+					else{ // neural network movement
 
-					if(hingeC != NULL){ // if hinge exists
-						for(int j = 0; j < JOINT_COUNT;j++){ // accumulate sensor inputs with weights (summate inputs)
+						// accumulate sensor inputs with weights
+						for(int j = 0; j < JOINT_COUNT;j++){
 							targetAngle += m_walkersInPopulation[r]->getSensoryMotorWeights()[i+j*BODYPART_COUNT] * m_walkersInPopulation[r]->getTouchSensor(i);
 						}
 
-						targetAngle = (tanh(targetAngle)+1.0f)*0.5f; // apply the activation function (threshold) [0;1]
-
-						btScalar targetLimitAngle 	= hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit()); // [lowerLimit;upperLimit]
-						btScalar currentAngle      	= hingeC->getHingeAngle();
-						btScalar angleError  		= targetLimitAngle - currentAngle; // target current delta
-						btScalar desiredAngularVel = angleError/((delta>0)?delta:btScalar(0.0001f)); // division by zero safety
-
-						hingeC->enableAngularMotor(true, desiredAngularVel, gWalkerMotorStrength); // set new target velocity
+						// apply the activation function
+						targetAngle = (tanh(targetAngle)+1.0f)*0.5f;
 					}
+					btScalar targetLimitAngle 	= hingeC->getLowerLimit() + targetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
+					btScalar currentAngle      	= hingeC->getHingeAngle();
+					btScalar angleError  		= targetLimitAngle - currentAngle;
+					btScalar desiredAngularVel = 0;
+					if(delta){
+						desiredAngularVel = angleError/delta;
+					}
+					else{
+						desiredAngularVel = angleError/0.0001f;
+					}
+					hingeC->enableAngularMotor(true, desiredAngularVel, m_motorStrength);
 				}
-			}
 
-			// clear sensor signals after usage
-			m_walkersInPopulation[r]->clearTouchSensors();
+				// clear sensor signals after usage
+				m_walkersInPopulation[r]->clearTouchSensors();
+			}
 		}
 	}
 }
 
-/**
- * Schedule the walker evaluations.
- */
 void NN3DWalkersExample::scheduleEvaluations() {
-	for(int i = 0; i < POPULATION_SIZE;i++){
+	for(int i = 0; i < NUM_WALKERS;i++){
 
-		if(m_walkersInPopulation[i] != NULL && m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() >= EVALUATION_DURATION){ /**!< tear down evaluations */
-			b3Printf("An evaluation finished at %f s. Distance: %f m", m_SimulationTime, btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
+		if(m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() >= EVALUATION_TIME){ /**!< tear down evaluations */
+			b3Printf("An evaluation finished at %f s. Distance: %f m", m_Time, btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
+			m_walkersInPopulation[i]->setInEvaluation(false);
 			m_walkersInPopulation[i]->removeFromWorld();
-			m_walkersInEvaluation--;
+			m_evaluationsQty--;
 		}
 
-		if(m_walkersInEvaluation < gParallelEvaluations && (m_walkersInPopulation[i] == NULL || (!m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0))){ /**!< Setup the new evaluations */
-			b3Printf("An evaluation started at %f s.", m_SimulationTime);
-			m_walkersInEvaluation++;
+		if(m_evaluationsQty < gParallelEvaluations && !m_walkersInPopulation[i]->isInEvaluation() && m_walkersInPopulation[i]->getEvaluationTime() == 0){ /**!< Setup the new evaluations */
+			b3Printf("An evaluation started at %f s.",m_Time);
+			m_evaluationsQty++;
+			m_walkersInPopulation[i]->setInEvaluation(true);
 
-			if(REBUILD_WALKER){ 									// deletes and recreates the walker in the position
-				m_guiHelper->removeAllGraphicsInstances();
-				m_ground->setUserIndex(-1); 						// reset to get a new graphics object
-				m_ground->setUserIndex2(-1); 						// reset to get a new graphics object
-				m_ground->getCollisionShape()->setUserIndex(-1); 	// reset to get a new graphics object
+			if(m_walkersInPopulation[i]->getEvaluationTime() == 0){ // reset to origin if the evaluation did not yet run
+				m_walkersInPopulation[i]->resetAt(btVector3(0,0,0));
+			}
 
-				resetWalkerAt(i, m_resetPosition);
-			}
-			else{ 													// resets the position of the walker without deletion
-				m_walkersInPopulation[i]->resetAt(m_resetPosition);
-			}
 			m_walkersInPopulation[i]->addToWorld();
+			m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
 		}
 	}
 
-	if(!mIsHeadless){ 												// after all changes, regenerate graphics objects
-		m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
-	}
+	if(m_evaluationsQty == 0){ // if there are no more evaluations possible
+		rateEvaluations(); // rate evaluations by sorting them based on their fitness
 
-	if(m_walkersInEvaluation == 0){ 								// if there are no more evaluations possible
-		if(REBUILD_WALKER){
-			m_rebuildWorldNeeded = true;
-		}
+		reap(); // reap worst performing walkers
 
-		rateEvaluations(); 											// rate evaluations by sorting them based on their fitness
-
-		reap(); 													// reap worst performing walkers
-
-		sow(); 														// crossover, mutate and sow new walkers
+		sow(); // crossover & mutate and sow new walkers
 		b3Printf("### A new generation started. ###");
 	}
 }
 
-/**
- * Reset the walker at position.
- * @param i
- * @param resetPosition
- */
-void NN3DWalkersExample::resetWalkerAt(int i, const btVector3& resetPosition){
-
-	// either copy core or create a new one if no previous existing
-	m_walkerBrains[i] = (m_walkerBrains[i] != NULL)?m_walkerBrains[i]:new NNWalkerBrain();
-
-	NNWalker* newWalker = new NNWalker(i,
-		m_dynamicsWorld,
-		m_walkerBrains[i],
-		resetPosition,
-		gRootBodyRadius,
-		gRootBodyHeight,
-		gLegRadius,
-		gLegLength,
-		gForeLegRadius,
-		gForeLegLength,
-		false);
-
-	if(m_walkersInPopulation[i] != NULL){
-		delete m_walkersInPopulation[i];
-	}
-
-	m_walkersInPopulation[i] = newWalker;
-}
-
-/**
- * Draw distance markings on the ground.
- */
 void NN3DWalkersExample::drawMarkings() {
-	if(!mIsHeadless){												// if the system is not running headless
-		for(int i = 0; i < POPULATION_SIZE;i++) 					// draw current distance plates of moving walkers
+	if(!mIsHeadless){
+		for(int i = 0; i < NUM_WALKERS;i++) // draw current distance plates of moving walkers
 		{
 			if(m_walkersInPopulation[i]->isInEvaluation()){
 				btVector3 walkerPosition = m_walkersInPopulation[i]->getPosition();
 				char performance[20];
 				sprintf(performance, "%.2f m", btSqrt(m_walkersInPopulation[i]->getDistanceFitness()));
-				m_guiHelper->drawText3D(performance,
-					walkerPosition.x(),
-					walkerPosition.y() + 1,
-					walkerPosition.z(),
-					1);
+				m_guiHelper->drawText3D(performance,walkerPosition.x(),walkerPosition.y()+1,walkerPosition.z(),1);
 			}
 		}
 
-		if(m_dynamicsWorld->getDebugDrawer()){
-			for(int i = 2; i < 50; i += 2){ 						// draw distance circles
-				m_dynamicsWorld->getDebugDrawer()->drawArc(
-					btVector3(0,0,0),
-					btVector3(0,1,0),
-					btVector3(1,0,0),
-					btScalar(i), btScalar(i), btScalar(0),
-					btScalar(SIMD_2_PI),
-					btVector3(10*i,0,0),
-					false);
+		for(int i = 2; i < 50; i+=2){ // draw distance circles
+			if(m_dynamicsWorld->getDebugDrawer()){
+				m_dynamicsWorld->getDebugDrawer()->drawArc(btVector3(0,0,0),btVector3(0,1,0),btVector3(1,0,0),btScalar(i), btScalar(i),btScalar(0),btScalar(SIMD_2_PI),btVector3(10*i,0,0),false);
 			}
 		}
 	}
 }
 
-/**
- * Print walker neural network layer configurations.
-*/
-//void NN3DWalkersExample::printWalkerConfigs(){
-//	char configString[25 + POPULATION_SIZE*BODYPART_COUNT*JOINT_COUNT*(3+15+1) + POPULATION_SIZE*4 + 1]; // 15 precision + [],\n
-//	char* runner = configString;
-//	sprintf(runner,"Population configuration:");
-//	runner +=25;
-//	for(int i = 0;i < POPULATION_SIZE;i++) {
-//		runner[0] = '\n';
-//		runner++;
-//		runner[0] = '[';
-//		runner++;
-//		for(int j = 0; j < BODYPART_COUNT*JOINT_COUNT;j++) {
-//			sprintf(runner,"%.15f", m_walkersInPopulation[i]->getSensoryMotorWeights()[j]);
-//			runner +=15;
-//			if(j + 1 < BODYPART_COUNT*JOINT_COUNT){
-//				runner[0] = ',';
-//			}
-//			else{
-//				runner[0] = ']';
-//			}
-//			runner++;
-//		}
-//	}
-//	runner[0] = '\0';
-//	b3Printf(configString);
-//}
+void NN3DWalkersExample::printWalkerConfigs(){
+#if 0
+	char configString[25 + NUM_WALKERS*BODYPART_COUNT*JOINT_COUNT*(3+15+1) + NUM_WALKERS*4 + 1]; // 15 precision + [],\n
+	char* runner = configString;
+	sprintf(runner,"Population configuration:");
+	runner +=25;
+	for(int i = 0;i < NUM_WALKERS;i++) {
+		runner[0] = '\n';
+		runner++;
+		runner[0] = '[';
+		runner++;
+		for(int j = 0; j < BODYPART_COUNT*JOINT_COUNT;j++) {
+			sprintf(runner,"%.15f", m_walkersInPopulation[i]->getSensoryMotorWeights()[j]);
+			runner +=15;
+			if(j + 1 < BODYPART_COUNT*JOINT_COUNT){
+				runner[0] = ',';
+			}
+			else{
+				runner[0] = ']';
+			}
+			runner++;
+		}
+	}
+	runner[0] = '\0';
+	b3Printf(configString);
+#endif
+}
diff --git a/examples/Evolution/NN3DWalkersTimeWarpBase.h b/examples/Evolution/NN3DWalkersTimeWarpBase.h
index 64bfbc885..0c97c3850 100644
--- a/examples/Evolution/NN3DWalkersTimeWarpBase.h
+++ b/examples/Evolution/NN3DWalkersTimeWarpBase.h
@@ -208,8 +208,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 		CommonRigidBodyBase(helper),
 		mPhysicsStepsPerSecondUpdated(false),
 		mFramesPerSecondUpdated(false),
-		mSolverIterationsUpdated(false),
-		mIsHeadless(false){
+		mSolverIterationsUpdated(false) {
 
 		 // main frame timer initialization
 		 mApplicationStart = mLoopTimer.getTimeMilliseconds(); /**!< Initialize when the application started running */
@@ -520,7 +519,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 				m_collisionConfiguration);
 		}
 
-		changeERPCFM(); // set appropriate ERP/CFM values according to the spring and damper properties of the constraint
+		changeERPCFM(); // set appropriate ERP/CFM values according to the string and damper properties of the constraint
 
 		if (useSplitImpulse) { // If you experience strong repulsion forces in your constraints, it might help to enable the split impulse feature
 			m_dynamicsWorld->getSolverInfo().m_splitImpulse = 1; //enable split impulse feature
@@ -537,7 +536,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 
 		m_dynamicsWorld->getSolverInfo().m_numIterations = gSolverIterations; // set the number of solver iterations for iteration based solvers
 
-		m_dynamicsWorld->setGravity(btVector3(0, btScalar(-9.81f), 0)); // set gravity to -9.81
+		m_dynamicsWorld->setGravity(btVector3(0, -9.81f, 0)); // set gravity to -9.81
 
 	}
 
@@ -552,7 +551,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 
 
 
-	virtual void performModelUpdate(float deltaTime) // Override this
+	void timeWarpSimulation(float deltaTime) // Override this
 	{
 
 	}
@@ -560,7 +559,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 	void stepSimulation(float deltaTime){ // customly step the simulation
 		do{
 
-			// settings
+//			// settings
 			if(mPhysicsStepsPerSecondUpdated){
 				changePhysicsStepsPerSecond(gPhysicsStepsPerSecond);
 				mPhysicsStepsPerSecondUpdated = false;
@@ -591,10 +590,10 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			//#############
 			// model update - here you perform updates of your model, be it the physics model, the game or simulation state or anything not related to graphics and input
 
-			performModelUpdate(deltaTime);
+			timeWarpSimulation(deltaTime);
 			if(mLoopTimer.getTimeSeconds() - speedUpPrintTimeStamp > 1){
 				// on reset, we calculate the performed speed up
-				double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
+				//double speedUp = ((double)performedTime*1000.0)/((double)(mLoopTimer.getTimeMilliseconds()-performanceTimestamp));
 //				b3Printf("Avg Effective speedup: %f",speedUp);
 				performedTime = 0;
 				performanceTimestamp = mLoopTimer.getTimeMilliseconds();
@@ -613,7 +612,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			mModelStart = mLoopTimer.getTimeMilliseconds(); /**!< Begin with the model update (in Milliseconds)*/
 			mLastGraphicsTick = mModelStart - mGraphicsStart; /**!< Update graphics timer (in Milliseconds) */
 
-			if (gMaximumSpeed) { /** If maximum speed is enabled*/
+			if (gMaximumSpeed /** If maximum speed is enabled*/) {
 				performMaxStep();
 			} else { /**!< This mode tries to progress as much time as it is expected from the game loop*/
 				performSpeedStep();
@@ -628,8 +627,8 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 			mInputDt = mThisModelIteration - mInputClock;
 			if (mInputDt >= gApplicationTick) {
 				mInputClock = mThisModelIteration;
-				//mInputHandler.injectInput(); /**!< Inject input into handlers */
-				//mInputHandler.update(mInputClock); /**!< update elements that work on the current input state */
+				//	         mInputHandler.injectInput(); /**!< Inject input into handlers */
+				//	         mInputHandler.update(mInputClock); /**!< update elements that work on the current input state */
 			}
 
 			mGraphicsStart = mLoopTimer.getTimeMilliseconds(); /**!< Start the graphics update */
@@ -651,7 +650,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 
 	}
 
-	virtual bool keyboardCallback(int key, int state)
+	virtual bool	keyboardCallback(int key, int state)
 	{
 		switch(key)
 		{
@@ -753,9 +752,10 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase {
 
 		for (int i = 0; i < subSteps; i++) { /**!< Perform the number of substeps to reach the timestep*/
 			if (timeStep && m_dynamicsWorld) {
-				int subSteps = 1; // since we want to perform all proper steps, we perform no interpolated substeps
+				// since we want to perform all proper steps, we perform no interpolated substeps
+				int subSteps = 1;
 
-				m_dynamicsWorld->stepSimulation(btScalar(fixedPhysicsStepSizeSec),
+				m_dynamicsWorld->stepSimulation(btScalar(timeStep),
 					btScalar(subSteps), btScalar(fixedPhysicsStepSizeSec));
 			}
 		}

From 91735acc7cb1336992a00809197d25594b082c37 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 5 Jun 2017 14:19:28 -0700
Subject: [PATCH 082/175] also revert those 2 files

---
 .../RenderingExamples/TimeSeriesCanvas.cpp    | 96 ++++++++-----------
 examples/RenderingExamples/TimeSeriesCanvas.h |  3 +-
 2 files changed, 40 insertions(+), 59 deletions(-)

diff --git a/examples/RenderingExamples/TimeSeriesCanvas.cpp b/examples/RenderingExamples/TimeSeriesCanvas.cpp
index ee4882d36..096579839 100644
--- a/examples/RenderingExamples/TimeSeriesCanvas.cpp
+++ b/examples/RenderingExamples/TimeSeriesCanvas.cpp
@@ -13,11 +13,7 @@ struct DataSource
 	float m_lastValue;
 	bool m_hasLastValue;
 	DataSource()
-		:m_red(0),
-		 m_green(0),
-		 m_blue(0),
-		 m_lastValue(0),
-		 m_hasLastValue(false)
+		:m_hasLastValue(false)
 	{
 	}
 };
@@ -32,12 +28,10 @@ struct TimeSeriesInternalData
 	int m_height;
 
 	float m_pixelsPerUnit;
-	float m_center;
+	float m_zero;
 	int m_timeTicks;
 	int m_ticksPerSecond;
-	float m_yMax;
-	float m_yMin;
-	float m_yZero;
+	float m_yScale;
 	int m_bar;
 
 	unsigned char m_backgroundRed;
@@ -56,17 +50,13 @@ struct TimeSeriesInternalData
 	}
 
 	TimeSeriesInternalData(int width, int height)
-		:m_canvasInterface(NULL),
-		m_canvasIndex(0),
-		m_width(width),
+		:m_width(width),
 		m_height(height),
 		m_pixelsPerUnit(-100),
-		m_center(height/2.0),
+		m_zero(height/2.0),
 		m_timeTicks(0),
 		m_ticksPerSecond(100),
-		m_yMax(1),
-		m_yMin(0),
-		m_yZero(0.5f),
+		m_yScale(1),
 		m_bar(0),
 		m_backgroundRed(255),
 		m_backgroundGreen(255),
@@ -115,18 +105,13 @@ void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char
 
 }
 void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas)
-{
-	setupTimeSeries(-yScale, yScale, ticksPerSecond, startTime, clearCanvas);
-}
-void TimeSeriesCanvas::setupTimeSeries(float yMin, float yMax, int ticksPerSecond, int startTime, bool clearCanvas)
 {
 	if (0==m_internalData->m_canvasInterface)
 		return;
 
-	m_internalData->m_pixelsPerUnit = -(m_internalData->m_height/3.f)/(0.5f*(yMax-yMin));
+	m_internalData->m_pixelsPerUnit = -(m_internalData->m_height/3.f)/yScale;
 	m_internalData->m_ticksPerSecond = ticksPerSecond;
-	m_internalData->m_yMin = yMin;
-	m_internalData->m_yMax = yMax;
+	m_internalData->m_yScale = yScale;
 	m_internalData->m_dataSources.clear();
 	
 	if (clearCanvas)
@@ -145,22 +130,18 @@ void TimeSeriesCanvas::setupTimeSeries(float yMin, float yMax, int ticksPerSecon
 		}
 	}
 	
-	float centerPixelCoord = m_internalData->m_center;
+	float zeroPixelCoord = m_internalData->m_zero;
 	float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
 	
-	m_internalData->m_yZero = centerPixelCoord - pixelsPerUnit*0.5f*(yMax+yMin);
-
-	float yPos = centerPixelCoord+pixelsPerUnit*0.5f*(yMax-yMin);
-	float yNeg = centerPixelCoord+pixelsPerUnit*-0.5f*(yMax-yMin);
+	float yPos = zeroPixelCoord+pixelsPerUnit*yScale;
+	float yNeg = zeroPixelCoord+pixelsPerUnit*-yScale;
 
 	
-	if(yMin < 0 && yMax > 0){
-		grapicalPrintf("0", sTimeSeriesFontData, 2,m_internalData->m_yZero,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
-	}
+	grapicalPrintf("0", sTimeSeriesFontData, 2,zeroPixelCoord,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
 	char label[1024];
-	sprintf(label,"%2.1f", yMax);
+	sprintf(label,"%2.1f", yScale);
 	grapicalPrintf(label, sTimeSeriesFontData, 2,yPos,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
-	sprintf(label,"%2.1f", yMin);
+	sprintf(label,"%2.1f", -yScale);
 	grapicalPrintf(label, sTimeSeriesFontData, 2,yNeg,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
 		
 	m_internalData->m_canvasInterface->refreshImageData(m_internalData->m_canvasIndex);
@@ -228,7 +209,7 @@ void TimeSeriesCanvas::shift1PixelToLeft()
 	int resetVal = 10;
 	int countdown = resetVal;
 
-	//shift picture one pixel to the left
+	//shift pixture one pixel to the left
 	for (int j=50;j<m_internalData->m_height-48;j++)
 	{
 		for (int i=40;i<this->m_internalData->m_width;i++)
@@ -257,34 +238,35 @@ void TimeSeriesCanvas::shift1PixelToLeft()
 		}
 	}
 
-	{
-		int resetVal = 2;
-		static int countdown = resetVal;
-		if (!countdown--)
+
 		{
-			countdown=resetVal;
-			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,m_internalData->m_yZero,0,0,0,255);
+			int resetVal = 2;
+			static int countdown = resetVal;
+			if (!countdown--)
+			{
+				countdown=resetVal;
+				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,m_internalData->m_zero,0,0,0,255);
+			}
 		}
-	}
 
-	{
-		int resetVal = 10;
-		static int countdown = resetVal;
-		if (!countdown--)
 		{
-			countdown=resetVal;
-			float centerPixelCoord = m_internalData->m_center;
-			float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
+			int resetVal = 10;
+			static int countdown = resetVal;
+			if (!countdown--)
+			{
+				countdown=resetVal;
+				float zeroPixelCoord = m_internalData->m_zero;
+				float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
 
-			float yPos = centerPixelCoord+pixelsPerUnit*0.5f*(m_internalData->m_yMax-m_internalData->m_yMin);
-			float yNeg = centerPixelCoord+pixelsPerUnit*-0.5f*(m_internalData->m_yMax-m_internalData->m_yMin);
+				float yPos = zeroPixelCoord+pixelsPerUnit*m_internalData->m_yScale;
+				float yNeg = zeroPixelCoord+pixelsPerUnit*-m_internalData->m_yScale;
 
-			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
-				yPos,0,0,0,255);
-			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
-				yNeg,0,0,0,255);
+				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
+					yPos,0,0,0,255);
+				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
+					yNeg,0,0,0,255);
+			}
 		}
-	}
 	
 	
 	
@@ -294,7 +276,7 @@ void TimeSeriesCanvas::shift1PixelToLeft()
 		char buf[1024];
 		float time = m_internalData->getTime();
 		sprintf(buf,"%2.0f",time);
-		grapicalPrintf(buf, sTimeSeriesFontData, m_internalData->m_width-25,m_internalData->m_center+3,0,0,0,255);
+		grapicalPrintf(buf, sTimeSeriesFontData, m_internalData->m_width-25,m_internalData->m_zero+3,0,0,0,255);
 
 		m_internalData->m_bar=m_internalData->m_ticksPerSecond;
 		
@@ -312,7 +294,7 @@ void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex,
 
 	btAssert(dataSourceIndex < m_internalData->m_dataSources.size());
 
-	float zero = m_internalData->m_yZero;
+	float zero = m_internalData->m_zero;
 	float amp = m_internalData->m_pixelsPerUnit;
 	//insert some new value(s) in the right-most column
 	{
diff --git a/examples/RenderingExamples/TimeSeriesCanvas.h b/examples/RenderingExamples/TimeSeriesCanvas.h
index 29901e8da..41f466279 100644
--- a/examples/RenderingExamples/TimeSeriesCanvas.h
+++ b/examples/RenderingExamples/TimeSeriesCanvas.h
@@ -13,7 +13,6 @@ public:
 	virtual ~TimeSeriesCanvas();
 
 	void setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas=true);
-	void setupTimeSeries(float yMin, float yMax, int ticksPerSecond, int startTime, bool clearCanvas=true);
 	void addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue);
 	void insertDataAtCurrentTime(float value, int dataSourceIndex, bool connectToPrevious);
 	float getCurrentTime() const;
@@ -23,4 +22,4 @@ public:
 	
 };
 
-#endif//TIME_SERIES_CANVAS_H
+#endif//TIME_SERIES_CANVAS_H
\ No newline at end of file

From 7b56db9f97b619e284934e8e601113b1e2b5ec04 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 6 Jun 2017 06:59:41 -0700
Subject: [PATCH 083/175] fix compile issue/warning

---
 examples/pybullet/pybullet.c | 3 ++-
 src/LinearMath/btThreads.cpp | 2 +-
 src/LinearMath/btThreads.h   | 2 +-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 1f9c03dd8..770c301de 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -4850,9 +4850,10 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 		b3SharedMemoryCommandHandle commandHandle = b3CreateMultiBodyCommandInit(sm);
 		double basePosition[3]={0,0,0};
 		double baseOrientation[4]={0,0,0,1};
+		int baseIndex;
 		pybullet_internalSetVectord(basePosObj,basePosition);
 		pybullet_internalSetVector4d(baseOrnObj,baseOrientation);
-		int baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
+		baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
 		if (useMaximalCoordinates>0)
 		{
 			b3CreateMultiBodyUseMaximalCoordinates(commandHandle);
diff --git a/src/LinearMath/btThreads.cpp b/src/LinearMath/btThreads.cpp
index 89f157c39..59a7ea36e 100644
--- a/src/LinearMath/btThreads.cpp
+++ b/src/LinearMath/btThreads.cpp
@@ -450,7 +450,7 @@ void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBod
     btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" );
     body.forLoop( iBegin, iEnd );
 
-#endif #else // #if BT_THREADSAFE
+#endif// #if BT_THREADSAFE
 }
 
 
diff --git a/src/LinearMath/btThreads.h b/src/LinearMath/btThreads.h
index f8fea8b37..781e9b1f5 100644
--- a/src/LinearMath/btThreads.h
+++ b/src/LinearMath/btThreads.h
@@ -151,4 +151,4 @@ btITaskScheduler* btGetPPLTaskScheduler();
 void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body );
 
 
-#endif //BT_THREADS_H
+#endif

From ae00c24a5c3dd5fc3bc722507c6e99b861cd1484 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 6 Jun 2017 09:23:40 -0700
Subject: [PATCH 084/175] add MIT racecar URDF, meshes and racecar.py quick
 test

---
 data/racecar/meshes/chassis.STL              | Bin 0 -> 16284 bytes
 data/racecar/meshes/chassis.dae              |  68 +++
 data/racecar/meshes/cone.dae                 | 123 +++++
 data/racecar/meshes/hokuyo.dae               | 253 ++++++++++
 data/racecar/meshes/left_front_wheel.STL     | Bin 0 -> 81684 bytes
 data/racecar/meshes/left_front_wheel.dae     |  68 +++
 data/racecar/meshes/left_rear_wheel.STL      | Bin 0 -> 81684 bytes
 data/racecar/meshes/left_rear_wheel.dae      |  68 +++
 data/racecar/meshes/left_steering_hinge.STL  | Bin 0 -> 117684 bytes
 data/racecar/meshes/left_steering_hinge.dae  |  68 +++
 data/racecar/meshes/parking_1.dae            | 310 ++++++++++++
 data/racecar/meshes/right_front_wheel.STL    | Bin 0 -> 81684 bytes
 data/racecar/meshes/right_front_wheel.dae    |  68 +++
 data/racecar/meshes/right_rear_wheel.STL     | Bin 0 -> 81684 bytes
 data/racecar/meshes/right_rear_wheel.dae     |  68 +++
 data/racecar/meshes/right_steering_hinge.STL | Bin 0 -> 117684 bytes
 data/racecar/meshes/right_steering_hinge.dae |  68 +++
 data/racecar/meshes/walker_racecourse.dae    | 506 +++++++++++++++++++
 data/racecar/racecar.urdf                    | 482 ++++++++++++++++++
 examples/pybullet/examples/racecar.py        |  44 ++
 20 files changed, 2194 insertions(+)
 create mode 100644 data/racecar/meshes/chassis.STL
 create mode 100644 data/racecar/meshes/chassis.dae
 create mode 100644 data/racecar/meshes/cone.dae
 create mode 100644 data/racecar/meshes/hokuyo.dae
 create mode 100644 data/racecar/meshes/left_front_wheel.STL
 create mode 100644 data/racecar/meshes/left_front_wheel.dae
 create mode 100644 data/racecar/meshes/left_rear_wheel.STL
 create mode 100644 data/racecar/meshes/left_rear_wheel.dae
 create mode 100644 data/racecar/meshes/left_steering_hinge.STL
 create mode 100644 data/racecar/meshes/left_steering_hinge.dae
 create mode 100644 data/racecar/meshes/parking_1.dae
 create mode 100644 data/racecar/meshes/right_front_wheel.STL
 create mode 100644 data/racecar/meshes/right_front_wheel.dae
 create mode 100644 data/racecar/meshes/right_rear_wheel.STL
 create mode 100644 data/racecar/meshes/right_rear_wheel.dae
 create mode 100644 data/racecar/meshes/right_steering_hinge.STL
 create mode 100644 data/racecar/meshes/right_steering_hinge.dae
 create mode 100644 data/racecar/meshes/walker_racecourse.dae
 create mode 100644 data/racecar/racecar.urdf
 create mode 100644 examples/pybullet/examples/racecar.py

diff --git a/data/racecar/meshes/chassis.STL b/data/racecar/meshes/chassis.STL
new file mode 100644
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diff --git a/data/racecar/meshes/chassis.dae b/data/racecar/meshes/chassis.dae
new file mode 100644
index 000000000..aa80e2873
--- /dev/null
+++ b/data/racecar/meshes/chassis.dae
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 19:50:44 2016 GMT</created>
+        <modified>Tue Jan 19 19:50:44 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="528">-0.0384776 -0.0776537 0.03 -0.0276537 0.0884776 0.03 0.255 -0.07 0.03 0.242654 -0.0884776 0.03 0.363478 0.0476537 0.03 0.249142 0.0841421 0.03 0.242654 0.0884776 0.03 0.345 0.06 0.03 0.255 -0.06 0.03 0.345 -0.06 0.03 0.352654 -0.0584776 0.03 0.352654 -0.0584776 -0.03 0.345 -0.06 -0.03 0.363478 0.0476537 -0.03 -0.02 0.09 -0.03 0.255 -0.06 -0.03 -0.0384776 0.0776537 -0.03 -0.04 0.07 -0.03 0.242654 0.0884776 -0.03 0.359142 0.0541421 -0.03 0.352654 0.0584776 -0.03 0.235 -0.09 -0.03 0.253478 -0.0776537 -0.03 0.242654 -0.0884776 -0.03 -0.0341421 -0.0841421 -0.03 -0.0384776 -0.0776537 -0.03 -0.04 -0.07 -0.03 -0.02 -0.09 -0.03 0.255 0.06 -0.03 0.255 0.07 -0.03 0.235 0.09 -0.03 0.253478 0.0776537 -0.03 0.345 0.06 -0.03 -0.005 -0.09 0 -0.00433013 -0.09 0.0025 -0.02 -0.09 0.03 0 -0.09 0.005 0.0025 -0.09 0.00433013 0.235 -0.09 0.03 0.005 -0.09 0 0.00433013 -0.09 -0.0025 0.0025 -0.09 -0.00433013 0.365 0.04 -0.03 -0.04 0.07 0.03 -0.00433013 0.09 -0.0025 -0.005 0.09 6.93889e-18 -0.00433013 0.09 0.0025 0 0.09 -0.005 0.235 0.09 0.03 -0.02 0.09 0.03 0.0025 0.09 0.00433013 0 0.09 0.005 0.0025 0.09 -0.00433013 0.00433013 0.09 -0.0025 0.005 0.09 0 0.00433013 0.09 0.0025 0.32 0.06 3.46945e-18 0.3275 0.06 -0.00433013 0.33 0.06 0 0.255 0.06 0.03 0.32067 0.06 0.0025 0.32067 0.06 -0.0025 0.325 0.06 -0.005 0.33 -0.06 0 0.32933 -0.06 0.0025 0.32 -0.06 0 0.32067 -0.06 0.0025 0.3225 -0.06 0.00433013 0.3275 -0.06 0.00433013 0.325 -0.06 -0.005 -0.0384776 0.0776537 0.03 -0.0341421 0.0841421 0.03 -0.0341421 0.0841421 -0.03 -0.0276537 0.0884776 -0.03 -0.04 -0.07 0.03 -0.0341421 -0.0841421 0.03 -0.0276537 -0.0884776 -0.03 -0.0276537 -0.0884776 0.03 0.249142 -0.0841421 -0.03 0.249142 -0.0841421 0.03 0.253478 -0.0776537 0.03 0.255 -0.07 -0.03 0.359142 -0.0541421 0.03 0.359142 -0.0541421 -0.03 0.363478 -0.0476537 -0.03 0.363478 -0.0476537 0.03 0.365 -0.04 -0.03 0.365 -0.04 0.03 0.352654 0.0584776 0.03 0.359142 0.0541421 0.03 0.365 0.04 0.03 0.255 0.07 0.03 0.253478 0.0776537 0.03 0.249142 0.0841421 -0.03 -0.00433013 0.1 0.0025 6.12323e-19 0.1 0.005 0.0025 0.1 0.00433013 -0.00433013 0.1 -0.0025 0.00433013 0.1 -0.0025 0.0025 0.1 -0.00433013 0.00433013 0.1 0.0025 0 0.1 0 0.005 0.1 -1.41638e-18 0.005 0.09 -1.41638e-18 2.83277e-18 0.09 0.005 2.83277e-18 0.1 0.005 -0.0025 0.1 0.00433013 -0.0025 0.09 0.00433013 -0.005 0.1 5.35938e-18 -0.005 0.09 5.35938e-18 -0.0025 0.1 -0.00433013 -0.0025 0.09 -0.00433013 0 0.1 -0.005 0.0025 -0.1 -0.00433013 0.00433013 -0.1 -0.0025 0.005 -0.09 -1.41638e-18 0.00433013 -0.09 0.0025 0.0025 -0.1 0.00433013 2.83277e-18 -0.09 0.005 2.83277e-18 -0.1 0.005 -0.0025 -0.09 0.00433013 -0.005 -0.09 5.35938e-18 -0.00433013 -0.09 -0.0025 -0.005 -0.1 5.35938e-18 -0.0025 -0.09 -0.00433013 0 -0.09 -0.005 1.83697e-18 -0.1 0.005 -0.0025 -0.1 0.00433013 0.005 -0.1 -1.41638e-18 0 -0.1 0 0.00433013 -0.1 0.0025 -0.00433013 -0.1 -0.0025 -0.0025 -0.1 -0.00433013 0 -0.1 -0.005 -0.00433013 -0.1 0.0025 0.3275 -0.1 0.00433013 0.3275 -0.1 -0.00433013 0.32933 -0.1 0.0025 0.3225 -0.1 -0.00433013 0.325 -0.1 0 0.32067 -0.1 0.0025 0.32 -0.1 5.35938e-18 0.3275 -0.06 -0.00433013 0.32933 -0.06 -0.0025 0.32933 -0.1 -0.0025 0.33 -0.06 -1.41638e-18 0.33 -0.1 -1.41638e-18 0.325 -0.06 0.005 0.325 -0.1 0.005 0.3225 -0.1 0.00433013 0.32 -0.06 5.35938e-18 0.32067 -0.06 -0.0025 0.3225 -0.06 -0.00433013 0.32067 -0.1 -0.0025 0.325 -0.1 -0.005 0.32933 0.06 -0.0025 0.33 0.06 -1.41638e-18 0.32933 0.06 0.0025 0.32933 0.1 0.0025 0.3275 0.1 0.00433013 0.3275 0.06 0.00433013 0.325 0.06 0.005 0.3225 0.1 0.00433013 0.3225 0.06 0.00433013 0.32 0.06 5.35938e-18 0.32067 0.1 -0.0025 0.3225 0.06 -0.00433013 0.3225 0.1 -0.00433013 0.3275 0.1 -0.00433013 0.325 0.1 0.005 0.325 0.1 0 0.32 0.1 5.35938e-18 0.32067 0.1 0.0025 0.32933 0.1 -0.0025 0.325 0.1 -0.005 0.33 0.1 -1.41638e-18</float_array>
+                    <technique_common>
+                        <accessor count="176" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
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diff --git a/data/racecar/meshes/cone.dae b/data/racecar/meshes/cone.dae
new file mode 100644
index 000000000..7b0fa9922
--- /dev/null
+++ b/data/racecar/meshes/cone.dae
@@ -0,0 +1,123 @@
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diff --git a/data/racecar/meshes/hokuyo.dae b/data/racecar/meshes/hokuyo.dae
new file mode 100644
index 000000000..bc65151bb
--- /dev/null
+++ b/data/racecar/meshes/hokuyo.dae
@@ -0,0 +1,253 @@
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+        </polylist>
+        <polylist material="white_001-material" count="202">
+          <input semantic="VERTEX" source="#Mesh-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Mesh-mesh-normals" offset="1"/>
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+        </polylist>
+      </mesh>
+      <extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <translate sid="location">7.481132 -6.50764 5.343665</translate>
+        <rotate sid="rotationZ">0 0 1 46.69194</rotate>
+        <rotate sid="rotationY">0 1 0 0.619768</rotate>
+        <rotate sid="rotationX">1 0 0 63.5593</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <translate sid="location">4.076245 1.005454 5.903862</translate>
+        <rotate sid="rotationZ">0 0 1 106.9363</rotate>
+        <rotate sid="rotationY">0 1 0 3.163707</rotate>
+        <rotate sid="rotationX">1 0 0 37.26105</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Mesh_001" name="Mesh_001" type="NODE">
+        <translate sid="location">0 0 0</translate>
+        <rotate sid="rotationZ">0 0 1 0</rotate>
+        <rotate sid="rotationY">0 1 0 0</rotate>
+        <rotate sid="rotationX">1 0 0 90.00001</rotate>
+        <scale sid="scale">1 1 1</scale>
+        <instance_geometry url="#Mesh-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+              <instance_material symbol="white_001-material" target="#white_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/data/racecar/meshes/left_front_wheel.STL b/data/racecar/meshes/left_front_wheel.STL
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diff --git a/data/racecar/meshes/left_front_wheel.dae b/data/racecar/meshes/left_front_wheel.dae
new file mode 100644
index 000000000..a529096cc
--- /dev/null
+++ b/data/racecar/meshes/left_front_wheel.dae
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 19:53:01 2016 GMT</created>
+        <modified>Tue Jan 19 19:53:01 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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+                            <param name="Z" type="float"/>
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+                    </technique_common>
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+                        <accessor count="821" source="#shape0-lib-vcolor-array" stride="4">
+                            <param name="R" type="float"/>
+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/data/racecar/meshes/left_rear_wheel.STL b/data/racecar/meshes/left_rear_wheel.STL
new file mode 100644
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diff --git a/data/racecar/meshes/left_rear_wheel.dae b/data/racecar/meshes/left_rear_wheel.dae
new file mode 100644
index 000000000..262ca023e
--- /dev/null
+++ b/data/racecar/meshes/left_rear_wheel.dae
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 19:53:28 2016 GMT</created>
+        <modified>Tue Jan 19 19:53:28 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
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+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
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+                        <accessor count="821" source="#shape0-lib-vcolor-array" stride="4">
+                            <param name="R" type="float"/>
+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/data/racecar/meshes/left_steering_hinge.STL b/data/racecar/meshes/left_steering_hinge.STL
new file mode 100644
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diff --git a/data/racecar/meshes/left_steering_hinge.dae b/data/racecar/meshes/left_steering_hinge.dae
new file mode 100644
index 000000000..c783305d3
--- /dev/null
+++ b/data/racecar/meshes/left_steering_hinge.dae
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 20:38:01 2016 GMT</created>
+        <modified>Tue Jan 19 20:38:01 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
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+                    <technique_common>
+                        <accessor count="1178" source="#shape0-lib-vcolor-array" stride="4">
+                            <param name="R" type="float"/>
+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="2352">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="COLOR" source="#shape0-lib-vcolor"/>
+                    <input offset="2" semantic="NORMAL" source="#shape0-lib-normals"/>
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2081 1019 1019 2082 1044 1044 2082 1045 1045 2082 1045 1045 2083 1044 1044 2083 279 279 2083 1045 1045 2084 279 279 2084 1046 1046 2084 1046 1046 2085 279 279 2085 1047 1047 2085 1046 1046 2086 1047 1047 2086 1022 1022 2086 1022 1022 2087 1047 1047 2087 391 391 2087 391 391 2088 449 449 2088 1048 1048 2088 1048 1048 2089 449 449 2089 1049 1049 2089 1048 1048 2090 1049 1049 2090 1050 1050 2090 1050 1050 2091 1049 1049 2091 451 451 2091 1050 1050 2092 451 451 2092 476 476 2092 476 476 2093 451 451 2093 452 452 2093 476 476 2094 452 452 2094 478 478 2094 478 478 2095 452 452 2095 1051 1051 2095 478 478 2096 1051 1051 2096 479 479 2096 479 479 2097 1051 1051 2097 453 453 2097 479 479 2098 453 453 2098 1052 1052 2098 1052 1052 2099 453 453 2099 1054 1054 2099 1052 1052 2100 1054 1054 2100 1053 1053 2100 1053 1053 2101 1054 1054 2101 1055 1055 2101 1053 1053 2102 1055 1055 2102 1056 1056 2102 1056 1056 2103 1055 1055 2103 457 457 2103 1056 1056 2104 457 457 2104 1057 1057 2104 1057 1057 2105 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486 2129 471 471 2129 472 472 2129 486 486 2130 472 472 2130 487 487 2130 487 487 2131 472 472 2131 473 473 2131 487 487 2132 473 473 2132 488 488 2132 488 488 2133 473 473 2133 475 475 2133 488 488 2134 475 475 2134 489 489 2134 489 489 2135 475 475 2135 201 201 2135 1116 1116 2136 1114 1114 2136 1070 1070 2136 1070 1070 2137 1114 1114 2137 1071 1071 2137 1070 1070 2138 1071 1071 2138 450 450 2138 450 450 2139 1071 1071 2139 1072 1072 2139 450 450 2140 1072 1072 2140 1073 1073 2140 1073 1073 2141 1072 1072 2141 1074 1074 2141 1073 1073 2142 1074 1074 2142 1075 1075 2142 1075 1075 2143 1074 1074 2143 176 176 2143 1075 1075 2144 176 176 2144 1076 1076 2144 1076 1076 2145 176 176 2145 1077 1077 2145 1076 1076 2146 1077 1077 2146 454 454 2146 454 454 2147 1077 1077 2147 160 160 2147 454 454 2148 160 160 2148 455 455 2148 455 455 2149 160 160 2149 136 136 2149 455 455 2150 136 136 2150 456 456 2150 456 456 2151 136 136 2151 1078 1078 2151 456 456 2152 1078 1078 2152 1079 1079 2152 1079 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2177 470 470 2178 1092 1092 2178 1091 1091 2178 1091 1091 2179 1092 1092 2179 1 1 2179 1091 1091 2180 1 1 2180 474 474 2180 474 474 2181 1 1 2181 201 201 2181 424 424 2182 1093 1093 2182 1094 1094 2182 1094 1094 2183 1093 1093 2183 1095 1095 2183 1094 1094 2184 1095 1095 2184 426 426 2184 426 426 2185 1095 1095 2185 1096 1096 2185 426 426 2186 1096 1096 2186 427 427 2186 427 427 2187 1096 1096 2187 248 248 2187 427 427 2188 248 248 2188 428 428 2188 428 428 2189 248 248 2189 1097 1097 2189 428 428 2190 1097 1097 2190 429 429 2190 429 429 2191 1097 1097 2191 1098 1098 2191 429 429 2192 1098 1098 2192 431 431 2192 431 431 2193 1098 1098 2193 251 251 2193 431 431 2194 251 251 2194 1099 1099 2194 1099 1099 2195 251 251 2195 1100 1100 2195 1099 1099 2196 1100 1100 2196 433 433 2196 433 433 2197 1100 1100 2197 253 253 2197 433 433 2198 253 253 2198 1101 1101 2198 1101 1101 2199 253 253 2199 1103 1103 2199 1101 1101 2200 1103 1103 2200 1102 1102 2200 1102 1102 2201 1103 1103 2201 255 255 2201 1102 1102 2202 255 255 2202 436 436 2202 436 436 2203 255 255 2203 256 256 2203 436 436 2204 256 256 2204 1104 1104 2204 1104 1104 2205 256 256 2205 1105 1105 2205 1104 1104 2206 1105 1105 2206 438 438 2206 438 438 2207 1105 1105 2207 257 257 2207 438 438 2208 257 257 2208 439 439 2208 439 439 2209 257 257 2209 258 258 2209 439 439 2210 258 258 2210 1106 1106 2210 1106 1106 2211 258 258 2211 1107 1107 2211 1106 1106 2212 1107 1107 2212 441 441 2212 441 441 2213 1107 1107 2213 1108 1108 2213 441 441 2214 1108 1108 2214 1109 1109 2214 1109 1109 2215 1108 1108 2215 259 259 2215 1109 1109 2216 259 259 2216 1110 1110 2216 1110 1110 2217 259 259 2217 260 260 2217 1110 1110 2218 260 260 2218 1111 1111 2218 1111 1111 2219 260 260 2219 1112 1112 2219 1111 1111 2220 1112 1112 2220 445 445 2220 445 445 2221 1112 1112 2221 261 261 2221 445 445 2222 261 261 2222 447 447 2222 447 447 2223 261 261 2223 262 262 2223 447 447 2224 262 262 2224 1113 1113 2224 1113 1113 2225 262 262 2225 1114 1114 2225 1113 1113 2226 1114 1114 2226 1115 1115 2226 1115 1115 2227 1114 1114 2227 1116 1116 2227 1115 1115 2228 1116 1116 2228 391 391 2228 1117 1117 2229 391 391 2229 1047 1047 2229 264 264 2230 1118 1118 2230 1119 1119 2230 1119 1119 2231 1118 1118 2231 39 39 2231 1119 1119 2232 39 39 2232 1120 1120 2232 1120 1120 2233 39 39 2233 392 392 2233 1120 1120 2234 392 392 2234 266 266 2234 266 266 2235 392 392 2235 1121 1121 2235 266 266 2236 1121 1121 2236 267 267 2236 267 267 2237 1121 1121 2237 1122 1122 2237 267 267 2238 1122 1122 2238 1123 1123 2238 1123 1123 2239 1122 1122 2239 71 71 2239 1123 1123 2240 71 71 2240 270 270 2240 270 270 2241 71 71 2241 85 85 2241 270 270 2242 85 85 2242 271 271 2242 271 271 2243 85 85 2243 1124 1124 2243 271 271 2244 1124 1124 2244 272 272 2244 272 272 2245 1124 1124 2245 1126 1126 2245 272 272 2246 1126 1126 2246 1125 1125 2246 1125 1125 2247 1126 1126 2247 1127 1127 2247 1125 1125 2248 1127 1127 2248 1128 1128 2248 1128 1128 2249 1127 1127 2249 161 161 2249 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2273 264 264 2274 1139 1139 2274 1140 1140 2274 264 264 2275 1140 1140 2275 1118 1118 2275 1118 1118 2276 1140 1140 2276 430 430 2276 1118 1118 2277 430 430 2277 407 407 2277 407 407 2278 430 430 2278 1142 1142 2278 407 407 2279 1142 1142 2279 1141 1141 2279 1141 1141 2280 1142 1142 2280 432 432 2280 1141 1141 2281 432 432 2281 410 410 2281 410 410 2282 432 432 2282 434 434 2282 410 410 2283 434 434 2283 1144 1144 2283 1144 1144 2284 434 434 2284 1143 1143 2284 1144 1144 2285 1143 1143 2285 1145 1145 2285 1145 1145 2286 1143 1143 2286 435 435 2286 1145 1145 2287 435 435 2287 1146 1146 2287 1146 1146 2288 435 435 2288 1147 1147 2288 1146 1146 2289 1147 1147 2289 1148 1148 2289 1148 1148 2290 1147 1147 2290 437 437 2290 1148 1148 2291 437 437 2291 1149 1149 2291 1149 1149 2292 437 437 2292 1150 1150 2292 1149 1149 2293 1150 1150 2293 413 413 2293 413 413 2294 1150 1150 2294 440 440 2294 413 413 2295 440 440 2295 1151 1151 2295 1151 1151 2296 440 440 2296 1152 1152 2296 1151 1151 2297 1152 1152 2297 416 416 2297 416 416 2298 1152 1152 2298 1153 1153 2298 416 416 2299 1153 1153 2299 418 418 2299 418 418 2300 1153 1153 2300 442 442 2300 418 418 2301 442 442 2301 419 419 2301 419 419 2302 442 442 2302 443 443 2302 419 419 2303 443 443 2303 421 421 2303 421 421 2304 443 443 2304 444 444 2304 421 421 2305 444 444 2305 1154 1154 2305 1154 1154 2306 444 444 2306 446 446 2306 1154 1154 2307 446 446 2307 423 423 2307 423 423 2308 446 446 2308 448 448 2308 423 423 2309 448 448 2309 1155 1155 2309 1155 1155 2310 448 448 2310 1156 1156 2310 1155 1155 2311 1156 1156 2311 391 391 2311 996 996 2312 979 979 2312 1157 1157 2312 1157 1157 2313 979 979 2313 1159 1159 2313 1157 1157 2314 1159 1159 2314 1158 1158 2314 1158 1158 2315 1159 1159 2315 972 972 2315 1158 1158 2316 972 972 2316 993 993 2316 993 993 2317 972 972 2317 1160 1160 2317 993 993 2318 1160 1160 2318 1161 1161 2318 1161 1161 2319 1160 1160 2319 970 970 2319 1161 1161 2320 970 970 2320 991 991 2320 991 991 2321 970 970 2321 1163 1163 2321 991 991 2322 1163 1163 2322 1162 1162 2322 1162 1162 2323 1163 1163 2323 1164 1164 2323 1162 1162 2324 1164 1164 2324 990 990 2324 990 990 2325 1164 1164 2325 967 967 2325 990 990 2326 967 967 2326 1165 1165 2326 1165 1165 2327 967 967 2327 966 966 2327 1165 1165 2328 966 966 2328 987 987 2328 987 987 2329 966 966 2329 1166 1166 2329 987 987 2330 1166 1166 2330 1167 1167 2330 1167 1167 2331 1166 1166 2331 964 964 2331 1167 1167 2332 964 964 2332 986 986 2332 986 986 2333 964 964 2333 963 963 2333 986 986 2334 963 963 2334 985 985 2334 985 985 2335 963 963 2335 1168 1168 2335 985 985 2336 1168 1168 2336 1169 1169 2336 1169 1169 2337 1168 1168 2337 1170 1170 2337 1169 1169 2338 1170 1170 2338 1171 1171 2338 1171 1171 2339 1170 1170 2339 960 960 2339 1171 1171 2340 960 960 2340 984 984 2340 984 984 2341 960 960 2341 959 959 2341 984 984 2342 959 959 2342 1172 1172 2342 1172 1172 2343 959 959 2343 958 958 2343 1172 1172 2344 958 958 2344 983 983 2344 983 983 2345 958 958 2345 1173 1173 2345 983 983 2346 1173 1173 2346 1174 1174 2346 1174 1174 2347 1173 1173 2347 1175 1175 2347 1174 1174 2348 1175 1175 2348 1176 1176 2348 1176 1176 2349 1175 1175 2349 1177 1177 2349 1176 1176 2350 1177 1177 2350 3 3 2350 3 3 2351 1177 1177 2351 201 201 2351</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/data/racecar/meshes/parking_1.dae b/data/racecar/meshes/parking_1.dae
new file mode 100644
index 000000000..b58c2e394
--- /dev/null
+++ b/data/racecar/meshes/parking_1.dae
@@ -0,0 +1,310 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0</authoring_tool>
+    </contributor>
+    <created>2017-04-24T15:08:21</created>
+    <modified>2017-04-24T15:08:21</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0.64 0.03905561 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_001-material" name="Material_001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_004-mesh" name="Cube.004">
+      <mesh>
+        <source id="Cube_004-mesh-positions">
+          <float_array id="Cube_004-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_004-mesh-normals">
+          <float_array id="Cube_004-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_004-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_004-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_004-mesh-positions"/>
+        </vertices>
+        <polylist count="12">
+          <input semantic="VERTEX" source="#Cube_004-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_004-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_002-mesh" name="Cube.002">
+      <mesh>
+        <source id="Cube_002-mesh-positions">
+          <float_array id="Cube_002-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_002-mesh-normals">
+          <float_array id="Cube_002-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_002-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_002-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_002-mesh-positions"/>
+        </vertices>
+        <polylist count="12">
+          <input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="Cube_003-mesh" name="Cube.003">
+      <mesh>
+        <source id="Cube_003-mesh-positions">
+          <float_array id="Cube_003-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_003-mesh-normals">
+          <float_array id="Cube_003-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_003-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_003-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_003-mesh-positions"/>
+        </vertices>
+        <polylist count="12">
+          <input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
+        </polylist>
+      </mesh>
+    </geometry>
+    <geometry id="Cube-mesh" name="Cube">
+      <mesh>
+        <source id="Cube-mesh-positions">
+          <float_array id="Cube-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube-mesh-normals">
+          <float_array id="Cube-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube-mesh-vertices">
+          <input semantic="POSITION" source="#Cube-mesh-positions"/>
+        </vertices>
+        <polylist material="Material_001-material" count="12">
+          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1 0 2 0 0 0 3 1 6 1 2 1 7 2 4 2 6 2 5 3 0 3 4 3 6 4 0 4 2 4 3 5 5 5 7 5 1 0 3 0 2 0 3 1 7 1 6 1 7 2 5 2 4 2 5 3 1 3 0 3 6 4 4 4 0 4 3 5 1 5 5 5</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube_002" name="Cube_002" type="NODE">
+        <matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 3.623344 0 0 0.15 0.1530263 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_004-mesh" name="Cube_002"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">0.173696 0 0 -4.197643 0 5.482737 0 4.50726 0 0 1 1.015023 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_002-mesh" name="Cube"/>
+      </node>
+      <node id="Cube_001" name="Cube_001" type="NODE">
+        <matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 5.201571 0 0 0.15 0.1727542 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_003-mesh" name="Cube_001"/>
+      </node>
+      <node id="Cube_003" name="Cube_003" type="NODE">
+        <matrix sid="transform">0.225 0 0 -3.795233 0 0.38 0 4.425851 0 0 0.005 0.01 0 0 0 1</matrix>
+        <instance_geometry url="#Cube-mesh" name="Cube_003">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/data/racecar/meshes/right_front_wheel.STL b/data/racecar/meshes/right_front_wheel.STL
new file mode 100644
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diff --git a/data/racecar/meshes/right_front_wheel.dae b/data/racecar/meshes/right_front_wheel.dae
new file mode 100644
index 000000000..876ca8f35
--- /dev/null
+++ b/data/racecar/meshes/right_front_wheel.dae
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 20:36:00 2016 GMT</created>
+        <modified>Tue Jan 19 20:36:00 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
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+                    <technique_common>
+                        <accessor count="1632" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
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+                        <accessor count="874" source="#shape0-lib-vcolor-array" stride="4">
+                            <param name="R" type="float"/>
+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/data/racecar/meshes/right_rear_wheel.STL b/data/racecar/meshes/right_rear_wheel.STL
new file mode 100644
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diff --git a/data/racecar/meshes/right_rear_wheel.dae b/data/racecar/meshes/right_rear_wheel.dae
new file mode 100644
index 000000000..88cbad55d
--- /dev/null
+++ b/data/racecar/meshes/right_rear_wheel.dae
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 20:36:36 2016 GMT</created>
+        <modified>Tue Jan 19 20:36:36 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
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+                    <technique_common>
+                        <accessor count="1632" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
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+                    <technique_common>
+                        <accessor count="874" source="#shape0-lib-vcolor-array" stride="4">
+                            <param name="R" type="float"/>
+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="1632">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="COLOR" source="#shape0-lib-vcolor"/>
+                    <input offset="2" semantic="NORMAL" source="#shape0-lib-normals"/>
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845 845 1576 852 852 1576 852 852 1577 845 845 1577 846 846 1577 852 852 1578 846 846 1578 851 851 1578 851 851 1579 846 846 1579 847 847 1579 851 851 1580 847 847 1580 848 848 1580 848 848 1581 847 847 1581 606 606 1581 848 848 1582 606 606 1582 121 121 1582 121 121 1583 606 606 1583 605 605 1583 121 121 1584 849 849 1584 848 848 1584 848 848 1585 849 849 1585 850 850 1585 848 848 1586 850 850 1586 851 851 1586 851 851 1587 850 850 1587 858 858 1587 851 851 1588 858 858 1588 852 852 1588 852 852 1589 858 858 1589 857 857 1589 852 852 1590 857 857 1590 844 844 1590 844 844 1591 857 857 1591 856 856 1591 844 844 1592 856 856 1592 842 842 1592 842 842 1593 856 856 1593 853 853 1593 842 842 1594 853 853 1594 57 57 1594 57 57 1595 853 853 1595 56 56 1595 53 53 1596 854 854 1596 862 862 1596 862 862 1597 854 854 1597 853 853 1597 862 862 1598 853 853 1598 855 855 1598 855 855 1599 853 853 1599 856 856 1599 855 855 1600 856 856 1600 864 864 1600 864 864 1601 856 856 1601 857 857 1601 864 864 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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/data/racecar/meshes/right_steering_hinge.STL b/data/racecar/meshes/right_steering_hinge.STL
new file mode 100644
index 0000000000000000000000000000000000000000..9da46217fa683e684d7c3953683f0ab1d7ab7862
GIT binary patch
literal 117684
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zd+$&}$n>De5E&vv#*FW8t-a2<zw3SZ@AcRHab4eYb<W;<t>0dI?dul=|9}76zg7?|
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diff --git a/data/racecar/meshes/right_steering_hinge.dae b/data/racecar/meshes/right_steering_hinge.dae
new file mode 100644
index 000000000..c689518b9
--- /dev/null
+++ b/data/racecar/meshes/right_steering_hinge.dae
@@ -0,0 +1,68 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Tue Jan 19 20:37:18 2016 GMT</created>
+        <modified>Tue Jan 19 20:37:18 2016 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
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+                    <technique_common>
+                        <accessor count="1178" source="#shape0-lib-vcolor-array" stride="4">
+                            <param name="R" type="float"/>
+                            <param name="G" type="float"/>
+                            <param name="B" type="float"/>
+                            <param name="A" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="2352">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="COLOR" source="#shape0-lib-vcolor"/>
+                    <input offset="2" semantic="NORMAL" source="#shape0-lib-normals"/>
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2083 1041 1041 2083 281 281 2083 1042 1042 2084 281 281 2084 1043 1043 2084 1043 1043 2085 281 281 2085 1044 1044 2085 1043 1043 2086 1044 1044 2086 1019 1019 2086 1019 1019 2087 1044 1044 2087 292 292 2087 292 292 2088 1045 1045 2088 474 474 2088 474 474 2089 1045 1045 2089 1046 1046 2089 474 474 2090 1046 1046 2090 475 475 2090 475 475 2091 1046 1046 2091 1047 1047 2091 475 475 2092 1047 1047 2092 476 476 2092 476 476 2093 1047 1047 2093 452 452 2093 476 476 2094 452 452 2094 1048 1048 2094 1048 1048 2095 452 452 2095 1049 1049 2095 1048 1048 2096 1049 1049 2096 1050 1050 2096 1050 1050 2097 1049 1049 2097 455 455 2097 1050 1050 2098 455 455 2098 1051 1051 2098 1051 1051 2099 455 455 2099 1053 1053 2099 1051 1051 2100 1053 1053 2100 1052 1052 2100 1052 1052 2101 1053 1053 2101 1054 1054 2101 1052 1052 2102 1054 1054 2102 1055 1055 2102 1055 1055 2103 1054 1054 2103 459 459 2103 1055 1055 2104 459 459 2104 1056 1056 2104 1056 1056 2105 459 459 2105 1057 1057 2105 1056 1056 2106 1057 1057 2106 1058 1058 2106 1058 1058 2107 1057 1057 2107 461 461 2107 1058 1058 2108 461 461 2108 477 477 2108 477 477 2109 461 461 2109 1060 1060 2109 477 477 2110 1060 1060 2110 1059 1059 2110 1059 1059 2111 1060 1060 2111 1061 1061 2111 1059 1059 2112 1061 1061 2112 1062 1062 2112 1062 1062 2113 1061 1061 2113 463 463 2113 1062 1062 2114 463 463 2114 480 480 2114 480 480 2115 463 463 2115 465 465 2115 480 480 2116 465 465 2116 1063 1063 2116 1063 1063 2117 465 465 2117 1064 1064 2117 1063 1063 2118 1064 1064 2118 1065 1065 2118 1065 1065 2119 1064 1064 2119 1066 1066 2119 1065 1065 2120 1066 1066 2120 1067 1067 2120 1067 1067 2121 1066 1066 2121 468 468 2121 1067 1067 2122 468 468 2122 481 481 2122 481 481 2123 468 468 2123 470 470 2123 481 481 2124 470 470 2124 1068 1068 2124 1068 1068 2125 470 470 2125 471 471 2125 1068 1068 2126 471 471 2126 482 482 2126 482 482 2127 471 471 2127 472 472 2127 482 482 2128 472 472 2128 483 483 2128 483 483 2129 472 472 2129 1069 1069 2129 483 483 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2154 1079 1079 2154 1080 1080 2154 1080 1080 2155 1079 1079 2155 100 100 2155 1080 1080 2156 100 100 2156 460 460 2156 460 460 2157 100 100 2157 72 72 2157 460 460 2158 72 72 2158 462 462 2158 462 462 2159 72 72 2159 56 56 2159 462 462 2160 56 56 2160 1081 1081 2160 1081 1081 2161 56 56 2161 1082 1082 2161 1081 1081 2162 1082 1082 2162 464 464 2162 464 464 2163 1082 1082 2163 1083 1083 2163 464 464 2164 1083 1083 2164 1084 1084 2164 1084 1084 2165 1083 1083 2165 1085 1085 2165 1084 1084 2166 1085 1085 2166 466 466 2166 466 466 2167 1085 1085 2167 23 23 2167 466 466 2168 23 23 2168 467 467 2168 467 467 2169 23 23 2169 1086 1086 2169 467 467 2170 1086 1086 2170 469 469 2170 469 469 2171 1086 1086 2171 1087 1087 2171 469 469 2172 1087 1087 2172 1088 1088 2172 1088 1088 2173 1087 1087 2173 13 13 2173 1088 1088 2174 13 13 2174 1089 1089 2174 1089 1089 2175 13 13 2175 9 9 2175 1089 1089 2176 9 9 2176 1090 1090 2176 1090 1090 2177 9 9 2177 1 1 2177 1090 1090 2178 1 1 2178 1091 1091 2178 1091 1091 2179 1 1 2179 2 2 2179 1091 1091 2180 2 2 2180 1092 1092 2180 1092 1092 2181 2 2 2181 57 57 2181 427 427 2182 1093 1093 2182 1094 1094 2182 1094 1094 2183 1093 1093 2183 1095 1095 2183 1094 1094 2184 1095 1095 2184 429 429 2184 429 429 2185 1095 1095 2185 1096 1096 2185 429 429 2186 1096 1096 2186 430 430 2186 430 430 2187 1096 1096 2187 250 250 2187 430 430 2188 250 250 2188 431 431 2188 431 431 2189 250 250 2189 1097 1097 2189 431 431 2190 1097 1097 2190 432 432 2190 432 432 2191 1097 1097 2191 1098 1098 2191 432 432 2192 1098 1098 2192 434 434 2192 434 434 2193 1098 1098 2193 253 253 2193 434 434 2194 253 253 2194 1099 1099 2194 1099 1099 2195 253 253 2195 1100 1100 2195 1099 1099 2196 1100 1100 2196 436 436 2196 436 436 2197 1100 1100 2197 255 255 2197 436 436 2198 255 255 2198 1101 1101 2198 1101 1101 2199 255 255 2199 1103 1103 2199 1101 1101 2200 1103 1103 2200 1102 1102 2200 1102 1102 2201 1103 1103 2201 257 257 2201 1102 1102 2202 257 257 2202 439 439 2202 439 439 2203 257 257 2203 258 258 2203 439 439 2204 258 258 2204 1104 1104 2204 1104 1104 2205 258 258 2205 1105 1105 2205 1104 1104 2206 1105 1105 2206 441 441 2206 441 441 2207 1105 1105 2207 259 259 2207 441 441 2208 259 259 2208 442 442 2208 442 442 2209 259 259 2209 260 260 2209 442 442 2210 260 260 2210 1106 1106 2210 1106 1106 2211 260 260 2211 1107 1107 2211 1106 1106 2212 1107 1107 2212 444 444 2212 444 444 2213 1107 1107 2213 1108 1108 2213 444 444 2214 1108 1108 2214 1109 1109 2214 1109 1109 2215 1108 1108 2215 261 261 2215 1109 1109 2216 261 261 2216 1110 1110 2216 1110 1110 2217 261 261 2217 262 262 2217 1110 1110 2218 262 262 2218 1111 1111 2218 1111 1111 2219 262 262 2219 1112 1112 2219 1111 1111 2220 1112 1112 2220 448 448 2220 448 448 2221 1112 1112 2221 263 263 2221 448 448 2222 263 263 2222 450 450 2222 450 450 2223 263 263 2223 264 264 2223 450 450 2224 264 264 2224 1113 1113 2224 1113 1113 2225 264 264 2225 1114 1114 2225 1113 1113 2226 1114 1114 2226 1115 1115 2226 1115 1115 2227 1114 1114 2227 1116 1116 2227 1115 1115 2228 1116 1116 2228 292 292 2228 282 282 2229 292 292 2229 1044 1044 2229 266 266 2230 1117 1117 2230 1118 1118 2230 1118 1118 2231 1117 1117 2231 39 39 2231 1118 1118 2232 39 39 2232 1119 1119 2232 1119 1119 2233 39 39 2233 395 395 2233 1119 1119 2234 395 395 2234 268 268 2234 268 268 2235 395 395 2235 1120 1120 2235 268 268 2236 1120 1120 2236 269 269 2236 269 269 2237 1120 1120 2237 1121 1121 2237 269 269 2238 1121 1121 2238 1122 1122 2238 1122 1122 2239 1121 1121 2239 75 75 2239 1122 1122 2240 75 75 2240 272 272 2240 272 272 2241 75 75 2241 87 87 2241 272 272 2242 87 87 2242 273 273 2242 273 273 2243 87 87 2243 1123 1123 2243 273 273 2244 1123 1123 2244 274 274 2244 274 274 2245 1123 1123 2245 1125 1125 2245 274 274 2246 1125 1125 2246 1124 1124 2246 1124 1124 2247 1125 1125 2247 1126 1126 2247 1124 1124 2248 1126 1126 2248 1127 1127 2248 1127 1127 2249 1126 1126 2249 162 162 2249 1127 1127 2250 162 162 2250 1128 1128 2250 1128 1128 2251 162 162 2251 163 163 2251 1128 1128 2252 163 163 2252 276 276 2252 276 276 2253 163 163 2253 293 293 2253 276 276 2254 293 293 2254 1129 1129 2254 1129 1129 2255 293 293 2255 1130 1130 2255 1129 1129 2256 1130 1130 2256 278 278 2256 278 278 2257 1130 1130 2257 220 220 2257 278 278 2258 220 220 2258 279 279 2258 279 279 2259 220 220 2259 1131 1131 2259 279 279 2260 1131 1131 2260 280 280 2260 280 280 2261 1131 1131 2261 283 283 2261 280 280 2262 283 283 2262 1132 1132 2262 1132 1132 2263 283 283 2263 1133 1133 2263 1132 1132 2264 1133 1133 2264 282 282 2264 282 282 2265 1133 1133 2265 292 292 2265 5 5 2266 57 57 2266 427 427 2266 1176 1176 2267 428 428 2267 980 980 2267 980 980 2268 428 428 2268 1135 1135 2268 980 980 2269 1135 1135 2269 1134 1134 2269 1134 1134 2270 1135 1135 2270 1136 1136 2270 1134 1134 2271 1136 1136 2271 1137 1137 2271 1137 1137 2272 1136 1136 2272 1138 1138 2272 1137 1137 2273 1138 1138 2273 266 266 2273 266 266 2274 1138 1138 2274 1139 1139 2274 266 266 2275 1139 1139 2275 1117 1117 2275 1117 1117 2276 1139 1139 2276 433 433 2276 1117 1117 2277 433 433 2277 410 410 2277 410 410 2278 433 433 2278 1141 1141 2278 410 410 2279 1141 1141 2279 1140 1140 2279 1140 1140 2280 1141 1141 2280 435 435 2280 1140 1140 2281 435 435 2281 413 413 2281 413 413 2282 435 435 2282 437 437 2282 413 413 2283 437 437 2283 1143 1143 2283 1143 1143 2284 437 437 2284 1142 1142 2284 1143 1143 2285 1142 1142 2285 1144 1144 2285 1144 1144 2286 1142 1142 2286 438 438 2286 1144 1144 2287 438 438 2287 1145 1145 2287 1145 1145 2288 438 438 2288 1146 1146 2288 1145 1145 2289 1146 1146 2289 1147 1147 2289 1147 1147 2290 1146 1146 2290 440 440 2290 1147 1147 2291 440 440 2291 1148 1148 2291 1148 1148 2292 440 440 2292 1149 1149 2292 1148 1148 2293 1149 1149 2293 416 416 2293 416 416 2294 1149 1149 2294 443 443 2294 416 416 2295 443 443 2295 1150 1150 2295 1150 1150 2296 443 443 2296 1151 1151 2296 1150 1150 2297 1151 1151 2297 419 419 2297 419 419 2298 1151 1151 2298 1152 1152 2298 419 419 2299 1152 1152 2299 421 421 2299 421 421 2300 1152 1152 2300 445 445 2300 421 421 2301 445 445 2301 422 422 2301 422 422 2302 445 445 2302 446 446 2302 422 422 2303 446 446 2303 424 424 2303 424 424 2304 446 446 2304 447 447 2304 424 424 2305 447 447 2305 1153 1153 2305 1153 1153 2306 447 447 2306 449 449 2306 1153 1153 2307 449 449 2307 426 426 2307 426 426 2308 449 449 2308 451 451 2308 426 426 2309 451 451 2309 1154 1154 2309 1154 1154 2310 451 451 2310 1155 1155 2310 1154 1154 2311 1155 1155 2311 292 292 2311 976 976 2312 1157 1157 2312 1156 1156 2312 1156 1156 2313 1157 1157 2313 1159 1159 2313 1156 1156 2314 1159 1159 2314 1158 1158 2314 1158 1158 2315 1159 1159 2315 968 968 2315 1158 1158 2316 968 968 2316 991 991 2316 991 991 2317 968 968 2317 1160 1160 2317 991 991 2318 1160 1160 2318 1161 1161 2318 1161 1161 2319 1160 1160 2319 966 966 2319 1161 1161 2320 966 966 2320 989 989 2320 989 989 2321 966 966 2321 1163 1163 2321 989 989 2322 1163 1163 2322 1162 1162 2322 1162 1162 2323 1163 1163 2323 1164 1164 2323 1162 1162 2324 1164 1164 2324 988 988 2324 988 988 2325 1164 1164 2325 963 963 2325 988 988 2326 963 963 2326 1165 1165 2326 1165 1165 2327 963 963 2327 962 962 2327 1165 1165 2328 962 962 2328 985 985 2328 985 985 2329 962 962 2329 1166 1166 2329 985 985 2330 1166 1166 2330 1167 1167 2330 1167 1167 2331 1166 1166 2331 960 960 2331 1167 1167 2332 960 960 2332 984 984 2332 984 984 2333 960 960 2333 959 959 2333 984 984 2334 959 959 2334 983 983 2334 983 983 2335 959 959 2335 1168 1168 2335 983 983 2336 1168 1168 2336 1169 1169 2336 1169 1169 2337 1168 1168 2337 1170 1170 2337 1169 1169 2338 1170 1170 2338 1171 1171 2338 1171 1171 2339 1170 1170 2339 956 956 2339 1171 1171 2340 956 956 2340 982 982 2340 982 982 2341 956 956 2341 955 955 2341 982 982 2342 955 955 2342 1172 1172 2342 1172 1172 2343 955 955 2343 954 954 2343 1172 1172 2344 954 954 2344 981 981 2344 981 981 2345 954 954 2345 1173 1173 2345 981 981 2346 1173 1173 2346 1174 1174 2346 1174 1174 2347 1173 1173 2347 1175 1175 2347 1174 1174 2348 1175 1175 2348 1176 1176 2348 1176 1176 2349 1175 1175 2349 1177 1177 2349 1176 1176 2350 1177 1177 2350 5 5 2350 5 5 2351 1177 1177 2351 57 57 2351</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/data/racecar/meshes/walker_racecourse.dae b/data/racecar/meshes/walker_racecourse.dae
new file mode 100644
index 000000000..84269f2bf
--- /dev/null
+++ b/data/racecar/meshes/walker_racecourse.dae
@@ -0,0 +1,506 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.77.0 commit date:2016-04-05, commit time:18:12, hash:abf6f08</authoring_tool>
+    </contributor>
+    <created>2016-07-27T16:34:38</created>
+    <modified>2016-07-27T16:34:38</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">49.13434</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <YF_dofdist>0</YF_dofdist>
+          <shiftx>0</shiftx>
+          <shifty>0</shifty>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Lamp-light" name="Lamp">
+      <technique_common>
+        <point>
+          <color sid="color">1 1 1</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <adapt_thresh>0.000999987</adapt_thresh>
+          <area_shape>1</area_shape>
+          <area_size>0.1</area_size>
+          <area_sizey>0.1</area_sizey>
+          <area_sizez>1</area_sizez>
+          <atm_distance_factor>1</atm_distance_factor>
+          <atm_extinction_factor>1</atm_extinction_factor>
+          <atm_turbidity>2</atm_turbidity>
+          <att1>0</att1>
+          <att2>1</att2>
+          <backscattered_light>1</backscattered_light>
+          <bias>1</bias>
+          <blue>1</blue>
+          <buffers>1</buffers>
+          <bufflag>0</bufflag>
+          <bufsize>2880</bufsize>
+          <buftype>2</buftype>
+          <clipend>30.002</clipend>
+          <clipsta>1.000799</clipsta>
+          <compressthresh>0.04999995</compressthresh>
+          <dist sid="blender_dist">29.99998</dist>
+          <energy sid="blender_energy">1</energy>
+          <falloff_type>2</falloff_type>
+          <filtertype>0</filtertype>
+          <flag>0</flag>
+          <gamma sid="blender_gamma">1</gamma>
+          <green>1</green>
+          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
+          <horizon_brightness>1</horizon_brightness>
+          <mode>8192</mode>
+          <ray_samp>1</ray_samp>
+          <ray_samp_method>1</ray_samp_method>
+          <ray_samp_type>0</ray_samp_type>
+          <ray_sampy>1</ray_sampy>
+          <ray_sampz>1</ray_sampz>
+          <red>1</red>
+          <samp>3</samp>
+          <shadhalostep>0</shadhalostep>
+          <shadow_b sid="blender_shadow_b">0</shadow_b>
+          <shadow_g sid="blender_shadow_g">0</shadow_g>
+          <shadow_r sid="blender_shadow_r">0</shadow_r>
+          <sky_colorspace>0</sky_colorspace>
+          <sky_exposure>1</sky_exposure>
+          <skyblendfac>1</skyblendfac>
+          <skyblendtype>1</skyblendtype>
+          <soft>3</soft>
+          <spotblend>0.15</spotblend>
+          <spotsize>75</spotsize>
+          <spread>1</spread>
+          <sun_brightness>1</sun_brightness>
+          <sun_effect_type>0</sun_effect_type>
+          <sun_intensity>1</sun_intensity>
+          <sun_size>1</sun_size>
+          <type>0</type>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_images/>
+  <library_effects>
+    <effect id="Walls-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.273904 0.1081182 0.02791987 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Road-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.01523832 0.01630333 0.01550063 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.8 0.8 0.8 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Floor-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.64 0.64 0.64 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="White-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
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+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
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+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Blue-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
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+            <shininess>
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+              <float sid="index_of_refraction">1</float>
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+    <effect id="Yellow-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
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+            <ambient>
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+        </polylist>
+        <polylist material="White-material" count="64">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1676 1685 9633 1652 1685 9634 1644 1685 9635 1659 0 9645 1642 0 9646 1619 0 9647 1671 0 9651 1645 0 9652 1635 0 9653 1655 1686 9654 1631 1686 9655 1612 1686 9656 1663 0 9663 1624 0 9664 1615 0 9665 1688 0 9666 1627 0 9667 1666 0 9668 1664 0 9672 1641 0 9673 1622 0 9674 1652 0 9681 1657 0 9682 1691 0 9683 1620 0 9684 1690 0 9685 1640 0 9686 1689 0 9693 1614 0 9694 1661 0 9695 1684 0 9699 1638 0 9700 1674 0 9701 1621 0 9702 1688 0 9703 1639 0 9704 1687 0 9711 1608 0 9712 1654 0 9713 1686 0 9717 1634 0 9718 1670 0 9719 1616 0 9720 1686 0 9721 1625 0 9722 1675 0 9723 1647 0 9724 1643 0 9725 1685 0 9729 1618 0 9730 1658 0 9731 1613 0 9738 1684 0 9739 1632 0 9740 1667 0 9741 1646 0 9742 1628 0 9743 1683 0 9747 1621 0 9748 1662 0 9749 1647 0 9762 1653 0 9763 1681 0 9764 1646 0 9771 1663 0 9772 1679 0 9773 1645 0 9780 1664 0 9781 1677 0 9782 1632 0 9783 1676 0 9784 1678 0 9785 1642 0 9786 1675 0 9787 1680 0 9788 1641 1686 9789 1665 1686 9790 1682 1686 9791 1636 0 9792 1683 0 9793 1648 0 9794 1638 0 9798 1685 0 9799 1649 0 9800 1637 0 9804 1687 0 9805 1650 0 9806 1629 0 9810 1689 0 9811 1651 0 9812 1690 0 9813 1637 0 9814 1673 0 9815 1625 0 9816 1669 0 9817 1692 0 9818 1676 1708 9954 1692 1708 9955 1652 1708 9956 1659 0 9966 1677 0 9967 1642 0 9968 1671 0 9972 1678 0 9973 1645 0 9974 1655 1708 9975 1679 1708 9976 1631 1708 9977 1663 0 9984 1681 0 9985 1624 0 9986 1688 0 9987 1650 0 9988 1627 0 9989 1664 0 9993 1691 0 9994 1641 0 9995 1652 0 10002 1633 0 10003 1657 0 10004 1620 0 10005 1668 0 10006 1690 0 10007 1689 0 10014 1630 0 10015 1614 0 10016 1684 0 10020 1648 0 10021 1638 0 10022 1621 0 10023 1673 0 10024 1688 0 10025 1687 0 10032 1623 0 10033 1608 0 10034 1686 0 10038 1649 0 10039 1634 0 10040 1616 0 10041 1674 0 10042 1686 0 10043 1675 0 10044 1682 0 10045 1647 0 10046 1685 0 10050 1639 0 10051 1618 0 10052 1613 0 10059 1672 0 10060 1684 0 10061 1667 0 10062 1680 0 10063 1646 0 10064 1683 0 10068 1640 0 10069 1621 0 10070 1647 0 10083 1626 0 10084 1653 0 10085 1646 0 10092 1643 0 10093 1663 0 10094 1645 0 10101 1644 0 10102 1664 0 10103 1632 0 10104 1616 0 10105 1676 0 10106 1642 0 10107 1622 0 10108 1675 0 10109 1641 1709 10110 1617 1709 10111 1665 1709 10112 1636 0 10113 1660 0 10114 1683 0 10115 1638 0 10119 1662 0 10120 1685 0 10121 1637 0 10125 1661 0 10126 1687 0 10127 1629 0 10131 1656 0 10132 1689 0 10133 1690 0 10134 1651 0 10135 1637 0 10136 1625 0 10137 1610 0 10138 1669 0 10139</p>
+        </polylist>
+        <polylist material="Black-material" count="64">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1692 0 9630 1633 0 9631 1652 0 9632 1680 0 9636 1643 0 9637 1646 0 9638 1678 0 9639 1644 0 9640 1645 0 9641 1660 0 9642 1640 0 9643 1683 0 9644 1677 0 9648 1622 0 9649 1642 0 9650 1682 0 9657 1626 0 9658 1647 0 9659 1662 0 9660 1639 0 9661 1685 0 9662 1673 0 9669 1650 0 9670 1688 0 9671 1616 1687 9675 1692 1687 9676 1676 1687 9677 1644 0 9678 1691 0 9679 1664 0 9680 1672 0 9687 1648 0 9688 1684 0 9689 1640 0 9690 1673 0 9691 1621 0 9692 1651 0 9696 1661 0 9697 1637 0 9698 1674 0 9705 1649 0 9706 1686 0 9707 1639 0 9708 1666 0 9709 1618 0 9710 1650 0 9714 1654 0 9715 1627 0 9716 1625 0 9726 1670 0 9727 1610 0 9728 1649 0 9732 1658 0 9733 1634 0 9734 1681 0 9735 1609 0 9736 1624 0 9737 1632 0 9744 1674 0 9745 1616 0 9746 1648 0 9750 1662 0 9751 1638 0 9752 1679 0 9753 1615 0 9754 1631 0 9755 1622 0 9756 1682 0 9757 1675 0 9758 1643 0 9759 1681 0 9760 1663 0 9761 1619 0 9765 1680 0 9766 1667 0 9767 1628 1688 9768 1679 1688 9769 1655 1688 9770 1613 0 9774 1678 0 9775 1671 0 9776 1635 0 9777 1677 0 9778 1659 0 9779 1656 0 9795 1630 0 9796 1689 0 9797 1661 0 9801 1623 0 9802 1687 0 9803 1691 1687 9807 1617 1687 9808 1641 1687 9809 1668 0 9819 1651 0 9820 1690 0 9821 1692 0 9951 1669 0 9952 1633 0 9953 1680 0 9957 1675 0 9958 1643 0 9959 1678 0 9960 1676 0 9961 1644 0 9962 1660 0 9963 1620 0 9964 1640 0 9965 1677 0 9969 1664 0 9970 1622 0 9971 1682 0 9978 1665 0 9979 1626 0 9980 1662 0 9981 1621 0 9982 1639 0 9983 1673 0 9990 1637 0 9991 1650 0 9992 1616 0 9996 1625 0 9997 1692 0 9998 1644 0 9999 1652 0 10000 1691 0 10001 1672 0 10008 1636 0 10009 1648 0 10010 1640 0 10011 1690 0 10012 1673 0 10013 1651 0 10017 1689 0 10018 1661 0 10019 1674 0 10026 1638 0 10027 1649 0 10028 1639 0 10029 1688 0 10030 1666 0 10031 1650 0 10035 1687 0 10036 1654 0 10037 1625 0 10047 1686 0 10048 1670 0 10049 1649 0 10053 1685 0 10054 1658 0 10055 1681 0 10056 1653 0 10057 1609 0 10058 1632 0 10065 1684 0 10066 1674 0 10067 1648 0 10071 1683 0 10072 1662 0 10073 1679 0 10074 1663 0 10075 1615 0 10076 1622 0 10077 1641 0 10078 1682 0 10079 1643 0 10080 1647 0 10081 1681 0 10082 1619 0 10086 1642 0 10087 1680 0 10088 1628 0 10089 1646 0 10090 1679 0 10091 1613 0 10095 1632 0 10096 1678 0 10097 1635 0 10098 1645 0 10099 1677 0 10100 1656 0 10116 1611 0 10117 1630 0 10118 1661 0 10122 1614 0 10123 1623 0 10124 1691 0 10128 1657 0 10129 1617 0 10130 1668 0 10140 1629 0 10141 1651 0 10142</p>
+        </polylist>
+        <polylist material="Blue-material" count="10">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1023 1182 6558 165 1182 6559 1025 1182 6560 1025 1183 6561 165 1183 6562 163 1183 6563 1027 1184 6564 1025 1184 6565 163 1184 6566 1027 1185 6567 163 1185 6568 161 1185 6569 1027 1186 6570 161 1186 6571 1029 1186 6572 1029 1187 6573 161 1187 6574 159 1187 6575 1029 1188 6576 159 1188 6577 1031 1188 6578 1031 1189 6579 159 1189 6580 157 1189 6581 1031 1190 6582 157 1190 6583 1033 1190 6584 1033 1191 6585 157 1191 6586 155 1191 6587</p>
+        </polylist>
+        <polylist material="Yellow-material" count="10">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1141 1085 6249 78 1085 6250 1140 1085 6251 1140 1086 6252 78 1086 6253 80 1086 6254 1140 1087 6255 80 1087 6256 1139 1087 6257 1139 1088 6258 80 1088 6259 82 1088 6260 1139 1089 6261 82 1089 6262 1138 1089 6263 1138 1090 6264 82 1090 6265 84 1090 6266 1138 1091 6267 84 1091 6268 1137 1091 6269 1137 1092 6270 84 1092 6271 86 1092 6272 86 1689 9822 1136 1689 9823 1137 1689 9824 86 1689 10143 88 1689 10144 1136 1689 10145</p>
+        </polylist>
+        <polylist material="Red-material" count="10">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>1112 1106 6321 70 1106 6322 1110 1106 6323 1110 1107 6324 70 1107 6325 68 1107 6326 1110 1108 6327 68 1108 6328 1108 1108 6329 1108 1109 6330 68 1109 6331 66 1109 6332 1108 1110 6333 66 1110 6334 1106 1110 6335 1106 1111 6336 66 1111 6337 64 1111 6338 1106 1112 6339 64 1112 6340 1104 1112 6341 1104 1113 6342 64 1113 6343 26 1113 6344 1104 1114 6345 26 1114 6346 1102 1114 6347 1102 1115 6348 26 1115 6349 25 1115 6350</p>
+        </polylist>
+        <polylist material="Purple-material" count="8">
+          <input semantic="VERTEX" source="#walker_track_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#walker_track_001-mesh-normals" offset="1"/>
+          <input semantic="COLOR" source="#walker_track_001-mesh-colors-Col" offset="2" set="0"/>
+          <vcount>3 3 3 3 3 3 3 3 </vcount>
+          <p>1078 1133 6405 42 1133 6406 1076 1133 6407 1076 1134 6408 42 1134 6409 41 1134 6410 1076 1135 6411 41 1135 6412 1074 1135 6413 1074 1136 6414 41 1136 6415 23 1136 6416 1072 1137 6417 23 1137 6418 22 1137 6419 1072 1138 6420 22 1138 6421 1070 1138 6422 1070 1139 6423 22 1139 6424 99 1139 6425 1072 1137 9825 1074 1137 9826 23 1137 9827</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Lamp" name="Lamp" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Lamp-light"/>
+      </node>
+      <node id="walker_track" name="walker_track" type="NODE">
+        <matrix sid="transform">0.001175366 0 0 -15 0 8.87376e-11 -0.001175366 18 0 0.001175366 8.87376e-11 0 0 0 0 1</matrix>
+        <instance_geometry url="#walker_track_001-mesh" name="walker_track">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Walls-material" target="#Walls-material"/>
+              <instance_material symbol="Road-material" target="#Road-material"/>
+              <instance_material symbol="Floor-material" target="#Floor-material"/>
+              <instance_material symbol="White-material" target="#White-material"/>
+              <instance_material symbol="Black-material" target="#Black-material"/>
+              <instance_material symbol="Blue-material" target="#Blue-material"/>
+              <instance_material symbol="Yellow-material" target="#Yellow-material"/>
+              <instance_material symbol="Red-material" target="#Red-material"/>
+              <instance_material symbol="Purple-material" target="#Purple-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/data/racecar/racecar.urdf b/data/racecar/racecar.urdf
new file mode 100644
index 000000000..d5f17202e
--- /dev/null
+++ b/data/racecar/racecar.urdf
@@ -0,0 +1,482 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from racecar.xacro                  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- inertial parameter macros -->
+  <!-- geometry macros -->
+  <!-- transmission macros -->
+  <!-- Add chassis and it's inertia link -->
+  <link name="base_link"/>
+  <link name="chassis">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/chassis.STL"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="base_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.05"/>
+    <parent link="base_link"/>
+    <child link="chassis"/>
+  </joint>
+  <link name="chassis_inertia">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1477 0 0"/>
+      <mass value="4.0"/>
+      <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
+    </inertial>
+  </link>
+  <joint name="chassis_inertia_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="chassis"/>
+    <child link="chassis_inertia"/>
+  </joint>
+  <!-- Add the left rear wheel with its joints and tranmissions -->
+  <link name="left_rear_wheel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_rear_wheel.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      robot
+      
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_rear_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
+    <parent link="chassis"/>
+    <child link="left_rear_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="left_rear_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_rear_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_rear_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the right rear wheel with its joints and tranmissions -->
+  <link name="right_rear_wheel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_rear_wheel.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_rear_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
+    <parent link="chassis"/>
+    <child link="right_rear_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="right_rear_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_rear_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_rear_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left steering hinge with its joints and tranmissions -->
+  <link name="left_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.100"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_steering_hinge.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+  </link>
+  <joint name="left_steering_hinge_joint" type="revolute">
+    <origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
+    <parent link="chassis"/>
+    <child link="left_steering_hinge"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
+  </joint>
+  <transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_steering_hinge_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_steering_hinge_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the right steering hinge with its joints and tranmissions -->
+  <link name="right_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.100"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_steering_hinge.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+  </link>
+  <joint name="right_steering_hinge_joint" type="continuous">
+    <origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
+    <parent link="chassis"/>
+    <child link="right_steering_hinge"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
+  </joint>
+  <transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_steering_hinge_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_steering_hinge_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left front wheel with its joints and tranmissions -->
+  <link name="left_front_wheel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_front_wheel.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_front_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="left_steering_hinge"/>
+    <child link="left_front_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="left_front_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_front_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_front_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left front wheel with its joints and tranmissions -->
+  <link name="right_front_wheel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <mass value="0.34055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_front_wheel.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_front_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="right_steering_hinge"/>
+    <child link="right_front_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="right_front_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_front_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_front_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add Hokuyo laser scanner -->
+  <link name="laser">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.130"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 0.1"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hokuyo.dae"/>
+        <material name="grey"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="hokuyo_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
+    <parent link="chassis"/>
+    <child link="laser"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- zed camera -->
+  <link name="zed_camera_link">
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.033 0.175 0.030"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.033 0.175 0.030"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+  <joint name="zed_camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.390 0 0.04"/>
+    <parent link="chassis"/>
+    <child link="zed_camera_link"/>
+    <axis xyz="0 0 1"/>
+    <!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
+  </joint>
+  <!-- zed camera lenses -->
+  <!-- It seems these have to have a non-zero mass to have a camera attached? -->
+  <link name="camera_link">
+    <!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <link name="zed_camera_right_link">
+    <inertial>
+      <mass value="1e-5"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="zed_camera_left_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.06 0"/>
+    <parent link="zed_camera_link"/>
+    <child link="camera_link"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="zed_camera_right_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.06 0"/>
+    <parent link="zed_camera_link"/>
+    <child link="zed_camera_right_link"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Add the remaining xacros -->
+  <!-- Gazebo references -->
+  <gazebo reference="chassis">
+    <mu1 value="0.0"/>
+    <mu2 value="0.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <material>Gazebo/Blue</material>
+  </gazebo>
+  <gazebo reference="left_rear_wheel">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <gazebo reference="right_rear_wheel">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <gazebo reference="left_front_wheel">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="0 0 1"/>
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <gazebo reference="right_front_wheel">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="0 0 1"/>
+    <material>Gazebo/Black</material>
+  </gazebo>
+  <!-- Gazebo plugins -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace>/racecar</robotNamespace>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+  <gazebo reference="laser">
+    <material>Gazebo/Grey</material>
+    <sensor name="hokuyo_sensor" type="ray">
+      <pose>0 0 0.0124 0 0 0</pose>
+      <visualize>true</visualize>
+      <update_rate>40</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>1081</samples>
+            <resolution>1</resolution>
+            <min_angle>-2.3561944902</min_angle>
+            <max_angle>2.3561944902</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.1</min>
+          <max>10.0</max>
+          <resolution>0.01</resolution>
+        </range>
+        <noise>
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
+        <topicName>/scan</topicName>
+        <frameName>laser</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <gazebo reference="camera_link">
+    <sensor name="zed_camera_left_sensor" type="camera">
+      <update_rate>30.0</update_rate>
+      <!-- math.atan(320 / 687.8065795898438) * 2 -->
+      <camera name="zed_camera_left_camera">
+        <horizontal_fov>0.8709216071359963</horizontal_fov>
+        <image>
+          <width>640</width>
+          <height>480</height>
+          <format>B8G8R8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <plugin filename="libgazebo_ros_camera.so" name="camera_controller">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>/camera/zed</cameraName>
+        <imageTopicName>rgb/image_rect_color</imageTopicName>
+        <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+        <frameName>camera_link</frameName>
+        <hackBaseline>0</hackBaseline>
+        <!-- set this to 0.12 for the second camera -->
+        <distortionK1>0.0</distortionK1>
+        <distortionK2>0.0</distortionK2>
+        <distortionK3>0.0</distortionK3>
+        <distortionT1>0.0</distortionT1>
+        <distortionT2>0.0</distortionT2>
+      </plugin>
+    </sensor>
+  </gazebo>
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+</robot>
+
diff --git a/examples/pybullet/examples/racecar.py b/examples/pybullet/examples/racecar.py
new file mode 100644
index 000000000..2bf744dff
--- /dev/null
+++ b/examples/pybullet/examples/racecar.py
@@ -0,0 +1,44 @@
+import pybullet as p
+import time
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
+	
+p.resetSimulation()
+p.setGravity(0,0,-10)
+
+useRealTimeSim = 1
+
+#for video recording (works best on Mac and Linux, not well on Windows)
+#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
+p.setRealTimeSimulation(useRealTimeSim) # either this
+#p.loadURDF("plane.urdf")
+p.loadSDF("stadium.sdf")
+
+car = p.loadURDF("racecar/racecar.urdf")
+for i in range (p.getNumJoints(car)):
+	print (p.getJointInfo(car,i))
+
+wheels = [2,3,5,7]
+steering = [4,6]
+
+targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-10,10,0)
+maxForceSlider = p.addUserDebugParameter("maxForce",0,10,10)
+steeringSlider = p.addUserDebugParameter("steering",-0.5,0.5,0)
+while (True):
+	maxForce = p.readUserDebugParameter(maxForceSlider)
+	targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
+	steeringAngle = p.readUserDebugParameter(steeringSlider)
+	#print(targetVelocity)
+	
+	for wheel in wheels:
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
+		
+	for steer in steering:
+		p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
+		
+	steering
+	if (useRealTimeSim==0):
+		p.stepSimulation()
+	time.sleep(0.01)

From 7e120340979547af4907e27281ffd590af03ccae Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 6 Jun 2017 09:45:06 -0700
Subject: [PATCH 085/175] improve racecar visuals a little bit with a texture
 on the wheels

---
 data/racecar/meshes/checker_blue.png      |  Bin 0 -> 6379 bytes
 data/racecar/meshes/cone.mtl              |   11 +
 data/racecar/meshes/cone.obj              |  125 +
 data/racecar/meshes/hokuyo.mtl            |   20 +
 data/racecar/meshes/hokuyo.obj            | 2473 +++++++++++++
 data/racecar/meshes/left_front_wheel.mtl  |   11 +
 data/racecar/meshes/left_front_wheel.obj  | 3978 ++++++++++++++++++++
 data/racecar/meshes/left_rear_wheel.mtl   |   11 +
 data/racecar/meshes/left_rear_wheel.obj   | 3979 +++++++++++++++++++++
 data/racecar/meshes/right_front_wheel.mtl |   11 +
 data/racecar/meshes/right_front_wheel.obj | 3625 +++++++++++++++++++
 data/racecar/meshes/right_rear_wheel.mtl  |   11 +
 data/racecar/meshes/right_rear_wheel.obj  | 3625 +++++++++++++++++++
 data/racecar/meshes/wheel.jpg             |  Bin 0 -> 91423 bytes
 data/racecar/racecar.urdf                 |   23 +-
 15 files changed, 17893 insertions(+), 10 deletions(-)
 create mode 100644 data/racecar/meshes/checker_blue.png
 create mode 100644 data/racecar/meshes/cone.mtl
 create mode 100644 data/racecar/meshes/cone.obj
 create mode 100644 data/racecar/meshes/hokuyo.mtl
 create mode 100644 data/racecar/meshes/hokuyo.obj
 create mode 100644 data/racecar/meshes/left_front_wheel.mtl
 create mode 100644 data/racecar/meshes/left_front_wheel.obj
 create mode 100644 data/racecar/meshes/left_rear_wheel.mtl
 create mode 100644 data/racecar/meshes/left_rear_wheel.obj
 create mode 100644 data/racecar/meshes/right_front_wheel.mtl
 create mode 100644 data/racecar/meshes/right_front_wheel.obj
 create mode 100644 data/racecar/meshes/right_rear_wheel.mtl
 create mode 100644 data/racecar/meshes/right_rear_wheel.obj
 create mode 100644 data/racecar/meshes/wheel.jpg

diff --git a/data/racecar/meshes/checker_blue.png b/data/racecar/meshes/checker_blue.png
new file mode 100644
index 0000000000000000000000000000000000000000..0894b91f1df3b097b25faf202db2da6984716d35
GIT binary patch
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diff --git a/data/racecar/meshes/cone.mtl b/data/racecar/meshes/cone.mtl
new file mode 100644
index 000000000..c6fd1f6cc
--- /dev/null
+++ b/data/racecar/meshes/cone.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl material_1
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.602353 0.301176 0.050196
+Ks 0.500000 0.500000 0.500000
+Ni -1.000000
+d 1.000000
+illum 2
diff --git a/data/racecar/meshes/cone.obj b/data/racecar/meshes/cone.obj
new file mode 100644
index 000000000..0e32f038b
--- /dev/null
+++ b/data/racecar/meshes/cone.obj
@@ -0,0 +1,125 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib cone.mtl
+o SketchUp.001_ID10
+v -0.051962 0.030000 0.005000
+v -0.060000 0.000000 0.005000
+v 0.000000 0.000000 0.170000
+v -0.051962 -0.030000 0.005000
+v 0.000000 0.000000 0.170000
+v -0.030000 0.051962 0.005000
+v 0.000000 0.000000 0.170000
+v 0.000000 0.000000 0.170000
+v -0.030000 -0.051962 0.005000
+v 0.000000 0.000000 0.170000
+v 0.000000 0.060000 0.005000
+v 0.000000 0.000000 0.170000
+v 0.000000 -0.060000 0.005000
+v 0.000000 0.000000 0.170000
+v 0.030000 0.051962 0.005000
+v 0.000000 0.000000 0.170000
+v 0.030000 -0.051962 0.005000
+v 0.000000 0.000000 0.170000
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+v 0.000000 0.000000 0.170000
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+v 0.000000 0.000000 0.170000
+vn -0.911300 0.244200 0.331400
+vn -0.911300 -0.244200 0.331400
+vn -0.667100 0.667100 0.331400
+vn -0.667100 -0.667100 0.331400
+vn -0.244200 0.911300 0.331400
+vn -0.244200 -0.911300 0.331400
+vn 0.244200 0.911300 0.331400
+vn 0.244200 -0.911300 0.331400
+vn 0.667100 0.667100 0.331400
+vn 0.667100 -0.667100 0.331400
+vn 0.911300 0.244200 0.331400
+vn 0.911300 -0.244200 0.331400
+usemtl material_1
+s 1
+f 1//1 2//1 3//1
+f 2//2 4//2 5//2
+f 6//3 1//3 7//3
+f 8//4 4//4 9//4
+f 10//5 11//5 6//5
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+f 23//12 24//12 21//12
+o SketchUp_ID2
+v 0.075000 0.075000 0.000000
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+v -0.075000 0.075000 0.000000
+v 0.075000 -0.075000 0.000000
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+v 0.075000 0.075000 0.000000
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+v 0.075000 -0.075000 0.000000
+v 0.075000 0.075000 0.005000
+v 0.075000 -0.075000 0.005000
+v -0.075000 -0.075000 0.000000
+v 0.075000 -0.075000 0.000000
+v -0.075000 -0.075000 0.005000
+v -0.075000 0.075000 0.005000
+v -0.075000 -0.075000 0.000000
+v -0.075000 -0.075000 0.005000
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+v -0.060000 0.000000 0.005000
+v -0.075000 0.075000 0.005000
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+v -0.030000 -0.051962 0.005000
+v 0.000000 -0.060000 0.005000
+v 0.075000 -0.075000 0.005000
+v 0.030000 -0.051962 0.005000
+v 0.051962 -0.030000 0.005000
+v 0.060000 0.000000 0.005000
+v 0.000000 0.060000 0.005000
+v 0.075000 0.075000 0.005000
+v -0.030000 0.051962 0.005000
+v -0.051962 0.030000 0.005000
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+v 0.051962 0.030000 0.005000
+vn 0.000000 0.000000 -1.000000
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+vn 1.000000 0.000000 0.000000
+vn 0.000000 -1.000000 0.000000
+vn -1.000000 0.000000 0.000000
+vn 0.000000 0.000000 1.000000
+usemtl material_1
+s 1
+f 25//13 26//13 27//13
+f 26//13 25//13 28//13
+f 29//14 30//14 31//14
+f 30//14 29//14 32//14
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diff --git a/data/racecar/meshes/hokuyo.mtl b/data/racecar/meshes/hokuyo.mtl
new file mode 100644
index 000000000..1d22ed29f
--- /dev/null
+++ b/data/racecar/meshes/hokuyo.mtl
@@ -0,0 +1,20 @@
+# Blender MTL File: 'None'
+# Material Count: 2
+
+newmtl black-material
+Ns 21.568627
+Ka 0.000000 0.000000 0.000000
+Kd 0.016250 0.016250 0.016250
+Ks 0.125000 0.125000 0.125000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl white_001-material
+Ns -1.960784
+Ka 0.000000 0.000000 0.000000
+Kd 0.556090 0.556090 0.556090
+Ks 0.031250 0.031250 0.031250
+Ni 1.000000
+d 1.000000
+illum 2
diff --git a/data/racecar/meshes/hokuyo.obj b/data/racecar/meshes/hokuyo.obj
new file mode 100644
index 000000000..be1f55569
--- /dev/null
+++ b/data/racecar/meshes/hokuyo.obj
@@ -0,0 +1,2473 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib hokuyo.mtl
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diff --git a/data/racecar/meshes/left_front_wheel.mtl b/data/racecar/meshes/left_front_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/left_front_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/left_front_wheel.obj b/data/racecar/meshes/left_front_wheel.obj
new file mode 100644
index 000000000..c08b16e24
--- /dev/null
+++ b/data/racecar/meshes/left_front_wheel.obj
@@ -0,0 +1,3978 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/racecar/meshes/left_rear_wheel.mtl b/data/racecar/meshes/left_rear_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/left_rear_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/left_rear_wheel.obj b/data/racecar/meshes/left_rear_wheel.obj
new file mode 100644
index 000000000..a929491b5
--- /dev/null
+++ b/data/racecar/meshes/left_rear_wheel.obj
@@ -0,0 +1,3979 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/racecar/meshes/right_front_wheel.mtl b/data/racecar/meshes/right_front_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/right_front_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/right_front_wheel.obj b/data/racecar/meshes/right_front_wheel.obj
new file mode 100644
index 000000000..0b1fe2446
--- /dev/null
+++ b/data/racecar/meshes/right_front_wheel.obj
@@ -0,0 +1,3625 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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diff --git a/data/racecar/meshes/right_rear_wheel.mtl b/data/racecar/meshes/right_rear_wheel.mtl
new file mode 100644
index 000000000..2a3af6d81
--- /dev/null
+++ b/data/racecar/meshes/right_rear_wheel.mtl
@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd wheel.jpg
diff --git a/data/racecar/meshes/right_rear_wheel.obj b/data/racecar/meshes/right_rear_wheel.obj
new file mode 100644
index 000000000..4b774696e
--- /dev/null
+++ b/data/racecar/meshes/right_rear_wheel.obj
@@ -0,0 +1,3625 @@
+# Blender v2.71 (sub 0) OBJ File: ''
+# www.blender.org
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HcmV?d00001

diff --git a/data/racecar/racecar.urdf b/data/racecar/racecar.urdf
index d5f17202e..c33450464 100644
--- a/data/racecar/racecar.urdf
+++ b/data/racecar/racecar.urdf
@@ -45,9 +45,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_rear_wheel.STL"/>
+        <mesh filename="meshes/left_rear_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       robot
@@ -85,9 +85,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_rear_wheel.STL"/>
+        <mesh filename="meshes/right_rear_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
@@ -187,9 +187,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/left_front_wheel.STL"/>
+        <mesh filename="meshes/left_front_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
@@ -225,9 +225,9 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/right_front_wheel.STL"/>
+        <mesh filename="meshes/right_front_wheel.obj"/>
       </geometry>
-      <material name="black"/>
+      <material name="white"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
@@ -269,7 +269,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/hokuyo.dae"/>
+        <mesh filename="meshes/hokuyo.obj"/>
         <material name="grey"/>
       </geometry>
     </visual>
@@ -454,8 +454,11 @@
       </plugin>
     </sensor>
   </gazebo>
+  <material name="white">
+    <color rgba="1. 1. 1. 1.0"/>
+  </material>
   <material name="black">
-    <color rgba="0.0 0.0 0.0 1.0"/>
+    <color rgba="0. 0. 0. 1.0"/>
   </material>
   <material name="blue">
     <color rgba="0.0 0.0 0.8 1.0"/>

From 0c3a3cc4667eab6ac9fe485bbd7d600cf3277d70 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 7 Jun 2017 08:37:42 -0700
Subject: [PATCH 086/175] 
 pybullet.changeDynamicsInfo/b3ChangeDynamicsInfoSetContactStiffnessAndDamping
 expose contactStiffness/contactDamping

---
 examples/SharedMemory/PhysicsClientC_API.cpp      | 15 +++++++++++++++
 examples/SharedMemory/PhysicsClientC_API.h        |  1 +
 .../PhysicsServerCommandProcessor.cpp             | 13 +++++++++++++
 examples/SharedMemory/SharedMemoryCommands.h      |  4 ++++
 examples/pybullet/pybullet.c                      | 12 ++++++++----
 5 files changed, 41 insertions(+), 4 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 2ec671d6d..ed1833f2e 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1496,6 +1496,8 @@ b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physC
 	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
 	b3Assert(command);
 	command->m_type = CMD_CHANGE_DYNAMICS_INFO;
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = -1;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = -2;
 	command->m_updateFlags = 0;
 	
 	return (b3SharedMemoryCommandHandle) command;
@@ -1580,6 +1582,19 @@ int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHan
 	return 0;
 }
 
+int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_changeDynamicsInfoArgs.m_contactStiffness =contactStiffness;
+	command->m_changeDynamicsInfoArgs.m_contactDamping = contactDamping;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING;
+	return 0;
+}
+
+
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 441395228..4fe58b9fb 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -89,6 +89,7 @@ int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle commandHa
 int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double restitution);
 int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double linearDamping);
 int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping);
+int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping);
 
 
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 40385d85c..79057432c 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4345,6 +4345,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
 								}
 
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
+								{
+									mb->getBaseCollider()->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
+								}
 								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
 								{
 									mb->getBaseCollider()->setFriction(lateralFriction);
@@ -4392,6 +4396,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
 									}
+
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
+									{
+										mb->getLinkCollider(linkIndex)->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
+									}
 								
 			
 								}
@@ -4422,6 +4431,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								body->m_rigidBody->setDamping(linDamping, clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
 							}
 
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
+							{
+								body->m_rigidBody->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
+							}
 							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
 							{
 								body->m_rigidBody->setRestitution(restitution);
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 111dbe1bb..2dfba579e 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -119,6 +119,8 @@ enum EnumChangeDynamicsInfoFlags
 	CHANGE_DYNAMICS_INFO_SET_RESTITUTION=32,
 	CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING=64,
 	CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128,
+	CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
+
 };
 
 struct ChangeDynamicsInfoArgs
@@ -133,6 +135,8 @@ struct ChangeDynamicsInfoArgs
 	double m_restitution;
 	double m_linearDamping;
 	double m_angularDamping;
+	double m_contactStiffness;
+	double m_contactDamping;
 };
 
 struct GetDynamicsInfoArgs
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 770c301de..d394269ac 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -625,12 +625,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 	double restitution = -1;
 	double linearDamping = -1;
 	double angularDamping = -1;
-
+	double contactStiffness = -1;
+	double contactDamping = -1;
 	b3PhysicsClientHandle sm = 0;
 	
 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -671,12 +672,15 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 		{
 			b3ChangeDynamicsInfoSetAngularDamping(command,bodyUniqueId,angularDamping);
 		}
-		
 
 		if (restitution>=0)
 		{
 			b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution);
 		}
+		if (contactStiffness>=0 && contactDamping >=0)
+		{
+			b3ChangeDynamicsInfoSetContactStiffnessAndDamping(command,bodyUniqueId,linkIndex,contactStiffness, contactDamping);
+		}
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	}
 	

From d08f3e5f9187e8bfea7e385bbb2004720d4b9f0c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 7 Jun 2017 09:37:28 -0700
Subject: [PATCH 087/175] expose pybullet non-contact erp, friction erp and
 frictionAnchor, b3PhysicsParamSetDefaultNonContactERP /
 b3PhysicsParamSetDefaultFrictionERP / b3ChangeDynamicsInfoSetFrictionAnchor

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 30 +++++++++++-
 examples/SharedMemory/PhysicsClientC_API.h    |  5 +-
 .../PhysicsServerCommandProcessor.cpp         | 48 ++++++++++++++++++-
 examples/SharedMemory/SharedMemoryCommands.h  |  8 +++-
 examples/pybullet/pybullet.c                  | 31 ++++++++++--
 .../pybullet/tensorflow/humanoid_running.py   |  2 +-
 6 files changed, 112 insertions(+), 12 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index ed1833f2e..2e335a8ce 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -452,10 +452,24 @@ int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle
     command->m_physSimParamArgs.m_defaultContactERP = defaultContactERP;
     return 0;
 }
+int	b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultNonContactERP)
+{
+	    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+    command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP;
+    command->m_physSimParamArgs.m_defaultNonContactERP = defaultNonContactERP;
+    return 0;
+}
+int	b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandle, double frictionERP)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP;
+	command->m_physSimParamArgs.m_frictionERP = frictionERP;
+	return 0;
+}
 
 
-int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
-
 b3SharedMemoryCommandHandle	b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -1594,6 +1608,18 @@ int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandl
 	return 0;
 }
 
+int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_changeDynamicsInfoArgs.m_frictionAnchor = frictionAnchor;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR;
+	return 0;
+}
+
+
 
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 4fe58b9fb..5fd7dd61c 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -90,7 +90,7 @@ int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle
 int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double linearDamping);
 int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping);
 int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping);
-
+int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor);
 
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
 
@@ -220,6 +220,9 @@ b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle phys
 int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
 int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
 int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
+int	b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultNonContactERP);
+int	b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandle, double frictionERP);
+
 int	b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
 int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
 int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 79057432c..c89f4af21 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4360,7 +4360,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
 								{
 									mb->getBaseCollider()->setRollingFriction(rollingFriction);
-								}								
+								}		
+
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
+								{
+									if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
+									{
+										mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+									} else
+									{
+										mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+									}
+								}		
 							}
 							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
 							{
@@ -4392,6 +4403,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 										mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
 									}
 
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
+									{
+										if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
+										{
+											mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+										} else
+										{
+											mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+										}
+									}		
+
+
 									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
 									{
 										mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
@@ -4452,6 +4475,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								body->m_rigidBody->setRollingFriction(rollingFriction);
 							}
 
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
+							{
+								if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
+								{
+									body->m_rigidBody->setCollisionFlags(body->m_rigidBody->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+								} else
+								{
+									body->m_rigidBody->setCollisionFlags(body->m_rigidBody->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+								}
+							}	
+
 							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
 							{
 								btVector3 localInertia;
@@ -4568,6 +4602,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     {
                         m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
                     }
+
+					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP)
+                    {
+                        m_data->m_dynamicsWorld->getSolverInfo().m_erp = clientCmd.m_physSimParamArgs.m_defaultNonContactERP;
+                    }
+
+					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP)
+                    {
+                        m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionERP;
+                    }
+					
+
 					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
                     {
                         m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold = clientCmd.m_physSimParamArgs.m_restitutionVelocityThreshold;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 2dfba579e..0ef7a2b68 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -120,6 +120,7 @@ enum EnumChangeDynamicsInfoFlags
 	CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING=64,
 	CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128,
 	CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
+	CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
 
 };
 
@@ -137,6 +138,7 @@ struct ChangeDynamicsInfoArgs
 	double m_angularDamping;
 	double m_contactStiffness;
 	double m_contactDamping;
+	int m_frictionAnchor;
 };
 
 struct GetDynamicsInfoArgs
@@ -371,8 +373,8 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_MAX_CMD_PER_1MS = 2048,
 	SIM_PARAM_ENABLE_FILE_CACHING = 4096,
 	SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192,
-
-
+	SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP=16384,
+	SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
 };
 
 enum EnumLoadBunnyUpdateFlags
@@ -406,6 +408,8 @@ struct SendPhysicsSimulationParameters
 	int m_collisionFilterMode;
 	int m_enableFileCaching;
 	double m_restitutionVelocityThreshold;
+	double 	m_defaultNonContactERP;
+	double m_frictionERP;
 };
 
 struct LoadBunnyArgs
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index d394269ac..f4b14b62c 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -627,11 +627,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 	double angularDamping = -1;
 	double contactStiffness = -1;
 	double contactDamping = -1;
+	int frictionAnchor = -1;
+
 	b3PhysicsClientHandle sm = 0;
 	
 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddii", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -681,6 +683,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
 		{
 			b3ChangeDynamicsInfoSetContactStiffnessAndDamping(command,bodyUniqueId,linkIndex,contactStiffness, contactDamping);
 		}
+		if (frictionAnchor>=0)
+		{
+			b3ChangeDynamicsInfoSetFrictionAnchor(command,bodyUniqueId,linkIndex, frictionAnchor);
+		}
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	}
 	
@@ -757,13 +763,16 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	int maxNumCmdPer1ms = -2;
 	int enableFileCaching = -1;
 	double restitutionVelocityThreshold=-1;
+	double erp;
+	double contactERP = -1;
+	double frictionERP = -1;
 	b3PhysicsClientHandle sm = 0;
 
 	int physicsClientId = 0;
-	static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "physicsClientId", NULL};
+	static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
-									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
+									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -823,6 +832,18 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 			b3PhysicsParamSetEnableFileCaching(command, enableFileCaching);
 		}
 
+		if (erp>=0)
+		{
+			b3PhysicsParamSetDefaultNonContactERP(command,erp);
+		}
+		if (contactERP>=0)
+		{
+			b3PhysicsParamSetDefaultContactERP(command,contactERP);
+		}
+		if (frictionERP >=0)
+		{
+			b3PhysicsParamSetDefaultFrictionERP(command,frictionERP);
+		}
 		//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
 
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
diff --git a/examples/pybullet/tensorflow/humanoid_running.py b/examples/pybullet/tensorflow/humanoid_running.py
index c4c741f10..b64310429 100644
--- a/examples/pybullet/tensorflow/humanoid_running.py
+++ b/examples/pybullet/tensorflow/humanoid_running.py
@@ -188,7 +188,7 @@ def demo_run():
 		distance=5
 		yaw = 0
 		humanPos, humanOrn = p.getBasePositionAndOrientation(human)
-		p.resetDebugVisualizerCamera(distance,yaw,20,humanPos);
+		p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
 		frame += 1
 		
 		if frame==1000: break

From 60e3887456f3a8914451ad90a5b87d965c2df7ad Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 7 Jun 2017 13:44:34 -0700
Subject: [PATCH 088/175] enable btGearConstraint, expose 'changeDynamics' for
 gearRatio, only works for maximalCoordinates rigid bodies. See
 examples\pybullet\examples\mimicJointConstraint.py

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 11 ++++
 examples/SharedMemory/PhysicsClientC_API.h    |  4 +-
 .../PhysicsServerCommandProcessor.cpp         | 54 ++++++++++++++++++-
 examples/SharedMemory/SharedMemoryCommands.h  |  2 +-
 examples/SharedMemory/SharedMemoryPublic.h    |  3 ++
 .../pybullet/examples/mimicJointConstraint.py | 16 ++++++
 examples/pybullet/pybullet.c                  | 12 +++--
 7 files changed, 94 insertions(+), 8 deletions(-)
 create mode 100644 examples/pybullet/examples/mimicJointConstraint.py

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 2e335a8ce..7c02f71c0 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1704,7 +1704,18 @@ int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHan
 
 	return 0;
 }
+int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_USER_CONSTRAINT);
+	b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
+	
+	command->m_updateFlags |=USER_CONSTRAINT_CHANGE_GEAR_RATIO;
+	command->m_userConstraintArguments.m_gearRatio = gearRatio;
 
+	return 0;
+}
 
 b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 5fd7dd61c..aefdf469e 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -102,7 +102,9 @@ b3SharedMemoryCommandHandle  b3InitChangeUserConstraintCommand(b3PhysicsClientHa
 int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[3]);
 int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
 int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
-	
+int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
+
+
 b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
 
 int b3GetNumUserConstraints(b3PhysicsClientHandle physClient);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index c89f4af21..85b75acbb 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5877,7 +5877,48 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							
 								}
 							}
+						}
+						else
+						{
+							InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
+						
+							if (parentBody && childBody)
+							{
+								if (parentBody->m_rigidBody)
+								{
+									if (clientCmd.m_userConstraintArguments.m_jointType == eGearType)
+									{
+										btRigidBody* childRb = childBody->m_rigidBody;
+										if (childRb)
+										{
+											btVector3 axisA(clientCmd.m_userConstraintArguments.m_jointAxis[0],
+												clientCmd.m_userConstraintArguments.m_jointAxis[1],
+												clientCmd.m_userConstraintArguments.m_jointAxis[2]);
+
+											//for now we use the same local axis for both objects
+											btVector3 axisB(clientCmd.m_userConstraintArguments.m_jointAxis[0],
+												clientCmd.m_userConstraintArguments.m_jointAxis[1],
+												clientCmd.m_userConstraintArguments.m_jointAxis[2]);
+
+											btScalar ratio=1;
+											btGearConstraint* gear = new btGearConstraint(*parentBody->m_rigidBody,*childRb, axisA,axisB,ratio);
+											m_data->m_dynamicsWorld->addConstraint(gear,true);
+
+											InteralUserConstraintData userConstraintData;
+											userConstraintData.m_rbConstraint = gear;
+											int uid = m_data->m_userConstraintUIDGenerator++;
+											serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
+											serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
+											serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
+											userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
+											m_data->m_userConstraints.insert(uid,userConstraintData);
+
+											serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
+										}
+									}
+								}
 							}
+						}
 					}
 
 					if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT)
@@ -5921,7 +5962,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							}
 							if (userConstraintPtr->m_rbConstraint)
 							{
-								//todo
+								if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
+								{
+									if (userConstraintPtr->m_rbConstraint->getObjectType()==GEAR_CONSTRAINT_TYPE)
+									{
+										btGearConstraint* gear = (btGearConstraint*) userConstraintPtr->m_rbConstraint;
+										gear->setRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
+									}
+								}
 							}
 							serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
 							serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = userConstraintUidChange;
@@ -5944,7 +5992,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							}
 							if (userConstraintPtr->m_rbConstraint)
 							{
-
+								m_data->m_dynamicsWorld->removeConstraint(userConstraintPtr->m_rbConstraint);
+								delete userConstraintPtr->m_rbConstraint;
+								m_data->m_userConstraints.remove(userConstraintUidRemove);	
 							}
 							serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = userConstraintUidRemove;
 							serverCmd.m_type = CMD_REMOVE_USER_CONSTRAINT_COMPLETED;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 0ef7a2b68..d6f675fa9 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -627,7 +627,7 @@ enum EnumUserConstraintFlags
 	USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B=16,
 	USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
 	USER_CONSTRAINT_REQUEST_INFO=64,
-	
+	USER_CONSTRAINT_CHANGE_GEAR_RATIO=128,	
 };
 
 enum EnumBodyChangeFlags
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index e5b288dbb..d6cc19a56 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -184,6 +184,7 @@ enum JointType {
 	ePlanarType = 3,
 	eFixedType = 4,
 	ePoint2PointType = 5,
+	eGearType=6
 };
 
 
@@ -227,6 +228,8 @@ struct b3UserConstraint
     int m_jointType;
     double m_maxAppliedForce;
     int m_userConstraintUniqueId;
+	double m_gearRatio;
+
 };
 
 struct b3BodyInfo
diff --git a/examples/pybullet/examples/mimicJointConstraint.py b/examples/pybullet/examples/mimicJointConstraint.py
new file mode 100644
index 000000000..a92edc130
--- /dev/null
+++ b/examples/pybullet/examples/mimicJointConstraint.py
@@ -0,0 +1,16 @@
+#mimic joint currently only works for 'maximal coordinate' rigid bodies
+#one way to use it would be to attach maximal coordinate rigid bodies to multibody links using
+#fixed constraints
+
+import pybullet as p
+import time
+p.connect(p.GUI)
+wheelA = p.loadURDF("wheel.urdf",[0,0,0],useMaximalCoordinates=1)
+wheelB = p.loadURDF("wheel.urdf",[0,0,1],useMaximalCoordinates=1)
+c = p.createConstraint(wheelA,-1,wheelB,-1,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-0.1)
+p.setRealTimeSimulation(1)
+while(1):
+	time.sleep(0.01)
+p.removeConstraint(c)
+	
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index f4b14b62c..0c7ae9f0e 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -4608,7 +4608,7 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
 
 static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "physicsClientId", NULL};
+	static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "physicsClientId", NULL};
 	int userConstraintUniqueId = -1;
 	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
@@ -4620,8 +4620,8 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	double jointChildPivot[3];
 	double jointChildFrameOrn[4];
 	double maxForce = -1;
-
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOdi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &physicsClientId))
+	double gearRatio = 0;
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -4647,7 +4647,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	{
 		b3InitChangeUserConstraintSetMaxForce(commandHandle, maxForce);
 	}
-
+	if (gearRatio!=0)
+	{
+		b3InitChangeUserConstraintSetGearRatio(commandHandle,gearRatio);
+	}
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);
 	Py_INCREF(Py_None);
@@ -6769,6 +6772,7 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "JOINT_PLANAR", ePlanarType);            // user read
 	PyModule_AddIntConstant(m, "JOINT_FIXED", eFixedType);              // user read
 	PyModule_AddIntConstant(m, "JOINT_POINT2POINT", ePoint2PointType);  // user read
+	PyModule_AddIntConstant(m, "JOINT_GEAR", eGearType);  // user read
 
 	PyModule_AddIntConstant(m, "SENSOR_FORCE_TORQUE", eSensorForceTorqueType);  // user read
 

From 46f2f3db4ef8e7de42fccc8dfb8018b61a3b55a0 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 7 Jun 2017 16:22:02 -0700
Subject: [PATCH 089/175] implement 'mimic' joint constraint or 'gear'
 constraint for btMultiBody, add example in
 pybullet/examples/mimicJointConstraint.py

---
 .../PhysicsServerCommandProcessor.cpp         |  43 ++++-
 .../pybullet/examples/mimicJointConstraint.py |  19 +-
 setup.py                                      |   1 +
 src/BulletDynamics/CMakeLists.txt             |   2 +
 .../Featherstone/btMultiBodyConstraint.h      |   1 +
 .../btMultiBodyGearConstraint.cpp             | 169 ++++++++++++++++++
 .../Featherstone/btMultiBodyGearConstraint.h  | 103 +++++++++++
 7 files changed, 329 insertions(+), 9 deletions(-)
 create mode 100644 src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
 create mode 100644 src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 85b75acbb..9103e4384 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -10,6 +10,10 @@
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
 #include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
+#include "BulletDynamics/Featherstone/btMultiBodyGearConstraint.h"
+
+
+
 #include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -5759,7 +5763,31 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_userConstraintArguments.m_parentFrame[3], clientCmd.m_userConstraintArguments.m_parentFrame[4], clientCmd.m_userConstraintArguments.m_parentFrame[5], clientCmd.m_userConstraintArguments.m_parentFrame[6]));
 									btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_userConstraintArguments.m_childFrame[3], clientCmd.m_userConstraintArguments.m_childFrame[4], clientCmd.m_userConstraintArguments.m_childFrame[5], clientCmd.m_userConstraintArguments.m_childFrame[6]));
 									btVector3 jointAxis(clientCmd.m_userConstraintArguments.m_jointAxis[0], clientCmd.m_userConstraintArguments.m_jointAxis[1], clientCmd.m_userConstraintArguments.m_jointAxis[2]);
-									if (clientCmd.m_userConstraintArguments.m_jointType == eFixedType)
+									
+
+									
+									if (clientCmd.m_userConstraintArguments.m_jointType == eGearType)
+									{
+										if (childBody && childBody->m_multiBody)
+										{
+											if ((clientCmd.m_userConstraintArguments.m_childJointIndex>=-1) && (clientCmd.m_userConstraintArguments.m_childJointIndex <childBody->m_multiBody->getNumLinks()))
+											{
+												btMultiBodyGearConstraint* multibodyGear = new btMultiBodyGearConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
+												multibodyGear->setMaxAppliedImpulse(defaultMaxForce);
+												m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyGear);
+												InteralUserConstraintData userConstraintData;
+												userConstraintData.m_mbConstraint = multibodyGear;
+												int uid = m_data->m_userConstraintUIDGenerator++;
+												serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
+												serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
+												userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
+												m_data->m_userConstraints.insert(uid,userConstraintData);
+												serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
+											}
+									
+										}
+									}
+									else if (clientCmd.m_userConstraintArguments.m_jointType == eFixedType)
 									{
 										if (childBody && childBody->m_multiBody)
 										{
@@ -5959,9 +5987,22 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
 									userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
 								}
+
+								if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
+								{
+									userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
+								}
+
 							}
 							if (userConstraintPtr->m_rbConstraint)
 							{
+								if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
+								{
+									btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce*m_data->m_physicsDeltaTime;
+									userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
+									//userConstraintPtr->m_rbConstraint->setMaxAppliedImpulse(maxImp);
+								}
+
 								if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
 								{
 									if (userConstraintPtr->m_rbConstraint->getObjectType()==GEAR_CONSTRAINT_TYPE)
diff --git a/examples/pybullet/examples/mimicJointConstraint.py b/examples/pybullet/examples/mimicJointConstraint.py
index a92edc130..af615e02f 100644
--- a/examples/pybullet/examples/mimicJointConstraint.py
+++ b/examples/pybullet/examples/mimicJointConstraint.py
@@ -1,16 +1,19 @@
-#mimic joint currently only works for 'maximal coordinate' rigid bodies
-#one way to use it would be to attach maximal coordinate rigid bodies to multibody links using
-#fixed constraints
+#a mimic joint can act as a gear between two joints
+#you can control the gear ratio in magnitude and sign (>0 reverses direction)
 
 import pybullet as p
 import time
 p.connect(p.GUI)
-wheelA = p.loadURDF("wheel.urdf",[0,0,0],useMaximalCoordinates=1)
-wheelB = p.loadURDF("wheel.urdf",[0,0,1],useMaximalCoordinates=1)
-c = p.createConstraint(wheelA,-1,wheelB,-1,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
-p.changeConstraint(c,gearRatio=-0.1)
+wheelA = p.loadURDF("wheel.urdf",[0,0,0])
+wheelB = p.loadURDF("wheel.urdf",[0,0,1])
+p.setJointMotorControl2(wheelA,0,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
+p.setJointMotorControl2(wheelB,0,p.VELOCITY_CONTROL,targetVelocity=1,force=1)
+
+c = p.createConstraint(wheelA,0,wheelB,0,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-0.1, maxForce=10000)
+
 p.setRealTimeSimulation(1)
 while(1):
 	time.sleep(0.01)
-p.removeConstraint(c)
+#p.removeConstraint(c)
 	
\ No newline at end of file
diff --git a/setup.py b/setup.py
index ecd77a484..11f5ed71c 100644
--- a/setup.py
+++ b/setup.py
@@ -253,6 +253,7 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["src/BulletDynamics/Featherstone/btMultiBody.cpp"]\
 +["src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp"]\
 +["src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp"]\
++["src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp"]\
 +["src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp"]\
 +["src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp"]\
 +["src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp"]\
diff --git a/src/BulletDynamics/CMakeLists.txt b/src/BulletDynamics/CMakeLists.txt
index 4023d721e..f8a6f34ba 100644
--- a/src/BulletDynamics/CMakeLists.txt
+++ b/src/BulletDynamics/CMakeLists.txt
@@ -37,6 +37,7 @@ SET(BulletDynamics_SRCS
 	Featherstone/btMultiBodyFixedConstraint.cpp
 	Featherstone/btMultiBodySliderConstraint.cpp
 	Featherstone/btMultiBodyJointMotor.cpp
+	Featherstone/btMultiBodyGearConstraint.cpp
 	MLCPSolvers/btDantzigLCP.cpp
 	MLCPSolvers/btMLCPSolver.cpp
 	MLCPSolvers/btLemkeAlgorithm.cpp
@@ -98,6 +99,7 @@ SET(Featherstone_HDRS
 	Featherstone/btMultiBodyFixedConstraint.h
 	Featherstone/btMultiBodySliderConstraint.h
 	Featherstone/btMultiBodyJointMotor.h
+	Featherstone/btMultiBodyGearConstraint.h	
 )
 
 SET(MLCPSolvers_HDRS
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
index 7204f2785..27e1ccc05 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
@@ -183,6 +183,7 @@ public:
 
 	virtual void debugDraw(class btIDebugDraw* drawer)=0;
 
+	virtual void setGearRatio(btScalar ratio) {}
 };
 
 #endif //BT_MULTIBODY_CONSTRAINT_H
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
new file mode 100644
index 000000000..2e242b1f7
--- /dev/null
+++ b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
@@ -0,0 +1,169 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+///This file was written by Erwin Coumans
+
+#include "btMultiBodyGearConstraint.h"
+#include "btMultiBody.h"
+#include "btMultiBodyLinkCollider.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+
+btMultiBodyGearConstraint::btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
+	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,1,false),
+	m_gearRatio(1)
+{
+   
+}
+
+void btMultiBodyGearConstraint::finalizeMultiDof()
+{
+	
+	allocateJacobiansMultiDof();
+	
+	m_numDofsFinalized = m_jacSizeBoth;
+}
+
+btMultiBodyGearConstraint::~btMultiBodyGearConstraint()
+{
+}
+
+
+int btMultiBodyGearConstraint::getIslandIdA() const
+{
+
+	if (m_bodyA)
+	{
+		btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+		if (col)
+			return col->getIslandTag();
+		for (int i=0;i<m_bodyA->getNumLinks();i++)
+		{
+			if (m_bodyA->getLink(i).m_collider)
+				return m_bodyA->getLink(i).m_collider->getIslandTag();
+		}
+	}
+	return -1;
+}
+
+int btMultiBodyGearConstraint::getIslandIdB() const
+{
+	if (m_bodyB)
+	{
+		btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
+		if (col)
+			return col->getIslandTag();
+
+		for (int i=0;i<m_bodyB->getNumLinks();i++)
+		{
+			col = m_bodyB->getLink(i).m_collider;
+			if (col)
+				return col->getIslandTag();
+		}
+	}
+	return -1;
+}
+
+
+void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
+		btMultiBodyJacobianData& data,
+		const btContactSolverInfo& infoGlobal)
+{
+    // only positions need to be updated -- data.m_jacobians and force
+    // directions were set in the ctor and never change.
+	
+	if (m_numDofsFinalized != m_jacSizeBoth)
+	{
+        finalizeMultiDof();
+	}
+
+	//don't crash
+	if (m_numDofsFinalized != m_jacSizeBoth)
+		return;
+
+	
+	if (m_maxAppliedImpulse==0.f)
+		return;
+	
+	// note: we rely on the fact that data.m_jacobians are
+	// always initialized to zero by the Constraint ctor
+	int linkDoF = 0;
+	unsigned int offsetA = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF);
+	unsigned int offsetB = 6 + (m_bodyB->getLink(m_linkB).m_dofOffset + linkDoF);
+
+	// row 0: the lower bound
+	jacobianA(0)[offsetA] = 1;
+	jacobianB(0)[offsetB] = m_gearRatio;
+
+	const btScalar posError = 0;
+	const btVector3 dummy(0, 0, 0);
+	btScalar erp = infoGlobal.m_erp;
+	btScalar kp = 1;
+	btScalar kd = 1;
+	int numRows = getNumRows();
+
+	for (int row=0;row<numRows;row++)
+	{
+		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
+
+
+        int dof = 0;
+        btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
+        btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
+
+		//btScalar positionStabiliationTerm = erp*(m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
+        //btScalar velocityError = (m_desiredVelocity - currentVelocity);
+
+        btScalar desiredRelativeVelocity =   0;
+    
+		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,desiredRelativeVelocity);
+
+		constraintRow.m_orgConstraint = this;
+		constraintRow.m_orgDofIndex = row;
+		{
+			//expect either prismatic or revolute joint type for now
+			btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
+			switch (m_bodyA->getLink(m_linkA).m_jointType)
+			{
+				case btMultibodyLink::eRevolute:
+				{
+					constraintRow.m_contactNormal1.setZero();
+					constraintRow.m_contactNormal2.setZero();
+					btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
+					constraintRow.m_relpos1CrossNormal=revoluteAxisInWorld;
+					constraintRow.m_relpos2CrossNormal=-revoluteAxisInWorld;
+					
+					break;
+				}
+				case btMultibodyLink::ePrismatic:
+				{
+					btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
+					constraintRow.m_contactNormal1=prismaticAxisInWorld;
+					constraintRow.m_contactNormal2=-prismaticAxisInWorld;
+					constraintRow.m_relpos1CrossNormal.setZero();
+					constraintRow.m_relpos2CrossNormal.setZero();					
+					break;
+				}
+				default:
+				{
+					btAssert(0);
+				}
+			};
+			
+		}
+
+	}
+
+}
+
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
new file mode 100644
index 000000000..947166ae7
--- /dev/null
+++ b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
@@ -0,0 +1,103 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+///This file was written by Erwin Coumans
+
+#ifndef BT_MULTIBODY_GEAR_CONSTRAINT_H
+#define BT_MULTIBODY_GEAR_CONSTRAINT_H
+
+#include "btMultiBodyConstraint.h"
+
+class btMultiBodyGearConstraint : public btMultiBodyConstraint
+{
+protected:
+
+	btRigidBody*	m_rigidBodyA;
+	btRigidBody*	m_rigidBodyB;
+	btVector3		m_pivotInA;
+	btVector3		m_pivotInB;
+  btMatrix3x3     m_frameInA;
+  btMatrix3x3     m_frameInB;
+	btScalar			m_gearRatio;
+	
+public:
+
+	btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
+	btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
+
+	virtual ~btMultiBodyGearConstraint();
+
+	virtual void finalizeMultiDof();
+
+	virtual int getIslandIdA() const;
+	virtual int getIslandIdB() const;
+
+	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
+		btMultiBodyJacobianData& data,
+		const btContactSolverInfo& infoGlobal);
+
+    const btVector3& getPivotInA() const
+    {
+        return m_pivotInA;
+    }
+    
+    void setPivotInA(const btVector3& pivotInA)
+    {
+        m_pivotInA = pivotInA;
+    }
+
+	const btVector3& getPivotInB() const
+	{
+		return m_pivotInB;
+	}
+
+	virtual void setPivotInB(const btVector3& pivotInB)
+	{
+		m_pivotInB = pivotInB;
+	}
+    
+    const btMatrix3x3& getFrameInA() const
+    {
+        return m_frameInA;
+    }
+    
+    void setFrameInA(const btMatrix3x3& frameInA)
+    {
+        m_frameInA = frameInA;
+    }
+    
+    const btMatrix3x3& getFrameInB() const
+    {
+        return m_frameInB;
+    }
+    
+    virtual void setFrameInB(const btMatrix3x3& frameInB)
+    {
+        m_frameInB = frameInB;
+    }
+
+	virtual void debugDraw(class btIDebugDraw* drawer)
+	{
+		//todo(erwincoumans)
+	}
+	
+	virtual void setGearRatio(btScalar gearRatio)
+	{
+		m_gearRatio = gearRatio;
+	}
+
+};
+
+#endif //BT_MULTIBODY_GEAR_CONSTRAINT_H

From c1e32e64284e63c3a748f283d6700129a2b32669 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 7 Jun 2017 19:00:44 -0700
Subject: [PATCH 090/175] fix potential memory leaks

---
 .../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp   | 2 ++
 examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp  | 8 ++++++++
 examples/SharedMemory/PhysicsServerExample.cpp            | 5 +++++
 3 files changed, 15 insertions(+)

diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
index c14658ab9..e0301587a 100644
--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
@@ -64,8 +64,10 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 							meshData.m_textureHeight = height;
 						} else
 						{
+							b3Warning("Unsupported texture image format [%s]\n",relativeFileName);
 							meshData.m_textureWidth = 0;
 							meshData.m_textureHeight = 0;
+							break;
 						}
 
                     } else
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index d243c1bc9..86f707a2f 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -1243,6 +1243,14 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
 			const UrdfCollision& col = link->m_collisionArray[v];
 			btCollisionShape* childShape = convertURDFToCollisionShape(&col ,pathPrefix);
 			m_data->m_allocatedCollisionShapes.push_back(childShape);
+			if (childShape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
+			{
+				btCompoundShape* compound = (btCompoundShape*) childShape;
+				for (int i=0;i<compound->getNumChildShapes();i++)
+				{
+					m_data->m_allocatedCollisionShapes.push_back(compound->getChildShape(i));
+				}
+			}
 			
 			if (childShape)
 			{
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 1180dcfd8..cbf7427bb 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -723,6 +723,11 @@ public:
 	virtual ~MultiThreadedOpenGLGuiHelper()
 	{
 		//delete m_childGuiHelper;
+		if (m_debugDraw)
+		{
+			delete m_debugDraw;
+			m_debugDraw = 0;
+		}
 	}
 
 	void setCriticalSection(b3CriticalSection* cs)

From 9d422c9b080b65a82b05602280ebea7d0eb5c928 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 7 Jun 2017 19:02:23 -0700
Subject: [PATCH 091/175] bump up pybullet version

---
 setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.py b/setup.py
index 11f5ed71c..235396713 100644
--- a/setup.py
+++ b/setup.py
@@ -419,7 +419,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.1.2',
+	version='1.1.3',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From c1f6b7e9b85bdea10dc39324d72cc13f8c09b1fd Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Thu, 8 Jun 2017 09:21:32 -0700
Subject: [PATCH 092/175] fix memory leak in case a Wavefront .obj file had
 multiple shapes (texture was loaded multiple times, while only releasing one)

---
 examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
index e0301587a..7912b3c49 100644
--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
@@ -36,7 +36,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 		
 		//int textureIndex = -1;
 		//try to load some texture
-		for (int i=0;i<shapes.size();i++)
+		for (int i=0; meshData.m_textureImage==0  && i<shapes.size();i++)
 		{
 			const tinyobj::shape_t& shape = shapes[i];
 			if (shape.material.diffuse_texname.length()>0)

From b325844b9afac1a8b3d18aed131efc1946b106b4 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 8 Jun 2017 14:28:33 -0700
Subject: [PATCH 093/175] add missing 'wheel.urdf" and very simple procedural
 terrain generation (sine wave)

---
 data/terrain.obj  | 2583 +++++++++++++++++++++++++++++++++++++++++++++
 data/terrain.py   |   59 ++
 data/terrain.urdf |   29 +
 data/wheel.urdf   |   42 +
 4 files changed, 2713 insertions(+)
 create mode 100644 data/terrain.obj
 create mode 100644 data/terrain.py
 create mode 100644 data/terrain.urdf
 create mode 100644 data/wheel.urdf

diff --git a/data/terrain.obj b/data/terrain.obj
new file mode 100644
index 000000000..d8f4e204a
--- /dev/null
+++ b/data/terrain.obj
@@ -0,0 +1,2583 @@
+o Terrain
+v  -15.0   -15.0   0.0
+v  -14.0   -15.0   0.0811990914301
+v  -13.0   -15.0   0.0877441126682
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+f  235   236   266  
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+f  27   28   58  
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+f  207   208   238  
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+f  237   268   267  
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+f  297   298   328  
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+f  777   808   807  
+f  807   808   838  
+f  807   838   837  
+f  837   838   868  
+f  837   868   867  
+f  867   868   898  
+f  867   898   897  
+f  28   29   59  
+f  28   59   58  
+f  58   59   89  
+f  58   89   88  
+f  88   89   119  
+f  88   119   118  
+f  118   119   149  
+f  118   149   148  
+f  148   149   179  
+f  148   179   178  
+f  178   179   209  
+f  178   209   208  
+f  208   209   239  
+f  208   239   238  
+f  238   239   269  
+f  238   269   268  
+f  268   269   299  
+f  268   299   298  
+f  298   299   329  
+f  298   329   328  
+f  328   329   359  
+f  328   359   358  
+f  358   359   389  
+f  358   389   388  
+f  388   389   419  
+f  388   419   418  
+f  418   419   449  
+f  418   449   448  
+f  448   449   479  
+f  448   479   478  
+f  478   479   509  
+f  478   509   508  
+f  508   509   539  
+f  508   539   538  
+f  538   539   569  
+f  538   569   568  
+f  568   569   599  
+f  568   599   598  
+f  598   599   629  
+f  598   629   628  
+f  628   629   659  
+f  628   659   658  
+f  658   659   689  
+f  658   689   688  
+f  688   689   719  
+f  688   719   718  
+f  718   719   749  
+f  718   749   748  
+f  748   749   779  
+f  748   779   778  
+f  778   779   809  
+f  778   809   808  
+f  808   809   839  
+f  808   839   838  
+f  838   839   869  
+f  838   869   868  
+f  868   869   899  
+f  868   899   898  
+f  29   30   60  
+f  29   60   59  
+f  59   60   90  
+f  59   90   89  
+f  89   90   120  
+f  89   120   119  
+f  119   120   150  
+f  119   150   149  
+f  149   150   180  
+f  149   180   179  
+f  179   180   210  
+f  179   210   209  
+f  209   210   240  
+f  209   240   239  
+f  239   240   270  
+f  239   270   269  
+f  269   270   300  
+f  269   300   299  
+f  299   300   330  
+f  299   330   329  
+f  329   330   360  
+f  329   360   359  
+f  359   360   390  
+f  359   390   389  
+f  389   390   420  
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+f  419   420   450  
+f  419   450   449  
+f  449   450   480  
+f  449   480   479  
+f  479   480   510  
+f  479   510   509  
+f  509   510   540  
+f  509   540   539  
+f  539   540   570  
+f  539   570   569  
+f  569   570   600  
+f  569   600   599  
+f  599   600   630  
+f  599   630   629  
+f  629   630   660  
+f  629   660   659  
+f  659   660   690  
+f  659   690   689  
+f  689   690   720  
+f  689   720   719  
+f  719   720   750  
+f  719   750   749  
+f  749   750   780  
+f  749   780   779  
+f  779   780   810  
+f  779   810   809  
+f  809   810   840  
+f  809   840   839  
+f  839   840   870  
+f  839   870   869  
+f  869   870   900  
+f  869   900   899  
diff --git a/data/terrain.py b/data/terrain.py
new file mode 100644
index 000000000..53a357a3f
--- /dev/null
+++ b/data/terrain.py
@@ -0,0 +1,59 @@
+import math
+
+NUM_VERTS_X = 30
+NUM_VERTS_Y = 30
+totalVerts = NUM_VERTS_X*NUM_VERTS_Y
+totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1)
+offset = -50.0
+TRIANGLE_SIZE = 1.
+waveheight=0.1
+gGroundVertices = [None] * totalVerts*3
+gGroundIndices = [None] * totalTriangles*3
+
+i=0
+
+for i in range (NUM_VERTS_X):		
+	for j in range (NUM_VERTS_Y):
+		gGroundVertices[(i+j*NUM_VERTS_X)*3+0] = (i-NUM_VERTS_X*0.5)*TRIANGLE_SIZE
+		gGroundVertices[(i+j*NUM_VERTS_X)*3+1] = (j-NUM_VERTS_Y*0.5)*TRIANGLE_SIZE
+		gGroundVertices[(i+j*NUM_VERTS_X)*3+2] = waveheight*math.sin(float(i))*math.cos(float(j)+offset)
+		                         
+index=0
+for i in range (NUM_VERTS_X-1):
+	for j in range (NUM_VERTS_Y-1):
+		gGroundIndices[index] = 1+j*NUM_VERTS_X+i
+		index+=1
+		gGroundIndices[index] = 1+j*NUM_VERTS_X+i+1
+		index+=1
+		gGroundIndices[index] = 1+(j+1)*NUM_VERTS_X+i+1
+		index+=1
+		gGroundIndices[index] = 1+j*NUM_VERTS_X+i
+		index+=1
+		gGroundIndices[index] = 1+(j+1)*NUM_VERTS_X+i+1
+		index+=1
+		gGroundIndices[index] = 1+(j+1)*NUM_VERTS_X+i
+		index+=1
+
+#print(gGroundVertices)
+#print(gGroundIndices)
+
+print("o Terrain")
+
+for i in range (totalVerts):
+	print("v "),
+	print(gGroundVertices[i*3+0]),
+	print(" "),
+	print(gGroundVertices[i*3+1]),
+	print(" "),
+	print(gGroundVertices[i*3+2])
+		
+for i in range (totalTriangles):
+	print("f "),
+	print(gGroundIndices[i*3+0]),
+	print(" "),
+	print(gGroundIndices[i*3+1]),
+	print(" "),
+	print(gGroundIndices[i*3+2]),
+	print(" ")
+	
+
diff --git a/data/terrain.urdf b/data/terrain.urdf
new file mode 100644
index 000000000..f58643e4e
--- /dev/null
+++ b/data/terrain.urdf
@@ -0,0 +1,29 @@
+<?xml version="0.0" ?>
+<robot name="terrain">
+  <link name="terrainLink">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+		<mesh filename="terrain.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+		<collision concave="yes">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+		<mesh filename="terrain.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/data/wheel.urdf b/data/wheel.urdf
new file mode 100644
index 000000000..159e50f15
--- /dev/null
+++ b/data/wheel.urdf
@@ -0,0 +1,42 @@
+
+<?xml version="1.0" ?>
+<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <link name="world"/>
+	<link name="front_left_wheel_link">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="husky/meshes/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="front_left_wheel" type="continuous">
+    <parent link="world"/>
+    <child link="front_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+</robot>
\ No newline at end of file

From 037043467a3614060f8bd94c3d5fc17766152657 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Thu, 8 Jun 2017 18:59:11 -0700
Subject: [PATCH 094/175] Bug fix. Only return friction coefficient when there
 is a valid link collider.

---
 .../SharedMemory/PhysicsServerCommandProcessor.cpp     | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9103e4384..9c8bfccd6 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4528,7 +4528,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						else
 						{
 							serverCmd.m_dynamicsInfo.m_mass = mb->getLinkMass(linkIndex);
-							serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
+							if (mb->getLinkCollider(linkIndex))
+							{
+								serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
+							}
+							else
+							{
+								b3Warning("The dynamic info requested is not available");
+								serverCmd.m_type = CMD_GET_DYNAMICS_INFO_FAILED;
+							}
 						}
 						hasStatus = true;
 					}

From 0aeb4d5058a1c2f6ef7d736d86ac00b2f9e379c6 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 8 Jun 2017 19:45:48 -0700
Subject: [PATCH 095/175] add RacecarGymEnv as a gym experimentation
 environment

---
 .../examples/createSphereMultiBodies.py       |   2 -
 examples/pybullet/examples/racecar.py         |   7 +-
 examples/pybullet/gym/envs/__init__.py        |   7 ++
 examples/pybullet/gym/envs/bullet/racecar.py  |  54 +++++++++
 .../pybullet/gym/envs/bullet/racecarGymEnv.py | 108 ++++++++++++++++++
 examples/pybullet/gym/racecarGymEnvTest.py    |  14 +++
 6 files changed, 189 insertions(+), 3 deletions(-)
 create mode 100644 examples/pybullet/gym/envs/bullet/racecar.py
 create mode 100644 examples/pybullet/gym/envs/bullet/racecarGymEnv.py
 create mode 100644 examples/pybullet/gym/racecarGymEnvTest.py

diff --git a/examples/pybullet/examples/createSphereMultiBodies.py b/examples/pybullet/examples/createSphereMultiBodies.py
index b38066518..fb24febb1 100644
--- a/examples/pybullet/examples/createSphereMultiBodies.py
+++ b/examples/pybullet/examples/createSphereMultiBodies.py
@@ -5,8 +5,6 @@ useMaximalCoordinates = 0
 
 p.connect(p.GUI)
 p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
-p.setPhysicsEngineParameter(numSolverIterations=10)
-p.setPhysicsEngineParameter(fixedTimeStep=1./120.)
 sphereRadius = 0.05
 colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
 colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
diff --git a/examples/pybullet/examples/racecar.py b/examples/pybullet/examples/racecar.py
index 2bf744dff..d09f83a4b 100644
--- a/examples/pybullet/examples/racecar.py
+++ b/examples/pybullet/examples/racecar.py
@@ -20,7 +20,12 @@ car = p.loadURDF("racecar/racecar.urdf")
 for i in range (p.getNumJoints(car)):
 	print (p.getJointInfo(car,i))
 
-wheels = [2,3,5,7]
+inactive_wheels = [3,5,7]
+wheels = [2]
+
+for wheel in inactive_wheels:
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
+	
 steering = [4,6]
 
 targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-10,10,0)
diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py
index 605d5e531..43b7a50ac 100644
--- a/examples/pybullet/gym/envs/__init__.py
+++ b/examples/pybullet/gym/envs/__init__.py
@@ -15,3 +15,10 @@ register(
     timestep_limit=1000,
     reward_threshold=5.0,
 )
+
+register(
+    id='RacecarBulletEnv-v0',
+    entry_point='envs.bullet:RacecarBulletEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
diff --git a/examples/pybullet/gym/envs/bullet/racecar.py b/examples/pybullet/gym/envs/bullet/racecar.py
new file mode 100644
index 000000000..3ceb923f5
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/racecar.py
@@ -0,0 +1,54 @@
+import pybullet as p
+import numpy as np
+import copy
+import math
+
+class Racecar:
+
+  def __init__(self, urdfRootPath='', timeStep=0.01):
+    self.urdfRootPath = urdfRootPath
+    self.timeStep = timeStep
+    self.reset()
+
+  def reset(self):
+    self.racecarUniqueId = p.loadURDF("racecar/racecar.urdf", [0,0,.2])
+    self.maxForce = 10
+    self.nMotors = 2
+    self.motorizedwheels=[2]
+    self.inactiveWheels = [3,5,7]
+    for wheel in self.inactiveWheels:
+      p.setJointMotorControl2(self.racecarUniqueId,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
+
+    self.motorizedWheels = [2]
+    self.steeringLinks=[4,6]
+    self.speedMultiplier = 10.
+		
+
+  def getActionDimension(self):
+    return self.nMotors
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def getObservation(self):
+    observation = []
+    pos,orn=p.getBasePositionAndOrientation(self.racecarUniqueId)
+    observation.extend(list(pos))
+    return observation
+
+  def applyAction(self, motorCommands):
+    targetVelocity=motorCommands[0]*self.speedMultiplier
+    print("targetVelocity")
+    print(targetVelocity)
+    steeringAngle = motorCommands[1]
+    print("steeringAngle")
+    print(steeringAngle)
+    print("maxForce")
+    print(self.maxForce)
+    
+    
+    for motor in self.motorizedwheels:
+	    p.setJointMotorControl2(self.racecarUniqueId,motor,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)		
+    for steer in self.steeringLinks:
+      p.setJointMotorControl2(self.racecarUniqueId,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
+	
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/bullet/racecarGymEnv.py b/examples/pybullet/gym/envs/bullet/racecarGymEnv.py
new file mode 100644
index 000000000..87c2d0be5
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/racecarGymEnv.py
@@ -0,0 +1,108 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import racecar
+
+class RacecarGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=1,
+               isEnableSelfCollision=True,
+               render=True):
+    print("init")
+    self._timeStep = 0.01
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._ballUniqueId = -1
+    self._envStepCounter = 0
+    self._render = render
+    self._p = p
+    if self._render:
+      p.connect(p.GUI)
+    else:
+      p.connect(p.DIRECT)
+    self._seed()
+    self.reset()
+    observationDim = self._racecar.getObservationDimension()
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
+    actionDim = 8
+    action_high = np.array([1] * actionDim)
+    self.action_space = spaces.Box(-action_high, action_high)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.viewer = None
+
+  def _reset(self):
+    p.resetSimulation()
+    #p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setTimeStep(self._timeStep)
+    #p.loadURDF("%splane.urdf" % self._urdfRoot)
+    p.loadSDF("%sstadium.sdf" % self._urdfRoot)
+    
+    self._ballUniqueId = p.loadURDF("sphere2.urdf",[20,20,1])
+    p.setGravity(0,0,-10)
+    self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    for i in range(100):
+      p.stepSimulation()
+    self._observation = self._racecar.getObservation()
+    return self._observation
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def _step(self, action):
+    if (self._render):
+      basePos,orn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
+      p.resetDebugVisualizerCamera(1, 30, -40, basePos)
+
+    if len(action) != self._racecar.getActionDimension():
+      raise ValueError("We expect {} continuous action not {}.".format(self._racecar.getActionDimension(), len(action)))
+
+    for i in range(len(action)):
+      if not -1.01 <= action[i] <= 1.01:
+        raise ValueError("{}th action should be between -1 and 1 not {}.".format(i, action[i]))
+
+    self._racecar.applyAction(action)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._render:
+        time.sleep(self._timeStep)
+      self._observation = self._racecar.getObservation()
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    return False
+    
+  def _reward(self):
+    closestPoints = p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000) 
+    numPt = len(closestPoints)
+    reward=-1000
+    print(numPt)
+    if (numPt>0):
+      print("reward:")
+      reward = closestPoints[0][8]
+      print(reward)
+    return reward
diff --git a/examples/pybullet/gym/racecarGymEnvTest.py b/examples/pybullet/gym/racecarGymEnvTest.py
new file mode 100644
index 000000000..5e96cbcc2
--- /dev/null
+++ b/examples/pybullet/gym/racecarGymEnvTest.py
@@ -0,0 +1,14 @@
+
+from envs.bullet.racecarGymEnv import RacecarGymEnv
+print ("hello")
+environment = RacecarGymEnv(render=True)
+
+targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
+steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)
+
+while (True):
+  targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
+  steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
+	
+  action=[targetVelocity,steeringAngle]
+  state, reward, done, info = environment.step(action)

From b2a46a7edd0fe284e23e6e3f95666a4adff4b29c Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Fri, 9 Jun 2017 10:15:05 -0700
Subject: [PATCH 096/175] mimicJointConstraint.py creates actual differential
 drive See https://www.youtube.com/watch?v=pK3PTPlRTGA  :-)

---
 data/differential/diff_arm.stl                | Bin 0 -> 123884 bytes
 data/differential/diff_carrier.stl            | Bin 0 -> 140484 bytes
 data/differential/diff_carrier_cover.stl      | Bin 0 -> 111284 bytes
 data/differential/diff_leftshaft.stl          | Bin 0 -> 45284 bytes
 data/differential/diff_motor_cover.stl        | Bin 0 -> 30684 bytes
 data/differential/diff_pinion.stl             | Bin 0 -> 740084 bytes
 data/differential/diff_rightshaft.stl         | Bin 0 -> 45584 bytes
 data/differential/diff_ring.stl               | Bin 0 -> 2882084 bytes
 data/differential/diff_ring.urdf              | 198 ++++++++++++++++++
 data/differential/diff_side.stl               | Bin 0 -> 586184 bytes
 data/differential/diff_spider.stl             | Bin 0 -> 592084 bytes
 data/differential/diff_spider_shaft.stl       | Bin 0 -> 38484 bytes
 data/differential/diff_stand.stl              | Bin 0 -> 166984 bytes
 data/differential/modelorigin.txt             |   2 +
 .../Importers/ImportURDFDemo/UrdfParser.cpp   |   6 +-
 .../pybullet/examples/mimicJointConstraint.py |  21 +-
 16 files changed, 219 insertions(+), 8 deletions(-)
 create mode 100644 data/differential/diff_arm.stl
 create mode 100644 data/differential/diff_carrier.stl
 create mode 100644 data/differential/diff_carrier_cover.stl
 create mode 100644 data/differential/diff_leftshaft.stl
 create mode 100644 data/differential/diff_motor_cover.stl
 create mode 100644 data/differential/diff_pinion.stl
 create mode 100644 data/differential/diff_rightshaft.stl
 create mode 100644 data/differential/diff_ring.stl
 create mode 100644 data/differential/diff_ring.urdf
 create mode 100644 data/differential/diff_side.stl
 create mode 100644 data/differential/diff_spider.stl
 create mode 100644 data/differential/diff_spider_shaft.stl
 create mode 100644 data/differential/diff_stand.stl
 create mode 100644 data/differential/modelorigin.txt

diff --git a/data/differential/diff_arm.stl b/data/differential/diff_arm.stl
new file mode 100644
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diff --git a/data/differential/diff_carrier.stl b/data/differential/diff_carrier.stl
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diff --git a/data/differential/diff_ring.urdf b/data/differential/diff_ring.urdf
new file mode 100644
index 000000000..3e20aebd7
--- /dev/null
+++ b/data/differential/diff_ring.urdf
@@ -0,0 +1,198 @@
+
+<?xml version="1.0" ?>
+<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <link name="world"/>
+	<link name="diff_ring">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_ring.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+     <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="diff_ring_world" type="continuous">
+    <parent link="world"/>
+    <child link="diff_ring"/>
+    <origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <link name="diff_spiderA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+   
+    
+    
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_spiderA_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_spiderA"/>
+    <origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+ 
+ <link name="diff_spiderB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+   
+    
+    
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_spiderB_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_spiderB"/>
+    <origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+  
+  <link name="diff_sideA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_sideA_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_sideA"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+   <link name="diff_sideB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_sideB_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_sideB"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/data/differential/diff_side.stl b/data/differential/diff_side.stl
new file mode 100644
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diff --git a/data/differential/diff_spider_shaft.stl b/data/differential/diff_spider_shaft.stl
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literal 0
HcmV?d00001

diff --git a/data/differential/modelorigin.txt b/data/differential/modelorigin.txt
new file mode 100644
index 000000000..af250e7d6
--- /dev/null
+++ b/data/differential/modelorigin.txt
@@ -0,0 +1,2 @@
+stl files were copied from http://www.otvinta.com/download09.html
+URDF file was manually created, along with mimicJointConstraint.py
\ No newline at end of file
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index de8a578fe..9e9594e81 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -323,8 +323,10 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
 
 bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger* logger)
 {
-	btAssert(g);
-		
+//	btAssert(g);
+	if (g==0)
+		return false;
+
 	TiXmlElement *shape = g->FirstChildElement();
 	if (!shape)
 	{
diff --git a/examples/pybullet/examples/mimicJointConstraint.py b/examples/pybullet/examples/mimicJointConstraint.py
index af615e02f..60a0625d9 100644
--- a/examples/pybullet/examples/mimicJointConstraint.py
+++ b/examples/pybullet/examples/mimicJointConstraint.py
@@ -4,13 +4,22 @@
 import pybullet as p
 import time
 p.connect(p.GUI)
-wheelA = p.loadURDF("wheel.urdf",[0,0,0])
-wheelB = p.loadURDF("wheel.urdf",[0,0,1])
-p.setJointMotorControl2(wheelA,0,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
-p.setJointMotorControl2(wheelB,0,p.VELOCITY_CONTROL,targetVelocity=1,force=1)
+p.loadURDF("plane.urdf",0,0,-2)
+wheelA = p.loadURDF("differential/diff_ring.urdf",[0,0,0])
+for i in range(p.getNumJoints(wheelA)):
+	print(p.getJointInfo(wheelA,i))
+	p.setJointMotorControl2(wheelA,i,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
+
+
+c = p.createConstraint(wheelA,1,wheelA,3,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=1, maxForce=10000)
+
+c = p.createConstraint(wheelA,2,wheelA,4,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(wheelA,1,wheelA,4,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
 
-c = p.createConstraint(wheelA,0,wheelB,0,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
-p.changeConstraint(c,gearRatio=-0.1, maxForce=10000)
 
 p.setRealTimeSimulation(1)
 while(1):

From 82e3c553b9bfdc44fbeb48c18aeac90ac7616d24 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 9 Jun 2017 14:03:47 -0700
Subject: [PATCH 097/175] bump up pybullet version (some memory leaks were
 fixed since 1.1.3)

---
 setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.py b/setup.py
index 235396713..bb86bdd4b 100644
--- a/setup.py
+++ b/setup.py
@@ -419,7 +419,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.1.3',
+	version='1.1.4',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From 8b3f979c27bee453cae00cf3fb461cc390be3065 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Fri, 9 Jun 2017 18:28:46 -0700
Subject: [PATCH 098/175] fix a stray override keyword that slipped in

---
 examples/MultiThreading/btTaskScheduler.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/MultiThreading/btTaskScheduler.cpp b/examples/MultiThreading/btTaskScheduler.cpp
index c4de30ebc..e6862a197 100644
--- a/examples/MultiThreading/btTaskScheduler.cpp
+++ b/examples/MultiThreading/btTaskScheduler.cpp
@@ -117,7 +117,7 @@ public:
         mBegin = iBegin;
         mEnd = iEnd;
     }
-    virtual void executeJob() override
+    virtual void executeJob() BT_OVERRIDE
     {
         BT_PROFILE( "executeJob" );
 

From b361722500d05a53eaacdc3e5ded402658713338 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 9 Jun 2017 19:26:07 -0700
Subject: [PATCH 099/175] Implement train_pybullet_racecar.py and
 enjoy_pybullet_racecar.py using OpenAI baselines DQN for the RacecarGymEnv.

---
 .../pybullet/gym/enjoy_pybullet_racecar.py    | 45 +++++++++++++
 examples/pybullet/gym/envs/bullet/racecar.py  | 21 +++---
 .../pybullet/gym/envs/bullet/racecarGymEnv.py | 65 ++++++++++++-------
 .../pybullet/gym/train_pybullet_racecar.py    | 40 ++++++++++++
 4 files changed, 138 insertions(+), 33 deletions(-)
 create mode 100644 examples/pybullet/gym/enjoy_pybullet_racecar.py
 create mode 100644 examples/pybullet/gym/train_pybullet_racecar.py

diff --git a/examples/pybullet/gym/enjoy_pybullet_racecar.py b/examples/pybullet/gym/enjoy_pybullet_racecar.py
new file mode 100644
index 000000000..b2c46337a
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_pybullet_racecar.py
@@ -0,0 +1,45 @@
+import gym
+from envs.bullet.racecarGymEnv import RacecarGymEnv
+
+from baselines import deepq
+
+
+def main():
+    
+    env = RacecarGymEnv(render=True)
+    act = deepq.load("racecar_model.pkl")
+    print(act)
+    while True:
+        obs, done = env.reset(), False
+        print("===================================")        
+        print("obs")
+        print(obs)
+        episode_rew = 0
+        while not done:
+            #env.render()
+
+            print("!!!!!!!!!!!!!!!!!!!!!!!!!!")
+            print("obs")
+            print(obs)
+            print("???????????????????????????")
+            print("obs[None]")
+            print(obs[None])
+            o = obs[None]
+            print("o")
+            print(o)
+            aa = act(o)
+            print("aa")
+            print (aa)
+            a = aa[0]
+            print("a")
+            print(a)
+            obs, rew, done, _ = env.step(a)
+            print("===================================")
+            print("obs")
+            print(obs)
+            episode_rew += rew
+        print("Episode reward", episode_rew)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/examples/pybullet/gym/envs/bullet/racecar.py b/examples/pybullet/gym/envs/bullet/racecar.py
index 3ceb923f5..9737ede90 100644
--- a/examples/pybullet/gym/envs/bullet/racecar.py
+++ b/examples/pybullet/gym/envs/bullet/racecar.py
@@ -22,7 +22,7 @@ class Racecar:
     self.motorizedWheels = [2]
     self.steeringLinks=[4,6]
     self.speedMultiplier = 10.
-		
+    
 
   def getActionDimension(self):
     return self.nMotors
@@ -33,22 +33,25 @@ class Racecar:
   def getObservation(self):
     observation = []
     pos,orn=p.getBasePositionAndOrientation(self.racecarUniqueId)
+    
     observation.extend(list(pos))
+    observation.extend(list(orn))
+    
     return observation
 
   def applyAction(self, motorCommands):
     targetVelocity=motorCommands[0]*self.speedMultiplier
-    print("targetVelocity")
-    print(targetVelocity)
+    #print("targetVelocity")
+    #print(targetVelocity)
     steeringAngle = motorCommands[1]
-    print("steeringAngle")
-    print(steeringAngle)
-    print("maxForce")
-    print(self.maxForce)
+    #print("steeringAngle")
+    #print(steeringAngle)
+    #print("maxForce")
+    #print(self.maxForce)
     
     
     for motor in self.motorizedwheels:
-	    p.setJointMotorControl2(self.racecarUniqueId,motor,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)		
+      p.setJointMotorControl2(self.racecarUniqueId,motor,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)    
     for steer in self.steeringLinks:
       p.setJointMotorControl2(self.racecarUniqueId,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
-	
\ No newline at end of file
+  
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/bullet/racecarGymEnv.py b/examples/pybullet/gym/envs/bullet/racecarGymEnv.py
index 87c2d0be5..6e12bdbde 100644
--- a/examples/pybullet/gym/envs/bullet/racecarGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/racecarGymEnv.py
@@ -6,6 +6,7 @@ import numpy as np
 import time
 import pybullet as p
 from . import racecar
+import random
 
 class RacecarGymEnv(gym.Env):
   metadata = {
@@ -34,11 +35,12 @@ class RacecarGymEnv(gym.Env):
       p.connect(p.DIRECT)
     self._seed()
     self.reset()
-    observationDim = self._racecar.getObservationDimension()
-    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
-    actionDim = 8
-    action_high = np.array([1] * actionDim)
-    self.action_space = spaces.Box(-action_high, action_high)
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(9)
     self.observation_space = spaces.Box(-observation_high, observation_high)
     self.viewer = None
 
@@ -49,14 +51,21 @@ class RacecarGymEnv(gym.Env):
     #p.loadURDF("%splane.urdf" % self._urdfRoot)
     p.loadSDF("%sstadium.sdf" % self._urdfRoot)
     
-    self._ballUniqueId = p.loadURDF("sphere2.urdf",[20,20,1])
+    dist = 1.+10.*random.random()
+    ang = 2.*3.1415925438*random.random()
+    
+    ballx = dist * math.sin(ang)
+    bally = dist * math.cos(ang)
+    ballz = 1
+    
+    self._ballUniqueId = p.loadURDF("sphere2.urdf",[ballx,bally,ballz])
     p.setGravity(0,0,-10)
     self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0
     for i in range(100):
       p.stepSimulation()
-    self._observation = self._racecar.getObservation()
-    return self._observation
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
 
   def __del__(self):
     p.disconnect()
@@ -65,44 +74,52 @@ class RacecarGymEnv(gym.Env):
     self.np_random, seed = seeding.np_random(seed)
     return [seed]
 
+  def getExtendedObservation(self):
+     self._observation = self._racecar.getObservation()
+     pos,orn = p.getBasePositionAndOrientation(self._ballUniqueId)      
+     self._observation.extend(list(pos))
+     return self._observation
+     
   def _step(self, action):
     if (self._render):
       basePos,orn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
-      p.resetDebugVisualizerCamera(1, 30, -40, basePos)
-
-    if len(action) != self._racecar.getActionDimension():
-      raise ValueError("We expect {} continuous action not {}.".format(self._racecar.getActionDimension(), len(action)))
-
-    for i in range(len(action)):
-      if not -1.01 <= action[i] <= 1.01:
-        raise ValueError("{}th action should be between -1 and 1 not {}.".format(i, action[i]))
-
-    self._racecar.applyAction(action)
+      #p.resetDebugVisualizerCamera(1, 30, -40, basePos)
+    
+    fwd = [-1,-1,-1,0,0,0,1,1,1]
+    steerings = [-0.5,0,0.5,-0.5,0,0.5,-0.5,0,0.5]
+    forward = fwd[action]
+    steer = steerings[action]
+    realaction = [forward,steer]
+    self._racecar.applyAction(realaction)
     for i in range(self._actionRepeat):
       p.stepSimulation()
       if self._render:
         time.sleep(self._timeStep)
-      self._observation = self._racecar.getObservation()
+      self._observation = self.getExtendedObservation()
+      
       if self._termination():
         break
       self._envStepCounter += 1
     reward = self._reward()
     done = self._termination()
+    #print("len=%r" % len(self._observation))
+    
     return np.array(self._observation), reward, done, {}
 
   def _render(self, mode='human', close=False):
       return
 
   def _termination(self):
-    return False
+    return self._envStepCounter>1000
     
   def _reward(self):
     closestPoints = p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000) 
+    
     numPt = len(closestPoints)
     reward=-1000
-    print(numPt)
+    #print(numPt)
     if (numPt>0):
-      print("reward:")
-      reward = closestPoints[0][8]
-      print(reward)
+      #print("reward:")
+      reward = -closestPoints[0][8]
+      #print(reward)
     return reward
diff --git a/examples/pybullet/gym/train_pybullet_racecar.py b/examples/pybullet/gym/train_pybullet_racecar.py
new file mode 100644
index 000000000..3ce064d8d
--- /dev/null
+++ b/examples/pybullet/gym/train_pybullet_racecar.py
@@ -0,0 +1,40 @@
+import gym
+from envs.bullet.racecarGymEnv import RacecarGymEnv
+
+from baselines import deepq
+
+import datetime
+
+
+
+def callback(lcl, glb):
+    # stop training if reward exceeds 199
+    is_solved = lcl['t'] > 100 and sum(lcl['episode_rewards'][-101:-1]) / 100 >= 199
+    #uniq_filename = "racecar_model" + str(datetime.datetime.now().date()) + '_' + str(datetime.datetime.now().time()).replace(':', '.')
+    #print("uniq_filename=")
+    #print(uniq_filename)
+    #act.save(uniq_filename)
+    return is_solved
+
+
+def main():
+  
+    env = RacecarGymEnv(render=False)
+    model = deepq.models.mlp([64])
+    act = deepq.learn(
+        env,
+        q_func=model,
+        lr=1e-3,
+        max_timesteps=10000000,
+        buffer_size=50000,
+        exploration_fraction=0.1,
+        exploration_final_eps=0.02,
+        print_freq=10,
+        callback=callback
+    )
+    print("Saving model to racecar_model.pkl")
+    act.save("racecar_model.pkl")
+
+
+if __name__ == '__main__':
+    main()

From 4a7469a1ba2cca9be9fdbc20cd75e8e3bc0c580c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 9 Jun 2017 21:19:02 -0700
Subject: [PATCH 100/175] fix uninitialized-variable issues (were unused
 initialized, but triggers some memory checking tools)

---
 examples/SharedMemory/PhysicsDirect.cpp                    | 6 ++++++
 examples/SharedMemory/TinyRendererVisualShapeConverter.cpp | 2 +-
 src/BulletCollision/CollisionShapes/btSphereShape.h        | 3 +++
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index ed8376c9f..e49784d47 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -64,9 +64,15 @@ struct PhysicsDirectInternalData
 	PhysicsDirectInternalData()
 		:m_hasStatus(false),
 		m_verboseOutput(false),
+		m_cachedCameraPixelsWidth(0),
+		m_cachedCameraPixelsHeight(0),
+		m_commandProcessor(NULL),
 		m_ownsCommandProcessor(false),
 		m_timeOutInSeconds(1e30)
 	{
+		memset(&m_command, 0, sizeof(m_command));
+		memset(&m_serverStatus, 0, sizeof(m_serverStatus));
+		memset(m_bulletStreamDataServerToClient, 0, sizeof(m_bulletStreamDataServerToClient));
 	}
 };
 
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index f076d301e..143c931ce 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -177,7 +177,7 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
 	visualShapeOut.m_dimensions[0] = 0;
 	visualShapeOut.m_dimensions[1] = 0;
 	visualShapeOut.m_dimensions[2] = 0;
-	visualShapeOut.m_meshAssetFileName[0] = 0;
+	memset(visualShapeOut.m_meshAssetFileName, 0, sizeof(visualShapeOut.m_meshAssetFileName));
 	if (visual->m_geometry.m_hasLocalMaterial) {
 		visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[0];
 		visualShapeOut.m_rgbaColor[1] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[1];
diff --git a/src/BulletCollision/CollisionShapes/btSphereShape.h b/src/BulletCollision/CollisionShapes/btSphereShape.h
index b192efeeb..50561f7f5 100644
--- a/src/BulletCollision/CollisionShapes/btSphereShape.h
+++ b/src/BulletCollision/CollisionShapes/btSphereShape.h
@@ -29,8 +29,11 @@ public:
 	btSphereShape (btScalar radius) : btConvexInternalShape ()
 	{
 		m_shapeType = SPHERE_SHAPE_PROXYTYPE;
+		m_localScaling.setValue(1.0, 1.0, 1.0);
+		m_implicitShapeDimensions.setZero();
 		m_implicitShapeDimensions.setX(radius);
 		m_collisionMargin = radius;
+		m_padding = 0;
 	}
 	
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;

From e9ec5044d176eb63d9643504a481d829d573f021 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Sat, 10 Jun 2017 04:21:49 -0700
Subject: [PATCH 101/175] SequentialImpulseConstraintSolver: fix bugs with
 SOLVER_SIMD flag

---
 .../btSequentialImpulseConstraintSolver.cpp   | 364 +++++++-----------
 .../btSequentialImpulseConstraintSolver.h     |  21 +-
 2 files changed, 152 insertions(+), 233 deletions(-)

diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index fb9d9335f..b0d57a3e8 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -269,36 +269,28 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBo
 
 btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
-#ifdef USE_SIMD
 	return m_resolveSingleConstraintRowGeneric(body1, body2, c);
-#else
-	return resolveSingleConstraintRowGeneric(body1,body2,c);
-#endif
 }
 
 // Project Gauss Seidel or the equivalent Sequential Impulse
 btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
-	return gResolveSingleConstraintRowGeneric_scalar_reference(body1, body2, c);
+	return m_resolveSingleConstraintRowGeneric(body1, body2, c);
 }
 
 btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
-#ifdef USE_SIMD
 	return m_resolveSingleConstraintRowLowerLimit(body1, body2, c);
-#else
-	return resolveSingleConstraintRowLowerLimit(body1,body2,c);
-#endif
 }
 
 
 btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
-	return gResolveSingleConstraintRowLowerLimit_scalar_reference(body1,body2,c);
+	return m_resolveSingleConstraintRowLowerLimit(body1, body2, c);
 }
 
 
-btScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly(
+static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference(
         btSolverBody& body1,
         btSolverBody& body2,
         const btSolverConstraint& c)
@@ -330,7 +322,7 @@ btScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCach
 		return deltaImpulse;
 }
 
-btSimdScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
 {
 #ifdef USE_SIMD
 	if (!c.m_rhsPenetration)
@@ -362,32 +354,42 @@ btSimdScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(bt
 	body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
 	return deltaImpulse;
 #else
-	return resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c);
+	return gResolveSplitPenetrationImpulse_scalar_reference(body1,body2,c);
 #endif
 }
 
 
- btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
-	 : m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_scalar_reference),
-	 m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_scalar_reference),
-	 m_btSeed2(0)
- {
+btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
+{
+    m_btSeed2 = 0;
+    m_cachedSolverMode = 0;
+    setupSolverFunctions( false );
+}
 
+void btSequentialImpulseConstraintSolver::setupSolverFunctions( bool useSimd )
+{
+    m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_scalar_reference;
+    m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_scalar_reference;
+    m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_scalar_reference;
+
+    if ( useSimd )
+    {
 #ifdef USE_SIMD
-	 m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2;
-	 m_resolveSingleConstraintRowLowerLimit=gResolveSingleConstraintRowLowerLimit_sse2;
-#endif //USE_SIMD
+        m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2;
+        m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse2;
+        m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_sse2;
 
 #ifdef BT_ALLOW_SSE4
-	 int cpuFeatures = btCpuFeatureUtility::getCpuFeatures();
-	 if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1))
-	 {
-		m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3;
-		m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
-	 }
+        int cpuFeatures = btCpuFeatureUtility::getCpuFeatures();
+        if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1))
+        {
+            m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3;
+            m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
+        }
 #endif//BT_ALLOW_SSE4
-
- }
+#endif //USE_SIMD
+    }
+}
 
  btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
  {
@@ -1262,6 +1264,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
 	BT_PROFILE("solveGroupCacheFriendlySetup");
 	(void)debugDrawer;
 
+    // if solver mode has changed,
+    if ( infoGlobal.m_solverMode != m_cachedSolverMode )
+    {
+        // update solver functions to use SIMD or non-SIMD
+        bool useSimd = !!( infoGlobal.m_solverMode & SOLVER_SIMD );
+        setupSolverFunctions( useSimd );
+        m_cachedSolverMode = infoGlobal.m_solverMode;
+    }
 	m_maxOverrideNumSolverIterations = 0;
 
 #ifdef BT_ADDITIONAL_DEBUG
@@ -1658,145 +1668,6 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 		}
 	}
 
-	if (infoGlobal.m_solverMode & SOLVER_SIMD)
-	{
-		///solve all joint constraints, using SIMD, if available
-		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
-		{
-			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-			if (iteration < constraint.m_overrideNumSolverIterations)
-			{
-				btScalar residual = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
-				leastSquaresResidual += residual*residual;
-			}
-		}
-
-		if (iteration< infoGlobal.m_numIterations)
-		{
-			for (int j=0;j<numConstraints;j++)
-			{
-				if (constraints[j]->isEnabled())
-				{
-					int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
-					int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
-					btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
-					btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
-					constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
-				}
-			}
-
-			///solve all contact constraints using SIMD, if available
-			if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
-			{
-				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1;
-
-				for (int c=0;c<numPoolConstraints;c++)
-				{
-					btScalar totalImpulse =0;
-
-					{
-						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
-						btScalar residual = resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-						leastSquaresResidual += residual*residual;
-
-						totalImpulse = solveManifold.m_appliedImpulse;
-					}
-					bool applyFriction = true;
-					if (applyFriction)
-					{
-						{
-
-							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]];
-
-							if (totalImpulse>btScalar(0))
-							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-
-								btScalar residual = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-								leastSquaresResidual += residual*residual;
-							}
-						}
-
-						if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
-						{
-
-							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]];
-
-							if (totalImpulse>btScalar(0))
-							{
-								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-
-								btScalar residual = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-								leastSquaresResidual += residual*residual;
-							}
-						}
-					}
-				}
-
-			}
-			else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
-			{
-				//solve the friction constraints after all contact constraints, don't interleave them
-				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-				int j;
-
-				for (j=0;j<numPoolConstraints;j++)
-				{
-					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-					btScalar residual = resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-					leastSquaresResidual += residual*residual;
-				}
-
-
-
-				///solve all friction constraints, using SIMD, if available
-
-				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-				for (j=0;j<numFrictionPoolConstraints;j++)
-				{
-					btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-					btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
-					if (totalImpulse>btScalar(0))
-					{
-						solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-						solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-
-						btScalar residual = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-						leastSquaresResidual += residual*residual;
-					}
-				}
-
-
-				int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-				for (j=0;j<numRollingFrictionPoolConstraints;j++)
-				{
-
-					btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-					btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-					if (totalImpulse>btScalar(0))
-					{
-						btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
-						if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
-							rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-
-						rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-						rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-						btScalar residual = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
-						leastSquaresResidual += residual*residual;
-					}
-				}
-
-
-			}
-		}
-	} else
-	{
-		//non-SIMD version
 		///solve all joint constraints
 		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
 		{
@@ -1821,51 +1692,116 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
 					constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
 				}
 			}
+
 			///solve all contact constraints
-			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-			for (int j=0;j<numPoolConstraints;j++)
+			if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
 			{
-				const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-				btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-				leastSquaresResidual += residual*residual;
-			}
-			///solve all friction constraints
-			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-			for (int j=0;j<numFrictionPoolConstraints;j++)
-			{
-				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-				btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+				int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1;
 
-				if (totalImpulse>btScalar(0))
+				for (int c=0;c<numPoolConstraints;c++)
 				{
-					solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-					solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+					btScalar totalImpulse =0;
 
-					btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+					{
+						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
+						btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						leastSquaresResidual += residual*residual;
+
+						totalImpulse = solveManifold.m_appliedImpulse;
+					}
+					bool applyFriction = true;
+					if (applyFriction)
+					{
+						{
+
+							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]];
+
+							if (totalImpulse>btScalar(0))
+							{
+								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+
+								btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+								leastSquaresResidual += residual*residual;
+							}
+						}
+
+						if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
+						{
+
+							btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]];
+
+							if (totalImpulse>btScalar(0))
+							{
+								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+
+								btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+								leastSquaresResidual += residual*residual;
+							}
+						}
+					}
+				}
+
+			}
+			else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
+			{
+				//solve the friction constraints after all contact constraints, don't interleave them
+				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+				int j;
+
+				for (j=0;j<numPoolConstraints;j++)
+				{
+					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
+					btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 					leastSquaresResidual += residual*residual;
 				}
+
+
+
+				///solve all friction constraints
+
+				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
+				for (j=0;j<numFrictionPoolConstraints;j++)
+				{
+					btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
+					btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
+
+					if (totalImpulse>btScalar(0))
+					{
+						solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
+						solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+
+						btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						leastSquaresResidual += residual*residual;
+					}
+				}
 			}
 
-			int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-			for (int j=0;j<numRollingFrictionPoolConstraints;j++)
-			{
-				btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-				btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-				if (totalImpulse>btScalar(0))
+
+				int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
+				for (int j=0;j<numRollingFrictionPoolConstraints;j++)
 				{
-					btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
-					if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
-						rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
 
-					rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-					rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+					btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
+					btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
+					if (totalImpulse>btScalar(0))
+					{
+						btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
+						if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
+							rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
 
-					btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
-					leastSquaresResidual += residual*residual;
+						rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+						rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+
+						btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
+						leastSquaresResidual += residual*residual;
+					}
 				}
-			}
+
+
 		}
-	}
 	return leastSquaresResidual;
 }
 
@@ -1875,7 +1811,6 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
 	int iteration;
 	if (infoGlobal.m_splitImpulse)
 	{
-		if (infoGlobal.m_solverMode & SOLVER_SIMD)
 		{
 			for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
 			{
@@ -1887,7 +1822,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
 					{
 						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
 
-						btScalar residual = resolveSplitPenetrationSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+						btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 						leastSquaresResidual += residual*residual;
 					}
 				}
@@ -1899,32 +1834,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
 					break;
 				}
 			}
-		}
-		else
-		{
-			for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
-			{
-				btScalar leastSquaresResidual = 0.f;
-				{
-					int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-					int j;
-					for (j=0;j<numPoolConstraints;j++)
-					{
-						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-
-						btScalar residual = resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-						leastSquaresResidual += residual*residual;
-					}
-					if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration>=(infoGlobal.m_numIterations-1))
-					{
-#ifdef VERBOSE_RESIDUAL_PRINTF
-						printf("residual = %f at iteration #%d\n",leastSquaresResidual,iteration);
-#endif
-						break;
-					}
-				}
-			}
-		}
+        }
 	}
 }
 
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index 2c4315c72..16c7eb74c 100644
--- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -56,6 +56,9 @@ protected:
 
 	btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
 	btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
+    btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
+    int m_cachedSolverMode;  // used to check if SOLVER_SIMD flag has been changed
+    void setupSolverFunctions( bool useSimd );
 
 	btScalar	m_leastSquaresResidual;
 
@@ -93,13 +96,15 @@ protected:
 	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
 
 
-	btSimdScalar	resolveSplitPenetrationSIMD(
-     btSolverBody& bodyA,btSolverBody& bodyB,
-        const btSolverConstraint& contactConstraint);
+	btSimdScalar	resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
+    {
+        return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
+    }
 
-	btScalar	resolveSplitPenetrationImpulseCacheFriendly(
-       btSolverBody& bodyA,btSolverBody& bodyB,
-        const btSolverConstraint& contactConstraint);
+	btSimdScalar	resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
+    {
+        return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
+    }
 
 	//internal method
 	int		getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
@@ -109,6 +114,10 @@ protected:
 	btSimdScalar	resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
 	btSimdScalar	resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
 	btSimdScalar	resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
+	btSimdScalar	resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
+    {
+        return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
+    }
 		
 protected:
 	

From 1752aa55ca0dc41e2bb65a96900c67bc95345225 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sat, 10 Jun 2017 18:46:36 -0700
Subject: [PATCH 102/175] train_pybullet_racecar.py works, self-driving car
 drives towards the ball using OpenAI baselines DQN :-) See
 https://www.youtube.com/watch?v=DZ5Px-ocelw for video and how-to-install.

---
 .../pybullet/gym/enjoy_pybullet_racecar.py    | 25 ++-----------
 examples/pybullet/gym/envs/bullet/racecar.py  |  4 +--
 .../pybullet/gym/envs/bullet/racecarGymEnv.py | 35 ++++++++++++-------
 examples/pybullet/gym/racecarGymEnvTest.py    | 20 +++++++++--
 .../pybullet/gym/train_pybullet_racecar.py    | 12 +++----
 5 files changed, 50 insertions(+), 46 deletions(-)

diff --git a/examples/pybullet/gym/enjoy_pybullet_racecar.py b/examples/pybullet/gym/enjoy_pybullet_racecar.py
index b2c46337a..bc965f32d 100644
--- a/examples/pybullet/gym/enjoy_pybullet_racecar.py
+++ b/examples/pybullet/gym/enjoy_pybullet_racecar.py
@@ -6,7 +6,7 @@ from baselines import deepq
 
 def main():
     
-    env = RacecarGymEnv(render=True)
+    env = RacecarGymEnv(renders=True)
     act = deepq.load("racecar_model.pkl")
     print(act)
     while True:
@@ -16,27 +16,8 @@ def main():
         print(obs)
         episode_rew = 0
         while not done:
-            #env.render()
-
-            print("!!!!!!!!!!!!!!!!!!!!!!!!!!")
-            print("obs")
-            print(obs)
-            print("???????????????????????????")
-            print("obs[None]")
-            print(obs[None])
-            o = obs[None]
-            print("o")
-            print(o)
-            aa = act(o)
-            print("aa")
-            print (aa)
-            a = aa[0]
-            print("a")
-            print(a)
-            obs, rew, done, _ = env.step(a)
-            print("===================================")
-            print("obs")
-            print(obs)
+            env.render()
+            obs, rew, done, _ = env.step(act(obs[None])[0])
             episode_rew += rew
         print("Episode reward", episode_rew)
 
diff --git a/examples/pybullet/gym/envs/bullet/racecar.py b/examples/pybullet/gym/envs/bullet/racecar.py
index 9737ede90..96db73c78 100644
--- a/examples/pybullet/gym/envs/bullet/racecar.py
+++ b/examples/pybullet/gym/envs/bullet/racecar.py
@@ -12,7 +12,7 @@ class Racecar:
 
   def reset(self):
     self.racecarUniqueId = p.loadURDF("racecar/racecar.urdf", [0,0,.2])
-    self.maxForce = 10
+    self.maxForce = 20
     self.nMotors = 2
     self.motorizedwheels=[2]
     self.inactiveWheels = [3,5,7]
@@ -21,7 +21,7 @@ class Racecar:
 
     self.motorizedWheels = [2]
     self.steeringLinks=[4,6]
-    self.speedMultiplier = 10.
+    self.speedMultiplier = 4.
     
 
   def getActionDimension(self):
diff --git a/examples/pybullet/gym/envs/bullet/racecarGymEnv.py b/examples/pybullet/gym/envs/bullet/racecarGymEnv.py
index 6e12bdbde..930f9bf88 100644
--- a/examples/pybullet/gym/envs/bullet/racecarGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/racecarGymEnv.py
@@ -16,9 +16,9 @@ class RacecarGymEnv(gym.Env):
 
   def __init__(self,
                urdfRoot="",
-               actionRepeat=1,
+               actionRepeat=50,
                isEnableSelfCollision=True,
-               render=True):
+               renders=True):
     print("init")
     self._timeStep = 0.01
     self._urdfRoot = urdfRoot
@@ -27,9 +27,9 @@ class RacecarGymEnv(gym.Env):
     self._observation = []
     self._ballUniqueId = -1
     self._envStepCounter = 0
-    self._render = render
+    self._renders = renders
     self._p = p
-    if self._render:
+    if self._renders:
       p.connect(p.GUI)
     else:
       p.connect(p.DIRECT)
@@ -49,9 +49,14 @@ class RacecarGymEnv(gym.Env):
     #p.setPhysicsEngineParameter(numSolverIterations=300)
     p.setTimeStep(self._timeStep)
     #p.loadURDF("%splane.urdf" % self._urdfRoot)
-    p.loadSDF("%sstadium.sdf" % self._urdfRoot)
+    stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
+    #move the stadium objects slightly above 0
+    for i in stadiumobjects:
+    	pos,orn = p.getBasePositionAndOrientation(i)
+    	newpos = [pos[0],pos[1],pos[2]+0.1]
+    	p.resetBasePositionAndOrientation(i,newpos,orn)
     
-    dist = 1.+10.*random.random()
+    dist = 5 +2.*random.random()
     ang = 2.*3.1415925438*random.random()
     
     ballx = dist * math.sin(ang)
@@ -75,25 +80,29 @@ class RacecarGymEnv(gym.Env):
     return [seed]
 
   def getExtendedObservation(self):
-     self._observation = self._racecar.getObservation()
-     pos,orn = p.getBasePositionAndOrientation(self._ballUniqueId)      
-     self._observation.extend(list(pos))
+     self._observation = [] #self._racecar.getObservation()
+     carpos,carorn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
+     ballpos,ballorn = p.getBasePositionAndOrientation(self._ballUniqueId)      
+     invCarPos,invCarOrn = p.invertTransform(carpos,carorn)
+     ballPosInCar,ballOrnInCar = p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
+    
+     self._observation.extend([ballPosInCar[0],ballPosInCar[1]])
      return self._observation
      
   def _step(self, action):
-    if (self._render):
+    if (self._renders):
       basePos,orn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
       #p.resetDebugVisualizerCamera(1, 30, -40, basePos)
     
-    fwd = [-1,-1,-1,0,0,0,1,1,1]
-    steerings = [-0.5,0,0.5,-0.5,0,0.5,-0.5,0,0.5]
+    fwd = [-5,-5,-5,0,0,0,5,5,5]
+    steerings = [-0.3,0,0.3,-0.3,0,0.3,-0.3,0,0.3]
     forward = fwd[action]
     steer = steerings[action]
     realaction = [forward,steer]
     self._racecar.applyAction(realaction)
     for i in range(self._actionRepeat):
       p.stepSimulation()
-      if self._render:
+      if self._renders:
         time.sleep(self._timeStep)
       self._observation = self.getExtendedObservation()
       
diff --git a/examples/pybullet/gym/racecarGymEnvTest.py b/examples/pybullet/gym/racecarGymEnvTest.py
index 5e96cbcc2..6be102dc3 100644
--- a/examples/pybullet/gym/racecarGymEnvTest.py
+++ b/examples/pybullet/gym/racecarGymEnvTest.py
@@ -9,6 +9,22 @@ steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)
 while (True):
   targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
   steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
-	
-  action=[targetVelocity,steeringAngle]
+  discreteAction = 0
+  if (targetVelocity<-0.33):
+    discreteAction=0
+  else:
+    if (targetVelocity>0.33):
+      discreteAction=6
+    else:
+      discreteAction=3
+  if (steeringAngle>-0.17):
+    if (steeringAngle>0.17):
+      discreteAction=discreteAction+2
+    else:
+      discreteAction=discreteAction+1
+    
+  action=discreteAction
   state, reward, done, info = environment.step(action)
+  obs = environment.getExtendedObservation()
+  print("obs")
+  print(obs)
diff --git a/examples/pybullet/gym/train_pybullet_racecar.py b/examples/pybullet/gym/train_pybullet_racecar.py
index 3ce064d8d..face83e11 100644
--- a/examples/pybullet/gym/train_pybullet_racecar.py
+++ b/examples/pybullet/gym/train_pybullet_racecar.py
@@ -9,23 +9,21 @@ import datetime
 
 def callback(lcl, glb):
     # stop training if reward exceeds 199
-    is_solved = lcl['t'] > 100 and sum(lcl['episode_rewards'][-101:-1]) / 100 >= 199
-    #uniq_filename = "racecar_model" + str(datetime.datetime.now().date()) + '_' + str(datetime.datetime.now().time()).replace(':', '.')
-    #print("uniq_filename=")
-    #print(uniq_filename)
-    #act.save(uniq_filename)
+    total = sum(lcl['episode_rewards'][-101:-1]) / 100
+    totalt = lcl['t']
+    is_solved = totalt > 2000 and total >= -50
     return is_solved
 
 
 def main():
   
-    env = RacecarGymEnv(render=False)
+    env = RacecarGymEnv(renders=False)
     model = deepq.models.mlp([64])
     act = deepq.learn(
         env,
         q_func=model,
         lr=1e-3,
-        max_timesteps=10000000,
+        max_timesteps=10000,
         buffer_size=50000,
         exploration_fraction=0.1,
         exploration_final_eps=0.02,

From f86b9b4fc4813ed39350b9642c6a515aef4ca9f2 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Sat, 10 Jun 2017 16:24:21 -0700
Subject: [PATCH 103/175] example browser: GUI improvements for
 CommonRigidBodyMT based demos

---
 .../CommonRigidBodyMTBase.cpp                 | 92 ++++++++++++++-----
 1 file changed, 69 insertions(+), 23 deletions(-)

diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
index 83eecca61..ddecc8780 100644
--- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
+++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
@@ -285,6 +285,14 @@ public:
     {
         if ( ts )
         {
+#if BT_THREADSAFE
+            // if initial number of threads is 0 or 1,
+            if (ts->getNumThreads() <= 1)
+            {
+                // for OpenMP, TBB, PPL set num threads to number of logical cores
+                ts->setNumThreads( ts->getMaxNumThreads() );
+            }
+#endif // #if BT_THREADSAFE
             m_taskSchedulers.push_back( ts );
         }
     }
@@ -364,14 +372,20 @@ static void toggleSolverModeCallback(int buttonId, bool buttonState, void* userP
     }
 }
 
-static void setSolverTypeCallback(int buttonId, bool buttonState, void* userPointer)
+void setSolverTypeComboBoxCallback(int combobox, const char* item, void* userPointer)
 {
-    if (buttonId >= 0 && buttonId < SOLVER_TYPE_COUNT)
+    const char** items = static_cast<const char**>(userPointer);
+    for (int i = 0; i < SOLVER_TYPE_COUNT; ++i)
     {
-        gSolverType = static_cast<SolverType>(buttonId);
+        if (stricmp(item, items[i]) == 0)
+        {
+            gSolverType = static_cast<SolverType>(i);
+            break;
+        }
     }
 }
 
+
 static void setNumThreads( int numThreads )
 {
 #if BT_THREADSAFE
@@ -385,18 +399,32 @@ static void setNumThreads( int numThreads )
 #endif // #if BT_THREADSAFE
 }
 
-static void apiSelectButtonCallback(int buttonId, bool buttonState, void* userPointer)
+
+void setTaskSchedulerComboBoxCallback(int combobox, const char* item, void* userPointer)
 {
 #if BT_THREADSAFE
-    // change the task scheduler
-    btSetTaskScheduler( gTaskSchedulerMgr.getTaskScheduler( buttonId ) );
-    setNumThreads( int( gSliderNumThreads ) );
+    const char** items = static_cast<const char**>( userPointer );
+    for ( int i = 0; i < 20; ++i )
+    {
+        if ( stricmp( item, items[ i ] ) == 0 )
+        {
+            // change the task scheduler
+            btITaskScheduler* ts = gTaskSchedulerMgr.getTaskScheduler( i );
+            btSetTaskScheduler( ts );
+            gSliderNumThreads = float(ts->getNumThreads());
+            break;
+        }
+    }
 #endif // #if BT_THREADSAFE
 }
 
+
 static void setThreadCountCallback(float val, void* userPtr)
 {
+#if BT_THREADSAFE
     setNumThreads( int( gSliderNumThreads ) );
+    gSliderNumThreads = float(btGetTaskScheduler()->getNumThreads());
+#endif // #if BT_THREADSAFE
 }
 
 static void setSolverIterationCountCallback(float val, void* userPtr)
@@ -490,16 +518,21 @@ void CommonRigidBodyMTBase::createDefaultParameters()
         m_guiHelper->getParameterInterface()->registerButtonParameter( button );
     }
 
-    // add buttons for switching to different solver types
-    for (int i = 0; i < SOLVER_TYPE_COUNT; ++i)
     {
-        char buttonName[256];
-        SolverType solverType = static_cast<SolverType>(i);
-        sprintf(buttonName, "Solver Type %s", getSolverTypeName(solverType));
-        ButtonParams button( buttonName, 0, false );
-        button.m_buttonId = solverType;
-        button.m_callback = setSolverTypeCallback;
-        m_guiHelper->getParameterInterface()->registerButtonParameter( button );
+        // create a combo box for selecting the solver type
+        static const char* sSolverTypeComboBoxItems[ SOLVER_TYPE_COUNT ];
+        for ( int i = 0; i < SOLVER_TYPE_COUNT; ++i )
+        {
+            SolverType solverType = static_cast<SolverType>( i );
+            sSolverTypeComboBoxItems[ i ] = getSolverTypeName( solverType );
+        }
+        ComboBoxParams comboParams;
+        comboParams.m_userPointer = sSolverTypeComboBoxItems;
+        comboParams.m_numItems = SOLVER_TYPE_COUNT;
+        comboParams.m_startItem = gSolverType;
+        comboParams.m_items = sSolverTypeComboBoxItems;
+        comboParams.m_callback = setSolverTypeComboBoxCallback;
+        m_guiHelper->getParameterInterface()->registerComboBox( comboParams );
     }
     {
         // a slider for the number of solver iterations
@@ -562,14 +595,27 @@ void CommonRigidBodyMTBase::createDefaultParameters()
     if (m_multithreadedWorld)
     {
 #if BT_THREADSAFE
-        // create a button for each supported threading API
-        for ( int iApi = 0; iApi < gTaskSchedulerMgr.getNumTaskSchedulers(); ++iApi )
+        if (gTaskSchedulerMgr.getNumTaskSchedulers() >= 1)
         {
-            char str[ 1024 ];
-            sprintf( str, "API %s", gTaskSchedulerMgr.getTaskScheduler(iApi)->getName() );
-            ButtonParams button( str, iApi, false );
-            button.m_callback = apiSelectButtonCallback;
-            m_guiHelper->getParameterInterface()->registerButtonParameter( button );
+            // create a combo box for selecting the task scheduler
+            const int maxNumTaskSchedulers = 20;
+            static const char* sTaskSchedulerComboBoxItems[ maxNumTaskSchedulers ];
+            int startingItem = 0;
+            for ( int i = 0; i < gTaskSchedulerMgr.getNumTaskSchedulers(); ++i )
+            {
+                sTaskSchedulerComboBoxItems[ i ] = gTaskSchedulerMgr.getTaskScheduler(i)->getName();
+                if (gTaskSchedulerMgr.getTaskScheduler(i) == btGetTaskScheduler())
+                {
+                    startingItem = i;
+                }
+            }
+            ComboBoxParams comboParams;
+            comboParams.m_userPointer = sTaskSchedulerComboBoxItems;
+            comboParams.m_numItems = gTaskSchedulerMgr.getNumTaskSchedulers();
+            comboParams.m_startItem = startingItem;
+            comboParams.m_items = sTaskSchedulerComboBoxItems;
+            comboParams.m_callback = setTaskSchedulerComboBoxCallback;
+            m_guiHelper->getParameterInterface()->registerComboBox( comboParams );
         }
         {
             // create a slider to set the number of threads to use

From 79877116e7ce1945aa0a2e77e42c2996550f806e Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Sun, 11 Jun 2017 10:04:38 -0700
Subject: [PATCH 104/175] CommonRigidBodyMTBase: replace 'stricmp' with
 'strcmp'

---
 examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
index ddecc8780..1cf21db1e 100644
--- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
+++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
@@ -377,7 +377,7 @@ void setSolverTypeComboBoxCallback(int combobox, const char* item, void* userPoi
     const char** items = static_cast<const char**>(userPointer);
     for (int i = 0; i < SOLVER_TYPE_COUNT; ++i)
     {
-        if (stricmp(item, items[i]) == 0)
+        if (strcmp(item, items[i]) == 0)
         {
             gSolverType = static_cast<SolverType>(i);
             break;
@@ -406,7 +406,7 @@ void setTaskSchedulerComboBoxCallback(int combobox, const char* item, void* user
     const char** items = static_cast<const char**>( userPointer );
     for ( int i = 0; i < 20; ++i )
     {
-        if ( stricmp( item, items[ i ] ) == 0 )
+        if ( strcmp( item, items[ i ] ) == 0 )
         {
             // change the task scheduler
             btITaskScheduler* ts = gTaskSchedulerMgr.getTaskScheduler( i );

From 6d84e5e1594afa37ece145a71bac69ffa2ba0ae1 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Mon, 12 Jun 2017 16:28:21 +0200
Subject: [PATCH 105/175] fix memcpy of depth and segmentation images to numpy
 arrays

---
 examples/pybullet/pybullet.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 0c7ae9f0e..f7e5b0d82 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5178,9 +5178,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 			memcpy(PyArray_DATA(pyRGB), imageData.m_rgbColorData,
 				   imageData.m_pixelHeight * imageData.m_pixelWidth * bytesPerPixel);
 			memcpy(PyArray_DATA(pyDep), imageData.m_depthValues,
-				   imageData.m_pixelHeight * imageData.m_pixelWidth);
+				   imageData.m_pixelHeight * imageData.m_pixelWidth * sizeof(float));
 			memcpy(PyArray_DATA(pySeg), imageData.m_segmentationMaskValues,
-				   imageData.m_pixelHeight * imageData.m_pixelWidth);
+				   imageData.m_pixelHeight * imageData.m_pixelWidth * sizeof(int));
 
 			PyTuple_SetItem(pyResultList, 2, pyRGB);
 			PyTuple_SetItem(pyResultList, 3, pyDep);

From 0c7cf47eb9c16f6893efaf72a13199d0a8de4de9 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Tue, 13 Jun 2017 17:24:35 +0200
Subject: [PATCH 106/175] fix uninitialized erp in
 pybullet_setPhysicsEngineParameter

---
 examples/pybullet/pybullet.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index f7e5b0d82..d87d04efd 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -763,7 +763,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	int maxNumCmdPer1ms = -2;
 	int enableFileCaching = -1;
 	double restitutionVelocityThreshold=-1;
-	double erp;
+	double erp = -1;
 	double contactERP = -1;
 	double frictionERP = -1;
 	b3PhysicsClientHandle sm = 0;

From c84416d93218af4ae09df1cccd061e6e071813a7 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 13 Jun 2017 10:53:24 -0700
Subject: [PATCH 107/175] add debug view for getCameraImage (RGB, depth,
 segmentation mask)

---
 .../CommonGUIHelperInterface.h                |   6 +
 .../SharedMemory/PhysicsClientExample.cpp     |   4 +-
 .../PhysicsServerCommandProcessor.cpp         |  15 ++
 .../SharedMemory/PhysicsServerExample.cpp     | 215 +++++++++++++++++-
 examples/pybullet/gym/racecarGymEnvTest.py    |   2 +-
 5 files changed, 235 insertions(+), 7 deletions(-)

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index ce41f27c8..233f3002a 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -83,6 +83,12 @@ struct GUIHelperInterface
                                   float* depthBuffer, int depthBufferSizeInPixels, 
                                   int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
                                   int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)=0;
+	  virtual void debugDisplayCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
+                                  unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
+                                  float* depthBuffer, int depthBufferSizeInPixels, 
+                                  int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+		  int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied){}
+
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
 	
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index c7d591412..84d35c1a8 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -22,8 +22,8 @@ struct MyMotorInfo2
     int     m_qIndex;
 };
 
-int camVisualizerWidth = 320;//1024/3;
-int camVisualizerHeight = 240;//768/3;
+static int camVisualizerWidth = 320;//1024/3;
+static int camVisualizerHeight = 240;//768/3;
 
 enum CustomCommands
 {
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9103e4384..fc961849e 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3009,6 +3009,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                                 depthBuffer,numRequestedPixels,
                                                 segmentationMaskBuffer, numRequestedPixels,
                                                 startPixelIndex,width,height,&numPixelsCopied);
+
+							m_data->m_guiHelper->debugDisplayCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,
+                                                clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,
+                                                depthBuffer,numRequestedPixels,
+                                                0, numRequestedPixels,
+                                                startPixelIndex,width,height,&numPixelsCopied);
+
+							
 						} else
 						{
 
@@ -3067,6 +3075,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                                      depthBuffer,numRequestedPixels,
                                                      segmentationMaskBuffer, numRequestedPixels,
                                                      startPixelIndex,&width,&height,&numPixelsCopied);
+
+							m_data->m_guiHelper->debugDisplayCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,
+                                                clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,
+                                                depthBuffer,numRequestedPixels,
+                                                segmentationMaskBuffer, numRequestedPixels,
+                                                startPixelIndex,width,height,&numPixelsCopied);
+
 						}
 
                         //each pixel takes 4 RGBA values and 1 float = 8 bytes
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index cbf7427bb..0911fbb30 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -5,7 +5,7 @@
 #include "PhysicsServerExample.h"
 
 
-
+#include "../CommonInterfaces/Common2dCanvasInterface.h"
 #include "PhysicsServerSharedMemory.h"
 #include "Bullet3Common/b3CommandLineArgs.h"
 #include "SharedMemoryCommon.h"
@@ -27,6 +27,8 @@ bool gEnableTeleporting=true;
 bool gEnableRendering= true;
 bool gEnableSyncPhysicsRendering= true;
 bool gEnableUpdateDebugDrawLines = true;
+static int gCamVisualizerWidth = 320;
+static int gCamVisualizerHeight = 240;
 
 
 //extern btVector3 gLastPickPos;
@@ -114,6 +116,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIHelperCreateRigidBodyGraphicsObject,
 	eGUIHelperRemoveAllGraphicsInstances,
 	eGUIHelperCopyCameraImageData,
+	eGUIHelperDisplayCameraImageData,
 	eGUIHelperAutogenerateGraphicsObjects,
 	eGUIUserDebugAddText,
 	eGUIUserDebugAddLine,
@@ -939,7 +942,7 @@ public:
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
-		return 0;
+		return m_childGuiHelper->get2dCanvasInterface();
 	}
 	
 	virtual CommonParameterInterface* getParameterInterface()
@@ -1014,6 +1017,32 @@ public:
 		workerThreadWait();
 	}
 	
+	virtual void debugDisplayCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
+                                  unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
+                                  float* depthBuffer, int depthBufferSizeInPixels, 
+                                  int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+		  int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
+	{
+		 m_cs->lock();
+	    for (int i=0;i<16;i++)
+        {
+            m_viewMatrix[i] = viewMatrix[i];
+            m_projectionMatrix[i] = projectionMatrix[i];
+        }
+	    m_pixelsRGBA = pixelsRGBA;
+        m_rgbaBufferSizeInPixels = rgbaBufferSizeInPixels;
+        m_depthBuffer = depthBuffer;
+        m_depthBufferSizeInPixels = depthBufferSizeInPixels;
+        m_segmentationMaskBuffer = segmentationMaskBuffer;
+        m_segmentationMaskBufferSizeInPixels = segmentationMaskBufferSizeInPixels;
+        m_startPixelIndex = startPixelIndex;
+        m_destinationWidth = destinationWidth;
+        m_destinationHeight = destinationHeight;
+        m_numPixelsCopied = numPixelsCopied;
+	    
+		m_cs->setSharedParam(1,eGUIHelperDisplayCameraImageData);
+		workerThreadWait();
+	}
 
 	btDiscreteDynamicsWorld* m_dynamicsWorld;
 
@@ -1179,6 +1208,12 @@ class PhysicsServerExample : public SharedMemoryCommon
     bool m_isConnected;
     btClock m_clock;
 	bool m_replay;
+
+	struct Common2dCanvasInterface* m_canvas;
+	int m_canvasRGBIndex;
+	int m_canvasDepthIndex;
+	int m_canvasSegMaskIndex;
+
 //	int m_options;
 	
 #ifdef BT_ENABLE_VR
@@ -1492,7 +1527,11 @@ PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper,
 m_physicsServer(commandProcessorCreator,sharedMem,0),
 m_wantsShutdown(false),
 m_isConnected(false),
-m_replay(false)
+m_replay(false),
+m_canvas(0),
+m_canvasRGBIndex(-1),
+m_canvasDepthIndex(-1),
+m_canvasSegMaskIndex(-1)
 //m_options(options)
 #ifdef BT_ENABLE_VR
 ,m_tinyVrGui(0)
@@ -1507,6 +1546,15 @@ m_replay(false)
 
 PhysicsServerExample::~PhysicsServerExample()
 {
+	if (m_canvas)
+	{
+	    if (m_canvasRGBIndex>=0)
+            m_canvas->destroyCanvas(m_canvasRGBIndex);
+	    if (m_canvasDepthIndex>=0)
+            m_canvas->destroyCanvas(m_canvasDepthIndex);
+        if (m_canvasSegMaskIndex>=0)
+            m_canvas->destroyCanvas(m_canvasSegMaskIndex);
+	}
 
 #ifdef BT_ENABLE_VR
 	delete m_tinyVrGui;
@@ -1580,6 +1628,47 @@ void	PhysicsServerExample::initPhysics()
 
 
 		m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
+
+
+
+	{
+		m_canvas = m_guiHelper->get2dCanvasInterface();
+		if (m_canvas)
+		{
+	
+			
+			m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight);
+			m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight);
+			m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight);
+
+			for (int i=0;i<gCamVisualizerWidth;i++)
+			{
+				for (int j=0;j<gCamVisualizerHeight;j++)
+				{
+					unsigned char red=255;
+					unsigned char green=255;
+					unsigned char blue=255;
+					unsigned char alpha=255;
+					if (i==j)
+					{
+						red = 0;
+						green=0;
+						blue=0;
+					}
+					m_canvas->setPixel(m_canvasRGBIndex,i,j,red,green,blue,alpha);
+					m_canvas->setPixel(m_canvasDepthIndex,i,j,red,green,blue,alpha);
+					m_canvas->setPixel(m_canvasSegMaskIndex,i,j,red,green,blue,alpha);
+					
+				}
+			}
+			m_canvas->refreshImageData(m_canvasRGBIndex);
+			m_canvas->refreshImageData(m_canvasDepthIndex);
+			m_canvas->refreshImageData(m_canvasSegMaskIndex);
+			
+			
+		}
+
+	}
 }
 
 
@@ -1760,7 +1849,124 @@ void	PhysicsServerExample::updateGraphics()
 		break;
 
 	}
+	case eGUIHelperDisplayCameraImageData:
+	{
+		if (m_canvas)
+		{
 
+			int numBytesPerPixel= 4;
+			int startRGBIndex = m_multiThreadedHelper->m_startPixelIndex*numBytesPerPixel;
+			int endRGBIndex = startRGBIndex + (*m_multiThreadedHelper->m_numPixelsCopied*numBytesPerPixel);
+
+			int startDepthIndex = m_multiThreadedHelper->m_startPixelIndex;
+			int endDepthIndex = startDepthIndex + (*m_multiThreadedHelper->m_numPixelsCopied);
+
+			int startSegIndex = m_multiThreadedHelper->m_startPixelIndex;
+			int endSegIndex = startSegIndex + (*m_multiThreadedHelper->m_numPixelsCopied);
+
+			btScalar frustumZNear = m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]-1);
+			btScalar frustumZFar = 20;//m_multiThreadedHelper->m_projectionMatrix[14]/(m_multiThreadedHelper->m_projectionMatrix[10]+1);
+
+				for (int i=0;i<gCamVisualizerWidth;i++)
+					{
+						for (int j=0;j<gCamVisualizerHeight;j++)
+						{
+                            int xIndex = int(float(i)*(float(m_multiThreadedHelper->m_destinationWidth)/float(gCamVisualizerWidth)));
+                            int yIndex = int(float(j)*(float(m_multiThreadedHelper->m_destinationHeight)/float(gCamVisualizerHeight)));
+							btClamp(yIndex,0,m_multiThreadedHelper->m_destinationWidth);
+							btClamp(xIndex,0,m_multiThreadedHelper->m_destinationHeight);
+							int bytesPerPixel = 4; //RGBA
+							
+							if (m_canvasRGBIndex >=0)
+                            {
+                                int rgbPixelIndex = (xIndex+yIndex*m_multiThreadedHelper->m_destinationWidth)*bytesPerPixel;
+								if (rgbPixelIndex >= startRGBIndex && rgbPixelIndex < endRGBIndex)
+								{
+									m_canvas->setPixel(m_canvasRGBIndex,i,j,
+											m_multiThreadedHelper->m_pixelsRGBA[rgbPixelIndex-startRGBIndex],
+											m_multiThreadedHelper->m_pixelsRGBA[rgbPixelIndex+1-startRGBIndex],
+											m_multiThreadedHelper->m_pixelsRGBA[rgbPixelIndex+2-startRGBIndex],
+													   255); //alpha set to 255
+								}
+                            }
+                            if (m_canvasDepthIndex >=0 && 0!= m_multiThreadedHelper->m_depthBuffer)
+                            {
+                                int depthPixelIndex = (xIndex+yIndex*m_multiThreadedHelper->m_destinationWidth);
+								if (depthPixelIndex >= startDepthIndex && depthPixelIndex < endDepthIndex)
+								{
+									float depthValue = m_multiThreadedHelper->m_depthBuffer[depthPixelIndex-startDepthIndex];
+									//todo: rescale the depthValue to [0..255]
+									if (depthValue>-1e20)
+									{
+										int rgb = 0;
+										btScalar minDepthValue = 0.96;
+										btScalar maxDepthValue = 1;
+
+										if (maxDepthValue!=minDepthValue)
+										{
+											rgb =  (depthValue-minDepthValue)*(255. / (btFabs(maxDepthValue-minDepthValue)));
+											if (rgb<0 || rgb>255)
+											{
+    											//printf("rgb=%d\n",rgb);
+											}
+										}                 
+										m_canvas->setPixel(m_canvasDepthIndex,i,j,
+											rgb,
+											rgb,
+											255, 255); //alpha set to 255
+									} else
+									{
+										m_canvas->setPixel(m_canvasDepthIndex,i,j,
+											0,
+											0,
+											0, 255); //alpha set to 255
+									}
+								}
+                            }
+
+                            if (m_canvasSegMaskIndex>=0 && (0!=m_multiThreadedHelper->m_segmentationMaskBuffer))
+                            {
+                                int segmentationMaskPixelIndex = (xIndex+yIndex*m_multiThreadedHelper->m_destinationWidth);
+
+								if (segmentationMaskPixelIndex >= startSegIndex && segmentationMaskPixelIndex < endSegIndex)
+								{
+									int segmentationMask = m_multiThreadedHelper->m_segmentationMaskBuffer[segmentationMaskPixelIndex-startSegIndex];
+									btVector4 palette[4] = {btVector4(32,255,32,255),
+															btVector4(32,32,255,255),
+															btVector4(255,255,32,255),
+															btVector4(32,255,255,255)};
+									if (segmentationMask>=0)
+									{
+										btVector4 rgb = palette[segmentationMask&3];
+										 m_canvas->setPixel(m_canvasSegMaskIndex,i,j,
+											rgb.x(),
+											rgb.y(),
+											rgb.z(), 255); //alpha set to 255
+									} else
+									{
+										 m_canvas->setPixel(m_canvasSegMaskIndex,i,j,
+											0,
+											0,
+											0, 255); //alpha set to 255
+									}
+								}
+                            }
+						}
+					}
+
+					if (m_canvasRGBIndex >=0)
+                        m_canvas->refreshImageData(m_canvasRGBIndex);
+      
+					if (m_canvasDepthIndex >=0)
+                        m_canvas->refreshImageData(m_canvasDepthIndex);
+                    if (m_canvasSegMaskIndex >=0)
+                        m_canvas->refreshImageData(m_canvasSegMaskIndex);
+                        
+                        
+		}
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+	}
     case eGUIHelperCopyCameraImageData:
         {
              m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_multiThreadedHelper->m_viewMatrix,
@@ -1775,7 +1981,8 @@ void	PhysicsServerExample::updateGraphics()
 				 m_multiThreadedHelper->m_destinationWidth, 
 				 m_multiThreadedHelper->m_destinationHeight, 
 				 m_multiThreadedHelper->m_numPixelsCopied);
- 		m_multiThreadedHelper->mainThreadRelease();
+
+	 		m_multiThreadedHelper->mainThreadRelease();
             break;
         }
 	case eGUIHelperAutogenerateGraphicsObjects:
diff --git a/examples/pybullet/gym/racecarGymEnvTest.py b/examples/pybullet/gym/racecarGymEnvTest.py
index 6be102dc3..f9fda3fc3 100644
--- a/examples/pybullet/gym/racecarGymEnvTest.py
+++ b/examples/pybullet/gym/racecarGymEnvTest.py
@@ -1,7 +1,7 @@
 
 from envs.bullet.racecarGymEnv import RacecarGymEnv
 print ("hello")
-environment = RacecarGymEnv(render=True)
+environment = RacecarGymEnv(renders=True)
 
 targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
 steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)

From d17faddff2454b6a343b19d57aa193f52ab1e29c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 13 Jun 2017 13:51:38 -0700
Subject: [PATCH 108/175] fix for
 b3RequestActualStateCommandComputeLinkVelocity/getLinkState link velocities
 for static links

---
 setup.py                                      |  2 +-
 .../Featherstone/btMultiBody.cpp              | 26 ++++++++++++++++---
 .../Featherstone/btMultiBodyLink.h            | 15 ++++++++---
 3 files changed, 35 insertions(+), 8 deletions(-)

diff --git a/setup.py b/setup.py
index bb86bdd4b..fecab1248 100644
--- a/setup.py
+++ b/setup.py
@@ -419,7 +419,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.1.4',
+	version='1.1.6',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index c4c3fdea7..036b226e8 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -154,6 +154,8 @@ void btMultiBody::setupFixed(int i,
 	m_links[i].m_mass = mass;
     m_links[i].m_inertiaLocal = inertia;
     m_links[i].m_parent = parent;
+	 m_links[i].setAxisTop(0, 0., 0., 0.);
+    m_links[i].setAxisBottom(0, btVector3(0,0,0));
     m_links[i].m_zeroRotParentToThis = rotParentToThis;
 	m_links[i].m_dVector = thisPivotToThisComOffset;
     m_links[i].m_eVector = parentComToThisPivotOffset;    
@@ -522,7 +524,8 @@ void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
     omega[0] = quatRotate(m_baseQuat ,getBaseOmega());
     vel[0] = quatRotate(m_baseQuat ,getBaseVel());
     
-    for (int i = 0; i < num_links; ++i) {
+    for (int i = 0; i < num_links; ++i) 
+	{
         const int parent = m_links[i].m_parent;
 
         // transform parent vel into this frame, store in omega[i+1], vel[i+1]
@@ -531,9 +534,24 @@ void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
                          omega[i+1], vel[i+1]);
 
         // now add qidot * shat_i
-        omega[i+1] += getJointVel(i) * m_links[i].getAxisTop(0);
-        vel[i+1] += getJointVel(i) * m_links[i].getAxisBottom(0);
-    }
+		//only supported for revolute/prismatic joints, todo: spherical and planar joints
+		switch(m_links[i].m_jointType)
+		{
+			case btMultibodyLink::ePrismatic:
+			case btMultibodyLink::eRevolute:
+			{
+				btVector3 axisTop = m_links[i].getAxisTop(0);
+				btVector3 axisBottom = m_links[i].getAxisBottom(0);
+				btScalar jointVel = getJointVel(i);
+				omega[i+1] += jointVel * axisTop;
+				vel[i+1] += jointVel * axisBottom;
+				break;
+			}
+			default:
+			{
+			}
+		}
+	}
 }
 
 btScalar btMultiBody::getKineticEnergy() const
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
index 6cd8c69d3..8129ae901 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
@@ -96,9 +96,18 @@ struct btMultibodyLink
 	//			   m_axesBottom[1][2] = unit vectors along the translational axes on that plane		
 	btSpatialMotionVector m_axes[6];
 	void setAxisTop(int dof, const btVector3 &axis) { m_axes[dof].m_topVec = axis; }
-	void setAxisBottom(int dof, const btVector3 &axis) { m_axes[dof].m_bottomVec = axis; }
-	void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axes[dof].m_topVec.setValue(x, y, z); }
-	void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axes[dof].m_bottomVec.setValue(x, y, z); }
+	void setAxisBottom(int dof, const btVector3 &axis) 
+	{ 
+		m_axes[dof].m_bottomVec = axis; 
+	}
+	void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z) 
+	{
+		m_axes[dof].m_topVec.setValue(x, y, z); 
+	}
+	void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z) 
+	{ 
+		m_axes[dof].m_bottomVec.setValue(x, y, z); 
+	}
 	const btVector3 & getAxisTop(int dof) const { return m_axes[dof].m_topVec; }
 	const btVector3 & getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; }
 

From 0958e8f47371a325c1bb76f0c85e409aaeb20b19 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 13 Jun 2017 14:07:58 -0700
Subject: [PATCH 109/175] only show debug camera RGB pixels by default

---
 .../SharedMemory/PhysicsServerExample.cpp     | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 0911fbb30..70d22b648 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1638,8 +1638,8 @@ void	PhysicsServerExample::initPhysics()
 	
 			
 			m_canvasRGBIndex = m_canvas->createCanvas("Synthetic Camera RGB data",gCamVisualizerWidth, gCamVisualizerHeight);
-			m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight);
-			m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight);
+			//m_canvasDepthIndex = m_canvas->createCanvas("Synthetic Camera Depth data",gCamVisualizerWidth, gCamVisualizerHeight);
+			//m_canvasSegMaskIndex = m_canvas->createCanvas("Synthetic Camera Segmentation Mask",gCamVisualizerWidth, gCamVisualizerHeight);
 
 			for (int i=0;i<gCamVisualizerWidth;i++)
 			{
@@ -1656,14 +1656,19 @@ void	PhysicsServerExample::initPhysics()
 						blue=0;
 					}
 					m_canvas->setPixel(m_canvasRGBIndex,i,j,red,green,blue,alpha);
-					m_canvas->setPixel(m_canvasDepthIndex,i,j,red,green,blue,alpha);
-					m_canvas->setPixel(m_canvasSegMaskIndex,i,j,red,green,blue,alpha);
+					if (m_canvasSegMaskIndex>=0)
+						m_canvas->setPixel(m_canvasDepthIndex,i,j,red,green,blue,alpha);
+					if (m_canvasSegMaskIndex>=0)
+						m_canvas->setPixel(m_canvasSegMaskIndex,i,j,red,green,blue,alpha);
 					
 				}
 			}
 			m_canvas->refreshImageData(m_canvasRGBIndex);
-			m_canvas->refreshImageData(m_canvasDepthIndex);
-			m_canvas->refreshImageData(m_canvasSegMaskIndex);
+	
+			if (m_canvasDepthIndex>=0)
+				m_canvas->refreshImageData(m_canvasDepthIndex);
+			if (m_canvasSegMaskIndex>=0)
+				m_canvas->refreshImageData(m_canvasSegMaskIndex);
 			
 			
 		}
@@ -1899,7 +1904,7 @@ void	PhysicsServerExample::updateGraphics()
 									if (depthValue>-1e20)
 									{
 										int rgb = 0;
-										btScalar minDepthValue = 0.96;
+										btScalar minDepthValue = 0.98;//todo: compute more reasonably min/max depth range
 										btScalar maxDepthValue = 1;
 
 										if (maxDepthValue!=minDepthValue)

From ee8fd56c5ec9aa22bfb48647f2466571101b8596 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 13 Jun 2017 16:04:50 -0700
Subject: [PATCH 110/175] prepare to train racecar using ZED camera pixels
 (CNN+DQN)

---
 .../SharedMemory/PhysicsClientExample.cpp     |   2 +-
 .../SharedMemory/PhysicsServerExample.cpp     |   4 +-
 .../gym/enjoy_pybullet_zed_racecar.py         |  26 +++
 examples/pybullet/gym/envs/__init__.py        |   7 +
 .../gym/envs/bullet/racecarZEDGymEnv.py       | 154 ++++++++++++++++++
 .../gym/train_pybullet_zed_racecar.py         |  38 +++++
 6 files changed, 228 insertions(+), 3 deletions(-)
 create mode 100644 examples/pybullet/gym/enjoy_pybullet_zed_racecar.py
 create mode 100644 examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py
 create mode 100644 examples/pybullet/gym/train_pybullet_zed_racecar.py

diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 84d35c1a8..bdc65dac2 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -863,8 +863,8 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
 						{
                             int xIndex = int(float(i)*(float(imageData.m_pixelWidth)/float(camVisualizerWidth)));
                             int yIndex = int(float(j)*(float(imageData.m_pixelHeight)/float(camVisualizerHeight)));
-							btClamp(yIndex,0,imageData.m_pixelHeight);
 							btClamp(xIndex,0,imageData.m_pixelWidth);
+							btClamp(yIndex,0,imageData.m_pixelHeight);
 							
                             if (m_canvasDepthIndex >=0)
                             {
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 70d22b648..1f9c26384 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -1878,8 +1878,8 @@ void	PhysicsServerExample::updateGraphics()
 						{
                             int xIndex = int(float(i)*(float(m_multiThreadedHelper->m_destinationWidth)/float(gCamVisualizerWidth)));
                             int yIndex = int(float(j)*(float(m_multiThreadedHelper->m_destinationHeight)/float(gCamVisualizerHeight)));
-							btClamp(yIndex,0,m_multiThreadedHelper->m_destinationWidth);
-							btClamp(xIndex,0,m_multiThreadedHelper->m_destinationHeight);
+							btClamp(xIndex,0,m_multiThreadedHelper->m_destinationWidth);
+							btClamp(yIndex,0,m_multiThreadedHelper->m_destinationHeight);
 							int bytesPerPixel = 4; //RGBA
 							
 							if (m_canvasRGBIndex >=0)
diff --git a/examples/pybullet/gym/enjoy_pybullet_zed_racecar.py b/examples/pybullet/gym/enjoy_pybullet_zed_racecar.py
new file mode 100644
index 000000000..ff8b26ae3
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_pybullet_zed_racecar.py
@@ -0,0 +1,26 @@
+import gym
+from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
+
+from baselines import deepq
+
+
+def main():
+    
+    env = RacecarZEDGymEnv(renders=True)
+    act = deepq.load("racecar_model.pkl")
+    print(act)
+    while True:
+        obs, done = env.reset(), False
+        print("===================================")        
+        print("obs")
+        print(obs)
+        episode_rew = 0
+        while not done:
+            env.render()
+            obs, rew, done, _ = env.step(act(obs[None])[0])
+            episode_rew += rew
+        print("Episode reward", episode_rew)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py
index 43b7a50ac..495c30e39 100644
--- a/examples/pybullet/gym/envs/__init__.py
+++ b/examples/pybullet/gym/envs/__init__.py
@@ -22,3 +22,10 @@ register(
     timestep_limit=1000,
     reward_threshold=5.0,
 )
+
+register(
+    id='RacecarZedBulletEnv-v0',
+    entry_point='envs.bullet:RacecarZEDGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
diff --git a/examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py b/examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py
new file mode 100644
index 000000000..f9fc4186f
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py
@@ -0,0 +1,154 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import racecar
+import random
+
+class RacecarZEDGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=50,
+               isEnableSelfCollision=True,
+               renders=True):
+    print("init")
+    self._timeStep = 0.01
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._ballUniqueId = -1
+    self._envStepCounter = 0
+    self._renders = renders
+    self._p = p
+    if self._renders:
+      p.connect(p.GUI)
+    else:
+      p.connect(p.DIRECT)
+    self._seed()
+    self.reset()
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(6)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.viewer = None
+
+  def _reset(self):
+    p.resetSimulation()
+    #p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setTimeStep(self._timeStep)
+    #p.loadURDF("%splane.urdf" % self._urdfRoot)
+    stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
+    #move the stadium objects slightly above 0
+    for i in stadiumobjects:
+      pos,orn = p.getBasePositionAndOrientation(i)
+      newpos = [pos[0],pos[1],pos[2]+0.1]
+      p.resetBasePositionAndOrientation(i,newpos,orn)
+    
+    dist = 5 +2.*random.random()
+    ang = 2.*3.1415925438*random.random()
+    
+    ballx = dist * math.sin(ang)
+    bally = dist * math.cos(ang)
+    ballz = 1
+    
+    self._ballUniqueId = p.loadURDF("sphere2.urdf",[ballx,bally,ballz])
+    p.setGravity(0,0,-10)
+    self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    for i in range(100):
+      p.stepSimulation()
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def getExtendedObservation(self):
+     self._observation = [] #self._racecar.getObservation()
+     carpos,carorn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
+     carmat = p.getMatrixFromQuaternion(carorn)
+     ballpos,ballorn = p.getBasePositionAndOrientation(self._ballUniqueId)      
+     invCarPos,invCarOrn = p.invertTransform(carpos,carorn)
+     ballPosInCar,ballOrnInCar = p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
+     dist0 = 0.3
+     dist1 = 1.
+     if self._renders:
+       print("carpos")
+       print(carpos)
+       eyePos = carpos
+       print("carmat012")
+       print(carmat[0],carmat[1],carmat[2])
+       print("carmat345")
+       print(carmat[3],carmat[4],carmat[5])
+       print("carmat678")
+       print(carmat[6],carmat[7],carmat[8])
+       eyePos = [carpos[0]+dist0*carmat[0],carpos[1]+dist0*carmat[3],carpos[2]+dist0*carmat[6]+0.3]
+       targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]
+      
+       up = [0,0,1]
+       viewMat = p.computeViewMatrix(eyePos,targetPos,up)
+       #viewMat = p.computeViewMatrixFromYawPitchRoll(carpos,1,0,0,0,2)
+       p.getCameraImage(width=320,height=240,viewMatrix=viewMat,projectionMatrix=p.getDebugVisualizerCamera()[3],renderer=p.ER_BULLET_HARDWARE_OPENGL)
+
+     self._observation.extend([ballPosInCar[0],ballPosInCar[1]])
+     return self._observation
+     
+  def _step(self, action):
+    if (self._renders):
+      basePos,orn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
+      #p.resetDebugVisualizerCamera(1, 30, -40, basePos)
+    
+    fwd = [5,0,5,10,10,10]
+    steerings = [-0.5,0,0.5,-0.3,0,0.3]
+    forward = fwd[action]
+    steer = steerings[action]
+    realaction = [forward,steer]
+    self._racecar.applyAction(realaction)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._renders:
+        time.sleep(self._timeStep)
+      self._observation = self.getExtendedObservation()
+      
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    #print("len=%r" % len(self._observation))
+    
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    return self._envStepCounter>1000
+    
+  def _reward(self):
+    closestPoints = p.getClosestPoints(self._racecar.racecarUniqueId,self._ballUniqueId,10000) 
+    
+    numPt = len(closestPoints)
+    reward=-1000
+    #print(numPt)
+    if (numPt>0):
+      #print("reward:")
+      reward = -closestPoints[0][8]
+      #print(reward)
+    return reward
diff --git a/examples/pybullet/gym/train_pybullet_zed_racecar.py b/examples/pybullet/gym/train_pybullet_zed_racecar.py
new file mode 100644
index 000000000..98b7b56ed
--- /dev/null
+++ b/examples/pybullet/gym/train_pybullet_zed_racecar.py
@@ -0,0 +1,38 @@
+import gym
+from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
+
+from baselines import deepq
+
+import datetime
+
+
+
+def callback(lcl, glb):
+    # stop training if reward exceeds 199
+    total = sum(lcl['episode_rewards'][-101:-1]) / 100
+    totalt = lcl['t']
+    is_solved = totalt > 2000 and total >= -50
+    return is_solved
+
+
+def main():
+  
+    env = RacecarZEDGymEnv(renders=False)
+    model = deepq.models.mlp([64])
+    act = deepq.learn(
+        env,
+        q_func=model,
+        lr=1e-3,
+        max_timesteps=10000,
+        buffer_size=50000,
+        exploration_fraction=0.1,
+        exploration_final_eps=0.02,
+        print_freq=10,
+        callback=callback
+    )
+    print("Saving model to racecar_model.pkl")
+    act.save("racecar_model.pkl")
+
+
+if __name__ == '__main__':
+    main()

From a0ded43a69bca09819acbd4fe8a711cc7827c392 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 13 Jun 2017 18:33:32 -0700
Subject: [PATCH 111/175] use cnn_to_mlp to allow training of racecar using
 (extremely simplified) ZED camera pixel data using OpenAI baselines. add a
 red sphere to make training a bit easier for now.

---
 data/sphere2red.urdf                          |   32 +
 data/sphere_smooth.mtl                        |   10 +
 data/sphere_smooth.obj                        | 3725 +++++++++++++++++
 .../gym/enjoy_pybullet_zed_racecar.py         |    2 +-
 .../gym/envs/bullet/racecarZEDGymEnv.py       |   42 +-
 .../gym/train_pybullet_zed_racecar.py         |   11 +-
 6 files changed, 3793 insertions(+), 29 deletions(-)
 create mode 100644 data/sphere2red.urdf
 create mode 100644 data/sphere_smooth.mtl
 create mode 100644 data/sphere_smooth.obj

diff --git a/data/sphere2red.urdf b/data/sphere2red.urdf
new file mode 100644
index 000000000..67b72bc2a
--- /dev/null
+++ b/data/sphere2red.urdf
@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <rolling_friction value="0.03"/>
+      <spinning_friction value="0.03"/>
+    </contact>
+
+    <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>
+				<mesh filename="sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="red">
+        <color rgba="1 0.2 0.2 1"/>
+        <specular rgb="1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/data/sphere_smooth.mtl b/data/sphere_smooth.mtl
new file mode 100644
index 000000000..e6a7667ba
--- /dev/null
+++ b/data/sphere_smooth.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 1. 0.2 0.2
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/sphere_smooth.obj b/data/sphere_smooth.obj
new file mode 100644
index 000000000..b7262e882
--- /dev/null
+++ b/data/sphere_smooth.obj
@@ -0,0 +1,3725 @@
+# Blender v2.77 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib sphere_smooth.mtl
+o Sphere_Sphere.001
+v -0.108119 0.994138 0.000000
+v -0.214970 0.976621 0.000000
+v -0.319302 0.947653 0.000000
+v -0.419889 0.907575 0.000000
+v -0.515554 0.856857 0.000000
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diff --git a/examples/pybullet/gym/enjoy_pybullet_zed_racecar.py b/examples/pybullet/gym/enjoy_pybullet_zed_racecar.py
index ff8b26ae3..c4c201703 100644
--- a/examples/pybullet/gym/enjoy_pybullet_zed_racecar.py
+++ b/examples/pybullet/gym/enjoy_pybullet_zed_racecar.py
@@ -7,7 +7,7 @@ from baselines import deepq
 def main():
     
     env = RacecarZEDGymEnv(renders=True)
-    act = deepq.load("racecar_model.pkl")
+    act = deepq.load("racecar_zed_model.pkl")
     print(act)
     while True:
         obs, done = env.reset(), False
diff --git a/examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py b/examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py
index f9fc4186f..347efd80b 100644
--- a/examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/racecarZEDGymEnv.py
@@ -16,7 +16,7 @@ class RacecarZEDGymEnv(gym.Env):
 
   def __init__(self,
                urdfRoot="",
-               actionRepeat=50,
+               actionRepeat=100,
                isEnableSelfCollision=True,
                renders=True):
     print("init")
@@ -24,10 +24,11 @@ class RacecarZEDGymEnv(gym.Env):
     self._urdfRoot = urdfRoot
     self._actionRepeat = actionRepeat
     self._isEnableSelfCollision = isEnableSelfCollision
-    self._observation = []
     self._ballUniqueId = -1
     self._envStepCounter = 0
     self._renders = renders
+    self._width = 100
+    self._height = 10
     self._p = p
     if self._renders:
       p.connect(p.GUI)
@@ -41,7 +42,8 @@ class RacecarZEDGymEnv(gym.Env):
     
     observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
     self.action_space = spaces.Discrete(6)
-    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
+
     self.viewer = None
 
   def _reset(self):
@@ -63,7 +65,7 @@ class RacecarZEDGymEnv(gym.Env):
     bally = dist * math.cos(ang)
     ballz = 1
     
-    self._ballUniqueId = p.loadURDF("sphere2.urdf",[ballx,bally,ballz])
+    self._ballUniqueId = p.loadURDF("sphere2red.urdf",[ballx,bally,ballz])
     p.setGravity(0,0,-10)
     self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0
@@ -80,7 +82,6 @@ class RacecarZEDGymEnv(gym.Env):
     return [seed]
 
   def getExtendedObservation(self):
-     self._observation = [] #self._racecar.getObservation()
      carpos,carorn = p.getBasePositionAndOrientation(self._racecar.racecarUniqueId)
      carmat = p.getMatrixFromQuaternion(carorn)
      ballpos,ballorn = p.getBasePositionAndOrientation(self._ballUniqueId)      
@@ -88,25 +89,18 @@ class RacecarZEDGymEnv(gym.Env):
      ballPosInCar,ballOrnInCar = p.multiplyTransforms(invCarPos,invCarOrn,ballpos,ballorn)
      dist0 = 0.3
      dist1 = 1.
-     if self._renders:
-       print("carpos")
-       print(carpos)
-       eyePos = carpos
-       print("carmat012")
-       print(carmat[0],carmat[1],carmat[2])
-       print("carmat345")
-       print(carmat[3],carmat[4],carmat[5])
-       print("carmat678")
-       print(carmat[6],carmat[7],carmat[8])
-       eyePos = [carpos[0]+dist0*carmat[0],carpos[1]+dist0*carmat[3],carpos[2]+dist0*carmat[6]+0.3]
-       targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]
-      
-       up = [0,0,1]
-       viewMat = p.computeViewMatrix(eyePos,targetPos,up)
-       #viewMat = p.computeViewMatrixFromYawPitchRoll(carpos,1,0,0,0,2)
-       p.getCameraImage(width=320,height=240,viewMatrix=viewMat,projectionMatrix=p.getDebugVisualizerCamera()[3],renderer=p.ER_BULLET_HARDWARE_OPENGL)
-
-     self._observation.extend([ballPosInCar[0],ballPosInCar[1]])
+     eyePos = [carpos[0]+dist0*carmat[0],carpos[1]+dist0*carmat[3],carpos[2]+dist0*carmat[6]+0.3]
+     targetPos = [carpos[0]+dist1*carmat[0],carpos[1]+dist1*carmat[3],carpos[2]+dist1*carmat[6]+0.3]      
+     up = [carmat[2],carmat[5],carmat[8]]
+     viewMat = p.computeViewMatrix(eyePos,targetPos,up)
+     #viewMat = p.computeViewMatrixFromYawPitchRoll(carpos,1,0,0,0,2)
+     #print("projectionMatrix:")
+     #print(p.getDebugVisualizerCamera()[3])
+     projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
+     img_arr = p.getCameraImage(width=self._width,height=self._height,viewMatrix=viewMat,projectionMatrix=projMatrix)
+     rgb=img_arr[2]
+     np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
+     self._observation = np_img_arr
      return self._observation
      
   def _step(self, action):
diff --git a/examples/pybullet/gym/train_pybullet_zed_racecar.py b/examples/pybullet/gym/train_pybullet_zed_racecar.py
index 98b7b56ed..893824201 100644
--- a/examples/pybullet/gym/train_pybullet_zed_racecar.py
+++ b/examples/pybullet/gym/train_pybullet_zed_racecar.py
@@ -14,11 +14,14 @@ def callback(lcl, glb):
     is_solved = totalt > 2000 and total >= -50
     return is_solved
 
-
 def main():
   
     env = RacecarZEDGymEnv(renders=False)
-    model = deepq.models.mlp([64])
+    model = deepq.models.cnn_to_mlp(
+        convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
+        hiddens=[256],
+        dueling=False
+    )
     act = deepq.learn(
         env,
         q_func=model,
@@ -30,8 +33,8 @@ def main():
         print_freq=10,
         callback=callback
     )
-    print("Saving model to racecar_model.pkl")
-    act.save("racecar_model.pkl")
+    print("Saving model to racecar_zed_model.pkl")
+    act.save("racecar_zed_model.pkl")
 
 
 if __name__ == '__main__':

From cc34ebab253ae70731f7d1077ca5291d98b5f201 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 14 Jun 2017 00:54:41 -0700
Subject: [PATCH 112/175] add humanoid and kuka gym environments (experimental)

---
 examples/pybullet/gym/envs/__init__.py        |  14 ++
 examples/pybullet/gym/envs/bullet/__init__.py |   4 +
 examples/pybullet/gym/envs/bullet/humanoid.py | 124 ++++++++++++++++++
 .../gym/envs/bullet/humanoidGymEnv.py         | 102 ++++++++++++++
 examples/pybullet/gym/envs/bullet/kuka.py     |  58 ++++++++
 .../pybullet/gym/envs/bullet/kukaGymEnv.py    | 103 +++++++++++++++
 examples/pybullet/gym/humanoidGymEnvTest.py   |  21 +++
 examples/pybullet/gym/kukaGymEnvTest.py       |  21 +++
 examples/pybullet/gym/racecarZEDGymEnvTest.py |  30 +++++
 9 files changed, 477 insertions(+)
 create mode 100644 examples/pybullet/gym/envs/bullet/humanoid.py
 create mode 100644 examples/pybullet/gym/envs/bullet/humanoidGymEnv.py
 create mode 100644 examples/pybullet/gym/envs/bullet/kuka.py
 create mode 100644 examples/pybullet/gym/envs/bullet/kukaGymEnv.py
 create mode 100644 examples/pybullet/gym/humanoidGymEnvTest.py
 create mode 100644 examples/pybullet/gym/kukaGymEnvTest.py
 create mode 100644 examples/pybullet/gym/racecarZEDGymEnvTest.py

diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py
index 495c30e39..d8b096113 100644
--- a/examples/pybullet/gym/envs/__init__.py
+++ b/examples/pybullet/gym/envs/__init__.py
@@ -29,3 +29,17 @@ register(
     timestep_limit=1000,
     reward_threshold=5.0,
 )
+
+register(
+    id='HumanoidBulletEnv-v0',
+    entry_point='envs.bullet:HumanoidGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
+
+register(
+    id='KukaBulletEnv-v0',
+    entry_point='envs.bullet:KukaGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/bullet/__init__.py b/examples/pybullet/gym/envs/bullet/__init__.py
index 25da62f87..708ae4e53 100644
--- a/examples/pybullet/gym/envs/bullet/__init__.py
+++ b/examples/pybullet/gym/envs/bullet/__init__.py
@@ -1,2 +1,6 @@
 from envs.bullet.cartpole_bullet import CartPoleBulletEnv
 from envs.bullet.minitaur_bullet import MinitaurBulletEnv
+from envs.bullet.racecarGymEnv import RacecarGymEnv
+from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
+from envs.bullet.humanoidGymEnv import HumanoidGymEnv
+from envs.bullet.kukaGymEnv import KukaGymEnv
diff --git a/examples/pybullet/gym/envs/bullet/humanoid.py b/examples/pybullet/gym/envs/bullet/humanoid.py
new file mode 100644
index 000000000..a883139b1
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/humanoid.py
@@ -0,0 +1,124 @@
+import pybullet as p
+import numpy as np
+import copy
+import math
+import time
+
+
+
+class Humanoid:
+
+  def __init__(self, urdfRootPath='', timeStep=0.01):
+    self.urdfRootPath = urdfRootPath
+    self.timeStep = timeStep
+    self.reset()
+    
+    
+
+  def reset(self):
+    self.initial_z = None
+   
+    objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+    self.human = objs[0]
+    self.jdict = {}
+    self.ordered_joints = []
+    self.ordered_joint_indices = []
+
+    for j in range( p.getNumJoints(self.human) ):
+      info = p.getJointInfo(self.human, j)
+      link_name = info[12].decode("ascii")
+      if link_name=="left_foot": self.left_foot = j
+      if link_name=="right_foot": self.right_foot = j
+      self.ordered_joint_indices.append(j)
+      if info[2] != p.JOINT_REVOLUTE: continue
+      jname = info[1].decode("ascii")
+      self.jdict[jname] = j
+      lower, upper = (info[8], info[9])
+      self.ordered_joints.append( (j, lower, upper) )
+      p.setJointMotorControl2(self.human, j, controlMode=p.VELOCITY_CONTROL, force=0)
+
+    self.motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
+    self.motor_power  = [100, 100, 100]
+    self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
+    self.motor_power += [100, 100, 300, 200]
+    self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
+    self.motor_power += [100, 100, 300, 200]
+    self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
+    self.motor_power += [75, 75, 75]
+    self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
+    self.motor_power += [75, 75, 75]
+    self.motors = [self.jdict[n] for n in self.motor_names]
+    print("self.motors")
+    print(self.motors)
+    print("num motors")
+    print(len(self.motors))
+
+
+
+  def current_relative_position(self, jointStates, human, j, lower, upper):
+    #print("j")
+    #print(j)
+    #print (len(jointStates))
+    #print(j)
+    temp  = jointStates[j]
+    pos = temp[0]
+    vel = temp[1]
+    #print("pos")
+    #print(pos)
+    #print("vel")
+    #print(vel)
+    pos_mid = 0.5 * (lower + upper);
+    return (
+      2 * (pos - pos_mid) / (upper - lower),
+      0.1 * vel
+      )
+  
+  def collect_observations(self, human):
+    #print("ordered_joint_indices")
+    #print(ordered_joint_indices)
+    
+    
+    jointStates = p.getJointStates(human,self.ordered_joint_indices)
+    j = np.array([self.current_relative_position(jointStates, human, *jtuple) for jtuple in self.ordered_joints]).flatten()
+    #print("j")
+    #print(j)
+    body_xyz, (qx, qy, qz, qw) = p.getBasePositionAndOrientation(human)
+    #print("body_xyz")
+    #print(body_xyz, qx,qy,qz,qw)
+    z = body_xyz[2]
+    self.distance = body_xyz[0]
+    if self.initial_z==None:
+      self.initial_z = z
+    (vx, vy, vz), _ = p.getBaseVelocity(human)
+    more = np.array([z-self.initial_z, 0.1*vx, 0.1*vy, 0.1*vz, qx, qy, qz, qw])
+    rcont = p.getContactPoints(human, -1, self.right_foot, -1)
+    #print("rcont")
+    #print(rcont)
+    lcont = p.getContactPoints(human, -1, self.left_foot, -1)
+    #print("lcont")
+    #print(lcont)
+    feet_contact = np.array([len(rcont)>0, len(lcont)>0])
+    return np.clip( np.concatenate([more] + [j] + [feet_contact]), -5, +5)
+
+  def getActionDimension(self):
+    return len(self.motors)
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def getObservation(self):
+    observation = self.collect_observations(self.human)
+    return observation
+
+  def applyAction(self, actions):
+    forces = [0.] * len(self.motors)
+    for m in range(len(self.motors)):
+      forces[m] = self.motor_power[m]*actions[m]*0.082
+    p.setJointMotorControlArray(self.human, self.motors,controlMode=p.TORQUE_CONTROL, forces=forces)
+
+    p.stepSimulation()
+    time.sleep(0.01)
+    distance=5
+    yaw = 0
+    #humanPos, humanOrn = p.getBasePositionAndOrientation(self.human)
+    #p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
diff --git a/examples/pybullet/gym/envs/bullet/humanoidGymEnv.py b/examples/pybullet/gym/envs/bullet/humanoidGymEnv.py
new file mode 100644
index 000000000..f46a05ce0
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/humanoidGymEnv.py
@@ -0,0 +1,102 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import humanoid
+import random
+
+class HumanoidGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=50,
+               isEnableSelfCollision=True,
+               renders=True):
+    print("init")
+    self._timeStep = 0.01
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._envStepCounter = 0
+    self._renders = renders
+    self._p = p
+    if self._renders:
+      p.connect(p.GUI)
+    else:
+      p.connect(p.DIRECT)
+    self._seed()
+    self.reset()
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(9)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.viewer = None
+
+  def _reset(self):
+    p.resetSimulation()
+    #p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setTimeStep(self._timeStep)
+    p.loadURDF("%splane.urdf" % self._urdfRoot)
+    
+    dist = 5 +2.*random.random()
+    ang = 2.*3.1415925438*random.random()
+    
+    ballx = dist * math.sin(ang)
+    bally = dist * math.cos(ang)
+    ballz = 1
+        
+    p.setGravity(0,0,-10)
+    self._humanoid = humanoid.Humanoid(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    p.stepSimulation()
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def getExtendedObservation(self):
+     self._observation = self._humanoid.getObservation()
+     return self._observation
+     
+  def _step(self, action):
+    self._humanoid.applyAction(action)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._renders:
+        time.sleep(self._timeStep)
+      self._observation = self.getExtendedObservation()
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    #print("len=%r" % len(self._observation))
+    
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    return self._envStepCounter>1000
+    
+  def _reward(self):
+    reward=self._humanoid.distance
+    print(reward)
+    return reward
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/bullet/kuka.py b/examples/pybullet/gym/envs/bullet/kuka.py
new file mode 100644
index 000000000..3f74d87ff
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/kuka.py
@@ -0,0 +1,58 @@
+import pybullet as p
+import numpy as np
+import copy
+import math
+
+class Kuka:
+
+  def __init__(self, urdfRootPath='', timeStep=0.01):
+    self.urdfRootPath = urdfRootPath
+    self.timeStep = timeStep
+    self.reset()
+    self.maxForce = 100
+
+  def reset(self):
+    
+    objects = p.loadSDF("kuka_iiwa/kuka_with_gripper.sdf")
+    self.kukaUid = objects[0]
+    p.resetBasePositionAndOrientation(self.kukaUid,[-0.100000,0.000000,0.070000],[0.000000,0.000000,0.000000,1.000000])
+    self.jointPositions=[ -0.196884, 0.857586, -0.023543, -1.664977, 0.030403, 0.624786, -0.232294, 0.000000, -0.296450, 0.000000, 0.100002, 0.284399, 0.000000, -0.099999 ]
+    for jointIndex in range (p.getNumJoints(self.kukaUid)):
+      p.resetJointState(self.kukaUid,jointIndex,self.jointPositions[jointIndex])
+    
+    self.trayUid = p.loadURDF("tray/tray.urdf", 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000)
+    self.blockUid =p.loadURDF("block.urdf", 0.604746,0.080626,-0.180069,0.000050,-0.000859,-0.824149,0.566372)
+
+    self.motorNames = []
+    self.motorIndices = []
+    numJoints = p.getNumJoints(self.kukaUid)
+    for i in range (numJoints):
+      jointInfo = p.getJointInfo(self.kukaUid,i)
+      qIndex = jointInfo[3]
+      if qIndex > -1:
+        print("motorname")
+        print(jointInfo[1])
+        self.motorNames.append(str(jointInfo[1]))
+        self.motorIndices.append(i)
+
+  def getActionDimension(self):
+    return len(self.motorIndices)
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def getObservation(self):
+    observation = []
+    pos,orn=p.getBasePositionAndOrientation(self.blockUid)
+    
+    observation.extend(list(pos))
+    observation.extend(list(orn))
+    
+    return observation
+
+  def applyAction(self, motorCommands):
+    
+    for action in range (len(motorCommands)):
+      motor = self.motorIndices[action]
+      p.setJointMotorControl2(self.kukaUid,motor,p.POSITION_CONTROL,targetPosition=motorCommands[action],force=self.maxForce)
+    
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
new file mode 100644
index 000000000..ee0479c6c
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
@@ -0,0 +1,103 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import kuka
+import random
+
+class KukaGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=50,
+               isEnableSelfCollision=True,
+               renders=True):
+    print("init")
+    self._timeStep = 0.01
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._envStepCounter = 0
+    self._renders = renders
+    self._p = p
+    if self._renders:
+      p.connect(p.GUI)
+    else:
+      p.connect(p.DIRECT)
+    self._seed()
+    self.reset()
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(9)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.viewer = None
+
+  def _reset(self):
+    p.resetSimulation()
+    #p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setTimeStep(self._timeStep)
+    p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
+    
+    dist = 5 +2.*random.random()
+    ang = 2.*3.1415925438*random.random()
+    
+    ballx = dist * math.sin(ang)
+    bally = dist * math.cos(ang)
+    ballz = 1
+        
+    p.setGravity(0,0,-10)
+    self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    p.stepSimulation()
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def getExtendedObservation(self):
+     self._observation = self._kuka.getObservation()
+     return self._observation
+     
+  def _step(self, action):
+    self._kuka.applyAction(action)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._renders:
+        time.sleep(self._timeStep)
+      self._observation = self.getExtendedObservation()
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    #print("len=%r" % len(self._observation))
+    
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    return self._envStepCounter>1000
+    
+  def _reward(self):
+    #todo
+    reward=0
+    
+    return reward
\ No newline at end of file
diff --git a/examples/pybullet/gym/humanoidGymEnvTest.py b/examples/pybullet/gym/humanoidGymEnvTest.py
new file mode 100644
index 000000000..72004b7b9
--- /dev/null
+++ b/examples/pybullet/gym/humanoidGymEnvTest.py
@@ -0,0 +1,21 @@
+
+from envs.bullet.humanoidGymEnv import HumanoidGymEnv
+print ("hello")
+environment = HumanoidGymEnv(renders=True)
+
+environment._p.setGravity(0,0,0)
+	
+motorsIds=[]
+for motor in environment._humanoid.motor_names:
+	motorsIds.append(environment._p.addUserDebugParameter(motor,-1,1,0))
+
+while (True):
+    
+  action=[]
+  for motorId in motorsIds:
+  	action.append(environment._p.readUserDebugParameter(motorId))
+  
+  state, reward, done, info = environment.step(action)
+  obs = environment.getExtendedObservation()
+  print("obs")
+  print(obs)
diff --git a/examples/pybullet/gym/kukaGymEnvTest.py b/examples/pybullet/gym/kukaGymEnvTest.py
new file mode 100644
index 000000000..46bde180a
--- /dev/null
+++ b/examples/pybullet/gym/kukaGymEnvTest.py
@@ -0,0 +1,21 @@
+
+from envs.bullet.kukaGymEnv import KukaGymEnv
+print ("hello")
+environment = KukaGymEnv(renders=True)
+
+  
+motorsIds=[]
+for i in range (len(environment._kuka.motorNames)):
+  motor = environment._kuka.motorNames[i]
+  motorJointIndex = environment._kuka.motorIndices[i]
+  motorsIds.append(environment._p.addUserDebugParameter(motor,-3,3,environment._kuka.jointPositions[i]))
+
+while (True):
+    
+  action=[]
+  for motorId in motorsIds:
+    action.append(environment._p.readUserDebugParameter(motorId))
+  
+  state, reward, done, info = environment.step(action)
+  obs = environment.getExtendedObservation()
+  
diff --git a/examples/pybullet/gym/racecarZEDGymEnvTest.py b/examples/pybullet/gym/racecarZEDGymEnvTest.py
new file mode 100644
index 000000000..68364bcb4
--- /dev/null
+++ b/examples/pybullet/gym/racecarZEDGymEnvTest.py
@@ -0,0 +1,30 @@
+
+from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
+print ("hello")
+environment = RacecarZEDGymEnv(renders=True)
+
+targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
+steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)
+
+while (True):
+  targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
+  steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
+  discreteAction = 0
+  if (targetVelocity<-0.33):
+    discreteAction=0
+  else:
+    if (targetVelocity>0.33):
+      discreteAction=6
+    else:
+      discreteAction=3
+  if (steeringAngle>-0.17):
+    if (steeringAngle>0.17):
+      discreteAction=discreteAction+2
+    else:
+      discreteAction=discreteAction+1
+    
+  action=discreteAction
+  state, reward, done, info = environment.step(action)
+  obs = environment.getExtendedObservation()
+  print("obs")
+  print(obs)

From d2888f0884baa08c23d2f83803e70894373caa34 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 14 Jun 2017 19:34:33 -0700
Subject: [PATCH 113/175] add nicer meshes to kuka_with_gripper.sdf and add
 kuka_with_gripper2.sdf that can rotate without messing up IK fix
 tray/tray_textured4.obj and tray/tray.urdf fix kuka_with_cube.py allow both
 IK /end-effector control and joint-space control in kuka environment, use
 1./240. sec. step and 150 solver iter bump up pybullet to 1.1.7

---
 data/kuka_iiwa/kuka_with_gripper.sdf          | 104 ++-
 data/kuka_iiwa/kuka_with_gripper2.sdf         | 814 ++++++++++++++++++
 data/tray/tray_textured4.mtl                  |   2 +-
 data/tray/tray_textured4.obj                  |   2 +-
 examples/pybullet/examples/kuka_with_cube.py  |   4 +-
 examples/pybullet/gym/envs/bullet/kuka.py     |  93 +-
 .../pybullet/gym/envs/bullet/kukaGymEnv.py    |   4 +-
 examples/pybullet/gym/kukaGymEnvTest.py       |  13 +-
 .../pybullet/gym/kukaJointSpaceGymEnvTest.py  |  23 +
 setup.py                                      |   2 +-
 10 files changed, 1004 insertions(+), 57 deletions(-)
 create mode 100644 data/kuka_iiwa/kuka_with_gripper2.sdf
 create mode 100644 examples/pybullet/gym/kukaJointSpaceGymEnvTest.py

diff --git a/data/kuka_iiwa/kuka_with_gripper.sdf b/data/kuka_iiwa/kuka_with_gripper.sdf
index 739eac349..fd8ba3554 100644
--- a/data/kuka_iiwa/kuka_with_gripper.sdf
+++ b/data/kuka_iiwa/kuka_with_gripper.sdf
@@ -38,13 +38,13 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/link_0.stl</uri>
+            <uri>meshes/link_0.obj</uri>
           </mesh>
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
-          <diffuse>0.5 0.5 0.5 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+          <specular>0.4 0.4 0.4 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
@@ -77,13 +77,13 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/link_1.stl</uri>
+            <uri>meshes/link_1.obj</uri>
           </mesh>
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
-          <diffuse>0.5 0.5 0.5 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
@@ -135,13 +135,13 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/link_2.stl</uri>
+            <uri>meshes/link_2.obj</uri>
           </mesh>
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
-          <diffuse>1.0 0.42 0.04 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
@@ -193,13 +193,13 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/link_3.stl</uri>
+            <uri>meshes/link_3.obj</uri>
           </mesh>
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
-          <diffuse>0.6 0.6 0.6 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
+          <diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
@@ -251,13 +251,13 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/link_4.stl</uri>
+            <uri>meshes/link_4.obj</uri>
           </mesh>
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
-          <diffuse>0.6 0.6 0.6 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
@@ -309,13 +309,13 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/link_5.stl</uri>
+            <uri>meshes/link_5.obj</uri>
           </mesh>
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
-          <diffuse>0.6 0.6 0.6 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
@@ -367,13 +367,13 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/link_6.stl</uri>
+            <uri>meshes/link_6.obj</uri>
           </mesh>
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
-          <diffuse>1.0 0.42 0.04 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
+          <diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
@@ -425,13 +425,13 @@
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
-            <uri>meshes/link_7.stl</uri>
+            <uri>meshes/link_7.obj</uri>
           </mesh>
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
           <diffuse>0.6 0.6 0.6 1</diffuse>
-          <specular>0.1 0.1 0.1 1</specular>
+          <specular>0.5 0.5 0.5 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
@@ -482,6 +482,12 @@
 		     <size>0.05 0.05 0.1 </size>
 		  </box>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
 
@@ -491,8 +497,8 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-0.4</lower>
-          <upper>0.01</upper>
+          <lower>-10.4</lower>
+          <upper>10.01</upper>
           <effort>100</effort>
           <velocity>0</velocity>
         </limit>
@@ -525,6 +531,12 @@
             <size>0.01 0.01 0.08</size>
           </box>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='left_finger_base_joint' type='fixed'>
@@ -553,6 +565,12 @@
             <uri>meshes/finger_base_left.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
       <collision name='left_finger_base_collision'>
         <pose frame=''>0 0 0 0 0 0 </pose>
@@ -570,8 +588,8 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-0.1</lower>
-          <upper>0.3</upper>
+          <lower>-10.1</lower>
+          <upper>10.3</upper>
           <effort>0</effort>
           <velocity>0</velocity>
         </limit>
@@ -609,6 +627,12 @@
             <uri>meshes/finger_tip_left.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
       <collision name='left_finger_tip_collision'>
         <pose frame=''>0 0 0 0 0 0</pose>
@@ -626,8 +650,8 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-0.01</lower>
-          <upper>0.4</upper>
+          <lower>-10.01</lower>
+          <upper>10.4</upper>
           <effort>100</effort>
           <velocity>0</velocity>
         </limit>
@@ -660,6 +684,12 @@
             <size>0.01 0.01 0.08</size>
           </box>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='right_finger_base_joint' type='fixed'>
@@ -688,6 +718,12 @@
             <uri>meshes/finger_base_right.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
       <collision name='right_finger_base_collision'>
         <pose frame=''>0 0 0 0 0 0 </pose>
@@ -705,8 +741,8 @@
       <axis>
         <xyz>0 1 0</xyz>
         <limit>
-          <lower>-0.3</lower>
-          <upper>0.1</upper>
+          <lower>-10.3</lower>
+          <upper>10.1</upper>
           <effort>0</effort>
           <velocity>0</velocity>
         </limit>
@@ -744,6 +780,12 @@
             <uri>meshes/finger_tip_right.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
       <collision name='right_finger_tip_collision'>
         <pose frame=''>0 0 0 0 0 0</pose>
diff --git a/data/kuka_iiwa/kuka_with_gripper2.sdf b/data/kuka_iiwa/kuka_with_gripper2.sdf
new file mode 100644
index 000000000..e04fba230
--- /dev/null
+++ b/data/kuka_iiwa/kuka_with_gripper2.sdf
@@ -0,0 +1,814 @@
+<?xml version="1.0" ?>
+<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
+    It has been produced from the varients in //third_party/robotics/models.
+    Note:  This file is temporary, and should be deleted once Bullet supports
+    importing models in SDF.  Also, this file has been specialized for Bullet,
+    because the mass of the base link has been set to 0, as needed by Bullet.
+    Note:  All of the gripper link poses have been adjusted in the z direction
+    to achieve a reasonable position of the gripper relative to the arm.
+    Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
+<sdf version='1.6'>
+  <world name='default'>
+  <model name='lbr_iiwa_with_wsg50'>
+    <link name='lbr_iiwa_link_0'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <mass>0</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.06</iyy>
+          <iyz>0</iyz>
+          <izz>0.03</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_0_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>/meshes/link_0.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_0_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_0.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.2 0.2 0.2 1.0</diffuse>
+          <specular>0.4 0.4 0.4 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <link name='lbr_iiwa_link_1'>
+      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.09</iyy>
+          <iyz>0</iyz>
+          <izz>0.02</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_1_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_1_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_1.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J0' type='revolute'>
+      <child>lbr_iiwa_link_1</child>
+      <parent>lbr_iiwa_link_0</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_2'>
+      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <mass>4</mass>
+        <inertia>
+          <ixx>0.05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.044</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_2_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_2_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_2.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J1' type='revolute'>
+      <child>lbr_iiwa_link_2</child>
+      <parent>lbr_iiwa_link_1</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_3'>
+      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <mass>3</mass>
+        <inertia>
+          <ixx>0.08</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.075</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_3_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_3_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_3.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J2' type='revolute'>
+      <child>lbr_iiwa_link_3</child>
+      <parent>lbr_iiwa_link_2</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_4'>
+      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <mass>2.7</mass>
+        <inertia>
+          <ixx>0.03</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.029</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_4_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_4_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_4.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J3' type='revolute'>
+      <child>lbr_iiwa_link_4</child>
+      <parent>lbr_iiwa_link_3</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_5'>
+      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <mass>1.7</mass>
+        <inertia>
+          <ixx>0.02</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.018</iyy>
+          <iyz>0</iyz>
+          <izz>0.005</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_5_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_5_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_5.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J4' type='revolute'>
+      <child>lbr_iiwa_link_5</child>
+      <parent>lbr_iiwa_link_4</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.96706</lower>
+          <upper>2.96706</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_6'>
+      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <inertial>
+        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <mass>1.8</mass>
+        <inertia>
+          <ixx>0.005</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0036</iyy>
+          <iyz>0</iyz>
+          <izz>0.0047</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_6_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_6_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_6.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J5' type='revolute'>
+      <child>lbr_iiwa_link_6</child>
+      <parent>lbr_iiwa_link_5</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-2.0944</lower>
+          <upper>2.0944</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='lbr_iiwa_link_7'>
+      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <mass>0.3</mass>
+        <inertia>
+          <ixx>0.001</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.001</iyy>
+          <iyz>0</iyz>
+          <izz>0.001</izz>
+        </inertia>
+      </inertial>
+      <collision name='lbr_iiwa_link_7_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='lbr_iiwa_link_7_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/link_7.obj</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='J6' type='revolute'>
+      <child>lbr_iiwa_link_7</child>
+      <parent>lbr_iiwa_link_6</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-3.05433</lower>
+          <upper>3.05433</upper>
+          <effort>300</effort>
+          <velocity>10</velocity>
+        </limit>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <!-- Attach the base of the gripper to the end of the arm -->
+    <joint name='gripper_to_arm' type='continuous'>
+      <parent>lbr_iiwa_link_7</parent>
+      <child>base_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <dynamics>
+          <damping>0.5</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    
+    
+    <link name='base_link'>
+      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>1.2</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+		  <box>
+		     <size>0.05 0.05 0.1 </size>
+		  </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+
+    <joint name='base_left_finger_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>left_finger</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.4</lower>
+          <upper>10.01</upper>
+          <effort>100</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='left_finger'>
+      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_visual'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='left_finger_base_joint' type='fixed'>
+      <parent>left_finger</parent>
+      <child>left_finger_base</child>
+    </joint>
+    <link name='left_finger_base'>
+      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <inertial>
+        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_base_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_left.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='left_finger_base_collision'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_left.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='left_base_tip_joint' type='revolute'>
+      <parent>left_finger_base</parent>
+      <child>left_finger_tip</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.1</lower>
+          <upper>10.3</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='left_finger_tip'>
+      <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>1.0</spinning_friction>
+      </contact>
+      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <inertial>
+        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='left_finger_tip_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_left.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='left_finger_tip_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_left.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='base_right_finger_joint' type='revolute'>
+      <parent>base_link</parent>
+      <child>right_finger</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.01</lower>
+          <upper>10.4</upper>
+          <effort>100</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='right_finger'>
+      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <mass>0.1</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_visual'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name='right_finger_base_joint' type='fixed'>
+      <parent>right_finger</parent>
+      <child>right_finger_base</child>
+    </joint>
+    <link name='right_finger_base'>
+      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <inertial>
+        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_base_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_right.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='right_finger_base_collision'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_base_right.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+    <joint name='right_base_tip_joint' type='revolute'>
+      <parent>right_finger_base</parent>
+      <child>right_finger_tip</child>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-10.3</lower>
+          <upper>10.1</upper>
+          <effort>0</effort>
+          <velocity>0</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    <link name='right_finger_tip'>
+      <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>1.0</spinning_friction>
+      </contact>
+      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <inertial>
+        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+      <visual name='right_finger_visual'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_right.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </visual>
+      <collision name='right_finger_tip_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/finger_tip_right.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</world>
+</sdf>
diff --git a/data/tray/tray_textured4.mtl b/data/tray/tray_textured4.mtl
index 1a2697882..e3b14fbaf 100755
--- a/data/tray/tray_textured4.mtl
+++ b/data/tray/tray_textured4.mtl
@@ -10,4 +10,4 @@ Ke 0.000000 0.000000 0.000000
 Ni 1.000000
 d 1.000000
 illum 2
-#map_Kd tray.jpg
+map_Kd tray.jpg
diff --git a/data/tray/tray_textured4.obj b/data/tray/tray_textured4.obj
index a367c02cb..a05f010d8 100755
--- a/data/tray/tray_textured4.obj
+++ b/data/tray/tray_textured4.obj
@@ -1,6 +1,6 @@
 # Blender v2.77 (sub 0) OBJ File: ''
 # www.blender.org
-mtllib tray_textured5.mtl
+mtllib tray_textured4.mtl
 o edge_2_Cube
 v 0.593683 0.625721 0.255175
 v 0.406317 0.459389 0.004580
diff --git a/examples/pybullet/examples/kuka_with_cube.py b/examples/pybullet/examples/kuka_with_cube.py
index a4668dd49..4f52978e3 100644
--- a/examples/pybullet/examples/kuka_with_cube.py
+++ b/examples/pybullet/examples/kuka_with_cube.py
@@ -50,8 +50,8 @@ trailDuration = 15
 logId1 = p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT,"LOG0001.txt",[0,1,2])
 logId2 = p.startStateLogging(p.STATE_LOGGING_CONTACT_POINTS,"LOG0002.txt",bodyUniqueIdA=2)
 
-for i in xrange(5):
-    print "Body %d's name is %s." % (i, p.getBodyInfo(i)[1])
+for i in range(5):
+    print ("Body %d's name is %s." % (i, p.getBodyInfo(i)[1]))
 	
 while 1:
 	if (useRealTimeSimulation):
diff --git a/examples/pybullet/gym/envs/bullet/kuka.py b/examples/pybullet/gym/envs/bullet/kuka.py
index 3f74d87ff..6c25dd25d 100644
--- a/examples/pybullet/gym/envs/bullet/kuka.py
+++ b/examples/pybullet/gym/envs/bullet/kuka.py
@@ -9,34 +9,59 @@ class Kuka:
     self.urdfRootPath = urdfRootPath
     self.timeStep = timeStep
     self.reset()
-    self.maxForce = 100
-
+    self.maxForce = 90
+    self.fingerAForce = 12
+    self.fingerBForce = 10
+    self.fingerTipForce = 3
+    
+    self.useInverseKinematics = 1
+    self.useSimulation = 1
+    self.useNullSpace = 1
+    self.useOrientation = 1
+    self.kukaEndEffectorIndex = 6
+    #lower limits for null space
+    self.ll=[-.967,-2 ,-2.96,0.19,-2.96,-2.09,-3.05]
+    #upper limits for null space
+    self.ul=[.967,2 ,2.96,2.29,2.96,2.09,3.05]
+    #joint ranges for null space
+    self.jr=[5.8,4,5.8,4,5.8,4,6]
+    #restposes for null space
+    self.rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0]
+    #joint damping coefficents
+    self.jd=[0.1,0.1,0.1,0.1,0.1,0.1,0.1]
+    
   def reset(self):
     
-    objects = p.loadSDF("kuka_iiwa/kuka_with_gripper.sdf")
+    objects = p.loadSDF("kuka_iiwa/kuka_with_gripper2.sdf")
     self.kukaUid = objects[0]
+    for i in range (p.getNumJoints(self.kukaUid)):
+    	print(p.getJointInfo(self.kukaUid,i))
     p.resetBasePositionAndOrientation(self.kukaUid,[-0.100000,0.000000,0.070000],[0.000000,0.000000,0.000000,1.000000])
     self.jointPositions=[ -0.196884, 0.857586, -0.023543, -1.664977, 0.030403, 0.624786, -0.232294, 0.000000, -0.296450, 0.000000, 0.100002, 0.284399, 0.000000, -0.099999 ]
-    for jointIndex in range (p.getNumJoints(self.kukaUid)):
+    self.numJoints = p.getNumJoints(self.kukaUid)
+    for jointIndex in range (self.numJoints):
       p.resetJointState(self.kukaUid,jointIndex,self.jointPositions[jointIndex])
     
     self.trayUid = p.loadURDF("tray/tray.urdf", 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000)
     self.blockUid =p.loadURDF("block.urdf", 0.604746,0.080626,-0.180069,0.000050,-0.000859,-0.824149,0.566372)
-
+    p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
+    
     self.motorNames = []
     self.motorIndices = []
-    numJoints = p.getNumJoints(self.kukaUid)
-    for i in range (numJoints):
+    
+    for i in range (self.numJoints):
       jointInfo = p.getJointInfo(self.kukaUid,i)
       qIndex = jointInfo[3]
       if qIndex > -1:
-        print("motorname")
-        print(jointInfo[1])
+        #print("motorname")
+        #print(jointInfo[1])
         self.motorNames.append(str(jointInfo[1]))
         self.motorIndices.append(i)
 
   def getActionDimension(self):
-    return len(self.motorIndices)
+    if (self.useInverseKinematics):
+      return len(self.motorIndices)
+    return 6 #position x,y,z and roll/pitch/yaw euler angles of end effector
 
   def getObservationDimension(self):
     return len(self.getObservation())
@@ -51,8 +76,48 @@ class Kuka:
     return observation
 
   def applyAction(self, motorCommands):
+    #print ("self.numJoints")
+    #print (self.numJoints)
+    if (self.useInverseKinematics):
+      pos = [motorCommands[0],motorCommands[1],motorCommands[2]]
+      yaw = motorCommands[3]
+      fingerAngle = motorCommands[4]
+      #roll = motorCommands[5]
+      orn = p.getQuaternionFromEuler([0,-math.pi,0]) # -math.pi,yaw])
+      if (self.useNullSpace==1):
+        if (self.useOrientation==1):
+          jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,orn,self.ll,self.ul,self.jr,self.rp)
+        else:
+          jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,lowerLimits=self.ll, upperLimits=self.ul, jointRanges=self.jr, restPoses=self.rp)
+      else:
+        if (self.useOrientation==1):
+          jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos,orn,jointDamping=self.jd)
+        else:
+          jointPoses = p.calculateInverseKinematics(self.kukaUid,self.kukaEndEffectorIndex,pos)
     
-    for action in range (len(motorCommands)):
-      motor = self.motorIndices[action]
-      p.setJointMotorControl2(self.kukaUid,motor,p.POSITION_CONTROL,targetPosition=motorCommands[action],force=self.maxForce)
-    
\ No newline at end of file
+      #print("jointPoses")
+      #print(jointPoses)
+      #print("self.kukaEndEffectorIndex")
+      #print(self.kukaEndEffectorIndex)
+      if (self.useSimulation):
+        for i in range (self.kukaEndEffectorIndex+1):
+          #print(i)
+          p.setJointMotorControl2(bodyIndex=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,positionGain=0.03,velocityGain=1)
+      else:
+        #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
+        for i in range (self.numJoints):
+          p.resetJointState(self.kukaUid,i,jointPoses[i])
+      #fingers
+      p.setJointMotorControl2(self.kukaUid,7,p.POSITION_CONTROL,targetPosition=yaw,force=self.maxForce)
+      p.setJointMotorControl2(self.kukaUid,8,p.POSITION_CONTROL,targetPosition=-fingerAngle,force=self.fingerAForce)
+      p.setJointMotorControl2(self.kukaUid,11,p.POSITION_CONTROL,targetPosition=fingerAngle,force=self.fingerBForce)
+      
+      p.setJointMotorControl2(self.kukaUid,10,p.POSITION_CONTROL,targetPosition=0,force=self.fingerTipForce)
+      p.setJointMotorControl2(self.kukaUid,13,p.POSITION_CONTROL,targetPosition=0,force=self.fingerTipForce)
+      
+      
+    else:
+      for action in range (len(motorCommands)):
+        motor = self.motorIndices[action]
+        p.setJointMotorControl2(self.kukaUid,motor,p.POSITION_CONTROL,targetPosition=motorCommands[action],force=self.maxForce)
+      
diff --git a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
index ee0479c6c..6ee08a7b6 100644
--- a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
@@ -20,7 +20,7 @@ class KukaGymEnv(gym.Env):
                isEnableSelfCollision=True,
                renders=True):
     print("init")
-    self._timeStep = 0.01
+    self._timeStep = 1./240.
     self._urdfRoot = urdfRoot
     self._actionRepeat = actionRepeat
     self._isEnableSelfCollision = isEnableSelfCollision
@@ -45,7 +45,7 @@ class KukaGymEnv(gym.Env):
 
   def _reset(self):
     p.resetSimulation()
-    #p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setPhysicsEngineParameter(numSolverIterations=150)
     p.setTimeStep(self._timeStep)
     p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
     
diff --git a/examples/pybullet/gym/kukaGymEnvTest.py b/examples/pybullet/gym/kukaGymEnvTest.py
index 46bde180a..e58ade822 100644
--- a/examples/pybullet/gym/kukaGymEnvTest.py
+++ b/examples/pybullet/gym/kukaGymEnvTest.py
@@ -1,14 +1,17 @@
 
 from envs.bullet.kukaGymEnv import KukaGymEnv
-print ("hello")
+import time
+
+
 environment = KukaGymEnv(renders=True)
 
   
 motorsIds=[]
-for i in range (len(environment._kuka.motorNames)):
-  motor = environment._kuka.motorNames[i]
-  motorJointIndex = environment._kuka.motorIndices[i]
-  motorsIds.append(environment._p.addUserDebugParameter(motor,-3,3,environment._kuka.jointPositions[i]))
+motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
+motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
+motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
+motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
+motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
 
 while (True):
     
diff --git a/examples/pybullet/gym/kukaJointSpaceGymEnvTest.py b/examples/pybullet/gym/kukaJointSpaceGymEnvTest.py
new file mode 100644
index 000000000..ec442e1fd
--- /dev/null
+++ b/examples/pybullet/gym/kukaJointSpaceGymEnvTest.py
@@ -0,0 +1,23 @@
+
+from envs.bullet.kukaGymEnv import KukaGymEnv
+import time
+
+
+environment = KukaGymEnv(renders=True)
+environment._kuka.useInverseKinematics=0
+  
+motorsIds=[]
+for i in range (len(environment._kuka.motorNames)):
+  motor = environment._kuka.motorNames[i]
+  motorJointIndex = environment._kuka.motorIndices[i]
+  motorsIds.append(environment._p.addUserDebugParameter(motor,-3,3,environment._kuka.jointPositions[i]))
+
+while (True):
+    
+  action=[]
+  for motorId in motorsIds:
+    action.append(environment._p.readUserDebugParameter(motorId))
+  
+  state, reward, done, info = environment.step(action)
+  obs = environment.getExtendedObservation()
+  time.sleep(0.01)
diff --git a/setup.py b/setup.py
index fecab1248..27865edf2 100644
--- a/setup.py
+++ b/setup.py
@@ -419,7 +419,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.1.6',
+	version='1.1.7',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From a547c8f3fcf0c5170307c6707a6e45e63a71815b Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 14 Jun 2017 23:42:14 -0700
Subject: [PATCH 114/175] hook up kuka grasping to OpenAI dqn

---
 examples/pybullet/gym/enjoy_kuka_grasping.py  | 26 +++++++
 examples/pybullet/gym/envs/bullet/kuka.py     | 53 ++++++++++----
 .../pybullet/gym/envs/bullet/kukaGymEnv.py    | 73 +++++++++++++++----
 examples/pybullet/gym/kukaGymEnvTest.py       | 20 +++--
 examples/pybullet/gym/train_kuka_grasping.py  | 40 ++++++++++
 5 files changed, 179 insertions(+), 33 deletions(-)
 create mode 100644 examples/pybullet/gym/enjoy_kuka_grasping.py
 create mode 100644 examples/pybullet/gym/train_kuka_grasping.py

diff --git a/examples/pybullet/gym/enjoy_kuka_grasping.py b/examples/pybullet/gym/enjoy_kuka_grasping.py
new file mode 100644
index 000000000..2814e1b01
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_kuka_grasping.py
@@ -0,0 +1,26 @@
+import gym
+from envs.bullet.kukaGymEnv import KukaGymEnv
+
+from baselines import deepq
+
+
+def main():
+    
+    env = KukaGymEnv(renders=True)
+    act = deepq.load("kuka_model.pkl")
+    print(act)
+    while True:
+        obs, done = env.reset(), False
+        print("===================================")        
+        print("obs")
+        print(obs)
+        episode_rew = 0
+        while not done:
+            env.render()
+            obs, rew, done, _ = env.step(act(obs[None])[0])
+            episode_rew += rew
+        print("Episode reward", episode_rew)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/examples/pybullet/gym/envs/bullet/kuka.py b/examples/pybullet/gym/envs/bullet/kuka.py
index 6c25dd25d..e86bb2a0a 100644
--- a/examples/pybullet/gym/envs/bullet/kuka.py
+++ b/examples/pybullet/gym/envs/bullet/kuka.py
@@ -10,8 +10,8 @@ class Kuka:
     self.timeStep = timeStep
     self.reset()
     self.maxForce = 90
-    self.fingerAForce = 12
-    self.fingerBForce = 10
+    self.fingerAForce = 6
+    self.fingerBForce = 5
     self.fingerTipForce = 3
     
     self.useInverseKinematics = 1
@@ -34,17 +34,18 @@ class Kuka:
     
     objects = p.loadSDF("kuka_iiwa/kuka_with_gripper2.sdf")
     self.kukaUid = objects[0]
-    for i in range (p.getNumJoints(self.kukaUid)):
-    	print(p.getJointInfo(self.kukaUid,i))
+    #for i in range (p.getNumJoints(self.kukaUid)):
+    #  print(p.getJointInfo(self.kukaUid,i))
     p.resetBasePositionAndOrientation(self.kukaUid,[-0.100000,0.000000,0.070000],[0.000000,0.000000,0.000000,1.000000])
-    self.jointPositions=[ -0.196884, 0.857586, -0.023543, -1.664977, 0.030403, 0.624786, -0.232294, 0.000000, -0.296450, 0.000000, 0.100002, 0.284399, 0.000000, -0.099999 ]
+    self.jointPositions=[ 0.006418, 0.413184, -0.011401, -1.589317, 0.005379, 1.137684, -0.006539, 0.000048, -0.299912, 0.000000, -0.000043, 0.299960, 0.000000, -0.000200 ]
     self.numJoints = p.getNumJoints(self.kukaUid)
     for jointIndex in range (self.numJoints):
       p.resetJointState(self.kukaUid,jointIndex,self.jointPositions[jointIndex])
     
     self.trayUid = p.loadURDF("tray/tray.urdf", 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000)
-    self.blockUid =p.loadURDF("block.urdf", 0.604746,0.080626,-0.180069,0.000050,-0.000859,-0.824149,0.566372)
-    p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
+    self.endEffectorPos = [0.537,0.0,0.5]
+    self.endEffectorAngle = 0
+    
     
     self.motorNames = []
     self.motorIndices = []
@@ -68,21 +69,47 @@ class Kuka:
 
   def getObservation(self):
     observation = []
-    pos,orn=p.getBasePositionAndOrientation(self.blockUid)
-    
+    state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
+    pos = state[0]
+    orn = state[1]
+        
     observation.extend(list(pos))
     observation.extend(list(orn))
     
     return observation
 
   def applyAction(self, motorCommands):
+    
     #print ("self.numJoints")
     #print (self.numJoints)
     if (self.useInverseKinematics):
-      pos = [motorCommands[0],motorCommands[1],motorCommands[2]]
-      yaw = motorCommands[3]
+      
+      dx = motorCommands[0]
+      dy = motorCommands[1]
+      dz = motorCommands[2]
+      da = motorCommands[3]
       fingerAngle = motorCommands[4]
-      #roll = motorCommands[5]
+      
+      self.endEffectorPos[0] = self.endEffectorPos[0]+dx
+      if (self.endEffectorPos[0]>0.7):
+        self.endEffectorPos[0]=0.7
+      if (self.endEffectorPos[0]<0.45):
+        self.endEffectorPos[0]=0.45
+      self.endEffectorPos[1] = self.endEffectorPos[1]+dy
+      if (self.endEffectorPos[1]<-0.2):
+        self.endEffectorPos[1]=-0.2
+      if (self.endEffectorPos[1]>0.3):
+        self.endEffectorPos[1]=0.3
+      
+      #print (self.endEffectorPos[2])
+      self.endEffectorPos[2] = self.endEffectorPos[2]+dz
+      if (self.endEffectorPos[2]<0.1):
+        self.endEffectorPos[2] = 0.1
+      if (self.endEffectorPos[2]>0.5):
+        self.endEffectorPos[2] = 0.5
+     
+      self.endEffectorAngle = self.endEffectorAngle + da
+      pos = self.endEffectorPos
       orn = p.getQuaternionFromEuler([0,-math.pi,0]) # -math.pi,yaw])
       if (self.useNullSpace==1):
         if (self.useOrientation==1):
@@ -108,7 +135,7 @@ class Kuka:
         for i in range (self.numJoints):
           p.resetJointState(self.kukaUid,i,jointPoses[i])
       #fingers
-      p.setJointMotorControl2(self.kukaUid,7,p.POSITION_CONTROL,targetPosition=yaw,force=self.maxForce)
+      p.setJointMotorControl2(self.kukaUid,7,p.POSITION_CONTROL,targetPosition=self.endEffectorAngle,force=self.maxForce)
       p.setJointMotorControl2(self.kukaUid,8,p.POSITION_CONTROL,targetPosition=-fingerAngle,force=self.fingerAForce)
       p.setJointMotorControl2(self.kukaUid,11,p.POSITION_CONTROL,targetPosition=fingerAngle,force=self.fingerBForce)
       
diff --git a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
index 6ee08a7b6..0baa0f3ca 100644
--- a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
@@ -16,7 +16,7 @@ class KukaGymEnv(gym.Env):
 
   def __init__(self,
                urdfRoot="",
-               actionRepeat=50,
+               actionRepeat=1,
                isEnableSelfCollision=True,
                renders=True):
     print("init")
@@ -32,6 +32,7 @@ class KukaGymEnv(gym.Env):
       p.connect(p.GUI)
     else:
       p.connect(p.DIRECT)
+    #timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
     self._seed()
     self.reset()
     observationDim = len(self.getExtendedObservation())
@@ -39,7 +40,7 @@ class KukaGymEnv(gym.Env):
     #print(observationDim)
     
     observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
-    self.action_space = spaces.Discrete(9)
+    self.action_space = spaces.Discrete(7)
     self.observation_space = spaces.Box(-observation_high, observation_high)
     self.viewer = None
 
@@ -48,14 +49,16 @@ class KukaGymEnv(gym.Env):
     p.setPhysicsEngineParameter(numSolverIterations=150)
     p.setTimeStep(self._timeStep)
     p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
+    if self._renders:
+      p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
+    p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
     
-    dist = 5 +2.*random.random()
-    ang = 2.*3.1415925438*random.random()
-    
-    ballx = dist * math.sin(ang)
-    bally = dist * math.cos(ang)
-    ballz = 1
-        
+    xpos = 0.5 +0.25*random.random()
+    ypos = 0 +0.22*random.random()
+    ang = 3.1415925438*random.random()
+    orn = p.getQuaternionFromEuler([0,0,ang])
+    self.blockUid =p.loadURDF("block.urdf", xpos,ypos,0.02,orn[0],orn[1],orn[2],orn[3])
+            
     p.setGravity(0,0,-10)
     self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0
@@ -72,9 +75,22 @@ class KukaGymEnv(gym.Env):
 
   def getExtendedObservation(self):
      self._observation = self._kuka.getObservation()
+     pos,orn = p.getBasePositionAndOrientation(self.blockUid)
+     self._observation.extend(list(pos))
+     self._observation.extend(list(orn))
+      
      return self._observation
-     
+  
   def _step(self, action):
+    dv = 0.005
+    dx = [0,-dv,dv,0,0,0,0][action]
+    dy = [0,0,0,-dv,dv,0,0][action]
+    da = [0,0,0,0,0,-dv,dv][action]
+    f = 0.3
+    realAction = [dx,dy,-0.1,da,f]
+    return self.step2( realAction)
+     
+  def step2(self, action):
     self._kuka.applyAction(action)
     for i in range(self._actionRepeat):
       p.stepSimulation()
@@ -84,8 +100,11 @@ class KukaGymEnv(gym.Env):
       if self._termination():
         break
       self._envStepCounter += 1
-    reward = self._reward()
+    #print("self._envStepCounter")
+    #print(self._envStepCounter)
+    
     done = self._termination()
+    reward = self._reward()
     #print("len=%r" % len(self._observation))
     
     return np.array(self._observation), reward, done, {}
@@ -94,10 +113,36 @@ class KukaGymEnv(gym.Env):
       return
 
   def _termination(self):
-    return self._envStepCounter>1000
+    #print (self._kuka.endEffectorPos[2])
+    if (self._envStepCounter>1000):
+      for i in range (1000):
+        p.stepSimulation()
+      #start grasp and terminate
+      fingerAngle = 0.3
+      
+      
+      for i in range (5000):
+        graspAction = [0,0,0,0,fingerAngle]
+        self._kuka.applyAction(graspAction)
+        p.stepSimulation()
+        fingerAngle = fingerAngle-(0.3/5000.)
+        
+      for i in range (5000):
+        graspAction = [0,0,0.0001,0,0]
+        self._kuka.applyAction(graspAction)
+        p.stepSimulation()
+        fingerAngle = fingerAngle-(0.3/10000.)
+        
+      self._observation = self.getExtendedObservation()
+      return True
+    return False
     
   def _reward(self):
-    #todo
-    reward=0
     
+    #rewards is height of target object
+    pos,orn=p.getBasePositionAndOrientation(self.blockUid)
+    reward = pos[2]
+    if (reward>0.2):
+    	print("reward")
+    	print(reward)
     return reward
\ No newline at end of file
diff --git a/examples/pybullet/gym/kukaGymEnvTest.py b/examples/pybullet/gym/kukaGymEnvTest.py
index e58ade822..05ca9497f 100644
--- a/examples/pybullet/gym/kukaGymEnvTest.py
+++ b/examples/pybullet/gym/kukaGymEnvTest.py
@@ -7,18 +7,26 @@ environment = KukaGymEnv(renders=True)
 
   
 motorsIds=[]
-motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
-motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
-motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
-motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
+#motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
+#motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
+#motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
+#motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
+#motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
+
+dv = 0.001
+motorsIds.append(environment._p.addUserDebugParameter("posX",-dv,dv,0))
+motorsIds.append(environment._p.addUserDebugParameter("posY",-dv,dv,0))
+motorsIds.append(environment._p.addUserDebugParameter("posZ",-dv,dv,-dv))
+motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0))
 motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
 
-while (True):
+done = False
+while (not done):
     
   action=[]
   for motorId in motorsIds:
     action.append(environment._p.readUserDebugParameter(motorId))
   
-  state, reward, done, info = environment.step(action)
+  state, reward, done, info = environment.step2(action)
   obs = environment.getExtendedObservation()
   
diff --git a/examples/pybullet/gym/train_kuka_grasping.py b/examples/pybullet/gym/train_kuka_grasping.py
new file mode 100644
index 000000000..10bb5c1ee
--- /dev/null
+++ b/examples/pybullet/gym/train_kuka_grasping.py
@@ -0,0 +1,40 @@
+import gym
+from envs.bullet.kukaGymEnv import KukaGymEnv
+
+from baselines import deepq
+
+import datetime
+
+
+
+def callback(lcl, glb):
+    # stop training if reward exceeds 199
+    total = sum(lcl['episode_rewards'][-101:-1]) / 100
+    totalt = lcl['t']
+    #print("totalt")
+    #print(totalt)
+    is_solved = totalt > 2000 and total >= 10
+    return is_solved
+
+
+def main():
+  	
+    env = KukaGymEnv(renders=False)
+    model = deepq.models.mlp([64])
+    act = deepq.learn(
+        env,
+        q_func=model,
+        lr=1e-3,
+        max_timesteps=10000000,
+        buffer_size=50000,
+        exploration_fraction=0.1,
+        exploration_final_eps=0.02,
+        print_freq=10,
+        callback=callback
+    )
+    print("Saving model to kuka_model.pkl")
+    act.save("kuka_model.pkl")
+
+
+if __name__ == '__main__':
+    main()

From c903bd8a4907e7c808eba89a32fcb4920cfe16de Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Thu, 15 Jun 2017 11:18:08 -0700
Subject: [PATCH 115/175] tune kuka grasp gym env (make it a bit too easy)

---
 data/block.urdf                               |  5 +-
 data/kuka_iiwa/kuka_with_gripper2.sdf         | 67 +++++++++++++----
 examples/pybullet/gym/envs/bullet/kuka.py     | 44 +++++++-----
 .../pybullet/gym/envs/bullet/kukaGymEnv.py    | 71 ++++++++++++-------
 4 files changed, 129 insertions(+), 58 deletions(-)

diff --git a/data/block.urdf b/data/block.urdf
index 9ff64decf..d4be09aa0 100644
--- a/data/block.urdf
+++ b/data/block.urdf
@@ -3,10 +3,7 @@
   <link name="block_2_base_link">
     <contact>
       <lateral_friction value="1.0"/>
-      <rolling_friction value="0.0"/>
-      <inertia_scaling value="3.0"/>
-      <contact_cfm value="0.0"/>
-      <contact_erp value="1.0"/>
+      <spinning_friction value=".001"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/data/kuka_iiwa/kuka_with_gripper2.sdf b/data/kuka_iiwa/kuka_with_gripper2.sdf
index e04fba230..9c3787bcb 100644
--- a/data/kuka_iiwa/kuka_with_gripper2.sdf
+++ b/data/kuka_iiwa/kuka_with_gripper2.sdf
@@ -401,7 +401,7 @@
       <pose frame=''>0 0 1.261 0 0 0</pose>
       <inertial>
         <pose frame=''>0 0 0.02 0 -0 0</pose>
-        <mass>0.3</mass>
+        <mass>1.3</mass>
         <inertia>
           <ixx>0.001</ixx>
           <ixy>0</ixy>
@@ -462,12 +462,6 @@
       <child>base_link</child>
       <axis>
         <xyz>0 0 1</xyz>
-        <dynamics>
-          <damping>0.5</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
       </axis>
     </joint>
 
@@ -477,7 +471,7 @@
       <pose frame=''>0 0 1.305 0 -0 0</pose>
       <inertial>
         <pose frame=''>0 0 0 0 -0 0</pose>
-        <mass>1.2</mass>
+        <mass>0.2</mass>
         <inertia>
           <ixx>1</ixx>
           <ixy>0</ixy>
@@ -501,6 +495,20 @@
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
+        <collision name='base_link_collision'>
+        <pose frame=''>0 0 0 0 0 0</pose>
+        <geometry>
+		  <box>
+		     <size>0.05 0.05 0.1 </size>
+		  </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </collision>
     </link>
 
     <joint name='base_left_finger_joint' type='revolute'>
@@ -526,7 +534,7 @@
       <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
         <pose frame=''>0 0 0.04 0 0 0</pose>
-        <mass>0.1</mass>
+        <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
           <ixy>0</ixy>
@@ -550,12 +558,25 @@
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
+       <collision name='left_finger_collision'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        
+      </collision>
     </link>
     <joint name='left_finger_base_joint' type='fixed'>
       <parent>left_finger</parent>
       <child>left_finger_base</child>
     </joint>
     <link name='left_finger_base'>
+    <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>.1</spinning_friction>
+      </contact>
       <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
         <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
@@ -616,7 +637,7 @@
     <link name='left_finger_tip'>
       <contact>
         <lateral_friction>0.8</lateral_friction>
-        <spinning_friction>1.0</spinning_friction>
+        <spinning_friction>.1</spinning_friction>
       </contact>
       <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
@@ -676,10 +697,14 @@
       </axis>
     </joint>
     <link name='right_finger'>
+    <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>.1</spinning_friction>
+      </contact>
       <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
         <pose frame=''>0 0 0.04 0 0 0</pose>
-        <mass>0.1</mass>
+        <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
           <ixy>0</ixy>
@@ -703,12 +728,30 @@
           <emissive>0 0 0 0</emissive>
         </material>
       </visual>
+      <collision name='right_finger_collision'>
+        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.01 0.01 0.08</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.6 0.6 0.6 1</diffuse>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
+      </collision>
     </link>
     <joint name='right_finger_base_joint' type='fixed'>
       <parent>right_finger</parent>
       <child>right_finger_base</child>
     </joint>
     <link name='right_finger_base'>
+    <contact>
+        <lateral_friction>0.8</lateral_friction>
+        <spinning_friction>.1</spinning_friction>
+      </contact>
       <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
         <pose frame=''>0.003 0 0.04 0 0 0 </pose>
@@ -769,7 +812,7 @@
     <link name='right_finger_tip'>
       <contact>
         <lateral_friction>0.8</lateral_friction>
-        <spinning_friction>1.0</spinning_friction>
+        <spinning_friction>.1</spinning_friction>
       </contact>
       <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
diff --git a/examples/pybullet/gym/envs/bullet/kuka.py b/examples/pybullet/gym/envs/bullet/kuka.py
index e86bb2a0a..da6b53444 100644
--- a/examples/pybullet/gym/envs/bullet/kuka.py
+++ b/examples/pybullet/gym/envs/bullet/kuka.py
@@ -8,12 +8,11 @@ class Kuka:
   def __init__(self, urdfRootPath='', timeStep=0.01):
     self.urdfRootPath = urdfRootPath
     self.timeStep = timeStep
-    self.reset()
-    self.maxForce = 90
-    self.fingerAForce = 6
-    self.fingerBForce = 5
-    self.fingerTipForce = 3
     
+    self.maxForce = 200.
+    self.fingerAForce = 6
+    self.fingerBForce = 5.5
+    self.fingerTipForce = 6
     self.useInverseKinematics = 1
     self.useSimulation = 1
     self.useNullSpace = 1
@@ -29,9 +28,9 @@ class Kuka:
     self.rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0]
     #joint damping coefficents
     self.jd=[0.1,0.1,0.1,0.1,0.1,0.1,0.1]
+    self.reset()
     
   def reset(self):
-    
     objects = p.loadSDF("kuka_iiwa/kuka_with_gripper2.sdf")
     self.kukaUid = objects[0]
     #for i in range (p.getNumJoints(self.kukaUid)):
@@ -41,6 +40,7 @@ class Kuka:
     self.numJoints = p.getNumJoints(self.kukaUid)
     for jointIndex in range (self.numJoints):
       p.resetJointState(self.kukaUid,jointIndex,self.jointPositions[jointIndex])
+      p.setJointMotorControl2(self.kukaUid,jointIndex,p.POSITION_CONTROL,targetPosition=self.jointPositions[jointIndex],force=self.maxForce)
     
     self.trayUid = p.loadURDF("tray/tray.urdf", 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000)
     self.endEffectorPos = [0.537,0.0,0.5]
@@ -90,23 +90,33 @@ class Kuka:
       da = motorCommands[3]
       fingerAngle = motorCommands[4]
       
+      state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
+      actualEndEffectorPos = state[0]
+      #print("pos[2] (getLinkState(kukaEndEffectorIndex)")
+      #print(actualEndEffectorPos[2])
+      
+    
+      
       self.endEffectorPos[0] = self.endEffectorPos[0]+dx
-      if (self.endEffectorPos[0]>0.7):
-        self.endEffectorPos[0]=0.7
+      if (self.endEffectorPos[0]>0.75):
+        self.endEffectorPos[0]=0.75
       if (self.endEffectorPos[0]<0.45):
         self.endEffectorPos[0]=0.45
       self.endEffectorPos[1] = self.endEffectorPos[1]+dy
-      if (self.endEffectorPos[1]<-0.2):
-        self.endEffectorPos[1]=-0.2
-      if (self.endEffectorPos[1]>0.3):
-        self.endEffectorPos[1]=0.3
+      if (self.endEffectorPos[1]<-0.22):
+        self.endEffectorPos[1]=-0.22
+      if (self.endEffectorPos[1]>0.22):
+        self.endEffectorPos[1]=0.22
       
+      #print ("self.endEffectorPos[2]")
       #print (self.endEffectorPos[2])
-      self.endEffectorPos[2] = self.endEffectorPos[2]+dz
-      if (self.endEffectorPos[2]<0.1):
-        self.endEffectorPos[2] = 0.1
-      if (self.endEffectorPos[2]>0.5):
-        self.endEffectorPos[2] = 0.5
+      #print("actualEndEffectorPos[2]")
+      #print(actualEndEffectorPos[2])
+      if (dz>0 or actualEndEffectorPos[2]>0.10):
+        self.endEffectorPos[2] = self.endEffectorPos[2]+dz
+      if (actualEndEffectorPos[2]<0.10):
+        self.endEffectorPos[2] = self.endEffectorPos[2]+0.0001
+    
      
       self.endEffectorAngle = self.endEffectorAngle + da
       pos = self.endEffectorPos
diff --git a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
index 0baa0f3ca..c76d69044 100644
--- a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
@@ -27,6 +27,7 @@ class KukaGymEnv(gym.Env):
     self._observation = []
     self._envStepCounter = 0
     self._renders = renders
+    self.terminated = 0
     self._p = p
     if self._renders:
       p.connect(p.GUI)
@@ -45,6 +46,8 @@ class KukaGymEnv(gym.Env):
     self.viewer = None
 
   def _reset(self):
+    print("reset")
+    self.terminated = 0
     p.resetSimulation()
     p.setPhysicsEngineParameter(numSolverIterations=150)
     p.setTimeStep(self._timeStep)
@@ -53,11 +56,11 @@ class KukaGymEnv(gym.Env):
       p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
     p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
     
-    xpos = 0.5 +0.25*random.random()
-    ypos = 0 +0.22*random.random()
+    xpos = 0.5 +0.05*random.random()
+    ypos = 0 +0.05*random.random()
     ang = 3.1415925438*random.random()
     orn = p.getQuaternionFromEuler([0,0,ang])
-    self.blockUid =p.loadURDF("block.urdf", xpos,ypos,0.02,orn[0],orn[1],orn[2],orn[3])
+    self.blockUid =p.loadURDF("block.urdf", xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
             
     p.setGravity(0,0,-10)
     self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
@@ -82,12 +85,12 @@ class KukaGymEnv(gym.Env):
      return self._observation
   
   def _step(self, action):
-    dv = 0.005
+    dv = 0.002
     dx = [0,-dv,dv,0,0,0,0][action]
     dy = [0,0,0,-dv,dv,0,0][action]
-    da = [0,0,0,0,0,-dv,dv][action]
+    da = [0,0,0,0,0,-0.1,0.1][action]
     f = 0.3
-    realAction = [dx,dy,-0.1,da,f]
+    realAction = [dx,dy,-0.002,da,f]
     return self.step2( realAction)
      
   def step2(self, action):
@@ -114,24 +117,29 @@ class KukaGymEnv(gym.Env):
 
   def _termination(self):
     #print (self._kuka.endEffectorPos[2])
-    if (self._envStepCounter>1000):
-      for i in range (1000):
-        p.stepSimulation()
+    state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
+    actualEndEffectorPos = state[0]
+      
+    #print("self._envStepCounter")
+    #print(self._envStepCounter)
+    if (self.terminated or self._envStepCounter>1000):
+      self._observation = self.getExtendedObservation()
+      return True
+    
+    if (actualEndEffectorPos[2] <= 0.10):
+      self.terminated = 1
+      
+      #print("closing gripper, attempting grasp")
       #start grasp and terminate
       fingerAngle = 0.3
       
-      
-      for i in range (5000):
-        graspAction = [0,0,0,0,fingerAngle]
+      for i in range (1000):
+        graspAction = [0,0,0.001,0,fingerAngle]
         self._kuka.applyAction(graspAction)
         p.stepSimulation()
-        fingerAngle = fingerAngle-(0.3/5000.)
-        
-      for i in range (5000):
-        graspAction = [0,0,0.0001,0,0]
-        self._kuka.applyAction(graspAction)
-        p.stepSimulation()
-        fingerAngle = fingerAngle-(0.3/10000.)
+        fingerAngle = fingerAngle-(0.3/100.)
+        if (fingerAngle<0):
+          fingerAngle=0
         
       self._observation = self.getExtendedObservation()
       return True
@@ -140,9 +148,22 @@ class KukaGymEnv(gym.Env):
   def _reward(self):
     
     #rewards is height of target object
-    pos,orn=p.getBasePositionAndOrientation(self.blockUid)
-    reward = pos[2]
-    if (reward>0.2):
-    	print("reward")
-    	print(reward)
-    return reward
\ No newline at end of file
+    blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
+    closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000) 
+
+    reward = -1000    
+    numPt = len(closestPoints)
+    #print(numPt)
+    if (numPt>0):
+      #print("reward:")
+      reward = -closestPoints[0][8]*10
+
+    if (blockPos[2] >0.2):
+      print("grasped a block!!!")
+      print("self._envStepCounter")
+      print(self._envStepCounter)
+      reward = reward+1000
+
+    #print("reward")
+    #print(reward)
+    return reward

From bb8cfe3c9a62260f1301c743302a94e8a6fdfd5a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 15 Jun 2017 19:46:27 -0700
Subject: [PATCH 116/175] pybullet.getAABB and getAPIVersion fix
 btMultiBody::getLinkCollider bump up Bullet C-API version

---
 examples/SharedMemory/PhysicsClientC_API.cpp  |  34 ++++++
 examples/SharedMemory/PhysicsClientC_API.h    |   2 +
 .../PhysicsServerCommandProcessor.cpp         |  49 +++++++++
 examples/SharedMemory/SharedMemoryCommands.h  |   5 +
 examples/SharedMemory/SharedMemoryPublic.h    |   5 +-
 examples/pybullet/pybullet.c                  | 104 ++++++++++++++++++
 src/BulletDynamics/Featherstone/btMultiBody.h |   5 +-
 7 files changed, 200 insertions(+), 4 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 7c02f71c0..1fa562739 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1308,6 +1308,40 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
 	return bodyId;
 }
 
+int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[3], double aabbMax[3])
+{
+	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
+    const SendActualStateArgs &args = status->m_sendActualStateArgs;
+    btAssert(status->m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED);
+    if (status->m_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
+        return 0;
+
+	if (linkIndex==-1)
+	{	
+		aabbMin[0] = args.m_rootWorldAABBMin[0];
+		aabbMin[1] = args.m_rootWorldAABBMin[1];
+		aabbMin[2] = args.m_rootWorldAABBMin[2];
+
+		aabbMax[0] = args.m_rootWorldAABBMax[0];
+		aabbMax[1] = args.m_rootWorldAABBMax[1];
+		aabbMax[2] = args.m_rootWorldAABBMax[2];
+		return 1;
+	}
+
+	if (linkIndex >= 0 && linkIndex < args.m_numLinks)
+	{
+		aabbMin[0] = args.m_linkWorldAABBsMin[0];
+		aabbMin[1] = args.m_linkWorldAABBsMin[1];
+		aabbMin[2] = args.m_linkWorldAABBsMin[2];
+
+		aabbMax[0] = args.m_linkWorldAABBsMax[0];
+		aabbMax[1] = args.m_linkWorldAABBsMax[1];
+		aabbMax[2] = args.m_linkWorldAABBsMax[2];
+		return 1;
+	}
+
+	return 0;
+}
 
 int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
                            int* bodyUniqueId,
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index aefdf469e..299cf1974 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -57,6 +57,8 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
                            const double* actualStateQdot[],
                            const double* jointReactionForces[]);
 
+int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[3], double aabbMax[3]);
+
 ///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.
 b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient);
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 8c6fbec09..3ed5def06 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4032,6 +4032,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 						int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId;
 						InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+						
 
 						if (body && body->m_multiBody)
 						{
@@ -4040,6 +4041,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
 
 							serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
+							serverCmd.m_sendActualStateArgs.m_numLinks = body->m_multiBody->getNumLinks();
+
 							int totalDegreeOfFreedomQ = 0;
 							int totalDegreeOfFreedomU = 0;
 
@@ -4074,7 +4077,28 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                 serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
                                     body->m_rootLocalInertialFrame.getRotation()[3];
 
+								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[0] = 0;
+								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[1] = 0;
+								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[2] = 0;
 
+								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[0] = -1;
+								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[1] = -1;
+								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[2] = -1;
+								
+
+
+								if (body->m_multiBody->getBaseCollider())
+								{
+									btVector3 aabbMin,aabbMax;
+									body->m_multiBody->getBaseCollider()->getCollisionShape()->getAabb(tr,aabbMin,aabbMax);
+									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[0] = aabbMin[0];
+									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[1] = aabbMin[1];
+									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[2] = aabbMin[2];
+
+									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[0] = aabbMax[0];
+									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[1] = aabbMax[1];
+									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[2] = aabbMax[2];
+								}
 
 								//base position in world space, carthesian
 								serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = tr.getOrigin()[0];
@@ -4176,6 +4200,29 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z();
 								serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w();
 
+								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+0] = 0;
+								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+1] = 0;
+								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+2] = 0;
+
+								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+0] = -1;
+								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+1] = -1;
+								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+2] = -1;
+
+								
+
+								if (body->m_multiBody->getLink(l).m_collider)
+								{
+									btVector3 aabbMin,aabbMax;
+									body->m_multiBody->getLinkCollider(l)->getCollisionShape()->getAabb(mb->getLink(l).m_cachedWorldTransform,aabbMin,aabbMax);
+
+									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+0] = aabbMin[0];
+									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+1] = aabbMin[1];
+									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+2] = aabbMin[2];
+									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+0] = aabbMax[0];
+									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+1] = aabbMax[1];
+									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+2] = aabbMax[2];
+								}
+
 
 								btVector3 worldLinVel(0,0,0);
 								btVector3 worldAngVel(0,0,0);
@@ -4220,6 +4267,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;
 
 								serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
+								serverCmd.m_sendActualStateArgs.m_numLinks = 0;
+
 								int totalDegreeOfFreedomQ = 0;
 								int totalDegreeOfFreedomU = 0;
 
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index d6f675fa9..f676f7c35 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -427,10 +427,13 @@ struct RequestActualStateArgs
 struct SendActualStateArgs
 {
 	int m_bodyUniqueId;
+	int m_numLinks;
 	int m_numDegreeOfFreedomQ;
 	int m_numDegreeOfFreedomU;
 
     double m_rootLocalInertialFrame[7];
+	double m_rootWorldAABBMin[3];
+	double m_rootWorldAABBMax[3];
     
 	  //actual state is only written by the server, read-only access by client is expected
     double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
@@ -444,6 +447,8 @@ struct SendActualStateArgs
     double m_linkState[7*MAX_NUM_LINKS];
 	double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each).
     double m_linkLocalInertialFrames[7*MAX_NUM_LINKS];
+	double m_linkWorldAABBsMin[3*MAX_NUM_LINKS];
+	double m_linkWorldAABBsMax[3*MAX_NUM_LINKS];
 };
 
 enum EnumSensorTypes
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index d6cc19a56..04c06317e 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -4,7 +4,8 @@
 #define SHARED_MEMORY_KEY 12347
 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
 ///my convention is year/month/day/rev
-#define SHARED_MEMORY_MAGIC_NUMBER 201706001
+#define SHARED_MEMORY_MAGIC_NUMBER 201706015
+//#define SHARED_MEMORY_MAGIC_NUMBER 201706001
 //#define SHARED_MEMORY_MAGIC_NUMBER 201703024
 
 
@@ -490,6 +491,8 @@ struct b3LinkState
 	double m_worldLinearVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
 	double m_worldAngularVelocity[3]; //only valid when ACTUAL_STATE_COMPUTE_LINKVELOCITY is set (b3RequestActualStateCommandComputeLinkVelocity)
 
+	double m_worldAABBMin[3];//world space bounding minium and maximum box corners.
+	double m_worldAABBMax[3];
 };
 
 //todo: discuss and decide about control mode and combinations
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index d87d04efd..d2cab391f 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1972,6 +1972,89 @@ static int pybullet_internalGetBasePositionAndOrientation(
 	return 1;
 }
 
+static PyObject* pybullet_getAABB(PyObject* self, PyObject* args, PyObject* keywds)
+{
+
+	int bodyUniqueId = -1;
+	int linkIndex = -1;
+	
+	b3PhysicsClientHandle sm = 0;
+	int physicsClientId = 0;
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|ii", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	{
+		int status_type = 0;
+		b3SharedMemoryCommandHandle cmd_handle;
+		b3SharedMemoryStatusHandle status_handle;
+
+		if (bodyUniqueId < 0)
+		{
+			PyErr_SetString(SpamError, "getAABB failed; invalid bodyUniqueId");
+			return NULL;
+		}
+
+		if (linkIndex < -1)
+		{
+			PyErr_SetString(SpamError, "getAABB failed; invalid linkIndex");
+			return NULL;
+		}
+
+		cmd_handle =
+			b3RequestActualStateCommandInit(sm, bodyUniqueId);
+		status_handle =
+			b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
+
+		status_type = b3GetStatusType(status_handle);
+		if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
+		{
+			PyErr_SetString(SpamError, "getAABB failed.");
+			return NULL;
+		}
+
+		{
+			PyObject* pyListAabb=0;
+			PyObject* pyListAabbMin=0;
+			PyObject* pyListAabbMax=0;
+			double aabbMin[3];
+			double aabbMax[3];
+			int i=0;
+			if (b3GetStatusAABB(status_handle, linkIndex, aabbMin, aabbMax))
+			{
+				pyListAabb = PyTuple_New(2);
+				pyListAabbMin = PyTuple_New(3);
+				pyListAabbMax = PyTuple_New(3);
+
+				for (i=0;i<3;i++)
+				{
+					PyTuple_SetItem(pyListAabbMin, i, PyFloat_FromDouble(aabbMin[i]));
+					PyTuple_SetItem(pyListAabbMax, i, PyFloat_FromDouble(aabbMax[i]));
+				}
+
+				PyTuple_SetItem(pyListAabb, 0, pyListAabbMin);
+				PyTuple_SetItem(pyListAabb, 1, pyListAabbMax);
+
+				//PyFloat_FromDouble(basePosition[i]);
+
+				return pyListAabb;
+			}
+		}
+
+	}
+
+	PyErr_SetString(SpamError, "getAABB failed.");
+	return NULL;
+}
+
 // Get the positions (x,y,z) and orientation (x,y,z,w) in quaternion
 // values for the base link of your object
 // Object is retrieved based on body index, which is the order
@@ -2365,6 +2448,18 @@ static PyObject* pybullet_getNumConstraints(PyObject* self, PyObject* args, PyOb
 #endif
 }
 
+// Return the number of joints in an object based on
+// body index; body index is based on order of sequence
+// the object is loaded into simulation
+static PyObject* pybullet_getAPIVersion(PyObject* self, PyObject* args, PyObject* keywds)
+{
+#if PY_MAJOR_VERSION >= 3
+	return PyLong_FromLong(SHARED_MEMORY_MAGIC_NUMBER);
+#else
+	return PyInt_FromLong(SHARED_MEMORY_MAGIC_NUMBER);
+#endif
+}
+
 // Return the number of joints in an object based on
 // body index; body index is based on order of sequence
 // the object is loaded into simulation
@@ -6470,6 +6565,10 @@ static PyMethodDef SpamMethods[] = {
 	 "Get the world position and orientation of the base of the object. "
 	 "(x,y,z) position vector and (x,y,z,w) quaternion orientation."},
 
+	{"getAABB", (PyCFunction)pybullet_getAABB,
+	 METH_VARARGS | METH_KEYWORDS,
+	 "Get the axis aligned bound box min and max coordinates in world space."},
+
 	{"resetBasePositionAndOrientation",
 	 (PyCFunction)pybullet_resetBasePositionAndOrientation, METH_VARARGS | METH_KEYWORDS,
 	 "Reset the world position and orientation of the base of the object "
@@ -6679,6 +6778,11 @@ static PyMethodDef SpamMethods[] = {
 
 	{"setTimeOut", (PyCFunction)pybullet_setTimeOut, METH_VARARGS | METH_KEYWORDS,
 	 "Set the timeOut in seconds, used for most of the API calls."},
+
+	{"getAPIVersion", (PyCFunction)pybullet_getAPIVersion,
+	 METH_VARARGS | METH_KEYWORDS,
+	 "Get version of the API. Compatibility exists for connections using the same API version. Make sure both client and server use the same number of bits (32-bit or 64bit)."},
+
 	// todo(erwincoumans)
 	// saveSnapshot
 	// loadSnapshot
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index 6dad0afeb..ac5f0993e 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -142,9 +142,9 @@ public:
 
 	btMultiBodyLinkCollider* getLinkCollider(int index)
 	{
-		if (index >= 0 && index < m_colliders.size())
+		if (index >= 0 && index < getNumLinks())
 		{
-			return m_colliders[index];
+			return getLink(index).m_collider;
 		}
 		return 0;
 	}
@@ -659,7 +659,6 @@ private:
     btVector3 m_baseConstraintTorque;    // external torque applied to base. World frame.
  
     btAlignedObjectArray<btMultibodyLink> m_links;    // array of m_links, excluding the base. index from 0 to num_links-1.
-	btAlignedObjectArray<btMultiBodyLinkCollider*> m_colliders;
 
     
     //

From 40cb8006eeb01c9210baa09095c52ef7d486fb2f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 16 Jun 2017 17:06:11 -0700
Subject: [PATCH 117/175] fix gym/envs/bullet/cartpole_bullet.py (velocity
 hyperparameter still needs to be tuned) add enjoy_pybullet_cartpole.py

---
 .../pybullet/gym/enjoy_pybullet_cartpole.py   | 29 +++++++++++++++++++
 .../gym/envs/bullet/cartpole_bullet.py        | 11 ++++---
 2 files changed, 36 insertions(+), 4 deletions(-)
 create mode 100644 examples/pybullet/gym/enjoy_pybullet_cartpole.py

diff --git a/examples/pybullet/gym/enjoy_pybullet_cartpole.py b/examples/pybullet/gym/enjoy_pybullet_cartpole.py
new file mode 100644
index 000000000..77fc29c53
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_pybullet_cartpole.py
@@ -0,0 +1,29 @@
+import gym
+
+from baselines import deepq
+from envs.bullet.cartpole_bullet import CartPoleBulletEnv
+
+def main():
+    env = gym.make('CartPoleBulletEnv-v0')
+    act = deepq.load("cartpole_model.pkl")
+
+    while True:
+        obs, done = env.reset(), False
+        print("obs")
+        print(obs)
+        print("type(obs)")
+        print(type(obs))
+        episode_rew = 0
+        while not done:
+            env.render()
+           
+            o = obs[None]
+            aa = act(o)
+            a = aa[0]
+            obs, rew, done, _ = env.step(a)
+            episode_rew += rew
+        print("Episode reward", episode_rew)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/examples/pybullet/gym/envs/bullet/cartpole_bullet.py b/examples/pybullet/gym/envs/bullet/cartpole_bullet.py
index b1f1a1e35..f117e8f71 100644
--- a/examples/pybullet/gym/envs/bullet/cartpole_bullet.py
+++ b/examples/pybullet/gym/envs/bullet/cartpole_bullet.py
@@ -25,7 +25,7 @@ class CartPoleBulletEnv(gym.Env):
   def __init__(self):
     # start the bullet physics server
     p.connect(p.GUI)
-#    p.connect(p.DIRECT)
+    #p.connect(p.DIRECT)
     observation_high = np.array([
           np.finfo(np.float32).max,
           np.finfo(np.float32).max,
@@ -33,7 +33,7 @@ class CartPoleBulletEnv(gym.Env):
           np.finfo(np.float32).max])
     action_high = np.array([0.1])
 
-    self.action_space = spaces.Box(-action_high, action_high)
+    self.action_space = spaces.Discrete(5)
     self.observation_space = spaces.Box(-observation_high, observation_high)
 
     self.theta_threshold_radians = 1
@@ -55,8 +55,11 @@ class CartPoleBulletEnv(gym.Env):
 #    time.sleep(self.timeStep)
     self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
     theta, theta_dot, x, x_dot = self.state
-    force = action
-    p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(action + self.state[3]))
+    
+    dv = 0.4
+    deltav = [-2.*dv, -dv, 0, dv, 2.*dv][action]
+    
+    p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))
 
     done =  x < -self.x_threshold \
                 or x > self.x_threshold \

From 23b155a2b4e2d9a42b5d088b2ac532ea74f62caf Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 16 Jun 2017 18:10:10 -0700
Subject: [PATCH 118/175] add getAABB.py example. fix getAABB /
 b3RequestCollisionInfoCommandInit to use less stack memory

---
 examples/SharedMemory/PhysicsClientC_API.cpp  |  31 ++--
 examples/SharedMemory/PhysicsClientC_API.h    |   2 +
 .../PhysicsClientSharedMemory.cpp             |   9 ++
 examples/SharedMemory/PhysicsDirect.cpp       |  11 +-
 .../PhysicsServerCommandProcessor.cpp         | 146 ++++++++++++------
 examples/SharedMemory/SharedMemoryCommands.h  |  20 ++-
 examples/SharedMemory/SharedMemoryPublic.h    |   3 +
 examples/pybullet/examples/getAABB.py         |  56 +++++++
 examples/pybullet/pybullet.c                  |   4 +-
 9 files changed, 222 insertions(+), 60 deletions(-)
 create mode 100644 examples/pybullet/examples/getAABB.py

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 1fa562739..47be09e4c 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1308,12 +1308,25 @@ int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
 	return bodyId;
 }
 
+b3SharedMemoryCommandHandle b3RequestCollisionInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
+{
+    PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+    b3Assert(command);
+    command->m_type =CMD_REQUEST_COLLISION_INFO;
+	command->m_updateFlags = 0;
+	command->m_requestCollisionInfoArgs.m_bodyUniqueId = bodyUniqueId;
+    return (b3SharedMemoryCommandHandle) command;
+}
+
 int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[3], double aabbMax[3])
 {
 	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
-    const SendActualStateArgs &args = status->m_sendActualStateArgs;
-    btAssert(status->m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED);
-    if (status->m_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
+    const b3SendCollisionInfoArgs &args = status->m_sendCollisionInfoArgs;
+    btAssert(status->m_type == CMD_REQUEST_COLLISION_INFO_COMPLETED);
+    if (status->m_type != CMD_REQUEST_COLLISION_INFO_COMPLETED)
         return 0;
 
 	if (linkIndex==-1)
@@ -1330,13 +1343,13 @@ int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, doub
 
 	if (linkIndex >= 0 && linkIndex < args.m_numLinks)
 	{
-		aabbMin[0] = args.m_linkWorldAABBsMin[0];
-		aabbMin[1] = args.m_linkWorldAABBsMin[1];
-		aabbMin[2] = args.m_linkWorldAABBsMin[2];
+		aabbMin[0] = args.m_linkWorldAABBsMin[linkIndex*3+0];
+		aabbMin[1] = args.m_linkWorldAABBsMin[linkIndex*3+1];
+		aabbMin[2] = args.m_linkWorldAABBsMin[linkIndex*3+2];
 
-		aabbMax[0] = args.m_linkWorldAABBsMax[0];
-		aabbMax[1] = args.m_linkWorldAABBsMax[1];
-		aabbMax[2] = args.m_linkWorldAABBsMax[2];
+		aabbMax[0] = args.m_linkWorldAABBsMax[linkIndex*3+0];
+		aabbMax[1] = args.m_linkWorldAABBsMax[linkIndex*3+1];
+		aabbMax[2] = args.m_linkWorldAABBsMax[linkIndex*3+2];
 		return 1;
 	}
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 299cf1974..ee82cfbec 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -57,6 +57,8 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
                            const double* actualStateQdot[],
                            const double* jointReactionForces[]);
 
+
+b3SharedMemoryCommandHandle b3RequestCollisionInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
 int b3GetStatusAABB(b3SharedMemoryStatusHandle statusHandle, int linkIndex, double aabbMin[3], double aabbMax[3]);
 
 ///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index a2061b246..66ef8b435 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -1079,6 +1079,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				b3Warning("Request createVisualShape failed");
 				break;
 			}
+			case CMD_REQUEST_COLLISION_INFO_COMPLETED:
+			{
+				break;
+			}
+			case CMD_REQUEST_COLLISION_INFO_FAILED:
+			{
+				b3Warning("Request getCollisionInfo failed");
+				break;
+			}
 
             default: {
                 b3Error("Unknown server status %d\n", serverCmd.m_type);
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index e49784d47..cafcd5449 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -914,7 +914,16 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 		b3Warning("createMultiBody failed");
 		break;
 	}
-	
+	case CMD_REQUEST_COLLISION_INFO_COMPLETED:
+	{
+		break;
+	}
+	case CMD_REQUEST_COLLISION_INFO_FAILED:
+	{
+		b3Warning("Request getCollisionInfo failed");
+		break;
+	}
+
 	default:
 	{
 		//b3Warning("Unknown server status type");
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 3ed5def06..6354e8fe0 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4023,6 +4023,105 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					hasStatus = true;
 					break;
 				}
+				case 		CMD_REQUEST_COLLISION_INFO:
+				{
+					SharedMemoryStatus& serverCmd = serverStatusOut;
+					serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_FAILED;
+					hasStatus=true;
+					int bodyUniqueId = clientCmd.m_requestCollisionInfoArgs.m_bodyUniqueId;
+					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+						
+
+					if (body && body->m_multiBody)
+					{
+						btMultiBody* mb = body->m_multiBody;
+						serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED;
+						serverCmd.m_sendCollisionInfoArgs.m_numLinks = body->m_multiBody->getNumLinks();
+						serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = 0;
+						serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = 0;
+						serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = 0;
+
+						serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = -1;
+						serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = -1;
+						serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = -1;
+
+						if (body->m_multiBody->getBaseCollider())
+						{
+							btTransform tr;
+							tr.setOrigin(mb->getBasePos());
+							tr.setRotation(mb->getWorldToBaseRot().inverse());
+
+							btVector3 aabbMin,aabbMax;
+							body->m_multiBody->getBaseCollider()->getCollisionShape()->getAabb(tr,aabbMin,aabbMax);
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = aabbMin[0];
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = aabbMin[1];
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = aabbMin[2];
+
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = aabbMax[0];
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = aabbMax[1];
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = aabbMax[2];
+						}
+						for (int l=0;l<mb->getNumLinks();l++)
+						{
+							serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+0] = 0;
+							serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+1] = 0;
+							serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+2] = 0;
+
+							serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+0] = -1;
+							serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+1] = -1;
+							serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+2] = -1;
+
+								
+
+							if (body->m_multiBody->getLink(l).m_collider)
+							{
+								btVector3 aabbMin,aabbMax;
+								body->m_multiBody->getLinkCollider(l)->getCollisionShape()->getAabb(mb->getLink(l).m_cachedWorldTransform,aabbMin,aabbMax);
+
+								serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+0] = aabbMin[0];
+								serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+1] = aabbMin[1];
+								serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+2] = aabbMin[2];
+								serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+0] = aabbMax[0];
+								serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+1] = aabbMax[1];
+								serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+2] = aabbMax[2];
+							}
+						
+						}
+					}
+					else
+					{
+						if (body && body->m_rigidBody)
+						{
+							btRigidBody* rb = body->m_rigidBody;
+							SharedMemoryStatus& serverCmd = serverStatusOut;
+							serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED;
+							serverCmd.m_sendCollisionInfoArgs.m_numLinks = 0;
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = 0;
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = 0;
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = 0;
+
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = -1;
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = -1;
+							serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = -1;
+							if (rb->getCollisionShape())
+							{
+								btTransform tr = rb->getWorldTransform();
+								
+								btVector3 aabbMin,aabbMax;
+								rb->getCollisionShape()->getAabb(tr,aabbMin,aabbMax);
+								serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = aabbMin[0];
+								serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = aabbMin[1];
+								serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = aabbMin[2];
+
+								serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = aabbMax[0];
+								serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = aabbMax[1];
+								serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = aabbMax[2];
+							}
+						}
+					}
+					break;
+				}
+
 				case CMD_REQUEST_ACTUAL_STATE:
 					{
 					BT_PROFILE("CMD_REQUEST_ACTUAL_STATE");
@@ -4077,28 +4176,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                 serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
                                     body->m_rootLocalInertialFrame.getRotation()[3];
 
-								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[0] = 0;
-								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[1] = 0;
-								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[2] = 0;
-
-								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[0] = -1;
-								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[1] = -1;
-								serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[2] = -1;
-								
-
-
-								if (body->m_multiBody->getBaseCollider())
-								{
-									btVector3 aabbMin,aabbMax;
-									body->m_multiBody->getBaseCollider()->getCollisionShape()->getAabb(tr,aabbMin,aabbMax);
-									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[0] = aabbMin[0];
-									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[1] = aabbMin[1];
-									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMin[2] = aabbMin[2];
-
-									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[0] = aabbMax[0];
-									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[1] = aabbMax[1];
-									serverCmd.m_sendActualStateArgs.m_rootWorldAABBMax[2] = aabbMax[2];
-								}
+							
 
 								//base position in world space, carthesian
 								serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = tr.getOrigin()[0];
@@ -4200,29 +4278,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z();
 								serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w();
 
-								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+0] = 0;
-								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+1] = 0;
-								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+2] = 0;
-
-								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+0] = -1;
-								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+1] = -1;
-								serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+2] = -1;
-
-								
-
-								if (body->m_multiBody->getLink(l).m_collider)
-								{
-									btVector3 aabbMin,aabbMax;
-									body->m_multiBody->getLinkCollider(l)->getCollisionShape()->getAabb(mb->getLink(l).m_cachedWorldTransform,aabbMin,aabbMax);
-
-									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+0] = aabbMin[0];
-									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+1] = aabbMin[1];
-									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMin[3*l+2] = aabbMin[2];
-									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+0] = aabbMax[0];
-									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+1] = aabbMax[1];
-									serverCmd.m_sendActualStateArgs.m_linkWorldAABBsMax[3*l+2] = aabbMax[2];
-								}
-
+							
 
 								btVector3 worldLinVel(0,0,0);
 								btVector3 worldAngVel(0,0,0);
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index f676f7c35..27ae33970 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -432,9 +432,7 @@ struct SendActualStateArgs
 	int m_numDegreeOfFreedomU;
 
     double m_rootLocalInertialFrame[7];
-	double m_rootWorldAABBMin[3];
-	double m_rootWorldAABBMax[3];
-    
+   
 	  //actual state is only written by the server, read-only access by client is expected
     double m_actualStateQ[MAX_DEGREE_OF_FREEDOM];
     double m_actualStateQdot[MAX_DEGREE_OF_FREEDOM];
@@ -447,10 +445,24 @@ struct SendActualStateArgs
     double m_linkState[7*MAX_NUM_LINKS];
 	double m_linkWorldVelocities[6*MAX_NUM_LINKS];//linear velocity and angular velocity in world space (x/y/z each).
     double m_linkLocalInertialFrames[7*MAX_NUM_LINKS];
+};
+
+struct b3SendCollisionInfoArgs
+{
+	int m_numLinks;
+	double m_rootWorldAABBMin[3];
+	double m_rootWorldAABBMax[3];
+ 
 	double m_linkWorldAABBsMin[3*MAX_NUM_LINKS];
 	double m_linkWorldAABBsMax[3*MAX_NUM_LINKS];
 };
 
+struct b3RequestCollisionInfoArgs
+{
+	int m_bodyUniqueId;
+};
+
+
 enum EnumSensorTypes
 {
     SENSOR_FORCE_TORQUE=1,
@@ -918,6 +930,7 @@ struct SharedMemoryCommand
 		struct b3CreateCollisionShapeArgs m_createCollisionShapeArgs;
 		struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
 		struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
+		struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
 
     };
 };
@@ -987,6 +1000,7 @@ struct SharedMemoryStatus
 		struct b3CreateCollisionShapeResultArgs m_createCollisionShapeResultArgs;
 		struct b3CreateVisualShapeResultArgs m_createVisualShapeResultArgs;
 		struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
+		struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 04c06317e..9d1f92507 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -65,6 +65,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_CREATE_COLLISION_SHAPE,
 	CMD_CREATE_VISUAL_SHAPE,
 	CMD_CREATE_MULTI_BODY,
+	CMD_REQUEST_COLLISION_INFO,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -156,6 +157,8 @@ enum EnumSharedMemoryServerStatus
 		CMD_CREATE_VISUAL_SHAPE_COMPLETED,
 		CMD_CREATE_MULTI_BODY_FAILED,
 		CMD_CREATE_MULTI_BODY_COMPLETED,
+		CMD_REQUEST_COLLISION_INFO_COMPLETED,
+		CMD_REQUEST_COLLISION_INFO_FAILED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };
diff --git a/examples/pybullet/examples/getAABB.py b/examples/pybullet/examples/getAABB.py
new file mode 100644
index 000000000..59a2bfce0
--- /dev/null
+++ b/examples/pybullet/examples/getAABB.py
@@ -0,0 +1,56 @@
+import pybullet as p
+p.connect(p.GUI)
+r2d2 = p.loadURDF("r2d2.urdf")
+
+
+aabb = p.getAABB(r2d2)
+aabbMin = aabb[0]
+aabbMax = aabb[1]
+
+f = [aabbMin[0],aabbMin[1],aabbMin[2]]
+t = [aabbMax[0],aabbMin[1],aabbMin[2]]
+p.addUserDebugLine(f,t,[1,1,1])
+f = [aabbMin[0],aabbMin[1],aabbMin[2]]
+t = [aabbMin[0],aabbMax[1],aabbMin[2]]
+p.addUserDebugLine(f,t,[1,1,1])
+f = [aabbMin[0],aabbMin[1],aabbMin[2]]
+t = [aabbMin[0],aabbMin[1],aabbMax[2]]
+p.addUserDebugLine(f,t,[1,1,1])
+
+f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+t = [aabbMin[0],aabbMax[1],aabbMax[2]]
+p.addUserDebugLine(f,t,[1,1,1])
+f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+t = [aabbMax[0],aabbMin[1],aabbMax[2]]
+p.addUserDebugLine(f,t,[1,1,1])
+f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+t = [aabbMax[0],aabbMax[1],aabbMin[2]]
+p.addUserDebugLine(f,t,[1,1,1])
+
+for i in range (p.getNumJoints(r2d2)):
+	aabb = p.getAABB(r2d2,i)
+	aabbMin = aabb[0]
+	aabbMax = aabb[1]
+
+	f = [aabbMin[0],aabbMin[1],aabbMin[2]]
+	t = [aabbMax[0],aabbMin[1],aabbMin[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	f = [aabbMin[0],aabbMin[1],aabbMin[2]]
+	t = [aabbMin[0],aabbMax[1],aabbMin[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	f = [aabbMin[0],aabbMin[1],aabbMin[2]]
+	t = [aabbMin[0],aabbMin[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+
+	f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+	t = [aabbMin[0],aabbMax[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+	t = [aabbMax[0],aabbMin[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+	t = [aabbMax[0],aabbMax[1],aabbMin[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+
+while(1):
+	a=0
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index d2cab391f..bbcc8c3cb 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -2010,12 +2010,12 @@ static PyObject* pybullet_getAABB(PyObject* self, PyObject* args, PyObject* keyw
 		}
 
 		cmd_handle =
-			b3RequestActualStateCommandInit(sm, bodyUniqueId);
+			b3RequestCollisionInfoCommandInit(sm, bodyUniqueId);
 		status_handle =
 			b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
 
 		status_type = b3GetStatusType(status_handle);
-		if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
+		if (status_type != CMD_REQUEST_COLLISION_INFO_COMPLETED)
 		{
 			PyErr_SetString(SpamError, "getAABB failed.");
 			return NULL;

From 5ea4da87d7847b9fcb6fb5bf067aca2fb437f45d Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 16 Jun 2017 19:11:35 -0700
Subject: [PATCH 119/175] improve getAABB.py drawing

---
 examples/pybullet/examples/getAABB.py | 91 ++++++++++++++++-----------
 1 file changed, 56 insertions(+), 35 deletions(-)

diff --git a/examples/pybullet/examples/getAABB.py b/examples/pybullet/examples/getAABB.py
index 59a2bfce0..ef1d3ee3f 100644
--- a/examples/pybullet/examples/getAABB.py
+++ b/examples/pybullet/examples/getAABB.py
@@ -1,50 +1,51 @@
 import pybullet as p
-p.connect(p.GUI)
+draw=1
+printtext = 0
+
+if (draw):
+	p.connect(p.GUI)
+else:
+	p.connect(p.DIRECT)
 r2d2 = p.loadURDF("r2d2.urdf")
 
-
-aabb = p.getAABB(r2d2)
-aabbMin = aabb[0]
-aabbMax = aabb[1]
-
-f = [aabbMin[0],aabbMin[1],aabbMin[2]]
-t = [aabbMax[0],aabbMin[1],aabbMin[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-f = [aabbMin[0],aabbMin[1],aabbMin[2]]
-t = [aabbMin[0],aabbMax[1],aabbMin[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-f = [aabbMin[0],aabbMin[1],aabbMin[2]]
-t = [aabbMin[0],aabbMin[1],aabbMax[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-
-f = [aabbMax[0],aabbMax[1],aabbMax[2]]
-t = [aabbMin[0],aabbMax[1],aabbMax[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-f = [aabbMax[0],aabbMax[1],aabbMax[2]]
-t = [aabbMax[0],aabbMin[1],aabbMax[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-f = [aabbMax[0],aabbMax[1],aabbMax[2]]
-t = [aabbMax[0],aabbMax[1],aabbMin[2]]
-p.addUserDebugLine(f,t,[1,1,1])
-
-for i in range (p.getNumJoints(r2d2)):
-	aabb = p.getAABB(r2d2,i)
-	aabbMin = aabb[0]
-	aabbMax = aabb[1]
-
+def drawAABB(aabb):
 	f = [aabbMin[0],aabbMin[1],aabbMin[2]]
 	t = [aabbMax[0],aabbMin[1],aabbMin[2]]
-	p.addUserDebugLine(f,t,[1,1,1])
+	p.addUserDebugLine(f,t,[1,0,0])
 	f = [aabbMin[0],aabbMin[1],aabbMin[2]]
 	t = [aabbMin[0],aabbMax[1],aabbMin[2]]
-	p.addUserDebugLine(f,t,[1,1,1])
+	p.addUserDebugLine(f,t,[0,1,0])
 	f = [aabbMin[0],aabbMin[1],aabbMin[2]]
 	t = [aabbMin[0],aabbMin[1],aabbMax[2]]
-	p.addUserDebugLine(f,t,[1,1,1])
+	p.addUserDebugLine(f,t,[0,0,1])
 
-	f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+	f = [aabbMin[0],aabbMin[1],aabbMax[2]]
 	t = [aabbMin[0],aabbMax[1],aabbMax[2]]
 	p.addUserDebugLine(f,t,[1,1,1])
+
+	f = [aabbMin[0],aabbMin[1],aabbMax[2]]
+	t = [aabbMax[0],aabbMin[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+
+	f = [aabbMax[0],aabbMin[1],aabbMin[2]]
+	t = [aabbMax[0],aabbMin[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+
+	f = [aabbMax[0],aabbMin[1],aabbMin[2]]
+	t = [aabbMax[0],aabbMax[1],aabbMin[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	
+	f = [aabbMax[0],aabbMax[1],aabbMin[2]]
+	t = [aabbMin[0],aabbMax[1],aabbMin[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	
+	f = [aabbMin[0],aabbMax[1],aabbMin[2]]
+	t = [aabbMin[0],aabbMax[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1,1,1])
+	
+	f = [aabbMax[0],aabbMax[1],aabbMax[2]]
+	t = [aabbMin[0],aabbMax[1],aabbMax[2]]
+	p.addUserDebugLine(f,t,[1.0,0.5,0.5])
 	f = [aabbMax[0],aabbMax[1],aabbMax[2]]
 	t = [aabbMax[0],aabbMin[1],aabbMax[2]]
 	p.addUserDebugLine(f,t,[1,1,1])
@@ -52,5 +53,25 @@ for i in range (p.getNumJoints(r2d2)):
 	t = [aabbMax[0],aabbMax[1],aabbMin[2]]
 	p.addUserDebugLine(f,t,[1,1,1])
 
+aabb = p.getAABB(r2d2)
+aabbMin = aabb[0]
+aabbMax = aabb[1]
+if (printtext):
+	print(aabbMin)
+	print(aabbMax)
+if (draw==1):
+	drawAABB(aabb)
+
+for i in range (p.getNumJoints(r2d2)):
+	aabb = p.getAABB(r2d2,i)
+	aabbMin = aabb[0]
+	aabbMax = aabb[1]
+	if (printtext):
+		print(aabbMin)
+		print(aabbMax)
+	if (draw==1):
+		drawAABB(aabb)
+
+
 while(1):
 	a=0
\ No newline at end of file

From af0e1d58ef80080bcf9281325563403465ce68ee Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 17 Jun 2017 10:24:47 -0700
Subject: [PATCH 120/175] obj2sdf -> don't crash when no name is given, remind
 user of --fileName=...

---
 Extras/obj2sdf/obj2sdf.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/Extras/obj2sdf/obj2sdf.cpp b/Extras/obj2sdf/obj2sdf.cpp
index 7264d704b..488b24d54 100644
--- a/Extras/obj2sdf/obj2sdf.cpp
+++ b/Extras/obj2sdf/obj2sdf.cpp
@@ -40,7 +40,11 @@ int main(int argc, char* argv[])
 	b3CommandLineArgs args(argc,argv);
 	char* fileName;
 	args.GetCmdLineArgument("fileName",fileName);
-
+	if (fileName==0)
+	{
+		printf("required --fileName=\"name\"");
+		exit(0);
+	}
 	std::string matLibName = StripExtension(fileName);
 
 	printf("fileName = %s\n", fileName);

From 3a826a5997ba299be25773af46fff10ad707c4d6 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 17 Jun 2017 11:21:10 -0700
Subject: [PATCH 121/175] getCameraImage: use debug visualizer camera
 viewmatrix/projection matrix if possible (only if view/proj matrix is not
 provided)

---
 .../PhysicsServerCommandProcessor.cpp         | 24 +++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 6354e8fe0..776e70016 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3066,9 +3066,29 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                                                      clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
                                 } else
                                 {
-                                    m_data->m_visualConverter.render();
+									 SharedMemoryStatus tmpCmd = serverStatusOut;
+									bool result = this->m_data->m_guiHelper->getCameraInfo(
+										&tmpCmd.m_visualizerCameraResultArgs.m_width,
+										&tmpCmd.m_visualizerCameraResultArgs.m_height,
+										tmpCmd.m_visualizerCameraResultArgs.m_viewMatrix,
+										tmpCmd.m_visualizerCameraResultArgs.m_projectionMatrix,
+										tmpCmd.m_visualizerCameraResultArgs.m_camUp,
+										tmpCmd.m_visualizerCameraResultArgs.m_camForward,
+										tmpCmd.m_visualizerCameraResultArgs.m_horizontal,
+										tmpCmd.m_visualizerCameraResultArgs.m_vertical,
+										&tmpCmd.m_visualizerCameraResultArgs.m_yaw,
+										&tmpCmd.m_visualizerCameraResultArgs.m_pitch,
+										&tmpCmd.m_visualizerCameraResultArgs.m_dist,
+										tmpCmd.m_visualizerCameraResultArgs.m_target);
+									if (result)
+									{
+	                                    m_data->m_visualConverter.render(tmpCmd.m_visualizerCameraResultArgs.m_viewMatrix,
+										tmpCmd.m_visualizerCameraResultArgs.m_projectionMatrix);
+									} else
+									{
+										m_data->m_visualConverter.render();
+									}
                                 }
-
                             }
 
 							m_data->m_visualConverter.copyCameraImageData(pixelRGBA,numRequestedPixels,

From 2e6f8c271e29900545ce5550da19fae70695a9b7 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 17 Jun 2017 13:29:14 -0700
Subject: [PATCH 122/175] allow to disable/enable default keyboard shortcuts
 ('w', 'd' 's' etc) and default mouse picking pybullet.getMouseEvents /
 b3RequestMouseEventsCommandInit

---
 .../ExampleBrowser/OpenGLExampleBrowser.cpp   |  15 +-
 examples/SharedMemory/PhysicsClient.h         |   2 +
 examples/SharedMemory/PhysicsClientC_API.cpp  |  25 ++
 examples/SharedMemory/PhysicsClientC_API.h    |   4 +
 .../PhysicsClientSharedMemory.cpp             |  25 ++
 .../SharedMemory/PhysicsClientSharedMemory.h  |   2 +
 .../PhysicsCommandProcessorInterface.h        |   2 +-
 examples/SharedMemory/PhysicsDirect.cpp       |  24 ++
 examples/SharedMemory/PhysicsDirect.h         |   2 +
 examples/SharedMemory/PhysicsLoopBack.cpp     |   5 +
 examples/SharedMemory/PhysicsLoopBack.h       |   2 +
 .../PhysicsServerCommandProcessor.cpp         |  61 ++++-
 .../PhysicsServerCommandProcessor.h           |   3 +-
 .../SharedMemory/PhysicsServerExample.cpp     | 222 ++++++++++++------
 .../PhysicsServerSharedMemory.cpp             |   4 +-
 .../SharedMemory/PhysicsServerSharedMemory.h  |   2 +-
 examples/SharedMemory/SharedMemoryCommands.h  |   8 +-
 examples/SharedMemory/SharedMemoryPublic.h    |  28 ++-
 examples/pybullet/pybullet.c                  |  51 +++-
 19 files changed, 401 insertions(+), 86 deletions(-)

diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index cdfef5404..b4e7ea3d6 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -130,6 +130,10 @@ static bool renderGrid = true;
 bool renderGui = true;
 static bool enable_experimental_opencl = false;
 
+static bool gEnableDefaultKeyboardShortcuts = true;
+static bool gEnableDefaultMousePicking = true;
+		
+
 int gDebugDrawFlags = 0;
 static bool pauseSimulation=false;
 static bool singleStepSimulation = false;
@@ -200,7 +204,7 @@ void MyKeyboardCallback(int key, int state)
 	//if (handled)
 	//	return;
 
-	//if (s_window && s_window->isModifierKeyPressed(B3G_CONTROL))
+	if (gEnableDefaultKeyboardShortcuts)
 	{
 		if (key=='a' && state)
 		{
@@ -376,6 +380,15 @@ void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
 		renderGrid = enable;
     }
     
+	if (flag == COV_ENABLE_KEYBOARD_SHORTCUTS)
+	{
+		gEnableDefaultKeyboardShortcuts = enable;
+	}
+	if (flag == COV_ENABLE_MOUSE_PICKING)
+	{
+		gEnableDefaultMousePicking = enable;
+	}
+
     if (flag == COV_ENABLE_WIREFRAME)
     {
         visualWireframe = enable;
diff --git a/examples/SharedMemory/PhysicsClient.h b/examples/SharedMemory/PhysicsClient.h
index 2ce391c60..28b823008 100644
--- a/examples/SharedMemory/PhysicsClient.h
+++ b/examples/SharedMemory/PhysicsClient.h
@@ -62,6 +62,8 @@ public:
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData) = 0;
 
+	virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData) = 0;
+
 	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits) = 0;
 
 	virtual void setTimeOut(double timeOutInSeconds) = 0;
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 47be09e4c..de2b3a8f6 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -3208,6 +3208,31 @@ void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3Keyboard
 	}
 }
 
+b3SharedMemoryCommandHandle	b3RequestMouseEventsCommandInit(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+
+	command->m_type = CMD_REQUEST_MOUSE_EVENTS_DATA;
+	command->m_updateFlags = 0;
+
+	return (b3SharedMemoryCommandHandle)command;
+}
+
+void b3GetMouseEventsData(b3PhysicsClientHandle physClient, struct b3MouseEventsData* mouseEventsData)
+{
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+	if (cl)
+	{
+		cl->getCachedMouseEvents(mouseEventsData);
+	}
+}
+
+
+
 
 b3SharedMemoryCommandHandle	b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name)
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index ee82cfbec..267691dd3 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -433,6 +433,10 @@ int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, i
 b3SharedMemoryCommandHandle	b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient);
 void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3KeyboardEventsData* keyboardEventsData);
 
+b3SharedMemoryCommandHandle	b3RequestMouseEventsCommandInit(b3PhysicsClientHandle physClient);
+void b3GetMouseEventsData(b3PhysicsClientHandle physClient, struct b3MouseEventsData* mouseEventsData);
+
+
 b3SharedMemoryCommandHandle	b3StateLoggingCommandInit(b3PhysicsClientHandle physClient);
 int b3StateLoggingStart(b3SharedMemoryCommandHandle commandHandle, int loggingType, const char* fileName);
 int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 66ef8b435..0877b1d0a 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -46,6 +46,8 @@ struct PhysicsClientSharedMemoryInternalData {
 	btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
 	btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
 	btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
+	btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
+	
 	btAlignedObjectArray<b3RayHitInfo>	m_raycastHits;
 
     btAlignedObjectArray<int> m_bodyIdsRequestInfo;
@@ -876,6 +878,21 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				break;
 			}
 
+			case CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED:
+			{
+				B3_PROFILE("CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED");
+				if (m_data->m_verboseOutput)
+				{
+					b3Printf("Request mouse events completed");
+				}
+				m_data->m_cachedMouseEvents.resize(serverCmd.m_sendMouseEvents.m_numMouseEvents);
+				for (int i=0;i<serverCmd.m_sendMouseEvents.m_numMouseEvents;i++)
+				{
+					m_data->m_cachedMouseEvents[i] = serverCmd.m_sendMouseEvents.m_mouseEvents[i];
+				}
+				break;
+			}
+
 			case CMD_REQUEST_AABB_OVERLAP_COMPLETED:
 			{
 				B3_PROFILE("CMD_REQUEST_AABB_OVERLAP_COMPLETED");
@@ -1393,6 +1410,14 @@ void PhysicsClientSharedMemory::getCachedKeyboardEvents(struct b3KeyboardEventsD
 		&m_data->m_cachedKeyboardEvents[0] : 0;
 }
 
+void PhysicsClientSharedMemory::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
+{
+	mouseEventsData->m_numMouseEvents = m_data->m_cachedMouseEvents.size();
+	mouseEventsData->m_mouseEvents = mouseEventsData->m_numMouseEvents?
+		&m_data->m_cachedMouseEvents[0] : 0;
+}
+
+
 void PhysicsClientSharedMemory::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
 {
 	raycastHits->m_numRayHits = m_data->m_raycastHits.size();
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h
index f44e438e8..31c717c02 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.h
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.h
@@ -72,6 +72,8 @@ public:
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
 
+	virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
+
 	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
 
 	virtual void setTimeOut(double timeOutInSeconds);
diff --git a/examples/SharedMemory/PhysicsCommandProcessorInterface.h b/examples/SharedMemory/PhysicsCommandProcessorInterface.h
index 609d04cd3..1614cc33a 100644
--- a/examples/SharedMemory/PhysicsCommandProcessorInterface.h
+++ b/examples/SharedMemory/PhysicsCommandProcessorInterface.h
@@ -40,7 +40,7 @@ public:
 	virtual ~CommandProcessorInterface(){}
 
 	virtual void syncPhysicsToGraphics()=0;
-	virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents)=0;
+	virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)=0;
 	virtual void enableRealTimeSimulation(bool enableRealTimeSim)=0;
 	virtual bool isRealTimeSimulationEnabled() const=0;
 
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index cafcd5449..afbf92f0a 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -54,6 +54,7 @@ struct PhysicsDirectInternalData
     btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
 
 	btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
+	btAlignedObjectArray<b3MouseEvent> m_cachedMouseEvents;
 
 	btAlignedObjectArray<b3RayHitInfo>	m_raycastHits;
 
@@ -699,6 +700,21 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 		break;
 	}
 
+	case CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED:
+	{
+		B3_PROFILE("CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED");
+		if (m_data->m_verboseOutput)
+		{
+			b3Printf("Request mouse events completed");
+		}
+		m_data->m_cachedMouseEvents.resize(serverCmd.m_sendMouseEvents.m_numMouseEvents);
+		for (int i=0;i<serverCmd.m_sendMouseEvents.m_numMouseEvents;i++)
+		{
+			m_data->m_cachedMouseEvents[i] = serverCmd.m_sendMouseEvents.m_mouseEvents[i];
+		}
+		break;
+	}
+
 	case CMD_REQUEST_INTERNAL_DATA_COMPLETED:
 	{
 		if (serverCmd.m_numDataStreamBytes)
@@ -1159,6 +1175,14 @@ void PhysicsDirect::getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboar
 		&m_data->m_cachedKeyboardEvents[0] : 0;
 }
 
+void PhysicsDirect::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
+{
+	mouseEventsData->m_numMouseEvents = m_data->m_cachedMouseEvents.size();
+	mouseEventsData->m_mouseEvents = mouseEventsData->m_numMouseEvents?
+		&m_data->m_cachedMouseEvents[0] : 0;
+}
+
+
 void PhysicsDirect::getCachedRaycastHits(struct b3RaycastInformation* raycastHits)
 {
 	raycastHits->m_numRayHits = m_data->m_raycastHits.size();
diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h
index 64ea073eb..282a61732 100644
--- a/examples/SharedMemory/PhysicsDirect.h
+++ b/examples/SharedMemory/PhysicsDirect.h
@@ -95,6 +95,8 @@ public:
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
 
+	virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
+
 	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
 
 	//the following APIs are for internal use for visualization:
diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp
index d8eac2542..3067f2ace 100644
--- a/examples/SharedMemory/PhysicsLoopBack.cpp
+++ b/examples/SharedMemory/PhysicsLoopBack.cpp
@@ -190,6 +190,11 @@ void PhysicsLoopBack::getCachedKeyboardEvents(struct b3KeyboardEventsData* keybo
 	return m_data->m_physicsClient->getCachedKeyboardEvents(keyboardEventsData);
 }
 
+void PhysicsLoopBack::getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData)
+{
+	return m_data->m_physicsClient->getCachedMouseEvents(mouseEventsData);
+}
+
 void PhysicsLoopBack::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects)
 {
 	return m_data->m_physicsClient->getCachedOverlappingObjects(overlappingObjects);
diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h
index cd05027f1..f83cd7234 100644
--- a/examples/SharedMemory/PhysicsLoopBack.h
+++ b/examples/SharedMemory/PhysicsLoopBack.h
@@ -76,6 +76,8 @@ public:
 
 	virtual void getCachedKeyboardEvents(struct b3KeyboardEventsData* keyboardEventsData);
 
+	virtual void getCachedMouseEvents(struct b3MouseEventsData* mouseEventsData);
+
 	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);
 
 	virtual void setTimeOut(double timeOutInSeconds);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 776e70016..f3d0f40b9 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1153,7 +1153,8 @@ struct PhysicsServerCommandProcessorInternalData
 
 
 	btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
-	
+	btAlignedObjectArray<b3MouseEvent> m_mouseEvents;
+
 	CommandLogger* m_commandLogger;
 	CommandLogPlayback* m_logPlayback;
 
@@ -2774,6 +2775,27 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					break;
 				};
 
+				case CMD_REQUEST_MOUSE_EVENTS_DATA:
+				{
+
+					serverStatusOut.m_sendMouseEvents.m_numMouseEvents = m_data->m_mouseEvents.size();
+					if (serverStatusOut.m_sendMouseEvents.m_numMouseEvents>MAX_MOUSE_EVENTS)
+					{
+						serverStatusOut.m_sendMouseEvents.m_numMouseEvents = MAX_MOUSE_EVENTS;
+					}
+					for (int i=0;i<serverStatusOut.m_sendMouseEvents.m_numMouseEvents;i++)
+					{
+						serverStatusOut.m_sendMouseEvents.m_mouseEvents[i] = m_data->m_mouseEvents[i];
+					}
+
+					m_data->m_mouseEvents.resize(0);
+					serverStatusOut.m_type = CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED;
+					hasStatus = true;
+					break;
+				};
+
+				
+
 				case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
 				{
 					//BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
@@ -7032,7 +7054,7 @@ bool PhysicsServerCommandProcessor::isRealTimeSimulationEnabled() const
 	return 	m_data->m_allowRealTimeSimulation;
 }
 
-void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents,const struct b3KeyboardEvent* keyEvents, int numKeyEvents)
+void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
 {
 	m_data->m_vrControllerEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
 	for (int i=0;i<m_data->m_stateLoggers.size();i++)
@@ -7044,6 +7066,41 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,	const
 		}
 	}
 
+	for (int ii=0;ii<numMouseEvents;ii++)
+	{
+		const b3MouseEvent& event = mouseEvents[ii];
+		bool found = false;
+		//search a matching one first, otherwise add new event
+		for (int e=0;e<m_data->m_mouseEvents.size();e++)
+		{
+			if (event.m_eventType == m_data->m_mouseEvents[e].m_eventType)
+			{
+				if (event.m_eventType == MOUSE_MOVE_EVENT)
+				{
+					m_data->m_mouseEvents[e].m_mousePosX = event.m_mousePosX;
+					m_data->m_mouseEvents[e].m_mousePosY = event.m_mousePosY;
+					found = true;
+				} else
+				if ((event.m_eventType == MOUSE_BUTTON_EVENT) && event.m_buttonIndex == m_data->m_mouseEvents[e].m_buttonIndex)
+				{
+					m_data->m_mouseEvents[e].m_buttonState |= event.m_buttonState;
+					if (event.m_buttonState & eButtonIsDown)
+					{
+						m_data->m_mouseEvents[e].m_buttonState |= eButtonIsDown;
+					} else
+					{
+						m_data->m_mouseEvents[e].m_buttonState &= ~eButtonIsDown;
+					}
+					found = true;
+				}
+			}
+		}	
+		if (!found)
+		{
+			m_data->m_mouseEvents.push_back(event);
+		}
+	}
+
 	for (int i=0;i<numKeyEvents;i++)
 	{
 		const b3KeyboardEvent& event = keyEvents[i];
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index 2108477f2..83a2129a0 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -94,7 +94,8 @@ public:
 	void logObjectStates(btScalar timeStep);
 	void processCollisionForces(btScalar timeStep);
 
-	virtual void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
+	virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
+
 	virtual void enableRealTimeSimulation(bool enableRealTimeSim);
 	virtual bool isRealTimeSimulationEnabled() const;
 
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 1f9c26384..294381583 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -30,6 +30,9 @@ bool gEnableUpdateDebugDrawLines = true;
 static int gCamVisualizerWidth = 320;
 static int gCamVisualizerHeight = 240;
 
+static bool gEnableDefaultKeyboardShortcuts = true;
+static bool gEnableDefaultMousePicking = true;
+
 
 //extern btVector3 gLastPickPos;
 btVector3 gVRTeleportPosLocal(0,0,0);
@@ -212,7 +215,8 @@ struct	MotionArgs
 
 	btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
 	btAlignedObjectArray<b3KeyboardEvent> m_sendKeyEvents;
-	
+	btAlignedObjectArray<b3MouseEvent> m_allMouseEvents;
+	btAlignedObjectArray<b3MouseEvent> m_sendMouseEvents;
 	PhysicsServerSharedMemory*	m_physicsServerPtr;
 	b3AlignedObjectArray<b3Vector3> m_positions;
 
@@ -389,8 +393,52 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 				b3KeyboardEvent* keyEvents = args->m_sendKeyEvents.size()? &args->m_sendKeyEvents[0] : 0;
 
 				args->m_csGUI->unlock();
+
+				args->m_csGUI->lock();
+				if (gEnableDefaultMousePicking)
 				{
-					args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size());
+					for (int i = 0; i < args->m_mouseCommands.size(); i++)
+					{
+						switch (args->m_mouseCommands[i].m_type)
+						{
+						case MyMouseMove:
+						{
+							args->m_physicsServerPtr->movePickedBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo);
+							break;
+						};
+						case MyMouseButtonDown:
+						{
+							args->m_physicsServerPtr->pickBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo);
+							break;
+						}
+						case MyMouseButtonUp:
+						{
+							args->m_physicsServerPtr->removePickingConstraint();
+							break;
+						}
+
+						default:
+						{
+						}
+						}
+					}
+				}
+
+				
+				args->m_sendMouseEvents.resize(args->m_allMouseEvents.size());
+				for (int i=0;i<args->m_allMouseEvents.size();i++)
+				{
+					args->m_sendMouseEvents[i] = args->m_allMouseEvents[i];
+				}
+				b3MouseEvent* mouseEvents = args->m_sendMouseEvents.size()? &args->m_sendMouseEvents[0] : 0;
+
+				args->m_allMouseEvents.clear();
+				args->m_mouseCommands.clear();
+				args->m_csGUI->unlock();
+
+
+				{
+					args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size(), mouseEvents, args->m_sendMouseEvents.size());
 				}
 				{
 					if (gEnableUpdateDebugDrawLines)
@@ -405,35 +453,7 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 				
 			}
 
-			args->m_csGUI->lock();
-			for (int i = 0; i < args->m_mouseCommands.size(); i++)
-			{
-				switch (args->m_mouseCommands[i].m_type)
-				{
-				case MyMouseMove:
-				{
-					args->m_physicsServerPtr->movePickedBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo);
-					break;
-				};
-				case MyMouseButtonDown:
-				{
-					args->m_physicsServerPtr->pickBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo);
-					break;
-				}
-				case MyMouseButtonUp:
-				{
-					args->m_physicsServerPtr->removePickingConstraint();
-					break;
-				}
-
-				default:
-				{
-				}
-				
-				}
-			}
-			args->m_mouseCommands.clear();
-			args->m_csGUI->unlock();
+			
 
 			{
 				args->m_physicsServerPtr->processClientCommands();
@@ -1282,6 +1302,16 @@ public:
 			return false;
 		}
 
+		b3MouseEvent event;
+		event.m_buttonState = 0;
+		event.m_buttonIndex = -1;
+		event.m_mousePosX = x;
+		event.m_mousePosY = y;
+		event.m_eventType = MOUSE_MOVE_EVENT;
+		m_args[0].m_csGUI->lock();
+		m_args[0].m_allMouseEvents.push_back(event);
+		m_args[0].m_csGUI->unlock();
+
 		btVector3 rayTo = getRayTo(int(x), int(y));
 		btVector3 rayFrom;
 		renderer->getActiveCamera()->getCameraPosition(rayFrom);
@@ -1311,6 +1341,22 @@ public:
 
 		CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
 
+		b3MouseEvent event;
+		event.m_buttonIndex = button;
+		event.m_mousePosX = x;
+		event.m_mousePosY = y;
+		event.m_eventType = MOUSE_BUTTON_EVENT;
+		if (state)
+		{
+			event.m_buttonState = eButtonIsDown + eButtonTriggered;
+		} else
+		{
+			event.m_buttonState = eButtonReleased;
+		}
+		
+		m_args[0].m_csGUI->lock();
+		m_args[0].m_allMouseEvents.push_back(event);
+		m_args[0].m_csGUI->unlock();
 
 		if (state==1)
 		{
@@ -1415,50 +1461,52 @@ public:
 
 		btVector3 VRTeleportPos =this->m_physicsServer.getVRTeleportPosition();
 
-		if (key=='w' && state)
+		if (gEnableDefaultKeyboardShortcuts)
 		{
-			VRTeleportPos[0]+=shift;
-			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
-			saveCurrentSettingsVR(VRTeleportPos);
+			if (key=='w' && state)
+			{
+				VRTeleportPos[0]+=shift;
+				m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+				saveCurrentSettingsVR(VRTeleportPos);
+			}
+			if (key=='s' && state)
+			{
+				VRTeleportPos[0]-=shift;
+				m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+				saveCurrentSettingsVR(VRTeleportPos);
+			}
+			if (key=='a' && state)
+			{
+				VRTeleportPos[1]-=shift;
+				m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+				saveCurrentSettingsVR(VRTeleportPos);
+			}
+			if (key=='d' && state)
+			{
+				VRTeleportPos[1]+=shift;
+				m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+				saveCurrentSettingsVR(VRTeleportPos);
+			}
+			if (key=='q' && state)
+			{
+				VRTeleportPos[2]+=shift;
+				m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+				saveCurrentSettingsVR(VRTeleportPos);
+			}
+			if (key=='e' && state)
+			{
+				VRTeleportPos[2]-=shift;
+				m_physicsServer.setVRTeleportPosition(VRTeleportPos);
+				saveCurrentSettingsVR(VRTeleportPos);
+			}
+			if (key=='z' && state)
+			{
+				gVRTeleportRotZ+=shift;
+				btQuaternion VRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
+				m_physicsServer.setVRTeleportOrientation(VRTeleportOrn);
+				saveCurrentSettingsVR(VRTeleportPos);
+			}
 		}
-		if (key=='s' && state)
-		{
-			VRTeleportPos[0]-=shift;
-			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
-			saveCurrentSettingsVR(VRTeleportPos);
-		}
-		if (key=='a' && state)
-		{
-			VRTeleportPos[1]-=shift;
-			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
-			saveCurrentSettingsVR(VRTeleportPos);
-		}
-		if (key=='d' && state)
-		{
-			VRTeleportPos[1]+=shift;
-			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
-			saveCurrentSettingsVR(VRTeleportPos);
-		}
-		if (key=='q' && state)
-		{
-			VRTeleportPos[2]+=shift;
-			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
-			saveCurrentSettingsVR(VRTeleportPos);
-		}
-		if (key=='e' && state)
-		{
-			VRTeleportPos[2]-=shift;
-			m_physicsServer.setVRTeleportPosition(VRTeleportPos);
-			saveCurrentSettingsVR(VRTeleportPos);
-		}
-		if (key=='z' && state)
-		{
-			gVRTeleportRotZ+=shift;
-			btQuaternion VRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
-			m_physicsServer.setVRTeleportOrientation(VRTeleportOrn);
-			saveCurrentSettingsVR(VRTeleportPos);
-		}
-		
 		
 		
 		return false;
@@ -1514,8 +1562,22 @@ public:
 			m_physicsServer.enableRealTimeSimulation(true);
 		}
 
-		
-
+		if (args.CheckCmdLineFlag("disableDefaultKeyboardShortcuts"))
+		{
+			gEnableDefaultKeyboardShortcuts = false;
+		}
+		if (args.CheckCmdLineFlag("enableDefaultKeyboardShortcuts"))
+		{
+			gEnableDefaultKeyboardShortcuts = true;
+		}
+		if (args.CheckCmdLineFlag("disableDefaultMousePicking"))
+		{
+			gEnableDefaultMousePicking = false;
+		}
+		if (args.CheckCmdLineFlag("enableDefaultMousePicking"))
+		{
+			gEnableDefaultMousePicking = true;
+		}
 
 	}
 
@@ -1797,6 +1859,16 @@ void	PhysicsServerExample::updateGraphics()
 			gEnableRendering = (enable!=0);
 		}
 
+		if (flag == COV_ENABLE_KEYBOARD_SHORTCUTS)
+		{
+			gEnableDefaultKeyboardShortcuts = (enable!=0);
+		}
+
+		if (flag == COV_ENABLE_MOUSE_PICKING)
+		{
+			gEnableDefaultMousePicking = (enable!=0);
+		}
+
 		m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag,m_multiThreadedHelper->m_visualizerEnable);
 		m_multiThreadedHelper->mainThreadRelease();
 		break;
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index 8eea09002..22fb5b577 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -226,9 +226,9 @@ void PhysicsServerSharedMemory::releaseSharedMemory()
 }
 
 
-void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents)
+void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec, const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
 {
-	m_data->m_commandProcessor->stepSimulationRealTime(dtInSec,vrEvents, numVREvents, keyEvents,numKeyEvents);
+	m_data->m_commandProcessor->stepSimulationRealTime(dtInSec,vrEvents, numVREvents, keyEvents,numKeyEvents,mouseEvents, numMouseEvents);
 }
 
 void PhysicsServerSharedMemory::enableRealTimeSimulation(bool enableRealTimeSim)
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h
index b53df5537..513ddb939 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.h
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.h
@@ -27,7 +27,7 @@ public:
 
 	virtual void processClientCommands();
 
-	virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
+	virtual void stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
 
 	virtual void enableRealTimeSimulation(bool enableRealTimeSim);
 	virtual bool isRealTimeSimulationEnabled() const;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 27ae33970..cfe3db329 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -721,6 +721,11 @@ struct SendKeyboardEvents
 	b3KeyboardEvent m_keyboardEvents[MAX_KEYBOARD_EVENTS];
 };
 
+struct SendMouseEvents
+{
+	int m_numMouseEvents;
+	b3MouseEvent m_mouseEvents[MAX_MOUSE_EVENTS];
+};
 
 enum eVRCameraEnums
 {
@@ -931,7 +936,6 @@ struct SharedMemoryCommand
 		struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
 		struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
 		struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
-
     };
 };
 
@@ -1001,6 +1005,8 @@ struct SharedMemoryStatus
 		struct b3CreateVisualShapeResultArgs m_createVisualShapeResultArgs;
 		struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
 		struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
+		struct SendMouseEvents m_sendMouseEvents;
+
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 9d1f92507..b5526bcd5 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -66,6 +66,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_CREATE_VISUAL_SHAPE,
 	CMD_CREATE_MULTI_BODY,
 	CMD_REQUEST_COLLISION_INFO,
+	CMD_REQUEST_MOUSE_EVENTS_DATA,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -159,6 +160,7 @@ enum EnumSharedMemoryServerStatus
 		CMD_CREATE_MULTI_BODY_COMPLETED,
 		CMD_REQUEST_COLLISION_INFO_COMPLETED,
 		CMD_REQUEST_COLLISION_INFO_FAILED,
+		CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };
@@ -325,7 +327,7 @@ enum b3VREventType
 #define MAX_RAY_INTERSECTION_BATCH_SIZE 256
 #define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
 #define MAX_KEYBOARD_EVENTS 256
-
+#define MAX_MOUSE_EVENTS 256
 
 
 enum b3VRButtonInfo
@@ -384,6 +386,28 @@ struct b3KeyboardEventsData
 	struct b3KeyboardEvent* m_keyboardEvents;
 };
 
+
+enum eMouseEventTypeEnums
+{
+	MOUSE_MOVE_EVENT=1,
+	MOUSE_BUTTON_EVENT=2,
+};
+
+struct b3MouseEvent
+{
+	int m_eventType;
+	float m_mousePosX;
+	float m_mousePosY;
+	int m_buttonIndex;
+	int m_buttonState;
+};
+
+struct b3MouseEventsData
+{
+	int m_numMouseEvents;
+	struct b3MouseEvent* m_mouseEvents;
+};
+
 struct b3ContactPointData
 {
 //todo: expose some contact flags, such as telling which fields below are valid
@@ -531,6 +555,8 @@ enum b3ConfigureDebugVisualizerEnum
 	COV_ENABLE_VR_RENDER_CONTROLLERS,
 	COV_ENABLE_RENDERING,
 	COV_ENABLE_SYNC_RENDERING_INTERNAL,
+	COV_ENABLE_KEYBOARD_SHORTCUTS,
+	COV_ENABLE_MOUSE_PICKING,
 };
 
 enum b3AddUserDebugItemEnum
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index bbcc8c3cb..e75e6c1b7 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -3996,6 +3996,50 @@ static PyObject* pybullet_getKeyboardEvents(PyObject* self, PyObject* args, PyOb
 	return keyEventsObj;
 }
 
+static PyObject* pybullet_getMouseEvents(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	b3SharedMemoryCommandHandle commandHandle;
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = 0;
+	struct b3MouseEventsData mouseEventsData;
+	PyObject* mouseEventsObj = 0;
+	int i = 0;
+
+	static char* kwlist[] = {"physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
+	{
+		return NULL;
+	}
+
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	commandHandle = b3RequestMouseEventsCommandInit(sm);
+	b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+	b3GetMouseEventsData(sm, &mouseEventsData);
+
+	mouseEventsObj = PyTuple_New(mouseEventsData.m_numMouseEvents);
+
+	for (i = 0; i < mouseEventsData.m_numMouseEvents; i++)
+	{
+		PyObject* mouseEventObj = PyTuple_New(5);
+		PyTuple_SetItem(mouseEventObj,0, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_eventType));
+		PyTuple_SetItem(mouseEventObj,1, PyFloat_FromDouble(mouseEventsData.m_mouseEvents[i].m_mousePosX));
+		PyTuple_SetItem(mouseEventObj,2, PyFloat_FromDouble(mouseEventsData.m_mouseEvents[i].m_mousePosY));
+		PyTuple_SetItem(mouseEventObj,3, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_buttonIndex));
+		PyTuple_SetItem(mouseEventObj,4, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_buttonState));
+		PyTuple_SetItem(mouseEventsObj,i,mouseEventObj);
+		
+	}
+	return mouseEventsObj;
+}
+
+
+
 static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	b3SharedMemoryCommandHandle commandHandle;
@@ -6756,7 +6800,10 @@ static PyMethodDef SpamMethods[] = {
 	 "Set properties of the VR Camera such as its root transform "
 	 "for teleporting or to track objects (camera inside a vehicle for example)."},
 	{"getKeyboardEvents", (PyCFunction)pybullet_getKeyboardEvents, METH_VARARGS | METH_KEYWORDS,
-	 "Get Keyboard events, keycode and state (KEY_IS_DOWN, KEY_WAS_TRIGGER, KEY_WAS_RELEASED)"},
+	 "Get keyboard events, keycode and state (KEY_IS_DOWN, KEY_WAS_TRIGGERED, KEY_WAS_RELEASED)"},
+
+	 {"getMouseEvents", (PyCFunction)pybullet_getMouseEvents, METH_VARARGS | METH_KEYWORDS,
+	 "Get mouse events, event type and button state (KEY_IS_DOWN, KEY_WAS_TRIGGERED, KEY_WAS_RELEASED)"},
 
 	{"startStateLogging", (PyCFunction)pybullet_startStateLogging, METH_VARARGS | METH_KEYWORDS,
 	 "Start logging of state, such as robot base position, orientation, joint positions etc. "
@@ -6923,6 +6970,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING);
 	PyModule_AddIntConstant(m, "COV_ENABLE_RENDERING", COV_ENABLE_RENDERING);
 	PyModule_AddIntConstant(m, "COV_ENABLE_VR_RENDER_CONTROLLERS", COV_ENABLE_VR_RENDER_CONTROLLERS);
+	PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS);
+	PyModule_AddIntConstant(m, "COV_ENABLE_MOUSE_PICKING", COV_ENABLE_MOUSE_PICKING);
 
 
 	PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);

From e5db5192f09f45453703e4afcb9bf5d4abeeb526 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 17 Jun 2017 13:34:03 -0700
Subject: [PATCH 123/175] bump up pybullet version again

---
 setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.py b/setup.py
index 27865edf2..d146cecc6 100644
--- a/setup.py
+++ b/setup.py
@@ -419,7 +419,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.1.7',
+	version='1.1.8',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From 5a8f12284a961f86134819e0a2a0f7310992b0e5 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 17 Jun 2017 17:33:38 -0700
Subject: [PATCH 124/175] update pybullet_quickstartguide.pdf from
 https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA

---
 docs/pybullet_quickstartguide.pdf | Bin 621001 -> 983239 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/docs/pybullet_quickstartguide.pdf b/docs/pybullet_quickstartguide.pdf
index d1305dd4528380082b3fa5e2e514f09ef1e62020..ebedaed8005ec8c77c798bcd0cd6b496d38e9842 100644
GIT binary patch
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From f3c11b6f311837d741f5173081168129b43e9393 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 19 Jun 2017 10:14:26 -0700
Subject: [PATCH 125/175] add capsule, cylinder, plane, mesh support for
 pybullet.createCollisionShape preparation to add links to
 pybullet.createMultiBody

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 192 +++++++++++-
 examples/SharedMemory/PhysicsClientC_API.h    |  19 +-
 .../PhysicsServerCommandProcessor.cpp         | 185 +++++++++++-
 examples/SharedMemory/SharedMemoryCommands.h  |  18 +-
 examples/SharedMemory/SharedMemoryPublic.h    |   6 +
 examples/pybullet/pybullet.c                  | 284 ++++++++++++++++--
 6 files changed, 648 insertions(+), 56 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index de2b3a8f6..dde3d2ed8 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -721,7 +721,8 @@ b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHan
 	}
 	return 0;
 }
-void b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius)
+
+int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
@@ -735,11 +736,13 @@ void b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,d
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_sphereRadius = radius;
 			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
+			return shapeIndex;
 		}
 	}
+	return -1;
 }
 
-void b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3])
+int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3])
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
@@ -755,6 +758,112 @@ void b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,doub
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[1] = halfExtents[1];
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[2] = halfExtents[2];
 			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
+			return shapeIndex;
+		}
+	}
+	return -1;
+}
+
+int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,double radius, double height)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
+	if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
+	{
+		int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
+		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
+		{
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CAPSULE;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
+			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
+			return shapeIndex;
+		}
+	}
+	return -1;
+}
+
+int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,double radius, double height)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
+	if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
+	{
+		int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
+		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
+		{
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CYLINDER;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
+			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
+			return shapeIndex;
+		}
+	}
+	return -1;
+}
+
+
+int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[3], double planeConstant)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
+	if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
+	{
+		int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
+		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
+		{
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_PLANE;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[0] = planeNormal[0];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[1] = planeNormal[1];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[2] = planeNormal[2];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeConstant = planeConstant;
+			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
+			return shapeIndex;
+		}
+	}
+	return -1;
+}
+
+int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[3])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
+	if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
+	{
+		int shapeIndex = command->m_createCollisionShapeArgs.m_numCollisionShapes;
+		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES && strlen(fileName)<VISUAL_SHAPE_MAX_PATH_LEN)
+		{
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
+			strcpy(command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshFileName,fileName);
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshFileType = 0;
+			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
+			return shapeIndex;
+		}
+	}
+	return -1;
+}
+
+void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
+	if (command->m_type==CMD_CREATE_COLLISION_SHAPE)
+	{
+		if (shapeIndex<command->m_createCollisionShapeArgs.m_numCollisionShapes)
+		{
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags |= flags;
 		}
 	}
 }
@@ -857,14 +966,14 @@ int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass
 			int baseLinkIndex = numLinks;
 		    command->m_updateFlags |=MULTI_BODY_HAS_BASE;
 			command->m_createMultiBodyArgs.m_baseLinkIndex = baseLinkIndex;
-			command->m_createMultiBodyArgs.m_baseWorldPosition[0]=basePosition[0];
-			command->m_createMultiBodyArgs.m_baseWorldPosition[1]=basePosition[1];
-			command->m_createMultiBodyArgs.m_baseWorldPosition[2]=basePosition[2];
+			command->m_createMultiBodyArgs.m_linkPositions[baseLinkIndex*3+0]=basePosition[0];
+			command->m_createMultiBodyArgs.m_linkPositions[baseLinkIndex*3+1]=basePosition[1];
+			command->m_createMultiBodyArgs.m_linkPositions[baseLinkIndex*3+2]=basePosition[2];
 
-			command->m_createMultiBodyArgs.m_baseWorldOrientation[0]=baseOrientation[0];
-			command->m_createMultiBodyArgs.m_baseWorldOrientation[1]=baseOrientation[1];
-			command->m_createMultiBodyArgs.m_baseWorldOrientation[2]=baseOrientation[2];
-			command->m_createMultiBodyArgs.m_baseWorldOrientation[3]=baseOrientation[3];
+			command->m_createMultiBodyArgs.m_linkOrientations[baseLinkIndex*4+0]=baseOrientation[0];
+			command->m_createMultiBodyArgs.m_linkOrientations[baseLinkIndex*4+1]=baseOrientation[1];
+			command->m_createMultiBodyArgs.m_linkOrientations[baseLinkIndex*4+2]=baseOrientation[2];
+			command->m_createMultiBodyArgs.m_linkOrientations[baseLinkIndex*4+3]=baseOrientation[3];
 
 			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+0] = mass;
 			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+1] = mass;
@@ -883,7 +992,7 @@ int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass
 			command->m_createMultiBodyArgs.m_linkCollisionShapeUniqueIds[baseLinkIndex]= collisionShapeUnique;
 			command->m_createMultiBodyArgs.m_linkVisualShapeUniqueIds[baseLinkIndex] = visualShapeUniqueId;
 
-			command->m_createMultiBodyArgs.m_linkMasses[command->m_createMultiBodyArgs.m_numLinks] = mass;
+			command->m_createMultiBodyArgs.m_linkMasses[baseLinkIndex] = mass;
 			command->m_createMultiBodyArgs.m_numLinks++;
 		}
 		return numLinks;
@@ -891,6 +1000,69 @@ int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass
 	return -2;
 }
 
+int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex, 
+									double linkVisualShapeIndex, 
+									double linkPosition[3], 
+									double linkOrientation[4],
+									int linkParentIndex,
+									int linkJointType,
+									double linkJointAxis[3])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_MULTI_BODY);
+	if (command->m_type==CMD_CREATE_MULTI_BODY)
+	{
+		int numLinks = command->m_createMultiBodyArgs.m_numLinks;
+
+		if (numLinks<MAX_CREATE_MULTI_BODY_LINKS)
+		{
+			int linkIndex = numLinks;
+			command->m_updateFlags |=MULTI_BODY_HAS_BASE;
+			command->m_createMultiBodyArgs.m_linkPositions[linkIndex*3+0]=linkPosition[0];
+			command->m_createMultiBodyArgs.m_linkPositions[linkIndex*3+1]=linkPosition[1];
+			command->m_createMultiBodyArgs.m_linkPositions[linkIndex*3+2]=linkPosition[2];
+
+			command->m_createMultiBodyArgs.m_linkOrientations[linkIndex*4+0]=linkOrientation[0];
+			command->m_createMultiBodyArgs.m_linkOrientations[linkIndex*4+1]=linkOrientation[1];
+			command->m_createMultiBodyArgs.m_linkOrientations[linkIndex*4+2]=linkOrientation[2];
+			command->m_createMultiBodyArgs.m_linkOrientations[linkIndex*4+3]=linkOrientation[3];
+
+			command->m_createMultiBodyArgs.m_linkInertias[linkIndex*3+0] = linkMass;
+			command->m_createMultiBodyArgs.m_linkInertias[linkIndex*3+1] = linkMass;
+			command->m_createMultiBodyArgs.m_linkInertias[linkIndex*3+2] = linkMass;
+
+
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+0] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+1] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+2] = 0;
+
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+0] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+1] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+2] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+3] = 1;
+
+			command->m_createMultiBodyArgs.m_linkCollisionShapeUniqueIds[linkIndex]= linkCollisionShapeIndex;
+			command->m_createMultiBodyArgs.m_linkVisualShapeUniqueIds[linkIndex] = linkVisualShapeIndex;
+			
+			command->m_createMultiBodyArgs.m_linkParentIndices[linkIndex] = linkParentIndex;
+			command->m_createMultiBodyArgs.m_linkJointTypes[linkIndex] = linkJointType;
+			command->m_createMultiBodyArgs.m_linkJointAxis[0] = linkJointAxis[0];
+			command->m_createMultiBodyArgs.m_linkJointAxis[1] = linkJointAxis[1];
+			command->m_createMultiBodyArgs.m_linkJointAxis[2] = linkJointAxis[2];
+
+			command->m_createMultiBodyArgs.m_linkMasses[linkIndex] = linkMass;
+			command->m_createMultiBodyArgs.m_numLinks++;
+			return numLinks;
+		}
+	}
+
+	return -1;
+}
+
+
+
+
 //useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
 void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle)
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 267691dd3..24a3ddd77 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -326,9 +326,13 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl
 
 
 b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient);
-void b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
-void b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3]);
-
+int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
+int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[3]);
+int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
+int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,double radius, double height);
+int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[3], double planeConstant);
+int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,const char* fileName, double meshScale[3]);
+void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags);
 
 void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[3], double childOrientation[4]);
 
@@ -340,6 +344,15 @@ int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
 b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
 int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4]);
 
+int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex, 
+									double linkVisualShapeIndex, 
+									double linkPosition[3], 
+									double linkOrientation[4],
+									int linkParentIndex,
+									int linkJointType,
+									double linkJointAxis[3]);
+
+
 //useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
 void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle);
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index f3d0f40b9..ee0412a9b 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -11,8 +11,9 @@
 #include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
 #include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
 #include "BulletDynamics/Featherstone/btMultiBodyGearConstraint.h"
-
-
+#include "../Importers/ImportURDFDemo/UrdfParser.h"
+#include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
 
 #include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
@@ -1620,6 +1621,14 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
     ///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
     virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const
 	{
+		for (int i=0;i<m_createBodyArgs.m_numLinks;i++)
+		{
+			if (m_createBodyArgs.m_linkParents[i] == urdfLinkIndex)
+			{
+				childLinkIndices.push_back(i);
+			}
+		}
+		
 	}
     
     virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
@@ -1637,15 +1646,17 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
     
     virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const
 	{
+		int baseLinkIndex = m_createBodyArgs.m_baseLinkIndex;
+
 		rootTransformInWorld.setOrigin(btVector3(
-			m_createBodyArgs.m_baseWorldPosition[0],
-			m_createBodyArgs.m_baseWorldPosition[1],
-			m_createBodyArgs.m_baseWorldPosition[2]));
+			m_createBodyArgs.m_linkPositions[baseLinkIndex*3+0],
+			m_createBodyArgs.m_linkPositions[baseLinkIndex*3+1],
+			m_createBodyArgs.m_linkPositions[baseLinkIndex*3+2]));
 		rootTransformInWorld.setRotation(btQuaternion(
-			m_createBodyArgs.m_baseWorldOrientation[0],
-			m_createBodyArgs.m_baseWorldOrientation[1],
-			m_createBodyArgs.m_baseWorldOrientation[2],
-			m_createBodyArgs.m_baseWorldOrientation[3]));
+			m_createBodyArgs.m_linkOrientations[baseLinkIndex*4+0],
+			m_createBodyArgs.m_linkOrientations[baseLinkIndex*4+1],
+			m_createBodyArgs.m_linkOrientations[baseLinkIndex*4+2],
+			m_createBodyArgs.m_linkOrientations[baseLinkIndex*4+3]));
 		return true;
 	}
 	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld)
@@ -1661,6 +1672,19 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
     
     virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const  
 	{
+		
+		#if 0
+  			if (m_data->m_customVisualShapesConverter)
+			{
+				const UrdfModel& model = m_data->m_urdfParser.getModel();
+				UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
+				if (linkPtr)
+				{
+					m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj, bodyUniqueId);
+				}
+			}
+		}
+	#endif
 	}
     virtual void setBodyUniqueId(int bodyId) 
 	{
@@ -3493,6 +3517,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_FAILED;
 					
 					btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
+
 					btCollisionShape* shape = 0;
 
 					btCompoundShape* compound = 0;
@@ -3547,6 +3572,121 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								}
 								break;
 							}
+							case GEOM_CAPSULE:
+							{
+								shape = worldImporter->createCapsuleShapeZ(clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleRadius,
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleHeight);
+								if (compound)
+								{
+									compound->addChildShape(childTransform,shape);
+								}
+								break;
+							}
+							case GEOM_CYLINDER:
+							{
+								shape = worldImporter->createCylinderShapeZ(clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleRadius,
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleHeight);
+								if (compound)
+								{
+									compound->addChildShape(childTransform,shape);
+								}
+								break;
+							}
+							case GEOM_PLANE:
+							{
+								btVector3 planeNormal(clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[0],
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[1],
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[2]);
+
+								shape = worldImporter->createPlaneShape(planeNormal,0);
+								if (compound)
+								{
+									compound->addChildShape(childTransform,shape);
+								}
+								break;
+							}
+							case GEOM_MESH:
+							{
+								btScalar defaultCollisionMargin = 0.001;
+
+								btVector3 meshScale(clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[0],
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[1],
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[2]);
+
+								const std::string& urdf_path="";
+
+								std::string fileName = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshFileName;
+								
+								char relativeFileName[1024];
+								char pathPrefix[1024];
+								pathPrefix[0] = 0;
+								if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
+								{
+
+									b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+								}
+								
+								const std::string& error_message_prefix="";
+								std::string out_found_filename; 
+								int out_type;
+
+								bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName,error_message_prefix,&out_found_filename, &out_type); 
+								if (foundFile)
+								{
+									if (out_type==UrdfGeometry::FILE_OBJ)
+									{
+										std::vector<tinyobj::shape_t> shapes;
+										std::string err = tinyobj::LoadObj(shapes,out_found_filename.c_str());
+										//create a convex hull for each shape, and store it in a btCompoundShape
+
+										//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
+										//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
+										B3_PROFILE("createConvexHullFromShapes");
+										if (compound==0)
+										{
+											compound = worldImporter->createCompoundShape();
+										}
+										compound->setMargin(defaultCollisionMargin);
+
+										for (int s = 0; s<(int)shapes.size(); s++)
+										{
+											btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
+											convexHull->setMargin(defaultCollisionMargin);
+											tinyobj::shape_t& shape = shapes[s];
+											int faceCount = shape.mesh.indices.size();
+
+											for (int f = 0; f<faceCount; f += 3)
+											{
+
+												btVector3 pt;
+												pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
+													shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
+													shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
+			
+												convexHull->addPoint(pt*meshScale,false);
+
+												pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
+															shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
+															shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
+												convexHull->addPoint(pt*meshScale, false);
+
+												pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
+															shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
+															shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
+												convexHull->addPoint(pt*meshScale, false);
+											}
+
+											convexHull->recalcLocalAabb();
+											convexHull->optimizeConvexHull();
+											compound->addChildShape(childTransform,convexHull);
+										}
+									}
+								}
+								break;
+							}
+							default:
+							{
+							}
 						}
 					}
 					#if 0
@@ -3593,6 +3733,33 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					{
 						m_data->m_sdfRecentLoadedBodies.clear();
 
+						#if 0
+						struct UrdfModel
+						{
+							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;
+	
+							btArray<UrdfLink*> m_rootLinks;
+							bool m_overrideFixedBase;
+
+							UrdfModel()
+						
+						clientCmd.m_createMultiBodyArgs.
+
+						char m_bodyName[1024];
+						int m_baseLinkIndex;
+
+						double m_baseWorldPosition[3];
+						double m_baseWorldOrientation[4];
+
+						UrdfModel tmpModel;
+						tmpModel.m_bodyName = 
+							#endif
+
 						ProgrammaticUrdfInterface u2b(clientCmd.m_createMultiBodyArgs, m_data);
 						
 						bool useMultiBody = true;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index cfe3db329..260c6cd7d 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -816,10 +816,13 @@ struct b3CreateCollisionShape
 	double m_capsuleFrom[3];
 	double m_capsuleTo[3];
 	double m_planeNormal[3];
+	double m_planeConstant;
 
 	int         m_meshFileType;
-	char		m_meshFileName[1024];
-	double		m_meshScale;
+	char		m_meshFileName[VISUAL_SHAPE_MAX_PATH_LEN];
+	double		m_meshScale[3];
+	int			m_collisionFlags;
+
 };
 
 #define MAX_COMPOUND_COLLISION_SHAPES 16
@@ -847,17 +850,22 @@ struct b3CreateMultiBodyArgs
 	char m_bodyName[1024];
 	int m_baseLinkIndex;
 
-	double m_baseWorldPosition[3];
-	double m_baseWorldOrientation[4];
+	double m_linkPositions[3*MAX_CREATE_MULTI_BODY_LINKS];
+	double m_linkOrientations[4*MAX_CREATE_MULTI_BODY_LINKS];
 
 	int m_numLinks;
+	int m_linkParents[MAX_CREATE_MULTI_BODY_LINKS];
 	double m_linkMasses[MAX_CREATE_MULTI_BODY_LINKS];
 	double m_linkInertias[MAX_CREATE_MULTI_BODY_LINKS*3];
+
 	double m_linkInertialFramePositions[MAX_CREATE_MULTI_BODY_LINKS*3];
 	double m_linkInertialFrameOrientations[MAX_CREATE_MULTI_BODY_LINKS*4];
-	int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
+
 	int m_linkCollisionShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
 	int m_linkVisualShapeUniqueIds[MAX_CREATE_MULTI_BODY_LINKS];
+	int m_linkParentIndices[MAX_CREATE_MULTI_BODY_LINKS];
+	int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
+	double m_linkJointAxis[3*MAX_CREATE_MULTI_BODY_LINKS];
 
 	#if 0
 	std::string m_name;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index b5526bcd5..882db7a24 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -594,6 +594,12 @@ enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
 	GEOM_UNKNOWN, 
 };
 
+enum eUrdfCollisionFlags
+{
+	GEOM_FORCE_CONCAVE_TRIMESH=1,
+};
+
+
 
 
 #endif//SHARED_MEMORY_PUBLIC_H
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index e75e6c1b7..478c92bd7 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -84,6 +84,24 @@ static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index)
 	return v;
 }
 
+static int pybullet_internalGetIntFromSequence(PyObject* seq, int index)
+{
+	int v = 0;
+	PyObject* item;
+
+	if (PyList_Check(seq))
+	{
+		item = PyList_GET_ITEM(seq, index);
+		v = PyLong_AsLong(item);
+	}
+	else
+	{
+		item = PyTuple_GET_ITEM(seq, index);
+		v = PyLong_AsLong(item);
+	}
+	return v;
+}
+
 // internal function to set a float matrix[16]
 // used to initialize camera position with
 // a view and projection matrix in renderImage()
@@ -197,6 +215,45 @@ static int pybullet_internalSetVector4d(PyObject* obVec, double vector[4])
 	return 0;
 }
 
+
+static int pybullet_internalGetVector3FromSequence(PyObject* seq, int index, double vec[3])
+{
+	int v = 0;
+	PyObject* item;
+
+	if (PyList_Check(seq))
+	{
+		item = PyList_GET_ITEM(seq, index);
+		pybullet_internalSetVectord(item,vec);
+	}
+	else
+	{
+		item = PyTuple_GET_ITEM(seq, index);		
+		pybullet_internalSetVectord(item,vec);
+	}
+	return v;
+}
+
+static int pybullet_internalGetVector4FromSequence(PyObject* seq, int index, double vec[4])
+{
+	int v = 0;
+	PyObject* item;
+
+	if (PyList_Check(seq))
+	{
+		item = PyList_GET_ITEM(seq, index);
+		pybullet_internalSetVector4d(item,vec);
+	}
+	else
+	{
+		item = PyTuple_GET_ITEM(seq, index);		
+		pybullet_internalSetVector4d(item,vec);
+	}
+	return v;
+}
+
+
+
 // Step through one timestep of the simulation
 static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObject* keywds)
 {
@@ -4891,12 +4948,21 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	int shapeType=-1;
-	double radius=-1;
+	double radius=0.5;
+	double height = 1;
+	PyObject* meshScaleObj=0;
+	double meshScale[3] = {1,1,1};
+	PyObject* planeNormalObj=0;
+	double planeNormal[3] = {0,0,1};
+
+	char* fileName=0;
+	int flags = 0;
+
 	PyObject* halfExtentsObj=0;
 
-	static char* kwlist[] = {"shapeType","radius","halfExtents", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOi", kwlist, 
-		&shapeType, &radius,&halfExtentsObj, &physicsClientId))
+	static char* kwlist[] = {"shapeType","radius","halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOii", kwlist, 
+		&shapeType, &radius,&halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -4910,16 +4976,41 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
 	{
 		b3SharedMemoryStatusHandle statusHandle;
 		int statusType;
+		int shapeIndex = -1;
+
 		b3SharedMemoryCommandHandle commandHandle = b3CreateCollisionShapeCommandInit(sm);
 		if (shapeType==GEOM_SPHERE && radius>0)
 		{
-			b3CreateCollisionShapeAddSphere(commandHandle,radius);
+			shapeIndex = b3CreateCollisionShapeAddSphere(commandHandle,radius);
 		}
 		if (shapeType==GEOM_BOX && halfExtentsObj)
 		{
 			double halfExtents[3] = {1,1,1};
 			pybullet_internalSetVectord(halfExtentsObj,halfExtents);
-			b3CreateCollisionShapeAddBox(commandHandle,halfExtents);
+			shapeIndex = b3CreateCollisionShapeAddBox(commandHandle,halfExtents);
+		}
+		if (shapeType==GEOM_CAPSULE && radius>0 && height>=0)
+		{
+			shapeIndex = b3CreateCollisionShapeAddCapsule(commandHandle,radius,height);
+		}
+		if (shapeType==GEOM_CYLINDER && radius>0 && height>=0)
+		{
+			shapeIndex = b3CreateCollisionShapeAddCylinder(commandHandle,radius,height);
+		}
+		if (shapeType==GEOM_MESH && fileName)
+		{
+			pybullet_internalSetVectord(meshScaleObj,meshScale);
+			shapeIndex = b3CreateCollisionShapeAddMesh(commandHandle, fileName,meshScale);
+		}
+		if (shapeType==GEOM_PLANE)
+		{
+			double planeConstant=0;
+			pybullet_internalSetVectord(planeNormalObj,planeNormal);
+			shapeIndex = b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant);
+		}
+		if (shapeIndex && flags)
+		{
+			b3CreateCollisionSetFlag(commandHandle,shapeIndex,flags);
 		}
 
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
@@ -4993,14 +5084,28 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 	int useMaximalCoordinates = 0;
 	PyObject* basePosObj=0;
 	PyObject* baseOrnObj=0;
-
+	
+	PyObject* linkMassesObj=0;
+	PyObject* linkCollisionShapeIndicesObj=0;
+	PyObject* linkVisualShapeIndicesObj=0;
+	PyObject* linkPositionsObj=0;
+	PyObject* linkOrientationsObj=0;
+	PyObject* linkParentIndicesObj=0;
+	PyObject* linkJointTypesObj=0;
+	PyObject* linkJointAxisObj=0;
+	
 
 	static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation",
-//		"linkParentIndices", "linkJointTypes","linkMasses","linkCollisionShapeIndices",
-"useMaximalCoordinates","physicsClientId",
+		"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
+		"linkPositions", "linkOrientations","linkParentIndices", "linkJointTypes","linkJointAxis", 
+		"useMaximalCoordinates","physicsClientId",
+
 		NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
-				&basePosObj, &baseOrnObj,&useMaximalCoordinates, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
+				&basePosObj, &baseOrnObj,
+		&linkMassesObj, &linkCollisionShapeIndicesObj, &linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj,
+		&linkParentIndicesObj, &linkJointTypesObj,&linkJointAxisObj,
+		&useMaximalCoordinates, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -5012,27 +5117,148 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 	}
 
 	{
-		b3SharedMemoryStatusHandle statusHandle;
-		int statusType;
-		b3SharedMemoryCommandHandle commandHandle = b3CreateMultiBodyCommandInit(sm);
-		double basePosition[3]={0,0,0};
-		double baseOrientation[4]={0,0,0,1};
-		int baseIndex;
-		pybullet_internalSetVectord(basePosObj,basePosition);
-		pybullet_internalSetVector4d(baseOrnObj,baseOrientation);
-		baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
-		if (useMaximalCoordinates>0)
+
+
+		int numLinkMasses = linkMassesObj?PySequence_Size(linkMassesObj):0;
+		int numLinkCollisionShapes = linkCollisionShapeIndicesObj?PySequence_Size(linkCollisionShapeIndicesObj):0;
+		int numLinkVisualShapes = linkVisualShapeIndicesObj?PySequence_Size(linkVisualShapeIndicesObj):0;
+		int numLinkPositions = linkPositionsObj? PySequence_Size(linkPositionsObj):0;
+		int numLinkOrientations = linkOrientationsObj? PySequence_Size(linkOrientationsObj):0;
+		int numLinkParentIndices = linkParentIndicesObj?PySequence_Size(linkParentIndicesObj):0;
+		int numLinkJointTypes = linkJointTypesObj?PySequence_Size(linkJointTypesObj):0;
+		int numLinkJoinAxis = linkJointAxisObj? PySequence_Size(linkJointAxisObj):0;
+
+
+		PyObject* seqLinkMasses = linkMassesObj?PySequence_Fast(linkMassesObj, "expected a sequence"):0;
+		PyObject* seqLinkCollisionShapes = linkCollisionShapeIndicesObj?PySequence_Fast(linkCollisionShapeIndicesObj, "expected a sequence"):0;
+		PyObject* seqLinkVisualShapes = linkVisualShapeIndicesObj?PySequence_Fast(linkVisualShapeIndicesObj, "expected a sequence"):0;
+		PyObject* seqLinkPositions = linkPositionsObj?PySequence_Fast(linkPositionsObj, "expected a sequence"):0;
+		PyObject* seqLinkOrientations = linkOrientationsObj?PySequence_Fast(linkOrientationsObj, "expected a sequence"):0;
+		PyObject* seqLinkParentIndices = linkParentIndicesObj?PySequence_Fast(linkParentIndicesObj, "expected a sequence"):0;
+		PyObject* seqLinkJointTypes = linkJointTypesObj?PySequence_Fast(linkJointTypesObj, "expected a sequence"):0;
+		PyObject* seqLinkJoinAxis = linkJointAxisObj?PySequence_Fast(linkJointAxisObj, "expected a sequence"):0;
+
+		if ((numLinkMasses==numLinkCollisionShapes) &&
+			(numLinkMasses==numLinkVisualShapes) &&
+			(numLinkMasses==numLinkPositions) &&
+			(numLinkMasses==numLinkOrientations) &&
+			(numLinkMasses==numLinkParentIndices) &&
+			(numLinkMasses==numLinkJointTypes) &&
+			(numLinkMasses==numLinkJoinAxis))
 		{
-			b3CreateMultiBodyUseMaximalCoordinates(commandHandle);
-		}
-		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
-		statusType = b3GetStatusType(statusHandle);
-		if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED)
+			b3SharedMemoryStatusHandle statusHandle;
+			int statusType;
+			int i;
+			b3SharedMemoryCommandHandle commandHandle = b3CreateMultiBodyCommandInit(sm);
+			double basePosition[3]={0,0,0};
+			double baseOrientation[4]={0,0,0,1};
+			int baseIndex;
+			pybullet_internalSetVectord(basePosObj,basePosition);
+			pybullet_internalSetVector4d(baseOrnObj,baseOrientation);
+			baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
+
+			for (i=0;i<numLinkMasses;i++)
+			{
+				double linkMass = pybullet_internalGetFloatFromSequence(seqLinkMasses,i);
+				int linkCollisionShapeIndex = pybullet_internalGetIntFromSequence(seqLinkCollisionShapes,i);
+				int linkVisualShapeIndex = pybullet_internalGetIntFromSequence(seqLinkVisualShapes,i);
+				double linkPosition[3];
+				double linkOrientation[4];
+				double linkJointAxis[3];
+
+				pybullet_internalGetVector3FromSequence(seqLinkPositions,i,linkPosition);
+				pybullet_internalGetVector4FromSequence(seqLinkOrientations,i,linkOrientation);
+				pybullet_internalGetVector3FromSequence(seqLinkJoinAxis,i,linkJointAxis);
+				int linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i);
+				int linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i);
+
+				b3CreateMultiBodyLink(commandHandle, 
+									linkMass, 
+									linkCollisionShapeIndex, 
+									linkVisualShapeIndex, 
+									linkPosition, 
+									linkOrientation,
+									linkParentIndex,
+									linkJointType,
+									linkJointAxis
+				);
+
+			}
+
+			if (seqLinkMasses)
+				Py_DECREF(seqLinkMasses);
+			if (seqLinkCollisionShapes)
+				Py_DECREF(seqLinkCollisionShapes);
+			if (seqLinkVisualShapes)
+				Py_DECREF(seqLinkVisualShapes);
+			if (seqLinkPositions)
+				Py_DECREF(seqLinkPositions);
+			if (seqLinkOrientations)
+				Py_DECREF(seqLinkOrientations);
+			if (seqLinkParentIndices)
+				Py_DECREF(seqLinkParentIndices);
+			if (seqLinkJointTypes)
+				Py_DECREF(seqLinkJointTypes);
+			if (seqLinkJoinAxis)
+				Py_DECREF(seqLinkJoinAxis);
+
+			if (useMaximalCoordinates>0)
+			{
+				b3CreateMultiBodyUseMaximalCoordinates(commandHandle);
+			}
+			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+			statusType = b3GetStatusType(statusHandle);
+			if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED)
+			{
+				int uid = b3GetStatusBodyIndex(statusHandle);
+				PyObject* ob = PyLong_FromLong(uid);
+				return ob;
+			}
+
+		} else
 		{
-			int uid = b3GetStatusBodyIndex(statusHandle);
-			PyObject* ob = PyLong_FromLong(uid);
-			return ob;
+			if (seqLinkMasses)
+				Py_DECREF(seqLinkMasses);
+			if (seqLinkCollisionShapes)
+				Py_DECREF(seqLinkCollisionShapes);
+			if (seqLinkVisualShapes)
+				Py_DECREF(seqLinkVisualShapes);
+			if (seqLinkPositions)
+				Py_DECREF(seqLinkPositions);
+			if (seqLinkOrientations)
+				Py_DECREF(seqLinkOrientations);
+			if (seqLinkParentIndices)
+				Py_DECREF(seqLinkParentIndices);
+			if (seqLinkJointTypes)
+				Py_DECREF(seqLinkJointTypes);
+			if (seqLinkJoinAxis)
+				Py_DECREF(seqLinkJoinAxis);
+
+			PyErr_SetString(SpamError, "All link arrays need to be same size.");
+			return NULL;
 		}
+			
+
+		#if 0
+		PyObject* seq;
+		seq = PySequence_Fast(objMat, "expected a sequence");
+		if (seq)
+		{
+			len = PySequence_Size(objMat);
+			if (len == 16)
+			{
+				for (i = 0; i < len; i++)
+				{
+					matrix[i] = pybullet_internalGetFloatFromSequence(seq, i);
+				}
+				Py_DECREF(seq);
+				return 1;
+			}
+			Py_DECREF(seq);
+		}
+		#endif
+
+
 	}
 	PyErr_SetString(SpamError, "createMultiBody failed.");
 	return NULL;

From 7441515c0ed7e1005c85184ab614f3b77ad3a471 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 19 Jun 2017 13:15:05 -0700
Subject: [PATCH 126/175] Preliminary version of pybullet.createMultiBody
 including links connected to parent by a joint. See createMultiBodyLinks.py
 example.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 28 +++---
 examples/SharedMemory/PhysicsClientC_API.h    |  2 +
 .../PhysicsServerCommandProcessor.cpp         | 85 +++++++++++++++++--
 examples/SharedMemory/SharedMemoryCommands.h  |  1 -
 .../pybullet/examples/createMultiBodyLinks.py | 57 +++++++++++++
 examples/pybullet/pybullet.c                  | 33 +++++--
 6 files changed, 181 insertions(+), 25 deletions(-)
 create mode 100644 examples/pybullet/examples/createMultiBodyLinks.py

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index dde3d2ed8..84f856467 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -993,6 +993,12 @@ int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass
 			command->m_createMultiBodyArgs.m_linkVisualShapeUniqueIds[baseLinkIndex] = visualShapeUniqueId;
 
 			command->m_createMultiBodyArgs.m_linkMasses[baseLinkIndex] = mass;
+
+			command->m_createMultiBodyArgs.m_linkParentIndices[baseLinkIndex] = -2;//no parent
+			command->m_createMultiBodyArgs.m_linkJointAxis[baseLinkIndex+0]=0;
+			command->m_createMultiBodyArgs.m_linkJointAxis[baseLinkIndex+1]=0;
+			command->m_createMultiBodyArgs.m_linkJointAxis[baseLinkIndex+2]=0;
+			command->m_createMultiBodyArgs.m_linkJointTypes[baseLinkIndex]=-1;
 			command->m_createMultiBodyArgs.m_numLinks++;
 		}
 		return numLinks;
@@ -1004,6 +1010,8 @@ int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double link
 									double linkVisualShapeIndex, 
 									double linkPosition[3], 
 									double linkOrientation[4],
+									double linkInertialFramePosition[3], 
+									double linkInertialFrameOrientation[4],
 									int linkParentIndex,
 									int linkJointType,
 									double linkJointAxis[3])
@@ -1033,23 +1041,23 @@ int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double link
 			command->m_createMultiBodyArgs.m_linkInertias[linkIndex*3+2] = linkMass;
 
 
-			command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+0] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+1] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+2] = 0;
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+0] = linkInertialFramePosition[0];
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+1] = linkInertialFramePosition[1];
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+2] = linkInertialFramePosition[2];
 
-			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+0] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+1] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+2] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+3] = 1;
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+0] = linkInertialFrameOrientation[0];
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+1] = linkInertialFrameOrientation[1];
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+2] = linkInertialFrameOrientation[2];
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+3] = linkInertialFrameOrientation[3];
 
 			command->m_createMultiBodyArgs.m_linkCollisionShapeUniqueIds[linkIndex]= linkCollisionShapeIndex;
 			command->m_createMultiBodyArgs.m_linkVisualShapeUniqueIds[linkIndex] = linkVisualShapeIndex;
 			
 			command->m_createMultiBodyArgs.m_linkParentIndices[linkIndex] = linkParentIndex;
 			command->m_createMultiBodyArgs.m_linkJointTypes[linkIndex] = linkJointType;
-			command->m_createMultiBodyArgs.m_linkJointAxis[0] = linkJointAxis[0];
-			command->m_createMultiBodyArgs.m_linkJointAxis[1] = linkJointAxis[1];
-			command->m_createMultiBodyArgs.m_linkJointAxis[2] = linkJointAxis[2];
+			command->m_createMultiBodyArgs.m_linkJointAxis[3*linkIndex+0] = linkJointAxis[0];
+			command->m_createMultiBodyArgs.m_linkJointAxis[3*linkIndex+1] = linkJointAxis[1];
+			command->m_createMultiBodyArgs.m_linkJointAxis[3*linkIndex+2] = linkJointAxis[2];
 
 			command->m_createMultiBodyArgs.m_linkMasses[linkIndex] = linkMass;
 			command->m_createMultiBodyArgs.m_numLinks++;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 24a3ddd77..9b32a0daf 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -348,6 +348,8 @@ int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double link
 									double linkVisualShapeIndex, 
 									double linkPosition[3], 
 									double linkOrientation[4],
+									double linkInertialFramePosition[3],
+									double linkInertialFrameOrientation[4],
 									int linkParentIndex,
 									int linkJointType,
 									double linkJointAxis[3]);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index ee0412a9b..d3a62ec52 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1547,7 +1547,11 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
     ///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
     virtual std::string getLinkName(int linkIndex) const
 	{
-		return "link";
+		std::string linkName = "link";
+		char numstr[21]; // enough to hold all numbers up to 64-bits
+		sprintf(numstr, "%d", linkIndex);
+		linkName = linkName + numstr;
+		return linkName;
 	}
 
 	//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
@@ -1587,8 +1591,11 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 
     virtual std::string getJointName(int linkIndex) const
 	{
-		b3Assert(0);
-		return "joint";
+		std::string jointName = "joint";
+		char numstr[21]; // enough to hold all numbers up to 64-bits
+		sprintf(numstr, "%d", linkIndex);
+		jointName = jointName + numstr;
+		return jointName;
 	}
 	
     //fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
@@ -1623,7 +1630,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 	{
 		for (int i=0;i<m_createBodyArgs.m_numLinks;i++)
 		{
-			if (m_createBodyArgs.m_linkParents[i] == urdfLinkIndex)
+			if (m_createBodyArgs.m_linkParentIndices[i] == urdfLinkIndex)
 			{
 				childLinkIndices.push_back(i);
 			}
@@ -1638,10 +1645,72 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 
 	virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const 
 	{
-		//backwards compatibility for custom file importers
-		jointMaxForce = 0;
-		jointMaxVelocity = 0;
-		return getJointInfo(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction);
+		bool isValid = false;
+
+		int jointTypeOrg = m_createBodyArgs.m_linkJointTypes[urdfLinkIndex];
+
+		switch (jointTypeOrg)
+		{
+		case eRevoluteType:
+		{
+			isValid = true;
+			jointType = URDFRevoluteJoint;
+			break;
+		}
+		case	ePrismaticType:
+		{
+			isValid = true;
+			jointType = URDFPrismaticJoint;
+			break;
+		}
+		case	eFixedType:
+		{
+			isValid = true;
+			jointType = URDFFixedJoint;
+			break;
+		}
+		//case	eSphericalType:
+		//case	ePlanarType:
+		//case	eFixedType:
+		//case ePoint2PointType:
+		//case eGearType:
+		default:
+		{
+		}
+		};
+
+		if (isValid)
+		{
+			//backwards compatibility for custom file importers
+			jointMaxForce = 0;
+			jointMaxVelocity = 0;
+			jointFriction = 0;
+			jointDamping = 0;
+			jointLowerLimit = 1;
+			jointUpperLimit = -1;
+
+			parent2joint.setOrigin(btVector3(
+				m_createBodyArgs.m_linkPositions[urdfLinkIndex*3+0],
+				m_createBodyArgs.m_linkPositions[urdfLinkIndex*3+1],
+				m_createBodyArgs.m_linkPositions[urdfLinkIndex*3+2]));
+			parent2joint.setRotation(btQuaternion(
+				m_createBodyArgs.m_linkOrientations[urdfLinkIndex*4+0],
+				m_createBodyArgs.m_linkOrientations[urdfLinkIndex*4+1],
+				m_createBodyArgs.m_linkOrientations[urdfLinkIndex*4+2],
+				m_createBodyArgs.m_linkOrientations[urdfLinkIndex*4+3]
+			));
+
+		
+			linkTransformInWorld.setIdentity();
+
+			jointAxisInJointSpace.setValue(
+				m_createBodyArgs.m_linkJointAxis[3*urdfLinkIndex+0],
+				m_createBodyArgs.m_linkJointAxis[3*urdfLinkIndex+1],
+				m_createBodyArgs.m_linkJointAxis[3*urdfLinkIndex+2]);
+
+		
+		}
+		return isValid;
 	};
     
     virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 260c6cd7d..9658d6e6c 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -854,7 +854,6 @@ struct b3CreateMultiBodyArgs
 	double m_linkOrientations[4*MAX_CREATE_MULTI_BODY_LINKS];
 
 	int m_numLinks;
-	int m_linkParents[MAX_CREATE_MULTI_BODY_LINKS];
 	double m_linkMasses[MAX_CREATE_MULTI_BODY_LINKS];
 	double m_linkInertias[MAX_CREATE_MULTI_BODY_LINKS*3];
 
diff --git a/examples/pybullet/examples/createMultiBodyLinks.py b/examples/pybullet/examples/createMultiBodyLinks.py
new file mode 100644
index 000000000..7cfc03272
--- /dev/null
+++ b/examples/pybullet/examples/createMultiBodyLinks.py
@@ -0,0 +1,57 @@
+import pybullet as p
+import time
+
+
+p.connect(p.GUI)
+p.createCollisionShape(p.GEOM_PLANE)
+p.createMultiBody(0,0)
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
+colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
+
+mass = 1
+visualShapeId = -1
+
+#"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
+#"linkPositions", "linkOrientations","linkParentIndices", "linkJointTypes","linkJointAxis", 
+
+linkMasses=[1]
+linkCollisionShapeIndices=[colBoxId]
+linkVisualShapeIndices=[-1]
+linkPositions=[[0,0,0.11]]
+linkOrientations=[[0,0,0,1]]
+linkInertialFramePositions=[[0,0,0]]
+linkInertialFrameOrientations=[[0,0,0,1]]
+indices=[0]
+jointTypes=[p.JOINT_REVOLUTE]
+axis=[[0,0,1]]
+
+for i in range (3):
+	for j in range (3):
+		for k in range (3):
+			basePosition = [1+i*5*sphereRadius,1+j*5*sphereRadius,1+k*5*sphereRadius+1]
+			baseOrientation = [0,0,0,1]
+			if (k&2):
+				sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,basePosition,baseOrientation)
+			else:
+				sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,basePosition,baseOrientation,linkMasses,linkCollisionShapeIndices,linkVisualShapeIndices,linkPositions,linkOrientations,linkInertialFramePositions, linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)			
+			
+			p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
+			for joint in range (p.getNumJoints(sphereUid)):
+				p.setJointMotorControl2(sphereUid,joint,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
+
+
+p.setGravity(0,0,-10)
+#p.setRealTimeSimulation(1)
+
+p.getNumJoints(sphereUid)
+for i in range (p.getNumJoints(sphereUid)):
+	p.getJointInfo(sphereUid,i)
+	
+while (1):
+	events = p.getKeyboardEvents()
+	if (len(events)):
+		p.stepSimulation()
+	time.sleep(0.01)
+	
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 478c92bd7..fdbf401a0 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5093,17 +5093,19 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 	PyObject* linkParentIndicesObj=0;
 	PyObject* linkJointTypesObj=0;
 	PyObject* linkJointAxisObj=0;
-	
+	PyObject* linkInertialFramePositionObj=0;
+	PyObject* linkInertialFrameOrientationObj=0;
 
 	static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation",
 		"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
-		"linkPositions", "linkOrientations","linkParentIndices", "linkJointTypes","linkJointAxis", 
+		"linkPositions", "linkOrientations","linkInertialFramePosition","linkInertialFrameOrientation", "linkParentIndices", "linkJointTypes","linkJointAxis", 
 		"useMaximalCoordinates","physicsClientId",
 
 		NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
 				&basePosObj, &baseOrnObj,
 		&linkMassesObj, &linkCollisionShapeIndicesObj, &linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj,
+		&linkInertialFramePositionObj, &linkInertialFrameOrientationObj,
 		&linkParentIndicesObj, &linkJointTypesObj,&linkJointAxisObj,
 		&useMaximalCoordinates, &physicsClientId))
 	{
@@ -5127,7 +5129,8 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 		int numLinkParentIndices = linkParentIndicesObj?PySequence_Size(linkParentIndicesObj):0;
 		int numLinkJointTypes = linkJointTypesObj?PySequence_Size(linkJointTypesObj):0;
 		int numLinkJoinAxis = linkJointAxisObj? PySequence_Size(linkJointAxisObj):0;
-
+		int numLinkInertialFramePositions = linkInertialFramePositionObj? PySequence_Size(linkInertialFramePositionObj) : 0;
+		int numLinkInertialFrameOrientations = linkInertialFrameOrientationObj? PySequence_Size(linkInertialFrameOrientationObj) : 0;
 
 		PyObject* seqLinkMasses = linkMassesObj?PySequence_Fast(linkMassesObj, "expected a sequence"):0;
 		PyObject* seqLinkCollisionShapes = linkCollisionShapeIndicesObj?PySequence_Fast(linkCollisionShapeIndicesObj, "expected a sequence"):0;
@@ -5137,6 +5140,8 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 		PyObject* seqLinkParentIndices = linkParentIndicesObj?PySequence_Fast(linkParentIndicesObj, "expected a sequence"):0;
 		PyObject* seqLinkJointTypes = linkJointTypesObj?PySequence_Fast(linkJointTypesObj, "expected a sequence"):0;
 		PyObject* seqLinkJoinAxis = linkJointAxisObj?PySequence_Fast(linkJointAxisObj, "expected a sequence"):0;
+		PyObject* seqLinkInertialFramePositions = linkInertialFramePositionObj?PySequence_Fast(linkInertialFramePositionObj, "expected a sequence"):0;
+		PyObject* seqLinkInertialFrameOrientations = linkInertialFrameOrientationObj?PySequence_Fast(linkInertialFrameOrientationObj, "expected a sequence"):0;
 
 		if ((numLinkMasses==numLinkCollisionShapes) &&
 			(numLinkMasses==numLinkVisualShapes) &&
@@ -5144,7 +5149,9 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 			(numLinkMasses==numLinkOrientations) &&
 			(numLinkMasses==numLinkParentIndices) &&
 			(numLinkMasses==numLinkJointTypes) &&
-			(numLinkMasses==numLinkJoinAxis))
+			(numLinkMasses==numLinkJoinAxis) &&
+			(numLinkMasses==numLinkInertialFramePositions) &&
+			(numLinkMasses==numLinkInertialFrameOrientations))
 		{
 			b3SharedMemoryStatusHandle statusHandle;
 			int statusType;
@@ -5165,7 +5172,11 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				double linkPosition[3];
 				double linkOrientation[4];
 				double linkJointAxis[3];
-
+				double linkInertialFramePosition[3];
+				double linkInertialFrameOrientation[4];
+				
+				pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions,i,linkInertialFramePosition);
+				pybullet_internalGetVector4FromSequence(linkInertialFrameOrientationObj,i,linkInertialFrameOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkPositions,i,linkPosition);
 				pybullet_internalGetVector4FromSequence(seqLinkOrientations,i,linkOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkJoinAxis,i,linkJointAxis);
@@ -5178,6 +5189,8 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 									linkVisualShapeIndex, 
 									linkPosition, 
 									linkOrientation,
+									linkInertialFramePosition,
+									linkInertialFrameOrientation,
 									linkParentIndex,
 									linkJointType,
 									linkJointAxis
@@ -5201,6 +5214,10 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				Py_DECREF(seqLinkJointTypes);
 			if (seqLinkJoinAxis)
 				Py_DECREF(seqLinkJoinAxis);
+			if (seqLinkInertialFramePositions)
+				Py_DECREF(seqLinkInertialFramePositions);
+			if (seqLinkInertialFrameOrientations)
+				Py_DECREF(seqLinkInertialFrameOrientations);
 
 			if (useMaximalCoordinates>0)
 			{
@@ -5233,6 +5250,10 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				Py_DECREF(seqLinkJointTypes);
 			if (seqLinkJoinAxis)
 				Py_DECREF(seqLinkJoinAxis);
+			if (seqLinkInertialFramePositions)
+				Py_DECREF(seqLinkInertialFramePositions);
+			if (seqLinkInertialFrameOrientations)
+				Py_DECREF(seqLinkInertialFrameOrientations);
 
 			PyErr_SetString(SpamError, "All link arrays need to be same size.");
 			return NULL;

From 61f27a5c724492bb6d5f034c774d392ff530e16e Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 19 Jun 2017 17:13:20 -0700
Subject: [PATCH 127/175] also add baseInertialFramePositionObj and
 baseInertialFrameOrientationObj to pybullet.createMultiBody updated
 createMultiBodyLinks.py example.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 24 +++++++++----------
 examples/SharedMemory/PhysicsClientC_API.h    |  2 +-
 .../pybullet/examples/createMultiBodyLinks.py | 14 ++++-------
 examples/pybullet/pybullet.c                  | 22 ++++++++++-------
 4 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 84f856467..de1e2e2d9 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -951,8 +951,7 @@ b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle p
 	return 0;
 }
 
-
-int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4])
+int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4] , double baseInertialFramePosition[3], double baseInertialFrameOrientation[4])
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
@@ -975,19 +974,18 @@ int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass
 			command->m_createMultiBodyArgs.m_linkOrientations[baseLinkIndex*4+2]=baseOrientation[2];
 			command->m_createMultiBodyArgs.m_linkOrientations[baseLinkIndex*4+3]=baseOrientation[3];
 
-			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+0] = mass;
-			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+1] = mass;
-			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+2] = mass;
+			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+0] = 0;//unused, is computed automatically. Will add a method to explicitly set it (with a flag), similar to loadURDF etc.
+			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+1] = 0;
+			command->m_createMultiBodyArgs.m_linkInertias[baseLinkIndex*3+2] = 0;
 
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+0] = baseInertialFramePosition[0];
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+1] = baseInertialFramePosition[1];
+			command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+2] = baseInertialFramePosition[2];
 
-			command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+0] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+1] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFramePositions[baseLinkIndex*3+2] = 0;
-
-			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+0] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+1] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+2] = 0;
-			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+3] = 1;
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+0] = baseInertialFrameOrientation[0];
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+1] = baseInertialFrameOrientation[1];
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+2] = baseInertialFrameOrientation[2];
+			command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[baseLinkIndex*4+3] = baseInertialFrameOrientation[3];
 
 			command->m_createMultiBodyArgs.m_linkCollisionShapeUniqueIds[baseLinkIndex]= collisionShapeUnique;
 			command->m_createMultiBodyArgs.m_linkVisualShapeUniqueIds[baseLinkIndex] = visualShapeUniqueId;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 9b32a0daf..efa45d495 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -342,7 +342,7 @@ b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle
 int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
 
 b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient);
-int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4]);
+int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4] , double baseInertialFramePosition[3], double baseInertialFrameOrientation[4]);
 
 int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex, 
 									double linkVisualShapeIndex, 
diff --git a/examples/pybullet/examples/createMultiBodyLinks.py b/examples/pybullet/examples/createMultiBodyLinks.py
index 7cfc03272..9c776cab6 100644
--- a/examples/pybullet/examples/createMultiBodyLinks.py
+++ b/examples/pybullet/examples/createMultiBodyLinks.py
@@ -13,10 +13,9 @@ colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRad
 mass = 1
 visualShapeId = -1
 
-#"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
-#"linkPositions", "linkOrientations","linkParentIndices", "linkJointTypes","linkJointAxis", 
-
-linkMasses=[1]
+	
+	
+link_Masses=[1]
 linkCollisionShapeIndices=[colBoxId]
 linkVisualShapeIndices=[-1]
 linkPositions=[[0,0,0.11]]
@@ -35,7 +34,7 @@ for i in range (3):
 			if (k&2):
 				sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,basePosition,baseOrientation)
 			else:
-				sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,basePosition,baseOrientation,linkMasses,linkCollisionShapeIndices,linkVisualShapeIndices,linkPositions,linkOrientations,linkInertialFramePositions, linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)			
+				sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,basePosition,baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)			
 			
 			p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
 			for joint in range (p.getNumJoints(sphereUid)):
@@ -43,15 +42,12 @@ for i in range (3):
 
 
 p.setGravity(0,0,-10)
-#p.setRealTimeSimulation(1)
+p.setRealTimeSimulation(1)
 
 p.getNumJoints(sphereUid)
 for i in range (p.getNumJoints(sphereUid)):
 	p.getJointInfo(sphereUid,i)
 	
 while (1):
-	events = p.getKeyboardEvents()
-	if (len(events)):
-		p.stepSimulation()
 	time.sleep(0.01)
 	
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index fdbf401a0..e7b83649c 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5084,7 +5084,9 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 	int useMaximalCoordinates = 0;
 	PyObject* basePosObj=0;
 	PyObject* baseOrnObj=0;
-	
+	PyObject* baseInertialFramePositionObj=0;
+	PyObject* baseInertialFrameOrientationObj=0;
+
 	PyObject* linkMassesObj=0;
 	PyObject* linkCollisionShapeIndicesObj=0;
 	PyObject* linkVisualShapeIndicesObj=0;
@@ -5096,14 +5098,13 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 	PyObject* linkInertialFramePositionObj=0;
 	PyObject* linkInertialFrameOrientationObj=0;
 
-	static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation",
+	static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation", "baseInertialFramePosition", "baseInertialFrameOrientation",
 		"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
-		"linkPositions", "linkOrientations","linkInertialFramePosition","linkInertialFrameOrientation", "linkParentIndices", "linkJointTypes","linkJointAxis", 
-		"useMaximalCoordinates","physicsClientId",
+		"linkPositions", "linkOrientations","linkInertialFramePositions","linkInertialFrameOrientations", "linkParentIndices", "linkJointTypes","linkJointAxis", 
+		"useMaximalCoordinates","physicsClientId", NULL};
 
-		NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
-				&basePosObj, &baseOrnObj,
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
+				&basePosObj, &baseOrnObj,&baseInertialFramePositionObj, &baseInertialFrameOrientationObj,
 		&linkMassesObj, &linkCollisionShapeIndicesObj, &linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj,
 		&linkInertialFramePositionObj, &linkInertialFrameOrientationObj,
 		&linkParentIndicesObj, &linkJointTypesObj,&linkJointAxisObj,
@@ -5159,10 +5160,15 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 			b3SharedMemoryCommandHandle commandHandle = b3CreateMultiBodyCommandInit(sm);
 			double basePosition[3]={0,0,0};
 			double baseOrientation[4]={0,0,0,1};
+			double baseInertialFramePosition[3] = {0,0,0};
+			double baseInertialFrameOrientation[4]={0,0,0,1};
 			int baseIndex;
 			pybullet_internalSetVectord(basePosObj,basePosition);
 			pybullet_internalSetVector4d(baseOrnObj,baseOrientation);
-			baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
+			pybullet_internalSetVectord(baseInertialFramePositionObj,baseInertialFramePosition);
+			pybullet_internalSetVector4d(baseInertialFrameOrientationObj,baseInertialFrameOrientation);
+
+			baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex, basePosition, baseOrientation, baseInertialFramePosition, baseInertialFrameOrientation );
 
 			for (i=0;i<numLinkMasses;i++)
 			{

From 71170d638455b34ddbea6ef12946aa6e6fb9f43b Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 20 Jun 2017 20:22:14 -0700
Subject: [PATCH 128/175] reduce stack usage (cause some crashes in low-stack
 tests) fix crashing bug in changeVisualShape add differential gear version of
 racecar (only 2 back wheels are powered)

---
 data/racecar/meshes/chassis_differential.STL  | Bin 0 -> 20284 bytes
 data/racecar/racecar_differential.urdf        | 743 ++++++++++++++++++
 .../PhysicsServerCommandProcessor.cpp         |  30 +-
 .../TinyRendererVisualShapeConverter.cpp      |  22 +-
 .../pybullet/examples/racecar_differential.py |  71 ++
 examples/pybullet/gym/envs/bullet/kuka.py     |   3 +-
 .../pybullet/gym/envs/bullet/kukaGymEnv.py    |  21 +-
 7 files changed, 857 insertions(+), 33 deletions(-)
 create mode 100644 data/racecar/meshes/chassis_differential.STL
 create mode 100644 data/racecar/racecar_differential.urdf
 create mode 100644 examples/pybullet/examples/racecar_differential.py

diff --git a/data/racecar/meshes/chassis_differential.STL b/data/racecar/meshes/chassis_differential.STL
new file mode 100644
index 0000000000000000000000000000000000000000..793f6f197429857522f7133447a9bce9b7b93230
GIT binary patch
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diff --git a/data/racecar/racecar_differential.urdf b/data/racecar/racecar_differential.urdf
new file mode 100644
index 000000000..8f5f37519
--- /dev/null
+++ b/data/racecar/racecar_differential.urdf
@@ -0,0 +1,743 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from racecar.xacro                  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <!-- inertial parameter macros -->
+  <!-- geometry macros -->
+  <!-- transmission macros -->
+  <!-- Add chassis and it's inertia link -->
+  
+  <link name="chassis">
+  	 <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/chassis_differential.STL"/>
+      </geometry>
+      <material name="blue"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1477 0 0"/>
+      <mass value="4.0"/>
+      <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
+    </inertial>
+  </link>
+  <!-- Add the left rear wheel with its joints and tranmissions -->
+  <link name="left_rear_wheel">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <mass value="0.034055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_rear_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_rear_wheel_joint" type="fixed">
+    <origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
+    <parent link="diff_sideA"/>
+    <child link="left_rear_wheel"/>
+  </joint>
+  
+  <!-- Add the right rear wheel with its joints and tranmissions -->
+  <link name="right_rear_wheel">
+<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <mass value="0.034055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_rear_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_rear_wheel_joint" type="fixed">
+    <origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
+    <parent link="diff_sideB"/>
+    <child link="right_rear_wheel"/>
+  </joint>
+  
+  <!-- Add the left steering hinge with its joints and tranmissions -->
+  <link name="left_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.100"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_steering_hinge.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+  </link>
+  <joint name="left_steering_hinge_joint" type="revolute">
+    <origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
+    <parent link="chassis"/>
+    <child link="left_steering_hinge"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
+  </joint>
+  <transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_steering_hinge_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_steering_hinge_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the right steering hinge with its joints and tranmissions -->
+  <link name="right_steering_hinge">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.100"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_steering_hinge.STL"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+  </link>
+  <joint name="right_steering_hinge_joint" type="continuous">
+    <origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
+    <parent link="chassis"/>
+    <child link="right_steering_hinge"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
+  </joint>
+  <transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_steering_hinge_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_steering_hinge_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left front wheel with its joints and tranmissions -->
+  <link name="left_front_wheel">
+<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <mass value="0.034055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/left_front_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="left_front_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="left_steering_hinge"/>
+    <child link="left_front_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="left_front_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_front_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_front_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add the left front wheel with its joints and tranmissions -->
+  <link name="right_front_wheel">
+<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <mass value="0.034055"/>
+      <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/right_front_wheel.obj"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0225"/>
+      <geometry>
+        <cylinder length="0.045" radius="0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="right_front_wheel_joint" type="continuous">
+    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
+    <parent link="right_steering_hinge"/>
+    <child link="right_front_wheel"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" velocity="100"/>
+  </joint>
+  <transmission name="right_front_wheel_transmission" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_front_wheel_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_front_wheel_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- Add Hokuyo laser scanner -->
+  <link name="laser">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.130"/>
+      <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.1 0.1 0.1"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/hokuyo.obj"/>
+        <material name="grey"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="hokuyo_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
+    <parent link="chassis"/>
+    <child link="laser"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- zed camera -->
+  <link name="zed_camera_link">
+    <inertial>
+      <mass value="0.1"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.033 0.175 0.030"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.033 0.175 0.030"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+  <joint name="zed_camera_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.390 0 0.04"/>
+    <parent link="chassis"/>
+    <child link="zed_camera_link"/>
+    <axis xyz="0 0 1"/>
+    <!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
+  </joint>
+  <!-- zed camera lenses -->
+  <!-- It seems these have to have a non-zero mass to have a camera attached? -->
+  <link name="camera_link">
+    <!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <link name="zed_camera_right_link">
+    <inertial>
+      <mass value="0.01"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
+    </inertial>
+  </link>
+  <joint name="zed_camera_left_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.06 0"/>
+    <parent link="zed_camera_link"/>
+    <child link="camera_link"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="zed_camera_right_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.06 0"/>
+    <parent link="zed_camera_link"/>
+    <child link="zed_camera_right_link"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Add the remaining xacros -->
+  <link name="diff_ring">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.0637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+     <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="diff_ring_chassis" type="continuous">
+    <parent link="chassis"/>
+    <child link="diff_ring"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0."/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <link name="diff_spiderA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+   
+    
+    
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_spiderA_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_spiderA"/>
+    <origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+ 
+ <link name="diff_spiderB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="brown"/>
+    </visual>
+   
+    
+    
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_spiderB_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_spiderB"/>
+    <origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+  
+  <link name="diff_sideA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_sideA_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_sideA"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+   <link name="diff_sideB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.056"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff_sideB_ring" type="continuous">
+    <parent link="diff_ring"/>
+    <child link="diff_sideB"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+   <link name="diff2_ring">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.5637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+     <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="diff2_ring_chassis" type="continuous">
+    <parent link="chassis"/>
+    <child link="diff2_ring"/>
+    <origin rpy="0 0 0" xyz="0.32 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <link name="diff2_spiderA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.556"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+   
+    
+    
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff2_spiderA_ring" type="continuous">
+    <parent link="diff2_ring"/>
+    <child link="diff2_spiderA"/>
+    <origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+ 
+ <link name="diff2_spiderB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.556"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
+      </geometry>
+      <material name="brown"/>
+    </visual>
+   
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff2_spiderB_ring" type="continuous">
+    <parent link="diff2_ring"/>
+    <child link="diff2_spiderB"/>
+    <origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+  
+  <link name="diff2_sideA">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.556"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff2_sideA_ring" type="continuous">
+    <parent link="diff2_ring"/>
+    <child link="diff2_sideA"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  
+   <link name="diff2_sideB">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
+    <inertial>
+      <mass value="0.556"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    
+    <collision>
+      <origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
+      <geometry>
+        <cylinder length="0.01" radius="0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="diff2_sideB_ring" type="continuous">
+    <parent link="diff2_ring"/>
+    <child link="diff2_sideB"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <material name="white">
+    <color rgba="1. 1. 1. 1.0"/>
+  </material>
+  <material name="black">
+    <color rgba="0. 0. 0. 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+</robot>
+
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index d3a62ec52..cbddd1ddc 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3181,24 +3181,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                                                      clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
                                 } else
                                 {
-									 SharedMemoryStatus tmpCmd = serverStatusOut;
+									b3OpenGLVisualizerCameraInfo tmpCamResult;
 									bool result = this->m_data->m_guiHelper->getCameraInfo(
-										&tmpCmd.m_visualizerCameraResultArgs.m_width,
-										&tmpCmd.m_visualizerCameraResultArgs.m_height,
-										tmpCmd.m_visualizerCameraResultArgs.m_viewMatrix,
-										tmpCmd.m_visualizerCameraResultArgs.m_projectionMatrix,
-										tmpCmd.m_visualizerCameraResultArgs.m_camUp,
-										tmpCmd.m_visualizerCameraResultArgs.m_camForward,
-										tmpCmd.m_visualizerCameraResultArgs.m_horizontal,
-										tmpCmd.m_visualizerCameraResultArgs.m_vertical,
-										&tmpCmd.m_visualizerCameraResultArgs.m_yaw,
-										&tmpCmd.m_visualizerCameraResultArgs.m_pitch,
-										&tmpCmd.m_visualizerCameraResultArgs.m_dist,
-										tmpCmd.m_visualizerCameraResultArgs.m_target);
+										&tmpCamResult.m_width,
+										&tmpCamResult.m_height,
+										tmpCamResult.m_viewMatrix,
+										tmpCamResult.m_projectionMatrix,
+										tmpCamResult.m_camUp,
+										tmpCamResult.m_camForward,
+										tmpCamResult.m_horizontal,
+										tmpCamResult.m_vertical,
+										&tmpCamResult.m_yaw,
+										&tmpCamResult.m_pitch,
+										&tmpCamResult.m_dist,
+										tmpCamResult.m_target);
 									if (result)
 									{
-	                                    m_data->m_visualConverter.render(tmpCmd.m_visualizerCameraResultArgs.m_viewMatrix,
-										tmpCmd.m_visualizerCameraResultArgs.m_projectionMatrix);
+	                                    m_data->m_visualConverter.render(tmpCamResult.m_viewMatrix,
+										tmpCamResult.m_projectionMatrix);
 									} else
 									{
 										m_data->m_visualConverter.render();
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index 143c931ce..c8b1b2221 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -686,17 +686,19 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
 			break;
 		}
 	}
-	
-	TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(start);
-	TinyRendererObjectArray* visualArray = *visualArrayPtr;
-	
-	btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(start);
-	const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
-	
-	float rgba[4] = {rgbaColor[0], rgbaColor[1], rgbaColor[2], rgbaColor[3]};
-	for (int v=0;v<visualArray->m_renderObjects.size();v++)
+	if (start>=0)
 	{
-		visualArray->m_renderObjects[v]->m_model->setColorRGBA(rgba);
+		TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(start);
+		TinyRendererObjectArray* visualArray = *visualArrayPtr;
+	
+		btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(start);
+		const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
+	
+		float rgba[4] = {rgbaColor[0], rgbaColor[1], rgbaColor[2], rgbaColor[3]};
+		for (int v=0;v<visualArray->m_renderObjects.size();v++)
+		{
+			visualArray->m_renderObjects[v]->m_model->setColorRGBA(rgba);
+		}
 	}
 }
 
diff --git a/examples/pybullet/examples/racecar_differential.py b/examples/pybullet/examples/racecar_differential.py
new file mode 100644
index 000000000..251ce0141
--- /dev/null
+++ b/examples/pybullet/examples/racecar_differential.py
@@ -0,0 +1,71 @@
+import pybullet as p
+import time
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
+	
+p.resetSimulation()
+p.setGravity(0,0,-10)
+p.setPhysicsEngineParameter(numSolverIterations=1000)
+useRealTimeSim = 1
+
+#for video recording (works best on Mac and Linux, not well on Windows)
+#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
+p.setRealTimeSimulation(useRealTimeSim) # either this
+#p.loadURDF("plane.urdf")
+p.loadSDF("stadium.sdf")
+
+car = p.loadURDF("racecar/racecar_differential.urdf")#, [0,0,2],useFixedBase=True)
+for i in range (p.getNumJoints(car)):
+	print (p.getJointInfo(car,i))
+for wheel in range(p.getNumJoints(car)):
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
+		p.getJointInfo(car,wheel)	
+
+wheels = [8,15]
+print("----------------")
+
+#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
+
+c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=1, maxForce=10000)
+
+c = p.createConstraint(car,10,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,9,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=1, maxForce=10000)
+
+c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+
+
+steering = [0,2]
+
+targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-50,50,0)
+maxForceSlider = p.addUserDebugParameter("maxForce",0,50,20)
+steeringSlider = p.addUserDebugParameter("steering",-1,1,0)
+while (True):
+	maxForce = p.readUserDebugParameter(maxForceSlider)
+	targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
+	steeringAngle = p.readUserDebugParameter(steeringSlider)
+	#print(targetVelocity)
+	
+	for wheel in wheels:
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
+		
+	for steer in steering:
+		p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=-steeringAngle)
+		
+	steering
+	if (useRealTimeSim==0):
+		p.stepSimulation()
+	time.sleep(0.01)
diff --git a/examples/pybullet/gym/envs/bullet/kuka.py b/examples/pybullet/gym/envs/bullet/kuka.py
index da6b53444..a8dc4b7d3 100644
--- a/examples/pybullet/gym/envs/bullet/kuka.py
+++ b/examples/pybullet/gym/envs/bullet/kuka.py
@@ -72,9 +72,10 @@ class Kuka:
     state = p.getLinkState(self.kukaUid,self.kukaEndEffectorIndex)
     pos = state[0]
     orn = state[1]
+    euler = p.getEulerFromQuaternion(orn)
         
     observation.extend(list(pos))
-    observation.extend(list(orn))
+    observation.extend(list(euler))
     
     return observation
 
diff --git a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
index c76d69044..b0a3da4d9 100644
--- a/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/kukaGymEnv.py
@@ -31,6 +31,7 @@ class KukaGymEnv(gym.Env):
     self._p = p
     if self._renders:
       p.connect(p.GUI)
+      p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
     else:
       p.connect(p.DIRECT)
     #timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
@@ -52,8 +53,7 @@ class KukaGymEnv(gym.Env):
     p.setPhysicsEngineParameter(numSolverIterations=150)
     p.setTimeStep(self._timeStep)
     p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
-    if self._renders:
-      p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
+    
     p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
     
     xpos = 0.5 +0.05*random.random()
@@ -78,14 +78,21 @@ class KukaGymEnv(gym.Env):
 
   def getExtendedObservation(self):
      self._observation = self._kuka.getObservation()
-     pos,orn = p.getBasePositionAndOrientation(self.blockUid)
-     self._observation.extend(list(pos))
-     self._observation.extend(list(orn))
-      
+     eeState  = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
+     endEffectorPos = eeState[0]
+     endEffectorOrn = eeState[1]
+     blockPos,blockOrn = p.getBasePositionAndOrientation(self.blockUid)
+
+     invEEPos,invEEOrn = p.invertTransform(endEffectorPos,endEffectorOrn)
+     blockPosInEE,blockOrnInEE = p.multiplyTransforms(invEEPos,invEEOrn,blockPos,blockOrn)
+     blockEulerInEE = p.getEulerFromQuaternion(blockOrnInEE)
+     self._observation.extend(list(blockPosInEE))
+     self._observation.extend(list(blockEulerInEE))
+
      return self._observation
   
   def _step(self, action):
-    dv = 0.002
+    dv = 0.01
     dx = [0,-dv,dv,0,0,0,0][action]
     dy = [0,0,0,-dv,dv,0,0][action]
     da = [0,0,0,0,0,-0.1,0.1][action]

From 9213f944f19080908acb3e1ac3609acebbd68ce1 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 21 Jun 2017 09:33:46 -0700
Subject: [PATCH 129/175] add kukaCamGymEnv.py with camera observations
 (preliminary) show camera position in example browser disable per-vertex and
 per-fragment profile timings

---
 .../ExampleBrowser/OpenGLExampleBrowser.cpp   |   4 +-
 examples/TinyRenderer/TinyRenderer.cpp        |  11 +-
 examples/pybullet/gym/envs/__init__.py        |   7 +
 examples/pybullet/gym/envs/bullet/__init__.py |   1 +
 .../pybullet/gym/envs/bullet/kukaCamGymEnv.py | 191 ++++++++++++++++++
 .../pybullet/gym/train_kuka_cam_grasping.py   |  44 ++++
 .../pybullet/gym/train_pybullet_cartpole.py   |  33 +++
 7 files changed, 286 insertions(+), 5 deletions(-)
 create mode 100644 examples/pybullet/gym/envs/bullet/kukaCamGymEnv.py
 create mode 100644 examples/pybullet/gym/train_kuka_cam_grasping.py
 create mode 100644 examples/pybullet/gym/train_pybullet_cartpole.py

diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index b4e7ea3d6..7459729af 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -1296,8 +1296,10 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
 				float yaw = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraYaw();
 				float camTarget[3];
+				float camPos[3];
+				s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPosition(camPos);
 				s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
-				sprintf(msg,"dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
+				sprintf(msg,"camPos=%f,%f,%f, dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camPos[0],camPos[1],camPos[2],camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
 				gui2->setStatusBarMessage(msg, true);	
 			}
 			
diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index 23f9fda10..a2ea07307 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -124,7 +124,7 @@ struct Shader : public IShader {
 		m_projectionLightViewMat = m_projectionMat*m_lightModelView;
     }
     virtual Vec4f vertex(int iface, int nthvert) {
-		B3_PROFILE("vertex");
+		//B3_PROFILE("vertex");
         Vec2f uv = m_model->uv(iface, nthvert);
         varying_uv.set_col(nthvert, uv);
         varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f)));
@@ -142,7 +142,7 @@ struct Shader : public IShader {
     }
     
     virtual bool fragment(Vec3f bar, TGAColor &color) {
-		B3_PROFILE("fragment");
+		//B3_PROFILE("fragment");
         Vec4f p = m_viewportMat*(varying_tri_light_view*bar);
         float depth = p[2];
         p = p/p[3];
@@ -485,6 +485,7 @@ static bool clipTriangleAgainstNearplane(const mat<4,3,float>& triangleIn, b3Ali
 
 void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
 {
+	B3_PROFILE("renderObject");
     int width = renderData.m_rgbColorBuffer.get_width();
     int height = renderData.m_rgbColorBuffer.get_height();
     
@@ -517,10 +518,11 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
         
         Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowBufferPtr, renderData.m_lightAmbientCoeff, renderData.m_lightDiffuseCoeff, renderData.m_lightSpecularCoeff);
        
-		
+		{
+		B3_PROFILE("face");
+
         for (int i=0; i<model->nfaces(); i++)
         {
-			B3_PROFILE("face");
             for (int j=0; j<3; j++) {
                 shader.vertex(i, j);
             }
@@ -552,6 +554,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
 				triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
 			}
         }
+		}
     }
     
 }
diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py
index d8b096113..ae0c1c81f 100644
--- a/examples/pybullet/gym/envs/__init__.py
+++ b/examples/pybullet/gym/envs/__init__.py
@@ -42,4 +42,11 @@ register(
     entry_point='envs.bullet:KukaGymEnv',
     timestep_limit=1000,
     reward_threshold=5.0,
+)
+
+register(
+    id='KukaCamBulletEnv-v0',
+    entry_point='envs.bullet:KukaCamGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
 )
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/bullet/__init__.py b/examples/pybullet/gym/envs/bullet/__init__.py
index 708ae4e53..f86a691b1 100644
--- a/examples/pybullet/gym/envs/bullet/__init__.py
+++ b/examples/pybullet/gym/envs/bullet/__init__.py
@@ -4,3 +4,4 @@ from envs.bullet.racecarGymEnv import RacecarGymEnv
 from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
 from envs.bullet.humanoidGymEnv import HumanoidGymEnv
 from envs.bullet.kukaGymEnv import KukaGymEnv
+from envs.bullet.kukaCamGymEnv import KukaCamGymEnv
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/bullet/kukaCamGymEnv.py b/examples/pybullet/gym/envs/bullet/kukaCamGymEnv.py
new file mode 100644
index 000000000..2af6774cd
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/kukaCamGymEnv.py
@@ -0,0 +1,191 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+from . import kuka
+import random
+
+class KukaCamGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=1,
+               isEnableSelfCollision=True,
+               renders=True):
+    print("init")
+    self._timeStep = 1./240.
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._isEnableSelfCollision = isEnableSelfCollision
+    self._observation = []
+    self._envStepCounter = 0
+    self._renders = renders
+    self._width = 341
+    self._height = 256
+    self.terminated = 0
+    self._p = p
+    if self._renders:
+      p.connect(p.GUI)
+      p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
+    else:
+      p.connect(p.DIRECT)
+    #timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
+    self._seed()
+    self.reset()
+    observationDim = len(self.getExtendedObservation())
+    #print("observationDim")
+    #print(observationDim)
+    
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)    
+    self.action_space = spaces.Discrete(7)
+    self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
+    self.viewer = None
+
+  def _reset(self):
+    print("reset")
+    self.terminated = 0
+    p.resetSimulation()
+    p.setPhysicsEngineParameter(numSolverIterations=150)
+    p.setTimeStep(self._timeStep)
+    p.loadURDF("%splane.urdf" % self._urdfRoot,[0,0,-1])
+    
+    p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
+    
+    xpos = 0.5 +0.05*random.random()
+    ypos = 0 +0.05*random.random()
+    ang = 3.1415925438*random.random()
+    orn = p.getQuaternionFromEuler([0,0,ang])
+    self.blockUid =p.loadURDF("block.urdf", xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
+            
+    p.setGravity(0,0,-10)
+    self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._envStepCounter = 0
+    p.stepSimulation()
+    self._observation = self.getExtendedObservation()
+    return np.array(self._observation)
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def getExtendedObservation(self):
+     
+     #camEyePos = [0.03,0.236,0.54]
+     #distance = 1.06
+     #pitch=-56
+     #yaw = 258
+     #roll=0
+     #upAxisIndex = 2
+     #camInfo = p.getDebugVisualizerCamera()
+     #print("width,height")
+     #print(camInfo[0])
+     #print(camInfo[1])
+     #print("viewMatrix")
+     #print(camInfo[2])
+     #print("projectionMatrix")
+     #print(camInfo[3])
+     #viewMat = camInfo[2]
+     #viewMat = p.computeViewMatrixFromYawPitchRoll(camEyePos,distance,yaw, pitch,roll,upAxisIndex)
+     viewMat = [-0.5120397806167603, 0.7171027660369873, -0.47284144163131714, 0.0, -0.8589617609977722, -0.42747554183006287, 0.28186774253845215, 0.0, 0.0, 0.5504802465438843, 0.8348482847213745, 0.0, 0.1925382763147354, -0.24935829639434814, -0.4401884973049164, 1.0]
+     #projMatrix = camInfo[3]#[0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
+     projMatrix = [0.75, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
+     
+     img_arr = p.getCameraImage(width=self._width,height=self._height,viewMatrix=viewMat,projectionMatrix=projMatrix)
+     rgb=img_arr[2]
+     np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
+     self._observation = np_img_arr
+     return self._observation
+  
+  def _step(self, action):
+    dv = 0.01
+    dx = [0,-dv,dv,0,0,0,0][action]
+    dy = [0,0,0,-dv,dv,0,0][action]
+    da = [0,0,0,0,0,-0.1,0.1][action]
+    f = 0.3
+    realAction = [dx,dy,-0.002,da,f]
+    return self.step2( realAction)
+     
+  def step2(self, action):
+    self._kuka.applyAction(action)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._renders:
+        time.sleep(self._timeStep)
+      self._observation = self.getExtendedObservation()
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    #print("self._envStepCounter")
+    #print(self._envStepCounter)
+    
+    done = self._termination()
+    reward = self._reward()
+    #print("len=%r" % len(self._observation))
+    
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def _termination(self):
+    #print (self._kuka.endEffectorPos[2])
+    state = p.getLinkState(self._kuka.kukaUid,self._kuka.kukaEndEffectorIndex)
+    actualEndEffectorPos = state[0]
+      
+    #print("self._envStepCounter")
+    #print(self._envStepCounter)
+    if (self.terminated or self._envStepCounter>1000):
+      self._observation = self.getExtendedObservation()
+      return True
+    
+    if (actualEndEffectorPos[2] <= 0.10):
+      self.terminated = 1
+      
+      #print("closing gripper, attempting grasp")
+      #start grasp and terminate
+      fingerAngle = 0.3
+      
+      for i in range (1000):
+        graspAction = [0,0,0.001,0,fingerAngle]
+        self._kuka.applyAction(graspAction)
+        p.stepSimulation()
+        fingerAngle = fingerAngle-(0.3/100.)
+        if (fingerAngle<0):
+          fingerAngle=0
+        
+      self._observation = self.getExtendedObservation()
+      return True
+    return False
+    
+  def _reward(self):
+    
+    #rewards is height of target object
+    blockPos,blockOrn=p.getBasePositionAndOrientation(self.blockUid)
+    closestPoints = p.getClosestPoints(self.blockUid,self._kuka.kukaUid,1000) 
+
+    reward = -1000    
+    numPt = len(closestPoints)
+    #print(numPt)
+    if (numPt>0):
+      #print("reward:")
+      reward = -closestPoints[0][8]*10
+
+    if (blockPos[2] >0.2):
+      print("grasped a block!!!")
+      print("self._envStepCounter")
+      print(self._envStepCounter)
+      reward = reward+1000
+
+    #print("reward")
+    #print(reward)
+    return reward
diff --git a/examples/pybullet/gym/train_kuka_cam_grasping.py b/examples/pybullet/gym/train_kuka_cam_grasping.py
new file mode 100644
index 000000000..93d4a2b78
--- /dev/null
+++ b/examples/pybullet/gym/train_kuka_cam_grasping.py
@@ -0,0 +1,44 @@
+import gym
+from envs.bullet.kukaCamGymEnv import KukaCamGymEnv
+
+from baselines import deepq
+
+import datetime
+
+
+
+def callback(lcl, glb):
+    # stop training if reward exceeds 199
+    total = sum(lcl['episode_rewards'][-101:-1]) / 100
+    totalt = lcl['t']
+    #print("totalt")
+    #print(totalt)
+    is_solved = totalt > 2000 and total >= 10
+    return is_solved
+
+
+def main():
+  	
+    env = KukaCamGymEnv(renders=True)
+    model = deepq.models.cnn_to_mlp(
+        convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)],
+        hiddens=[256],
+        dueling=False
+    )
+    act = deepq.learn(
+        env,
+        q_func=model,
+        lr=1e-3,
+        max_timesteps=10000000,
+        buffer_size=50000,
+        exploration_fraction=0.1,
+        exploration_final_eps=0.02,
+        print_freq=10,
+        callback=callback
+    )
+    print("Saving model to kuka_cam_model.pkl")
+    act.save("kuka_cam_model.pkl")
+
+
+if __name__ == '__main__':
+    main()
diff --git a/examples/pybullet/gym/train_pybullet_cartpole.py b/examples/pybullet/gym/train_pybullet_cartpole.py
new file mode 100644
index 000000000..353fa4a86
--- /dev/null
+++ b/examples/pybullet/gym/train_pybullet_cartpole.py
@@ -0,0 +1,33 @@
+import gym
+from envs.bullet.cartpole_bullet import CartPoleBulletEnv
+
+from baselines import deepq
+
+
+def callback(lcl, glb):
+    # stop training if reward exceeds 199
+    is_solved = lcl['t'] > 100 and sum(lcl['episode_rewards'][-101:-1]) / 100 >= 199
+    return is_solved
+
+
+def main():
+	
+    env = gym.make('CartPoleBulletEnv-v0')
+    model = deepq.models.mlp([64])
+    act = deepq.learn(
+        env,
+        q_func=model,
+        lr=1e-3,
+        max_timesteps=100000,
+        buffer_size=50000,
+        exploration_fraction=0.1,
+        exploration_final_eps=0.02,
+        print_freq=10,
+        callback=callback
+    )
+    print("Saving model to cartpole_model.pkl")
+    act.save("cartpole_model.pkl")
+
+
+if __name__ == '__main__':
+    main()

From 97f6a161f11c91b3c45ddb2120cb07db28e7e4a1 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 22 Jun 2017 08:09:33 -0700
Subject: [PATCH 130/175] fix stb_image.h include path to be consistent.

---
 examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp | 2 +-
 examples/SharedMemory/TinyRendererVisualShapeConverter.cpp   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
index 7912b3c49..349e5eca4 100644
--- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
@@ -6,7 +6,7 @@
 #include "../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h"
 #include "../../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3FileUtils.h"
-#include "../../ThirdPartyLibs/stb_image/stb_image.h"
+#include "stb_image/stb_image.h"
 #include "../ImportObjDemo/LoadMeshFromObj.h"
 bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
 {
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index c8b1b2221..f18becf58 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -34,7 +34,7 @@ subject to the following restrictions:
 #include "../Importers/ImportURDFDemo/UrdfParser.h"
 #include "../SharedMemory/SharedMemoryPublic.h"//for b3VisualShapeData
 #include "../TinyRenderer/model.h"
-#include "../ThirdPartyLibs/stb_image/stb_image.h"
+#include "stb_image/stb_image.h"
 
 struct MyTexture2
 {

From 9e5e0da9f4a2c47448d8396eac078f98a5afd70d Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 22 Jun 2017 08:48:18 -0700
Subject: [PATCH 131/175] move stb_image/stb_truetype.h and
 stb_image/stb_image_write.h to ThirdPartyLibs/stb_image folder

---
 examples/OpenGLWindow/CMakeLists.txt                            | 1 +
 examples/OpenGLWindow/GLInstancingRenderer.cpp                  | 2 +-
 examples/OpenGLWindow/SimpleOpenGL3App.cpp                      | 2 +-
 examples/OpenGLWindow/fontstash.cpp                             | 2 +-
 examples/OpenGLWindow/opengl_fontstashcallbacks.cpp             | 2 +-
 examples/OpenGLWindow/premake4.lua                              | 2 +-
 .../stb_image}/stb_image_write.h                                | 0
 .../{OpenGLWindow => ThirdPartyLibs/stb_image}/stb_truetype.h   | 0
 8 files changed, 6 insertions(+), 5 deletions(-)
 rename examples/{OpenGLWindow => ThirdPartyLibs/stb_image}/stb_image_write.h (100%)
 rename examples/{OpenGLWindow => ThirdPartyLibs/stb_image}/stb_truetype.h (100%)

diff --git a/examples/OpenGLWindow/CMakeLists.txt b/examples/OpenGLWindow/CMakeLists.txt
index 55b53b053..5d1f37d9b 100644
--- a/examples/OpenGLWindow/CMakeLists.txt
+++ b/examples/OpenGLWindow/CMakeLists.txt
@@ -1,6 +1,7 @@
 
 INCLUDE_DIRECTORIES(
 	..
+	../ThirdPartyLibs
 	../../src
 )
 
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index b73b9c823..c7fffa36b 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -1406,7 +1406,7 @@ void GLInstancingRenderer::updateCamera(int upAxis)
 
 
 //#define STB_IMAGE_WRITE_IMPLEMENTATION
-#include "stb_image_write.h"
+#include "stb_image/stb_image_write.h"
 void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName, int numComponents)
 {
 
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index e4475f535..c37e10db6 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -919,7 +919,7 @@ void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSize
 }
 
 //#define STB_IMAGE_WRITE_IMPLEMENTATION
-#include "stb_image_write.h"
+#include "stb_image/stb_image_write.h"
 static void writeTextureToFile(int textureWidth, int textureHeight, const char* fileName, FILE* ffmpegVideo)
 {
 	int numComponents = 4;
diff --git a/examples/OpenGLWindow/fontstash.cpp b/examples/OpenGLWindow/fontstash.cpp
index 3cd6df848..518b320e0 100644
--- a/examples/OpenGLWindow/fontstash.cpp
+++ b/examples/OpenGLWindow/fontstash.cpp
@@ -37,7 +37,7 @@
 #define STB_TRUETYPE_IMPLEMENTATION
 #define STBTT_malloc(x,u)    malloc(x)
 #define STBTT_free(x,u)      free(x)
-#include "stb_truetype.h"
+#include "stb_image/stb_truetype.h"
 
 #define HASH_LUT_SIZE 256
 
diff --git a/examples/OpenGLWindow/opengl_fontstashcallbacks.cpp b/examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
index 90e4bebca..ba67c064d 100644
--- a/examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
+++ b/examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
@@ -10,7 +10,7 @@
 #include <stdlib.h>
 #include <string.h>
 #define STB_IMAGE_WRITE_IMPLEMENTATION
-#include "stb_image_write.h"
+#include "stb_image/stb_image_write.h"
 
 
 static unsigned int s_indexData[INDEX_COUNT];
diff --git a/examples/OpenGLWindow/premake4.lua b/examples/OpenGLWindow/premake4.lua
index 6328c418b..17dfdda09 100644
--- a/examples/OpenGLWindow/premake4.lua
+++ b/examples/OpenGLWindow/premake4.lua
@@ -9,7 +9,7 @@
 		initGlew()
 
 		includedirs {
-		 	
+		 	"../ThirdPartyLibs",
 		 	"../../src",
 		}
 		
diff --git a/examples/OpenGLWindow/stb_image_write.h b/examples/ThirdPartyLibs/stb_image/stb_image_write.h
similarity index 100%
rename from examples/OpenGLWindow/stb_image_write.h
rename to examples/ThirdPartyLibs/stb_image/stb_image_write.h
diff --git a/examples/OpenGLWindow/stb_truetype.h b/examples/ThirdPartyLibs/stb_image/stb_truetype.h
similarity index 100%
rename from examples/OpenGLWindow/stb_truetype.h
rename to examples/ThirdPartyLibs/stb_image/stb_truetype.h

From fbff4c57ca0ab74f04aa710035350207c940d33a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 22 Jun 2017 09:03:10 -0700
Subject: [PATCH 132/175] update include after stb_image changes

---
 test/InverseDynamics/CMakeLists.txt | 1 +
 test/InverseDynamics/premake4.lua   | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/test/InverseDynamics/CMakeLists.txt b/test/InverseDynamics/CMakeLists.txt
index 217655b09..eb9ccae4a 100644
--- a/test/InverseDynamics/CMakeLists.txt
+++ b/test/InverseDynamics/CMakeLists.txt
@@ -37,6 +37,7 @@ INCLUDE_DIRECTORIES(
         ../../src
         ../gtest-1.7.0/include
         ../../Extras/InverseDynamics
+        ../../examples/ThirdPartyLibs
 )
 
 
diff --git a/test/InverseDynamics/premake4.lua b/test/InverseDynamics/premake4.lua
index 1892a0206..b87ecc573 100644
--- a/test/InverseDynamics/premake4.lua
+++ b/test/InverseDynamics/premake4.lua
@@ -85,8 +85,8 @@
                 "../../examples/InverseDynamics",
                 "../../examples/ThirdPartyLibs",
                 "../../Extras/InverseDynamics",
-                "../gtest-1.7.0/include"
-
+                "../gtest-1.7.0/include",
+                "../../examples/ThirdPartyLibs",
         }
 
 

From a136098120de812830fe46de615c348f8505f8ed Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 22 Jun 2017 16:49:14 -0700
Subject: [PATCH 133/175] add a few more discrete actions to cartpole_bullet.py
 so it trains faster + add option to train without rendering, enjoy with
 rendering.

---
 .../pybullet/gym/envs/bullet/cartpole_bullet.py  | 16 ++++++++++------
 examples/pybullet/gym/train_pybullet_cartpole.py |  2 +-
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/examples/pybullet/gym/envs/bullet/cartpole_bullet.py b/examples/pybullet/gym/envs/bullet/cartpole_bullet.py
index f117e8f71..3e7f29daf 100644
--- a/examples/pybullet/gym/envs/bullet/cartpole_bullet.py
+++ b/examples/pybullet/gym/envs/bullet/cartpole_bullet.py
@@ -22,10 +22,14 @@ class CartPoleBulletEnv(gym.Env):
     'video.frames_per_second' : 50
   }
 
-  def __init__(self):
+  def __init__(self, renders=True):
     # start the bullet physics server
-    p.connect(p.GUI)
-    #p.connect(p.DIRECT)
+    self._renders = renders
+    if (renders):
+	    p.connect(p.GUI)
+    else:
+    	p.connect(p.DIRECT)
+
     observation_high = np.array([
           np.finfo(np.float32).max,
           np.finfo(np.float32).max,
@@ -33,7 +37,7 @@ class CartPoleBulletEnv(gym.Env):
           np.finfo(np.float32).max])
     action_high = np.array([0.1])
 
-    self.action_space = spaces.Discrete(5)
+    self.action_space = spaces.Discrete(9)
     self.observation_space = spaces.Box(-observation_high, observation_high)
 
     self.theta_threshold_radians = 1
@@ -56,8 +60,8 @@ class CartPoleBulletEnv(gym.Env):
     self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
     theta, theta_dot, x, x_dot = self.state
     
-    dv = 0.4
-    deltav = [-2.*dv, -dv, 0, dv, 2.*dv][action]
+    dv = 0.1
+    deltav = [-10.*dv,-5.*dv, -2.*dv, -0.1*dv, 0, 0.1*dv, 2.*dv,5.*dv, 10.*dv][action]
     
     p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))
 
diff --git a/examples/pybullet/gym/train_pybullet_cartpole.py b/examples/pybullet/gym/train_pybullet_cartpole.py
index 353fa4a86..4b7f4839e 100644
--- a/examples/pybullet/gym/train_pybullet_cartpole.py
+++ b/examples/pybullet/gym/train_pybullet_cartpole.py
@@ -12,7 +12,7 @@ def callback(lcl, glb):
 
 def main():
 	
-    env = gym.make('CartPoleBulletEnv-v0')
+    env = CartPoleBulletEnv(renders=False)
     model = deepq.models.mlp([64])
     act = deepq.learn(
         env,

From 2ab56b4d62261bfc6a10e476f0a4c77c8f5b6d72 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 23 Jun 2017 14:43:28 -0700
Subject: [PATCH 134/175] Allow to create concave collision meshes. Note that
 this is only supported for static (mass 0) multibodies.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  |   8 ++
 .../PhysicsServerCommandProcessor.cpp         | 128 ++++++++++++------
 .../pybullet/examples/createMultiBodyLinks.py |   3 +
 .../examples/createSphereMultiBodies.py       |   8 +-
 examples/pybullet/pybullet.c                  |   4 +-
 5 files changed, 111 insertions(+), 40 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index de1e2e2d9..1bd6504d6 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -716,6 +716,7 @@ b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHan
 		b3Assert(command);
 		command->m_type = CMD_CREATE_COLLISION_SHAPE;
 		command->m_updateFlags =0;
+		command->m_createCollisionShapeArgs = {0};
 		command->m_createCollisionShapeArgs.m_numCollisionShapes = 0;
 		return (b3SharedMemoryCommandHandle) command;
 	}
@@ -733,6 +734,7 @@ int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,do
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_SPHERE;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_sphereRadius = radius;
 			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
@@ -753,6 +755,7 @@ int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,doubl
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_BOX;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[0] = halfExtents[0];
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[1] = halfExtents[1];
@@ -775,6 +778,7 @@ int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,d
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CAPSULE;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
@@ -796,6 +800,7 @@ int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CYLINDER;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
@@ -818,6 +823,7 @@ int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, do
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_PLANE;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[0] = planeNormal[0];
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[1] = planeNormal[1];
@@ -841,6 +847,7 @@ int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,cons
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES && strlen(fileName)<VISUAL_SHAPE_MAX_PATH_LEN)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			strcpy(command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshFileName,fileName);
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
@@ -856,6 +863,7 @@ int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,cons
 
 void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags)
 {
+	
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
     b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index cbddd1ddc..04610f6cd 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -14,7 +14,7 @@
 #include "../Importers/ImportURDFDemo/UrdfParser.h"
 #include "../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3FileUtils.h"
-
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
 #include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -3704,50 +3704,102 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									if (out_type==UrdfGeometry::FILE_OBJ)
 									{
-										std::vector<tinyobj::shape_t> shapes;
-										std::string err = tinyobj::LoadObj(shapes,out_found_filename.c_str());
 										//create a convex hull for each shape, and store it in a btCompoundShape
 
-										//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
-										//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
-										B3_PROFILE("createConvexHullFromShapes");
-										if (compound==0)
+										if (clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_collisionFlags&GEOM_FORCE_CONCAVE_TRIMESH)
 										{
-											compound = worldImporter->createCompoundShape();
-										}
-										compound->setMargin(defaultCollisionMargin);
-
-										for (int s = 0; s<(int)shapes.size(); s++)
-										{
-											btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
-											convexHull->setMargin(defaultCollisionMargin);
-											tinyobj::shape_t& shape = shapes[s];
-											int faceCount = shape.mesh.indices.size();
-
-											for (int f = 0; f<faceCount; f += 3)
+											GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, pathPrefix);
+											
+											if (!glmesh || glmesh->m_numvertices<=0)
 											{
+												b3Warning("%s: cannot extract mesh from '%s'\n", pathPrefix, relativeFileName);
+												delete glmesh;
+												break;
+											}
+											btAlignedObjectArray<btVector3> convertedVerts;
+											convertedVerts.reserve(glmesh->m_numvertices);
+											btVector3 meshScale(clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[0],
+												clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[1],
+												clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[2]);
 
-												btVector3 pt;
-												pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
-													shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
-													shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
-			
-												convexHull->addPoint(pt*meshScale,false);
-
-												pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
-															shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
-															shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
-												convexHull->addPoint(pt*meshScale, false);
-
-												pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
-															shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
-															shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
-												convexHull->addPoint(pt*meshScale, false);
+											for (int i=0; i<glmesh->m_numvertices; i++)
+											{
+												convertedVerts.push_back(btVector3(
+													glmesh->m_vertices->at(i).xyzw[0]*meshScale[0],
+													glmesh->m_vertices->at(i).xyzw[1]*meshScale[1],
+													glmesh->m_vertices->at(i).xyzw[2]*meshScale[2]));
 											}
 
-											convexHull->recalcLocalAabb();
-											convexHull->optimizeConvexHull();
-											compound->addChildShape(childTransform,convexHull);
+											BT_PROFILE("convert trimesh");
+											btTriangleMesh* meshInterface = new btTriangleMesh();
+											{
+												BT_PROFILE("convert vertices");
+
+												for (int i=0; i<glmesh->m_numIndices/3; i++)
+												{
+													const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
+													const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
+													const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
+													meshInterface->addTriangle(v0,v1,v2);
+												}
+											}
+											{
+												BT_PROFILE("create btBvhTriangleMeshShape");
+												btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
+												//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
+												shape = trimesh;
+												if (compound)
+												{
+													compound->addChildShape(childTransform,shape);
+												}
+											}
+										} else
+										{
+
+											std::vector<tinyobj::shape_t> shapes;
+											std::string err = tinyobj::LoadObj(shapes,out_found_filename.c_str());
+
+											//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
+											//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
+											B3_PROFILE("createConvexHullFromShapes");
+											if (compound==0)
+											{
+												compound = worldImporter->createCompoundShape();
+											}
+											compound->setMargin(defaultCollisionMargin);
+
+											for (int s = 0; s<(int)shapes.size(); s++)
+											{
+												btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
+												convexHull->setMargin(defaultCollisionMargin);
+												tinyobj::shape_t& shape = shapes[s];
+												int faceCount = shape.mesh.indices.size();
+
+												for (int f = 0; f<faceCount; f += 3)
+												{
+
+													btVector3 pt;
+													pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
+														shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
+														shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
+			
+													convexHull->addPoint(pt*meshScale,false);
+
+													pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
+																shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
+																shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
+													convexHull->addPoint(pt*meshScale, false);
+
+													pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
+																shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
+																shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
+													convexHull->addPoint(pt*meshScale, false);
+												}
+
+												convexHull->recalcLocalAabb();
+												convexHull->optimizeConvexHull();
+												compound->addChildShape(childTransform,convexHull);
+											}
 										}
 									}
 								}
diff --git a/examples/pybullet/examples/createMultiBodyLinks.py b/examples/pybullet/examples/createMultiBodyLinks.py
index 9c776cab6..bdb7f6739 100644
--- a/examples/pybullet/examples/createMultiBodyLinks.py
+++ b/examples/pybullet/examples/createMultiBodyLinks.py
@@ -49,5 +49,8 @@ for i in range (p.getNumJoints(sphereUid)):
 	p.getJointInfo(sphereUid,i)
 	
 while (1):
+	keys = p.getKeyboardEvents()
+	print(keys)
+
 	time.sleep(0.01)
 	
\ No newline at end of file
diff --git a/examples/pybullet/examples/createSphereMultiBodies.py b/examples/pybullet/examples/createSphereMultiBodies.py
index fb24febb1..f2b0fb59e 100644
--- a/examples/pybullet/examples/createSphereMultiBodies.py
+++ b/examples/pybullet/examples/createSphereMultiBodies.py
@@ -4,7 +4,11 @@ import time
 useMaximalCoordinates = 0
 
 p.connect(p.GUI)
-p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
+#p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
+monastryId = concaveEnv =p.createCollisionShape(p.GEOM_MESH,fileName="samurai_monastry.obj",flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
+orn = p.getQuaternionFromEuler([1.5707963,0,0])
+p.createMultiBody (0,monastryId, baseOrientation=orn)
+
 sphereRadius = 0.05
 colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
 colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
@@ -28,5 +32,7 @@ p.setGravity(0,0,-10)
 p.setRealTimeSimulation(1)
 
 while (1):
+	keys = p.getKeyboardEvents()
+	#print(keys)
 	time.sleep(0.01)
 	
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index e7b83649c..c690d128a 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5008,7 +5008,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
 			pybullet_internalSetVectord(planeNormalObj,planeNormal);
 			shapeIndex = b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant);
 		}
-		if (shapeIndex && flags)
+		if (shapeIndex>=0 && flags)
 		{
 			b3CreateCollisionSetFlag(commandHandle,shapeIndex,flags);
 		}
@@ -7275,6 +7275,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "GEOM_PLANE", GEOM_PLANE);
 	PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);
 
+	PyModule_AddIntConstant(m, "GEOM_FORCE_CONCAVE_TRIMESH", GEOM_FORCE_CONCAVE_TRIMESH);
+
 
 
 	SpamError = PyErr_NewException("pybullet.error", NULL, NULL);

From 9aed6b08f11329bef821ec6e90764701a2d43b85 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 23 Jun 2017 16:18:42 -0700
Subject: [PATCH 135/175] don't set the numSolverIterations that high, was a
 debug left-over

---
 examples/pybullet/examples/racecar_differential.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/examples/pybullet/examples/racecar_differential.py b/examples/pybullet/examples/racecar_differential.py
index 251ce0141..215f7667a 100644
--- a/examples/pybullet/examples/racecar_differential.py
+++ b/examples/pybullet/examples/racecar_differential.py
@@ -7,7 +7,6 @@ if (cid<0):
 	
 p.resetSimulation()
 p.setGravity(0,0,-10)
-p.setPhysicsEngineParameter(numSolverIterations=1000)
 useRealTimeSim = 1
 
 #for video recording (works best on Mac and Linux, not well on Windows)

From 8e9f5ef3f3d90eddfcd5ad5886f792c6f8117a88 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 23 Jun 2017 16:22:38 -0700
Subject: [PATCH 136/175] fix compile issue

---
 examples/SharedMemory/PhysicsClientC_API.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 1bd6504d6..8f743f08d 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -716,7 +716,6 @@ b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHan
 		b3Assert(command);
 		command->m_type = CMD_CREATE_COLLISION_SHAPE;
 		command->m_updateFlags =0;
-		command->m_createCollisionShapeArgs = {0};
 		command->m_createCollisionShapeArgs.m_numCollisionShapes = 0;
 		return (b3SharedMemoryCommandHandle) command;
 	}

From 65e22ba3e978276fd8b90e19d4ae681193547af4 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 23 Jun 2017 20:24:04 -0700
Subject: [PATCH 137/175] allow auxilary link to be used for gear
 btMultiBodyGearConstraint.

---
 data/racecar/racecar_differential.urdf        | 30 +++++++++----------
 examples/SharedMemory/PhysicsClientC_API.cpp  | 14 +++++++++
 examples/SharedMemory/PhysicsClientC_API.h    |  2 +-
 .../PhysicsServerCommandProcessor.cpp         |  4 +++
 examples/SharedMemory/SharedMemoryCommands.h  |  2 ++
 examples/SharedMemory/SharedMemoryPublic.h    |  1 +
 .../pybullet/examples/racecar_differential.py | 16 ++++++----
 examples/pybullet/pybullet.c                  |  9 ++++--
 .../Featherstone/btMultiBodyConstraint.h      |  3 ++
 .../btMultiBodyGearConstraint.cpp             | 14 +++++++--
 .../Featherstone/btMultiBodyGearConstraint.h  |  7 ++++-
 11 files changed, 74 insertions(+), 28 deletions(-)

diff --git a/data/racecar/racecar_differential.urdf b/data/racecar/racecar_differential.urdf
index 8f5f37519..c4f6ee42e 100644
--- a/data/racecar/racecar_differential.urdf
+++ b/data/racecar/racecar_differential.urdf
@@ -20,12 +20,12 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/chassis_differential.STL"/>
+        <mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
       </geometry>
       <material name="blue"/>
     </collision>
     <inertial>
-      <origin rpy="0 0 0" xyz="0.1477 0 0"/>
+      <origin rpy="0 0 0" xyz="0.2 0 0."/>
       <mass value="4.0"/>
       <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
     </inertial>
@@ -33,14 +33,14 @@
   <!-- Add the left rear wheel with its joints and tranmissions -->
   <link name="left_rear_wheel">
     <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value=".5"/>
       <rolling_friction value="0.0"/>
       <stiffness value="30000"/>
       <damping value="1000"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
-      <mass value="0.034055"/>
+      <mass value="0.34055"/>
       <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
     </inertial>
     <visual>
@@ -66,14 +66,14 @@
   <!-- Add the right rear wheel with its joints and tranmissions -->
   <link name="right_rear_wheel">
 <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value=".5"/>
       <rolling_friction value="0.0"/>
       <stiffness value="30000"/>
       <damping value="1000"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
-      <mass value="0.034055"/>
+      <mass value="0.34055"/>
       <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
     </inertial>
     <visual>
@@ -163,14 +163,14 @@
   <!-- Add the left front wheel with its joints and tranmissions -->
   <link name="left_front_wheel">
 <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value=".8"/>
       <rolling_friction value="0.0"/>
       <stiffness value="30000"/>
       <damping value="1000"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
-      <mass value="0.034055"/>
+      <mass value="0.34055"/>
       <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
     </inertial>
     <visual>
@@ -207,14 +207,14 @@
   <!-- Add the left front wheel with its joints and tranmissions -->
   <link name="right_front_wheel">
 <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value="0.8"/>
       <rolling_friction value="0.0"/>
       <stiffness value="30000"/>
       <damping value="1000"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
-      <mass value="0.034055"/>
+      <mass value="0.34055"/>
       <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
     </inertial>
     <visual>
@@ -533,7 +533,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.5637"/>
+      <mass value="0.0637"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>
@@ -573,7 +573,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.556"/>
+      <mass value="0.056"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>
@@ -612,7 +612,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.556"/>
+      <mass value="0.056"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>
@@ -650,7 +650,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.556"/>
+      <mass value="0.056"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>
@@ -686,7 +686,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.556"/>
+      <mass value="0.056"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 8f743f08d..cb3e69de4 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1949,6 +1949,20 @@ int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHa
 	return 0;
 }
 
+int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_USER_CONSTRAINT);
+	b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
+	
+	command->m_updateFlags |=USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK;
+	command->m_userConstraintArguments.m_gearAuxLink = gearAuxLink;
+
+	return 0;
+}
+
+
 b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
 {
 	 PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index efa45d495..da7bdac42 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -107,7 +107,7 @@ int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHan
 int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
 int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
 int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
-
+int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink);
 
 b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 04610f6cd..1c07479cc 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -6450,6 +6450,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
 								}
+								if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
+								{
+									userConstraintPtr->m_mbConstraint->setGearAuxLink(clientCmd.m_userConstraintArguments.m_gearAuxLink);
+								}
 
 							}
 							if (userConstraintPtr->m_rbConstraint)
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 9658d6e6c..103dd5f96 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -645,6 +645,8 @@ enum EnumUserConstraintFlags
 	USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
 	USER_CONSTRAINT_REQUEST_INFO=64,
 	USER_CONSTRAINT_CHANGE_GEAR_RATIO=128,	
+	USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK=256,	
+
 };
 
 enum EnumBodyChangeFlags
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 882db7a24..eaf3de675 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -235,6 +235,7 @@ struct b3UserConstraint
     double m_maxAppliedForce;
     int m_userConstraintUniqueId;
 	double m_gearRatio;
+	int m_gearAuxLink;
 
 };
 
diff --git a/examples/pybullet/examples/racecar_differential.py b/examples/pybullet/examples/racecar_differential.py
index 215f7667a..9abab35df 100644
--- a/examples/pybullet/examples/racecar_differential.py
+++ b/examples/pybullet/examples/racecar_differential.py
@@ -12,10 +12,10 @@ useRealTimeSim = 1
 #for video recording (works best on Mac and Linux, not well on Windows)
 #p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
 p.setRealTimeSimulation(useRealTimeSim) # either this
-#p.loadURDF("plane.urdf")
-p.loadSDF("stadium.sdf")
+p.loadURDF("plane.urdf")
+#p.loadSDF("stadium.sdf")
 
-car = p.loadURDF("racecar/racecar_differential.urdf")#, [0,0,2],useFixedBase=True)
+car = p.loadURDF("racecar/racecar_differential.urdf") #, [0,0,2],useFixedBase=True)
 for i in range (p.getNumJoints(car)):
 	print (p.getJointInfo(car,i))
 for wheel in range(p.getNumJoints(car)):
@@ -26,7 +26,6 @@ wheels = [8,15]
 print("----------------")
 
 #p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
-
 c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
 p.changeConstraint(c,gearRatio=1, maxForce=10000)
 
@@ -39,12 +38,17 @@ p.changeConstraint(c,gearRatio=-1, maxForce=10000)
 c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
 p.changeConstraint(c,gearRatio=1, maxForce=10000)
 
-c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
-p.changeConstraint(c,gearRatio=-1, maxForce=10000)
 
 c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
 p.changeConstraint(c,gearRatio=-1, maxForce=10000)
 
+c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
+c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
 
 
 steering = [0,2]
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index c690d128a..056838df8 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -4804,11 +4804,12 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
 
 static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "physicsClientId", NULL};
+	static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "gearAuxLink", "physicsClientId", NULL};
 	int userConstraintUniqueId = -1;
 	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
+	int gearAuxLink = -1;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	PyObject* jointChildPivotObj = 0;
@@ -4817,7 +4818,7 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	double jointChildFrameOrn[4];
 	double maxForce = -1;
 	double gearRatio = 0;
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddii", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &gearAuxLink, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -4847,6 +4848,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	{
 		b3InitChangeUserConstraintSetGearRatio(commandHandle,gearRatio);
 	}
+	if (gearAuxLink>=0)
+	{
+		b3InitChangeUserConstraintSetGearAuxLink(commandHandle,gearAuxLink);
+	}
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);
 	Py_INCREF(Py_None);
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
index 27e1ccc05..8c28bbf4c 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
@@ -184,6 +184,9 @@ public:
 	virtual void debugDraw(class btIDebugDraw* drawer)=0;
 
 	virtual void setGearRatio(btScalar ratio) {}
+	virtual void setGearAuxLink(int gearAuxLink) {}
+
+	
 };
 
 #endif //BT_MULTIBODY_CONSTRAINT_H
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
index 2e242b1f7..3fdd51815 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
@@ -22,7 +22,8 @@ subject to the following restrictions:
 
 btMultiBodyGearConstraint::btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
 	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,1,false),
-	m_gearRatio(1)
+	m_gearRatio(1),
+	m_gearAuxLink(-1)
 {
    
 }
@@ -121,11 +122,18 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray&
         int dof = 0;
         btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
         btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
-
+		btScalar auxVel = 0;
+		
+		if (m_gearAuxLink>=0)
+		{
+			auxVel = m_bodyA->getJointVelMultiDof(m_gearAuxLink)[dof];
+		}
+		currentVelocity += auxVel;
+			
 		//btScalar positionStabiliationTerm = erp*(m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
         //btScalar velocityError = (m_desiredVelocity - currentVelocity);
 
-        btScalar desiredRelativeVelocity =   0;
+        btScalar desiredRelativeVelocity =   auxVel;
     
 		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,desiredRelativeVelocity);
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
index 947166ae7..711a73e46 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
@@ -31,10 +31,11 @@ protected:
   btMatrix3x3     m_frameInA;
   btMatrix3x3     m_frameInB;
 	btScalar			m_gearRatio;
+	int			m_gearAuxLink;
 	
 public:
 
-	btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
+	//btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
 	btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
 
 	virtual ~btMultiBodyGearConstraint();
@@ -97,6 +98,10 @@ public:
 	{
 		m_gearRatio = gearRatio;
 	}
+	virtual void setGearAuxLink(int gearAuxLink)
+	{
+		m_gearAuxLink = gearAuxLink;
+	}
 
 };
 

From c777e61d482d3f48b9017e1c700419339fc4def9 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Fri, 23 Jun 2017 20:36:19 -0700
Subject: [PATCH 138/175] fix pybullet compilation on some WIN32 version of
 MSVC

---
 examples/pybullet/pybullet.c | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 056838df8..882de968c 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5185,14 +5185,16 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				double linkJointAxis[3];
 				double linkInertialFramePosition[3];
 				double linkInertialFrameOrientation[4];
-				
+				int linkParentIndex;
+				int linkJointType;
+
 				pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions,i,linkInertialFramePosition);
 				pybullet_internalGetVector4FromSequence(linkInertialFrameOrientationObj,i,linkInertialFrameOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkPositions,i,linkPosition);
 				pybullet_internalGetVector4FromSequence(seqLinkOrientations,i,linkOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkJoinAxis,i,linkJointAxis);
-				int linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i);
-				int linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i);
+				linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i);
+				linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i);
 
 				b3CreateMultiBodyLink(commandHandle, 
 									linkMass, 

From a651cb9ab4c2974e4937da44bc149e8e0929ff56 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sat, 24 Jun 2017 13:41:33 -0700
Subject: [PATCH 139/175] Implement first pass of transparent graphics object
 for GLInstancingRenderer remove 'enableBlend' from API, graphics instances
 use alpha component instead fix forward axis for SimpleCamera

---
 .../CommonInterfaces/CommonRenderInterface.h  |  2 +-
 .../InverseKinematicsExample.cpp              |  1 -
 .../MultiThreading/MultiThreadingExample.cpp  |  2 -
 .../OpenGLWindow/GLInstancingRenderer.cpp     | 85 +++++++++++++++--
 examples/OpenGLWindow/GLInstancingRenderer.h  |  7 +-
 examples/OpenGLWindow/SimpleCamera.cpp        | 15 +--
 .../OpenGLWindow/SimpleOpenGL2Renderer.cpp    |  3 -
 examples/OpenGLWindow/SimpleOpenGL2Renderer.h |  3 +-
 .../CoordinateSystemDemo.cpp                  |  1 -
 .../DynamicTexturedCubeDemo.cpp               |  1 -
 .../RenderInstancingDemo.cpp                  |  1 -
 .../RenderingExamples/TinyRendererSetup.cpp   |  2 -
 .../RoboticsLearning/GripperGraspExample.cpp  |  1 -
 .../RoboticsLearning/KukaGraspExample.cpp     |  1 -
 .../RoboticsLearning/R2D2GraspExample.cpp     |  1 -
 examples/Tutorial/Tutorial.cpp                | 12 ++-
 .../examples/vr_racecar_differential.py       | 93 +++++++++++++++++++
 17 files changed, 192 insertions(+), 39 deletions(-)
 create mode 100644 examples/pybullet/examples/vr_racecar_differential.py

diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index a01533358..851db8d5f 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -86,7 +86,7 @@ struct CommonRenderInterface
     virtual int getTotalNumInstances() const = 0;
     
 	virtual void writeTransforms()=0;
-    virtual void enableBlend(bool blend)=0;
+    
 	virtual void clearZBuffer()=0;
 
 	//This is internal access to OpenGL3+ features, mainly used for OpenCL-OpenGL interop
diff --git a/examples/InverseKinematics/InverseKinematicsExample.cpp b/examples/InverseKinematics/InverseKinematicsExample.cpp
index 9f2eae900..b224b8b51 100644
--- a/examples/InverseKinematics/InverseKinematicsExample.cpp
+++ b/examples/InverseKinematics/InverseKinematicsExample.cpp
@@ -198,7 +198,6 @@ public:
     }
     virtual ~InverseKinematicsExample()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     
diff --git a/examples/MultiThreading/MultiThreadingExample.cpp b/examples/MultiThreading/MultiThreadingExample.cpp
index 92dea68c5..d0ad1ba51 100644
--- a/examples/MultiThreading/MultiThreadingExample.cpp
+++ b/examples/MultiThreading/MultiThreadingExample.cpp
@@ -176,14 +176,12 @@ public:
 		//int numBodies = 1;
 		
 		m_app->setUpAxis(1);
-		m_app->m_renderer->enableBlend(true);
 		
     }
     virtual ~MultiThreadingExample()
     {
 
 
-		m_app->m_renderer->enableBlend(false);
     }
     
    
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index c7fffa36b..a1eb298e0 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -115,6 +115,10 @@ static InternalDataRenderer* sData2;
 
 GLint lineWidthRange[2]={1,1};
 
+enum
+{
+	eGfxTransparency=1
+};
 struct b3GraphicsInstance
 {
 	GLuint               m_cube_vao;
@@ -124,6 +128,7 @@ struct b3GraphicsInstance
 	int m_numIndices;
 	int m_numVertices;
 
+	
 	int m_numGraphicsInstances;
 	b3AlignedObjectArray<int> m_tempObjectUids;
 	int m_instanceOffset;
@@ -131,6 +136,7 @@ struct b3GraphicsInstance
 	int	m_primitiveType;
 	float m_materialShinyNess;
 	b3Vector3 m_materialSpecularColor;
+	int m_flags;//transparency etc
 
 	b3GraphicsInstance()
 	:m_cube_vao(-1),
@@ -143,7 +149,8 @@ struct b3GraphicsInstance
 		m_vertexArrayOffset(0),
 		m_primitiveType(B3_GL_TRIANGLES),
 		m_materialShinyNess(41),
-		m_materialSpecularColor(b3MakeVector3(.5,.5,.5))
+		m_materialSpecularColor(b3MakeVector3(.5,.5,.5)),
+		m_flags(0)
 	{
 	}
 
@@ -324,8 +331,7 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
 	m_textureinitialized(false),
 	m_screenWidth(0),
 	m_screenHeight(0),
-	m_upAxis(1),
-    m_enableBlend(false)
+	m_upAxis(1)
 {
 
 	m_data = new InternalDataRenderer;
@@ -865,6 +871,10 @@ int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const flo
 		m_data->m_instance_scale_ptr[index*3+1] = scaling[1];
 		m_data->m_instance_scale_ptr[index*3+2] = scaling[2];
 
+		if (color[3]<1 && color[3]>0)
+		{
+			gfxObj->m_flags |= eGfxTransparency;
+		}
 		gfxObj->m_numGraphicsInstances++;
 		m_data->m_totalNumInstances++;
 	} else
@@ -1898,7 +1908,24 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
 	glUseProgram(0);
 }
 
+struct SortableTransparentInstance
+{
+	int m_shapeIndex;
+	int m_instanceId;
+	b3Vector3 m_centerPosition;
+};
 
+struct TransparentDistanceSortPredicate
+{
+	b3Vector3 m_camForwardVec;
+
+	inline bool operator() (const SortableTransparentInstance& a, const SortableTransparentInstance& b) const 
+	{
+		b3Scalar projA = a.m_centerPosition.dot(m_camForwardVec);
+		b3Scalar projB = b.m_centerPosition.dot(m_camForwardVec);
+		return (projA > projB);
+	}
+};
 
 void GLInstancingRenderer::renderSceneInternal(int renderMode)
 {
@@ -2218,8 +2245,9 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 
 					case B3_USE_SHADOWMAP_RENDERMODE:
 						{
-                            if (m_enableBlend)
+							if ( gfxObj->m_flags&eGfxTransparency)
                             {
+								glDepthMask(false);
                                 glEnable (GL_BLEND);
                                 glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                             }
@@ -2249,10 +2277,55 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 							glActiveTexture(GL_TEXTURE1);
 							glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);
 							glUniform1i(useShadow_shadowMap,1);
-							glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
-                            if (m_enableBlend)
+							
+							//sort transparent objects
+							
+							//gfxObj->m_instanceOffset
+
+							if ( gfxObj->m_flags&eGfxTransparency)
+							{
+								b3AlignedObjectArray<SortableTransparentInstance> transparentInstances;
+								transparentInstances.reserve(gfxObj->m_numGraphicsInstances);
+
+								for (int i=0;i<gfxObj->m_numGraphicsInstances;i++)
+								{
+									SortableTransparentInstance inst;
+									
+									inst.m_shapeIndex = -1;
+									
+									inst.m_instanceId = curOffset+i;
+									inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
+										m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
+										m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
+									transparentInstances.push_back(inst);
+
+								}
+								TransparentDistanceSortPredicate sorter;
+								float fwd[3];
+								m_data->m_activeCamera->getCameraForwardVector(fwd);
+								sorter.m_camForwardVec.setValue(fwd[0],fwd[1],fwd[2]);
+								transparentInstances.quickSort(sorter);
+
+
+								for (int i=0;i<transparentInstances.size();i++)
+								{
+									int instanceId = transparentInstances[i].m_instanceId;
+									glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
+									glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
+									glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
+									glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
+
+									glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
+								}
+							} else
+							{
+								glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
+							}
+                            
+							if ( gfxObj->m_flags&eGfxTransparency)
                             {
                                 glDisable (GL_BLEND);
+								glDepthMask(true);
                             }
 							glActiveTexture(GL_TEXTURE1);
 							glBindTexture(GL_TEXTURE_2D,0);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 3716b32a6..a066197b5 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -39,7 +39,7 @@ class GLInstancingRenderer : public CommonRenderInterface
 	int m_screenHeight;
 	
 	int m_upAxis;
-    bool m_enableBlend;
+    
     
 	int registerGraphicsInstanceInternal(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
 	void rebuildGraphicsInstances();
@@ -147,10 +147,7 @@ public:
 	virtual int getTotalNumInstances() const;
 	
 	virtual void enableShadowMap();
-    virtual void enableBlend(bool blend)
-    {
-        m_enableBlend = blend;
-    }
+    
 	virtual void clearZBuffer();
 
 	virtual void setRenderFrameBuffer(unsigned int renderFrameBuffer);
diff --git a/examples/OpenGLWindow/SimpleCamera.cpp b/examples/OpenGLWindow/SimpleCamera.cpp
index 14c2fea5d..76992ef90 100644
--- a/examples/OpenGLWindow/SimpleCamera.cpp
+++ b/examples/OpenGLWindow/SimpleCamera.cpp
@@ -234,8 +234,15 @@ void SimpleCamera::update()
 
 	b3Vector3 eyePos = b3MakeVector3(0,0,0);
 	eyePos[forwardAxis] = -m_data->m_cameraDistance;
+	eyePos = b3Matrix3x3(eyeRot)*eyePos;
 
-	m_data->m_cameraForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
+	m_data->m_cameraPosition = eyePos;
+
+	
+
+	m_data->m_cameraPosition+= m_data->m_cameraTargetPosition;
+
+	m_data->m_cameraForward = m_data->m_cameraTargetPosition-m_data->m_cameraPosition;
 	if (m_data->m_cameraForward.length2() < B3_EPSILON)
 	{
 		m_data->m_cameraForward.setValue(1.f,0.f,0.f);
@@ -243,12 +250,6 @@ void SimpleCamera::update()
 	{
 		m_data->m_cameraForward.normalize();
 	}
-	
-	eyePos = b3Matrix3x3(eyeRot)*eyePos;
-
-	m_data->m_cameraPosition = eyePos;
-	m_data->m_cameraPosition+= m_data->m_cameraTargetPosition;
-
 }
 
 void SimpleCamera::getCameraProjectionMatrix(float projectionMatrix[16]) const
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
index 715f58721..6431789b2 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -676,9 +676,6 @@ void SimpleOpenGL2Renderer::updateShape(int shapeIndex, const float* vertices)
 	}
 }
 
-void SimpleOpenGL2Renderer::enableBlend(bool blend)
-{
-}
 
 void SimpleOpenGL2Renderer::clearZBuffer()
 {
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index a438f4cd5..f57c98a03 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -83,8 +83,7 @@ public:
     
     virtual void updateShape(int shapeIndex, const float* vertices);
     
-    virtual void enableBlend(bool blend);
-
+    
 	virtual void clearZBuffer();
 
 
diff --git a/examples/RenderingExamples/CoordinateSystemDemo.cpp b/examples/RenderingExamples/CoordinateSystemDemo.cpp
index 148db5674..7176298ff 100644
--- a/examples/RenderingExamples/CoordinateSystemDemo.cpp
+++ b/examples/RenderingExamples/CoordinateSystemDemo.cpp
@@ -37,7 +37,6 @@ public:
     }
     virtual ~CoordinateSystemDemo()
     {
-        m_app->m_renderer->enableBlend(false);
     }
     
     
diff --git a/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp b/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
index 44d005f18..5b2b2b6d9 100644
--- a/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
+++ b/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
@@ -66,7 +66,6 @@ public:
     virtual ~DynamicTexturedCubeDemo()
     {
 		delete m_tinyVrGUI;
-        m_app->m_renderer->enableBlend(false);
     }
 
     
diff --git a/examples/RenderingExamples/RenderInstancingDemo.cpp b/examples/RenderingExamples/RenderInstancingDemo.cpp
index 069ac46bb..c85824dc9 100644
--- a/examples/RenderingExamples/RenderInstancingDemo.cpp
+++ b/examples/RenderingExamples/RenderInstancingDemo.cpp
@@ -68,7 +68,6 @@ public:
     }
     virtual ~RenderInstancingDemo()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     
diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp
index 80584c9a8..a896552ac 100644
--- a/examples/RenderingExamples/TinyRendererSetup.cpp
+++ b/examples/RenderingExamples/TinyRendererSetup.cpp
@@ -154,7 +154,6 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
 	m_app = gui->getAppInterface();
 	m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight());
 	
-	m_app->m_renderer->enableBlend(true);
     
 	const char* fileName = "textured_sphere_smooth.obj";
     fileName = "cube.obj";
@@ -225,7 +224,6 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
 
 TinyRendererSetup::~TinyRendererSetup()
 {
-	m_app->m_renderer->enableBlend(false);
 	delete m_internalData;
 }
 
diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp
index 075185d61..5b9d5e437 100644
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -45,7 +45,6 @@ public:
     }
     virtual ~GripperGraspExample()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     
diff --git a/examples/RoboticsLearning/KukaGraspExample.cpp b/examples/RoboticsLearning/KukaGraspExample.cpp
index 1bf00785d..99f24f7de 100644
--- a/examples/RoboticsLearning/KukaGraspExample.cpp
+++ b/examples/RoboticsLearning/KukaGraspExample.cpp
@@ -54,7 +54,6 @@ public:
     }
     virtual ~KukaGraspExample()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     
diff --git a/examples/RoboticsLearning/R2D2GraspExample.cpp b/examples/RoboticsLearning/R2D2GraspExample.cpp
index d5896ab4e..abe4e6ff5 100644
--- a/examples/RoboticsLearning/R2D2GraspExample.cpp
+++ b/examples/RoboticsLearning/R2D2GraspExample.cpp
@@ -41,7 +41,6 @@ public:
     }
     virtual ~R2D2GraspExample()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     
diff --git a/examples/Tutorial/Tutorial.cpp b/examples/Tutorial/Tutorial.cpp
index f59209a7c..18a9f34eb 100644
--- a/examples/Tutorial/Tutorial.cpp
+++ b/examples/Tutorial/Tutorial.cpp
@@ -300,7 +300,6 @@ public:
 		int numBodies = 1;
 		
 		m_app->setUpAxis(1);
-		m_app->m_renderer->enableBlend(true);
 		
 		switch (m_tutorialIndex)
 		{
@@ -405,7 +404,7 @@ public:
 			{
 				int width,height,n;
 				
-				const char* filename = "data/cube.png";
+				const char* filename = "data/checker_huge.gif";
 				const unsigned char* image=0;
 				
 				const char* prefix[]={"./","../","../../","../../../","../../../../"};
@@ -427,10 +426,16 @@ public:
 			
 			//            int boxId = m_app->registerCubeShape(1,1,1,textureIndex);
 			int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
-			b3Vector4 color = b3MakeVector4(1,1,1,0.8);
+			
+			
 			b3Vector3 scaling = b3MakeVector3(SPHERE_RADIUS,SPHERE_RADIUS,SPHERE_RADIUS);
 			for (int i=0;i<m_bodies.size();i++)
 			{
+				b3Vector4 color = b3MakeVector4(1,1,1,0.6);
+				if (i%2)
+				{
+					color.setValue(1,.1,.1,0.8);
+				}
 				m_bodies[i]->m_collisionShape.m_sphere.m_radius = SPHERE_RADIUS;
 				m_bodies[i]->m_collisionShape.m_type = LW_SPHERE_TYPE;
 				
@@ -467,7 +472,6 @@ public:
 		m_timeSeriesCanvas0 = 0;
 		m_timeSeriesCanvas1 = 0;
 
-		m_app->m_renderer->enableBlend(false);
     }
     
     
diff --git a/examples/pybullet/examples/vr_racecar_differential.py b/examples/pybullet/examples/vr_racecar_differential.py
new file mode 100644
index 000000000..5cdb8dc95
--- /dev/null
+++ b/examples/pybullet/examples/vr_racecar_differential.py
@@ -0,0 +1,93 @@
+import pybullet as p
+import time
+CONTROLLER_ID = 0
+POSITION=1
+ORIENTATION=2
+BUTTONS=6
+
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
+	
+p.resetSimulation()
+p.setGravity(0,0,-10)
+useRealTimeSim = 1
+
+#for video recording (works best on Mac and Linux, not well on Windows)
+#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
+p.setRealTimeSimulation(useRealTimeSim) # either this
+p.loadURDF("plane.urdf")
+#p.loadSDF("stadium.sdf")
+
+car = p.loadURDF("racecar/racecar_differential.urdf") #, [0,0,2],useFixedBase=True)
+for i in range (p.getNumJoints(car)):
+	print (p.getJointInfo(car,i))
+for wheel in range(p.getNumJoints(car)):
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
+		p.getJointInfo(car,wheel)	
+
+wheels = [8,15]
+print("----------------")
+
+#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
+c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=1, maxForce=10000)
+
+c = p.createConstraint(car,10,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,9,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=1, maxForce=10000)
+
+
+c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
+c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
+
+
+steering = [0,2]
+
+targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-50,50,0)
+maxForceSlider = p.addUserDebugParameter("maxForce",0,50,20)
+steeringSlider = p.addUserDebugParameter("steering",-1,1,0)
+activeController = -1
+
+while (True):
+			
+	
+	maxForce = p.readUserDebugParameter(maxForceSlider)
+	targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
+	steeringAngle = p.readUserDebugParameter(steeringSlider)
+	#print(targetVelocity)
+	events = p.getVREvents()
+	for e in events:
+		if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED):
+			activeController = e[CONTROLLER_ID]
+		if (activeController == e[CONTROLLER_ID]):
+			orn = e[2]
+			eul = p.getEulerFromQuaternion(orn)
+			steeringAngle=eul[0]
+			
+			targetVelocity = 20.0*e[3]
+		
+	for wheel in wheels:
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
+		
+	for steer in steering:
+		p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=-steeringAngle)
+		
+	steering
+	if (useRealTimeSim==0):
+		p.stepSimulation()
+	time.sleep(0.01)

From d5fe67cf57f2989748c4f7209c61dadc1b9c9a89 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Sat, 24 Jun 2017 19:38:31 -0700
Subject: [PATCH 140/175] Add pybullet transparent.py example, transparency
 with global per-object sort in GLInstancingRenderer

---
 data/sphere_transparent.urdf                  |  32 ++
 .../Collision/CollisionTutorialBullet2.cpp    |   2 -
 .../OpenGLWindow/GLInstancingRenderer.cpp     | 479 ++++++++++--------
 examples/Tutorial/Tutorial.cpp                |  12 +-
 examples/pybullet/examples/transparent.py     |  18 +
 5 files changed, 324 insertions(+), 219 deletions(-)
 create mode 100644 data/sphere_transparent.urdf
 create mode 100644 examples/pybullet/examples/transparent.py

diff --git a/data/sphere_transparent.urdf b/data/sphere_transparent.urdf
new file mode 100644
index 000000000..d856b5a26
--- /dev/null
+++ b/data/sphere_transparent.urdf
@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <rolling_friction value="0.03"/>
+      <spinning_friction value="0.03"/>
+    </contact>
+
+    <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>
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="red_transparent">
+        <color rgba="1 0 0 0.5"/>
+        <specular rgb="11 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/Collision/CollisionTutorialBullet2.cpp b/examples/Collision/CollisionTutorialBullet2.cpp
index 8159f89ee..6e65ac0cd 100644
--- a/examples/Collision/CollisionTutorialBullet2.cpp
+++ b/examples/Collision/CollisionTutorialBullet2.cpp
@@ -79,7 +79,6 @@ public:
 		
 		gTotalPoints = 0;
 		m_app->setUpAxis(1);
-		m_app->m_renderer->enableBlend(true);
 		
 		switch (m_tutorialIndex)
 		{
@@ -250,7 +249,6 @@ public:
 
 		m_timeSeriesCanvas0 = 0;
 
-		m_app->m_renderer->enableBlend(false);
     }
     
     
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index a1eb298e0..3796bf371 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -2046,9 +2046,9 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 	b3Vector3 center = b3MakeVector3(0,0,0);
 	//float upf[3];
 	//m_data->m_activeCamera->getCameraUpVector(upf);
-	b3Vector3 up, fwd;
+	b3Vector3 up, lightFwd;
 	b3Vector3 lightDir = m_data->m_lightPos.normalized();
-	b3PlaneSpace1(lightDir,up,fwd);
+	b3PlaneSpace1(lightDir,up,lightFwd);
 //	b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
 	b3CreateLookAt(m_data->m_lightPos,center,up,&depthViewMatrix[0][0]);
 	//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);
@@ -2108,207 +2108,194 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 	{
 		totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
 	}
-
-	int curOffset = 0;
-	//GLuint lastBindTexture = 0;
-
 	
-	for (int i=0;i<m_graphicsInstances.size();i++)
+	b3AlignedObjectArray<SortableTransparentInstance> transparentInstances;
+	
 	{
+		int curOffset = 0;
+		//GLuint lastBindTexture = 0;
 
-		b3GraphicsInstance* gfxObj = m_graphicsInstances[i];
-		if (gfxObj->m_numGraphicsInstances)
+		transparentInstances.reserve(totalNumInstances);
+
+		for (int obj=0;obj<m_graphicsInstances.size();obj++)
 		{
-			glActiveTexture(GL_TEXTURE0);
-			GLuint curBindTexture = 0;
-			if (gfxObj->m_texturehandle)
-				curBindTexture = gfxObj->m_texturehandle;
-			else
-				curBindTexture = m_data->m_defaultTexturehandle;
-
-//disable lazy evaluation, it just leads to bugs
-			//if (lastBindTexture != curBindTexture)
+			b3GraphicsInstance* gfxObj = m_graphicsInstances[obj];
+			if (gfxObj->m_numGraphicsInstances)
 			{
-				glBindTexture(GL_TEXTURE_2D,curBindTexture);
-			}
-			//lastBindTexture = curBindTexture;
-
-b3Assert(glGetError() ==GL_NO_ERROR);
-	//	int myOffset = gfxObj->m_instanceOffset*4*sizeof(float);
-
-		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);
-
-		glBindVertexArray(gfxObj->m_cube_vao);
-
-
-		int vertexStride = 9*sizeof(float);
-		PointerCaster vertex;
-		vertex.m_baseIndex = gfxObj->m_vertexArrayOffset*vertexStride;
-
-
-		glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer);
-		glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
-		glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
-
-		PointerCaster uv;
-		uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex;
-
-		PointerCaster normal;
-		normal.m_baseIndex = 4*sizeof(float)+vertex.m_baseIndex;
-
-		glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, 9*sizeof(float), uv.m_pointer);
-		glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 9*sizeof(float), normal.m_pointer);
-		glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
-		glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
-
-		glEnableVertexAttribArray(0);
-		glEnableVertexAttribArray(1);
-		glEnableVertexAttribArray(2);
-		glEnableVertexAttribArray(3);
-		glEnableVertexAttribArray(4);
-		glEnableVertexAttribArray(5);
-		glEnableVertexAttribArray(6);
-		glVertexAttribDivisor(0, 0);
-		glVertexAttribDivisor(1, 1);
-		glVertexAttribDivisor(2, 1);
-		glVertexAttribDivisor(3, 0);
-		glVertexAttribDivisor(4, 0);
-		glVertexAttribDivisor(5, 1);
-		glVertexAttribDivisor(6, 1);
-
-
-
-
-
-
-			int indexCount = gfxObj->m_numIndices;
-			GLvoid* indexOffset = 0;
-
-			glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, gfxObj->m_index_vbo);
-			{
-				B3_PROFILE("glDrawElementsInstanced");
-
-				if (gfxObj->m_primitiveType==B3_GL_POINTS)
+				SortableTransparentInstance inst;
+									
+				inst.m_shapeIndex = obj;
+			
+			
+				if ((gfxObj->m_flags&eGfxTransparency)==0)
 				{
-					glUseProgram(instancingShaderPointSprite);
-					glUniformMatrix4fv(ProjectionMatrixPointSprite, 1, false, &m_data->m_projectionMatrix[0]);
-					glUniformMatrix4fv(ModelViewMatrixPointSprite, 1, false, &m_data->m_viewMatrix[0]);
-					glUniform1f(screenWidthPointSprite,float(m_screenWidth));
-
-					//glUniform1i(uniform_texture_diffusePointSprite, 0);
-					  b3Assert(glGetError() ==GL_NO_ERROR);
-					  glPointSize(20);
-
-#ifndef __APPLE__
-					glEnable(GL_POINT_SPRITE_ARB);
-//					glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE);
-#endif
-
-					glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
-					glDrawElementsInstanced(GL_POINTS, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
+					inst.m_instanceId = curOffset;
+					inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
+								m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
+								m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
+					inst.m_centerPosition *= -1;//reverse sort opaque instances
+					transparentInstances.push_back(inst);
 				} else
 				{
-					switch (renderMode)
+					for (int i=0;i<gfxObj->m_numGraphicsInstances;i++)
 					{
-
-					case B3_DEFAULT_RENDERMODE:
-						{
-							glUseProgram(instancingShader);
-							glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
-							glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
-							
-							b3Vector3 gLightDir = m_data->m_lightPos;
-							gLightDir.normalize();
-							glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);
-
-							glUniform1i(uniform_texture_diffuse, 0);
-							glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
-							break;
-						}
-						case B3_CREATE_SHADOWMAP_RENDERMODE:
-						{
-                            /*printf("createShadowMapInstancingShader=%d\n",createShadowMapInstancingShader);
-                            printf("createShadow_depthMVP=%d\n",createShadow_depthMVP);
-                            printf("indexOffset=%d\n",indexOffset);
-                            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);
-							break;
-						}
-
-					case B3_USE_SHADOWMAP_RENDERMODE:
-						{
-							if ( gfxObj->m_flags&eGfxTransparency)
-                            {
-								glDepthMask(false);
-                                glEnable (GL_BLEND);
-                                glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-                            }
-                            
-							glUseProgram(useShadowMapInstancingShader);
-							glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
-							glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
-							glUniformMatrix4fv(useShadow_ViewMatrixInverse, 1, false, &m_data->m_viewMatrixInverse[0]);
-							glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
-
-							glUniform3f(useShadow_lightSpecularIntensity, m_data->m_lightSpecularIntensity[0],m_data->m_lightSpecularIntensity[1],m_data->m_lightSpecularIntensity[2]);
-							glUniform3f(useShadow_materialSpecularColor, gfxObj->m_materialSpecularColor[0],gfxObj->m_materialSpecularColor[1],gfxObj->m_materialSpecularColor[2]);
-
-							
-
-							float MVP[16];
-							b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP);
-							glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]);
-							//gLightDir.normalize();
-							glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[2]);
-							float camPos[3];
-							m_data->m_activeCamera->getCameraPosition(camPos);
-							glUniform3f(useShadow_cameraPositionIn,camPos[0],camPos[1],camPos[2]);
-							glUniform1f(useShadow_materialShininessIn,gfxObj->m_materialShinyNess);
-						
-							glUniformMatrix4fv(useShadow_DepthBiasModelViewMatrix, 1, false, &depthBiasMVP[0][0]);
-							glActiveTexture(GL_TEXTURE1);
-							glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);
-							glUniform1i(useShadow_shadowMap,1);
-							
-							//sort transparent objects
-							
-							//gfxObj->m_instanceOffset
-
-							if ( gfxObj->m_flags&eGfxTransparency)
-							{
-								b3AlignedObjectArray<SortableTransparentInstance> transparentInstances;
-								transparentInstances.reserve(gfxObj->m_numGraphicsInstances);
-
-								for (int i=0;i<gfxObj->m_numGraphicsInstances;i++)
-								{
-									SortableTransparentInstance inst;
-									
-									inst.m_shapeIndex = -1;
-									
-									inst.m_instanceId = curOffset+i;
-									inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
+						inst.m_instanceId = curOffset+i;
+						inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
 										m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
 										m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
-									transparentInstances.push_back(inst);
+						transparentInstances.push_back(inst);
+					}
+				}
+				curOffset+=gfxObj->m_numGraphicsInstances;
+			}
+		}
+		TransparentDistanceSortPredicate sorter;
+		float fwd[3];
+		m_data->m_activeCamera->getCameraForwardVector(fwd);
+		sorter.m_camForwardVec.setValue(fwd[0],fwd[1],fwd[2]);
+		transparentInstances.quickSort(sorter);
+	}
 
-								}
-								TransparentDistanceSortPredicate sorter;
-								float fwd[3];
-								m_data->m_activeCamera->getCameraForwardVector(fwd);
-								sorter.m_camForwardVec.setValue(fwd[0],fwd[1],fwd[2]);
-								transparentInstances.quickSort(sorter);
+	
+	//two passes: first for opaque instances, second for transparent ones.
+	for (int pass = 0; pass<2;pass++)
+	{
+		for (int i=0;i<transparentInstances.size();i++)
+		{
+
+			int shapeIndex = transparentInstances[i].m_shapeIndex;
+
+			b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
+			
+			//only draw stuff (opaque/transparent) if it is the right pass
+			int drawThisPass = (pass==0) == ((gfxObj->m_flags&eGfxTransparency)==0);
+
+			//transparent objects don't cast shadows (to simplify things)
+			if (gfxObj->m_flags&eGfxTransparency) 
+			{
+				if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE)
+					drawThisPass = 0;
+			}
+			
+			if (drawThisPass && gfxObj->m_numGraphicsInstances)
+			{
+				glActiveTexture(GL_TEXTURE0);
+				GLuint curBindTexture = 0;
+				if (gfxObj->m_texturehandle)
+					curBindTexture = gfxObj->m_texturehandle;
+				else
+					curBindTexture = m_data->m_defaultTexturehandle;
+
+	//disable lazy evaluation, it just leads to bugs
+				//if (lastBindTexture != curBindTexture)
+				{
+					glBindTexture(GL_TEXTURE_2D,curBindTexture);
+				}
+				//lastBindTexture = curBindTexture;
+
+			b3Assert(glGetError() ==GL_NO_ERROR);
+		//	int myOffset = gfxObj->m_instanceOffset*4*sizeof(float);
+
+			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);
+
+			glBindVertexArray(gfxObj->m_cube_vao);
 
 
-								for (int i=0;i<transparentInstances.size();i++)
+			int vertexStride = 9*sizeof(float);
+			PointerCaster vertex;
+			vertex.m_baseIndex = gfxObj->m_vertexArrayOffset*vertexStride;
+
+
+			glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer);
+			glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
+			glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
+
+			PointerCaster uv;
+			uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex;
+
+			PointerCaster normal;
+			normal.m_baseIndex = 4*sizeof(float)+vertex.m_baseIndex;
+
+			glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, 9*sizeof(float), uv.m_pointer);
+			glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 9*sizeof(float), normal.m_pointer);
+			glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
+			glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
+
+			glEnableVertexAttribArray(0);
+			glEnableVertexAttribArray(1);
+			glEnableVertexAttribArray(2);
+			glEnableVertexAttribArray(3);
+			glEnableVertexAttribArray(4);
+			glEnableVertexAttribArray(5);
+			glEnableVertexAttribArray(6);
+			glVertexAttribDivisor(0, 0);
+			glVertexAttribDivisor(1, 1);
+			glVertexAttribDivisor(2, 1);
+			glVertexAttribDivisor(3, 0);
+			glVertexAttribDivisor(4, 0);
+			glVertexAttribDivisor(5, 1);
+			glVertexAttribDivisor(6, 1);
+
+
+
+
+
+
+				int indexCount = gfxObj->m_numIndices;
+				GLvoid* indexOffset = 0;
+
+				glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, gfxObj->m_index_vbo);
+				{
+					B3_PROFILE("glDrawElementsInstanced");
+
+					if (gfxObj->m_primitiveType==B3_GL_POINTS)
+					{
+						glUseProgram(instancingShaderPointSprite);
+						glUniformMatrix4fv(ProjectionMatrixPointSprite, 1, false, &m_data->m_projectionMatrix[0]);
+						glUniformMatrix4fv(ModelViewMatrixPointSprite, 1, false, &m_data->m_viewMatrix[0]);
+						glUniform1f(screenWidthPointSprite,float(m_screenWidth));
+
+						//glUniform1i(uniform_texture_diffusePointSprite, 0);
+						  b3Assert(glGetError() ==GL_NO_ERROR);
+						  glPointSize(20);
+
+	#ifndef __APPLE__
+						glEnable(GL_POINT_SPRITE_ARB);
+	//					glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE);
+	#endif
+
+						glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
+						glDrawElementsInstanced(GL_POINTS, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
+					} else
+					{
+						switch (renderMode)
+						{
+
+						case B3_DEFAULT_RENDERMODE:
+							{
+								if ( gfxObj->m_flags&eGfxTransparency)
 								{
+									glDepthMask(false);
+									glEnable (GL_BLEND);
+									glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+								}
+
+								glUseProgram(instancingShader);
+								glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
+								glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
+							
+								b3Vector3 gLightDir = m_data->m_lightPos;
+								gLightDir.normalize();
+								glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);
+
+								glUniform1i(uniform_texture_diffuse, 0);
+
+								if ( gfxObj->m_flags&eGfxTransparency)
+								{
+									
 									int instanceId = transparentInstances[i].m_instanceId;
 									glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
 									glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
@@ -2316,36 +2303,104 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 									glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
 
 									glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
+									
+								} else
+								{
+									glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
 								}
-							} else
-							{
-								glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
-							}
                             
-							if ( gfxObj->m_flags&eGfxTransparency)
-                            {
-                                glDisable (GL_BLEND);
-								glDepthMask(true);
-                            }
-							glActiveTexture(GL_TEXTURE1);
-							glBindTexture(GL_TEXTURE_2D,0);
+								if ( gfxObj->m_flags&eGfxTransparency)
+								{
+									glDisable (GL_BLEND);
+									glDepthMask(true);
+								}
+								
+								break;
+							}
+							case B3_CREATE_SHADOWMAP_RENDERMODE:
+							{
+								glUseProgram(createShadowMapInstancingShader);
+								glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]);
+								glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
+								break;
+							}
 
-							glActiveTexture(GL_TEXTURE0);
-							glBindTexture(GL_TEXTURE_2D,0);
-                            break;
-						}
-					default:
-						{
-						//	b3Assert(0);
-						}
-					};
+						case B3_USE_SHADOWMAP_RENDERMODE:
+							{
+								if ( gfxObj->m_flags&eGfxTransparency)
+								{
+									glDepthMask(false);
+									glEnable (GL_BLEND);
+									glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+								}
+                            
+								glUseProgram(useShadowMapInstancingShader);
+								glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
+								glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
+								glUniformMatrix4fv(useShadow_ViewMatrixInverse, 1, false, &m_data->m_viewMatrixInverse[0]);
+								glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
+
+								glUniform3f(useShadow_lightSpecularIntensity, m_data->m_lightSpecularIntensity[0],m_data->m_lightSpecularIntensity[1],m_data->m_lightSpecularIntensity[2]);
+								glUniform3f(useShadow_materialSpecularColor, gfxObj->m_materialSpecularColor[0],gfxObj->m_materialSpecularColor[1],gfxObj->m_materialSpecularColor[2]);
+
+							
+
+								float MVP[16];
+								b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP);
+								glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]);
+								//gLightDir.normalize();
+								glUniform3f(useShadow_lightPosIn,m_data->m_lightPos[0],m_data->m_lightPos[1],m_data->m_lightPos[2]);
+								float camPos[3];
+								m_data->m_activeCamera->getCameraPosition(camPos);
+								glUniform3f(useShadow_cameraPositionIn,camPos[0],camPos[1],camPos[2]);
+								glUniform1f(useShadow_materialShininessIn,gfxObj->m_materialShinyNess);
+						
+								glUniformMatrix4fv(useShadow_DepthBiasModelViewMatrix, 1, false, &depthBiasMVP[0][0]);
+								glActiveTexture(GL_TEXTURE1);
+								glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);
+								glUniform1i(useShadow_shadowMap,1);
+							
+								//sort transparent objects
+							
+								//gfxObj->m_instanceOffset
+
+								if ( gfxObj->m_flags&eGfxTransparency)
+								{
+									int instanceId = transparentInstances[i].m_instanceId;
+									glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
+									glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
+									glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
+									glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
+									glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
+								} else
+								{
+									glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
+								}
+                            
+								if ( gfxObj->m_flags&eGfxTransparency)
+								{
+									glDisable (GL_BLEND);
+									glDepthMask(true);
+								}
+								glActiveTexture(GL_TEXTURE1);
+								glBindTexture(GL_TEXTURE_2D,0);
+
+								glActiveTexture(GL_TEXTURE0);
+								glBindTexture(GL_TEXTURE_2D,0);
+								break;
+							}
+						default:
+							{
+							//	b3Assert(0);
+							}
+						};
+					}
+
+
+					//glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances);
 				}
-
-
-				//glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances);
 			}
 		}
-		curOffset+= gfxObj->m_numGraphicsInstances;
 	}
 
 	{
diff --git a/examples/Tutorial/Tutorial.cpp b/examples/Tutorial/Tutorial.cpp
index 18a9f34eb..8d43daac2 100644
--- a/examples/Tutorial/Tutorial.cpp
+++ b/examples/Tutorial/Tutorial.cpp
@@ -425,21 +425,23 @@ public:
 			}
 			
 			//            int boxId = m_app->registerCubeShape(1,1,1,textureIndex);
-			int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
-			
+			int sphereTransparent = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
+			int sphereOpaque= m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
 			
 			b3Vector3 scaling = b3MakeVector3(SPHERE_RADIUS,SPHERE_RADIUS,SPHERE_RADIUS);
 			for (int i=0;i<m_bodies.size();i++)
 			{
-				b3Vector4 color = b3MakeVector4(1,1,1,0.6);
+				int gfxShape = sphereOpaque;
+				b3Vector4 color = b3MakeVector4(.1,.1,1,1);
 				if (i%2)
 				{
-					color.setValue(1,.1,.1,0.8);
+					color.setValue(1,.1,.1,0.1);
+					gfxShape = sphereTransparent;
 				}
 				m_bodies[i]->m_collisionShape.m_sphere.m_radius = SPHERE_RADIUS;
 				m_bodies[i]->m_collisionShape.m_type = LW_SPHERE_TYPE;
 				
-				m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(boxId,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling);
+				m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(gfxShape,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling);
 				m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
 			}
 		}
diff --git a/examples/pybullet/examples/transparent.py b/examples/pybullet/examples/transparent.py
new file mode 100644
index 000000000..5c6cc09c6
--- /dev/null
+++ b/examples/pybullet/examples/transparent.py
@@ -0,0 +1,18 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+p.loadURDF("plane.urdf")
+sphereUid = p.loadURDF("sphere_transparent.urdf",[0,0,2])
+
+redSlider = p.addUserDebugParameter("red",0,1,1)
+greenSlider = p.addUserDebugParameter("green",0,1,0)
+blueSlider = p.addUserDebugParameter("blue",0,1,0)
+alphaSlider = p.addUserDebugParameter("alpha",0,1,0.5)
+
+while (1):
+	red = p.readUserDebugParameter(redSlider)
+	green = p.readUserDebugParameter(greenSlider)
+	blue = p.readUserDebugParameter(blueSlider)
+	alpha = p.readUserDebugParameter(alphaSlider)
+	p.changeVisualShape(sphereUid,-1,rgbaColor=[red,green,blue,alpha])
+	time.sleep(0.01)
\ No newline at end of file

From bf800e30d5d5fe688a2cd17a014f7068ad10886f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 29 Jun 2017 17:54:04 -0700
Subject: [PATCH 141/175] Added manually converted widowx.urdf from
 https://github.com/RobotnikAutomation/widowx_arm Added simple pybullet file
 in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py
 file needs more work to be useful)
 https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
 See also http://www.trossenrobotics.com/widowxrobotarm

---
 data/widowx/bsd_license.txt                   |  22 ++
 data/widowx/meshes/base_link.stl              | Bin 0 -> 26684 bytes
 data/widowx/meshes/biceps_link.stl            | Bin 0 -> 18884 bytes
 data/widowx/meshes/forearm_link.stl           | Bin 0 -> 21084 bytes
 .../widowx/meshes/gripper_hand_fixed_link.stl | Bin 0 -> 5284 bytes
 data/widowx/meshes/gripper_rail_link.stl      | Bin 0 -> 17484 bytes
 data/widowx/meshes/shoulder_link.stl          | Bin 0 -> 11884 bytes
 data/widowx/meshes/wrist_1_link.stl           | Bin 0 -> 31884 bytes
 data/widowx/meshes/wrist_2_link.stl           | Bin 0 -> 33084 bytes
 data/widowx/widowx.urdf                       | 279 ++++++++++++++++++
 examples/pybullet/examples/widows.py          |  21 ++
 11 files changed, 322 insertions(+)
 create mode 100644 data/widowx/bsd_license.txt
 create mode 100644 data/widowx/meshes/base_link.stl
 create mode 100644 data/widowx/meshes/biceps_link.stl
 create mode 100644 data/widowx/meshes/forearm_link.stl
 create mode 100644 data/widowx/meshes/gripper_hand_fixed_link.stl
 create mode 100644 data/widowx/meshes/gripper_rail_link.stl
 create mode 100644 data/widowx/meshes/shoulder_link.stl
 create mode 100644 data/widowx/meshes/wrist_1_link.stl
 create mode 100644 data/widowx/meshes/wrist_2_link.stl
 create mode 100644 data/widowx/widowx.urdf
 create mode 100644 examples/pybullet/examples/widows.py

diff --git a/data/widowx/bsd_license.txt b/data/widowx/bsd_license.txt
new file mode 100644
index 000000000..cf5bb8ce7
--- /dev/null
+++ b/data/widowx/bsd_license.txt
@@ -0,0 +1,22 @@
+Converted from https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
+
+Copyright 2017 robotnik
+
+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.
+
+<package>
+  <name>widowx_arm_description</name>
+  <version>0.0.2</version>
+  <description>The widowx_arm_description package</description>
+
+	<maintainer email="jmrapado@robotnik.es">Jose Rapado García</maintainer>
+	<maintainer email="rnavarro@robotnik.es">Román Navarro</maintainer>
+	<maintainer email="cvillar@robotnik.es">Carlos Villar</maintainer>
+
+ 
\ No newline at end of file
diff --git a/data/widowx/meshes/base_link.stl b/data/widowx/meshes/base_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..f9a35903780929e68d2cdd55b154171b5cc85cb5
GIT binary patch
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diff --git a/data/widowx/meshes/biceps_link.stl b/data/widowx/meshes/biceps_link.stl
new file mode 100644
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diff --git a/data/widowx/meshes/gripper_hand_fixed_link.stl b/data/widowx/meshes/gripper_hand_fixed_link.stl
new file mode 100644
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new file mode 100644
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diff --git a/data/widowx/meshes/shoulder_link.stl b/data/widowx/meshes/shoulder_link.stl
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diff --git a/data/widowx/meshes/wrist_1_link.stl b/data/widowx/meshes/wrist_1_link.stl
new file mode 100644
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diff --git a/data/widowx/meshes/wrist_2_link.stl b/data/widowx/meshes/wrist_2_link.stl
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diff --git a/data/widowx/widowx.urdf b/data/widowx/widowx.urdf
new file mode 100644
index 000000000..0463f9336
--- /dev/null
+++ b/data/widowx/widowx.urdf
@@ -0,0 +1,279 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot name="widowx" xmlns:xacro="http://ros.org/wiki/xacro">
+ 
+	<material name="yellow">
+		<color rgba="0.15 0.15 0.15 1.0"/>
+	</material>
+
+	<material name="white">
+		<color rgba="0.86 0.85 0.81 1.0"/>
+	</material>
+
+	<material name="black">
+		<color rgba="0.15 0.15 0.15 1.0"/>
+	</material>
+
+	<material name="grey">
+		<color rgba="0.34 0.35 0.36 1.0"/>
+	</material>
+
+
+	<material name="greyish">
+		<color rgba="0.75 0.75 0.75 1.0"/>
+	</material>
+	
+	
+  
+  <link name="arm_base_link">
+     <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/base_link.stl"/>
+        </geometry>
+        <material name="black"/>
+   </visual>
+     <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/base_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="13" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="shoulder_link">
+     <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/shoulder_link.stl" />
+        </geometry>
+        <material name="greyish"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/shoulder_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="biceps_link">
+     <visual>
+	      <origin xyz="0.04825 0 0.140" rpy="0 0 0" />
+        <!--origin xyz="0 0 0" rpy="0 0 0" /-->
+        <geometry>
+           <mesh filename="meshes/biceps_link.stl" />
+        </geometry>
+        <material name="black"/>
+     </visual>
+     <collision>
+        <origin xyz="0.04825 0 0.140" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/biceps_link.stl" />
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="forearm_link">
+     <visual>
+	      <origin xyz="0 0 0.14203" rpy="0 0 0" />
+	<!--origin xyz="0 0 0" rpy="0 0 0" /-->
+        <geometry>
+           <mesh filename="meshes/forearm_link.stl"/>
+        </geometry>
+       <material name="greyish"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0.14203" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/forearm_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+     </inertial>
+  </link>
+  <link name="wrist_1_link">
+     <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/wrist_1_link.stl"/>
+        </geometry>
+        <material name="greyish"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/wrist_1_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="wrist_2_link">
+     <visual>
+        <origin xyz="0 0 0.043" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/wrist_2_link.stl"/>
+        </geometry>
+        <material name="black"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0.043" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/wrist_2_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="gripper_rail_link">
+     <visual>
+        <origin xyz="0 0 0" rpy="0 0 1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_rail_link.stl"/>
+        </geometry>
+        <material name="greyish"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0" rpy="0 0 1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_rail_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="gripper_aux_link">
+  </link>
+  <link name="gripper_1_link">
+     <visual>
+        <origin xyz="0 -0.0007 0" rpy="0 0 1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_hand_fixed_link.stl"/>
+        </geometry>
+        <material name="black"/>
+     </visual>
+     <collision>
+        <origin xyz="0 -0.0007 0" rpy="0 0 1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_hand_fixed_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="gripper_2_link">
+     <visual>
+        <origin xyz="0 0.0007 0" rpy="0 0 -1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_hand_fixed_link.stl"/>
+        </geometry>
+        <material name="greyish"/>
+     </visual>
+     <collision>
+         <origin xyz="0 0.0007 0" rpy="0 0 -1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_hand_fixed_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <!-- joints -->
+ 
+  <joint name="joint_1" type="revolute">
+     <origin xyz="0 0 0.125" rpy="0 0 0" />
+     <parent link="arm_base_link" />
+     <child link="shoulder_link" />
+     <axis xyz="0 0 1" />
+     <limit lower="-2.617" upper="2.617" effort="0" velocity="0.785" />
+  </joint>
+  <joint name="joint_2" type="revolute">
+     <!--origin xyz="0.04825 0 0.14203" rpy="0 0 0" /-->
+     <origin xyz="0 0 0" rpy="0 0 0" />
+     <parent link="shoulder_link" />
+     <child link="biceps_link" />
+     <axis xyz="0 1 0" />
+     <limit lower="-1.571" upper="1.571" effort="0" velocity="1.571" />
+  </joint>
+  <joint name="joint_3" type="revolute">
+     <origin xyz="0.04825 0 0.14203" rpy="0 1.5707963268 0" />
+     <parent link="biceps_link" />
+     <child link="forearm_link" />
+     <axis xyz="0 1 0" />
+     <limit lower="-1.571" upper="1.571" effort="0" velocity="1.571" />
+  </joint>
+  <joint name="joint_4" type="revolute">
+     <origin xyz="0 0 0.14203" rpy="0 0 0" />
+     <parent link="forearm_link" />
+     <child link="wrist_1_link" />
+     <axis xyz="0 1 0" />
+     <limit lower="-1.745" upper="1.745" effort="0" velocity="1.571" />
+  </joint>
+  <joint name="joint_5" type="revolute">
+     <origin xyz="0 0 0.0715" rpy="0 0 0" />
+     <parent link="wrist_1_link" />
+     <child link="wrist_2_link" />
+     <axis xyz="0 0 1" />
+     <limit lower="-2.617" upper="2.617" effort="0" velocity="1.571" />
+  </joint>
+  <joint name="joint_6" type="fixed">
+     <origin xyz = "0 0 0.043" rpy="0 0 0" />
+     <parent link="wrist_2_link" />
+     <child link="gripper_rail_link" />
+     <axis xyz="0 0 1" />
+     <limit lower="-0.31" upper="0.1" effort="0" velocity="0.5" />
+  </joint>
+  <joint name="gripper_revolute_joint" type="revolute">
+     <origin xyz = "0 0 0" rpy="0 0 0" />
+     <parent link="gripper_rail_link" />
+     <child link="gripper_aux_link" />
+     <axis xyz="0 0 1" />
+     <limit lower="0" upper="2.6" effort="0" velocity="0.5" />
+  </joint>
+  <joint name="gripper_prismatic_joint_1" type="prismatic">
+     <origin xyz="0 0 0" rpy="0 0 0" />
+     <parent link="gripper_rail_link" />
+     <child link="gripper_1_link" />
+     <axis xyz="0 -1 0" />
+     <limit lower="0" upper="0.027" effort="0" velocity="0.5" />
+  </joint>
+  <joint name="gripper_prismatic_joint_2" type="prismatic">
+     <origin xyz="0 0 0" rpy="0 0 0" />
+     <parent link="gripper_rail_link" />
+     <child link="gripper_2_link" />
+     <mimic joint="gripper_prismatic_joint_1" />
+     <axis xyz="0 1 0" />
+     <limit lower="0" upper="0.027" effort="0" velocity="0.5" />
+  </joint>
+
+</robot>
diff --git a/examples/pybullet/examples/widows.py b/examples/pybullet/examples/widows.py
new file mode 100644
index 000000000..aa1af8cb5
--- /dev/null
+++ b/examples/pybullet/examples/widows.py
@@ -0,0 +1,21 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
+p.setGravity(0,0,-10)
+arm = p.loadURDF("widowx/widowx.urdf",useFixedBase=True)
+
+p.resetBasePositionAndOrientation(arm,[-0.098612,-0.000726,-0.194018],[0.000000,0.000000,0.000000,1.000000])
+  
+	
+while (1):
+	p.stepSimulation()
+	time.sleep(0.01)
+	#p.saveWorld("test.py")
+	viewMat = p.getDebugVisualizerCamera()[2]
+	#projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
+	projMatrix = p.getDebugVisualizerCamera()[3]
+	width=640
+	height=480
+	img_arr = p.getCameraImage(width=width,height=height,viewMatrix=viewMat,projectionMatrix=projMatrix)

From dcaaed923813fa1b354e380bb47773910e91760f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 29 Jun 2017 22:06:27 -0700
Subject: [PATCH 142/175] also generate TinyRendererVisualShapeConverter for
 programmatically generated collision shapes use similar random colors for
 TinyRenderer (if rgba colors are not specified)

---
 .../Importers/ImportURDFDemo/UrdfParser.h     |  3 +-
 .../PhysicsServerCommandProcessor.cpp         | 79 +++++++++++++++----
 .../TinyRendererVisualShapeConverter.cpp      | 21 ++++-
 3 files changed, 85 insertions(+), 18 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 817536916..33fa0d49b 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -156,7 +156,8 @@ struct UrdfLink
 
 	UrdfLink()
 		:m_parentLink(0),
-		m_parentJoint(0)
+		m_parentJoint(0),
+		m_linkIndex(-2)
 	{
 	}
 	
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 1c07479cc..c0aff3429 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -132,6 +132,7 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
 struct InteralCollisionShapeData
 {
 	btCollisionShape* m_collisionShape;
+	b3AlignedObjectArray<UrdfCollision> m_urdfCollisionObjects;
 	void clear()
 	{
 		m_collisionShape=0;
@@ -1739,21 +1740,28 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 		return -1;
 	}
     
-    virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const  
+    virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const  
 	{
-		
-		#if 0
-  			if (m_data->m_customVisualShapesConverter)
+		//if there is a visual, use it, otherwise convert collision shape back into UrdfCollision...
+
+		UrdfModel model;// = m_data->m_urdfParser.getModel();
+		UrdfLink link;
+		int colShapeUniqueId = m_createBodyArgs.m_linkCollisionShapeUniqueIds[urdfIndex];
+		if (colShapeUniqueId>=0)
+		{
+			InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId);
+			if (handle)
 			{
-				const UrdfModel& model = m_data->m_urdfParser.getModel();
-				UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
-				if (linkPtr)
+				for (int i=0;i<handle->m_urdfCollisionObjects.size();i++)
 				{
-					m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj, bodyUniqueId);
+					link.m_collisionArray.push_back(handle->m_urdfCollisionObjects[i]);
 				}
 			}
 		}
-	#endif
+		//UrdfVisual vis;
+		//link.m_visualArray.push_back(vis);
+		//UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
+		m_data->m_visualConverter.convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj, bodyUniqueId);
 	}
     virtual void setBodyUniqueId(int bodyId) 
 	{
@@ -3588,6 +3596,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
 
 					btCollisionShape* shape = 0;
+					b3AlignedObjectArray<UrdfCollision> urdfCollisionObjects;
 
 					btCompoundShape* compound = 0;
 
@@ -3597,6 +3606,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					}
 					for (int i=0;i<clientCmd.m_createCollisionShapeArgs.m_numCollisionShapes;i++)
 					{
+						UrdfCollision urdfColObj;
+
 						btTransform childTransform;
 						childTransform.setIdentity();
 						if (clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_hasChildTransform)
@@ -3616,6 +3627,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							}
 						}
 
+						urdfColObj.m_linkLocalFrame = childTransform;
+						urdfColObj.m_sourceFileLocation = "memory";
+						urdfColObj.m_name = "memory";
+						urdfColObj.m_geometry.m_type = URDF_GEOM_UNKNOWN;
+
 						switch (clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_type)
 						{
 							case GEOM_SPHERE:
@@ -3626,19 +3642,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									compound->addChildShape(childTransform,shape);
 								}
+								urdfColObj.m_geometry.m_type = URDF_GEOM_SPHERE;
+								urdfColObj.m_geometry.m_sphereRadius = radius;
 								break;
 							}
 							case GEOM_BOX:
 							{
 								//double halfExtents[3] = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_sphereRadius;
-								shape = worldImporter->createBoxShape(btVector3(
+								btVector3 halfExtents(
 									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[0],
 									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[1],
-									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[2]));
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[2]);
+								shape = worldImporter->createBoxShape(halfExtents);
 								if (compound)
 								{
 									compound->addChildShape(childTransform,shape);
 								}
+								urdfColObj.m_geometry.m_type = URDF_GEOM_BOX;
+								urdfColObj.m_geometry.m_boxSize = 2.*halfExtents;
 								break;
 							}
 							case GEOM_CAPSULE:
@@ -3649,6 +3670,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									compound->addChildShape(childTransform,shape);
 								}
+								urdfColObj.m_geometry.m_type = URDF_GEOM_CAPSULE;
+								urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleRadius;
+								urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleHeight;
+
 								break;
 							}
 							case GEOM_CYLINDER:
@@ -3659,6 +3684,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									compound->addChildShape(childTransform,shape);
 								}
+								urdfColObj.m_geometry.m_type = URDF_GEOM_CYLINDER;
+								urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleRadius;
+								urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleHeight;
+
 								break;
 							}
 							case GEOM_PLANE:
@@ -3672,6 +3701,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									compound->addChildShape(childTransform,shape);
 								}
+								urdfColObj.m_geometry.m_type = URDF_GEOM_PLANE;
+								urdfColObj.m_geometry.m_planeNormal.setValue(
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[0],
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[1],
+									clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[2]);
+									
 								break;
 							}
 							case GEOM_MESH:
@@ -3685,7 +3720,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								const std::string& urdf_path="";
 
 								std::string fileName = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshFileName;
-								
+								urdfColObj.m_geometry.m_type = URDF_GEOM_MESH;
+								urdfColObj.m_geometry.m_meshFileName = fileName;
+							
+								urdfColObj.m_geometry.m_meshScale = meshScale;
 								char relativeFileName[1024];
 								char pathPrefix[1024];
 								pathPrefix[0] = 0;
@@ -3702,6 +3740,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName,error_message_prefix,&out_found_filename, &out_type); 
 								if (foundFile)
 								{
+									urdfColObj.m_geometry.m_meshFileType = out_type;
+
 									if (out_type==UrdfGeometry::FILE_OBJ)
 									{
 										//create a convex hull for each shape, and store it in a btCompoundShape
@@ -3718,10 +3758,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 											}
 											btAlignedObjectArray<btVector3> convertedVerts;
 											convertedVerts.reserve(glmesh->m_numvertices);
-											btVector3 meshScale(clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[0],
-												clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[1],
-												clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[2]);
-
+											
 											for (int i=0; i<glmesh->m_numvertices; i++)
 											{
 												convertedVerts.push_back(btVector3(
@@ -3809,7 +3846,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							{
 							}
 						}
+						if (urdfColObj.m_geometry.m_type != URDF_GEOM_UNKNOWN)
+						{
+							urdfCollisionObjects.push_back(urdfColObj);
+						}
 					}
+
+					
 					#if 0
 					shape = worldImporter->createCylinderShapeX(radius,height);
 					shape = worldImporter->createCylinderShapeY(radius,height);
@@ -3829,6 +3872,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						int collisionShapeUid = m_data->m_userCollisionShapeHandles.allocHandle();
 						InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(collisionShapeUid);
 						handle->m_collisionShape = shape;
+						for (int i=0;i<urdfCollisionObjects.size();i++)
+						{
+							handle->m_urdfCollisionObjects.push_back(urdfCollisionObjects[i]);
+						}
 						serverStatusOut.m_createCollisionShapeResultArgs.m_collisionShapeUniqueId = collisionShapeUid;
 						m_data->m_worldImporters.push_back(worldImporter);
 						serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_COMPLETED;
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index f18becf58..e70e08e1f 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -506,6 +506,15 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
     
 }
 
+static btVector4 sColors[4] =
+{
+	btVector4(60./256.,186./256.,84./256.,1),
+	btVector4(244./256.,194./256.,13./256.,1),
+	btVector4(219./256.,50./256.,54./256.,1),
+	btVector4(72./256.,133./256.,237./256.,1),
+
+	//btVector4(1,1,0,1),
+};
 
 
 void TinyRendererVisualShapeConverter::convertVisualShapes(
@@ -546,7 +555,17 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 			}
 			btTransform childTrans = vis->m_linkLocalFrame;
 
-			float rgbaColor[4] = {1,1,1,1};
+			
+
+			int colorIndex = colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0;
+
+			btVector4 color;
+			color = sColors[colorIndex];
+			float rgbaColor[4] = {color[0],color[1],color[2],color[3]};
+			if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
+			{
+				color.setValue(1,1,1,1);
+			}
 			if (model && useVisual)
 			{
 				btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());

From dd3d55610b242482dbf3171b550285ff6c21cfea Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 30 Jun 2017 13:35:07 -0700
Subject: [PATCH 143/175] fixes in pybullet.loadTexture, changeVisualShape
 replacing texture. (also works for OpenGL3 renderer now)

---
 .../CommonGUIHelperInterface.h                |   3 +
 .../CommonInterfaces/CommonRenderInterface.h  |   3 +
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |  12 ++
 examples/ExampleBrowser/OpenGLGuiHelper.h     |   3 +
 .../OpenGLWindow/GLInstancingRenderer.cpp     |  20 +++
 examples/OpenGLWindow/GLInstancingRenderer.h  |   3 +-
 examples/SharedMemory/PhysicsClientC_API.cpp  |  12 ++
 examples/SharedMemory/PhysicsClientC_API.h    |   3 +
 .../PhysicsServerCommandProcessor.cpp         | 169 ++++++++++++------
 .../SharedMemory/PhysicsServerExample.cpp     |  43 +++++
 examples/SharedMemory/SharedMemoryCommands.h  |   6 +
 .../TinyRendererVisualShapeConverter.cpp      |  43 +++--
 examples/pybullet/pybullet.c                  |   7 +-
 src/LinearMath/btHashMap.h                    |  24 ++-
 14 files changed, 275 insertions(+), 76 deletions(-)

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index 233f3002a..d552f1ebf 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -41,6 +41,9 @@ struct GUIHelperInterface
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
 	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
 
+	virtual int getShapeIndexFromInstance(int instanceUid){return -1;}	
+	virtual void replaceTexture(int shapeIndex, int textureUid){}
+	
 	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
 	
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index 851db8d5f..236f666c9 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -70,6 +70,9 @@ struct CommonRenderInterface
     virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true)=0;
     virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true)=0;
     virtual void activateTexture(int textureIndex)=0;
+	virtual void replaceTexture(int shapeIndex, int textureIndex){};
+
+	virtual int getShapeIndexFromInstance(int srcIndex) {return -1;}
 
 	virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)=0;
 
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index a02b5dbca..dfc259542 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -318,6 +318,18 @@ void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
 	};
 }
 
+int OpenGLGuiHelper::getShapeIndexFromInstance(int instanceUid)
+{
+	return m_data->m_glApp->m_renderer->getShapeIndexFromInstance(instanceUid);
+}
+
+void OpenGLGuiHelper::replaceTexture(int shapeIndex, int textureUid)
+{
+	if (shapeIndex>=0)
+	{
+		m_data->m_glApp->m_renderer->replaceTexture(shapeIndex, textureUid);
+	};
+}
 void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
 {
 	if (instanceUid>=0)
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index ccc935dcb..ade554a8a 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -29,6 +29,9 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
 	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
 
+	virtual int getShapeIndexFromInstance(int instanceUid);	
+	virtual void replaceTexture(int shapeIndex, int textureUid);
+
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 3796bf371..e756dec66 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -392,6 +392,15 @@ GLInstancingRenderer::~GLInstancingRenderer()
 
 
 
+int GLInstancingRenderer::getShapeIndexFromInstance(int srcIndex)
+{
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex);
+	if (pg)
+	{
+		return pg->m_shapeIndex;
+	}
+	return -1;
+}
 
 
 
@@ -955,6 +964,17 @@ int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
 }
 
 
+void    GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
+{
+	if (shapeIndex >=0 && shapeIndex < m_data->m_textureHandles.size())
+	{
+		b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
+		if (textureId>=0)
+		{
+			gfxObj->m_texturehandle = m_data->m_textureHandles[textureId].m_glTexture;
+		}
+	}
+}
 
 void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY)
 {
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index a066197b5..6d0ea2819 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -67,7 +67,8 @@ public:
 	virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true);
     virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true);
     virtual void activateTexture(int textureIndex);
-
+	virtual void replaceTexture(int shapeIndex, int textureId);
+	virtual int getShapeIndexFromInstance(int srcIndex);
 
 	///position x,y,z, quaternion x,y,z,w, color r,g,b,a, scaling x,y,z
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index cb3e69de4..5a89751bd 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -2938,6 +2938,18 @@ b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient,
     return (b3SharedMemoryCommandHandle) command;
 }
 
+int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle)
+{
+	int uid = -1;
+	const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
+	btAssert(status->m_type == CMD_LOAD_TEXTURE_COMPLETED);	
+	if (status->m_type == CMD_LOAD_TEXTURE_COMPLETED)
+	{
+		uid = status->m_loadTextureResultArguments.m_textureUniqueId;
+	}
+	return uid;
+}
+
 b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index da7bdac42..9c7271275 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -217,6 +217,9 @@ b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientH
 void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
 
 b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
+int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle);
+
+
 b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
 void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]);
 void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3]);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index c0aff3429..55fac1dc9 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -20,7 +20,7 @@
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "Bullet3Common/b3HashMap.h"
 #include "../Utils/ChromeTraceUtil.h"
-
+#include "stb_image/stb_image.h"
 #include "BulletInverseDynamics/MultiBodyTree.hpp"
 #include "IKTrajectoryHelper.h"
 #include "btBulletDynamicsCommon.h"
@@ -129,7 +129,7 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
 	}
 };
 
-struct InteralCollisionShapeData
+struct InternalCollisionShapeData
 {
 	btCollisionShape* m_collisionShape;
 	b3AlignedObjectArray<UrdfCollision> m_urdfCollisionObjects;
@@ -139,7 +139,7 @@ struct InteralCollisionShapeData
 	}
 };
 
-struct InteralBodyData
+struct InternalBodyData
 {
 	btMultiBody* m_multiBody;
 	btRigidBody* m_rigidBody;
@@ -152,7 +152,7 @@ struct InteralBodyData
 	b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
 #endif //B3_ENABLE_TINY_AUDIO
 
-	InteralBodyData()		
+	InternalBodyData()		
 	{
 		clear();
 	}
@@ -183,8 +183,20 @@ struct InteralUserConstraintData
 	}
 };
 
-typedef b3PoolBodyHandle<InteralBodyData> InternalBodyHandle;
-typedef b3PoolBodyHandle<InteralCollisionShapeData> InternalCollisionShapeHandle;
+struct InternalTextureData
+{
+	int m_tinyRendererTextureId;
+	int m_openglTextureId;
+	void clear()
+	{
+		m_tinyRendererTextureId = -1;
+		m_openglTextureId = -1;
+	}
+};
+
+typedef b3PoolBodyHandle<InternalTextureData> InternalTextureHandle;
+typedef b3PoolBodyHandle<InternalBodyData> InternalBodyHandle;
+typedef b3PoolBodyHandle<InternalCollisionShapeData> InternalCollisionShapeHandle;
 
 class btCommandChunk
 {
@@ -1145,6 +1157,7 @@ struct ContactPointsStateLogger : public InternalStateLogger
 struct PhysicsServerCommandProcessorInternalData
 {
 	///handle management
+	b3ResizablePool< InternalTextureHandle > m_textureHandles;
 	b3ResizablePool< InternalBodyHandle > m_bodyHandles;
 	b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
 
@@ -1269,7 +1282,7 @@ struct PhysicsServerCommandProcessorInternalData
 			int handle = allocHandle();
 			bla.push_back(handle);
 			InternalBodyHandle* body = getHandle(handle);
-			InteralBodyData* body2 = body;
+			InternalBodyData* body2 = body;
 		}
 		for (int i=0;i<bla.size();i++)
 		{
@@ -1283,7 +1296,7 @@ struct PhysicsServerCommandProcessorInternalData
 			int handle = allocHandle();
 			bla.push_back(handle);
 			InternalBodyHandle* body = getHandle(handle);
-			InteralBodyData* body2 = body;
+			InternalBodyData* body2 = body;
 		}
 		for (int i=0;i<bla.size();i++)
 		{
@@ -1296,7 +1309,7 @@ struct PhysicsServerCommandProcessorInternalData
 			int handle = allocHandle();
 			bla.push_back(handle);
 			InternalBodyHandle* body = getHandle(handle);
-			InteralBodyData* body2 = body;
+			InternalBodyData* body2 = body;
 		}
 		for (int i=0;i<bla.size();i++)
 		{
@@ -2679,7 +2692,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID)&& (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds>0))
 							{
 								int bodyUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[0];
-								InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+								InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 								if (body)
 								{
 									if (body->m_multiBody)
@@ -3256,7 +3269,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					for (int i=0;i<usedHandles.size();i++)
 					{
 						int usedHandle = usedHandles[i];
-						InteralBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle);
+						InternalBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle);
 						if (body && (body->m_multiBody || body->m_rigidBody))
 						{
 							serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle;
@@ -3345,7 +3358,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									{
 										int bodyUniqueId = sd.m_bodyUniqueIds[i];
-										InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+										InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 										if (body)
 										{
 											 if (body->m_multiBody)
@@ -3959,7 +3972,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
 								}
 								serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
-								InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+								InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 								strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
 							}
 						}
@@ -4024,7 +4037,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
 						}
 						serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
-						InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+						InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 						strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
 						hasStatus = true;
 
@@ -4096,7 +4109,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						b3Printf("Processed CMD_CREATE_SENSOR");
 					}
 					int bodyUniqueId = clientCmd.m_createSensorArguments.m_bodyUniqueId;
-					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+					InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
                     if (body && body->m_multiBody)
                     {
                         btMultiBody* mb = body->m_multiBody;
@@ -4216,7 +4229,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 
 							int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId;
-							InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+							InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 
                             if (body && body->m_multiBody)
                             {
@@ -4406,7 +4419,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_FAILED;
 					hasStatus=true;
 					int bodyUniqueId = clientCmd.m_requestCollisionInfoArgs.m_bodyUniqueId;
-					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+					InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 						
 
 					if (body && body->m_multiBody)
@@ -4507,7 +4520,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							b3Printf("Sending the actual state (Q,U)");
 						}
 						int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId;
-						InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+						InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 						
 
 						if (body && body->m_multiBody)
@@ -4824,7 +4837,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					btAssert(bodyUniqueId >= 0);
 					btAssert(linkIndex >= -1);
 						
-					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+					InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 
 					if (body && body->m_multiBody)
 					{
@@ -5010,7 +5023,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				{
 					int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId;
 					int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex;
-					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+					InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 					if (body && body->m_multiBody)
 					{
 						SharedMemoryStatus& serverCmd = serverStatusOut;
@@ -5151,7 +5164,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						b3Printf("Server Init Pose not implemented yet");
 					}
 					int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId;
-					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+					InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 
 					btVector3 baseLinVel(0, 0, 0);
 					btVector3 baseAngVel(0, 0, 0);
@@ -5745,7 +5758,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								
 								if (bodyUniqueIdA >= 0)
 								{
-									InteralBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA);
+									InternalBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA);
 									if (bodyA)
 									{
 										if (bodyA->m_multiBody)
@@ -5779,7 +5792,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								}
 								if (bodyUniqueIdB>=0)
 								{
-									InteralBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB);
+									InternalBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB);
 									if (bodyB)
 									{
 										if (bodyB->m_multiBody)
@@ -6048,7 +6061,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     }
                     for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
                     {
-                        InteralBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
+                        InternalBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
 						bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME) != 0);
 
                         if (body && body->m_multiBody)
@@ -6254,12 +6267,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_CONSTRAINT)
 					{
 						btScalar defaultMaxForce = 500.0;
-						InteralBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
+						InternalBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
 						if (parentBody && parentBody->m_multiBody)
 						{
 							if ((clientCmd.m_userConstraintArguments.m_parentJointIndex>=-1) && clientCmd.m_userConstraintArguments.m_parentJointIndex < parentBody->m_multiBody->getNumLinks())
 							{
-								InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
+								InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
 								//also create a constraint with just a single multibody/rigid body without child
 								//if (childBody)
 								{
@@ -6413,7 +6426,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 						else
 						{
-							InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
+							InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
 						
 							if (parentBody && childBody)
 							{
@@ -6762,12 +6775,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE");
                     SharedMemoryStatus& serverCmd = serverStatusOut;
                     serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
-                    
+                    InternalTextureHandle* texHandle = 0;
+					
 					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) 
 					{
+						texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
+
 						if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0)
 						{
-		                    m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
+							if (texHandle)
+							{
+			                    m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
+							}
 						}
 					}                    
    
@@ -6784,10 +6803,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									if (bodyHandle->m_multiBody->getBaseCollider())
 									{
-										m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 										int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
+										if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) 
+										{
+											if (texHandle)
+											{
+												int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
+												m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId);
+											}
+										}
 										if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 										{
+											m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 											m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 										}
 										if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
@@ -6802,10 +6829,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
 										{
-											m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 											int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
+											if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) 
+											{
+												if (texHandle)
+												{
+													int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
+													m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId);
+												}
+											}
 											if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
 											{
+												m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
 												m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 											}
 											if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
@@ -6828,25 +6863,59 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
                     break;
                 }
-                case CMD_LOAD_TEXTURE:
-                {
+				case CMD_LOAD_TEXTURE:
+				{
 					BT_PROFILE("CMD_LOAD_TEXTURE");
-                    SharedMemoryStatus& serverCmd = serverStatusOut;
-                    serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
-                    
-                    int uid = m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName);
-                    
-                    if (uid>=0)
-                    {
-                        serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED;
-                    } else
-                    {
-                        serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
-                    }
-                    hasStatus = true;
-                    
-                    break;
-                }
+					SharedMemoryStatus& serverCmd = serverStatusOut;
+					serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
+
+					char relativeFileName[1024];
+					char pathPrefix[1024];
+
+					if(b3ResourcePath::findResourcePath(clientCmd.m_loadTextureArguments.m_textureFileName,relativeFileName,1024))
+					{
+						b3FileUtils::extractPath(relativeFileName,pathPrefix,1024);
+
+						int texHandle = m_data->m_textureHandles.allocHandle();
+						InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
+						if(texH)
+						{
+							texH->m_tinyRendererTextureId = -1;
+							texH->m_openglTextureId = -1;
+
+							int uid = m_data->m_visualConverter.loadTextureFile(relativeFileName);
+							if(uid>=0)
+							{
+								int m_tinyRendererTextureId;
+								texH->m_tinyRendererTextureId = uid;
+							}
+
+							{
+								int width,height,n;
+								unsigned char* imageData= stbi_load(relativeFileName,&width,&height,&n,3);
+
+								if(imageData)
+								{
+									texH->m_openglTextureId = m_data->m_guiHelper->registerTexture(imageData,width,height);
+									free(imageData);
+								}
+								else
+								{
+									b3Warning("Unsupported texture image format [%s]\n",relativeFileName);
+								}
+							}
+							serverCmd.m_loadTextureResultArguments.m_textureUniqueId = texHandle;
+							serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED;
+						}
+					}
+					else
+					{
+						serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
+					}
+					hasStatus = true;
+
+					break;
+				}
 
 				case CMD_LOAD_BULLET:
 				{
@@ -7041,7 +7110,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						if ((clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR))
 						{
 							int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId;
-							InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+							InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 							if (body)
 							{
 								btCollisionObject* destColObj = 0;
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 294381583..0a28b9c31 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -131,6 +131,8 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIHelperChangeGraphicsInstanceRGBAColor,
 	eGUIHelperChangeGraphicsInstanceSpecularColor,
 	eGUIHelperSetVisualizerFlag,
+	eGUIHelperChangeGraphicsInstanceTextureId,
+	eGUIHelperGetShapeIndexFromInstance,
 };
 
 
@@ -932,6 +934,29 @@ public:
 		m_cs->setSharedParam(1,eGUIHelperRemoveGraphicsInstance);
 		workerThreadWait();    
 	}
+	
+	int m_getShapeIndex_instance;
+	int getShapeIndex_shapeIndex;
+		
+	virtual int getShapeIndexFromInstance(int instance) 
+	{
+		m_getShapeIndex_instance = instance;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperGetShapeIndexFromInstance);
+		workerThreadWait();		
+		return getShapeIndex_shapeIndex;
+	}
+
+	int m_graphicsInstanceChangeTextureId;
+	int m_graphicsInstanceChangeTextureShapeIndex;
+	virtual void replaceTexture(int shapeIndex, int textureUid)
+	{
+		m_graphicsInstanceChangeTextureShapeIndex = shapeIndex;
+		m_graphicsInstanceChangeTextureId = textureUid;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperChangeGraphicsInstanceTextureId);
+		workerThreadWait();   
+	}
 
 	double m_rgbaColor[4];
 	int m_graphicsInstanceChangeColor;
@@ -1913,6 +1938,24 @@ void	PhysicsServerExample::updateGraphics()
 		break;
 	}
 
+	case eGUIHelperGetShapeIndexFromInstance:
+	{
+		m_multiThreadedHelper->getShapeIndex_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->getShapeIndexFromInstance(m_multiThreadedHelper->m_getShapeIndex_instance);
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+	}
+
+	case eGUIHelperChangeGraphicsInstanceTextureId:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->replaceTexture(
+			m_multiThreadedHelper->m_graphicsInstanceChangeTextureShapeIndex,
+			m_multiThreadedHelper->m_graphicsInstanceChangeTextureId);
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+	}
+
+	
+
 	case eGUIHelperChangeGraphicsInstanceRGBAColor:
 	{
 		m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor);
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 103dd5f96..4b9fe12b9 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -283,6 +283,11 @@ struct LoadTextureArgs
     char m_textureFileName[MAX_FILENAME_LENGTH];
 };
 
+struct b3LoadTextureResultArgs
+{
+	int m_textureUniqueId;
+};
+
 struct SendVisualShapeDataArgs
 {
 	int m_bodyUniqueId;
@@ -1015,6 +1020,7 @@ struct SharedMemoryStatus
 		struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
 		struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
 		struct SendMouseEvents m_sendMouseEvents;
+		struct b3LoadTextureResultArgs m_loadTextureResultArguments;
 
 	};
 };
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index e70e08e1f..f804dcb3f 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -1070,12 +1070,15 @@ void TinyRendererVisualShapeConverter::resetAll()
 void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
 {
     btAssert(textureUniqueId < m_data->m_textures.size());
-    TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId);
-    if (ptrptr && *ptrptr)
-    {
-        TinyRendererObjectArray* ptr = *ptrptr;
-        ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height);
-    }
+	if (textureUniqueId>=0 && textureUniqueId<m_data->m_textures.size())
+	{
+		TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId);
+		if (ptrptr && *ptrptr)
+		{
+			TinyRendererObjectArray* ptr = *ptrptr;
+			ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height);
+		}
+	}
 }
 
 void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
@@ -1085,18 +1088,26 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId,
     {
         if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex)
         {
-            start = i;
-            break;
-        }
-    }
-    
-    if (start >= 0)
-    {
-        if (start + shapeIndex < m_data->m_visualShapes.size())
-        {
-            activateShapeTexture(start + shapeIndex, textureUniqueId);
+			if (shapeIndex<0)
+			{
+				activateShapeTexture(i, textureUniqueId);		
+			} else
+			{
+	            start = i;
+		        break;
+			}
         }
     }
+    if (shapeIndex>=0)
+	{
+		if (start >= 0)
+		{
+			if (start + shapeIndex < m_data->m_visualShapes.size())
+			{
+				activateShapeTexture(start + shapeIndex, textureUniqueId);
+			}
+		}
+	}
 }
 
 int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 882de968c..08aee99e3 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -4578,6 +4578,9 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
 		{
+			PyObject* item;
+			item = PyInt_FromLong(b3GetStatusTextureUniqueId(statusHandle));
+			return item;
 		}
 		else
 		{
@@ -4586,8 +4589,8 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
 		}
 	}
 
-	Py_INCREF(Py_None);
-	return Py_None;
+	PyErr_SetString(SpamError, "Error loading texture");
+	return NULL;
 }
 
 static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPointPtr)
diff --git a/src/LinearMath/btHashMap.h b/src/LinearMath/btHashMap.h
index 3e8b75b7d..a0a062750 100644
--- a/src/LinearMath/btHashMap.h
+++ b/src/LinearMath/btHashMap.h
@@ -389,28 +389,38 @@ protected:
 	const Value* getAtIndex(int index) const
 	{
 		btAssert(index < m_valueArray.size());
-
-		return &m_valueArray[index];
+		btAssert(index>=0);
+		if (index>=0 && index < m_valueArray.size())
+		{
+			return &m_valueArray[index];
+		}
+		return 0;
 	}
 
 	Value* getAtIndex(int index)
 	{
 		btAssert(index < m_valueArray.size());
-
-		return &m_valueArray[index];
+		btAssert(index>=0);
+		if (index>=0 && index < m_valueArray.size())
+		{
+			return &m_valueArray[index];
+		}
+		return 0;
 	}
 
     Key getKeyAtIndex(int index)
     {
         btAssert(index < m_keyArray.size());
-        return m_keyArray[index];
+		btAssert(index>=0);
+		return m_keyArray[index];
     }
     
     const Key getKeyAtIndex(int index) const
     {
         btAssert(index < m_keyArray.size());
-        return m_keyArray[index];
-    }
+		btAssert(index>=0);
+		return m_keyArray[index];
+   }
 
 
 	Value* operator[](const Key& key) {

From 88897cc7442bd41ade167c65fb9d9b13c6a65080 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 30 Jun 2017 19:11:43 -0700
Subject: [PATCH 144/175] implement pybullet.changeTexture. For now, the
 width/height has to match the target texture unique id, otherwise crashes may
 happen (a check for width/height match will be added) See also
 examples\pybullet\examples\changeTexture.py

---
 data/tex256.png                               | Bin 0 -> 12089 bytes
 .../CommonGUIHelperInterface.h                |   1 +
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |   6 ++
 examples/ExampleBrowser/OpenGLGuiHelper.h     |   1 +
 .../OpenGLWindow/GLInstancingRenderer.cpp     |  43 +++++++---
 examples/SharedMemory/PhysicsClientC_API.cpp  |  19 +++++
 examples/SharedMemory/PhysicsClientC_API.h    |   1 +
 .../PhysicsClientSharedMemory.cpp             |   4 +-
 examples/SharedMemory/PhysicsDirect.cpp       |   8 ++
 .../PhysicsServerCommandProcessor.cpp         |  18 +++++
 .../SharedMemory/PhysicsServerExample.cpp     |  28 +++++++
 examples/SharedMemory/SharedMemoryCommands.h  |   7 ++
 examples/SharedMemory/SharedMemoryPublic.h    |   2 +
 examples/pybullet/examples/changeTexture.py   |  43 ++++++++++
 examples/pybullet/pybullet.c                  |  74 +++++++++++++++++-
 15 files changed, 241 insertions(+), 14 deletions(-)
 create mode 100644 data/tex256.png
 create mode 100644 examples/pybullet/examples/changeTexture.py

diff --git a/data/tex256.png b/data/tex256.png
new file mode 100644
index 0000000000000000000000000000000000000000..130d4aadec279ee9e0791ad9c9c4fb35db117148
GIT binary patch
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zF<BF0zZ%r|`HbLb#KM;%{6`PVvr?Bn96Xy+nzYgx0cInFUQ=g;FHhTIFc&BN5>Q1D
nH8Ij8=0LFbEXw*JZUcS63fzMJ`%^gZ4ge0eE;cn*jO70VQiDBj

literal 0
HcmV?d00001

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index d552f1ebf..cbd52aa6f 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -40,6 +40,7 @@ struct GUIHelperInterface
 	virtual void removeGraphicsInstance(int graphicsUid) {}
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
 	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
+	virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height){}
 
 	virtual int getShapeIndexFromInstance(int instanceUid){return -1;}	
 	virtual void replaceTexture(int shapeIndex, int textureUid){}
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index dfc259542..49b717b5a 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -292,6 +292,12 @@ int	OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int
 	return textureId;
 }
 
+void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* texels, int width, int height)
+{
+	bool flipPixelsY = true;
+	m_data->m_glApp->m_renderer->updateTexture(textureUniqueId, texels,flipPixelsY);
+}
+
 
 int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
 {
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index ade554a8a..52a522e0e 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -28,6 +28,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual void removeGraphicsInstance(int graphicsUid);
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
 	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
+	virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height);
 
 	virtual int getShapeIndexFromInstance(int instanceUid);	
 	virtual void replaceTexture(int shapeIndex, int textureUid);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index e756dec66..92a11f417 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -117,13 +117,14 @@ GLint lineWidthRange[2]={1,1};
 
 enum
 {
-	eGfxTransparency=1
+	eGfxTransparency=1,
 };
+
 struct b3GraphicsInstance
 {
 	GLuint               m_cube_vao;
 	GLuint               m_index_vbo;
-	GLuint				m_texturehandle;
+	GLuint				m_textureIndex;
 
 	int m_numIndices;
 	int m_numVertices;
@@ -141,7 +142,7 @@ struct b3GraphicsInstance
 	b3GraphicsInstance()
 	:m_cube_vao(-1),
 		m_index_vbo(-1),
-		m_texturehandle(0),
+		m_textureIndex(-1),
 		m_numIndices(-1),
 		m_numVertices(-1),
 		m_numGraphicsInstances(0),
@@ -188,6 +189,7 @@ struct InternalTextureHandle
     GLuint  m_glTexture;
     int m_width;
     int m_height;
+	int m_enableFiltering;
 };
 
 struct b3PublicGraphicsInstanceData
@@ -954,7 +956,7 @@ int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
     h.m_glTexture = textureHandle;
     h.m_width = width;
     h.m_height = height;
-
+	h.m_enableFiltering = true;
 	m_data->m_textureHandles.push_back(h);
 	if (texels)
 	{
@@ -971,7 +973,8 @@ void    GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
 		b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
 		if (textureId>=0)
 		{
-			gfxObj->m_texturehandle = m_data->m_textureHandles[textureId].m_glTexture;
+			gfxObj->m_textureIndex = textureId;
+
 		}
 	}
 }
@@ -980,9 +983,6 @@ void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
 {
     if (textureIndex>=0)
     {
-		
-		
-
         glActiveTexture(GL_TEXTURE0);
         b3Assert(glGetError() ==GL_NO_ERROR);
         InternalTextureHandle& h = m_data->m_textureHandles[textureIndex];
@@ -1011,7 +1011,10 @@ void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
 			glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&texels[0]);
 		}
         b3Assert(glGetError() ==GL_NO_ERROR);
-        glGenerateMipmap(GL_TEXTURE_2D);
+		if (h.m_enableFiltering)
+		{
+	        glGenerateMipmap(GL_TEXTURE_2D);
+		}
         b3Assert(glGetError() ==GL_NO_ERROR);
     }
 }
@@ -1048,7 +1051,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 
 	if (textureId>=0)
 	{
-		gfxObj->m_texturehandle = m_data->m_textureHandles[textureId].m_glTexture;
+		gfxObj->m_textureIndex = textureId;
 	}
 
 	gfxObj->m_primitiveType = primitiveType;
@@ -2201,10 +2204,26 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 			{
 				glActiveTexture(GL_TEXTURE0);
 				GLuint curBindTexture = 0;
-				if (gfxObj->m_texturehandle)
-					curBindTexture = gfxObj->m_texturehandle;
+				if (gfxObj->m_textureIndex>=0)
+				{
+					curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture;
+
+					glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_BASE_LEVEL,0);
+
+					if (m_data->m_textureHandles[gfxObj->m_textureIndex].m_enableFiltering)
+					{
+						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+					} else
+					{
+						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+					}
+				}
 				else
+				{
 					curBindTexture = m_data->m_defaultTexturehandle;
+				}
 
 	//disable lazy evaluation, it just leads to bugs
 				//if (lastBindTexture != curBindTexture)
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 5a89751bd..22ce287a0 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -2918,6 +2918,25 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
 	}
 }
 
+b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels)
+{
+    PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+    b3Assert(command);
+    command->m_type = CMD_CHANGE_TEXTURE;
+
+	command->m_changeTextureArgs.m_textureUniqueId = textureUniqueId;
+	command->m_changeTextureArgs.m_width = width;
+	command->m_changeTextureArgs.m_height = height;
+	int numPixels = width*height;
+	cl->uploadBulletFileToSharedMemory(rgbPixels,numPixels*3);
+	command->m_updateFlags = 0;
+    return (b3SharedMemoryCommandHandle) command;
+}
+
+
 b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 9c7271275..a0ce40f7b 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -219,6 +219,7 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
 b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
 int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle);
 
+b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels);
 
 b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
 void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]);
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 0877b1d0a..12585e13b 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -1368,7 +1368,9 @@ void PhysicsClientSharedMemory::uploadBulletFileToSharedMemory(const char* data,
                   SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
     } else {
         for (int i = 0; i < len; i++) {
-            m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i];
+            //m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i];
+			m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[i] = data[i];
+
         }
     }
 }
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index afbf92f0a..d26ff70da 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -1095,6 +1095,14 @@ void PhysicsDirect::setSharedMemoryKey(int key)
 
 void PhysicsDirect::uploadBulletFileToSharedMemory(const char* data, int len)
 {
+	if (len>SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
+	{
+		len = SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
+	}
+	for (int i=0;i<len;i++)
+	{
+		m_data->m_bulletStreamDataServerToClient[i] = data[i];
+	}
 	//m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
 }
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 55fac1dc9..2719f2788 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -6863,6 +6863,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
                     break;
                 }
+
+				case CMD_CHANGE_TEXTURE:
+				{
+					SharedMemoryStatus& serverCmd = serverStatusOut;
+					serverCmd.m_type = CMD_CHANGE_TEXTURE_COMMAND_FAILED;
+					
+					InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(clientCmd.m_changeTextureArgs.m_textureUniqueId);
+					if(texH)
+					{
+						int gltex = texH->m_openglTextureId;
+						m_data->m_guiHelper->changeTexture(gltex,
+							(const unsigned char*)bufferServerToClient, clientCmd.m_changeTextureArgs.m_width,clientCmd.m_changeTextureArgs.m_height);
+
+						serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
+					}
+                    hasStatus = true;
+                    break;
+				}
 				case CMD_LOAD_TEXTURE:
 				{
 					BT_PROFILE("CMD_LOAD_TEXTURE");
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 0a28b9c31..80968c880 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -133,6 +133,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIHelperSetVisualizerFlag,
 	eGUIHelperChangeGraphicsInstanceTextureId,
 	eGUIHelperGetShapeIndexFromInstance,
+	eGUIHelperChangeTexture,
 };
 
 
@@ -958,6 +959,23 @@ public:
 		workerThreadWait();   
 	}
 
+
+	int m_changeTextureUniqueId;
+	const unsigned char* m_changeTextureRgbTexels;
+	int m_changeTextureWidth;
+	int m_changeTextureHeight;
+
+	virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height)
+	{
+		m_changeTextureUniqueId = textureUniqueId;
+		m_changeTextureRgbTexels = rgbTexels;
+		m_changeTextureWidth = width;
+		m_changeTextureHeight = height;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperChangeTexture);
+		workerThreadWait();   
+	}
+
 	double m_rgbaColor[4];
 	int m_graphicsInstanceChangeColor;
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4])
@@ -1955,6 +1973,16 @@ void	PhysicsServerExample::updateGraphics()
 	}
 
 	
+	case eGUIHelperChangeTexture:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->changeTexture(
+			m_multiThreadedHelper->m_changeTextureUniqueId,
+			m_multiThreadedHelper->m_changeTextureRgbTexels,
+			m_multiThreadedHelper->m_changeTextureWidth,
+			m_multiThreadedHelper->m_changeTextureHeight);
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+	}
 
 	case eGUIHelperChangeGraphicsInstanceRGBAColor:
 	{
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 4b9fe12b9..a5db4cd71 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -898,6 +898,12 @@ struct b3CreateMultiBodyResultArgs
 	int m_bodyUniqueId;
 };
 
+struct b3ChangeTextureArgs
+{
+	int m_textureUniqueId;
+	int m_width;
+	int m_height;
+};
 
 struct SharedMemoryCommand
 {
@@ -950,6 +956,7 @@ struct SharedMemoryCommand
 		struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
 		struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
 		struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
+		struct b3ChangeTextureArgs m_changeTextureArgs;
     };
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index eaf3de675..05875d9b5 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -67,6 +67,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_CREATE_MULTI_BODY,
 	CMD_REQUEST_COLLISION_INFO,
 	CMD_REQUEST_MOUSE_EVENTS_DATA,
+	CMD_CHANGE_TEXTURE,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -161,6 +162,7 @@ enum EnumSharedMemoryServerStatus
 		CMD_REQUEST_COLLISION_INFO_COMPLETED,
 		CMD_REQUEST_COLLISION_INFO_FAILED,
 		CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
+		CMD_CHANGE_TEXTURE_COMMAND_FAILED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };
diff --git a/examples/pybullet/examples/changeTexture.py b/examples/pybullet/examples/changeTexture.py
new file mode 100644
index 000000000..c9e592f88
--- /dev/null
+++ b/examples/pybullet/examples/changeTexture.py
@@ -0,0 +1,43 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+planeUidA = p.loadURDF("plane_transparent.urdf",[0,0,0])
+planeUid = p.loadURDF("plane_transparent.urdf",[0,0,-1])
+
+texUid = p.loadTexture("tex256.png")
+
+p.changeVisualShape(planeUidA,-1,rgbaColor=[1,1,1,0.5])
+p.changeVisualShape(planeUid,-1,rgbaColor=[1,1,1,0.5])
+p.changeVisualShape(planeUid,-1, textureUniqueId = texUid)
+
+width = 256
+height = 256
+pixels = [255]*width*height*3
+colorR = 0
+colorG = 0
+colorB = 0
+
+
+#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+
+blue=0
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "renderbench.json")
+for i in range (100000):
+	p.stepSimulation()
+	for i in range (width):
+		for j in range(height):
+			pixels[(i+j*width)*3+0]=i
+			pixels[(i+j*width)*3+1]=(j+blue)%256
+			pixels[(i+j*width)*3+2]=blue
+	blue=blue+1
+	p.changeTexture(texUid, pixels,width,height)
+	start = time.time()
+	p.getCameraImage(300,300,renderer=p.ER_BULLET_HARDWARE_OPENGL)
+	end = time.time()
+	print("rendering duraction")
+	print(end-start)
+p.stopStateLogging(logId)
+#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+#p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)
+
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 08aee99e3..4cf3eb6ac 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1433,7 +1433,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 			int i;
 			for (i = 0; i < numControlledDofs; i++)
 			{
-				int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
+				int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i);
 				if ((jointIndex >= numJoints) || (jointIndex < 0))
 				{
 					Py_DECREF(jointIndicesSeq);
@@ -4551,6 +4551,75 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
 	return Py_None;
 }
 
+
+static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	b3SharedMemoryCommandHandle commandHandle = 0;
+	b3SharedMemoryStatusHandle statusHandle=0;
+	int statusType = -1;
+	int textureUniqueId = -1;
+	int physicsClientId = 0;
+	int width=-1;
+	int height=-1;
+	
+	PyObject* pixelsObj = 0;
+
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = {"textureUniqueId", "pixels", "width", "height", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOii|i", kwlist, &textureUniqueId, &pixelsObj, &width, &height, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	if (textureUniqueId>=0 && width>=0 && height>=0 && pixelsObj)
+	{
+		PyObject* seqPixels = PySequence_Fast(pixelsObj, "expected a sequence");
+		PyObject* item;
+		int i;
+		int numPixels = width*height;
+		unsigned char* pixelBuffer = (char*) malloc (numPixels*3);
+		if (PyList_Check(seqPixels))
+		{
+			for (i=0;i<numPixels*3;i++)
+			{
+				item = PyList_GET_ITEM(seqPixels, i);
+				pixelBuffer[i] = PyLong_AsLong(item);
+			}
+		} else
+		{
+			for (i=0;i<numPixels*3;i++)
+			{
+				item = PyTuple_GET_ITEM(seqPixels, i);
+				pixelBuffer[i] = PyLong_AsLong(item);
+			}
+		}		
+
+		commandHandle = b3CreateChangeTextureCommandInit(sm,textureUniqueId, width,height,pixelBuffer);
+		free(pixelBuffer);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		statusType = b3GetStatusType(statusHandle);
+		if (statusType == CMD_CLIENT_COMMAND_COMPLETED)
+		{
+			Py_INCREF(Py_None);
+			return Py_None;
+		} else
+		{
+			PyErr_SetString(SpamError, "Error processing changeTexture.");
+			return NULL;
+		}
+	}
+
+	PyErr_SetString(SpamError, "Error: invalid arguments in changeTexture.");
+	return NULL;
+}
+
+
 static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	const char* filename = 0;
@@ -7029,6 +7098,9 @@ static PyMethodDef SpamMethods[] = {
 	{"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS,
 	 "Load texture file."},
 
+	{"changeTexture", (PyCFunction)pybullet_changeTexture, METH_VARARGS | METH_KEYWORDS,
+	 "Change a texture file."},
+
 	{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
 	 "Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to "
 	 "quaternion [x,y,z,w]"},

From c17625a4d07736034f177e143f8c48493ed435db Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Sat, 1 Jul 2017 09:15:00 -0700
Subject: [PATCH 145/175] texture check fix

---
 examples/OpenGLWindow/GLInstancingRenderer.cpp | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 92a11f417..7b0c617ed 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -118,14 +118,14 @@ GLint lineWidthRange[2]={1,1};
 enum
 {
 	eGfxTransparency=1,
+	eGfxHasTexture = 2,
 };
 
 struct b3GraphicsInstance
 {
-	GLuint               m_cube_vao;
-	GLuint               m_index_vbo;
-	GLuint				m_textureIndex;
-
+	GLuint	m_cube_vao;
+	GLuint	m_index_vbo;
+	GLuint	m_textureIndex;
 	int m_numIndices;
 	int m_numVertices;
 
@@ -974,6 +974,7 @@ void    GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
 		if (textureId>=0)
 		{
 			gfxObj->m_textureIndex = textureId;
+			gfxObj->m_flags |= eGfxHasTexture;
 
 		}
 	}
@@ -1052,6 +1053,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 	if (textureId>=0)
 	{
 		gfxObj->m_textureIndex = textureId;
+		gfxObj->m_flags |= eGfxHasTexture;
 	}
 
 	gfxObj->m_primitiveType = primitiveType;
@@ -1438,8 +1440,8 @@ void GLInstancingRenderer::updateCamera(int upAxis)
 
 
 
-//#define STB_IMAGE_WRITE_IMPLEMENTATION
-#include "stb_image/stb_image_write.h"
+////#define STB_IMAGE_WRITE_IMPLEMENTATION
+#include "third_party/stblib/stb_image_write.h"
 void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName, int numComponents)
 {
 
@@ -2204,7 +2206,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 			{
 				glActiveTexture(GL_TEXTURE0);
 				GLuint curBindTexture = 0;
-				if (gfxObj->m_textureIndex>=0)
+				if (gfxObj->m_flags & eGfxHasTexture)
 				{
 					curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture;
 

From 9cf747b35b6140c1000a4a55c9f79fc9bce93e42 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Sat, 1 Jul 2017 10:01:55 -0700
Subject: [PATCH 146/175] a few compile/warning fixes

---
 data/multibody.bullet                         | Bin 14844 -> 14844 bytes
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |   4 ++--
 .../OpenGLWindow/GLInstancingRenderer.cpp     |   4 ++--
 examples/pybullet/pybullet.c                  |   5 -----
 4 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/data/multibody.bullet b/data/multibody.bullet
index 0dee8f14afc067fbc54030a22bd9941df44f6edd..b071e4eb732e8af9e2708912d4ed2875df2e1bb5 100644
GIT binary patch
delta 487
zcmexU{HJ)rmdPTVHWNS8OfFz$$z=e80}c=xL~6m94<@KG+Dxx!U~p)^&%_86<$}pT
zX=XUT!JdHugdt!_!QOo!7T5K~wg|exo^kR-CUK3|LI;X}vNLShBm$-%_%T3CXJCN1
zBJW$hz0b=E>&Y@qYJ3a~kF6W*r!I-N7i90TnmmEUWby_^mWd@olMPs;SV0b8o;;C7
ze)0__<@yH<>JaxvR6$L26EvS*@66x^G|^?jV(axH?R!A(`S)$b?$5vL?PujFg88wl
z+iWDxD%rgFTo3lcKg$ODD+l83b#|9qfz%VH-wd|_b;8}df9z(o{aPXdw(w|xk)5Y=
zw2k-b&3h+rU{*2Mu!jL0(jePF0GZDN<o|~PP%K<LbH;9R3bV%K39Jf}eOUOI7#KFk
Ruy`=Df;2L0UdbM81OUDlk1GHG

delta 467
zcmexU{HJ)r7FI3>1_tiQ6Im=LeyTD7vNr=U7~I$#YybcMe>*65OG;YWJ}8?3CJt1y
ze{uqohy_S7OcF#dDcB2F4B{{3JO|?2zX&?IS8?}ryR@`4`&lz*+D*J5CdI%|;eH4x
z+hEVY2!u#rvJ8`&`X;!*hJOncLGlK_7b=1T7kr2CD`uTxV4VDrQJD7uR7JvGpv+`N
z7Ht7$pgIs{0b-!5|4-h)A~yLJlcFd?*-r*rpdf?N^Rj&l@~7^ykau;MY``kw020jR
zj*A7+AaEdd0oYmy50#$+6a*Oy0x+jfW?|7_1qt|04&+dtyoFi82dvc+Y5<V_|6kOZ
zfg!>SC}Ii`H8Y2Z!T1mwD#q|Yec65{<9+)<Zl2u8sx#S#g^x+$;N}<>4`$X44}qTD
JyplcG2mk<Fc$NSF

diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 49b717b5a..daeefddc6 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -292,10 +292,10 @@ int	OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int
 	return textureId;
 }
 
-void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* texels, int width, int height)
+void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height)
 {
 	bool flipPixelsY = true;
-	m_data->m_glApp->m_renderer->updateTexture(textureUniqueId, texels,flipPixelsY);
+	m_data->m_glApp->m_renderer->updateTexture(textureUniqueId, rgbTexels,flipPixelsY);
 }
 
 
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 7b0c617ed..c00f41be4 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -1440,8 +1440,8 @@ void GLInstancingRenderer::updateCamera(int upAxis)
 
 
 
-////#define STB_IMAGE_WRITE_IMPLEMENTATION
-#include "third_party/stblib/stb_image_write.h"
+//#define STB_IMAGE_WRITE_IMPLEMENTATION
+#include "stb_image/stb_image_write.h"
 void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName, int numComponents)
 {
 
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 4cf3eb6ac..637899e6c 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -4651,11 +4651,6 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
 			item = PyInt_FromLong(b3GetStatusTextureUniqueId(statusHandle));
 			return item;
 		}
-		else
-		{
-			PyErr_SetString(SpamError, "Error loading texture");
-			return NULL;
-		}
 	}
 
 	PyErr_SetString(SpamError, "Error loading texture");

From 5178ad4abcc420f4fda0f7e097a89e3f80d31a45 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 1 Jul 2017 10:28:28 -0700
Subject: [PATCH 147/175] add proper pointer casts

---
 examples/pybullet/pybullet.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 637899e6c..aba9c69c2 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -4583,7 +4583,7 @@ static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject
 		PyObject* item;
 		int i;
 		int numPixels = width*height;
-		unsigned char* pixelBuffer = (char*) malloc (numPixels*3);
+		unsigned char* pixelBuffer = (unsigned char*) malloc (numPixels*3);
 		if (PyList_Check(seqPixels))
 		{
 			for (i=0;i<numPixels*3;i++)
@@ -4600,7 +4600,7 @@ static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject
 			}
 		}		
 
-		commandHandle = b3CreateChangeTextureCommandInit(sm,textureUniqueId, width,height,pixelBuffer);
+		commandHandle = b3CreateChangeTextureCommandInit(sm,textureUniqueId, width,height,(const char*) pixelBuffer);
 		free(pixelBuffer);
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 		statusType = b3GetStatusType(statusHandle);

From 6e40f41dc6264443e881fb58d3920565c5a623d6 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Sat, 1 Jul 2017 10:43:02 -0700
Subject: [PATCH 148/175] bump up pybullet version

---
 setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.py b/setup.py
index d146cecc6..1a04f4de5 100644
--- a/setup.py
+++ b/setup.py
@@ -419,7 +419,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.1.8',
+	version='1.2.0',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From e6f7eb486a1da9a5f589f56b3aec5126ea6b8a90 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Sat, 1 Jul 2017 10:55:13 -0700
Subject: [PATCH 149/175] bump up pybullet setup.py version

---
 setup.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/setup.py b/setup.py
index 1a04f4de5..d487f86e9 100644
--- a/setup.py
+++ b/setup.py
@@ -386,6 +386,7 @@ if _platform == "linux" or _platform == "linux2":
     sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
     +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
     +["examples/ThirdPartyLibs/Glew/glew.c"]
+    include_dirs += ["examples/ThirdPartyLibs/optionalX11"]
 elif _platform == "win32":
     print("win32!")
     libraries = ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
@@ -419,7 +420,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.2.0',
+	version='1.2.1',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From b63023c6920019fe409bc2e4638ce1da0fb9c440 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 1 Jul 2017 11:47:57 -0700
Subject: [PATCH 150/175] add transparent plane

---
 data/plane_transparent.mtl  | 14 ++++++++++++++
 data/plane_transparent.obj  | 18 ++++++++++++++++++
 data/plane_transparent.urdf | 29 +++++++++++++++++++++++++++++
 3 files changed, 61 insertions(+)
 create mode 100644 data/plane_transparent.mtl
 create mode 100644 data/plane_transparent.obj
 create mode 100644 data/plane_transparent.urdf

diff --git a/data/plane_transparent.mtl b/data/plane_transparent.mtl
new file mode 100644
index 000000000..6b700a066
--- /dev/null
+++ b/data/plane_transparent.mtl
@@ -0,0 +1,14 @@
+newmtl Material
+  Ns 10.0000
+  Ni 1.5000
+  d 1.0000
+  Tr 0.0000
+  Tf 1.0000 1.0000 1.0000 
+  illum 2
+  Ka 0.0000 0.0000 0.0000
+  Kd 0.5880 0.5880 0.5880
+  Ks 0.0000 0.0000 0.0000
+  Ke 0.0000 0.0000 0.0000
+  map_Kd tex4x4.png
+  
+  
diff --git a/data/plane_transparent.obj b/data/plane_transparent.obj
new file mode 100644
index 000000000..b1317066e
--- /dev/null
+++ b/data/plane_transparent.obj
@@ -0,0 +1,18 @@
+# Blender v2.66 (sub 1) OBJ File: ''
+# www.blender.org
+mtllib plane_transparent.mtl
+o Plane
+v 15.000000 -15.000000 0.000000
+v 15.000000 15.000000 0.000000
+v -15.000000 15.000000 0.000000
+v -15.000000  -15.000000 0.000000
+
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+vt 0.000000 0.000000
+
+usemtl Material
+s off
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/data/plane_transparent.urdf b/data/plane_transparent.urdf
new file mode 100644
index 000000000..4054d2948
--- /dev/null
+++ b/data/plane_transparent.urdf
@@ -0,0 +1,29 @@
+<?xml version="0.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane_transparent.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 0.4"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -5"/>
+      <geometry>
+	 	<box size="30 30 10"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

From e85e2ee12720c9c8c053267a193c8bdc1424ccc8 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Mon, 5 Jun 2017 14:43:41 -0700
Subject: [PATCH 151/175] MultiThreadedDemo: make it possible to dial in a
 single large island, and tilt the ground and adjust rolling friction

---
 .../MultiThreadedDemo/MultiThreadedDemo.cpp   | 135 ++++++++++++++----
 1 file changed, 105 insertions(+), 30 deletions(-)

diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
index a083b9ac5..a04ab0d91 100644
--- a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
+++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp
@@ -13,28 +13,35 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include "btBulletDynamicsCommon.h"
-#include "LinearMath/btQuickprof.h"
-#include "LinearMath/btIDebugDraw.h"
+#include "MultiThreadedDemo.h"
+#include "CommonRigidBodyMTBase.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
+#include "btBulletDynamicsCommon.h"
+#include "btBulletCollisionCommon.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
 #include <stdio.h> //printf debugging
 #include <algorithm>
 
-class btCollisionShape;
-
-#include "CommonRigidBodyMTBase.h"
-#include "MultiThreadedDemo.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btBulletCollisionCommon.h"
-
 
 
 static btScalar gSliderStackRows = 8.0f;
 static btScalar gSliderStackColumns = 6.0f;
 static btScalar gSliderStackHeight = 10.0f;
+static btScalar gSliderStackWidth = 1.0f;
 static btScalar gSliderGroundHorizontalAmplitude = 0.0f;
 static btScalar gSliderGroundVerticalAmplitude = 0.0f;
+static btScalar gSliderGroundTilt = 0.0f;
+static btScalar gSliderRollingFriction = 0.0f;
+static bool gSpheresNotBoxes = false;
 
+static void boolPtrButtonCallback( int buttonId, bool buttonState, void* userPointer )
+{
+    if ( bool* val = static_cast<bool*>( userPointer ) )
+    {
+        *val = !*val;
+    }
+}
 
 /// MultiThreadedDemo shows how to setup and use multithreading
 class MultiThreadedDemo  : public CommonRigidBodyMTBase
@@ -50,8 +57,9 @@ class MultiThreadedDemo  : public CommonRigidBodyMTBase
     btRigidBody* m_groundBody;
     btTransform m_groundStartXf;
     float m_groundMovePhase;
+    float m_prevRollingFriction;
 
-    void createStack( const btVector3& pos, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size );
+    void createStack( const btTransform& trans, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size, int width );
     void createSceneObjects();
     void destroySceneObjects();
 
@@ -62,10 +70,25 @@ public:
 
 	virtual ~MultiThreadedDemo() {}
 
+    btQuaternion getGroundRotation() const
+    {
+        btScalar tilt = gSliderGroundTilt * SIMD_2_PI / 360.0f;
+        return btQuaternion( btVector3( 1.0f, 0.0f, 0.0f ), tilt );
+    }
     virtual void stepSimulation( float deltaTime ) BT_OVERRIDE
     {
         if ( m_dynamicsWorld )
         {
+            if ( m_prevRollingFriction != gSliderRollingFriction )
+            {
+                m_prevRollingFriction = gSliderRollingFriction;
+                btCollisionObjectArray& objArray = m_dynamicsWorld->getCollisionObjectArray();
+                for ( int i = 0; i < objArray.size(); ++i )
+                {
+                    btCollisionObject* obj = objArray[ i ];
+                    obj->setRollingFriction( gSliderRollingFriction );
+                }
+            }
             if (m_groundBody)
             {
                 // update ground
@@ -85,6 +108,7 @@ public:
                 offset[kUpAxis] = gndVOffset;
                 vel[kUpAxis] = gndVVel;
                 xf.setOrigin(xf.getOrigin() + offset);
+                xf.setRotation( getGroundRotation() );
                 m_groundBody->setWorldTransform( xf );
                 m_groundBody->setLinearVelocity( vel );
             }
@@ -117,6 +141,7 @@ MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper)
     m_cameraPitch = -30.0f;
     m_cameraYaw = 90.0f;
     m_cameraDist = 48.0f;
+    m_prevRollingFriction = -1.0f;
     helper->setUpAxis( kUpAxis );
 }
 
@@ -134,6 +159,13 @@ void MultiThreadedDemo::initPhysics()
         slider.m_clampToIntegers = true;
         m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
     }
+    {
+        SliderParams slider( "Stack width", &gSliderStackWidth );
+        slider.m_minVal = 1.0f;
+        slider.m_maxVal = 30.0f;
+        slider.m_clampToIntegers = true;
+        m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
+    }
     {
         SliderParams slider( "Stack rows", &gSliderStackRows );
         slider.m_minVal = 1.0f;
@@ -164,7 +196,30 @@ void MultiThreadedDemo::initPhysics()
         slider.m_clampToNotches = false;
         m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
     }
-	
+    {
+        // ground tilt
+        SliderParams slider( "Ground tilt", &gSliderGroundTilt );
+        slider.m_minVal = -45.0f;
+        slider.m_maxVal = 45.0f;
+        slider.m_clampToNotches = false;
+        m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
+    }
+    {
+        // rolling friction
+        SliderParams slider( "Rolling friction", &gSliderRollingFriction );
+        slider.m_minVal = 0.0f;
+        slider.m_maxVal = 1.0f;
+        slider.m_clampToNotches = false;
+        m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
+    }
+    {
+        ButtonParams button( "Spheres not boxes", 0, false );
+        button.m_initialState = gSpheresNotBoxes;
+        button.m_userPointer = &gSpheresNotBoxes;
+        button.m_callback = boolPtrButtonCallback;
+        m_guiHelper->getParameterInterface()->registerButtonParameter( button );
+    }
+
     createSceneObjects();
 
     m_guiHelper->createPhysicsDebugDrawer( m_dynamicsWorld );
@@ -184,29 +239,36 @@ btRigidBody* MultiThreadedDemo::localCreateRigidBody(btScalar mass, const btTran
 }
 
 
-void MultiThreadedDemo::createStack( const btVector3& center, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size )
+void MultiThreadedDemo::createStack( const btTransform& parentTrans, btCollisionShape* boxShape, const btVector3& halfBoxSize, int height, int width )
 {
     btTransform trans;
     trans.setIdentity();
+    trans.setRotation( parentTrans.getRotation() );
     float halfBoxHeight = halfBoxSize.y();
     float halfBoxWidth = halfBoxSize.x();
 
-    for ( int i = 0; i<size; i++ )
+    btVector3 offset = btVector3( 0, 0, -halfBoxSize.z() * (width - 1) );
+    for ( int iZ = 0; iZ < width; iZ++ )
     {
-        // This constructs a row, from left to right
-        int rowSize = size - i;
-        for ( int j = 0; j< rowSize; j++ )
+        offset += btVector3( 0, 0, halfBoxSize.z()*2.0f );
+        for ( int iY = 0; iY < height; iY++ )
         {
-            btVector3 pos = center + btVector3( halfBoxWidth*( 1 + j * 2 - rowSize ),
-                halfBoxHeight * ( 1 + i * 2),
-                0.0f
+            // This constructs a row, from left to right
+            int rowSize = height - iY;
+            for ( int iX = 0; iX < rowSize; iX++ )
+            {
+                btVector3 pos = offset + btVector3( halfBoxWidth*( 1 + iX * 2 - rowSize ),
+                    halfBoxHeight * ( 1 + iY * 2 ),
+                    0.0f
                 );
 
-            trans.setOrigin( pos );
-            btScalar mass = 1.f;
+                trans.setOrigin( parentTrans(pos) );
+                btScalar mass = 1.f;
 
-            btRigidBody* body = localCreateRigidBody( mass, trans, boxShape );
-            body->setFriction(1.0f);
+                btRigidBody* body = localCreateRigidBody( mass, trans, boxShape );
+                body->setFriction( 1.0f );
+                body->setRollingFriction( gSliderRollingFriction );
+            }
         }
     }
 }
@@ -216,10 +278,8 @@ void MultiThreadedDemo::createSceneObjects()
 {
     {
         // create ground box
-        btTransform tr;
-        tr.setIdentity();
-        tr.setOrigin( btVector3( 0.f, -3.f, 0.f ) );
-        m_groundStartXf = tr;
+        m_groundStartXf.setOrigin( btVector3( 0.f, -3.f, 0.f ) );
+        m_groundStartXf.setRotation( getGroundRotation() );
 
         //either use heightfield or triangle mesh
 
@@ -240,18 +300,33 @@ void MultiThreadedDemo::createSceneObjects()
         int numStackRows = btMax(1, int(gSliderStackRows));
         int numStackCols = btMax(1, int(gSliderStackColumns));
         int stackHeight = int(gSliderStackHeight);
-        float stackZSpacing = 3.0f;
+        int stackWidth = int( gSliderStackWidth );
+        float stackZSpacing = 2.0f + stackWidth*halfExtents.x()*2.0f;
         float stackXSpacing = 20.0f;
 
         btBoxShape* boxShape = new btBoxShape( halfExtents );
         m_collisionShapes.push_back( boxShape );
 
+        btSphereShape* sphereShape = new btSphereShape( 0.5f );
+        m_collisionShapes.push_back( sphereShape );
+
+        btCollisionShape* shape = boxShape;
+        if ( gSpheresNotBoxes )
+        {
+            shape = sphereShape;
+        }
+
+        btTransform groundTrans;
+        groundTrans.setIdentity();
+        groundTrans.setRotation( getGroundRotation() );
         for ( int iX = 0; iX < numStackCols; ++iX )
         {
             for ( int iZ = 0; iZ < numStackRows; ++iZ )
             {
                 btVector3 center = btVector3( iX * stackXSpacing, 0.0f, ( iZ - numStackRows / 2 ) * stackZSpacing );
-                createStack( center, boxShape, halfExtents, stackHeight );
+                btTransform trans = groundTrans;
+                trans.setOrigin( groundTrans( center ) );
+                createStack( trans, shape, halfExtents, stackHeight, stackWidth );
             }
         }
     }

From b7f35000aad379a73c9eb628c86dbaf7cbf532e1 Mon Sep 17 00:00:00 2001
From: Lunkhound <lunkhound@gmail.com>
Date: Sun, 2 Jul 2017 17:28:07 -0700
Subject: [PATCH 152/175] NNCG solver: apply rolling friction consistently
 regardless of the solver flags

---
 .../btNNCGConstraintSolver.cpp                | 115 ++----------------
 1 file changed, 13 insertions(+), 102 deletions(-)

diff --git a/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
index f110cd480..f3979be35 100644
--- a/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
@@ -78,20 +78,6 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 
 
 	btScalar deltaflengthsqr = 0;
-
-	if (infoGlobal.m_solverMode & SOLVER_SIMD)
-	{
-		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
-		{
-			btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
-			if (iteration < constraint.m_overrideNumSolverIterations) 
-			{
-				btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
-				m_deltafNC[j] = deltaf;
-				deltaflengthsqr += deltaf * deltaf;
-			}
-		}
-	} else 
 	{
 		for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
 		{
@@ -141,7 +127,6 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 
 
 
-	if (infoGlobal.m_solverMode & SOLVER_SIMD)
 	{
 
 		if (iteration< infoGlobal.m_numIterations)
@@ -158,7 +143,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 				}
 			}
 
-			///solve all contact constraints using SIMD, if available
+			///solve all contact constraints
 			if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
 			{
 				int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
@@ -170,7 +155,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 
 					{
 						const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
-						btScalar deltaf = resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);						
+						btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 						m_deltafC[c] = deltaf;
 						deltaflengthsqr += deltaf*deltaf;
 						totalImpulse = solveManifold.m_appliedImpulse;
@@ -186,7 +171,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 							{
 								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
 								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-								btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+								btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 								m_deltafCF[c*multiplier] = deltaf;
 								deltaflengthsqr += deltaf*deltaf;
 							} else {
@@ -203,7 +188,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 							{
 								solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
 								solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-								btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+								btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 								m_deltafCF[c*multiplier+1] = deltaf;
 								deltaflengthsqr += deltaf*deltaf;
 							} else {
@@ -223,7 +208,6 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 				for (j=0;j<numPoolConstraints;j++)
 				{
 					const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-					//resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 					btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 					m_deltafC[j] = deltaf;
 					deltaflengthsqr += deltaf*deltaf;
@@ -231,7 +215,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 
 
 
-				///solve all friction constraints, using SIMD, if available
+				///solve all friction constraints
 
 				int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
 				for (j=0;j<numFrictionPoolConstraints;j++)
@@ -244,7 +228,6 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 						solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
 						solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
 
-						//resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 						btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
 						m_deltafCF[j] = deltaf;
 						deltaflengthsqr += deltaf*deltaf;
@@ -252,10 +235,11 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 						m_deltafCF[j] = 0;
 					}
 				}
+			}
 
-
+            {
 				int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-				for (j=0;j<numRollingFrictionPoolConstraints;j++)
+				for (int j=0;j<numRollingFrictionPoolConstraints;j++)
 				{
 
 					btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
@@ -269,87 +253,19 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 						rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
 						rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
 
-						btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
+						btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
 						m_deltafCRF[j] = deltaf;
 						deltaflengthsqr += deltaf*deltaf;
 					} else {
 						m_deltafCRF[j] = 0;
 					}
 				}
+            }
 
-
-			}
 		}
 
 
 
-	} else
-	{
-
-		if (iteration< infoGlobal.m_numIterations)
-		{
-			for (int j=0;j<numConstraints;j++)
-			{
-				if (constraints[j]->isEnabled())
-				{
-					int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
-					int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
-					btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
-					btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
-					constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
-				}
-			}
-			///solve all contact constraints
-			int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
-			for (int j=0;j<numPoolConstraints;j++)
-			{
-				const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
-				btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-				m_deltafC[j] = deltaf;
-				deltaflengthsqr += deltaf*deltaf;
-			}
-			///solve all friction constraints
-			int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
-			for (int j=0;j<numFrictionPoolConstraints;j++)
-			{
-				btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
-				btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
-
-				if (totalImpulse>btScalar(0))
-				{
-					solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
-					solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
-
-					btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
-					m_deltafCF[j] = deltaf;
-					deltaflengthsqr += deltaf*deltaf;
-				} else {
-					m_deltafCF[j] = 0;
-				}
-			}
-
-			int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
-			for (int j=0;j<numRollingFrictionPoolConstraints;j++)
-			{
-				btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
-				btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
-				if (totalImpulse>btScalar(0))
-				{
-					btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
-					if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
-						rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
-
-					rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
-					rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
-
-					btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
-					m_deltafCRF[j] = deltaf;
-					deltaflengthsqr += deltaf*deltaf;
-				} else {
-					m_deltafCRF[j] = 0;
-				}
-			}
-		}
 	}
 
 
@@ -362,10 +278,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 			for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
 			for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = m_deltafC[j];
 			for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = m_deltafCF[j];
-			if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) 
-			{
-				for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = m_deltafCRF[j];
-			}
+			for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = m_deltafCRF[j];
 		} else 
 		{
 			// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
@@ -374,9 +287,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 				for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
 				for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = 0;
 				for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = 0;
-				if ( (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) {
-					for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = 0;
-				}
+				for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = 0;
 			} else {
 				for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
 				{
@@ -420,7 +331,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
 						body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
 					}
 				}
-				if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) {
+				{
 					for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++)
 					{
 						btSolverConstraint& constraint = m_tmpSolverContactRollingFrictionConstraintPool[j];

From a6aade2e21f1a34698a79eeec8a22572b2286bb8 Mon Sep 17 00:00:00 2001
From: Benjamin Ellenberger <benjamin.ellenberger@intrasoft.ch>
Date: Fri, 14 Jul 2017 23:38:15 +0200
Subject: [PATCH 153/175] Add nearly all gym environments using pybullet
 together with the latest tf model from the roboschool model zoo.

---
 .../gym/enjoy_TF_PybulletAnt_v0_2017may.py    |   292 +
 ...enjoy_TF_PybulletHalfCheetah_v0_2017may.py |   290 +
 .../gym/enjoy_TF_PybulletHopper_v0_2017may.py |   279 +
 .../enjoy_TF_PybulletHumanoid_v0_2017may.py   |   501 +
 ...bulletInvertedDoublePendulum_v0_2017may.py |   178 +
 ...ulletInvertedPendulumSwingup_v0_2017may.py |   174 +
 ..._TF_PybulletInvertedPendulum_v0_2017may.py |   173 +
 .../enjoy_TF_PybulletWalker2d_v0_2017may.py   |   286 +
 .../pybullet/gym/envs/gym_forward_walkers.py  |   233 +
 .../pybullet/gym/envs/gym_manipulators.py     |   304 +
 .../pybullet/gym/envs/gym_mujoco_xml_env.py   |   246 +
 examples/pybullet/gym/envs/gym_pendula.py     |   133 +
 examples/pybullet/gym/envs/kerasrl_utils.py   |    28 +
 .../pybullet/gym/envs/mujoco_assets/ant.xml   |    71 +
 .../gym/envs/mujoco_assets/ground_plane.xml   |     5 +
 .../gym/envs/mujoco_assets/half_cheetah.xml   |    88 +
 .../gym/envs/mujoco_assets/hopper.xml         |    39 +
 .../envs/mujoco_assets/humanoid_symmetric.xml |   107 +
 .../humanoid_symmetric_no_ground.xml          |   115 +
 .../inverted_double_pendulum.xml              |    47 +
 .../envs/mujoco_assets/inverted_pendulum.xml  |    27 +
 .../gym/envs/mujoco_assets/pusher.xml         |    91 +
 .../gym/envs/mujoco_assets/reacher.xml        |    39 +
 .../gym/envs/mujoco_assets/striker.xml        |   101 +
 .../gym/envs/mujoco_assets/thrower.xml        |   127 +
 .../gym/envs/mujoco_assets/walker2d.xml       |    52 +
 .../models_outdoor/stadium/part0.obj          | 23154 ++++++++++++
 .../models_outdoor/stadium/part1.obj          | 16210 ++++++++
 .../models_outdoor/stadium/part2.obj          |  8350 +++++
 .../models_outdoor/stadium/stadium.mtl        |    16 +
 .../models_outdoor/stadium/stadium.obj        | 30561 ++++++++++++++++
 .../models_outdoor/stadium/stadium_grass.jpg  |   Bin 0 -> 1054660 bytes
 .../gym/envs/other_assets/stadium.sdf         |   107 +
 examples/pybullet/gym/envs/scene_abstract.py  |    84 +
 examples/pybullet/gym/envs/scene_stadium.py   |    28 +
 35 files changed, 82536 insertions(+)
 create mode 100644 examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py
 create mode 100644 examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py
 create mode 100644 examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py
 create mode 100644 examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py
 create mode 100644 examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py
 create mode 100644 examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py
 create mode 100644 examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py
 create mode 100644 examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py
 create mode 100644 examples/pybullet/gym/envs/gym_forward_walkers.py
 create mode 100644 examples/pybullet/gym/envs/gym_manipulators.py
 create mode 100644 examples/pybullet/gym/envs/gym_mujoco_xml_env.py
 create mode 100644 examples/pybullet/gym/envs/gym_pendula.py
 create mode 100644 examples/pybullet/gym/envs/kerasrl_utils.py
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/ant.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/hopper.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/pusher.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/reacher.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/striker.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/thrower.xml
 create mode 100644 examples/pybullet/gym/envs/mujoco_assets/walker2d.xml
 create mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj
 create mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj
 create mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj
 create mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl
 create mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj
 create mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium_grass.jpg
 create mode 100644 examples/pybullet/gym/envs/other_assets/stadium.sdf
 create mode 100644 examples/pybullet/gym/envs/scene_abstract.py
 create mode 100644 examples/pybullet/gym/envs/scene_stadium.py

diff --git a/examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py
new file mode 100644
index 000000000..ab6e99364
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py
@@ -0,0 +1,292 @@
+import gym
+import numpy as np
+import pybullet as p
+import pybulletgym.envs
+import time
+
+def relu(x):
+    return np.maximum(x, 0)
+
+class SmallReactivePolicy:
+    "Simple multi-layer perceptron policy, no internal state"
+    def __init__(self, observation_space, action_space):
+        assert weights_dense1_w.shape == (observation_space.shape[0], 128)
+        assert weights_dense2_w.shape == (128, 64)
+        assert weights_final_w.shape  == (64, action_space.shape[0])
+
+    def act(self, ob):
+        x = ob
+        x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
+        x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
+        x = np.dot(x, weights_final_w) + weights_final_b
+        return x
+
+def demo_run():
+    env = gym.make("PybulletAnt-v0")
+
+    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    if cid < 0:
+        cid = p.connect(p.DIRECT)
+
+    pi = SmallReactivePolicy(env.observation_space, env.action_space)
+
+    while 1:
+        frame = 0
+        score = 0
+        restart_delay = 0
+        obs = env.reset()
+
+        while 1:
+            time.sleep(0.01)
+            a = pi.act(obs)
+            obs, r, done, _ = env.step(a)
+            score += r
+            frame += 1
+            still_open = env.render("human")
+            if still_open==False:
+                return
+            if not done: continue
+            if restart_delay==0:
+                print("score=%0.2f in %i frames" % (score, frame))
+                restart_delay = 60*2  # 2 sec at 60 fps
+            else:
+                restart_delay -= 1
+                if restart_delay==0: break
+
+weights_dense1_w = np.array([
+[ +0.2856, -0.4091, +0.3380, -0.1083, +0.1049, -0.0806, -0.0827, +0.0402, +0.2415, +0.0927, +0.1812, +0.5455, +0.3157, +0.1043, +0.0527, +0.3768, -0.2083, +0.1218, -0.0633, +0.3236, +0.2198, +0.0513, +0.3505, -0.1165, -0.1732, +0.2760, +0.0006, +0.0249, +0.5887, -0.2324, +0.1503, -0.0108, +0.1220, +0.2527, +0.0984, +0.5360, -0.0579, -0.0847, +0.1649, +0.0589, -0.2046, +0.5981, -0.1063, -0.1088, +0.3424, +0.3479, -0.1751, +0.2924, -0.0610, +0.0807, +0.3291, +0.0059, +0.0339, -0.2823, +0.2533, +0.3156, +0.1679, +0.2417, +0.1265, +0.0024, +0.0802, +0.2531, -0.2576, +0.3894, +0.3206, +0.2015, +0.3482, +0.1042, -0.2418, -0.0002, +0.1277, +0.1811, +0.1551, +0.5460, +0.1714, +0.1021, -0.1252, +0.0609, -0.0372, -0.0351, +0.1216, +0.0023, -0.2448, +0.0077, +0.0584, +0.2389, -0.0848, +0.3542, +0.3065, -0.2268, +0.2387, +0.3303, +0.4184, -0.1619, +0.2230, +0.2829, +0.3884, +0.1262, +0.6383, -0.1629, +0.3087, +0.0554, +0.2294, +0.0280, +0.4139, -0.1484, +0.1358, +0.3153, -0.2652, +0.2637, -0.1563, +0.0706, +0.4192, +0.2381, -0.3540, +0.2789, +0.2647, +0.0931, +0.1439, +0.3415, -0.2445, +0.1039, -0.3692, +0.5095, +0.0010, +0.0777, +0.3382, -0.1100],
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+[ -0.3528, +0.2554, +0.1195, +0.2853, -0.0731, -0.0237, -0.0755, +0.3719, -0.5900, +0.3071, +0.1961, -0.3822, -0.3113, +0.3011, +0.1113, -0.1598, -0.0299, +0.6281, +0.1811, +0.1312, +0.1971, -0.4736, +0.7463, -0.0154, +0.4255, -0.3671, +0.3200, -0.1815, -0.4259, +0.1115, +0.4232, -0.3993, +0.0706, -0.1901, +0.1188, -0.6964, -0.5131, -0.5996, -0.0103, +0.1504, +0.0713, -0.0430, -0.8008, +0.1890, -0.2637, +0.1984, +0.0119, +0.1025, -0.9490, -0.0255, +0.2795, +0.2354, -0.1830, +0.1894, -0.1928, -0.8840, +0.3929, +0.1748, +0.1588, +0.4326, -0.0759, +0.1664, +0.2102, -0.3707],
+[ +0.0479, -0.0155, -0.3830, +0.0390, -0.0793, -0.1159, -0.0263, -0.3720, -0.9581, +0.2546, -0.4353, +0.2756, -0.0628, +0.0360, +0.1591, -0.7122, +0.1463, -0.1078, -0.5880, +0.1476, -0.0437, -0.6911, -0.0355, +0.2766, -0.3426, +0.2286, -0.2323, -0.2819, -0.0887, +0.5000, -0.0338, -0.1563, -0.0168, +0.0500, -0.1077, +0.4968, -1.1365, +0.1814, -0.1388, -0.1080, +0.0761, -0.4107, +0.3764, +0.3308, +0.0905, -0.2821, -0.2366, -0.2618, +0.2762, -0.2521, +0.1400, -0.1133, +0.0411, -0.0475, -0.4804, +0.4348, -0.1652, +0.0103, +0.2100, -0.3716, +0.1860, -0.3946, -0.1734, +0.2052],
+[ -0.0266, -0.2590, -0.1527, +0.2632, -0.1506, -0.0040, -0.3828, -0.7623, -0.1620, -0.1641, +0.0927, +0.1030, -0.1890, +0.2110, +0.1634, -1.4356, +0.1170, -0.7333, -0.3429, -0.3402, +0.5740, +0.2288, +0.0264, -0.0770, +0.0611, +0.2538, +0.5611, -0.0635, -0.0885, -0.0698, +0.2153, +0.0752, -0.2368, +0.2113, -0.8473, -0.7176, -0.3615, -0.2906, +0.0310, +0.0041, -0.3076, +0.1850, +0.0959, -0.1510, +0.1042, +0.0781, +0.1000, -0.0701, -0.0252, +0.6513, +0.1680, +0.3624, -0.5958, -0.6897, +0.1336, -0.0600, +0.0437, -0.2525, +0.1216, -0.2053, +0.0452, +0.8903, -0.0487, -0.0072]
+])
+
+weights_dense2_b = np.array([ +0.2226, +0.0124, +0.0027, +0.2335, +0.0952, +0.0250, +0.1087, +0.1225, +0.0476, +0.1535, +0.0940, +0.0421, +0.0967, +0.0431, -0.2867, -0.1520, -0.0796, +0.0041, +0.0599, +0.0139, -0.0608, -0.0695, +0.0222, +0.0420, -0.0988, +0.0851, +0.2547, +0.0361, +0.0341, +0.0986, +0.1827, -0.1344, +0.1575, +0.0374, +0.0497, -0.1436, +0.1622, +0.2187, +0.0257, +0.0680, -0.0228, +0.0215, +0.1596, -0.0594, -0.0886, -0.0006, -0.0940, +0.1568, +0.0610, +0.1915, +0.1162, +0.0765, -0.1731, -0.0258, +0.0896, -0.2285, +0.0948, +0.0286, +0.1174, +0.0382, +0.2536, +0.3435, +0.0281, +0.2328])
+
+weights_final_w = np.array([
+[ -0.0133, +0.0628, -0.6441, +0.2383, +0.4270, +0.1927, -0.3628, +0.3698],
+[ -0.0089, +0.0614, +0.0522, -0.3912, -0.1872, -0.7369, +0.0852, -0.1505],
+[ +0.2779, +0.7024, -0.3493, -0.2124, -0.0220, +0.0741, +0.0670, -0.1029],
+[ -0.0519, +0.2775, -0.3879, -0.0335, +0.1150, +0.0789, -0.1963, +0.1992],
+[ +0.0241, +0.2946, +0.2777, -0.2040, +0.4150, +0.0810, -0.0170, -0.0202],
+[ -0.2781, +0.0243, -0.0485, +0.1249, -0.0354, -0.0327, +0.2284, -0.3674],
+[ -0.1843, +0.1452, -0.0728, +0.2894, +0.1892, +0.0013, +0.1527, -0.3815],
+[ +0.4556, -0.1760, +0.0188, -0.2475, -0.3291, -0.3527, -0.6556, -0.5543],
+[ +0.0309, +0.3396, +0.0626, -0.0045, +0.2597, -0.2234, +0.3634, -0.1476],
+[ -0.3221, +0.4484, +0.0538, +0.2543, -0.3213, +0.4323, -0.2503, +0.0654],
+[ +0.5351, -0.2229, -0.1097, +0.1062, -0.5535, +0.4454, +0.1802, +0.1971],
+[ +0.1813, +0.0778, +0.1647, -0.1118, +0.4696, -0.3322, -0.2033, -0.0201],
+[ +0.1423, +0.2278, +0.0263, +0.1439, +0.0134, -0.5282, +0.1236, -0.0416],
+[ +0.1217, +0.1197, -0.5194, +0.4029, -0.1307, -0.4352, -0.0514, -0.2256],
+[ +0.1484, +0.0685, +0.4156, +0.1887, -0.7306, +0.1027, -0.4018, +0.0134],
+[ +0.2326, +0.0218, +0.0390, +0.0010, -0.5719, +0.0264, -0.4600, -0.3220],
+[ -0.0586, -0.3066, +0.2050, +0.1253, +0.4542, +0.1711, -0.6051, +0.0061],
+[ +0.0108, -0.5588, -0.3976, +0.3375, +0.3065, +0.2118, -0.4879, +0.1444],
+[ -0.1443, -0.2895, -0.3992, +0.0409, +0.3109, -0.0295, -0.2016, -0.3679],
+[ -0.2630, +0.2348, +0.2592, +0.1778, -0.1501, -0.2856, +0.3477, +0.1416],
+[ -0.3078, -0.3138, +0.2040, -0.3254, +0.2891, +0.0228, -0.3580, +0.2438],
+[ -0.0035, -0.1374, +0.9035, +0.1420, +0.1437, -0.1159, -0.1822, +0.2037],
+[ +0.2533, -0.0089, -0.1549, +0.1085, -0.5376, -0.0639, +0.3232, +0.0673],
+[ -0.1033, +0.2733, +0.1426, +0.4075, -0.1140, +0.1152, +0.2189, +0.7337],
+[ +0.0682, -0.1010, +0.2224, +0.4526, +0.0599, +0.1290, -0.5523, +0.0333],
+[ +0.1089, -0.1139, -0.0310, -0.2661, +0.0781, -0.1955, -0.2610, +0.1017],
+[ +0.0011, +0.4399, -0.2365, -0.1523, -0.1508, +0.2314, +0.1414, +0.1116],
+[ +0.0014, -0.0973, +0.6542, -0.0039, -0.2656, -0.1597, +0.0158, -0.0201],
+[ -0.1700, +0.0102, +0.1321, -0.1934, -0.2208, +0.0057, +0.1504, +0.3798],
+[ +0.1586, +0.0557, +0.1042, -0.4201, +0.0613, -0.0152, -0.3855, +0.1035],
+[ -0.0969, -0.0936, +0.1289, -0.4031, +0.1148, +0.3258, +0.2017, -0.2499],
+[ +0.5422, -0.3985, -0.0758, -0.0241, +0.1124, +0.0043, -0.0495, -0.1127],
+[ +0.1679, -0.1337, -0.2102, -0.0678, +0.0768, -0.5881, +0.0327, -0.1429],
+[ +0.2756, -0.1772, -0.3729, -0.0931, +0.6402, -0.0739, -0.1221, +0.5423],
+[ -0.2310, -0.6409, -0.0729, -0.2143, +0.0735, -0.3279, -0.1317, -0.2060],
+[ -0.0864, +0.0344, -0.5635, +0.3137, -0.0566, -0.3874, -0.0119, +0.0187],
+[ +0.4066, +0.1192, +0.2065, +0.0546, +0.2182, +0.6743, +0.2802, -0.0638],
+[ +0.2526, +0.6688, -0.0943, -0.2531, +0.1259, +0.1115, +0.0581, -0.0340],
+[ +0.1820, +0.2927, -0.2457, +0.0310, -0.3335, -0.5889, +0.0088, +0.3045],
+[ +0.0072, -0.0702, +0.1246, +0.0875, +0.0488, +0.2379, -0.1760, -0.5422],
+[ +0.1416, +0.1796, -0.7311, +0.0016, -0.4996, +0.0724, -0.4854, +0.2310],
+[ -0.5525, +0.1246, +0.8667, +0.3521, -0.7227, +0.4473, +0.0805, -0.1707],
+[ -0.3557, +0.0798, +0.5322, -0.0827, +0.1836, +0.2784, -0.1676, -0.1012],
+[ -0.6738, +0.5545, -0.3111, +0.2171, -0.3377, -0.2039, -0.1205, +0.1212],
+[ -0.2249, -0.1037, -0.4715, -0.3616, +0.2250, +0.0999, +0.4772, -0.0679],
+[ -0.4895, -0.2557, +0.0892, -0.0000, -0.4443, +0.2913, -0.0450, -0.3303],
+[ -0.2729, +0.0973, +0.2516, -0.4313, -0.1743, -0.2386, -0.1142, -0.0440],
+[ -0.6820, +0.2449, -0.1079, +0.3047, +0.0325, -0.0980, +0.1868, -0.1600],
+[ -0.2085, -0.2897, -0.4539, -0.0506, +0.1225, +0.1976, -0.2360, +0.6553],
+[ +0.5299, +0.2876, +0.2354, -0.0884, -0.1821, +0.3841, -0.0701, +0.0278],
+[ -0.1594, -0.4837, +0.1483, -0.1280, +0.0962, -0.1932, +0.1730, +0.0544],
+[ +0.2879, -0.1846, +0.1474, -0.3383, +0.1483, +0.1159, +0.3761, +0.2326],
+[ -0.0960, -0.0727, -0.3099, +0.0548, +0.2339, -0.2232, +0.6066, +0.3826],
+[ -0.0171, +0.1490, -0.3324, -0.0231, +0.0700, -0.6364, -0.1944, +0.3094],
+[ +0.0804, -0.0278, +0.0182, -0.3807, -0.3628, -0.3564, +0.2279, -0.0226],
+[ +0.4219, +0.0741, +0.1299, +0.4700, +0.1927, +0.0849, -0.1574, +0.5607],
+[ +0.0810, -0.0815, +0.1356, +0.2048, -0.1404, -0.0222, -0.2464, +0.4991],
+[ +0.3000, +0.0862, -0.3917, +0.4117, +0.0306, +0.0788, -0.0403, -0.6423],
+[ -0.2445, +0.4847, +0.0478, -0.2170, -0.3700, +0.0189, +0.0001, -0.0335],
+[ +0.3710, -0.0115, -0.4207, -0.4245, +0.2041, -0.0875, -0.2369, -0.6424],
+[ -0.3608, +0.0539, -0.3928, -0.0352, +0.2832, +0.1003, -0.0082, +0.3201],
+[ +0.2221, -0.0399, +0.2092, -0.1670, -0.5146, +0.2273, +0.3011, -0.2879],
+[ +0.1500, +0.3236, +0.1295, -0.0763, -0.2708, +0.6542, +0.1379, -0.0646],
+[ +0.1291, +0.0417, +0.1386, +0.0166, +0.1373, +0.1956, +0.4986, +0.5690]
+])
+
+weights_final_b = np.array([ -0.0680, +0.1401, -0.0628, -0.1317, +0.1489, +0.1844, -0.1147, +0.0137])
+
+if __name__=="__main__":
+    demo_run()
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py
new file mode 100644
index 000000000..5446a7ec9
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py
@@ -0,0 +1,290 @@
+import gym
+import numpy as np
+import pybullet as p
+import pybulletgym.envs
+import time
+
+def relu(x):
+    return np.maximum(x, 0)
+
+class SmallReactivePolicy:
+    "Simple multi-layer perceptron policy, no internal state"
+    def __init__(self, observation_space, action_space):
+        assert weights_dense1_w.shape == (observation_space.shape[0], 128)
+        assert weights_dense2_w.shape == (128, 64)
+        assert weights_final_w.shape  == (64, action_space.shape[0])
+
+    def act(self, ob):
+        x = ob
+        x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
+        x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
+        x = np.dot(x, weights_final_w) + weights_final_b
+        return x
+
+def demo_run():
+    env = gym.make("PybulletHalfCheetah-v0")
+
+    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    if cid < 0:
+        cid = p.connect(p.DIRECT)
+
+    pi = SmallReactivePolicy(env.observation_space, env.action_space)
+
+    while 1:
+        frame = 0
+        score = 0
+        restart_delay = 0
+        obs = env.reset()
+
+        while 1:
+            time.sleep(0.01)
+            a = pi.act(obs)
+            obs, r, done, _ = env.step(a)
+            score += r
+            frame += 1
+            still_open = env.render("human")
+            if still_open==False:
+                return
+            if not done: continue
+            if restart_delay==0:
+                print("score=%0.2f in %i frames" % (score, frame))
+                restart_delay = 60*2  # 2 sec at 60 fps
+            else:
+                restart_delay -= 1
+                if restart_delay==0: break
+
+weights_dense1_w = np.array([
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+[ -0.1194, +0.2529, -0.2741, -0.0691, -0.2947, -0.0033],
+[ -0.0449, +0.4437, -0.0389, +0.1377, +0.1102, -0.1049],
+[ +0.4368, +0.1699, +0.3433, -0.4160, -0.3043, +0.1180],
+[ -0.1328, -0.6681, +0.4017, +0.3457, +0.1843, -0.0134],
+[ +0.0630, +0.2032, +0.2331, -0.1384, -0.1024, +0.3183],
+[ +0.1946, +0.1460, -0.1598, -0.2830, +0.2411, +0.3073],
+[ +0.4296, -0.2071, +0.3769, +0.0840, -0.0062, -0.1579],
+[ -0.0790, -0.1186, +0.0962, +0.4871, -0.2901, +0.6272],
+[ -0.2573, +0.3325, +0.1097, -0.2340, -0.0787, +0.1208],
+[ -0.4469, -0.3637, -0.1740, -0.4408, +0.0512, +0.5575],
+[ +0.1426, -0.3975, -0.0685, -0.0452, -0.4517, +0.4320],
+[ -0.5925, +0.3324, -0.1968, -0.2537, +0.6491, -0.2922],
+[ -0.2201, -0.3118, -0.3722, +0.0216, +0.1670, -0.1343],
+[ +0.0638, -0.2374, -0.1480, +0.4090, +0.2347, +0.1456],
+[ -0.0656, +0.1516, -0.3281, -0.2661, +0.0645, +0.0550],
+[ +0.3725, +0.2281, +0.3031, +0.0774, -0.3138, +0.0967],
+[ +0.3016, +0.0322, +0.0556, -0.0571, -0.1177, -0.2442],
+[ -0.2769, -0.5119, -0.0336, -0.1588, +0.0503, -0.2331],
+[ +0.1518, +0.4363, +0.0093, -0.3960, -0.1347, +0.2931],
+[ +0.1897, -0.0655, +0.1977, +0.4321, +0.6998, -0.0863],
+[ +0.0391, -0.0305, +0.3576, -0.4996, -0.0640, -0.0039],
+[ +0.2922, +0.3815, +0.2834, +0.1990, -0.0568, +0.2077],
+[ -0.5371, +0.2796, +0.2952, +0.1182, +0.0523, -0.2151],
+[ -0.5111, +0.2231, -0.1034, +0.0479, -0.0543, +0.0605],
+[ +0.0822, -0.4530, -0.0345, +0.1621, -0.2487, +0.1516]
+])
+
+weights_final_b = np.array([ +0.1367, +0.1107, -0.0148, +0.1158, -0.0820, +0.3047])
+
+if __name__=="__main__":
+    demo_run()
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py
new file mode 100644
index 000000000..6618b9ad2
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py
@@ -0,0 +1,279 @@
+import gym
+import numpy as np
+import pybullet as p
+import pybulletgym.envs
+import time
+
+def relu(x):
+    return np.maximum(x, 0)
+
+class SmallReactivePolicy:
+    "Simple multi-layer perceptron policy, no internal state"
+    def __init__(self, observation_space, action_space):
+        assert weights_dense1_w.shape == (observation_space.shape[0], 128)
+        assert weights_dense2_w.shape == (128, 64)
+        assert weights_final_w.shape  == (64, action_space.shape[0])
+
+    def act(self, ob):
+        x = ob
+        x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
+        x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
+        x = np.dot(x, weights_final_w) + weights_final_b
+        return x
+
+def demo_run():
+    env = gym.make("PybulletHopper-v0")
+
+    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    if cid < 0:
+        cid = p.connect(p.DIRECT)
+
+    pi = SmallReactivePolicy(env.observation_space, env.action_space)
+
+    while 1:
+        frame = 0
+        score = 0
+        restart_delay = 0
+        obs = env.reset()
+
+        while 1:
+            time.sleep(0.01)
+            a = pi.act(obs)
+            obs, r, done, _ = env.step(a)
+            score += r
+            frame += 1
+            still_open = env.render("human")
+            if still_open==False:
+                return
+            if not done: continue
+            if restart_delay==0:
+                print("score=%0.2f in %i frames" % (score, frame))
+                restart_delay = 60*2  # 2 sec at 60 fps
+            else:
+                restart_delay -= 1
+                if restart_delay==0: break
+
+weights_dense1_w = np.array([
+[ +0.6734, +1.1364, +0.6117, +0.5185, +0.5099, -0.2038, -0.0045, -0.1448, +0.5081, +1.1685, -0.7904, -0.4623, +0.0027, -0.0473, -0.1144, +0.5095, -0.1913, +0.2021, +0.3485, +0.1104, -0.4992, +0.5207, -0.1013, -0.6947, +0.1624, +0.3533, -0.2485, -0.0012, +0.1674, +0.1253, +1.5485, +0.3576, +0.8236, +0.7361, +0.6604, -0.0834, +0.1212, -0.8404, -0.8337, +0.3709, -0.4218, -0.1011, -1.1418, -0.0554, +0.6676, +0.4739, -0.2105, +0.3187, -0.4321, -0.7018, +0.1845, +0.2525, +0.0205, +0.9391, +0.6123, +0.6868, +0.5116, +0.3483, +0.1148, +0.6747, -0.1590, +0.1879, +0.4836, +0.1997, +0.5105, -0.2695, +0.0645, +0.5566, +0.0502, +0.2292, -0.4234, -0.3778, -0.7639, -0.6084, -0.0375, -0.4799, +0.6465, -0.4097, +0.1091, -0.0681, -0.1813, +0.3625, +0.6067, +0.1837, +0.1600, -0.1706, +0.0531, -0.3710, +0.1320, +0.5035, +0.1106, +0.9955, -0.2657, +0.6051, -0.2525, -0.9118, -0.6031, +0.2025, -0.2774, +0.3985, -0.0809, +0.3601, -0.0410, -0.5067, +0.4987, +0.4126, -0.1393, -0.6596, +0.8182, -0.2352, -0.9337, +0.1438, +0.3871, -0.1844, -0.4010, -0.3338, +0.1597, +0.2381, -0.4403, +0.5105, +1.0354, -0.1503, +0.2731, +0.6555, +0.2048, +0.4932, -0.0067, +0.0413],
+[ -0.0031, -0.2183, +0.2275, -0.4836, +0.1347, +0.3581, +0.0921, +0.1900, -0.1721, +0.0150, -0.2146, +0.5346, +0.2407, -0.0791, +0.5115, -0.0763, +0.2025, +0.2792, +0.4087, +0.2082, +0.0086, -0.2742, +0.3703, +0.4297, -0.3141, -0.3896, +0.4101, -0.3967, -0.2173, -0.0532, +0.2521, +0.3938, -0.3727, +0.6136, +0.0902, -0.4617, -0.3266, -0.2273, +0.0031, +0.4605, +0.1221, +0.3603, -0.1018, +0.1839, +0.3198, -0.1404, -0.1751, -0.1030, -0.5847, +0.2526, -0.1280, +0.1644, +0.2988, -0.1793, -0.2120, +0.3398, -0.4582, +0.0758, -0.2848, -0.1537, -0.2718, -0.2207, +0.0109, +0.1374, -0.0281, -0.0494, -0.0093, +0.0098, +0.2691, +0.1589, +0.2483, +0.1394, +0.2531, +0.3884, +0.0740, -0.4444, +0.1441, +0.0768, +0.2154, +0.4015, -0.2109, -0.0985, -0.1066, -0.0167, -0.0204, -0.2345, +0.3131, +0.1026, +0.1873, +0.2644, +0.2253, -0.0173, +0.1014, +0.0781, +0.0455, -0.0489, -0.3541, -0.1257, -0.1248, +0.4402, -0.0682, -0.3045, +0.1751, +0.0397, -0.3392, -0.2758, +0.1542, -0.0460, -0.0622, +0.2255, +0.2442, +0.2070, +0.3175, -0.0913, -0.2772, +0.7036, -0.0876, +0.0907, +0.3794, +0.4784, -0.5111, +0.0982, -0.0145, +0.0397, -0.3429, -0.2727, -0.1384, +0.0512],
+[ +0.2192, +0.0688, -0.1092, +0.1436, -0.2598, -0.0012, -0.2220, -0.2450, -0.0783, -0.0078, +0.3065, +0.1604, -0.0593, -0.0759, -0.4101, -0.1819, +0.4160, +0.0141, +0.0059, -0.2494, -0.0616, -0.3100, -0.3231, -0.3935, +0.1965, -0.0352, -0.0119, +0.3883, -0.5905, -0.0536, -0.0617, -0.2884, +0.1134, +0.1539, +0.2002, -0.3158, -0.5476, -0.4131, -0.1966, +0.1083, -0.3329, +0.1219, +0.2977, -0.7132, -0.1963, -0.2359, -0.4734, +0.0130, -0.1034, -0.1376, -0.1824, +0.1999, -0.3775, -0.0697, +0.1875, -0.0673, -0.0673, -0.0555, -0.3243, +0.2020, +0.1416, +0.1995, -0.1931, -0.6125, -0.3465, +0.0640, +0.3529, -0.4684, +0.2335, -0.0449, -0.1216, +0.1921, +0.0636, -0.0420, +0.1371, -0.1246, -0.2963, +0.0264, +0.3962, -0.3106, -0.2107, -0.2983, +0.0386, -0.0458, -0.3277, -0.1686, -0.3064, +0.2433, +0.3454, +0.0046, +0.0885, -0.2479, +0.2886, -0.0804, +0.0110, -0.1369, -0.1210, +0.1901, +0.0001, -0.1155, +0.2887, -0.0943, -0.1167, +0.1746, +0.0379, +0.0964, -0.2615, -0.0209, -0.0680, +0.0031, -0.0905, -0.0618, -0.5630, -0.0664, -0.1976, -0.2367, -0.2360, -0.2243, +0.2448, +0.2446, -0.0012, -0.6920, -0.0880, -0.4630, -0.5512, +0.0312, +0.1522, -0.1278],
+[ -0.2378, +0.2783, +0.0848, -0.3973, -0.5359, +0.2541, +0.1616, +0.1856, +0.6054, +0.0894, +0.2599, -0.0082, -0.5433, -0.3567, -0.1134, -0.2706, -0.9177, +0.1949, +0.4099, -0.3198, +0.3856, -0.0285, -0.0692, +0.0882, -0.1052, -0.0122, -0.0271, -0.4122, -0.0921, -0.2014, +0.0314, -0.0638, -0.0986, +0.1912, +0.6157, -0.0856, +0.0450, +0.3492, -0.0958, -0.1261, +0.1242, +0.0930, +0.1372, -0.1914, +0.4377, +0.0586, +0.2271, -0.1985, -0.1012, -0.2074, +0.2934, -0.2271, -0.4235, -0.0077, -0.2304, -1.1012, -0.1832, -0.1528, -0.4307, -0.4059, -0.4289, +0.1290, -0.1688, -0.0446, +0.2036, -0.5397, -0.3280, +0.3672, -0.3012, -0.1896, +0.0923, +0.1472, -0.0703, -0.0328, -0.1597, -0.3102, -0.4221, +0.3261, +0.4840, +0.0083, +0.2617, -0.2548, -0.5314, -0.4192, +0.6303, +0.2605, -0.6675, -0.0837, -0.8402, -0.4546, +0.2169, +0.0480, +0.2543, +0.0004, +0.2982, -0.2037, -0.4812, +0.0583, -0.8738, +0.0586, -0.3745, -0.5477, -0.2971, -0.1551, -0.4880, -0.1060, +0.2188, -0.4043, -0.0349, -0.1349, -0.4093, -0.4371, +0.3101, +0.5219, -0.0655, -0.2546, -0.6408, +0.2019, +0.1351, +0.0971, -0.4105, +0.1299, -0.6688, -0.0550, -0.2388, -0.4246, +0.1126, -0.5573],
+[ +0.3232, -0.0110, -0.0201, -0.2022, +0.1144, -0.2510, -0.3709, +0.4360, -0.4248, +0.1316, -0.5286, -0.0186, +0.2077, +0.2049, +0.2458, -0.3234, -0.0890, +0.2950, +0.0363, +0.0579, -0.0995, +0.1529, -0.0182, -0.2339, +0.0239, -0.3706, +0.2179, +0.1782, +0.1137, +0.3492, -0.1769, +0.1565, +0.2168, -0.0898, +0.4457, +0.4303, +0.3227, +0.1329, -0.0832, +0.0037, -0.1080, -0.1041, +0.0529, +0.2101, -0.1206, +0.1770, -0.1607, -0.2222, -0.3057, +0.0691, -0.1493, -0.1024, +0.1907, +0.0748, +0.3616, -0.5097, -0.4243, +0.1401, -0.4711, -0.4066, -0.4260, -0.3973, -0.3461, +0.2407, +0.1542, -0.3836, -0.2245, -0.0567, +0.3746, -0.3234, +0.4039, +0.0513, -0.1164, +0.3607, -0.1126, +0.0400, +0.2217, +0.1035, +0.0252, -0.1768, -0.4746, -0.3228, -0.3284, -0.0242, +0.0163, -0.2037, +0.0809, -0.0400, -0.0311, +0.3103, -0.1519, +0.0303, +0.3008, +0.1998, -0.1943, +0.2562, +0.5656, -0.0671, +0.3937, +0.4006, +0.3835, -0.0457, +0.5424, +0.2108, -0.0296, -0.1178, -0.0066, -0.5670, -0.1310, +0.2254, +0.0798, +0.0547, -0.0507, -0.2947, +0.0727, -0.4834, +0.0126, +0.2459, +0.2963, +0.2442, +0.1020, +0.0645, +0.6951, -0.4037, -0.1358, +0.4485, -0.1978, -0.0996],
+[ +0.3579, +0.4973, -0.5223, +0.4582, -0.3209, -0.1405, -0.3946, +0.4934, -0.2217, +0.4501, +0.2339, -0.5480, +0.0177, -0.7866, -0.0221, +0.0816, -0.6471, +0.2561, -0.0114, +0.7428, -0.0908, +0.1886, -0.0973, +0.3981, -0.2908, +0.3556, -1.2527, -0.7678, -0.1662, -0.0463, +0.8122, -0.7603, +0.8625, -0.3672, -0.0821, +0.4161, +0.6106, +0.3156, -0.3068, +0.9691, +0.4397, +0.2930, -0.3802, -0.0977, -0.2970, -0.5699, +0.3788, +1.1378, -0.6848, -1.0195, +0.2025, +1.3364, -0.0277, -0.2723, -0.5642, +0.3973, -0.1903, +0.6823, -0.2150, +0.6972, -0.0855, -0.1414, +0.7036, -1.0000, -0.1264, -0.1947, +0.9226, +0.1346, -0.4493, -0.3550, -1.0708, +0.2620, +0.0332, -0.3827, -1.0002, +0.9836, +0.2433, -1.1610, +0.3742, -0.0695, -0.5658, -0.2597, +0.3667, +1.2486, -0.5875, -0.1238, +0.9558, +0.6116, -0.4355, +0.3359, -1.2784, +0.1217, -0.0572, -0.4791, -0.5930, -1.4577, -0.6798, +0.6478, -0.4734, +1.3337, +0.0625, -0.1462, -0.4832, -0.2721, -0.3731, +1.0106, -0.5080, -0.7930, +0.3208, -0.5621, +0.3719, +0.0714, +0.1665, +0.0678, -0.0667, -0.0222, +0.3113, -0.8660, +0.9910, -0.3596, -0.9364, -0.2329, -0.0983, -0.0231, -0.9173, -0.4387, -0.1335, +0.0457],
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+[ -0.7501, -1.1375, -0.2978, -0.8633, -0.8919, +0.2189, -0.5857, -0.2409, +0.0604, -0.0567, -0.1097, +0.2126, +0.0844, -0.3906, +0.3503, -0.9469, +0.0383, -0.3880, +0.1532, -0.7949, +0.2010, -0.3122, -0.3812, -1.0744, -0.0195, -0.4764, +0.2610, -0.7452, +0.1366, +0.2796, +0.2770, -0.2790, -0.7372, -0.2902, -0.7949, -0.1160, -0.1794, -0.6606, -0.0722, -0.1698, +0.1217, +0.2441, +0.2072, -0.3946, +0.1858, -0.1417, -0.9906, -0.2096, -0.0386, -0.3452, +0.3401, -0.3946, -0.0491, +0.0953, -0.5440, -0.9668, -1.4922, +0.0952, +0.2255, -0.0070, -0.0929, -0.6225, +0.2984, -0.1608],
+[ +0.0875, -0.8502, +0.2431, -1.4256, -0.0134, -0.5211, +0.1531, -0.3139, -0.2330, -0.0786, -0.0809, -0.1122, -0.1306, -0.0140, +0.4723, -0.6809, -1.0225, +0.1196, +0.1491, -0.2224, -1.9714, -1.6552, -0.0284, -0.6446, +0.1878, -0.0111, +0.2549, -0.5032, +0.2373, -0.2167, +0.0885, -0.0815, -0.8509, -0.9426, -0.4842, +0.2617, +0.0947, +0.8169, -0.0459, +0.1221, -0.0595, -0.5754, -0.5843, -1.3281, +0.1531, -1.3252, -0.7069, -0.5561, +0.1954, +0.0952, -0.5631, +0.2066, +0.7464, +0.1565, -1.3679, -0.5306, +0.1436, -0.5271, -0.1679, -0.0539, +0.5787, -0.2023, +0.3189, -0.4968],
+[ +0.0315, -1.1600, -0.1894, +0.1841, -0.0069, -0.9793, -0.0278, -0.9642, -1.0357, +0.5406, -0.1473, +0.2056, -0.3358, +0.3904, -0.0970, -1.3872, +0.2364, +0.2908, +0.0140, -0.1797, -0.0895, +0.1147, +0.0184, +0.2090, -0.2029, -0.0183, +0.3583, -0.6774, -0.3236, +0.4919, +0.1323, -0.3519, +0.2735, -0.4859, +0.1274, +0.0592, +0.0293, -0.0612, -0.2484, +0.0962, -0.4288, +0.5136, -0.6259, +0.2224, +0.2347, +0.0524, -0.0633, +0.0179, +0.0616, -0.9062, -0.1752, -0.0501, +0.3795, +0.4146, +0.0351, +0.3203, -0.0841, -1.0873, -1.3012, -0.3519, +0.3106, +0.3838, +0.1764, -0.1131],
+[ -0.0067, +0.0395, -0.7516, -0.2958, -0.1750, +0.4141, -0.3325, -0.3768, -0.4620, +0.8233, +0.3492, -0.0237, +0.0106, -0.8323, +0.3937, -0.1977, -0.4075, -0.2006, -0.0474, +0.3061, +0.0789, -0.2584, -0.0647, +0.1114, +0.0884, +0.4178, -0.6012, -0.1629, +0.4286, +0.4013, -0.9800, -0.6920, +0.3876, +0.7810, -0.7333, -0.0620, -0.2162, -0.4436, -0.1308, +0.0799, -0.0925, -1.3182, +0.3494, -0.7913, +0.1979, +0.5827, +0.2238, +0.0280, +0.0497, -0.0354, -0.0631, +0.8220, -0.1120, -0.2673, +0.1897, -0.6081, -0.1298, -0.7712, -0.2133, -0.6315, -0.3532, -0.9268, +0.2826, +0.2492],
+[ -0.6092, -0.1699, +0.0756, -1.0743, +0.7791, -0.0013, +0.0261, +0.0341, +0.0039, -1.3614, +0.0474, +0.1043, -0.1149, -0.3031, -0.1387, -0.2534, -0.1865, -0.0783, +0.0465, +0.1722, +0.0714, -0.3566, -0.3526, -0.3374, -0.2516, +0.0578, -1.6820, +0.6733, +0.1903, +0.3942, +0.0378, -0.0427, -0.0685, +0.2141, -0.7520, -0.5861, -0.1980, -0.8542, -0.2299, -0.4345, -0.1855, -0.1432, +0.3582, -0.4741, -0.5136, +0.3023, -0.0360, -0.0623, +0.1555, -0.1655, +0.2128, -0.4508, -1.2209, -0.0260, +0.0659, -1.1528, +0.2362, -0.5791, -0.2722, -0.1899, -0.1704, +0.0203, -0.7536, +0.2306],
+[ -0.1456, +0.4228, -0.2169, -0.1864, +0.2956, +0.0975, -0.4902, -0.4168, -0.0061, -0.0129, +0.5856, +0.0718, -0.1802, -0.3765, +0.3940, -0.0377, -0.1783, +0.1068, +0.1506, +0.1025, -0.4088, +0.1379, +0.4524, -0.2770, +0.0499, +0.0828, +0.0832, +0.1792, -0.0652, +0.3557, +0.1142, +0.1000, +0.5156, -0.0644, -0.2629, -0.4445, +0.2076, +0.1216, +0.3907, +0.0722, -0.0435, -0.1319, +0.2939, +0.1871, -0.1707, -0.1241, +0.0260, -0.0176, +0.7158, +0.0326, +0.2360, -0.0155, -0.2790, -0.0850, -0.0872, +0.0258, +0.1475, -0.2429, -0.3992, -0.5970, -0.0884, +0.0104, +0.2510, -0.3747],
+[ -0.1019, +0.0217, +0.0604, +0.2556, +0.0670, -0.2470, -0.0896, +0.0972, -0.5061, -0.0539, -0.1494, -0.6850, -0.1314, +0.4489, +0.3238, -0.1830, -0.3250, -0.4818, +0.1131, +0.0809, -0.1849, +0.0768, -0.4203, -0.1073, +0.0289, +0.0777, -0.2676, -0.1635, +0.2819, -1.1156, +0.4612, -0.5983, +0.2212, -0.2626, -0.3611, -0.8076, +0.0604, +0.1751, -0.1189, -0.8877, +0.1995, -0.5779, +0.1674, +0.1556, -0.4025, -0.7868, -0.6574, -0.0562, -0.3712, -0.0835, +0.2261, -0.0039, -0.0864, +0.1381, -0.2375, -0.1138, +0.0788, -0.7128, -2.4133, +0.2474, -0.5965, +0.0887, -0.3717, +0.1583],
+[ -0.0173, -0.8841, -0.1036, -0.4535, -0.0171, -0.5824, -0.0683, -0.1105, -0.6359, +0.0860, -0.4490, +0.1697, -0.1639, +0.2569, +0.2831, +0.2610, -0.6809, -0.4909, -0.5067, -0.2111, +0.0006, -0.9312, -0.1564, -0.0030, -0.4018, -1.0880, -0.2422, -0.5496, +0.4572, -0.2074, +0.5928, -0.6699, +0.2007, -0.1501, +0.6496, +0.0006, -0.8182, +0.1627, -0.9395, -0.1071, -0.1078, +0.5001, -0.9152, -0.0298, +0.2665, -0.2468, +0.3327, +0.1171, +0.2442, -0.4903, -0.3593, +0.0516, -0.2479, +0.0401, +0.2455, +0.1927, +0.4553, -0.4156, +0.4963, -0.4824, -0.7662, +0.1025, -0.1231, -0.0549],
+[ -0.5653, -0.0579, +0.0711, +0.1978, +0.1483, -0.2487, +0.5816, -0.2505, -1.0865, -0.3124, +0.4662, +0.3429, +0.1187, +0.3957, -0.3051, -0.2266, -0.5454, -0.4433, +0.1236, -0.2226, +0.1168, -0.1802, -0.2434, -1.0033, -0.3189, +0.1394, -0.7433, +0.5946, +0.1073, -0.4106, -0.5485, -0.5361, +0.3073, +0.3227, -0.6396, -0.2144, +0.3187, -1.2617, +0.1526, -0.4829, +0.1673, -0.4504, +0.3942, -0.6261, +0.1535, +0.1946, -0.2928, -1.2917, -0.4011, +0.0209, -0.2192, +0.1189, -0.2842, -0.3277, -0.0050, +0.1858, -0.7773, -0.1619, -0.2147, -0.6281, +0.3831, -0.8085, -0.6315, +0.4716],
+[ -0.8026, -0.3107, +0.0903, +0.0076, +0.4653, +0.2245, +0.1581, +0.3757, +0.3310, -1.2516, -0.1040, -0.6431, +0.0373, +0.0716, +0.1643, -0.6158, -0.0895, +0.2540, -0.1583, -0.0699, +0.1837, +0.4705, -0.9086, -0.0468, -0.2022, +0.2916, -0.3869, +0.1620, -0.2646, -0.1511, -0.2067, -0.3882, -0.6044, -0.1775, -0.8657, +0.2309, +0.3567, +0.0654, +0.5363, +0.0686, -0.0198, -0.9192, -0.1272, +0.5987, -0.0621, -0.3943, -0.0519, -0.5483, +0.0777, -0.5409, -0.0296, +0.0010, +0.2560, -0.1014, -0.8840, -0.4932, -0.2339, -1.0472, -0.4789, -0.2379, -0.6807, -0.0958, +0.2527, -0.5875],
+[ +0.0894, +0.2394, +0.4565, +0.5095, -0.9334, -1.2892, -0.8885, +0.0167, +1.0713, -0.3041, -0.7280, +0.2223, -0.5221, -0.0032, -0.0743, +0.1534, +0.5751, -0.1298, -0.1282, -0.4674, +0.5752, +0.2239, +0.4114, +0.3252, -0.1642, +0.2532, +0.3494, -0.8035, -0.2348, +0.3177, -0.5218, +0.0481, -0.3052, -0.9177, +0.1627, +0.6603, -0.7468, +0.0274, +0.0626, +0.0355, -0.2757, +0.2697, +0.4732, -0.2061, -0.0190, +0.5470, -0.5898, -0.8168, -0.0884, -0.4522, -0.1064, -0.8207, +0.2726, +0.1109, -0.2514, +0.1580, +0.6825, +0.7124, +0.8108, +0.2258, -0.1274, +0.2130, -0.3830, -0.9575],
+[ +0.0671, +0.2013, -0.4460, -1.0518, -0.0167, +0.1024, +0.0547, +0.3296, +0.0516, +0.0503, +0.1956, -0.0536, +0.0108, -0.2160, +0.1852, -0.0177, -0.4770, -0.2327, -0.2887, +0.2862, -0.0357, +0.0026, -0.6428, -0.5677, -0.0354, -0.0304, -0.1272, +0.1630, -0.1319, -0.1122, +0.3381, +0.0000, -1.0265, +0.1319, -0.2374, -0.1598, -0.0059, +0.1722, +0.2300, +0.1748, -0.0167, -0.0891, +0.0350, -0.4563, -0.5325, +0.0078, -0.2475, +0.1184, +0.0133, +0.2512, +0.3639, -1.5981, -0.5117, -0.2703, +0.0222, -0.5620, -0.1466, -0.1626, -0.3288, -0.0070, +0.0508, -0.3687, -0.4245, -0.2751]
+])
+
+weights_dense2_b = np.array([ +0.0266, +0.3395, +0.0968, +0.0097, +0.0443, -0.1722, -0.2537, +0.1501, +0.0233, -0.0174, +0.1783, -0.0513, -0.1531, -0.2145, +0.0299, -0.1589, +0.1143, +0.1132, -0.2700, -0.0481, +0.2876, +0.1824, +0.2418, +0.1009, -0.1451, +0.1637, +0.1703, +0.0336, -0.1405, -0.0162, -0.1158, +0.1691, -0.0223, -0.1828, +0.2352, +0.0209, -0.1362, -0.2636, +0.1271, -0.0936, -0.1436, +0.0606, +0.1311, -0.0989, -0.2877, +0.2593, +0.0781, -0.1118, -0.1264, +0.2478, +0.2398, -0.1515, +0.0959, -0.0821, -0.1740, +0.1116, -0.0682, +0.1743, +0.1746, -0.1950, -0.0951, +0.2190, -0.0294, +0.1950])
+
+weights_final_w = np.array([
+[ -0.6826, +0.0812, +0.5225],
+[ -0.2533, +0.7043, +0.6677],
+[ +0.0684, +0.6807, +0.4726],
+[ +0.4605, +0.3736, -0.3187],
+[ +0.4913, +0.0049, +0.4186],
+[ +0.3066, +0.3756, -0.3588],
+[ -0.3078, +0.3643, -0.0335],
+[ -0.5433, +0.5926, -0.1254],
+[ -0.2532, +0.7950, -0.1380],
+[ -0.6121, -0.3012, +0.0149],
+[ +0.3181, +0.0973, +0.1705],
+[ +0.2236, -0.1020, +0.3147],
+[ -0.0038, -0.3193, +0.1068],
+[ +0.3799, -0.0215, -0.0715],
+[ +0.3440, -0.2333, -0.1001],
+[ +0.1852, +0.7445, +0.4295],
+[ +0.4888, -0.0469, -0.1287],
+[ +0.0297, -0.3913, -0.5198],
+[ -0.0092, -0.1013, +0.2193],
+[ +0.2590, +0.0846, +0.0886],
+[ +0.0744, +0.4771, -0.3553],
+[ +0.2019, +0.1670, -0.1630],
+[ -0.4549, -0.6127, +0.5951],
+[ -0.2582, -0.6401, -0.6541],
+[ +0.0248, +0.0646, +0.1598],
+[ +0.2109, -0.0794, -0.2444],
+[ +0.2435, -0.4159, -0.2927],
+[ -0.0713, +0.2441, -0.4683],
+[ -0.0737, +0.2075, +0.4609],
+[ +0.3240, -0.4084, -0.4554],
+[ +0.3463, +0.4490, -0.2689],
+[ +0.5252, -0.3714, +0.2808],
+[ +0.5561, +0.1137, -0.0258],
+[ +0.6168, +0.0587, -0.1059],
+[ -0.0737, -0.6782, -0.4729],
+[ -0.6030, -0.2577, +0.4194],
+[ +0.4061, -0.1966, +0.2603],
+[ -0.1265, +0.3940, +0.0447],
+[ +0.2460, +0.3328, +0.1654],
+[ -0.1878, +0.6672, +0.0333],
+[ +0.5618, -0.1013, -0.2911],
+[ +0.8250, -0.0788, -0.3731],
+[ +0.2661, -0.2775, +0.2854],
+[ -0.1036, +0.2179, -0.6408],
+[ -0.5371, -0.7837, +0.1141],
+[ +0.4754, -0.0923, +0.1714],
+[ +0.0448, +0.4901, -0.1578],
+[ +0.8797, +0.3316, +0.4349],
+[ +0.1514, -0.4129, -0.3333],
+[ +0.2847, +0.2285, +0.1408],
+[ +0.0045, +0.3333, +0.0694],
+[ +0.1553, -0.5147, +0.0549],
+[ -1.0765, -0.5130, +0.1472],
+[ +0.0808, -0.2612, +0.2591],
+[ +0.5104, +0.3062, +0.3979],
+[ -0.0758, -0.4512, -0.4422],
+[ +0.3236, +0.4479, -0.1759],
+[ +0.2181, -0.0028, +0.5615],
+[ -0.0254, -0.1924, +0.4608],
+[ -0.1566, +0.5634, -0.2498],
+[ -0.0042, +0.5403, +0.0272],
+[ +0.1206, +0.3941, -1.1469],
+[ +0.7642, -1.0114, +0.4905],
+[ +0.5071, +0.2270, +0.0046]
+])
+
+weights_final_b = np.array([ +0.4868, -0.0987, -0.0946])
+
+if __name__=="__main__":
+    demo_run()
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py
new file mode 100644
index 000000000..caf7d8556
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py
@@ -0,0 +1,501 @@
+import gym
+import numpy as np
+import pybullet as p
+import pybulletgym.envs
+import time
+
+def relu(x):
+    return np.maximum(x, 0)
+
+class SmallReactivePolicy:
+    "Simple multi-layer perceptron policy, no internal state"
+    def __init__(self, observation_space, action_space):
+        assert weights_dense1_w.shape == (observation_space.shape[0], 256)
+        assert weights_dense2_w.shape == (256, 128)
+        assert weights_final_w.shape  == (128, action_space.shape[0])
+
+    def act(self, ob):
+        ob[0] += -1.4 + 0.8
+        x = ob
+        x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
+        x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
+        x = np.dot(x, weights_final_w) + weights_final_b
+        return x
+
+def demo_run():
+    env = gym.make("PybulletHumanoid-v0")
+
+    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    if cid < 0:
+        cid = p.connect(p.DIRECT)
+
+    pi = SmallReactivePolicy(env.observation_space, env.action_space)
+
+    while 1:
+        frame = 0
+        score = 0
+        restart_delay = 0
+        obs = env.reset()
+
+        while 1:
+            time.sleep(0.01)
+            a = pi.act(obs)
+            obs, r, done, _ = env.step(a)
+            score += r
+            frame += 1
+            still_open = env.render("human")
+            if still_open==False:
+                return
+            if not done: continue
+            if restart_delay==0:
+                print("score=%0.2f in %i frames" % (score, frame))
+                restart_delay = 60*2  # 2 sec at 60 fps
+            else:
+                restart_delay -= 1
+                if restart_delay==0: break
+
+weights_dense1_w = np.array([
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+
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+[ -0.0083, -0.2737, -0.0861, -0.1251, +0.0406, +0.0368, -0.1133, +0.1224, -0.1233, +0.0078, +0.1233, +0.0664, -0.2030, +0.0159, -0.4872, +0.0998, -0.1442],
+[ -0.0557, +0.0044, +0.0650, -0.3940, +0.0112, +0.1438, +0.0244, -0.0566, -0.1197, +0.0153, -0.0472, -0.1162, -0.1096, -0.0067, +0.0748, -0.1948, +0.0299],
+[ -0.1223, -0.1968, +0.0289, -0.1279, +0.2201, -0.2378, +0.0276, +0.2640, +0.0479, +0.0962, -0.0191, -0.2616, -0.1661, -0.1301, +0.1400, +0.0645, -0.1336],
+[ +0.0914, +0.0268, +0.0498, +0.2482, -0.1405, -0.1721, +0.0066, +0.0427, +0.1062, -0.0699, +0.0238, +0.1893, +0.0670, -0.0401, -0.0636, +0.0611, -0.0596],
+[ -0.1982, -0.2318, +0.1808, +0.0593, +0.1440, +0.3635, +0.0442, -0.1524, +0.0650, +0.0216, -0.0772, -0.1202, +0.2329, +0.0204, -0.0736, +0.2445, +0.0261],
+[ -0.3588, +0.0298, -0.0034, -0.0458, +0.2777, +0.2485, +0.3801, -0.0695, -0.1679, -0.5362, -0.1887, +0.0389, +0.2512, -0.0413, +0.0365, -0.0915, +0.0519],
+[ -0.0069, +0.1737, +0.1234, +0.0086, +0.0216, +0.1098, -0.0172, +0.0209, -0.1796, +0.1730, -0.0681, +0.1485, +0.1096, -0.0660, -0.0895, +0.1351, -0.0554],
+[ -0.2458, +0.0149, +0.0155, -0.0099, +0.0206, +0.3378, +0.2285, +0.0385, -0.0532, +0.2575, -0.0545, +0.0151, +0.0540, -0.0833, +0.0946, +0.0446, -0.0862],
+[ -0.1136, +0.1565, +0.1244, -0.0161, -0.0614, +0.1204, -0.0771, +0.2362, +0.0355, +0.2028, -0.0155, -0.0652, -0.2262, -0.0749, -0.1730, -0.0957, +0.2760],
+[ +0.0634, -0.0011, -0.1770, -0.1426, +0.1599, +0.0892, -0.0261, +0.0790, +0.0812, +0.4281, +0.0143, +0.1554, +0.3770, -0.0206, -0.1564, +0.0818, -0.0514],
+[ +0.0102, -0.1232, -0.2659, -0.1866, +0.0090, +0.2672, -0.0540, +0.1100, -0.2942, -0.2454, -0.0566, -0.2273, +0.1938, +0.0229, -0.1563, -0.0024, -0.0975],
+[ -0.0645, -0.0004, +0.1548, +0.2129, -0.0429, -0.0628, +0.0306, +0.1769, -0.0491, -0.0285, -0.0621, -0.4293, +0.1821, +0.1154, -0.0027, +0.0264, -0.0107],
+[ +0.3158, -0.0591, +0.0461, +0.0682, +0.0015, -0.0667, +0.1125, +0.0242, -0.0998, +0.0405, -0.1104, +0.0892, -0.1950, -0.0443, -0.1472, +0.1181, -0.0764],
+[ -0.0697, -0.0853, +0.1715, +0.0623, +0.0484, -0.0205, -0.2043, -0.0463, -0.1115, +0.0058, -0.0556, -0.0808, +0.0454, -0.0959, +0.1666, +0.3646, +0.2677],
+[ -0.1574, -0.2403, -0.1285, -0.0211, -0.2054, -0.0027, +0.1099, -0.1112, -0.2730, -0.1247, +0.1788, -0.1336, -0.1028, +0.1764, +0.2594, -0.0231, +0.1732],
+[ +0.2124, +0.1167, -0.0895, -0.0324, +0.2043, +0.0680, -0.0162, -0.0062, -0.0897, +0.0854, +0.0748, +0.3693, -0.0414, +0.0972, +0.0094, +0.0354, +0.1289],
+[ +0.2460, -0.1170, -0.1432, -0.0896, +0.0093, +0.0557, -0.0195, +0.0088, +0.0839, +0.0375, +0.1659, -0.0451, -0.1184, -0.2017, +0.0481, -0.1517, +0.1372],
+[ -0.0602, +0.3316, -0.0452, -0.0173, +0.0148, +0.0459, +0.0167, -0.0842, +0.0428, +0.2873, -0.0527, +0.0752, -0.0441, +0.0583, +0.0443, +0.1112, -0.0272],
+[ +0.0051, -0.0555, +0.1717, +0.1398, -0.1614, -0.0300, -0.1820, -0.0658, +0.0742, -0.0847, -0.1139, +0.0728, +0.1420, +0.2099, -0.2902, +0.1338, +0.1417],
+[ -0.0094, -0.0020, -0.1126, -0.2572, -0.2766, +0.0049, +0.1369, +0.0054, -0.1328, +0.0361, +0.1361, +0.3090, +0.0047, +0.1695, +0.0896, -0.1901, -0.1786],
+[ +0.1339, -0.0886, +0.0770, +0.0189, -0.1017, -0.0070, +0.1551, -0.0489, +0.0966, -0.0131, -0.0856, -0.1183, +0.1585, -0.0139, +0.1861, -0.1487, +0.0005],
+[ +0.2260, +0.0098, -0.3146, -0.0441, +0.1948, +0.0520, +0.0863, -0.0021, -0.1183, +0.0328, +0.0124, +0.0056, +0.0944, -0.0319, +0.0679, +0.0774, +0.0409],
+[ -0.0237, -0.3453, -0.1483, -0.2272, +0.1675, -0.1041, -0.0126, +0.3376, -0.0138, +0.1525, -0.0322, +0.2070, -0.2725, -0.0600, -0.1466, -0.2563, +0.0551],
+[ +0.1966, -0.0838, -0.0537, +0.0933, -0.0060, -0.0721, -0.0399, -0.1153, -0.1987, -0.0413, +0.2588, +0.0648, -0.0473, +0.1387, +0.6180, +0.0229, -0.2610],
+[ -0.1566, -0.0589, -0.0600, +0.0966, +0.0738, -0.0744, -0.0010, +0.0253, +0.2387, -0.0539, +0.0625, +0.1197, +0.0486, +0.0605, +0.2775, -0.0594, -0.0759],
+[ -0.4288, -0.0693, +0.0067, +0.3567, +0.0813, -0.1369, -0.3431, +0.0559, -0.0320, +0.0158, -0.1947, -0.3235, +0.1294, -0.2915, -0.2301, -0.1980, +0.0892],
+[ -0.1741, +0.0445, -0.0525, +0.0650, -0.0474, +0.1845, -0.0831, -0.0693, -0.0071, -0.0772, +0.0915, -0.0571, -0.1035, -0.0038, -0.1508, -0.2323, -0.1788],
+[ +0.1543, -0.0994, +0.0674, +0.1953, +0.1254, -0.1263, +0.0854, -0.1048, +0.0106, -0.0203, +0.1019, -0.0881, +0.2788, -0.2237, -0.0723, +0.0393, -0.0969],
+[ +0.0560, +0.2425, +0.1031, +0.1155, -0.1187, -0.1155, -0.0789, +0.2113, +0.0024, +0.2648, -0.1811, -0.0259, -0.1363, -0.2149, -0.2199, -0.1105, -0.1616],
+[ -0.0967, +0.0007, -0.2230, +0.1197, +0.1085, +0.0267, -0.0633, +0.1611, -0.0078, +0.0088, -0.0879, -0.1362, +0.1364, -0.1784, +0.1725, -0.0491, -0.0177],
+[ +0.0724, -0.0574, +0.0696, -0.0095, -0.1601, +0.1243, +0.2373, -0.1058, +0.1610, -0.1874, -0.0689, +0.1806, -0.2117, -0.0855, -0.0657, +0.0366, -0.0797]
+])
+
+weights_final_b = np.array([ -0.0356, +0.0776, -0.0344, +0.1375, +0.1048, +0.3648, +0.3240, +0.1319, +0.1161, +0.3373, +0.3193, +0.0120, +0.0253, -0.2434, -0.1291, +0.1042, -0.2448])
+
+if __name__=="__main__":
+    demo_run()
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py
new file mode 100644
index 000000000..a4978ec65
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py
@@ -0,0 +1,178 @@
+import gym
+import numpy as np
+import pybullet as p
+import pybulletgym.envs
+import time
+
+def relu(x):
+    return np.maximum(x, 0)
+
+class SmallReactivePolicy:
+    "Simple multi-layer perceptron policy, no internal state"
+    def __init__(self, observation_space, action_space):
+        assert weights_dense1_w.shape == (observation_space.shape[0], 64.0)
+        assert weights_dense2_w.shape == (64.0, 32.0)
+        assert weights_final_w.shape  == (32.0, action_space.shape[0])
+
+    def act(self, ob):
+        x = ob
+        x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
+        x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
+        x = np.dot(x, weights_final_w) + weights_final_b
+        return x
+
+def demo_run():
+    env = gym.make("PybulletInvertedDoublePendulum-v0")
+
+    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    if cid < 0:
+        cid = p.connect(p.DIRECT)
+
+    pi = SmallReactivePolicy(env.observation_space, env.action_space)
+
+    while 1:
+        frame = 0
+        score = 0
+        restart_delay = 0
+        obs = env.reset()
+
+        while 1:
+            time.sleep(0.05)
+            a = pi.act(obs)
+            obs, r, done, _ = env.step(a)
+            score += r
+            frame += 1
+            still_open = env.render("human")
+            if still_open==False:
+                return
+            if not done: continue
+            if restart_delay==0:
+                print("score=%0.2f in %i frames" % (score, frame))
+                restart_delay = 60*2  # 2 sec at 60 fps
+            else:
+                restart_delay -= 1
+                if restart_delay > 0: continue
+                break
+
+weights_dense1_w = np.array([
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+[ +0.0152, -0.0906, -0.1897, -0.3521, -0.1836, -0.1694, -0.4150, -0.1695, +0.0509, -0.0716, +0.3118, +0.2422, -0.5058, -0.0637, -0.1038, -0.2828, -0.0528, -0.2051, +0.2062, -0.2105, -0.7317, +0.1881, -0.2992, -0.0883, +0.0115, -1.5295, -0.1671, +0.0411, +0.0648, -0.0119, -0.2941, +0.0273],
+[ +0.5028, +0.1780, -0.4643, -0.0373, +0.3067, -0.1974, +0.2643, -0.2365, -0.2083, +0.0472, +0.4830, +0.0630, +0.2155, -0.0916, +0.6290, -0.4427, -0.6266, +0.3576, -0.3541, -0.2034, +0.3733, +0.8247, -0.5837, -0.4372, +0.2696, -0.4042, -0.3436, +0.0355, -0.2288, -0.6382, +0.7358, -0.1229]
+])
+
+weights_dense2_b = np.array([ -0.0730, +0.0456, +0.0877, -0.2607, +0.0029, -0.2705, -0.1420, +0.2403, -0.2135, -0.0646, +0.1378, +0.1105, -0.4639, -0.0583, -0.0872, -0.1473, +0.1460, -0.0234, +0.0740, -0.0745, -0.1283, +0.0316, +0.0361, -0.0726, -0.0304, +0.0417, -0.0313, +0.0935, +0.0815, +0.0814, +0.0818, -0.1111])
+
+weights_final_w = np.array([
+[ +1.0397],
+[ +0.7049],
+[ -0.2128],
+[ +0.2172],
+[ +0.3027],
+[ -0.1991],
+[ +0.3398],
+[ -0.5932],
+[ -0.1439],
+[ -0.0236],
+[ +0.5679],
+[ +0.8571],
+[ +0.1934],
+[ -0.1652],
+[ +0.6933],
+[ -0.5510],
+[ -1.0587],
+[ +0.6996],
+[ -0.5009],
+[ -0.4000],
+[ -0.6958],
+[ +0.7716],
+[ -0.5342],
+[ -0.5095],
+[ +0.3040],
+[ -1.1986],
+[ -0.4900],
+[ +0.7726],
+[ +0.5871],
+[ -0.2533],
+[ +0.2633],
+[ -0.0004]
+])
+
+weights_final_b = np.array([ +0.0190])
+
+if __name__=="__main__":
+    demo_run()
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py
new file mode 100644
index 000000000..4b64cc4fa
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py
@@ -0,0 +1,174 @@
+import gym, roboschool
+import numpy as np
+import pybullet as p
+import pybulletgym.envs
+import time
+
+def relu(x):
+    return np.maximum(x, 0)
+
+class SmallReactivePolicy:
+    "Simple multi-layer perceptron policy, no internal state"
+    def __init__(self, observation_space, action_space):
+        assert weights_dense1_w.shape == (observation_space.shape[0], 64.0)
+        assert weights_dense2_w.shape == (64.0, 32.0)
+        assert weights_final_w.shape  == (32.0, action_space.shape[0])
+
+    def act(self, ob):
+        x = ob
+        x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
+        x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
+        x = np.dot(x, weights_final_w) + weights_final_b
+        return x
+
+def demo_run():
+    env = gym.make("PybulletInvertedPendulumSwingup-v0")
+
+    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    if cid < 0:
+        cid = p.connect(p.DIRECT)
+
+    pi = SmallReactivePolicy(env.observation_space, env.action_space)
+
+    while 1:
+        frame = 0
+        score = 0
+        restart_delay = 0
+        obs = env.reset()
+
+        while 1:
+            time.sleep(0.05)
+            a = pi.act(obs)
+            obs, r, done, _ = env.step(a)
+            score += r
+            frame += 1
+            still_open = env.render("human")
+            if still_open==False:
+                return
+            if not done: continue
+            if restart_delay==0:
+                print("score=%0.2f in %i frames" % (score, frame))
+                restart_delay = 60*2  # 2 sec at 60 fps
+            else:
+                restart_delay -= 1
+                if restart_delay > 0: continue
+                break
+
+weights_dense1_w = np.array([
+[ +0.5877, -0.5825, -0.5542, -0.2557, -0.4485, +1.4126, +0.2701, -0.6204, -0.2580, +0.2106, -0.2296, +0.7949, +0.6224, -0.0186, +0.4216, +1.0924, -0.1538, -0.2818, +0.4855, -0.2496, +0.7461, -0.6156, +0.0801, +0.7871, -0.4312, -0.9585, +0.1566, -0.2218, -1.0393, +0.6104, -0.5339, +0.8258, +0.4064, +0.0503, +0.4753, -0.8161, +0.0812, +0.2311, -0.9492, -1.1791, +1.2375, +0.2916, +1.2290, +0.2796, -0.8864, -1.1424, -0.5714, +0.1413, +0.7340, -0.4152, +0.2832, -0.3886, +0.4810, -0.7092, -0.5966, +0.1089, +0.1007, +0.5226, -0.3343, +0.1760, +0.4099, -0.9913, -1.1694, -1.0018],
+[ +0.4054, +0.2495, +0.5483, +0.7193, -0.1833, -0.2237, -0.4353, -0.1005, +0.2848, +0.3193, +0.2551, -0.1267, -0.7200, +0.3952, +0.3390, +0.2123, +0.1388, +0.8869, -0.1095, -0.1718, -0.4128, -0.7047, -1.1383, +0.6552, -0.0037, -0.4306, +0.2749, -0.9121, +0.4406, -0.0163, +0.4852, +0.6150, +0.1354, -0.7839, +0.2261, +0.3988, -0.2867, -0.5369, -0.0788, +0.0125, +0.2645, +0.1614, +0.7531, +0.5786, +0.6903, -0.7974, -0.2934, -0.3407, -0.7366, -0.1585, +1.0333, -0.0183, +0.2690, -0.5674, -0.0266, +0.0898, -0.1441, -0.0988, +0.7260, +0.7994, +0.1521, -0.3210, -0.1403, -0.2685],
+[ -0.1050, -0.1826, +0.4717, -0.3515, +0.9648, -0.6372, -0.4686, +0.6959, +0.3540, +0.3515, +0.3239, -1.6177, -0.0651, +0.4653, +0.5058, +0.3465, -0.6693, -0.1118, -0.9582, -1.5053, -0.2256, -0.1989, -0.1901, -0.4282, -1.3479, -0.5629, +0.6828, -0.3515, -0.4724, +0.4618, +0.3008, +0.1280, +0.3720, -0.0545, +0.3104, -0.2527, +0.4614, +0.4994, -0.0099, +0.4597, -0.2667, -0.0374, -0.3393, +0.2675, -0.2635, -0.6062, +0.6404, +0.4500, -0.5105, -1.5838, -0.1396, +0.8804, +0.5794, -0.6823, -0.2125, +0.4510, +0.2424, +0.3407, -0.3354, +0.1306, -1.0006, +0.2358, +0.6479, +0.2027],
+[ +0.7453, +0.8937, -0.9068, +0.2950, +0.4412, -0.6005, -1.3008, -0.0299, -0.6434, +1.4992, +0.7437, +0.4271, -0.0549, +1.2337, +1.6758, -0.7335, +0.2251, -1.1287, -1.0611, -0.4609, -1.6821, -0.3495, -0.5520, +0.2407, -1.0738, +0.9423, -0.6853, -0.0193, +0.6365, +0.3979, -1.8896, -1.1404, +0.4708, -0.2113, +1.3380, +0.6163, +0.5543, +0.4372, -0.3004, +1.0200, -0.4211, +0.5034, -0.1635, +2.0363, +0.1362, -0.2348, +0.7659, -1.6971, -1.3513, -0.2940, +1.2592, -0.3885, +0.5544, +0.8858, +0.0189, -1.8006, +1.3254, +0.6919, +0.3571, -0.5189, -0.0115, -1.7036, -0.8770, +1.2328],
+[ -0.3661, +0.5205, +0.6454, +0.9826, -0.2945, -0.3074, +0.6830, +0.3798, +0.0578, +0.2303, +0.0181, -0.3768, -0.1607, +0.9089, +0.2910, -0.0265, -0.7435, +0.2932, -0.4173, +0.2959, +0.2079, +0.2649, +0.4184, +0.5963, +0.2120, +0.1885, +0.3611, +0.5193, +0.4538, +0.7072, +0.2274, +0.2233, +0.3970, +0.0560, +0.2132, +0.0186, +0.1522, -0.2460, +0.6636, +0.4592, -0.5299, +1.1159, -0.2861, +0.3664, -0.0648, +0.1958, -0.0180, -0.2585, +0.1408, +0.2639, -0.3697, +0.4727, +1.0321, +0.0851, +0.8350, +0.0830, +0.1625, -0.3849, +0.3014, -0.1514, -0.5960, -0.4083, -0.1023, +0.2080]
+])
+
+weights_dense1_b = np.array([ -0.4441, -0.2462, -0.2997, +0.3283, -0.2751, +0.0474, +0.0720, -0.2133, -0.0770, -0.0053, +0.0138, -0.3554, -0.2999, -0.2340, +0.0054, +0.4380, -0.1461, -0.2035, -0.8094, +0.0909, -0.1714, +0.2412, -0.1519, +0.0391, +0.1525, +0.1798, +0.1041, +0.4503, -0.0088, +0.0323, -0.0414, +0.4621, +0.1720, -0.1793, +0.1734, +0.1588, +0.2802, +0.1220, +0.1011, -0.1334, -0.0663, +0.4778, +0.1110, -0.1536, +0.1873, -0.0090, -0.5979, +0.3604, -0.2515, +0.4471, +0.2444, -0.2565, -0.1102, +0.0982, -0.0625, +0.3902, -0.0248, -0.2240, +0.0894, -0.0671, -0.3344, -0.0089, -0.0793, +0.2673])
+
+weights_dense2_w = np.array([
+[ +0.1063, +0.2017, +0.0029, -0.2442, -0.1362, +0.2871, +0.2270, -0.1260, +0.5271, -0.1744, -0.4323, +0.3637, -0.0083, -0.0547, +0.4549, -0.0164, +0.0913, -0.1635, +0.3583, +0.3020, +0.2240, -0.3561, +0.0689, +0.0126, +0.0508, -1.2876, -0.0003, -0.0464, -0.2184, -0.2538, -0.5314, +0.5790],
+[ -0.2180, +0.9455, +0.1446, -0.0724, +0.3771, -0.4290, +0.3908, -0.1787, -0.1009, -0.0539, -0.5364, -0.5032, -0.0631, -0.1185, -0.9890, +0.1935, -1.3280, -0.9275, +0.0670, -0.4234, -0.2061, +0.2674, +0.2963, +0.5353, -0.0221, -0.3095, +0.3255, -0.4568, +0.1337, -0.2826, -0.0538, -1.2748],
+[ +0.3038, +0.0690, +0.1495, -0.1801, -0.0140, -0.1370, -0.2094, -1.9336, +0.2150, -0.5506, +0.3097, -0.9412, +0.1507, -0.0708, -0.8874, -0.1183, -0.0580, -0.7503, +0.2276, -0.3497, +0.0067, +0.2541, -0.1207, +0.5209, +0.5381, -1.2157, +0.4692, -0.0536, -0.2078, -0.9902, -1.0954, -1.3646],
+[ +0.0581, -1.0529, -0.0581, +0.0473, -0.1228, +0.0913, -0.7037, +0.0711, +0.2062, -0.2102, +0.0475, -0.5266, +0.1324, -1.7822, -0.2985, +0.0172, +0.0110, -0.1624, -0.3990, -0.3165, +0.1287, -0.5655, +1.3905, -1.5117, +0.1874, -0.5032, -0.3292, +0.3378, -0.4749, +0.0765, +0.4345, -0.1121],
+[ -0.1315, +0.2873, -1.0164, +0.2925, -0.5024, +0.2321, -1.3038, -0.7796, +0.0830, -0.3378, -0.1037, +0.0033, -0.7885, +0.4841, +0.1578, +0.1771, +0.1991, -0.1073, -0.0181, +0.0496, +0.0919, +0.0585, +0.4595, +0.1634, -0.2220, -0.0226, +0.4703, -1.8576, +0.3075, -0.4581, +0.2507, +0.2085],
+[ +0.2704, +0.0379, +0.2313, -0.5561, -0.7413, -0.7693, +0.4787, +0.3033, -1.3572, -0.1323, -0.5202, -0.6937, -0.6824, -0.1782, -1.1647, -0.3461, -0.8537, +0.5416, +0.0638, -0.4208, -0.4464, +0.0009, -0.4284, +0.1806, +0.4172, -0.5477, +0.5549, +0.1937, -0.6029, +0.2084, -0.8289, -0.4554],
+[ +0.3719, +0.4292, +0.2655, -0.1071, -0.1848, -0.0651, -0.4942, +0.0514, -0.1364, -0.1573, -0.0880, -0.4625, -0.0889, +0.2049, -1.2166, -0.2164, -0.3680, -0.7242, -0.1208, -0.3569, +0.0591, +0.3773, -1.2525, +0.4139, -0.1203, -0.2808, -0.2460, -0.3056, -0.2309, +0.1638, +0.1502, -0.2354],
+[ +0.2204, +0.3725, +0.1919, +0.1579, +0.0064, +0.0469, -0.5103, -0.5866, +0.0043, -0.2127, -0.0816, +0.4270, -0.0504, +0.2804, -0.1278, -0.0507, +0.1206, -0.6903, -0.2278, -0.0725, +0.2198, +0.1067, +0.2162, +0.2341, -0.6394, -1.2196, +0.3075, -1.0066, +0.2299, -0.1218, -0.0533, +0.3365],
+[ +0.2458, -0.1112, -0.6971, +0.1730, +0.0093, -0.0066, -0.2500, -1.2508, -0.0108, -0.4091, -0.5608, -0.0239, +0.4287, -0.1187, +0.0476, -0.1859, +0.1335, +0.0564, +0.2657, +0.3620, +0.4023, +0.0518, -0.1151, +0.0172, +0.0270, -0.4894, +0.3967, +0.1362, +0.1078, -1.4673, -0.6417, +0.0105],
+[ -1.2388, -0.5692, +0.2738, -0.8659, +0.1514, +0.0501, -0.3654, -0.9175, +0.1314, -0.4386, +0.1715, +0.2538, +0.1051, -0.1091, +0.1875, -0.0295, -0.4012, -0.5032, -0.6742, -0.1109, +0.1125, -0.5023, -0.2032, -0.2740, -0.9510, +0.9708, -0.0643, -0.5463, -0.0895, -0.7491, +0.6833, +0.1855],
+[ -0.4298, -0.0464, -0.0294, -0.0743, +0.0902, -0.6215, +0.0848, -0.3727, +0.2700, -0.3201, -0.2578, +0.2471, -0.6535, +0.2581, +0.2505, -0.1900, +0.1637, -1.5921, -0.1360, -0.0777, -0.0092, +0.0816, +0.0996, -0.0197, -0.7934, +0.0909, +0.2011, +0.1988, +0.1273, -0.0366, +0.0466, +0.1477],
+[ +0.1492, +0.1446, +0.4695, -0.4109, -0.0883, -0.1199, +0.5098, +0.4549, -0.2600, +0.1315, -0.2831, +0.4905, +0.0915, +0.1289, -1.1824, +0.3743, -0.3307, -0.2300, -0.6317, -0.2493, -1.2151, -0.1466, -0.4567, -1.0819, +0.2878, -1.0267, +0.2882, +0.5518, -0.0761, +0.3592, +0.1387, -0.6827],
+[ +0.1444, -0.1397, +0.1136, +0.0452, -0.3338, +0.1050, +0.2811, -0.1238, -0.4973, -0.0804, +0.0148, +0.1621, -0.8240, +0.2157, +0.1887, +0.0192, -1.2242, +0.2255, -0.2271, -0.4326, -0.0362, +0.0116, -0.2229, +0.4142, +0.3929, -0.2313, +0.1735, +0.0598, +0.1726, +0.1078, +0.1444, +0.3110],
+[ -0.7894, -0.0617, +0.3583, -0.7723, +0.1178, +0.0533, -0.2285, -1.2298, +0.1727, -0.3313, +0.1193, -0.6488, +0.2996, -0.5132, -0.3868, +0.0174, +0.1475, +0.3516, -0.5912, -0.8573, +0.0606, -0.0528, -0.1981, +0.0196, -0.1688, -0.3554, -0.0234, -0.7206, +0.2903, -0.9404, -1.5141, -0.2722],
+[ -1.2703, -0.7481, +0.4099, -0.7886, +0.2750, -0.0530, -0.6855, -0.7960, +0.2931, +0.0986, +0.2574, +0.3546, -0.1636, -0.6219, +0.3183, +0.1384, -0.0684, -1.2439, -0.8255, -0.1529, +0.2066, -0.4686, +0.3696, -0.2439, -1.6751, +0.7610, -0.5769, -0.5236, +0.2315, -0.4293, +0.7452, +0.6290],
+[ +0.1636, -0.0258, -0.0946, +0.5087, -0.2138, -0.5867, -0.1223, +0.0970, -0.5604, -0.3155, +0.2778, +0.2844, -0.6220, +0.0870, +0.1567, -0.8622, +0.2385, +0.3428, +0.1315, +0.2830, -0.3414, -0.1083, -0.0021, +0.4448, -0.1093, +0.5797, +0.5512, +0.0886, +0.2515, -0.1098, -0.5983, -0.1664],
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+[ -0.2274, -0.5965, -0.0342, -0.6827, -0.1276, +0.0802, -1.2401, +0.2169, +0.0531, -0.0964, +0.2187, +0.0299, +0.2797, -0.7842, -0.5032, +0.1321, -0.2005, -0.3383, -0.3343, +0.1237, -0.0915, -0.6670, +0.0473, -0.6602, +0.1260, -1.2568, -0.2235, +0.1255, +0.3263, +0.1078, -0.0685, -0.0085],
+[ +0.3530, -0.3798, -0.5576, +0.1040, -0.1875, +0.1399, -0.1539, -1.3570, -0.1105, +0.0370, -0.4067, +0.2991, +0.2811, +0.1082, -0.0573, +0.2104, -0.1550, +0.3365, +0.5019, +0.4842, +0.4671, +0.2578, -0.0029, +0.0016, -0.1533, -0.2459, +0.1866, +0.0699, -0.1873, -1.1082, -0.9151, -0.1758],
+[ +0.2397, +0.2045, -0.2370, -0.3293, -0.3153, -0.2131, +0.1407, -0.0721, +0.0723, -0.0019, -0.3940, +0.1340, +0.3550, +0.1190, -0.6068, -0.0747, -0.7712, +0.1922, +0.6519, -0.0651, -0.4332, +0.0494, -0.7192, +0.4279, -0.1762, -0.5548, +0.1749, -0.2149, -0.6916, -0.0448, -0.1025, +0.0212],
+[ -0.1101, -0.2853, -0.3405, +0.3059, -0.5009, +0.1139, +0.0602, -0.5256, -0.9340, +0.1189, -0.9900, -0.5092, -1.9114, +0.1249, -0.7890, -1.1437, -0.4686, +0.3687, -0.2993, -0.1058, +0.0966, -0.0284, -0.4845, -0.1683, +0.3489, -0.0173, -0.0521, -0.1265, -0.0182, -0.2870, +0.0246, -1.0009],
+[ -0.1411, +0.1840, -0.3968, +0.2893, -0.9532, -0.2235, -0.1156, -0.7018, -0.2859, -0.1742, -0.6094, -0.0247, -1.0472, +0.1916, -0.4825, -0.4209, +0.2371, +0.0900, +0.0646, -0.1665, +0.5168, +0.0670, -0.1779, +0.3494, +0.3035, +0.0548, +0.2939, -0.3871, -0.0828, -0.5370, +0.0804, -0.2175],
+[ +0.4992, +0.1187, -0.0464, +0.7284, +0.1106, -0.0542, -0.3548, +0.3451, +0.0281, -0.4796, -0.2282, -0.3789, -0.1253, -0.0824, -0.3919, +0.1890, -0.1683, -2.1362, -0.9594, -0.6882, +0.6158, -0.2412, +0.2336, -0.0142, -0.9257, +0.3819, -0.1836, -0.7676, +0.3713, -0.1364, +0.3317, +0.3696]
+])
+
+weights_dense2_b = np.array([ -0.0528, +0.0930, -0.3614, +0.2145, -0.3644, -0.0033, -0.0702, -0.0928, -0.1018, +0.0424, +0.0130, +0.2634, -0.1167, +0.2412, +0.0852, +0.0047, +0.1958, -0.1322, +0.0218, +0.2207, +0.1946, +0.0936, +0.2900, +0.2404, -0.1711, +0.1214, +0.2968, -0.2935, -0.0390, +0.1330, +0.0325, +0.2185])
+
+weights_final_w = np.array([
+[ -0.2378],
+[ +0.1955],
+[ -0.2006],
+[ -0.5372],
+[ -0.3298],
+[ +0.0891],
+[ -0.3930],
+[ +0.8978],
+[ +0.3177],
+[ +0.5357],
+[ +0.2878],
+[ +0.4998],
+[ +0.2550],
+[ -0.2619],
+[ +1.1990],
+[ +0.3115],
+[ +0.3655],
+[ +0.5774],
+[ -0.4641],
+[ +0.2613],
+[ +0.1928],
+[ +0.1458],
+[ +0.4138],
+[ -0.4969],
+[ +0.4147],
+[ +1.0689],
+[ -0.1562],
+[ -0.3669],
+[ -0.3073],
+[ +0.3354],
+[ +0.9354],
+[ +0.8831]
+])
+
+weights_final_b = np.array([ +0.2753])
+
+if __name__=="__main__":
+    demo_run()
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py
new file mode 100644
index 000000000..424fe85bb
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py
@@ -0,0 +1,173 @@
+import gym
+import numpy as np
+import pybullet as p
+import pybulletgym.envs
+import time
+
+def relu(x):
+    return np.maximum(x, 0)
+
+class SmallReactivePolicy:
+    "Simple multi-layer perceptron policy, no internal state"
+    def __init__(self, observation_space, action_space):
+        assert weights_dense1_w.shape == (observation_space.shape[0], 64)
+        assert weights_dense2_w.shape == (64, 32)
+        assert weights_final_w.shape  == (32, action_space.shape[0])
+
+    def act(self, ob):
+        x = ob
+        x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
+        x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
+        x = np.dot(x, weights_final_w) + weights_final_b
+        return x
+
+def demo_run():
+    env = gym.make("PybulletInvertedPendulum-v0")
+
+    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    if cid < 0:
+        cid = p.connect(p.DIRECT)
+
+    pi = SmallReactivePolicy(env.observation_space, env.action_space)
+
+    while 1:
+        frame = 0
+        score = 0
+        restart_delay = 0
+        obs = env.reset()
+
+        while 1:
+            time.sleep(0.05)
+            a = pi.act(obs)
+            obs, r, done, _ = env.step(a)
+            score += r
+            frame += 1
+            still_open = env.render("human")
+            if still_open==False:
+                return
+            if not done: continue
+            if restart_delay==0:
+                print("score=%0.2f in %i frames" % (score, frame))
+                restart_delay = 60*2  # 2 sec at 60 fps
+            else:
+                restart_delay -= 1
+                if restart_delay==0: break
+
+weights_dense1_w = np.array([
+[ +0.8621, +0.3260, +0.0986, -0.1225, +0.2038, -0.8051, -0.7498, +0.1905, -0.3418, +0.5002, -0.1093, +0.0285, +0.3480, -0.1596, -0.1781, +0.3643, -0.4283, -0.3715, -0.1571, +0.3531, +0.0934, -0.2215, -0.3085, +0.9581, +0.2485, -0.6232, -0.3175, +0.9771, +0.3651, -0.8850, -0.4212, -0.0301, +0.0432, +0.3390, +0.7537, +0.1649, -0.0128, -0.1374, +0.3793, +1.0430, +0.8043, -0.9001, +0.4334, -0.1243, +1.2373, +0.1890, +0.3333, -0.0520, +0.1654, +0.2521, -0.0168, +0.8439, -0.6960, +0.1884, +0.0991, +0.5242, -0.6837, +0.6844, -0.2593, -0.3298, +0.2212, +0.0281, +0.2608, +0.6527],
+[ -0.9350, -0.2122, +0.0162, +0.5306, -0.2914, -0.8573, +0.2552, +0.7069, +0.7862, -0.0315, -1.0844, +0.2707, +0.5102, -1.1359, +0.3066, +0.0357, +0.1833, -0.1946, +0.0948, +0.6685, -0.6101, +0.4774, -0.3017, +0.3823, -0.2835, -0.6760, +1.2963, +0.4466, -0.7132, -0.9109, -0.0589, -0.8726, +0.6972, -0.2256, -0.0286, +0.4646, -0.5113, -0.1692, +0.7638, +0.2274, -0.5734, +0.7430, +0.9680, +0.7809, -0.2457, -0.4952, +0.0197, -0.6428, +0.2367, -0.5887, -0.5167, +0.2299, -0.5853, -0.4101, +0.9042, +0.0913, +0.5774, +0.2756, +0.2436, -0.6068, -0.2232, -0.1415, -0.5094, -0.1012],
+[ +0.0983, -0.3266, +0.2611, +0.0664, +0.6222, +0.0773, -0.2516, -0.4416, -0.3770, +0.0535, +0.3391, -0.7475, +0.5874, -0.0405, -0.2058, -0.5957, +0.2659, -0.8477, -0.5814, -0.0494, -0.1678, +0.2650, -0.4039, +0.1414, -0.6635, +0.0447, +0.2932, +0.1167, +0.1195, +0.0669, -0.4223, +0.1196, +0.0553, -0.7123, -0.4011, +0.3557, -0.4503, +0.7047, -0.4471, +0.0807, +0.3926, -0.1427, +0.4355, -0.3678, +0.3453, +0.1597, -0.3076, +0.4689, +0.3128, -0.7050, +0.6505, +0.3427, +0.1981, +0.1190, +0.2554, +0.8283, +0.1647, -0.4257, +0.1481, +0.4361, -0.5497, -0.6114, -0.0138, +0.0932],
+[ +0.1866, +0.6408, -1.8201, +1.0946, +0.7742, -0.7651, +0.1082, +0.6842, +0.3794, +0.3547, -0.8172, -0.0921, -0.6736, +1.0251, -0.9618, -0.6869, +1.8465, +0.2425, +0.7910, +1.0009, -0.8031, +1.6697, -0.8962, +0.1873, +0.4960, -0.6812, +0.6860, +1.1932, -0.7019, +0.4028, +0.4841, +0.6497, +1.6490, -0.5464, +0.7060, +1.8087, -0.6118, -0.7955, -0.3797, -1.2048, +1.2356, -0.6141, +1.2502, +0.5641, -0.1019, -1.7516, -0.1134, -0.6719, +1.5014, -0.2718, -0.5933, +0.1714, -1.3590, -0.3656, +1.0083, -0.8511, -0.5597, -0.4446, -1.7158, -0.0851, +0.3089, +0.0967, -1.0121, +0.3048],
+[ +0.3329, +0.5382, +0.1585, +0.8205, +0.5510, +0.2796, -0.7120, +0.3434, +0.2931, +1.2275, +0.4191, -0.6828, -0.5091, +0.8408, -0.3101, -0.5183, +0.2651, +0.2073, -0.1383, +0.6539, -0.2167, +0.7798, -0.5690, +0.3750, +0.4358, +0.6537, -0.2202, -0.0563, +0.6605, +0.4599, -0.5327, +0.6610, +0.8387, +0.1887, -0.2593, +0.7904, -0.3567, +0.4121, +0.4378, -0.2935, +0.1291, +0.0021, -0.3416, -0.5920, -0.2895, -0.4610, +0.7380, -0.6322, +0.6738, -0.1378, -0.3304, -0.2894, -0.3582, -0.8311, +0.2660, -0.2079, -0.1765, -0.6825, -0.1754, -0.4455, +0.7202, -0.8177, -0.9900, -0.7425]
+])
+
+weights_dense1_b = np.array([ +0.0009, -0.2179, -0.0299, +0.2069, -0.0099, +0.0907, +0.0271, +0.1957, +0.0185, +0.1671, -0.0699, -0.0332, -0.0244, +0.0022, +0.1877, -0.0801, +0.0235, -0.0097, -0.0088, +0.1961, -0.1055, +0.0605, -0.0913, +0.0884, -0.0638, +0.0229, -0.1101, +0.1966, -0.0042, +0.0221, -0.0966, +0.1554, +0.1623, -0.0454, +0.1068, +0.0114, +0.0544, +0.0201, +0.0257, +0.0637, +0.0761, +0.2120, +0.0225, +0.2023, -0.0931, +0.0585, -0.2253, -0.0302, +0.0682, +0.0000, -0.1215, -0.1105, +0.1376, +0.0583, -0.1706, -0.0262, -0.0897, +0.0728, +0.0787, +0.0912, -0.0964, -0.0959, -0.0195, +0.0232])
+
+weights_dense2_w = np.array([
+[ +0.0089, +0.2241, -0.0391, +0.1459, -0.0854, -0.0878, +0.2829, -0.1620, -0.1694, -0.5211, +0.0155, -0.1298, -0.0629, +0.1074, +0.0150, -0.3583, +0.0427, +0.1813, +0.2140, -0.4230, +0.1577, +0.1223, -0.0096, +0.0183, -0.1038, -0.5612, -0.0614, -0.0820, -0.0057, -0.2471, +0.0355, -0.1525],
+[ +0.1555, -0.2934, +0.2690, -0.3218, +0.0101, -0.1188, -0.1798, -0.1405, +0.2701, -0.0972, +0.2338, -0.0122, -0.2254, -0.3225, -0.0268, -0.0829, +0.4085, +0.0691, -0.1448, -0.0429, -0.2750, -0.2479, +0.0396, +0.0427, +0.0205, -0.1462, -0.1481, +0.1365, -0.0903, +0.0094, +0.3665, +0.1163],
+[ +0.0119, -0.3100, +0.1201, -0.2257, +0.1246, -0.1335, -0.3369, -0.0408, +0.3145, +0.2030, +0.1506, +0.0899, -0.1192, -0.2429, +0.0356, +0.0634, -0.0706, +0.1119, -0.0402, +0.1011, +0.1281, +0.4318, -0.4644, +0.0039, +0.0932, -0.0521, -0.1528, +0.1946, -0.0921, -0.0646, -0.0241, +0.1598],
+[ -0.1007, +0.3939, -0.2066, +0.0752, -0.1709, -0.0286, +0.0196, +0.1853, -0.3619, -0.0449, +0.0334, -0.2673, +0.0640, +0.3055, -0.1184, -0.4550, +0.0951, -0.2168, +0.1502, -0.4816, +0.1392, -0.3708, -0.0849, -0.4331, -0.0800, -0.0967, +0.1334, -0.3169, -0.0004, -0.3002, -0.0841, -0.1763],
+[ -0.0492, +0.0308, +0.0824, +0.0568, -0.0038, +0.3196, +0.5089, +0.0391, -0.1373, -0.1579, +0.0219, -0.2990, -0.0113, -0.2136, -0.0240, +0.1241, -0.1723, -0.0064, -0.0213, -0.2213, -0.0996, -0.0333, -0.4110, -0.2074, +0.0427, +0.0323, -0.0920, -0.1846, -0.1037, -0.0381, -0.0763, +0.0875],
+[ +0.0965, -0.1536, -0.0270, -0.0834, +0.0270, +0.0908, -0.0257, -0.1284, +0.1994, +0.2317, +0.0193, +0.0493, -0.0723, -0.2748, +0.0248, -0.0021, -0.0483, +0.0610, -0.0056, -0.0575, +0.0930, +0.0749, -0.2599, +0.0223, +0.0050, -0.0569, -0.6755, +0.2190, +0.0009, +0.1493, -0.1822, +0.0763],
+[ -0.0435, +0.3829, -0.2358, +0.3554, -0.1800, +0.0008, -0.0282, -0.0139, -0.2745, -0.2293, -0.4456, +0.1709, +0.0687, -0.0696, -0.0877, -0.0978, -0.0620, -0.4380, +0.2052, -0.1479, +0.0971, -0.0031, +0.0783, -0.0749, -0.2695, -0.0151, -0.0066, +0.0592, -0.0088, -0.0507, -0.0167, -0.2891],
+[ -0.1797, -0.1446, -0.0609, -0.2840, +0.1933, +0.0366, -0.3077, -0.0018, -0.1564, +0.0283, +0.1447, +0.2110, -0.0047, -0.2123, +0.0041, +0.0171, +0.2826, +0.1549, -0.1211, +0.1360, +0.1473, +0.1541, -0.1583, +0.0955, -0.1047, +0.0530, +0.0667, +0.1454, -0.0860, +0.0602, +0.1970, +0.0716],
+[ +0.0119, +0.1858, -0.1746, +0.0911, -0.0948, -0.0898, -0.0680, -0.2266, -0.1098, +0.0161, +0.0265, +0.1100, -0.3467, -0.0128, -0.2249, +0.0344, +0.1421, -0.1222, -0.0196, -0.1188, +0.0428, -0.2318, +0.0998, +0.1017, +0.0298, -0.1391, +0.1229, +0.1193, +0.0565, +0.1296, +0.0939, -0.0234],
+[ +0.1817, +0.2432, -0.2712, +0.0668, -0.1836, +0.0232, -0.0793, +0.0161, -0.1585, -0.3731, -0.0243, -0.1066, +0.0928, -0.0499, -0.0692, -0.3354, +0.0754, +0.0468, -0.2522, -0.7501, +0.0235, -0.5134, -0.3031, -0.1907, -0.2166, -0.1713, -0.0422, +0.0831, +0.0664, -0.0462, +0.1627, -0.4927],
+[ -0.0342, +0.2310, +0.2736, -0.0703, +0.1941, -0.0428, -0.0868, -0.2146, +0.1371, +0.0117, +0.0218, +0.0133, -0.0416, +0.1012, +0.1689, +0.3113, +0.0199, +0.1176, +0.0256, +0.0907, +0.0622, +0.3312, -0.0225, -0.0187, +0.2089, +0.1381, -0.2949, +0.1525, -0.0514, -0.1416, -0.0381, -0.0133],
+[ -0.0885, +0.3841, -0.3811, +0.1388, -0.1801, -0.0434, +0.1371, -0.0393, +0.2549, -0.4207, -0.2308, +0.0187, -0.0975, +0.2137, -0.0840, -0.0491, +0.0424, +0.0060, +0.1007, +0.0315, +0.3005, +0.0501, +0.0516, -0.0521, -0.0100, +0.0984, +0.3092, +0.0031, -0.0380, +0.2344, +0.0808, -0.0694],
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+[ -0.3834, -0.0180, -0.2714, +0.0303, +0.0784, -0.1242, +0.1105, +0.0237, -0.0085, +0.2615, +0.0189, -0.3734, +0.0088, +0.1211, -0.0838, +0.0067, +0.1956, +0.1577, +0.2132, -0.0044, -0.2748, +0.1417, +0.0201, +0.1002, +0.0311, -0.0052, -0.1695, -0.0750, +0.2200, -0.2848, +0.0438, -0.0442],
+[ -0.1496, +0.1258, +0.1903, -0.0337, -0.1470, -0.0530, +0.0519, -0.0037, +0.0342, +0.0404, -0.0950, -0.0840, +0.1083, -0.0488, +0.0427, +0.1454, +0.0851, -0.0203, -0.2354, +0.1562, +0.1899, +0.3145, +0.0013, +0.1608, +0.0126, +0.2080, -0.1409, -0.0746, +0.0580, -0.1045, -0.1753, +0.1225],
+[ -0.0349, +0.1354, -0.1052, -0.1189, +0.0288, -0.0257, +0.0813, -0.1559, +0.1267, +0.0664, +0.2004, +0.1232, +0.2557, -0.1729, -0.0666, +0.1644, +0.1043, -0.2672, +0.0537, +0.0566, -0.1738, +0.0036, +0.1406, -0.0574, -0.0556, +0.3336, -0.0328, -0.1624, +0.0132, -0.0627, -0.1523, +0.0552],
+[ -0.3105, +0.2681, -0.5462, +0.2785, -0.2453, -0.2965, +0.1436, +0.0786, -0.3242, -0.3518, +0.1025, +0.2219, -0.1324, +0.1681, +0.0701, -0.0938, +0.1574, -0.5157, +0.3574, -0.1100, +0.2647, -0.1698, +0.2684, -0.3876, -0.6240, -0.1013, +0.2920, -0.3569, -0.0008, +0.0974, +0.1444, -0.3349],
+[ +0.0848, -0.1191, +0.2283, +0.0922, +0.2880, -0.1747, -0.4457, +0.1013, +0.2494, +0.1487, +0.1013, -0.0403, -0.0236, -0.1965, -0.0655, +0.0818, +0.0493, -0.0605, -0.1889, +0.1772, -0.2826, +0.2783, -0.1653, +0.3505, +0.4192, -0.1048, -0.1459, +0.0779, -0.0154, -0.1573, -0.1254, -0.1118],
+[ -0.1817, +0.0719, +0.1352, +0.3208, +0.2142, -0.1149, +0.0020, +0.1617, +0.1055, +0.0395, -0.1802, -0.0631, -0.3172, +0.1971, +0.0197, +0.1271, -0.2375, -0.1849, -0.0134, +0.1223, +0.2566, +0.0311, -0.2746, +0.0278, +0.1233, +0.0167, -0.0363, +0.2146, -0.0466, +0.0732, -0.1490, +0.1040],
+[ +0.1008, -0.1501, +0.0264, -0.4661, -0.0553, +0.0431, -0.3076, -0.0461, +0.1393, -0.1225, +0.2811, -0.0363, -0.0403, -0.3370, -0.0865, -0.1179, +0.1106, +0.2035, -0.2432, -0.0859, +0.0600, -0.0890, -0.0749, +0.0483, +0.0615, -0.0239, -0.4674, +0.0199, +0.0669, +0.1410, +0.1846, +0.2626],
+[ +0.0663, +0.1486, -0.3928, +0.3257, -0.0316, +0.1377, +0.0418, +0.1921, -0.1616, -0.2265, -0.0917, +0.1582, -0.0537, +0.0295, -0.2264, -0.1921, -0.0225, +0.0928, +0.0747, -0.5268, -0.0068, -0.3328, +0.0437, -0.2361, -0.1408, -0.1234, +0.2216, -0.1372, -0.0499, +0.1940, +0.0098, -0.2953],
+[ +0.0290, -0.1583, -0.0172, -0.1748, -0.0042, -0.0725, -0.2227, -0.1366, -0.1771, +0.1987, +0.3142, +0.1889, +0.0195, -0.5461, +0.0921, +0.1407, -0.1656, +0.1985, +0.0113, +0.2613, +0.2925, +0.1166, -0.1286, +0.1031, -0.2228, -0.0605, -0.2151, +0.2477, +0.1602, -0.0109, +0.0207, +0.1257],
+[ +0.0630, -0.1688, +0.1662, -0.2327, +0.2832, +0.1350, -0.1658, +0.0504, -0.0502, +0.1736, +0.1002, -0.0051, -0.0311, -0.0628, +0.0039, +0.5085, -0.2191, +0.5105, -0.0927, +0.2833, -0.2828, +0.1078, +0.0406, -0.0392, -0.2372, +0.1508, +0.0556, +0.0313, +0.1296, +0.1315, -0.1143, +0.1632]
+])
+
+weights_dense2_b = np.array([ -0.0655, +0.0020, +0.0358, -0.0192, +0.0570, +0.0000, +0.0711, -0.0145, +0.0294, +0.0139, -0.0215, -0.0952, +0.0000, +0.0526, -0.0585, +0.0633, -0.0332, +0.0030, +0.0107, +0.0830, +0.0140, +0.0888, -0.1115, -0.0722, +0.0240, +0.0476, -0.0807, -0.0421, +0.0000, -0.0557, -0.0403, +0.0034])
+
+weights_final_w = np.array([
+[ -0.0230],
+[ +0.0730],
+[ -0.2093],
+[ +0.0463],
+[ -0.1983],
+[ -0.0031],
+[ +0.2101],
+[ -0.0066],
+[ -0.1481],
+[ -0.1615],
+[ -0.1766],
+[ +0.1332],
+[ -0.0012],
+[ +0.2332],
+[ -0.0380],
+[ -0.3066],
+[ -0.1738],
+[ -0.2982],
+[ +0.0285],
+[ -0.1548],
+[ +0.2539],
+[ -0.2544],
+[ +0.2006],
+[ -0.4121],
+[ -0.2084],
+[ -0.0381],
+[ +0.2733],
+[ -0.3076],
+[ +0.0013],
+[ +0.0957],
+[ -0.1298],
+[ -0.1112]
+])
+
+weights_final_b = np.array([ +0.0352])
+
+if __name__=="__main__":
+    demo_run()
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py
new file mode 100644
index 000000000..f382e9114
--- /dev/null
+++ b/examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py
@@ -0,0 +1,286 @@
+import gym
+import numpy as np
+import pybullet as p
+import pybulletgym.envs
+import time
+
+def relu(x):
+    return np.maximum(x, 0)
+
+class SmallReactivePolicy:
+    "Simple multi-layer perceptron policy, no internal state"
+    def __init__(self, observation_space, action_space):
+        assert weights_dense1_w.shape == (observation_space.shape[0], 128)
+        assert weights_dense2_w.shape == (128, 64)
+        assert weights_final_w.shape  == (64, action_space.shape[0])
+
+    def act(self, ob):
+        x = ob
+        x = relu(np.dot(x, weights_dense1_w) + weights_dense1_b)
+        x = relu(np.dot(x, weights_dense2_w) + weights_dense2_b)
+        x = np.dot(x, weights_final_w) + weights_final_b
+        return x
+
+def demo_run():
+    env = gym.make("PybulletWalker2d-v0")
+
+    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    if cid < 0:
+        cid = p.connect(p.DIRECT)
+
+    pi = SmallReactivePolicy(env.observation_space, env.action_space)
+
+    while 1:
+        frame = 0
+        score = 0
+        restart_delay = 0
+        obs = env.reset()
+
+        while 1:
+            time.sleep(0.01)
+            a = pi.act(obs)
+            obs, r, done, _ = env.step(a)
+            score += r
+            frame += 1
+            still_open = env.render("human")
+            if still_open==False:
+                return
+            if not done: continue
+            if restart_delay==0:
+                print("score=%0.2f in %i frames" % (score, frame))
+                restart_delay = 60*2  # 2 sec at 60 fps
+            else:
+                restart_delay -= 1
+                if restart_delay==0: break
+
+weights_dense1_w = np.array([
+[ -0.5923, +0.0708, -0.2868, -0.5138, -0.1376, +0.3921, +0.3474, +0.2376, +0.6664, +0.1282, +0.1778, +0.2879, -0.3030, +0.1678, +0.1248, +0.1665, -0.1129, -0.5741, +0.1318, +0.4056, +0.2123, +0.1856, +0.3895, +0.0076, +0.4030, +0.1592, +0.2418, +0.0302, -0.2642, -0.0772, -0.5000, -0.0241, +0.3221, +0.1268, -0.1013, +0.1987, +0.2850, -0.3257, -0.1115, -0.3003, +0.0450, -0.2232, -0.1471, +0.5303, +0.6448, +0.0623, +0.4801, +0.1554, -0.0681, -0.4085, +0.6602, +0.1064, +0.1389, +0.6386, +0.5123, -0.3210, -0.0565, +0.2629, +0.5662, -0.2477, -0.1244, +0.0125, +0.1585, +0.0328, +0.0098, +0.0898, +0.4162, -0.0758, -0.4449, +0.4196, +0.0923, +0.4323, -0.2452, -0.1646, +0.8115, +0.3922, +0.2736, -0.2587, +0.6535, +0.1253, +0.0194, +0.3765, +0.2678, +0.4038, -0.1404, -0.2698, +0.1081, +0.0031, +0.4622, -0.1806, -0.2798, -0.2216, +0.2180, -0.0131, -0.3375, +0.2901, +0.2382, -0.0402, +0.4257, -0.2084, -0.1102, +0.6300, +0.0378, +0.5702, +0.0085, -0.4068, +0.5516, +0.1101, +0.4330, +0.0053, +0.0656, +0.6463, +0.2717, -0.5689, -0.2151, +0.1876, +0.6149, +0.1463, +0.2377, +0.4734, -0.5056, +0.5846, +0.1847, +0.4174, -0.0182, -0.0434, +0.4932, +0.1675],
+[ -0.0323, +0.1990, +0.0035, +0.1374, -0.0162, +0.1237, -0.2231, +0.3492, -0.0100, +0.1316, -0.4408, -0.3253, +0.0478, +0.1452, +0.1131, +0.0822, +0.3286, +0.0443, -0.1344, -0.0785, -0.4665, -0.1749, -0.2719, +0.1309, +0.2622, -0.1787, +0.0132, +0.0169, +0.1424, -0.1192, -0.0486, +0.0994, +0.2762, -0.2210, -0.3417, -0.0453, +0.2207, +0.1077, -0.2448, +0.1683, +0.0924, +0.1232, -0.1016, +0.2795, +0.3878, -0.3440, -0.0133, -0.1766, -0.2442, -0.3664, +0.1455, -0.1039, -0.0158, +0.1746, -0.3620, -0.1886, +0.4197, -0.1972, -0.0783, -0.2513, +0.1576, -0.0283, +0.4125, -0.0183, +0.2840, -0.0190, -0.2548, -0.0755, +0.2639, +0.1207, -0.0633, -0.2397, +0.2823, -0.1291, +0.1105, -0.3745, -0.0536, -0.1834, +0.3941, -0.0746, -0.0950, +0.1063, -0.0520, -0.1393, +0.1153, -0.1724, -0.3873, +0.2700, -0.2059, -0.1402, -0.0576, -0.2060, -0.1197, +0.1246, +0.1575, -0.0923, -0.1524, -0.1861, +0.3553, -0.3640, +0.1487, +0.0001, -0.0485, -0.1573, +0.0710, -0.0659, -0.1262, -0.2399, +0.0415, -0.1848, -0.0352, -0.2980, +0.4015, -0.2548, +0.0777, -0.0573, -0.2989, +0.2988, -0.2647, -0.0445, +0.0962, +0.1144, -0.1381, -0.1443, +0.2538, -0.0203, -0.1139, -0.0137],
+[ +0.0101, -0.1099, -0.2746, +0.1418, -0.2257, -0.0753, -0.0880, -0.5336, -0.3857, +0.4742, +0.0142, -0.0733, -0.2721, +0.1913, -0.4624, -0.0272, -0.0448, -0.1782, -0.0153, -0.1250, +0.0004, -0.1004, +0.1810, -0.1565, +0.1465, +0.2069, +0.2239, -0.2894, -0.2431, +0.1741, +0.0018, -0.0586, +0.1388, +0.1907, +0.0643, +0.0112, +0.0272, +0.1716, -0.2055, +0.1644, -0.1780, -0.4091, -0.4636, -0.1947, -0.1812, -0.1876, -0.3228, -0.2501, -0.3992, -0.2498, -0.1115, -0.4160, -0.2285, -0.1908, -0.3892, -0.0788, +0.2413, +0.0193, -0.3308, -0.0670, +0.2808, -0.3637, +0.0275, -0.2128, -0.0328, +0.4001, +0.3251, +0.4071, +0.2900, +0.1178, -0.4016, -0.2668, +0.0388, -0.2220, -0.3311, +0.0219, -0.0518, +0.0345, +0.2008, +0.2282, -0.0269, -0.2531, -0.5376, -0.5342, -0.0932, -0.0678, -0.0573, -0.3451, +0.3746, -0.3500, +0.1244, -0.3478, +0.1564, -0.4525, -0.0010, +0.0473, +0.1666, -0.0538, -0.2431, +0.2113, +0.0891, +0.2253, -0.2024, +0.0722, -0.0958, -0.0994, -0.1086, +0.1991, -0.2600, +0.1181, -0.1903, +0.1795, -0.0618, +0.0945, -0.2850, +0.0669, +0.1276, -0.2620, -0.4172, +0.2954, -0.4614, +0.0665, -0.0353, -0.0430, -0.0465, +0.3755, -0.1195, +0.2084],
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+[ -0.0850, -0.2497, -0.2107, -0.2141, +0.3072, +0.3229, -0.1949, +0.1294, -0.2154, -0.5436, -0.2756, +0.1585, -0.3081, -0.2884, +0.0584, +0.3902, +0.5601, -0.0324, -0.8309, +0.0884, +0.4890, +0.2771, +0.1323, +0.2234, -0.5563, +0.2813, -1.1535, +0.3736, -0.8677, +0.2691, +0.1412, +0.4179, +0.3897, -0.2039, +0.0885, -0.2746, -0.3438, +0.6083, +0.1196, +0.6909, +0.3943, -0.4563, -0.2028, +0.3160, +0.4372, -0.3929, -0.6564, -0.2445, -0.3547, -0.0069, +0.3304, +0.2863, +0.0022, -0.6024, +0.0905, -0.0902, +0.3029, -0.2148, +0.3599, +0.3216, +0.5142, -0.8270, +0.3086, +0.2275]
+])
+
+weights_dense2_b = np.array([ +0.3157, -0.0138, +0.1347, +0.2792, -0.0769, +0.0847, -0.0819, +0.2974, +0.1350, -0.0025, +0.0698, -0.2427, +0.2004, +0.2309, +0.1715, +0.0219, +0.1258, +0.1784, +0.3261, +0.1711, -0.0779, +0.1550, +0.1433, +0.0774, -0.1676, -0.0443, -0.1684, +0.1624, +0.0597, +0.0358, +0.1652, +0.1075, +0.0770, +0.1979, +0.1490, -0.0719, +0.1036, +0.0766, +0.2915, -0.1048, +0.1366, +0.0610, +0.2238, +0.1660, +0.0433, +0.3754, -0.0812, -0.0851, +0.2820, +0.2110, +0.0232, -0.0167, -0.2433, -0.0042, +0.2591, -0.0215, +0.0927, +0.1470, -0.0324, +0.2150, -0.1883, +0.0956, +0.1331, +0.2330])
+
+weights_final_w = np.array([
+[ +0.0101, -0.1948, +0.2128, -0.4291, +0.4975, +0.0586],
+[ +0.1211, -0.3286, -0.5959, +0.2402, +0.2022, +0.0405],
+[ -0.0318, +0.3342, +0.1579, -0.4639, -0.4456, -0.2342],
+[ +0.0856, +0.0638, +0.3259, +0.2046, -0.4004, +0.4999],
+[ -0.6462, -0.0369, -1.1351, +0.9906, +0.0352, -0.6781],
+[ -0.3719, -0.1071, +0.3581, +0.5559, +0.1965, -0.3970],
+[ +0.0816, -0.1766, -0.6672, +0.0872, -0.5773, -0.3138],
+[ -0.0914, +0.1054, +0.0728, +0.5491, +0.4499, +0.1875],
+[ +0.2443, +0.0085, -0.2355, +0.3129, -0.1762, -0.0077],
+[ -0.1181, -0.6764, +0.4602, +0.1629, +0.0420, +0.2435],
+[ +0.0605, +0.0850, -0.6874, -0.0096, +0.4599, -0.2271],
+[ +0.5245, -0.2946, -0.1789, +0.5927, +0.0829, +0.5251],
+[ +0.4504, -0.4831, +0.0163, +0.0061, +0.5226, -0.4811],
+[ +0.5086, -0.2366, +0.0043, -0.1165, -0.2790, -0.5078],
+[ +0.1296, +0.0196, +0.1396, -0.1705, +0.2290, -0.2673],
+[ -0.0323, -0.1554, +0.4492, -0.6847, +0.0767, +0.0235],
+[ -0.0142, +0.3304, -0.2269, +0.0771, +0.2548, -0.0215],
+[ -0.3389, +0.0605, -0.1767, +0.1649, +0.3932, +0.4187],
+[ +0.0447, -0.2753, +0.7056, -0.3268, -0.4054, +0.3856],
+[ +0.3863, +0.0820, +0.1836, -0.1025, -0.0837, +0.3728],
+[ +0.1172, +0.2514, -0.2447, -0.0147, +0.3737, -0.1232],
+[ +0.4822, -0.1587, +0.0189, +0.1085, -0.2107, +0.1819],
+[ -0.3112, +0.2384, -0.0983, +0.3085, +0.3343, -0.1824],
+[ +0.1329, -0.7842, +0.5067, -0.1467, +0.6028, -0.1696],
+[ +0.0913, -0.2866, +0.1866, +0.0102, -0.2893, +0.1818],
+[ -0.0842, +0.0903, +0.0537, +0.2681, +0.6005, -0.3763],
+[ +0.4081, -0.5070, -0.2256, +0.4282, -0.2310, +0.0178],
+[ +0.1979, +0.1552, +0.7038, -0.0276, +0.1008, +0.4311],
+[ +0.0105, +0.0500, -0.5326, -0.1960, -0.0029, +0.7599],
+[ +0.0132, +0.1029, +0.0586, +0.2432, -0.0545, -0.3576],
+[ -0.1861, +0.2730, -0.1026, +0.2567, +0.1899, +0.0994],
+[ +0.2804, +0.4976, +0.0234, -0.0693, +0.1044, -0.1782],
+[ +0.1651, -0.0445, -0.1732, -0.1439, +0.1910, -0.2900],
+[ +0.0575, +0.0506, -0.5541, -0.0837, +0.1331, +0.0596],
+[ -0.5366, -0.2095, +0.2158, +0.1478, +0.1552, -0.2847],
+[ -0.2239, -0.5064, +0.2553, +0.6997, -0.2814, -0.5053],
+[ -0.5875, -0.2929, -0.3054, +0.4141, +0.0547, +0.2617],
+[ +0.4712, +0.1022, +0.2665, +0.1481, +0.2837, +0.3440],
+[ +0.3937, +0.3063, +0.4430, -0.5654, +0.0932, -0.1030],
+[ +0.0561, +0.7068, +0.1140, -0.0612, +0.1575, -0.4454],
+[ -0.4082, -0.3756, -0.0447, +0.5955, +0.2170, +0.2459],
+[ +0.3779, +0.1477, -0.2120, -0.3360, -0.3584, +0.1333],
+[ -0.1877, +0.1041, -0.2141, -0.0261, +0.0121, +0.5809],
+[ +0.5229, +0.3220, +0.4367, -0.1934, +0.0125, +0.3250],
+[ -0.0197, -0.0964, +0.6821, +0.0876, +0.1429, -0.2392],
+[ -0.3900, +0.3254, -0.1975, +0.2021, -0.4072, +0.2072],
+[ +0.2660, -0.2046, +0.2172, +0.2520, +0.1637, -0.0179],
+[ -0.0649, -0.0451, +0.0873, +0.0077, -0.3684, -0.0634],
+[ +0.1304, +0.2106, +0.0804, +0.0554, -0.2718, -0.4081],
+[ +0.3119, +0.1979, -0.2498, +0.0328, +0.2566, +0.2054],
+[ +0.0622, +0.2239, -0.7600, -0.2464, -0.3213, -0.4771],
+[ -0.3352, +0.4833, +0.0830, +0.3854, -0.0733, -0.0983],
+[ +0.2465, +0.0722, -0.0776, +0.2516, +0.5810, +0.5918],
+[ -0.2167, -0.2138, +0.2410, -0.3535, -0.4878, -0.4168],
+[ -0.0991, +0.4950, +0.0633, +0.2891, -0.5150, +0.1257],
+[ -0.0267, -0.5339, -0.2769, -0.0796, +0.0055, -0.2304],
+[ +0.2994, +0.3536, -0.3556, +0.3602, -0.1715, -0.3168],
+[ +0.1544, -0.5746, -0.1126, -0.4654, +0.1188, -0.0478],
+[ +0.4130, -0.7358, +0.0469, +0.0414, -0.0352, -0.5242],
+[ -0.3941, +0.6807, +0.0670, +0.6347, +0.0394, +0.2293],
+[ -0.0101, +0.1363, +0.6806, -0.1179, +0.1445, -0.0643],
+[ -0.5794, +0.1603, -0.3438, -0.5360, -0.0372, +0.1549],
+[ -0.0897, +1.1163, +0.4080, +0.1319, +0.1437, +0.0088],
+[ +0.2344, +0.4274, -0.1515, +0.0379, -0.2166, -0.0852]
+])
+
+weights_final_b = np.array([ +0.0090, +0.2404, +0.1022, +0.1035, +0.0621, -0.0160])
+
+if __name__=="__main__":
+    demo_run()
diff --git a/examples/pybullet/gym/envs/gym_forward_walkers.py b/examples/pybullet/gym/envs/gym_forward_walkers.py
new file mode 100644
index 000000000..ca24c91e1
--- /dev/null
+++ b/examples/pybullet/gym/envs/gym_forward_walkers.py
@@ -0,0 +1,233 @@
+from distutils.command.config import config
+
+from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
+from pybulletgym.envs.scene_stadium import SinglePlayerStadiumScene
+from gym_mujoco_xml_env import PybulletMujocoXmlEnv
+import gym, gym.spaces, gym.utils, gym.utils.seeding
+import numpy as np
+import os, sys
+
+class PybulletForwardWalkersBase(PybulletMujocoXmlEnv):
+	def __init__(self, fn, robot_name, action_dim, obs_dim, power):
+		PybulletMujocoXmlEnv.__init__(self, fn, robot_name, action_dim, obs_dim)
+		self.power = power
+		self.camera_x = 0
+		self.walk_target_x = 1e3  # kilometer away
+		self.walk_target_y = 0
+
+	def create_single_player_scene(self):
+		self.stadium_scene = SinglePlayerStadiumScene(gravity=9.8, timestep=0.0165/4, frame_skip=4)
+		return self.stadium_scene
+
+	def robot_specific_reset(self):
+		for j in self.ordered_joints:
+			j.reset_current_position(self.np_random.uniform( low=-0.1, high=0.1 ), 0)
+
+		self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.stadium_scene.ground_plane_mjcf)
+		self.feet = [self.parts[f] for f in self.foot_list]
+		self.feet_contact = np.array([0.0 for f in self.foot_list], dtype=np.float32)
+		self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in self.foot_ground_object_names])
+		self.scene.actor_introduce(self)
+		self.initial_z = None
+
+	def move_robot(self, init_x, init_y, init_z):
+		"Used by multiplayer stadium to move sideways, to another running lane."
+		self.cpp_robot.query_position()
+		pose = self.cpp_robot.root_part.pose()
+		pose.move_xyz(init_x, init_y, init_z)  # Works because robot loads around (0,0,0), and some robots have z != 0 that is left intact
+		self.cpp_robot.set_pose(pose)
+
+	def apply_action(self, a):
+		assert( np.isfinite(a).all() )
+		for n,j in enumerate(self.ordered_joints):
+			j.set_motor_torque( self.power*j.power_coef*float(np.clip(a[n], -1, +1)) )
+
+	def calc_state(self):
+		j = np.array([j.current_relative_position() for j in self.ordered_joints], dtype=np.float32).flatten()
+		# even elements [0::2] position, scaled to -1..+1 between limits
+		# odd elements  [1::2] angular speed, scaled to show -1..+1
+		self.joint_speeds = j[1::2]
+		self.joints_at_limit = np.count_nonzero(np.abs(j[0::2]) > 0.99)
+
+		body_pose = self.robot_body.pose()
+		parts_xyz = np.array( [p.pose().xyz() for p in self.parts.values()] ).flatten()
+		self.body_xyz = (parts_xyz[0::3].mean(), parts_xyz[1::3].mean(), body_pose.xyz()[2])  # torso z is more informative than mean z
+		self.body_rpy = body_pose.rpy()
+		z = self.body_xyz[2]
+		r, p, yaw = self.body_rpy
+		if self.initial_z==None:
+			self.initial_z = z
+		self.walk_target_theta = np.arctan2( self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0] )
+		self.walk_target_dist  = np.linalg.norm( [self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0]] )
+		angle_to_target = self.walk_target_theta - yaw
+
+		rot_speed = np.array(
+			[[np.cos(-yaw), -np.sin(-yaw), 0],
+			 [np.sin(-yaw),  np.cos(-yaw), 0],
+			 [		   0,			 0, 1]]
+			)
+		vx, vy, vz = np.dot(rot_speed, self.robot_body.speed())  # rotate speed back to body point of view
+
+		more = np.array([
+			z-self.initial_z,
+			np.sin(angle_to_target), np.cos(angle_to_target),
+			0.3*vx, 0.3*vy, 0.3*vz,	# 0.3 is just scaling typical speed into -1..+1, no physical sense here
+			r, p], dtype=np.float32)
+		return np.clip( np.concatenate([more] + [j] + [self.feet_contact]), -5, +5)
+
+	def calc_potential(self):
+		# progress in potential field is speed*dt, typical speed is about 2-3 meter per second, this potential will change 2-3 per frame (not per second),
+		# all rewards have rew/frame units and close to 1.0
+		return - self.walk_target_dist / self.scene.dt
+
+	electricity_cost	 = -2.0	# cost for using motors -- this parameter should be carefully tuned against reward for making progress, other values less improtant
+	stall_torque_cost	= -0.1	# cost for running electric current through a motor even at zero rotational speed, small
+	foot_collision_cost  = -1.0	# touches another leg, or other objects, that cost makes robot avoid smashing feet into itself
+	foot_ground_object_names = set(["floor"])  # to distinguish ground and other objects
+	joints_at_limit_cost = -0.1	# discourage stuck joints
+
+	def _step(self, a):
+		if not self.scene.multiplayer:  # if multiplayer, action first applied to all robots, then global step() called, then _step() for all robots with the same actions
+			self.apply_action(a)
+			self.scene.global_step()
+
+		state = self.calc_state()  # also calculates self.joints_at_limit
+
+		alive = float(self.alive_bonus(state[0]+self.initial_z, self.body_rpy[1]))   # state[0] is body height above ground, body_rpy[1] is pitch
+		done = alive < 0
+		if not np.isfinite(state).all():
+			print("~INF~", state)
+			done = True
+
+		potential_old = self.potential
+		self.potential = self.calc_potential()
+		progress = float(self.potential - potential_old)
+
+		feet_collision_cost = 0.0
+		for i,f in enumerate(self.feet):
+			contact_ids = set((x[2], x[4]) for x in f.contact_list())
+			#print("CONTACT OF '%s' WITH %s" % (f.name, ",".join(contact_names)) )
+			self.feet_contact[i] = 1.0 if (self.ground_ids & contact_ids) else 0.0
+			if contact_ids - self.ground_ids:
+				feet_collision_cost += self.foot_collision_cost
+
+		electricity_cost  = self.electricity_cost  * float(np.abs(a*self.joint_speeds).mean())  # let's assume we have DC motor with controller, and reverse current braking
+		electricity_cost += self.stall_torque_cost * float(np.square(a).mean())
+
+		joints_at_limit_cost = float(self.joints_at_limit_cost * self.joints_at_limit)
+
+		self.rewards = [
+			alive,
+			progress,
+			electricity_cost,
+			joints_at_limit_cost,
+			feet_collision_cost
+			]
+
+		self.HUD(state, a, done)
+		return state, sum(self.rewards), bool(done), {}
+
+	def camera_adjust(self):
+		x, y, z = self.body_xyz
+		self.camera_x = 0.98*self.camera_x + (1-0.98)*x
+		self.camera.move_and_look_at(self.camera_x, y-2.0, 1.4, x, y, 1.0)
+
+class PybulletHopper(PybulletForwardWalkersBase):
+	foot_list = ["foot"]
+	def __init__(self):
+		PybulletForwardWalkersBase.__init__(self, "hopper.xml", "torso", action_dim=3, obs_dim=15, power=0.75)
+	def alive_bonus(self, z, pitch):
+		return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
+
+class PybulletWalker2d(PybulletForwardWalkersBase):
+	foot_list = ["foot", "foot_left"]
+	def __init__(self):
+		PybulletForwardWalkersBase.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40)
+	def alive_bonus(self, z, pitch):
+		return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
+	def robot_specific_reset(self):
+		PybulletForwardWalkersBase.robot_specific_reset(self)
+		for n in ["foot_joint", "foot_left_joint"]:
+			self.jdict[n].power_coef = 30.0
+
+class PybulletHalfCheetah(PybulletForwardWalkersBase):
+	foot_list = ["ffoot", "fshin", "fthigh",  "bfoot", "bshin", "bthigh"]  # track these contacts with ground
+	def __init__(self):
+		PybulletForwardWalkersBase.__init__(self, "half_cheetah.xml", "torso", action_dim=6, obs_dim=26, power=0.90)
+	def alive_bonus(self, z, pitch):
+		# Use contact other than feet to terminate episode: due to a lot of strange walks using knees
+		return +1 if np.abs(pitch) < 1.0 and not self.feet_contact[1] and not self.feet_contact[2] and not self.feet_contact[4] and not self.feet_contact[5] else -1
+	def robot_specific_reset(self):
+		PybulletForwardWalkersBase.robot_specific_reset(self)
+		self.jdict["bthigh"].power_coef = 120.0
+		self.jdict["bshin"].power_coef  = 90.0
+		self.jdict["bfoot"].power_coef  = 60.0
+		self.jdict["fthigh"].power_coef = 140.0
+		self.jdict["fshin"].power_coef  = 60.0
+		self.jdict["ffoot"].power_coef  = 30.0
+
+class PybulletAnt(PybulletForwardWalkersBase):
+	foot_list = ['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot']
+	def __init__(self):
+		PybulletForwardWalkersBase.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5)
+	def alive_bonus(self, z, pitch):
+		return +1 if z > 0.26 else -1  # 0.25 is central sphere rad, die if it scrapes the ground
+
+
+## 3d Humanoid ##
+
+class PybulletHumanoid(PybulletForwardWalkersBase):
+	self_collision = True
+	foot_list = ["right_foot", "left_foot"]  # "left_hand", "right_hand"
+
+	def __init__(self):
+		PybulletForwardWalkersBase.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41)
+		# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
+		self.electricity_cost  = 4.25*PybulletForwardWalkersBase.electricity_cost
+		self.stall_torque_cost = 4.25*PybulletForwardWalkersBase.stall_torque_cost
+
+	def robot_specific_reset(self):
+		PybulletForwardWalkersBase.robot_specific_reset(self)
+		self.motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
+		self.motor_power  = [100, 100, 100]
+		self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
+		self.motor_power += [100, 100, 300, 200]
+		self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
+		self.motor_power += [100, 100, 300, 200]
+		self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
+		self.motor_power += [75, 75, 75]
+		self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
+		self.motor_power += [75, 75, 75]
+		self.motors = [self.jdict[n] for n in self.motor_names]
+		# if self.random_yaw: # TODO: Make leaning work as soon as the rest works
+		# 	cpose = cpp_household.Pose()
+		# 	yaw = self.np_random.uniform(low=-3.14, high=3.14)
+		# 	if self.random_lean and self.np_random.randint(2)==0:
+		# 		cpose.set_xyz(0, 0, 1.4)
+		# 		if self.np_random.randint(2)==0:
+		# 			pitch = np.pi/2
+		# 			cpose.set_xyz(0, 0, 0.45)
+		# 		else:
+		# 			pitch = np.pi*3/2
+		# 			cpose.set_xyz(0, 0, 0.25)
+		# 		roll = 0
+		# 		cpose.set_rpy(roll, pitch, yaw)
+		# 	else:
+		# 		cpose.set_xyz(0, 0, 1.4)
+		# 		cpose.set_rpy(0, 0, yaw)  # just face random direction, but stay straight otherwise
+		# 	self.cpp_robot.set_pose_and_speed(cpose, 0,0,0)
+		self.initial_z = 0.8
+
+	random_yaw = False
+	random_lean = False
+
+	def apply_action(self, a):
+		assert( np.isfinite(a).all() )
+		force_gain = 1
+		for i, m, power in zip(range(17), self.motors, self.motor_power):
+			m.set_motor_torque( float(force_gain * power*self.power*a[i]) )
+			#m.set_motor_torque(float(force_gain * power * self.power * np.clip(a[i], -1, +1)))
+
+	def alive_bonus(self, z, pitch):
+		return +2 if z > 0.78 else -1   # 2 here because 17 joints produce a lot of electricity cost just from policy noise, living must be better than dying
+
diff --git a/examples/pybullet/gym/envs/gym_manipulators.py b/examples/pybullet/gym/envs/gym_manipulators.py
new file mode 100644
index 000000000..d42abb511
--- /dev/null
+++ b/examples/pybullet/gym/envs/gym_manipulators.py
@@ -0,0 +1,304 @@
+from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
+from gym_mujoco_xml_env import PybulletMujocoXmlEnv
+import gym, gym.spaces, gym.utils, gym.utils.seeding
+import numpy as np
+import os, sys
+
+class PybulletReacher(PybulletMujocoXmlEnv):
+	def __init__(self):
+		PybulletMujocoXmlEnv.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=9)
+
+	def create_single_player_scene(self):
+		return SingleRobotEmptyScene(gravity=0.0, timestep=0.0165, frame_skip=1)
+
+	TARG_LIMIT = 0.27
+	def robot_specific_reset(self):
+		self.jdict["target_x"].reset_current_position(self.np_random.uniform( low=-self.TARG_LIMIT, high=self.TARG_LIMIT ), 0)
+		self.jdict["target_y"].reset_current_position(self.np_random.uniform( low=-self.TARG_LIMIT, high=self.TARG_LIMIT ), 0)
+		self.fingertip = self.parts["fingertip"]
+		self.target	= self.parts["target"]
+		self.central_joint = self.jdict["joint0"]
+		self.elbow_joint   = self.jdict["joint1"]
+		self.central_joint.reset_current_position(self.np_random.uniform( low=-3.14, high=3.14 ), 0)
+		self.elbow_joint.reset_current_position(self.np_random.uniform( low=-3.14, high=3.14 ), 0)
+
+	def apply_action(self, a):
+		assert( np.isfinite(a).all() )
+		self.central_joint.set_motor_torque( 0.05*float(np.clip(a[0], -1, +1)) )
+		self.elbow_joint.set_motor_torque( 0.05*float(np.clip(a[1], -1, +1)) )
+
+	def calc_state(self):
+		theta,	 self.theta_dot = self.central_joint.current_relative_position()
+		self.gamma, self.gamma_dot = self.elbow_joint.current_relative_position()
+		target_x, _ = self.jdict["target_x"].current_position()
+		target_y, _ = self.jdict["target_y"].current_position()
+		self.to_target_vec = np.array(self.fingertip.pose().xyz()) - np.array(self.target.pose().xyz())
+		return np.array([
+			target_x,
+			target_y,
+			self.to_target_vec[0],
+			self.to_target_vec[1],
+			np.cos(theta),
+			np.sin(theta),
+			self.theta_dot,
+			self.gamma,
+			self.gamma_dot,
+			])
+
+	def calc_potential(self):
+		return -100 * np.linalg.norm(self.to_target_vec)
+
+	def _step(self, a):
+		assert(not self.scene.multiplayer)
+		self.apply_action(a)
+		self.scene.global_step()
+
+		state = self.calc_state()  # sets self.to_target_vec
+
+		potential_old = self.potential
+		self.potential = self.calc_potential()
+
+		electricity_cost = (
+			-0.10*(np.abs(a[0]*self.theta_dot) + np.abs(a[1]*self.gamma_dot))  # work torque*angular_velocity
+			-0.01*(np.abs(a[0]) + np.abs(a[1]))								# stall torque require some energy
+			)
+		stuck_joint_cost = -0.1 if np.abs(np.abs(self.gamma)-1) < 0.01 else 0.0
+		self.rewards = [float(self.potential - potential_old), float(electricity_cost), float(stuck_joint_cost)]
+		self.HUD(state, a, False)
+		return state, sum(self.rewards), False, {}
+
+	def camera_adjust(self):
+		x, y, z = self.fingertip.pose().xyz()
+		x *= 0.5
+		y *= 0.5
+		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
+
+
+class PybulletPusher(PybulletMujocoXmlEnv):
+	def __init__(self):
+		PybulletMujocoXmlEnv.__init__(self, 'pusher.xml', 'body0', action_dim=7, obs_dim=5)
+
+	def create_single_player_scene(self):
+		return SingleRobotEmptyScene(gravity=9.81, timestep=0.0020, frame_skip=5)
+
+	def robot_specific_reset(self):
+		self.fingertip = self.parts["fingertip"]
+#		qpos = self.init_qpos
+
+		self.goal_pos = np.asarray([0, 0])
+		while True:
+			self.cylinder_pos = np.concatenate([
+					self.np_random.uniform(low=-0.3, high=0, size=1),
+					self.np_random.uniform(low=-0.2, high=0.2, size=1)])
+			if np.linalg.norm(self.cylinder_pos - self.goal_pos) > 0.17:
+				break
+
+# This is probably position setting
+#		qpos[-4:-2] = self.cylinder_pos
+#		qpos[-2:] = self.goal_pos
+#		qvel = self.init_qvel + self.np_random.uniform(low=-0.005,
+#				high=0.005, size=self.model.nv)
+#		qvel[-4:] = 0
+#		self.set_state(qpos, qvel)
+
+	def apply_action(self, a):
+		assert( np.isfinite(a).all() )
+
+	def calc_state(self):
+		return np.concatenate([
+			np.array([j.current_position() for j in self.ordered_joints]).flatten(), # position
+			np.array([j.current_relative_position() for j in self.ordered_joints]).flatten(), # speed
+			self.parts["fingertip"].pose().xyz(),
+			self.parts["object"].pose().xyz(),
+			self.parts["goal"].pose().xyz(),
+		])
+
+	def _step(self, a):
+
+		self.apply_action(a)
+		self.scene.global_step()
+
+		state = self.calc_state()
+
+		reward_near_vec = self.parts["object"].pose().xyz() - self.parts["fingertip"].pose().xyz()
+		reward_dist_vec = self.parts["object"].pose().xyz() - self.parts["goal"].pose().xyz()
+
+		reward_near = - np.linalg.norm(reward_near_vec)
+		reward_dist = - np.linalg.norm(reward_dist_vec)
+		reward_ctrl = - np.square(a).sum()
+		reward = reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near
+
+		done = False
+		return state, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
+
+	def camera_adjust(self):
+		x, y, z = self.fingertip.pose().xyz()
+		x *= 0.5
+		y *= 0.5
+		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
+
+
+class PybulletStriker(PybulletMujocoXmlEnv):
+	def __init__(self):
+		PybulletMujocoXmlEnv.__init__(self, 'striker.xml', 'body0', action_dim=7, obs_dim=5)
+		self._striked = False
+		self._min_strike_dist = np.inf
+		self.strike_threshold = 0.1
+
+	def create_single_player_scene(self):
+		return SingleRobotEmptyScene(gravity=9.81, timestep=0.0020, frame_skip=5)
+
+	def robot_specific_reset(self):
+		self.fingertip = self.parts["fingertip"]
+		self._min_strike_dist = np.inf
+		self._striked = False
+		self._strike_pos = None
+		
+		# reset position of manipulator
+		for j in self.ordered_joints:
+			j.reset_current_position(self.np_random.uniform( low=-0.1, high=0.1 ))
+			
+		# reset speed of manipulator
+		
+		# reset ball position
+
+#		qpos = self.init_qpos
+
+		self.ball = np.array([0.5, -0.175])
+
+		while True:
+			self.goal = np.concatenate([
+					self.np_random.uniform(low=0.15, high=0.7, size=1),
+					self.np_random.uniform(low=0.1, high=1.0, size=1)])
+			if np.linalg.norm(self.ball - self.goal) > 0.17:
+				break
+# This is probably position setting
+#		qpos[-9:-7] = [self.ball[1], self.ball[0]]
+#		qpos[-7:-5] = self.goal
+#		diff = self.ball - self.goal
+#		angle = -np.arctan(diff[0] / (diff[1] + 1e-8))
+#		qpos[-1] = angle / 3.14
+#		qvel = self.init_qvel + self.np_random.uniform(low=-.1, high=.1,
+#				size=self.model.nv)
+#		qvel[7:] = 0
+#		self.set_state(qpos, qvel)
+
+	def apply_action(self, a):
+		assert( np.isfinite(a).all() )
+
+	def calc_state(self):
+		return np.concatenate([
+			np.array([j.current_position() for j in self.ordered_joints]).flatten(), # position
+			np.array([j.current_relative_position() for j in self.ordered_joints]).flatten(), # speed
+			self.parts["fingertip"].pose().xyz(),
+			self.parts["object"].pose().xyz(),
+			self.parts["goal"].pose().xyz(),
+		])
+
+	def _step(self, a):
+		self.apply_action(a)
+		self.scene.global_step()
+		state = self.calc_state()
+
+		dist_object_finger = self.parts["object"].pose().xyz() - self.parts["fingertip"].pose().xyz()
+		reward_dist_vec = self.parts["object"].pose().xyz() - self.parts["goal"].pose().xyz()
+
+		self._min_strike_dist = min(self._min_strike_dist, np.linalg.norm(reward_dist_vec))
+
+		if np.linalg.norm(dist_object_finger) < self.strike_threshold:
+			self._striked = True
+			self._strike_pos = self.parts["fingertip"].pose().xyz()
+
+		if self._striked:
+			reward_near_vec = self.parts["object"].pose().xyz() - self._strike_pos
+		else:
+			reward_near_vec = self.parts["object"].pose().xyz() - self.parts["fingertip"].pose().xyz()
+
+		reward_near = - np.linalg.norm(reward_near_vec)
+
+		reward_dist = - np.linalg.norm(self._min_strike_dist)
+		reward_ctrl = - np.square(a).sum()
+		reward = 3 * reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near
+
+		done = False
+		return state, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
+
+	def camera_adjust(self):
+		x, y, z = self.fingertip.pose().xyz()
+		x *= 0.5
+		y *= 0.5
+		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
+
+
+class PybulletThrower(PybulletMujocoXmlEnv):
+	def __init__(self):
+		PybulletMujocoXmlEnv.__init__(self, 'thrower.xml', 'body0', action_dim=7, obs_dim=5)
+		self._ball_hit_ground = False
+		self._ball_hit_location = None
+
+	def create_single_player_scene(self):
+		return SingleRobotEmptyScene(gravity=0.0, timestep=0.0020, frame_skip=5)
+
+	def robot_specific_reset(self):
+		self.fingertip = self.parts["fingertip"]
+		self._ball_hit_ground = False
+		self._ball_hit_location = None
+		
+		# reset position of manipulator
+		for j in self.ordered_joints:
+			j.reset_current_position(self.np_random.uniform( low=-0.1, high=0.1 ))
+			
+		# reset speed of manipulator
+# This is probably position setting
+#		qpos = self.init_qpos
+#		self.goal = np.array([self.np_random.uniform(low=-0.3, high=0.3),
+#							  self.np_random.uniform(low=-0.3, high=0.3)])
+# 
+#		qpos[-9:-7] = self.goal
+#		qvel = self.init_qvel + self.np_random.uniform(low=-0.005,
+#				high=0.005, size=self.model.nv)
+#		qvel[7:] = 0
+#		self.set_state(qpos, qvel)
+
+	def apply_action(self, a):
+		assert( np.isfinite(a).all() )
+
+	def calc_state(self):
+		return np.concatenate([
+			np.array([j.current_position() for j in self.ordered_joints]).flatten(), # position
+			np.array([j.current_relative_position() for j in self.ordered_joints]).flatten(), # speed
+			self.parts["fingertip"].pose().xyz(),
+			self.parts["ball"].pose().xyz(),
+			self.parts["goal"].pose().xyz(),
+		])
+
+	def _step(self, a):
+		self.apply_action(a)
+		self.scene.global_step()
+		state = self.calc_state()
+
+		ball_xy = self.parts["ball"].pose().xyz()[:2]
+		goal_xy = self.parts["goal"].pose().xyz()[:2]
+
+		if not self._ball_hit_ground and self.parts["ball"].pose().xyz()[2] < -0.25:
+			self._ball_hit_ground = True
+			self._ball_hit_location = self.parts["ball"].pose().xyz()
+
+		if self._ball_hit_ground:
+			ball_hit_xy = self._ball_hit_location[:2]
+			reward_dist = -np.linalg.norm(ball_hit_xy - goal_xy)
+		else:
+			reward_dist = -np.linalg.norm(ball_xy - goal_xy)
+		reward_ctrl = - np.square(a).sum()
+
+		reward = reward_dist + 0.002 * reward_ctrl
+
+		done = False
+		return state, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
+
+	def camera_adjust(self):
+		x, y, z = self.fingertip.pose().xyz()
+		x *= 0.5
+		y *= 0.5
+		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
+
diff --git a/examples/pybullet/gym/envs/gym_mujoco_xml_env.py b/examples/pybullet/gym/envs/gym_mujoco_xml_env.py
new file mode 100644
index 000000000..8d412eacc
--- /dev/null
+++ b/examples/pybullet/gym/envs/gym_mujoco_xml_env.py
@@ -0,0 +1,246 @@
+import gym, gym.spaces, gym.utils, gym.utils.seeding
+import numpy as np
+import pybullet as p
+import os
+
+
+class PybulletMujocoXmlEnv(gym.Env):
+	"""
+	Base class for MuJoCo .xml actors in a Scene.
+	These environments create single-player scenes and behave like normal Gym environments, if
+	you don't use multiplayer.
+	"""
+
+	metadata = {
+		'render.modes': ['human', 'rgb_array'],
+		'video.frames_per_second': 60
+		}
+
+	self_collision = False
+
+	def __init__(self, model_xml, robot_name, action_dim, obs_dim):
+		self.scene = None
+
+		self.parts = None
+		self.jdict = None
+		self.ordered_joints = None
+		self.robot_body = None
+
+		high = np.ones([action_dim])
+		self.action_space = gym.spaces.Box(-high, high)
+		high = np.inf*np.ones([obs_dim])
+		self.observation_space = gym.spaces.Box(-high, high)
+		self._seed()
+
+		self.model_xml = model_xml
+		self.robot_name = robot_name
+
+		self.camera = Camera()
+
+	def _seed(self, seed=None):
+		self.np_random, seed = gym.utils.seeding.np_random(seed)
+		return [seed]
+
+	def addToScene(self, bodies):
+		if self.parts is not None:
+			parts = self.parts
+		else:
+			parts = {}
+
+		if self.jdict is not None:
+			joints = self.jdict
+		else:
+			joints = {}
+
+		if self.ordered_joints is not None:
+			ordered_joints = self.ordered_joints
+		else:
+			ordered_joints = []
+
+		dump = 0
+		for i in range(len(bodies)):
+			if p.getNumJoints(bodies[i]) == 0:
+				part_name, robot_name = p.getBodyInfo(bodies[i], 0)
+				robot_name = robot_name.decode("utf8")
+				part_name = part_name.decode("utf8")
+				parts[part_name] = BodyPart(part_name, bodies, i, -1)
+			for j in range(p.getNumJoints(bodies[i])):
+				_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
+
+				joint_name = joint_name.decode("utf8")
+				part_name = part_name.decode("utf8")
+
+				if dump: print("ROBOT PART '%s'" % part_name)
+				if dump: print("ROBOT JOINT '%s'" % joint_name) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
+
+				parts[part_name] = BodyPart(part_name, bodies, i, j)
+
+				if part_name == self.robot_name:
+					self.robot_body = parts[part_name]
+
+				if i == 0 and j == 0 and self.robot_body is None:  # if nothing else works, we take this as robot_body
+					parts[self.robot_name] = BodyPart(self.robot_name, bodies, 0, -1)
+					self.robot_body = parts[self.robot_name]
+
+				if joint_name[:6] == "ignore":
+					Joint(joint_name, bodies, i, j).disable_motor()
+					continue
+
+				if joint_name[:8] != "jointfix":
+					joints[joint_name] = Joint(joint_name, bodies, i, j)
+					ordered_joints.append(joints[joint_name])
+
+					joints[joint_name].power_coef = 100.0
+
+		return parts, joints, ordered_joints, self.robot_body
+
+	def _reset(self):
+		if self.scene is None:
+			self.scene = self.create_single_player_scene()
+		if not self.scene.multiplayer:
+			self.scene.episode_restart()
+
+		self.ordered_joints = []
+		self.frame = 0
+		self.done = 0
+		self.reward = 0
+		dump = 0
+
+		if self.self_collision:
+			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml), flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
+		else:
+			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml)))
+
+		self.robot_specific_reset()
+		s = self.calc_state()	# optimization: calc_state() can calculate something in self.* for calc_potential() to use
+		self.potential = self.calc_potential()
+		return s
+
+	def _render(self, mode, close):
+		pass
+
+	def calc_potential(self):
+		return 0
+
+	def HUD(self, state, a, done):
+		pass
+
+class Camera:
+	def __init__(self):
+		pass
+
+	def move_and_look_at(self,i,j,k,x,y,z):
+		lookat = [x,y,z]
+		distance = 10
+		yaw = 10
+		p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)
+
+class Pose_Helper: # dummy class to comply to original interface
+	def __init__(self, body_part):
+		self.body_part = body_part
+
+	def xyz(self):
+		return self.body_part.current_position()
+
+	def rpy(self):
+		return p.getEulerFromQuaternion(self.body_part.current_orientation())
+
+	def orientation(self):
+		return self.body_part.current_orientation()
+
+class BodyPart:
+	def __init__(self, body_name, bodies, bodyIndex, bodyPartIndex):
+		self.bodies = bodies
+		self.bodyIndex = bodyIndex
+		self.bodyPartIndex = bodyPartIndex
+		self.initialPosition = self.current_position()
+		self.initialOrientation = self.current_orientation()
+		self.bp_pose = Pose_Helper(self)
+
+	def state_fields_of_pose_of(self, body_id, link_id=-1):  # a method you will most probably need a lot to get pose and orientation
+		if link_id == -1:
+			(x, y, z), (a, b, c, d) = p.getBasePositionAndOrientation(body_id)
+		else:
+			(x, y, z), (a, b, c, d), _, _, _, _ = p.getLinkState(body_id, link_id)
+		return np.array([x, y, z, a, b, c, d])
+
+	def get_pose(self):
+		return self.state_fields_of_pose_of(self.bodies[self.bodyIndex], self.bodyPartIndex)
+
+	def speed(self):
+		if self.bodyPartIndex == -1:
+			(vx, vy, vz), _ = p.getBaseVelocity(self.bodies[self.bodyIndex])
+		else:
+			(x,y,z), (a,b,c,d), _,_,_,_, (vx, vy, vz), (vr,vp,vy) = p.getLinkState(self.bodies[self.bodyIndex], self.bodyPartIndex, computeLinkVelocity=1)
+		return np.array([vx, vy, vz])
+
+	def current_position(self):
+		return self.get_pose()[:3]
+
+	def current_orientation(self):
+		return self.get_pose()[3:]
+
+	def reset_position(self, position):
+		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, self.get_orientation())
+
+	def reset_orientation(self, orientation):
+		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)
+
+	def reset_pose(self, position, orientation):
+		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, orientation)
+
+	def pose(self):
+		return self.bp_pose
+
+	def contact_list(self):
+		return p.getContactPoints(self.bodies[self.bodyIndex], -1, self.bodyPartIndex, -1)
+
+
+class Joint:
+	def __init__(self, joint_name, bodies, bodyIndex, jointIndex):
+		self.bodies = bodies
+		self.bodyIndex = bodyIndex
+		self.jointIndex = jointIndex
+		self.joint_name = joint_name
+		_,_,_,_,_,_,_,_,self.lowerLimit, self.upperLimit,_,_,_ = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
+		self.power_coeff = 0
+
+	def set_state(self, x, vx):
+		p.resetJointState(self.bodies[self.bodyIndex], self.jointIndex, x, vx)
+
+	def current_position(self): # just some synonyme method
+		return self.get_state()
+
+	def current_relative_position(self):
+		pos, vel = self.get_state()
+		pos_mid = 0.5 * (self.lowerLimit + self.upperLimit);
+		return (
+			2 * (pos - pos_mid) / (self.upperLimit - self.lowerLimit),
+			0.1 * vel
+		)
+
+	def get_state(self):
+		x, vx,_,_ = p.getJointState(self.bodies[self.bodyIndex],self.jointIndex)
+		return x, vx
+
+	def set_position(self, position):
+		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.POSITION_CONTROL, targetPosition=position)
+
+	def set_velocity(self, velocity):
+		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.VELOCITY_CONTROL, targetVelocity=velocity)
+
+	def set_motor_torque(self, torque): # just some synonyme method
+		self.set_torque(torque)
+
+	def set_torque(self, torque):
+		p.setJointMotorControl2(bodyIndex=self.bodies[self.bodyIndex], jointIndex=self.jointIndex, controlMode=p.TORQUE_CONTROL, force=torque) #, positionGain=0.1, velocityGain=0.1)
+
+	def reset_current_position(self, position, velocity): # just some synonyme method
+		self.reset_position(position, velocity)
+
+	def reset_position(self, position, velocity):
+		p.resetJointState(self.bodies[self.bodyIndex],self.jointIndex,targetValue=position, targetVelocity=velocity)
+		self.disable_motor()
+
+	def disable_motor(self):
+		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0)
diff --git a/examples/pybullet/gym/envs/gym_pendula.py b/examples/pybullet/gym/envs/gym_pendula.py
new file mode 100644
index 000000000..c13230e06
--- /dev/null
+++ b/examples/pybullet/gym/envs/gym_pendula.py
@@ -0,0 +1,133 @@
+from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
+from gym_mujoco_xml_env import PybulletMujocoXmlEnv
+import gym, gym.spaces, gym.utils, gym.utils.seeding
+import numpy as np
+import os, sys
+
+class PybulletInvertedPendulum(PybulletMujocoXmlEnv):
+	swingup = False
+	force_gain = 12 # TODO: Try to find out why we need to scale the force
+
+	def __init__(self):
+		PybulletMujocoXmlEnv.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
+
+	def create_single_player_scene(self):
+		return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
+
+	def robot_specific_reset(self):
+		self.pole = self.parts["pole"]
+		self.slider = self.jdict["slider"]
+		self.j1 = self.jdict["hinge"]
+		u = self.np_random.uniform(low=-.1, high=.1)
+		self.j1.reset_current_position( u if not self.swingup else 3.1415+u , 0)
+		self.j1.set_motor_torque(0)
+
+	def apply_action(self, a):
+		#assert( np.isfinite(a).all() )
+		if not np.isfinite(a).all():
+			print("a is inf")
+			a[0] = 0
+		self.slider.set_motor_torque( self.force_gain * 100*float(np.clip(a[0], -1, +1)) )
+
+	def calc_state(self):
+		self.theta, theta_dot = self.j1.current_position()
+		x, vx = self.slider.current_position()
+		#assert( np.isfinite(x) )
+
+		if not np.isfinite(x):
+			print("x is inf")
+			x = 0
+
+		if not np.isfinite(vx):
+			print("vx is inf")
+			vx = 0
+
+		if not np.isfinite(self.theta):
+			print("theta is inf")
+			self.theta = 0
+
+		if not np.isfinite(theta_dot):
+			print("theta_dot is inf")
+			theta_dot = 0
+
+		return np.array([
+			x, vx,
+			np.cos(self.theta), np.sin(self.theta), theta_dot
+			])
+
+	def _step(self, a):
+		self.apply_action(a)
+		self.scene.global_step()
+		state = self.calc_state()  # sets self.pos_x self.pos_y
+		vel_penalty = 0
+		if self.swingup:
+			reward = np.cos(self.theta)
+			done = False
+		else:
+			reward = 1.0
+			done = np.abs(self.theta) > .2
+		self.rewards = [float(reward)]
+		self.HUD(state, a, done)
+		return state, sum(self.rewards), done, {}
+
+	def camera_adjust(self):
+		self.camera.move_and_look_at(0,1.2,1.0, 0,0,0.5)
+
+class PybulletInvertedPendulumSwingup(PybulletInvertedPendulum):
+	swingup = True
+	force_gain = 2.2  # TODO: Try to find out why we need to scale the force
+
+class PybulletInvertedDoublePendulum(PybulletMujocoXmlEnv):
+	def __init__(self):
+		PybulletMujocoXmlEnv.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
+
+	def create_single_player_scene(self):
+		return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
+
+	def robot_specific_reset(self):
+		self.pole2 = self.parts["pole2"]
+		self.slider = self.jdict["slider"]
+		self.j1 = self.jdict["hinge"]
+		self.j2 = self.jdict["hinge2"]
+		u = self.np_random.uniform(low=-.1, high=.1, size=[2])
+		self.j1.reset_current_position(float(u[0]), 0)
+		self.j2.reset_current_position(float(u[1]), 0)
+		self.j1.set_motor_torque(0)
+		self.j2.set_motor_torque(0)
+
+	def apply_action(self, a):
+		assert( np.isfinite(a).all() )
+		force_gain = 0.78  # TODO: Try to find out why we need to scale the force
+		self.slider.set_motor_torque( force_gain *200*float(np.clip(a[0], -1, +1)) )
+
+	def calc_state(self):
+		theta, theta_dot = self.j1.current_position()
+		gamma, gamma_dot = self.j2.current_position()
+		x, vx = self.slider.current_position()
+		self.pos_x, _, self.pos_y = self.pole2.pose().xyz()
+		assert( np.isfinite(x) )
+		return np.array([
+			x, vx,
+			self.pos_x,
+			np.cos(theta), np.sin(theta), theta_dot,
+			np.cos(gamma), np.sin(gamma), gamma_dot,
+			])
+
+	def _step(self, a):
+		self.apply_action(a)
+		self.scene.global_step()
+		state = self.calc_state()  # sets self.pos_x self.pos_y
+		# upright position: 0.6 (one pole) + 0.6 (second pole) * 0.5 (middle of second pole) = 0.9
+		# using <site> tag in original xml, upright position is 0.6 + 0.6 = 1.2, difference +0.3
+		dist_penalty = 0.01 * self.pos_x ** 2 + (self.pos_y + 0.3 - 2) ** 2
+		# v1, v2 = self.model.data.qvel[1:3]   TODO when this fixed https://github.com/bulletphysics/bullet3/issues/1040
+		#vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2
+		vel_penalty = 0
+		alive_bonus = 10
+		done = self.pos_y + 0.3 <= 1
+		self.rewards = [float(alive_bonus), float(-dist_penalty), float(-vel_penalty)]
+		self.HUD(state, a, done)
+		return state, sum(self.rewards), done, {}
+
+	def camera_adjust(self):
+		self.camera.move_and_look_at(0,1.2,1.2, 0,0,0.5)
diff --git a/examples/pybullet/gym/envs/kerasrl_utils.py b/examples/pybullet/gym/envs/kerasrl_utils.py
new file mode 100644
index 000000000..1ccedce5c
--- /dev/null
+++ b/examples/pybullet/gym/envs/kerasrl_utils.py
@@ -0,0 +1,28 @@
+
+import re
+from gym import error
+import glob
+							#  checkpoints/KerasDDPG-InvertedPendulum-v0-20170701190920_actor.h5
+weight_save_re = re.compile(r'^(?:\w+\/)+?(\w+-v\d+)-(\w+-v\d+)-(\d+)(?:_\w+)?\.(\w+)$')
+
+def get_fields(weight_save_name):
+	match = weight_save_re.search(weight_save_name)
+	if not match:
+		raise error.Error('Attempted to read a malformed weight save: {}. (Currently all weight saves must be of the form {}.)'.format(id,weight_save_re.pattern))
+	return match.group(1), match.group(2), int(match.group(3))
+
+def get_latest_save(file_folder, agent_name, env_name, version_number):
+	"""
+	Returns the properties of the latest weight save. The information can be used to generate the loading path
+	:return:
+	"""
+	path = "%s%s"% (file_folder, "*.h5")
+	file_list = glob.glob(path)
+	latest_file_properties = []
+	file_properties = []
+	for f in file_list:
+		file_properties = get_fields(f)
+		if file_properties[0] == agent_name and file_properties[1] == env_name and (latest_file_properties == [] or file_properties[2] > latest_file_properties[2]):
+			latest_file_properties = file_properties
+
+	return latest_file_properties
diff --git a/examples/pybullet/gym/envs/mujoco_assets/ant.xml b/examples/pybullet/gym/envs/mujoco_assets/ant.xml
new file mode 100644
index 000000000..311d96feb
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/ant.xml
@@ -0,0 +1,71 @@
+<mujoco model="ant">
+  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
+  <option integrator="RK4" timestep="0.01"/>
+  <custom>
+    <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
+  </custom>
+  <default>
+    <joint armature="1" damping="1" limited="true"/>
+    <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
+  </default>
+  <worldbody>
+    <body name="torso" pos="0 0 0.75">
+      <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
+      <!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
+      <body name="front_left_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+        <body name="aux_1" pos="0.2 0.2 0">
+          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          <body pos="0.2 0.2 0" name="front_left_foot">
+            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          </body>
+        </body>
+      </body>
+      <body name="front_right_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
+        <body name="aux_2" pos="-0.2 0.2 0">
+          <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
+          <body pos="-0.2 0.2 0" name="front_right_foot">
+            <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <body name="left_back_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
+        <body name="aux_3" pos="-0.2 -0.2 0">
+          <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
+          <body pos="-0.2 -0.2 0" name="left_back_foot">
+            <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <body name="right_back_leg" pos="0 0 0">
+        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+        <body name="aux_4" pos="0.2 -0.2 0">
+          <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          <body pos="0.2 -0.2 0" name="right_back_foot">
+            <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
+  </actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml b/examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml
new file mode 100644
index 000000000..0212c7f1b
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml
@@ -0,0 +1,5 @@
+<mujoco model="ground_plane">
+  <worldbody>
+    <geom conaffinity="1" condim="3" name="floor" friction="0.8 0.1 0.1" pos="0 0 0" type="plane"/>
+  </worldbody>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml b/examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml
new file mode 100644
index 000000000..418eef56d
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml
@@ -0,0 +1,88 @@
+<!-- Cheetah Model
+
+    The state space is populated with joints in the order that they are
+    defined in this file. The actuators also operate on joints.
+
+    State-Space (name/joint/parameter):
+        - rootx     slider      position (m)
+        - rootz     slider      position (m)
+        - rooty     hinge       angle (rad)
+        - bthigh    hinge       angle (rad)
+        - bshin     hinge       angle (rad)
+        - bfoot     hinge       angle (rad)
+        - fthigh    hinge       angle (rad)
+        - fshin     hinge       angle (rad)
+        - ffoot     hinge       angle (rad)
+        - rootx     slider      velocity (m/s)
+        - rootz     slider      velocity (m/s)
+        - rooty     hinge       angular velocity (rad/s)
+        - bthigh    hinge       angular velocity (rad/s)
+        - bshin     hinge       angular velocity (rad/s)
+        - bfoot     hinge       angular velocity (rad/s)
+        - fthigh    hinge       angular velocity (rad/s)
+        - fshin     hinge       angular velocity (rad/s)
+        - ffoot     hinge       angular velocity (rad/s)
+
+    Actuators (name/actuator/parameter):
+        - bthigh    hinge       torque (N m)
+        - bshin     hinge       torque (N m)
+        - bfoot     hinge       torque (N m)
+        - fthigh    hinge       torque (N m)
+        - fshin     hinge       torque (N m)
+        - ffoot     hinge       torque (N m)
+
+-->
+<mujoco model="cheetah">
+  <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
+  <default>
+    <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
+    <geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
+    <motor ctrllimited="true" ctrlrange="-1 1"/>
+  </default>
+  <size nstack="300000" nuser_geom="1"/>
+  <option gravity="0 0 -9.81" timestep="0.01"/>
+  <worldbody>
+    <body name="torso" pos="0 0 .7">
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
+      <geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
+      <!-- <site name='tip'  pos='.15 0 .11'/>-->
+      <body name="bthigh" pos="-.5 0 0">
+        <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
+        <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
+        <body name="bshin" pos=".16 0 -.25">
+          <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
+          <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
+          <body name="bfoot" pos="-.28 0 -.14">
+            <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
+            <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
+            <inertial mass="10"/>
+          </body>
+        </body>
+      </body>
+      <body name="fthigh" pos=".5 0 0">
+        <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/>
+        <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
+        <body name="fshin" pos="-.14 0 -.24">
+          <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/>
+          <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
+          <body name="ffoot" pos=".13 0 -.18">
+            <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/>
+            <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
+            <inertial mass="10"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor gear="120" joint="bthigh" name="bthigh"/>
+    <motor gear="90" joint="bshin" name="bshin"/>
+    <motor gear="60" joint="bfoot" name="bfoot"/>
+    <motor gear="120" joint="fthigh" name="fthigh"/>
+    <motor gear="60" joint="fshin" name="fshin"/>
+    <motor gear="30" joint="ffoot" name="ffoot"/>
+  </actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/hopper.xml b/examples/pybullet/gym/envs/mujoco_assets/hopper.xml
new file mode 100644
index 000000000..077160345
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/hopper.xml
@@ -0,0 +1,39 @@
+<mujoco model="hopper">
+  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
+  <default>
+    <joint armature="1" damping="1" limited="true"/>
+    <geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
+    <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+  </default>
+  <option integrator="RK4" timestep="0.002"/>
+  <worldbody>
+    <!-- CHANGE: body pos="" deleted for all bodies (you can also set pos="0 0 0", it works)
+    Interpretation of body pos="" depends on coordinate="global" above.
+    Bullet doesn't support global coordinates in bodies, little motivation to fix this, as long as it works without pos="" as well.
+    After this change, Hopper still loads and works in MuJoCo simulator.
+    -->
+    <body name="torso">
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
+      <body name="thigh">
+        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
+        <body name="leg">
+          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
+          <body name="foot">
+            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
+  </actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml b/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml
new file mode 100644
index 000000000..d7ba9f494
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml
@@ -0,0 +1,107 @@
+<mujoco model="humanoid">
+    <compiler angle="degree" inertiafromgeom="true"/>
+    <default>
+        <joint armature="1" damping="1" limited="true"/>
+        <geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
+        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+    </default>
+    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
+        <!-- <flags solverstat="enable" energy="enable"/>-->
+    </option>
+    <size nkey="5" nuser_geom="1"/>
+    <visual>
+        <map fogend="5" fogstart="3"/>
+    </visual>
+    <worldbody>
+        <body name="torso" pos="0 0 1.4">
+            <!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
+            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
+            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
+            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
+            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
+                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
+                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
+                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
+                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
+                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
+                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
+                    <body name="right_thigh" pos="0 -0.1 -0.04">
+                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
+                        <body name="right_shin" pos="0 0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
+                            <body name="right_foot" pos="0 0 -0.45">
+                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
+                            </body>
+                        </body>
+                    </body>
+                    <body name="left_thigh" pos="0 0.1 -0.04">
+                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
+                        <body name="left_shin" pos="0 -0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
+                            <body name="left_foot" pos="0 0 -0.45">
+                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="right_upper_arm" pos="0 -0.17 0.06">
+                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="right_lower_arm" pos=".18 -.18 -.18">
+                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
+                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+            <body name="left_upper_arm" pos="0 0.17 0.06">
+                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="left_lower_arm" pos=".18 .18 -.18">
+                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
+                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <tendon>
+        <fixed name="left_hipknee">
+            <joint coef="-1" joint="left_hip_y"/>
+            <joint coef="1" joint="left_knee"/>
+        </fixed>
+        <fixed name="right_hipknee">
+            <joint coef="-1" joint="right_hip_y"/>
+            <joint coef="1" joint="right_knee"/>
+        </fixed>
+    </tendon>
+    <actuator><!-- this section is not supported, same constants in code -->
+        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
+        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
+        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
+        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
+        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
+        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
+        <motor gear="200" joint="right_knee" name="right_knee"/>
+        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
+        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
+        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
+        <motor gear="200" joint="left_knee" name="left_knee"/>
+        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
+        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
+        <motor gear="25" joint="right_elbow" name="right_elbow"/>
+        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
+        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
+        <motor gear="25" joint="left_elbow" name="left_elbow"/>
+    </actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml b/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml
new file mode 100644
index 000000000..0c2f2befa
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml
@@ -0,0 +1,115 @@
+<mujoco model="humanoid">
+    <compiler angle="degree" inertiafromgeom="true"/>
+    <default>
+        <joint armature="1" damping="1" limited="true"/>
+        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
+        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+    </default>
+    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
+        <!-- <flags solverstat="enable" energy="enable"/>-->
+    </option>
+    <size nkey="5" nuser_geom="1"/>
+    <visual>
+        <map fogend="5" fogstart="3"/>
+    </visual>
+    <asset>
+        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
+        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
+        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+        <material name="geom" texture="texgeom" texuniform="true"/>
+    </asset>
+    <worldbody>
+         <body name="torso" pos="0 0 1.4">
+            <!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
+            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
+            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
+            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
+            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
+                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
+                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
+                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
+                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
+                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
+                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
+                    <body name="right_thigh" pos="0 -0.1 -0.04">
+                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
+                        <body name="right_shin" pos="0 0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
+                            <body name="right_foot" pos="0 0 -0.45">
+                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
+                            </body>
+                        </body>
+                    </body>
+                    <body name="left_thigh" pos="0 0.1 -0.04">
+                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
+                        <body name="left_shin" pos="0 -0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
+                            <body name="left_foot" pos="0 0 -0.45">
+                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="right_upper_arm" pos="0 -0.17 0.06">
+                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="right_lower_arm" pos=".18 -.18 -.18">
+                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
+                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+            <body name="left_upper_arm" pos="0 0.17 0.06">
+                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="left_lower_arm" pos=".18 .18 -.18">
+                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
+                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <tendon>
+        <fixed name="left_hipknee">
+            <joint coef="-1" joint="left_hip_y"/>
+            <joint coef="1" joint="left_knee"/>
+        </fixed>
+        <fixed name="right_hipknee">
+            <joint coef="-1" joint="right_hip_y"/>
+            <joint coef="1" joint="right_knee"/>
+        </fixed>
+    </tendon>
+    <actuator><!-- this section is not supported, same constants in code -->
+        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
+        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
+        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
+        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
+        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
+        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
+        <motor gear="200" joint="right_knee" name="right_knee"/>
+        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
+        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
+        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
+        <motor gear="200" joint="left_knee" name="left_knee"/>
+        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
+        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
+        <motor gear="25" joint="right_elbow" name="right_elbow"/>
+        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
+        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
+        <motor gear="25" joint="left_elbow" name="left_elbow"/>
+    </actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml b/examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml
new file mode 100644
index 000000000..755cefd44
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml
@@ -0,0 +1,47 @@
+<!-- Cartpole Model
+
+    The state space is populated with joints in the order that they are
+    defined in this file. The actuators also operate on joints.
+
+    State-Space (name/joint/parameter):
+        - cart      slider      position (m)
+        - pole      hinge       angle (rad)
+        - cart      slider      velocity (m/s)
+        - pole      hinge       angular velocity (rad/s)
+
+    Actuators (name/actuator/parameter):
+        - cart      motor       force x (N)
+
+-->
+<mujoco model="cartpole">
+  <compiler coordinate="local" inertiafromgeom="true"/>
+  <custom>
+    <numeric data="2" name="frame_skip"/>
+  </custom>
+  <default>
+    <joint damping="0.05"/>
+    <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
+  </default>
+  <option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
+  <size nstack="3000"/>
+  <worldbody>
+    <geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
+    <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
+    <body name="cart" pos="0 0 0">
+      <joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
+      <geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
+      <body name="pole" pos="0 0 0">
+        <joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
+        <geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
+        <body name="pole2" pos="0 0 0.6">
+          <joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
+          <geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
+          <!--site name="tip" pos="0 0 .6" size="0.01 0.01"/-->
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
+  </actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml b/examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml
new file mode 100644
index 000000000..b409b3b11
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml
@@ -0,0 +1,27 @@
+<mujoco model="inverted pendulum">
+	<compiler inertiafromgeom="true"/>
+	<default>
+		<joint armature="0" damping="1" limited="true"/>
+		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
+		<tendon/>
+		<motor ctrlrange="-3 3"/>
+	</default>
+	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
+	<size nstack="3000"/>
+	<worldbody>
+		<!--geom name="ground" type="plane" pos="0 0 0" /-->
+		<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
+		<body name="cart" pos="0 0 0">
+			<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
+			<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
+			<body name="pole" pos="0 0 0">
+				<joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge"/>
+				<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
+				<!--                 <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
+			</body>
+		</body>
+	</worldbody>
+	<actuator>
+		<motor gear="100" joint="slider" name="slide"/>
+	</actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/pusher.xml b/examples/pybullet/gym/envs/mujoco_assets/pusher.xml
new file mode 100644
index 000000000..62abc06a9
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/pusher.xml
@@ -0,0 +1,91 @@
+<mujoco model="arm3d">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <option timestep="0.01" gravity="0 0 0" integrator="RK4" />
+  
+  <default>
+    <joint armature='0.04' damping="1" limited="true"/>
+    <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+  
+  <worldbody>
+    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
+    <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+
+    <body name="r_shoulder_pan_link" pos="0 -0.6 0">
+      <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
+      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
+      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
+      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
+      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
+      <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />
+
+      <body name="r_shoulder_lift_link" pos="0.1 0 0">
+        <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
+        <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" />
+
+        <body name="r_upper_arm_roll_link" pos="0 0 0">
+          <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+          <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" />
+
+          <body name="r_upper_arm_link" pos="0 0 0">
+            <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
+
+            <body name="r_elbow_flex_link" pos="0.4 0 0">
+              <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
+              <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" />
+
+              <body name="r_forearm_roll_link" pos="0 0 0">
+                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+                <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/>
+
+                <body name="r_forearm_link" pos="0 0 0">
+                  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
+
+                  <body name="r_wrist_flex_link" pos="0.321 0 0">
+                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
+                    <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" />
+
+                    <body name="r_wrist_roll_link" pos="0 0 0">
+                      <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/>
+                      <body name="fingertip" pos="0 0 0">
+                        <geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
+                        <geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
+                      </body>
+                      <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
+                      <geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
+                      <geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!--<body name="object" pos="0.55 -0.3 -0.275" >-->
+    <body name="object" pos="0.45 -0.05 -0.275" >
+      <geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
+      <joint name="obj_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
+      <joint name="obj_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
+    </body>
+
+    <body name="goal" pos="0.45 -0.05 -0.3230">
+      <geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
+      <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
+      <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/> 
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor joint="r_shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="r_wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
+  </actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/reacher.xml b/examples/pybullet/gym/envs/mujoco_assets/reacher.xml
new file mode 100644
index 000000000..82b224ff6
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/reacher.xml
@@ -0,0 +1,39 @@
+<mujoco model="reacher">
+	<compiler angle="radian" inertiafromgeom="true"/>
+	<default>
+		<joint armature="1" damping="1" limited="true"/>
+		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
+	</default>
+	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
+	<worldbody>
+		<!-- Arena -->
+		<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
+		<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
+		<geom conaffinity="0" fromto=" .3 -.3 .01 .3  .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
+		<geom conaffinity="0" fromto="-.3  .3 .01 .3  .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
+		<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
+		<!-- Arm -->
+		<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
+		<body name="body0" pos="0 0 .01">
+			<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
+			<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
+			<body name="body1" pos="0.1 0 0">
+				<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
+				<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
+				<body name="fingertip" pos="0.11 0 0">
+					<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
+				</body>
+			</body>
+		</body>
+		<!-- Target -->
+		<body name="target" pos="0 0 .01">
+			<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
+			<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
+			<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
+		</body>
+	</worldbody>
+	<actuator>
+		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
+		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
+	</actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/striker.xml b/examples/pybullet/gym/envs/mujoco_assets/striker.xml
new file mode 100644
index 000000000..75602324a
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/striker.xml
@@ -0,0 +1,101 @@
+<mujoco model="arm3d">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <option timestep="0.01" gravity="0 0 0" integrator="RK4"/>
+
+  <default>
+    <joint armature='0.04' damping="1" limited="true"/>
+    <geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+
+  <worldbody>
+    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
+    <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+
+    <body name="r_shoulder_pan_link" pos="0 -0.6 0">
+      <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05"/>
+      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05"/>
+      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03"/>
+      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03"/>
+      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
+      <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />
+
+      <body name="r_shoulder_lift_link" pos="0.1 0 0">
+        <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
+        <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" />
+
+        <body name="r_upper_arm_roll_link" pos="0 0 0">
+          <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+          <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" />
+
+          <body name="r_upper_arm_link" pos="0 0 0">
+            <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
+
+            <body name="r_elbow_flex_link" pos="0.4 0 0">
+              <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
+              <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" />
+
+              <body name="r_forearm_roll_link" pos="0 0 0">
+                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+                <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/>
+
+                <body name="r_forearm_link" pos="0 0 0">
+                  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
+
+                  <body name="r_wrist_flex_link" pos="0.321 0 0">
+                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
+                    <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" />
+
+                    <body name="r_wrist_roll_link" pos="0 0 0">
+                      <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/>
+
+
+                      <body name="fingertip" pos="0 0 0">
+                        <geom conaffinity="1" contype="1" name="tip_arml" pos="0.017 0 0" size="0.003 0.12 0.05" type="box" />
+
+                      </body>
+                      <geom conaffinity="1" contype="1" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" type="capsule" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <body name="object" pos="0 0 -0.270" >
+      <geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/>
+      <joint name="obj_slidey" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
+      <joint name="obj_slidex" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
+    </body>
+
+    <body name="goal" pos="0.0 0.0 -0.3230">
+      <geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/>
+      <body pos="0 0 0">
+        <geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
+      </body>
+      <body name="coaster" pos="0 0 0">
+        <geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/>
+      </body>
+      <body pos="0 0 0" axisangle="0 0 1 0.785">
+        <geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
+      </body>
+      <body pos="0 0 0" axisangle="0 0 1 -0.785">
+        <geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
+      </body>
+      <joint name="goal_free" type="free" pos="0 0 0" limited="false" damping="0"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor joint="r_shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+    <motor joint="r_shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+    <motor joint="r_upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+    <motor joint="r_elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+    <motor joint="r_forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+    <motor joint="r_wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+    <motor joint="r_wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
+  </actuator>
+
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/thrower.xml b/examples/pybullet/gym/envs/mujoco_assets/thrower.xml
new file mode 100644
index 000000000..0ca6c3ea1
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/thrower.xml
@@ -0,0 +1,127 @@
+<mujoco model="arm3d">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <option timestep="0.01" gravity="0 0 -9.81" integrator="RK4"/>
+  <default>
+    <joint armature='0.75' damping="1" limited="true"/>
+    <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+
+  <worldbody>
+    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
+
+    <geom type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+
+    <body name="r_shoulder_pan_link" pos="0 -0.6 0">
+      <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" density="0.0001"/>
+      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
+      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
+      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
+      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
+      <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
+
+      <body name="r_shoulder_lift_link" pos="0.1 0 0">
+        <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" density="0.0001"/>
+        <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
+
+        <body name="r_upper_arm_roll_link" pos="0 0 0">
+          <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
+          <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
+
+          <body name="r_upper_arm_link" pos="0 0 0">
+            <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" density="0.0001"/>
+
+            <body name="r_elbow_flex_link" pos="0.4 0 0">
+              <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" density="0.0001"/>
+              <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
+
+              <body name="r_forearm_roll_link" pos="0 0 0">
+                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
+                <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>
+
+                <body name="r_forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
+                  <geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>
+
+                  <body name="r_wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
+                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
+                    <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
+
+                    <body name="r_wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
+                      <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
+                      <geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
+                      <body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
+                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                      </body>
+                      <body pos="0 0 0" axisangle="0 0 1 1.57">
+                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                      </body>
+                      <body pos="0 0 0" axisangle="0 0 1 1.178">
+                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                      </body>
+                      <body pos="0 0 0" axisangle="0 0 1 0.785">
+                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                      </body>
+                      <body pos="0 0 0" axisangle="0 0 1 1.96">
+                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                      </body>
+                      <body pos="0 0 0" axisangle="0 0 1 2.355">
+                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                      </body>
+                      <body pos="0 0 0" axisangle="0 0 1 2.74">
+                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <body name="goal" pos="0.575 0.5 -0.328">
+      <geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
+      <geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+      <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="1.0"/>
+      <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="1.0"/>
+    </body>
+
+    <body name="ball" pos="0.5 -0.8 0.275">
+      <geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
+      <joint name="ball_free" type="free" armature='0' damping="0" limited="false"/>
+    </body>
+
+  </worldbody>
+
+  <actuator>
+    <motor joint="r_shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+    <motor joint="r_shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+    <motor joint="r_upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+    <motor joint="r_elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+    <motor joint="r_forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
+    <motor joint="r_wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
+    <motor joint="r_wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
+  </actuator>
+
+</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/walker2d.xml b/examples/pybullet/gym/envs/mujoco_assets/walker2d.xml
new file mode 100644
index 000000000..f1905c067
--- /dev/null
+++ b/examples/pybullet/gym/envs/mujoco_assets/walker2d.xml
@@ -0,0 +1,52 @@
+<mujoco model="walker2d">
+  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
+  <default>
+    <joint armature="0.01" damping=".1" limited="true"/>
+    <geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
+  </default>
+  <option integrator="RK4" timestep="0.002"/>
+  <worldbody>
+    <!-- CHANGES: see hopper.xml -->
+    <body name="torso">
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
+      <body name="thigh">
+        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
+        <body name="leg">
+          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
+          <body name="foot">
+            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
+      <body name="thigh_left">
+        <joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
+        <body name="leg_left">
+          <joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
+          <body name="foot_left">
+            <joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
+    <!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
+  </actuator>
+</mujoco>
diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj
new file mode 100644
index 000000000..0fa502c62
--- /dev/null
+++ b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj
@@ -0,0 +1,23154 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib stadium.mtl
+#object stadium_white
+
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj
new file mode 100644
index 000000000..9a3bd4f38
--- /dev/null
+++ b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj
@@ -0,0 +1,16210 @@
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj
new file mode 100644
index 000000000..cce77b870
--- /dev/null
+++ b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj
@@ -0,0 +1,8350 @@
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl
new file mode 100644
index 000000000..334305a92
--- /dev/null
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\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj
new file mode 100644
index 000000000..a9b70671b
--- /dev/null
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium_grass.jpg b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium_grass.jpg
new file mode 100644
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HcmV?d00001

diff --git a/examples/pybullet/gym/envs/other_assets/stadium.sdf b/examples/pybullet/gym/envs/other_assets/stadium.sdf
new file mode 100644
index 000000000..585b4eb16
--- /dev/null
+++ b/examples/pybullet/gym/envs/other_assets/stadium.sdf
@@ -0,0 +1,107 @@
+<sdf version='1.6'>
+	<world name='default'>
+	<gravity>0 0 -9.8</gravity>
+		<model name='roboschool/models_outdoor/stadium/part0.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d0'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 1 1 1</ambient>
+				<diffuse>1.00000 1.00000 1.000000 1</diffuse>
+				<specular>0.1 .1 .1 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+		<model name='roboschool/models_outdoor/stadium/part1.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d1'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			<collision name='collision_1'>
+			<geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+			  </collision>
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 1 1 1</ambient>
+				<diffuse>0.600000 0.400000 0.000000 1</diffuse>
+				<specular>.5 .5 .5 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+		<model name='part2.obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='link_d2'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 0 0 1</ambient>
+				<diffuse>0.000000 0.500000 0.000000 1</diffuse>
+				<specular>0.4 0.4 0.4 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+	</world>
+</sdf>
diff --git a/examples/pybullet/gym/envs/scene_abstract.py b/examples/pybullet/gym/envs/scene_abstract.py
new file mode 100644
index 000000000..f55575399
--- /dev/null
+++ b/examples/pybullet/gym/envs/scene_abstract.py
@@ -0,0 +1,84 @@
+# This is the only place cpp_household really imported. From other places, it is referenced as scene_abstract.cpp_household
+# If this doesn't work, the checklist is:
+# 1) Build local Bullet physics library (instructions in README)
+# 2) ldd cpp_household.so
+# 3) In case of python 2.7 when using pip2 install without -e, the C++ module gets built in python2.7/site-packages,
+# but when you have roboschool directory in cwd or in parent(s) of cwd, python2 will use that and fail to reach site-packages.
+# No such behavior in Python3. For example, no zoo scripts will work if you install without -e and run them from
+# source tree. If you copy zoo script elsewhere, it will work. (upgrade to Python3 if you can.)
+import sys, os
+sys.path.append(os.path.dirname(__file__))
+import pybullet as p
+
+import gym
+
+
+class Scene:
+    "A base class for single- and multiplayer scenes"
+
+    def __init__(self, gravity, timestep, frame_skip):
+        self.np_random, seed = gym.utils.seeding.np_random(None)
+        self.timestep = timestep
+        self.frame_skip = frame_skip
+        self.dt = self.timestep * self.frame_skip
+        self.cpp_world = World(gravity, timestep)
+        #self.cpp_world.set_glsl_path(os.path.join(os.path.dirname(__file__), "cpp-household/glsl"))
+
+        #self.big_caption = self.cpp_world.test_window_big_caption  # that's a function you can call
+        #self.console_print = self.cpp_world.test_window_print      # this too
+
+        self.test_window_still_open = True  # or never opened
+        self.human_render_detected = False  # if user wants render("human"), we open test window
+
+        self.multiplayer_robots = {}
+
+    def test_window(self):
+        "Call this function every frame, to see what's going on. Not necessary in learning."
+        self.human_render_detected = True
+        return self.test_window_still_open
+
+    def actor_introduce(self, robot):
+        "Usually after scene reset"
+        if not self.multiplayer: return
+        self.multiplayer_robots[robot.player_n] = robot
+
+    def actor_is_active(self, robot):
+        """
+        Used by robots to see if they are free to exclusiveley put their HUD on the test window.
+        Later can be used for click-focus robots.
+        """
+        return not self.multiplayer
+
+    def episode_restart(self):
+        "This function gets overridden by specific scene, to reset specific objects into their start positions"
+        self.cpp_world.clean_everything()
+        #self.cpp_world.test_window_history_reset()
+
+    def global_step(self):
+        """
+        The idea is: apply motor torques for all robots, then call global_step(), then collect
+        observations from robots using step() with the same action.
+        """
+        #if self.human_render_detected:
+        #    self.test_window_still_open = self.cpp_world.test_window()
+        self.cpp_world.step(self.frame_skip)
+
+class SingleRobotEmptyScene(Scene):
+    multiplayer = False  # this class is used "as is" for InvertedPendulum, Reacher
+
+class World:
+
+	def __init__(self, gravity, timestep):
+		self.gravity = gravity
+		self.timestep = timestep
+		self.clean_everything()
+
+	def clean_everything(self):
+		p.resetSimulation()
+		p.setGravity(0, 0, -self.gravity)
+		p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=2)
+
+	def step(self, frame_skip):
+		p.stepSimulation()
+
+
diff --git a/examples/pybullet/gym/envs/scene_stadium.py b/examples/pybullet/gym/envs/scene_stadium.py
new file mode 100644
index 000000000..4a6ea7033
--- /dev/null
+++ b/examples/pybullet/gym/envs/scene_stadium.py
@@ -0,0 +1,28 @@
+import os
+from .scene_abstract import Scene
+import pybullet as p
+
+class StadiumScene(Scene):
+	zero_at_running_strip_start_line = True   # if False, center of coordinates (0,0,0) will be at the middle of the stadium
+	stadium_halflen   = 105*0.25	# FOOBALL_FIELD_HALFLEN
+	stadium_halfwidth = 50*0.25	 # FOOBALL_FIELD_HALFWID
+
+	def episode_restart(self):
+		Scene.episode_restart(self)   # contains cpp_world.clean_everything()
+		# stadium_pose = cpp_household.Pose()
+		# if self.zero_at_running_strip_start_line:
+		#	 stadium_pose.set_xyz(27, 21, 0)  # see RUN_STARTLINE, RUN_RAD constants
+		self.stadium = p.loadSDF(os.path.join(os.path.dirname(__file__), "other_assets", "stadium.sdf"))
+		self.ground_plane_mjcf = p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", "ground_plane.xml"))
+
+class SinglePlayerStadiumScene(StadiumScene):
+	"This scene created by environment, to work in a way as if there was no concept of scene visible to user."
+	multiplayer = False
+
+class MultiplayerStadiumScene(StadiumScene):
+	multiplayer = True
+	players_count = 3
+	def actor_introduce(self, robot):
+		StadiumScene.actor_introduce(self, robot)
+		i = robot.player_n - 1  # 0 1 2 => -1 0 +1
+		robot.move_robot(0, i, 0)

From 0df8887990b1dea569a063f15509a1fd71e6a22e Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 14 Jul 2017 23:12:16 +0100
Subject: [PATCH 154/175] improve pybullet performance of loadURDF/SDF/MJCF and
 'createCollisionShape'/'createMultiBody' for GUI/VR/SHARED_MEMORY, use
 p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loading and
 p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) afterwards

---
 .../InProcessExampleBrowser.cpp               | 12 ++++++----
 .../ExampleBrowser/OpenGLExampleBrowser.cpp   | 11 ++++++++-
 .../SharedMemoryInProcessPhysicsC_API.cpp     | 12 ++++++----
 examples/SharedMemory/SharedMemoryPublic.h    |  3 ++-
 .../StandaloneMain/hellovr_opengl_main.cpp    | 22 ++++++++++++------
 examples/Utils/ChromeTraceUtil.cpp            | 23 ++++++++++++-------
 setup.py                                      |  2 +-
 7 files changed, 58 insertions(+), 27 deletions(-)

diff --git a/examples/ExampleBrowser/InProcessExampleBrowser.cpp b/examples/ExampleBrowser/InProcessExampleBrowser.cpp
index 776973724..9c0572626 100644
--- a/examples/ExampleBrowser/InProcessExampleBrowser.cpp
+++ b/examples/ExampleBrowser/InProcessExampleBrowser.cpp
@@ -230,6 +230,7 @@ static double gMinUpdateTimeMicroSecs = 4000.;
 
 void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 {
+
 	printf("ExampleBrowserThreadFunc started\n");
 
 	ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
@@ -257,7 +258,9 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 
 		do
 		{
-			B3_PROFILE("ExampleBrowserThreadFunc");
+			clock.usleep(0);
+
+			//B3_PROFILE("ExampleBrowserThreadFunc");
 			float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
 			{
 				if (deltaTimeInSeconds > 0.1)
@@ -266,13 +269,13 @@ void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 				}
 				if (deltaTimeInSeconds < (gMinUpdateTimeMicroSecs/1e6))
 				{
-					B3_PROFILE("clock.usleep");
-					clock.usleep(gMinUpdateTimeMicroSecs/10.);
+					//B3_PROFILE("clock.usleep");
 					exampleBrowser->updateGraphics();
 				} else
 				{
-					B3_PROFILE("exampleBrowser->update");
+					//B3_PROFILE("exampleBrowser->update");
 					clock.reset();
+					exampleBrowser->updateGraphics();
 					exampleBrowser->update(deltaTimeInSeconds);
 				}
 			}
@@ -429,6 +432,7 @@ void btUpdateInProcessExampleBrowserMainThread(btInProcessExampleBrowserMainThre
 {
     float deltaTimeInSeconds = data->m_clock.getTimeMicroseconds()/1000000.f;
     data->m_clock.reset();
+    data->m_exampleBrowser->updateGraphics();
     data->m_exampleBrowser->update(deltaTimeInSeconds);
 }
 void btShutDownExampleBrowserMainThread(btInProcessExampleBrowserMainThreadInternalData* data)
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 7459729af..3de9af446 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -127,6 +127,8 @@ extern bool useShadowMap;
 bool visualWireframe=false;
 static bool renderVisualGeometry=true;
 static bool renderGrid = true;
+static bool gEnableRenderLoop = true;
+
 bool renderGui = true;
 static bool enable_experimental_opencl = false;
 
@@ -370,6 +372,10 @@ void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExa
 
 void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
 {
+	if (flag == COV_ENABLE_RENDERING)
+	{
+		gEnableRenderLoop = (enable!=0);
+	}
     if (flag == COV_ENABLE_SHADOWS)
     {
         useShadowMap = enable;
@@ -1185,7 +1191,7 @@ void OpenGLExampleBrowser::updateGraphics()
 	{
 			if (!pauseSimulation || singleStepSimulation)
 			{
-				B3_PROFILE("sCurrentDemo->updateGraphics");
+				//B3_PROFILE("sCurrentDemo->updateGraphics");
 				sCurrentDemo->updateGraphics();
 			}
 	}
@@ -1193,6 +1199,9 @@ void OpenGLExampleBrowser::updateGraphics()
 
 void OpenGLExampleBrowser::update(float deltaTime)
 {
+	if (!gEnableRenderLoop)
+		return;
+
 	b3ChromeUtilsEnableProfiling();
 	
 		B3_PROFILE("OpenGLExampleBrowser::update");
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index 8b5200f6b..5a545795b 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -4,6 +4,7 @@
 
 #include "PhysicsClientSharedMemory.h"
 #include"../ExampleBrowser/InProcessExampleBrowser.h"
+#include <stdio.h>
 
 #include "PhysicsServerExampleBullet2.h"
 
@@ -52,12 +53,12 @@ public:
 			}
 		}
 			{	
-	   		unsigned long int ms = m_clock.getTimeMilliseconds();
-			if (ms>20)
+	   		//unsigned long int ms = m_clock.getTimeMilliseconds();
+			//if (ms>2)
 			{ 
-				B3_PROFILE("m_clock.reset()");
+			//	B3_PROFILE("m_clock.reset()");
 
-				m_clock.reset(); 
+			//	m_clock.reset(); 
         			btUpdateInProcessExampleBrowserMainThread(m_data);
 			}
 		}
@@ -165,7 +166,8 @@ public:
 	 // return non-null if there is a status, nullptr otherwise
     virtual const struct SharedMemoryStatus* processServerStatus()
     {
-		//m_physicsServerExample->updateGraphics();
+		printf("updating graphics!\n");
+		m_physicsServerExample->updateGraphics();
 
 		unsigned long long int curTime = m_clock.getTimeMicroseconds();
 		unsigned long long int dtMicro = curTime - m_prevTime;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 05875d9b5..55de32c57 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -4,7 +4,8 @@
 #define SHARED_MEMORY_KEY 12347
 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
 ///my convention is year/month/day/rev
-#define SHARED_MEMORY_MAGIC_NUMBER 201706015
+#define SHARED_MEMORY_MAGIC_NUMBER 201707140
+//#define SHARED_MEMORY_MAGIC_NUMBER 201706015
 //#define SHARED_MEMORY_MAGIC_NUMBER 201706001
 //#define SHARED_MEMORY_MAGIC_NUMBER 201703024
 
diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp
index a430ea615..5936e7cf0 100644
--- a/examples/StandaloneMain/hellovr_opengl_main.cpp
+++ b/examples/StandaloneMain/hellovr_opengl_main.cpp
@@ -373,8 +373,8 @@ void MyKeyboardCallback(int key, int state)
 
 #include "../SharedMemory/SharedMemoryPublic.h"
 extern bool useShadowMap;
-bool gEnableVRRenderControllers=true;
-
+static bool gEnableVRRenderControllers=true;
+static bool gEnableVRRendering = true;
 
 
 void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable)
@@ -391,7 +391,10 @@ void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable)
 	{
 		gEnableVRRenderControllers = enable;
 	}
-	
+	if (flag == COV_ENABLE_RENDERING)
+	{
+		gEnableVRRendering = enable;
+	}
 
 
     if (flag == COV_ENABLE_WIREFRAME)
@@ -887,13 +890,18 @@ void CMainApplication::RunMainLoop()
 	while ( !bQuit && !m_app->m_window->requestedExit())
 	{
 		b3ChromeUtilsEnableProfiling();
+		if (gEnableVRRendering)
 		{
-		B3_PROFILE("main");
+			B3_PROFILE("main");
 
-		bQuit = HandleInput();
+			bQuit = HandleInput();
 
-		RenderFrame();
-	}
+			RenderFrame();
+		} else
+		{
+			b3Clock::usleep(0);
+			sExample->updateGraphics();
+		}
 	}
 
 }
diff --git a/examples/Utils/ChromeTraceUtil.cpp b/examples/Utils/ChromeTraceUtil.cpp
index 02a892ba5..fefa9171c 100644
--- a/examples/Utils/ChromeTraceUtil.cpp
+++ b/examples/Utils/ChromeTraceUtil.cpp
@@ -250,18 +250,25 @@ void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix)
 			static int fileCounter = 0;
 			sprintf(fileName,"%s_%d.json",fileNamePrefix, fileCounter++);
 			gTimingFile = fopen(fileName,"w");
-			fprintf(gTimingFile,"{\"traceEvents\":[\n");
-			//dump the content to file
-			for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
+			if (gTimingFile)
 			{
-				if (gTimings[i].m_numTimings)
+				fprintf(gTimingFile,"{\"traceEvents\":[\n");
+				//dump the content to file
+				for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
 				{
-					printf("Writing %d timings for thread %d\n", gTimings[i].m_numTimings, i);
-					gTimings[i].flush();
+					if (gTimings[i].m_numTimings)
+					{
+						printf("Writing %d timings for thread %d\n", gTimings[i].m_numTimings, i);
+						gTimings[i].flush();
+					}
 				}
+				fprintf(gTimingFile,"\n],\n\"displayTimeUnit\": \"ns\"}");
+				fclose(gTimingFile);
+			} else
+			{
+				b3Printf("Error opening file");
+				b3Printf(fileName);
 			}
-			fprintf(gTimingFile,"\n],\n\"displayTimeUnit\": \"ns\"}");
-			fclose(gTimingFile);
 			gTimingFile = 0;
 }
 
diff --git a/setup.py b/setup.py
index d487f86e9..09a1d71f8 100644
--- a/setup.py
+++ b/setup.py
@@ -420,7 +420,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.2.1',
+	version='1.2.2',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From c9b41737c03cef5a9f15031aaf43831c0a133c0a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 14 Jul 2017 23:32:53 +0100
Subject: [PATCH 155/175] add example of faster URDF/SDF loading in VR/GUI
 mode, by temporary disabling rendering

---
 examples/pybullet/examples/loadingBench.py | 28 ++++++++++++++++++++++
 1 file changed, 28 insertions(+)
 create mode 100644 examples/pybullet/examples/loadingBench.py

diff --git a/examples/pybullet/examples/loadingBench.py b/examples/pybullet/examples/loadingBench.py
new file mode 100644
index 000000000..e576e2afe
--- /dev/null
+++ b/examples/pybullet/examples/loadingBench.py
@@ -0,0 +1,28 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+
+p.resetSimulation()
+timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "loadingBenchVR.json")
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+print("load plane.urdf")
+p.loadURDF("plane.urdf")
+print("load r2d2.urdf")
+
+p.loadURDF("r2d2.urdf",0,0,1)
+print("load kitchen/1.sdf")
+p.loadSDF("kitchens/1.sdf")
+print("load 100 times plate.urdf")
+for i in range (100):
+	p.loadURDF("dinnerware/plate.urdf",0,i,1)
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+
+p.stopStateLogging(timinglog)
+print("stopped state logging")
+p.getCameraImage(320,200)
+
+while (1):
+	p.stepSimulation()
+
+

From cfc7917586c0b785182f4e72184b8cc071a3e12b Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Tue, 18 Jul 2017 13:52:29 -0700
Subject: [PATCH 156/175] Add init function and module for pybullet with EGL.

---
 examples/pybullet/pybullet.c | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index aba9c69c2..a4c9549de 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -7224,14 +7224,22 @@ PyMODINIT_FUNC
 #if PY_MAJOR_VERSION >= 3
 PyInit_pybullet(void)
 #else
+#ifdef BT_USE_EGL
+initpybullet_egl(void)
+#else
 initpybullet(void)
+#endif //BT_USE_EGL
 #endif
 {
 	PyObject* m;
 #if PY_MAJOR_VERSION >= 3
 	m = PyModule_Create(&moduledef);
+#else
+#ifdef BT_USE_EGL
+	m = Py_InitModule3("pybullet_egl", SpamMethods, "Python bindings for Bullet");
 #else
 	m = Py_InitModule3("pybullet", SpamMethods, "Python bindings for Bullet");
+#endif //BT_USE_EGL
 #endif
 
 #if PY_MAJOR_VERSION >= 3

From d28dd2f80a0153f6b6e18822be1c5484ce6e811b Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Sat, 29 Jul 2017 13:18:49 +0200
Subject: [PATCH 157/175] add 'createObstacleCourse.py' example, helps
 reproducing Parkour paper: https://arxiv.org/abs/1707.02286

---
 data/stone.mtl                                | 10 ++
 data/stone.obj                                | 32 +++++++
 .../pybullet/examples/createObstacleCourse.py | 93 +++++++++++++++++++
 3 files changed, 135 insertions(+)
 create mode 100644 data/stone.mtl
 create mode 100644 data/stone.obj
 create mode 100644 examples/pybullet/examples/createObstacleCourse.py

diff --git a/data/stone.mtl b/data/stone.mtl
new file mode 100644
index 000000000..70d3ba1da
--- /dev/null
+++ b/data/stone.mtl
@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
diff --git a/data/stone.obj b/data/stone.obj
new file mode 100644
index 000000000..0fbe8c5f3
--- /dev/null
+++ b/data/stone.obj
@@ -0,0 +1,32 @@
+# Blender v2.78 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib stone.mtl
+o Cube
+v -0.246350 -0.246483 -0.000624
+v -0.151407 -0.176325 0.172867
+v -0.246350 0.249205 -0.000624
+v -0.151407 0.129477 0.172867
+v 0.249338 -0.246483 -0.000624
+v 0.154395 -0.176325 0.172867
+v 0.249338 0.249205 -0.000624
+v 0.154395 0.129477 0.172867
+vn -0.8772 0.0000 0.4801
+vn 0.0000 0.8230 0.5680
+vn 0.8772 0.0000 0.4801
+vn 0.0000 -0.9271 0.3749
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 0.0000 1.0000
+usemtl None
+s off
+f 1//1 4//1 3//1
+f 4//2 7//2 3//2
+f 8//3 5//3 7//3
+f 6//4 1//4 5//4
+f 7//5 1//5 3//5
+f 4//6 6//6 8//6
+f 1//1 2//1 4//1
+f 4//2 8//2 7//2
+f 8//3 6//3 5//3
+f 6//4 2//4 1//4
+f 7//5 5//5 1//5
+f 4//6 2//6 6//6
diff --git a/examples/pybullet/examples/createObstacleCourse.py b/examples/pybullet/examples/createObstacleCourse.py
new file mode 100644
index 000000000..6baa636ff
--- /dev/null
+++ b/examples/pybullet/examples/createObstacleCourse.py
@@ -0,0 +1,93 @@
+import pybullet as p
+import time
+import math
+
+p.connect(p.GUI)
+#don't create a ground plane, to allow for gaps etc
+p.resetSimulation()
+#p.createCollisionShape(p.GEOM_PLANE)
+#p.createMultiBody(0,0)
+#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
+p.resetDebugVisualizerCamera(15,-346,-16,[-15,0,1]);
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+
+sphereRadius = 0.05
+colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
+stoneId = p.createCollisionShape(p.GEOM_MESH,fileName="stone.obj")
+
+boxHalfLength = 0.5
+boxHalfWidth = 2.5
+boxHalfHeight = 0.1
+segmentLength = 5
+
+colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])
+
+mass = 1
+visualShapeId = -1
+
+segmentStart = 0
+
+for i in range (segmentLength):
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
+	segmentStart=segmentStart-1
+	
+for i in range (segmentLength):
+	height = 0
+	if (i%2):
+		height=1
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1+height])
+	segmentStart=segmentStart-1
+
+baseOrientation = p.getQuaternionFromEuler([math.pi/2.,0,math.pi/2.])
+
+for i in range (segmentLength):
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
+	segmentStart=segmentStart-1
+	if (i%2):
+		p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,i%3,-0.1+height+boxHalfWidth],baseOrientation=baseOrientation)
+
+for i in range (segmentLength):
+	p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
+	width=4
+	for j in range (width):
+		p.createMultiBody(baseMass=0,baseCollisionShapeIndex = stoneId,basePosition = [segmentStart,0.5*(i%2)+j-width/2.,0])
+	segmentStart=segmentStart-1
+
+
+link_Masses=[1]
+linkCollisionShapeIndices=[colBoxId]
+linkVisualShapeIndices=[-1]
+linkPositions=[[0,0,0]]
+linkOrientations=[[0,0,0,1]]
+linkInertialFramePositions=[[0,0,0]]
+linkInertialFrameOrientations=[[0,0,0,1]]
+indices=[0]
+jointTypes=[p.JOINT_REVOLUTE]
+axis=[[1,0,0]]
+
+baseOrientation = [0,0,0,1]
+for i in range (segmentLength):
+	boxId = p.createMultiBody(0,colSphereId,-1,[segmentStart,0,-0.1],baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)			
+	p.changeDynamics(boxId,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
+	print(p.getNumJoints(boxId))
+	for joint in range (p.getNumJoints(boxId)):
+		targetVelocity = 1
+		if (i%2):
+			targetVelocity =-1
+		p.setJointMotorControl2(boxId,joint,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=10)
+	segmentStart=segmentStart-1.1
+
+
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+while (1):
+	camData = p.getDebugVisualizerCamera()
+	viewMat = camData[2]
+	projMat = camData[3]
+	p.getCameraImage(256,256,viewMatrix=viewMat, projectionMatrix=projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL)
+	keys = p.getKeyboardEvents()
+	p.stepSimulation()	
+	#print(keys)
+	time.sleep(0.01)
+	

From c67a70cb09083e24e29c9e52ea2358ecae15017c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Sat, 29 Jul 2017 13:40:03 +0200
Subject: [PATCH 158/175] compile fixes

---
 src/LinearMath/btConvexHullComputer.cpp | 15 ++++++++++++++-
 src/LinearMath/btThreads.h              |  1 +
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/src/LinearMath/btConvexHullComputer.cpp b/src/LinearMath/btConvexHullComputer.cpp
index d58ac955f..c49675daa 100644
--- a/src/LinearMath/btConvexHullComputer.cpp
+++ b/src/LinearMath/btConvexHullComputer.cpp
@@ -1278,7 +1278,20 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 				return;
 			}
 		}
-		// lint -fallthrough
+		{
+			Vertex* v = originalVertices[start];
+                        v->edges = NULL;
+                        v->next = v;
+                        v->prev = v;
+
+                        result.minXy = v;
+                        result.maxXy = v;
+                        result.minYx = v;
+                        result.maxYx = v;
+			}
+			
+			return;
+		}
 		case 1:
 		{
 			Vertex* v = originalVertices[start];
diff --git a/src/LinearMath/btThreads.h b/src/LinearMath/btThreads.h
index 781e9b1f5..05fd15ec8 100644
--- a/src/LinearMath/btThreads.h
+++ b/src/LinearMath/btThreads.h
@@ -98,6 +98,7 @@ SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex )
 class btIParallelForBody
 {
 public:
+    virtual ~btIParallelForBody() {}
     virtual void forLoop( int iBegin, int iEnd ) const = 0;
 };
 

From 7572d505dcbdef21bb8b45313977f9b3afc0fdcf Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Thu, 10 Aug 2017 22:46:34 +0200
Subject: [PATCH 159/175] Add pyc to gitignore.

---
 .gitignore | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.gitignore b/.gitignore
index 80612b65d..0a22a4c9a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,5 @@
 /bin
 /build3/gmake
 /build_cmake/
+
+*.pyc

From 457312f94fe7eac7f2d928444c9881a867328eb7 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Fri, 11 Aug 2017 17:14:52 -0700
Subject: [PATCH 160/175] fix leak in loadSDF in case of visuals with
 duplicate/identical names that have a material. fix GUI performance issue on
 Mac OSX fix issue introduced in previous commit (in btConvexHullComputer.cpp)

---
 .../Importers/ImportURDFDemo/UrdfParser.cpp   |  9 +++++++++
 .../SharedMemoryInProcessPhysicsC_API.cpp     | 10 +++++-----
 src/LinearMath/btConvexHullComputer.cpp       | 20 +++++++++----------
 3 files changed, 24 insertions(+), 15 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 9e9594e81..38b10ad17 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -569,6 +569,15 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
         matPtr->m_name = "mat";
 		if (name_char)
 			matPtr->m_name = name_char;
+
+		UrdfMaterial** oldMatPtrPtr = model.m_materials[matPtr->m_name.c_str()];
+		if (oldMatPtrPtr)
+		{
+			UrdfMaterial* oldMatPtr = *oldMatPtrPtr;
+			model.m_materials.remove(matPtr->m_name.c_str());
+			if (oldMatPtr)
+				delete oldMatPtr;
+		}
 		model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
 		{
 			TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index 5a545795b..142d42a30 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -53,13 +53,13 @@ public:
 			}
 		}
 			{	
-	   		//unsigned long int ms = m_clock.getTimeMilliseconds();
-			//if (ms>2)
+	   		unsigned long int ms = m_clock.getTimeMilliseconds();
+			if (ms>2)
 			{ 
-			//	B3_PROFILE("m_clock.reset()");
+				B3_PROFILE("m_clock.reset()");
 
-			//	m_clock.reset(); 
-        			btUpdateInProcessExampleBrowserMainThread(m_data);
+				btUpdateInProcessExampleBrowserMainThread(m_data);
+				m_clock.reset(); 
 			}
 		}
 		{
diff --git a/src/LinearMath/btConvexHullComputer.cpp b/src/LinearMath/btConvexHullComputer.cpp
index c49675daa..2ea22cbe3 100644
--- a/src/LinearMath/btConvexHullComputer.cpp
+++ b/src/LinearMath/btConvexHullComputer.cpp
@@ -1277,21 +1277,21 @@ void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull&
 
 				return;
 			}
-		}
-		{
-			Vertex* v = originalVertices[start];
-                        v->edges = NULL;
-                        v->next = v;
-                        v->prev = v;
+			{
+				Vertex* v = originalVertices[start];
+							v->edges = NULL;
+							v->next = v;
+							v->prev = v;
 
-                        result.minXy = v;
-                        result.maxXy = v;
-                        result.minYx = v;
-                        result.maxYx = v;
+							result.minXy = v;
+							result.maxXy = v;
+							result.minYx = v;
+							result.maxYx = v;
 			}
 			
 			return;
 		}
+		
 		case 1:
 		{
 			Vertex* v = originalVertices[start];

From aafaa7e33e01282774d6a68175ac38c1a41cf023 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 14 Aug 2017 14:59:41 -0700
Subject: [PATCH 161/175] Expose optional "globalScaling" factor to
 pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision
 shapes and transform locations. Fix two_cubes.sdf (was lacking collision
 shape for second cube)

---
 data/two_cubes.sdf                            | 23 ++++++++++++--
 .../ImportSDFDemo/ImportSDFSetup.cpp          |  2 +-
 .../ImportURDFDemo/BulletUrdfImporter.cpp     | 10 +++++--
 .../ImportURDFDemo/BulletUrdfImporter.h       |  3 +-
 .../ImportURDFDemo/ImportURDFSetup.cpp        |  2 +-
 .../Importers/ImportURDFDemo/URDF2Bullet.cpp  |  1 +
 .../Importers/ImportURDFDemo/UrdfParser.cpp   | 30 +++++++++++++------
 .../Importers/ImportURDFDemo/UrdfParser.h     |  8 ++++-
 .../InverseDynamicsExample.cpp                |  2 +-
 examples/SharedMemory/PhysicsClientC_API.cpp  | 25 ++++++++++++++++
 examples/SharedMemory/PhysicsClientC_API.h    |  6 ++++
 .../PhysicsServerCommandProcessor.cpp         | 22 ++++++++++----
 .../PhysicsServerCommandProcessor.h           |  4 +--
 examples/SharedMemory/SharedMemoryCommands.h  |  5 +++-
 examples/pybullet/pybullet.c                  | 21 ++++++++-----
 15 files changed, 130 insertions(+), 34 deletions(-)

diff --git a/data/two_cubes.sdf b/data/two_cubes.sdf
index 7fda241bd..0a1d0973c 100644
--- a/data/two_cubes.sdf
+++ b/data/two_cubes.sdf
@@ -142,7 +142,7 @@
       </link>
     </model>
     <model name='unit_box_0_clone'>
-      <pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
+      <pose frame=''>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
       <link name='unit_box_0::link'>
         <inertial>
           <mass>1</mass>
@@ -155,7 +155,26 @@
             <izz>0.166667</izz>
           </inertia>
         </inertial>
-       
+        <collision name='collision1'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
          <visual name='visual'>
           <geometry>
           <mesh>
diff --git a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
index 412024c5e..5f360072e 100644
--- a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
+++ b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
@@ -187,7 +187,7 @@ void ImportSDFSetup::initPhysics()
 	m_dynamicsWorld->setGravity(gravity);
 
 	
-    BulletURDFImporter u2b(m_guiHelper, 0);
+    BulletURDFImporter u2b(m_guiHelper, 0,1);
     
     bool loadOk =  u2b.loadSDF(m_fileName);
 
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 86f707a2f..5436e22e5 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -69,6 +69,12 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
 	{
 		m_pathPrefix[0] = 0;
 	}
+
+	void setGlobalScaling(btScalar scaling)
+	{
+		m_urdfParser.setGlobalScaling(scaling);
+	}
+
 };
 
 void BulletURDFImporter::printTree()
@@ -76,10 +82,10 @@ void BulletURDFImporter::printTree()
 //	btAssert(0);
 }
 
-BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter)
+BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling)
 {
 	m_data = new BulletURDFInternalData;
-	
+	m_data->setGlobalScaling(globalScaling);
 	m_data->m_guiHelper = helper;
 	m_data->m_customVisualShapesConverter = customConverter;
 
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 0723712dd..2309d6a6f 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -15,10 +15,11 @@ class BulletURDFImporter : public URDFImporterInterface
 
 public:
 
-	BulletURDFImporter(struct GUIHelperInterface* guiHelper, LinkVisualShapesConverter* customConverter);
+	BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling);
 
 	virtual ~BulletURDFImporter();
 
+
 	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
 
     //warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 8149f59ec..7e9afeba1 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -194,7 +194,7 @@ void ImportUrdfSetup::initPhysics()
 	}
 	
 
-	BulletURDFImporter u2b(m_guiHelper, 0);
+	BulletURDFImporter u2b(m_guiHelper, 0,1);
 	
 	
 	bool loadOk = u2b.loadURDF(m_fileName);
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 961591222..ac96befea 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -173,6 +173,7 @@ void processContactParameters(const URDFLinkContactInfo& contactInfo, btCollisio
 }
 
 
+btScalar tmpUrdfScaling=2;
 
 
 void ConvertURDF2BulletInternal(
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 38b10ad17..c4a370c0d 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -6,7 +6,8 @@
 
 UrdfParser::UrdfParser()
 :m_parseSDF(false),
-m_activeSdfModel(-1)
+m_activeSdfModel(-1),
+m_urdfScaling(1)
 {
 	m_urdf2Model.m_sourceFile = "IN_MEMORY_STRING"; // if loadUrdf() called later, source file name will be replaced with real
 }
@@ -132,22 +133,24 @@ bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, Err
 
 }
 
-bool parseTransform(btTransform& tr, TiXmlElement* xml, ErrorLogger* logger, bool parseSDF = false)
+bool UrdfParser::parseTransform(btTransform& tr, TiXmlElement* xml, ErrorLogger* logger, bool parseSDF )
 {
     tr.setIdentity();
     
+	btVector3 vec(0,0,0);
     if (parseSDF)
     {
-        parseVector3(tr.getOrigin(),std::string(xml->GetText()),logger);
+        parseVector3(vec,std::string(xml->GetText()),logger);
     }
     else
     {
         const char* xyz_str = xml->Attribute("xyz");
         if (xyz_str)
         {
-            parseVector3(tr.getOrigin(),std::string(xyz_str),logger);
+            parseVector3(vec,std::string(xyz_str),logger);
         }
     }
+	tr.setOrigin(vec*m_urdfScaling);
     
     if (parseSDF)
     {
@@ -344,7 +347,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
 			return false;
 		} else
 		{
-			geom.m_sphereRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
+			geom.m_sphereRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
 		}
 	}	
 	else if (type_name == "box")
@@ -359,6 +362,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
                 return false;
             }
             parseVector3(geom.m_boxSize,size->GetText(),logger);
+			geom.m_boxSize *= m_urdfScaling;
         }
         else
         {
@@ -369,6 +373,7 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
               } else
               {
                   parseVector3(geom.m_boxSize,shape->Attribute("size"),logger);
+				  geom.m_boxSize *= m_urdfScaling;
               }
         }
 	}
@@ -382,8 +387,8 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
 		  return false;
 	  }
 		geom.m_hasFromTo = false;
-		geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
-		geom.m_capsuleHeight = urdfLexicalCast<double>(shape->Attribute("length"));
+		geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
+		geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
 		
 	}
 	else if (type_name == "capsule")
@@ -396,8 +401,8 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
 			return false;
 		}
 		geom.m_hasFromTo = false;
-		geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
-		geom.m_capsuleHeight = urdfLexicalCast<double>(shape->Attribute("length"));
+		geom.m_capsuleRadius = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("radius"));
+		geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
 	}
 	else if (type_name == "mesh")
 	{
@@ -438,6 +443,8 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
 			}
 		}
 
+		geom.m_meshScale *= m_urdfScaling; 
+
 		if (fn.empty())
 		{
 			logger->reportError("Mesh filename is empty");
@@ -1031,6 +1038,11 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, TiXmlElement* config, ErrorL
             joint.m_upperLimit = urdfLexicalCast<double>(upper_str);
         }
         
+		if (joint.m_type == URDFPrismaticJoint)
+		{
+			joint.m_lowerLimit *= m_urdfScaling;
+			joint.m_upperLimit *= m_urdfScaling;
+		}
         
         // Get joint effort limit
         const char* effort_str = config->Attribute("effort");
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 33fa0d49b..7a87ffcc1 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -251,7 +251,8 @@ protected:
     bool m_parseSDF;
     int m_activeSdfModel;
 
-    
+	btScalar m_urdfScaling;
+    bool parseTransform(btTransform& tr, class TiXmlElement* xml, ErrorLogger* logger, bool parseSDF = false);
 	bool parseInertia(UrdfInertia& inertia, class TiXmlElement* config, ErrorLogger* logger);
 	bool parseGeometry(UrdfGeometry& geom, class TiXmlElement* g, ErrorLogger* logger);
 	bool parseVisual(UrdfModel& model, UrdfVisual& visual, class TiXmlElement* config, ErrorLogger* logger);
@@ -277,6 +278,11 @@ public:
     {
         return m_parseSDF;
     }
+	void setGlobalScaling(btScalar scaling)
+	{
+		m_urdfScaling = scaling;
+	}
+
     bool loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceFixedBase);
     bool loadSDF(const char* sdfText, ErrorLogger* logger);
     
diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index 323f52dde..adc939cc4 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -156,7 +156,7 @@ void InverseDynamicsExample::initPhysics()
 
 
 			
-            BulletURDFImporter u2b(m_guiHelper,0);
+            BulletURDFImporter u2b(m_guiHelper,0,1);
 			bool loadOk = u2b.loadURDF("kuka_iiwa/model.urdf");// lwr / kuka.urdf");
             if (loadOk)
             {
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 22ce287a0..5e80652bd 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -223,6 +223,18 @@ int	b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle,
     return 0;
 }
 
+int	b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_LOAD_URDF);
+    command->m_updateFlags |=URDF_ARGS_USE_GLOBAL_SCALING;
+    command->m_urdfArguments.m_globalScaling = globalScaling;    
+    return 0;
+}
+
+
+
 int	b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -234,6 +246,19 @@ int	b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, i
     return 0;
 }
 
+int	b3LoadSdfCommandSetUseGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_LOAD_SDF);
+    command->m_updateFlags |=URDF_ARGS_USE_GLOBAL_SCALING;
+    command->m_sdfArguments.m_globalScaling = globalScaling;
+    
+    return 0;
+}
+
+
+
 int	b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase)
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index a0ce40f7b..a600e8067 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -267,6 +267,9 @@ int	b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand
 int	b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
 int	b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
 int	b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
+int	b3LoadUrdfCommandSetGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling);
+
+
 
 b3SharedMemoryCommandHandle	b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
 b3SharedMemoryCommandHandle	b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
@@ -301,6 +304,9 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status
 
 b3SharedMemoryCommandHandle	b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
 int	b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
+int	b3LoadSdfCommandSetUseGlobalScaling(b3SharedMemoryCommandHandle commandHandle, double globalScaling);
+
+
 
 b3SharedMemoryCommandHandle	b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 2719f2788..70121889b 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2284,7 +2284,7 @@ bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferS
 	return loadOk;
 }
 
-bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags)
+bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, btScalar globalScaling)
 {
     btAssert(m_data->m_dynamicsWorld);
 	if (!m_data->m_dynamicsWorld)
@@ -2295,7 +2295,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
 
 	m_data->m_sdfRecentLoadedBodies.clear();
 
-    BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
+    BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
 
 	bool forceFixedBase = false;
 	bool loadOk =u2b.loadSDF(fileName,forceFixedBase);
@@ -2311,7 +2311,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
 
 
 bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
-                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags)
+                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags, btScalar globalScaling)
 {
 	m_data->m_sdfRecentLoadedBodies.clear();
 	*bodyUniqueIdPtr = -1;
@@ -2326,7 +2326,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 
 
 
-    BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
+    BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
 
     bool loadOk =  u2b.loadURDF(fileName, useFixedBase);
 
@@ -3579,7 +3579,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                         bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (sdfArgs.m_useMultiBody!=0) : true;
 
 						int flags = CUF_USE_SDF; //CUF_USE_URDF_INERTIA
-                        bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
+						btScalar globalScaling = 1.f;
+						if (clientCmd.m_updateFlags & URDF_ARGS_USE_GLOBAL_SCALING)
+						{
+							globalScaling = sdfArgs.m_globalScaling;
+						}
+                        bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, globalScaling);
                         if (completedOk)
                         {
 							m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
@@ -4016,10 +4021,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (urdfArgs.m_useMultiBody!=0) : true;
 					bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? (urdfArgs.m_useFixedBase!=0): false;
 					int bodyUniqueId;
+					btScalar globalScaling = 1.f;
+					if (clientCmd.m_updateFlags & URDF_ARGS_USE_GLOBAL_SCALING)
+					{
+						globalScaling = urdfArgs.m_globalScaling;
+					}
                     //load the actual URDF and send a report: completed or failed
                     bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
                                                initialPos,initialOrn,
-                                               useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags);
+                                               useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags, globalScaling);
 
                     if (completedOk && bodyUniqueId>=0)
                     {
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index 83a2129a0..65bb0bb6d 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -27,10 +27,10 @@ protected:
 
 
 
-	bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
+	bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, btScalar globalScaling);
 
 	bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
-		bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags=0);
+		bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags, btScalar globalScaling);
 
 	bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
 
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index a5db4cd71..f0834419b 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -65,6 +65,7 @@ struct SdfArgs
 {
 	char m_sdfFileName[MAX_URDF_FILENAME_LENGTH];
     int m_useMultiBody;
+	double m_globalScaling;
 };
 
 struct FileArgs
@@ -79,7 +80,8 @@ enum EnumUrdfArgsUpdateFlags
 	URDF_ARGS_INITIAL_ORIENTATION=4,
 	URDF_ARGS_USE_MULTIBODY=8,
 	URDF_ARGS_USE_FIXED_BASE=16,
-	URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32
+	URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32,
+	URDF_ARGS_USE_GLOBAL_SCALING =64,
 };
 
 
@@ -91,6 +93,7 @@ struct UrdfArgs
 	int m_useMultiBody;
 	int m_useFixedBase;
 	int m_urdfFlags;
+	double m_globalScaling;
 };
 
 
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index a4c9549de..2b8acac81 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -929,14 +929,14 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 	int physicsClientId = 0;
 	int flags = 0;
 
-	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","physicsClientId", NULL};
+	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","globalScaling", "physicsClientId", NULL};
 
 	static char* kwlistBackwardCompatible4[] = {"fileName", "startPosX", "startPosY", "startPosZ", NULL};
 	static char* kwlistBackwardCompatible8[] = {"fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY", "startOrnZ", "startOrnW", NULL};
 
 	int bodyUniqueId= -1;
 	const char* urdfFileName = "";
-
+	double globalScaling = -1;
 	double startPosX = 0.0;
 	double startPosY = 0.0;
 	double startPosZ = 0.0;
@@ -976,7 +976,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 		double basePos[3];
 		double baseOrn[4];
 
-		if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &physicsClientId))
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiidi", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &globalScaling, &physicsClientId))
 		{
 			return NULL;
 		}
@@ -1040,7 +1040,10 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 		{
 			b3LoadUrdfCommandSetUseFixedBase(command, 1);
 		}
-
+		if (globalScaling>0)
+		{
+			b3LoadUrdfCommandSetGlobalScaling(command,globalScaling);
+		}
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType != CMD_URDF_LOADING_COMPLETED)
@@ -1071,10 +1074,11 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
 	int statusType;
 	b3SharedMemoryCommandHandle commandHandle;
 	b3PhysicsClientHandle sm = 0;
+	double globalScaling = -1;
 
 	int physicsClientId = 0;
-	static char* kwlist[] = {"sdfFileName", "useMaximalCoordinates", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &sdfFileName, &useMaximalCoordinates, &physicsClientId))
+	static char* kwlist[] = {"sdfFileName", "useMaximalCoordinates", "globalScaling", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|idi", kwlist, &sdfFileName, &useMaximalCoordinates, &globalScaling, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -1090,7 +1094,10 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
 	{
 		b3LoadSdfCommandSetUseMultiBody(commandHandle,0);
 	}
-
+	if (globalScaling > 0)
+	{
+		b3LoadSdfCommandSetUseGlobalScaling(commandHandle,globalScaling);
+	}
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);
 	if (statusType != CMD_SDF_LOADING_COMPLETED)

From 60b60ef9fd2517ad6287c7a9da075b0088eb2d35 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 14 Aug 2017 17:02:20 -0700
Subject: [PATCH 162/175] add pybullet.connect(pybullet.GUI_SERVER) option.
 This allows shared memory connections, acting as a physics server. You can
 connect using SHARED_MEMORY to this GUI_SERVER.

---
 .../InProcessExampleBrowser.cpp               |  9 ++++----
 .../ExampleBrowser/InProcessExampleBrowser.h  |  4 ++--
 .../PhysicsClientSharedMemory.cpp             | 18 ++++++++++-----
 .../SharedMemoryInProcessPhysicsC_API.cpp     | 22 +++++++++----------
 .../SharedMemoryInProcessPhysicsC_API.h       |  4 ++--
 examples/SharedMemory/SharedMemoryPublic.h    |  1 +
 examples/pybullet/pybullet.c                  | 18 +++++++++++++--
 7 files changed, 49 insertions(+), 27 deletions(-)

diff --git a/examples/ExampleBrowser/InProcessExampleBrowser.cpp b/examples/ExampleBrowser/InProcessExampleBrowser.cpp
index 9c0572626..7b42da5be 100644
--- a/examples/ExampleBrowser/InProcessExampleBrowser.cpp
+++ b/examples/ExampleBrowser/InProcessExampleBrowser.cpp
@@ -316,11 +316,12 @@ struct btInProcessExampleBrowserInternalData
 
 
 
-btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2)
+btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2, bool useInProcessMemory)
 {
 
 	btInProcessExampleBrowserInternalData* data = new btInProcessExampleBrowserInternalData;
-	data->m_sharedMem = new InProcessMemory;
+	
+	data->m_sharedMem = useInProcessMemory ? new InProcessMemory : 0;
 
 	int numThreads = 1;
 	int i;
@@ -410,12 +411,12 @@ struct btInProcessExampleBrowserMainThreadInternalData
     b3Clock m_clock;
 };
 
-btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowserMainThread(int argc,char** argv)
+btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowserMainThread(int argc,char** argv, bool useInProcessMemory)
 {
     btInProcessExampleBrowserMainThreadInternalData* data = new btInProcessExampleBrowserMainThreadInternalData;
     data->m_examples.initExampleEntries();
     data->m_exampleBrowser = new DefaultBrowser(&data->m_examples);
-    data->m_sharedMem = new InProcessMemory;
+    data->m_sharedMem = useInProcessMemory ? new InProcessMemory : 0;
     data->m_exampleBrowser->setSharedMemoryInterface(data->m_sharedMem );
 	bool init;
 	init = data->m_exampleBrowser->init(argc,argv);
diff --git a/examples/ExampleBrowser/InProcessExampleBrowser.h b/examples/ExampleBrowser/InProcessExampleBrowser.h
index e01d3fd91..32c2c7106 100644
--- a/examples/ExampleBrowser/InProcessExampleBrowser.h
+++ b/examples/ExampleBrowser/InProcessExampleBrowser.h
@@ -3,7 +3,7 @@
 
 struct btInProcessExampleBrowserInternalData;
 
-btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2);
+btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,char** argv2, bool useInProcessMemory);
 
 bool btIsExampleBrowserTerminated(btInProcessExampleBrowserInternalData* data);
 
@@ -17,7 +17,7 @@ class SharedMemoryInterface* btGetSharedMemoryInterface(btInProcessExampleBrowse
 
 struct btInProcessExampleBrowserMainThreadInternalData;
 
-btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowserMainThread(int argc,char** argv2);
+btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowserMainThread(int argc,char** argv2, bool useInProcessMemory);
 
 bool btIsExampleBrowserMainThreadTerminated(btInProcessExampleBrowserMainThreadInternalData* data);
 
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 12585e13b..5e297d28f 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -251,17 +251,23 @@ void PhysicsClientSharedMemory::resetData()
 	m_data->m_userConstraintInfoMap.clear();
                 
 }
-void PhysicsClientSharedMemory::setSharedMemoryKey(int key) { m_data->m_sharedMemoryKey = key; }
+void PhysicsClientSharedMemory::setSharedMemoryKey(int key) 
+{ 
+	m_data->m_sharedMemoryKey = key; 
+}
 
 
 void PhysicsClientSharedMemory::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem)
 {
-	if (m_data->m_sharedMemory && m_data->m_ownsSharedMemory)
+	if (sharedMem)
 	{
-		delete m_data->m_sharedMemory;
-	}
-	m_data->m_ownsSharedMemory = false;
-	m_data->m_sharedMemory = sharedMem;
+		if (m_data->m_sharedMemory && m_data->m_ownsSharedMemory)
+		{
+			delete m_data->m_sharedMemory;
+		}
+		m_data->m_ownsSharedMemory = false;
+		m_data->m_sharedMemory = sharedMem;
+	};
 }
 
 void PhysicsClientSharedMemory::disconnectSharedMemory() {
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index 142d42a30..2def80e1c 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -5,7 +5,7 @@
 #include "PhysicsClientSharedMemory.h"
 #include"../ExampleBrowser/InProcessExampleBrowser.h"
 #include <stdio.h>
-
+#include <string.h>
 #include "PhysicsServerExampleBullet2.h"
 
 #include "../CommonInterfaces/CommonExampleInterface.h"
@@ -19,7 +19,7 @@ class InProcessPhysicsClientSharedMemoryMainThread : public PhysicsClientSharedM
  
 public:
     
-    InProcessPhysicsClientSharedMemoryMainThread(int argc, char* argv[])
+    InProcessPhysicsClientSharedMemoryMainThread(int argc, char* argv[], bool useInProcessMemory)
     {
         int newargc = argc+2;
         char** newargv = (char**)malloc(sizeof(void*)*newargc);
@@ -30,7 +30,7 @@ public:
         char* t1 = (char*)"--start_demo_name=Physics Server";
         newargv[argc] = t0;
         newargv[argc+1] = t1;
-        m_data = btCreateInProcessExampleBrowserMainThread(newargc,newargv);
+        m_data = btCreateInProcessExampleBrowserMainThread(newargc,newargv, useInProcessMemory);
         SharedMemoryInterface* shMem = btGetSharedMemoryInterfaceMainThread(m_data);
         
         setSharedMemoryInterface(shMem);
@@ -83,9 +83,9 @@ public:
     
 };
 
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[], int useInProcessMemory)
 {
-    InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv);
+    InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, useInProcessMemory);
     cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
     cl->connect();
     return (b3PhysicsClientHandle ) cl;
@@ -98,7 +98,7 @@ class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
 
 public:
 	
-	InProcessPhysicsClientSharedMemory(int argc, char* argv[])
+	InProcessPhysicsClientSharedMemory(int argc, char* argv[], bool useInProcessMemory)
 	{
 		int newargc = argc+2;
 		m_newargv = (char**)malloc(sizeof(void*)*newargc);
@@ -109,7 +109,7 @@ public:
 		char* t1 = (char*)"--start_demo_name=Physics Server";
 		m_newargv[argc] = t0;
 		m_newargv[argc+1] = t1;
-		m_data = btCreateInProcessExampleBrowser(newargc,m_newargv);
+		m_data = btCreateInProcessExampleBrowser(newargc,m_newargv, useInProcessMemory);
 		SharedMemoryInterface* shMem = btGetSharedMemoryInterface(m_data);
 		setSharedMemoryInterface(shMem);
 	}
@@ -123,11 +123,11 @@ public:
 
 };
 
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
-{
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[], int useInProcessMemory)
+{	
 	
-	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv);
-    cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
+	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, useInProcessMemory);
+    cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
     cl->connect();
 	return (b3PhysicsClientHandle ) cl;
 }
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
index 7ce6e024a..0bad1283a 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
@@ -10,9 +10,9 @@ extern "C" {
 
 
 ///think more about naming. The b3ConnectPhysicsLoopback
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[]);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[], int useInProcessMemory);
 
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[]);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[], int useInProcessMemory);
 
 b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 55de32c57..4b61142d4 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -577,6 +577,7 @@ enum eCONNECT_METHOD {
   eCONNECT_UDP = 4,
   eCONNECT_TCP = 5,
   eCONNECT_EXISTING_EXAMPLE_BROWSER=6,
+  eCONNECT_GUI_SERVER=7,
 };
 
 enum eURDF_Flags
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 2b8acac81..02e3a5d42 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -294,6 +294,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 	int method = eCONNECT_GUI;
 	int i;
 	char* options="";
+
 	b3PhysicsClientHandle sm = 0;
 
 	if (sNumPhysicsClients >= MAX_PHYSICS_CLIENTS)
@@ -354,9 +355,21 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 				char* argv[2] = {"unused",options};
 
 #ifdef __APPLE__
-				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
+				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,1);
 #else
-				sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
+				sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,1);
+#endif
+				break;
+			}
+			case eCONNECT_GUI_SERVER:
+			{
+				int argc = 2;
+				char* argv[2] = {"unused",options};
+
+#ifdef __APPLE__
+				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,0);
+#else
+				sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,0);
 #endif
 				break;
 			}
@@ -7261,6 +7274,7 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "GUI", eCONNECT_GUI);        // user read
 	PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP);        // user read
 	PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP);        // user read
+	PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER);        // user read
 
 	PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType);        // user read
 	PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType);      // user read

From cab3de35e461f1b210af367c8d15a01de68dfb8f Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Tue, 15 Aug 2017 15:31:24 +0200
Subject: [PATCH 163/175] Remove duplicate assets and use other assets. Rename
 classes appropriately for robot-scene-env split refactoring.

---
 ...py => enjoy_TF_AntBulletEnv_v0_2017may.py} |     4 +-
 ...joy_TF_HalfCheetahBulletEnv_v0_2017may.py} |     4 +-
 ...=> enjoy_TF_HopperBulletEnv_v0_2017may.py} |     4 +-
 ... enjoy_TF_HumanoidBulletEnv_v0_2017may.py} |     4 +-
 ...rtedDoublePendulumBulletEnv_v0_2017may.py} |     4 +-
 ...F_InvertedPendulumBulletEnv_v0_2017may.py} |     4 +-
 ...tedPendulumSwingupBulletEnv_v0_2017may.py} |     6 +-
 ... enjoy_TF_Walker2DBulletEnv_v0_2017may.py} |     4 +-
 examples/pybullet/gym/envs/__init__.py        |    96 +-
 .../{gym_mujoco_xml_env.py => env_bases.py}   |     6 +-
 ...anipulators.py => gym_manipulator_envs.py} |    10 +-
 .../{gym_pendula.py => gym_pendula_envs.py}   |    14 +-
 ..._forward_walkers.py => gym_walker_envs.py} |    40 +-
 .../pybullet/gym/envs/mujoco_assets/ant.xml   |    71 -
 .../gym/envs/mujoco_assets/ground_plane.xml   |     5 -
 .../gym/envs/mujoco_assets/half_cheetah.xml   |    88 -
 .../gym/envs/mujoco_assets/hopper.xml         |    39 -
 .../envs/mujoco_assets/humanoid_symmetric.xml |   107 -
 .../humanoid_symmetric_no_ground.xml          |   115 -
 .../inverted_double_pendulum.xml              |    47 -
 .../envs/mujoco_assets/inverted_pendulum.xml  |    27 -
 .../gym/envs/mujoco_assets/pusher.xml         |    91 -
 .../gym/envs/mujoco_assets/reacher.xml        |    39 -
 .../gym/envs/mujoco_assets/striker.xml        |   101 -
 .../gym/envs/mujoco_assets/thrower.xml        |   127 -
 .../gym/envs/mujoco_assets/walker2d.xml       |    52 -
 .../models_outdoor/stadium/part0.obj          | 23154 ------------
 .../models_outdoor/stadium/part1.obj          | 16210 --------
 .../models_outdoor/stadium/part2.obj          |  8350 -----
 .../models_outdoor/stadium/stadium.mtl        |    16 -
 .../models_outdoor/stadium/stadium.obj        | 30561 ----------------
 .../models_outdoor/stadium/stadium_grass.jpg  |   Bin 1054660 -> 0 bytes
 .../gym/envs/other_assets/stadium.sdf         |   107 -
 examples/pybullet/gym/envs/scene_abstract.py  |     8 -
 examples/pybullet/gym/envs/scene_stadium.py   |     4 +-
 35 files changed, 143 insertions(+), 79376 deletions(-)
 rename examples/pybullet/gym/{enjoy_TF_PybulletAnt_v0_2017may.py => enjoy_TF_AntBulletEnv_v0_2017may.py} (99%)
 rename examples/pybullet/gym/{enjoy_TF_PybulletHalfCheetah_v0_2017may.py => enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py} (99%)
 rename examples/pybullet/gym/{enjoy_TF_PybulletHopper_v0_2017may.py => enjoy_TF_HopperBulletEnv_v0_2017may.py} (99%)
 rename examples/pybullet/gym/{enjoy_TF_PybulletHumanoid_v0_2017may.py => enjoy_TF_HumanoidBulletEnv_v0_2017may.py} (99%)
 rename examples/pybullet/gym/{enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py => enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py} (99%)
 rename examples/pybullet/gym/{enjoy_TF_PybulletInvertedPendulum_v0_2017may.py => enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py} (99%)
 rename examples/pybullet/gym/{enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py => enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py} (99%)
 rename examples/pybullet/gym/{enjoy_TF_PybulletWalker2d_v0_2017may.py => enjoy_TF_Walker2DBulletEnv_v0_2017may.py} (99%)
 rename examples/pybullet/gym/envs/{gym_mujoco_xml_env.py => env_bases.py} (96%)
 rename examples/pybullet/gym/envs/{gym_manipulators.py => gym_manipulator_envs.py} (97%)
 rename examples/pybullet/gym/envs/{gym_pendula.py => gym_pendula_envs.py} (88%)
 rename examples/pybullet/gym/envs/{gym_forward_walkers.py => gym_walker_envs.py} (86%)
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/ant.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/hopper.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/pusher.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/reacher.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/striker.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/thrower.xml
 delete mode 100644 examples/pybullet/gym/envs/mujoco_assets/walker2d.xml
 delete mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj
 delete mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj
 delete mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj
 delete mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl
 delete mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj
 delete mode 100644 examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium_grass.jpg
 delete mode 100644 examples/pybullet/gym/envs/other_assets/stadium.sdf

diff --git a/examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py
similarity index 99%
rename from examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py
rename to examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py
index ab6e99364..51c2a9781 100644
--- a/examples/pybullet/gym/enjoy_TF_PybulletAnt_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py
@@ -1,7 +1,7 @@
 import gym
 import numpy as np
 import pybullet as p
-import pybulletgym.envs
+import envs
 import time
 
 def relu(x):
@@ -22,7 +22,7 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
-    env = gym.make("PybulletAnt-v0")
+    env = gym.make("AntBulletEnv-v0")
 
     cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
     if cid < 0:
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
similarity index 99%
rename from examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py
rename to examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
index 5446a7ec9..ee6668a37 100644
--- a/examples/pybullet/gym/enjoy_TF_PybulletHalfCheetah_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
@@ -1,7 +1,7 @@
 import gym
 import numpy as np
 import pybullet as p
-import pybulletgym.envs
+import envs
 import time
 
 def relu(x):
@@ -22,7 +22,7 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
-    env = gym.make("PybulletHalfCheetah-v0")
+    env = gym.make("HalfCheetahBulletEnv-v0")
 
     cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
     if cid < 0:
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
similarity index 99%
rename from examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py
rename to examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
index 6618b9ad2..722c01724 100644
--- a/examples/pybullet/gym/enjoy_TF_PybulletHopper_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
@@ -1,7 +1,7 @@
 import gym
 import numpy as np
 import pybullet as p
-import pybulletgym.envs
+import envs
 import time
 
 def relu(x):
@@ -22,7 +22,7 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
-    env = gym.make("PybulletHopper-v0")
+    env = gym.make("HopperBulletEnv-v0")
 
     cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
     if cid < 0:
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
similarity index 99%
rename from examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py
rename to examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
index caf7d8556..1440d7140 100644
--- a/examples/pybullet/gym/enjoy_TF_PybulletHumanoid_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
@@ -1,7 +1,7 @@
 import gym
 import numpy as np
 import pybullet as p
-import pybulletgym.envs
+import envs
 import time
 
 def relu(x):
@@ -23,7 +23,7 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
-    env = gym.make("PybulletHumanoid-v0")
+    env = gym.make("HumanoidBulletEnv-v0")
 
     cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
     if cid < 0:
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
similarity index 99%
rename from examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py
rename to examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
index a4978ec65..d30d2d61a 100644
--- a/examples/pybullet/gym/enjoy_TF_PybulletInvertedDoublePendulum_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
@@ -1,7 +1,7 @@
 import gym
 import numpy as np
 import pybullet as p
-import pybulletgym.envs
+import envs
 import time
 
 def relu(x):
@@ -22,7 +22,7 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
-    env = gym.make("PybulletInvertedDoublePendulum-v0")
+    env = gym.make("InvertedDoublePendulumBulletEnv-v0")
 
     cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
     if cid < 0:
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
similarity index 99%
rename from examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py
rename to examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
index 424fe85bb..36cee0ea6 100644
--- a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulum_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
@@ -1,7 +1,7 @@
 import gym
 import numpy as np
 import pybullet as p
-import pybulletgym.envs
+import envs
 import time
 
 def relu(x):
@@ -22,7 +22,7 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
-    env = gym.make("PybulletInvertedPendulum-v0")
+    env = gym.make("InvertedPendulumBulletEnv-v0")
 
     cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
     if cid < 0:
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
similarity index 99%
rename from examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py
rename to examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
index 4b64cc4fa..845608f7a 100644
--- a/examples/pybullet/gym/enjoy_TF_PybulletInvertedPendulumSwingup_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
@@ -1,7 +1,7 @@
-import gym, roboschool
+import gym
 import numpy as np
 import pybullet as p
-import pybulletgym.envs
+import envs
 import time
 
 def relu(x):
@@ -22,7 +22,7 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
-    env = gym.make("PybulletInvertedPendulumSwingup-v0")
+    env = gym.make("InvertedPendulumSwingupBulletEnv-v0")
 
     cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
     if cid < 0:
diff --git a/examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
similarity index 99%
rename from examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py
rename to examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
index f382e9114..758c933e1 100644
--- a/examples/pybullet/gym/enjoy_TF_PybulletWalker2d_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
@@ -1,7 +1,7 @@
 import gym
 import numpy as np
 import pybullet as p
-import pybulletgym.envs
+import envs
 import time
 
 def relu(x):
@@ -22,7 +22,7 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
-    env = gym.make("PybulletWalker2d-v0")
+    env = gym.make("Walker2DBulletEnv-v0")
 
     cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
     if cid < 0:
diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py
index ae0c1c81f..218e15daa 100644
--- a/examples/pybullet/gym/envs/__init__.py
+++ b/examples/pybullet/gym/envs/__init__.py
@@ -30,12 +30,12 @@ register(
     reward_threshold=5.0,
 )
 
-register(
-    id='HumanoidBulletEnv-v0',
-    entry_point='envs.bullet:HumanoidGymEnv',
-    timestep_limit=1000,
-    reward_threshold=5.0,
-)
+# register(
+#     id='HumanoidBulletEnv-v0',
+#     entry_point='envs.bullet:HumanoidGymEnv',
+#     timestep_limit=1000,
+#     reward_threshold=5.0,
+# )
 
 register(
     id='KukaBulletEnv-v0',
@@ -49,4 +49,86 @@ register(
     entry_point='envs.bullet:KukaCamGymEnv',
     timestep_limit=1000,
     reward_threshold=5.0,
-)
\ No newline at end of file
+)
+
+register(
+	id='InvertedPendulumBulletEnv-v0',
+	entry_point='envs.gym_pendula_envs:InvertedPendulumBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=950.0,
+	)
+
+register(
+	id='InvertedDoublePendulumBulletEnv-v0',
+	entry_point='envs.gym_pendula_envs:InvertedDoublePendulumBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=9100.0,
+	)
+
+register(
+	id='InvertedPendulumSwingupBulletEnv-v0',
+	entry_point='envs.gym_pendula_envs:InvertedPendulumSwingupBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=800.0,
+	)
+
+register(
+	id='HopperBulletEnv-v0',
+	entry_point='envs.gym_walker_envs:HopperBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=2500.0
+	)
+
+register(
+	id='ReacherBulletEnv-v0',
+	entry_point='envs.gym_manipulator_envs:ReacherBulletEnv',
+	max_episode_steps=150,
+	reward_threshold=18.0,
+	)
+
+register(
+	id='PusherBulletEnv-v0',
+	entry_point='envs.gym_manipulator_envs:PusherBulletEnv',
+	max_episode_steps=150,
+	reward_threshold=18.0,
+)
+
+register(
+	id='ThrowerBulletEnv-v0',
+	entry_point='envs.gym_manipulator_envs:ThrowerBulletEnv',
+	max_episode_steps=100,
+	reward_threshold=18.0,
+)
+
+register(
+	id='StrikerBulletEnv-v0',
+	entry_point='envs.gym_manipulator_envs:StrikerBulletEnv',
+	max_episode_steps=100,
+	reward_threshold=18.0,
+)
+
+register(
+	id='Walker2DBulletEnv-v0',
+	entry_point='envs.gym_walker_envs:Walker2DBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=2500.0
+	)
+register(
+	id='HalfCheetahBulletEnv-v0',
+	entry_point='envs.gym_walker_envs:HalfCheetahBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=3000.0
+	)
+
+register(
+	id='AntBulletEnv-v0',
+	entry_point='envs.gym_walker_envs:AntBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=2500.0
+	)
+
+register(
+	id='HumanoidBulletEnv-v0',
+	entry_point='envs.gym_walker_envs:HumanoidBulletEnv',
+	max_episode_steps=1000
+	)
diff --git a/examples/pybullet/gym/envs/gym_mujoco_xml_env.py b/examples/pybullet/gym/envs/env_bases.py
similarity index 96%
rename from examples/pybullet/gym/envs/gym_mujoco_xml_env.py
rename to examples/pybullet/gym/envs/env_bases.py
index 8d412eacc..a2a9f0b0d 100644
--- a/examples/pybullet/gym/envs/gym_mujoco_xml_env.py
+++ b/examples/pybullet/gym/envs/env_bases.py
@@ -4,7 +4,7 @@ import pybullet as p
 import os
 
 
-class PybulletMujocoXmlEnv(gym.Env):
+class MujocoXmlBaseBulletEnv(gym.Env):
 	"""
 	Base class for MuJoCo .xml actors in a Scene.
 	These environments create single-player scenes and behave like normal Gym environments, if
@@ -107,9 +107,9 @@ class PybulletMujocoXmlEnv(gym.Env):
 		dump = 0
 
 		if self.self_collision:
-			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml), flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
+			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join("mjcf", self.model_xml), flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
 		else:
-			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", self.model_xml)))
+			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join("mjcf", self.model_xml)))
 
 		self.robot_specific_reset()
 		s = self.calc_state()	# optimization: calc_state() can calculate something in self.* for calc_potential() to use
diff --git a/examples/pybullet/gym/envs/gym_manipulators.py b/examples/pybullet/gym/envs/gym_manipulator_envs.py
similarity index 97%
rename from examples/pybullet/gym/envs/gym_manipulators.py
rename to examples/pybullet/gym/envs/gym_manipulator_envs.py
index d42abb511..111968498 100644
--- a/examples/pybullet/gym/envs/gym_manipulators.py
+++ b/examples/pybullet/gym/envs/gym_manipulator_envs.py
@@ -1,10 +1,10 @@
 from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
-from gym_mujoco_xml_env import PybulletMujocoXmlEnv
+from env_bases import MujocoXmlBaseBulletEnv
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
 import os, sys
 
-class PybulletReacher(PybulletMujocoXmlEnv):
+class ReacherBulletEnv(MujocoXmlBaseBulletEnv):
 	def __init__(self):
 		PybulletMujocoXmlEnv.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=9)
 
@@ -74,7 +74,7 @@ class PybulletReacher(PybulletMujocoXmlEnv):
 		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
 
 
-class PybulletPusher(PybulletMujocoXmlEnv):
+class PusherBulletEnv(MujocoXmlBaseBulletEnv):
 	def __init__(self):
 		PybulletMujocoXmlEnv.__init__(self, 'pusher.xml', 'body0', action_dim=7, obs_dim=5)
 
@@ -138,7 +138,7 @@ class PybulletPusher(PybulletMujocoXmlEnv):
 		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
 
 
-class PybulletStriker(PybulletMujocoXmlEnv):
+class StrikerBulletEnv(MujocoXmlBaseBulletEnv):
 	def __init__(self):
 		PybulletMujocoXmlEnv.__init__(self, 'striker.xml', 'body0', action_dim=7, obs_dim=5)
 		self._striked = False
@@ -230,7 +230,7 @@ class PybulletStriker(PybulletMujocoXmlEnv):
 		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
 
 
-class PybulletThrower(PybulletMujocoXmlEnv):
+class ThrowerBulletEnv(MujocoXmlBaseBulletEnv):
 	def __init__(self):
 		PybulletMujocoXmlEnv.__init__(self, 'thrower.xml', 'body0', action_dim=7, obs_dim=5)
 		self._ball_hit_ground = False
diff --git a/examples/pybullet/gym/envs/gym_pendula.py b/examples/pybullet/gym/envs/gym_pendula_envs.py
similarity index 88%
rename from examples/pybullet/gym/envs/gym_pendula.py
rename to examples/pybullet/gym/envs/gym_pendula_envs.py
index c13230e06..00b5ffc67 100644
--- a/examples/pybullet/gym/envs/gym_pendula.py
+++ b/examples/pybullet/gym/envs/gym_pendula_envs.py
@@ -1,15 +1,15 @@
-from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
-from gym_mujoco_xml_env import PybulletMujocoXmlEnv
+from scene_abstract import SingleRobotEmptyScene
+from env_bases import MujocoXmlBaseBulletEnv
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
 import os, sys
 
-class PybulletInvertedPendulum(PybulletMujocoXmlEnv):
+class InvertedPendulumBulletEnv(MujocoXmlBaseBulletEnv):
 	swingup = False
 	force_gain = 12 # TODO: Try to find out why we need to scale the force
 
 	def __init__(self):
-		PybulletMujocoXmlEnv.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
+		MujocoXmlBaseBulletEnv.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
 
 	def create_single_player_scene(self):
 		return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
@@ -73,13 +73,13 @@ class PybulletInvertedPendulum(PybulletMujocoXmlEnv):
 	def camera_adjust(self):
 		self.camera.move_and_look_at(0,1.2,1.0, 0,0,0.5)
 
-class PybulletInvertedPendulumSwingup(PybulletInvertedPendulum):
+class InvertedPendulumSwingupBulletEnv(InvertedPendulumBulletEnv):
 	swingup = True
 	force_gain = 2.2  # TODO: Try to find out why we need to scale the force
 
-class PybulletInvertedDoublePendulum(PybulletMujocoXmlEnv):
+class InvertedDoublePendulumBulletEnv(MujocoXmlBaseBulletEnv):
 	def __init__(self):
-		PybulletMujocoXmlEnv.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
+		MujocoXmlBaseBulletEnv.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
 
 	def create_single_player_scene(self):
 		return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
diff --git a/examples/pybullet/gym/envs/gym_forward_walkers.py b/examples/pybullet/gym/envs/gym_walker_envs.py
similarity index 86%
rename from examples/pybullet/gym/envs/gym_forward_walkers.py
rename to examples/pybullet/gym/envs/gym_walker_envs.py
index ca24c91e1..5e0e0dd86 100644
--- a/examples/pybullet/gym/envs/gym_forward_walkers.py
+++ b/examples/pybullet/gym/envs/gym_walker_envs.py
@@ -1,15 +1,15 @@
 from distutils.command.config import config
 
-from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
-from pybulletgym.envs.scene_stadium import SinglePlayerStadiumScene
-from gym_mujoco_xml_env import PybulletMujocoXmlEnv
+from scene_abstract import SingleRobotEmptyScene
+from scene_stadium import SinglePlayerStadiumScene
+from env_bases import MujocoXmlBaseBulletEnv
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
 import os, sys
 
-class PybulletForwardWalkersBase(PybulletMujocoXmlEnv):
+class WalkerBaseBulletEnv(MujocoXmlBaseBulletEnv):
 	def __init__(self, fn, robot_name, action_dim, obs_dim, power):
-		PybulletMujocoXmlEnv.__init__(self, fn, robot_name, action_dim, obs_dim)
+		MujocoXmlBaseBulletEnv.__init__(self, fn, robot_name, action_dim, obs_dim)
 		self.power = power
 		self.camera_x = 0
 		self.walk_target_x = 1e3  # kilometer away
@@ -132,33 +132,33 @@ class PybulletForwardWalkersBase(PybulletMujocoXmlEnv):
 		self.camera_x = 0.98*self.camera_x + (1-0.98)*x
 		self.camera.move_and_look_at(self.camera_x, y-2.0, 1.4, x, y, 1.0)
 
-class PybulletHopper(PybulletForwardWalkersBase):
+class HopperBulletEnv(WalkerBaseBulletEnv):
 	foot_list = ["foot"]
 	def __init__(self):
-		PybulletForwardWalkersBase.__init__(self, "hopper.xml", "torso", action_dim=3, obs_dim=15, power=0.75)
+		WalkerBaseBulletEnv.__init__(self, "hopper.xml", "torso", action_dim=3, obs_dim=15, power=0.75)
 	def alive_bonus(self, z, pitch):
 		return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
 
-class PybulletWalker2d(PybulletForwardWalkersBase):
+class Walker2DBulletEnv(WalkerBaseBulletEnv):
 	foot_list = ["foot", "foot_left"]
 	def __init__(self):
-		PybulletForwardWalkersBase.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40)
+		WalkerBaseBulletEnv.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40)
 	def alive_bonus(self, z, pitch):
 		return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
 	def robot_specific_reset(self):
-		PybulletForwardWalkersBase.robot_specific_reset(self)
+		WalkerBaseBulletEnv.robot_specific_reset(self)
 		for n in ["foot_joint", "foot_left_joint"]:
 			self.jdict[n].power_coef = 30.0
 
-class PybulletHalfCheetah(PybulletForwardWalkersBase):
+class HalfCheetahBulletEnv(WalkerBaseBulletEnv):
 	foot_list = ["ffoot", "fshin", "fthigh",  "bfoot", "bshin", "bthigh"]  # track these contacts with ground
 	def __init__(self):
-		PybulletForwardWalkersBase.__init__(self, "half_cheetah.xml", "torso", action_dim=6, obs_dim=26, power=0.90)
+		WalkerBaseBulletEnv.__init__(self, "half_cheetah.xml", "torso", action_dim=6, obs_dim=26, power=0.90)
 	def alive_bonus(self, z, pitch):
 		# Use contact other than feet to terminate episode: due to a lot of strange walks using knees
 		return +1 if np.abs(pitch) < 1.0 and not self.feet_contact[1] and not self.feet_contact[2] and not self.feet_contact[4] and not self.feet_contact[5] else -1
 	def robot_specific_reset(self):
-		PybulletForwardWalkersBase.robot_specific_reset(self)
+		WalkerBaseBulletEnv.robot_specific_reset(self)
 		self.jdict["bthigh"].power_coef = 120.0
 		self.jdict["bshin"].power_coef  = 90.0
 		self.jdict["bfoot"].power_coef  = 60.0
@@ -166,28 +166,28 @@ class PybulletHalfCheetah(PybulletForwardWalkersBase):
 		self.jdict["fshin"].power_coef  = 60.0
 		self.jdict["ffoot"].power_coef  = 30.0
 
-class PybulletAnt(PybulletForwardWalkersBase):
+class AntBulletEnv(WalkerBaseBulletEnv):
 	foot_list = ['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot']
 	def __init__(self):
-		PybulletForwardWalkersBase.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5)
+		WalkerBaseBulletEnv.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5)
 	def alive_bonus(self, z, pitch):
 		return +1 if z > 0.26 else -1  # 0.25 is central sphere rad, die if it scrapes the ground
 
 
 ## 3d Humanoid ##
 
-class PybulletHumanoid(PybulletForwardWalkersBase):
+class HumanoidBulletEnv(WalkerBaseBulletEnv):
 	self_collision = True
 	foot_list = ["right_foot", "left_foot"]  # "left_hand", "right_hand"
 
 	def __init__(self):
-		PybulletForwardWalkersBase.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41)
+		WalkerBaseBulletEnv.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41)
 		# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
-		self.electricity_cost  = 4.25*PybulletForwardWalkersBase.electricity_cost
-		self.stall_torque_cost = 4.25*PybulletForwardWalkersBase.stall_torque_cost
+		self.electricity_cost  = 4.25*WalkerBaseBulletEnv.electricity_cost
+		self.stall_torque_cost = 4.25*WalkerBaseBulletEnv.stall_torque_cost
 
 	def robot_specific_reset(self):
-		PybulletForwardWalkersBase.robot_specific_reset(self)
+		WalkerBaseBulletEnv.robot_specific_reset(self)
 		self.motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
 		self.motor_power  = [100, 100, 100]
 		self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
diff --git a/examples/pybullet/gym/envs/mujoco_assets/ant.xml b/examples/pybullet/gym/envs/mujoco_assets/ant.xml
deleted file mode 100644
index 311d96feb..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/ant.xml
+++ /dev/null
@@ -1,71 +0,0 @@
-<mujoco model="ant">
-  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
-  <option integrator="RK4" timestep="0.01"/>
-  <custom>
-    <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
-  </custom>
-  <default>
-    <joint armature="1" damping="1" limited="true"/>
-    <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
-  </default>
-  <worldbody>
-    <body name="torso" pos="0 0 0.75">
-      <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
-      <!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
-      <body name="front_left_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
-        <body name="aux_1" pos="0.2 0.2 0">
-          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
-          <body pos="0.2 0.2 0" name="front_left_foot">
-            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
-          </body>
-        </body>
-      </body>
-      <body name="front_right_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
-        <body name="aux_2" pos="-0.2 0.2 0">
-          <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
-          <body pos="-0.2 0.2 0" name="front_right_foot">
-            <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
-          </body>
-        </body>
-      </body>
-      <body name="left_back_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
-        <body name="aux_3" pos="-0.2 -0.2 0">
-          <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
-          <body pos="-0.2 -0.2 0" name="left_back_foot">
-            <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
-          </body>
-        </body>
-      </body>
-      <body name="right_back_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
-        <body name="aux_4" pos="0.2 -0.2 0">
-          <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
-          <body pos="0.2 -0.2 0" name="right_back_foot">
-            <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
-  </actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml b/examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml
deleted file mode 100644
index 0212c7f1b..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/ground_plane.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<mujoco model="ground_plane">
-  <worldbody>
-    <geom conaffinity="1" condim="3" name="floor" friction="0.8 0.1 0.1" pos="0 0 0" type="plane"/>
-  </worldbody>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml b/examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml
deleted file mode 100644
index 418eef56d..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/half_cheetah.xml
+++ /dev/null
@@ -1,88 +0,0 @@
-<!-- Cheetah Model
-
-    The state space is populated with joints in the order that they are
-    defined in this file. The actuators also operate on joints.
-
-    State-Space (name/joint/parameter):
-        - rootx     slider      position (m)
-        - rootz     slider      position (m)
-        - rooty     hinge       angle (rad)
-        - bthigh    hinge       angle (rad)
-        - bshin     hinge       angle (rad)
-        - bfoot     hinge       angle (rad)
-        - fthigh    hinge       angle (rad)
-        - fshin     hinge       angle (rad)
-        - ffoot     hinge       angle (rad)
-        - rootx     slider      velocity (m/s)
-        - rootz     slider      velocity (m/s)
-        - rooty     hinge       angular velocity (rad/s)
-        - bthigh    hinge       angular velocity (rad/s)
-        - bshin     hinge       angular velocity (rad/s)
-        - bfoot     hinge       angular velocity (rad/s)
-        - fthigh    hinge       angular velocity (rad/s)
-        - fshin     hinge       angular velocity (rad/s)
-        - ffoot     hinge       angular velocity (rad/s)
-
-    Actuators (name/actuator/parameter):
-        - bthigh    hinge       torque (N m)
-        - bshin     hinge       torque (N m)
-        - bfoot     hinge       torque (N m)
-        - fthigh    hinge       torque (N m)
-        - fshin     hinge       torque (N m)
-        - ffoot     hinge       torque (N m)
-
--->
-<mujoco model="cheetah">
-  <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
-  <default>
-    <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
-    <geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
-    <motor ctrllimited="true" ctrlrange="-1 1"/>
-  </default>
-  <size nstack="300000" nuser_geom="1"/>
-  <option gravity="0 0 -9.81" timestep="0.01"/>
-  <worldbody>
-    <body name="torso" pos="0 0 .7">
-      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
-      <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
-      <geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
-      <!-- <site name='tip'  pos='.15 0 .11'/>-->
-      <body name="bthigh" pos="-.5 0 0">
-        <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
-        <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
-        <body name="bshin" pos=".16 0 -.25">
-          <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
-          <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
-          <body name="bfoot" pos="-.28 0 -.14">
-            <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
-            <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
-            <inertial mass="10"/>
-          </body>
-        </body>
-      </body>
-      <body name="fthigh" pos=".5 0 0">
-        <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/>
-        <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
-        <body name="fshin" pos="-.14 0 -.24">
-          <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/>
-          <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
-          <body name="ffoot" pos=".13 0 -.18">
-            <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/>
-            <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
-            <inertial mass="10"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor gear="120" joint="bthigh" name="bthigh"/>
-    <motor gear="90" joint="bshin" name="bshin"/>
-    <motor gear="60" joint="bfoot" name="bfoot"/>
-    <motor gear="120" joint="fthigh" name="fthigh"/>
-    <motor gear="60" joint="fshin" name="fshin"/>
-    <motor gear="30" joint="ffoot" name="ffoot"/>
-  </actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/hopper.xml b/examples/pybullet/gym/envs/mujoco_assets/hopper.xml
deleted file mode 100644
index 077160345..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/hopper.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<mujoco model="hopper">
-  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
-  <default>
-    <joint armature="1" damping="1" limited="true"/>
-    <geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
-    <motor ctrllimited="true" ctrlrange="-.4 .4"/>
-  </default>
-  <option integrator="RK4" timestep="0.002"/>
-  <worldbody>
-    <!-- CHANGE: body pos="" deleted for all bodies (you can also set pos="0 0 0", it works)
-    Interpretation of body pos="" depends on coordinate="global" above.
-    Bullet doesn't support global coordinates in bodies, little motivation to fix this, as long as it works without pos="" as well.
-    After this change, Hopper still loads and works in MuJoCo simulator.
-    -->
-    <body name="torso">
-      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
-      <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
-      <body name="thigh">
-        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
-        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
-        <body name="leg">
-          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
-          <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
-          <body name="foot">
-            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
-            <geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
-  </actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml b/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml
deleted file mode 100644
index d7ba9f494..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric.xml
+++ /dev/null
@@ -1,107 +0,0 @@
-<mujoco model="humanoid">
-    <compiler angle="degree" inertiafromgeom="true"/>
-    <default>
-        <joint armature="1" damping="1" limited="true"/>
-        <geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
-        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
-    </default>
-    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
-        <!-- <flags solverstat="enable" energy="enable"/>-->
-    </option>
-    <size nkey="5" nuser_geom="1"/>
-    <visual>
-        <map fogend="5" fogstart="3"/>
-    </visual>
-    <worldbody>
-        <body name="torso" pos="0 0 1.4">
-            <!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
-            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
-            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
-            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
-            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
-                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
-                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
-                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
-                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
-                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
-                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
-                    <body name="right_thigh" pos="0 -0.1 -0.04">
-                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
-                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
-                        <body name="right_shin" pos="0 0.01 -0.403">
-                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
-                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
-                            <body name="right_foot" pos="0 0 -0.45">
-                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
-                            </body>
-                        </body>
-                    </body>
-                    <body name="left_thigh" pos="0 0.1 -0.04">
-                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
-                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
-                        <body name="left_shin" pos="0 -0.01 -0.403">
-                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
-                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
-                            <body name="left_foot" pos="0 0 -0.45">
-                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
-                            </body>
-                        </body>
-                    </body>
-                </body>
-            </body>
-            <body name="right_upper_arm" pos="0 -0.17 0.06">
-                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
-                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
-                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
-                <body name="right_lower_arm" pos=".18 -.18 -.18">
-                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
-                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
-                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
-                </body>
-            </body>
-            <body name="left_upper_arm" pos="0 0.17 0.06">
-                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
-                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
-                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
-                <body name="left_lower_arm" pos=".18 .18 -.18">
-                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
-                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
-                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
-                </body>
-            </body>
-        </body>
-    </worldbody>
-    <tendon>
-        <fixed name="left_hipknee">
-            <joint coef="-1" joint="left_hip_y"/>
-            <joint coef="1" joint="left_knee"/>
-        </fixed>
-        <fixed name="right_hipknee">
-            <joint coef="-1" joint="right_hip_y"/>
-            <joint coef="1" joint="right_knee"/>
-        </fixed>
-    </tendon>
-    <actuator><!-- this section is not supported, same constants in code -->
-        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
-        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
-        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
-        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
-        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
-        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
-        <motor gear="200" joint="right_knee" name="right_knee"/>
-        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
-        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
-        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
-        <motor gear="200" joint="left_knee" name="left_knee"/>
-        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
-        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
-        <motor gear="25" joint="right_elbow" name="right_elbow"/>
-        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
-        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
-        <motor gear="25" joint="left_elbow" name="left_elbow"/>
-    </actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml b/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml
deleted file mode 100644
index 0c2f2befa..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/humanoid_symmetric_no_ground.xml
+++ /dev/null
@@ -1,115 +0,0 @@
-<mujoco model="humanoid">
-    <compiler angle="degree" inertiafromgeom="true"/>
-    <default>
-        <joint armature="1" damping="1" limited="true"/>
-        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
-        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
-    </default>
-    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
-        <!-- <flags solverstat="enable" energy="enable"/>-->
-    </option>
-    <size nkey="5" nuser_geom="1"/>
-    <visual>
-        <map fogend="5" fogstart="3"/>
-    </visual>
-    <asset>
-        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
-        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
-        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
-        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-        <material name="geom" texture="texgeom" texuniform="true"/>
-    </asset>
-    <worldbody>
-         <body name="torso" pos="0 0 1.4">
-            <!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
-            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
-            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
-            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
-            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
-                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
-                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
-                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
-                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
-                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
-                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
-                    <body name="right_thigh" pos="0 -0.1 -0.04">
-                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
-                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
-                        <body name="right_shin" pos="0 0.01 -0.403">
-                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
-                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
-                            <body name="right_foot" pos="0 0 -0.45">
-                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
-                            </body>
-                        </body>
-                    </body>
-                    <body name="left_thigh" pos="0 0.1 -0.04">
-                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
-                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
-                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
-                        <body name="left_shin" pos="0 -0.01 -0.403">
-                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
-                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
-                            <body name="left_foot" pos="0 0 -0.45">
-                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
-                            </body>
-                        </body>
-                    </body>
-                </body>
-            </body>
-            <body name="right_upper_arm" pos="0 -0.17 0.06">
-                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
-                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
-                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
-                <body name="right_lower_arm" pos=".18 -.18 -.18">
-                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
-                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
-                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
-                </body>
-            </body>
-            <body name="left_upper_arm" pos="0 0.17 0.06">
-                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
-                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
-                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
-                <body name="left_lower_arm" pos=".18 .18 -.18">
-                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
-                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
-                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
-                </body>
-            </body>
-        </body>
-    </worldbody>
-    <tendon>
-        <fixed name="left_hipknee">
-            <joint coef="-1" joint="left_hip_y"/>
-            <joint coef="1" joint="left_knee"/>
-        </fixed>
-        <fixed name="right_hipknee">
-            <joint coef="-1" joint="right_hip_y"/>
-            <joint coef="1" joint="right_knee"/>
-        </fixed>
-    </tendon>
-    <actuator><!-- this section is not supported, same constants in code -->
-        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
-        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
-        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
-        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
-        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
-        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
-        <motor gear="200" joint="right_knee" name="right_knee"/>
-        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
-        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
-        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
-        <motor gear="200" joint="left_knee" name="left_knee"/>
-        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
-        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
-        <motor gear="25" joint="right_elbow" name="right_elbow"/>
-        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
-        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
-        <motor gear="25" joint="left_elbow" name="left_elbow"/>
-    </actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml b/examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml
deleted file mode 100644
index 755cefd44..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/inverted_double_pendulum.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<!-- Cartpole Model
-
-    The state space is populated with joints in the order that they are
-    defined in this file. The actuators also operate on joints.
-
-    State-Space (name/joint/parameter):
-        - cart      slider      position (m)
-        - pole      hinge       angle (rad)
-        - cart      slider      velocity (m/s)
-        - pole      hinge       angular velocity (rad/s)
-
-    Actuators (name/actuator/parameter):
-        - cart      motor       force x (N)
-
--->
-<mujoco model="cartpole">
-  <compiler coordinate="local" inertiafromgeom="true"/>
-  <custom>
-    <numeric data="2" name="frame_skip"/>
-  </custom>
-  <default>
-    <joint damping="0.05"/>
-    <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
-  </default>
-  <option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
-  <size nstack="3000"/>
-  <worldbody>
-    <geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
-    <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
-    <body name="cart" pos="0 0 0">
-      <joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
-      <geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
-      <body name="pole" pos="0 0 0">
-        <joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
-        <geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
-        <body name="pole2" pos="0 0 0.6">
-          <joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
-          <geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
-          <!--site name="tip" pos="0 0 .6" size="0.01 0.01"/-->
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
-  </actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml b/examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml
deleted file mode 100644
index b409b3b11..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/inverted_pendulum.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<mujoco model="inverted pendulum">
-	<compiler inertiafromgeom="true"/>
-	<default>
-		<joint armature="0" damping="1" limited="true"/>
-		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
-		<tendon/>
-		<motor ctrlrange="-3 3"/>
-	</default>
-	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
-	<size nstack="3000"/>
-	<worldbody>
-		<!--geom name="ground" type="plane" pos="0 0 0" /-->
-		<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
-		<body name="cart" pos="0 0 0">
-			<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
-			<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
-			<body name="pole" pos="0 0 0">
-				<joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge"/>
-				<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
-				<!--                 <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
-			</body>
-		</body>
-	</worldbody>
-	<actuator>
-		<motor gear="100" joint="slider" name="slide"/>
-	</actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/pusher.xml b/examples/pybullet/gym/envs/mujoco_assets/pusher.xml
deleted file mode 100644
index 62abc06a9..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/pusher.xml
+++ /dev/null
@@ -1,91 +0,0 @@
-<mujoco model="arm3d">
-  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
-  <option timestep="0.01" gravity="0 0 0" integrator="RK4" />
-  
-  <default>
-    <joint armature='0.04' damping="1" limited="true"/>
-    <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
-  </default>
-  
-  <worldbody>
-    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
-    <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
-
-    <body name="r_shoulder_pan_link" pos="0 -0.6 0">
-      <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
-      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
-      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
-      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
-      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
-      <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />
-
-      <body name="r_shoulder_lift_link" pos="0.1 0 0">
-        <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
-        <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" />
-
-        <body name="r_upper_arm_roll_link" pos="0 0 0">
-          <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
-          <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" />
-
-          <body name="r_upper_arm_link" pos="0 0 0">
-            <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
-
-            <body name="r_elbow_flex_link" pos="0.4 0 0">
-              <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
-              <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" />
-
-              <body name="r_forearm_roll_link" pos="0 0 0">
-                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
-                <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/>
-
-                <body name="r_forearm_link" pos="0 0 0">
-                  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
-
-                  <body name="r_wrist_flex_link" pos="0.321 0 0">
-                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
-                    <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" />
-
-                    <body name="r_wrist_roll_link" pos="0 0 0">
-                      <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/>
-                      <body name="fingertip" pos="0 0 0">
-                        <geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
-                        <geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
-                      </body>
-                      <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
-                      <geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
-                      <geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
-                    </body>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <!--<body name="object" pos="0.55 -0.3 -0.275" >-->
-    <body name="object" pos="0.45 -0.05 -0.275" >
-      <geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
-      <geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
-      <joint name="obj_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
-      <joint name="obj_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
-    </body>
-
-    <body name="goal" pos="0.45 -0.05 -0.3230">
-      <geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
-      <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
-      <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/> 
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor joint="r_shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
-    <motor joint="r_shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
-    <motor joint="r_upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
-    <motor joint="r_elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
-    <motor joint="r_forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
-    <motor joint="r_wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
-    <motor joint="r_wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
-  </actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/reacher.xml b/examples/pybullet/gym/envs/mujoco_assets/reacher.xml
deleted file mode 100644
index 82b224ff6..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/reacher.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<mujoco model="reacher">
-	<compiler angle="radian" inertiafromgeom="true"/>
-	<default>
-		<joint armature="1" damping="1" limited="true"/>
-		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
-	</default>
-	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
-	<worldbody>
-		<!-- Arena -->
-		<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
-		<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
-		<geom conaffinity="0" fromto=" .3 -.3 .01 .3  .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
-		<geom conaffinity="0" fromto="-.3  .3 .01 .3  .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
-		<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
-		<!-- Arm -->
-		<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
-		<body name="body0" pos="0 0 .01">
-			<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
-			<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
-			<body name="body1" pos="0.1 0 0">
-				<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
-				<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
-				<body name="fingertip" pos="0.11 0 0">
-					<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
-				</body>
-			</body>
-		</body>
-		<!-- Target -->
-		<body name="target" pos="0 0 .01">
-			<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
-			<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
-			<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
-		</body>
-	</worldbody>
-	<actuator>
-		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
-		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
-	</actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/striker.xml b/examples/pybullet/gym/envs/mujoco_assets/striker.xml
deleted file mode 100644
index 75602324a..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/striker.xml
+++ /dev/null
@@ -1,101 +0,0 @@
-<mujoco model="arm3d">
-  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
-  <option timestep="0.01" gravity="0 0 0" integrator="RK4"/>
-
-  <default>
-    <joint armature='0.04' damping="1" limited="true"/>
-    <geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
-  </default>
-
-  <worldbody>
-    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
-    <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
-
-    <body name="r_shoulder_pan_link" pos="0 -0.6 0">
-      <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05"/>
-      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05"/>
-      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03"/>
-      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03"/>
-      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
-      <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />
-
-      <body name="r_shoulder_lift_link" pos="0.1 0 0">
-        <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
-        <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" />
-
-        <body name="r_upper_arm_roll_link" pos="0 0 0">
-          <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
-          <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" />
-
-          <body name="r_upper_arm_link" pos="0 0 0">
-            <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
-
-            <body name="r_elbow_flex_link" pos="0.4 0 0">
-              <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
-              <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" />
-
-              <body name="r_forearm_roll_link" pos="0 0 0">
-                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
-                <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/>
-
-                <body name="r_forearm_link" pos="0 0 0">
-                  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
-
-                  <body name="r_wrist_flex_link" pos="0.321 0 0">
-                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
-                    <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" />
-
-                    <body name="r_wrist_roll_link" pos="0 0 0">
-                      <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/>
-
-
-                      <body name="fingertip" pos="0 0 0">
-                        <geom conaffinity="1" contype="1" name="tip_arml" pos="0.017 0 0" size="0.003 0.12 0.05" type="box" />
-
-                      </body>
-                      <geom conaffinity="1" contype="1" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" type="capsule" />
-                    </body>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="object" pos="0 0 -0.270" >
-      <geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/>
-      <joint name="obj_slidey" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
-      <joint name="obj_slidex" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
-    </body>
-
-    <body name="goal" pos="0.0 0.0 -0.3230">
-      <geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/>
-      <body pos="0 0 0">
-        <geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
-      </body>
-      <body name="coaster" pos="0 0 0">
-        <geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/>
-      </body>
-      <body pos="0 0 0" axisangle="0 0 1 0.785">
-        <geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
-      </body>
-      <body pos="0 0 0" axisangle="0 0 1 -0.785">
-        <geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
-      </body>
-      <joint name="goal_free" type="free" pos="0 0 0" limited="false" damping="0"/>
-    </body>
-  </worldbody>
-
-  <actuator>
-    <motor joint="r_shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
-    <motor joint="r_shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
-    <motor joint="r_upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
-    <motor joint="r_elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
-    <motor joint="r_forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
-    <motor joint="r_wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
-    <motor joint="r_wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
-  </actuator>
-
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/thrower.xml b/examples/pybullet/gym/envs/mujoco_assets/thrower.xml
deleted file mode 100644
index 0ca6c3ea1..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/thrower.xml
+++ /dev/null
@@ -1,127 +0,0 @@
-<mujoco model="arm3d">
-  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
-  <option timestep="0.01" gravity="0 0 -9.81" integrator="RK4"/>
-  <default>
-    <joint armature='0.75' damping="1" limited="true"/>
-    <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
-  </default>
-
-  <worldbody>
-    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
-
-    <geom type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
-
-    <body name="r_shoulder_pan_link" pos="0 -0.6 0">
-      <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" density="0.0001"/>
-      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
-      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
-      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
-      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
-      <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
-
-      <body name="r_shoulder_lift_link" pos="0.1 0 0">
-        <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" density="0.0001"/>
-        <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
-
-        <body name="r_upper_arm_roll_link" pos="0 0 0">
-          <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
-          <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
-
-          <body name="r_upper_arm_link" pos="0 0 0">
-            <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" density="0.0001"/>
-
-            <body name="r_elbow_flex_link" pos="0.4 0 0">
-              <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" density="0.0001"/>
-              <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
-
-              <body name="r_forearm_roll_link" pos="0 0 0">
-                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
-                <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>
-
-                <body name="r_forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
-                  <geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>
-
-                  <body name="r_wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
-                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
-                    <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
-
-                    <body name="r_wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
-                      <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
-                      <geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
-                      <body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
-                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                      </body>
-                      <body pos="0 0 0" axisangle="0 0 1 1.57">
-                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                      </body>
-                      <body pos="0 0 0" axisangle="0 0 1 1.178">
-                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                      </body>
-                      <body pos="0 0 0" axisangle="0 0 1 0.785">
-                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                      </body>
-                      <body pos="0 0 0" axisangle="0 0 1 1.96">
-                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                      </body>
-                      <body pos="0 0 0" axisangle="0 0 1 2.355">
-                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                      </body>
-                      <body pos="0 0 0" axisangle="0 0 1 2.74">
-                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
-                      </body>
-                    </body>
-                  </body>
-                </body>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-    </body>
-
-    <body name="goal" pos="0.575 0.5 -0.328">
-      <geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
-      <geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
-      <geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
-      <geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
-      <geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
-      <geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
-      <geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
-      <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
-      <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
-      <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="1.0"/>
-      <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="1.0"/>
-    </body>
-
-    <body name="ball" pos="0.5 -0.8 0.275">
-      <geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
-      <joint name="ball_free" type="free" armature='0' damping="0" limited="false"/>
-    </body>
-
-  </worldbody>
-
-  <actuator>
-    <motor joint="r_shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
-    <motor joint="r_shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
-    <motor joint="r_upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
-    <motor joint="r_elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
-    <motor joint="r_forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
-    <motor joint="r_wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
-    <motor joint="r_wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
-  </actuator>
-
-</mujoco>
diff --git a/examples/pybullet/gym/envs/mujoco_assets/walker2d.xml b/examples/pybullet/gym/envs/mujoco_assets/walker2d.xml
deleted file mode 100644
index f1905c067..000000000
--- a/examples/pybullet/gym/envs/mujoco_assets/walker2d.xml
+++ /dev/null
@@ -1,52 +0,0 @@
-<mujoco model="walker2d">
-  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
-  <default>
-    <joint armature="0.01" damping=".1" limited="true"/>
-    <geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
-  </default>
-  <option integrator="RK4" timestep="0.002"/>
-  <worldbody>
-    <!-- CHANGES: see hopper.xml -->
-    <body name="torso">
-      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
-      <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
-      <body name="thigh">
-        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
-        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
-        <body name="leg">
-          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
-          <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
-          <body name="foot">
-            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
-            <geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
-          </body>
-        </body>
-      </body>
-      <!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
-      <body name="thigh_left">
-        <joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
-        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
-        <body name="leg_left">
-          <joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
-          <geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
-          <body name="foot_left">
-            <joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
-            <geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
-    <!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
-  </actuator>
-</mujoco>
diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj
deleted file mode 100644
index 0fa502c62..000000000
--- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part0.obj
+++ /dev/null
@@ -1,23154 +0,0 @@
-# Exported using automatic converter by Erwin Coumans
-mtllib stadium.mtl
-#object stadium_white
-
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-f 1267/1267/1267 2490/2490/2490 1268/1268/1268
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-f 1503/1503/1503 2584/2584/2584 1504/1504/1504
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-f 2590/2590/2590 2591/2591/2591 547/547/547
-f 547/547/547 2592/2592/2592 189/189/189
-f 2593/2593/2593 2109/2109/2109 967/967/967
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-f 2116/2116/2116 2599/2599/2599 2117/2117/2117
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-f 2727/2727/2727 2726/2726/2726 2725/2725/2725
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj
deleted file mode 100644
index 9a3bd4f38..000000000
--- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part1.obj
+++ /dev/null
@@ -1,16210 +0,0 @@
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-f 2286/2286/2286 1890/1890/1890 985/985/985
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-f 1472/1472/1472 2303/2303/2303 1469/1469/1469
-f 1001/1001/1001 2305/2305/2305 1002/1002/1002
-f 478/478/478 2306/2306/2306 2307/2307/2307
-f 480/480/480 2306/2306/2306 478/478/478
-f 2308/2308/2308 1915/1915/1915 1036/1036/1036
-f 1913/1913/1913 2308/2308/2308 1036/1036/1036
-f 2309/2309/2309 1511/1511/1511 1512/1512/1512
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-f 1924/1924/1924 2310/2310/2310 1086/1086/1086
-f 1930/1930/1930 2311/2311/2311 1927/1927/1927
-f 2311/2311/2311 1928/1928/1928 1927/1927/1927
-f 1929/1929/1929 2311/2311/2311 1930/1930/1930
-f 1935/1935/1935 2312/2312/2312 1936/1936/1936
-f 2312/2312/2312 1938/1938/1938 1936/1936/1936
-f 1938/1938/1938 2312/2312/2312 1532/1532/1532
-f 2313/2313/2313 1931/1931/1931 1933/1933/1933
-f 1931/1931/1931 2313/2313/2313 1014/1014/1014
-f 2313/2313/2313 1013/1013/1013 1014/1014/1014
-f 1940/1940/1940 2314/2314/2314 1937/1937/1937
-f 2314/2314/2314 1939/1939/1939 654/654/654
-f 1939/1939/1939 2314/2314/2314 2315/2315/2315
-f 2316/2316/2316 2317/2317/2317 2318/2318/2318
-f 1941/1941/1941 2317/2317/2317 1942/1942/1942
-f 2317/2317/2317 2316/2316/2316 1942/1942/1942
-f 2319/2319/2319 2318/2318/2318 1535/1535/1535
-f 2319/2319/2319 2316/2316/2316 2318/2318/2318
-f 2320/2320/2320 1947/1947/1947 1946/1946/1946
-f 2320/2320/2320 591/591/591 593/593/593
-f 2320/2320/2320 1946/1946/1946 591/591/591
-f 1954/1954/1954 2321/2321/2321 1955/1955/1955
-f 2321/2321/2321 1133/1133/1133 1955/1955/1955
-f 2321/2321/2321 1132/1132/1132 1133/1133/1133
-f 1581/1581/1581 2322/2322/2322 2323/2323/2323
-f 2322/2322/2322 1581/1581/1581 1583/1583/1583
-f 1556/1556/1556 2324/2324/2324 1557/1557/1557
-f 2325/2325/2325 1960/1960/1960 1959/1959/1959
-f 2324/2324/2324 2325/2325/2325 1959/1959/1959
-f 2325/2325/2325 2324/2324/2324 1556/1556/1556
-f 1983/1983/1983 2326/2326/2326 1577/1577/1577
-f 2327/2327/2327 2326/2326/2326 1983/1983/1983
-f 1559/1559/1559 2328/2328/2328 702/702/702
-f 2329/2329/2329 704/704/704 1564/1564/1564
-f 704/704/704 2329/2329/2329 357/357/357
-f 1563/1563/1563 2329/2329/2329 1564/1564/1564
-f 1965/1965/1965 2330/2330/2330 1967/1967/1967
-f 2330/2330/2330 2331/2331/2331 1967/1967/1967
-f 1571/1571/1571 2332/2332/2332 1120/1120/1120
-f 2333/2333/2333 1563/1563/1563 1562/1562/1562
-f 2334/2334/2334 2333/2333/2333 1562/1562/1562
-f 2335/2335/2335 1963/1963/1963 1561/1561/1561
-f 1972/1972/1972 2335/2335/2335 1561/1561/1561
-f 2335/2335/2335 1972/1972/1972 1975/1975/1975
-f 2336/2336/2336 2283/2283/2283 2285/2285/2285
-f 2283/2283/2283 2336/2336/2336 1978/1978/1978
-f 2337/2337/2337 1979/1979/1979 1964/1964/1964
-f 1979/1979/1979 2337/2337/2337 1978/1978/1978
-f 2337/2337/2337 1964/1964/1964 1966/1966/1966
-f 2338/2338/2338 1576/1576/1576 707/707/707
-f 1981/1981/1981 2338/2338/2338 707/707/707
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj
deleted file mode 100644
index cce77b870..000000000
--- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/part2.obj
+++ /dev/null
@@ -1,8350 +0,0 @@
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diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl
deleted file mode 100644
index 334305a92..000000000
--- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.mtl
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\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj b/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj
deleted file mode 100644
index a9b70671b..000000000
--- a/examples/pybullet/gym/envs/other_assets/roboschool/models_outdoor/stadium/stadium.obj
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diff --git a/examples/pybullet/gym/envs/other_assets/stadium.sdf b/examples/pybullet/gym/envs/other_assets/stadium.sdf
deleted file mode 100644
index 585b4eb16..000000000
--- a/examples/pybullet/gym/envs/other_assets/stadium.sdf
+++ /dev/null
@@ -1,107 +0,0 @@
-<sdf version='1.6'>
-	<world name='default'>
-	<gravity>0 0 -9.8</gravity>
-		<model name='roboschool/models_outdoor/stadium/part0.obj'>
-			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
-			<link name='link_d0'>
-			<inertial>
-			<mass>0</mass>
-			<inertia>
-			<ixx>0.166667</ixx>
-			<ixy>0</ixy>
-			<ixz>0</ixz>
-			<iyy>0.166667</iyy>
-			<iyz>0</iyz>
-			<izz>0.166667</izz>
-			</inertia>
-			</inertial>
-			<visual name='visual'>
-				<geometry>
-				<mesh>
-					<scale>1 1 1</scale>
-					<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
-				</mesh>
-				</geometry>
-			<material>
-				<ambient>1 1 1 1</ambient>
-				<diffuse>1.00000 1.00000 1.000000 1</diffuse>
-				<specular>0.1 .1 .1 1</specular>
-				<emissive>0 0 0 0</emissive>
-			 </material>
-			 </visual>
-			 </link>
-			</model>
-		<model name='roboschool/models_outdoor/stadium/part1.obj'>
-			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
-			<link name='link_d1'>
-			<inertial>
-			<mass>0</mass>
-			<inertia>
-			<ixx>0.166667</ixx>
-			<ixy>0</ixy>
-			<ixz>0</ixz>
-			<iyy>0.166667</iyy>
-			<iyz>0</iyz>
-			<izz>0.166667</izz>
-			</inertia>
-			</inertial>
-			<collision name='collision_1'>
-			<geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-			  </collision>
-			<visual name='visual'>
-				<geometry>
-				<mesh>
-					<scale>1 1 1</scale>
-					<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
-				</mesh>
-				</geometry>
-			<material>
-				<ambient>1 1 1 1</ambient>
-				<diffuse>0.600000 0.400000 0.000000 1</diffuse>
-				<specular>.5 .5 .5 1</specular>
-				<emissive>0 0 0 0</emissive>
-			 </material>
-			 </visual>
-			 </link>
-			</model>
-		<model name='part2.obj'>
-			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
-			<link name='link_d2'>
-			<inertial>
-			<mass>0</mass>
-			<inertia>
-			<ixx>0.166667</ixx>
-			<ixy>0</ixy>
-			<ixz>0</ixz>
-			<iyy>0.166667</iyy>
-			<iyz>0</iyz>
-			<izz>0.166667</izz>
-			</inertia>
-			</inertial>
-			
-			<visual name='visual'>
-				<geometry>
-				<mesh>
-					<scale>1 1 1</scale>
-					<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
-				</mesh>
-				</geometry>
-			<material>
-				<ambient>1 0 0 1</ambient>
-				<diffuse>0.000000 0.500000 0.000000 1</diffuse>
-				<specular>0.4 0.4 0.4 1</specular>
-				<emissive>0 0 0 0</emissive>
-			 </material>
-			 </visual>
-			 </link>
-			</model>
-	</world>
-</sdf>
diff --git a/examples/pybullet/gym/envs/scene_abstract.py b/examples/pybullet/gym/envs/scene_abstract.py
index f55575399..663401458 100644
--- a/examples/pybullet/gym/envs/scene_abstract.py
+++ b/examples/pybullet/gym/envs/scene_abstract.py
@@ -1,11 +1,3 @@
-# This is the only place cpp_household really imported. From other places, it is referenced as scene_abstract.cpp_household
-# If this doesn't work, the checklist is:
-# 1) Build local Bullet physics library (instructions in README)
-# 2) ldd cpp_household.so
-# 3) In case of python 2.7 when using pip2 install without -e, the C++ module gets built in python2.7/site-packages,
-# but when you have roboschool directory in cwd or in parent(s) of cwd, python2 will use that and fail to reach site-packages.
-# No such behavior in Python3. For example, no zoo scripts will work if you install without -e and run them from
-# source tree. If you copy zoo script elsewhere, it will work. (upgrade to Python3 if you can.)
 import sys, os
 sys.path.append(os.path.dirname(__file__))
 import pybullet as p
diff --git a/examples/pybullet/gym/envs/scene_stadium.py b/examples/pybullet/gym/envs/scene_stadium.py
index 4a6ea7033..61de550f9 100644
--- a/examples/pybullet/gym/envs/scene_stadium.py
+++ b/examples/pybullet/gym/envs/scene_stadium.py
@@ -12,8 +12,8 @@ class StadiumScene(Scene):
 		# stadium_pose = cpp_household.Pose()
 		# if self.zero_at_running_strip_start_line:
 		#	 stadium_pose.set_xyz(27, 21, 0)  # see RUN_STARTLINE, RUN_RAD constants
-		self.stadium = p.loadSDF(os.path.join(os.path.dirname(__file__), "other_assets", "stadium.sdf"))
-		self.ground_plane_mjcf = p.loadMJCF(os.path.join(os.path.dirname(__file__), "mujoco_assets", "ground_plane.xml"))
+		self.stadium = p.loadSDF("stadium.sdf")
+		self.ground_plane_mjcf = p.loadMJCF("mjcf/ground_plane.xml")
 
 class SinglePlayerStadiumScene(StadiumScene):
 	"This scene created by environment, to work in a way as if there was no concept of scene visible to user."

From 9d0f875c5b9647d0598afcbab87b85784a5041f9 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 15 Aug 2017 09:34:44 -0700
Subject: [PATCH 164/175] fix compile issues due to API change (additional
 argument)

---
 Extras/InverseDynamics/btMultiBodyFromURDF.hpp    |  2 +-
 .../RobotSimulator/b3RobotSimulatorClientAPI.cpp  | 15 +++++++++++++--
 test/SharedMemory/test.c                          |  4 ++--
 3 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/Extras/InverseDynamics/btMultiBodyFromURDF.hpp b/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
index d627ea985..f3e2a7c05 100644
--- a/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
+++ b/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
@@ -44,7 +44,7 @@ public:
     void init() {
         this->createEmptyDynamicsWorld();
         m_dynamicsWorld->setGravity(m_gravity);
-        BulletURDFImporter urdf_importer(&m_nogfx,0);
+        BulletURDFImporter urdf_importer(&m_nogfx,0,1);
         URDFImporterInterface &u2b(urdf_importer);
         bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
 
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
index a0d2c376c..73c7e30e6 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -129,9 +129,20 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i
 			int argc = 0;
 			char* argv[1] = {0};
 #ifdef __APPLE__
-			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
+			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,1);
 #else
-			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
+			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,1);
+#endif
+			break;
+		}
+		case eCONNECT_GUI_SERVER:
+		{
+			int argc = 0;
+			char* argv[1] = {0};
+#ifdef __APPLE__
+			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,0);
+#else
+			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,0);
 #endif
 			break;
 		}
diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c
index e475a4705..9dec36e92 100644
--- a/test/SharedMemory/test.c
+++ b/test/SharedMemory/test.c
@@ -335,9 +335,9 @@ int main(int argc, char* argv[])
 #ifdef PHYSICS_IN_PROCESS_EXAMPLE_BROWSER
 
 #ifdef __APPLE__
-    b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc,argv);
+    b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc,argv,1);
 #else
-    b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv);
+    b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv,1);
 #endif //__APPLE__
 #endif
 

From 99beb44625f223e4151d7781ad7057be09809f75 Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Tue, 15 Aug 2017 10:46:09 -0700
Subject: [PATCH 165/175] fix build issues in previous commit

---
 .../Importers/ImportURDFDemo/BulletUrdfImporter.h  | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 2309d6a6f..c26d30184 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -15,19 +15,19 @@ class BulletURDFImporter : public URDFImporterInterface
 
 public:
 
-	BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling);
+	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling);
 
 	virtual ~BulletURDFImporter();
 
 
 	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
 
-    //warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
-    virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
-    virtual int getNumModels() const;
-    virtual void activateModel(int modelIndex);
-    virtual void setBodyUniqueId(int bodyId);
-    virtual int getBodyUniqueId() const;
+	//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
+	virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
+	virtual int getNumModels() const;
+	virtual void activateModel(int modelIndex);
+	virtual void setBodyUniqueId(int bodyId);
+	virtual int getBodyUniqueId() const;
 	const char* getPathPrefix();
 
 	void printTree(); //for debugging

From 2e0a9877504b6a3edc6bcf14fe38e44d96cadc36 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Tue, 15 Aug 2017 14:15:30 -0700
Subject: [PATCH 166/175] pybullet only allow one GUI/GUI_SERVER instance. Fix
 LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce

---
 .../PhysicsServerCommandProcessor.cpp          | 18 ++++++++++--------
 examples/pybullet/pybullet.c                   |  4 ++--
 2 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 70121889b..9975312da 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -6080,28 +6080,30 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                          
                             if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE)!=0)
                             {
-                                btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0],
+                                btVector3 tmpForce(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0],
                                                 clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+1],
                                                 clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+2]);
-                                btVector3 positionLocal(
+                                btVector3 tmpPosition(
                                                         clientCmd.m_externalForceArguments.m_positions[i*3+0],
                                                         clientCmd.m_externalForceArguments.m_positions[i*3+1],
                                                         clientCmd.m_externalForceArguments.m_positions[i*3+2]);
 
+								
                                 if (clientCmd.m_externalForceArguments.m_linkIds[i] == -1)
                                 {
-                                    btVector3 forceWorld = isLinkFrame ? forceLocal : mb->getBaseWorldTransform().getBasis()*forceLocal;
-                                    btVector3 relPosWorld = isLinkFrame ? positionLocal : mb->getBaseWorldTransform().getBasis()*positionLocal;
+                                    btVector3 forceWorld = isLinkFrame ? mb->getBaseWorldTransform().getBasis()*tmpForce : tmpForce;
+									btVector3 relPosWorld = isLinkFrame ? mb->getBaseWorldTransform().getBasis()*tmpPosition : tmpPosition - mb->getBaseWorldTransform().getOrigin();
                                     mb->addBaseForce(forceWorld);
                                     mb->addBaseTorque(relPosWorld.cross(forceWorld));
                                     //b3Printf("apply base force of %f,%f,%f at %f,%f,%f\n", forceWorld[0],forceWorld[1],forceWorld[2],positionLocal[0],positionLocal[1],positionLocal[2]);
                                 } else
                                 {
                                     int link = clientCmd.m_externalForceArguments.m_linkIds[i];
-                                    btVector3 forceWorld = mb->getLink(link).m_cachedWorldTransform.getBasis()*forceLocal;
-                                    btVector3 relPosWorld = mb->getLink(link).m_cachedWorldTransform.getBasis()*positionLocal;
-                                    mb->addLinkForce(link, forceWorld);
-                                    mb->addLinkTorque(link,relPosWorld.cross(forceWorld));
+
+									btVector3 forceWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis()*tmpForce : tmpForce;
+									btVector3 relPosWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis()*tmpPosition : tmpPosition - mb->getBaseWorldTransform().getOrigin();
+									mb->addLinkForce(link, forceWorld);
+									mb->addLinkTorque(link,relPosWorld.cross(forceWorld));
                                     //b3Printf("apply link force of %f,%f,%f at %f,%f,%f\n", forceWorld[0],forceWorld[1],forceWorld[2], positionLocal[0],positionLocal[1],positionLocal[2]);
                                 }
                             }
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 02e3a5d42..f1f2b1996 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -338,10 +338,10 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 			int i;
 			for (i = 0; i < MAX_PHYSICS_CLIENTS; i++)
 			{
-				if (sPhysicsClientsGUI[i] == eCONNECT_GUI)
+				if ((sPhysicsClientsGUI[i] == eCONNECT_GUI) || (sPhysicsClientsGUI[i] == eCONNECT_GUI_SERVER))
 				{
 					PyErr_SetString(SpamError,
-									"Only one local in-process GUI connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY, UDP or TCP instead.");
+									"Only one local in-process GUI/GUI_SERVER connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY, UDP or TCP instead.");
 					return NULL;
 				}
 			}

From 68106d66dd9f185d91544d044f0ee9e65a29bf98 Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Tue, 15 Aug 2017 21:33:55 +0200
Subject: [PATCH 167/175] Split locomotion environments.

---
 .../enjoy_TF_HopperBulletEnv_v0_2017may.py    |   4 +-
 examples/pybullet/gym/envs/__init__.py        |  28 +--
 examples/pybullet/gym/envs/env_bases.py       | 209 ++--------------
 .../pybullet/gym/envs/gym_locomotion_envs.py  | 110 +++++++++
 .../pybullet/gym/envs/gym_manipulator_envs.py |   2 +-
 ...m_pendula_envs.py => gym_pendulum_envs.py} |   0
 examples/pybullet/gym/envs/gym_walker_envs.py | 233 ------------------
 examples/pybullet/gym/envs/robot_bases.py     | 208 ++++++++++++++++
 .../pybullet/gym/envs/robot_locomotors.py     | 175 +++++++++++++
 .../pybullet/gym/envs/robot_manipulators.py   |   0
 10 files changed, 525 insertions(+), 444 deletions(-)
 create mode 100644 examples/pybullet/gym/envs/gym_locomotion_envs.py
 rename examples/pybullet/gym/envs/{gym_pendula_envs.py => gym_pendulum_envs.py} (100%)
 delete mode 100644 examples/pybullet/gym/envs/gym_walker_envs.py
 create mode 100644 examples/pybullet/gym/envs/robot_bases.py
 create mode 100644 examples/pybullet/gym/envs/robot_locomotors.py
 create mode 100644 examples/pybullet/gym/envs/robot_manipulators.py

diff --git a/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
index 722c01724..375a078c1 100644
--- a/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
@@ -8,7 +8,9 @@ def relu(x):
     return np.maximum(x, 0)
 
 class SmallReactivePolicy:
-    "Simple multi-layer perceptron policy, no internal state"
+    """
+    Simple multi-layer perceptron policy, no internal state
+    """
     def __init__(self, observation_space, action_space):
         assert weights_dense1_w.shape == (observation_space.shape[0], 128)
         assert weights_dense2_w.shape == (128, 64)
diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py
index 218e15daa..aed0c9a26 100644
--- a/examples/pybullet/gym/envs/__init__.py
+++ b/examples/pybullet/gym/envs/__init__.py
@@ -53,32 +53,25 @@ register(
 
 register(
 	id='InvertedPendulumBulletEnv-v0',
-	entry_point='envs.gym_pendula_envs:InvertedPendulumBulletEnv',
+	entry_point='envs.gym_pendulum_envs:InvertedPendulumBulletEnv',
 	max_episode_steps=1000,
 	reward_threshold=950.0,
 	)
 
 register(
 	id='InvertedDoublePendulumBulletEnv-v0',
-	entry_point='envs.gym_pendula_envs:InvertedDoublePendulumBulletEnv',
+	entry_point='envs.gym_pendulum_envs:InvertedDoublePendulumBulletEnv',
 	max_episode_steps=1000,
 	reward_threshold=9100.0,
 	)
 
 register(
 	id='InvertedPendulumSwingupBulletEnv-v0',
-	entry_point='envs.gym_pendula_envs:InvertedPendulumSwingupBulletEnv',
+	entry_point='envs.gym_pendulum_envs:InvertedPendulumSwingupBulletEnv',
 	max_episode_steps=1000,
 	reward_threshold=800.0,
 	)
 
-register(
-	id='HopperBulletEnv-v0',
-	entry_point='envs.gym_walker_envs:HopperBulletEnv',
-	max_episode_steps=1000,
-	reward_threshold=2500.0
-	)
-
 register(
 	id='ReacherBulletEnv-v0',
 	entry_point='envs.gym_manipulator_envs:ReacherBulletEnv',
@@ -109,26 +102,33 @@ register(
 
 register(
 	id='Walker2DBulletEnv-v0',
-	entry_point='envs.gym_walker_envs:Walker2DBulletEnv',
+	entry_point='envs.gym_locomotion_envs:Walker2DBulletEnv',
 	max_episode_steps=1000,
 	reward_threshold=2500.0
 	)
 register(
 	id='HalfCheetahBulletEnv-v0',
-	entry_point='envs.gym_walker_envs:HalfCheetahBulletEnv',
+	entry_point='envs.gym_locomotion_envs:HalfCheetahBulletEnv',
 	max_episode_steps=1000,
 	reward_threshold=3000.0
 	)
 
 register(
 	id='AntBulletEnv-v0',
-	entry_point='envs.gym_walker_envs:AntBulletEnv',
+	entry_point='envs.gym_locomotion_envs:AntBulletEnv',
 	max_episode_steps=1000,
 	reward_threshold=2500.0
 	)
 
 register(
 	id='HumanoidBulletEnv-v0',
-	entry_point='envs.gym_walker_envs:HumanoidBulletEnv',
+	entry_point='envs.gym_locomotion_envs:HumanoidBulletEnv',
 	max_episode_steps=1000
 	)
+
+register(
+	id='HopperBulletEnv-v0',
+	entry_point='envs.gym_locomotion_envs:HopperBulletEnv',
+	max_episode_steps=1000,
+	reward_threshold=2500.0
+	)
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/env_bases.py b/examples/pybullet/gym/envs/env_bases.py
index a2a9f0b0d..573f7b284 100644
--- a/examples/pybullet/gym/envs/env_bases.py
+++ b/examples/pybullet/gym/envs/env_bases.py
@@ -1,12 +1,11 @@
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
 import pybullet as p
-import os
 
 
 class MujocoXmlBaseBulletEnv(gym.Env):
 	"""
-	Base class for MuJoCo .xml actors in a Scene.
+	Base class for MuJoCo .xml environments in a Scene.
 	These environments create single-player scenes and behave like normal Gym environments, if
 	you don't use multiplayer.
 	"""
@@ -16,112 +15,42 @@ class MujocoXmlBaseBulletEnv(gym.Env):
 		'video.frames_per_second': 60
 		}
 
-	self_collision = False
-
-	def __init__(self, model_xml, robot_name, action_dim, obs_dim):
+	def __init__(self, robot):
 		self.scene = None
 
-		self.parts = None
-		self.jdict = None
-		self.ordered_joints = None
-		self.robot_body = None
-
-		high = np.ones([action_dim])
-		self.action_space = gym.spaces.Box(-high, high)
-		high = np.inf*np.ones([obs_dim])
-		self.observation_space = gym.spaces.Box(-high, high)
-		self._seed()
-
-		self.model_xml = model_xml
-		self.robot_name = robot_name
-
 		self.camera = Camera()
 
+		self.robot = robot
+
+		self._seed()
+
+		self.action_space = robot.action_space
+		self.observation_space = robot.observation_space
+
 	def _seed(self, seed=None):
 		self.np_random, seed = gym.utils.seeding.np_random(seed)
+		self.robot.np_random = self.np_random # use the same np_randomizer for robot as for env
 		return [seed]
 
-	def addToScene(self, bodies):
-		if self.parts is not None:
-			parts = self.parts
-		else:
-			parts = {}
-
-		if self.jdict is not None:
-			joints = self.jdict
-		else:
-			joints = {}
-
-		if self.ordered_joints is not None:
-			ordered_joints = self.ordered_joints
-		else:
-			ordered_joints = []
-
-		dump = 0
-		for i in range(len(bodies)):
-			if p.getNumJoints(bodies[i]) == 0:
-				part_name, robot_name = p.getBodyInfo(bodies[i], 0)
-				robot_name = robot_name.decode("utf8")
-				part_name = part_name.decode("utf8")
-				parts[part_name] = BodyPart(part_name, bodies, i, -1)
-			for j in range(p.getNumJoints(bodies[i])):
-				_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
-
-				joint_name = joint_name.decode("utf8")
-				part_name = part_name.decode("utf8")
-
-				if dump: print("ROBOT PART '%s'" % part_name)
-				if dump: print("ROBOT JOINT '%s'" % joint_name) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
-
-				parts[part_name] = BodyPart(part_name, bodies, i, j)
-
-				if part_name == self.robot_name:
-					self.robot_body = parts[part_name]
-
-				if i == 0 and j == 0 and self.robot_body is None:  # if nothing else works, we take this as robot_body
-					parts[self.robot_name] = BodyPart(self.robot_name, bodies, 0, -1)
-					self.robot_body = parts[self.robot_name]
-
-				if joint_name[:6] == "ignore":
-					Joint(joint_name, bodies, i, j).disable_motor()
-					continue
-
-				if joint_name[:8] != "jointfix":
-					joints[joint_name] = Joint(joint_name, bodies, i, j)
-					ordered_joints.append(joints[joint_name])
-
-					joints[joint_name].power_coef = 100.0
-
-		return parts, joints, ordered_joints, self.robot_body
-
 	def _reset(self):
 		if self.scene is None:
 			self.scene = self.create_single_player_scene()
 		if not self.scene.multiplayer:
 			self.scene.episode_restart()
 
-		self.ordered_joints = []
+		self.robot.scene = self.scene
+
 		self.frame = 0
 		self.done = 0
 		self.reward = 0
 		dump = 0
-
-		if self.self_collision:
-			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join("mjcf", self.model_xml), flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
-		else:
-			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(p.loadMJCF(os.path.join("mjcf", self.model_xml)))
-
-		self.robot_specific_reset()
-		s = self.calc_state()	# optimization: calc_state() can calculate something in self.* for calc_potential() to use
-		self.potential = self.calc_potential()
+		s = self.robot.reset()
+		self.potential = self.robot.calc_potential()
 		return s
 
 	def _render(self, mode, close):
 		pass
 
-	def calc_potential(self):
-		return 0
-
 	def HUD(self, state, a, done):
 		pass
 
@@ -134,113 +63,3 @@ class Camera:
 		distance = 10
 		yaw = 10
 		p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)
-
-class Pose_Helper: # dummy class to comply to original interface
-	def __init__(self, body_part):
-		self.body_part = body_part
-
-	def xyz(self):
-		return self.body_part.current_position()
-
-	def rpy(self):
-		return p.getEulerFromQuaternion(self.body_part.current_orientation())
-
-	def orientation(self):
-		return self.body_part.current_orientation()
-
-class BodyPart:
-	def __init__(self, body_name, bodies, bodyIndex, bodyPartIndex):
-		self.bodies = bodies
-		self.bodyIndex = bodyIndex
-		self.bodyPartIndex = bodyPartIndex
-		self.initialPosition = self.current_position()
-		self.initialOrientation = self.current_orientation()
-		self.bp_pose = Pose_Helper(self)
-
-	def state_fields_of_pose_of(self, body_id, link_id=-1):  # a method you will most probably need a lot to get pose and orientation
-		if link_id == -1:
-			(x, y, z), (a, b, c, d) = p.getBasePositionAndOrientation(body_id)
-		else:
-			(x, y, z), (a, b, c, d), _, _, _, _ = p.getLinkState(body_id, link_id)
-		return np.array([x, y, z, a, b, c, d])
-
-	def get_pose(self):
-		return self.state_fields_of_pose_of(self.bodies[self.bodyIndex], self.bodyPartIndex)
-
-	def speed(self):
-		if self.bodyPartIndex == -1:
-			(vx, vy, vz), _ = p.getBaseVelocity(self.bodies[self.bodyIndex])
-		else:
-			(x,y,z), (a,b,c,d), _,_,_,_, (vx, vy, vz), (vr,vp,vy) = p.getLinkState(self.bodies[self.bodyIndex], self.bodyPartIndex, computeLinkVelocity=1)
-		return np.array([vx, vy, vz])
-
-	def current_position(self):
-		return self.get_pose()[:3]
-
-	def current_orientation(self):
-		return self.get_pose()[3:]
-
-	def reset_position(self, position):
-		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, self.get_orientation())
-
-	def reset_orientation(self, orientation):
-		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)
-
-	def reset_pose(self, position, orientation):
-		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, orientation)
-
-	def pose(self):
-		return self.bp_pose
-
-	def contact_list(self):
-		return p.getContactPoints(self.bodies[self.bodyIndex], -1, self.bodyPartIndex, -1)
-
-
-class Joint:
-	def __init__(self, joint_name, bodies, bodyIndex, jointIndex):
-		self.bodies = bodies
-		self.bodyIndex = bodyIndex
-		self.jointIndex = jointIndex
-		self.joint_name = joint_name
-		_,_,_,_,_,_,_,_,self.lowerLimit, self.upperLimit,_,_,_ = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
-		self.power_coeff = 0
-
-	def set_state(self, x, vx):
-		p.resetJointState(self.bodies[self.bodyIndex], self.jointIndex, x, vx)
-
-	def current_position(self): # just some synonyme method
-		return self.get_state()
-
-	def current_relative_position(self):
-		pos, vel = self.get_state()
-		pos_mid = 0.5 * (self.lowerLimit + self.upperLimit);
-		return (
-			2 * (pos - pos_mid) / (self.upperLimit - self.lowerLimit),
-			0.1 * vel
-		)
-
-	def get_state(self):
-		x, vx,_,_ = p.getJointState(self.bodies[self.bodyIndex],self.jointIndex)
-		return x, vx
-
-	def set_position(self, position):
-		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.POSITION_CONTROL, targetPosition=position)
-
-	def set_velocity(self, velocity):
-		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.VELOCITY_CONTROL, targetVelocity=velocity)
-
-	def set_motor_torque(self, torque): # just some synonyme method
-		self.set_torque(torque)
-
-	def set_torque(self, torque):
-		p.setJointMotorControl2(bodyIndex=self.bodies[self.bodyIndex], jointIndex=self.jointIndex, controlMode=p.TORQUE_CONTROL, force=torque) #, positionGain=0.1, velocityGain=0.1)
-
-	def reset_current_position(self, position, velocity): # just some synonyme method
-		self.reset_position(position, velocity)
-
-	def reset_position(self, position, velocity):
-		p.resetJointState(self.bodies[self.bodyIndex],self.jointIndex,targetValue=position, targetVelocity=velocity)
-		self.disable_motor()
-
-	def disable_motor(self):
-		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0)
diff --git a/examples/pybullet/gym/envs/gym_locomotion_envs.py b/examples/pybullet/gym/envs/gym_locomotion_envs.py
new file mode 100644
index 000000000..9c7e6f843
--- /dev/null
+++ b/examples/pybullet/gym/envs/gym_locomotion_envs.py
@@ -0,0 +1,110 @@
+from scene_stadium import SinglePlayerStadiumScene
+from env_bases import MujocoXmlBaseBulletEnv
+import numpy as np
+from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid
+
+
+class WalkerBaseBulletEnv(MujocoXmlBaseBulletEnv):
+	def __init__(self, robot):
+		MujocoXmlBaseBulletEnv.__init__(self, robot)
+		self.camera_x = 0
+		self.walk_target_x = 1e3  # kilometer away
+		self.walk_target_y = 0
+
+	def create_single_player_scene(self):
+		self.stadium_scene = SinglePlayerStadiumScene(gravity=9.8, timestep=0.0165/4, frame_skip=4)
+		return self.stadium_scene
+
+	def _reset(self):
+		r = MujocoXmlBaseBulletEnv._reset(self)
+		self.parts, self.jdict, self.ordered_joints, self.robot_body = self.robot.addToScene(
+			self.stadium_scene.ground_plane_mjcf)
+		self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in
+							   self.foot_ground_object_names])
+		return r
+
+	def move_robot(self, init_x, init_y, init_z):
+		"Used by multiplayer stadium to move sideways, to another running lane."
+		self.cpp_robot.query_position()
+		pose = self.cpp_robot.root_part.pose()
+		pose.move_xyz(init_x, init_y, init_z)  # Works because robot loads around (0,0,0), and some robots have z != 0 that is left intact
+		self.cpp_robot.set_pose(pose)
+
+	electricity_cost	 = -2.0	# cost for using motors -- this parameter should be carefully tuned against reward for making progress, other values less improtant
+	stall_torque_cost	= -0.1	# cost for running electric current through a motor even at zero rotational speed, small
+	foot_collision_cost  = -1.0	# touches another leg, or other objects, that cost makes robot avoid smashing feet into itself
+	foot_ground_object_names = set(["floor"])  # to distinguish ground and other objects
+	joints_at_limit_cost = -0.1	# discourage stuck joints
+
+	def _step(self, a):
+		if not self.scene.multiplayer:  # if multiplayer, action first applied to all robots, then global step() called, then _step() for all robots with the same actions
+			self.robot.apply_action(a)
+			self.scene.global_step()
+
+		state = self.robot.calc_state()  # also calculates self.joints_at_limit
+
+		alive = float(self.robot.alive_bonus(state[0]+self.robot.initial_z, self.robot.body_rpy[1]))   # state[0] is body height above ground, body_rpy[1] is pitch
+		done = alive < 0
+		if not np.isfinite(state).all():
+			print("~INF~", state)
+			done = True
+
+		potential_old = self.potential
+		self.potential = self.robot.calc_potential()
+		progress = float(self.potential - potential_old)
+
+		feet_collision_cost = 0.0
+		for i,f in enumerate(self.robot.feet): # TODO: Maybe calculating feet contacts could be done within the robot code
+			contact_ids = set((x[2], x[4]) for x in f.contact_list())
+			#print("CONTACT OF '%s' WITH %s" % (f.name, ",".join(contact_names)) )
+			self.robot.feet_contact[i] = 1.0 if (self.ground_ids & contact_ids) else 0.0
+			if contact_ids - self.ground_ids:
+				feet_collision_cost += self.foot_collision_cost
+
+		electricity_cost  = self.electricity_cost  * float(np.abs(a*self.robot.joint_speeds).mean())  # let's assume we have DC motor with controller, and reverse current braking
+		electricity_cost += self.stall_torque_cost * float(np.square(a).mean())
+
+		joints_at_limit_cost = float(self.joints_at_limit_cost * self.robot.joints_at_limit)
+
+		self.rewards = [
+			alive,
+			progress,
+			electricity_cost,
+			joints_at_limit_cost,
+			feet_collision_cost
+			]
+
+		self.HUD(state, a, done)
+		return state, sum(self.rewards), bool(done), {}
+
+	def camera_adjust(self):
+		x, y, z = self.body_xyz
+		self.camera_x = 0.98*self.camera_x + (1-0.98)*x
+		self.camera.move_and_look_at(self.camera_x, y-2.0, 1.4, x, y, 1.0)
+
+class HopperBulletEnv(WalkerBaseBulletEnv):
+	def __init__(self):
+		self.robot = Hopper()
+		WalkerBaseBulletEnv.__init__(self, self.robot)
+
+class Walker2DBulletEnv(WalkerBaseBulletEnv):
+	def __init__(self):
+		self.robot = Walker2D()
+		WalkerBaseBulletEnv.__init__(self, self.robot)
+
+class HalfCheetahBulletEnv(WalkerBaseBulletEnv):
+	def __init__(self):
+		self.robot = HalfCheetah()
+		WalkerBaseBulletEnv.__init__(self, self.robot)
+
+class AntBulletEnv(WalkerBaseBulletEnv):
+	def __init__(self):
+		self.robot = Ant()
+		WalkerBaseBulletEnv.__init__(self, self.robot)
+
+class HumanoidBulletEnv(WalkerBaseBulletEnv):
+	def __init__(self):
+		self.robot = Humanoid()
+		WalkerBaseBulletEnv.__init__(self, self.robot)
+		self.electricity_cost  = 4.25*WalkerBaseBulletEnv.electricity_cost
+		self.stall_torque_cost = 4.25*WalkerBaseBulletEnv.stall_torque_cost
diff --git a/examples/pybullet/gym/envs/gym_manipulator_envs.py b/examples/pybullet/gym/envs/gym_manipulator_envs.py
index 111968498..07bd4ee4d 100644
--- a/examples/pybullet/gym/envs/gym_manipulator_envs.py
+++ b/examples/pybullet/gym/envs/gym_manipulator_envs.py
@@ -1,4 +1,4 @@
-from pybulletgym.envs.scene_abstract import SingleRobotEmptyScene
+from scene_abstract import SingleRobotEmptyScene
 from env_bases import MujocoXmlBaseBulletEnv
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
diff --git a/examples/pybullet/gym/envs/gym_pendula_envs.py b/examples/pybullet/gym/envs/gym_pendulum_envs.py
similarity index 100%
rename from examples/pybullet/gym/envs/gym_pendula_envs.py
rename to examples/pybullet/gym/envs/gym_pendulum_envs.py
diff --git a/examples/pybullet/gym/envs/gym_walker_envs.py b/examples/pybullet/gym/envs/gym_walker_envs.py
deleted file mode 100644
index 5e0e0dd86..000000000
--- a/examples/pybullet/gym/envs/gym_walker_envs.py
+++ /dev/null
@@ -1,233 +0,0 @@
-from distutils.command.config import config
-
-from scene_abstract import SingleRobotEmptyScene
-from scene_stadium import SinglePlayerStadiumScene
-from env_bases import MujocoXmlBaseBulletEnv
-import gym, gym.spaces, gym.utils, gym.utils.seeding
-import numpy as np
-import os, sys
-
-class WalkerBaseBulletEnv(MujocoXmlBaseBulletEnv):
-	def __init__(self, fn, robot_name, action_dim, obs_dim, power):
-		MujocoXmlBaseBulletEnv.__init__(self, fn, robot_name, action_dim, obs_dim)
-		self.power = power
-		self.camera_x = 0
-		self.walk_target_x = 1e3  # kilometer away
-		self.walk_target_y = 0
-
-	def create_single_player_scene(self):
-		self.stadium_scene = SinglePlayerStadiumScene(gravity=9.8, timestep=0.0165/4, frame_skip=4)
-		return self.stadium_scene
-
-	def robot_specific_reset(self):
-		for j in self.ordered_joints:
-			j.reset_current_position(self.np_random.uniform( low=-0.1, high=0.1 ), 0)
-
-		self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.stadium_scene.ground_plane_mjcf)
-		self.feet = [self.parts[f] for f in self.foot_list]
-		self.feet_contact = np.array([0.0 for f in self.foot_list], dtype=np.float32)
-		self.ground_ids = set([(self.parts[f].bodies[self.parts[f].bodyIndex], self.parts[f].bodyPartIndex) for f in self.foot_ground_object_names])
-		self.scene.actor_introduce(self)
-		self.initial_z = None
-
-	def move_robot(self, init_x, init_y, init_z):
-		"Used by multiplayer stadium to move sideways, to another running lane."
-		self.cpp_robot.query_position()
-		pose = self.cpp_robot.root_part.pose()
-		pose.move_xyz(init_x, init_y, init_z)  # Works because robot loads around (0,0,0), and some robots have z != 0 that is left intact
-		self.cpp_robot.set_pose(pose)
-
-	def apply_action(self, a):
-		assert( np.isfinite(a).all() )
-		for n,j in enumerate(self.ordered_joints):
-			j.set_motor_torque( self.power*j.power_coef*float(np.clip(a[n], -1, +1)) )
-
-	def calc_state(self):
-		j = np.array([j.current_relative_position() for j in self.ordered_joints], dtype=np.float32).flatten()
-		# even elements [0::2] position, scaled to -1..+1 between limits
-		# odd elements  [1::2] angular speed, scaled to show -1..+1
-		self.joint_speeds = j[1::2]
-		self.joints_at_limit = np.count_nonzero(np.abs(j[0::2]) > 0.99)
-
-		body_pose = self.robot_body.pose()
-		parts_xyz = np.array( [p.pose().xyz() for p in self.parts.values()] ).flatten()
-		self.body_xyz = (parts_xyz[0::3].mean(), parts_xyz[1::3].mean(), body_pose.xyz()[2])  # torso z is more informative than mean z
-		self.body_rpy = body_pose.rpy()
-		z = self.body_xyz[2]
-		r, p, yaw = self.body_rpy
-		if self.initial_z==None:
-			self.initial_z = z
-		self.walk_target_theta = np.arctan2( self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0] )
-		self.walk_target_dist  = np.linalg.norm( [self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0]] )
-		angle_to_target = self.walk_target_theta - yaw
-
-		rot_speed = np.array(
-			[[np.cos(-yaw), -np.sin(-yaw), 0],
-			 [np.sin(-yaw),  np.cos(-yaw), 0],
-			 [		   0,			 0, 1]]
-			)
-		vx, vy, vz = np.dot(rot_speed, self.robot_body.speed())  # rotate speed back to body point of view
-
-		more = np.array([
-			z-self.initial_z,
-			np.sin(angle_to_target), np.cos(angle_to_target),
-			0.3*vx, 0.3*vy, 0.3*vz,	# 0.3 is just scaling typical speed into -1..+1, no physical sense here
-			r, p], dtype=np.float32)
-		return np.clip( np.concatenate([more] + [j] + [self.feet_contact]), -5, +5)
-
-	def calc_potential(self):
-		# progress in potential field is speed*dt, typical speed is about 2-3 meter per second, this potential will change 2-3 per frame (not per second),
-		# all rewards have rew/frame units and close to 1.0
-		return - self.walk_target_dist / self.scene.dt
-
-	electricity_cost	 = -2.0	# cost for using motors -- this parameter should be carefully tuned against reward for making progress, other values less improtant
-	stall_torque_cost	= -0.1	# cost for running electric current through a motor even at zero rotational speed, small
-	foot_collision_cost  = -1.0	# touches another leg, or other objects, that cost makes robot avoid smashing feet into itself
-	foot_ground_object_names = set(["floor"])  # to distinguish ground and other objects
-	joints_at_limit_cost = -0.1	# discourage stuck joints
-
-	def _step(self, a):
-		if not self.scene.multiplayer:  # if multiplayer, action first applied to all robots, then global step() called, then _step() for all robots with the same actions
-			self.apply_action(a)
-			self.scene.global_step()
-
-		state = self.calc_state()  # also calculates self.joints_at_limit
-
-		alive = float(self.alive_bonus(state[0]+self.initial_z, self.body_rpy[1]))   # state[0] is body height above ground, body_rpy[1] is pitch
-		done = alive < 0
-		if not np.isfinite(state).all():
-			print("~INF~", state)
-			done = True
-
-		potential_old = self.potential
-		self.potential = self.calc_potential()
-		progress = float(self.potential - potential_old)
-
-		feet_collision_cost = 0.0
-		for i,f in enumerate(self.feet):
-			contact_ids = set((x[2], x[4]) for x in f.contact_list())
-			#print("CONTACT OF '%s' WITH %s" % (f.name, ",".join(contact_names)) )
-			self.feet_contact[i] = 1.0 if (self.ground_ids & contact_ids) else 0.0
-			if contact_ids - self.ground_ids:
-				feet_collision_cost += self.foot_collision_cost
-
-		electricity_cost  = self.electricity_cost  * float(np.abs(a*self.joint_speeds).mean())  # let's assume we have DC motor with controller, and reverse current braking
-		electricity_cost += self.stall_torque_cost * float(np.square(a).mean())
-
-		joints_at_limit_cost = float(self.joints_at_limit_cost * self.joints_at_limit)
-
-		self.rewards = [
-			alive,
-			progress,
-			electricity_cost,
-			joints_at_limit_cost,
-			feet_collision_cost
-			]
-
-		self.HUD(state, a, done)
-		return state, sum(self.rewards), bool(done), {}
-
-	def camera_adjust(self):
-		x, y, z = self.body_xyz
-		self.camera_x = 0.98*self.camera_x + (1-0.98)*x
-		self.camera.move_and_look_at(self.camera_x, y-2.0, 1.4, x, y, 1.0)
-
-class HopperBulletEnv(WalkerBaseBulletEnv):
-	foot_list = ["foot"]
-	def __init__(self):
-		WalkerBaseBulletEnv.__init__(self, "hopper.xml", "torso", action_dim=3, obs_dim=15, power=0.75)
-	def alive_bonus(self, z, pitch):
-		return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
-
-class Walker2DBulletEnv(WalkerBaseBulletEnv):
-	foot_list = ["foot", "foot_left"]
-	def __init__(self):
-		WalkerBaseBulletEnv.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40)
-	def alive_bonus(self, z, pitch):
-		return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
-	def robot_specific_reset(self):
-		WalkerBaseBulletEnv.robot_specific_reset(self)
-		for n in ["foot_joint", "foot_left_joint"]:
-			self.jdict[n].power_coef = 30.0
-
-class HalfCheetahBulletEnv(WalkerBaseBulletEnv):
-	foot_list = ["ffoot", "fshin", "fthigh",  "bfoot", "bshin", "bthigh"]  # track these contacts with ground
-	def __init__(self):
-		WalkerBaseBulletEnv.__init__(self, "half_cheetah.xml", "torso", action_dim=6, obs_dim=26, power=0.90)
-	def alive_bonus(self, z, pitch):
-		# Use contact other than feet to terminate episode: due to a lot of strange walks using knees
-		return +1 if np.abs(pitch) < 1.0 and not self.feet_contact[1] and not self.feet_contact[2] and not self.feet_contact[4] and not self.feet_contact[5] else -1
-	def robot_specific_reset(self):
-		WalkerBaseBulletEnv.robot_specific_reset(self)
-		self.jdict["bthigh"].power_coef = 120.0
-		self.jdict["bshin"].power_coef  = 90.0
-		self.jdict["bfoot"].power_coef  = 60.0
-		self.jdict["fthigh"].power_coef = 140.0
-		self.jdict["fshin"].power_coef  = 60.0
-		self.jdict["ffoot"].power_coef  = 30.0
-
-class AntBulletEnv(WalkerBaseBulletEnv):
-	foot_list = ['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot']
-	def __init__(self):
-		WalkerBaseBulletEnv.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5)
-	def alive_bonus(self, z, pitch):
-		return +1 if z > 0.26 else -1  # 0.25 is central sphere rad, die if it scrapes the ground
-
-
-## 3d Humanoid ##
-
-class HumanoidBulletEnv(WalkerBaseBulletEnv):
-	self_collision = True
-	foot_list = ["right_foot", "left_foot"]  # "left_hand", "right_hand"
-
-	def __init__(self):
-		WalkerBaseBulletEnv.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41)
-		# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
-		self.electricity_cost  = 4.25*WalkerBaseBulletEnv.electricity_cost
-		self.stall_torque_cost = 4.25*WalkerBaseBulletEnv.stall_torque_cost
-
-	def robot_specific_reset(self):
-		WalkerBaseBulletEnv.robot_specific_reset(self)
-		self.motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
-		self.motor_power  = [100, 100, 100]
-		self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
-		self.motor_power += [100, 100, 300, 200]
-		self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
-		self.motor_power += [100, 100, 300, 200]
-		self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
-		self.motor_power += [75, 75, 75]
-		self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
-		self.motor_power += [75, 75, 75]
-		self.motors = [self.jdict[n] for n in self.motor_names]
-		# if self.random_yaw: # TODO: Make leaning work as soon as the rest works
-		# 	cpose = cpp_household.Pose()
-		# 	yaw = self.np_random.uniform(low=-3.14, high=3.14)
-		# 	if self.random_lean and self.np_random.randint(2)==0:
-		# 		cpose.set_xyz(0, 0, 1.4)
-		# 		if self.np_random.randint(2)==0:
-		# 			pitch = np.pi/2
-		# 			cpose.set_xyz(0, 0, 0.45)
-		# 		else:
-		# 			pitch = np.pi*3/2
-		# 			cpose.set_xyz(0, 0, 0.25)
-		# 		roll = 0
-		# 		cpose.set_rpy(roll, pitch, yaw)
-		# 	else:
-		# 		cpose.set_xyz(0, 0, 1.4)
-		# 		cpose.set_rpy(0, 0, yaw)  # just face random direction, but stay straight otherwise
-		# 	self.cpp_robot.set_pose_and_speed(cpose, 0,0,0)
-		self.initial_z = 0.8
-
-	random_yaw = False
-	random_lean = False
-
-	def apply_action(self, a):
-		assert( np.isfinite(a).all() )
-		force_gain = 1
-		for i, m, power in zip(range(17), self.motors, self.motor_power):
-			m.set_motor_torque( float(force_gain * power*self.power*a[i]) )
-			#m.set_motor_torque(float(force_gain * power * self.power * np.clip(a[i], -1, +1)))
-
-	def alive_bonus(self, z, pitch):
-		return +2 if z > 0.78 else -1   # 2 here because 17 joints produce a lot of electricity cost just from policy noise, living must be better than dying
-
diff --git a/examples/pybullet/gym/envs/robot_bases.py b/examples/pybullet/gym/envs/robot_bases.py
new file mode 100644
index 000000000..626de31bf
--- /dev/null
+++ b/examples/pybullet/gym/envs/robot_bases.py
@@ -0,0 +1,208 @@
+import pybullet as p
+import gym, gym.spaces, gym.utils
+import numpy as np
+import os
+
+
+class MujocoXmlBasedRobot:
+	"""
+	Base class for mujoco .xml based agents.
+	"""
+
+	self_collision = False
+
+	def __init__(self, model_xml, robot_name, action_dim, obs_dim):
+		self.parts = None
+		self.jdict = None
+		self.ordered_joints = None
+		self.robot_body = None
+
+		high = np.ones([action_dim])
+		self.action_space = gym.spaces.Box(-high, high)
+		high = np.inf * np.ones([obs_dim])
+		self.observation_space = gym.spaces.Box(-high, high)
+
+		self.model_xml = model_xml
+		self.robot_name = robot_name
+
+	def addToScene(self, bodies):
+		if self.parts is not None:
+			parts = self.parts
+		else:
+			parts = {}
+
+		if self.jdict is not None:
+			joints = self.jdict
+		else:
+			joints = {}
+
+		if self.ordered_joints is not None:
+			ordered_joints = self.ordered_joints
+		else:
+			ordered_joints = []
+
+		dump = 0
+		for i in range(len(bodies)):
+			if p.getNumJoints(bodies[i]) == 0:
+				part_name, robot_name = p.getBodyInfo(bodies[i], 0)
+				robot_name = robot_name.decode("utf8")
+				part_name = part_name.decode("utf8")
+				parts[part_name] = BodyPart(part_name, bodies, i, -1)
+			for j in range(p.getNumJoints(bodies[i])):
+				_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
+
+				joint_name = joint_name.decode("utf8")
+				part_name = part_name.decode("utf8")
+
+				if dump: print("ROBOT PART '%s'" % part_name)
+				if dump: print("ROBOT JOINT '%s'" % joint_name) # limits = %+0.2f..%+0.2f effort=%0.3f speed=%0.3f" % ((joint_name,) + j.limits()) )
+
+				parts[part_name] = BodyPart(part_name, bodies, i, j)
+
+				if part_name == self.robot_name:
+					self.robot_body = parts[part_name]
+
+				if i == 0 and j == 0 and self.robot_body is None:  # if nothing else works, we take this as robot_body
+					parts[self.robot_name] = BodyPart(self.robot_name, bodies, 0, -1)
+					self.robot_body = parts[self.robot_name]
+
+				if joint_name[:6] == "ignore":
+					Joint(joint_name, bodies, i, j).disable_motor()
+					continue
+
+				if joint_name[:8] != "jointfix":
+					joints[joint_name] = Joint(joint_name, bodies, i, j)
+					ordered_joints.append(joints[joint_name])
+
+					joints[joint_name].power_coef = 100.0
+
+		return parts, joints, ordered_joints, self.robot_body
+
+	def reset(self):
+		self.ordered_joints = []
+
+		if self.self_collision:
+			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
+				p.loadMJCF(os.path.join("mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
+		else:
+			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
+				p.loadMJCF(os.path.join("mjcf", self.model_xml)))
+
+		self.robot_specific_reset()
+
+		s = self.calc_state()  # optimization: calc_state() can calculate something in self.* for calc_potential() to use
+
+		return s
+
+	def calc_potential(self):
+		return 0
+
+class Pose_Helper: # dummy class to comply to original interface
+	def __init__(self, body_part):
+		self.body_part = body_part
+
+	def xyz(self):
+		return self.body_part.current_position()
+
+	def rpy(self):
+		return p.getEulerFromQuaternion(self.body_part.current_orientation())
+
+	def orientation(self):
+		return self.body_part.current_orientation()
+
+class BodyPart:
+	def __init__(self, body_name, bodies, bodyIndex, bodyPartIndex):
+		self.bodies = bodies
+		self.bodyIndex = bodyIndex
+		self.bodyPartIndex = bodyPartIndex
+		self.initialPosition = self.current_position()
+		self.initialOrientation = self.current_orientation()
+		self.bp_pose = Pose_Helper(self)
+
+	def state_fields_of_pose_of(self, body_id, link_id=-1):  # a method you will most probably need a lot to get pose and orientation
+		if link_id == -1:
+			(x, y, z), (a, b, c, d) = p.getBasePositionAndOrientation(body_id)
+		else:
+			(x, y, z), (a, b, c, d), _, _, _, _ = p.getLinkState(body_id, link_id)
+		return np.array([x, y, z, a, b, c, d])
+
+	def get_pose(self):
+		return self.state_fields_of_pose_of(self.bodies[self.bodyIndex], self.bodyPartIndex)
+
+	def speed(self):
+		if self.bodyPartIndex == -1:
+			(vx, vy, vz), _ = p.getBaseVelocity(self.bodies[self.bodyIndex])
+		else:
+			(x,y,z), (a,b,c,d), _,_,_,_, (vx, vy, vz), (vr,vp,vy) = p.getLinkState(self.bodies[self.bodyIndex], self.bodyPartIndex, computeLinkVelocity=1)
+		return np.array([vx, vy, vz])
+
+	def current_position(self):
+		return self.get_pose()[:3]
+
+	def current_orientation(self):
+		return self.get_pose()[3:]
+
+	def reset_position(self, position):
+		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, self.get_orientation())
+
+	def reset_orientation(self, orientation):
+		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], self.get_position(), orientation)
+
+	def reset_pose(self, position, orientation):
+		p.resetBasePositionAndOrientation(self.bodies[self.bodyIndex], position, orientation)
+
+	def pose(self):
+		return self.bp_pose
+
+	def contact_list(self):
+		return p.getContactPoints(self.bodies[self.bodyIndex], -1, self.bodyPartIndex, -1)
+
+
+class Joint:
+	def __init__(self, joint_name, bodies, bodyIndex, jointIndex):
+		self.bodies = bodies
+		self.bodyIndex = bodyIndex
+		self.jointIndex = jointIndex
+		self.joint_name = joint_name
+		_,_,_,_,_,_,_,_,self.lowerLimit, self.upperLimit,_,_,_ = p.getJointInfo(self.bodies[self.bodyIndex], self.jointIndex)
+		self.power_coeff = 0
+
+	def set_state(self, x, vx):
+		p.resetJointState(self.bodies[self.bodyIndex], self.jointIndex, x, vx)
+
+	def current_position(self): # just some synonyme method
+		return self.get_state()
+
+	def current_relative_position(self):
+		pos, vel = self.get_state()
+		pos_mid = 0.5 * (self.lowerLimit + self.upperLimit);
+		return (
+			2 * (pos - pos_mid) / (self.upperLimit - self.lowerLimit),
+			0.1 * vel
+		)
+
+	def get_state(self):
+		x, vx,_,_ = p.getJointState(self.bodies[self.bodyIndex],self.jointIndex)
+		return x, vx
+
+	def set_position(self, position):
+		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.POSITION_CONTROL, targetPosition=position)
+
+	def set_velocity(self, velocity):
+		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,p.VELOCITY_CONTROL, targetVelocity=velocity)
+
+	def set_motor_torque(self, torque): # just some synonyme method
+		self.set_torque(torque)
+
+	def set_torque(self, torque):
+		p.setJointMotorControl2(bodyIndex=self.bodies[self.bodyIndex], jointIndex=self.jointIndex, controlMode=p.TORQUE_CONTROL, force=torque) #, positionGain=0.1, velocityGain=0.1)
+
+	def reset_current_position(self, position, velocity): # just some synonyme method
+		self.reset_position(position, velocity)
+
+	def reset_position(self, position, velocity):
+		p.resetJointState(self.bodies[self.bodyIndex],self.jointIndex,targetValue=position, targetVelocity=velocity)
+		self.disable_motor()
+
+	def disable_motor(self):
+		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0)
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/robot_locomotors.py b/examples/pybullet/gym/envs/robot_locomotors.py
new file mode 100644
index 000000000..92cda05ac
--- /dev/null
+++ b/examples/pybullet/gym/envs/robot_locomotors.py
@@ -0,0 +1,175 @@
+from robot_bases import MujocoXmlBasedRobot
+import numpy as np
+
+
+class WalkerBase(MujocoXmlBasedRobot):
+	def __init__(self, fn, robot_name, action_dim, obs_dim, power):
+		MujocoXmlBasedRobot.__init__(self, fn, robot_name, action_dim, obs_dim)
+		self.power = power
+		self.camera_x = 0
+		self.walk_target_x = 1e3  # kilometer away
+		self.walk_target_y = 0
+
+	def robot_specific_reset(self):
+		for j in self.ordered_joints:
+			j.reset_current_position(self.np_random.uniform(low=-0.1, high=0.1), 0)
+
+		self.feet = [self.parts[f] for f in self.foot_list]
+		self.feet_contact = np.array([0.0 for f in self.foot_list], dtype=np.float32)
+		self.scene.actor_introduce(self)
+		self.initial_z = None
+
+	def apply_action(self, a):
+		assert (np.isfinite(a).all())
+		for n, j in enumerate(self.ordered_joints):
+			j.set_motor_torque(self.power * j.power_coef * float(np.clip(a[n], -1, +1)))
+
+	def calc_state(self):
+		j = np.array([j.current_relative_position() for j in self.ordered_joints], dtype=np.float32).flatten()
+		# even elements [0::2] position, scaled to -1..+1 between limits
+		# odd elements  [1::2] angular speed, scaled to show -1..+1
+		self.joint_speeds = j[1::2]
+		self.joints_at_limit = np.count_nonzero(np.abs(j[0::2]) > 0.99)
+
+		body_pose = self.robot_body.pose()
+		parts_xyz = np.array([p.pose().xyz() for p in self.parts.values()]).flatten()
+		self.body_xyz = (
+		parts_xyz[0::3].mean(), parts_xyz[1::3].mean(), body_pose.xyz()[2])  # torso z is more informative than mean z
+		self.body_rpy = body_pose.rpy()
+		z = self.body_xyz[2]
+		if self.initial_z == None:
+			self.initial_z = z
+		r, p, yaw = self.body_rpy
+		self.walk_target_theta = np.arctan2(self.walk_target_y - self.body_xyz[1],
+											self.walk_target_x - self.body_xyz[0])
+		self.walk_target_dist = np.linalg.norm(
+			[self.walk_target_y - self.body_xyz[1], self.walk_target_x - self.body_xyz[0]])
+		angle_to_target = self.walk_target_theta - yaw
+
+		rot_speed = np.array(
+			[[np.cos(-yaw), -np.sin(-yaw), 0],
+			 [np.sin(-yaw), np.cos(-yaw), 0],
+			 [		0,			 0, 1]]
+		)
+		vx, vy, vz = np.dot(rot_speed, self.robot_body.speed())  # rotate speed back to body point of view
+
+		more = np.array([ z-self.initial_z,
+			np.sin(angle_to_target), np.cos(angle_to_target),
+			0.3* vx , 0.3* vy , 0.3* vz ,  # 0.3 is just scaling typical speed into -1..+1, no physical sense here
+			r, p], dtype=np.float32)
+		return np.clip( np.concatenate([more] + [j] + [self.feet_contact]), -5, +5)
+
+	def calc_potential(self):
+		# progress in potential field is speed*dt, typical speed is about 2-3 meter per second, this potential will change 2-3 per frame (not per second),
+		# all rewards have rew/frame units and close to 1.0
+		return - self.walk_target_dist / self.scene.dt
+
+
+class Hopper(WalkerBase):
+	foot_list = ["foot"]
+
+	def __init__(self):
+		WalkerBase.__init__(self, "hopper.xml", "torso", action_dim=3, obs_dim=15, power=0.75)
+
+	def alive_bonus(self, z, pitch):
+		return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
+
+
+class Walker2D(WalkerBase):
+	foot_list = ["foot", "foot_left"]
+
+	def __init__(self):
+		WalkerBase.__init__(self, "walker2d.xml", "torso", action_dim=6, obs_dim=22, power=0.40)
+
+	def alive_bonus(self, z, pitch):
+		return +1 if z > 0.8 and abs(pitch) < 1.0 else -1
+
+	def robot_specific_reset(self):
+		WalkerBase.robot_specific_reset(self)
+		for n in ["foot_joint", "foot_left_joint"]:
+			self.jdict[n].power_coef = 30.0
+
+
+class HalfCheetah(WalkerBase):
+	foot_list = ["ffoot", "fshin", "fthigh",  "bfoot", "bshin", "bthigh"]  # track these contacts with ground
+
+	def __init__(self):
+		WalkerBase.__init__(self, "half_cheetah.xml", "torso", action_dim=6, obs_dim=26, power=0.90)
+
+	def alive_bonus(self, z, pitch):
+		# Use contact other than feet to terminate episode: due to a lot of strange walks using knees
+		return +1 if np.abs(pitch) < 1.0 and not self.feet_contact[1] and not self.feet_contact[2] and not self.feet_contact[4] and not self.feet_contact[5] else -1
+
+	def robot_specific_reset(self):
+		WalkerBase.robot_specific_reset(self)
+		self.jdict["bthigh"].power_coef = 120.0
+		self.jdict["bshin"].power_coef  = 90.0
+		self.jdict["bfoot"].power_coef  = 60.0
+		self.jdict["fthigh"].power_coef = 140.0
+		self.jdict["fshin"].power_coef  = 60.0
+		self.jdict["ffoot"].power_coef  = 30.0
+
+
+class Ant(WalkerBase):
+	foot_list = ['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot']
+
+	def __init__(self):
+		WalkerBase.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5)
+
+	def alive_bonus(self, z, pitch):
+		return +1 if z > 0.26 else -1  # 0.25 is central sphere rad, die if it scrapes the ground
+
+
+class Humanoid(WalkerBase):
+	self_collision = True
+	foot_list = ["right_foot", "left_foot"]  # "left_hand", "right_hand"
+
+	def __init__(self):
+		WalkerBase.__init__(self, 'humanoid_symmetric.xml', 'torso', action_dim=17, obs_dim=44, power=0.41)
+		# 17 joints, 4 of them important for walking (hip, knee), others may as well be turned off, 17/4 = 4.25
+
+	def robot_specific_reset(self):
+		WalkerBase.robot_specific_reset(self)
+		self.motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
+		self.motor_power  = [100, 100, 100]
+		self.motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
+		self.motor_power += [100, 100, 300, 200]
+		self.motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
+		self.motor_power += [100, 100, 300, 200]
+		self.motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
+		self.motor_power += [75, 75, 75]
+		self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
+		self.motor_power += [75, 75, 75]
+		self.motors = [self.jdict[n] for n in self.motor_names]
+		# if self.random_yaw: # TODO: Make leaning work as soon as the rest works
+		# 	cpose = cpp_household.Pose()
+		# 	yaw = self.np_random.uniform(low=-3.14, high=3.14)
+		# 	if self.random_lean and self.np_random.randint(2)==0:
+		# 		cpose.set_xyz(0, 0, 1.4)
+		# 		if self.np_random.randint(2)==0:
+		# 			pitch = np.pi/2
+		# 			cpose.set_xyz(0, 0, 0.45)
+		# 		else:
+		# 			pitch = np.pi*3/2
+		# 			cpose.set_xyz(0, 0, 0.25)
+		# 		roll = 0
+		# 		cpose.set_rpy(roll, pitch, yaw)
+		# 	else:
+		# 		cpose.set_xyz(0, 0, 1.4)
+		# 		cpose.set_rpy(0, 0, yaw)  # just face random direction, but stay straight otherwise
+		# 	self.cpp_robot.set_pose_and_speed(cpose, 0,0,0)
+		self.initial_z = 0.8
+
+	random_yaw = False
+	random_lean = False
+
+	def apply_action(self, a):
+		assert( np.isfinite(a).all() )
+		force_gain = 1
+		for i, m, power in zip(range(17), self.motors, self.motor_power):
+			m.set_motor_torque( float(force_gain * power*self.power*a[i]) )
+			#m.set_motor_torque(float(force_gain * power * self.power * np.clip(a[i], -1, +1)))
+
+	def alive_bonus(self, z, pitch):
+		return +2 if z > 0.78 else -1   # 2 here because 17 joints produce a lot of electricity cost just from policy noise, living must be better than dying
+
diff --git a/examples/pybullet/gym/envs/robot_manipulators.py b/examples/pybullet/gym/envs/robot_manipulators.py
new file mode 100644
index 000000000..e69de29bb

From a66576f0341b4aa17d389a07d298aa3aff9f6202 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 16 Aug 2017 12:33:25 -0700
Subject: [PATCH 168/175] revert API to be backward compatible, add
 b3CreateInProcessPhysicsServerAndConnectSharedMemory same for
 BulletURDFImporter constructor

---
 .../ImportURDFDemo/BulletUrdfImporter.h       |  2 +-
 .../b3RobotSimulatorClientAPI.cpp             |  8 +++---
 .../SharedMemoryInProcessPhysicsC_API.cpp     | 26 ++++++++++++++++---
 .../SharedMemoryInProcessPhysicsC_API.h       |  6 +++--
 examples/pybullet/pybullet.c                  |  8 +++---
 5 files changed, 35 insertions(+), 15 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index c26d30184..243e1e55c 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -15,7 +15,7 @@ class BulletURDFImporter : public URDFImporterInterface
 
 public:
 
-	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling);
+	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling=1);
 
 	virtual ~BulletURDFImporter();
 
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
index 73c7e30e6..172a8dfb9 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -129,9 +129,9 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i
 			int argc = 0;
 			char* argv[1] = {0};
 #ifdef __APPLE__
-			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,1);
+			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
 #else
-			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,1);
+			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
 #endif
 			break;
 		}
@@ -140,9 +140,9 @@ bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, i
 			int argc = 0;
 			char* argv[1] = {0};
 #ifdef __APPLE__
-			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,0);
+			sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
 #else
-			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,0);
+			sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
 #endif
 			break;
 		}
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
index 2def80e1c..8f01bfb5a 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
@@ -83,14 +83,24 @@ public:
     
 };
 
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[], int useInProcessMemory)
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[])
 {
-    InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, useInProcessMemory);
+    InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 1);
     cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
     cl->connect();
     return (b3PhysicsClientHandle ) cl;
 }
 
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[])
+{
+    InProcessPhysicsClientSharedMemoryMainThread* cl = new InProcessPhysicsClientSharedMemoryMainThread(argc, argv, 0);
+    cl->setSharedMemoryKey(SHARED_MEMORY_KEY);
+    cl->connect();
+    return (b3PhysicsClientHandle ) cl;
+}
+
+
+
 class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
 {
 	btInProcessExampleBrowserInternalData* m_data;
@@ -123,10 +133,18 @@ public:
 
 };
 
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[], int useInProcessMemory)
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
 {	
 	
-	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, useInProcessMemory);
+	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 1);
+    cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
+    cl->connect();
+	return (b3PhysicsClientHandle ) cl;
+}
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[])
+{	
+	
+	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 0);
     cl->setSharedMemoryKey(SHARED_MEMORY_KEY+1);
     cl->connect();
 	return (b3PhysicsClientHandle ) cl;
diff --git a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
index 0bad1283a..04acba313 100644
--- a/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
+++ b/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
@@ -10,9 +10,11 @@ extern "C" {
 
 
 ///think more about naming. The b3ConnectPhysicsLoopback
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[], int useInProcessMemory);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[]);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[]);
 
-b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[], int useInProcessMemory);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[]);
+b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]);
 
 b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
 
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index f1f2b1996..6f791de14 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -355,9 +355,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 				char* argv[2] = {"unused",options};
 
 #ifdef __APPLE__
-				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,1);
+				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
 #else
-				sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,1);
+				sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
 #endif
 				break;
 			}
@@ -367,9 +367,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 				char* argv[2] = {"unused",options};
 
 #ifdef __APPLE__
-				sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,0);
+				sm = b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(argc, argv);
 #else
-				sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,0);
+				sm = b3CreateInProcessPhysicsServerAndConnectSharedMemory(argc, argv);
 #endif
 				break;
 			}

From f74a9299a869e3347cf2ccda39e74a50c4e7fe5b Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Wed, 16 Aug 2017 08:25:05 +0200
Subject: [PATCH 169/175] Unversion manipulators for now. They come back as
 they are ready.

---
 examples/pybullet/gym/envs/__init__.py        |  54 ++--
 .../pybullet/gym/envs/gym_manipulator_envs.py | 304 ------------------
 .../pybullet/gym/envs/robot_manipulators.py   |   0
 3 files changed, 27 insertions(+), 331 deletions(-)
 delete mode 100644 examples/pybullet/gym/envs/gym_manipulator_envs.py
 delete mode 100644 examples/pybullet/gym/envs/robot_manipulators.py

diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py
index aed0c9a26..29e0efed0 100644
--- a/examples/pybullet/gym/envs/__init__.py
+++ b/examples/pybullet/gym/envs/__init__.py
@@ -72,33 +72,33 @@ register(
 	reward_threshold=800.0,
 	)
 
-register(
-	id='ReacherBulletEnv-v0',
-	entry_point='envs.gym_manipulator_envs:ReacherBulletEnv',
-	max_episode_steps=150,
-	reward_threshold=18.0,
-	)
-
-register(
-	id='PusherBulletEnv-v0',
-	entry_point='envs.gym_manipulator_envs:PusherBulletEnv',
-	max_episode_steps=150,
-	reward_threshold=18.0,
-)
-
-register(
-	id='ThrowerBulletEnv-v0',
-	entry_point='envs.gym_manipulator_envs:ThrowerBulletEnv',
-	max_episode_steps=100,
-	reward_threshold=18.0,
-)
-
-register(
-	id='StrikerBulletEnv-v0',
-	entry_point='envs.gym_manipulator_envs:StrikerBulletEnv',
-	max_episode_steps=100,
-	reward_threshold=18.0,
-)
+# register(
+# 	id='ReacherBulletEnv-v0',
+# 	entry_point='envs.gym_manipulator_envs:ReacherBulletEnv',
+# 	max_episode_steps=150,
+# 	reward_threshold=18.0,
+# 	)
+#
+# register(
+# 	id='PusherBulletEnv-v0',
+# 	entry_point='envs.gym_manipulator_envs:PusherBulletEnv',
+# 	max_episode_steps=150,
+# 	reward_threshold=18.0,
+# )
+#
+# register(
+# 	id='ThrowerBulletEnv-v0',
+# 	entry_point='envs.gym_manipulator_envs:ThrowerBulletEnv',
+# 	max_episode_steps=100,
+# 	reward_threshold=18.0,
+# )
+#
+# register(
+# 	id='StrikerBulletEnv-v0',
+# 	entry_point='envs.gym_manipulator_envs:StrikerBulletEnv',
+# 	max_episode_steps=100,
+# 	reward_threshold=18.0,
+# )
 
 register(
 	id='Walker2DBulletEnv-v0',
diff --git a/examples/pybullet/gym/envs/gym_manipulator_envs.py b/examples/pybullet/gym/envs/gym_manipulator_envs.py
deleted file mode 100644
index 07bd4ee4d..000000000
--- a/examples/pybullet/gym/envs/gym_manipulator_envs.py
+++ /dev/null
@@ -1,304 +0,0 @@
-from scene_abstract import SingleRobotEmptyScene
-from env_bases import MujocoXmlBaseBulletEnv
-import gym, gym.spaces, gym.utils, gym.utils.seeding
-import numpy as np
-import os, sys
-
-class ReacherBulletEnv(MujocoXmlBaseBulletEnv):
-	def __init__(self):
-		PybulletMujocoXmlEnv.__init__(self, 'reacher.xml', 'body0', action_dim=2, obs_dim=9)
-
-	def create_single_player_scene(self):
-		return SingleRobotEmptyScene(gravity=0.0, timestep=0.0165, frame_skip=1)
-
-	TARG_LIMIT = 0.27
-	def robot_specific_reset(self):
-		self.jdict["target_x"].reset_current_position(self.np_random.uniform( low=-self.TARG_LIMIT, high=self.TARG_LIMIT ), 0)
-		self.jdict["target_y"].reset_current_position(self.np_random.uniform( low=-self.TARG_LIMIT, high=self.TARG_LIMIT ), 0)
-		self.fingertip = self.parts["fingertip"]
-		self.target	= self.parts["target"]
-		self.central_joint = self.jdict["joint0"]
-		self.elbow_joint   = self.jdict["joint1"]
-		self.central_joint.reset_current_position(self.np_random.uniform( low=-3.14, high=3.14 ), 0)
-		self.elbow_joint.reset_current_position(self.np_random.uniform( low=-3.14, high=3.14 ), 0)
-
-	def apply_action(self, a):
-		assert( np.isfinite(a).all() )
-		self.central_joint.set_motor_torque( 0.05*float(np.clip(a[0], -1, +1)) )
-		self.elbow_joint.set_motor_torque( 0.05*float(np.clip(a[1], -1, +1)) )
-
-	def calc_state(self):
-		theta,	 self.theta_dot = self.central_joint.current_relative_position()
-		self.gamma, self.gamma_dot = self.elbow_joint.current_relative_position()
-		target_x, _ = self.jdict["target_x"].current_position()
-		target_y, _ = self.jdict["target_y"].current_position()
-		self.to_target_vec = np.array(self.fingertip.pose().xyz()) - np.array(self.target.pose().xyz())
-		return np.array([
-			target_x,
-			target_y,
-			self.to_target_vec[0],
-			self.to_target_vec[1],
-			np.cos(theta),
-			np.sin(theta),
-			self.theta_dot,
-			self.gamma,
-			self.gamma_dot,
-			])
-
-	def calc_potential(self):
-		return -100 * np.linalg.norm(self.to_target_vec)
-
-	def _step(self, a):
-		assert(not self.scene.multiplayer)
-		self.apply_action(a)
-		self.scene.global_step()
-
-		state = self.calc_state()  # sets self.to_target_vec
-
-		potential_old = self.potential
-		self.potential = self.calc_potential()
-
-		electricity_cost = (
-			-0.10*(np.abs(a[0]*self.theta_dot) + np.abs(a[1]*self.gamma_dot))  # work torque*angular_velocity
-			-0.01*(np.abs(a[0]) + np.abs(a[1]))								# stall torque require some energy
-			)
-		stuck_joint_cost = -0.1 if np.abs(np.abs(self.gamma)-1) < 0.01 else 0.0
-		self.rewards = [float(self.potential - potential_old), float(electricity_cost), float(stuck_joint_cost)]
-		self.HUD(state, a, False)
-		return state, sum(self.rewards), False, {}
-
-	def camera_adjust(self):
-		x, y, z = self.fingertip.pose().xyz()
-		x *= 0.5
-		y *= 0.5
-		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
-
-
-class PusherBulletEnv(MujocoXmlBaseBulletEnv):
-	def __init__(self):
-		PybulletMujocoXmlEnv.__init__(self, 'pusher.xml', 'body0', action_dim=7, obs_dim=5)
-
-	def create_single_player_scene(self):
-		return SingleRobotEmptyScene(gravity=9.81, timestep=0.0020, frame_skip=5)
-
-	def robot_specific_reset(self):
-		self.fingertip = self.parts["fingertip"]
-#		qpos = self.init_qpos
-
-		self.goal_pos = np.asarray([0, 0])
-		while True:
-			self.cylinder_pos = np.concatenate([
-					self.np_random.uniform(low=-0.3, high=0, size=1),
-					self.np_random.uniform(low=-0.2, high=0.2, size=1)])
-			if np.linalg.norm(self.cylinder_pos - self.goal_pos) > 0.17:
-				break
-
-# This is probably position setting
-#		qpos[-4:-2] = self.cylinder_pos
-#		qpos[-2:] = self.goal_pos
-#		qvel = self.init_qvel + self.np_random.uniform(low=-0.005,
-#				high=0.005, size=self.model.nv)
-#		qvel[-4:] = 0
-#		self.set_state(qpos, qvel)
-
-	def apply_action(self, a):
-		assert( np.isfinite(a).all() )
-
-	def calc_state(self):
-		return np.concatenate([
-			np.array([j.current_position() for j in self.ordered_joints]).flatten(), # position
-			np.array([j.current_relative_position() for j in self.ordered_joints]).flatten(), # speed
-			self.parts["fingertip"].pose().xyz(),
-			self.parts["object"].pose().xyz(),
-			self.parts["goal"].pose().xyz(),
-		])
-
-	def _step(self, a):
-
-		self.apply_action(a)
-		self.scene.global_step()
-
-		state = self.calc_state()
-
-		reward_near_vec = self.parts["object"].pose().xyz() - self.parts["fingertip"].pose().xyz()
-		reward_dist_vec = self.parts["object"].pose().xyz() - self.parts["goal"].pose().xyz()
-
-		reward_near = - np.linalg.norm(reward_near_vec)
-		reward_dist = - np.linalg.norm(reward_dist_vec)
-		reward_ctrl = - np.square(a).sum()
-		reward = reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near
-
-		done = False
-		return state, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
-
-	def camera_adjust(self):
-		x, y, z = self.fingertip.pose().xyz()
-		x *= 0.5
-		y *= 0.5
-		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
-
-
-class StrikerBulletEnv(MujocoXmlBaseBulletEnv):
-	def __init__(self):
-		PybulletMujocoXmlEnv.__init__(self, 'striker.xml', 'body0', action_dim=7, obs_dim=5)
-		self._striked = False
-		self._min_strike_dist = np.inf
-		self.strike_threshold = 0.1
-
-	def create_single_player_scene(self):
-		return SingleRobotEmptyScene(gravity=9.81, timestep=0.0020, frame_skip=5)
-
-	def robot_specific_reset(self):
-		self.fingertip = self.parts["fingertip"]
-		self._min_strike_dist = np.inf
-		self._striked = False
-		self._strike_pos = None
-		
-		# reset position of manipulator
-		for j in self.ordered_joints:
-			j.reset_current_position(self.np_random.uniform( low=-0.1, high=0.1 ))
-			
-		# reset speed of manipulator
-		
-		# reset ball position
-
-#		qpos = self.init_qpos
-
-		self.ball = np.array([0.5, -0.175])
-
-		while True:
-			self.goal = np.concatenate([
-					self.np_random.uniform(low=0.15, high=0.7, size=1),
-					self.np_random.uniform(low=0.1, high=1.0, size=1)])
-			if np.linalg.norm(self.ball - self.goal) > 0.17:
-				break
-# This is probably position setting
-#		qpos[-9:-7] = [self.ball[1], self.ball[0]]
-#		qpos[-7:-5] = self.goal
-#		diff = self.ball - self.goal
-#		angle = -np.arctan(diff[0] / (diff[1] + 1e-8))
-#		qpos[-1] = angle / 3.14
-#		qvel = self.init_qvel + self.np_random.uniform(low=-.1, high=.1,
-#				size=self.model.nv)
-#		qvel[7:] = 0
-#		self.set_state(qpos, qvel)
-
-	def apply_action(self, a):
-		assert( np.isfinite(a).all() )
-
-	def calc_state(self):
-		return np.concatenate([
-			np.array([j.current_position() for j in self.ordered_joints]).flatten(), # position
-			np.array([j.current_relative_position() for j in self.ordered_joints]).flatten(), # speed
-			self.parts["fingertip"].pose().xyz(),
-			self.parts["object"].pose().xyz(),
-			self.parts["goal"].pose().xyz(),
-		])
-
-	def _step(self, a):
-		self.apply_action(a)
-		self.scene.global_step()
-		state = self.calc_state()
-
-		dist_object_finger = self.parts["object"].pose().xyz() - self.parts["fingertip"].pose().xyz()
-		reward_dist_vec = self.parts["object"].pose().xyz() - self.parts["goal"].pose().xyz()
-
-		self._min_strike_dist = min(self._min_strike_dist, np.linalg.norm(reward_dist_vec))
-
-		if np.linalg.norm(dist_object_finger) < self.strike_threshold:
-			self._striked = True
-			self._strike_pos = self.parts["fingertip"].pose().xyz()
-
-		if self._striked:
-			reward_near_vec = self.parts["object"].pose().xyz() - self._strike_pos
-		else:
-			reward_near_vec = self.parts["object"].pose().xyz() - self.parts["fingertip"].pose().xyz()
-
-		reward_near = - np.linalg.norm(reward_near_vec)
-
-		reward_dist = - np.linalg.norm(self._min_strike_dist)
-		reward_ctrl = - np.square(a).sum()
-		reward = 3 * reward_dist + 0.1 * reward_ctrl + 0.5 * reward_near
-
-		done = False
-		return state, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
-
-	def camera_adjust(self):
-		x, y, z = self.fingertip.pose().xyz()
-		x *= 0.5
-		y *= 0.5
-		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
-
-
-class ThrowerBulletEnv(MujocoXmlBaseBulletEnv):
-	def __init__(self):
-		PybulletMujocoXmlEnv.__init__(self, 'thrower.xml', 'body0', action_dim=7, obs_dim=5)
-		self._ball_hit_ground = False
-		self._ball_hit_location = None
-
-	def create_single_player_scene(self):
-		return SingleRobotEmptyScene(gravity=0.0, timestep=0.0020, frame_skip=5)
-
-	def robot_specific_reset(self):
-		self.fingertip = self.parts["fingertip"]
-		self._ball_hit_ground = False
-		self._ball_hit_location = None
-		
-		# reset position of manipulator
-		for j in self.ordered_joints:
-			j.reset_current_position(self.np_random.uniform( low=-0.1, high=0.1 ))
-			
-		# reset speed of manipulator
-# This is probably position setting
-#		qpos = self.init_qpos
-#		self.goal = np.array([self.np_random.uniform(low=-0.3, high=0.3),
-#							  self.np_random.uniform(low=-0.3, high=0.3)])
-# 
-#		qpos[-9:-7] = self.goal
-#		qvel = self.init_qvel + self.np_random.uniform(low=-0.005,
-#				high=0.005, size=self.model.nv)
-#		qvel[7:] = 0
-#		self.set_state(qpos, qvel)
-
-	def apply_action(self, a):
-		assert( np.isfinite(a).all() )
-
-	def calc_state(self):
-		return np.concatenate([
-			np.array([j.current_position() for j in self.ordered_joints]).flatten(), # position
-			np.array([j.current_relative_position() for j in self.ordered_joints]).flatten(), # speed
-			self.parts["fingertip"].pose().xyz(),
-			self.parts["ball"].pose().xyz(),
-			self.parts["goal"].pose().xyz(),
-		])
-
-	def _step(self, a):
-		self.apply_action(a)
-		self.scene.global_step()
-		state = self.calc_state()
-
-		ball_xy = self.parts["ball"].pose().xyz()[:2]
-		goal_xy = self.parts["goal"].pose().xyz()[:2]
-
-		if not self._ball_hit_ground and self.parts["ball"].pose().xyz()[2] < -0.25:
-			self._ball_hit_ground = True
-			self._ball_hit_location = self.parts["ball"].pose().xyz()
-
-		if self._ball_hit_ground:
-			ball_hit_xy = self._ball_hit_location[:2]
-			reward_dist = -np.linalg.norm(ball_hit_xy - goal_xy)
-		else:
-			reward_dist = -np.linalg.norm(ball_xy - goal_xy)
-		reward_ctrl = - np.square(a).sum()
-
-		reward = reward_dist + 0.002 * reward_ctrl
-
-		done = False
-		return state, reward, done, dict(reward_dist=reward_dist, reward_ctrl=reward_ctrl)
-
-	def camera_adjust(self):
-		x, y, z = self.fingertip.pose().xyz()
-		x *= 0.5
-		y *= 0.5
-		self.camera.move_and_look_at(0.3, 0.3, 0.3, x, y, z)
-
diff --git a/examples/pybullet/gym/envs/robot_manipulators.py b/examples/pybullet/gym/envs/robot_manipulators.py
deleted file mode 100644
index e69de29bb..000000000

From aed57d130e455e338ed6f69419e986e0f6446234 Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Thu, 17 Aug 2017 00:04:21 +0200
Subject: [PATCH 170/175] Update mjcf files!

----------------------------------
Git did not realize I changed those.
---
 data/mjcf/ant.xml                      |  51 ++++------
 data/mjcf/ground_plane.xml             |   5 +
 data/mjcf/half_cheetah.xml             |  88 +++++++++++++++++
 data/mjcf/hopper.xml                   |  43 ++++-----
 data/mjcf/humanoid_symmetric.xml       |  13 +--
 data/mjcf/inverted_double_pendulum.xml |   4 +-
 data/mjcf/inverted_pendulum.xml        |  10 +-
 data/mjcf/pusher.xml                   |  90 ++++++++++++++++++
 data/mjcf/reacher.xml                  |   8 +-
 data/mjcf/striker.xml                  | 100 +++++++++++++++++++
 data/mjcf/thrower.xml                  | 127 +++++++++++++++++++++++++
 data/mjcf/walker2d.xml                 |  52 ++++++++++
 12 files changed, 514 insertions(+), 77 deletions(-)
 create mode 100644 data/mjcf/ground_plane.xml
 create mode 100644 data/mjcf/half_cheetah.xml
 create mode 100644 data/mjcf/pusher.xml
 create mode 100644 data/mjcf/striker.xml
 create mode 100644 data/mjcf/thrower.xml
 create mode 100644 data/mjcf/walker2d.xml

diff --git a/data/mjcf/ant.xml b/data/mjcf/ant.xml
index 18ad38b38..311d96feb 100644
--- a/data/mjcf/ant.xml
+++ b/data/mjcf/ant.xml
@@ -6,62 +6,53 @@
   </custom>
   <default>
     <joint armature="1" damping="1" limited="true"/>
-    <geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
+    <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
   </default>
-  <asset>
-    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
-    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
-    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-    <material name="geom" texture="texgeom" texuniform="true"/>
-  </asset>
   <worldbody>
-    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
     <body name="torso" pos="0 0 0.75">
       <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
-      <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
+      <!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
       <body name="front_left_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
+        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
         <body name="aux_1" pos="0.2 0.2 0">
-          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/>
-          <body pos="0.2 0.2 0">
-            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/>
+          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          <body pos="0.2 0.2 0" name="front_left_foot">
+            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
           </body>
         </body>
       </body>
       <body name="front_right_leg" pos="0 0 0">
         <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
         <body name="aux_2" pos="-0.2 0.2 0">
-          <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+          <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
           <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
-          <body pos="-0.2 0.2 0">
-            <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
+          <body pos="-0.2 0.2 0" name="front_right_foot">
+            <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
             <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
           </body>
         </body>
       </body>
-      <body name="back_leg" pos="0 0 0">
+      <body name="left_back_leg" pos="0 0 0">
         <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
         <body name="aux_3" pos="-0.2 -0.2 0">
-          <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
+          <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
           <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
-          <body pos="-0.2 -0.2 0">
-            <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
+          <body pos="-0.2 -0.2 0" name="left_back_foot">
+            <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
             <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
           </body>
         </body>
       </body>
       <body name="right_back_leg" pos="0 0 0">
-        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/>
+        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
         <body name="aux_4" pos="0.2 -0.2 0">
-          <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule"/>
-          <body pos="0.2 -0.2 0">
-            <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
-            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule"/>
+          <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
+          <body pos="0.2 -0.2 0" name="right_back_foot">
+            <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
+            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
           </body>
         </body>
       </body>
diff --git a/data/mjcf/ground_plane.xml b/data/mjcf/ground_plane.xml
new file mode 100644
index 000000000..0212c7f1b
--- /dev/null
+++ b/data/mjcf/ground_plane.xml
@@ -0,0 +1,5 @@
+<mujoco model="ground_plane">
+  <worldbody>
+    <geom conaffinity="1" condim="3" name="floor" friction="0.8 0.1 0.1" pos="0 0 0" type="plane"/>
+  </worldbody>
+</mujoco>
diff --git a/data/mjcf/half_cheetah.xml b/data/mjcf/half_cheetah.xml
new file mode 100644
index 000000000..418eef56d
--- /dev/null
+++ b/data/mjcf/half_cheetah.xml
@@ -0,0 +1,88 @@
+<!-- Cheetah Model
+
+    The state space is populated with joints in the order that they are
+    defined in this file. The actuators also operate on joints.
+
+    State-Space (name/joint/parameter):
+        - rootx     slider      position (m)
+        - rootz     slider      position (m)
+        - rooty     hinge       angle (rad)
+        - bthigh    hinge       angle (rad)
+        - bshin     hinge       angle (rad)
+        - bfoot     hinge       angle (rad)
+        - fthigh    hinge       angle (rad)
+        - fshin     hinge       angle (rad)
+        - ffoot     hinge       angle (rad)
+        - rootx     slider      velocity (m/s)
+        - rootz     slider      velocity (m/s)
+        - rooty     hinge       angular velocity (rad/s)
+        - bthigh    hinge       angular velocity (rad/s)
+        - bshin     hinge       angular velocity (rad/s)
+        - bfoot     hinge       angular velocity (rad/s)
+        - fthigh    hinge       angular velocity (rad/s)
+        - fshin     hinge       angular velocity (rad/s)
+        - ffoot     hinge       angular velocity (rad/s)
+
+    Actuators (name/actuator/parameter):
+        - bthigh    hinge       torque (N m)
+        - bshin     hinge       torque (N m)
+        - bfoot     hinge       torque (N m)
+        - fthigh    hinge       torque (N m)
+        - fshin     hinge       torque (N m)
+        - ffoot     hinge       torque (N m)
+
+-->
+<mujoco model="cheetah">
+  <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
+  <default>
+    <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
+    <geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
+    <motor ctrllimited="true" ctrlrange="-1 1"/>
+  </default>
+  <size nstack="300000" nuser_geom="1"/>
+  <option gravity="0 0 -9.81" timestep="0.01"/>
+  <worldbody>
+    <body name="torso" pos="0 0 .7">
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
+      <geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
+      <!-- <site name='tip'  pos='.15 0 .11'/>-->
+      <body name="bthigh" pos="-.5 0 0">
+        <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
+        <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
+        <body name="bshin" pos=".16 0 -.25">
+          <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
+          <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
+          <body name="bfoot" pos="-.28 0 -.14">
+            <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
+            <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
+            <inertial mass="10"/>
+          </body>
+        </body>
+      </body>
+      <body name="fthigh" pos=".5 0 0">
+        <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/>
+        <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
+        <body name="fshin" pos="-.14 0 -.24">
+          <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/>
+          <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
+          <body name="ffoot" pos=".13 0 -.18">
+            <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/>
+            <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
+            <inertial mass="10"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor gear="120" joint="bthigh" name="bthigh"/>
+    <motor gear="90" joint="bshin" name="bshin"/>
+    <motor gear="60" joint="bfoot" name="bfoot"/>
+    <motor gear="120" joint="fthigh" name="fthigh"/>
+    <motor gear="60" joint="fshin" name="fshin"/>
+    <motor gear="30" joint="ffoot" name="ffoot"/>
+  </actuator>
+</mujoco>
diff --git a/data/mjcf/hopper.xml b/data/mjcf/hopper.xml
index 7f94e64dc..077160345 100644
--- a/data/mjcf/hopper.xml
+++ b/data/mjcf/hopper.xml
@@ -1,28 +1,31 @@
 <mujoco model="hopper">
   <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
   <default>
-    <joint armature="1" damping="1" />
-    <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
+    <joint armature="1" damping="1" limited="true"/>
+    <geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
     <motor ctrllimited="true" ctrlrange="-.4 .4"/>
   </default>
   <option integrator="RK4" timestep="0.002"/>
   <worldbody>
-    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-    <geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/>
-    <body name="torso" pos="0 0 1.25">
-      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
-      <geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
-      <body name="thigh" pos="0 0 1.05">
+    <!-- CHANGE: body pos="" deleted for all bodies (you can also set pos="0 0 0", it works)
+    Interpretation of body pos="" depends on coordinate="global" above.
+    Bullet doesn't support global coordinates in bodies, little motivation to fix this, as long as it works without pos="" as well.
+    After this change, Hopper still loads and works in MuJoCo simulator.
+    -->
+    <body name="torso">
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
+      <body name="thigh">
         <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
-        <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
-        <body name="leg" pos="0 0 0.35">
+        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
+        <body name="leg">
           <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
-          <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
-          <body name="foot" pos="0.13/2 0 0.1">
+          <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
+          <body name="foot">
             <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
-            <geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+            <geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
           </body>
         </body>
       </body>
@@ -33,12 +36,4 @@
     <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
     <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
   </actuator>
-    <asset>
-        <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
-            width="100" height="100"/>        
-        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
-        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-        <material name="geom" texture="texgeom" texuniform="true"/>
-    </asset>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/data/mjcf/humanoid_symmetric.xml b/data/mjcf/humanoid_symmetric.xml
index de2fee3f5..d7ba9f494 100644
--- a/data/mjcf/humanoid_symmetric.xml
+++ b/data/mjcf/humanoid_symmetric.xml
@@ -2,7 +2,7 @@
     <compiler angle="degree" inertiafromgeom="true"/>
     <default>
         <joint armature="1" damping="1" limited="true"/>
-        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
+        <geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
         <motor ctrllimited="true" ctrlrange="-.4 .4"/>
     </default>
     <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
@@ -12,18 +12,7 @@
     <visual>
         <map fogend="5" fogstart="3"/>
     </visual>
-    <asset>
-        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
-        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
-        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
-        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-        <material name="geom" texture="texgeom" texuniform="true"/>
-    </asset>
     <worldbody>
-        <!-- light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/-->
-        <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
-        <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
         <body name="torso" pos="0 0 1.4">
             <!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
             <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
diff --git a/data/mjcf/inverted_double_pendulum.xml b/data/mjcf/inverted_double_pendulum.xml
index a274e8c5d..755cefd44 100644
--- a/data/mjcf/inverted_double_pendulum.xml
+++ b/data/mjcf/inverted_double_pendulum.xml
@@ -36,7 +36,7 @@
         <body name="pole2" pos="0 0 0.6">
           <joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
           <geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
-          <site name="tip" pos="0 0 .6" size="0.01 0.01"/>
+          <!--site name="tip" pos="0 0 .6" size="0.01 0.01"/-->
         </body>
       </body>
     </body>
@@ -44,4 +44,4 @@
   <actuator>
     <motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
   </actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/data/mjcf/inverted_pendulum.xml b/data/mjcf/inverted_pendulum.xml
index f8fbc1aad..b409b3b11 100644
--- a/data/mjcf/inverted_pendulum.xml
+++ b/data/mjcf/inverted_pendulum.xml
@@ -2,7 +2,7 @@
 	<compiler inertiafromgeom="true"/>
 	<default>
 		<joint armature="0" damping="1" limited="true"/>
-		<geom  friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
+		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
 		<tendon/>
 		<motor ctrlrange="-3 3"/>
 	</default>
@@ -10,12 +10,12 @@
 	<size nstack="3000"/>
 	<worldbody>
 		<!--geom name="ground" type="plane" pos="0 0 0" /-->
-		<!-- <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/> /-->
-		<body name="cart1" pos="0 0 0">
+		<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
+		<body name="cart" pos="0 0 0">
 			<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
 			<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
 			<body name="pole" pos="0 0 0">
-				<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
+				<joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge"/>
 				<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
 				<!--                 <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
 			</body>
@@ -24,4 +24,4 @@
 	<actuator>
 		<motor gear="100" joint="slider" name="slide"/>
 	</actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/data/mjcf/pusher.xml b/data/mjcf/pusher.xml
new file mode 100644
index 000000000..bac3d7ace
--- /dev/null
+++ b/data/mjcf/pusher.xml
@@ -0,0 +1,90 @@
+<mujoco model="pusher">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <default>
+    <joint armature='0.04' damping="0" limited="true"/>
+    <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+  <option timestep="0.01" gravity="0 0 0" integrator="RK4" />  
+  <worldbody>
+    <!--Arena-->
+    <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+    <!--Arm-->
+    <body name="shoulder_pan_link" pos="0 -0.6 0">
+      <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
+      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
+      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
+      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
+      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
+      <joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
+
+      <body name="shoulder_lift_link" pos="0.1 0 0">
+        <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
+        <joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
+
+        <body name="upper_arm_roll_link" pos="0 0 0">
+          <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+          <joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
+
+          <body name="upper_arm_link" pos="0 0 0">
+            <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
+
+            <body name="elbow_flex_link" pos="0.4 0 0">
+              <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
+              <joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
+
+              <body name="forearm_roll_link" pos="0 0 0">
+                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+                <joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
+
+                <body name="forearm_link" pos="0 0 0">
+                  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
+
+                  <body name="wrist_flex_link" pos="0.321 0 0">
+                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
+                    <joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
+
+                    <body name="wrist_roll_link" pos="0 0 0">
+                      <joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
+                      <body name="fingertip" pos="0 0 0">
+                        <geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
+                        <geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
+                      </body>
+                      <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
+                      <geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
+                      <geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!--Object-->
+    <body name="object" pos="0.45 -0.05 -0.275" >
+      <geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
+      <geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
+      <joint name="object_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
+      <joint name="object_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
+    </body>
+    
+    <!--Target-->
+    <body name="target" pos="0.45 -0.05 -0.3230">
+      <geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
+      <joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
+      <joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/> 
+    </body>
+  </worldbody>
+
+  <actuator>
+    <motor joint="shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
+    <motor joint="wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
+  </actuator>
+</mujoco>
diff --git a/data/mjcf/reacher.xml b/data/mjcf/reacher.xml
index 28ebd6712..82b224ff6 100644
--- a/data/mjcf/reacher.xml
+++ b/data/mjcf/reacher.xml
@@ -26,9 +26,9 @@
 			</body>
 		</body>
 		<!-- Target -->
-		<body name="target" pos=".1 -.1 .01">
-			<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" stiffness="0" type="slide"/>
-			<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" ref="-.1" stiffness="0" type="slide"/>
+		<body name="target" pos="0 0 .01">
+			<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
+			<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
 			<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
 		</body>
 	</worldbody>
@@ -36,4 +36,4 @@
 		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
 		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
 	</actuator>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/data/mjcf/striker.xml b/data/mjcf/striker.xml
new file mode 100644
index 000000000..59898d74f
--- /dev/null
+++ b/data/mjcf/striker.xml
@@ -0,0 +1,100 @@
+<mujoco model="striker">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <option timestep="0.01" gravity="0 0 0" integrator="RK4"/>
+
+  <default>
+	<joint armature='0.04' damping="0" limited="true"/>
+	<geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+
+  <worldbody>
+	<!--Arena-->
+	<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+	<!--Arm-->
+	<body name="shoulder_pan_link" pos="0 -0.6 0">
+	  <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
+	  <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
+	  <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
+	  <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
+	  <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
+	  <joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
+
+	  <body name="shoulder_lift_link" pos="0.1 0 0">
+		<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
+		<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
+
+		<body name="upper_arm_roll_link" pos="0 0 0">
+		  <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+		  <joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
+
+		  <body name="upper_arm_link" pos="0 0 0">
+			<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
+
+			<body name="elbow_flex_link" pos="0.4 0 0">
+			  <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
+			  <joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
+
+			  <body name="forearm_roll_link" pos="0 0 0">
+				<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
+				<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
+
+				<body name="forearm_link" pos="0 0 0">
+				  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
+
+				  <body name="wrist_flex_link" pos="0.321 0 0">
+					<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
+					<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
+
+					<body name="wrist_roll_link" pos="0 0 0">
+					  <joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
+					  <body name="fingertip" pos="0 0 0">
+						<geom name="tip_arml" type="box" pos="0.017 0 0" size="0.003 0.12 0.05" conaffinity="1" contype="1"  />
+					  </body>
+					  <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" conaffinity="1" contype="1"  />
+					</body>
+				  </body>
+				</body>
+			  </body>
+			</body>
+		  </body>
+		</body>
+	  </body>
+	</body>
+
+	<!--Object-->
+	<body name="object" pos="0 0 -0.270" >
+	  <geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/>
+	  <joint name="object_x" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
+	  <joint name="object_y" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
+	</body>
+
+	<!--Target-->
+	<body name="target" pos="0.0 0.0 -0.3230">
+	  <geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/>
+	  <body pos="0 0 0">
+		<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
+	  </body>
+	  <body name="coaster" pos="0 0 0">
+		<geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/>
+	  </body>
+	  <body pos="0 0 0" axisangle="0 0 1 0.785">
+		<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
+	  </body>
+	  <body pos="0 0 0" axisangle="0 0 1 -0.785">
+		<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
+	  </body>
+	  <joint name="target_free" type="free" pos="0 0 0" limited="false" damping="0"/>
+	</body>
+  </worldbody>
+
+  <actuator>
+	<motor joint="shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
+	<motor joint="wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
+  </actuator>
+
+</mujoco>
diff --git a/data/mjcf/thrower.xml b/data/mjcf/thrower.xml
new file mode 100644
index 000000000..fcb39f524
--- /dev/null
+++ b/data/mjcf/thrower.xml
@@ -0,0 +1,127 @@
+<mujoco model="thrower">
+  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
+  <default>
+	<joint armature='0.75' damping="0" limited="true"/>
+	<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
+  </default>
+
+  <worldbody>
+	<!--Arena-->
+	<geom type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
+	<!--Arm-->
+	<body name="shoulder_pan_link" pos="0 -0.6 0">
+	  <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" density="0.0001"/>
+	  <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
+	  <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
+	  <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
+	  <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
+	  <joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
+
+	  <body name="shoulder_lift_link" pos="0.1 0 0">
+		<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" density="0.0001"/>
+		<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
+
+		<body name="upper_arm_roll_link" pos="0 0 0">
+		  <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
+		  <joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
+
+		  <body name="upper_arm_link" pos="0 0 0">
+			<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" density="0.0001"/>
+
+			<body name="elbow_flex_link" pos="0.4 0 0">
+			  <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" density="0.0001"/>
+			  <joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
+
+			  <body name="forearm_roll_link" pos="0 0 0">
+				<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
+				<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>
+
+				<body name="forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
+				  <geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>
+
+				  <body name="wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
+					<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
+					<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
+
+					<body name="wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
+					  <joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
+					  <geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
+					  <body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 1.57">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 1.178">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 0.785">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 1.96">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 2.355">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					  <body pos="0 0 0" axisangle="0 0 1 2.74">
+						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
+					  </body>
+					</body>
+				  </body>
+				</body>
+			  </body>
+			</body>
+		  </body>
+		</body>
+	  </body>
+	</body>
+
+	<!--Object-->
+	<body name="object" pos="0.5 -0.8 0.275">
+	  <geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
+	  <joint name="object_free" type="free" armature='0' damping="0" limited="false"/>
+	</body>
+
+	<!--Target-->
+	<body name="target" pos="0.575 0.5 -0.328">
+	  <geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
+	  <geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+	  <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
+	  <joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
+	  <joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
+	</body>
+
+  </worldbody>
+
+  <actuator>
+	<motor joint="shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+	<motor joint="shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+	<motor joint="upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+	<motor joint="elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
+	<motor joint="forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
+	<motor joint="wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
+	<motor joint="wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
+  </actuator>
+
+</mujoco>
diff --git a/data/mjcf/walker2d.xml b/data/mjcf/walker2d.xml
new file mode 100644
index 000000000..f1905c067
--- /dev/null
+++ b/data/mjcf/walker2d.xml
@@ -0,0 +1,52 @@
+<mujoco model="walker2d">
+  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
+  <default>
+    <joint armature="0.01" damping=".1" limited="true"/>
+    <geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
+  </default>
+  <option integrator="RK4" timestep="0.002"/>
+  <worldbody>
+    <!-- CHANGES: see hopper.xml -->
+    <body name="torso">
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
+      <geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
+      <body name="thigh">
+        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
+        <body name="leg">
+          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
+          <body name="foot">
+            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+      <!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
+      <body name="thigh_left">
+        <joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
+        <body name="leg_left">
+          <joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
+          <body name="foot_left">
+            <joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
+    <!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
+  </actuator>
+</mujoco>

From 9f20e405413bd54ed5eac217285386c88e4fbaa2 Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Thu, 17 Aug 2017 00:06:01 +0200
Subject: [PATCH 171/175] Rename old humanoid gym to simple humanoid gym.

---
 examples/pybullet/gym/envs/__init__.py               | 12 ++++++------
 examples/pybullet/gym/envs/bullet/__init__.py        |  2 +-
 .../envs/bullet/{humanoid.py => simpleHumanoid.py}   |  2 +-
 .../{humanoidGymEnv.py => simpleHumanoidGymEnv.py}   |  6 +++---
 ...noidGymEnvTest.py => simpleHumanoidGymEnvTest.py} |  4 ++--
 5 files changed, 13 insertions(+), 13 deletions(-)
 rename examples/pybullet/gym/envs/bullet/{humanoid.py => simpleHumanoid.py} (99%)
 rename examples/pybullet/gym/envs/bullet/{humanoidGymEnv.py => simpleHumanoidGymEnv.py} (93%)
 rename examples/pybullet/gym/{humanoidGymEnvTest.py => simpleHumanoidGymEnvTest.py} (79%)

diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py
index 29e0efed0..c328958d3 100644
--- a/examples/pybullet/gym/envs/__init__.py
+++ b/examples/pybullet/gym/envs/__init__.py
@@ -30,12 +30,12 @@ register(
     reward_threshold=5.0,
 )
 
-# register(
-#     id='HumanoidBulletEnv-v0',
-#     entry_point='envs.bullet:HumanoidGymEnv',
-#     timestep_limit=1000,
-#     reward_threshold=5.0,
-# )
+register(
+    id='SimpleHumanoidBulletEnv-v0',
+    entry_point='envs.bullet:SimpleHumanoidGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
 
 register(
     id='KukaBulletEnv-v0',
diff --git a/examples/pybullet/gym/envs/bullet/__init__.py b/examples/pybullet/gym/envs/bullet/__init__.py
index f86a691b1..394788f73 100644
--- a/examples/pybullet/gym/envs/bullet/__init__.py
+++ b/examples/pybullet/gym/envs/bullet/__init__.py
@@ -2,6 +2,6 @@ from envs.bullet.cartpole_bullet import CartPoleBulletEnv
 from envs.bullet.minitaur_bullet import MinitaurBulletEnv
 from envs.bullet.racecarGymEnv import RacecarGymEnv
 from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
-from envs.bullet.humanoidGymEnv import HumanoidGymEnv
+from envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
 from envs.bullet.kukaGymEnv import KukaGymEnv
 from envs.bullet.kukaCamGymEnv import KukaCamGymEnv
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/bullet/humanoid.py b/examples/pybullet/gym/envs/bullet/simpleHumanoid.py
similarity index 99%
rename from examples/pybullet/gym/envs/bullet/humanoid.py
rename to examples/pybullet/gym/envs/bullet/simpleHumanoid.py
index a883139b1..5cb69fd13 100644
--- a/examples/pybullet/gym/envs/bullet/humanoid.py
+++ b/examples/pybullet/gym/envs/bullet/simpleHumanoid.py
@@ -6,7 +6,7 @@ import time
 
 
 
-class Humanoid:
+class SimpleHumanoid:
 
   def __init__(self, urdfRootPath='', timeStep=0.01):
     self.urdfRootPath = urdfRootPath
diff --git a/examples/pybullet/gym/envs/bullet/humanoidGymEnv.py b/examples/pybullet/gym/envs/bullet/simpleHumanoidGymEnv.py
similarity index 93%
rename from examples/pybullet/gym/envs/bullet/humanoidGymEnv.py
rename to examples/pybullet/gym/envs/bullet/simpleHumanoidGymEnv.py
index f46a05ce0..7c9743124 100644
--- a/examples/pybullet/gym/envs/bullet/humanoidGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/simpleHumanoidGymEnv.py
@@ -5,10 +5,10 @@ from gym.utils import seeding
 import numpy as np
 import time
 import pybullet as p
-from . import humanoid
+from . import simpleHumanoid
 import random
 
-class HumanoidGymEnv(gym.Env):
+class SimpleHumanoidGymEnv(gym.Env):
   metadata = {
       'render.modes': ['human', 'rgb_array'],
       'video.frames_per_second' : 50
@@ -57,7 +57,7 @@ class HumanoidGymEnv(gym.Env):
     ballz = 1
         
     p.setGravity(0,0,-10)
-    self._humanoid = humanoid.Humanoid(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._humanoid = simpleHumanoid.SimpleHumanoid(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0
     p.stepSimulation()
     self._observation = self.getExtendedObservation()
diff --git a/examples/pybullet/gym/humanoidGymEnvTest.py b/examples/pybullet/gym/simpleHumanoidGymEnvTest.py
similarity index 79%
rename from examples/pybullet/gym/humanoidGymEnvTest.py
rename to examples/pybullet/gym/simpleHumanoidGymEnvTest.py
index 72004b7b9..b86b65081 100644
--- a/examples/pybullet/gym/humanoidGymEnvTest.py
+++ b/examples/pybullet/gym/simpleHumanoidGymEnvTest.py
@@ -1,7 +1,7 @@
 
-from envs.bullet.humanoidGymEnv import HumanoidGymEnv
+from envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
 print ("hello")
-environment = HumanoidGymEnv(renders=True)
+environment = SimpleHumanoidGymEnv(renders=True)
 
 environment._p.setGravity(0,0,0)
 	

From 3191291748c7516c3968a0fcbd74c11edf3b7206 Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Thu, 17 Aug 2017 00:25:16 +0200
Subject: [PATCH 172/175] Split pendula robot from the pendula envs due to
 changes in the underlying mujoco xml base env.

---
 .../pybullet/gym/envs/gym_pendulum_envs.py    | 103 +++---------------
 examples/pybullet/gym/envs/robot_pendula.py   |  87 +++++++++++++++
 2 files changed, 104 insertions(+), 86 deletions(-)
 create mode 100644 examples/pybullet/gym/envs/robot_pendula.py

diff --git a/examples/pybullet/gym/envs/gym_pendulum_envs.py b/examples/pybullet/gym/envs/gym_pendulum_envs.py
index 00b5ffc67..0252daf73 100644
--- a/examples/pybullet/gym/envs/gym_pendulum_envs.py
+++ b/examples/pybullet/gym/envs/gym_pendulum_envs.py
@@ -1,71 +1,29 @@
 from scene_abstract import SingleRobotEmptyScene
 from env_bases import MujocoXmlBaseBulletEnv
+from robot_pendula import InvertedPendulum, InvertedPendulumSwingup, InvertedDoublePendulum
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
 import os, sys
 
 class InvertedPendulumBulletEnv(MujocoXmlBaseBulletEnv):
-	swingup = False
-	force_gain = 12 # TODO: Try to find out why we need to scale the force
-
 	def __init__(self):
-		MujocoXmlBaseBulletEnv.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
+		self.robot = InvertedPendulum()
+		MujocoXmlBaseBulletEnv.__init__(self, self.robot)
 
 	def create_single_player_scene(self):
 		return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
 
-	def robot_specific_reset(self):
-		self.pole = self.parts["pole"]
-		self.slider = self.jdict["slider"]
-		self.j1 = self.jdict["hinge"]
-		u = self.np_random.uniform(low=-.1, high=.1)
-		self.j1.reset_current_position( u if not self.swingup else 3.1415+u , 0)
-		self.j1.set_motor_torque(0)
-
-	def apply_action(self, a):
-		#assert( np.isfinite(a).all() )
-		if not np.isfinite(a).all():
-			print("a is inf")
-			a[0] = 0
-		self.slider.set_motor_torque( self.force_gain * 100*float(np.clip(a[0], -1, +1)) )
-
-	def calc_state(self):
-		self.theta, theta_dot = self.j1.current_position()
-		x, vx = self.slider.current_position()
-		#assert( np.isfinite(x) )
-
-		if not np.isfinite(x):
-			print("x is inf")
-			x = 0
-
-		if not np.isfinite(vx):
-			print("vx is inf")
-			vx = 0
-
-		if not np.isfinite(self.theta):
-			print("theta is inf")
-			self.theta = 0
-
-		if not np.isfinite(theta_dot):
-			print("theta_dot is inf")
-			theta_dot = 0
-
-		return np.array([
-			x, vx,
-			np.cos(self.theta), np.sin(self.theta), theta_dot
-			])
-
 	def _step(self, a):
-		self.apply_action(a)
+		self.robot.apply_action(a)
 		self.scene.global_step()
-		state = self.calc_state()  # sets self.pos_x self.pos_y
+		state = self.robot.calc_state()  # sets self.pos_x self.pos_y
 		vel_penalty = 0
-		if self.swingup:
-			reward = np.cos(self.theta)
+		if self.robot.swingup:
+			reward = np.cos(self.robot.theta)
 			done = False
 		else:
 			reward = 1.0
-			done = np.abs(self.theta) > .2
+			done = np.abs(self.robot.theta) > .2
 		self.rewards = [float(reward)]
 		self.HUD(state, a, done)
 		return state, sum(self.rewards), done, {}
@@ -74,57 +32,30 @@ class InvertedPendulumBulletEnv(MujocoXmlBaseBulletEnv):
 		self.camera.move_and_look_at(0,1.2,1.0, 0,0,0.5)
 
 class InvertedPendulumSwingupBulletEnv(InvertedPendulumBulletEnv):
-	swingup = True
-	force_gain = 2.2  # TODO: Try to find out why we need to scale the force
+	def __init__(self):
+		self.robot = InvertedPendulumSwingup()
+		MujocoXmlBaseBulletEnv.__init__(self, self.robot)
 
 class InvertedDoublePendulumBulletEnv(MujocoXmlBaseBulletEnv):
 	def __init__(self):
-		MujocoXmlBaseBulletEnv.__init__(self, 'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
+		self.robot = InvertedDoublePendulum()
+		MujocoXmlBaseBulletEnv.__init__(self, self.robot)
 
 	def create_single_player_scene(self):
 		return SingleRobotEmptyScene(gravity=9.8, timestep=0.0165, frame_skip=1)
 
-	def robot_specific_reset(self):
-		self.pole2 = self.parts["pole2"]
-		self.slider = self.jdict["slider"]
-		self.j1 = self.jdict["hinge"]
-		self.j2 = self.jdict["hinge2"]
-		u = self.np_random.uniform(low=-.1, high=.1, size=[2])
-		self.j1.reset_current_position(float(u[0]), 0)
-		self.j2.reset_current_position(float(u[1]), 0)
-		self.j1.set_motor_torque(0)
-		self.j2.set_motor_torque(0)
-
-	def apply_action(self, a):
-		assert( np.isfinite(a).all() )
-		force_gain = 0.78  # TODO: Try to find out why we need to scale the force
-		self.slider.set_motor_torque( force_gain *200*float(np.clip(a[0], -1, +1)) )
-
-	def calc_state(self):
-		theta, theta_dot = self.j1.current_position()
-		gamma, gamma_dot = self.j2.current_position()
-		x, vx = self.slider.current_position()
-		self.pos_x, _, self.pos_y = self.pole2.pose().xyz()
-		assert( np.isfinite(x) )
-		return np.array([
-			x, vx,
-			self.pos_x,
-			np.cos(theta), np.sin(theta), theta_dot,
-			np.cos(gamma), np.sin(gamma), gamma_dot,
-			])
-
 	def _step(self, a):
-		self.apply_action(a)
+		self.robot.apply_action(a)
 		self.scene.global_step()
-		state = self.calc_state()  # sets self.pos_x self.pos_y
+		state = self.robot.calc_state()  # sets self.pos_x self.pos_y
 		# upright position: 0.6 (one pole) + 0.6 (second pole) * 0.5 (middle of second pole) = 0.9
 		# using <site> tag in original xml, upright position is 0.6 + 0.6 = 1.2, difference +0.3
-		dist_penalty = 0.01 * self.pos_x ** 2 + (self.pos_y + 0.3 - 2) ** 2
+		dist_penalty = 0.01 * self.robot.pos_x ** 2 + (self.robot.pos_y + 0.3 - 2) ** 2
 		# v1, v2 = self.model.data.qvel[1:3]   TODO when this fixed https://github.com/bulletphysics/bullet3/issues/1040
 		#vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2
 		vel_penalty = 0
 		alive_bonus = 10
-		done = self.pos_y + 0.3 <= 1
+		done = self.robot.pos_y + 0.3 <= 1
 		self.rewards = [float(alive_bonus), float(-dist_penalty), float(-vel_penalty)]
 		self.HUD(state, a, done)
 		return state, sum(self.rewards), done, {}
diff --git a/examples/pybullet/gym/envs/robot_pendula.py b/examples/pybullet/gym/envs/robot_pendula.py
new file mode 100644
index 000000000..21d10f52d
--- /dev/null
+++ b/examples/pybullet/gym/envs/robot_pendula.py
@@ -0,0 +1,87 @@
+from robot_bases import MujocoXmlBasedRobot
+import numpy as np
+
+class InvertedPendulum(MujocoXmlBasedRobot):
+	swingup = False
+	force_gain = 12 # TODO: Try to find out why we need to scale the force
+	def __init__(self):
+		MujocoXmlBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
+
+	def robot_specific_reset(self):
+		self.pole = self.parts["pole"]
+		self.slider = self.jdict["slider"]
+		self.j1 = self.jdict["hinge"]
+		u = self.np_random.uniform(low=-.1, high=.1)
+		self.j1.reset_current_position( u if not self.swingup else 3.1415+u , 0)
+		self.j1.set_motor_torque(0)
+
+	def apply_action(self, a):
+		#assert( np.isfinite(a).all() )
+		if not np.isfinite(a).all():
+			print("a is inf")
+			a[0] = 0
+		self.slider.set_motor_torque( self.force_gain * 100*float(np.clip(a[0], -1, +1)) )
+
+	def calc_state(self):
+		self.theta, theta_dot = self.j1.current_position()
+		x, vx = self.slider.current_position()
+		#assert( np.isfinite(x) )
+
+		if not np.isfinite(x):
+			print("x is inf")
+			x = 0
+
+		if not np.isfinite(vx):
+			print("vx is inf")
+			vx = 0
+
+		if not np.isfinite(self.theta):
+			print("theta is inf")
+			self.theta = 0
+
+		if not np.isfinite(theta_dot):
+			print("theta_dot is inf")
+			theta_dot = 0
+
+		return np.array([
+			x, vx,
+			np.cos(self.theta), np.sin(self.theta), theta_dot
+			])
+
+class InvertedPendulumSwingup(InvertedPendulum):
+	swingup = True
+	force_gain = 2.2  # TODO: Try to find out why we need to scale the force
+
+
+class InvertedDoublePendulum(MujocoXmlBasedRobot):
+	def __init__(self):
+		MujocoXmlBasedRobot.__init__(self,  'inverted_double_pendulum.xml', 'cart', action_dim=1, obs_dim=9)
+
+	def robot_specific_reset(self):
+		self.pole2 = self.parts["pole2"]
+		self.slider = self.jdict["slider"]
+		self.j1 = self.jdict["hinge"]
+		self.j2 = self.jdict["hinge2"]
+		u = self.np_random.uniform(low=-.1, high=.1, size=[2])
+		self.j1.reset_current_position(float(u[0]), 0)
+		self.j2.reset_current_position(float(u[1]), 0)
+		self.j1.set_motor_torque(0)
+		self.j2.set_motor_torque(0)
+
+	def apply_action(self, a):
+		assert( np.isfinite(a).all() )
+		force_gain = 0.78  # TODO: Try to find out why we need to scale the force
+		self.slider.set_motor_torque( force_gain *200*float(np.clip(a[0], -1, +1)) )
+
+	def calc_state(self):
+		theta, theta_dot = self.j1.current_position()
+		gamma, gamma_dot = self.j2.current_position()
+		x, vx = self.slider.current_position()
+		self.pos_x, _, self.pos_y = self.pole2.pose().xyz()
+		assert( np.isfinite(x) )
+		return np.array([
+			x, vx,
+			self.pos_x,
+			np.cos(theta), np.sin(theta), theta_dot,
+			np.cos(gamma), np.sin(gamma), gamma_dot,
+			])
\ No newline at end of file

From 226aaedc46d11cf3103aa38c5eb81ac32b3fc97b Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Fri, 18 Aug 2017 08:53:46 -0700
Subject: [PATCH 173/175] bump up pybullet setup.py version, make
 B3_NO_PYTHON_FRAMEWORK default on Mac minor fixes (arg name in header/cpp the
 same)

---
 examples/ExampleBrowser/InProcessExampleBrowser.h        | 2 +-
 examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp | 2 +-
 examples/Importers/ImportURDFDemo/BulletUrdfImporter.h   | 2 +-
 setup.py                                                 | 3 ++-
 4 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/examples/ExampleBrowser/InProcessExampleBrowser.h b/examples/ExampleBrowser/InProcessExampleBrowser.h
index 32c2c7106..526c42058 100644
--- a/examples/ExampleBrowser/InProcessExampleBrowser.h
+++ b/examples/ExampleBrowser/InProcessExampleBrowser.h
@@ -17,7 +17,7 @@ class SharedMemoryInterface* btGetSharedMemoryInterface(btInProcessExampleBrowse
 
 struct btInProcessExampleBrowserMainThreadInternalData;
 
-btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowserMainThread(int argc,char** argv2, bool useInProcessMemory);
+btInProcessExampleBrowserMainThreadInternalData* btCreateInProcessExampleBrowserMainThread(int argc,char** argv, bool useInProcessMemory);
 
 bool btIsExampleBrowserMainThreadTerminated(btInProcessExampleBrowserMainThreadInternalData* data);
 
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 5436e22e5..6f6d1f752 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -82,7 +82,7 @@ void BulletURDFImporter::printTree()
 //	btAssert(0);
 }
 
-BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling)
+BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling)
 {
 	m_data = new BulletURDFInternalData;
 	m_data->setGlobalScaling(globalScaling);
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 243e1e55c..c8fbf6204 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -15,7 +15,7 @@ class BulletURDFImporter : public URDFImporterInterface
 
 public:
 
-	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, btScalar globalScaling=1);
+	BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling=1);
 
 	virtual ~BulletURDFImporter();
 
diff --git a/setup.py b/setup.py
index 09a1d71f8..e33002279 100644
--- a/setup.py
+++ b/setup.py
@@ -399,6 +399,7 @@ elif _platform == "win32":
 elif _platform == "darwin":
     print("darwin!")
     os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
+    CXX_FLAFS += '-DB3_NO_PYTHON_FRAMEWORK '
     CXX_FLAGS += '-DHAS_SOCKLEN_T '
     CXX_FLAGS += '-D_DARWIN '
 #    CXX_FLAGS += '-framework Cocoa '
@@ -420,7 +421,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.2.2',
+	version='1.2.4',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From b80a387a1e7c2691ebd62cdef5f261c8aee1457d Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Sat, 19 Aug 2017 09:48:32 -0700
Subject: [PATCH 174/175] upgrade to latest OpenVR 1.0.9
 (https://github.com/ValveSoftware/openvr) enable experimental Mac OSX OpenVR,
 tested using Apple External Graphics Development Kit.

---
 examples/SharedMemory/CMakeLists.txt          |   35 +-
 .../StandaloneMain/hellovr_opengl_main.cpp    |   37 +-
 .../openvr/bin/osx32/libopenvr_api.dylib      |  Bin 296772 -> 300868 bytes
 .../osx64/OpenVR.framework/Headers/openvr.h   | 3721 ++++++++++++
 .../OpenVR.framework/Headers/openvr_api.cs    | 4997 +++++++++++++++++
 .../OpenVR.framework/Headers/openvr_api.json  | 3887 +++++++++++++
 .../OpenVR.framework/Headers/openvr_capi.h    | 1918 +++++++
 .../OpenVR.framework/Headers/openvr_driver.h  | 2677 +++++++++
 .../openvr/bin/osx64/OpenVR.framework/OpenVR  |  Bin 0 -> 1318196 bytes
 .../OpenVR.framework/Resources/Info.plist     |   18 +
 .../Versions/A/Headers/openvr.h               | 3721 ++++++++++++
 .../Versions/A/Headers/openvr_api.cs          | 4997 +++++++++++++++++
 .../Versions/A/Headers/openvr_api.json        | 3887 +++++++++++++
 .../Versions/A/Headers/openvr_capi.h          | 1918 +++++++
 .../Versions/A/Headers/openvr_driver.h        | 2677 +++++++++
 .../osx64/OpenVR.framework/Versions/A/OpenVR  |  Bin 0 -> 1318196 bytes
 .../Versions/A/Resources/Info.plist           |   18 +
 .../Versions/Current/Headers/openvr.h         | 3721 ++++++++++++
 .../Versions/Current/Headers/openvr_api.cs    | 4997 +++++++++++++++++
 .../Versions/Current/Headers/openvr_api.json  | 3887 +++++++++++++
 .../Versions/Current/Headers/openvr_capi.h    | 1918 +++++++
 .../Versions/Current/Headers/openvr_driver.h  | 2677 +++++++++
 .../OpenVR.framework/Versions/Current/OpenVR  |  Bin 0 -> 1318196 bytes
 .../Versions/Current/Resources/Info.plist     |   18 +
 .../openvr/bin/osx64/libopenvr_api.a          |  Bin 0 -> 1613520 bytes
 .../ThirdPartyLibs/openvr/headers/openvr.h    |   93 +-
 .../openvr/headers/openvr_api.cs              |   79 +-
 .../openvr/headers/openvr_api.json            |   57 +-
 .../openvr/headers/openvr_capi.h              |   32 +-
 .../openvr/headers/openvr_driver.h            |  129 +-
 .../openvr/lib/linux32/libopenvr_api.so       |  Bin 1963478 -> 1897474 bytes
 .../openvr/lib/linux64/libopenvr_api.so       |  Bin 2447145 -> 2385833 bytes
 .../openvr/lib/win32/openvr_api.lib           |  Bin 5964 -> 5964 bytes
 .../openvr/lib/win64/openvr_api.lib           |  Bin 5876 -> 5876 bytes
 .../openvr/samples/shared/pathtools.cpp       |    9 +-
 .../openvr/samples/shared/strtools.h          |   16 +-
 36 files changed, 52071 insertions(+), 70 deletions(-)
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr.h
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_api.cs
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_api.json
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_capi.h
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_driver.h
 create mode 100755 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/OpenVR
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Resources/Info.plist
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr.h
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_api.cs
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_api.json
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_capi.h
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_driver.h
 create mode 100755 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/OpenVR
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Resources/Info.plist
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr.h
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_api.cs
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_api.json
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_capi.h
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_driver.h
 create mode 100755 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/OpenVR
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Resources/Info.plist
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a
 mode change 100644 => 100755 examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so

diff --git a/examples/SharedMemory/CMakeLists.txt b/examples/SharedMemory/CMakeLists.txt
index 44ceefca3..dd10c5ff8 100644
--- a/examples/SharedMemory/CMakeLists.txt
+++ b/examples/SharedMemory/CMakeLists.txt
@@ -213,7 +213,8 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 
 
-IF (WIN32)
+#VR/OpenVR only on Windows and Mac OSX for now
+IF (WIN32 OR APPLE)
 
 INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src
@@ -234,13 +235,42 @@ LINK_LIBRARIES(
 
  				ADD_DEFINITIONS(-DGLEW_STATIC)
 				LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
+				IF(WIN32)
+				SET(Platform_SRCS
+					../MultiThreading/b3Win32ThreadSupport.cpp
+					../MultiThreading/b3Win32ThreadSupport.h
+					${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
+				)
 				IF (CMAKE_CL_64)
 					LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win64)
 				ELSE(CMAKE_CL_64)
 					LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win32)
 				ENDIF(CMAKE_CL_64)
+				ELSE(WIN32)
+
+					set_source_files_properties(../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp ../StandaloneMain/hellovr_opengl_main.cpp  PROPERTIES COMPILE_FLAGS "-x objective-c++")
+    					find_library(FOUNDATION_FRAMEWORK Foundation)
+    					mark_as_advanced(FOUNDATION_FRAMEWORK)
+    					set(EXTRA_LIBS ${EXTRA_LIBS} ${FOUNDATION_FRAMEWORK})
+
+					set(CMAKE_MACOSX_RPATH 0)
+  					
+					SET(Platform_SRCS
+                                        ../MultiThreading/b3PosixThreadSupport.cpp
+                                        ../MultiThreading/b3PosixThreadSupport.h
+                                	)
+					IF (CMAKE_CL_64)
+						LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/osx64)
+					ELSE()
+						set(ARCH_TARGET osx32)
+						LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/osx32)
+					ENDIF()
+					add_definitions(-DOSX -DPOSIX)
+
+				ENDIF(WIN32)
         ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_VR
                 ${SharedMemory_SRCS}
+		${Platform_SRCS}
           ../StandaloneMain/hellovr_opengl_main.cpp
 					../ExampleBrowser/OpenGLGuiHelper.cpp
 					../ExampleBrowser/GL_ShapeDrawer.cpp
@@ -257,9 +287,6 @@ LINK_LIBRARIES(
 					../ThirdPartyLibs/openvr/samples/shared/strtools.cpp
 					../ThirdPartyLibs/openvr/samples/shared/strtools.h
 					../ThirdPartyLibs/openvr/samples/shared/Vectors.h
-						../MultiThreading/b3Win32ThreadSupport.cpp
-						../MultiThreading/b3Win32ThreadSupport.h
-	          ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
         )
 
 
diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp
index 5936e7cf0..cad0eeb35 100644
--- a/examples/StandaloneMain/hellovr_opengl_main.cpp
+++ b/examples/StandaloneMain/hellovr_opengl_main.cpp
@@ -31,7 +31,8 @@ bool gDisableDesktopGL = false;
 #include <cstdlib>
 
 #include <openvr.h>
-
+#include "strtools.h"
+#include "compat.h"
 #include "lodepng.h"
 #include "Matrices.h"
 #include "pathtools.h"
@@ -597,10 +598,10 @@ bool CMainApplication::BInitGL()
 {
 	if( m_bDebugOpenGL )
 	{
-		const GLvoid *userParam=0;
-		glDebugMessageCallback(DebugCallback,  userParam);
-		glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_TRUE );
-		glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
+		//const GLvoid *userParam=0;
+		//glDebugMessageCallback(DebugCallback,  userParam);
+		//glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_TRUE );
+		//glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
 	}
 
 	if( !CreateAllShaders() )
@@ -656,8 +657,8 @@ void CMainApplication::Shutdown()
 	{
 		if (m_glSceneVertBuffer)
 		{
-			glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
-			glDebugMessageCallback(nullptr, nullptr);
+			//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);
@@ -1278,10 +1279,12 @@ bool CMainApplication::SetupTexturemaps()
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR );
 
+#ifdef WIN32
 	GLfloat fLargest;
+	
 	glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &fLargest);
 	glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, fLargest);
-	 	
+#endif	
 	glBindTexture( GL_TEXTURE_2D, 0 );
 
 	return ( m_iTexture != 0 );
@@ -2290,11 +2293,11 @@ bool CGLRenderModel::BInit( const vr::RenderModel_t & vrModel, const vr::RenderM
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE );
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR );
-
+#ifdef _WIN32
 	GLfloat fLargest;
 	glGetFloatv( GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &fLargest );
 	glTexParameterf( GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, fLargest );
-
+#endif
 	glBindTexture( GL_TEXTURE_2D, 0 );
 
 	m_unVertexCount = vrModel.unTriangleCount * 3;
@@ -2384,7 +2387,8 @@ int main(int argc, char *argv[])
     args.GetCmdLineArgument("mp4",gVideoFileName);
     if (gVideoFileName)
         pMainApplication->getApp()->dumpFramesToVideo(gVideoFileName);
- 
+
+#ifdef _WIN32 
 	//request disable VSYNC
 	typedef bool (APIENTRY *PFNWGLSWAPINTERVALFARPROC)(int);
 	PFNWGLSWAPINTERVALFARPROC wglSwapIntervalEXT = 0;
@@ -2392,7 +2396,14 @@ int main(int argc, char *argv[])
 		(PFNWGLSWAPINTERVALFARPROC)wglGetProcAddress("wglSwapIntervalEXT");
 	if (wglSwapIntervalEXT)
 		wglSwapIntervalEXT(0);
-			
+#endif
+
+#ifdef __APPLE__
+	GLint                       sync = 0;
+	CGLContextObj               ctx = CGLGetCurrentContext();
+	CGLSetParameter(ctx, kCGLCPSwapInterval, &sync);
+#endif
+		
 	pMainApplication->RunMainLoop();
 
 	pMainApplication->Shutdown();
@@ -2405,4 +2416,4 @@ int main(int argc, char *argv[])
 
 	return 0;
 }
-#endif //BT_ENABLE_VR
\ No newline at end of file
+#endif //BT_ENABLE_VR
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx32/libopenvr_api.dylib b/examples/ThirdPartyLibs/openvr/bin/osx32/libopenvr_api.dylib
index 5a20f3aae81087457eed30a915aedb44e47aab1b..fb1d77f02273f57a849f72ede7ed77fd58013887 100644
GIT binary patch
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diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr.h b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr.h
new file mode 100644
index 000000000..79abf062a
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr.h
@@ -0,0 +1,3721 @@
+#pragma once
+
+// openvr.h
+//========= Copyright Valve Corporation ============//
+// Dynamically generated file. Do not modify this file directly.
+
+#ifndef _OPENVR_API
+#define _OPENVR_API
+
+#include <stdint.h>
+
+
+
+// vrtypes.h
+#ifndef _INCLUDE_VRTYPES_H
+#define _INCLUDE_VRTYPES_H
+
+// Forward declarations to avoid requiring vulkan.h
+struct VkDevice_T;
+struct VkPhysicalDevice_T;
+struct VkInstance_T;
+struct VkQueue_T;
+
+// Forward declarations to avoid requiring d3d12.h
+struct ID3D12Resource;
+struct ID3D12CommandQueue;
+
+namespace vr
+{
+#pragma pack( push, 8 )
+
+typedef void* glSharedTextureHandle_t;
+typedef int32_t glInt_t;
+typedef uint32_t glUInt_t;
+
+// right-handed system
+// +y is up
+// +x is to the right
+// -z is going away from you
+// Distance unit is  meters
+struct HmdMatrix34_t
+{
+	float m[3][4];
+};
+
+struct HmdMatrix44_t
+{
+	float m[4][4];
+};
+
+struct HmdVector3_t
+{
+	float v[3];
+};
+
+struct HmdVector4_t
+{
+	float v[4];
+};
+
+struct HmdVector3d_t
+{
+	double v[3];
+};
+
+struct HmdVector2_t
+{
+	float v[2];
+};
+
+struct HmdQuaternion_t
+{
+	double w, x, y, z;
+};
+
+struct HmdColor_t
+{
+	float r, g, b, a;
+};
+
+struct HmdQuad_t
+{
+	HmdVector3_t vCorners[ 4 ];
+};
+
+struct HmdRect2_t
+{
+	HmdVector2_t vTopLeft;
+	HmdVector2_t vBottomRight;
+};
+
+/** Used to return the post-distortion UVs for each color channel. 
+* UVs range from 0 to 1 with 0,0 in the upper left corner of the 
+* source render target. The 0,0 to 1,1 range covers a single eye. */
+struct DistortionCoordinates_t
+{
+	float rfRed[2];
+	float rfGreen[2];
+	float rfBlue[2];
+};
+
+enum EVREye
+{
+	Eye_Left = 0,
+	Eye_Right = 1
+};
+
+enum ETextureType
+{
+	TextureType_DirectX = 0, // Handle is an ID3D11Texture
+	TextureType_OpenGL = 1,  // Handle is an OpenGL texture name or an OpenGL render buffer name, depending on submit flags
+	TextureType_Vulkan = 2, // Handle is a pointer to a VRVulkanTextureData_t structure
+	TextureType_IOSurface = 3, // Handle is a macOS cross-process-sharable IOSurfaceRef
+	TextureType_DirectX12 = 4, // Handle is a pointer to a D3D12TextureData_t structure
+};
+
+enum EColorSpace
+{
+	ColorSpace_Auto = 0,	// Assumes 'gamma' for 8-bit per component formats, otherwise 'linear'.  This mirrors the DXGI formats which have _SRGB variants.
+	ColorSpace_Gamma = 1,	// Texture data can be displayed directly on the display without any conversion (a.k.a. display native format).
+	ColorSpace_Linear = 2,	// Same as gamma but has been converted to a linear representation using DXGI's sRGB conversion algorithm.
+};
+
+struct Texture_t
+{
+	void* handle; // See ETextureType definition above
+	ETextureType eType;
+	EColorSpace eColorSpace;
+};
+
+// Handle to a shared texture (HANDLE on Windows obtained using OpenSharedResource).
+typedef uint64_t SharedTextureHandle_t;
+#define INVALID_SHARED_TEXTURE_HANDLE	((vr::SharedTextureHandle_t)0)
+
+enum ETrackingResult
+{
+	TrackingResult_Uninitialized			= 1,
+
+	TrackingResult_Calibrating_InProgress	= 100,
+	TrackingResult_Calibrating_OutOfRange	= 101,
+
+	TrackingResult_Running_OK				= 200,
+	TrackingResult_Running_OutOfRange		= 201,
+};
+
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
+static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
+
+/** Used to pass device IDs to API calls */
+typedef uint32_t TrackedDeviceIndex_t;
+static const uint32_t k_unTrackedDeviceIndex_Hmd = 0;
+static const uint32_t k_unMaxTrackedDeviceCount = 16;
+static const uint32_t k_unTrackedDeviceIndexOther = 0xFFFFFFFE;
+static const uint32_t k_unTrackedDeviceIndexInvalid = 0xFFFFFFFF;
+
+/** Describes what kind of object is being tracked at a given ID */
+enum ETrackedDeviceClass
+{
+	TrackedDeviceClass_Invalid = 0,				// the ID was not valid.
+	TrackedDeviceClass_HMD = 1,					// Head-Mounted Displays
+	TrackedDeviceClass_Controller = 2,			// Tracked controllers
+	TrackedDeviceClass_GenericTracker = 3,		// Generic trackers, similar to controllers
+	TrackedDeviceClass_TrackingReference = 4,	// Camera and base stations that serve as tracking reference points
+	TrackedDeviceClass_DisplayRedirect = 5,		// Accessories that aren't necessarily tracked themselves, but may redirect video output from other tracked devices
+};
+
+
+/** Describes what specific role associated with a tracked device */
+enum ETrackedControllerRole
+{
+	TrackedControllerRole_Invalid = 0,					// Invalid value for controller type
+	TrackedControllerRole_LeftHand = 1,					// Tracked device associated with the left hand
+	TrackedControllerRole_RightHand = 2,				// Tracked device associated with the right hand
+};
+
+
+/** describes a single pose for a tracked object */
+struct TrackedDevicePose_t
+{
+	HmdMatrix34_t mDeviceToAbsoluteTracking;
+	HmdVector3_t vVelocity;				// velocity in tracker space in m/s
+	HmdVector3_t vAngularVelocity;		// angular velocity in radians/s (?)
+	ETrackingResult eTrackingResult;
+	bool bPoseIsValid;
+
+	// This indicates that there is a device connected for this spot in the pose array.
+	// It could go from true to false if the user unplugs the device.
+	bool bDeviceIsConnected;
+};
+
+/** Identifies which style of tracking origin the application wants to use
+* for the poses it is requesting */
+enum ETrackingUniverseOrigin
+{
+	TrackingUniverseSeated = 0,		// Poses are provided relative to the seated zero pose
+	TrackingUniverseStanding = 1,	// Poses are provided relative to the safe bounds configured by the user
+	TrackingUniverseRawAndUncalibrated = 2,	// Poses are provided in the coordinate system defined by the driver.  It has Y up and is unified for devices of the same driver. You usually don't want this one.
+};
+
+// Refers to a single container of properties
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+static const PropertyContainerHandle_t k_ulInvalidPropertyContainer = 0;
+static const PropertyTypeTag_t k_unInvalidPropertyTag = 0;
+
+// Use these tags to set/get common types as struct properties
+static const PropertyTypeTag_t k_unFloatPropertyTag = 1;
+static const PropertyTypeTag_t k_unInt32PropertyTag = 2;
+static const PropertyTypeTag_t k_unUint64PropertyTag = 3;
+static const PropertyTypeTag_t k_unBoolPropertyTag = 4;
+static const PropertyTypeTag_t k_unStringPropertyTag = 5;
+
+static const PropertyTypeTag_t k_unHmdMatrix34PropertyTag = 20;
+static const PropertyTypeTag_t k_unHmdMatrix44PropertyTag = 21;
+static const PropertyTypeTag_t k_unHmdVector3PropertyTag = 22;
+static const PropertyTypeTag_t k_unHmdVector4PropertyTag = 23;
+
+static const PropertyTypeTag_t k_unHiddenAreaPropertyTag = 30;
+
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_Start = 1000;
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_End = 10000;
+
+
+/** Each entry in this enum represents a property that can be retrieved about a
+* tracked device. Many fields are only valid for one ETrackedDeviceClass. */
+enum ETrackedDeviceProperty
+{
+	Prop_Invalid								= 0,
+
+	// general properties that apply to all device classes
+	Prop_TrackingSystemName_String				= 1000,
+	Prop_ModelNumber_String						= 1001,
+	Prop_SerialNumber_String					= 1002,
+	Prop_RenderModelName_String					= 1003,
+	Prop_WillDriftInYaw_Bool					= 1004,
+	Prop_ManufacturerName_String				= 1005,
+	Prop_TrackingFirmwareVersion_String			= 1006,
+	Prop_HardwareRevision_String				= 1007,
+	Prop_AllWirelessDongleDescriptions_String	= 1008,
+	Prop_ConnectedWirelessDongle_String			= 1009,
+	Prop_DeviceIsWireless_Bool					= 1010,
+	Prop_DeviceIsCharging_Bool					= 1011,
+	Prop_DeviceBatteryPercentage_Float			= 1012, // 0 is empty, 1 is full
+	Prop_StatusDisplayTransform_Matrix34		= 1013,
+	Prop_Firmware_UpdateAvailable_Bool			= 1014,
+	Prop_Firmware_ManualUpdate_Bool				= 1015,
+	Prop_Firmware_ManualUpdateURL_String		= 1016,
+	Prop_HardwareRevision_Uint64				= 1017,
+	Prop_FirmwareVersion_Uint64					= 1018,
+	Prop_FPGAVersion_Uint64						= 1019,
+	Prop_VRCVersion_Uint64						= 1020,
+	Prop_RadioVersion_Uint64					= 1021,
+	Prop_DongleVersion_Uint64					= 1022,
+	Prop_BlockServerShutdown_Bool				= 1023,
+	Prop_CanUnifyCoordinateSystemWithHmd_Bool	= 1024,
+	Prop_ContainsProximitySensor_Bool			= 1025,
+	Prop_DeviceProvidesBatteryStatus_Bool		= 1026,
+	Prop_DeviceCanPowerOff_Bool					= 1027,
+	Prop_Firmware_ProgrammingTarget_String		= 1028,
+	Prop_DeviceClass_Int32						= 1029,
+	Prop_HasCamera_Bool							= 1030,
+	Prop_DriverVersion_String                   = 1031,
+	Prop_Firmware_ForceUpdateRequired_Bool      = 1032,
+	Prop_ViveSystemButtonFixRequired_Bool		= 1033,
+	Prop_ParentDriver_Uint64					= 1034,
+	Prop_ResourceRoot_String					= 1035,
+
+	// Properties that are unique to TrackedDeviceClass_HMD
+	Prop_ReportsTimeSinceVSync_Bool				= 2000,
+	Prop_SecondsFromVsyncToPhotons_Float		= 2001,
+	Prop_DisplayFrequency_Float					= 2002,
+	Prop_UserIpdMeters_Float					= 2003,
+	Prop_CurrentUniverseId_Uint64				= 2004, 
+	Prop_PreviousUniverseId_Uint64				= 2005, 
+	Prop_DisplayFirmwareVersion_Uint64			= 2006,
+	Prop_IsOnDesktop_Bool						= 2007,
+	Prop_DisplayMCType_Int32					= 2008,
+	Prop_DisplayMCOffset_Float					= 2009,
+	Prop_DisplayMCScale_Float					= 2010,
+	Prop_EdidVendorID_Int32						= 2011,
+	Prop_DisplayMCImageLeft_String              = 2012,
+	Prop_DisplayMCImageRight_String             = 2013,
+	Prop_DisplayGCBlackClamp_Float				= 2014,
+	Prop_EdidProductID_Int32					= 2015,
+	Prop_CameraToHeadTransform_Matrix34			= 2016,
+	Prop_DisplayGCType_Int32					= 2017,
+	Prop_DisplayGCOffset_Float					= 2018,
+	Prop_DisplayGCScale_Float					= 2019,
+	Prop_DisplayGCPrescale_Float				= 2020,
+	Prop_DisplayGCImage_String					= 2021,
+	Prop_LensCenterLeftU_Float					= 2022,
+	Prop_LensCenterLeftV_Float					= 2023,
+	Prop_LensCenterRightU_Float					= 2024,
+	Prop_LensCenterRightV_Float					= 2025,
+	Prop_UserHeadToEyeDepthMeters_Float			= 2026,
+	Prop_CameraFirmwareVersion_Uint64			= 2027,
+	Prop_CameraFirmwareDescription_String		= 2028,
+	Prop_DisplayFPGAVersion_Uint64				= 2029,
+	Prop_DisplayBootloaderVersion_Uint64		= 2030,
+	Prop_DisplayHardwareVersion_Uint64			= 2031,
+	Prop_AudioFirmwareVersion_Uint64			= 2032,
+	Prop_CameraCompatibilityMode_Int32			= 2033,
+	Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	Prop_DisplaySuppressed_Bool					= 2036,
+	Prop_DisplayAllowNightMode_Bool				= 2037,
+	Prop_DisplayMCImageWidth_Int32				= 2038,
+	Prop_DisplayMCImageHeight_Int32				= 2039,
+	Prop_DisplayMCImageNumChannels_Int32		= 2040,
+	Prop_DisplayMCImageData_Binary				= 2041,
+	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+
+	// Properties that are unique to TrackedDeviceClass_Controller
+	Prop_AttachedDeviceId_String				= 3000,
+	Prop_SupportedButtons_Uint64				= 3001,
+	Prop_Axis0Type_Int32						= 3002, // Return value is of type EVRControllerAxisType
+	Prop_Axis1Type_Int32						= 3003, // Return value is of type EVRControllerAxisType
+	Prop_Axis2Type_Int32						= 3004, // Return value is of type EVRControllerAxisType
+	Prop_Axis3Type_Int32						= 3005, // Return value is of type EVRControllerAxisType
+	Prop_Axis4Type_Int32						= 3006, // Return value is of type EVRControllerAxisType
+	Prop_ControllerRoleHint_Int32				= 3007, // Return value is of type ETrackedControllerRole
+
+	// Properties that are unique to TrackedDeviceClass_TrackingReference
+	Prop_FieldOfViewLeftDegrees_Float			= 4000,
+	Prop_FieldOfViewRightDegrees_Float			= 4001,
+	Prop_FieldOfViewTopDegrees_Float			= 4002,
+	Prop_FieldOfViewBottomDegrees_Float			= 4003,
+	Prop_TrackingRangeMinimumMeters_Float		= 4004,
+	Prop_TrackingRangeMaximumMeters_Float		= 4005,
+	Prop_ModeLabel_String						= 4006,
+
+	// Properties that are used for user interface like icons names
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+
+	// Properties that are used by helpers, but are opaque to applications
+	Prop_DisplayHiddenArea_Binary_Start				= 5100,
+	Prop_DisplayHiddenArea_Binary_End				= 5150,
+
+	// Properties that are unique to drivers
+	Prop_UserConfigPath_String					= 6000,
+	Prop_InstallPath_String						= 6001,
+	Prop_HasDisplayComponent_Bool				= 6002,
+	Prop_HasControllerComponent_Bool			= 6003,
+	Prop_HasCameraComponent_Bool				= 6004,
+	Prop_HasDriverDirectModeComponent_Bool		= 6005,
+	Prop_HasVirtualDisplayComponent_Bool		= 6006,
+
+	// Vendors are free to expose private debug data in this reserved region
+	Prop_VendorSpecific_Reserved_Start			= 10000,
+	Prop_VendorSpecific_Reserved_End			= 10999,
+};
+
+/** No string property will ever be longer than this length */
+static const uint32_t k_unMaxPropertyStringSize = 32 * 1024;
+
+/** Used to return errors that occur when reading properties. */
+enum ETrackedPropertyError
+{
+	TrackedProp_Success						= 0,
+	TrackedProp_WrongDataType				= 1,
+	TrackedProp_WrongDeviceClass			= 2,
+	TrackedProp_BufferTooSmall				= 3,
+	TrackedProp_UnknownProperty				= 4, // Driver has not set the property (and may not ever).
+	TrackedProp_InvalidDevice				= 5,
+	TrackedProp_CouldNotContactServer		= 6,
+	TrackedProp_ValueNotProvidedByDevice	= 7,
+	TrackedProp_StringExceedsMaximumLength	= 8,
+	TrackedProp_NotYetAvailable				= 9, // The property value isn't known yet, but is expected soon. Call again later.
+	TrackedProp_PermissionDenied			= 10,
+	TrackedProp_InvalidOperation			= 11,
+};
+
+/** Allows the application to control what part of the provided texture will be used in the
+* frame buffer. */
+struct VRTextureBounds_t
+{
+	float uMin, vMin;
+	float uMax, vMax;
+};
+
+
+/** Allows the application to control how scene textures are used by the compositor when calling Submit. */
+enum EVRSubmitFlags
+{
+	// Simple render path. App submits rendered left and right eye images with no lens distortion correction applied.
+	Submit_Default = 0x00,
+
+	// App submits final left and right eye images with lens distortion already applied (lens distortion makes the images appear
+	// barrel distorted with chromatic aberration correction applied). The app would have used the data returned by
+	// vr::IVRSystem::ComputeDistortion() to apply the correct distortion to the rendered images before calling Submit().
+	Submit_LensDistortionAlreadyApplied = 0x01,
+
+	// If the texture pointer passed in is actually a renderbuffer (e.g. for MSAA in OpenGL) then set this flag.
+	Submit_GlRenderBuffer = 0x02,
+
+	// Do not use
+	Submit_Reserved = 0x04,
+};
+
+/** Data required for passing Vulkan textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct VRVulkanTextureData_t
+{
+	uint64_t m_nImage; // VkImage
+	VkDevice_T *m_pDevice;
+	VkPhysicalDevice_T *m_pPhysicalDevice;
+	VkInstance_T *m_pInstance;
+	VkQueue_T *m_pQueue;
+	uint32_t m_nQueueFamilyIndex;
+	uint32_t m_nWidth, m_nHeight, m_nFormat, m_nSampleCount;
+};
+
+/** Data required for passing D3D12 textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct D3D12TextureData_t
+{
+	ID3D12Resource *m_pResource;
+	ID3D12CommandQueue *m_pCommandQueue;
+	uint32_t m_nNodeMask;
+};
+
+/** Status of the overall system or tracked objects */
+enum EVRState
+{
+	VRState_Undefined = -1,
+	VRState_Off = 0,
+	VRState_Searching = 1,
+	VRState_Searching_Alert = 2,
+	VRState_Ready = 3,
+	VRState_Ready_Alert = 4,
+	VRState_NotReady = 5,
+	VRState_Standby = 6,
+	VRState_Ready_Alert_Low = 7,
+};
+
+/** The types of events that could be posted (and what the parameters mean for each event type) */
+enum EVREventType
+{
+	VREvent_None = 0,
+
+	VREvent_TrackedDeviceActivated		= 100,
+	VREvent_TrackedDeviceDeactivated	= 101,
+	VREvent_TrackedDeviceUpdated		= 102,
+	VREvent_TrackedDeviceUserInteractionStarted	= 103,
+	VREvent_TrackedDeviceUserInteractionEnded	= 104,
+	VREvent_IpdChanged					= 105,
+	VREvent_EnterStandbyMode			= 106,
+	VREvent_LeaveStandbyMode			= 107,
+	VREvent_TrackedDeviceRoleChanged	= 108,
+	VREvent_WatchdogWakeUpRequested		= 109,
+	VREvent_LensDistortionChanged		= 110,
+	VREvent_PropertyChanged				= 111,
+
+	VREvent_ButtonPress					= 200, // data is controller
+	VREvent_ButtonUnpress				= 201, // data is controller
+	VREvent_ButtonTouch					= 202, // data is controller
+	VREvent_ButtonUntouch				= 203, // data is controller
+
+	VREvent_MouseMove					= 300, // data is mouse
+	VREvent_MouseButtonDown				= 301, // data is mouse
+	VREvent_MouseButtonUp				= 302, // data is mouse
+	VREvent_FocusEnter					= 303, // data is overlay
+	VREvent_FocusLeave					= 304, // data is overlay
+	VREvent_Scroll						= 305, // data is mouse
+	VREvent_TouchPadMove				= 306, // data is mouse
+	VREvent_OverlayFocusChanged			= 307, // data is overlay, global event
+
+	VREvent_InputFocusCaptured			= 400, // data is process DEPRECATED
+	VREvent_InputFocusReleased			= 401, // data is process DEPRECATED
+	VREvent_SceneFocusLost				= 402, // data is process
+	VREvent_SceneFocusGained			= 403, // data is process
+	VREvent_SceneApplicationChanged		= 404, // data is process - The App actually drawing the scene changed (usually to or from the compositor)
+	VREvent_SceneFocusChanged			= 405, // data is process - New app got access to draw the scene
+	VREvent_InputFocusChanged			= 406, // data is process
+	VREvent_SceneApplicationSecondaryRenderingStarted = 407, // data is process
+
+	VREvent_HideRenderModels			= 410, // Sent to the scene application to request hiding render models temporarily
+	VREvent_ShowRenderModels			= 411, // Sent to the scene application to request restoring render model visibility
+
+	VREvent_OverlayShown				= 500,
+	VREvent_OverlayHidden				= 501,
+	VREvent_DashboardActivated			= 502,
+	VREvent_DashboardDeactivated		= 503,
+	VREvent_DashboardThumbSelected		= 504, // Sent to the overlay manager - data is overlay
+	VREvent_DashboardRequested			= 505, // Sent to the overlay manager - data is overlay
+	VREvent_ResetDashboard				= 506, // Send to the overlay manager
+	VREvent_RenderToast					= 507, // Send to the dashboard to render a toast - data is the notification ID
+	VREvent_ImageLoaded					= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
+	VREvent_ShowKeyboard				= 509, // Sent to keyboard renderer in the dashboard to invoke it
+	VREvent_HideKeyboard				= 510, // Sent to keyboard renderer in the dashboard to hide it
+	VREvent_OverlayGamepadFocusGained	= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
+	VREvent_OverlayGamepadFocusLost		= 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
+	VREvent_OverlaySharedTextureChanged = 513,
+	VREvent_DashboardGuideButtonDown	= 514,
+	VREvent_DashboardGuideButtonUp		= 515,
+	VREvent_ScreenshotTriggered			= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
+	VREvent_ImageFailed					= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
+	VREvent_DashboardOverlayCreated		= 518,
+
+	// Screenshot API
+	VREvent_RequestScreenshot				= 520, // Sent by vrclient application to compositor to take a screenshot
+	VREvent_ScreenshotTaken					= 521, // Sent by compositor to the application that the screenshot has been taken
+	VREvent_ScreenshotFailed				= 522, // Sent by compositor to the application that the screenshot failed to be taken
+	VREvent_SubmitScreenshotToDashboard		= 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_ScreenshotProgressToDashboard	= 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+
+	VREvent_PrimaryDashboardDeviceChanged	= 525,
+
+	VREvent_Notification_Shown				= 600,
+	VREvent_Notification_Hidden				= 601,
+	VREvent_Notification_BeginInteraction	= 602,
+	VREvent_Notification_Destroyed			= 603,
+
+	VREvent_Quit							= 700, // data is process
+	VREvent_ProcessQuit						= 701, // data is process
+	VREvent_QuitAborted_UserPrompt			= 702, // data is process
+	VREvent_QuitAcknowledged				= 703, // data is process
+	VREvent_DriverRequestedQuit				= 704, // The driver has requested that SteamVR shut down
+
+	VREvent_ChaperoneDataHasChanged			= 800,
+	VREvent_ChaperoneUniverseHasChanged		= 801,
+	VREvent_ChaperoneTempDataHasChanged		= 802,
+	VREvent_ChaperoneSettingsHaveChanged	= 803,
+	VREvent_SeatedZeroPoseReset				= 804,
+
+	VREvent_AudioSettingsHaveChanged		= 820,
+
+	VREvent_BackgroundSettingHasChanged		= 850,
+	VREvent_CameraSettingsHaveChanged		= 851,
+	VREvent_ReprojectionSettingHasChanged	= 852,
+	VREvent_ModelSkinSettingsHaveChanged	= 853,
+	VREvent_EnvironmentSettingsHaveChanged	= 854,
+	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
+
+	VREvent_StatusUpdate					= 900,
+
+	VREvent_MCImageUpdated					= 1000,
+
+	VREvent_FirmwareUpdateStarted			= 1100,
+	VREvent_FirmwareUpdateFinished			= 1101,
+
+	VREvent_KeyboardClosed					= 1200,
+	VREvent_KeyboardCharInput				= 1201,
+	VREvent_KeyboardDone					= 1202, // Sent when DONE button clicked on keyboard
+
+	VREvent_ApplicationTransitionStarted		= 1300,
+	VREvent_ApplicationTransitionAborted		= 1301,
+	VREvent_ApplicationTransitionNewAppStarted	= 1302,
+	VREvent_ApplicationListUpdated				= 1303,
+	VREvent_ApplicationMimeTypeLoad				= 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected					= 1306,
+	VREvent_ProcessDisconnected					= 1307,
+
+	VREvent_Compositor_MirrorWindowShown		= 1400,
+	VREvent_Compositor_MirrorWindowHidden		= 1401,
+	VREvent_Compositor_ChaperoneBoundsShown		= 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden	= 1411,
+
+	VREvent_TrackedCamera_StartVideoStream  = 1500,
+	VREvent_TrackedCamera_StopVideoStream   = 1501,
+	VREvent_TrackedCamera_PauseVideoStream  = 1502,
+	VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	VREvent_TrackedCamera_EditingSurface    = 1550,
+
+	VREvent_PerformanceTest_EnableCapture	= 1600,
+	VREvent_PerformanceTest_DisableCapture	= 1601,
+	VREvent_PerformanceTest_FidelityLevel	= 1602,
+
+	VREvent_MessageOverlay_Closed			= 1650,
+	
+	// Vendors are free to expose private events in this reserved region
+	VREvent_VendorSpecific_Reserved_Start	= 10000,
+	VREvent_VendorSpecific_Reserved_End		= 19999,
+};
+
+
+/** Level of Hmd activity */
+// UserInteraction_Timeout means the device is in the process of timing out.
+// InUse = ( k_EDeviceActivityLevel_UserInteraction || k_EDeviceActivityLevel_UserInteraction_Timeout )
+// VREvent_TrackedDeviceUserInteractionStarted fires when the devices transitions from Standby -> UserInteraction or Idle -> UserInteraction.
+// VREvent_TrackedDeviceUserInteractionEnded fires when the devices transitions from UserInteraction_Timeout -> Idle
+enum EDeviceActivityLevel
+{	
+	k_EDeviceActivityLevel_Unknown = -1,									
+	k_EDeviceActivityLevel_Idle = 0,						// No activity for the last 10 seconds
+	k_EDeviceActivityLevel_UserInteraction = 1,				// Activity (movement or prox sensor) is happening now	
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,		// No activity for the last 0.5 seconds
+	k_EDeviceActivityLevel_Standby = 3,						// Idle for at least 5 seconds (configurable in Settings -> Power Management)
+};
+
+
+/** VR controller button and axis IDs */
+enum EVRButtonId
+{
+	k_EButton_System			= 0,
+	k_EButton_ApplicationMenu	= 1,
+	k_EButton_Grip				= 2,
+	k_EButton_DPad_Left			= 3,
+	k_EButton_DPad_Up			= 4,
+	k_EButton_DPad_Right		= 5,
+	k_EButton_DPad_Down			= 6,
+	k_EButton_A					= 7,
+	
+	k_EButton_ProximitySensor   = 31,
+
+	k_EButton_Axis0				= 32,
+	k_EButton_Axis1				= 33,
+	k_EButton_Axis2				= 34,
+	k_EButton_Axis3				= 35,
+	k_EButton_Axis4				= 36,
+
+	// aliases for well known controllers
+	k_EButton_SteamVR_Touchpad	= k_EButton_Axis0,
+	k_EButton_SteamVR_Trigger	= k_EButton_Axis1,
+
+	k_EButton_Dashboard_Back	= k_EButton_Grip,
+
+	k_EButton_Max				= 64
+};
+
+inline uint64_t ButtonMaskFromId( EVRButtonId id ) { return 1ull << id; }
+
+/** used for controller button events */
+struct VREvent_Controller_t
+{
+	uint32_t button; // EVRButtonId enum
+};
+
+
+/** used for simulated mouse events in overlay space */
+enum EVRMouseButton
+{
+	VRMouseButton_Left					= 0x0001,
+	VRMouseButton_Right					= 0x0002,
+	VRMouseButton_Middle				= 0x0004,
+};
+
+
+/** used for simulated mouse events in overlay space */
+struct VREvent_Mouse_t
+{
+	float x, y; // co-ords are in GL space, bottom left of the texture is 0,0
+	uint32_t button; // EVRMouseButton enum
+};
+
+/** used for simulated mouse wheel scroll in overlay space */
+struct VREvent_Scroll_t
+{
+	float xdelta, ydelta; // movement in fraction of the pad traversed since last delta, 1.0 for a full swipe
+	uint32_t repeatCount;
+};
+
+/** when in mouse input mode you can receive data from the touchpad, these events are only sent if the users finger
+   is on the touchpad (or just released from it) 
+**/
+struct VREvent_TouchPadMove_t
+{
+	// true if the users finger is detected on the touch pad
+	bool bFingerDown;
+
+	// How long the finger has been down in seconds
+	float flSecondsFingerDown;
+
+	// These values indicate the starting finger position (so you can do some basic swipe stuff)
+	float fValueXFirst;
+	float fValueYFirst;
+
+	// This is the raw sampled coordinate without deadzoning
+	float fValueXRaw;
+	float fValueYRaw;
+};
+
+/** notification related events. Details will still change at this point */
+struct VREvent_Notification_t
+{
+	uint64_t ulUserValue;
+	uint32_t notificationId;
+};
+
+/** Used for events about processes */
+struct VREvent_Process_t
+{
+	uint32_t pid;
+	uint32_t oldPid;
+	bool bForced;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Overlay_t
+{
+	uint64_t overlayHandle;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Status_t
+{
+	uint32_t statusState; // EVRState enum
+};
+
+/** Used for keyboard events **/
+struct VREvent_Keyboard_t
+{
+	char cNewInput[8];	// Up to 11 bytes of new input
+	uint64_t uUserValue;	// Possible flags about the new input
+};
+
+struct VREvent_Ipd_t
+{
+	float ipdMeters;
+};
+
+struct VREvent_Chaperone_t
+{
+	uint64_t m_nPreviousUniverse;
+	uint64_t m_nCurrentUniverse;
+};
+
+/** Not actually used for any events */
+struct VREvent_Reserved_t
+{
+	uint64_t reserved0;
+	uint64_t reserved1;
+};
+
+struct VREvent_PerformanceTest_t
+{
+	uint32_t m_nFidelityLevel;
+};
+
+struct VREvent_SeatedZeroPoseReset_t
+{
+	bool bResetBySystemMenu;
+};
+
+struct VREvent_Screenshot_t
+{
+	uint32_t handle;
+	uint32_t type;
+};
+
+struct VREvent_ScreenshotProgress_t
+{
+	float progress;
+};
+
+struct VREvent_ApplicationLaunch_t
+{
+	uint32_t pid;
+	uint32_t unArgsHandle;
+};
+
+struct VREvent_EditingCameraSurface_t
+{
+	uint64_t overlayHandle;
+	uint32_t nVisualMode;
+};
+
+struct VREvent_MessageOverlay_t
+{
+	uint32_t unVRMessageOverlayResponse; // vr::VRMessageOverlayResponse enum
+};
+
+struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	ETrackedDeviceProperty prop;
+};
+
+/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py */
+typedef union
+{
+	VREvent_Reserved_t reserved;
+	VREvent_Controller_t controller;
+	VREvent_Mouse_t mouse;
+	VREvent_Scroll_t scroll;
+	VREvent_Process_t process;
+	VREvent_Notification_t notification;
+	VREvent_Overlay_t overlay;
+	VREvent_Status_t status;
+	VREvent_Keyboard_t keyboard;
+	VREvent_Ipd_t ipd;
+	VREvent_Chaperone_t chaperone;
+	VREvent_PerformanceTest_t performanceTest;
+	VREvent_TouchPadMove_t touchPadMove;
+	VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+	VREvent_Screenshot_t screenshot;
+	VREvent_ScreenshotProgress_t screenshotProgress;
+	VREvent_ApplicationLaunch_t applicationLaunch;
+	VREvent_EditingCameraSurface_t cameraSurface;
+	VREvent_MessageOverlay_t messageOverlay;
+	VREvent_Property_t property;
+} VREvent_Data_t;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** An event posted by the server to all running applications */
+struct VREvent_t
+{
+	uint32_t eventType; // EVREventType enum
+	TrackedDeviceIndex_t trackedDeviceIndex;
+	float eventAgeSeconds;
+	// event data must be the end of the struct as its size is variable
+	VREvent_Data_t data;
+};
+
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+/** The mesh to draw into the stencil (or depth) buffer to perform 
+* early stencil (or depth) kills of pixels that will never appear on the HMD.
+* This mesh draws on all the pixels that will be hidden after distortion. 
+*
+* If the HMD does not provide a visible area mesh pVertexData will be
+* NULL and unTriangleCount will be 0. */
+struct HiddenAreaMesh_t
+{
+	const HmdVector2_t *pVertexData;
+	uint32_t unTriangleCount;
+};
+
+
+enum EHiddenAreaMeshType
+{
+	k_eHiddenAreaMesh_Standard = 0,
+	k_eHiddenAreaMesh_Inverse = 1,
+	k_eHiddenAreaMesh_LineLoop = 2,
+
+	k_eHiddenAreaMesh_Max = 3,
+};
+
+
+/** Identifies what kind of axis is on the controller at index n. Read this type 
+* with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n );
+*/
+enum EVRControllerAxisType
+{
+	k_eControllerAxis_None = 0,
+	k_eControllerAxis_TrackPad = 1,
+	k_eControllerAxis_Joystick = 2,
+	k_eControllerAxis_Trigger = 3, // Analog trigger data is in the X axis
+};
+
+
+/** contains information about one axis on the controller */
+struct VRControllerAxis_t
+{
+	float x; // Ranges from -1.0 to 1.0 for joysticks and track pads. Ranges from 0.0 to 1.0 for triggers were 0 is fully released.
+	float y; // Ranges from -1.0 to 1.0 for joysticks and track pads. Is always 0.0 for triggers.
+};
+
+
+/** the number of axes in the controller state */
+static const uint32_t k_unControllerStateAxisCount = 5;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** Holds all the state of a controller at one moment in time. */
+struct VRControllerState001_t
+{
+	// If packet num matches that on your prior call, then the controller state hasn't been changed since 
+	// your last call and there is no need to process it
+	uint32_t unPacketNum;
+
+	// bit flags for each of the buttons. Use ButtonMaskFromId to turn an ID into a mask
+	uint64_t ulButtonPressed;
+	uint64_t ulButtonTouched;
+
+	// Axis data for the controller's analog inputs
+	VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ];
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+
+typedef VRControllerState001_t VRControllerState_t;
+
+
+/** determines how to provide output to the application of various event processing functions. */
+enum EVRControllerEventOutputType
+{
+	ControllerEventOutput_OSEvents = 0,
+	ControllerEventOutput_VREvents = 1,
+};
+
+
+
+/** Collision Bounds Style */
+enum ECollisionBoundsStyle
+{
+	COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	COLLISION_BOUNDS_STYLE_INTERMEDIATE,
+	COLLISION_BOUNDS_STYLE_SQUARES,
+	COLLISION_BOUNDS_STYLE_ADVANCED,
+	COLLISION_BOUNDS_STYLE_NONE,
+
+	COLLISION_BOUNDS_STYLE_COUNT
+};
+
+/** Allows the application to customize how the overlay appears in the compositor */
+struct Compositor_OverlaySettings
+{
+	uint32_t size; // sizeof(Compositor_OverlaySettings)
+	bool curved, antialias;
+	float scale, distance, alpha;
+	float uOffset, vOffset, uScale, vScale;
+	float gridDivs, gridWidth, gridScale;
+	HmdMatrix44_t transform;
+};
+
+/** used to refer to a single VR overlay */
+typedef uint64_t VROverlayHandle_t;
+
+static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0;
+
+/** Errors that can occur around VR overlays */
+enum EVROverlayError
+{
+	VROverlayError_None						= 0,
+
+	VROverlayError_UnknownOverlay			= 10,
+	VROverlayError_InvalidHandle			= 11,
+	VROverlayError_PermissionDenied			= 12,
+	VROverlayError_OverlayLimitExceeded		= 13, // No more overlays could be created because the maximum number already exist
+	VROverlayError_WrongVisibilityType		= 14,
+	VROverlayError_KeyTooLong				= 15,
+	VROverlayError_NameTooLong				= 16,
+	VROverlayError_KeyInUse					= 17,
+	VROverlayError_WrongTransformType		= 18,
+	VROverlayError_InvalidTrackedDevice		= 19,
+	VROverlayError_InvalidParameter			= 20,
+	VROverlayError_ThumbnailCantBeDestroyed	= 21,
+	VROverlayError_ArrayTooSmall			= 22,
+	VROverlayError_RequestFailed			= 23,
+	VROverlayError_InvalidTexture			= 24,
+	VROverlayError_UnableToLoadFile			= 25,
+	VROverlayError_KeyboardAlreadyInUse		= 26,
+	VROverlayError_NoNeighbor				= 27,
+	VROverlayError_TooManyMaskPrimitives	= 29,
+	VROverlayError_BadMaskPrimitive			= 30,
+};
+
+/** enum values to pass in to VR_Init to identify whether the application will 
+* draw a 3D scene. */
+enum EVRApplicationType
+{
+	VRApplication_Other = 0,		// Some other kind of application that isn't covered by the other entries 
+	VRApplication_Scene	= 1,		// Application will submit 3D frames 
+	VRApplication_Overlay = 2,		// Application only interacts with overlays
+	VRApplication_Background = 3,	// Application should not start SteamVR if it's not already running, and should not
+									// keep it running if everything else quits.
+	VRApplication_Utility = 4,		// Init should not try to load any drivers. The application needs access to utility
+									// interfaces (like IVRSettings and IVRApplications) but not hardware.
+	VRApplication_VRMonitor = 5,	// Reserved for vrmonitor
+	VRApplication_SteamWatchdog = 6,// Reserved for Steam
+	VRApplication_Bootstrapper = 7, // Start up SteamVR
+
+	VRApplication_Max
+};
+
+
+/** error codes for firmware */
+enum EVRFirmwareError
+{
+	VRFirmwareError_None = 0,
+	VRFirmwareError_Success = 1,
+	VRFirmwareError_Fail = 2,
+};
+
+
+/** error codes for notifications */
+enum EVRNotificationError
+{
+	VRNotificationError_OK = 0,
+	VRNotificationError_InvalidNotificationId = 100,
+	VRNotificationError_NotificationQueueFull = 101,
+	VRNotificationError_InvalidOverlayHandle = 102,
+	VRNotificationError_SystemWithUserValueAlreadyExists = 103,
+};
+
+
+/** error codes returned by Vr_Init */
+
+// Please add adequate error description to https://developer.valvesoftware.com/w/index.php?title=Category:SteamVRHelp
+enum EVRInitError
+{
+	VRInitError_None	= 0,
+	VRInitError_Unknown = 1,
+
+	VRInitError_Init_InstallationNotFound		= 100,
+	VRInitError_Init_InstallationCorrupt		= 101,
+	VRInitError_Init_VRClientDLLNotFound		= 102,
+	VRInitError_Init_FileNotFound				= 103,
+	VRInitError_Init_FactoryNotFound			= 104,
+	VRInitError_Init_InterfaceNotFound			= 105,
+	VRInitError_Init_InvalidInterface			= 106,
+	VRInitError_Init_UserConfigDirectoryInvalid = 107,
+	VRInitError_Init_HmdNotFound				= 108,
+	VRInitError_Init_NotInitialized				= 109,
+	VRInitError_Init_PathRegistryNotFound		= 110,
+	VRInitError_Init_NoConfigPath				= 111,
+	VRInitError_Init_NoLogPath					= 112,
+	VRInitError_Init_PathRegistryNotWritable	= 113,
+	VRInitError_Init_AppInfoInitFailed			= 114,
+	VRInitError_Init_Retry						= 115, // Used internally to cause retries to vrserver
+	VRInitError_Init_InitCanceledByUser			= 116, // The calling application should silently exit. The user canceled app startup
+	VRInitError_Init_AnotherAppLaunching		= 117, 
+	VRInitError_Init_SettingsInitFailed			= 118, 
+	VRInitError_Init_ShuttingDown				= 119,
+	VRInitError_Init_TooManyObjects				= 120,
+	VRInitError_Init_NoServerForBackgroundApp	= 121,
+	VRInitError_Init_NotSupportedWithCompositor	= 122,
+	VRInitError_Init_NotAvailableToUtilityApps	= 123,
+	VRInitError_Init_Internal				 	= 124,
+	VRInitError_Init_HmdDriverIdIsNone		 	= 125,
+	VRInitError_Init_HmdNotFoundPresenceFailed 	= 126,
+	VRInitError_Init_VRMonitorNotFound			= 127,
+	VRInitError_Init_VRMonitorStartupFailed		= 128,
+	VRInitError_Init_LowPowerWatchdogNotSupported = 129, 
+	VRInitError_Init_InvalidApplicationType		= 130,
+	VRInitError_Init_NotAvailableToWatchdogApps = 131,
+	VRInitError_Init_WatchdogDisabledInSettings = 132,
+	VRInitError_Init_VRDashboardNotFound		= 133,
+	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
+
+	VRInitError_Driver_Failed				= 200,
+	VRInitError_Driver_Unknown				= 201,
+	VRInitError_Driver_HmdUnknown			= 202,
+	VRInitError_Driver_NotLoaded			= 203,
+	VRInitError_Driver_RuntimeOutOfDate		= 204,
+	VRInitError_Driver_HmdInUse				= 205,
+	VRInitError_Driver_NotCalibrated		= 206,
+	VRInitError_Driver_CalibrationInvalid	= 207,
+	VRInitError_Driver_HmdDisplayNotFound	= 208,
+	VRInitError_Driver_TrackedDeviceInterfaceUnknown = 209,
+	// VRInitError_Driver_HmdDisplayNotFoundAfterFix	 = 210, // not needed: here for historic reasons
+	VRInitError_Driver_HmdDriverIdOutOfBounds = 211,
+	VRInitError_Driver_HmdDisplayMirrored  = 212,
+
+	VRInitError_IPC_ServerInitFailed		= 300,
+	VRInitError_IPC_ConnectFailed			= 301,
+	VRInitError_IPC_SharedStateInitFailed	= 302,
+	VRInitError_IPC_CompositorInitFailed	= 303,
+	VRInitError_IPC_MutexInitFailed			= 304,
+	VRInitError_IPC_Failed					= 305,
+	VRInitError_IPC_CompositorConnectFailed	= 306,
+	VRInitError_IPC_CompositorInvalidConnectResponse = 307,
+	VRInitError_IPC_ConnectFailedAfterMultipleAttempts = 308,
+
+	VRInitError_Compositor_Failed					= 400,
+	VRInitError_Compositor_D3D11HardwareRequired	= 401,
+	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
+	VRInitError_Compositor_OverlayInitFailed		= 403,
+	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
+
+	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+
+	VRInitError_VendorSpecific_HmdFound_CantOpenDevice 				= 1101,
+	VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart	= 1102,
+	VRInitError_VendorSpecific_HmdFound_NoStoredConfig 				= 1103,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooBig 				= 1104,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooSmall 				= 1105,
+	VRInitError_VendorSpecific_HmdFound_UnableToInitZLib 			= 1106,
+	VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion 	= 1107,
+	VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart	= 1108,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart	= 1109,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext		= 1110,
+	VRInitError_VendorSpecific_HmdFound_UserDataAddressRange		= 1111,
+	VRInitError_VendorSpecific_HmdFound_UserDataError				= 1112,
+	VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck		= 1113,
+
+	VRInitError_Steam_SteamInstallationNotFound = 2000,
+};
+
+enum EVRScreenshotType
+{
+	VRScreenshotType_None = 0,
+	VRScreenshotType_Mono = 1, // left eye only
+	VRScreenshotType_Stereo = 2,
+	VRScreenshotType_Cubemap = 3,
+	VRScreenshotType_MonoPanorama = 4,
+	VRScreenshotType_StereoPanorama = 5
+};
+
+enum EVRScreenshotPropertyFilenames
+{
+	VRScreenshotPropertyFilenames_Preview = 0,
+	VRScreenshotPropertyFilenames_VR = 1,
+};
+
+enum EVRTrackedCameraError
+{
+	VRTrackedCameraError_None                       = 0,
+	VRTrackedCameraError_OperationFailed            = 100,
+	VRTrackedCameraError_InvalidHandle              = 101,	
+	VRTrackedCameraError_InvalidFrameHeaderVersion  = 102,
+	VRTrackedCameraError_OutOfHandles               = 103,
+	VRTrackedCameraError_IPCFailure                 = 104,
+	VRTrackedCameraError_NotSupportedForThisDevice  = 105,
+	VRTrackedCameraError_SharedMemoryFailure        = 106,
+	VRTrackedCameraError_FrameBufferingFailure      = 107,
+	VRTrackedCameraError_StreamSetupFailure         = 108,
+	VRTrackedCameraError_InvalidGLTextureId         = 109,
+	VRTrackedCameraError_InvalidSharedTextureHandle = 110,
+	VRTrackedCameraError_FailedToGetGLTextureId     = 111,
+	VRTrackedCameraError_SharedTextureFailure       = 112,
+	VRTrackedCameraError_NoFrameAvailable           = 113,
+	VRTrackedCameraError_InvalidArgument            = 114,
+	VRTrackedCameraError_InvalidFrameBufferSize     = 115,
+};
+
+enum EVRTrackedCameraFrameType
+{
+	VRTrackedCameraFrameType_Distorted = 0,			// This is the camera video frame size in pixels, still distorted.
+	VRTrackedCameraFrameType_Undistorted,			// In pixels, an undistorted inscribed rectangle region without invalid regions. This size is subject to changes shortly.
+	VRTrackedCameraFrameType_MaximumUndistorted,	// In pixels, maximum undistorted with invalid regions. Non zero alpha component identifies valid regions.
+	MAX_CAMERA_FRAME_TYPES
+};
+
+typedef uint64_t TrackedCameraHandle_t;
+#define INVALID_TRACKED_CAMERA_HANDLE	((vr::TrackedCameraHandle_t)0)
+
+struct CameraVideoStreamFrameHeader_t
+{
+	EVRTrackedCameraFrameType eFrameType;
+
+	uint32_t nWidth;
+	uint32_t nHeight;
+	uint32_t nBytesPerPixel;
+
+	uint32_t nFrameSequence;
+
+	TrackedDevicePose_t standingTrackedDevicePose;
+};
+
+// Screenshot types
+typedef uint32_t ScreenshotHandle_t;
+
+static const uint32_t k_unScreenshotHandleInvalid = 0;
+
+#pragma pack( pop )
+
+// figure out how to import from the VR API dll
+#if defined(_WIN32)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __declspec( dllexport )
+#else
+#define VR_INTERFACE extern "C" __declspec( dllimport )
+#endif
+
+#elif defined(__GNUC__) || defined(COMPILER_GCC) || defined(__APPLE__)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __attribute__((visibility("default")))
+#else
+#define VR_INTERFACE extern "C" 
+#endif
+
+#else
+#error "Unsupported Platform."
+#endif
+
+
+#if defined( _WIN32 )
+#define VR_CALLTYPE __cdecl
+#else
+#define VR_CALLTYPE 
+#endif
+
+} // namespace vr
+
+#endif // _INCLUDE_VRTYPES_H
+
+
+// vrannotation.h
+#ifdef API_GEN
+# define VR_CLANG_ATTR(ATTR) __attribute__((annotate( ATTR )))
+#else
+# define VR_CLANG_ATTR(ATTR)
+#endif
+
+#define VR_METHOD_DESC(DESC) VR_CLANG_ATTR( "desc:" #DESC ";" )
+#define VR_IGNOREATTR() VR_CLANG_ATTR( "ignore" )
+#define VR_OUT_STRUCT() VR_CLANG_ATTR( "out_struct: ;" )
+#define VR_OUT_STRING() VR_CLANG_ATTR( "out_string: ;" )
+#define VR_OUT_ARRAY_CALL(COUNTER,FUNCTION,PARAMS) VR_CLANG_ATTR( "out_array_call:" #COUNTER "," #FUNCTION "," #PARAMS ";" )
+#define VR_OUT_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "out_array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT_D(COUNTER, DESC) VR_CLANG_ATTR( "array_count:" #COUNTER ";desc:" #DESC )
+#define VR_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "buffer_count:" #COUNTER ";" )
+#define VR_OUT_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "out_buffer_count:" #COUNTER ";" )
+#define VR_OUT_STRING_COUNT(COUNTER) VR_CLANG_ATTR( "out_string_count:" #COUNTER ";" )
+
+// ivrsystem.h
+namespace vr
+{
+
+class IVRSystem
+{
+public:
+
+
+	// ------------------------------------
+	// Display Methods
+	// ------------------------------------
+
+	/** Suggested size for the intermediate render target that the distortion pulls from. */
+	virtual void GetRecommendedRenderTargetSize( uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+	/** The projection matrix for the specified eye */
+	virtual HmdMatrix44_t GetProjectionMatrix( EVREye eEye, float fNearZ, float fFarZ ) = 0;
+
+	/** The components necessary to build your own projection matrix in case your
+	* application is doing something fancy like infinite Z */
+	virtual void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom ) = 0;
+
+	/** Gets the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in 
+	* the upper left of that eye's viewport and 1,1 in the lower right of that eye's viewport.
+	* Returns true for success. Otherwise, returns false, and distortion coordinates are not suitable. */
+	virtual bool ComputeDistortion( EVREye eEye, float fU, float fV, DistortionCoordinates_t *pDistortionCoordinates ) = 0;
+
+	/** Returns the transform from eye space to the head space. Eye space is the per-eye flavor of head
+	* space that provides stereo disparity. Instead of Model * View * Projection the sequence is Model * View * Eye^-1 * Projection. 
+	* Normally View and Eye^-1 will be multiplied together and treated as View in your application. 
+	*/
+	virtual HmdMatrix34_t GetEyeToHeadTransform( EVREye eEye ) = 0;
+
+	/** Returns the number of elapsed seconds since the last recorded vsync event. This 
+	*	will come from a vsync timer event in the timer if possible or from the application-reported
+	*   time if that is not available. If no vsync times are available the function will 
+	*   return zero for vsync time and frame counter and return false from the method. */
+	virtual bool GetTimeSinceLastVsync( float *pfSecondsSinceLastVsync, uint64_t *pulFrameCounter ) = 0;
+
+	/** [D3D9 Only]
+	* Returns the adapter index that the user should pass into CreateDevice to set up D3D9 in such
+	* a way that it can go full screen exclusive on the HMD. Returns -1 if there was an error.
+	*/
+	virtual int32_t GetD3D9AdapterIndex() = 0;
+
+	/** [D3D10/11 Only]
+	* Returns the adapter index that the user should pass into EnumAdapters to create the device 
+	* and swap chain in DX10 and DX11. If an error occurs the index will be set to -1.
+	*/
+	virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex ) = 0;
+	
+	/**
+	 * Returns platform- and texture-type specific adapter identification so that applications and the
+	 * compositor are creating textures and swap chains on the same GPU. If an error occurs the device
+	 * will be set to 0.
+	 * [D3D10/11/12 Only (D3D9 Not Supported)]
+	 *  Returns the adapter LUID that identifies the GPU attached to the HMD. The user should
+	 *  enumerate all adapters using IDXGIFactory::EnumAdapters and IDXGIAdapter::GetDesc to find
+	 *  the adapter with the matching LUID, or use IDXGIFactory4::EnumAdapterByLuid.
+	 *  The discovered IDXGIAdapter should be used to create the device and swap chain.
+	 * [Vulkan Only]
+	 *  Returns the vk::PhysicalDevice that should be used by the application.
+	 * [macOS Only]
+	 *  Returns an id<MTLDevice> that should be used by the application.
+	 */
+	virtual void GetOutputDevice( uint64_t *pnDevice, ETextureType textureType ) = 0;
+
+	// ------------------------------------
+	// Display Mode methods
+	// ------------------------------------
+
+	/** Use to determine if the headset display is part of the desktop (i.e. extended) or hidden (i.e. direct mode). */
+	virtual bool IsDisplayOnDesktop() = 0;
+
+	/** Set the display visibility (true = extended, false = direct mode).  Return value of true indicates that the change was successful. */
+	virtual bool SetDisplayVisibility( bool bIsVisibleOnDesktop ) = 0;
+
+	// ------------------------------------
+	// Tracking Methods
+	// ------------------------------------
+
+	/** The pose that the tracker thinks that the HMD will be in at the specified number of seconds into the 
+	* future. Pass 0 to get the state at the instant the method is called. Most of the time the application should
+	* calculate the time until the photons will be emitted from the display and pass that time into the method.
+	*
+	* This is roughly analogous to the inverse of the view matrix in most applications, though 
+	* many games will need to do some additional rotation or translation on top of the rotation
+	* and translation provided by the head pose.
+	*
+	* For devices where bPoseIsValid is true the application can use the pose to position the device
+	* in question. The provided array can be any size up to k_unMaxTrackedDeviceCount. 
+	*
+	* Seated experiences should call this method with TrackingUniverseSeated and receive poses relative
+	* to the seated zero pose. Standing experiences should call this method with TrackingUniverseStanding 
+	* and receive poses relative to the Chaperone Play Area. TrackingUniverseRawAndUncalibrated should 
+	* probably not be used unless the application is the Chaperone calibration tool itself, but will provide
+	* poses relative to the hardware-specific coordinate system in the driver.
+	*/
+	virtual void GetDeviceToAbsoluteTrackingPose( ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, VR_ARRAY_COUNT(unTrackedDevicePoseArrayCount) TrackedDevicePose_t *pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount ) = 0;
+
+	/** Sets the zero pose for the seated tracker coordinate system to the current position and yaw of the HMD. After 
+	* ResetSeatedZeroPose all GetDeviceToAbsoluteTrackingPose calls that pass TrackingUniverseSeated as the origin 
+	* will be relative to this new zero pose. The new zero coordinate system will not change the fact that the Y axis 
+	* is up in the real world, so the next pose returned from GetDeviceToAbsoluteTrackingPose after a call to 
+	* ResetSeatedZeroPose may not be exactly an identity matrix.
+	*
+	* NOTE: This function overrides the user's previously saved seated zero pose and should only be called as the result of a user action. 
+	* Users are also able to set their seated zero pose via the OpenVR Dashboard.
+	**/
+	virtual void ResetSeatedZeroPose() = 0;
+
+	/** Returns the transform from the seated zero pose to the standing absolute tracking system. This allows 
+	* applications to represent the seated origin to used or transform object positions from one coordinate
+	* system to the other. 
+	*
+	* The seated origin may or may not be inside the Play Area or Collision Bounds returned by IVRChaperone. Its position 
+	* depends on what the user has set from the Dashboard settings and previous calls to ResetSeatedZeroPose. */
+	virtual HmdMatrix34_t GetSeatedZeroPoseToStandingAbsoluteTrackingPose() = 0;
+
+	/** Returns the transform from the tracking origin to the standing absolute tracking system. This allows
+	* applications to convert from raw tracking space to the calibrated standing coordinate system. */
+	virtual HmdMatrix34_t GetRawZeroPoseToStandingAbsoluteTrackingPose() = 0;
+
+	/** Get a sorted array of device indices of a given class of tracked devices (e.g. controllers).  Devices are sorted right to left
+	* relative to the specified tracked device (default: hmd -- pass in -1 for absolute tracking space).  Returns the number of devices
+	* in the list, or the size of the array needed if not large enough. */
+	virtual uint32_t GetSortedTrackedDeviceIndicesOfClass( ETrackedDeviceClass eTrackedDeviceClass, VR_ARRAY_COUNT(unTrackedDeviceIndexArrayCount) vr::TrackedDeviceIndex_t *punTrackedDeviceIndexArray, uint32_t unTrackedDeviceIndexArrayCount, vr::TrackedDeviceIndex_t unRelativeToTrackedDeviceIndex = k_unTrackedDeviceIndex_Hmd ) = 0;
+
+	/** Returns the level of activity on the device. */
+	virtual EDeviceActivityLevel GetTrackedDeviceActivityLevel( vr::TrackedDeviceIndex_t unDeviceId ) = 0;
+
+	/** Convenience utility to apply the specified transform to the specified pose.
+	*   This properly transforms all pose components, including velocity and angular velocity
+	*/
+	virtual void ApplyTransform( TrackedDevicePose_t *pOutputPose, const TrackedDevicePose_t *pTrackedDevicePose, const HmdMatrix34_t *pTransform ) = 0;
+
+	/** Returns the device index associated with a specific role, for example the left hand or the right hand. */
+	virtual vr::TrackedDeviceIndex_t GetTrackedDeviceIndexForControllerRole( vr::ETrackedControllerRole unDeviceType ) = 0;
+
+	/** Returns the controller type associated with a device index. */
+	virtual vr::ETrackedControllerRole GetControllerRoleForTrackedDeviceIndex( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	// ------------------------------------
+	// Property methods
+	// ------------------------------------
+
+	/** Returns the device class of a tracked device. If there has not been a device connected in this slot
+	* since the application started this function will return TrackedDevice_Invalid. For previous detected
+	* devices the function will return the previously observed device class. 
+	*
+	* To determine which devices exist on the system, just loop from 0 to k_unMaxTrackedDeviceCount and check
+	* the device class. Every device with something other than TrackedDevice_Invalid is associated with an 
+	* actual tracked device. */
+	virtual ETrackedDeviceClass GetTrackedDeviceClass( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	/** Returns true if there is a device connected in this slot. */
+	virtual bool IsTrackedDeviceConnected( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	/** Returns a bool property. If the device index is not valid or the property is not a bool type this function will return false. */
+	virtual bool GetBoolTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a float property. If the device index is not valid or the property is not a float type this function will return 0. */
+	virtual float GetFloatTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns an int property. If the device index is not valid or the property is not a int type this function will return 0. */
+	virtual int32_t GetInt32TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a uint64 property. If the device index is not valid or the property is not a uint64 type this function will return 0. */
+	virtual uint64_t GetUint64TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a matrix property. If the device index is not valid or the property is not a matrix type, this function will return identity. */
+	virtual HmdMatrix34_t GetMatrix34TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a string property. If the device index is not valid or the property is not a string type this function will 
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	virtual uint32_t GetStringTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** returns a string that corresponds with the specified property error. The string will be the name 
+	* of the error enum value for all valid error codes */
+	virtual const char *GetPropErrorNameFromEnum( ETrackedPropertyError error ) = 0;
+
+	// ------------------------------------
+	// Event methods
+	// ------------------------------------
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. Fills in the pose of the associated tracked device in the provided pose struct. 
+	* This pose will always be older than the call to this function and should not be used to render the device. 
+	uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEventWithPose( ETrackingUniverseOrigin eOrigin, VREvent_t *pEvent, uint32_t uncbVREvent, vr::TrackedDevicePose_t *pTrackedDevicePose ) = 0;
+
+	/** returns the name of an EVREvent enum value */
+	virtual const char *GetEventTypeNameFromEnum( EVREventType eType ) = 0;
+
+	// ------------------------------------
+	// Rendering helper methods
+	// ------------------------------------
+
+	/** Returns the hidden area mesh for the current HMD. The pixels covered by this mesh will never be seen by the user after the lens distortion is
+	* applied based on visibility to the panels. If this HMD does not have a hidden area mesh, the vertex data and count will be NULL and 0 respectively.
+	* This mesh is meant to be rendered into the stencil buffer (or into the depth buffer setting nearz) before rendering each eye's view. 
+	* This will improve performance by letting the GPU early-reject pixels the user will never see before running the pixel shader.
+	* NOTE: Render this mesh with backface culling disabled since the winding order of the vertices can be different per-HMD or per-eye.
+	* Setting the bInverse argument to true will produce the visible area mesh that is commonly used in place of full-screen quads. The visible area mesh covers all of the pixels the hidden area mesh does not cover.
+	* Setting the bLineLoop argument will return a line loop of vertices in HiddenAreaMesh_t->pVertexData with HiddenAreaMesh_t->unTriangleCount set to the number of vertices.
+	*/
+	virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye, EHiddenAreaMeshType type = k_eHiddenAreaMesh_Standard ) = 0;
+
+	// ------------------------------------
+	// Controller methods
+	// ------------------------------------
+
+	/** Fills the supplied struct with the current state of the controller. Returns false if the controller index
+	* is invalid. */
+	virtual bool GetControllerState( vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, uint32_t unControllerStateSize ) = 0;
+
+	/** fills the supplied struct with the current state of the controller and the provided pose with the pose of 
+	* the controller when the controller state was updated most recently. Use this form if you need a precise controller
+	* pose as input to your application when the user presses or releases a button. */
+	virtual bool GetControllerStateWithPose( ETrackingUniverseOrigin eOrigin, vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, uint32_t unControllerStateSize, TrackedDevicePose_t *pTrackedDevicePose ) = 0;
+
+	/** Trigger a single haptic pulse on a controller. After this call the application may not trigger another haptic pulse on this controller
+	* and axis combination for 5ms. */
+	virtual void TriggerHapticPulse( vr::TrackedDeviceIndex_t unControllerDeviceIndex, uint32_t unAxisId, unsigned short usDurationMicroSec ) = 0;
+
+	/** returns the name of an EVRButtonId enum value */
+	virtual const char *GetButtonIdNameFromEnum( EVRButtonId eButtonId ) = 0;
+
+	/** returns the name of an EVRControllerAxisType enum value */
+	virtual const char *GetControllerAxisTypeNameFromEnum( EVRControllerAxisType eAxisType ) = 0;
+
+	/** Tells OpenVR that this process wants exclusive access to controller button states and button events. Other apps will be notified that 
+	* they have lost input focus with a VREvent_InputFocusCaptured event. Returns false if input focus could not be captured for
+	* some reason. */
+	virtual bool CaptureInputFocus() = 0;
+
+	/** Tells OpenVR that this process no longer wants exclusive access to button states and button events. Other apps will be notified 
+	* that input focus has been released with a VREvent_InputFocusReleased event. */
+	virtual void ReleaseInputFocus() = 0;
+
+	/** Returns true if input focus is captured by another process. */
+	virtual bool IsInputFocusCapturedByAnotherProcess() = 0;
+
+	// ------------------------------------
+	// Debug Methods
+	// ------------------------------------
+
+	/** Sends a request to the driver for the specified device and returns the response. The maximum response size is 32k,
+	* but this method can be called with a smaller buffer. If the response exceeds the size of the buffer, it is truncated. 
+	* The size of the response including its terminating null is returned. */
+	virtual uint32_t DriverDebugRequest( vr::TrackedDeviceIndex_t unDeviceIndex, const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize ) = 0;
+
+	// ------------------------------------
+	// Firmware methods
+	// ------------------------------------
+	
+	/** Performs the actual firmware update if applicable. 
+	 * The following events will be sent, if VRFirmwareError_None was returned: VREvent_FirmwareUpdateStarted, VREvent_FirmwareUpdateFinished 
+	 * Use the properties Prop_Firmware_UpdateAvailable_Bool, Prop_Firmware_ManualUpdate_Bool, and Prop_Firmware_ManualUpdateURL_String
+	 * to figure our whether a firmware update is available, and to figure out whether its a manual update 
+	 * Prop_Firmware_ManualUpdateURL_String should point to an URL describing the manual update process */
+	virtual vr::EVRFirmwareError PerformFirmwareUpdate( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	// ------------------------------------
+	// Application life cycle methods
+	// ------------------------------------
+
+	/** Call this to acknowledge to the system that VREvent_Quit has been received and that the process is exiting.
+	* This extends the timeout until the process is killed. */
+	virtual void AcknowledgeQuit_Exiting() = 0;
+
+	/** Call this to tell the system that the user is being prompted to save data. This
+	* halts the timeout and dismisses the dashboard (if it was up). Applications should be sure to actually 
+	* prompt the user to save and then exit afterward, otherwise the user will be left in a confusing state. */
+	virtual void AcknowledgeQuit_UserPrompt() = 0;
+
+};
+
+static const char * const IVRSystem_Version = "IVRSystem_016";
+
+}
+
+
+// ivrapplications.h
+namespace vr
+{
+
+	/** Used for all errors reported by the IVRApplications interface */
+	enum EVRApplicationError
+	{
+		VRApplicationError_None = 0,
+
+		VRApplicationError_AppKeyAlreadyExists = 100,	// Only one application can use any given key
+		VRApplicationError_NoManifest = 101,			// the running application does not have a manifest
+		VRApplicationError_NoApplication = 102,			// No application is running
+		VRApplicationError_InvalidIndex = 103,
+		VRApplicationError_UnknownApplication = 104,	// the application could not be found
+		VRApplicationError_IPCFailed = 105,				// An IPC failure caused the request to fail
+		VRApplicationError_ApplicationAlreadyRunning = 106, 
+		VRApplicationError_InvalidManifest = 107,
+		VRApplicationError_InvalidApplication = 108,
+		VRApplicationError_LaunchFailed = 109,			// the process didn't start
+		VRApplicationError_ApplicationAlreadyStarting = 110, // the system was already starting the same application
+		VRApplicationError_LaunchInProgress = 111,		// The system was already starting a different application
+		VRApplicationError_OldApplicationQuitting = 112, 
+		VRApplicationError_TransitionAborted = 113,
+		VRApplicationError_IsTemplate = 114, // error when you try to call LaunchApplication() on a template type app (use LaunchTemplateApplication)
+
+		VRApplicationError_BufferTooSmall = 200,		// The provided buffer was too small to fit the requested data
+		VRApplicationError_PropertyNotSet = 201,		// The requested property was not set
+		VRApplicationError_UnknownProperty = 202,
+		VRApplicationError_InvalidParameter = 203,
+	};
+
+	/** The maximum length of an application key */
+	static const uint32_t k_unMaxApplicationKeyLength = 128;
+
+	/** these are the properties available on applications. */
+	enum EVRApplicationProperty
+	{
+		VRApplicationProperty_Name_String				= 0,
+
+		VRApplicationProperty_LaunchType_String			= 11,
+		VRApplicationProperty_WorkingDirectory_String	= 12,
+		VRApplicationProperty_BinaryPath_String			= 13,
+		VRApplicationProperty_Arguments_String			= 14,
+		VRApplicationProperty_URL_String				= 15,
+
+		VRApplicationProperty_Description_String		= 50,
+		VRApplicationProperty_NewsURL_String			= 51,
+		VRApplicationProperty_ImagePath_String			= 52,
+		VRApplicationProperty_Source_String				= 53,
+
+		VRApplicationProperty_IsDashboardOverlay_Bool	= 60,
+		VRApplicationProperty_IsTemplate_Bool			= 61,
+		VRApplicationProperty_IsInstanced_Bool			= 62,
+		VRApplicationProperty_IsInternal_Bool			= 63,
+
+		VRApplicationProperty_LastLaunchTime_Uint64		= 70,
+	};
+
+	/** These are states the scene application startup process will go through. */
+	enum EVRApplicationTransitionState
+	{
+		VRApplicationTransition_None = 0,
+
+		VRApplicationTransition_OldAppQuitSent = 10,
+		VRApplicationTransition_WaitingForExternalLaunch = 11,
+		
+		VRApplicationTransition_NewAppLaunched = 20,
+	};
+
+	struct AppOverrideKeys_t
+	{
+		const char *pchKey;
+		const char *pchValue;
+	};
+
+	/** Currently recognized mime types */
+	static const char * const k_pch_MimeType_HomeApp		= "vr/home";
+	static const char * const k_pch_MimeType_GameTheater	= "vr/game_theater";
+
+	class IVRApplications
+	{
+	public:
+
+		// ---------------  Application management  --------------- //
+
+		/** Adds an application manifest to the list to load when building the list of installed applications. 
+		* Temporary manifests are not automatically loaded */
+		virtual EVRApplicationError AddApplicationManifest( const char *pchApplicationManifestFullPath, bool bTemporary = false ) = 0;
+
+		/** Removes an application manifest from the list to load when building the list of installed applications. */
+		virtual EVRApplicationError RemoveApplicationManifest( const char *pchApplicationManifestFullPath ) = 0;
+
+		/** Returns true if an application is installed */
+		virtual bool IsApplicationInstalled( const char *pchAppKey ) = 0;
+
+		/** Returns the number of applications available in the list */
+		virtual uint32_t GetApplicationCount() = 0;
+
+		/** Returns the key of the specified application. The index is at least 0 and is less than the return 
+		* value of GetApplicationCount(). The buffer should be at least k_unMaxApplicationKeyLength in order to 
+		* fit the key. */
+		virtual EVRApplicationError GetApplicationKeyByIndex( uint32_t unApplicationIndex, VR_OUT_STRING() char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Returns the key of the application for the specified Process Id. The buffer should be at least 
+		* k_unMaxApplicationKeyLength in order to fit the key. */
+		virtual EVRApplicationError GetApplicationKeyByProcessId( uint32_t unProcessId, char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Launches the application. The existing scene application will exit and then the new application will start.
+		* This call is not valid for dashboard overlay applications. */
+		virtual EVRApplicationError LaunchApplication( const char *pchAppKey ) = 0;
+
+		/** Launches an instance of an application of type template, with its app key being pchNewAppKey (which must be unique) and optionally override sections
+		* from the manifest file via AppOverrideKeys_t
+		*/
+		virtual EVRApplicationError LaunchTemplateApplication( const char *pchTemplateAppKey, const char *pchNewAppKey, VR_ARRAY_COUNT( unKeys ) const AppOverrideKeys_t *pKeys, uint32_t unKeys ) = 0;
+
+		/** launches the application currently associated with this mime type and passes it the option args, typically the filename or object name of the item being launched */
+		virtual vr::EVRApplicationError LaunchApplicationFromMimeType( const char *pchMimeType, const char *pchArgs ) = 0;
+
+		/** Launches the dashboard overlay application if it is not already running. This call is only valid for 
+		* dashboard overlay applications. */
+		virtual EVRApplicationError LaunchDashboardOverlay( const char *pchAppKey ) = 0;
+
+		/** Cancel a pending launch for an application */
+		virtual bool CancelApplicationLaunch( const char *pchAppKey ) = 0;
+
+		/** Identifies a running application. OpenVR can't always tell which process started in response
+		* to a URL. This function allows a URL handler (or the process itself) to identify the app key 
+		* for the now running application. Passing a process ID of 0 identifies the calling process. 
+		* The application must be one that's known to the system via a call to AddApplicationManifest. */
+		virtual EVRApplicationError IdentifyApplication( uint32_t unProcessId, const char *pchAppKey ) = 0;
+
+		/** Returns the process ID for an application. Return 0 if the application was not found or is not running. */
+		virtual uint32_t GetApplicationProcessId( const char *pchAppKey ) = 0;
+
+		/** Returns a string for an applications error */
+		virtual const char *GetApplicationsErrorNameFromEnum( EVRApplicationError error ) = 0;
+
+		// ---------------  Application properties  --------------- //
+
+		/** Returns a value for an application property. The required buffer size to fit this value will be returned. */
+		virtual uint32_t GetApplicationPropertyString( const char *pchAppKey, EVRApplicationProperty eProperty, VR_OUT_STRING() char *pchPropertyValueBuffer, uint32_t unPropertyValueBufferLen, EVRApplicationError *peError = nullptr ) = 0;
+
+		/** Returns a bool value for an application property. Returns false in all error cases. */
+		virtual bool GetApplicationPropertyBool( const char *pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError *peError = nullptr ) = 0;
+
+		/** Returns a uint64 value for an application property. Returns 0 in all error cases. */
+		virtual uint64_t GetApplicationPropertyUint64( const char *pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError *peError = nullptr ) = 0;
+
+		/** Sets the application auto-launch flag. This is only valid for applications which return true for VRApplicationProperty_IsDashboardOverlay_Bool. */
+		virtual EVRApplicationError SetApplicationAutoLaunch( const char *pchAppKey, bool bAutoLaunch ) = 0;
+
+		/** Gets the application auto-launch flag. This is only valid for applications which return true for VRApplicationProperty_IsDashboardOverlay_Bool. */
+		virtual bool GetApplicationAutoLaunch( const char *pchAppKey ) = 0;
+
+		/** Adds this mime-type to the list of supported mime types for this application*/
+		virtual EVRApplicationError SetDefaultApplicationForMimeType( const char *pchAppKey, const char *pchMimeType ) = 0;
+
+		/** return the app key that will open this mime type */
+		virtual bool GetDefaultApplicationForMimeType( const char *pchMimeType, char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Get the list of supported mime types for this application, comma-delimited */
+		virtual bool GetApplicationSupportedMimeTypes( const char *pchAppKey, char *pchMimeTypesBuffer, uint32_t unMimeTypesBuffer ) = 0;
+
+		/** Get the list of app-keys that support this mime type, comma-delimited, the return value is number of bytes you need to return the full string */
+		virtual uint32_t GetApplicationsThatSupportMimeType( const char *pchMimeType, char *pchAppKeysThatSupportBuffer, uint32_t unAppKeysThatSupportBuffer ) = 0;
+
+		/** Get the args list from an app launch that had the process already running, you call this when you get a VREvent_ApplicationMimeTypeLoad */
+		virtual uint32_t GetApplicationLaunchArguments( uint32_t unHandle, char *pchArgs, uint32_t unArgs ) = 0;
+
+		// ---------------  Transition methods --------------- //
+
+		/** Returns the app key for the application that is starting up */
+		virtual EVRApplicationError GetStartingApplication( char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Returns the application transition state */
+		virtual EVRApplicationTransitionState GetTransitionState() = 0;
+
+		/** Returns errors that would prevent the specified application from launching immediately. Calling this function will
+		* cause the current scene application to quit, so only call it when you are actually about to launch something else.
+		* What the caller should do about these failures depends on the failure:
+		*   VRApplicationError_OldApplicationQuitting - An existing application has been told to quit. Wait for a VREvent_ProcessQuit
+		*                                               and try again.
+		*   VRApplicationError_ApplicationAlreadyStarting - This application is already starting. This is a permanent failure.
+		*   VRApplicationError_LaunchInProgress	      - A different application is already starting. This is a permanent failure.
+		*   VRApplicationError_None                   - Go ahead and launch. Everything is clear.
+		*/
+		virtual EVRApplicationError PerformApplicationPrelaunchCheck( const char *pchAppKey ) = 0;
+
+		/** Returns a string for an application transition state */
+		virtual const char *GetApplicationsTransitionStateNameFromEnum( EVRApplicationTransitionState state ) = 0;
+
+		/** Returns true if the outgoing scene app has requested a save prompt before exiting */
+		virtual bool IsQuitUserPromptRequested() = 0;
+
+		/** Starts a subprocess within the calling application. This
+		* suppresses all application transition UI and automatically identifies the new executable 
+		* as part of the same application. On success the calling process should exit immediately. 
+		* If working directory is NULL or "" the directory portion of the binary path will be 
+		* the working directory. */
+		virtual EVRApplicationError LaunchInternalProcess( const char *pchBinaryPath, const char *pchArguments, const char *pchWorkingDirectory ) = 0;
+
+		/** Returns the current scene process ID according to the application system. A scene process will get scene
+		* focus once it starts rendering, but it will appear here once it calls VR_Init with the Scene application
+		* type. */
+		virtual uint32_t GetCurrentSceneProcessId() = 0;
+	};
+
+	static const char * const IVRApplications_Version = "IVRApplications_006";
+
+} // namespace vr
+
+// ivrsettings.h
+namespace vr
+{
+	enum EVRSettingsError
+	{
+		VRSettingsError_None = 0,
+		VRSettingsError_IPCFailed = 1,
+		VRSettingsError_WriteFailed = 2,
+		VRSettingsError_ReadFailed = 3,
+		VRSettingsError_JsonParseFailed = 4,
+		VRSettingsError_UnsetSettingHasNoDefault = 5, // This will be returned if the setting does not appear in the appropriate default file and has not been set
+	};
+
+	// The maximum length of a settings key
+	static const uint32_t k_unMaxSettingsKeyLength = 128;
+
+	class IVRSettings
+	{
+	public:
+		virtual const char *GetSettingsErrorNameFromEnum( EVRSettingsError eError ) = 0;
+
+		// Returns true if file sync occurred (force or settings dirty)
+		virtual bool Sync( bool bForce = false, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void SetBool( const char *pchSection, const char *pchSettingsKey, bool bValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetFloat( const char *pchSection, const char *pchSettingsKey, float flValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetString( const char *pchSection, const char *pchSettingsKey, const char *pchValue, EVRSettingsError *peError = nullptr ) = 0;
+
+		// Users of the system need to provide a proper default in default.vrsettings in the resources/settings/ directory
+		// of either the runtime or the driver_xxx directory. Otherwise the default will be false, 0, 0.0 or ""
+		virtual bool GetBool( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual int32_t GetInt32( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual float GetFloat( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void GetString( const char *pchSection, const char *pchSettingsKey, VR_OUT_STRING() char *pchValue, uint32_t unValueLen, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void RemoveSection( const char *pchSection, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void RemoveKeyInSection( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+	};
+
+	//-----------------------------------------------------------------------------
+	static const char * const IVRSettings_Version = "IVRSettings_002";
+
+	//-----------------------------------------------------------------------------
+	// steamvr keys
+	static const char * const k_pch_SteamVR_Section = "steamvr";
+	static const char * const k_pch_SteamVR_RequireHmd_String = "requireHmd";
+	static const char * const k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+	static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+	static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+	static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+	static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+	static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+	static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps";
+	static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+	static const char * const k_pch_SteamVR_IPD_Float = "ipd";
+	static const char * const k_pch_SteamVR_Background_String = "background";
+	static const char * const k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+	static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+	static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+	static const char * const k_pch_SteamVR_GridColor_String = "gridColor";
+	static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+	static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage";
+	static const char * const k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+	static const char * const k_pch_SteamVR_DirectMode_Bool = "directMode";
+	static const char * const k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+	static const char * const k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+	static const char * const k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+	static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+	static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+	static const char * const k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+	static const char * const k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+	static const char * const k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+
+	//-----------------------------------------------------------------------------
+	// lighthouse keys
+	static const char * const k_pch_Lighthouse_Section = "driver_lighthouse";
+	static const char * const k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+	static const char * const k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+	static const char * const k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+	static const char * const k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+	static const char * const k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+
+	//-----------------------------------------------------------------------------
+	// null keys
+	static const char * const k_pch_Null_Section = "driver_null";
+	static const char * const k_pch_Null_SerialNumber_String = "serialNumber";
+	static const char * const k_pch_Null_ModelNumber_String = "modelNumber";
+	static const char * const k_pch_Null_WindowX_Int32 = "windowX";
+	static const char * const k_pch_Null_WindowY_Int32 = "windowY";
+	static const char * const k_pch_Null_WindowWidth_Int32 = "windowWidth";
+	static const char * const k_pch_Null_WindowHeight_Int32 = "windowHeight";
+	static const char * const k_pch_Null_RenderWidth_Int32 = "renderWidth";
+	static const char * const k_pch_Null_RenderHeight_Int32 = "renderHeight";
+	static const char * const k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+	static const char * const k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+
+	//-----------------------------------------------------------------------------
+	// user interface keys
+	static const char * const k_pch_UserInterface_Section = "userinterface";
+	static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+	static const char * const k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+	static const char * const k_pch_UserInterface_Screenshots_Bool = "screenshots";
+	static const char * const k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+
+	//-----------------------------------------------------------------------------
+	// notification keys
+	static const char * const k_pch_Notifications_Section = "notifications";
+	static const char * const k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+
+	//-----------------------------------------------------------------------------
+	// keyboard keys
+	static const char * const k_pch_Keyboard_Section = "keyboard";
+	static const char * const k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+	static const char * const k_pch_Keyboard_ScaleX = "ScaleX";
+	static const char * const k_pch_Keyboard_ScaleY = "ScaleY";
+	static const char * const k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+	static const char * const k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+	static const char * const k_pch_Keyboard_OffsetY = "OffsetY";
+	static const char * const k_pch_Keyboard_Smoothing = "Smoothing";
+
+	//-----------------------------------------------------------------------------
+	// perf keys
+	static const char * const k_pch_Perf_Section = "perfcheck";
+	static const char * const k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+	static const char * const k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+	static const char * const k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+
+	//-----------------------------------------------------------------------------
+	// collision bounds keys
+	static const char * const k_pch_CollisionBounds_Section = "collisionBounds";
+	static const char * const k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+	static const char * const k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+	static const char * const k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+	static const char * const k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+	static const char * const k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+	static const char * const k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+	static const char * const k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+	static const char * const k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+	static const char * const k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+
+	//-----------------------------------------------------------------------------
+	// camera keys
+	static const char * const k_pch_Camera_Section = "camera";
+	static const char * const k_pch_Camera_EnableCamera_Bool = "enableCamera";
+	static const char * const k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+	static const char * const k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+	static const char * const k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+	static const char * const k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+	static const char * const k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+	static const char * const k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+	static const char * const k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+	static const char * const k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+
+	//-----------------------------------------------------------------------------
+	// audio keys
+	static const char * const k_pch_audio_Section = "audio";
+	static const char * const k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+	static const char * const k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+	static const char * const k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+	static const char * const k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+	static const char * const k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+	static const char * const k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+
+	//-----------------------------------------------------------------------------
+	// power management keys
+	static const char * const k_pch_Power_Section = "power";
+	static const char * const k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+	static const char * const k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+
+	//-----------------------------------------------------------------------------
+	// dashboard keys
+	static const char * const k_pch_Dashboard_Section = "dashboard";
+	static const char * const k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+	static const char * const k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+
+	//-----------------------------------------------------------------------------
+	// model skin keys
+	static const char * const k_pch_modelskin_Section = "modelskins";
+
+	//-----------------------------------------------------------------------------
+	// driver keys - These could be checked in any driver_<name> section
+	static const char * const k_pch_Driver_Enable_Bool = "enable";
+
+} // namespace vr
+
+// ivrchaperone.h
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+enum ChaperoneCalibrationState
+{
+	// OK!
+	ChaperoneCalibrationState_OK = 1,									// Chaperone is fully calibrated and working correctly
+
+	// Warnings
+	ChaperoneCalibrationState_Warning = 100,
+	ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved = 101,	// A base station thinks that it might have moved
+	ChaperoneCalibrationState_Warning_BaseStationRemoved = 102,			// There are less base stations than when calibrated
+	ChaperoneCalibrationState_Warning_SeatedBoundsInvalid = 103,		// Seated bounds haven't been calibrated for the current tracking center
+
+	// Errors
+	ChaperoneCalibrationState_Error = 200,								// The UniverseID is invalid
+	ChaperoneCalibrationState_Error_BaseStationUninitialized = 201,		// Tracking center hasn't be calibrated for at least one of the base stations
+	ChaperoneCalibrationState_Error_BaseStationConflict = 202,			// Tracking center is calibrated, but base stations disagree on the tracking space
+	ChaperoneCalibrationState_Error_PlayAreaInvalid = 203,				// Play Area hasn't been calibrated for the current tracking center
+	ChaperoneCalibrationState_Error_CollisionBoundsInvalid = 204,		// Collision Bounds haven't been calibrated for the current tracking center
+};
+
+
+/** HIGH LEVEL TRACKING SPACE ASSUMPTIONS:
+* 0,0,0 is the preferred standing area center.
+* 0Y is the floor height.
+* -Z is the preferred forward facing direction. */
+class IVRChaperone
+{
+public:
+
+	/** Get the current state of Chaperone calibration. This state can change at any time during a session due to physical base station changes. **/
+	virtual ChaperoneCalibrationState GetCalibrationState() = 0;
+
+	/** Returns the width and depth of the Play Area (formerly named Soft Bounds) in X and Z. 
+	* Tracking space center (0,0,0) is the center of the Play Area. **/
+	virtual bool GetPlayAreaSize( float *pSizeX, float *pSizeZ ) = 0;
+
+	/** Returns the 4 corner positions of the Play Area (formerly named Soft Bounds).
+	* Corners are in counter-clockwise order.
+	* Standing center (0,0,0) is the center of the Play Area.
+	* It's a rectangle.
+	* 2 sides are parallel to the X axis and 2 sides are parallel to the Z axis.
+	* Height of every corner is 0Y (on the floor). **/
+	virtual bool GetPlayAreaRect( HmdQuad_t *rect ) = 0;
+
+	/** Reload Chaperone data from the .vrchap file on disk. */
+	virtual void ReloadInfo( void ) = 0;
+
+	/** Optionally give the chaperone system a hit about the color and brightness in the scene **/
+	virtual void SetSceneColor( HmdColor_t color ) = 0;
+
+	/** Get the current chaperone bounds draw color and brightness **/
+	virtual void GetBoundsColor( HmdColor_t *pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, HmdColor_t *pOutputCameraColor ) = 0;
+
+	/** Determine whether the bounds are showing right now **/
+	virtual bool AreBoundsVisible() = 0;
+
+	/** Force the bounds to show, mostly for utilities **/
+	virtual void ForceBoundsVisible( bool bForce ) = 0;
+};
+
+static const char * const IVRChaperone_Version = "IVRChaperone_003";
+
+#pragma pack( pop )
+
+}
+
+// ivrchaperonesetup.h
+namespace vr
+{
+
+enum EChaperoneConfigFile
+{
+	EChaperoneConfigFile_Live = 1,		// The live chaperone config, used by most applications and games
+	EChaperoneConfigFile_Temp = 2,		// The temporary chaperone config, used to live-preview collision bounds in room setup
+};
+
+enum EChaperoneImportFlags
+{
+	EChaperoneImport_BoundsOnly = 0x0001,
+};
+
+/** Manages the working copy of the chaperone info. By default this will be the same as the 
+* live copy. Any changes made with this interface will stay in the working copy until 
+* CommitWorkingCopy() is called, at which point the working copy and the live copy will be 
+* the same again. */
+class IVRChaperoneSetup
+{
+public:
+
+	/** Saves the current working copy to disk */
+	virtual bool CommitWorkingCopy( EChaperoneConfigFile configFile ) = 0;
+
+	/** Reverts the working copy to match the live chaperone calibration.
+	* To modify existing data this MUST be do WHILE getting a non-error ChaperoneCalibrationStatus.
+	* Only after this should you do gets and sets on the existing data. */
+	virtual void RevertWorkingCopy() = 0;
+
+	/** Returns the width and depth of the Play Area (formerly named Soft Bounds) in X and Z from the working copy.
+	* Tracking space center (0,0,0) is the center of the Play Area. */
+	virtual bool GetWorkingPlayAreaSize( float *pSizeX, float *pSizeZ ) = 0;
+
+	/** Returns the 4 corner positions of the Play Area (formerly named Soft Bounds) from the working copy.
+	* Corners are in clockwise order.
+	* Tracking space center (0,0,0) is the center of the Play Area.
+	* It's a rectangle.
+	* 2 sides are parallel to the X axis and 2 sides are parallel to the Z axis.
+	* Height of every corner is 0Y (on the floor). **/
+	virtual bool GetWorkingPlayAreaRect( HmdQuad_t *rect ) = 0;
+
+	/** Returns the number of Quads if the buffer points to null. Otherwise it returns Quads 
+	* into the buffer up to the max specified from the working copy. */
+	virtual bool GetWorkingCollisionBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0;
+
+	/** Returns the number of Quads if the buffer points to null. Otherwise it returns Quads 
+	* into the buffer up to the max specified. */
+	virtual bool GetLiveCollisionBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0;
+
+	/** Returns the preferred seated position from the working copy. */
+	virtual bool GetWorkingSeatedZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatSeatedZeroPoseToRawTrackingPose ) = 0;
+
+	/** Returns the standing origin from the working copy. */
+	virtual bool GetWorkingStandingZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatStandingZeroPoseToRawTrackingPose ) = 0;
+
+	/** Sets the Play Area in the working copy. */
+	virtual void SetWorkingPlayAreaSize( float sizeX, float sizeZ ) = 0;
+
+	/** Sets the Collision Bounds in the working copy. */
+	virtual void SetWorkingCollisionBoundsInfo( VR_ARRAY_COUNT(unQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t unQuadsCount ) = 0;
+
+	/** Sets the preferred seated position in the working copy. */
+	virtual void SetWorkingSeatedZeroPoseToRawTrackingPose( const HmdMatrix34_t *pMatSeatedZeroPoseToRawTrackingPose ) = 0;
+
+	/** Sets the preferred standing position in the working copy. */
+	virtual void SetWorkingStandingZeroPoseToRawTrackingPose( const HmdMatrix34_t *pMatStandingZeroPoseToRawTrackingPose ) = 0;
+
+	/** Tear everything down and reload it from the file on disk */
+	virtual void ReloadFromDisk( EChaperoneConfigFile configFile ) = 0;
+
+	/** Returns the preferred seated position. */
+	virtual bool GetLiveSeatedZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatSeatedZeroPoseToRawTrackingPose ) = 0;
+
+	virtual void SetWorkingCollisionBoundsTagsInfo( VR_ARRAY_COUNT(unTagCount) uint8_t *pTagsBuffer, uint32_t unTagCount ) = 0;
+	virtual bool GetLiveCollisionBoundsTagsInfo( VR_OUT_ARRAY_COUNT(punTagCount) uint8_t *pTagsBuffer, uint32_t *punTagCount ) = 0;
+
+	virtual bool SetWorkingPhysicalBoundsInfo( VR_ARRAY_COUNT(unQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t unQuadsCount ) = 0;
+	virtual bool GetLivePhysicalBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0;
+
+	virtual bool ExportLiveToBuffer( VR_OUT_STRING() char *pBuffer, uint32_t *pnBufferLength ) = 0;
+	virtual bool ImportFromBufferToWorking( const char *pBuffer, uint32_t nImportFlags ) = 0;
+};
+
+static const char * const IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
+
+
+}
+
+// ivrcompositor.h
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+/** Errors that can occur with the VR compositor */
+enum EVRCompositorError
+{
+	VRCompositorError_None						= 0,
+	VRCompositorError_RequestFailed				= 1,
+	VRCompositorError_IncompatibleVersion		= 100,
+	VRCompositorError_DoNotHaveFocus			= 101,
+	VRCompositorError_InvalidTexture			= 102,
+	VRCompositorError_IsNotSceneApplication		= 103,
+	VRCompositorError_TextureIsOnWrongDevice	= 104,
+	VRCompositorError_TextureUsesUnsupportedFormat = 105,
+	VRCompositorError_SharedTexturesNotSupported = 106,
+	VRCompositorError_IndexOutOfRange			= 107,
+	VRCompositorError_AlreadySubmitted			= 108,
+};
+
+const uint32_t VRCompositor_ReprojectionReason_Cpu = 0x01;
+const uint32_t VRCompositor_ReprojectionReason_Gpu = 0x02;
+const uint32_t VRCompositor_ReprojectionAsync      = 0x04;	// This flag indicates the async reprojection mode is active,
+															// but does not indicate if reprojection actually happened or not.
+															// Use the ReprojectionReason flags above to check if reprojection
+															// was actually applied (i.e. scene texture was reused).
+															// NumFramePresents > 1 also indicates the scene texture was reused,
+															// and also the number of times that it was presented in total.
+
+/** Provides a single frame's timing information to the app */
+struct Compositor_FrameTiming
+{
+	uint32_t m_nSize; // Set to sizeof( Compositor_FrameTiming )
+	uint32_t m_nFrameIndex;
+	uint32_t m_nNumFramePresents; // number of times this frame was presented
+	uint32_t m_nNumMisPresented; // number of times this frame was presented on a vsync other than it was originally predicted to
+	uint32_t m_nNumDroppedFrames; // number of additional times previous frame was scanned out
+	uint32_t m_nReprojectionFlags;
+
+	/** Absolute time reference for comparing frames.  This aligns with the vsync that running start is relative to. */
+	double m_flSystemTimeInSeconds;
+
+	/** These times may include work from other processes due to OS scheduling.
+	* The fewer packets of work these are broken up into, the less likely this will happen.
+	* GPU work can be broken up by calling Flush.  This can sometimes be useful to get the GPU started
+	* processing that work earlier in the frame. */
+	float m_flPreSubmitGpuMs; // time spent rendering the scene (gpu work submitted between WaitGetPoses and second Submit)
+	float m_flPostSubmitGpuMs; // additional time spent rendering by application (e.g. companion window)
+	float m_flTotalRenderGpuMs; // time between work submitted immediately after present (ideally vsync) until the end of compositor submitted work
+	float m_flCompositorRenderGpuMs; // time spend performing distortion correction, rendering chaperone, overlays, etc.
+	float m_flCompositorRenderCpuMs; // time spent on cpu submitting the above work for this frame
+	float m_flCompositorIdleCpuMs; // time spent waiting for running start (application could have used this much more time)
+
+	/** Miscellaneous measured intervals. */
+	float m_flClientFrameIntervalMs; // time between calls to WaitGetPoses
+	float m_flPresentCallCpuMs; // time blocked on call to present (usually 0.0, but can go long)
+	float m_flWaitForPresentCpuMs; // time spent spin-waiting for frame index to change (not near-zero indicates wait object failure)
+	float m_flSubmitFrameMs; // time spent in IVRCompositor::Submit (not near-zero indicates driver issue)
+
+	/** The following are all relative to this frame's SystemTimeInSeconds */
+	float m_flWaitGetPosesCalledMs;
+	float m_flNewPosesReadyMs;
+	float m_flNewFrameReadyMs; // second call to IVRCompositor::Submit
+	float m_flCompositorUpdateStartMs;
+	float m_flCompositorUpdateEndMs;
+	float m_flCompositorRenderStartMs;
+
+	vr::TrackedDevicePose_t m_HmdPose; // pose used by app to render this frame
+};
+
+/** Cumulative stats for current application.  These are not cleared until a new app connects,
+* but they do stop accumulating once the associated app disconnects. */
+struct Compositor_CumulativeStats
+{
+	uint32_t m_nPid; // Process id associated with these stats (may no longer be running).
+	uint32_t m_nNumFramePresents; // total number of times we called present (includes reprojected frames)
+	uint32_t m_nNumDroppedFrames; // total number of times an old frame was re-scanned out (without reprojection)
+	uint32_t m_nNumReprojectedFrames; // total number of times a frame was scanned out a second time (with reprojection)
+
+	/** Values recorded at startup before application has fully faded in the first time. */
+	uint32_t m_nNumFramePresentsOnStartup;
+	uint32_t m_nNumDroppedFramesOnStartup;
+	uint32_t m_nNumReprojectedFramesOnStartup;
+
+	/** Applications may explicitly fade to the compositor.  This is usually to handle level transitions, and loading often causes
+	* system wide hitches.  The following stats are collected during this period.  Does not include values recorded during startup. */
+	uint32_t m_nNumLoading;
+	uint32_t m_nNumFramePresentsLoading;
+	uint32_t m_nNumDroppedFramesLoading;
+	uint32_t m_nNumReprojectedFramesLoading;
+
+	/** If we don't get a new frame from the app in less than 2.5 frames, then we assume the app has hung and start
+	* fading back to the compositor.  The following stats are a result of this, and are a subset of those recorded above.
+	* Does not include values recorded during start up or loading. */
+	uint32_t m_nNumTimedOut;
+	uint32_t m_nNumFramePresentsTimedOut;
+	uint32_t m_nNumDroppedFramesTimedOut;
+	uint32_t m_nNumReprojectedFramesTimedOut;
+};
+
+#pragma pack( pop )
+
+/** Allows the application to interact with the compositor */
+class IVRCompositor
+{
+public:
+	/** Sets tracking space returned by WaitGetPoses */
+	virtual void SetTrackingSpace( ETrackingUniverseOrigin eOrigin ) = 0;
+
+	/** Gets current tracking space returned by WaitGetPoses */
+	virtual ETrackingUniverseOrigin GetTrackingSpace() = 0;
+
+	/** Scene applications should call this function to get poses to render with (and optionally poses predicted an additional frame out to use for gameplay).
+	* This function will block until "running start" milliseconds before the start of the frame, and should be called at the last moment before needing to
+	* start rendering.
+	*
+	* Return codes:
+	*	- IsNotSceneApplication (make sure to call VR_Init with VRApplicaiton_Scene)
+	*	- DoNotHaveFocus (some other app has taken focus - this will throttle the call to 10hz to reduce the impact on that app)
+	*/
+	virtual EVRCompositorError WaitGetPoses( VR_ARRAY_COUNT(unRenderPoseArrayCount) TrackedDevicePose_t* pRenderPoseArray, uint32_t unRenderPoseArrayCount,
+		VR_ARRAY_COUNT(unGamePoseArrayCount) TrackedDevicePose_t* pGamePoseArray, uint32_t unGamePoseArrayCount ) = 0;
+
+	/** Get the last set of poses returned by WaitGetPoses. */
+	virtual EVRCompositorError GetLastPoses( VR_ARRAY_COUNT( unRenderPoseArrayCount ) TrackedDevicePose_t* pRenderPoseArray, uint32_t unRenderPoseArrayCount,
+		VR_ARRAY_COUNT( unGamePoseArrayCount ) TrackedDevicePose_t* pGamePoseArray, uint32_t unGamePoseArrayCount ) = 0;
+
+	/** Interface for accessing last set of poses returned by WaitGetPoses one at a time.
+	* Returns VRCompositorError_IndexOutOfRange if unDeviceIndex not less than k_unMaxTrackedDeviceCount otherwise VRCompositorError_None.
+	* It is okay to pass NULL for either pose if you only want one of the values. */
+	virtual EVRCompositorError GetLastPoseForTrackedDeviceIndex( TrackedDeviceIndex_t unDeviceIndex, TrackedDevicePose_t *pOutputPose, TrackedDevicePose_t *pOutputGamePose ) = 0;
+
+	/** Updated scene texture to display. If pBounds is NULL the entire texture will be used.  If called from an OpenGL app, consider adding a glFlush after
+	* Submitting both frames to signal the driver to start processing, otherwise it may wait until the command buffer fills up, causing the app to miss frames.
+	*
+	* OpenGL dirty state:
+	*	glBindTexture
+	*
+	* Return codes:
+	*	- IsNotSceneApplication (make sure to call VR_Init with VRApplicaiton_Scene)
+	*	- DoNotHaveFocus (some other app has taken focus)
+	*	- TextureIsOnWrongDevice (application did not use proper AdapterIndex - see IVRSystem.GetDXGIOutputInfo)
+	*	- SharedTexturesNotSupported (application needs to call CreateDXGIFactory1 or later before creating DX device)
+	*	- TextureUsesUnsupportedFormat (scene textures must be compatible with DXGI sharing rules - e.g. uncompressed, no mips, etc.)
+	*	- InvalidTexture (usually means bad arguments passed in)
+	*	- AlreadySubmitted (app has submitted two left textures or two right textures in a single frame - i.e. before calling WaitGetPoses again)
+	*/
+	virtual EVRCompositorError Submit( EVREye eEye, const Texture_t *pTexture, const VRTextureBounds_t* pBounds = 0, EVRSubmitFlags nSubmitFlags = Submit_Default ) = 0;
+
+	/** Clears the frame that was sent with the last call to Submit. This will cause the 
+	* compositor to show the grid until Submit is called again. */
+	virtual void ClearLastSubmittedFrame() = 0;
+
+	/** Call immediately after presenting your app's window (i.e. companion window) to unblock the compositor.
+	* This is an optional call, which only needs to be used if you can't instead call WaitGetPoses immediately after Present.
+	* For example, if your engine's render and game loop are not on separate threads, or blocking the render thread until 3ms before the next vsync would
+	* introduce a deadlock of some sort.  This function tells the compositor that you have finished all rendering after having Submitted buffers for both
+	* eyes, and it is free to start its rendering work.  This should only be called from the same thread you are rendering on. */
+	virtual void PostPresentHandoff() = 0;
+
+	/** Returns true if timing data is filled it.  Sets oldest timing info if nFramesAgo is larger than the stored history.
+	* Be sure to set timing.size = sizeof(Compositor_FrameTiming) on struct passed in before calling this function. */
+	virtual bool GetFrameTiming( Compositor_FrameTiming *pTiming, uint32_t unFramesAgo = 0 ) = 0;
+
+	/** Interface for copying a range of timing data.  Frames are returned in ascending order (oldest to newest) with the last being the most recent frame.
+	* Only the first entry's m_nSize needs to be set, as the rest will be inferred from that.  Returns total number of entries filled out. */
+	virtual uint32_t GetFrameTimings( Compositor_FrameTiming *pTiming, uint32_t nFrames ) = 0;
+
+	/** Returns the time in seconds left in the current (as identified by FrameTiming's frameIndex) frame.
+	* Due to "running start", this value may roll over to the next frame before ever reaching 0.0. */
+	virtual float GetFrameTimeRemaining() = 0;
+
+	/** Fills out stats accumulated for the last connected application.  Pass in sizeof( Compositor_CumulativeStats ) as second parameter. */
+	virtual void GetCumulativeStats( Compositor_CumulativeStats *pStats, uint32_t nStatsSizeInBytes ) = 0;
+
+	/** Fades the view on the HMD to the specified color. The fade will take fSeconds, and the color values are between
+	* 0.0 and 1.0. This color is faded on top of the scene based on the alpha parameter. Removing the fade color instantly 
+	* would be FadeToColor( 0.0, 0.0, 0.0, 0.0, 0.0 ).  Values are in un-premultiplied alpha space. */
+	virtual void FadeToColor( float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground = false ) = 0;
+
+	/** Get current fade color value. */
+	virtual HmdColor_t GetCurrentFadeColor( bool bBackground = false ) = 0;
+
+	/** Fading the Grid in or out in fSeconds */
+	virtual void FadeGrid( float fSeconds, bool bFadeIn ) = 0;
+
+	/** Get current alpha value of grid. */
+	virtual float GetCurrentGridAlpha() = 0;
+
+	/** Override the skybox used in the compositor (e.g. for during level loads when the app can't feed scene images fast enough)
+	* Order is Front, Back, Left, Right, Top, Bottom.  If only a single texture is passed, it is assumed in lat-long format.
+	* If two are passed, it is assumed a lat-long stereo pair. */
+	virtual EVRCompositorError SetSkyboxOverride( VR_ARRAY_COUNT( unTextureCount ) const Texture_t *pTextures, uint32_t unTextureCount ) = 0;
+
+	/** Resets compositor skybox back to defaults. */
+	virtual void ClearSkyboxOverride() = 0;
+
+	/** Brings the compositor window to the front. This is useful for covering any other window that may be on the HMD
+	* and is obscuring the compositor window. */
+	virtual void CompositorBringToFront() = 0;
+
+	/** Pushes the compositor window to the back. This is useful for allowing other applications to draw directly to the HMD. */
+	virtual void CompositorGoToBack() = 0;
+
+	/** Tells the compositor process to clean up and exit. You do not need to call this function at shutdown. Under normal 
+	* circumstances the compositor will manage its own life cycle based on what applications are running. */
+	virtual void CompositorQuit() = 0;
+	
+	/** Return whether the compositor is fullscreen */
+	virtual bool IsFullscreen() = 0;
+
+	/** Returns the process ID of the process that is currently rendering the scene */
+	virtual uint32_t GetCurrentSceneFocusProcess() = 0;
+
+	/** Returns the process ID of the process that rendered the last frame (or 0 if the compositor itself rendered the frame.)
+	* Returns 0 when fading out from an app and the app's process Id when fading into an app. */
+	virtual uint32_t GetLastFrameRenderer() = 0;
+
+	/** Returns true if the current process has the scene focus */
+	virtual bool CanRenderScene() = 0;
+
+	/** Creates a window on the primary monitor to display what is being shown in the headset. */
+	virtual void ShowMirrorWindow() = 0;
+
+	/** Closes the mirror window. */
+	virtual void HideMirrorWindow() = 0;
+
+	/** Returns true if the mirror window is shown. */
+	virtual bool IsMirrorWindowVisible() = 0;
+
+	/** Writes all images that the compositor knows about (including overlays) to a 'screenshots' folder in the SteamVR runtime root. */
+	virtual void CompositorDumpImages() = 0;
+
+	/** Let an app know it should be rendering with low resources. */
+	virtual bool ShouldAppRenderWithLowResources() = 0;
+
+	/** Override interleaved reprojection logic to force on. */
+	virtual void ForceInterleavedReprojectionOn( bool bOverride ) = 0;
+
+	/** Force reconnecting to the compositor process. */
+	virtual void ForceReconnectProcess() = 0;
+
+	/** Temporarily suspends rendering (useful for finer control over scene transitions). */
+	virtual void SuspendRendering( bool bSuspend ) = 0;
+
+	/** Opens a shared D3D11 texture with the undistorted composited image for each eye.  Use ReleaseMirrorTextureD3D11 when finished
+	* instead of calling Release on the resource itself. */
+	virtual vr::EVRCompositorError GetMirrorTextureD3D11( vr::EVREye eEye, void *pD3D11DeviceOrResource, void **ppD3D11ShaderResourceView ) = 0;
+	virtual void ReleaseMirrorTextureD3D11( void *pD3D11ShaderResourceView ) = 0;
+
+	/** Access to mirror textures from OpenGL. */
+	virtual vr::EVRCompositorError GetMirrorTextureGL( vr::EVREye eEye, vr::glUInt_t *pglTextureId, vr::glSharedTextureHandle_t *pglSharedTextureHandle ) = 0;
+	virtual bool ReleaseSharedGLTexture( vr::glUInt_t glTextureId, vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0;
+	virtual void LockGLSharedTextureForAccess( vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0;
+	virtual void UnlockGLSharedTextureForAccess( vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0;
+
+	/** [Vulkan Only]
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null.  The string will be a space separated list of-required instance extensions to enable in VkCreateInstance */
+	virtual uint32_t GetVulkanInstanceExtensionsRequired( VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+
+	/** [Vulkan only]
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null.  The string will be a space separated list of required device extensions to enable in VkCreateDevice */
+	virtual uint32_t GetVulkanDeviceExtensionsRequired( VkPhysicalDevice_T *pPhysicalDevice, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+
+};
+
+static const char * const IVRCompositor_Version = "IVRCompositor_020";
+
+} // namespace vr
+
+
+
+// ivrnotifications.h
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+// Used for passing graphic data
+struct NotificationBitmap_t
+{
+	NotificationBitmap_t()
+		: m_pImageData( nullptr )
+		, m_nWidth( 0 )
+		, m_nHeight( 0 )
+		, m_nBytesPerPixel( 0 )
+	{
+	};
+
+	void *m_pImageData;
+	int32_t m_nWidth;
+	int32_t m_nHeight;
+	int32_t m_nBytesPerPixel;
+};
+
+
+/** Be aware that the notification type is used as 'priority' to pick the next notification */
+enum EVRNotificationType
+{
+	/** Transient notifications are automatically hidden after a period of time set by the user. 
+	* They are used for things like information and chat messages that do not require user interaction. */
+	EVRNotificationType_Transient = 0,
+
+	/** Persistent notifications are shown to the user until they are hidden by calling RemoveNotification().
+	* They are used for things like phone calls and alarms that require user interaction. */
+	EVRNotificationType_Persistent = 1,
+
+	/** System notifications are shown no matter what. It is expected, that the ulUserValue is used as ID.
+	 * If there is already a system notification in the queue with that ID it is not accepted into the queue
+	 * to prevent spamming with system notification */
+	EVRNotificationType_Transient_SystemWithUserValue = 2,
+};
+
+enum EVRNotificationStyle
+{
+	/** Creates a notification with minimal external styling. */
+	EVRNotificationStyle_None = 0,
+
+	/** Used for notifications about overlay-level status. In Steam this is used for events like downloads completing. */
+	EVRNotificationStyle_Application = 100,
+
+	/** Used for notifications about contacts that are unknown or not available. In Steam this is used for friend invitations and offline friends. */
+	EVRNotificationStyle_Contact_Disabled = 200,
+
+	/** Used for notifications about contacts that are available but inactive. In Steam this is used for friends that are online but not playing a game. */
+	EVRNotificationStyle_Contact_Enabled = 201,
+
+	/** Used for notifications about contacts that are available and active. In Steam this is used for friends that are online and currently running a game. */
+	EVRNotificationStyle_Contact_Active = 202,
+};
+
+static const uint32_t k_unNotificationTextMaxSize = 256;
+
+typedef uint32_t VRNotificationId;
+
+
+
+#pragma pack( pop )
+
+/** Allows notification sources to interact with the VR system
+	This current interface is not yet implemented. Do not use yet. */
+class IVRNotifications
+{
+public:
+	/** Create a notification and enqueue it to be shown to the user.
+	* An overlay handle is required to create a notification, as otherwise it would be impossible for a user to act on it.
+	* To create a two-line notification, use a line break ('\n') to split the text into two lines.
+	* The pImage argument may be NULL, in which case the specified overlay's icon will be used instead. */
+	virtual EVRNotificationError CreateNotification( VROverlayHandle_t ulOverlayHandle, uint64_t ulUserValue, EVRNotificationType type, const char *pchText, EVRNotificationStyle style, const NotificationBitmap_t *pImage, /* out */ VRNotificationId *pNotificationId ) = 0;
+
+	/** Destroy a notification, hiding it first if it currently shown to the user. */
+	virtual EVRNotificationError RemoveNotification( VRNotificationId notificationId ) = 0;
+
+};
+
+static const char * const IVRNotifications_Version = "IVRNotifications_002";
+
+} // namespace vr
+
+
+
+// ivroverlay.h
+namespace vr
+{
+
+	/** The maximum length of an overlay key in bytes, counting the terminating null character. */
+	static const uint32_t k_unVROverlayMaxKeyLength = 128;
+
+	/** The maximum length of an overlay name in bytes, counting the terminating null character. */
+	static const uint32_t k_unVROverlayMaxNameLength = 128;
+
+	/** The maximum number of overlays that can exist in the system at one time. */
+	static const uint32_t k_unMaxOverlayCount = 64;
+
+	/** The maximum number of overlay intersection mask primitives per overlay */
+	static const uint32_t k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
+
+	/** Types of input supported by VR Overlays */
+	enum VROverlayInputMethod
+	{
+		VROverlayInputMethod_None		= 0, // No input events will be generated automatically for this overlay
+		VROverlayInputMethod_Mouse		= 1, // Tracked controllers will get mouse events automatically
+	};
+
+	/** Allows the caller to figure out which overlay transform getter to call. */
+	enum VROverlayTransformType
+	{
+		VROverlayTransform_Absolute					= 0,
+		VROverlayTransform_TrackedDeviceRelative	= 1,
+		VROverlayTransform_SystemOverlay			= 2,
+		VROverlayTransform_TrackedComponent 		= 3,
+	};
+
+	/** Overlay control settings */
+	enum VROverlayFlags
+	{
+		VROverlayFlags_None			= 0,
+
+		// The following only take effect when rendered using the high quality render path (see SetHighQualityOverlay).
+		VROverlayFlags_Curved		= 1,
+		VROverlayFlags_RGSS4X		= 2,
+
+		// Set this flag on a dashboard overlay to prevent a tab from showing up for that overlay
+		VROverlayFlags_NoDashboardTab = 3,
+
+		// Set this flag on a dashboard that is able to deal with gamepad focus events
+		VROverlayFlags_AcceptsGamepadEvents = 4,
+
+		// Indicates that the overlay should dim/brighten to show gamepad focus
+		VROverlayFlags_ShowGamepadFocus = 5,
+
+		// When in VROverlayInputMethod_Mouse you can optionally enable sending VRScroll_t 
+		VROverlayFlags_SendVRScrollEvents = 6,
+		VROverlayFlags_SendVRTouchpadEvents = 7,
+
+		// If set this will render a vertical scroll wheel on the primary controller, 
+		//  only needed if not using VROverlayFlags_SendVRScrollEvents but you still want to represent a scroll wheel
+		VROverlayFlags_ShowTouchPadScrollWheel = 8,
+
+		// If this is set ownership and render access to the overlay are transferred 
+		// to the new scene process on a call to IVRApplications::LaunchInternalProcess
+		VROverlayFlags_TransferOwnershipToInternalProcess = 9,
+
+		// If set, renders 50% of the texture in each eye, side by side
+		VROverlayFlags_SideBySide_Parallel = 10, // Texture is left/right
+		VROverlayFlags_SideBySide_Crossed = 11, // Texture is crossed and right/left
+
+		VROverlayFlags_Panorama = 12, // Texture is a panorama
+		VROverlayFlags_StereoPanorama = 13, // Texture is a stereo panorama
+
+		// If this is set on an overlay owned by the scene application that overlay
+		// will be sorted with the "Other" overlays on top of all other scene overlays
+		VROverlayFlags_SortWithNonSceneOverlays = 14,
+
+		// If set, the overlay will be shown in the dashboard, otherwise it will be hidden.
+		VROverlayFlags_VisibleInDashboard = 15,
+	};
+
+	enum VRMessageOverlayResponse
+	{
+		VRMessageOverlayResponse_ButtonPress_0 = 0,
+		VRMessageOverlayResponse_ButtonPress_1 = 1,
+		VRMessageOverlayResponse_ButtonPress_2 = 2,
+		VRMessageOverlayResponse_ButtonPress_3 = 3,
+		VRMessageOverlayResponse_CouldntFindSystemOverlay = 4,
+		VRMessageOverlayResponse_CouldntFindOrCreateClientOverlay= 5,
+		VRMessageOverlayResponse_ApplicationQuit = 6
+	};
+
+	struct VROverlayIntersectionParams_t
+	{
+		HmdVector3_t vSource;
+		HmdVector3_t vDirection;
+		ETrackingUniverseOrigin eOrigin;
+	};
+
+	struct VROverlayIntersectionResults_t
+	{
+		HmdVector3_t vPoint;
+		HmdVector3_t vNormal;
+		HmdVector2_t vUVs;
+		float fDistance;
+	};
+
+	// Input modes for the Big Picture gamepad text entry
+	enum EGamepadTextInputMode
+	{
+		k_EGamepadTextInputModeNormal = 0,
+		k_EGamepadTextInputModePassword = 1,
+		k_EGamepadTextInputModeSubmit = 2,
+	};
+
+	// Controls number of allowed lines for the Big Picture gamepad text entry
+	enum EGamepadTextInputLineMode
+	{
+		k_EGamepadTextInputLineModeSingleLine = 0,
+		k_EGamepadTextInputLineModeMultipleLines = 1
+	};
+
+	/** Directions for changing focus between overlays with the gamepad */
+	enum EOverlayDirection
+	{
+		OverlayDirection_Up = 0,
+		OverlayDirection_Down = 1,
+		OverlayDirection_Left = 2,
+		OverlayDirection_Right = 3,
+		
+		OverlayDirection_Count = 4,
+	};
+
+	enum EVROverlayIntersectionMaskPrimitiveType
+	{
+		OverlayIntersectionPrimitiveType_Rectangle,
+		OverlayIntersectionPrimitiveType_Circle,
+	};
+
+	struct IntersectionMaskRectangle_t
+	{
+		float m_flTopLeftX;
+		float m_flTopLeftY;
+		float m_flWidth;
+		float m_flHeight;
+	};
+
+	struct IntersectionMaskCircle_t
+	{
+		float m_flCenterX;
+		float m_flCenterY;
+		float m_flRadius;
+	};
+
+	/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py and openvr_api_flat.h.py */
+	typedef union
+	{
+		IntersectionMaskRectangle_t m_Rectangle;
+		IntersectionMaskCircle_t m_Circle;
+	} VROverlayIntersectionMaskPrimitive_Data_t;
+
+	struct VROverlayIntersectionMaskPrimitive_t
+	{
+		EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType;
+		VROverlayIntersectionMaskPrimitive_Data_t m_Primitive;
+	};
+
+	class IVROverlay
+	{
+	public:
+
+		// ---------------------------------------------
+		// Overlay management methods
+		// ---------------------------------------------
+
+		/** Finds an existing overlay with the specified key. */
+		virtual EVROverlayError FindOverlay( const char *pchOverlayKey, VROverlayHandle_t * pOverlayHandle ) = 0;
+
+		/** Creates a new named overlay. All overlays start hidden and with default settings. */
+		virtual EVROverlayError CreateOverlay( const char *pchOverlayKey, const char *pchOverlayName, VROverlayHandle_t * pOverlayHandle ) = 0;
+
+		/** Destroys the specified overlay. When an application calls VR_Shutdown all overlays created by that app are
+		* automatically destroyed. */
+		virtual EVROverlayError DestroyOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Specify which overlay to use the high quality render path.  This overlay will be composited in during the distortion pass which
+		* results in it drawing on top of everything else, but also at a higher quality as it samples the source texture directly rather than
+		* rasterizing into each eye's render texture first.  Because if this, only one of these is supported at any given time.  It is most useful
+		* for overlays that are expected to take up most of the user's view (e.g. streaming video).
+		* This mode does not support mouse input to your overlay. */
+		virtual EVROverlayError SetHighQualityOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Returns the overlay handle of the current overlay being rendered using the single high quality overlay render path.
+		* Otherwise it will return k_ulOverlayHandleInvalid. */
+		virtual vr::VROverlayHandle_t GetHighQualityOverlay() = 0;
+
+		/** Fills the provided buffer with the string key of the overlay. Returns the size of buffer required to store the key, including
+		* the terminating null character. k_unVROverlayMaxKeyLength will be enough bytes to fit the string. */
+		virtual uint32_t GetOverlayKey( VROverlayHandle_t ulOverlayHandle, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, EVROverlayError *pError = 0L ) = 0;
+
+		/** Fills the provided buffer with the friendly name of the overlay. Returns the size of buffer required to store the key, including
+		* the terminating null character. k_unVROverlayMaxNameLength will be enough bytes to fit the string. */
+		virtual uint32_t GetOverlayName( VROverlayHandle_t ulOverlayHandle, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, EVROverlayError *pError = 0L ) = 0;
+
+		/** set the name to use for this overlay */
+		virtual EVROverlayError SetOverlayName( VROverlayHandle_t ulOverlayHandle, const char *pchName ) = 0;
+
+		/** Gets the raw image data from an overlay. Overlay image data is always returned as RGBA data, 4 bytes per pixel. If the buffer is not large enough, width and height 
+		* will be set and VROverlayError_ArrayTooSmall is returned. */
+		virtual EVROverlayError GetOverlayImageData( VROverlayHandle_t ulOverlayHandle, void *pvBuffer, uint32_t unBufferSize, uint32_t *punWidth, uint32_t *punHeight ) = 0;
+
+		/** returns a string that corresponds with the specified overlay error. The string will be the name 
+		* of the error enum value for all valid error codes */
+		virtual const char *GetOverlayErrorNameFromEnum( EVROverlayError error ) = 0;
+
+		// ---------------------------------------------
+		// Overlay rendering methods
+		// ---------------------------------------------
+
+		/** Sets the pid that is allowed to render to this overlay (the creator pid is always allow to render),
+		*	by default this is the pid of the process that made the overlay */
+		virtual EVROverlayError SetOverlayRenderingPid( VROverlayHandle_t ulOverlayHandle, uint32_t unPID ) = 0;
+
+		/** Gets the pid that is allowed to render to this overlay */
+		virtual uint32_t GetOverlayRenderingPid( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Specify flag setting for a given overlay */
+		virtual EVROverlayError SetOverlayFlag( VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled ) = 0;
+
+		/** Sets flag setting for a given overlay */
+		virtual EVROverlayError GetOverlayFlag( VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool *pbEnabled ) = 0;
+
+		/** Sets the color tint of the overlay quad. Use 0.0 to 1.0 per channel. */
+		virtual EVROverlayError SetOverlayColor( VROverlayHandle_t ulOverlayHandle, float fRed, float fGreen, float fBlue ) = 0;
+
+		/** Gets the color tint of the overlay quad. */
+		virtual EVROverlayError GetOverlayColor( VROverlayHandle_t ulOverlayHandle, float *pfRed, float *pfGreen, float *pfBlue ) = 0;
+
+		/** Sets the alpha of the overlay quad. Use 1.0 for 100 percent opacity to 0.0 for 0 percent opacity. */
+		virtual EVROverlayError SetOverlayAlpha( VROverlayHandle_t ulOverlayHandle, float fAlpha ) = 0;
+
+		/** Gets the alpha of the overlay quad. By default overlays are rendering at 100 percent alpha (1.0). */
+		virtual EVROverlayError GetOverlayAlpha( VROverlayHandle_t ulOverlayHandle, float *pfAlpha ) = 0;
+
+		/** Sets the aspect ratio of the texels in the overlay. 1.0 means the texels are square. 2.0 means the texels
+		* are twice as wide as they are tall. Defaults to 1.0. */
+		virtual EVROverlayError SetOverlayTexelAspect( VROverlayHandle_t ulOverlayHandle, float fTexelAspect ) = 0;
+
+		/** Gets the aspect ratio of the texels in the overlay. Defaults to 1.0 */
+		virtual EVROverlayError GetOverlayTexelAspect( VROverlayHandle_t ulOverlayHandle, float *pfTexelAspect ) = 0;
+
+		/** Sets the rendering sort order for the overlay. Overlays are rendered this order:
+		*      Overlays owned by the scene application
+		*      Overlays owned by some other application
+		*
+		*	Within a category overlays are rendered lowest sort order to highest sort order. Overlays with the same 
+		*	sort order are rendered back to front base on distance from the HMD.
+		*
+		*	Sort order defaults to 0. */
+		virtual EVROverlayError SetOverlaySortOrder( VROverlayHandle_t ulOverlayHandle, uint32_t unSortOrder ) = 0;
+
+		/** Gets the sort order of the overlay. See SetOverlaySortOrder for how this works. */
+		virtual EVROverlayError GetOverlaySortOrder( VROverlayHandle_t ulOverlayHandle, uint32_t *punSortOrder ) = 0;
+
+		/** Sets the width of the overlay quad in meters. By default overlays are rendered on a quad that is 1 meter across */
+		virtual EVROverlayError SetOverlayWidthInMeters( VROverlayHandle_t ulOverlayHandle, float fWidthInMeters ) = 0;
+
+		/** Returns the width of the overlay quad in meters. By default overlays are rendered on a quad that is 1 meter across */
+		virtual EVROverlayError GetOverlayWidthInMeters( VROverlayHandle_t ulOverlayHandle, float *pfWidthInMeters ) = 0;
+
+		/** For high-quality curved overlays only, sets the distance range in meters from the overlay used to automatically curve
+		* the surface around the viewer.  Min is distance is when the surface will be most curved.  Max is when least curved. */
+		virtual EVROverlayError SetOverlayAutoCurveDistanceRangeInMeters( VROverlayHandle_t ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters ) = 0;
+
+		/** For high-quality curved overlays only, gets the distance range in meters from the overlay used to automatically curve
+		* the surface around the viewer.  Min is distance is when the surface will be most curved.  Max is when least curved. */
+		virtual EVROverlayError GetOverlayAutoCurveDistanceRangeInMeters( VROverlayHandle_t ulOverlayHandle, float *pfMinDistanceInMeters, float *pfMaxDistanceInMeters ) = 0;
+
+		/** Sets the colorspace the overlay texture's data is in.  Defaults to 'auto'.
+		* If the texture needs to be resolved, you should call SetOverlayTexture with the appropriate colorspace instead. */
+		virtual EVROverlayError SetOverlayTextureColorSpace( VROverlayHandle_t ulOverlayHandle, EColorSpace eTextureColorSpace ) = 0;
+
+		/** Gets the overlay's current colorspace setting. */
+		virtual EVROverlayError GetOverlayTextureColorSpace( VROverlayHandle_t ulOverlayHandle, EColorSpace *peTextureColorSpace ) = 0;
+
+		/** Sets the part of the texture to use for the overlay. UV Min is the upper left corner and UV Max is the lower right corner. */
+		virtual EVROverlayError SetOverlayTextureBounds( VROverlayHandle_t ulOverlayHandle, const VRTextureBounds_t *pOverlayTextureBounds ) = 0;
+
+		/** Gets the part of the texture to use for the overlay. UV Min is the upper left corner and UV Max is the lower right corner. */
+		virtual EVROverlayError GetOverlayTextureBounds( VROverlayHandle_t ulOverlayHandle, VRTextureBounds_t *pOverlayTextureBounds ) = 0;
+
+		/** Gets render model to draw behind this overlay */
+		virtual uint32_t GetOverlayRenderModel( vr::VROverlayHandle_t ulOverlayHandle, char *pchValue, uint32_t unBufferSize, HmdColor_t *pColor, vr::EVROverlayError *pError ) = 0;
+
+		/** Sets render model to draw behind this overlay and the vertex color to use, pass null for pColor to match the overlays vertex color. 
+			The model is scaled by the same amount as the overlay, with a default of 1m. */
+		virtual vr::EVROverlayError SetOverlayRenderModel( vr::VROverlayHandle_t ulOverlayHandle, const char *pchRenderModel, const HmdColor_t *pColor ) = 0;
+
+		/** Returns the transform type of this overlay. */
+		virtual EVROverlayError GetOverlayTransformType( VROverlayHandle_t ulOverlayHandle, VROverlayTransformType *peTransformType ) = 0;
+
+		/** Sets the transform to absolute tracking origin. */
+		virtual EVROverlayError SetOverlayTransformAbsolute( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, const HmdMatrix34_t *pmatTrackingOriginToOverlayTransform ) = 0;
+
+		/** Gets the transform if it is absolute. Returns an error if the transform is some other type. */
+		virtual EVROverlayError GetOverlayTransformAbsolute( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin *peTrackingOrigin, HmdMatrix34_t *pmatTrackingOriginToOverlayTransform ) = 0;
+
+		/** Sets the transform to relative to the transform of the specified tracked device. */
+		virtual EVROverlayError SetOverlayTransformTrackedDeviceRelative( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unTrackedDevice, const HmdMatrix34_t *pmatTrackedDeviceToOverlayTransform ) = 0;
+
+		/** Gets the transform if it is relative to a tracked device. Returns an error if the transform is some other type. */
+		virtual EVROverlayError GetOverlayTransformTrackedDeviceRelative( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t *punTrackedDevice, HmdMatrix34_t *pmatTrackedDeviceToOverlayTransform ) = 0;
+
+		/** Sets the transform to draw the overlay on a rendermodel component mesh instead of a quad. This will only draw when the system is
+		* drawing the device. Overlays with this transform type cannot receive mouse events. */
+		virtual EVROverlayError SetOverlayTransformTrackedDeviceComponent( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unDeviceIndex, const char *pchComponentName ) = 0;
+
+		/** Gets the transform information when the overlay is rendering on a component. */
+		virtual EVROverlayError GetOverlayTransformTrackedDeviceComponent( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t *punDeviceIndex, char *pchComponentName, uint32_t unComponentNameSize ) = 0;
+
+		/** Gets the transform if it is relative to another overlay. Returns an error if the transform is some other type. */
+		virtual vr::EVROverlayError GetOverlayTransformOverlayRelative( VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t *ulOverlayHandleParent, HmdMatrix34_t *pmatParentOverlayToOverlayTransform ) = 0;
+		
+		/** Sets the transform to relative to the transform of the specified overlay. This overlays visibility will also track the parents visibility */
+		virtual vr::EVROverlayError SetOverlayTransformOverlayRelative( VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t ulOverlayHandleParent, const HmdMatrix34_t *pmatParentOverlayToOverlayTransform ) = 0;
+
+		/** Shows the VR overlay.  For dashboard overlays, only the Dashboard Manager is allowed to call this. */
+		virtual EVROverlayError ShowOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Hides the VR overlay.  For dashboard overlays, only the Dashboard Manager is allowed to call this. */
+		virtual EVROverlayError HideOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Returns true if the overlay is visible. */
+		virtual bool IsOverlayVisible( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Get the transform in 3d space associated with a specific 2d point in the overlay's coordinate space (where 0,0 is the lower left). -Z points out of the overlay */
+		virtual EVROverlayError GetTransformForOverlayCoordinates( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, HmdVector2_t coordinatesInOverlay, HmdMatrix34_t *pmatTransform ) = 0;
+
+		// ---------------------------------------------
+		// Overlay input methods
+		// ---------------------------------------------
+
+		/** Returns true and fills the event with the next event on the overlay's event queue, if there is one. 
+		* If there are no events this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+		virtual bool PollNextOverlayEvent( VROverlayHandle_t ulOverlayHandle, VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+		/** Returns the current input settings for the specified overlay. */
+		virtual EVROverlayError GetOverlayInputMethod( VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod *peInputMethod ) = 0;
+
+		/** Sets the input settings for the specified overlay. */
+		virtual EVROverlayError SetOverlayInputMethod( VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod eInputMethod ) = 0;
+
+		/** Gets the mouse scaling factor that is used for mouse events. The actual texture may be a different size, but this is
+		* typically the size of the underlying UI in pixels. */
+		virtual EVROverlayError GetOverlayMouseScale( VROverlayHandle_t ulOverlayHandle, HmdVector2_t *pvecMouseScale ) = 0;
+
+		/** Sets the mouse scaling factor that is used for mouse events. The actual texture may be a different size, but this is
+		* typically the size of the underlying UI in pixels (not in world space). */
+		virtual EVROverlayError SetOverlayMouseScale( VROverlayHandle_t ulOverlayHandle, const HmdVector2_t *pvecMouseScale ) = 0;
+
+		/** Computes the overlay-space pixel coordinates of where the ray intersects the overlay with the
+		* specified settings. Returns false if there is no intersection. */
+		virtual bool ComputeOverlayIntersection( VROverlayHandle_t ulOverlayHandle, const VROverlayIntersectionParams_t *pParams, VROverlayIntersectionResults_t *pResults ) = 0;
+
+		/** Processes mouse input from the specified controller as though it were a mouse pointed at a compositor overlay with the
+		* specified settings. The controller is treated like a laser pointer on the -z axis. The point where the laser pointer would
+		* intersect with the overlay is the mouse position, the trigger is left mouse, and the track pad is right mouse. 
+		*
+		* Return true if the controller is pointed at the overlay and an event was generated. */
+		virtual bool HandleControllerOverlayInteractionAsMouse( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unControllerDeviceIndex ) = 0;
+
+		/** Returns true if the specified overlay is the hover target. An overlay is the hover target when it is the last overlay "moused over" 
+		* by the virtual mouse pointer */
+		virtual bool IsHoverTargetOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Returns the current Gamepad focus overlay */
+		virtual vr::VROverlayHandle_t GetGamepadFocusOverlay() = 0;
+
+		/** Sets the current Gamepad focus overlay */
+		virtual EVROverlayError SetGamepadFocusOverlay( VROverlayHandle_t ulNewFocusOverlay ) = 0;
+
+		/** Sets an overlay's neighbor. This will also set the neighbor of the "to" overlay
+		* to point back to the "from" overlay. If an overlay's neighbor is set to invalid both
+		* ends will be cleared */
+		virtual EVROverlayError SetOverlayNeighbor( EOverlayDirection eDirection, VROverlayHandle_t ulFrom, VROverlayHandle_t ulTo ) = 0;
+
+		/** Changes the Gamepad focus from one overlay to one of its neighbors. Returns VROverlayError_NoNeighbor if there is no
+		* neighbor in that direction */
+		virtual EVROverlayError MoveGamepadFocusToNeighbor( EOverlayDirection eDirection, VROverlayHandle_t ulFrom ) = 0;
+
+		// ---------------------------------------------
+		// Overlay texture methods
+		// ---------------------------------------------
+
+		/** Texture to draw for the overlay. This function can only be called by the overlay's creator or renderer process (see SetOverlayRenderingPid) .
+		*
+		* OpenGL dirty state:
+		*	glBindTexture
+		*/
+		virtual EVROverlayError SetOverlayTexture( VROverlayHandle_t ulOverlayHandle, const Texture_t *pTexture ) = 0;
+
+		/** Use this to tell the overlay system to release the texture set for this overlay. */
+		virtual EVROverlayError ClearOverlayTexture( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Separate interface for providing the data as a stream of bytes, but there is an upper bound on data 
+		* that can be sent. This function can only be called by the overlay's renderer process. */
+		virtual EVROverlayError SetOverlayRaw( VROverlayHandle_t ulOverlayHandle, void *pvBuffer, uint32_t unWidth, uint32_t unHeight, uint32_t unDepth ) = 0;
+
+		/** Separate interface for providing the image through a filename: can be png or jpg, and should not be bigger than 1920x1080.
+		* This function can only be called by the overlay's renderer process */
+		virtual EVROverlayError SetOverlayFromFile( VROverlayHandle_t ulOverlayHandle, const char *pchFilePath ) = 0;
+
+		/** Get the native texture handle/device for an overlay you have created.
+		* On windows this handle will be a ID3D11ShaderResourceView with a ID3D11Texture2D bound.
+		*
+		* The texture will always be sized to match the backing texture you supplied in SetOverlayTexture above.
+		*
+		* You MUST call ReleaseNativeOverlayHandle() with pNativeTextureHandle once you are done with this texture.
+		*
+		* pNativeTextureHandle is an OUTPUT, it will be a pointer to a ID3D11ShaderResourceView *.
+		* pNativeTextureRef is an INPUT and should be a ID3D11Resource *. The device used by pNativeTextureRef will be used to bind pNativeTextureHandle.
+		*/
+		virtual EVROverlayError GetOverlayTexture( VROverlayHandle_t ulOverlayHandle, void **pNativeTextureHandle, void *pNativeTextureRef, uint32_t *pWidth, uint32_t *pHeight, uint32_t *pNativeFormat, ETextureType *pAPIType, EColorSpace *pColorSpace, VRTextureBounds_t *pTextureBounds ) = 0;
+
+		/** Release the pNativeTextureHandle provided from the GetOverlayTexture call, this allows the system to free the underlying GPU resources for this object,
+		* so only do it once you stop rendering this texture.
+		*/
+		virtual EVROverlayError ReleaseNativeOverlayHandle( VROverlayHandle_t ulOverlayHandle, void *pNativeTextureHandle ) = 0;
+
+		/** Get the size of the overlay texture */
+		virtual EVROverlayError GetOverlayTextureSize( VROverlayHandle_t ulOverlayHandle, uint32_t *pWidth, uint32_t *pHeight ) = 0;
+
+		// ----------------------------------------------
+		// Dashboard Overlay Methods
+		// ----------------------------------------------
+
+		/** Creates a dashboard overlay and returns its handle */
+		virtual EVROverlayError CreateDashboardOverlay( const char *pchOverlayKey, const char *pchOverlayFriendlyName, VROverlayHandle_t * pMainHandle, VROverlayHandle_t *pThumbnailHandle ) = 0;
+
+		/** Returns true if the dashboard is visible */
+		virtual bool IsDashboardVisible() = 0;
+
+		/** returns true if the dashboard is visible and the specified overlay is the active system Overlay */
+		virtual bool IsActiveDashboardOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Sets the dashboard overlay to only appear when the specified process ID has scene focus */
+		virtual EVROverlayError SetDashboardOverlaySceneProcess( VROverlayHandle_t ulOverlayHandle, uint32_t unProcessId ) = 0;
+
+		/** Gets the process ID that this dashboard overlay requires to have scene focus */
+		virtual EVROverlayError GetDashboardOverlaySceneProcess( VROverlayHandle_t ulOverlayHandle, uint32_t *punProcessId ) = 0;
+
+		/** Shows the dashboard. */
+		virtual void ShowDashboard( const char *pchOverlayToShow ) = 0;
+
+		/** Returns the tracked device that has the laser pointer in the dashboard */
+		virtual vr::TrackedDeviceIndex_t GetPrimaryDashboardDevice() = 0;
+
+		// ---------------------------------------------
+		// Keyboard methods
+		// ---------------------------------------------
+		
+		/** Show the virtual keyboard to accept input **/
+		virtual EVROverlayError ShowKeyboard( EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, const char *pchDescription, uint32_t unCharMax, const char *pchExistingText, bool bUseMinimalMode, uint64_t uUserValue ) = 0;
+
+		virtual EVROverlayError ShowKeyboardForOverlay( VROverlayHandle_t ulOverlayHandle, EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, const char *pchDescription, uint32_t unCharMax, const char *pchExistingText, bool bUseMinimalMode, uint64_t uUserValue ) = 0;
+
+		/** Get the text that was entered into the text input **/
+		virtual uint32_t GetKeyboardText( VR_OUT_STRING() char *pchText, uint32_t cchText ) = 0;
+
+		/** Hide the virtual keyboard **/
+		virtual void HideKeyboard() = 0;
+
+		/** Set the position of the keyboard in world space **/
+		virtual void SetKeyboardTransformAbsolute( ETrackingUniverseOrigin eTrackingOrigin, const HmdMatrix34_t *pmatTrackingOriginToKeyboardTransform ) = 0;
+
+		/** Set the position of the keyboard in overlay space by telling it to avoid a rectangle in the overlay. Rectangle coords have (0,0) in the bottom left **/
+		virtual void SetKeyboardPositionForOverlay( VROverlayHandle_t ulOverlayHandle, HmdRect2_t avoidRect ) = 0;
+
+		// ---------------------------------------------
+		// Overlay input methods
+		// ---------------------------------------------
+
+		/** Sets a list of primitives to be used for controller ray intersection
+		* typically the size of the underlying UI in pixels (not in world space). */
+		virtual EVROverlayError SetOverlayIntersectionMask( VROverlayHandle_t ulOverlayHandle, VROverlayIntersectionMaskPrimitive_t *pMaskPrimitives, uint32_t unNumMaskPrimitives, uint32_t unPrimitiveSize = sizeof( VROverlayIntersectionMaskPrimitive_t ) ) = 0;
+
+		virtual EVROverlayError GetOverlayFlags( VROverlayHandle_t ulOverlayHandle, uint32_t *pFlags ) = 0;
+
+		// ---------------------------------------------
+		// Message box methods
+		// ---------------------------------------------
+
+		/** Show the message overlay. This will block and return you a result. **/
+		virtual VRMessageOverlayResponse ShowMessageOverlay( const char* pchText, const char* pchCaption, const char* pchButton0Text, const char* pchButton1Text = nullptr, const char* pchButton2Text = nullptr, const char* pchButton3Text = nullptr ) = 0;
+	};
+
+	static const char * const IVROverlay_Version = "IVROverlay_016";
+
+} // namespace vr
+
+// ivrrendermodels.h
+namespace vr
+{
+
+static const char * const k_pch_Controller_Component_GDC2015 = "gdc2015";   // Canonical coordinate system of the gdc 2015 wired controller, provided for backwards compatibility
+static const char * const k_pch_Controller_Component_Base = "base";         // For controllers with an unambiguous 'base'.
+static const char * const k_pch_Controller_Component_Tip = "tip";           // For controllers with an unambiguous 'tip' (used for 'laser-pointing')
+static const char * const k_pch_Controller_Component_HandGrip = "handgrip"; // Neutral, ambidextrous hand-pose when holding controller. On plane between neutrally posed index finger and thumb
+static const char * const k_pch_Controller_Component_Status = "status";		// 1:1 aspect ratio status area, with canonical [0,1] uv mapping
+
+#pragma pack( push, 8 )
+
+/** Errors that can occur with the VR compositor */
+enum EVRRenderModelError
+{
+	VRRenderModelError_None = 0,
+	VRRenderModelError_Loading = 100,
+	VRRenderModelError_NotSupported = 200,
+	VRRenderModelError_InvalidArg = 300,
+	VRRenderModelError_InvalidModel = 301,
+	VRRenderModelError_NoShapes = 302,
+	VRRenderModelError_MultipleShapes = 303,
+	VRRenderModelError_TooManyVertices = 304,
+	VRRenderModelError_MultipleTextures = 305,
+	VRRenderModelError_BufferTooSmall = 306,
+	VRRenderModelError_NotEnoughNormals = 307,
+	VRRenderModelError_NotEnoughTexCoords = 308,
+
+	VRRenderModelError_InvalidTexture = 400,
+};
+
+typedef uint32_t VRComponentProperties;
+
+enum EVRComponentProperty
+{
+	VRComponentProperty_IsStatic = (1 << 0),
+	VRComponentProperty_IsVisible = (1 << 1),
+	VRComponentProperty_IsTouched = (1 << 2),
+	VRComponentProperty_IsPressed = (1 << 3),
+	VRComponentProperty_IsScrolled = (1 << 4),
+};
+
+/** Describes state information about a render-model component, including transforms and other dynamic properties */
+struct RenderModel_ComponentState_t
+{
+	HmdMatrix34_t mTrackingToComponentRenderModel;  // Transform required when drawing the component render model
+	HmdMatrix34_t mTrackingToComponentLocal;        // Transform available for attaching to a local component coordinate system (-Z out from surface )
+	VRComponentProperties uProperties;
+};
+
+/** A single vertex in a render model */
+struct RenderModel_Vertex_t
+{
+	HmdVector3_t vPosition;		// position in meters in device space
+	HmdVector3_t vNormal;
+	float rfTextureCoord[2];
+};
+
+/** A texture map for use on a render model */
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+struct RenderModel_TextureMap_t
+{
+	uint16_t unWidth, unHeight; // width and height of the texture map in pixels
+	const uint8_t *rubTextureMapData;	// Map texture data. All textures are RGBA with 8 bits per channel per pixel. Data size is width * height * 4ub
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+/**  Session unique texture identifier. Rendermodels which share the same texture will have the same id.
+IDs <0 denote the texture is not present */
+
+typedef int32_t TextureID_t;
+
+const TextureID_t INVALID_TEXTURE_ID = -1;
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+struct RenderModel_t
+{
+	const RenderModel_Vertex_t *rVertexData;	// Vertex data for the mesh
+	uint32_t unVertexCount;						// Number of vertices in the vertex data
+	const uint16_t *rIndexData;					// Indices into the vertex data for each triangle
+	uint32_t unTriangleCount;					// Number of triangles in the mesh. Index count is 3 * TriangleCount
+	TextureID_t diffuseTextureId;				// Session unique texture identifier. Rendermodels which share the same texture will have the same id. <0 == texture not present
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+
+struct RenderModel_ControllerMode_State_t
+{
+	bool bScrollWheelVisible; // is this controller currently set to be in a scroll wheel mode
+};
+
+#pragma pack( pop )
+
+class IVRRenderModels
+{
+public:
+
+	/** Loads and returns a render model for use in the application. pchRenderModelName should be a render model name
+	* from the Prop_RenderModelName_String property or an absolute path name to a render model on disk. 
+	*
+	* The resulting render model is valid until VR_Shutdown() is called or until FreeRenderModel() is called. When the 
+	* application is finished with the render model it should call FreeRenderModel() to free the memory associated
+	* with the model.
+	*
+	* The method returns VRRenderModelError_Loading while the render model is still being loaded.
+	* The method returns VRRenderModelError_None once loaded successfully, otherwise will return an error. */
+	virtual EVRRenderModelError LoadRenderModel_Async( const char *pchRenderModelName, RenderModel_t **ppRenderModel ) = 0;
+
+	/** Frees a previously returned render model
+	*   It is safe to call this on a null ptr. */
+	virtual void FreeRenderModel( RenderModel_t *pRenderModel ) = 0;
+
+	/** Loads and returns a texture for use in the application. */
+	virtual EVRRenderModelError LoadTexture_Async( TextureID_t textureId, RenderModel_TextureMap_t **ppTexture ) = 0;
+
+	/** Frees a previously returned texture
+	*   It is safe to call this on a null ptr. */
+	virtual void FreeTexture( RenderModel_TextureMap_t *pTexture ) = 0;
+
+	/** Creates a D3D11 texture and loads data into it. */
+	virtual EVRRenderModelError LoadTextureD3D11_Async( TextureID_t textureId, void *pD3D11Device, void **ppD3D11Texture2D ) = 0;
+
+	/** Helper function to copy the bits into an existing texture. */
+	virtual EVRRenderModelError LoadIntoTextureD3D11_Async( TextureID_t textureId, void *pDstTexture ) = 0;
+
+	/** Use this to free textures created with LoadTextureD3D11_Async instead of calling Release on them. */
+	virtual void FreeTextureD3D11( void *pD3D11Texture2D ) = 0;
+
+	/** Use this to get the names of available render models.  Index does not correlate to a tracked device index, but
+	* is only used for iterating over all available render models.  If the index is out of range, this function will return 0.
+	* Otherwise, it will return the size of the buffer required for the name. */
+	virtual uint32_t GetRenderModelName( uint32_t unRenderModelIndex, VR_OUT_STRING() char *pchRenderModelName, uint32_t unRenderModelNameLen ) = 0;
+
+	/** Returns the number of available render models. */
+	virtual uint32_t GetRenderModelCount() = 0;
+
+
+	/** Returns the number of components of the specified render model.
+	*  Components are useful when client application wish to draw, label, or otherwise interact with components of tracked objects.
+	*  Examples controller components:
+	*   renderable things such as triggers, buttons
+	*   non-renderable things which include coordinate systems such as 'tip', 'base', a neutral controller agnostic hand-pose
+	*   If all controller components are enumerated and rendered, it will be equivalent to drawing the traditional render model
+	*   Returns 0 if components not supported, >0 otherwise */
+	virtual uint32_t GetComponentCount( const char *pchRenderModelName ) = 0;
+
+	/** Use this to get the names of available components.  Index does not correlate to a tracked device index, but
+	* is only used for iterating over all available components.  If the index is out of range, this function will return 0.
+	* Otherwise, it will return the size of the buffer required for the name. */
+	virtual uint32_t GetComponentName( const char *pchRenderModelName, uint32_t unComponentIndex, VR_OUT_STRING( ) char *pchComponentName, uint32_t unComponentNameLen ) = 0;
+
+	/** Get the button mask for all buttons associated with this component
+	*   If no buttons (or axes) are associated with this component, return 0
+	*   Note: multiple components may be associated with the same button. Ex: two grip buttons on a single controller.
+	*   Note: A single component may be associated with multiple buttons. Ex: A trackpad which also provides "D-pad" functionality */
+	virtual uint64_t GetComponentButtonMask( const char *pchRenderModelName, const char *pchComponentName ) = 0;
+
+	/** Use this to get the render model name for the specified rendermode/component combination, to be passed to LoadRenderModel.
+	* If the component name is out of range, this function will return 0.
+	* Otherwise, it will return the size of the buffer required for the name. */
+	virtual uint32_t GetComponentRenderModelName( const char *pchRenderModelName, const char *pchComponentName, VR_OUT_STRING( ) char *pchComponentRenderModelName, uint32_t unComponentRenderModelNameLen ) = 0;
+
+	/** Use this to query information about the component, as a function of the controller state.
+	*
+	* For dynamic controller components (ex: trigger) values will reflect component motions
+	* For static components this will return a consistent value independent of the VRControllerState_t
+	*
+	* If the pchRenderModelName or pchComponentName is invalid, this will return false (and transforms will be set to identity).
+	* Otherwise, return true
+	* Note: For dynamic objects, visibility may be dynamic. (I.e., true/false will be returned based on controller state and controller mode state ) */
+	virtual bool GetComponentState( const char *pchRenderModelName, const char *pchComponentName, const vr::VRControllerState_t *pControllerState, const RenderModel_ControllerMode_State_t *pState, RenderModel_ComponentState_t *pComponentState ) = 0;
+
+	/** Returns true if the render model has a component with the specified name */
+	virtual bool RenderModelHasComponent( const char *pchRenderModelName, const char *pchComponentName ) = 0;
+
+	/** Returns the URL of the thumbnail image for this rendermodel */
+	virtual uint32_t GetRenderModelThumbnailURL( const char *pchRenderModelName, VR_OUT_STRING() char *pchThumbnailURL, uint32_t unThumbnailURLLen, vr::EVRRenderModelError *peError ) = 0;
+
+	/** Provides a render model path that will load the unskinned model if the model name provided has been replace by the user. If the model
+	* hasn't been replaced the path value will still be a valid path to load the model. Pass this to LoadRenderModel_Async, etc. to load the
+	* model. */
+	virtual uint32_t GetRenderModelOriginalPath( const char *pchRenderModelName, VR_OUT_STRING() char *pchOriginalPath, uint32_t unOriginalPathLen, vr::EVRRenderModelError *peError ) = 0;
+
+	/** Returns a string for a render model error */
+	virtual const char *GetRenderModelErrorNameFromEnum( vr::EVRRenderModelError error ) = 0;
+};
+
+static const char * const IVRRenderModels_Version = "IVRRenderModels_005";
+
+}
+
+
+// ivrextendeddisplay.h
+namespace vr
+{
+
+	/** NOTE: Use of this interface is not recommended in production applications. It will not work for displays which use
+	* direct-to-display mode. Creating our own window is also incompatible with the VR compositor and is not available when the compositor is running. */
+	class IVRExtendedDisplay
+	{
+	public:
+
+		/** Size and position that the window needs to be on the VR display. */
+		virtual void GetWindowBounds( int32_t *pnX, int32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** Gets the viewport in the frame buffer to draw the output of the distortion into */
+		virtual void GetEyeOutputViewport( EVREye eEye, uint32_t *pnX, uint32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** [D3D10/11 Only]
+		* Returns the adapter index and output index that the user should pass into EnumAdapters and EnumOutputs
+		* to create the device and swap chain in DX10 and DX11. If an error occurs both indices will be set to -1.
+		*/
+		virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex, int32_t *pnAdapterOutputIndex ) = 0;
+
+	};
+
+	static const char * const IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
+
+}
+
+
+// ivrtrackedcamera.h
+namespace vr
+{
+
+class IVRTrackedCamera
+{
+public:
+	/** Returns a string for an error */
+	virtual const char *GetCameraErrorNameFromEnum( vr::EVRTrackedCameraError eCameraError ) = 0;
+
+	/** For convenience, same as tracked property request Prop_HasCamera_Bool */
+	virtual vr::EVRTrackedCameraError HasCamera( vr::TrackedDeviceIndex_t nDeviceIndex, bool *pHasCamera ) = 0;
+
+	/** Gets size of the image frame. */
+	virtual vr::EVRTrackedCameraError GetCameraFrameSize( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, uint32_t *pnWidth, uint32_t *pnHeight, uint32_t *pnFrameBufferSize ) = 0;
+
+	virtual vr::EVRTrackedCameraError GetCameraIntrinsics( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, vr::HmdVector2_t *pFocalLength, vr::HmdVector2_t *pCenter ) = 0;
+
+	virtual vr::EVRTrackedCameraError GetCameraProjection( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, vr::HmdMatrix44_t *pProjection ) = 0;
+
+	/** Acquiring streaming service permits video streaming for the caller. Releasing hints the system that video services do not need to be maintained for this client.
+	* If the camera has not already been activated, a one time spin up may incur some auto exposure as well as initial streaming frame delays.
+	* The camera should be considered a global resource accessible for shared consumption but not exclusive to any caller.
+	* The camera may go inactive due to lack of active consumers or headset idleness. */
+	virtual vr::EVRTrackedCameraError AcquireVideoStreamingService( vr::TrackedDeviceIndex_t nDeviceIndex, vr::TrackedCameraHandle_t *pHandle ) = 0;
+	virtual vr::EVRTrackedCameraError ReleaseVideoStreamingService( vr::TrackedCameraHandle_t hTrackedCamera ) = 0;
+
+	/** Copies the image frame into a caller's provided buffer. The image data is currently provided as RGBA data, 4 bytes per pixel.
+	* A caller can provide null for the framebuffer or frameheader if not desired. Requesting the frame header first, followed by the frame buffer allows
+	* the caller to determine if the frame as advanced per the frame header sequence. 
+	* If there is no frame available yet, due to initial camera spinup or re-activation, the error will be VRTrackedCameraError_NoFrameAvailable.
+	* Ideally a caller should be polling at ~16ms intervals */
+	virtual vr::EVRTrackedCameraError GetVideoStreamFrameBuffer( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, void *pFrameBuffer, uint32_t nFrameBufferSize, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0;
+
+	/** Gets size of the image frame. */
+	virtual vr::EVRTrackedCameraError GetVideoStreamTextureSize( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, vr::VRTextureBounds_t *pTextureBounds, uint32_t *pnWidth, uint32_t *pnHeight ) = 0; 
+
+	/** Access a shared D3D11 texture for the specified tracked camera stream.
+	* The camera frame type VRTrackedCameraFrameType_Undistorted is not supported directly as a shared texture. It is an interior subregion of the shared texture VRTrackedCameraFrameType_MaximumUndistorted.
+	* Instead, use GetVideoStreamTextureSize() with VRTrackedCameraFrameType_Undistorted to determine the proper interior subregion bounds along with GetVideoStreamTextureD3D11() with
+	* VRTrackedCameraFrameType_MaximumUndistorted to provide the texture. The VRTrackedCameraFrameType_MaximumUndistorted will yield an image where the invalid regions are decoded
+	* by the alpha channel having a zero component. The valid regions all have a non-zero alpha component. The subregion as described by VRTrackedCameraFrameType_Undistorted 
+	* guarantees a rectangle where all pixels are valid. */
+	virtual vr::EVRTrackedCameraError GetVideoStreamTextureD3D11( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, void *pD3D11DeviceOrResource, void **ppD3D11ShaderResourceView, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0;
+
+	/** Access a shared GL texture for the specified tracked camera stream */
+	virtual vr::EVRTrackedCameraError GetVideoStreamTextureGL( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, vr::glUInt_t *pglTextureId, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0;
+	virtual vr::EVRTrackedCameraError ReleaseVideoStreamTextureGL( vr::TrackedCameraHandle_t hTrackedCamera, vr::glUInt_t glTextureId ) = 0;
+};
+
+static const char * const IVRTrackedCamera_Version = "IVRTrackedCamera_003";
+
+} // namespace vr
+
+
+// ivrscreenshots.h
+namespace vr
+{
+
+/** Errors that can occur with the VR compositor */
+enum EVRScreenshotError
+{
+	VRScreenshotError_None							= 0,
+	VRScreenshotError_RequestFailed					= 1,
+	VRScreenshotError_IncompatibleVersion			= 100,
+	VRScreenshotError_NotFound						= 101,
+	VRScreenshotError_BufferTooSmall				= 102,
+	VRScreenshotError_ScreenshotAlreadyInProgress	= 108,
+};
+
+/** Allows the application to generate screenshots */
+class IVRScreenshots
+{
+public:
+	/** Request a screenshot of the requested type.
+	 *  A request of the VRScreenshotType_Stereo type will always
+	 *  work. Other types will depend on the underlying application
+	 *  support.
+	 *  The first file name is for the preview image and should be a
+	 *  regular screenshot (ideally from the left eye). The second
+	 *  is the VR screenshot in the correct format. They should be
+	 *  in the same aspect ratio.  Formats per type:
+	 *  VRScreenshotType_Mono: the VR filename is ignored (can be
+	 *  nullptr), this is a normal flat single shot.
+	 *  VRScreenshotType_Stereo:  The VR image should be a
+	 *  side-by-side with the left eye image on the left.
+	 *  VRScreenshotType_Cubemap: The VR image should be six square
+	 *  images composited horizontally.
+	 *  VRScreenshotType_StereoPanorama: above/below with left eye
+	 *  panorama being the above image.  Image is typically square
+	 *  with the panorama being 2x horizontal.
+	 *  
+	 *  Note that the VR dashboard will call this function when
+	 *  the user presses the screenshot binding (currently System
+	 *  Button + Trigger).  If Steam is running, the destination
+	 *  file names will be in %TEMP% and will be copied into
+	 *  Steam's screenshot library for the running application
+	 *  once SubmitScreenshot() is called.
+	 *  If Steam is not running, the paths will be in the user's
+	 *  documents folder under Documents\SteamVR\Screenshots.
+	 *  Other VR applications can call this to initiate a
+	 *  screenshot outside of user control.
+	 *  The destination file names do not need an extension,
+	 *  will be replaced with the correct one for the format
+	 *  which is currently .png. */
+	virtual vr::EVRScreenshotError RequestScreenshot( vr::ScreenshotHandle_t *pOutScreenshotHandle, vr::EVRScreenshotType type, const char *pchPreviewFilename, const char *pchVRFilename ) = 0;
+
+	/** Called by the running VR application to indicate that it
+	 *  wishes to be in charge of screenshots.  If the
+	 *  application does not call this, the Compositor will only
+	 *  support VRScreenshotType_Stereo screenshots that will be
+	 *  captured without notification to the running app.
+	 *  Once hooked your application will receive a
+	 *  VREvent_RequestScreenshot event when the user presses the
+	 *  buttons to take a screenshot. */
+	virtual vr::EVRScreenshotError HookScreenshot( VR_ARRAY_COUNT( numTypes ) const vr::EVRScreenshotType *pSupportedTypes, int numTypes ) = 0;
+
+	/** When your application receives a
+	 *  VREvent_RequestScreenshot event, call these functions to get
+	 *  the details of the screenshot request. */
+	virtual vr::EVRScreenshotType GetScreenshotPropertyType( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotError *pError ) = 0;
+
+	/** Get the filename for the preview or vr image (see
+	 *  vr::EScreenshotPropertyFilenames).  The return value is
+	 *  the size of the string.   */
+ 	virtual uint32_t GetScreenshotPropertyFilename( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotPropertyFilenames filenameType, VR_OUT_STRING() char *pchFilename, uint32_t cchFilename, vr::EVRScreenshotError *pError ) = 0;
+
+	/** Call this if the application is taking the screen shot
+	 *  will take more than a few ms processing. This will result
+	 *  in an overlay being presented that shows a completion
+	 *  bar. */
+	virtual vr::EVRScreenshotError UpdateScreenshotProgress( vr::ScreenshotHandle_t screenshotHandle, float flProgress ) = 0;
+
+	/** Tells the compositor to take an internal screenshot of
+	 *  type VRScreenshotType_Stereo. It will take the current
+	 *  submitted scene textures of the running application and
+	 *  write them into the preview image and a side-by-side file
+	 *  for the VR image.
+	 *  This is similar to request screenshot, but doesn't ever
+	 *  talk to the application, just takes the shot and submits. */
+	virtual vr::EVRScreenshotError TakeStereoScreenshot( vr::ScreenshotHandle_t *pOutScreenshotHandle, const char *pchPreviewFilename, const char *pchVRFilename ) = 0;
+
+	/** Submit the completed screenshot.  If Steam is running
+	 *  this will call into the Steam client and upload the
+	 *  screenshot to the screenshots section of the library for
+	 *  the running application.  If Steam is not running, this
+	 *  function will display a notification to the user that the
+	 *  screenshot was taken. The paths should be full paths with
+	 *  extensions.
+	 *  File paths should be absolute including extensions.
+	 *  screenshotHandle can be k_unScreenshotHandleInvalid if this
+	 *  was a new shot taking by the app to be saved and not
+	 *  initiated by a user (achievement earned or something) */
+	virtual vr::EVRScreenshotError SubmitScreenshot( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotType type, const char *pchSourcePreviewFilename, const char *pchSourceVRFilename ) = 0;
+};
+
+static const char * const IVRScreenshots_Version = "IVRScreenshots_001";
+
+} // namespace vr
+
+
+
+// ivrresources.h
+namespace vr
+{
+
+class IVRResources
+{
+public:
+
+	// ------------------------------------
+	// Shared Resource Methods
+	// ------------------------------------
+
+	/** Loads the specified resource into the provided buffer if large enough.
+	* Returns the size in bytes of the buffer required to hold the specified resource. */
+	virtual uint32_t LoadSharedResource( const char *pchResourceName, char *pchBuffer, uint32_t unBufferLen ) = 0;
+
+	/** Provides the full path to the specified resource. Resource names can include named directories for
+	* drivers and other things, and this resolves all of those and returns the actual physical path. 
+	* pchResourceTypeDirectory is the subdirectory of resources to look in. */
+	virtual uint32_t GetResourceFullPath( const char *pchResourceName, const char *pchResourceTypeDirectory, char *pchPathBuffer, uint32_t unBufferLen ) = 0;
+};
+
+static const char * const IVRResources_Version = "IVRResources_001";
+
+
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
+
+// End
+
+#endif // _OPENVR_API
+
+
+namespace vr
+{
+	/** Finds the active installation of the VR API and initializes it. The provided path must be absolute
+	* or relative to the current working directory. These are the local install versions of the equivalent
+	* functions in steamvr.h and will work without a local Steam install.
+	*
+	* This path is to the "root" of the VR API install. That's the directory with
+	* the "drivers" directory and a platform (i.e. "win32") directory in it, not the directory with the DLL itself.
+	*/
+	inline IVRSystem *VR_Init( EVRInitError *peError, EVRApplicationType eApplicationType );
+
+	/** unloads vrclient.dll. Any interface pointers from the interface are
+	* invalid after this point */
+	inline void VR_Shutdown();
+
+	/** Returns true if there is an HMD attached. This check is as lightweight as possible and
+	* can be called outside of VR_Init/VR_Shutdown. It should be used when an application wants
+	* to know if initializing VR is a possibility but isn't ready to take that step yet.
+	*/
+	VR_INTERFACE bool VR_CALLTYPE VR_IsHmdPresent();
+
+	/** Returns true if the OpenVR runtime is installed. */
+	VR_INTERFACE bool VR_CALLTYPE VR_IsRuntimeInstalled();
+
+	/** Returns where the OpenVR runtime is installed. */
+	VR_INTERFACE const char *VR_CALLTYPE VR_RuntimePath();
+
+	/** Returns the name of the enum value for an EVRInitError. This function may be called outside of VR_Init()/VR_Shutdown(). */
+	VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsSymbol( EVRInitError error );
+
+	/** Returns an English string for an EVRInitError. Applications should call VR_GetVRInitErrorAsSymbol instead and
+	* use that as a key to look up their own localized error message. This function may be called outside of VR_Init()/VR_Shutdown(). */
+	VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsEnglishDescription( EVRInitError error );
+
+	/** Returns the interface of the specified version. This method must be called after VR_Init. The
+	* pointer returned is valid until VR_Shutdown is called.
+	*/
+	VR_INTERFACE void *VR_CALLTYPE VR_GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError );
+
+	/** Returns whether the interface of the specified version exists.
+	*/
+	VR_INTERFACE bool VR_CALLTYPE VR_IsInterfaceVersionValid( const char *pchInterfaceVersion );
+
+	/** Returns a token that represents whether the VR interface handles need to be reloaded */
+	VR_INTERFACE uint32_t VR_CALLTYPE VR_GetInitToken();
+
+	// These typedefs allow old enum names from SDK 0.9.11 to be used in applications.
+	// They will go away in the future.
+	typedef EVRInitError HmdError;
+	typedef EVREye Hmd_Eye;
+	typedef EColorSpace ColorSpace;
+	typedef ETrackingResult HmdTrackingResult;
+	typedef ETrackedDeviceClass TrackedDeviceClass;
+	typedef ETrackingUniverseOrigin TrackingUniverseOrigin;
+	typedef ETrackedDeviceProperty TrackedDeviceProperty;
+	typedef ETrackedPropertyError TrackedPropertyError;
+	typedef EVRSubmitFlags VRSubmitFlags_t;
+	typedef EVRState VRState_t;
+	typedef ECollisionBoundsStyle CollisionBoundsStyle_t;
+	typedef EVROverlayError VROverlayError;
+	typedef EVRFirmwareError VRFirmwareError;
+	typedef EVRCompositorError VRCompositorError;
+	typedef EVRScreenshotError VRScreenshotsError;
+
+	inline uint32_t &VRToken()
+	{
+		static uint32_t token;
+		return token;
+	}
+
+	class COpenVRContext
+	{
+	public:
+		COpenVRContext() { Clear(); }
+		void Clear();
+
+		inline void CheckClear()
+		{
+			if ( VRToken() != VR_GetInitToken() )
+			{
+				Clear();
+				VRToken() = VR_GetInitToken();
+			}
+		}
+
+		IVRSystem *VRSystem()
+		{
+			CheckClear();
+			if ( m_pVRSystem == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSystem = ( IVRSystem * )VR_GetGenericInterface( IVRSystem_Version, &eError );
+			}
+			return m_pVRSystem;
+		}
+		IVRChaperone *VRChaperone()
+		{
+			CheckClear();
+			if ( m_pVRChaperone == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRChaperone = ( IVRChaperone * )VR_GetGenericInterface( IVRChaperone_Version, &eError );
+			}
+			return m_pVRChaperone;
+		}
+
+		IVRChaperoneSetup *VRChaperoneSetup()
+		{
+			CheckClear();
+			if ( m_pVRChaperoneSetup == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRChaperoneSetup = ( IVRChaperoneSetup * )VR_GetGenericInterface( IVRChaperoneSetup_Version, &eError );
+			}
+			return m_pVRChaperoneSetup;
+		}
+
+		IVRCompositor *VRCompositor()
+		{
+			CheckClear();
+			if ( m_pVRCompositor == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRCompositor = ( IVRCompositor * )VR_GetGenericInterface( IVRCompositor_Version, &eError );
+			}
+			return m_pVRCompositor;
+		}
+
+		IVROverlay *VROverlay()
+		{
+			CheckClear();
+			if ( m_pVROverlay == nullptr )
+			{
+				EVRInitError eError;
+				m_pVROverlay = ( IVROverlay * )VR_GetGenericInterface( IVROverlay_Version, &eError );
+			}
+			return m_pVROverlay;
+		}
+
+		IVRResources *VRResources()
+		{
+			CheckClear();
+			if ( m_pVRResources == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRResources = (IVRResources *)VR_GetGenericInterface( IVRResources_Version, &eError );
+			}
+			return m_pVRResources;
+		}
+
+		IVRScreenshots *VRScreenshots()
+		{
+			CheckClear();
+			if ( m_pVRScreenshots == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRScreenshots = ( IVRScreenshots * )VR_GetGenericInterface( IVRScreenshots_Version, &eError );
+			}
+			return m_pVRScreenshots;
+		}
+
+		IVRRenderModels *VRRenderModels()
+		{
+			CheckClear();
+			if ( m_pVRRenderModels == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRRenderModels = ( IVRRenderModels * )VR_GetGenericInterface( IVRRenderModels_Version, &eError );
+			}
+			return m_pVRRenderModels;
+		}
+
+		IVRExtendedDisplay *VRExtendedDisplay()
+		{
+			CheckClear();
+			if ( m_pVRExtendedDisplay == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRExtendedDisplay = ( IVRExtendedDisplay * )VR_GetGenericInterface( IVRExtendedDisplay_Version, &eError );
+			}
+			return m_pVRExtendedDisplay;
+		}
+
+		IVRSettings *VRSettings()
+		{
+			CheckClear();
+			if ( m_pVRSettings == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSettings = ( IVRSettings * )VR_GetGenericInterface( IVRSettings_Version, &eError );
+			}
+			return m_pVRSettings;
+		}
+
+		IVRApplications *VRApplications()
+		{
+			CheckClear();
+			if ( m_pVRApplications == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRApplications = ( IVRApplications * )VR_GetGenericInterface( IVRApplications_Version, &eError );
+			}
+			return m_pVRApplications;
+		}
+
+		IVRTrackedCamera *VRTrackedCamera()
+		{
+			CheckClear();
+			if ( m_pVRTrackedCamera == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRTrackedCamera = ( IVRTrackedCamera * )VR_GetGenericInterface( IVRTrackedCamera_Version, &eError );
+			}
+			return m_pVRTrackedCamera;
+		}
+
+		IVRDriverManager *VRDriverManager()
+		{
+			CheckClear();
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = ( IVRDriverManager * )VR_GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
+	private:
+		IVRSystem			*m_pVRSystem;
+		IVRChaperone		*m_pVRChaperone;
+		IVRChaperoneSetup	*m_pVRChaperoneSetup;
+		IVRCompositor		*m_pVRCompositor;
+		IVROverlay			*m_pVROverlay;
+		IVRResources		*m_pVRResources;
+		IVRRenderModels		*m_pVRRenderModels;
+		IVRExtendedDisplay	*m_pVRExtendedDisplay;
+		IVRSettings			*m_pVRSettings;
+		IVRApplications		*m_pVRApplications;
+		IVRTrackedCamera	*m_pVRTrackedCamera;
+		IVRScreenshots		*m_pVRScreenshots;
+		IVRDriverManager	*m_pVRDriverManager;
+	};
+
+	inline COpenVRContext &OpenVRInternal_ModuleContext()
+	{
+		static void *ctx[ sizeof( COpenVRContext ) / sizeof( void * ) ];
+		return *( COpenVRContext * )ctx; // bypass zero-init constructor
+	}
+
+	inline IVRSystem *VR_CALLTYPE VRSystem() { return OpenVRInternal_ModuleContext().VRSystem(); }
+	inline IVRChaperone *VR_CALLTYPE VRChaperone() { return OpenVRInternal_ModuleContext().VRChaperone(); }
+	inline IVRChaperoneSetup *VR_CALLTYPE VRChaperoneSetup() { return OpenVRInternal_ModuleContext().VRChaperoneSetup(); }
+	inline IVRCompositor *VR_CALLTYPE VRCompositor() { return OpenVRInternal_ModuleContext().VRCompositor(); }
+	inline IVROverlay *VR_CALLTYPE VROverlay() { return OpenVRInternal_ModuleContext().VROverlay(); }
+	inline IVRScreenshots *VR_CALLTYPE VRScreenshots() { return OpenVRInternal_ModuleContext().VRScreenshots(); }
+	inline IVRRenderModels *VR_CALLTYPE VRRenderModels() { return OpenVRInternal_ModuleContext().VRRenderModels(); }
+	inline IVRApplications *VR_CALLTYPE VRApplications() { return OpenVRInternal_ModuleContext().VRApplications(); }
+	inline IVRSettings *VR_CALLTYPE VRSettings() { return OpenVRInternal_ModuleContext().VRSettings(); }
+	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleContext().VRResources(); }
+	inline IVRExtendedDisplay *VR_CALLTYPE VRExtendedDisplay() { return OpenVRInternal_ModuleContext().VRExtendedDisplay(); }
+	inline IVRTrackedCamera *VR_CALLTYPE VRTrackedCamera() { return OpenVRInternal_ModuleContext().VRTrackedCamera(); }
+	inline IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleContext().VRDriverManager(); }
+
+	inline void COpenVRContext::Clear()
+	{
+		m_pVRSystem = nullptr;
+		m_pVRChaperone = nullptr;
+		m_pVRChaperoneSetup = nullptr;
+		m_pVRCompositor = nullptr;
+		m_pVROverlay = nullptr;
+		m_pVRRenderModels = nullptr;
+		m_pVRExtendedDisplay = nullptr;
+		m_pVRSettings = nullptr;
+		m_pVRApplications = nullptr;
+		m_pVRTrackedCamera = nullptr;
+		m_pVRResources = nullptr;
+		m_pVRScreenshots = nullptr;
+		m_pVRDriverManager = nullptr;
+	}
+
+	VR_INTERFACE uint32_t VR_CALLTYPE VR_InitInternal( EVRInitError *peError, EVRApplicationType eApplicationType );
+	VR_INTERFACE void VR_CALLTYPE VR_ShutdownInternal();
+
+	/** Finds the active installation of vrclient.dll and initializes it */
+	inline IVRSystem *VR_Init( EVRInitError *peError, EVRApplicationType eApplicationType )
+	{
+		IVRSystem *pVRSystem = nullptr;
+
+		EVRInitError eError;
+		VRToken() = VR_InitInternal( &eError, eApplicationType );
+		COpenVRContext &ctx = OpenVRInternal_ModuleContext();
+		ctx.Clear();
+
+		if ( eError == VRInitError_None )
+		{
+			if ( VR_IsInterfaceVersionValid( IVRSystem_Version ) )
+			{
+				pVRSystem = VRSystem();
+			}
+			else
+			{
+				VR_ShutdownInternal();
+				eError = VRInitError_Init_InterfaceNotFound;
+			}
+		}
+
+		if ( peError )
+			*peError = eError;
+		return pVRSystem;
+	}
+
+	/** unloads vrclient.dll. Any interface pointers from the interface are
+	* invalid after this point */
+	inline void VR_Shutdown()
+	{
+		VR_ShutdownInternal();
+	}
+}
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_api.cs b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_api.cs
new file mode 100644
index 000000000..2596b3783
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_api.cs
@@ -0,0 +1,4997 @@
+//======= Copyright (c) Valve Corporation, All rights reserved. ===============
+//
+// Purpose: This file contains C#/managed code bindings for the OpenVR interfaces
+// This file is auto-generated, do not edit it.
+//
+//=============================================================================
+
+using System;
+using System.Runtime.InteropServices;
+using Valve.VR;
+
+namespace Valve.VR
+{
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRSystem
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetRecommendedRenderTargetSize(ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRecommendedRenderTargetSize GetRecommendedRenderTargetSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix44_t _GetProjectionMatrix(EVREye eEye, float fNearZ, float fFarZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetProjectionMatrix GetProjectionMatrix;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetProjectionRaw(EVREye eEye, ref float pfLeft, ref float pfRight, ref float pfTop, ref float pfBottom);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetProjectionRaw GetProjectionRaw;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ComputeDistortion(EVREye eEye, float fU, float fV, ref DistortionCoordinates_t pDistortionCoordinates);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ComputeDistortion ComputeDistortion;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetEyeToHeadTransform(EVREye eEye);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetEyeToHeadTransform GetEyeToHeadTransform;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetTimeSinceLastVsync(ref float pfSecondsSinceLastVsync, ref ulong pulFrameCounter);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTimeSinceLastVsync GetTimeSinceLastVsync;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate int _GetD3D9AdapterIndex();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetD3D9AdapterIndex GetD3D9AdapterIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetDXGIOutputInfo(ref int pnAdapterIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDXGIOutputInfo GetDXGIOutputInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetOutputDevice(ref ulong pnDevice, ETextureType textureType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOutputDevice GetOutputDevice;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsDisplayOnDesktop();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsDisplayOnDesktop IsDisplayOnDesktop;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _SetDisplayVisibility(bool bIsVisibleOnDesktop);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetDisplayVisibility SetDisplayVisibility;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, [In, Out] TrackedDevicePose_t[] pTrackedDevicePoseArray, uint unTrackedDevicePoseArrayCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDeviceToAbsoluteTrackingPose GetDeviceToAbsoluteTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ResetSeatedZeroPose();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ResetSeatedZeroPose ResetSeatedZeroPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetSeatedZeroPoseToStandingAbsoluteTrackingPose();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetSeatedZeroPoseToStandingAbsoluteTrackingPose GetSeatedZeroPoseToStandingAbsoluteTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetRawZeroPoseToStandingAbsoluteTrackingPose();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRawZeroPoseToStandingAbsoluteTrackingPose GetRawZeroPoseToStandingAbsoluteTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetSortedTrackedDeviceIndicesOfClass(ETrackedDeviceClass eTrackedDeviceClass, [In, Out] uint[] punTrackedDeviceIndexArray, uint unTrackedDeviceIndexArrayCount, uint unRelativeToTrackedDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetSortedTrackedDeviceIndicesOfClass GetSortedTrackedDeviceIndicesOfClass;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EDeviceActivityLevel _GetTrackedDeviceActivityLevel(uint unDeviceId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackedDeviceActivityLevel GetTrackedDeviceActivityLevel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ApplyTransform(ref TrackedDevicePose_t pOutputPose, ref TrackedDevicePose_t pTrackedDevicePose, ref HmdMatrix34_t pTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ApplyTransform ApplyTransform;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole unDeviceType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackedDeviceIndexForControllerRole GetTrackedDeviceIndexForControllerRole;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ETrackedControllerRole _GetControllerRoleForTrackedDeviceIndex(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerRoleForTrackedDeviceIndex GetControllerRoleForTrackedDeviceIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ETrackedDeviceClass _GetTrackedDeviceClass(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackedDeviceClass GetTrackedDeviceClass;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsTrackedDeviceConnected(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsTrackedDeviceConnected IsTrackedDeviceConnected;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetBoolTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetBoolTrackedDeviceProperty GetBoolTrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetFloatTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFloatTrackedDeviceProperty GetFloatTrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate int _GetInt32TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetInt32TrackedDeviceProperty GetInt32TrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetUint64TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetUint64TrackedDeviceProperty GetUint64TrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetMatrix34TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetMatrix34TrackedDeviceProperty GetMatrix34TrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetStringTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, System.Text.StringBuilder pchValue, uint unBufferSize, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetStringTrackedDeviceProperty GetStringTrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetPropErrorNameFromEnum(ETrackedPropertyError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPropErrorNameFromEnum GetPropErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEvent(ref VREvent_t pEvent, uint uncbVREvent);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PollNextEvent PollNextEvent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEventWithPose(ETrackingUniverseOrigin eOrigin, ref VREvent_t pEvent, uint uncbVREvent, ref TrackedDevicePose_t pTrackedDevicePose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PollNextEventWithPose PollNextEventWithPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetEventTypeNameFromEnum(EVREventType eType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetEventTypeNameFromEnum GetEventTypeNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HiddenAreaMesh_t _GetHiddenAreaMesh(EVREye eEye, EHiddenAreaMeshType type);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetHiddenAreaMesh GetHiddenAreaMesh;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerState(uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, uint unControllerStateSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerState GetControllerState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin, uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, uint unControllerStateSize, ref TrackedDevicePose_t pTrackedDevicePose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerStateWithPose GetControllerStateWithPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _TriggerHapticPulse(uint unControllerDeviceIndex, uint unAxisId, char usDurationMicroSec);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _TriggerHapticPulse TriggerHapticPulse;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetButtonIdNameFromEnum(EVRButtonId eButtonId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetButtonIdNameFromEnum GetButtonIdNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetControllerAxisTypeNameFromEnum(EVRControllerAxisType eAxisType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerAxisTypeNameFromEnum GetControllerAxisTypeNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CaptureInputFocus();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CaptureInputFocus CaptureInputFocus;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReleaseInputFocus();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseInputFocus ReleaseInputFocus;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsInputFocusCapturedByAnotherProcess();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsInputFocusCapturedByAnotherProcess IsInputFocusCapturedByAnotherProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _DriverDebugRequest(uint unDeviceIndex, string pchRequest, string pchResponseBuffer, uint unResponseBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _DriverDebugRequest DriverDebugRequest;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRFirmwareError _PerformFirmwareUpdate(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PerformFirmwareUpdate PerformFirmwareUpdate;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _AcknowledgeQuit_Exiting();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AcknowledgeQuit_Exiting AcknowledgeQuit_Exiting;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _AcknowledgeQuit_UserPrompt();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AcknowledgeQuit_UserPrompt AcknowledgeQuit_UserPrompt;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRExtendedDisplay
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetWindowBounds(ref int pnX, ref int pnY, ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWindowBounds GetWindowBounds;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetEyeOutputViewport(EVREye eEye, ref uint pnX, ref uint pnY, ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetEyeOutputViewport GetEyeOutputViewport;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetDXGIOutputInfo(ref int pnAdapterIndex, ref int pnAdapterOutputIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDXGIOutputInfo GetDXGIOutputInfo;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRTrackedCamera
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetCameraErrorNameFromEnum(EVRTrackedCameraError eCameraError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraErrorNameFromEnum GetCameraErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _HasCamera(uint nDeviceIndex, ref bool pHasCamera);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HasCamera HasCamera;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetCameraFrameSize(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref uint pnWidth, ref uint pnHeight, ref uint pnFrameBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraFrameSize GetCameraFrameSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetCameraIntrinsics(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref HmdVector2_t pFocalLength, ref HmdVector2_t pCenter);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraIntrinsics GetCameraIntrinsics;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetCameraProjection(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, ref HmdMatrix44_t pProjection);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraProjection GetCameraProjection;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _AcquireVideoStreamingService(uint nDeviceIndex, ref ulong pHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AcquireVideoStreamingService AcquireVideoStreamingService;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _ReleaseVideoStreamingService(ulong hTrackedCamera);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseVideoStreamingService ReleaseVideoStreamingService;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamFrameBuffer(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, IntPtr pFrameBuffer, uint nFrameBufferSize, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamFrameBuffer GetVideoStreamFrameBuffer;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamTextureSize(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref VRTextureBounds_t pTextureBounds, ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamTextureSize GetVideoStreamTextureSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamTextureD3D11(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, IntPtr pD3D11DeviceOrResource, ref IntPtr ppD3D11ShaderResourceView, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamTextureD3D11 GetVideoStreamTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamTextureGL(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, ref uint pglTextureId, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamTextureGL GetVideoStreamTextureGL;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _ReleaseVideoStreamTextureGL(ulong hTrackedCamera, uint glTextureId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseVideoStreamTextureGL ReleaseVideoStreamTextureGL;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRApplications
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _AddApplicationManifest(string pchApplicationManifestFullPath, bool bTemporary);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AddApplicationManifest AddApplicationManifest;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _RemoveApplicationManifest(string pchApplicationManifestFullPath);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveApplicationManifest RemoveApplicationManifest;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsApplicationInstalled(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsApplicationInstalled IsApplicationInstalled;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationCount GetApplicationCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _GetApplicationKeyByIndex(uint unApplicationIndex, System.Text.StringBuilder pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationKeyByIndex GetApplicationKeyByIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _GetApplicationKeyByProcessId(uint unProcessId, string pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationKeyByProcessId GetApplicationKeyByProcessId;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchApplication(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchApplication LaunchApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchTemplateApplication(string pchTemplateAppKey, string pchNewAppKey, [In, Out] AppOverrideKeys_t[] pKeys, uint unKeys);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchTemplateApplication LaunchTemplateApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchApplicationFromMimeType(string pchMimeType, string pchArgs);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchApplicationFromMimeType LaunchApplicationFromMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchDashboardOverlay(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchDashboardOverlay LaunchDashboardOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CancelApplicationLaunch(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CancelApplicationLaunch CancelApplicationLaunch;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _IdentifyApplication(uint unProcessId, string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IdentifyApplication IdentifyApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationProcessId(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationProcessId GetApplicationProcessId;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetApplicationsErrorNameFromEnum(EVRApplicationError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationsErrorNameFromEnum GetApplicationsErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationPropertyString(string pchAppKey, EVRApplicationProperty eProperty, System.Text.StringBuilder pchPropertyValueBuffer, uint unPropertyValueBufferLen, ref EVRApplicationError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationPropertyString GetApplicationPropertyString;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetApplicationPropertyBool(string pchAppKey, EVRApplicationProperty eProperty, ref EVRApplicationError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationPropertyBool GetApplicationPropertyBool;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetApplicationPropertyUint64(string pchAppKey, EVRApplicationProperty eProperty, ref EVRApplicationError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationPropertyUint64 GetApplicationPropertyUint64;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _SetApplicationAutoLaunch(string pchAppKey, bool bAutoLaunch);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetApplicationAutoLaunch SetApplicationAutoLaunch;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetApplicationAutoLaunch(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationAutoLaunch GetApplicationAutoLaunch;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _SetDefaultApplicationForMimeType(string pchAppKey, string pchMimeType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetDefaultApplicationForMimeType SetDefaultApplicationForMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetDefaultApplicationForMimeType(string pchMimeType, string pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDefaultApplicationForMimeType GetDefaultApplicationForMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetApplicationSupportedMimeTypes(string pchAppKey, string pchMimeTypesBuffer, uint unMimeTypesBuffer);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationSupportedMimeTypes GetApplicationSupportedMimeTypes;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationsThatSupportMimeType(string pchMimeType, string pchAppKeysThatSupportBuffer, uint unAppKeysThatSupportBuffer);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationsThatSupportMimeType GetApplicationsThatSupportMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationLaunchArguments(uint unHandle, string pchArgs, uint unArgs);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationLaunchArguments GetApplicationLaunchArguments;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _GetStartingApplication(string pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetStartingApplication GetStartingApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationTransitionState _GetTransitionState();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTransitionState GetTransitionState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _PerformApplicationPrelaunchCheck(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PerformApplicationPrelaunchCheck PerformApplicationPrelaunchCheck;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetApplicationsTransitionStateNameFromEnum(EVRApplicationTransitionState state);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationsTransitionStateNameFromEnum GetApplicationsTransitionStateNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsQuitUserPromptRequested();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsQuitUserPromptRequested IsQuitUserPromptRequested;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchInternalProcess(string pchBinaryPath, string pchArguments, string pchWorkingDirectory);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchInternalProcess LaunchInternalProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetCurrentSceneProcessId();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentSceneProcessId GetCurrentSceneProcessId;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRChaperone
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ChaperoneCalibrationState _GetCalibrationState();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCalibrationState GetCalibrationState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetPlayAreaSize(ref float pSizeX, ref float pSizeZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPlayAreaSize GetPlayAreaSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetPlayAreaRect(ref HmdQuad_t rect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPlayAreaRect GetPlayAreaRect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReloadInfo();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReloadInfo ReloadInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetSceneColor(HmdColor_t color);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetSceneColor SetSceneColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetBoundsColor(ref HmdColor_t pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, ref HmdColor_t pOutputCameraColor);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetBoundsColor GetBoundsColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _AreBoundsVisible();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AreBoundsVisible AreBoundsVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ForceBoundsVisible(bool bForce);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ForceBoundsVisible ForceBoundsVisible;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRChaperoneSetup
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CommitWorkingCopy(EChaperoneConfigFile configFile);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CommitWorkingCopy CommitWorkingCopy;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _RevertWorkingCopy();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RevertWorkingCopy RevertWorkingCopy;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingPlayAreaSize(ref float pSizeX, ref float pSizeZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingPlayAreaSize GetWorkingPlayAreaSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingPlayAreaRect(ref HmdQuad_t rect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingPlayAreaRect GetWorkingPlayAreaRect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingCollisionBoundsInfo GetWorkingCollisionBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLiveCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLiveCollisionBoundsInfo GetLiveCollisionBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingSeatedZeroPoseToRawTrackingPose GetWorkingSeatedZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingStandingZeroPoseToRawTrackingPose GetWorkingStandingZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingPlayAreaSize(float sizeX, float sizeZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingPlayAreaSize SetWorkingPlayAreaSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, uint unQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingCollisionBoundsInfo SetWorkingCollisionBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatSeatedZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingSeatedZeroPoseToRawTrackingPose SetWorkingSeatedZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingStandingZeroPoseToRawTrackingPose SetWorkingStandingZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReloadFromDisk(EChaperoneConfigFile configFile);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReloadFromDisk ReloadFromDisk;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLiveSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLiveSeatedZeroPoseToRawTrackingPose GetLiveSeatedZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingCollisionBoundsTagsInfo([In, Out] byte[] pTagsBuffer, uint unTagCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingCollisionBoundsTagsInfo SetWorkingCollisionBoundsTagsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLiveCollisionBoundsTagsInfo([In, Out] byte[] pTagsBuffer, ref uint punTagCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLiveCollisionBoundsTagsInfo GetLiveCollisionBoundsTagsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _SetWorkingPhysicalBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, uint unQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingPhysicalBoundsInfo SetWorkingPhysicalBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLivePhysicalBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLivePhysicalBoundsInfo GetLivePhysicalBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ExportLiveToBuffer(System.Text.StringBuilder pBuffer, ref uint pnBufferLength);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ExportLiveToBuffer ExportLiveToBuffer;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ImportFromBufferToWorking(string pBuffer, uint nImportFlags);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ImportFromBufferToWorking ImportFromBufferToWorking;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRCompositor
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetTrackingSpace(ETrackingUniverseOrigin eOrigin);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetTrackingSpace SetTrackingSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ETrackingUniverseOrigin _GetTrackingSpace();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackingSpace GetTrackingSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _WaitGetPoses([In, Out] TrackedDevicePose_t[] pRenderPoseArray, uint unRenderPoseArrayCount, [In, Out] TrackedDevicePose_t[] pGamePoseArray, uint unGamePoseArrayCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _WaitGetPoses WaitGetPoses;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetLastPoses([In, Out] TrackedDevicePose_t[] pRenderPoseArray, uint unRenderPoseArrayCount, [In, Out] TrackedDevicePose_t[] pGamePoseArray, uint unGamePoseArrayCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLastPoses GetLastPoses;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetLastPoseForTrackedDeviceIndex(uint unDeviceIndex, ref TrackedDevicePose_t pOutputPose, ref TrackedDevicePose_t pOutputGamePose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLastPoseForTrackedDeviceIndex GetLastPoseForTrackedDeviceIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _Submit(EVREye eEye, ref Texture_t pTexture, ref VRTextureBounds_t pBounds, EVRSubmitFlags nSubmitFlags);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _Submit Submit;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ClearLastSubmittedFrame();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ClearLastSubmittedFrame ClearLastSubmittedFrame;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _PostPresentHandoff();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PostPresentHandoff PostPresentHandoff;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetFrameTiming(ref Compositor_FrameTiming pTiming, uint unFramesAgo);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFrameTiming GetFrameTiming;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetFrameTimings(ref Compositor_FrameTiming pTiming, uint nFrames);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFrameTimings GetFrameTimings;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetFrameTimeRemaining();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFrameTimeRemaining GetFrameTimeRemaining;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetCumulativeStats(ref Compositor_CumulativeStats pStats, uint nStatsSizeInBytes);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCumulativeStats GetCumulativeStats;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FadeToColor(float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FadeToColor FadeToColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdColor_t _GetCurrentFadeColor(bool bBackground);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentFadeColor GetCurrentFadeColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FadeGrid(float fSeconds, bool bFadeIn);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FadeGrid FadeGrid;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetCurrentGridAlpha();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentGridAlpha GetCurrentGridAlpha;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _SetSkyboxOverride([In, Out] Texture_t[] pTextures, uint unTextureCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetSkyboxOverride SetSkyboxOverride;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ClearSkyboxOverride();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ClearSkyboxOverride ClearSkyboxOverride;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorBringToFront();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorBringToFront CompositorBringToFront;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorGoToBack();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorGoToBack CompositorGoToBack;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorQuit();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorQuit CompositorQuit;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsFullscreen();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsFullscreen IsFullscreen;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetCurrentSceneFocusProcess();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentSceneFocusProcess GetCurrentSceneFocusProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetLastFrameRenderer();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLastFrameRenderer GetLastFrameRenderer;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CanRenderScene();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CanRenderScene CanRenderScene;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ShowMirrorWindow();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowMirrorWindow ShowMirrorWindow;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _HideMirrorWindow();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HideMirrorWindow HideMirrorWindow;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsMirrorWindowVisible();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsMirrorWindowVisible IsMirrorWindowVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorDumpImages();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorDumpImages CompositorDumpImages;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ShouldAppRenderWithLowResources();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShouldAppRenderWithLowResources ShouldAppRenderWithLowResources;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ForceInterleavedReprojectionOn(bool bOverride);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ForceInterleavedReprojectionOn ForceInterleavedReprojectionOn;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ForceReconnectProcess();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ForceReconnectProcess ForceReconnectProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SuspendRendering(bool bSuspend);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SuspendRendering SuspendRendering;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetMirrorTextureD3D11(EVREye eEye, IntPtr pD3D11DeviceOrResource, ref IntPtr ppD3D11ShaderResourceView);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetMirrorTextureD3D11 GetMirrorTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReleaseMirrorTextureD3D11(IntPtr pD3D11ShaderResourceView);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseMirrorTextureD3D11 ReleaseMirrorTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetMirrorTextureGL(EVREye eEye, ref uint pglTextureId, IntPtr pglSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetMirrorTextureGL GetMirrorTextureGL;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ReleaseSharedGLTexture(uint glTextureId, IntPtr glSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseSharedGLTexture ReleaseSharedGLTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _LockGLSharedTextureForAccess(IntPtr glSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LockGLSharedTextureForAccess LockGLSharedTextureForAccess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _UnlockGLSharedTextureForAccess(IntPtr glSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _UnlockGLSharedTextureForAccess UnlockGLSharedTextureForAccess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetVulkanInstanceExtensionsRequired(System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVulkanInstanceExtensionsRequired GetVulkanInstanceExtensionsRequired;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetVulkanDeviceExtensionsRequired(IntPtr pPhysicalDevice, System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVulkanDeviceExtensionsRequired GetVulkanDeviceExtensionsRequired;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVROverlay
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _FindOverlay(string pchOverlayKey, ref ulong pOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FindOverlay FindOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _CreateOverlay(string pchOverlayKey, string pchOverlayName, ref ulong pOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CreateOverlay CreateOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _DestroyOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _DestroyOverlay DestroyOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetHighQualityOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetHighQualityOverlay SetHighQualityOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetHighQualityOverlay();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetHighQualityOverlay GetHighQualityOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayKey(ulong ulOverlayHandle, System.Text.StringBuilder pchValue, uint unBufferSize, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayKey GetOverlayKey;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayName(ulong ulOverlayHandle, System.Text.StringBuilder pchValue, uint unBufferSize, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayName GetOverlayName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayName(ulong ulOverlayHandle, string pchName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayName SetOverlayName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayImageData(ulong ulOverlayHandle, IntPtr pvBuffer, uint unBufferSize, ref uint punWidth, ref uint punHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayImageData GetOverlayImageData;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetOverlayErrorNameFromEnum(EVROverlayError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayErrorNameFromEnum GetOverlayErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRenderingPid(ulong ulOverlayHandle, uint unPID);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRenderingPid SetOverlayRenderingPid;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayRenderingPid(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayRenderingPid GetOverlayRenderingPid;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayFlag(ulong ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayFlag SetOverlayFlag;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayFlag(ulong ulOverlayHandle, VROverlayFlags eOverlayFlag, ref bool pbEnabled);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayFlag GetOverlayFlag;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayColor(ulong ulOverlayHandle, float fRed, float fGreen, float fBlue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayColor SetOverlayColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayColor(ulong ulOverlayHandle, ref float pfRed, ref float pfGreen, ref float pfBlue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayColor GetOverlayColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayAlpha(ulong ulOverlayHandle, float fAlpha);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayAlpha SetOverlayAlpha;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayAlpha(ulong ulOverlayHandle, ref float pfAlpha);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayAlpha GetOverlayAlpha;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTexelAspect(ulong ulOverlayHandle, float fTexelAspect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTexelAspect SetOverlayTexelAspect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTexelAspect(ulong ulOverlayHandle, ref float pfTexelAspect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTexelAspect GetOverlayTexelAspect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlaySortOrder(ulong ulOverlayHandle, uint unSortOrder);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlaySortOrder SetOverlaySortOrder;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlaySortOrder(ulong ulOverlayHandle, ref uint punSortOrder);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlaySortOrder GetOverlaySortOrder;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayWidthInMeters(ulong ulOverlayHandle, float fWidthInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayWidthInMeters SetOverlayWidthInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayWidthInMeters(ulong ulOverlayHandle, ref float pfWidthInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayWidthInMeters GetOverlayWidthInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayAutoCurveDistanceRangeInMeters SetOverlayAutoCurveDistanceRangeInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle, ref float pfMinDistanceInMeters, ref float pfMaxDistanceInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayAutoCurveDistanceRangeInMeters GetOverlayAutoCurveDistanceRangeInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTextureColorSpace(ulong ulOverlayHandle, EColorSpace eTextureColorSpace);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTextureColorSpace SetOverlayTextureColorSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTextureColorSpace(ulong ulOverlayHandle, ref EColorSpace peTextureColorSpace);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTextureColorSpace GetOverlayTextureColorSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTextureBounds(ulong ulOverlayHandle, ref VRTextureBounds_t pOverlayTextureBounds);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTextureBounds SetOverlayTextureBounds;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTextureBounds(ulong ulOverlayHandle, ref VRTextureBounds_t pOverlayTextureBounds);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTextureBounds GetOverlayTextureBounds;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayRenderModel(ulong ulOverlayHandle, string pchValue, uint unBufferSize, ref HmdColor_t pColor, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayRenderModel GetOverlayRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRenderModel(ulong ulOverlayHandle, string pchRenderModel, ref HmdColor_t pColor);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRenderModel SetOverlayRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformType(ulong ulOverlayHandle, ref VROverlayTransformType peTransformType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformType GetOverlayTransformType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformAbsolute(ulong ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformAbsolute SetOverlayTransformAbsolute;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformAbsolute(ulong ulOverlayHandle, ref ETrackingUniverseOrigin peTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformAbsolute GetOverlayTransformAbsolute;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle, uint unTrackedDevice, ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformTrackedDeviceRelative SetOverlayTransformTrackedDeviceRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle, ref uint punTrackedDevice, ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformTrackedDeviceRelative GetOverlayTransformTrackedDeviceRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle, uint unDeviceIndex, string pchComponentName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformTrackedDeviceComponent SetOverlayTransformTrackedDeviceComponent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle, ref uint punDeviceIndex, string pchComponentName, uint unComponentNameSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformTrackedDeviceComponent GetOverlayTransformTrackedDeviceComponent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformOverlayRelative(ulong ulOverlayHandle, ref ulong ulOverlayHandleParent, ref HmdMatrix34_t pmatParentOverlayToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformOverlayRelative GetOverlayTransformOverlayRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformOverlayRelative(ulong ulOverlayHandle, ulong ulOverlayHandleParent, ref HmdMatrix34_t pmatParentOverlayToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformOverlayRelative SetOverlayTransformOverlayRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ShowOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowOverlay ShowOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _HideOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HideOverlay HideOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsOverlayVisible(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsOverlayVisible IsOverlayVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetTransformForOverlayCoordinates(ulong ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, HmdVector2_t coordinatesInOverlay, ref HmdMatrix34_t pmatTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTransformForOverlayCoordinates GetTransformForOverlayCoordinates;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextOverlayEvent(ulong ulOverlayHandle, ref VREvent_t pEvent, uint uncbVREvent);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PollNextOverlayEvent PollNextOverlayEvent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayInputMethod(ulong ulOverlayHandle, ref VROverlayInputMethod peInputMethod);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayInputMethod GetOverlayInputMethod;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayInputMethod(ulong ulOverlayHandle, VROverlayInputMethod eInputMethod);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayInputMethod SetOverlayInputMethod;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayMouseScale(ulong ulOverlayHandle, ref HmdVector2_t pvecMouseScale);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayMouseScale GetOverlayMouseScale;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayMouseScale(ulong ulOverlayHandle, ref HmdVector2_t pvecMouseScale);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayMouseScale SetOverlayMouseScale;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ComputeOverlayIntersection(ulong ulOverlayHandle, ref VROverlayIntersectionParams_t pParams, ref VROverlayIntersectionResults_t pResults);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ComputeOverlayIntersection ComputeOverlayIntersection;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _HandleControllerOverlayInteractionAsMouse(ulong ulOverlayHandle, uint unControllerDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HandleControllerOverlayInteractionAsMouse HandleControllerOverlayInteractionAsMouse;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsHoverTargetOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsHoverTargetOverlay IsHoverTargetOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetGamepadFocusOverlay();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetGamepadFocusOverlay GetGamepadFocusOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetGamepadFocusOverlay(ulong ulNewFocusOverlay);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetGamepadFocusOverlay SetGamepadFocusOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayNeighbor(EOverlayDirection eDirection, ulong ulFrom, ulong ulTo);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayNeighbor SetOverlayNeighbor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _MoveGamepadFocusToNeighbor(EOverlayDirection eDirection, ulong ulFrom);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _MoveGamepadFocusToNeighbor MoveGamepadFocusToNeighbor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTexture(ulong ulOverlayHandle, ref Texture_t pTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTexture SetOverlayTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ClearOverlayTexture(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ClearOverlayTexture ClearOverlayTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRaw(ulong ulOverlayHandle, IntPtr pvBuffer, uint unWidth, uint unHeight, uint unDepth);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRaw SetOverlayRaw;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayFromFile(ulong ulOverlayHandle, string pchFilePath);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayFromFile SetOverlayFromFile;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTexture(ulong ulOverlayHandle, ref IntPtr pNativeTextureHandle, IntPtr pNativeTextureRef, ref uint pWidth, ref uint pHeight, ref uint pNativeFormat, ref ETextureType pAPIType, ref EColorSpace pColorSpace, ref VRTextureBounds_t pTextureBounds);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTexture GetOverlayTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ReleaseNativeOverlayHandle(ulong ulOverlayHandle, IntPtr pNativeTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseNativeOverlayHandle ReleaseNativeOverlayHandle;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTextureSize(ulong ulOverlayHandle, ref uint pWidth, ref uint pHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTextureSize GetOverlayTextureSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _CreateDashboardOverlay(string pchOverlayKey, string pchOverlayFriendlyName, ref ulong pMainHandle, ref ulong pThumbnailHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CreateDashboardOverlay CreateDashboardOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsDashboardVisible();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsDashboardVisible IsDashboardVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsActiveDashboardOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsActiveDashboardOverlay IsActiveDashboardOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetDashboardOverlaySceneProcess(ulong ulOverlayHandle, uint unProcessId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetDashboardOverlaySceneProcess SetDashboardOverlaySceneProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetDashboardOverlaySceneProcess(ulong ulOverlayHandle, ref uint punProcessId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDashboardOverlaySceneProcess GetDashboardOverlaySceneProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ShowDashboard(string pchOverlayToShow);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowDashboard ShowDashboard;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetPrimaryDashboardDevice();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPrimaryDashboardDevice GetPrimaryDashboardDevice;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ShowKeyboard(int eInputMode, int eLineInputMode, string pchDescription, uint unCharMax, string pchExistingText, bool bUseMinimalMode, ulong uUserValue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowKeyboard ShowKeyboard;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ShowKeyboardForOverlay(ulong ulOverlayHandle, int eInputMode, int eLineInputMode, string pchDescription, uint unCharMax, string pchExistingText, bool bUseMinimalMode, ulong uUserValue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowKeyboardForOverlay ShowKeyboardForOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetKeyboardText(System.Text.StringBuilder pchText, uint cchText);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetKeyboardText GetKeyboardText;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _HideKeyboard();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HideKeyboard HideKeyboard;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetKeyboardTransformAbsolute SetKeyboardTransformAbsolute;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetKeyboardPositionForOverlay(ulong ulOverlayHandle, HmdRect2_t avoidRect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetKeyboardPositionForOverlay SetKeyboardPositionForOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayIntersectionMask(ulong ulOverlayHandle, ref VROverlayIntersectionMaskPrimitive_t pMaskPrimitives, uint unNumMaskPrimitives, uint unPrimitiveSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayIntersectionMask SetOverlayIntersectionMask;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayFlags(ulong ulOverlayHandle, ref uint pFlags);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayFlags GetOverlayFlags;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate VRMessageOverlayResponse _ShowMessageOverlay(string pchText, string pchCaption, string pchButton0Text, string pchButton1Text, string pchButton2Text, string pchButton3Text);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowMessageOverlay ShowMessageOverlay;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRRenderModels
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadRenderModel_Async(string pchRenderModelName, ref IntPtr ppRenderModel);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadRenderModel_Async LoadRenderModel_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FreeRenderModel(IntPtr pRenderModel);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FreeRenderModel FreeRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadTexture_Async(int textureId, ref IntPtr ppTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadTexture_Async LoadTexture_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FreeTexture(IntPtr pTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FreeTexture FreeTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadTextureD3D11_Async(int textureId, IntPtr pD3D11Device, ref IntPtr ppD3D11Texture2D);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadTextureD3D11_Async LoadTextureD3D11_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadIntoTextureD3D11_Async(int textureId, IntPtr pDstTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadIntoTextureD3D11_Async LoadIntoTextureD3D11_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FreeTextureD3D11(IntPtr pD3D11Texture2D);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FreeTextureD3D11 FreeTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelName(uint unRenderModelIndex, System.Text.StringBuilder pchRenderModelName, uint unRenderModelNameLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelName GetRenderModelName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelCount GetRenderModelCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetComponentCount(string pchRenderModelName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentCount GetComponentCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetComponentName(string pchRenderModelName, uint unComponentIndex, System.Text.StringBuilder pchComponentName, uint unComponentNameLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentName GetComponentName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetComponentButtonMask(string pchRenderModelName, string pchComponentName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentButtonMask GetComponentButtonMask;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetComponentRenderModelName(string pchRenderModelName, string pchComponentName, System.Text.StringBuilder pchComponentRenderModelName, uint unComponentRenderModelNameLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentRenderModelName GetComponentRenderModelName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetComponentState(string pchRenderModelName, string pchComponentName, ref VRControllerState_t pControllerState, ref RenderModel_ControllerMode_State_t pState, ref RenderModel_ComponentState_t pComponentState);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentState GetComponentState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _RenderModelHasComponent(string pchRenderModelName, string pchComponentName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RenderModelHasComponent RenderModelHasComponent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelThumbnailURL(string pchRenderModelName, System.Text.StringBuilder pchThumbnailURL, uint unThumbnailURLLen, ref EVRRenderModelError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelThumbnailURL GetRenderModelThumbnailURL;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelOriginalPath(string pchRenderModelName, System.Text.StringBuilder pchOriginalPath, uint unOriginalPathLen, ref EVRRenderModelError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelOriginalPath GetRenderModelOriginalPath;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetRenderModelErrorNameFromEnum(EVRRenderModelError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelErrorNameFromEnum GetRenderModelErrorNameFromEnum;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRNotifications
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRNotificationError _CreateNotification(ulong ulOverlayHandle, ulong ulUserValue, EVRNotificationType type, string pchText, EVRNotificationStyle style, ref NotificationBitmap_t pImage, ref uint pNotificationId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CreateNotification CreateNotification;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRNotificationError _RemoveNotification(uint notificationId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveNotification RemoveNotification;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRSettings
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetSettingsErrorNameFromEnum(EVRSettingsError eError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetSettingsErrorNameFromEnum GetSettingsErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _Sync(bool bForce, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _Sync Sync;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetBool(string pchSection, string pchSettingsKey, bool bValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetBool SetBool;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetInt32(string pchSection, string pchSettingsKey, int nValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetInt32 SetInt32;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetFloat(string pchSection, string pchSettingsKey, float flValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetFloat SetFloat;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetString(string pchSection, string pchSettingsKey, string pchValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetString SetString;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetBool(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetBool GetBool;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate int _GetInt32(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetInt32 GetInt32;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetFloat(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFloat GetFloat;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetString(string pchSection, string pchSettingsKey, System.Text.StringBuilder pchValue, uint unValueLen, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetString GetString;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _RemoveSection(string pchSection, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveSection RemoveSection;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _RemoveKeyInSection(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveKeyInSection RemoveKeyInSection;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRScreenshots
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _RequestScreenshot(ref uint pOutScreenshotHandle, EVRScreenshotType type, string pchPreviewFilename, string pchVRFilename);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RequestScreenshot RequestScreenshot;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _HookScreenshot([In, Out] EVRScreenshotType[] pSupportedTypes, int numTypes);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HookScreenshot HookScreenshot;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotType _GetScreenshotPropertyType(uint screenshotHandle, ref EVRScreenshotError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetScreenshotPropertyType GetScreenshotPropertyType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetScreenshotPropertyFilename(uint screenshotHandle, EVRScreenshotPropertyFilenames filenameType, System.Text.StringBuilder pchFilename, uint cchFilename, ref EVRScreenshotError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetScreenshotPropertyFilename GetScreenshotPropertyFilename;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _UpdateScreenshotProgress(uint screenshotHandle, float flProgress);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _UpdateScreenshotProgress UpdateScreenshotProgress;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _TakeStereoScreenshot(ref uint pOutScreenshotHandle, string pchPreviewFilename, string pchVRFilename);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _TakeStereoScreenshot TakeStereoScreenshot;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _SubmitScreenshot(uint screenshotHandle, EVRScreenshotType type, string pchSourcePreviewFilename, string pchSourceVRFilename);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SubmitScreenshot SubmitScreenshot;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRResources
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _LoadSharedResource(string pchResourceName, string pchBuffer, uint unBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadSharedResource LoadSharedResource;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetResourceFullPath(string pchResourceName, string pchResourceTypeDirectory, string pchPathBuffer, uint unBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetResourceFullPath GetResourceFullPath;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRDriverManager
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverCount GetDriverCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverName(uint nDriver, System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverName GetDriverName;
+
+}
+
+
+public class CVRSystem
+{
+	IVRSystem FnTable;
+	internal CVRSystem(IntPtr pInterface)
+	{
+		FnTable = (IVRSystem)Marshal.PtrToStructure(pInterface, typeof(IVRSystem));
+	}
+	public void GetRecommendedRenderTargetSize(ref uint pnWidth,ref uint pnHeight)
+	{
+		pnWidth = 0;
+		pnHeight = 0;
+		FnTable.GetRecommendedRenderTargetSize(ref pnWidth,ref pnHeight);
+	}
+	public HmdMatrix44_t GetProjectionMatrix(EVREye eEye,float fNearZ,float fFarZ)
+	{
+		HmdMatrix44_t result = FnTable.GetProjectionMatrix(eEye,fNearZ,fFarZ);
+		return result;
+	}
+	public void GetProjectionRaw(EVREye eEye,ref float pfLeft,ref float pfRight,ref float pfTop,ref float pfBottom)
+	{
+		pfLeft = 0;
+		pfRight = 0;
+		pfTop = 0;
+		pfBottom = 0;
+		FnTable.GetProjectionRaw(eEye,ref pfLeft,ref pfRight,ref pfTop,ref pfBottom);
+	}
+	public bool ComputeDistortion(EVREye eEye,float fU,float fV,ref DistortionCoordinates_t pDistortionCoordinates)
+	{
+		bool result = FnTable.ComputeDistortion(eEye,fU,fV,ref pDistortionCoordinates);
+		return result;
+	}
+	public HmdMatrix34_t GetEyeToHeadTransform(EVREye eEye)
+	{
+		HmdMatrix34_t result = FnTable.GetEyeToHeadTransform(eEye);
+		return result;
+	}
+	public bool GetTimeSinceLastVsync(ref float pfSecondsSinceLastVsync,ref ulong pulFrameCounter)
+	{
+		pfSecondsSinceLastVsync = 0;
+		pulFrameCounter = 0;
+		bool result = FnTable.GetTimeSinceLastVsync(ref pfSecondsSinceLastVsync,ref pulFrameCounter);
+		return result;
+	}
+	public int GetD3D9AdapterIndex()
+	{
+		int result = FnTable.GetD3D9AdapterIndex();
+		return result;
+	}
+	public void GetDXGIOutputInfo(ref int pnAdapterIndex)
+	{
+		pnAdapterIndex = 0;
+		FnTable.GetDXGIOutputInfo(ref pnAdapterIndex);
+	}
+	public void GetOutputDevice(ref ulong pnDevice,ETextureType textureType)
+	{
+		pnDevice = 0;
+		FnTable.GetOutputDevice(ref pnDevice,textureType);
+	}
+	public bool IsDisplayOnDesktop()
+	{
+		bool result = FnTable.IsDisplayOnDesktop();
+		return result;
+	}
+	public bool SetDisplayVisibility(bool bIsVisibleOnDesktop)
+	{
+		bool result = FnTable.SetDisplayVisibility(bIsVisibleOnDesktop);
+		return result;
+	}
+	public void GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin eOrigin,float fPredictedSecondsToPhotonsFromNow,TrackedDevicePose_t [] pTrackedDevicePoseArray)
+	{
+		FnTable.GetDeviceToAbsoluteTrackingPose(eOrigin,fPredictedSecondsToPhotonsFromNow,pTrackedDevicePoseArray,(uint) pTrackedDevicePoseArray.Length);
+	}
+	public void ResetSeatedZeroPose()
+	{
+		FnTable.ResetSeatedZeroPose();
+	}
+	public HmdMatrix34_t GetSeatedZeroPoseToStandingAbsoluteTrackingPose()
+	{
+		HmdMatrix34_t result = FnTable.GetSeatedZeroPoseToStandingAbsoluteTrackingPose();
+		return result;
+	}
+	public HmdMatrix34_t GetRawZeroPoseToStandingAbsoluteTrackingPose()
+	{
+		HmdMatrix34_t result = FnTable.GetRawZeroPoseToStandingAbsoluteTrackingPose();
+		return result;
+	}
+	public uint GetSortedTrackedDeviceIndicesOfClass(ETrackedDeviceClass eTrackedDeviceClass,uint [] punTrackedDeviceIndexArray,uint unRelativeToTrackedDeviceIndex)
+	{
+		uint result = FnTable.GetSortedTrackedDeviceIndicesOfClass(eTrackedDeviceClass,punTrackedDeviceIndexArray,(uint) punTrackedDeviceIndexArray.Length,unRelativeToTrackedDeviceIndex);
+		return result;
+	}
+	public EDeviceActivityLevel GetTrackedDeviceActivityLevel(uint unDeviceId)
+	{
+		EDeviceActivityLevel result = FnTable.GetTrackedDeviceActivityLevel(unDeviceId);
+		return result;
+	}
+	public void ApplyTransform(ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pTrackedDevicePose,ref HmdMatrix34_t pTransform)
+	{
+		FnTable.ApplyTransform(ref pOutputPose,ref pTrackedDevicePose,ref pTransform);
+	}
+	public uint GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole unDeviceType)
+	{
+		uint result = FnTable.GetTrackedDeviceIndexForControllerRole(unDeviceType);
+		return result;
+	}
+	public ETrackedControllerRole GetControllerRoleForTrackedDeviceIndex(uint unDeviceIndex)
+	{
+		ETrackedControllerRole result = FnTable.GetControllerRoleForTrackedDeviceIndex(unDeviceIndex);
+		return result;
+	}
+	public ETrackedDeviceClass GetTrackedDeviceClass(uint unDeviceIndex)
+	{
+		ETrackedDeviceClass result = FnTable.GetTrackedDeviceClass(unDeviceIndex);
+		return result;
+	}
+	public bool IsTrackedDeviceConnected(uint unDeviceIndex)
+	{
+		bool result = FnTable.IsTrackedDeviceConnected(unDeviceIndex);
+		return result;
+	}
+	public bool GetBoolTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		bool result = FnTable.GetBoolTrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public float GetFloatTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		float result = FnTable.GetFloatTrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public int GetInt32TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		int result = FnTable.GetInt32TrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public ulong GetUint64TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		ulong result = FnTable.GetUint64TrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public HmdMatrix34_t GetMatrix34TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		HmdMatrix34_t result = FnTable.GetMatrix34TrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public uint GetStringTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,System.Text.StringBuilder pchValue,uint unBufferSize,ref ETrackedPropertyError pError)
+	{
+		uint result = FnTable.GetStringTrackedDeviceProperty(unDeviceIndex,prop,pchValue,unBufferSize,ref pError);
+		return result;
+	}
+	public string GetPropErrorNameFromEnum(ETrackedPropertyError error)
+	{
+		IntPtr result = FnTable.GetPropErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEventPacked(ref VREvent_t_Packed pEvent,uint uncbVREvent);
+	[StructLayout(LayoutKind.Explicit)]
+	struct PollNextEventUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._PollNextEvent pPollNextEvent;
+		[FieldOffset(0)]
+		public _PollNextEventPacked pPollNextEventPacked;
+	}
+	public bool PollNextEvent(ref VREvent_t pEvent,uint uncbVREvent)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			PollNextEventUnion u;
+			VREvent_t_Packed event_packed = new VREvent_t_Packed();
+			u.pPollNextEventPacked = null;
+			u.pPollNextEvent = FnTable.PollNextEvent;
+			bool packed_result = u.pPollNextEventPacked(ref event_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VREvent_t_Packed)));
+
+			event_packed.Unpack(ref pEvent);
+			return packed_result;
+		}
+		bool result = FnTable.PollNextEvent(ref pEvent,uncbVREvent);
+		return result;
+	}
+	public bool PollNextEventWithPose(ETrackingUniverseOrigin eOrigin,ref VREvent_t pEvent,uint uncbVREvent,ref TrackedDevicePose_t pTrackedDevicePose)
+	{
+		bool result = FnTable.PollNextEventWithPose(eOrigin,ref pEvent,uncbVREvent,ref pTrackedDevicePose);
+		return result;
+	}
+	public string GetEventTypeNameFromEnum(EVREventType eType)
+	{
+		IntPtr result = FnTable.GetEventTypeNameFromEnum(eType);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public HiddenAreaMesh_t GetHiddenAreaMesh(EVREye eEye,EHiddenAreaMeshType type)
+	{
+		HiddenAreaMesh_t result = FnTable.GetHiddenAreaMesh(eEye,type);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStatePacked(uint unControllerDeviceIndex,ref VRControllerState_t_Packed pControllerState,uint unControllerStateSize);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetControllerStateUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._GetControllerState pGetControllerState;
+		[FieldOffset(0)]
+		public _GetControllerStatePacked pGetControllerStatePacked;
+	}
+	public bool GetControllerState(uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetControllerStateUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetControllerStatePacked = null;
+			u.pGetControllerState = FnTable.GetControllerState;
+			bool packed_result = u.pGetControllerStatePacked(unControllerDeviceIndex,ref state_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t_Packed)));
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
+		bool result = FnTable.GetControllerState(unControllerDeviceIndex,ref pControllerState,unControllerStateSize);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStateWithPosePacked(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t_Packed pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetControllerStateWithPoseUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._GetControllerStateWithPose pGetControllerStateWithPose;
+		[FieldOffset(0)]
+		public _GetControllerStateWithPosePacked pGetControllerStateWithPosePacked;
+	}
+	public bool GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetControllerStateWithPoseUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetControllerStateWithPosePacked = null;
+			u.pGetControllerStateWithPose = FnTable.GetControllerStateWithPose;
+			bool packed_result = u.pGetControllerStateWithPosePacked(eOrigin,unControllerDeviceIndex,ref state_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t_Packed)),ref pTrackedDevicePose);
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
+		bool result = FnTable.GetControllerStateWithPose(eOrigin,unControllerDeviceIndex,ref pControllerState,unControllerStateSize,ref pTrackedDevicePose);
+		return result;
+	}
+	public void TriggerHapticPulse(uint unControllerDeviceIndex,uint unAxisId,char usDurationMicroSec)
+	{
+		FnTable.TriggerHapticPulse(unControllerDeviceIndex,unAxisId,usDurationMicroSec);
+	}
+	public string GetButtonIdNameFromEnum(EVRButtonId eButtonId)
+	{
+		IntPtr result = FnTable.GetButtonIdNameFromEnum(eButtonId);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public string GetControllerAxisTypeNameFromEnum(EVRControllerAxisType eAxisType)
+	{
+		IntPtr result = FnTable.GetControllerAxisTypeNameFromEnum(eAxisType);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public bool CaptureInputFocus()
+	{
+		bool result = FnTable.CaptureInputFocus();
+		return result;
+	}
+	public void ReleaseInputFocus()
+	{
+		FnTable.ReleaseInputFocus();
+	}
+	public bool IsInputFocusCapturedByAnotherProcess()
+	{
+		bool result = FnTable.IsInputFocusCapturedByAnotherProcess();
+		return result;
+	}
+	public uint DriverDebugRequest(uint unDeviceIndex,string pchRequest,string pchResponseBuffer,uint unResponseBufferSize)
+	{
+		uint result = FnTable.DriverDebugRequest(unDeviceIndex,pchRequest,pchResponseBuffer,unResponseBufferSize);
+		return result;
+	}
+	public EVRFirmwareError PerformFirmwareUpdate(uint unDeviceIndex)
+	{
+		EVRFirmwareError result = FnTable.PerformFirmwareUpdate(unDeviceIndex);
+		return result;
+	}
+	public void AcknowledgeQuit_Exiting()
+	{
+		FnTable.AcknowledgeQuit_Exiting();
+	}
+	public void AcknowledgeQuit_UserPrompt()
+	{
+		FnTable.AcknowledgeQuit_UserPrompt();
+	}
+}
+
+
+public class CVRExtendedDisplay
+{
+	IVRExtendedDisplay FnTable;
+	internal CVRExtendedDisplay(IntPtr pInterface)
+	{
+		FnTable = (IVRExtendedDisplay)Marshal.PtrToStructure(pInterface, typeof(IVRExtendedDisplay));
+	}
+	public void GetWindowBounds(ref int pnX,ref int pnY,ref uint pnWidth,ref uint pnHeight)
+	{
+		pnX = 0;
+		pnY = 0;
+		pnWidth = 0;
+		pnHeight = 0;
+		FnTable.GetWindowBounds(ref pnX,ref pnY,ref pnWidth,ref pnHeight);
+	}
+	public void GetEyeOutputViewport(EVREye eEye,ref uint pnX,ref uint pnY,ref uint pnWidth,ref uint pnHeight)
+	{
+		pnX = 0;
+		pnY = 0;
+		pnWidth = 0;
+		pnHeight = 0;
+		FnTable.GetEyeOutputViewport(eEye,ref pnX,ref pnY,ref pnWidth,ref pnHeight);
+	}
+	public void GetDXGIOutputInfo(ref int pnAdapterIndex,ref int pnAdapterOutputIndex)
+	{
+		pnAdapterIndex = 0;
+		pnAdapterOutputIndex = 0;
+		FnTable.GetDXGIOutputInfo(ref pnAdapterIndex,ref pnAdapterOutputIndex);
+	}
+}
+
+
+public class CVRTrackedCamera
+{
+	IVRTrackedCamera FnTable;
+	internal CVRTrackedCamera(IntPtr pInterface)
+	{
+		FnTable = (IVRTrackedCamera)Marshal.PtrToStructure(pInterface, typeof(IVRTrackedCamera));
+	}
+	public string GetCameraErrorNameFromEnum(EVRTrackedCameraError eCameraError)
+	{
+		IntPtr result = FnTable.GetCameraErrorNameFromEnum(eCameraError);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public EVRTrackedCameraError HasCamera(uint nDeviceIndex,ref bool pHasCamera)
+	{
+		pHasCamera = false;
+		EVRTrackedCameraError result = FnTable.HasCamera(nDeviceIndex,ref pHasCamera);
+		return result;
+	}
+	public EVRTrackedCameraError GetCameraFrameSize(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref uint pnWidth,ref uint pnHeight,ref uint pnFrameBufferSize)
+	{
+		pnWidth = 0;
+		pnHeight = 0;
+		pnFrameBufferSize = 0;
+		EVRTrackedCameraError result = FnTable.GetCameraFrameSize(nDeviceIndex,eFrameType,ref pnWidth,ref pnHeight,ref pnFrameBufferSize);
+		return result;
+	}
+	public EVRTrackedCameraError GetCameraIntrinsics(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref HmdVector2_t pFocalLength,ref HmdVector2_t pCenter)
+	{
+		EVRTrackedCameraError result = FnTable.GetCameraIntrinsics(nDeviceIndex,eFrameType,ref pFocalLength,ref pCenter);
+		return result;
+	}
+	public EVRTrackedCameraError GetCameraProjection(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,float flZNear,float flZFar,ref HmdMatrix44_t pProjection)
+	{
+		EVRTrackedCameraError result = FnTable.GetCameraProjection(nDeviceIndex,eFrameType,flZNear,flZFar,ref pProjection);
+		return result;
+	}
+	public EVRTrackedCameraError AcquireVideoStreamingService(uint nDeviceIndex,ref ulong pHandle)
+	{
+		pHandle = 0;
+		EVRTrackedCameraError result = FnTable.AcquireVideoStreamingService(nDeviceIndex,ref pHandle);
+		return result;
+	}
+	public EVRTrackedCameraError ReleaseVideoStreamingService(ulong hTrackedCamera)
+	{
+		EVRTrackedCameraError result = FnTable.ReleaseVideoStreamingService(hTrackedCamera);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamFrameBuffer(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,IntPtr pFrameBuffer,uint nFrameBufferSize,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize)
+	{
+		EVRTrackedCameraError result = FnTable.GetVideoStreamFrameBuffer(hTrackedCamera,eFrameType,pFrameBuffer,nFrameBufferSize,ref pFrameHeader,nFrameHeaderSize);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamTextureSize(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref VRTextureBounds_t pTextureBounds,ref uint pnWidth,ref uint pnHeight)
+	{
+		pnWidth = 0;
+		pnHeight = 0;
+		EVRTrackedCameraError result = FnTable.GetVideoStreamTextureSize(nDeviceIndex,eFrameType,ref pTextureBounds,ref pnWidth,ref pnHeight);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamTextureD3D11(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,IntPtr pD3D11DeviceOrResource,ref IntPtr ppD3D11ShaderResourceView,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize)
+	{
+		EVRTrackedCameraError result = FnTable.GetVideoStreamTextureD3D11(hTrackedCamera,eFrameType,pD3D11DeviceOrResource,ref ppD3D11ShaderResourceView,ref pFrameHeader,nFrameHeaderSize);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamTextureGL(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,ref uint pglTextureId,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize)
+	{
+		pglTextureId = 0;
+		EVRTrackedCameraError result = FnTable.GetVideoStreamTextureGL(hTrackedCamera,eFrameType,ref pglTextureId,ref pFrameHeader,nFrameHeaderSize);
+		return result;
+	}
+	public EVRTrackedCameraError ReleaseVideoStreamTextureGL(ulong hTrackedCamera,uint glTextureId)
+	{
+		EVRTrackedCameraError result = FnTable.ReleaseVideoStreamTextureGL(hTrackedCamera,glTextureId);
+		return result;
+	}
+}
+
+
+public class CVRApplications
+{
+	IVRApplications FnTable;
+	internal CVRApplications(IntPtr pInterface)
+	{
+		FnTable = (IVRApplications)Marshal.PtrToStructure(pInterface, typeof(IVRApplications));
+	}
+	public EVRApplicationError AddApplicationManifest(string pchApplicationManifestFullPath,bool bTemporary)
+	{
+		EVRApplicationError result = FnTable.AddApplicationManifest(pchApplicationManifestFullPath,bTemporary);
+		return result;
+	}
+	public EVRApplicationError RemoveApplicationManifest(string pchApplicationManifestFullPath)
+	{
+		EVRApplicationError result = FnTable.RemoveApplicationManifest(pchApplicationManifestFullPath);
+		return result;
+	}
+	public bool IsApplicationInstalled(string pchAppKey)
+	{
+		bool result = FnTable.IsApplicationInstalled(pchAppKey);
+		return result;
+	}
+	public uint GetApplicationCount()
+	{
+		uint result = FnTable.GetApplicationCount();
+		return result;
+	}
+	public EVRApplicationError GetApplicationKeyByIndex(uint unApplicationIndex,System.Text.StringBuilder pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		EVRApplicationError result = FnTable.GetApplicationKeyByIndex(unApplicationIndex,pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public EVRApplicationError GetApplicationKeyByProcessId(uint unProcessId,string pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		EVRApplicationError result = FnTable.GetApplicationKeyByProcessId(unProcessId,pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public EVRApplicationError LaunchApplication(string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.LaunchApplication(pchAppKey);
+		return result;
+	}
+	public EVRApplicationError LaunchTemplateApplication(string pchTemplateAppKey,string pchNewAppKey,AppOverrideKeys_t [] pKeys)
+	{
+		EVRApplicationError result = FnTable.LaunchTemplateApplication(pchTemplateAppKey,pchNewAppKey,pKeys,(uint) pKeys.Length);
+		return result;
+	}
+	public EVRApplicationError LaunchApplicationFromMimeType(string pchMimeType,string pchArgs)
+	{
+		EVRApplicationError result = FnTable.LaunchApplicationFromMimeType(pchMimeType,pchArgs);
+		return result;
+	}
+	public EVRApplicationError LaunchDashboardOverlay(string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.LaunchDashboardOverlay(pchAppKey);
+		return result;
+	}
+	public bool CancelApplicationLaunch(string pchAppKey)
+	{
+		bool result = FnTable.CancelApplicationLaunch(pchAppKey);
+		return result;
+	}
+	public EVRApplicationError IdentifyApplication(uint unProcessId,string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.IdentifyApplication(unProcessId,pchAppKey);
+		return result;
+	}
+	public uint GetApplicationProcessId(string pchAppKey)
+	{
+		uint result = FnTable.GetApplicationProcessId(pchAppKey);
+		return result;
+	}
+	public string GetApplicationsErrorNameFromEnum(EVRApplicationError error)
+	{
+		IntPtr result = FnTable.GetApplicationsErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public uint GetApplicationPropertyString(string pchAppKey,EVRApplicationProperty eProperty,System.Text.StringBuilder pchPropertyValueBuffer,uint unPropertyValueBufferLen,ref EVRApplicationError peError)
+	{
+		uint result = FnTable.GetApplicationPropertyString(pchAppKey,eProperty,pchPropertyValueBuffer,unPropertyValueBufferLen,ref peError);
+		return result;
+	}
+	public bool GetApplicationPropertyBool(string pchAppKey,EVRApplicationProperty eProperty,ref EVRApplicationError peError)
+	{
+		bool result = FnTable.GetApplicationPropertyBool(pchAppKey,eProperty,ref peError);
+		return result;
+	}
+	public ulong GetApplicationPropertyUint64(string pchAppKey,EVRApplicationProperty eProperty,ref EVRApplicationError peError)
+	{
+		ulong result = FnTable.GetApplicationPropertyUint64(pchAppKey,eProperty,ref peError);
+		return result;
+	}
+	public EVRApplicationError SetApplicationAutoLaunch(string pchAppKey,bool bAutoLaunch)
+	{
+		EVRApplicationError result = FnTable.SetApplicationAutoLaunch(pchAppKey,bAutoLaunch);
+		return result;
+	}
+	public bool GetApplicationAutoLaunch(string pchAppKey)
+	{
+		bool result = FnTable.GetApplicationAutoLaunch(pchAppKey);
+		return result;
+	}
+	public EVRApplicationError SetDefaultApplicationForMimeType(string pchAppKey,string pchMimeType)
+	{
+		EVRApplicationError result = FnTable.SetDefaultApplicationForMimeType(pchAppKey,pchMimeType);
+		return result;
+	}
+	public bool GetDefaultApplicationForMimeType(string pchMimeType,string pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		bool result = FnTable.GetDefaultApplicationForMimeType(pchMimeType,pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public bool GetApplicationSupportedMimeTypes(string pchAppKey,string pchMimeTypesBuffer,uint unMimeTypesBuffer)
+	{
+		bool result = FnTable.GetApplicationSupportedMimeTypes(pchAppKey,pchMimeTypesBuffer,unMimeTypesBuffer);
+		return result;
+	}
+	public uint GetApplicationsThatSupportMimeType(string pchMimeType,string pchAppKeysThatSupportBuffer,uint unAppKeysThatSupportBuffer)
+	{
+		uint result = FnTable.GetApplicationsThatSupportMimeType(pchMimeType,pchAppKeysThatSupportBuffer,unAppKeysThatSupportBuffer);
+		return result;
+	}
+	public uint GetApplicationLaunchArguments(uint unHandle,string pchArgs,uint unArgs)
+	{
+		uint result = FnTable.GetApplicationLaunchArguments(unHandle,pchArgs,unArgs);
+		return result;
+	}
+	public EVRApplicationError GetStartingApplication(string pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		EVRApplicationError result = FnTable.GetStartingApplication(pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public EVRApplicationTransitionState GetTransitionState()
+	{
+		EVRApplicationTransitionState result = FnTable.GetTransitionState();
+		return result;
+	}
+	public EVRApplicationError PerformApplicationPrelaunchCheck(string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.PerformApplicationPrelaunchCheck(pchAppKey);
+		return result;
+	}
+	public string GetApplicationsTransitionStateNameFromEnum(EVRApplicationTransitionState state)
+	{
+		IntPtr result = FnTable.GetApplicationsTransitionStateNameFromEnum(state);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public bool IsQuitUserPromptRequested()
+	{
+		bool result = FnTable.IsQuitUserPromptRequested();
+		return result;
+	}
+	public EVRApplicationError LaunchInternalProcess(string pchBinaryPath,string pchArguments,string pchWorkingDirectory)
+	{
+		EVRApplicationError result = FnTable.LaunchInternalProcess(pchBinaryPath,pchArguments,pchWorkingDirectory);
+		return result;
+	}
+	public uint GetCurrentSceneProcessId()
+	{
+		uint result = FnTable.GetCurrentSceneProcessId();
+		return result;
+	}
+}
+
+
+public class CVRChaperone
+{
+	IVRChaperone FnTable;
+	internal CVRChaperone(IntPtr pInterface)
+	{
+		FnTable = (IVRChaperone)Marshal.PtrToStructure(pInterface, typeof(IVRChaperone));
+	}
+	public ChaperoneCalibrationState GetCalibrationState()
+	{
+		ChaperoneCalibrationState result = FnTable.GetCalibrationState();
+		return result;
+	}
+	public bool GetPlayAreaSize(ref float pSizeX,ref float pSizeZ)
+	{
+		pSizeX = 0;
+		pSizeZ = 0;
+		bool result = FnTable.GetPlayAreaSize(ref pSizeX,ref pSizeZ);
+		return result;
+	}
+	public bool GetPlayAreaRect(ref HmdQuad_t rect)
+	{
+		bool result = FnTable.GetPlayAreaRect(ref rect);
+		return result;
+	}
+	public void ReloadInfo()
+	{
+		FnTable.ReloadInfo();
+	}
+	public void SetSceneColor(HmdColor_t color)
+	{
+		FnTable.SetSceneColor(color);
+	}
+	public void GetBoundsColor(ref HmdColor_t pOutputColorArray,int nNumOutputColors,float flCollisionBoundsFadeDistance,ref HmdColor_t pOutputCameraColor)
+	{
+		FnTable.GetBoundsColor(ref pOutputColorArray,nNumOutputColors,flCollisionBoundsFadeDistance,ref pOutputCameraColor);
+	}
+	public bool AreBoundsVisible()
+	{
+		bool result = FnTable.AreBoundsVisible();
+		return result;
+	}
+	public void ForceBoundsVisible(bool bForce)
+	{
+		FnTable.ForceBoundsVisible(bForce);
+	}
+}
+
+
+public class CVRChaperoneSetup
+{
+	IVRChaperoneSetup FnTable;
+	internal CVRChaperoneSetup(IntPtr pInterface)
+	{
+		FnTable = (IVRChaperoneSetup)Marshal.PtrToStructure(pInterface, typeof(IVRChaperoneSetup));
+	}
+	public bool CommitWorkingCopy(EChaperoneConfigFile configFile)
+	{
+		bool result = FnTable.CommitWorkingCopy(configFile);
+		return result;
+	}
+	public void RevertWorkingCopy()
+	{
+		FnTable.RevertWorkingCopy();
+	}
+	public bool GetWorkingPlayAreaSize(ref float pSizeX,ref float pSizeZ)
+	{
+		pSizeX = 0;
+		pSizeZ = 0;
+		bool result = FnTable.GetWorkingPlayAreaSize(ref pSizeX,ref pSizeZ);
+		return result;
+	}
+	public bool GetWorkingPlayAreaRect(ref HmdQuad_t rect)
+	{
+		bool result = FnTable.GetWorkingPlayAreaRect(ref rect);
+		return result;
+	}
+	public bool GetWorkingCollisionBoundsInfo(out HmdQuad_t [] pQuadsBuffer)
+	{
+		uint punQuadsCount = 0;
+		bool result = FnTable.GetWorkingCollisionBoundsInfo(null,ref punQuadsCount);
+		pQuadsBuffer= new HmdQuad_t[punQuadsCount];
+		result = FnTable.GetWorkingCollisionBoundsInfo(pQuadsBuffer,ref punQuadsCount);
+		return result;
+	}
+	public bool GetLiveCollisionBoundsInfo(out HmdQuad_t [] pQuadsBuffer)
+	{
+		uint punQuadsCount = 0;
+		bool result = FnTable.GetLiveCollisionBoundsInfo(null,ref punQuadsCount);
+		pQuadsBuffer= new HmdQuad_t[punQuadsCount];
+		result = FnTable.GetLiveCollisionBoundsInfo(pQuadsBuffer,ref punQuadsCount);
+		return result;
+	}
+	public bool GetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose)
+	{
+		bool result = FnTable.GetWorkingSeatedZeroPoseToRawTrackingPose(ref pmatSeatedZeroPoseToRawTrackingPose);
+		return result;
+	}
+	public bool GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose)
+	{
+		bool result = FnTable.GetWorkingStandingZeroPoseToRawTrackingPose(ref pmatStandingZeroPoseToRawTrackingPose);
+		return result;
+	}
+	public void SetWorkingPlayAreaSize(float sizeX,float sizeZ)
+	{
+		FnTable.SetWorkingPlayAreaSize(sizeX,sizeZ);
+	}
+	public void SetWorkingCollisionBoundsInfo(HmdQuad_t [] pQuadsBuffer)
+	{
+		FnTable.SetWorkingCollisionBoundsInfo(pQuadsBuffer,(uint) pQuadsBuffer.Length);
+	}
+	public void SetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatSeatedZeroPoseToRawTrackingPose)
+	{
+		FnTable.SetWorkingSeatedZeroPoseToRawTrackingPose(ref pMatSeatedZeroPoseToRawTrackingPose);
+	}
+	public void SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose)
+	{
+		FnTable.SetWorkingStandingZeroPoseToRawTrackingPose(ref pMatStandingZeroPoseToRawTrackingPose);
+	}
+	public void ReloadFromDisk(EChaperoneConfigFile configFile)
+	{
+		FnTable.ReloadFromDisk(configFile);
+	}
+	public bool GetLiveSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose)
+	{
+		bool result = FnTable.GetLiveSeatedZeroPoseToRawTrackingPose(ref pmatSeatedZeroPoseToRawTrackingPose);
+		return result;
+	}
+	public void SetWorkingCollisionBoundsTagsInfo(byte [] pTagsBuffer)
+	{
+		FnTable.SetWorkingCollisionBoundsTagsInfo(pTagsBuffer,(uint) pTagsBuffer.Length);
+	}
+	public bool GetLiveCollisionBoundsTagsInfo(out byte [] pTagsBuffer)
+	{
+		uint punTagCount = 0;
+		bool result = FnTable.GetLiveCollisionBoundsTagsInfo(null,ref punTagCount);
+		pTagsBuffer= new byte[punTagCount];
+		result = FnTable.GetLiveCollisionBoundsTagsInfo(pTagsBuffer,ref punTagCount);
+		return result;
+	}
+	public bool SetWorkingPhysicalBoundsInfo(HmdQuad_t [] pQuadsBuffer)
+	{
+		bool result = FnTable.SetWorkingPhysicalBoundsInfo(pQuadsBuffer,(uint) pQuadsBuffer.Length);
+		return result;
+	}
+	public bool GetLivePhysicalBoundsInfo(out HmdQuad_t [] pQuadsBuffer)
+	{
+		uint punQuadsCount = 0;
+		bool result = FnTable.GetLivePhysicalBoundsInfo(null,ref punQuadsCount);
+		pQuadsBuffer= new HmdQuad_t[punQuadsCount];
+		result = FnTable.GetLivePhysicalBoundsInfo(pQuadsBuffer,ref punQuadsCount);
+		return result;
+	}
+	public bool ExportLiveToBuffer(System.Text.StringBuilder pBuffer,ref uint pnBufferLength)
+	{
+		pnBufferLength = 0;
+		bool result = FnTable.ExportLiveToBuffer(pBuffer,ref pnBufferLength);
+		return result;
+	}
+	public bool ImportFromBufferToWorking(string pBuffer,uint nImportFlags)
+	{
+		bool result = FnTable.ImportFromBufferToWorking(pBuffer,nImportFlags);
+		return result;
+	}
+}
+
+
+public class CVRCompositor
+{
+	IVRCompositor FnTable;
+	internal CVRCompositor(IntPtr pInterface)
+	{
+		FnTable = (IVRCompositor)Marshal.PtrToStructure(pInterface, typeof(IVRCompositor));
+	}
+	public void SetTrackingSpace(ETrackingUniverseOrigin eOrigin)
+	{
+		FnTable.SetTrackingSpace(eOrigin);
+	}
+	public ETrackingUniverseOrigin GetTrackingSpace()
+	{
+		ETrackingUniverseOrigin result = FnTable.GetTrackingSpace();
+		return result;
+	}
+	public EVRCompositorError WaitGetPoses(TrackedDevicePose_t [] pRenderPoseArray,TrackedDevicePose_t [] pGamePoseArray)
+	{
+		EVRCompositorError result = FnTable.WaitGetPoses(pRenderPoseArray,(uint) pRenderPoseArray.Length,pGamePoseArray,(uint) pGamePoseArray.Length);
+		return result;
+	}
+	public EVRCompositorError GetLastPoses(TrackedDevicePose_t [] pRenderPoseArray,TrackedDevicePose_t [] pGamePoseArray)
+	{
+		EVRCompositorError result = FnTable.GetLastPoses(pRenderPoseArray,(uint) pRenderPoseArray.Length,pGamePoseArray,(uint) pGamePoseArray.Length);
+		return result;
+	}
+	public EVRCompositorError GetLastPoseForTrackedDeviceIndex(uint unDeviceIndex,ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pOutputGamePose)
+	{
+		EVRCompositorError result = FnTable.GetLastPoseForTrackedDeviceIndex(unDeviceIndex,ref pOutputPose,ref pOutputGamePose);
+		return result;
+	}
+	public EVRCompositorError Submit(EVREye eEye,ref Texture_t pTexture,ref VRTextureBounds_t pBounds,EVRSubmitFlags nSubmitFlags)
+	{
+		EVRCompositorError result = FnTable.Submit(eEye,ref pTexture,ref pBounds,nSubmitFlags);
+		return result;
+	}
+	public void ClearLastSubmittedFrame()
+	{
+		FnTable.ClearLastSubmittedFrame();
+	}
+	public void PostPresentHandoff()
+	{
+		FnTable.PostPresentHandoff();
+	}
+	public bool GetFrameTiming(ref Compositor_FrameTiming pTiming,uint unFramesAgo)
+	{
+		bool result = FnTable.GetFrameTiming(ref pTiming,unFramesAgo);
+		return result;
+	}
+	public uint GetFrameTimings(ref Compositor_FrameTiming pTiming,uint nFrames)
+	{
+		uint result = FnTable.GetFrameTimings(ref pTiming,nFrames);
+		return result;
+	}
+	public float GetFrameTimeRemaining()
+	{
+		float result = FnTable.GetFrameTimeRemaining();
+		return result;
+	}
+	public void GetCumulativeStats(ref Compositor_CumulativeStats pStats,uint nStatsSizeInBytes)
+	{
+		FnTable.GetCumulativeStats(ref pStats,nStatsSizeInBytes);
+	}
+	public void FadeToColor(float fSeconds,float fRed,float fGreen,float fBlue,float fAlpha,bool bBackground)
+	{
+		FnTable.FadeToColor(fSeconds,fRed,fGreen,fBlue,fAlpha,bBackground);
+	}
+	public HmdColor_t GetCurrentFadeColor(bool bBackground)
+	{
+		HmdColor_t result = FnTable.GetCurrentFadeColor(bBackground);
+		return result;
+	}
+	public void FadeGrid(float fSeconds,bool bFadeIn)
+	{
+		FnTable.FadeGrid(fSeconds,bFadeIn);
+	}
+	public float GetCurrentGridAlpha()
+	{
+		float result = FnTable.GetCurrentGridAlpha();
+		return result;
+	}
+	public EVRCompositorError SetSkyboxOverride(Texture_t [] pTextures)
+	{
+		EVRCompositorError result = FnTable.SetSkyboxOverride(pTextures,(uint) pTextures.Length);
+		return result;
+	}
+	public void ClearSkyboxOverride()
+	{
+		FnTable.ClearSkyboxOverride();
+	}
+	public void CompositorBringToFront()
+	{
+		FnTable.CompositorBringToFront();
+	}
+	public void CompositorGoToBack()
+	{
+		FnTable.CompositorGoToBack();
+	}
+	public void CompositorQuit()
+	{
+		FnTable.CompositorQuit();
+	}
+	public bool IsFullscreen()
+	{
+		bool result = FnTable.IsFullscreen();
+		return result;
+	}
+	public uint GetCurrentSceneFocusProcess()
+	{
+		uint result = FnTable.GetCurrentSceneFocusProcess();
+		return result;
+	}
+	public uint GetLastFrameRenderer()
+	{
+		uint result = FnTable.GetLastFrameRenderer();
+		return result;
+	}
+	public bool CanRenderScene()
+	{
+		bool result = FnTable.CanRenderScene();
+		return result;
+	}
+	public void ShowMirrorWindow()
+	{
+		FnTable.ShowMirrorWindow();
+	}
+	public void HideMirrorWindow()
+	{
+		FnTable.HideMirrorWindow();
+	}
+	public bool IsMirrorWindowVisible()
+	{
+		bool result = FnTable.IsMirrorWindowVisible();
+		return result;
+	}
+	public void CompositorDumpImages()
+	{
+		FnTable.CompositorDumpImages();
+	}
+	public bool ShouldAppRenderWithLowResources()
+	{
+		bool result = FnTable.ShouldAppRenderWithLowResources();
+		return result;
+	}
+	public void ForceInterleavedReprojectionOn(bool bOverride)
+	{
+		FnTable.ForceInterleavedReprojectionOn(bOverride);
+	}
+	public void ForceReconnectProcess()
+	{
+		FnTable.ForceReconnectProcess();
+	}
+	public void SuspendRendering(bool bSuspend)
+	{
+		FnTable.SuspendRendering(bSuspend);
+	}
+	public EVRCompositorError GetMirrorTextureD3D11(EVREye eEye,IntPtr pD3D11DeviceOrResource,ref IntPtr ppD3D11ShaderResourceView)
+	{
+		EVRCompositorError result = FnTable.GetMirrorTextureD3D11(eEye,pD3D11DeviceOrResource,ref ppD3D11ShaderResourceView);
+		return result;
+	}
+	public void ReleaseMirrorTextureD3D11(IntPtr pD3D11ShaderResourceView)
+	{
+		FnTable.ReleaseMirrorTextureD3D11(pD3D11ShaderResourceView);
+	}
+	public EVRCompositorError GetMirrorTextureGL(EVREye eEye,ref uint pglTextureId,IntPtr pglSharedTextureHandle)
+	{
+		pglTextureId = 0;
+		EVRCompositorError result = FnTable.GetMirrorTextureGL(eEye,ref pglTextureId,pglSharedTextureHandle);
+		return result;
+	}
+	public bool ReleaseSharedGLTexture(uint glTextureId,IntPtr glSharedTextureHandle)
+	{
+		bool result = FnTable.ReleaseSharedGLTexture(glTextureId,glSharedTextureHandle);
+		return result;
+	}
+	public void LockGLSharedTextureForAccess(IntPtr glSharedTextureHandle)
+	{
+		FnTable.LockGLSharedTextureForAccess(glSharedTextureHandle);
+	}
+	public void UnlockGLSharedTextureForAccess(IntPtr glSharedTextureHandle)
+	{
+		FnTable.UnlockGLSharedTextureForAccess(glSharedTextureHandle);
+	}
+	public uint GetVulkanInstanceExtensionsRequired(System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetVulkanInstanceExtensionsRequired(pchValue,unBufferSize);
+		return result;
+	}
+	public uint GetVulkanDeviceExtensionsRequired(IntPtr pPhysicalDevice,System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetVulkanDeviceExtensionsRequired(pPhysicalDevice,pchValue,unBufferSize);
+		return result;
+	}
+}
+
+
+public class CVROverlay
+{
+	IVROverlay FnTable;
+	internal CVROverlay(IntPtr pInterface)
+	{
+		FnTable = (IVROverlay)Marshal.PtrToStructure(pInterface, typeof(IVROverlay));
+	}
+	public EVROverlayError FindOverlay(string pchOverlayKey,ref ulong pOverlayHandle)
+	{
+		pOverlayHandle = 0;
+		EVROverlayError result = FnTable.FindOverlay(pchOverlayKey,ref pOverlayHandle);
+		return result;
+	}
+	public EVROverlayError CreateOverlay(string pchOverlayKey,string pchOverlayName,ref ulong pOverlayHandle)
+	{
+		pOverlayHandle = 0;
+		EVROverlayError result = FnTable.CreateOverlay(pchOverlayKey,pchOverlayName,ref pOverlayHandle);
+		return result;
+	}
+	public EVROverlayError DestroyOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.DestroyOverlay(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetHighQualityOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.SetHighQualityOverlay(ulOverlayHandle);
+		return result;
+	}
+	public ulong GetHighQualityOverlay()
+	{
+		ulong result = FnTable.GetHighQualityOverlay();
+		return result;
+	}
+	public uint GetOverlayKey(ulong ulOverlayHandle,System.Text.StringBuilder pchValue,uint unBufferSize,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayKey(ulOverlayHandle,pchValue,unBufferSize,ref pError);
+		return result;
+	}
+	public uint GetOverlayName(ulong ulOverlayHandle,System.Text.StringBuilder pchValue,uint unBufferSize,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayName(ulOverlayHandle,pchValue,unBufferSize,ref pError);
+		return result;
+	}
+	public EVROverlayError SetOverlayName(ulong ulOverlayHandle,string pchName)
+	{
+		EVROverlayError result = FnTable.SetOverlayName(ulOverlayHandle,pchName);
+		return result;
+	}
+	public EVROverlayError GetOverlayImageData(ulong ulOverlayHandle,IntPtr pvBuffer,uint unBufferSize,ref uint punWidth,ref uint punHeight)
+	{
+		punWidth = 0;
+		punHeight = 0;
+		EVROverlayError result = FnTable.GetOverlayImageData(ulOverlayHandle,pvBuffer,unBufferSize,ref punWidth,ref punHeight);
+		return result;
+	}
+	public string GetOverlayErrorNameFromEnum(EVROverlayError error)
+	{
+		IntPtr result = FnTable.GetOverlayErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public EVROverlayError SetOverlayRenderingPid(ulong ulOverlayHandle,uint unPID)
+	{
+		EVROverlayError result = FnTable.SetOverlayRenderingPid(ulOverlayHandle,unPID);
+		return result;
+	}
+	public uint GetOverlayRenderingPid(ulong ulOverlayHandle)
+	{
+		uint result = FnTable.GetOverlayRenderingPid(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetOverlayFlag(ulong ulOverlayHandle,VROverlayFlags eOverlayFlag,bool bEnabled)
+	{
+		EVROverlayError result = FnTable.SetOverlayFlag(ulOverlayHandle,eOverlayFlag,bEnabled);
+		return result;
+	}
+	public EVROverlayError GetOverlayFlag(ulong ulOverlayHandle,VROverlayFlags eOverlayFlag,ref bool pbEnabled)
+	{
+		pbEnabled = false;
+		EVROverlayError result = FnTable.GetOverlayFlag(ulOverlayHandle,eOverlayFlag,ref pbEnabled);
+		return result;
+	}
+	public EVROverlayError SetOverlayColor(ulong ulOverlayHandle,float fRed,float fGreen,float fBlue)
+	{
+		EVROverlayError result = FnTable.SetOverlayColor(ulOverlayHandle,fRed,fGreen,fBlue);
+		return result;
+	}
+	public EVROverlayError GetOverlayColor(ulong ulOverlayHandle,ref float pfRed,ref float pfGreen,ref float pfBlue)
+	{
+		pfRed = 0;
+		pfGreen = 0;
+		pfBlue = 0;
+		EVROverlayError result = FnTable.GetOverlayColor(ulOverlayHandle,ref pfRed,ref pfGreen,ref pfBlue);
+		return result;
+	}
+	public EVROverlayError SetOverlayAlpha(ulong ulOverlayHandle,float fAlpha)
+	{
+		EVROverlayError result = FnTable.SetOverlayAlpha(ulOverlayHandle,fAlpha);
+		return result;
+	}
+	public EVROverlayError GetOverlayAlpha(ulong ulOverlayHandle,ref float pfAlpha)
+	{
+		pfAlpha = 0;
+		EVROverlayError result = FnTable.GetOverlayAlpha(ulOverlayHandle,ref pfAlpha);
+		return result;
+	}
+	public EVROverlayError SetOverlayTexelAspect(ulong ulOverlayHandle,float fTexelAspect)
+	{
+		EVROverlayError result = FnTable.SetOverlayTexelAspect(ulOverlayHandle,fTexelAspect);
+		return result;
+	}
+	public EVROverlayError GetOverlayTexelAspect(ulong ulOverlayHandle,ref float pfTexelAspect)
+	{
+		pfTexelAspect = 0;
+		EVROverlayError result = FnTable.GetOverlayTexelAspect(ulOverlayHandle,ref pfTexelAspect);
+		return result;
+	}
+	public EVROverlayError SetOverlaySortOrder(ulong ulOverlayHandle,uint unSortOrder)
+	{
+		EVROverlayError result = FnTable.SetOverlaySortOrder(ulOverlayHandle,unSortOrder);
+		return result;
+	}
+	public EVROverlayError GetOverlaySortOrder(ulong ulOverlayHandle,ref uint punSortOrder)
+	{
+		punSortOrder = 0;
+		EVROverlayError result = FnTable.GetOverlaySortOrder(ulOverlayHandle,ref punSortOrder);
+		return result;
+	}
+	public EVROverlayError SetOverlayWidthInMeters(ulong ulOverlayHandle,float fWidthInMeters)
+	{
+		EVROverlayError result = FnTable.SetOverlayWidthInMeters(ulOverlayHandle,fWidthInMeters);
+		return result;
+	}
+	public EVROverlayError GetOverlayWidthInMeters(ulong ulOverlayHandle,ref float pfWidthInMeters)
+	{
+		pfWidthInMeters = 0;
+		EVROverlayError result = FnTable.GetOverlayWidthInMeters(ulOverlayHandle,ref pfWidthInMeters);
+		return result;
+	}
+	public EVROverlayError SetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle,float fMinDistanceInMeters,float fMaxDistanceInMeters)
+	{
+		EVROverlayError result = FnTable.SetOverlayAutoCurveDistanceRangeInMeters(ulOverlayHandle,fMinDistanceInMeters,fMaxDistanceInMeters);
+		return result;
+	}
+	public EVROverlayError GetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle,ref float pfMinDistanceInMeters,ref float pfMaxDistanceInMeters)
+	{
+		pfMinDistanceInMeters = 0;
+		pfMaxDistanceInMeters = 0;
+		EVROverlayError result = FnTable.GetOverlayAutoCurveDistanceRangeInMeters(ulOverlayHandle,ref pfMinDistanceInMeters,ref pfMaxDistanceInMeters);
+		return result;
+	}
+	public EVROverlayError SetOverlayTextureColorSpace(ulong ulOverlayHandle,EColorSpace eTextureColorSpace)
+	{
+		EVROverlayError result = FnTable.SetOverlayTextureColorSpace(ulOverlayHandle,eTextureColorSpace);
+		return result;
+	}
+	public EVROverlayError GetOverlayTextureColorSpace(ulong ulOverlayHandle,ref EColorSpace peTextureColorSpace)
+	{
+		EVROverlayError result = FnTable.GetOverlayTextureColorSpace(ulOverlayHandle,ref peTextureColorSpace);
+		return result;
+	}
+	public EVROverlayError SetOverlayTextureBounds(ulong ulOverlayHandle,ref VRTextureBounds_t pOverlayTextureBounds)
+	{
+		EVROverlayError result = FnTable.SetOverlayTextureBounds(ulOverlayHandle,ref pOverlayTextureBounds);
+		return result;
+	}
+	public EVROverlayError GetOverlayTextureBounds(ulong ulOverlayHandle,ref VRTextureBounds_t pOverlayTextureBounds)
+	{
+		EVROverlayError result = FnTable.GetOverlayTextureBounds(ulOverlayHandle,ref pOverlayTextureBounds);
+		return result;
+	}
+	public uint GetOverlayRenderModel(ulong ulOverlayHandle,string pchValue,uint unBufferSize,ref HmdColor_t pColor,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayRenderModel(ulOverlayHandle,pchValue,unBufferSize,ref pColor,ref pError);
+		return result;
+	}
+	public EVROverlayError SetOverlayRenderModel(ulong ulOverlayHandle,string pchRenderModel,ref HmdColor_t pColor)
+	{
+		EVROverlayError result = FnTable.SetOverlayRenderModel(ulOverlayHandle,pchRenderModel,ref pColor);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformType(ulong ulOverlayHandle,ref VROverlayTransformType peTransformType)
+	{
+		EVROverlayError result = FnTable.GetOverlayTransformType(ulOverlayHandle,ref peTransformType);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformAbsolute(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformAbsolute(ulOverlayHandle,eTrackingOrigin,ref pmatTrackingOriginToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformAbsolute(ulong ulOverlayHandle,ref ETrackingUniverseOrigin peTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.GetOverlayTransformAbsolute(ulOverlayHandle,ref peTrackingOrigin,ref pmatTrackingOriginToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,uint unTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformTrackedDeviceRelative(ulOverlayHandle,unTrackedDevice,ref pmatTrackedDeviceToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,ref uint punTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform)
+	{
+		punTrackedDevice = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformTrackedDeviceRelative(ulOverlayHandle,ref punTrackedDevice,ref pmatTrackedDeviceToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle,uint unDeviceIndex,string pchComponentName)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformTrackedDeviceComponent(ulOverlayHandle,unDeviceIndex,pchComponentName);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle,ref uint punDeviceIndex,string pchComponentName,uint unComponentNameSize)
+	{
+		punDeviceIndex = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformTrackedDeviceComponent(ulOverlayHandle,ref punDeviceIndex,pchComponentName,unComponentNameSize);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformOverlayRelative(ulong ulOverlayHandle,ref ulong ulOverlayHandleParent,ref HmdMatrix34_t pmatParentOverlayToOverlayTransform)
+	{
+		ulOverlayHandleParent = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformOverlayRelative(ulOverlayHandle,ref ulOverlayHandleParent,ref pmatParentOverlayToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformOverlayRelative(ulong ulOverlayHandle,ulong ulOverlayHandleParent,ref HmdMatrix34_t pmatParentOverlayToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformOverlayRelative(ulOverlayHandle,ulOverlayHandleParent,ref pmatParentOverlayToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError ShowOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.ShowOverlay(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError HideOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.HideOverlay(ulOverlayHandle);
+		return result;
+	}
+	public bool IsOverlayVisible(ulong ulOverlayHandle)
+	{
+		bool result = FnTable.IsOverlayVisible(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError GetTransformForOverlayCoordinates(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,HmdVector2_t coordinatesInOverlay,ref HmdMatrix34_t pmatTransform)
+	{
+		EVROverlayError result = FnTable.GetTransformForOverlayCoordinates(ulOverlayHandle,eTrackingOrigin,coordinatesInOverlay,ref pmatTransform);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextOverlayEventPacked(ulong ulOverlayHandle,ref VREvent_t_Packed pEvent,uint uncbVREvent);
+	[StructLayout(LayoutKind.Explicit)]
+	struct PollNextOverlayEventUnion
+	{
+		[FieldOffset(0)]
+		public IVROverlay._PollNextOverlayEvent pPollNextOverlayEvent;
+		[FieldOffset(0)]
+		public _PollNextOverlayEventPacked pPollNextOverlayEventPacked;
+	}
+	public bool PollNextOverlayEvent(ulong ulOverlayHandle,ref VREvent_t pEvent,uint uncbVREvent)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			PollNextOverlayEventUnion u;
+			VREvent_t_Packed event_packed = new VREvent_t_Packed();
+			u.pPollNextOverlayEventPacked = null;
+			u.pPollNextOverlayEvent = FnTable.PollNextOverlayEvent;
+			bool packed_result = u.pPollNextOverlayEventPacked(ulOverlayHandle,ref event_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VREvent_t_Packed)));
+
+			event_packed.Unpack(ref pEvent);
+			return packed_result;
+		}
+		bool result = FnTable.PollNextOverlayEvent(ulOverlayHandle,ref pEvent,uncbVREvent);
+		return result;
+	}
+	public EVROverlayError GetOverlayInputMethod(ulong ulOverlayHandle,ref VROverlayInputMethod peInputMethod)
+	{
+		EVROverlayError result = FnTable.GetOverlayInputMethod(ulOverlayHandle,ref peInputMethod);
+		return result;
+	}
+	public EVROverlayError SetOverlayInputMethod(ulong ulOverlayHandle,VROverlayInputMethod eInputMethod)
+	{
+		EVROverlayError result = FnTable.SetOverlayInputMethod(ulOverlayHandle,eInputMethod);
+		return result;
+	}
+	public EVROverlayError GetOverlayMouseScale(ulong ulOverlayHandle,ref HmdVector2_t pvecMouseScale)
+	{
+		EVROverlayError result = FnTable.GetOverlayMouseScale(ulOverlayHandle,ref pvecMouseScale);
+		return result;
+	}
+	public EVROverlayError SetOverlayMouseScale(ulong ulOverlayHandle,ref HmdVector2_t pvecMouseScale)
+	{
+		EVROverlayError result = FnTable.SetOverlayMouseScale(ulOverlayHandle,ref pvecMouseScale);
+		return result;
+	}
+	public bool ComputeOverlayIntersection(ulong ulOverlayHandle,ref VROverlayIntersectionParams_t pParams,ref VROverlayIntersectionResults_t pResults)
+	{
+		bool result = FnTable.ComputeOverlayIntersection(ulOverlayHandle,ref pParams,ref pResults);
+		return result;
+	}
+	public bool HandleControllerOverlayInteractionAsMouse(ulong ulOverlayHandle,uint unControllerDeviceIndex)
+	{
+		bool result = FnTable.HandleControllerOverlayInteractionAsMouse(ulOverlayHandle,unControllerDeviceIndex);
+		return result;
+	}
+	public bool IsHoverTargetOverlay(ulong ulOverlayHandle)
+	{
+		bool result = FnTable.IsHoverTargetOverlay(ulOverlayHandle);
+		return result;
+	}
+	public ulong GetGamepadFocusOverlay()
+	{
+		ulong result = FnTable.GetGamepadFocusOverlay();
+		return result;
+	}
+	public EVROverlayError SetGamepadFocusOverlay(ulong ulNewFocusOverlay)
+	{
+		EVROverlayError result = FnTable.SetGamepadFocusOverlay(ulNewFocusOverlay);
+		return result;
+	}
+	public EVROverlayError SetOverlayNeighbor(EOverlayDirection eDirection,ulong ulFrom,ulong ulTo)
+	{
+		EVROverlayError result = FnTable.SetOverlayNeighbor(eDirection,ulFrom,ulTo);
+		return result;
+	}
+	public EVROverlayError MoveGamepadFocusToNeighbor(EOverlayDirection eDirection,ulong ulFrom)
+	{
+		EVROverlayError result = FnTable.MoveGamepadFocusToNeighbor(eDirection,ulFrom);
+		return result;
+	}
+	public EVROverlayError SetOverlayTexture(ulong ulOverlayHandle,ref Texture_t pTexture)
+	{
+		EVROverlayError result = FnTable.SetOverlayTexture(ulOverlayHandle,ref pTexture);
+		return result;
+	}
+	public EVROverlayError ClearOverlayTexture(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.ClearOverlayTexture(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetOverlayRaw(ulong ulOverlayHandle,IntPtr pvBuffer,uint unWidth,uint unHeight,uint unDepth)
+	{
+		EVROverlayError result = FnTable.SetOverlayRaw(ulOverlayHandle,pvBuffer,unWidth,unHeight,unDepth);
+		return result;
+	}
+	public EVROverlayError SetOverlayFromFile(ulong ulOverlayHandle,string pchFilePath)
+	{
+		EVROverlayError result = FnTable.SetOverlayFromFile(ulOverlayHandle,pchFilePath);
+		return result;
+	}
+	public EVROverlayError GetOverlayTexture(ulong ulOverlayHandle,ref IntPtr pNativeTextureHandle,IntPtr pNativeTextureRef,ref uint pWidth,ref uint pHeight,ref uint pNativeFormat,ref ETextureType pAPIType,ref EColorSpace pColorSpace,ref VRTextureBounds_t pTextureBounds)
+	{
+		pWidth = 0;
+		pHeight = 0;
+		pNativeFormat = 0;
+		EVROverlayError result = FnTable.GetOverlayTexture(ulOverlayHandle,ref pNativeTextureHandle,pNativeTextureRef,ref pWidth,ref pHeight,ref pNativeFormat,ref pAPIType,ref pColorSpace,ref pTextureBounds);
+		return result;
+	}
+	public EVROverlayError ReleaseNativeOverlayHandle(ulong ulOverlayHandle,IntPtr pNativeTextureHandle)
+	{
+		EVROverlayError result = FnTable.ReleaseNativeOverlayHandle(ulOverlayHandle,pNativeTextureHandle);
+		return result;
+	}
+	public EVROverlayError GetOverlayTextureSize(ulong ulOverlayHandle,ref uint pWidth,ref uint pHeight)
+	{
+		pWidth = 0;
+		pHeight = 0;
+		EVROverlayError result = FnTable.GetOverlayTextureSize(ulOverlayHandle,ref pWidth,ref pHeight);
+		return result;
+	}
+	public EVROverlayError CreateDashboardOverlay(string pchOverlayKey,string pchOverlayFriendlyName,ref ulong pMainHandle,ref ulong pThumbnailHandle)
+	{
+		pMainHandle = 0;
+		pThumbnailHandle = 0;
+		EVROverlayError result = FnTable.CreateDashboardOverlay(pchOverlayKey,pchOverlayFriendlyName,ref pMainHandle,ref pThumbnailHandle);
+		return result;
+	}
+	public bool IsDashboardVisible()
+	{
+		bool result = FnTable.IsDashboardVisible();
+		return result;
+	}
+	public bool IsActiveDashboardOverlay(ulong ulOverlayHandle)
+	{
+		bool result = FnTable.IsActiveDashboardOverlay(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetDashboardOverlaySceneProcess(ulong ulOverlayHandle,uint unProcessId)
+	{
+		EVROverlayError result = FnTable.SetDashboardOverlaySceneProcess(ulOverlayHandle,unProcessId);
+		return result;
+	}
+	public EVROverlayError GetDashboardOverlaySceneProcess(ulong ulOverlayHandle,ref uint punProcessId)
+	{
+		punProcessId = 0;
+		EVROverlayError result = FnTable.GetDashboardOverlaySceneProcess(ulOverlayHandle,ref punProcessId);
+		return result;
+	}
+	public void ShowDashboard(string pchOverlayToShow)
+	{
+		FnTable.ShowDashboard(pchOverlayToShow);
+	}
+	public uint GetPrimaryDashboardDevice()
+	{
+		uint result = FnTable.GetPrimaryDashboardDevice();
+		return result;
+	}
+	public EVROverlayError ShowKeyboard(int eInputMode,int eLineInputMode,string pchDescription,uint unCharMax,string pchExistingText,bool bUseMinimalMode,ulong uUserValue)
+	{
+		EVROverlayError result = FnTable.ShowKeyboard(eInputMode,eLineInputMode,pchDescription,unCharMax,pchExistingText,bUseMinimalMode,uUserValue);
+		return result;
+	}
+	public EVROverlayError ShowKeyboardForOverlay(ulong ulOverlayHandle,int eInputMode,int eLineInputMode,string pchDescription,uint unCharMax,string pchExistingText,bool bUseMinimalMode,ulong uUserValue)
+	{
+		EVROverlayError result = FnTable.ShowKeyboardForOverlay(ulOverlayHandle,eInputMode,eLineInputMode,pchDescription,unCharMax,pchExistingText,bUseMinimalMode,uUserValue);
+		return result;
+	}
+	public uint GetKeyboardText(System.Text.StringBuilder pchText,uint cchText)
+	{
+		uint result = FnTable.GetKeyboardText(pchText,cchText);
+		return result;
+	}
+	public void HideKeyboard()
+	{
+		FnTable.HideKeyboard();
+	}
+	public void SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform)
+	{
+		FnTable.SetKeyboardTransformAbsolute(eTrackingOrigin,ref pmatTrackingOriginToKeyboardTransform);
+	}
+	public void SetKeyboardPositionForOverlay(ulong ulOverlayHandle,HmdRect2_t avoidRect)
+	{
+		FnTable.SetKeyboardPositionForOverlay(ulOverlayHandle,avoidRect);
+	}
+	public EVROverlayError SetOverlayIntersectionMask(ulong ulOverlayHandle,ref VROverlayIntersectionMaskPrimitive_t pMaskPrimitives,uint unNumMaskPrimitives,uint unPrimitiveSize)
+	{
+		EVROverlayError result = FnTable.SetOverlayIntersectionMask(ulOverlayHandle,ref pMaskPrimitives,unNumMaskPrimitives,unPrimitiveSize);
+		return result;
+	}
+	public EVROverlayError GetOverlayFlags(ulong ulOverlayHandle,ref uint pFlags)
+	{
+		pFlags = 0;
+		EVROverlayError result = FnTable.GetOverlayFlags(ulOverlayHandle,ref pFlags);
+		return result;
+	}
+	public VRMessageOverlayResponse ShowMessageOverlay(string pchText,string pchCaption,string pchButton0Text,string pchButton1Text,string pchButton2Text,string pchButton3Text)
+	{
+		VRMessageOverlayResponse result = FnTable.ShowMessageOverlay(pchText,pchCaption,pchButton0Text,pchButton1Text,pchButton2Text,pchButton3Text);
+		return result;
+	}
+}
+
+
+public class CVRRenderModels
+{
+	IVRRenderModels FnTable;
+	internal CVRRenderModels(IntPtr pInterface)
+	{
+		FnTable = (IVRRenderModels)Marshal.PtrToStructure(pInterface, typeof(IVRRenderModels));
+	}
+	public EVRRenderModelError LoadRenderModel_Async(string pchRenderModelName,ref IntPtr ppRenderModel)
+	{
+		EVRRenderModelError result = FnTable.LoadRenderModel_Async(pchRenderModelName,ref ppRenderModel);
+		return result;
+	}
+	public void FreeRenderModel(IntPtr pRenderModel)
+	{
+		FnTable.FreeRenderModel(pRenderModel);
+	}
+	public EVRRenderModelError LoadTexture_Async(int textureId,ref IntPtr ppTexture)
+	{
+		EVRRenderModelError result = FnTable.LoadTexture_Async(textureId,ref ppTexture);
+		return result;
+	}
+	public void FreeTexture(IntPtr pTexture)
+	{
+		FnTable.FreeTexture(pTexture);
+	}
+	public EVRRenderModelError LoadTextureD3D11_Async(int textureId,IntPtr pD3D11Device,ref IntPtr ppD3D11Texture2D)
+	{
+		EVRRenderModelError result = FnTable.LoadTextureD3D11_Async(textureId,pD3D11Device,ref ppD3D11Texture2D);
+		return result;
+	}
+	public EVRRenderModelError LoadIntoTextureD3D11_Async(int textureId,IntPtr pDstTexture)
+	{
+		EVRRenderModelError result = FnTable.LoadIntoTextureD3D11_Async(textureId,pDstTexture);
+		return result;
+	}
+	public void FreeTextureD3D11(IntPtr pD3D11Texture2D)
+	{
+		FnTable.FreeTextureD3D11(pD3D11Texture2D);
+	}
+	public uint GetRenderModelName(uint unRenderModelIndex,System.Text.StringBuilder pchRenderModelName,uint unRenderModelNameLen)
+	{
+		uint result = FnTable.GetRenderModelName(unRenderModelIndex,pchRenderModelName,unRenderModelNameLen);
+		return result;
+	}
+	public uint GetRenderModelCount()
+	{
+		uint result = FnTable.GetRenderModelCount();
+		return result;
+	}
+	public uint GetComponentCount(string pchRenderModelName)
+	{
+		uint result = FnTable.GetComponentCount(pchRenderModelName);
+		return result;
+	}
+	public uint GetComponentName(string pchRenderModelName,uint unComponentIndex,System.Text.StringBuilder pchComponentName,uint unComponentNameLen)
+	{
+		uint result = FnTable.GetComponentName(pchRenderModelName,unComponentIndex,pchComponentName,unComponentNameLen);
+		return result;
+	}
+	public ulong GetComponentButtonMask(string pchRenderModelName,string pchComponentName)
+	{
+		ulong result = FnTable.GetComponentButtonMask(pchRenderModelName,pchComponentName);
+		return result;
+	}
+	public uint GetComponentRenderModelName(string pchRenderModelName,string pchComponentName,System.Text.StringBuilder pchComponentRenderModelName,uint unComponentRenderModelNameLen)
+	{
+		uint result = FnTable.GetComponentRenderModelName(pchRenderModelName,pchComponentName,pchComponentRenderModelName,unComponentRenderModelNameLen);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetComponentStatePacked(string pchRenderModelName,string pchComponentName,ref VRControllerState_t_Packed pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetComponentStateUnion
+	{
+		[FieldOffset(0)]
+		public IVRRenderModels._GetComponentState pGetComponentState;
+		[FieldOffset(0)]
+		public _GetComponentStatePacked pGetComponentStatePacked;
+	}
+	public bool GetComponentState(string pchRenderModelName,string pchComponentName,ref VRControllerState_t pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetComponentStateUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetComponentStatePacked = null;
+			u.pGetComponentState = FnTable.GetComponentState;
+			bool packed_result = u.pGetComponentStatePacked(pchRenderModelName,pchComponentName,ref state_packed,ref pState,ref pComponentState);
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
+		bool result = FnTable.GetComponentState(pchRenderModelName,pchComponentName,ref pControllerState,ref pState,ref pComponentState);
+		return result;
+	}
+	public bool RenderModelHasComponent(string pchRenderModelName,string pchComponentName)
+	{
+		bool result = FnTable.RenderModelHasComponent(pchRenderModelName,pchComponentName);
+		return result;
+	}
+	public uint GetRenderModelThumbnailURL(string pchRenderModelName,System.Text.StringBuilder pchThumbnailURL,uint unThumbnailURLLen,ref EVRRenderModelError peError)
+	{
+		uint result = FnTable.GetRenderModelThumbnailURL(pchRenderModelName,pchThumbnailURL,unThumbnailURLLen,ref peError);
+		return result;
+	}
+	public uint GetRenderModelOriginalPath(string pchRenderModelName,System.Text.StringBuilder pchOriginalPath,uint unOriginalPathLen,ref EVRRenderModelError peError)
+	{
+		uint result = FnTable.GetRenderModelOriginalPath(pchRenderModelName,pchOriginalPath,unOriginalPathLen,ref peError);
+		return result;
+	}
+	public string GetRenderModelErrorNameFromEnum(EVRRenderModelError error)
+	{
+		IntPtr result = FnTable.GetRenderModelErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+}
+
+
+public class CVRNotifications
+{
+	IVRNotifications FnTable;
+	internal CVRNotifications(IntPtr pInterface)
+	{
+		FnTable = (IVRNotifications)Marshal.PtrToStructure(pInterface, typeof(IVRNotifications));
+	}
+	public EVRNotificationError CreateNotification(ulong ulOverlayHandle,ulong ulUserValue,EVRNotificationType type,string pchText,EVRNotificationStyle style,ref NotificationBitmap_t pImage,ref uint pNotificationId)
+	{
+		pNotificationId = 0;
+		EVRNotificationError result = FnTable.CreateNotification(ulOverlayHandle,ulUserValue,type,pchText,style,ref pImage,ref pNotificationId);
+		return result;
+	}
+	public EVRNotificationError RemoveNotification(uint notificationId)
+	{
+		EVRNotificationError result = FnTable.RemoveNotification(notificationId);
+		return result;
+	}
+}
+
+
+public class CVRSettings
+{
+	IVRSettings FnTable;
+	internal CVRSettings(IntPtr pInterface)
+	{
+		FnTable = (IVRSettings)Marshal.PtrToStructure(pInterface, typeof(IVRSettings));
+	}
+	public string GetSettingsErrorNameFromEnum(EVRSettingsError eError)
+	{
+		IntPtr result = FnTable.GetSettingsErrorNameFromEnum(eError);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public bool Sync(bool bForce,ref EVRSettingsError peError)
+	{
+		bool result = FnTable.Sync(bForce,ref peError);
+		return result;
+	}
+	public void SetBool(string pchSection,string pchSettingsKey,bool bValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetBool(pchSection,pchSettingsKey,bValue,ref peError);
+	}
+	public void SetInt32(string pchSection,string pchSettingsKey,int nValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetInt32(pchSection,pchSettingsKey,nValue,ref peError);
+	}
+	public void SetFloat(string pchSection,string pchSettingsKey,float flValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetFloat(pchSection,pchSettingsKey,flValue,ref peError);
+	}
+	public void SetString(string pchSection,string pchSettingsKey,string pchValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetString(pchSection,pchSettingsKey,pchValue,ref peError);
+	}
+	public bool GetBool(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		bool result = FnTable.GetBool(pchSection,pchSettingsKey,ref peError);
+		return result;
+	}
+	public int GetInt32(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		int result = FnTable.GetInt32(pchSection,pchSettingsKey,ref peError);
+		return result;
+	}
+	public float GetFloat(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		float result = FnTable.GetFloat(pchSection,pchSettingsKey,ref peError);
+		return result;
+	}
+	public void GetString(string pchSection,string pchSettingsKey,System.Text.StringBuilder pchValue,uint unValueLen,ref EVRSettingsError peError)
+	{
+		FnTable.GetString(pchSection,pchSettingsKey,pchValue,unValueLen,ref peError);
+	}
+	public void RemoveSection(string pchSection,ref EVRSettingsError peError)
+	{
+		FnTable.RemoveSection(pchSection,ref peError);
+	}
+	public void RemoveKeyInSection(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		FnTable.RemoveKeyInSection(pchSection,pchSettingsKey,ref peError);
+	}
+}
+
+
+public class CVRScreenshots
+{
+	IVRScreenshots FnTable;
+	internal CVRScreenshots(IntPtr pInterface)
+	{
+		FnTable = (IVRScreenshots)Marshal.PtrToStructure(pInterface, typeof(IVRScreenshots));
+	}
+	public EVRScreenshotError RequestScreenshot(ref uint pOutScreenshotHandle,EVRScreenshotType type,string pchPreviewFilename,string pchVRFilename)
+	{
+		pOutScreenshotHandle = 0;
+		EVRScreenshotError result = FnTable.RequestScreenshot(ref pOutScreenshotHandle,type,pchPreviewFilename,pchVRFilename);
+		return result;
+	}
+	public EVRScreenshotError HookScreenshot(EVRScreenshotType [] pSupportedTypes)
+	{
+		EVRScreenshotError result = FnTable.HookScreenshot(pSupportedTypes,(int) pSupportedTypes.Length);
+		return result;
+	}
+	public EVRScreenshotType GetScreenshotPropertyType(uint screenshotHandle,ref EVRScreenshotError pError)
+	{
+		EVRScreenshotType result = FnTable.GetScreenshotPropertyType(screenshotHandle,ref pError);
+		return result;
+	}
+	public uint GetScreenshotPropertyFilename(uint screenshotHandle,EVRScreenshotPropertyFilenames filenameType,System.Text.StringBuilder pchFilename,uint cchFilename,ref EVRScreenshotError pError)
+	{
+		uint result = FnTable.GetScreenshotPropertyFilename(screenshotHandle,filenameType,pchFilename,cchFilename,ref pError);
+		return result;
+	}
+	public EVRScreenshotError UpdateScreenshotProgress(uint screenshotHandle,float flProgress)
+	{
+		EVRScreenshotError result = FnTable.UpdateScreenshotProgress(screenshotHandle,flProgress);
+		return result;
+	}
+	public EVRScreenshotError TakeStereoScreenshot(ref uint pOutScreenshotHandle,string pchPreviewFilename,string pchVRFilename)
+	{
+		pOutScreenshotHandle = 0;
+		EVRScreenshotError result = FnTable.TakeStereoScreenshot(ref pOutScreenshotHandle,pchPreviewFilename,pchVRFilename);
+		return result;
+	}
+	public EVRScreenshotError SubmitScreenshot(uint screenshotHandle,EVRScreenshotType type,string pchSourcePreviewFilename,string pchSourceVRFilename)
+	{
+		EVRScreenshotError result = FnTable.SubmitScreenshot(screenshotHandle,type,pchSourcePreviewFilename,pchSourceVRFilename);
+		return result;
+	}
+}
+
+
+public class CVRResources
+{
+	IVRResources FnTable;
+	internal CVRResources(IntPtr pInterface)
+	{
+		FnTable = (IVRResources)Marshal.PtrToStructure(pInterface, typeof(IVRResources));
+	}
+	public uint LoadSharedResource(string pchResourceName,string pchBuffer,uint unBufferLen)
+	{
+		uint result = FnTable.LoadSharedResource(pchResourceName,pchBuffer,unBufferLen);
+		return result;
+	}
+	public uint GetResourceFullPath(string pchResourceName,string pchResourceTypeDirectory,string pchPathBuffer,uint unBufferLen)
+	{
+		uint result = FnTable.GetResourceFullPath(pchResourceName,pchResourceTypeDirectory,pchPathBuffer,unBufferLen);
+		return result;
+	}
+}
+
+
+public class CVRDriverManager
+{
+	IVRDriverManager FnTable;
+	internal CVRDriverManager(IntPtr pInterface)
+	{
+		FnTable = (IVRDriverManager)Marshal.PtrToStructure(pInterface, typeof(IVRDriverManager));
+	}
+	public uint GetDriverCount()
+	{
+		uint result = FnTable.GetDriverCount();
+		return result;
+	}
+	public uint GetDriverName(uint nDriver,System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetDriverName(nDriver,pchValue,unBufferSize);
+		return result;
+	}
+}
+
+
+public class OpenVRInterop
+{
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_InitInternal", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern uint InitInternal(ref EVRInitError peError, EVRApplicationType eApplicationType);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_ShutdownInternal", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern void ShutdownInternal();
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_IsHmdPresent", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern bool IsHmdPresent();
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_IsRuntimeInstalled", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern bool IsRuntimeInstalled();
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_GetStringForHmdError", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern IntPtr GetStringForHmdError(EVRInitError error);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_GetGenericInterface", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern IntPtr GetGenericInterface([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion, ref EVRInitError peError);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_IsInterfaceVersionValid", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern bool IsInterfaceVersionValid([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_GetInitToken", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern uint GetInitToken();
+}
+
+
+public enum EVREye
+{
+	Eye_Left = 0,
+	Eye_Right = 1,
+}
+public enum ETextureType
+{
+	DirectX = 0,
+	OpenGL = 1,
+	Vulkan = 2,
+	IOSurface = 3,
+	DirectX12 = 4,
+}
+public enum EColorSpace
+{
+	Auto = 0,
+	Gamma = 1,
+	Linear = 2,
+}
+public enum ETrackingResult
+{
+	Uninitialized = 1,
+	Calibrating_InProgress = 100,
+	Calibrating_OutOfRange = 101,
+	Running_OK = 200,
+	Running_OutOfRange = 201,
+}
+public enum ETrackedDeviceClass
+{
+	Invalid = 0,
+	HMD = 1,
+	Controller = 2,
+	GenericTracker = 3,
+	TrackingReference = 4,
+	DisplayRedirect = 5,
+}
+public enum ETrackedControllerRole
+{
+	Invalid = 0,
+	LeftHand = 1,
+	RightHand = 2,
+}
+public enum ETrackingUniverseOrigin
+{
+	TrackingUniverseSeated = 0,
+	TrackingUniverseStanding = 1,
+	TrackingUniverseRawAndUncalibrated = 2,
+}
+public enum ETrackedDeviceProperty
+{
+	Prop_Invalid = 0,
+	Prop_TrackingSystemName_String = 1000,
+	Prop_ModelNumber_String = 1001,
+	Prop_SerialNumber_String = 1002,
+	Prop_RenderModelName_String = 1003,
+	Prop_WillDriftInYaw_Bool = 1004,
+	Prop_ManufacturerName_String = 1005,
+	Prop_TrackingFirmwareVersion_String = 1006,
+	Prop_HardwareRevision_String = 1007,
+	Prop_AllWirelessDongleDescriptions_String = 1008,
+	Prop_ConnectedWirelessDongle_String = 1009,
+	Prop_DeviceIsWireless_Bool = 1010,
+	Prop_DeviceIsCharging_Bool = 1011,
+	Prop_DeviceBatteryPercentage_Float = 1012,
+	Prop_StatusDisplayTransform_Matrix34 = 1013,
+	Prop_Firmware_UpdateAvailable_Bool = 1014,
+	Prop_Firmware_ManualUpdate_Bool = 1015,
+	Prop_Firmware_ManualUpdateURL_String = 1016,
+	Prop_HardwareRevision_Uint64 = 1017,
+	Prop_FirmwareVersion_Uint64 = 1018,
+	Prop_FPGAVersion_Uint64 = 1019,
+	Prop_VRCVersion_Uint64 = 1020,
+	Prop_RadioVersion_Uint64 = 1021,
+	Prop_DongleVersion_Uint64 = 1022,
+	Prop_BlockServerShutdown_Bool = 1023,
+	Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024,
+	Prop_ContainsProximitySensor_Bool = 1025,
+	Prop_DeviceProvidesBatteryStatus_Bool = 1026,
+	Prop_DeviceCanPowerOff_Bool = 1027,
+	Prop_Firmware_ProgrammingTarget_String = 1028,
+	Prop_DeviceClass_Int32 = 1029,
+	Prop_HasCamera_Bool = 1030,
+	Prop_DriverVersion_String = 1031,
+	Prop_Firmware_ForceUpdateRequired_Bool = 1032,
+	Prop_ViveSystemButtonFixRequired_Bool = 1033,
+	Prop_ParentDriver_Uint64 = 1034,
+	Prop_ResourceRoot_String = 1035,
+	Prop_ReportsTimeSinceVSync_Bool = 2000,
+	Prop_SecondsFromVsyncToPhotons_Float = 2001,
+	Prop_DisplayFrequency_Float = 2002,
+	Prop_UserIpdMeters_Float = 2003,
+	Prop_CurrentUniverseId_Uint64 = 2004,
+	Prop_PreviousUniverseId_Uint64 = 2005,
+	Prop_DisplayFirmwareVersion_Uint64 = 2006,
+	Prop_IsOnDesktop_Bool = 2007,
+	Prop_DisplayMCType_Int32 = 2008,
+	Prop_DisplayMCOffset_Float = 2009,
+	Prop_DisplayMCScale_Float = 2010,
+	Prop_EdidVendorID_Int32 = 2011,
+	Prop_DisplayMCImageLeft_String = 2012,
+	Prop_DisplayMCImageRight_String = 2013,
+	Prop_DisplayGCBlackClamp_Float = 2014,
+	Prop_EdidProductID_Int32 = 2015,
+	Prop_CameraToHeadTransform_Matrix34 = 2016,
+	Prop_DisplayGCType_Int32 = 2017,
+	Prop_DisplayGCOffset_Float = 2018,
+	Prop_DisplayGCScale_Float = 2019,
+	Prop_DisplayGCPrescale_Float = 2020,
+	Prop_DisplayGCImage_String = 2021,
+	Prop_LensCenterLeftU_Float = 2022,
+	Prop_LensCenterLeftV_Float = 2023,
+	Prop_LensCenterRightU_Float = 2024,
+	Prop_LensCenterRightV_Float = 2025,
+	Prop_UserHeadToEyeDepthMeters_Float = 2026,
+	Prop_CameraFirmwareVersion_Uint64 = 2027,
+	Prop_CameraFirmwareDescription_String = 2028,
+	Prop_DisplayFPGAVersion_Uint64 = 2029,
+	Prop_DisplayBootloaderVersion_Uint64 = 2030,
+	Prop_DisplayHardwareVersion_Uint64 = 2031,
+	Prop_AudioFirmwareVersion_Uint64 = 2032,
+	Prop_CameraCompatibilityMode_Int32 = 2033,
+	Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	Prop_DisplaySuppressed_Bool = 2036,
+	Prop_DisplayAllowNightMode_Bool = 2037,
+	Prop_DisplayMCImageWidth_Int32 = 2038,
+	Prop_DisplayMCImageHeight_Int32 = 2039,
+	Prop_DisplayMCImageNumChannels_Int32 = 2040,
+	Prop_DisplayMCImageData_Binary = 2041,
+	Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	Prop_DisplayDebugMode_Bool = 2044,
+	Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	Prop_AttachedDeviceId_String = 3000,
+	Prop_SupportedButtons_Uint64 = 3001,
+	Prop_Axis0Type_Int32 = 3002,
+	Prop_Axis1Type_Int32 = 3003,
+	Prop_Axis2Type_Int32 = 3004,
+	Prop_Axis3Type_Int32 = 3005,
+	Prop_Axis4Type_Int32 = 3006,
+	Prop_ControllerRoleHint_Int32 = 3007,
+	Prop_FieldOfViewLeftDegrees_Float = 4000,
+	Prop_FieldOfViewRightDegrees_Float = 4001,
+	Prop_FieldOfViewTopDegrees_Float = 4002,
+	Prop_FieldOfViewBottomDegrees_Float = 4003,
+	Prop_TrackingRangeMinimumMeters_Float = 4004,
+	Prop_TrackingRangeMaximumMeters_Float = 4005,
+	Prop_ModeLabel_String = 4006,
+	Prop_IconPathName_String = 5000,
+	Prop_NamedIconPathDeviceOff_String = 5001,
+	Prop_NamedIconPathDeviceSearching_String = 5002,
+	Prop_NamedIconPathDeviceSearchingAlert_String = 5003,
+	Prop_NamedIconPathDeviceReady_String = 5004,
+	Prop_NamedIconPathDeviceReadyAlert_String = 5005,
+	Prop_NamedIconPathDeviceNotReady_String = 5006,
+	Prop_NamedIconPathDeviceStandby_String = 5007,
+	Prop_NamedIconPathDeviceAlertLow_String = 5008,
+	Prop_DisplayHiddenArea_Binary_Start = 5100,
+	Prop_DisplayHiddenArea_Binary_End = 5150,
+	Prop_UserConfigPath_String = 6000,
+	Prop_InstallPath_String = 6001,
+	Prop_HasDisplayComponent_Bool = 6002,
+	Prop_HasControllerComponent_Bool = 6003,
+	Prop_HasCameraComponent_Bool = 6004,
+	Prop_HasDriverDirectModeComponent_Bool = 6005,
+	Prop_HasVirtualDisplayComponent_Bool = 6006,
+	Prop_VendorSpecific_Reserved_Start = 10000,
+	Prop_VendorSpecific_Reserved_End = 10999,
+}
+public enum ETrackedPropertyError
+{
+	TrackedProp_Success = 0,
+	TrackedProp_WrongDataType = 1,
+	TrackedProp_WrongDeviceClass = 2,
+	TrackedProp_BufferTooSmall = 3,
+	TrackedProp_UnknownProperty = 4,
+	TrackedProp_InvalidDevice = 5,
+	TrackedProp_CouldNotContactServer = 6,
+	TrackedProp_ValueNotProvidedByDevice = 7,
+	TrackedProp_StringExceedsMaximumLength = 8,
+	TrackedProp_NotYetAvailable = 9,
+	TrackedProp_PermissionDenied = 10,
+	TrackedProp_InvalidOperation = 11,
+}
+public enum EVRSubmitFlags
+{
+	Submit_Default = 0,
+	Submit_LensDistortionAlreadyApplied = 1,
+	Submit_GlRenderBuffer = 2,
+	Submit_Reserved = 4,
+}
+public enum EVRState
+{
+	Undefined = -1,
+	Off = 0,
+	Searching = 1,
+	Searching_Alert = 2,
+	Ready = 3,
+	Ready_Alert = 4,
+	NotReady = 5,
+	Standby = 6,
+	Ready_Alert_Low = 7,
+}
+public enum EVREventType
+{
+	VREvent_None = 0,
+	VREvent_TrackedDeviceActivated = 100,
+	VREvent_TrackedDeviceDeactivated = 101,
+	VREvent_TrackedDeviceUpdated = 102,
+	VREvent_TrackedDeviceUserInteractionStarted = 103,
+	VREvent_TrackedDeviceUserInteractionEnded = 104,
+	VREvent_IpdChanged = 105,
+	VREvent_EnterStandbyMode = 106,
+	VREvent_LeaveStandbyMode = 107,
+	VREvent_TrackedDeviceRoleChanged = 108,
+	VREvent_WatchdogWakeUpRequested = 109,
+	VREvent_LensDistortionChanged = 110,
+	VREvent_PropertyChanged = 111,
+	VREvent_ButtonPress = 200,
+	VREvent_ButtonUnpress = 201,
+	VREvent_ButtonTouch = 202,
+	VREvent_ButtonUntouch = 203,
+	VREvent_MouseMove = 300,
+	VREvent_MouseButtonDown = 301,
+	VREvent_MouseButtonUp = 302,
+	VREvent_FocusEnter = 303,
+	VREvent_FocusLeave = 304,
+	VREvent_Scroll = 305,
+	VREvent_TouchPadMove = 306,
+	VREvent_OverlayFocusChanged = 307,
+	VREvent_InputFocusCaptured = 400,
+	VREvent_InputFocusReleased = 401,
+	VREvent_SceneFocusLost = 402,
+	VREvent_SceneFocusGained = 403,
+	VREvent_SceneApplicationChanged = 404,
+	VREvent_SceneFocusChanged = 405,
+	VREvent_InputFocusChanged = 406,
+	VREvent_SceneApplicationSecondaryRenderingStarted = 407,
+	VREvent_HideRenderModels = 410,
+	VREvent_ShowRenderModels = 411,
+	VREvent_OverlayShown = 500,
+	VREvent_OverlayHidden = 501,
+	VREvent_DashboardActivated = 502,
+	VREvent_DashboardDeactivated = 503,
+	VREvent_DashboardThumbSelected = 504,
+	VREvent_DashboardRequested = 505,
+	VREvent_ResetDashboard = 506,
+	VREvent_RenderToast = 507,
+	VREvent_ImageLoaded = 508,
+	VREvent_ShowKeyboard = 509,
+	VREvent_HideKeyboard = 510,
+	VREvent_OverlayGamepadFocusGained = 511,
+	VREvent_OverlayGamepadFocusLost = 512,
+	VREvent_OverlaySharedTextureChanged = 513,
+	VREvent_DashboardGuideButtonDown = 514,
+	VREvent_DashboardGuideButtonUp = 515,
+	VREvent_ScreenshotTriggered = 516,
+	VREvent_ImageFailed = 517,
+	VREvent_DashboardOverlayCreated = 518,
+	VREvent_RequestScreenshot = 520,
+	VREvent_ScreenshotTaken = 521,
+	VREvent_ScreenshotFailed = 522,
+	VREvent_SubmitScreenshotToDashboard = 523,
+	VREvent_ScreenshotProgressToDashboard = 524,
+	VREvent_PrimaryDashboardDeviceChanged = 525,
+	VREvent_Notification_Shown = 600,
+	VREvent_Notification_Hidden = 601,
+	VREvent_Notification_BeginInteraction = 602,
+	VREvent_Notification_Destroyed = 603,
+	VREvent_Quit = 700,
+	VREvent_ProcessQuit = 701,
+	VREvent_QuitAborted_UserPrompt = 702,
+	VREvent_QuitAcknowledged = 703,
+	VREvent_DriverRequestedQuit = 704,
+	VREvent_ChaperoneDataHasChanged = 800,
+	VREvent_ChaperoneUniverseHasChanged = 801,
+	VREvent_ChaperoneTempDataHasChanged = 802,
+	VREvent_ChaperoneSettingsHaveChanged = 803,
+	VREvent_SeatedZeroPoseReset = 804,
+	VREvent_AudioSettingsHaveChanged = 820,
+	VREvent_BackgroundSettingHasChanged = 850,
+	VREvent_CameraSettingsHaveChanged = 851,
+	VREvent_ReprojectionSettingHasChanged = 852,
+	VREvent_ModelSkinSettingsHaveChanged = 853,
+	VREvent_EnvironmentSettingsHaveChanged = 854,
+	VREvent_PowerSettingsHaveChanged = 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
+	VREvent_StatusUpdate = 900,
+	VREvent_MCImageUpdated = 1000,
+	VREvent_FirmwareUpdateStarted = 1100,
+	VREvent_FirmwareUpdateFinished = 1101,
+	VREvent_KeyboardClosed = 1200,
+	VREvent_KeyboardCharInput = 1201,
+	VREvent_KeyboardDone = 1202,
+	VREvent_ApplicationTransitionStarted = 1300,
+	VREvent_ApplicationTransitionAborted = 1301,
+	VREvent_ApplicationTransitionNewAppStarted = 1302,
+	VREvent_ApplicationListUpdated = 1303,
+	VREvent_ApplicationMimeTypeLoad = 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected = 1306,
+	VREvent_ProcessDisconnected = 1307,
+	VREvent_Compositor_MirrorWindowShown = 1400,
+	VREvent_Compositor_MirrorWindowHidden = 1401,
+	VREvent_Compositor_ChaperoneBoundsShown = 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden = 1411,
+	VREvent_TrackedCamera_StartVideoStream = 1500,
+	VREvent_TrackedCamera_StopVideoStream = 1501,
+	VREvent_TrackedCamera_PauseVideoStream = 1502,
+	VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	VREvent_TrackedCamera_EditingSurface = 1550,
+	VREvent_PerformanceTest_EnableCapture = 1600,
+	VREvent_PerformanceTest_DisableCapture = 1601,
+	VREvent_PerformanceTest_FidelityLevel = 1602,
+	VREvent_MessageOverlay_Closed = 1650,
+	VREvent_VendorSpecific_Reserved_Start = 10000,
+	VREvent_VendorSpecific_Reserved_End = 19999,
+}
+public enum EDeviceActivityLevel
+{
+	k_EDeviceActivityLevel_Unknown = -1,
+	k_EDeviceActivityLevel_Idle = 0,
+	k_EDeviceActivityLevel_UserInteraction = 1,
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,
+	k_EDeviceActivityLevel_Standby = 3,
+}
+public enum EVRButtonId
+{
+	k_EButton_System = 0,
+	k_EButton_ApplicationMenu = 1,
+	k_EButton_Grip = 2,
+	k_EButton_DPad_Left = 3,
+	k_EButton_DPad_Up = 4,
+	k_EButton_DPad_Right = 5,
+	k_EButton_DPad_Down = 6,
+	k_EButton_A = 7,
+	k_EButton_ProximitySensor = 31,
+	k_EButton_Axis0 = 32,
+	k_EButton_Axis1 = 33,
+	k_EButton_Axis2 = 34,
+	k_EButton_Axis3 = 35,
+	k_EButton_Axis4 = 36,
+	k_EButton_SteamVR_Touchpad = 32,
+	k_EButton_SteamVR_Trigger = 33,
+	k_EButton_Dashboard_Back = 2,
+	k_EButton_Max = 64,
+}
+public enum EVRMouseButton
+{
+	Left = 1,
+	Right = 2,
+	Middle = 4,
+}
+public enum EHiddenAreaMeshType
+{
+	k_eHiddenAreaMesh_Standard = 0,
+	k_eHiddenAreaMesh_Inverse = 1,
+	k_eHiddenAreaMesh_LineLoop = 2,
+	k_eHiddenAreaMesh_Max = 3,
+}
+public enum EVRControllerAxisType
+{
+	k_eControllerAxis_None = 0,
+	k_eControllerAxis_TrackPad = 1,
+	k_eControllerAxis_Joystick = 2,
+	k_eControllerAxis_Trigger = 3,
+}
+public enum EVRControllerEventOutputType
+{
+	ControllerEventOutput_OSEvents = 0,
+	ControllerEventOutput_VREvents = 1,
+}
+public enum ECollisionBoundsStyle
+{
+	COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	COLLISION_BOUNDS_STYLE_INTERMEDIATE = 1,
+	COLLISION_BOUNDS_STYLE_SQUARES = 2,
+	COLLISION_BOUNDS_STYLE_ADVANCED = 3,
+	COLLISION_BOUNDS_STYLE_NONE = 4,
+	COLLISION_BOUNDS_STYLE_COUNT = 5,
+}
+public enum EVROverlayError
+{
+	None = 0,
+	UnknownOverlay = 10,
+	InvalidHandle = 11,
+	PermissionDenied = 12,
+	OverlayLimitExceeded = 13,
+	WrongVisibilityType = 14,
+	KeyTooLong = 15,
+	NameTooLong = 16,
+	KeyInUse = 17,
+	WrongTransformType = 18,
+	InvalidTrackedDevice = 19,
+	InvalidParameter = 20,
+	ThumbnailCantBeDestroyed = 21,
+	ArrayTooSmall = 22,
+	RequestFailed = 23,
+	InvalidTexture = 24,
+	UnableToLoadFile = 25,
+	KeyboardAlreadyInUse = 26,
+	NoNeighbor = 27,
+	TooManyMaskPrimitives = 29,
+	BadMaskPrimitive = 30,
+}
+public enum EVRApplicationType
+{
+	VRApplication_Other = 0,
+	VRApplication_Scene = 1,
+	VRApplication_Overlay = 2,
+	VRApplication_Background = 3,
+	VRApplication_Utility = 4,
+	VRApplication_VRMonitor = 5,
+	VRApplication_SteamWatchdog = 6,
+	VRApplication_Bootstrapper = 7,
+	VRApplication_Max = 8,
+}
+public enum EVRFirmwareError
+{
+	None = 0,
+	Success = 1,
+	Fail = 2,
+}
+public enum EVRNotificationError
+{
+	OK = 0,
+	InvalidNotificationId = 100,
+	NotificationQueueFull = 101,
+	InvalidOverlayHandle = 102,
+	SystemWithUserValueAlreadyExists = 103,
+}
+public enum EVRInitError
+{
+	None = 0,
+	Unknown = 1,
+	Init_InstallationNotFound = 100,
+	Init_InstallationCorrupt = 101,
+	Init_VRClientDLLNotFound = 102,
+	Init_FileNotFound = 103,
+	Init_FactoryNotFound = 104,
+	Init_InterfaceNotFound = 105,
+	Init_InvalidInterface = 106,
+	Init_UserConfigDirectoryInvalid = 107,
+	Init_HmdNotFound = 108,
+	Init_NotInitialized = 109,
+	Init_PathRegistryNotFound = 110,
+	Init_NoConfigPath = 111,
+	Init_NoLogPath = 112,
+	Init_PathRegistryNotWritable = 113,
+	Init_AppInfoInitFailed = 114,
+	Init_Retry = 115,
+	Init_InitCanceledByUser = 116,
+	Init_AnotherAppLaunching = 117,
+	Init_SettingsInitFailed = 118,
+	Init_ShuttingDown = 119,
+	Init_TooManyObjects = 120,
+	Init_NoServerForBackgroundApp = 121,
+	Init_NotSupportedWithCompositor = 122,
+	Init_NotAvailableToUtilityApps = 123,
+	Init_Internal = 124,
+	Init_HmdDriverIdIsNone = 125,
+	Init_HmdNotFoundPresenceFailed = 126,
+	Init_VRMonitorNotFound = 127,
+	Init_VRMonitorStartupFailed = 128,
+	Init_LowPowerWatchdogNotSupported = 129,
+	Init_InvalidApplicationType = 130,
+	Init_NotAvailableToWatchdogApps = 131,
+	Init_WatchdogDisabledInSettings = 132,
+	Init_VRDashboardNotFound = 133,
+	Init_VRDashboardStartupFailed = 134,
+	Init_VRHomeNotFound = 135,
+	Init_VRHomeStartupFailed = 136,
+	Driver_Failed = 200,
+	Driver_Unknown = 201,
+	Driver_HmdUnknown = 202,
+	Driver_NotLoaded = 203,
+	Driver_RuntimeOutOfDate = 204,
+	Driver_HmdInUse = 205,
+	Driver_NotCalibrated = 206,
+	Driver_CalibrationInvalid = 207,
+	Driver_HmdDisplayNotFound = 208,
+	Driver_TrackedDeviceInterfaceUnknown = 209,
+	Driver_HmdDriverIdOutOfBounds = 211,
+	Driver_HmdDisplayMirrored = 212,
+	IPC_ServerInitFailed = 300,
+	IPC_ConnectFailed = 301,
+	IPC_SharedStateInitFailed = 302,
+	IPC_CompositorInitFailed = 303,
+	IPC_MutexInitFailed = 304,
+	IPC_Failed = 305,
+	IPC_CompositorConnectFailed = 306,
+	IPC_CompositorInvalidConnectResponse = 307,
+	IPC_ConnectFailedAfterMultipleAttempts = 308,
+	Compositor_Failed = 400,
+	Compositor_D3D11HardwareRequired = 401,
+	Compositor_FirmwareRequiresUpdate = 402,
+	Compositor_OverlayInitFailed = 403,
+	Compositor_ScreenshotsInitFailed = 404,
+	Compositor_UnableToCreateDevice = 405,
+	VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+	VendorSpecific_HmdFound_CantOpenDevice = 1101,
+	VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
+	VendorSpecific_HmdFound_NoStoredConfig = 1103,
+	VendorSpecific_HmdFound_ConfigTooBig = 1104,
+	VendorSpecific_HmdFound_ConfigTooSmall = 1105,
+	VendorSpecific_HmdFound_UnableToInitZLib = 1106,
+	VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107,
+	VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108,
+	VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109,
+	VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110,
+	VendorSpecific_HmdFound_UserDataAddressRange = 1111,
+	VendorSpecific_HmdFound_UserDataError = 1112,
+	VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113,
+	Steam_SteamInstallationNotFound = 2000,
+}
+public enum EVRScreenshotType
+{
+	None = 0,
+	Mono = 1,
+	Stereo = 2,
+	Cubemap = 3,
+	MonoPanorama = 4,
+	StereoPanorama = 5,
+}
+public enum EVRScreenshotPropertyFilenames
+{
+	Preview = 0,
+	VR = 1,
+}
+public enum EVRTrackedCameraError
+{
+	None = 0,
+	OperationFailed = 100,
+	InvalidHandle = 101,
+	InvalidFrameHeaderVersion = 102,
+	OutOfHandles = 103,
+	IPCFailure = 104,
+	NotSupportedForThisDevice = 105,
+	SharedMemoryFailure = 106,
+	FrameBufferingFailure = 107,
+	StreamSetupFailure = 108,
+	InvalidGLTextureId = 109,
+	InvalidSharedTextureHandle = 110,
+	FailedToGetGLTextureId = 111,
+	SharedTextureFailure = 112,
+	NoFrameAvailable = 113,
+	InvalidArgument = 114,
+	InvalidFrameBufferSize = 115,
+}
+public enum EVRTrackedCameraFrameType
+{
+	Distorted = 0,
+	Undistorted = 1,
+	MaximumUndistorted = 2,
+	MAX_CAMERA_FRAME_TYPES = 3,
+}
+public enum EVRApplicationError
+{
+	None = 0,
+	AppKeyAlreadyExists = 100,
+	NoManifest = 101,
+	NoApplication = 102,
+	InvalidIndex = 103,
+	UnknownApplication = 104,
+	IPCFailed = 105,
+	ApplicationAlreadyRunning = 106,
+	InvalidManifest = 107,
+	InvalidApplication = 108,
+	LaunchFailed = 109,
+	ApplicationAlreadyStarting = 110,
+	LaunchInProgress = 111,
+	OldApplicationQuitting = 112,
+	TransitionAborted = 113,
+	IsTemplate = 114,
+	BufferTooSmall = 200,
+	PropertyNotSet = 201,
+	UnknownProperty = 202,
+	InvalidParameter = 203,
+}
+public enum EVRApplicationProperty
+{
+	Name_String = 0,
+	LaunchType_String = 11,
+	WorkingDirectory_String = 12,
+	BinaryPath_String = 13,
+	Arguments_String = 14,
+	URL_String = 15,
+	Description_String = 50,
+	NewsURL_String = 51,
+	ImagePath_String = 52,
+	Source_String = 53,
+	IsDashboardOverlay_Bool = 60,
+	IsTemplate_Bool = 61,
+	IsInstanced_Bool = 62,
+	IsInternal_Bool = 63,
+	LastLaunchTime_Uint64 = 70,
+}
+public enum EVRApplicationTransitionState
+{
+	VRApplicationTransition_None = 0,
+	VRApplicationTransition_OldAppQuitSent = 10,
+	VRApplicationTransition_WaitingForExternalLaunch = 11,
+	VRApplicationTransition_NewAppLaunched = 20,
+}
+public enum ChaperoneCalibrationState
+{
+	OK = 1,
+	Warning = 100,
+	Warning_BaseStationMayHaveMoved = 101,
+	Warning_BaseStationRemoved = 102,
+	Warning_SeatedBoundsInvalid = 103,
+	Error = 200,
+	Error_BaseStationUninitialized = 201,
+	Error_BaseStationConflict = 202,
+	Error_PlayAreaInvalid = 203,
+	Error_CollisionBoundsInvalid = 204,
+}
+public enum EChaperoneConfigFile
+{
+	Live = 1,
+	Temp = 2,
+}
+public enum EChaperoneImportFlags
+{
+	EChaperoneImport_BoundsOnly = 1,
+}
+public enum EVRCompositorError
+{
+	None = 0,
+	RequestFailed = 1,
+	IncompatibleVersion = 100,
+	DoNotHaveFocus = 101,
+	InvalidTexture = 102,
+	IsNotSceneApplication = 103,
+	TextureIsOnWrongDevice = 104,
+	TextureUsesUnsupportedFormat = 105,
+	SharedTexturesNotSupported = 106,
+	IndexOutOfRange = 107,
+	AlreadySubmitted = 108,
+}
+public enum VROverlayInputMethod
+{
+	None = 0,
+	Mouse = 1,
+}
+public enum VROverlayTransformType
+{
+	VROverlayTransform_Absolute = 0,
+	VROverlayTransform_TrackedDeviceRelative = 1,
+	VROverlayTransform_SystemOverlay = 2,
+	VROverlayTransform_TrackedComponent = 3,
+}
+public enum VROverlayFlags
+{
+	None = 0,
+	Curved = 1,
+	RGSS4X = 2,
+	NoDashboardTab = 3,
+	AcceptsGamepadEvents = 4,
+	ShowGamepadFocus = 5,
+	SendVRScrollEvents = 6,
+	SendVRTouchpadEvents = 7,
+	ShowTouchPadScrollWheel = 8,
+	TransferOwnershipToInternalProcess = 9,
+	SideBySide_Parallel = 10,
+	SideBySide_Crossed = 11,
+	Panorama = 12,
+	StereoPanorama = 13,
+	SortWithNonSceneOverlays = 14,
+	VisibleInDashboard = 15,
+}
+public enum VRMessageOverlayResponse
+{
+	ButtonPress_0 = 0,
+	ButtonPress_1 = 1,
+	ButtonPress_2 = 2,
+	ButtonPress_3 = 3,
+	CouldntFindSystemOverlay = 4,
+	CouldntFindOrCreateClientOverlay = 5,
+	ApplicationQuit = 6,
+}
+public enum EGamepadTextInputMode
+{
+	k_EGamepadTextInputModeNormal = 0,
+	k_EGamepadTextInputModePassword = 1,
+	k_EGamepadTextInputModeSubmit = 2,
+}
+public enum EGamepadTextInputLineMode
+{
+	k_EGamepadTextInputLineModeSingleLine = 0,
+	k_EGamepadTextInputLineModeMultipleLines = 1,
+}
+public enum EOverlayDirection
+{
+	Up = 0,
+	Down = 1,
+	Left = 2,
+	Right = 3,
+	Count = 4,
+}
+public enum EVROverlayIntersectionMaskPrimitiveType
+{
+	OverlayIntersectionPrimitiveType_Rectangle = 0,
+	OverlayIntersectionPrimitiveType_Circle = 1,
+}
+public enum EVRRenderModelError
+{
+	None = 0,
+	Loading = 100,
+	NotSupported = 200,
+	InvalidArg = 300,
+	InvalidModel = 301,
+	NoShapes = 302,
+	MultipleShapes = 303,
+	TooManyVertices = 304,
+	MultipleTextures = 305,
+	BufferTooSmall = 306,
+	NotEnoughNormals = 307,
+	NotEnoughTexCoords = 308,
+	InvalidTexture = 400,
+}
+public enum EVRComponentProperty
+{
+	IsStatic = 1,
+	IsVisible = 2,
+	IsTouched = 4,
+	IsPressed = 8,
+	IsScrolled = 16,
+}
+public enum EVRNotificationType
+{
+	Transient = 0,
+	Persistent = 1,
+	Transient_SystemWithUserValue = 2,
+}
+public enum EVRNotificationStyle
+{
+	None = 0,
+	Application = 100,
+	Contact_Disabled = 200,
+	Contact_Enabled = 201,
+	Contact_Active = 202,
+}
+public enum EVRSettingsError
+{
+	None = 0,
+	IPCFailed = 1,
+	WriteFailed = 2,
+	ReadFailed = 3,
+	JsonParseFailed = 4,
+	UnsetSettingHasNoDefault = 5,
+}
+public enum EVRScreenshotError
+{
+	None = 0,
+	RequestFailed = 1,
+	IncompatibleVersion = 100,
+	NotFound = 101,
+	BufferTooSmall = 102,
+	ScreenshotAlreadyInProgress = 108,
+}
+
+[StructLayout(LayoutKind.Explicit)] public struct VREvent_Data_t
+{
+	[FieldOffset(0)] public VREvent_Reserved_t reserved;
+	[FieldOffset(0)] public VREvent_Controller_t controller;
+	[FieldOffset(0)] public VREvent_Mouse_t mouse;
+	[FieldOffset(0)] public VREvent_Scroll_t scroll;
+	[FieldOffset(0)] public VREvent_Process_t process;
+	[FieldOffset(0)] public VREvent_Notification_t notification;
+	[FieldOffset(0)] public VREvent_Overlay_t overlay;
+	[FieldOffset(0)] public VREvent_Status_t status;
+	[FieldOffset(0)] public VREvent_Ipd_t ipd;
+	[FieldOffset(0)] public VREvent_Chaperone_t chaperone;
+	[FieldOffset(0)] public VREvent_PerformanceTest_t performanceTest;
+	[FieldOffset(0)] public VREvent_TouchPadMove_t touchPadMove;
+	[FieldOffset(0)] public VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+	[FieldOffset(0)] public VREvent_Screenshot_t screenshot;
+	[FieldOffset(0)] public VREvent_ScreenshotProgress_t screenshotProgress;
+	[FieldOffset(0)] public VREvent_ApplicationLaunch_t applicationLaunch;
+	[FieldOffset(0)] public VREvent_EditingCameraSurface_t cameraSurface;
+	[FieldOffset(0)] public VREvent_MessageOverlay_t messageOverlay;
+	[FieldOffset(0)] public VREvent_Keyboard_t keyboard; // This has to be at the end due to a mono bug
+}
+
+
+[StructLayout(LayoutKind.Explicit)] public struct VROverlayIntersectionMaskPrimitive_Data_t
+{
+	[FieldOffset(0)] public IntersectionMaskRectangle_t m_Rectangle;
+	[FieldOffset(0)] public IntersectionMaskCircle_t m_Circle;
+}
+
+[StructLayout(LayoutKind.Sequential)] public struct HmdMatrix34_t
+{
+	public float m0; //float[3][4]
+	public float m1;
+	public float m2;
+	public float m3;
+	public float m4;
+	public float m5;
+	public float m6;
+	public float m7;
+	public float m8;
+	public float m9;
+	public float m10;
+	public float m11;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdMatrix44_t
+{
+	public float m0; //float[4][4]
+	public float m1;
+	public float m2;
+	public float m3;
+	public float m4;
+	public float m5;
+	public float m6;
+	public float m7;
+	public float m8;
+	public float m9;
+	public float m10;
+	public float m11;
+	public float m12;
+	public float m13;
+	public float m14;
+	public float m15;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector3_t
+{
+	public float v0; //float[3]
+	public float v1;
+	public float v2;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector4_t
+{
+	public float v0; //float[4]
+	public float v1;
+	public float v2;
+	public float v3;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector3d_t
+{
+	public double v0; //double[3]
+	public double v1;
+	public double v2;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector2_t
+{
+	public float v0; //float[2]
+	public float v1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdQuaternion_t
+{
+	public double w;
+	public double x;
+	public double y;
+	public double z;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdColor_t
+{
+	public float r;
+	public float g;
+	public float b;
+	public float a;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdQuad_t
+{
+	public HmdVector3_t vCorners0; //HmdVector3_t[4]
+	public HmdVector3_t vCorners1;
+	public HmdVector3_t vCorners2;
+	public HmdVector3_t vCorners3;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdRect2_t
+{
+	public HmdVector2_t vTopLeft;
+	public HmdVector2_t vBottomRight;
+}
+[StructLayout(LayoutKind.Sequential)] public struct DistortionCoordinates_t
+{
+	public float rfRed0; //float[2]
+	public float rfRed1;
+	public float rfGreen0; //float[2]
+	public float rfGreen1;
+	public float rfBlue0; //float[2]
+	public float rfBlue1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct Texture_t
+{
+	public IntPtr handle; // void *
+	public ETextureType eType;
+	public EColorSpace eColorSpace;
+}
+[StructLayout(LayoutKind.Sequential)] public struct TrackedDevicePose_t
+{
+	public HmdMatrix34_t mDeviceToAbsoluteTracking;
+	public HmdVector3_t vVelocity;
+	public HmdVector3_t vAngularVelocity;
+	public ETrackingResult eTrackingResult;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bPoseIsValid;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bDeviceIsConnected;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRTextureBounds_t
+{
+	public float uMin;
+	public float vMin;
+	public float uMax;
+	public float vMax;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRVulkanTextureData_t
+{
+	public ulong m_nImage;
+	public IntPtr m_pDevice; // struct VkDevice_T *
+	public IntPtr m_pPhysicalDevice; // struct VkPhysicalDevice_T *
+	public IntPtr m_pInstance; // struct VkInstance_T *
+	public IntPtr m_pQueue; // struct VkQueue_T *
+	public uint m_nQueueFamilyIndex;
+	public uint m_nWidth;
+	public uint m_nHeight;
+	public uint m_nFormat;
+	public uint m_nSampleCount;
+}
+[StructLayout(LayoutKind.Sequential)] public struct D3D12TextureData_t
+{
+	public IntPtr m_pResource; // struct ID3D12Resource *
+	public IntPtr m_pCommandQueue; // struct ID3D12CommandQueue *
+	public uint m_nNodeMask;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Controller_t
+{
+	public uint button;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Mouse_t
+{
+	public float x;
+	public float y;
+	public uint button;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Scroll_t
+{
+	public float xdelta;
+	public float ydelta;
+	public uint repeatCount;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_TouchPadMove_t
+{
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bFingerDown;
+	public float flSecondsFingerDown;
+	public float fValueXFirst;
+	public float fValueYFirst;
+	public float fValueXRaw;
+	public float fValueYRaw;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Notification_t
+{
+	public ulong ulUserValue;
+	public uint notificationId;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Process_t
+{
+	public uint pid;
+	public uint oldPid;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bForced;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Overlay_t
+{
+	public ulong overlayHandle;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Status_t
+{
+	public uint statusState;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Keyboard_t
+{
+	public byte cNewInput0,cNewInput1,cNewInput2,cNewInput3,cNewInput4,cNewInput5,cNewInput6,cNewInput7;
+	public ulong uUserValue;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Ipd_t
+{
+	public float ipdMeters;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Chaperone_t
+{
+	public ulong m_nPreviousUniverse;
+	public ulong m_nCurrentUniverse;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Reserved_t
+{
+	public ulong reserved0;
+	public ulong reserved1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_PerformanceTest_t
+{
+	public uint m_nFidelityLevel;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_SeatedZeroPoseReset_t
+{
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bResetBySystemMenu;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Screenshot_t
+{
+	public uint handle;
+	public uint type;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_ScreenshotProgress_t
+{
+	public float progress;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_ApplicationLaunch_t
+{
+	public uint pid;
+	public uint unArgsHandle;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_EditingCameraSurface_t
+{
+	public ulong overlayHandle;
+	public uint nVisualMode;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_MessageOverlay_t
+{
+	public uint unVRMessageOverlayResponse;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Property_t
+{
+	public ulong container;
+	public ETrackedDeviceProperty prop;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_t
+{
+	public uint eventType;
+	public uint trackedDeviceIndex;
+	public float eventAgeSeconds;
+	public VREvent_Data_t data;
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct VREvent_t_Packed
+{
+	public uint eventType;
+	public uint trackedDeviceIndex;
+	public float eventAgeSeconds;
+	public VREvent_Data_t data;
+	public VREvent_t_Packed(VREvent_t unpacked)
+	{
+		this.eventType = unpacked.eventType;
+		this.trackedDeviceIndex = unpacked.trackedDeviceIndex;
+		this.eventAgeSeconds = unpacked.eventAgeSeconds;
+		this.data = unpacked.data;
+	}
+	public void Unpack(ref VREvent_t unpacked)
+	{
+		unpacked.eventType = this.eventType;
+		unpacked.trackedDeviceIndex = this.trackedDeviceIndex;
+		unpacked.eventAgeSeconds = this.eventAgeSeconds;
+		unpacked.data = this.data;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct HiddenAreaMesh_t
+{
+	public IntPtr pVertexData; // const struct vr::HmdVector2_t *
+	public uint unTriangleCount;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRControllerAxis_t
+{
+	public float x;
+	public float y;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRControllerState_t
+{
+	public uint unPacketNum;
+	public ulong ulButtonPressed;
+	public ulong ulButtonTouched;
+	public VRControllerAxis_t rAxis0; //VRControllerAxis_t[5]
+	public VRControllerAxis_t rAxis1;
+	public VRControllerAxis_t rAxis2;
+	public VRControllerAxis_t rAxis3;
+	public VRControllerAxis_t rAxis4;
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct VRControllerState_t_Packed
+{
+	public uint unPacketNum;
+	public ulong ulButtonPressed;
+	public ulong ulButtonTouched;
+	public VRControllerAxis_t rAxis0; //VRControllerAxis_t[5]
+	public VRControllerAxis_t rAxis1;
+	public VRControllerAxis_t rAxis2;
+	public VRControllerAxis_t rAxis3;
+	public VRControllerAxis_t rAxis4;
+	public VRControllerState_t_Packed(VRControllerState_t unpacked)
+	{
+		this.unPacketNum = unpacked.unPacketNum;
+		this.ulButtonPressed = unpacked.ulButtonPressed;
+		this.ulButtonTouched = unpacked.ulButtonTouched;
+		this.rAxis0 = unpacked.rAxis0;
+		this.rAxis1 = unpacked.rAxis1;
+		this.rAxis2 = unpacked.rAxis2;
+		this.rAxis3 = unpacked.rAxis3;
+		this.rAxis4 = unpacked.rAxis4;
+	}
+	public void Unpack(ref VRControllerState_t unpacked)
+	{
+		unpacked.unPacketNum = this.unPacketNum;
+		unpacked.ulButtonPressed = this.ulButtonPressed;
+		unpacked.ulButtonTouched = this.ulButtonTouched;
+		unpacked.rAxis0 = this.rAxis0;
+		unpacked.rAxis1 = this.rAxis1;
+		unpacked.rAxis2 = this.rAxis2;
+		unpacked.rAxis3 = this.rAxis3;
+		unpacked.rAxis4 = this.rAxis4;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct Compositor_OverlaySettings
+{
+	public uint size;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool curved;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool antialias;
+	public float scale;
+	public float distance;
+	public float alpha;
+	public float uOffset;
+	public float vOffset;
+	public float uScale;
+	public float vScale;
+	public float gridDivs;
+	public float gridWidth;
+	public float gridScale;
+	public HmdMatrix44_t transform;
+}
+[StructLayout(LayoutKind.Sequential)] public struct CameraVideoStreamFrameHeader_t
+{
+	public EVRTrackedCameraFrameType eFrameType;
+	public uint nWidth;
+	public uint nHeight;
+	public uint nBytesPerPixel;
+	public uint nFrameSequence;
+	public TrackedDevicePose_t standingTrackedDevicePose;
+}
+[StructLayout(LayoutKind.Sequential)] public struct AppOverrideKeys_t
+{
+	public IntPtr pchKey; // const char *
+	public IntPtr pchValue; // const char *
+}
+[StructLayout(LayoutKind.Sequential)] public struct Compositor_FrameTiming
+{
+	public uint m_nSize;
+	public uint m_nFrameIndex;
+	public uint m_nNumFramePresents;
+	public uint m_nNumMisPresented;
+	public uint m_nNumDroppedFrames;
+	public uint m_nReprojectionFlags;
+	public double m_flSystemTimeInSeconds;
+	public float m_flPreSubmitGpuMs;
+	public float m_flPostSubmitGpuMs;
+	public float m_flTotalRenderGpuMs;
+	public float m_flCompositorRenderGpuMs;
+	public float m_flCompositorRenderCpuMs;
+	public float m_flCompositorIdleCpuMs;
+	public float m_flClientFrameIntervalMs;
+	public float m_flPresentCallCpuMs;
+	public float m_flWaitForPresentCpuMs;
+	public float m_flSubmitFrameMs;
+	public float m_flWaitGetPosesCalledMs;
+	public float m_flNewPosesReadyMs;
+	public float m_flNewFrameReadyMs;
+	public float m_flCompositorUpdateStartMs;
+	public float m_flCompositorUpdateEndMs;
+	public float m_flCompositorRenderStartMs;
+	public TrackedDevicePose_t m_HmdPose;
+}
+[StructLayout(LayoutKind.Sequential)] public struct Compositor_CumulativeStats
+{
+	public uint m_nPid;
+	public uint m_nNumFramePresents;
+	public uint m_nNumDroppedFrames;
+	public uint m_nNumReprojectedFrames;
+	public uint m_nNumFramePresentsOnStartup;
+	public uint m_nNumDroppedFramesOnStartup;
+	public uint m_nNumReprojectedFramesOnStartup;
+	public uint m_nNumLoading;
+	public uint m_nNumFramePresentsLoading;
+	public uint m_nNumDroppedFramesLoading;
+	public uint m_nNumReprojectedFramesLoading;
+	public uint m_nNumTimedOut;
+	public uint m_nNumFramePresentsTimedOut;
+	public uint m_nNumDroppedFramesTimedOut;
+	public uint m_nNumReprojectedFramesTimedOut;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionParams_t
+{
+	public HmdVector3_t vSource;
+	public HmdVector3_t vDirection;
+	public ETrackingUniverseOrigin eOrigin;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionResults_t
+{
+	public HmdVector3_t vPoint;
+	public HmdVector3_t vNormal;
+	public HmdVector2_t vUVs;
+	public float fDistance;
+}
+[StructLayout(LayoutKind.Sequential)] public struct IntersectionMaskRectangle_t
+{
+	public float m_flTopLeftX;
+	public float m_flTopLeftY;
+	public float m_flWidth;
+	public float m_flHeight;
+}
+[StructLayout(LayoutKind.Sequential)] public struct IntersectionMaskCircle_t
+{
+	public float m_flCenterX;
+	public float m_flCenterY;
+	public float m_flRadius;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionMaskPrimitive_t
+{
+	public EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType;
+	public VROverlayIntersectionMaskPrimitive_Data_t m_Primitive;
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_ComponentState_t
+{
+	public HmdMatrix34_t mTrackingToComponentRenderModel;
+	public HmdMatrix34_t mTrackingToComponentLocal;
+	public uint uProperties;
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_Vertex_t
+{
+	public HmdVector3_t vPosition;
+	public HmdVector3_t vNormal;
+	public float rfTextureCoord0; //float[2]
+	public float rfTextureCoord1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_TextureMap_t
+{
+	public char unWidth;
+	public char unHeight;
+	public IntPtr rubTextureMapData; // const uint8_t *
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct RenderModel_TextureMap_t_Packed
+{
+	public char unWidth;
+	public char unHeight;
+	public IntPtr rubTextureMapData; // const uint8_t *
+	public RenderModel_TextureMap_t_Packed(RenderModel_TextureMap_t unpacked)
+	{
+		this.unWidth = unpacked.unWidth;
+		this.unHeight = unpacked.unHeight;
+		this.rubTextureMapData = unpacked.rubTextureMapData;
+	}
+	public void Unpack(ref RenderModel_TextureMap_t unpacked)
+	{
+		unpacked.unWidth = this.unWidth;
+		unpacked.unHeight = this.unHeight;
+		unpacked.rubTextureMapData = this.rubTextureMapData;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_t
+{
+	public IntPtr rVertexData; // const struct vr::RenderModel_Vertex_t *
+	public uint unVertexCount;
+	public IntPtr rIndexData; // const uint16_t *
+	public uint unTriangleCount;
+	public int diffuseTextureId;
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct RenderModel_t_Packed
+{
+	public IntPtr rVertexData; // const struct vr::RenderModel_Vertex_t *
+	public uint unVertexCount;
+	public IntPtr rIndexData; // const uint16_t *
+	public uint unTriangleCount;
+	public int diffuseTextureId;
+	public RenderModel_t_Packed(RenderModel_t unpacked)
+	{
+		this.rVertexData = unpacked.rVertexData;
+		this.unVertexCount = unpacked.unVertexCount;
+		this.rIndexData = unpacked.rIndexData;
+		this.unTriangleCount = unpacked.unTriangleCount;
+		this.diffuseTextureId = unpacked.diffuseTextureId;
+	}
+	public void Unpack(ref RenderModel_t unpacked)
+	{
+		unpacked.rVertexData = this.rVertexData;
+		unpacked.unVertexCount = this.unVertexCount;
+		unpacked.rIndexData = this.rIndexData;
+		unpacked.unTriangleCount = this.unTriangleCount;
+		unpacked.diffuseTextureId = this.diffuseTextureId;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_ControllerMode_State_t
+{
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bScrollWheelVisible;
+}
+[StructLayout(LayoutKind.Sequential)] public struct NotificationBitmap_t
+{
+	public IntPtr m_pImageData; // void *
+	public int m_nWidth;
+	public int m_nHeight;
+	public int m_nBytesPerPixel;
+}
+[StructLayout(LayoutKind.Sequential)] public struct COpenVRContext
+{
+	public IntPtr m_pVRSystem; // class vr::IVRSystem *
+	public IntPtr m_pVRChaperone; // class vr::IVRChaperone *
+	public IntPtr m_pVRChaperoneSetup; // class vr::IVRChaperoneSetup *
+	public IntPtr m_pVRCompositor; // class vr::IVRCompositor *
+	public IntPtr m_pVROverlay; // class vr::IVROverlay *
+	public IntPtr m_pVRResources; // class vr::IVRResources *
+	public IntPtr m_pVRRenderModels; // class vr::IVRRenderModels *
+	public IntPtr m_pVRExtendedDisplay; // class vr::IVRExtendedDisplay *
+	public IntPtr m_pVRSettings; // class vr::IVRSettings *
+	public IntPtr m_pVRApplications; // class vr::IVRApplications *
+	public IntPtr m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
+	public IntPtr m_pVRScreenshots; // class vr::IVRScreenshots *
+	public IntPtr m_pVRDriverManager; // class vr::IVRDriverManager *
+}
+
+public class OpenVR
+{
+
+	public static uint InitInternal(ref EVRInitError peError, EVRApplicationType eApplicationType)
+	{
+		return OpenVRInterop.InitInternal(ref peError, eApplicationType);
+	}
+
+	public static void ShutdownInternal()
+	{
+		OpenVRInterop.ShutdownInternal();
+	}
+
+	public static bool IsHmdPresent()
+	{
+		return OpenVRInterop.IsHmdPresent();
+	}
+
+	public static bool IsRuntimeInstalled()
+	{
+		return OpenVRInterop.IsRuntimeInstalled();
+	}
+
+	public static string GetStringForHmdError(EVRInitError error)
+	{
+		return Marshal.PtrToStringAnsi(OpenVRInterop.GetStringForHmdError(error));
+	}
+
+	public static IntPtr GetGenericInterface(string pchInterfaceVersion, ref EVRInitError peError)
+	{
+		return OpenVRInterop.GetGenericInterface(pchInterfaceVersion, ref peError);
+	}
+
+	public static bool IsInterfaceVersionValid(string pchInterfaceVersion)
+	{
+		return OpenVRInterop.IsInterfaceVersionValid(pchInterfaceVersion);
+	}
+
+	public static uint GetInitToken()
+	{
+		return OpenVRInterop.GetInitToken();
+	}
+
+	public const uint k_nDriverNone = 4294967295;
+	public const uint k_unMaxDriverDebugResponseSize = 32768;
+	public const uint k_unTrackedDeviceIndex_Hmd = 0;
+	public const uint k_unMaxTrackedDeviceCount = 16;
+	public const uint k_unTrackedDeviceIndexOther = 4294967294;
+	public const uint k_unTrackedDeviceIndexInvalid = 4294967295;
+	public const ulong k_ulInvalidPropertyContainer = 0;
+	public const uint k_unInvalidPropertyTag = 0;
+	public const uint k_unFloatPropertyTag = 1;
+	public const uint k_unInt32PropertyTag = 2;
+	public const uint k_unUint64PropertyTag = 3;
+	public const uint k_unBoolPropertyTag = 4;
+	public const uint k_unStringPropertyTag = 5;
+	public const uint k_unHmdMatrix34PropertyTag = 20;
+	public const uint k_unHmdMatrix44PropertyTag = 21;
+	public const uint k_unHmdVector3PropertyTag = 22;
+	public const uint k_unHmdVector4PropertyTag = 23;
+	public const uint k_unHiddenAreaPropertyTag = 30;
+	public const uint k_unOpenVRInternalReserved_Start = 1000;
+	public const uint k_unOpenVRInternalReserved_End = 10000;
+	public const uint k_unMaxPropertyStringSize = 32768;
+	public const uint k_unControllerStateAxisCount = 5;
+	public const ulong k_ulOverlayHandleInvalid = 0;
+	public const uint k_unScreenshotHandleInvalid = 0;
+	public const string IVRSystem_Version = "IVRSystem_016";
+	public const string IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
+	public const string IVRTrackedCamera_Version = "IVRTrackedCamera_003";
+	public const uint k_unMaxApplicationKeyLength = 128;
+	public const string k_pch_MimeType_HomeApp = "vr/home";
+	public const string k_pch_MimeType_GameTheater = "vr/game_theater";
+	public const string IVRApplications_Version = "IVRApplications_006";
+	public const string IVRChaperone_Version = "IVRChaperone_003";
+	public const string IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
+	public const string IVRCompositor_Version = "IVRCompositor_020";
+	public const uint k_unVROverlayMaxKeyLength = 128;
+	public const uint k_unVROverlayMaxNameLength = 128;
+	public const uint k_unMaxOverlayCount = 64;
+	public const uint k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
+	public const string IVROverlay_Version = "IVROverlay_016";
+	public const string k_pch_Controller_Component_GDC2015 = "gdc2015";
+	public const string k_pch_Controller_Component_Base = "base";
+	public const string k_pch_Controller_Component_Tip = "tip";
+	public const string k_pch_Controller_Component_HandGrip = "handgrip";
+	public const string k_pch_Controller_Component_Status = "status";
+	public const string IVRRenderModels_Version = "IVRRenderModels_005";
+	public const uint k_unNotificationTextMaxSize = 256;
+	public const string IVRNotifications_Version = "IVRNotifications_002";
+	public const uint k_unMaxSettingsKeyLength = 128;
+	public const string IVRSettings_Version = "IVRSettings_002";
+	public const string k_pch_SteamVR_Section = "steamvr";
+	public const string k_pch_SteamVR_RequireHmd_String = "requireHmd";
+	public const string k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+	public const string k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+	public const string k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+	public const string k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+	public const string k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+	public const string k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+	public const string k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps";
+	public const string k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+	public const string k_pch_SteamVR_IPD_Float = "ipd";
+	public const string k_pch_SteamVR_Background_String = "background";
+	public const string k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+	public const string k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+	public const string k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+	public const string k_pch_SteamVR_GridColor_String = "gridColor";
+	public const string k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+	public const string k_pch_SteamVR_ShowStage_Bool = "showStage";
+	public const string k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+	public const string k_pch_SteamVR_DirectMode_Bool = "directMode";
+	public const string k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+	public const string k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+	public const string k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+	public const string k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+	public const string k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+	public const string k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+	public const string k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+	public const string k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+	public const string k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+	public const string k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+	public const string k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+	public const string k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+	public const string k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+	public const string k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+	public const string k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+	public const string k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+	public const string k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+	public const string k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+	public const string k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+	public const string k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+	public const string k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+	public const string k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	public const string k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+	public const string k_pch_Lighthouse_Section = "driver_lighthouse";
+	public const string k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+	public const string k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+	public const string k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+	public const string k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+	public const string k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+	public const string k_pch_Null_Section = "driver_null";
+	public const string k_pch_Null_SerialNumber_String = "serialNumber";
+	public const string k_pch_Null_ModelNumber_String = "modelNumber";
+	public const string k_pch_Null_WindowX_Int32 = "windowX";
+	public const string k_pch_Null_WindowY_Int32 = "windowY";
+	public const string k_pch_Null_WindowWidth_Int32 = "windowWidth";
+	public const string k_pch_Null_WindowHeight_Int32 = "windowHeight";
+	public const string k_pch_Null_RenderWidth_Int32 = "renderWidth";
+	public const string k_pch_Null_RenderHeight_Int32 = "renderHeight";
+	public const string k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+	public const string k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+	public const string k_pch_UserInterface_Section = "userinterface";
+	public const string k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+	public const string k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+	public const string k_pch_UserInterface_Screenshots_Bool = "screenshots";
+	public const string k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+	public const string k_pch_Notifications_Section = "notifications";
+	public const string k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+	public const string k_pch_Keyboard_Section = "keyboard";
+	public const string k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+	public const string k_pch_Keyboard_ScaleX = "ScaleX";
+	public const string k_pch_Keyboard_ScaleY = "ScaleY";
+	public const string k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+	public const string k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+	public const string k_pch_Keyboard_OffsetY = "OffsetY";
+	public const string k_pch_Keyboard_Smoothing = "Smoothing";
+	public const string k_pch_Perf_Section = "perfcheck";
+	public const string k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+	public const string k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+	public const string k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+	public const string k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+	public const string k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+	public const string k_pch_Perf_TestData_Float = "perfTestData";
+	public const string k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+	public const string k_pch_CollisionBounds_Section = "collisionBounds";
+	public const string k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+	public const string k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+	public const string k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+	public const string k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+	public const string k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+	public const string k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+	public const string k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+	public const string k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+	public const string k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+	public const string k_pch_Camera_Section = "camera";
+	public const string k_pch_Camera_EnableCamera_Bool = "enableCamera";
+	public const string k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+	public const string k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+	public const string k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+	public const string k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+	public const string k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+	public const string k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+	public const string k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+	public const string k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+	public const string k_pch_audio_Section = "audio";
+	public const string k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+	public const string k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+	public const string k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+	public const string k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+	public const string k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+	public const string k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+	public const string k_pch_Power_Section = "power";
+	public const string k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+	public const string k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+	public const string k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+	public const string k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+	public const string k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+	public const string k_pch_Dashboard_Section = "dashboard";
+	public const string k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+	public const string k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+	public const string k_pch_modelskin_Section = "modelskins";
+	public const string k_pch_Driver_Enable_Bool = "enable";
+	public const string IVRScreenshots_Version = "IVRScreenshots_001";
+	public const string IVRResources_Version = "IVRResources_001";
+	public const string IVRDriverManager_Version = "IVRDriverManager_001";
+
+	static uint VRToken { get; set; }
+
+	const string FnTable_Prefix = "FnTable:";
+
+	class COpenVRContext
+	{
+		public COpenVRContext() { Clear(); }
+
+		public void Clear()
+		{
+			m_pVRSystem = null;
+			m_pVRChaperone = null;
+			m_pVRChaperoneSetup = null;
+			m_pVRCompositor = null;
+			m_pVROverlay = null;
+			m_pVRRenderModels = null;
+			m_pVRExtendedDisplay = null;
+			m_pVRSettings = null;
+			m_pVRApplications = null;
+			m_pVRScreenshots = null;
+			m_pVRTrackedCamera = null;
+		}
+
+		void CheckClear()
+		{
+			if (VRToken != GetInitToken())
+			{
+				Clear();
+				VRToken = GetInitToken();
+			}
+		}
+
+		public CVRSystem VRSystem()
+		{
+			CheckClear();
+			if (m_pVRSystem == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRSystem_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRSystem = new CVRSystem(pInterface);
+			}
+			return m_pVRSystem;
+		}
+
+		public CVRChaperone VRChaperone()
+		{
+			CheckClear();
+			if (m_pVRChaperone == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRChaperone_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRChaperone = new CVRChaperone(pInterface);
+			}
+			return m_pVRChaperone;
+		}
+
+		public CVRChaperoneSetup VRChaperoneSetup()
+		{
+			CheckClear();
+			if (m_pVRChaperoneSetup == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRChaperoneSetup_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRChaperoneSetup = new CVRChaperoneSetup(pInterface);
+			}
+			return m_pVRChaperoneSetup;
+		}
+
+		public CVRCompositor VRCompositor()
+		{
+			CheckClear();
+			if (m_pVRCompositor == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRCompositor_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRCompositor = new CVRCompositor(pInterface);
+			}
+			return m_pVRCompositor;
+		}
+
+		public CVROverlay VROverlay()
+		{
+			CheckClear();
+			if (m_pVROverlay == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVROverlay_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVROverlay = new CVROverlay(pInterface);
+			}
+			return m_pVROverlay;
+		}
+
+		public CVRRenderModels VRRenderModels()
+		{
+			CheckClear();
+			if (m_pVRRenderModels == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRRenderModels_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRRenderModels = new CVRRenderModels(pInterface);
+			}
+			return m_pVRRenderModels;
+		}
+
+		public CVRExtendedDisplay VRExtendedDisplay()
+		{
+			CheckClear();
+			if (m_pVRExtendedDisplay == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRExtendedDisplay_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRExtendedDisplay = new CVRExtendedDisplay(pInterface);
+			}
+			return m_pVRExtendedDisplay;
+		}
+
+		public CVRSettings VRSettings()
+		{
+			CheckClear();
+			if (m_pVRSettings == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRSettings_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRSettings = new CVRSettings(pInterface);
+			}
+			return m_pVRSettings;
+		}
+
+		public CVRApplications VRApplications()
+		{
+			CheckClear();
+			if (m_pVRApplications == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRApplications_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRApplications = new CVRApplications(pInterface);
+			}
+			return m_pVRApplications;
+		}
+
+		public CVRScreenshots VRScreenshots()
+		{
+			CheckClear();
+			if (m_pVRScreenshots == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRScreenshots_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRScreenshots = new CVRScreenshots(pInterface);
+			}
+			return m_pVRScreenshots;
+		}
+
+		public CVRTrackedCamera VRTrackedCamera()
+		{
+			CheckClear();
+			if (m_pVRTrackedCamera == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRTrackedCamera_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRTrackedCamera = new CVRTrackedCamera(pInterface);
+			}
+			return m_pVRTrackedCamera;
+		}
+
+		private CVRSystem m_pVRSystem;
+		private CVRChaperone m_pVRChaperone;
+		private CVRChaperoneSetup m_pVRChaperoneSetup;
+		private CVRCompositor m_pVRCompositor;
+		private CVROverlay m_pVROverlay;
+		private CVRRenderModels m_pVRRenderModels;
+		private CVRExtendedDisplay m_pVRExtendedDisplay;
+		private CVRSettings m_pVRSettings;
+		private CVRApplications m_pVRApplications;
+		private CVRScreenshots m_pVRScreenshots;
+		private CVRTrackedCamera m_pVRTrackedCamera;
+	};
+
+	private static COpenVRContext _OpenVRInternal_ModuleContext = null;
+	static COpenVRContext OpenVRInternal_ModuleContext
+	{
+		get
+		{
+			if (_OpenVRInternal_ModuleContext == null)
+				_OpenVRInternal_ModuleContext = new COpenVRContext();
+			return _OpenVRInternal_ModuleContext;
+		}
+	}
+
+	public static CVRSystem System { get { return OpenVRInternal_ModuleContext.VRSystem(); } }
+	public static CVRChaperone Chaperone { get { return OpenVRInternal_ModuleContext.VRChaperone(); } }
+	public static CVRChaperoneSetup ChaperoneSetup { get { return OpenVRInternal_ModuleContext.VRChaperoneSetup(); } }
+	public static CVRCompositor Compositor { get { return OpenVRInternal_ModuleContext.VRCompositor(); } }
+	public static CVROverlay Overlay { get { return OpenVRInternal_ModuleContext.VROverlay(); } }
+	public static CVRRenderModels RenderModels { get { return OpenVRInternal_ModuleContext.VRRenderModels(); } }
+	public static CVRExtendedDisplay ExtendedDisplay { get { return OpenVRInternal_ModuleContext.VRExtendedDisplay(); } }
+	public static CVRSettings Settings { get { return OpenVRInternal_ModuleContext.VRSettings(); } }
+	public static CVRApplications Applications { get { return OpenVRInternal_ModuleContext.VRApplications(); } }
+	public static CVRScreenshots Screenshots { get { return OpenVRInternal_ModuleContext.VRScreenshots(); } }
+	public static CVRTrackedCamera TrackedCamera { get { return OpenVRInternal_ModuleContext.VRTrackedCamera(); } }
+
+	/** Finds the active installation of vrclient.dll and initializes it */
+	public static CVRSystem Init(ref EVRInitError peError, EVRApplicationType eApplicationType = EVRApplicationType.VRApplication_Scene)
+	{
+		VRToken = InitInternal(ref peError, eApplicationType);
+		OpenVRInternal_ModuleContext.Clear();
+
+		if (peError != EVRInitError.None)
+			return null;
+
+		bool bInterfaceValid = IsInterfaceVersionValid(IVRSystem_Version);
+		if (!bInterfaceValid)
+		{
+			ShutdownInternal();
+			peError = EVRInitError.Init_InterfaceNotFound;
+			return null;
+		}
+
+		return OpenVR.System;
+	}
+
+	/** unloads vrclient.dll. Any interface pointers from the interface are
+	* invalid after this point */
+	public static void Shutdown()
+	{
+		ShutdownInternal();
+	}
+
+}
+
+
+
+}
+
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_api.json b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_api.json
new file mode 100644
index 000000000..bd76ded9f
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_api.json
@@ -0,0 +1,3887 @@
+{"typedefs":[{"typedef": "vr::glSharedTextureHandle_t","type": "void *"}
+,{"typedef": "vr::glInt_t","type": "int32_t"}
+,{"typedef": "vr::glUInt_t","type": "uint32_t"}
+,{"typedef": "vr::SharedTextureHandle_t","type": "uint64_t"}
+,{"typedef": "vr::DriverId_t","type": "uint32_t"}
+,{"typedef": "vr::TrackedDeviceIndex_t","type": "uint32_t"}
+,{"typedef": "vr::PropertyContainerHandle_t","type": "uint64_t"}
+,{"typedef": "vr::PropertyTypeTag_t","type": "uint32_t"}
+,{"typedef": "vr::VREvent_Data_t","type": "union VREvent_Data_t"}
+,{"typedef": "vr::VRControllerState_t","type": "struct vr::VRControllerState001_t"}
+,{"typedef": "vr::VROverlayHandle_t","type": "uint64_t"}
+,{"typedef": "vr::TrackedCameraHandle_t","type": "uint64_t"}
+,{"typedef": "vr::ScreenshotHandle_t","type": "uint32_t"}
+,{"typedef": "vr::VROverlayIntersectionMaskPrimitive_Data_t","type": "union VROverlayIntersectionMaskPrimitive_Data_t"}
+,{"typedef": "vr::VRComponentProperties","type": "uint32_t"}
+,{"typedef": "vr::TextureID_t","type": "int32_t"}
+,{"typedef": "vr::VRNotificationId","type": "uint32_t"}
+,{"typedef": "vr::HmdError","type": "enum vr::EVRInitError"}
+,{"typedef": "vr::Hmd_Eye","type": "enum vr::EVREye"}
+,{"typedef": "vr::ColorSpace","type": "enum vr::EColorSpace"}
+,{"typedef": "vr::HmdTrackingResult","type": "enum vr::ETrackingResult"}
+,{"typedef": "vr::TrackedDeviceClass","type": "enum vr::ETrackedDeviceClass"}
+,{"typedef": "vr::TrackingUniverseOrigin","type": "enum vr::ETrackingUniverseOrigin"}
+,{"typedef": "vr::TrackedDeviceProperty","type": "enum vr::ETrackedDeviceProperty"}
+,{"typedef": "vr::TrackedPropertyError","type": "enum vr::ETrackedPropertyError"}
+,{"typedef": "vr::VRSubmitFlags_t","type": "enum vr::EVRSubmitFlags"}
+,{"typedef": "vr::VRState_t","type": "enum vr::EVRState"}
+,{"typedef": "vr::CollisionBoundsStyle_t","type": "enum vr::ECollisionBoundsStyle"}
+,{"typedef": "vr::VROverlayError","type": "enum vr::EVROverlayError"}
+,{"typedef": "vr::VRFirmwareError","type": "enum vr::EVRFirmwareError"}
+,{"typedef": "vr::VRCompositorError","type": "enum vr::EVRCompositorError"}
+,{"typedef": "vr::VRScreenshotsError","type": "enum vr::EVRScreenshotError"}
+],
+"enums":[
+	{"enumname": "vr::EVREye","values": [ 
+	{"name": "Eye_Left","value": "0"}
+	,{"name": "Eye_Right","value": "1"}
+]}
+,	{"enumname": "vr::ETextureType","values": [ 
+	{"name": "TextureType_DirectX","value": "0"}
+	,{"name": "TextureType_OpenGL","value": "1"}
+	,{"name": "TextureType_Vulkan","value": "2"}
+	,{"name": "TextureType_IOSurface","value": "3"}
+	,{"name": "TextureType_DirectX12","value": "4"}
+]}
+,	{"enumname": "vr::EColorSpace","values": [ 
+	{"name": "ColorSpace_Auto","value": "0"}
+	,{"name": "ColorSpace_Gamma","value": "1"}
+	,{"name": "ColorSpace_Linear","value": "2"}
+]}
+,	{"enumname": "vr::ETrackingResult","values": [ 
+	{"name": "TrackingResult_Uninitialized","value": "1"}
+	,{"name": "TrackingResult_Calibrating_InProgress","value": "100"}
+	,{"name": "TrackingResult_Calibrating_OutOfRange","value": "101"}
+	,{"name": "TrackingResult_Running_OK","value": "200"}
+	,{"name": "TrackingResult_Running_OutOfRange","value": "201"}
+]}
+,	{"enumname": "vr::ETrackedDeviceClass","values": [ 
+	{"name": "TrackedDeviceClass_Invalid","value": "0"}
+	,{"name": "TrackedDeviceClass_HMD","value": "1"}
+	,{"name": "TrackedDeviceClass_Controller","value": "2"}
+	,{"name": "TrackedDeviceClass_GenericTracker","value": "3"}
+	,{"name": "TrackedDeviceClass_TrackingReference","value": "4"}
+	,{"name": "TrackedDeviceClass_DisplayRedirect","value": "5"}
+]}
+,	{"enumname": "vr::ETrackedControllerRole","values": [ 
+	{"name": "TrackedControllerRole_Invalid","value": "0"}
+	,{"name": "TrackedControllerRole_LeftHand","value": "1"}
+	,{"name": "TrackedControllerRole_RightHand","value": "2"}
+]}
+,	{"enumname": "vr::ETrackingUniverseOrigin","values": [ 
+	{"name": "TrackingUniverseSeated","value": "0"}
+	,{"name": "TrackingUniverseStanding","value": "1"}
+	,{"name": "TrackingUniverseRawAndUncalibrated","value": "2"}
+]}
+,	{"enumname": "vr::ETrackedDeviceProperty","values": [ 
+	{"name": "Prop_Invalid","value": "0"}
+	,{"name": "Prop_TrackingSystemName_String","value": "1000"}
+	,{"name": "Prop_ModelNumber_String","value": "1001"}
+	,{"name": "Prop_SerialNumber_String","value": "1002"}
+	,{"name": "Prop_RenderModelName_String","value": "1003"}
+	,{"name": "Prop_WillDriftInYaw_Bool","value": "1004"}
+	,{"name": "Prop_ManufacturerName_String","value": "1005"}
+	,{"name": "Prop_TrackingFirmwareVersion_String","value": "1006"}
+	,{"name": "Prop_HardwareRevision_String","value": "1007"}
+	,{"name": "Prop_AllWirelessDongleDescriptions_String","value": "1008"}
+	,{"name": "Prop_ConnectedWirelessDongle_String","value": "1009"}
+	,{"name": "Prop_DeviceIsWireless_Bool","value": "1010"}
+	,{"name": "Prop_DeviceIsCharging_Bool","value": "1011"}
+	,{"name": "Prop_DeviceBatteryPercentage_Float","value": "1012"}
+	,{"name": "Prop_StatusDisplayTransform_Matrix34","value": "1013"}
+	,{"name": "Prop_Firmware_UpdateAvailable_Bool","value": "1014"}
+	,{"name": "Prop_Firmware_ManualUpdate_Bool","value": "1015"}
+	,{"name": "Prop_Firmware_ManualUpdateURL_String","value": "1016"}
+	,{"name": "Prop_HardwareRevision_Uint64","value": "1017"}
+	,{"name": "Prop_FirmwareVersion_Uint64","value": "1018"}
+	,{"name": "Prop_FPGAVersion_Uint64","value": "1019"}
+	,{"name": "Prop_VRCVersion_Uint64","value": "1020"}
+	,{"name": "Prop_RadioVersion_Uint64","value": "1021"}
+	,{"name": "Prop_DongleVersion_Uint64","value": "1022"}
+	,{"name": "Prop_BlockServerShutdown_Bool","value": "1023"}
+	,{"name": "Prop_CanUnifyCoordinateSystemWithHmd_Bool","value": "1024"}
+	,{"name": "Prop_ContainsProximitySensor_Bool","value": "1025"}
+	,{"name": "Prop_DeviceProvidesBatteryStatus_Bool","value": "1026"}
+	,{"name": "Prop_DeviceCanPowerOff_Bool","value": "1027"}
+	,{"name": "Prop_Firmware_ProgrammingTarget_String","value": "1028"}
+	,{"name": "Prop_DeviceClass_Int32","value": "1029"}
+	,{"name": "Prop_HasCamera_Bool","value": "1030"}
+	,{"name": "Prop_DriverVersion_String","value": "1031"}
+	,{"name": "Prop_Firmware_ForceUpdateRequired_Bool","value": "1032"}
+	,{"name": "Prop_ViveSystemButtonFixRequired_Bool","value": "1033"}
+	,{"name": "Prop_ParentDriver_Uint64","value": "1034"}
+	,{"name": "Prop_ResourceRoot_String","value": "1035"}
+	,{"name": "Prop_ReportsTimeSinceVSync_Bool","value": "2000"}
+	,{"name": "Prop_SecondsFromVsyncToPhotons_Float","value": "2001"}
+	,{"name": "Prop_DisplayFrequency_Float","value": "2002"}
+	,{"name": "Prop_UserIpdMeters_Float","value": "2003"}
+	,{"name": "Prop_CurrentUniverseId_Uint64","value": "2004"}
+	,{"name": "Prop_PreviousUniverseId_Uint64","value": "2005"}
+	,{"name": "Prop_DisplayFirmwareVersion_Uint64","value": "2006"}
+	,{"name": "Prop_IsOnDesktop_Bool","value": "2007"}
+	,{"name": "Prop_DisplayMCType_Int32","value": "2008"}
+	,{"name": "Prop_DisplayMCOffset_Float","value": "2009"}
+	,{"name": "Prop_DisplayMCScale_Float","value": "2010"}
+	,{"name": "Prop_EdidVendorID_Int32","value": "2011"}
+	,{"name": "Prop_DisplayMCImageLeft_String","value": "2012"}
+	,{"name": "Prop_DisplayMCImageRight_String","value": "2013"}
+	,{"name": "Prop_DisplayGCBlackClamp_Float","value": "2014"}
+	,{"name": "Prop_EdidProductID_Int32","value": "2015"}
+	,{"name": "Prop_CameraToHeadTransform_Matrix34","value": "2016"}
+	,{"name": "Prop_DisplayGCType_Int32","value": "2017"}
+	,{"name": "Prop_DisplayGCOffset_Float","value": "2018"}
+	,{"name": "Prop_DisplayGCScale_Float","value": "2019"}
+	,{"name": "Prop_DisplayGCPrescale_Float","value": "2020"}
+	,{"name": "Prop_DisplayGCImage_String","value": "2021"}
+	,{"name": "Prop_LensCenterLeftU_Float","value": "2022"}
+	,{"name": "Prop_LensCenterLeftV_Float","value": "2023"}
+	,{"name": "Prop_LensCenterRightU_Float","value": "2024"}
+	,{"name": "Prop_LensCenterRightV_Float","value": "2025"}
+	,{"name": "Prop_UserHeadToEyeDepthMeters_Float","value": "2026"}
+	,{"name": "Prop_CameraFirmwareVersion_Uint64","value": "2027"}
+	,{"name": "Prop_CameraFirmwareDescription_String","value": "2028"}
+	,{"name": "Prop_DisplayFPGAVersion_Uint64","value": "2029"}
+	,{"name": "Prop_DisplayBootloaderVersion_Uint64","value": "2030"}
+	,{"name": "Prop_DisplayHardwareVersion_Uint64","value": "2031"}
+	,{"name": "Prop_AudioFirmwareVersion_Uint64","value": "2032"}
+	,{"name": "Prop_CameraCompatibilityMode_Int32","value": "2033"}
+	,{"name": "Prop_ScreenshotHorizontalFieldOfViewDegrees_Float","value": "2034"}
+	,{"name": "Prop_ScreenshotVerticalFieldOfViewDegrees_Float","value": "2035"}
+	,{"name": "Prop_DisplaySuppressed_Bool","value": "2036"}
+	,{"name": "Prop_DisplayAllowNightMode_Bool","value": "2037"}
+	,{"name": "Prop_DisplayMCImageWidth_Int32","value": "2038"}
+	,{"name": "Prop_DisplayMCImageHeight_Int32","value": "2039"}
+	,{"name": "Prop_DisplayMCImageNumChannels_Int32","value": "2040"}
+	,{"name": "Prop_DisplayMCImageData_Binary","value": "2041"}
+	,{"name": "Prop_SecondsFromPhotonsToVblank_Float","value": "2042"}
+	,{"name": "Prop_DriverDirectModeSendsVsyncEvents_Bool","value": "2043"}
+	,{"name": "Prop_DisplayDebugMode_Bool","value": "2044"}
+	,{"name": "Prop_GraphicsAdapterLuid_Uint64","value": "2045"}
+	,{"name": "Prop_AttachedDeviceId_String","value": "3000"}
+	,{"name": "Prop_SupportedButtons_Uint64","value": "3001"}
+	,{"name": "Prop_Axis0Type_Int32","value": "3002"}
+	,{"name": "Prop_Axis1Type_Int32","value": "3003"}
+	,{"name": "Prop_Axis2Type_Int32","value": "3004"}
+	,{"name": "Prop_Axis3Type_Int32","value": "3005"}
+	,{"name": "Prop_Axis4Type_Int32","value": "3006"}
+	,{"name": "Prop_ControllerRoleHint_Int32","value": "3007"}
+	,{"name": "Prop_FieldOfViewLeftDegrees_Float","value": "4000"}
+	,{"name": "Prop_FieldOfViewRightDegrees_Float","value": "4001"}
+	,{"name": "Prop_FieldOfViewTopDegrees_Float","value": "4002"}
+	,{"name": "Prop_FieldOfViewBottomDegrees_Float","value": "4003"}
+	,{"name": "Prop_TrackingRangeMinimumMeters_Float","value": "4004"}
+	,{"name": "Prop_TrackingRangeMaximumMeters_Float","value": "4005"}
+	,{"name": "Prop_ModeLabel_String","value": "4006"}
+	,{"name": "Prop_IconPathName_String","value": "5000"}
+	,{"name": "Prop_NamedIconPathDeviceOff_String","value": "5001"}
+	,{"name": "Prop_NamedIconPathDeviceSearching_String","value": "5002"}
+	,{"name": "Prop_NamedIconPathDeviceSearchingAlert_String","value": "5003"}
+	,{"name": "Prop_NamedIconPathDeviceReady_String","value": "5004"}
+	,{"name": "Prop_NamedIconPathDeviceReadyAlert_String","value": "5005"}
+	,{"name": "Prop_NamedIconPathDeviceNotReady_String","value": "5006"}
+	,{"name": "Prop_NamedIconPathDeviceStandby_String","value": "5007"}
+	,{"name": "Prop_NamedIconPathDeviceAlertLow_String","value": "5008"}
+	,{"name": "Prop_DisplayHiddenArea_Binary_Start","value": "5100"}
+	,{"name": "Prop_DisplayHiddenArea_Binary_End","value": "5150"}
+	,{"name": "Prop_UserConfigPath_String","value": "6000"}
+	,{"name": "Prop_InstallPath_String","value": "6001"}
+	,{"name": "Prop_HasDisplayComponent_Bool","value": "6002"}
+	,{"name": "Prop_HasControllerComponent_Bool","value": "6003"}
+	,{"name": "Prop_HasCameraComponent_Bool","value": "6004"}
+	,{"name": "Prop_HasDriverDirectModeComponent_Bool","value": "6005"}
+	,{"name": "Prop_HasVirtualDisplayComponent_Bool","value": "6006"}
+	,{"name": "Prop_VendorSpecific_Reserved_Start","value": "10000"}
+	,{"name": "Prop_VendorSpecific_Reserved_End","value": "10999"}
+]}
+,	{"enumname": "vr::ETrackedPropertyError","values": [ 
+	{"name": "TrackedProp_Success","value": "0"}
+	,{"name": "TrackedProp_WrongDataType","value": "1"}
+	,{"name": "TrackedProp_WrongDeviceClass","value": "2"}
+	,{"name": "TrackedProp_BufferTooSmall","value": "3"}
+	,{"name": "TrackedProp_UnknownProperty","value": "4"}
+	,{"name": "TrackedProp_InvalidDevice","value": "5"}
+	,{"name": "TrackedProp_CouldNotContactServer","value": "6"}
+	,{"name": "TrackedProp_ValueNotProvidedByDevice","value": "7"}
+	,{"name": "TrackedProp_StringExceedsMaximumLength","value": "8"}
+	,{"name": "TrackedProp_NotYetAvailable","value": "9"}
+	,{"name": "TrackedProp_PermissionDenied","value": "10"}
+	,{"name": "TrackedProp_InvalidOperation","value": "11"}
+]}
+,	{"enumname": "vr::EVRSubmitFlags","values": [ 
+	{"name": "Submit_Default","value": "0"}
+	,{"name": "Submit_LensDistortionAlreadyApplied","value": "1"}
+	,{"name": "Submit_GlRenderBuffer","value": "2"}
+	,{"name": "Submit_Reserved","value": "4"}
+]}
+,	{"enumname": "vr::EVRState","values": [ 
+	{"name": "VRState_Undefined","value": "-1"}
+	,{"name": "VRState_Off","value": "0"}
+	,{"name": "VRState_Searching","value": "1"}
+	,{"name": "VRState_Searching_Alert","value": "2"}
+	,{"name": "VRState_Ready","value": "3"}
+	,{"name": "VRState_Ready_Alert","value": "4"}
+	,{"name": "VRState_NotReady","value": "5"}
+	,{"name": "VRState_Standby","value": "6"}
+	,{"name": "VRState_Ready_Alert_Low","value": "7"}
+]}
+,	{"enumname": "vr::EVREventType","values": [ 
+	{"name": "VREvent_None","value": "0"}
+	,{"name": "VREvent_TrackedDeviceActivated","value": "100"}
+	,{"name": "VREvent_TrackedDeviceDeactivated","value": "101"}
+	,{"name": "VREvent_TrackedDeviceUpdated","value": "102"}
+	,{"name": "VREvent_TrackedDeviceUserInteractionStarted","value": "103"}
+	,{"name": "VREvent_TrackedDeviceUserInteractionEnded","value": "104"}
+	,{"name": "VREvent_IpdChanged","value": "105"}
+	,{"name": "VREvent_EnterStandbyMode","value": "106"}
+	,{"name": "VREvent_LeaveStandbyMode","value": "107"}
+	,{"name": "VREvent_TrackedDeviceRoleChanged","value": "108"}
+	,{"name": "VREvent_WatchdogWakeUpRequested","value": "109"}
+	,{"name": "VREvent_LensDistortionChanged","value": "110"}
+	,{"name": "VREvent_PropertyChanged","value": "111"}
+	,{"name": "VREvent_ButtonPress","value": "200"}
+	,{"name": "VREvent_ButtonUnpress","value": "201"}
+	,{"name": "VREvent_ButtonTouch","value": "202"}
+	,{"name": "VREvent_ButtonUntouch","value": "203"}
+	,{"name": "VREvent_MouseMove","value": "300"}
+	,{"name": "VREvent_MouseButtonDown","value": "301"}
+	,{"name": "VREvent_MouseButtonUp","value": "302"}
+	,{"name": "VREvent_FocusEnter","value": "303"}
+	,{"name": "VREvent_FocusLeave","value": "304"}
+	,{"name": "VREvent_Scroll","value": "305"}
+	,{"name": "VREvent_TouchPadMove","value": "306"}
+	,{"name": "VREvent_OverlayFocusChanged","value": "307"}
+	,{"name": "VREvent_InputFocusCaptured","value": "400"}
+	,{"name": "VREvent_InputFocusReleased","value": "401"}
+	,{"name": "VREvent_SceneFocusLost","value": "402"}
+	,{"name": "VREvent_SceneFocusGained","value": "403"}
+	,{"name": "VREvent_SceneApplicationChanged","value": "404"}
+	,{"name": "VREvent_SceneFocusChanged","value": "405"}
+	,{"name": "VREvent_InputFocusChanged","value": "406"}
+	,{"name": "VREvent_SceneApplicationSecondaryRenderingStarted","value": "407"}
+	,{"name": "VREvent_HideRenderModels","value": "410"}
+	,{"name": "VREvent_ShowRenderModels","value": "411"}
+	,{"name": "VREvent_OverlayShown","value": "500"}
+	,{"name": "VREvent_OverlayHidden","value": "501"}
+	,{"name": "VREvent_DashboardActivated","value": "502"}
+	,{"name": "VREvent_DashboardDeactivated","value": "503"}
+	,{"name": "VREvent_DashboardThumbSelected","value": "504"}
+	,{"name": "VREvent_DashboardRequested","value": "505"}
+	,{"name": "VREvent_ResetDashboard","value": "506"}
+	,{"name": "VREvent_RenderToast","value": "507"}
+	,{"name": "VREvent_ImageLoaded","value": "508"}
+	,{"name": "VREvent_ShowKeyboard","value": "509"}
+	,{"name": "VREvent_HideKeyboard","value": "510"}
+	,{"name": "VREvent_OverlayGamepadFocusGained","value": "511"}
+	,{"name": "VREvent_OverlayGamepadFocusLost","value": "512"}
+	,{"name": "VREvent_OverlaySharedTextureChanged","value": "513"}
+	,{"name": "VREvent_DashboardGuideButtonDown","value": "514"}
+	,{"name": "VREvent_DashboardGuideButtonUp","value": "515"}
+	,{"name": "VREvent_ScreenshotTriggered","value": "516"}
+	,{"name": "VREvent_ImageFailed","value": "517"}
+	,{"name": "VREvent_DashboardOverlayCreated","value": "518"}
+	,{"name": "VREvent_RequestScreenshot","value": "520"}
+	,{"name": "VREvent_ScreenshotTaken","value": "521"}
+	,{"name": "VREvent_ScreenshotFailed","value": "522"}
+	,{"name": "VREvent_SubmitScreenshotToDashboard","value": "523"}
+	,{"name": "VREvent_ScreenshotProgressToDashboard","value": "524"}
+	,{"name": "VREvent_PrimaryDashboardDeviceChanged","value": "525"}
+	,{"name": "VREvent_Notification_Shown","value": "600"}
+	,{"name": "VREvent_Notification_Hidden","value": "601"}
+	,{"name": "VREvent_Notification_BeginInteraction","value": "602"}
+	,{"name": "VREvent_Notification_Destroyed","value": "603"}
+	,{"name": "VREvent_Quit","value": "700"}
+	,{"name": "VREvent_ProcessQuit","value": "701"}
+	,{"name": "VREvent_QuitAborted_UserPrompt","value": "702"}
+	,{"name": "VREvent_QuitAcknowledged","value": "703"}
+	,{"name": "VREvent_DriverRequestedQuit","value": "704"}
+	,{"name": "VREvent_ChaperoneDataHasChanged","value": "800"}
+	,{"name": "VREvent_ChaperoneUniverseHasChanged","value": "801"}
+	,{"name": "VREvent_ChaperoneTempDataHasChanged","value": "802"}
+	,{"name": "VREvent_ChaperoneSettingsHaveChanged","value": "803"}
+	,{"name": "VREvent_SeatedZeroPoseReset","value": "804"}
+	,{"name": "VREvent_AudioSettingsHaveChanged","value": "820"}
+	,{"name": "VREvent_BackgroundSettingHasChanged","value": "850"}
+	,{"name": "VREvent_CameraSettingsHaveChanged","value": "851"}
+	,{"name": "VREvent_ReprojectionSettingHasChanged","value": "852"}
+	,{"name": "VREvent_ModelSkinSettingsHaveChanged","value": "853"}
+	,{"name": "VREvent_EnvironmentSettingsHaveChanged","value": "854"}
+	,{"name": "VREvent_PowerSettingsHaveChanged","value": "855"}
+	,{"name": "VREvent_EnableHomeAppSettingsHaveChanged","value": "856"}
+	,{"name": "VREvent_StatusUpdate","value": "900"}
+	,{"name": "VREvent_MCImageUpdated","value": "1000"}
+	,{"name": "VREvent_FirmwareUpdateStarted","value": "1100"}
+	,{"name": "VREvent_FirmwareUpdateFinished","value": "1101"}
+	,{"name": "VREvent_KeyboardClosed","value": "1200"}
+	,{"name": "VREvent_KeyboardCharInput","value": "1201"}
+	,{"name": "VREvent_KeyboardDone","value": "1202"}
+	,{"name": "VREvent_ApplicationTransitionStarted","value": "1300"}
+	,{"name": "VREvent_ApplicationTransitionAborted","value": "1301"}
+	,{"name": "VREvent_ApplicationTransitionNewAppStarted","value": "1302"}
+	,{"name": "VREvent_ApplicationListUpdated","value": "1303"}
+	,{"name": "VREvent_ApplicationMimeTypeLoad","value": "1304"}
+	,{"name": "VREvent_ApplicationTransitionNewAppLaunchComplete","value": "1305"}
+	,{"name": "VREvent_ProcessConnected","value": "1306"}
+	,{"name": "VREvent_ProcessDisconnected","value": "1307"}
+	,{"name": "VREvent_Compositor_MirrorWindowShown","value": "1400"}
+	,{"name": "VREvent_Compositor_MirrorWindowHidden","value": "1401"}
+	,{"name": "VREvent_Compositor_ChaperoneBoundsShown","value": "1410"}
+	,{"name": "VREvent_Compositor_ChaperoneBoundsHidden","value": "1411"}
+	,{"name": "VREvent_TrackedCamera_StartVideoStream","value": "1500"}
+	,{"name": "VREvent_TrackedCamera_StopVideoStream","value": "1501"}
+	,{"name": "VREvent_TrackedCamera_PauseVideoStream","value": "1502"}
+	,{"name": "VREvent_TrackedCamera_ResumeVideoStream","value": "1503"}
+	,{"name": "VREvent_TrackedCamera_EditingSurface","value": "1550"}
+	,{"name": "VREvent_PerformanceTest_EnableCapture","value": "1600"}
+	,{"name": "VREvent_PerformanceTest_DisableCapture","value": "1601"}
+	,{"name": "VREvent_PerformanceTest_FidelityLevel","value": "1602"}
+	,{"name": "VREvent_MessageOverlay_Closed","value": "1650"}
+	,{"name": "VREvent_VendorSpecific_Reserved_Start","value": "10000"}
+	,{"name": "VREvent_VendorSpecific_Reserved_End","value": "19999"}
+]}
+,	{"enumname": "vr::EDeviceActivityLevel","values": [ 
+	{"name": "k_EDeviceActivityLevel_Unknown","value": "-1"}
+	,{"name": "k_EDeviceActivityLevel_Idle","value": "0"}
+	,{"name": "k_EDeviceActivityLevel_UserInteraction","value": "1"}
+	,{"name": "k_EDeviceActivityLevel_UserInteraction_Timeout","value": "2"}
+	,{"name": "k_EDeviceActivityLevel_Standby","value": "3"}
+]}
+,	{"enumname": "vr::EVRButtonId","values": [ 
+	{"name": "k_EButton_System","value": "0"}
+	,{"name": "k_EButton_ApplicationMenu","value": "1"}
+	,{"name": "k_EButton_Grip","value": "2"}
+	,{"name": "k_EButton_DPad_Left","value": "3"}
+	,{"name": "k_EButton_DPad_Up","value": "4"}
+	,{"name": "k_EButton_DPad_Right","value": "5"}
+	,{"name": "k_EButton_DPad_Down","value": "6"}
+	,{"name": "k_EButton_A","value": "7"}
+	,{"name": "k_EButton_ProximitySensor","value": "31"}
+	,{"name": "k_EButton_Axis0","value": "32"}
+	,{"name": "k_EButton_Axis1","value": "33"}
+	,{"name": "k_EButton_Axis2","value": "34"}
+	,{"name": "k_EButton_Axis3","value": "35"}
+	,{"name": "k_EButton_Axis4","value": "36"}
+	,{"name": "k_EButton_SteamVR_Touchpad","value": "32"}
+	,{"name": "k_EButton_SteamVR_Trigger","value": "33"}
+	,{"name": "k_EButton_Dashboard_Back","value": "2"}
+	,{"name": "k_EButton_Max","value": "64"}
+]}
+,	{"enumname": "vr::EVRMouseButton","values": [ 
+	{"name": "VRMouseButton_Left","value": "1"}
+	,{"name": "VRMouseButton_Right","value": "2"}
+	,{"name": "VRMouseButton_Middle","value": "4"}
+]}
+,	{"enumname": "vr::EHiddenAreaMeshType","values": [ 
+	{"name": "k_eHiddenAreaMesh_Standard","value": "0"}
+	,{"name": "k_eHiddenAreaMesh_Inverse","value": "1"}
+	,{"name": "k_eHiddenAreaMesh_LineLoop","value": "2"}
+	,{"name": "k_eHiddenAreaMesh_Max","value": "3"}
+]}
+,	{"enumname": "vr::EVRControllerAxisType","values": [ 
+	{"name": "k_eControllerAxis_None","value": "0"}
+	,{"name": "k_eControllerAxis_TrackPad","value": "1"}
+	,{"name": "k_eControllerAxis_Joystick","value": "2"}
+	,{"name": "k_eControllerAxis_Trigger","value": "3"}
+]}
+,	{"enumname": "vr::EVRControllerEventOutputType","values": [ 
+	{"name": "ControllerEventOutput_OSEvents","value": "0"}
+	,{"name": "ControllerEventOutput_VREvents","value": "1"}
+]}
+,	{"enumname": "vr::ECollisionBoundsStyle","values": [ 
+	{"name": "COLLISION_BOUNDS_STYLE_BEGINNER","value": "0"}
+	,{"name": "COLLISION_BOUNDS_STYLE_INTERMEDIATE","value": "1"}
+	,{"name": "COLLISION_BOUNDS_STYLE_SQUARES","value": "2"}
+	,{"name": "COLLISION_BOUNDS_STYLE_ADVANCED","value": "3"}
+	,{"name": "COLLISION_BOUNDS_STYLE_NONE","value": "4"}
+	,{"name": "COLLISION_BOUNDS_STYLE_COUNT","value": "5"}
+]}
+,	{"enumname": "vr::EVROverlayError","values": [ 
+	{"name": "VROverlayError_None","value": "0"}
+	,{"name": "VROverlayError_UnknownOverlay","value": "10"}
+	,{"name": "VROverlayError_InvalidHandle","value": "11"}
+	,{"name": "VROverlayError_PermissionDenied","value": "12"}
+	,{"name": "VROverlayError_OverlayLimitExceeded","value": "13"}
+	,{"name": "VROverlayError_WrongVisibilityType","value": "14"}
+	,{"name": "VROverlayError_KeyTooLong","value": "15"}
+	,{"name": "VROverlayError_NameTooLong","value": "16"}
+	,{"name": "VROverlayError_KeyInUse","value": "17"}
+	,{"name": "VROverlayError_WrongTransformType","value": "18"}
+	,{"name": "VROverlayError_InvalidTrackedDevice","value": "19"}
+	,{"name": "VROverlayError_InvalidParameter","value": "20"}
+	,{"name": "VROverlayError_ThumbnailCantBeDestroyed","value": "21"}
+	,{"name": "VROverlayError_ArrayTooSmall","value": "22"}
+	,{"name": "VROverlayError_RequestFailed","value": "23"}
+	,{"name": "VROverlayError_InvalidTexture","value": "24"}
+	,{"name": "VROverlayError_UnableToLoadFile","value": "25"}
+	,{"name": "VROverlayError_KeyboardAlreadyInUse","value": "26"}
+	,{"name": "VROverlayError_NoNeighbor","value": "27"}
+	,{"name": "VROverlayError_TooManyMaskPrimitives","value": "29"}
+	,{"name": "VROverlayError_BadMaskPrimitive","value": "30"}
+]}
+,	{"enumname": "vr::EVRApplicationType","values": [ 
+	{"name": "VRApplication_Other","value": "0"}
+	,{"name": "VRApplication_Scene","value": "1"}
+	,{"name": "VRApplication_Overlay","value": "2"}
+	,{"name": "VRApplication_Background","value": "3"}
+	,{"name": "VRApplication_Utility","value": "4"}
+	,{"name": "VRApplication_VRMonitor","value": "5"}
+	,{"name": "VRApplication_SteamWatchdog","value": "6"}
+	,{"name": "VRApplication_Bootstrapper","value": "7"}
+	,{"name": "VRApplication_Max","value": "8"}
+]}
+,	{"enumname": "vr::EVRFirmwareError","values": [ 
+	{"name": "VRFirmwareError_None","value": "0"}
+	,{"name": "VRFirmwareError_Success","value": "1"}
+	,{"name": "VRFirmwareError_Fail","value": "2"}
+]}
+,	{"enumname": "vr::EVRNotificationError","values": [ 
+	{"name": "VRNotificationError_OK","value": "0"}
+	,{"name": "VRNotificationError_InvalidNotificationId","value": "100"}
+	,{"name": "VRNotificationError_NotificationQueueFull","value": "101"}
+	,{"name": "VRNotificationError_InvalidOverlayHandle","value": "102"}
+	,{"name": "VRNotificationError_SystemWithUserValueAlreadyExists","value": "103"}
+]}
+,	{"enumname": "vr::EVRInitError","values": [ 
+	{"name": "VRInitError_None","value": "0"}
+	,{"name": "VRInitError_Unknown","value": "1"}
+	,{"name": "VRInitError_Init_InstallationNotFound","value": "100"}
+	,{"name": "VRInitError_Init_InstallationCorrupt","value": "101"}
+	,{"name": "VRInitError_Init_VRClientDLLNotFound","value": "102"}
+	,{"name": "VRInitError_Init_FileNotFound","value": "103"}
+	,{"name": "VRInitError_Init_FactoryNotFound","value": "104"}
+	,{"name": "VRInitError_Init_InterfaceNotFound","value": "105"}
+	,{"name": "VRInitError_Init_InvalidInterface","value": "106"}
+	,{"name": "VRInitError_Init_UserConfigDirectoryInvalid","value": "107"}
+	,{"name": "VRInitError_Init_HmdNotFound","value": "108"}
+	,{"name": "VRInitError_Init_NotInitialized","value": "109"}
+	,{"name": "VRInitError_Init_PathRegistryNotFound","value": "110"}
+	,{"name": "VRInitError_Init_NoConfigPath","value": "111"}
+	,{"name": "VRInitError_Init_NoLogPath","value": "112"}
+	,{"name": "VRInitError_Init_PathRegistryNotWritable","value": "113"}
+	,{"name": "VRInitError_Init_AppInfoInitFailed","value": "114"}
+	,{"name": "VRInitError_Init_Retry","value": "115"}
+	,{"name": "VRInitError_Init_InitCanceledByUser","value": "116"}
+	,{"name": "VRInitError_Init_AnotherAppLaunching","value": "117"}
+	,{"name": "VRInitError_Init_SettingsInitFailed","value": "118"}
+	,{"name": "VRInitError_Init_ShuttingDown","value": "119"}
+	,{"name": "VRInitError_Init_TooManyObjects","value": "120"}
+	,{"name": "VRInitError_Init_NoServerForBackgroundApp","value": "121"}
+	,{"name": "VRInitError_Init_NotSupportedWithCompositor","value": "122"}
+	,{"name": "VRInitError_Init_NotAvailableToUtilityApps","value": "123"}
+	,{"name": "VRInitError_Init_Internal","value": "124"}
+	,{"name": "VRInitError_Init_HmdDriverIdIsNone","value": "125"}
+	,{"name": "VRInitError_Init_HmdNotFoundPresenceFailed","value": "126"}
+	,{"name": "VRInitError_Init_VRMonitorNotFound","value": "127"}
+	,{"name": "VRInitError_Init_VRMonitorStartupFailed","value": "128"}
+	,{"name": "VRInitError_Init_LowPowerWatchdogNotSupported","value": "129"}
+	,{"name": "VRInitError_Init_InvalidApplicationType","value": "130"}
+	,{"name": "VRInitError_Init_NotAvailableToWatchdogApps","value": "131"}
+	,{"name": "VRInitError_Init_WatchdogDisabledInSettings","value": "132"}
+	,{"name": "VRInitError_Init_VRDashboardNotFound","value": "133"}
+	,{"name": "VRInitError_Init_VRDashboardStartupFailed","value": "134"}
+	,{"name": "VRInitError_Init_VRHomeNotFound","value": "135"}
+	,{"name": "VRInitError_Init_VRHomeStartupFailed","value": "136"}
+	,{"name": "VRInitError_Driver_Failed","value": "200"}
+	,{"name": "VRInitError_Driver_Unknown","value": "201"}
+	,{"name": "VRInitError_Driver_HmdUnknown","value": "202"}
+	,{"name": "VRInitError_Driver_NotLoaded","value": "203"}
+	,{"name": "VRInitError_Driver_RuntimeOutOfDate","value": "204"}
+	,{"name": "VRInitError_Driver_HmdInUse","value": "205"}
+	,{"name": "VRInitError_Driver_NotCalibrated","value": "206"}
+	,{"name": "VRInitError_Driver_CalibrationInvalid","value": "207"}
+	,{"name": "VRInitError_Driver_HmdDisplayNotFound","value": "208"}
+	,{"name": "VRInitError_Driver_TrackedDeviceInterfaceUnknown","value": "209"}
+	,{"name": "VRInitError_Driver_HmdDriverIdOutOfBounds","value": "211"}
+	,{"name": "VRInitError_Driver_HmdDisplayMirrored","value": "212"}
+	,{"name": "VRInitError_IPC_ServerInitFailed","value": "300"}
+	,{"name": "VRInitError_IPC_ConnectFailed","value": "301"}
+	,{"name": "VRInitError_IPC_SharedStateInitFailed","value": "302"}
+	,{"name": "VRInitError_IPC_CompositorInitFailed","value": "303"}
+	,{"name": "VRInitError_IPC_MutexInitFailed","value": "304"}
+	,{"name": "VRInitError_IPC_Failed","value": "305"}
+	,{"name": "VRInitError_IPC_CompositorConnectFailed","value": "306"}
+	,{"name": "VRInitError_IPC_CompositorInvalidConnectResponse","value": "307"}
+	,{"name": "VRInitError_IPC_ConnectFailedAfterMultipleAttempts","value": "308"}
+	,{"name": "VRInitError_Compositor_Failed","value": "400"}
+	,{"name": "VRInitError_Compositor_D3D11HardwareRequired","value": "401"}
+	,{"name": "VRInitError_Compositor_FirmwareRequiresUpdate","value": "402"}
+	,{"name": "VRInitError_Compositor_OverlayInitFailed","value": "403"}
+	,{"name": "VRInitError_Compositor_ScreenshotsInitFailed","value": "404"}
+	,{"name": "VRInitError_Compositor_UnableToCreateDevice","value": "405"}
+	,{"name": "VRInitError_VendorSpecific_UnableToConnectToOculusRuntime","value": "1000"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_CantOpenDevice","value": "1101"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart","value": "1102"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_NoStoredConfig","value": "1103"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigTooBig","value": "1104"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigTooSmall","value": "1105"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToInitZLib","value": "1106"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion","value": "1107"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart","value": "1108"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart","value": "1109"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext","value": "1110"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UserDataAddressRange","value": "1111"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UserDataError","value": "1112"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck","value": "1113"}
+	,{"name": "VRInitError_Steam_SteamInstallationNotFound","value": "2000"}
+]}
+,	{"enumname": "vr::EVRScreenshotType","values": [ 
+	{"name": "VRScreenshotType_None","value": "0"}
+	,{"name": "VRScreenshotType_Mono","value": "1"}
+	,{"name": "VRScreenshotType_Stereo","value": "2"}
+	,{"name": "VRScreenshotType_Cubemap","value": "3"}
+	,{"name": "VRScreenshotType_MonoPanorama","value": "4"}
+	,{"name": "VRScreenshotType_StereoPanorama","value": "5"}
+]}
+,	{"enumname": "vr::EVRScreenshotPropertyFilenames","values": [ 
+	{"name": "VRScreenshotPropertyFilenames_Preview","value": "0"}
+	,{"name": "VRScreenshotPropertyFilenames_VR","value": "1"}
+]}
+,	{"enumname": "vr::EVRTrackedCameraError","values": [ 
+	{"name": "VRTrackedCameraError_None","value": "0"}
+	,{"name": "VRTrackedCameraError_OperationFailed","value": "100"}
+	,{"name": "VRTrackedCameraError_InvalidHandle","value": "101"}
+	,{"name": "VRTrackedCameraError_InvalidFrameHeaderVersion","value": "102"}
+	,{"name": "VRTrackedCameraError_OutOfHandles","value": "103"}
+	,{"name": "VRTrackedCameraError_IPCFailure","value": "104"}
+	,{"name": "VRTrackedCameraError_NotSupportedForThisDevice","value": "105"}
+	,{"name": "VRTrackedCameraError_SharedMemoryFailure","value": "106"}
+	,{"name": "VRTrackedCameraError_FrameBufferingFailure","value": "107"}
+	,{"name": "VRTrackedCameraError_StreamSetupFailure","value": "108"}
+	,{"name": "VRTrackedCameraError_InvalidGLTextureId","value": "109"}
+	,{"name": "VRTrackedCameraError_InvalidSharedTextureHandle","value": "110"}
+	,{"name": "VRTrackedCameraError_FailedToGetGLTextureId","value": "111"}
+	,{"name": "VRTrackedCameraError_SharedTextureFailure","value": "112"}
+	,{"name": "VRTrackedCameraError_NoFrameAvailable","value": "113"}
+	,{"name": "VRTrackedCameraError_InvalidArgument","value": "114"}
+	,{"name": "VRTrackedCameraError_InvalidFrameBufferSize","value": "115"}
+]}
+,	{"enumname": "vr::EVRTrackedCameraFrameType","values": [ 
+	{"name": "VRTrackedCameraFrameType_Distorted","value": "0"}
+	,{"name": "VRTrackedCameraFrameType_Undistorted","value": "1"}
+	,{"name": "VRTrackedCameraFrameType_MaximumUndistorted","value": "2"}
+	,{"name": "MAX_CAMERA_FRAME_TYPES","value": "3"}
+]}
+,	{"enumname": "vr::EVRApplicationError","values": [ 
+	{"name": "VRApplicationError_None","value": "0"}
+	,{"name": "VRApplicationError_AppKeyAlreadyExists","value": "100"}
+	,{"name": "VRApplicationError_NoManifest","value": "101"}
+	,{"name": "VRApplicationError_NoApplication","value": "102"}
+	,{"name": "VRApplicationError_InvalidIndex","value": "103"}
+	,{"name": "VRApplicationError_UnknownApplication","value": "104"}
+	,{"name": "VRApplicationError_IPCFailed","value": "105"}
+	,{"name": "VRApplicationError_ApplicationAlreadyRunning","value": "106"}
+	,{"name": "VRApplicationError_InvalidManifest","value": "107"}
+	,{"name": "VRApplicationError_InvalidApplication","value": "108"}
+	,{"name": "VRApplicationError_LaunchFailed","value": "109"}
+	,{"name": "VRApplicationError_ApplicationAlreadyStarting","value": "110"}
+	,{"name": "VRApplicationError_LaunchInProgress","value": "111"}
+	,{"name": "VRApplicationError_OldApplicationQuitting","value": "112"}
+	,{"name": "VRApplicationError_TransitionAborted","value": "113"}
+	,{"name": "VRApplicationError_IsTemplate","value": "114"}
+	,{"name": "VRApplicationError_BufferTooSmall","value": "200"}
+	,{"name": "VRApplicationError_PropertyNotSet","value": "201"}
+	,{"name": "VRApplicationError_UnknownProperty","value": "202"}
+	,{"name": "VRApplicationError_InvalidParameter","value": "203"}
+]}
+,	{"enumname": "vr::EVRApplicationProperty","values": [ 
+	{"name": "VRApplicationProperty_Name_String","value": "0"}
+	,{"name": "VRApplicationProperty_LaunchType_String","value": "11"}
+	,{"name": "VRApplicationProperty_WorkingDirectory_String","value": "12"}
+	,{"name": "VRApplicationProperty_BinaryPath_String","value": "13"}
+	,{"name": "VRApplicationProperty_Arguments_String","value": "14"}
+	,{"name": "VRApplicationProperty_URL_String","value": "15"}
+	,{"name": "VRApplicationProperty_Description_String","value": "50"}
+	,{"name": "VRApplicationProperty_NewsURL_String","value": "51"}
+	,{"name": "VRApplicationProperty_ImagePath_String","value": "52"}
+	,{"name": "VRApplicationProperty_Source_String","value": "53"}
+	,{"name": "VRApplicationProperty_IsDashboardOverlay_Bool","value": "60"}
+	,{"name": "VRApplicationProperty_IsTemplate_Bool","value": "61"}
+	,{"name": "VRApplicationProperty_IsInstanced_Bool","value": "62"}
+	,{"name": "VRApplicationProperty_IsInternal_Bool","value": "63"}
+	,{"name": "VRApplicationProperty_LastLaunchTime_Uint64","value": "70"}
+]}
+,	{"enumname": "vr::EVRApplicationTransitionState","values": [ 
+	{"name": "VRApplicationTransition_None","value": "0"}
+	,{"name": "VRApplicationTransition_OldAppQuitSent","value": "10"}
+	,{"name": "VRApplicationTransition_WaitingForExternalLaunch","value": "11"}
+	,{"name": "VRApplicationTransition_NewAppLaunched","value": "20"}
+]}
+,	{"enumname": "vr::ChaperoneCalibrationState","values": [ 
+	{"name": "ChaperoneCalibrationState_OK","value": "1"}
+	,{"name": "ChaperoneCalibrationState_Warning","value": "100"}
+	,{"name": "ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved","value": "101"}
+	,{"name": "ChaperoneCalibrationState_Warning_BaseStationRemoved","value": "102"}
+	,{"name": "ChaperoneCalibrationState_Warning_SeatedBoundsInvalid","value": "103"}
+	,{"name": "ChaperoneCalibrationState_Error","value": "200"}
+	,{"name": "ChaperoneCalibrationState_Error_BaseStationUninitialized","value": "201"}
+	,{"name": "ChaperoneCalibrationState_Error_BaseStationConflict","value": "202"}
+	,{"name": "ChaperoneCalibrationState_Error_PlayAreaInvalid","value": "203"}
+	,{"name": "ChaperoneCalibrationState_Error_CollisionBoundsInvalid","value": "204"}
+]}
+,	{"enumname": "vr::EChaperoneConfigFile","values": [ 
+	{"name": "EChaperoneConfigFile_Live","value": "1"}
+	,{"name": "EChaperoneConfigFile_Temp","value": "2"}
+]}
+,	{"enumname": "vr::EChaperoneImportFlags","values": [ 
+	{"name": "EChaperoneImport_BoundsOnly","value": "1"}
+]}
+,	{"enumname": "vr::EVRCompositorError","values": [ 
+	{"name": "VRCompositorError_None","value": "0"}
+	,{"name": "VRCompositorError_RequestFailed","value": "1"}
+	,{"name": "VRCompositorError_IncompatibleVersion","value": "100"}
+	,{"name": "VRCompositorError_DoNotHaveFocus","value": "101"}
+	,{"name": "VRCompositorError_InvalidTexture","value": "102"}
+	,{"name": "VRCompositorError_IsNotSceneApplication","value": "103"}
+	,{"name": "VRCompositorError_TextureIsOnWrongDevice","value": "104"}
+	,{"name": "VRCompositorError_TextureUsesUnsupportedFormat","value": "105"}
+	,{"name": "VRCompositorError_SharedTexturesNotSupported","value": "106"}
+	,{"name": "VRCompositorError_IndexOutOfRange","value": "107"}
+	,{"name": "VRCompositorError_AlreadySubmitted","value": "108"}
+]}
+,	{"enumname": "vr::VROverlayInputMethod","values": [ 
+	{"name": "VROverlayInputMethod_None","value": "0"}
+	,{"name": "VROverlayInputMethod_Mouse","value": "1"}
+]}
+,	{"enumname": "vr::VROverlayTransformType","values": [ 
+	{"name": "VROverlayTransform_Absolute","value": "0"}
+	,{"name": "VROverlayTransform_TrackedDeviceRelative","value": "1"}
+	,{"name": "VROverlayTransform_SystemOverlay","value": "2"}
+	,{"name": "VROverlayTransform_TrackedComponent","value": "3"}
+]}
+,	{"enumname": "vr::VROverlayFlags","values": [ 
+	{"name": "VROverlayFlags_None","value": "0"}
+	,{"name": "VROverlayFlags_Curved","value": "1"}
+	,{"name": "VROverlayFlags_RGSS4X","value": "2"}
+	,{"name": "VROverlayFlags_NoDashboardTab","value": "3"}
+	,{"name": "VROverlayFlags_AcceptsGamepadEvents","value": "4"}
+	,{"name": "VROverlayFlags_ShowGamepadFocus","value": "5"}
+	,{"name": "VROverlayFlags_SendVRScrollEvents","value": "6"}
+	,{"name": "VROverlayFlags_SendVRTouchpadEvents","value": "7"}
+	,{"name": "VROverlayFlags_ShowTouchPadScrollWheel","value": "8"}
+	,{"name": "VROverlayFlags_TransferOwnershipToInternalProcess","value": "9"}
+	,{"name": "VROverlayFlags_SideBySide_Parallel","value": "10"}
+	,{"name": "VROverlayFlags_SideBySide_Crossed","value": "11"}
+	,{"name": "VROverlayFlags_Panorama","value": "12"}
+	,{"name": "VROverlayFlags_StereoPanorama","value": "13"}
+	,{"name": "VROverlayFlags_SortWithNonSceneOverlays","value": "14"}
+	,{"name": "VROverlayFlags_VisibleInDashboard","value": "15"}
+]}
+,	{"enumname": "vr::VRMessageOverlayResponse","values": [ 
+	{"name": "VRMessageOverlayResponse_ButtonPress_0","value": "0"}
+	,{"name": "VRMessageOverlayResponse_ButtonPress_1","value": "1"}
+	,{"name": "VRMessageOverlayResponse_ButtonPress_2","value": "2"}
+	,{"name": "VRMessageOverlayResponse_ButtonPress_3","value": "3"}
+	,{"name": "VRMessageOverlayResponse_CouldntFindSystemOverlay","value": "4"}
+	,{"name": "VRMessageOverlayResponse_CouldntFindOrCreateClientOverlay","value": "5"}
+	,{"name": "VRMessageOverlayResponse_ApplicationQuit","value": "6"}
+]}
+,	{"enumname": "vr::EGamepadTextInputMode","values": [ 
+	{"name": "k_EGamepadTextInputModeNormal","value": "0"}
+	,{"name": "k_EGamepadTextInputModePassword","value": "1"}
+	,{"name": "k_EGamepadTextInputModeSubmit","value": "2"}
+]}
+,	{"enumname": "vr::EGamepadTextInputLineMode","values": [ 
+	{"name": "k_EGamepadTextInputLineModeSingleLine","value": "0"}
+	,{"name": "k_EGamepadTextInputLineModeMultipleLines","value": "1"}
+]}
+,	{"enumname": "vr::EOverlayDirection","values": [ 
+	{"name": "OverlayDirection_Up","value": "0"}
+	,{"name": "OverlayDirection_Down","value": "1"}
+	,{"name": "OverlayDirection_Left","value": "2"}
+	,{"name": "OverlayDirection_Right","value": "3"}
+	,{"name": "OverlayDirection_Count","value": "4"}
+]}
+,	{"enumname": "vr::EVROverlayIntersectionMaskPrimitiveType","values": [ 
+	{"name": "OverlayIntersectionPrimitiveType_Rectangle","value": "0"}
+	,{"name": "OverlayIntersectionPrimitiveType_Circle","value": "1"}
+]}
+,	{"enumname": "vr::EVRRenderModelError","values": [ 
+	{"name": "VRRenderModelError_None","value": "0"}
+	,{"name": "VRRenderModelError_Loading","value": "100"}
+	,{"name": "VRRenderModelError_NotSupported","value": "200"}
+	,{"name": "VRRenderModelError_InvalidArg","value": "300"}
+	,{"name": "VRRenderModelError_InvalidModel","value": "301"}
+	,{"name": "VRRenderModelError_NoShapes","value": "302"}
+	,{"name": "VRRenderModelError_MultipleShapes","value": "303"}
+	,{"name": "VRRenderModelError_TooManyVertices","value": "304"}
+	,{"name": "VRRenderModelError_MultipleTextures","value": "305"}
+	,{"name": "VRRenderModelError_BufferTooSmall","value": "306"}
+	,{"name": "VRRenderModelError_NotEnoughNormals","value": "307"}
+	,{"name": "VRRenderModelError_NotEnoughTexCoords","value": "308"}
+	,{"name": "VRRenderModelError_InvalidTexture","value": "400"}
+]}
+,	{"enumname": "vr::EVRComponentProperty","values": [ 
+	{"name": "VRComponentProperty_IsStatic","value": "1"}
+	,{"name": "VRComponentProperty_IsVisible","value": "2"}
+	,{"name": "VRComponentProperty_IsTouched","value": "4"}
+	,{"name": "VRComponentProperty_IsPressed","value": "8"}
+	,{"name": "VRComponentProperty_IsScrolled","value": "16"}
+]}
+,	{"enumname": "vr::EVRNotificationType","values": [ 
+	{"name": "EVRNotificationType_Transient","value": "0"}
+	,{"name": "EVRNotificationType_Persistent","value": "1"}
+	,{"name": "EVRNotificationType_Transient_SystemWithUserValue","value": "2"}
+]}
+,	{"enumname": "vr::EVRNotificationStyle","values": [ 
+	{"name": "EVRNotificationStyle_None","value": "0"}
+	,{"name": "EVRNotificationStyle_Application","value": "100"}
+	,{"name": "EVRNotificationStyle_Contact_Disabled","value": "200"}
+	,{"name": "EVRNotificationStyle_Contact_Enabled","value": "201"}
+	,{"name": "EVRNotificationStyle_Contact_Active","value": "202"}
+]}
+,	{"enumname": "vr::EVRSettingsError","values": [ 
+	{"name": "VRSettingsError_None","value": "0"}
+	,{"name": "VRSettingsError_IPCFailed","value": "1"}
+	,{"name": "VRSettingsError_WriteFailed","value": "2"}
+	,{"name": "VRSettingsError_ReadFailed","value": "3"}
+	,{"name": "VRSettingsError_JsonParseFailed","value": "4"}
+	,{"name": "VRSettingsError_UnsetSettingHasNoDefault","value": "5"}
+]}
+,	{"enumname": "vr::EVRScreenshotError","values": [ 
+	{"name": "VRScreenshotError_None","value": "0"}
+	,{"name": "VRScreenshotError_RequestFailed","value": "1"}
+	,{"name": "VRScreenshotError_IncompatibleVersion","value": "100"}
+	,{"name": "VRScreenshotError_NotFound","value": "101"}
+	,{"name": "VRScreenshotError_BufferTooSmall","value": "102"}
+	,{"name": "VRScreenshotError_ScreenshotAlreadyInProgress","value": "108"}
+]}
+],
+"consts":[{
+	"constname": "k_nDriverNone","consttype": "const uint32_t", "constval": "4294967295"}
+,{
+	"constname": "k_unMaxDriverDebugResponseSize","consttype": "const uint32_t", "constval": "32768"}
+,{
+	"constname": "k_unTrackedDeviceIndex_Hmd","consttype": "const uint32_t", "constval": "0"}
+,{
+	"constname": "k_unMaxTrackedDeviceCount","consttype": "const uint32_t", "constval": "16"}
+,{
+	"constname": "k_unTrackedDeviceIndexOther","consttype": "const uint32_t", "constval": "4294967294"}
+,{
+	"constname": "k_unTrackedDeviceIndexInvalid","consttype": "const uint32_t", "constval": "4294967295"}
+,{
+	"constname": "k_ulInvalidPropertyContainer","consttype": "const PropertyContainerHandle_t", "constval": "0"}
+,{
+	"constname": "k_unInvalidPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "0"}
+,{
+	"constname": "k_unFloatPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "1"}
+,{
+	"constname": "k_unInt32PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "2"}
+,{
+	"constname": "k_unUint64PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "3"}
+,{
+	"constname": "k_unBoolPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "4"}
+,{
+	"constname": "k_unStringPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "5"}
+,{
+	"constname": "k_unHmdMatrix34PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "20"}
+,{
+	"constname": "k_unHmdMatrix44PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "21"}
+,{
+	"constname": "k_unHmdVector3PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "22"}
+,{
+	"constname": "k_unHmdVector4PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "23"}
+,{
+	"constname": "k_unHiddenAreaPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "30"}
+,{
+	"constname": "k_unOpenVRInternalReserved_Start","consttype": "const PropertyTypeTag_t", "constval": "1000"}
+,{
+	"constname": "k_unOpenVRInternalReserved_End","consttype": "const PropertyTypeTag_t", "constval": "10000"}
+,{
+	"constname": "k_unMaxPropertyStringSize","consttype": "const uint32_t", "constval": "32768"}
+,{
+	"constname": "k_unControllerStateAxisCount","consttype": "const uint32_t", "constval": "5"}
+,{
+	"constname": "k_ulOverlayHandleInvalid","consttype": "const VROverlayHandle_t", "constval": "0"}
+,{
+	"constname": "k_unScreenshotHandleInvalid","consttype": "const uint32_t", "constval": "0"}
+,{
+	"constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_016"}
+,{
+	"constname": "IVRExtendedDisplay_Version","consttype": "const char *const", "constval": "IVRExtendedDisplay_001"}
+,{
+	"constname": "IVRTrackedCamera_Version","consttype": "const char *const", "constval": "IVRTrackedCamera_003"}
+,{
+	"constname": "k_unMaxApplicationKeyLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "k_pch_MimeType_HomeApp","consttype": "const char *const", "constval": "vr/home"}
+,{
+	"constname": "k_pch_MimeType_GameTheater","consttype": "const char *const", "constval": "vr/game_theater"}
+,{
+	"constname": "IVRApplications_Version","consttype": "const char *const", "constval": "IVRApplications_006"}
+,{
+	"constname": "IVRChaperone_Version","consttype": "const char *const", "constval": "IVRChaperone_003"}
+,{
+	"constname": "IVRChaperoneSetup_Version","consttype": "const char *const", "constval": "IVRChaperoneSetup_005"}
+,{
+	"constname": "IVRCompositor_Version","consttype": "const char *const", "constval": "IVRCompositor_020"}
+,{
+	"constname": "k_unVROverlayMaxKeyLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "k_unVROverlayMaxNameLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "k_unMaxOverlayCount","consttype": "const uint32_t", "constval": "64"}
+,{
+	"constname": "k_unMaxOverlayIntersectionMaskPrimitivesCount","consttype": "const uint32_t", "constval": "32"}
+,{
+	"constname": "IVROverlay_Version","consttype": "const char *const", "constval": "IVROverlay_016"}
+,{
+	"constname": "k_pch_Controller_Component_GDC2015","consttype": "const char *const", "constval": "gdc2015"}
+,{
+	"constname": "k_pch_Controller_Component_Base","consttype": "const char *const", "constval": "base"}
+,{
+	"constname": "k_pch_Controller_Component_Tip","consttype": "const char *const", "constval": "tip"}
+,{
+	"constname": "k_pch_Controller_Component_HandGrip","consttype": "const char *const", "constval": "handgrip"}
+,{
+	"constname": "k_pch_Controller_Component_Status","consttype": "const char *const", "constval": "status"}
+,{
+	"constname": "IVRRenderModels_Version","consttype": "const char *const", "constval": "IVRRenderModels_005"}
+,{
+	"constname": "k_unNotificationTextMaxSize","consttype": "const uint32_t", "constval": "256"}
+,{
+	"constname": "IVRNotifications_Version","consttype": "const char *const", "constval": "IVRNotifications_002"}
+,{
+	"constname": "k_unMaxSettingsKeyLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "IVRSettings_Version","consttype": "const char *const", "constval": "IVRSettings_002"}
+,{
+	"constname": "k_pch_SteamVR_Section","consttype": "const char *const", "constval": "steamvr"}
+,{
+	"constname": "k_pch_SteamVR_RequireHmd_String","consttype": "const char *const", "constval": "requireHmd"}
+,{
+	"constname": "k_pch_SteamVR_ForcedDriverKey_String","consttype": "const char *const", "constval": "forcedDriver"}
+,{
+	"constname": "k_pch_SteamVR_ForcedHmdKey_String","consttype": "const char *const", "constval": "forcedHmd"}
+,{
+	"constname": "k_pch_SteamVR_DisplayDebug_Bool","consttype": "const char *const", "constval": "displayDebug"}
+,{
+	"constname": "k_pch_SteamVR_DebugProcessPipe_String","consttype": "const char *const", "constval": "debugProcessPipe"}
+,{
+	"constname": "k_pch_SteamVR_DisplayDebugX_Int32","consttype": "const char *const", "constval": "displayDebugX"}
+,{
+	"constname": "k_pch_SteamVR_DisplayDebugY_Int32","consttype": "const char *const", "constval": "displayDebugY"}
+,{
+	"constname": "k_pch_SteamVR_SendSystemButtonToAllApps_Bool","consttype": "const char *const", "constval": "sendSystemButtonToAllApps"}
+,{
+	"constname": "k_pch_SteamVR_LogLevel_Int32","consttype": "const char *const", "constval": "loglevel"}
+,{
+	"constname": "k_pch_SteamVR_IPD_Float","consttype": "const char *const", "constval": "ipd"}
+,{
+	"constname": "k_pch_SteamVR_Background_String","consttype": "const char *const", "constval": "background"}
+,{
+	"constname": "k_pch_SteamVR_BackgroundUseDomeProjection_Bool","consttype": "const char *const", "constval": "backgroundUseDomeProjection"}
+,{
+	"constname": "k_pch_SteamVR_BackgroundCameraHeight_Float","consttype": "const char *const", "constval": "backgroundCameraHeight"}
+,{
+	"constname": "k_pch_SteamVR_BackgroundDomeRadius_Float","consttype": "const char *const", "constval": "backgroundDomeRadius"}
+,{
+	"constname": "k_pch_SteamVR_GridColor_String","consttype": "const char *const", "constval": "gridColor"}
+,{
+	"constname": "k_pch_SteamVR_PlayAreaColor_String","consttype": "const char *const", "constval": "playAreaColor"}
+,{
+	"constname": "k_pch_SteamVR_ShowStage_Bool","consttype": "const char *const", "constval": "showStage"}
+,{
+	"constname": "k_pch_SteamVR_ActivateMultipleDrivers_Bool","consttype": "const char *const", "constval": "activateMultipleDrivers"}
+,{
+	"constname": "k_pch_SteamVR_DirectMode_Bool","consttype": "const char *const", "constval": "directMode"}
+,{
+	"constname": "k_pch_SteamVR_DirectModeEdidVid_Int32","consttype": "const char *const", "constval": "directModeEdidVid"}
+,{
+	"constname": "k_pch_SteamVR_DirectModeEdidPid_Int32","consttype": "const char *const", "constval": "directModeEdidPid"}
+,{
+	"constname": "k_pch_SteamVR_UsingSpeakers_Bool","consttype": "const char *const", "constval": "usingSpeakers"}
+,{
+	"constname": "k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float","consttype": "const char *const", "constval": "speakersForwardYawOffsetDegrees"}
+,{
+	"constname": "k_pch_SteamVR_BaseStationPowerManagement_Bool","consttype": "const char *const", "constval": "basestationPowerManagement"}
+,{
+	"constname": "k_pch_SteamVR_NeverKillProcesses_Bool","consttype": "const char *const", "constval": "neverKillProcesses"}
+,{
+	"constname": "k_pch_SteamVR_SupersampleScale_Float","consttype": "const char *const", "constval": "supersampleScale"}
+,{
+	"constname": "k_pch_SteamVR_AllowAsyncReprojection_Bool","consttype": "const char *const", "constval": "allowAsyncReprojection"}
+,{
+	"constname": "k_pch_SteamVR_AllowReprojection_Bool","consttype": "const char *const", "constval": "allowInterleavedReprojection"}
+,{
+	"constname": "k_pch_SteamVR_ForceReprojection_Bool","consttype": "const char *const", "constval": "forceReprojection"}
+,{
+	"constname": "k_pch_SteamVR_ForceFadeOnBadTracking_Bool","consttype": "const char *const", "constval": "forceFadeOnBadTracking"}
+,{
+	"constname": "k_pch_SteamVR_DefaultMirrorView_Int32","consttype": "const char *const", "constval": "defaultMirrorView"}
+,{
+	"constname": "k_pch_SteamVR_ShowMirrorView_Bool","consttype": "const char *const", "constval": "showMirrorView"}
+,{
+	"constname": "k_pch_SteamVR_MirrorViewGeometry_String","consttype": "const char *const", "constval": "mirrorViewGeometry"}
+,{
+	"constname": "k_pch_SteamVR_StartMonitorFromAppLaunch","consttype": "const char *const", "constval": "startMonitorFromAppLaunch"}
+,{
+	"constname": "k_pch_SteamVR_StartCompositorFromAppLaunch_Bool","consttype": "const char *const", "constval": "startCompositorFromAppLaunch"}
+,{
+	"constname": "k_pch_SteamVR_StartDashboardFromAppLaunch_Bool","consttype": "const char *const", "constval": "startDashboardFromAppLaunch"}
+,{
+	"constname": "k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool","consttype": "const char *const", "constval": "startOverlayAppsFromDashboard"}
+,{
+	"constname": "k_pch_SteamVR_EnableHomeApp","consttype": "const char *const", "constval": "enableHomeApp"}
+,{
+	"constname": "k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32","consttype": "const char *const", "constval": "CycleBackgroundImageTimeSec"}
+,{
+	"constname": "k_pch_SteamVR_RetailDemo_Bool","consttype": "const char *const", "constval": "retailDemo"}
+,{
+	"constname": "k_pch_SteamVR_IpdOffset_Float","consttype": "const char *const", "constval": "ipdOffset"}
+,{
+	"constname": "k_pch_SteamVR_AllowSupersampleFiltering_Bool","consttype": "const char *const", "constval": "allowSupersampleFiltering"}
+,{
+	"constname": "k_pch_Lighthouse_Section","consttype": "const char *const", "constval": "driver_lighthouse"}
+,{
+	"constname": "k_pch_Lighthouse_DisableIMU_Bool","consttype": "const char *const", "constval": "disableimu"}
+,{
+	"constname": "k_pch_Lighthouse_UseDisambiguation_String","consttype": "const char *const", "constval": "usedisambiguation"}
+,{
+	"constname": "k_pch_Lighthouse_DisambiguationDebug_Int32","consttype": "const char *const", "constval": "disambiguationdebug"}
+,{
+	"constname": "k_pch_Lighthouse_PrimaryBasestation_Int32","consttype": "const char *const", "constval": "primarybasestation"}
+,{
+	"constname": "k_pch_Lighthouse_DBHistory_Bool","consttype": "const char *const", "constval": "dbhistory"}
+,{
+	"constname": "k_pch_Null_Section","consttype": "const char *const", "constval": "driver_null"}
+,{
+	"constname": "k_pch_Null_SerialNumber_String","consttype": "const char *const", "constval": "serialNumber"}
+,{
+	"constname": "k_pch_Null_ModelNumber_String","consttype": "const char *const", "constval": "modelNumber"}
+,{
+	"constname": "k_pch_Null_WindowX_Int32","consttype": "const char *const", "constval": "windowX"}
+,{
+	"constname": "k_pch_Null_WindowY_Int32","consttype": "const char *const", "constval": "windowY"}
+,{
+	"constname": "k_pch_Null_WindowWidth_Int32","consttype": "const char *const", "constval": "windowWidth"}
+,{
+	"constname": "k_pch_Null_WindowHeight_Int32","consttype": "const char *const", "constval": "windowHeight"}
+,{
+	"constname": "k_pch_Null_RenderWidth_Int32","consttype": "const char *const", "constval": "renderWidth"}
+,{
+	"constname": "k_pch_Null_RenderHeight_Int32","consttype": "const char *const", "constval": "renderHeight"}
+,{
+	"constname": "k_pch_Null_SecondsFromVsyncToPhotons_Float","consttype": "const char *const", "constval": "secondsFromVsyncToPhotons"}
+,{
+	"constname": "k_pch_Null_DisplayFrequency_Float","consttype": "const char *const", "constval": "displayFrequency"}
+,{
+	"constname": "k_pch_UserInterface_Section","consttype": "const char *const", "constval": "userinterface"}
+,{
+	"constname": "k_pch_UserInterface_StatusAlwaysOnTop_Bool","consttype": "const char *const", "constval": "StatusAlwaysOnTop"}
+,{
+	"constname": "k_pch_UserInterface_MinimizeToTray_Bool","consttype": "const char *const", "constval": "MinimizeToTray"}
+,{
+	"constname": "k_pch_UserInterface_Screenshots_Bool","consttype": "const char *const", "constval": "screenshots"}
+,{
+	"constname": "k_pch_UserInterface_ScreenshotType_Int","consttype": "const char *const", "constval": "screenshotType"}
+,{
+	"constname": "k_pch_Notifications_Section","consttype": "const char *const", "constval": "notifications"}
+,{
+	"constname": "k_pch_Notifications_DoNotDisturb_Bool","consttype": "const char *const", "constval": "DoNotDisturb"}
+,{
+	"constname": "k_pch_Keyboard_Section","consttype": "const char *const", "constval": "keyboard"}
+,{
+	"constname": "k_pch_Keyboard_TutorialCompletions","consttype": "const char *const", "constval": "TutorialCompletions"}
+,{
+	"constname": "k_pch_Keyboard_ScaleX","consttype": "const char *const", "constval": "ScaleX"}
+,{
+	"constname": "k_pch_Keyboard_ScaleY","consttype": "const char *const", "constval": "ScaleY"}
+,{
+	"constname": "k_pch_Keyboard_OffsetLeftX","consttype": "const char *const", "constval": "OffsetLeftX"}
+,{
+	"constname": "k_pch_Keyboard_OffsetRightX","consttype": "const char *const", "constval": "OffsetRightX"}
+,{
+	"constname": "k_pch_Keyboard_OffsetY","consttype": "const char *const", "constval": "OffsetY"}
+,{
+	"constname": "k_pch_Keyboard_Smoothing","consttype": "const char *const", "constval": "Smoothing"}
+,{
+	"constname": "k_pch_Perf_Section","consttype": "const char *const", "constval": "perfcheck"}
+,{
+	"constname": "k_pch_Perf_HeuristicActive_Bool","consttype": "const char *const", "constval": "heuristicActive"}
+,{
+	"constname": "k_pch_Perf_NotifyInHMD_Bool","consttype": "const char *const", "constval": "warnInHMD"}
+,{
+	"constname": "k_pch_Perf_NotifyOnlyOnce_Bool","consttype": "const char *const", "constval": "warnOnlyOnce"}
+,{
+	"constname": "k_pch_Perf_AllowTimingStore_Bool","consttype": "const char *const", "constval": "allowTimingStore"}
+,{
+	"constname": "k_pch_Perf_SaveTimingsOnExit_Bool","consttype": "const char *const", "constval": "saveTimingsOnExit"}
+,{
+	"constname": "k_pch_Perf_TestData_Float","consttype": "const char *const", "constval": "perfTestData"}
+,{
+	"constname": "k_pch_Perf_LinuxGPUProfiling_Bool","consttype": "const char *const", "constval": "linuxGPUProfiling"}
+,{
+	"constname": "k_pch_CollisionBounds_Section","consttype": "const char *const", "constval": "collisionBounds"}
+,{
+	"constname": "k_pch_CollisionBounds_Style_Int32","consttype": "const char *const", "constval": "CollisionBoundsStyle"}
+,{
+	"constname": "k_pch_CollisionBounds_GroundPerimeterOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsGroundPerimeterOn"}
+,{
+	"constname": "k_pch_CollisionBounds_CenterMarkerOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsCenterMarkerOn"}
+,{
+	"constname": "k_pch_CollisionBounds_PlaySpaceOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsPlaySpaceOn"}
+,{
+	"constname": "k_pch_CollisionBounds_FadeDistance_Float","consttype": "const char *const", "constval": "CollisionBoundsFadeDistance"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaR_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaR"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaG_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaG"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaB_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaB"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaA_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaA"}
+,{
+	"constname": "k_pch_Camera_Section","consttype": "const char *const", "constval": "camera"}
+,{
+	"constname": "k_pch_Camera_EnableCamera_Bool","consttype": "const char *const", "constval": "enableCamera"}
+,{
+	"constname": "k_pch_Camera_EnableCameraInDashboard_Bool","consttype": "const char *const", "constval": "enableCameraInDashboard"}
+,{
+	"constname": "k_pch_Camera_EnableCameraForCollisionBounds_Bool","consttype": "const char *const", "constval": "enableCameraForCollisionBounds"}
+,{
+	"constname": "k_pch_Camera_EnableCameraForRoomView_Bool","consttype": "const char *const", "constval": "enableCameraForRoomView"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaR_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaR"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaG_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaG"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaB_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaB"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaA_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaA"}
+,{
+	"constname": "k_pch_Camera_BoundsStrength_Int32","consttype": "const char *const", "constval": "cameraBoundsStrength"}
+,{
+	"constname": "k_pch_audio_Section","consttype": "const char *const", "constval": "audio"}
+,{
+	"constname": "k_pch_audio_OnPlaybackDevice_String","consttype": "const char *const", "constval": "onPlaybackDevice"}
+,{
+	"constname": "k_pch_audio_OnRecordDevice_String","consttype": "const char *const", "constval": "onRecordDevice"}
+,{
+	"constname": "k_pch_audio_OnPlaybackMirrorDevice_String","consttype": "const char *const", "constval": "onPlaybackMirrorDevice"}
+,{
+	"constname": "k_pch_audio_OffPlaybackDevice_String","consttype": "const char *const", "constval": "offPlaybackDevice"}
+,{
+	"constname": "k_pch_audio_OffRecordDevice_String","consttype": "const char *const", "constval": "offRecordDevice"}
+,{
+	"constname": "k_pch_audio_VIVEHDMIGain","consttype": "const char *const", "constval": "viveHDMIGain"}
+,{
+	"constname": "k_pch_Power_Section","consttype": "const char *const", "constval": "power"}
+,{
+	"constname": "k_pch_Power_PowerOffOnExit_Bool","consttype": "const char *const", "constval": "powerOffOnExit"}
+,{
+	"constname": "k_pch_Power_TurnOffScreensTimeout_Float","consttype": "const char *const", "constval": "turnOffScreensTimeout"}
+,{
+	"constname": "k_pch_Power_TurnOffControllersTimeout_Float","consttype": "const char *const", "constval": "turnOffControllersTimeout"}
+,{
+	"constname": "k_pch_Power_ReturnToWatchdogTimeout_Float","consttype": "const char *const", "constval": "returnToWatchdogTimeout"}
+,{
+	"constname": "k_pch_Power_AutoLaunchSteamVROnButtonPress","consttype": "const char *const", "constval": "autoLaunchSteamVROnButtonPress"}
+,{
+	"constname": "k_pch_Dashboard_Section","consttype": "const char *const", "constval": "dashboard"}
+,{
+	"constname": "k_pch_Dashboard_EnableDashboard_Bool","consttype": "const char *const", "constval": "enableDashboard"}
+,{
+	"constname": "k_pch_Dashboard_ArcadeMode_Bool","consttype": "const char *const", "constval": "arcadeMode"}
+,{
+	"constname": "k_pch_modelskin_Section","consttype": "const char *const", "constval": "modelskins"}
+,{
+	"constname": "k_pch_Driver_Enable_Bool","consttype": "const char *const", "constval": "enable"}
+,{
+	"constname": "IVRScreenshots_Version","consttype": "const char *const", "constval": "IVRScreenshots_001"}
+,{
+	"constname": "IVRResources_Version","consttype": "const char *const", "constval": "IVRResources_001"}
+,{
+	"constname": "IVRDriverManager_Version","consttype": "const char *const", "constval": "IVRDriverManager_001"}
+],
+"structs":[{"struct": "vr::HmdMatrix34_t","fields": [
+{ "fieldname": "m", "fieldtype": "float [3][4]"}]}
+,{"struct": "vr::HmdMatrix44_t","fields": [
+{ "fieldname": "m", "fieldtype": "float [4][4]"}]}
+,{"struct": "vr::HmdVector3_t","fields": [
+{ "fieldname": "v", "fieldtype": "float [3]"}]}
+,{"struct": "vr::HmdVector4_t","fields": [
+{ "fieldname": "v", "fieldtype": "float [4]"}]}
+,{"struct": "vr::HmdVector3d_t","fields": [
+{ "fieldname": "v", "fieldtype": "double [3]"}]}
+,{"struct": "vr::HmdVector2_t","fields": [
+{ "fieldname": "v", "fieldtype": "float [2]"}]}
+,{"struct": "vr::HmdQuaternion_t","fields": [
+{ "fieldname": "w", "fieldtype": "double"},
+{ "fieldname": "x", "fieldtype": "double"},
+{ "fieldname": "y", "fieldtype": "double"},
+{ "fieldname": "z", "fieldtype": "double"}]}
+,{"struct": "vr::HmdColor_t","fields": [
+{ "fieldname": "r", "fieldtype": "float"},
+{ "fieldname": "g", "fieldtype": "float"},
+{ "fieldname": "b", "fieldtype": "float"},
+{ "fieldname": "a", "fieldtype": "float"}]}
+,{"struct": "vr::HmdQuad_t","fields": [
+{ "fieldname": "vCorners", "fieldtype": "struct vr::HmdVector3_t [4]"}]}
+,{"struct": "vr::HmdRect2_t","fields": [
+{ "fieldname": "vTopLeft", "fieldtype": "struct vr::HmdVector2_t"},
+{ "fieldname": "vBottomRight", "fieldtype": "struct vr::HmdVector2_t"}]}
+,{"struct": "vr::DistortionCoordinates_t","fields": [
+{ "fieldname": "rfRed", "fieldtype": "float [2]"},
+{ "fieldname": "rfGreen", "fieldtype": "float [2]"},
+{ "fieldname": "rfBlue", "fieldtype": "float [2]"}]}
+,{"struct": "vr::Texture_t","fields": [
+{ "fieldname": "handle", "fieldtype": "void *"},
+{ "fieldname": "eType", "fieldtype": "enum vr::ETextureType"},
+{ "fieldname": "eColorSpace", "fieldtype": "enum vr::EColorSpace"}]}
+,{"struct": "vr::TrackedDevicePose_t","fields": [
+{ "fieldname": "mDeviceToAbsoluteTracking", "fieldtype": "struct vr::HmdMatrix34_t"},
+{ "fieldname": "vVelocity", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vAngularVelocity", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "eTrackingResult", "fieldtype": "enum vr::ETrackingResult"},
+{ "fieldname": "bPoseIsValid", "fieldtype": "_Bool"},
+{ "fieldname": "bDeviceIsConnected", "fieldtype": "_Bool"}]}
+,{"struct": "vr::VRTextureBounds_t","fields": [
+{ "fieldname": "uMin", "fieldtype": "float"},
+{ "fieldname": "vMin", "fieldtype": "float"},
+{ "fieldname": "uMax", "fieldtype": "float"},
+{ "fieldname": "vMax", "fieldtype": "float"}]}
+,{"struct": "vr::VRVulkanTextureData_t","fields": [
+{ "fieldname": "m_nImage", "fieldtype": "uint64_t"},
+{ "fieldname": "m_pDevice", "fieldtype": "struct VkDevice_T *"},
+{ "fieldname": "m_pPhysicalDevice", "fieldtype": "struct VkPhysicalDevice_T *"},
+{ "fieldname": "m_pInstance", "fieldtype": "struct VkInstance_T *"},
+{ "fieldname": "m_pQueue", "fieldtype": "struct VkQueue_T *"},
+{ "fieldname": "m_nQueueFamilyIndex", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nWidth", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nHeight", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nFormat", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nSampleCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::D3D12TextureData_t","fields": [
+{ "fieldname": "m_pResource", "fieldtype": "struct ID3D12Resource *"},
+{ "fieldname": "m_pCommandQueue", "fieldtype": "struct ID3D12CommandQueue *"},
+{ "fieldname": "m_nNodeMask", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Controller_t","fields": [
+{ "fieldname": "button", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Mouse_t","fields": [
+{ "fieldname": "x", "fieldtype": "float"},
+{ "fieldname": "y", "fieldtype": "float"},
+{ "fieldname": "button", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Scroll_t","fields": [
+{ "fieldname": "xdelta", "fieldtype": "float"},
+{ "fieldname": "ydelta", "fieldtype": "float"},
+{ "fieldname": "repeatCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_TouchPadMove_t","fields": [
+{ "fieldname": "bFingerDown", "fieldtype": "_Bool"},
+{ "fieldname": "flSecondsFingerDown", "fieldtype": "float"},
+{ "fieldname": "fValueXFirst", "fieldtype": "float"},
+{ "fieldname": "fValueYFirst", "fieldtype": "float"},
+{ "fieldname": "fValueXRaw", "fieldtype": "float"},
+{ "fieldname": "fValueYRaw", "fieldtype": "float"}]}
+,{"struct": "vr::VREvent_Notification_t","fields": [
+{ "fieldname": "ulUserValue", "fieldtype": "uint64_t"},
+{ "fieldname": "notificationId", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Process_t","fields": [
+{ "fieldname": "pid", "fieldtype": "uint32_t"},
+{ "fieldname": "oldPid", "fieldtype": "uint32_t"},
+{ "fieldname": "bForced", "fieldtype": "_Bool"}]}
+,{"struct": "vr::VREvent_Overlay_t","fields": [
+{ "fieldname": "overlayHandle", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_Status_t","fields": [
+{ "fieldname": "statusState", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Keyboard_t","fields": [
+{ "fieldname": "cNewInput", "fieldtype": "char [8]"},
+{ "fieldname": "uUserValue", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_Ipd_t","fields": [
+{ "fieldname": "ipdMeters", "fieldtype": "float"}]}
+,{"struct": "vr::VREvent_Chaperone_t","fields": [
+{ "fieldname": "m_nPreviousUniverse", "fieldtype": "uint64_t"},
+{ "fieldname": "m_nCurrentUniverse", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_Reserved_t","fields": [
+{ "fieldname": "reserved0", "fieldtype": "uint64_t"},
+{ "fieldname": "reserved1", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_PerformanceTest_t","fields": [
+{ "fieldname": "m_nFidelityLevel", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_SeatedZeroPoseReset_t","fields": [
+{ "fieldname": "bResetBySystemMenu", "fieldtype": "_Bool"}]}
+,{"struct": "vr::VREvent_Screenshot_t","fields": [
+{ "fieldname": "handle", "fieldtype": "uint32_t"},
+{ "fieldname": "type", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_ScreenshotProgress_t","fields": [
+{ "fieldname": "progress", "fieldtype": "float"}]}
+,{"struct": "vr::VREvent_ApplicationLaunch_t","fields": [
+{ "fieldname": "pid", "fieldtype": "uint32_t"},
+{ "fieldname": "unArgsHandle", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_EditingCameraSurface_t","fields": [
+{ "fieldname": "overlayHandle", "fieldtype": "uint64_t"},
+{ "fieldname": "nVisualMode", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_MessageOverlay_t","fields": [
+{ "fieldname": "unVRMessageOverlayResponse", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Property_t","fields": [
+{ "fieldname": "container", "fieldtype": "PropertyContainerHandle_t"},
+{ "fieldname": "prop", "fieldtype": "enum vr::ETrackedDeviceProperty"}]}
+,{"struct": "vr::(anonymous)","fields": [
+{ "fieldname": "reserved", "fieldtype": "struct vr::VREvent_Reserved_t"},
+{ "fieldname": "controller", "fieldtype": "struct vr::VREvent_Controller_t"},
+{ "fieldname": "mouse", "fieldtype": "struct vr::VREvent_Mouse_t"},
+{ "fieldname": "scroll", "fieldtype": "struct vr::VREvent_Scroll_t"},
+{ "fieldname": "process", "fieldtype": "struct vr::VREvent_Process_t"},
+{ "fieldname": "notification", "fieldtype": "struct vr::VREvent_Notification_t"},
+{ "fieldname": "overlay", "fieldtype": "struct vr::VREvent_Overlay_t"},
+{ "fieldname": "status", "fieldtype": "struct vr::VREvent_Status_t"},
+{ "fieldname": "keyboard", "fieldtype": "struct vr::VREvent_Keyboard_t"},
+{ "fieldname": "ipd", "fieldtype": "struct vr::VREvent_Ipd_t"},
+{ "fieldname": "chaperone", "fieldtype": "struct vr::VREvent_Chaperone_t"},
+{ "fieldname": "performanceTest", "fieldtype": "struct vr::VREvent_PerformanceTest_t"},
+{ "fieldname": "touchPadMove", "fieldtype": "struct vr::VREvent_TouchPadMove_t"},
+{ "fieldname": "seatedZeroPoseReset", "fieldtype": "struct vr::VREvent_SeatedZeroPoseReset_t"},
+{ "fieldname": "screenshot", "fieldtype": "struct vr::VREvent_Screenshot_t"},
+{ "fieldname": "screenshotProgress", "fieldtype": "struct vr::VREvent_ScreenshotProgress_t"},
+{ "fieldname": "applicationLaunch", "fieldtype": "struct vr::VREvent_ApplicationLaunch_t"},
+{ "fieldname": "cameraSurface", "fieldtype": "struct vr::VREvent_EditingCameraSurface_t"},
+{ "fieldname": "messageOverlay", "fieldtype": "struct vr::VREvent_MessageOverlay_t"},
+{ "fieldname": "property", "fieldtype": "struct vr::VREvent_Property_t"}]}
+,{"struct": "vr::VREvent_t","fields": [
+{ "fieldname": "eventType", "fieldtype": "uint32_t"},
+{ "fieldname": "trackedDeviceIndex", "fieldtype": "TrackedDeviceIndex_t"},
+{ "fieldname": "eventAgeSeconds", "fieldtype": "float"},
+{ "fieldname": "data", "fieldtype": "VREvent_Data_t"}]}
+,{"struct": "vr::HiddenAreaMesh_t","fields": [
+{ "fieldname": "pVertexData", "fieldtype": "const struct vr::HmdVector2_t *"},
+{ "fieldname": "unTriangleCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VRControllerAxis_t","fields": [
+{ "fieldname": "x", "fieldtype": "float"},
+{ "fieldname": "y", "fieldtype": "float"}]}
+,{"struct": "vr::VRControllerState001_t","fields": [
+{ "fieldname": "unPacketNum", "fieldtype": "uint32_t"},
+{ "fieldname": "ulButtonPressed", "fieldtype": "uint64_t"},
+{ "fieldname": "ulButtonTouched", "fieldtype": "uint64_t"},
+{ "fieldname": "rAxis", "fieldtype": "struct vr::VRControllerAxis_t [5]"}]}
+,{"struct": "vr::Compositor_OverlaySettings","fields": [
+{ "fieldname": "size", "fieldtype": "uint32_t"},
+{ "fieldname": "curved", "fieldtype": "_Bool"},
+{ "fieldname": "antialias", "fieldtype": "_Bool"},
+{ "fieldname": "scale", "fieldtype": "float"},
+{ "fieldname": "distance", "fieldtype": "float"},
+{ "fieldname": "alpha", "fieldtype": "float"},
+{ "fieldname": "uOffset", "fieldtype": "float"},
+{ "fieldname": "vOffset", "fieldtype": "float"},
+{ "fieldname": "uScale", "fieldtype": "float"},
+{ "fieldname": "vScale", "fieldtype": "float"},
+{ "fieldname": "gridDivs", "fieldtype": "float"},
+{ "fieldname": "gridWidth", "fieldtype": "float"},
+{ "fieldname": "gridScale", "fieldtype": "float"},
+{ "fieldname": "transform", "fieldtype": "struct vr::HmdMatrix44_t"}]}
+,{"struct": "vr::CameraVideoStreamFrameHeader_t","fields": [
+{ "fieldname": "eFrameType", "fieldtype": "enum vr::EVRTrackedCameraFrameType"},
+{ "fieldname": "nWidth", "fieldtype": "uint32_t"},
+{ "fieldname": "nHeight", "fieldtype": "uint32_t"},
+{ "fieldname": "nBytesPerPixel", "fieldtype": "uint32_t"},
+{ "fieldname": "nFrameSequence", "fieldtype": "uint32_t"},
+{ "fieldname": "standingTrackedDevicePose", "fieldtype": "struct vr::TrackedDevicePose_t"}]}
+,{"struct": "vr::AppOverrideKeys_t","fields": [
+{ "fieldname": "pchKey", "fieldtype": "const char *"},
+{ "fieldname": "pchValue", "fieldtype": "const char *"}]}
+,{"struct": "vr::Compositor_FrameTiming","fields": [
+{ "fieldname": "m_nSize", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nFrameIndex", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresents", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumMisPresented", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFrames", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nReprojectionFlags", "fieldtype": "uint32_t"},
+{ "fieldname": "m_flSystemTimeInSeconds", "fieldtype": "double"},
+{ "fieldname": "m_flPreSubmitGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flPostSubmitGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flTotalRenderGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorRenderGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorRenderCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorIdleCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flClientFrameIntervalMs", "fieldtype": "float"},
+{ "fieldname": "m_flPresentCallCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flWaitForPresentCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flSubmitFrameMs", "fieldtype": "float"},
+{ "fieldname": "m_flWaitGetPosesCalledMs", "fieldtype": "float"},
+{ "fieldname": "m_flNewPosesReadyMs", "fieldtype": "float"},
+{ "fieldname": "m_flNewFrameReadyMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorUpdateStartMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorUpdateEndMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorRenderStartMs", "fieldtype": "float"},
+{ "fieldname": "m_HmdPose", "fieldtype": "vr::TrackedDevicePose_t"}]}
+,{"struct": "vr::Compositor_CumulativeStats","fields": [
+{ "fieldname": "m_nPid", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresents", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFrames", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFrames", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresentsOnStartup", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFramesOnStartup", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFramesOnStartup", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresentsLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFramesLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFramesLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumTimedOut", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresentsTimedOut", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFramesTimedOut", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFramesTimedOut", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VROverlayIntersectionParams_t","fields": [
+{ "fieldname": "vSource", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vDirection", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "eOrigin", "fieldtype": "enum vr::ETrackingUniverseOrigin"}]}
+,{"struct": "vr::VROverlayIntersectionResults_t","fields": [
+{ "fieldname": "vPoint", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vNormal", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vUVs", "fieldtype": "struct vr::HmdVector2_t"},
+{ "fieldname": "fDistance", "fieldtype": "float"}]}
+,{"struct": "vr::IntersectionMaskRectangle_t","fields": [
+{ "fieldname": "m_flTopLeftX", "fieldtype": "float"},
+{ "fieldname": "m_flTopLeftY", "fieldtype": "float"},
+{ "fieldname": "m_flWidth", "fieldtype": "float"},
+{ "fieldname": "m_flHeight", "fieldtype": "float"}]}
+,{"struct": "vr::IntersectionMaskCircle_t","fields": [
+{ "fieldname": "m_flCenterX", "fieldtype": "float"},
+{ "fieldname": "m_flCenterY", "fieldtype": "float"},
+{ "fieldname": "m_flRadius", "fieldtype": "float"}]}
+,{"struct": "vr::(anonymous)","fields": [
+{ "fieldname": "m_Rectangle", "fieldtype": "struct vr::IntersectionMaskRectangle_t"},
+{ "fieldname": "m_Circle", "fieldtype": "struct vr::IntersectionMaskCircle_t"}]}
+,{"struct": "vr::VROverlayIntersectionMaskPrimitive_t","fields": [
+{ "fieldname": "m_nPrimitiveType", "fieldtype": "enum vr::EVROverlayIntersectionMaskPrimitiveType"},
+{ "fieldname": "m_Primitive", "fieldtype": "VROverlayIntersectionMaskPrimitive_Data_t"}]}
+,{"struct": "vr::RenderModel_ComponentState_t","fields": [
+{ "fieldname": "mTrackingToComponentRenderModel", "fieldtype": "struct vr::HmdMatrix34_t"},
+{ "fieldname": "mTrackingToComponentLocal", "fieldtype": "struct vr::HmdMatrix34_t"},
+{ "fieldname": "uProperties", "fieldtype": "VRComponentProperties"}]}
+,{"struct": "vr::RenderModel_Vertex_t","fields": [
+{ "fieldname": "vPosition", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vNormal", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "rfTextureCoord", "fieldtype": "float [2]"}]}
+,{"struct": "vr::RenderModel_TextureMap_t","fields": [
+{ "fieldname": "unWidth", "fieldtype": "uint16_t"},
+{ "fieldname": "unHeight", "fieldtype": "uint16_t"},
+{ "fieldname": "rubTextureMapData", "fieldtype": "const uint8_t *"}]}
+,{"struct": "vr::RenderModel_t","fields": [
+{ "fieldname": "rVertexData", "fieldtype": "const struct vr::RenderModel_Vertex_t *"},
+{ "fieldname": "unVertexCount", "fieldtype": "uint32_t"},
+{ "fieldname": "rIndexData", "fieldtype": "const uint16_t *"},
+{ "fieldname": "unTriangleCount", "fieldtype": "uint32_t"},
+{ "fieldname": "diffuseTextureId", "fieldtype": "TextureID_t"}]}
+,{"struct": "vr::RenderModel_ControllerMode_State_t","fields": [
+{ "fieldname": "bScrollWheelVisible", "fieldtype": "_Bool"}]}
+,{"struct": "vr::NotificationBitmap_t","fields": [
+{ "fieldname": "m_pImageData", "fieldtype": "void *"},
+{ "fieldname": "m_nWidth", "fieldtype": "int32_t"},
+{ "fieldname": "m_nHeight", "fieldtype": "int32_t"},
+{ "fieldname": "m_nBytesPerPixel", "fieldtype": "int32_t"}]}
+,{"struct": "vr::COpenVRContext","fields": [
+{ "fieldname": "m_pVRSystem", "fieldtype": "class vr::IVRSystem *"},
+{ "fieldname": "m_pVRChaperone", "fieldtype": "class vr::IVRChaperone *"},
+{ "fieldname": "m_pVRChaperoneSetup", "fieldtype": "class vr::IVRChaperoneSetup *"},
+{ "fieldname": "m_pVRCompositor", "fieldtype": "class vr::IVRCompositor *"},
+{ "fieldname": "m_pVROverlay", "fieldtype": "class vr::IVROverlay *"},
+{ "fieldname": "m_pVRResources", "fieldtype": "class vr::IVRResources *"},
+{ "fieldname": "m_pVRRenderModels", "fieldtype": "class vr::IVRRenderModels *"},
+{ "fieldname": "m_pVRExtendedDisplay", "fieldtype": "class vr::IVRExtendedDisplay *"},
+{ "fieldname": "m_pVRSettings", "fieldtype": "class vr::IVRSettings *"},
+{ "fieldname": "m_pVRApplications", "fieldtype": "class vr::IVRApplications *"},
+{ "fieldname": "m_pVRTrackedCamera", "fieldtype": "class vr::IVRTrackedCamera *"},
+{ "fieldname": "m_pVRScreenshots", "fieldtype": "class vr::IVRScreenshots *"},
+{ "fieldname": "m_pVRDriverManager", "fieldtype": "class vr::IVRDriverManager *"}]}
+],
+"methods":[{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetRecommendedRenderTargetSize",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetProjectionMatrix",
+	"returntype": "struct vr::HmdMatrix44_t",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "fNearZ" ,"paramtype": "float"},
+{	"paramname": "fFarZ" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetProjectionRaw",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pfLeft" ,"paramtype": "float *"},
+{	"paramname": "pfRight" ,"paramtype": "float *"},
+{	"paramname": "pfTop" ,"paramtype": "float *"},
+{	"paramname": "pfBottom" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ComputeDistortion",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "fU" ,"paramtype": "float"},
+{	"paramname": "fV" ,"paramtype": "float"},
+{	"paramname": "pDistortionCoordinates" ,"paramtype": "struct vr::DistortionCoordinates_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetEyeToHeadTransform",
+	"returntype": "struct vr::HmdMatrix34_t",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTimeSinceLastVsync",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pfSecondsSinceLastVsync" ,"paramtype": "float *"},
+{	"paramname": "pulFrameCounter" ,"paramtype": "uint64_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetD3D9AdapterIndex",
+	"returntype": "int32_t"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetDXGIOutputInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetOutputDevice",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnDevice" ,"paramtype": "uint64_t *"},
+{	"paramname": "textureType" ,"paramtype": "vr::ETextureType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "IsDisplayOnDesktop",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "SetDisplayVisibility",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "bIsVisibleOnDesktop" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetDeviceToAbsoluteTrackingPose",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "fPredictedSecondsToPhotonsFromNow" ,"paramtype": "float"},
+{	"paramname": "pTrackedDevicePoseArray" ,"array_count": "unTrackedDevicePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unTrackedDevicePoseArrayCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ResetSeatedZeroPose",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetSeatedZeroPoseToStandingAbsoluteTrackingPose",
+	"returntype": "struct vr::HmdMatrix34_t"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetRawZeroPoseToStandingAbsoluteTrackingPose",
+	"returntype": "struct vr::HmdMatrix34_t"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetSortedTrackedDeviceIndicesOfClass",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "eTrackedDeviceClass" ,"paramtype": "vr::ETrackedDeviceClass"},
+{	"paramname": "punTrackedDeviceIndexArray" ,"array_count": "unTrackedDeviceIndexArrayCount" ,"paramtype": "vr::TrackedDeviceIndex_t *"},
+{	"paramname": "unTrackedDeviceIndexArrayCount" ,"paramtype": "uint32_t"},
+{	"paramname": "unRelativeToTrackedDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTrackedDeviceActivityLevel",
+	"returntype": "vr::EDeviceActivityLevel",
+	"params": [ 
+{	"paramname": "unDeviceId" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ApplyTransform",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pOutputPose" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "pTrackedDevicePose" ,"paramtype": "const struct vr::TrackedDevicePose_t *"},
+{	"paramname": "pTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTrackedDeviceIndexForControllerRole",
+	"returntype": "vr::TrackedDeviceIndex_t",
+	"params": [ 
+{	"paramname": "unDeviceType" ,"paramtype": "vr::ETrackedControllerRole"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerRoleForTrackedDeviceIndex",
+	"returntype": "vr::ETrackedControllerRole",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTrackedDeviceClass",
+	"returntype": "vr::ETrackedDeviceClass",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "IsTrackedDeviceConnected",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetBoolTrackedDeviceProperty",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetFloatTrackedDeviceProperty",
+	"returntype": "float",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetInt32TrackedDeviceProperty",
+	"returntype": "int32_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetUint64TrackedDeviceProperty",
+	"returntype": "uint64_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetMatrix34TrackedDeviceProperty",
+	"returntype": "struct vr::HmdMatrix34_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetStringTrackedDeviceProperty",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetPropErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::ETrackedPropertyError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "PollNextEvent",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"},
+{	"paramname": "uncbVREvent" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "PollNextEventWithPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"},
+{	"paramname": "uncbVREvent" ,"paramtype": "uint32_t"},
+{	"paramname": "pTrackedDevicePose" ,"paramtype": "vr::TrackedDevicePose_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetEventTypeNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eType" ,"paramtype": "vr::EVREventType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetHiddenAreaMesh",
+	"returntype": "struct vr::HiddenAreaMesh_t",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "type" ,"paramtype": "vr::EHiddenAreaMeshType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerState",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"},
+{	"paramname": "unControllerStateSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerStateWithPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"},
+{	"paramname": "unControllerStateSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pTrackedDevicePose" ,"paramtype": "struct vr::TrackedDevicePose_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "TriggerHapticPulse",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "unAxisId" ,"paramtype": "uint32_t"},
+{	"paramname": "usDurationMicroSec" ,"paramtype": "unsigned short"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetButtonIdNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eButtonId" ,"paramtype": "vr::EVRButtonId"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerAxisTypeNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eAxisType" ,"paramtype": "vr::EVRControllerAxisType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "CaptureInputFocus",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ReleaseInputFocus",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "IsInputFocusCapturedByAnotherProcess",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "DriverDebugRequest",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pchRequest" ,"paramtype": "const char *"},
+{	"paramname": "pchResponseBuffer" ,"paramtype": "char *"},
+{	"paramname": "unResponseBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "PerformFirmwareUpdate",
+	"returntype": "vr::EVRFirmwareError",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "AcknowledgeQuit_Exiting",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "AcknowledgeQuit_UserPrompt",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRExtendedDisplay",
+	"methodname": "GetWindowBounds",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnX" ,"paramtype": "int32_t *"},
+{	"paramname": "pnY" ,"paramtype": "int32_t *"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRExtendedDisplay",
+	"methodname": "GetEyeOutputViewport",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pnX" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnY" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRExtendedDisplay",
+	"methodname": "GetDXGIOutputInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"},
+{	"paramname": "pnAdapterOutputIndex" ,"paramtype": "int32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eCameraError" ,"paramtype": "vr::EVRTrackedCameraError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "HasCamera",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pHasCamera" ,"paramtype": "bool *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraFrameSize",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnFrameBufferSize" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraIntrinsics",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pFocalLength" ,"paramtype": "vr::HmdVector2_t *"},
+{	"paramname": "pCenter" ,"paramtype": "vr::HmdVector2_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraProjection",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "flZNear" ,"paramtype": "float"},
+{	"paramname": "flZFar" ,"paramtype": "float"},
+{	"paramname": "pProjection" ,"paramtype": "vr::HmdMatrix44_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "AcquireVideoStreamingService",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pHandle" ,"paramtype": "vr::TrackedCameraHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "ReleaseVideoStreamingService",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamFrameBuffer",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pFrameBuffer" ,"paramtype": "void *"},
+{	"paramname": "nFrameBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"},
+{	"paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamTextureSize",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pTextureBounds" ,"paramtype": "vr::VRTextureBounds_t *"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamTextureD3D11",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pD3D11DeviceOrResource" ,"paramtype": "void *"},
+{	"paramname": "ppD3D11ShaderResourceView" ,"paramtype": "void **"},
+{	"paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"},
+{	"paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamTextureGL",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pglTextureId" ,"paramtype": "vr::glUInt_t *"},
+{	"paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"},
+{	"paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "ReleaseVideoStreamTextureGL",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "glTextureId" ,"paramtype": "vr::glUInt_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "AddApplicationManifest",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchApplicationManifestFullPath" ,"paramtype": "const char *"},
+{	"paramname": "bTemporary" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "RemoveApplicationManifest",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchApplicationManifestFullPath" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "IsApplicationInstalled",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationKeyByIndex",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "unApplicationIndex" ,"paramtype": "uint32_t"},
+{	"paramname": "pchAppKeyBuffer" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationKeyByProcessId",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "unProcessId" ,"paramtype": "uint32_t"},
+{	"paramname": "pchAppKeyBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchTemplateApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchTemplateAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pchNewAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pKeys" ,"array_count": "unKeys" ,"paramtype": "const struct vr::AppOverrideKeys_t *"},
+{	"paramname": "unKeys" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchApplicationFromMimeType",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"},
+{	"paramname": "pchArgs" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchDashboardOverlay",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "CancelApplicationLaunch",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "IdentifyApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "unProcessId" ,"paramtype": "uint32_t"},
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationProcessId",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationsErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::EVRApplicationError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationPropertyString",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"},
+{	"paramname": "pchPropertyValueBuffer" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unPropertyValueBufferLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationPropertyBool",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationPropertyUint64",
+	"returntype": "uint64_t",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "SetApplicationAutoLaunch",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "bAutoLaunch" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationAutoLaunch",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "SetDefaultApplicationForMimeType",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetDefaultApplicationForMimeType",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"},
+{	"paramname": "pchAppKeyBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationSupportedMimeTypes",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pchMimeTypesBuffer" ,"paramtype": "char *"},
+{	"paramname": "unMimeTypesBuffer" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationsThatSupportMimeType",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"},
+{	"paramname": "pchAppKeysThatSupportBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeysThatSupportBuffer" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationLaunchArguments",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unHandle" ,"paramtype": "uint32_t"},
+{	"paramname": "pchArgs" ,"paramtype": "char *"},
+{	"paramname": "unArgs" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetStartingApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKeyBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetTransitionState",
+	"returntype": "vr::EVRApplicationTransitionState"
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "PerformApplicationPrelaunchCheck",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationsTransitionStateNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "state" ,"paramtype": "vr::EVRApplicationTransitionState"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "IsQuitUserPromptRequested",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchInternalProcess",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchBinaryPath" ,"paramtype": "const char *"},
+{	"paramname": "pchArguments" ,"paramtype": "const char *"},
+{	"paramname": "pchWorkingDirectory" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetCurrentSceneProcessId",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetCalibrationState",
+	"returntype": "vr::ChaperoneCalibrationState"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetPlayAreaSize",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pSizeX" ,"paramtype": "float *"},
+{	"paramname": "pSizeZ" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetPlayAreaRect",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "rect" ,"paramtype": "struct vr::HmdQuad_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "ReloadInfo",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "SetSceneColor",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "color" ,"paramtype": "struct vr::HmdColor_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetBoundsColor",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pOutputColorArray" ,"paramtype": "struct vr::HmdColor_t *"},
+{	"paramname": "nNumOutputColors" ,"paramtype": "int"},
+{	"paramname": "flCollisionBoundsFadeDistance" ,"paramtype": "float"},
+{	"paramname": "pOutputCameraColor" ,"paramtype": "struct vr::HmdColor_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "AreBoundsVisible",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "ForceBoundsVisible",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "bForce" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "CommitWorkingCopy",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "configFile" ,"paramtype": "vr::EChaperoneConfigFile"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "RevertWorkingCopy",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingPlayAreaSize",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pSizeX" ,"paramtype": "float *"},
+{	"paramname": "pSizeZ" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingPlayAreaRect",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "rect" ,"paramtype": "struct vr::HmdQuad_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingCollisionBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "punQuadsCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLiveCollisionBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "punQuadsCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingSeatedZeroPoseToRawTrackingPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pmatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingStandingZeroPoseToRawTrackingPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pmatStandingZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingPlayAreaSize",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "sizeX" ,"paramtype": "float"},
+{	"paramname": "sizeZ" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingCollisionBoundsInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"array_count": "unQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "unQuadsCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingSeatedZeroPoseToRawTrackingPose",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pMatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingStandingZeroPoseToRawTrackingPose",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pMatStandingZeroPoseToRawTrackingPose" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "ReloadFromDisk",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "configFile" ,"paramtype": "vr::EChaperoneConfigFile"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLiveSeatedZeroPoseToRawTrackingPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pmatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingCollisionBoundsTagsInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pTagsBuffer" ,"array_count": "unTagCount" ,"paramtype": "uint8_t *"},
+{	"paramname": "unTagCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLiveCollisionBoundsTagsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pTagsBuffer" ,"out_array_count": "punTagCount" ,"paramtype": "uint8_t *"},
+{	"paramname": "punTagCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingPhysicalBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"array_count": "unQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "unQuadsCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLivePhysicalBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "punQuadsCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "ExportLiveToBuffer",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pBuffer" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "pnBufferLength" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "ImportFromBufferToWorking",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pBuffer" ,"paramtype": "const char *"},
+{	"paramname": "nImportFlags" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "SetTrackingSpace",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetTrackingSpace",
+	"returntype": "vr::ETrackingUniverseOrigin"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "WaitGetPoses",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "pRenderPoseArray" ,"array_count": "unRenderPoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unRenderPoseArrayCount" ,"paramtype": "uint32_t"},
+{	"paramname": "pGamePoseArray" ,"array_count": "unGamePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unGamePoseArrayCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetLastPoses",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "pRenderPoseArray" ,"array_count": "unRenderPoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unRenderPoseArrayCount" ,"paramtype": "uint32_t"},
+{	"paramname": "pGamePoseArray" ,"array_count": "unGamePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unGamePoseArrayCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetLastPoseForTrackedDeviceIndex",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pOutputPose" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "pOutputGamePose" ,"paramtype": "struct vr::TrackedDevicePose_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "Submit",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pTexture" ,"paramtype": "const struct vr::Texture_t *"},
+{	"paramname": "pBounds" ,"paramtype": "const struct vr::VRTextureBounds_t *"},
+{	"paramname": "nSubmitFlags" ,"paramtype": "vr::EVRSubmitFlags"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ClearLastSubmittedFrame",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "PostPresentHandoff",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetFrameTiming",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pTiming" ,"paramtype": "struct vr::Compositor_FrameTiming *"},
+{	"paramname": "unFramesAgo" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetFrameTimings",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pTiming" ,"paramtype": "struct vr::Compositor_FrameTiming *"},
+{	"paramname": "nFrames" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetFrameTimeRemaining",
+	"returntype": "float"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCumulativeStats",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pStats" ,"paramtype": "struct vr::Compositor_CumulativeStats *"},
+{	"paramname": "nStatsSizeInBytes" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "FadeToColor",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "fSeconds" ,"paramtype": "float"},
+{	"paramname": "fRed" ,"paramtype": "float"},
+{	"paramname": "fGreen" ,"paramtype": "float"},
+{	"paramname": "fBlue" ,"paramtype": "float"},
+{	"paramname": "fAlpha" ,"paramtype": "float"},
+{	"paramname": "bBackground" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCurrentFadeColor",
+	"returntype": "struct vr::HmdColor_t",
+	"params": [ 
+{	"paramname": "bBackground" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "FadeGrid",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "fSeconds" ,"paramtype": "float"},
+{	"paramname": "bFadeIn" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCurrentGridAlpha",
+	"returntype": "float"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "SetSkyboxOverride",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "pTextures" ,"array_count": "unTextureCount" ,"paramtype": "const struct vr::Texture_t *"},
+{	"paramname": "unTextureCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ClearSkyboxOverride",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorBringToFront",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorGoToBack",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorQuit",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "IsFullscreen",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCurrentSceneFocusProcess",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetLastFrameRenderer",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CanRenderScene",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ShowMirrorWindow",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "HideMirrorWindow",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "IsMirrorWindowVisible",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorDumpImages",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ShouldAppRenderWithLowResources",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ForceInterleavedReprojectionOn",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "bOverride" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ForceReconnectProcess",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "SuspendRendering",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "bSuspend" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetMirrorTextureD3D11",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pD3D11DeviceOrResource" ,"paramtype": "void *"},
+{	"paramname": "ppD3D11ShaderResourceView" ,"paramtype": "void **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ReleaseMirrorTextureD3D11",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pD3D11ShaderResourceView" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetMirrorTextureGL",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pglTextureId" ,"paramtype": "vr::glUInt_t *"},
+{	"paramname": "pglSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ReleaseSharedGLTexture",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "glTextureId" ,"paramtype": "vr::glUInt_t"},
+{	"paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "LockGLSharedTextureForAccess",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "UnlockGLSharedTextureForAccess",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetVulkanInstanceExtensionsRequired",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetVulkanDeviceExtensionsRequired",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pPhysicalDevice" ,"paramtype": "struct VkPhysicalDevice_T *"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "FindOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
+{	"paramname": "pOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "CreateOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
+{	"paramname": "pchOverlayName" ,"paramtype": "const char *"},
+{	"paramname": "pOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "DestroyOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetHighQualityOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetHighQualityOverlay",
+	"returntype": "vr::VROverlayHandle_t"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayKey",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayName",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayImageData",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvBuffer" ,"paramtype": "void *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "punWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "punHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::EVROverlayError"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRenderingPid",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unPID" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayRenderingPid",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayFlag",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eOverlayFlag" ,"paramtype": "vr::VROverlayFlags"},
+{	"paramname": "bEnabled" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayFlag",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eOverlayFlag" ,"paramtype": "vr::VROverlayFlags"},
+{	"paramname": "pbEnabled" ,"paramtype": "bool *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayColor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fRed" ,"paramtype": "float"},
+{	"paramname": "fGreen" ,"paramtype": "float"},
+{	"paramname": "fBlue" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayColor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfRed" ,"paramtype": "float *"},
+{	"paramname": "pfGreen" ,"paramtype": "float *"},
+{	"paramname": "pfBlue" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayAlpha",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fAlpha" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayAlpha",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfAlpha" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTexelAspect",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fTexelAspect" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTexelAspect",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfTexelAspect" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlaySortOrder",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unSortOrder" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlaySortOrder",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punSortOrder" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayWidthInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fWidthInMeters" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayWidthInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfWidthInMeters" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayAutoCurveDistanceRangeInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fMinDistanceInMeters" ,"paramtype": "float"},
+{	"paramname": "fMaxDistanceInMeters" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayAutoCurveDistanceRangeInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfMinDistanceInMeters" ,"paramtype": "float *"},
+{	"paramname": "pfMaxDistanceInMeters" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTextureColorSpace",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eTextureColorSpace" ,"paramtype": "vr::EColorSpace"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTextureColorSpace",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peTextureColorSpace" ,"paramtype": "vr::EColorSpace *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTextureBounds",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pOverlayTextureBounds" ,"paramtype": "const struct vr::VRTextureBounds_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTextureBounds",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pOverlayTextureBounds" ,"paramtype": "struct vr::VRTextureBounds_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayRenderModel",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pColor" ,"paramtype": "struct vr::HmdColor_t *"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRenderModel",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchRenderModel" ,"paramtype": "const char *"},
+{	"paramname": "pColor" ,"paramtype": "const struct vr::HmdColor_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformType",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peTransformType" ,"paramtype": "vr::VROverlayTransformType *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformAbsolute",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "pmatTrackingOriginToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformAbsolute",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin *"},
+{	"paramname": "pmatTrackingOriginToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformTrackedDeviceRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unTrackedDevice" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pmatTrackedDeviceToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformTrackedDeviceRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punTrackedDevice" ,"paramtype": "vr::TrackedDeviceIndex_t *"},
+{	"paramname": "pmatTrackedDeviceToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformTrackedDeviceComponent",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformTrackedDeviceComponent",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t *"},
+{	"paramname": "pchComponentName" ,"paramtype": "char *"},
+{	"paramname": "unComponentNameSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformOverlayRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulOverlayHandleParent" ,"paramtype": "vr::VROverlayHandle_t *"},
+{	"paramname": "pmatParentOverlayToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformOverlayRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulOverlayHandleParent" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pmatParentOverlayToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "HideOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsOverlayVisible",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetTransformForOverlayCoordinates",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "coordinatesInOverlay" ,"paramtype": "struct vr::HmdVector2_t"},
+{	"paramname": "pmatTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "PollNextOverlayEvent",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"},
+{	"paramname": "uncbVREvent" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayInputMethod",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peInputMethod" ,"paramtype": "vr::VROverlayInputMethod *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayInputMethod",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eInputMethod" ,"paramtype": "vr::VROverlayInputMethod"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayMouseScale",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvecMouseScale" ,"paramtype": "struct vr::HmdVector2_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayMouseScale",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvecMouseScale" ,"paramtype": "const struct vr::HmdVector2_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ComputeOverlayIntersection",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pParams" ,"paramtype": "const struct vr::VROverlayIntersectionParams_t *"},
+{	"paramname": "pResults" ,"paramtype": "struct vr::VROverlayIntersectionResults_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "HandleControllerOverlayInteractionAsMouse",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsHoverTargetOverlay",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetGamepadFocusOverlay",
+	"returntype": "vr::VROverlayHandle_t"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetGamepadFocusOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulNewFocusOverlay" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayNeighbor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "eDirection" ,"paramtype": "vr::EOverlayDirection"},
+{	"paramname": "ulFrom" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulTo" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "MoveGamepadFocusToNeighbor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "eDirection" ,"paramtype": "vr::EOverlayDirection"},
+{	"paramname": "ulFrom" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTexture",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pTexture" ,"paramtype": "const struct vr::Texture_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ClearOverlayTexture",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRaw",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvBuffer" ,"paramtype": "void *"},
+{	"paramname": "unWidth" ,"paramtype": "uint32_t"},
+{	"paramname": "unHeight" ,"paramtype": "uint32_t"},
+{	"paramname": "unDepth" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayFromFile",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchFilePath" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTexture",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pNativeTextureHandle" ,"paramtype": "void **"},
+{	"paramname": "pNativeTextureRef" ,"paramtype": "void *"},
+{	"paramname": "pWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pHeight" ,"paramtype": "uint32_t *"},
+{	"paramname": "pNativeFormat" ,"paramtype": "uint32_t *"},
+{	"paramname": "pAPIType" ,"paramtype": "vr::ETextureType *"},
+{	"paramname": "pColorSpace" ,"paramtype": "vr::EColorSpace *"},
+{	"paramname": "pTextureBounds" ,"paramtype": "struct vr::VRTextureBounds_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ReleaseNativeOverlayHandle",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pNativeTextureHandle" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTextureSize",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "CreateDashboardOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
+{	"paramname": "pchOverlayFriendlyName" ,"paramtype": "const char *"},
+{	"paramname": "pMainHandle" ,"paramtype": "vr::VROverlayHandle_t *"},
+{	"paramname": "pThumbnailHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsDashboardVisible",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsActiveDashboardOverlay",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetDashboardOverlaySceneProcess",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unProcessId" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetDashboardOverlaySceneProcess",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punProcessId" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowDashboard",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchOverlayToShow" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetPrimaryDashboardDevice",
+	"returntype": "vr::TrackedDeviceIndex_t"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowKeyboard",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "eInputMode" ,"paramtype": "vr::EGamepadTextInputMode"},
+{	"paramname": "eLineInputMode" ,"paramtype": "vr::EGamepadTextInputLineMode"},
+{	"paramname": "pchDescription" ,"paramtype": "const char *"},
+{	"paramname": "unCharMax" ,"paramtype": "uint32_t"},
+{	"paramname": "pchExistingText" ,"paramtype": "const char *"},
+{	"paramname": "bUseMinimalMode" ,"paramtype": "bool"},
+{	"paramname": "uUserValue" ,"paramtype": "uint64_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowKeyboardForOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eInputMode" ,"paramtype": "vr::EGamepadTextInputMode"},
+{	"paramname": "eLineInputMode" ,"paramtype": "vr::EGamepadTextInputLineMode"},
+{	"paramname": "pchDescription" ,"paramtype": "const char *"},
+{	"paramname": "unCharMax" ,"paramtype": "uint32_t"},
+{	"paramname": "pchExistingText" ,"paramtype": "const char *"},
+{	"paramname": "bUseMinimalMode" ,"paramtype": "bool"},
+{	"paramname": "uUserValue" ,"paramtype": "uint64_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetKeyboardText",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchText" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "cchText" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "HideKeyboard",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetKeyboardTransformAbsolute",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "pmatTrackingOriginToKeyboardTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetKeyboardPositionForOverlay",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "avoidRect" ,"paramtype": "struct vr::HmdRect2_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayIntersectionMask",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pMaskPrimitives" ,"paramtype": "struct vr::VROverlayIntersectionMaskPrimitive_t *"},
+{	"paramname": "unNumMaskPrimitives" ,"paramtype": "uint32_t"},
+{	"paramname": "unPrimitiveSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayFlags",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pFlags" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowMessageOverlay",
+	"returntype": "vr::VRMessageOverlayResponse",
+	"params": [ 
+{	"paramname": "pchText" ,"paramtype": "const char *"},
+{	"paramname": "pchCaption" ,"paramtype": "const char *"},
+{	"paramname": "pchButton0Text" ,"paramtype": "const char *"},
+{	"paramname": "pchButton1Text" ,"paramtype": "const char *"},
+{	"paramname": "pchButton2Text" ,"paramtype": "const char *"},
+{	"paramname": "pchButton3Text" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadRenderModel_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "ppRenderModel" ,"paramtype": "struct vr::RenderModel_t **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "FreeRenderModel",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pRenderModel" ,"paramtype": "struct vr::RenderModel_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadTexture_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "textureId" ,"paramtype": "vr::TextureID_t"},
+{	"paramname": "ppTexture" ,"paramtype": "struct vr::RenderModel_TextureMap_t **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "FreeTexture",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pTexture" ,"paramtype": "struct vr::RenderModel_TextureMap_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadTextureD3D11_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "textureId" ,"paramtype": "vr::TextureID_t"},
+{	"paramname": "pD3D11Device" ,"paramtype": "void *"},
+{	"paramname": "ppD3D11Texture2D" ,"paramtype": "void **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadIntoTextureD3D11_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "textureId" ,"paramtype": "vr::TextureID_t"},
+{	"paramname": "pDstTexture" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "FreeTextureD3D11",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pD3D11Texture2D" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unRenderModelIndex" ,"paramtype": "uint32_t"},
+{	"paramname": "pchRenderModelName" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unRenderModelNameLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentCount",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "unComponentIndex" ,"paramtype": "uint32_t"},
+{	"paramname": "pchComponentName" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unComponentNameLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentButtonMask",
+	"returntype": "uint64_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentRenderModelName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentRenderModelName" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unComponentRenderModelNameLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentState",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"},
+{	"paramname": "pControllerState" ,"paramtype": "const vr::VRControllerState_t *"},
+{	"paramname": "pState" ,"paramtype": "const struct vr::RenderModel_ControllerMode_State_t *"},
+{	"paramname": "pComponentState" ,"paramtype": "struct vr::RenderModel_ComponentState_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "RenderModelHasComponent",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelThumbnailURL",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchThumbnailURL" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unThumbnailURLLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRRenderModelError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelOriginalPath",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchOriginalPath" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unOriginalPathLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRRenderModelError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::EVRRenderModelError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRNotifications",
+	"methodname": "CreateNotification",
+	"returntype": "vr::EVRNotificationError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulUserValue" ,"paramtype": "uint64_t"},
+{	"paramname": "type" ,"paramtype": "vr::EVRNotificationType"},
+{	"paramname": "pchText" ,"paramtype": "const char *"},
+{	"paramname": "style" ,"paramtype": "vr::EVRNotificationStyle"},
+{	"paramname": "pImage" ,"paramtype": "const struct vr::NotificationBitmap_t *"},
+{	"paramname": "pNotificationId" ,"paramtype": "vr::VRNotificationId *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRNotifications",
+	"methodname": "RemoveNotification",
+	"returntype": "vr::EVRNotificationError",
+	"params": [ 
+{	"paramname": "notificationId" ,"paramtype": "vr::VRNotificationId"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetSettingsErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eError" ,"paramtype": "vr::EVRSettingsError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "Sync",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "bForce" ,"paramtype": "bool"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetBool",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "bValue" ,"paramtype": "bool"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetInt32",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "nValue" ,"paramtype": "int32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetFloat",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "flValue" ,"paramtype": "float"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetString",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "pchValue" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetBool",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetInt32",
+	"returntype": "int32_t",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetFloat",
+	"returntype": "float",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetString",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unValueLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "RemoveSection",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "RemoveKeyInSection",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "RequestScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "pOutScreenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t *"},
+{	"paramname": "type" ,"paramtype": "vr::EVRScreenshotType"},
+{	"paramname": "pchPreviewFilename" ,"paramtype": "const char *"},
+{	"paramname": "pchVRFilename" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "HookScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "pSupportedTypes" ,"array_count": "numTypes" ,"paramtype": "const vr::EVRScreenshotType *"},
+{	"paramname": "numTypes" ,"paramtype": "int"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "GetScreenshotPropertyType",
+	"returntype": "vr::EVRScreenshotType",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVRScreenshotError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "GetScreenshotPropertyFilename",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "filenameType" ,"paramtype": "vr::EVRScreenshotPropertyFilenames"},
+{	"paramname": "pchFilename" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "cchFilename" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVRScreenshotError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "UpdateScreenshotProgress",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "flProgress" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "TakeStereoScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "pOutScreenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t *"},
+{	"paramname": "pchPreviewFilename" ,"paramtype": "const char *"},
+{	"paramname": "pchVRFilename" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "SubmitScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "type" ,"paramtype": "vr::EVRScreenshotType"},
+{	"paramname": "pchSourcePreviewFilename" ,"paramtype": "const char *"},
+{	"paramname": "pchSourceVRFilename" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRResources",
+	"methodname": "LoadSharedResource",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchResourceName" ,"paramtype": "const char *"},
+{	"paramname": "pchBuffer" ,"paramtype": "char *"},
+{	"paramname": "unBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRResources",
+	"methodname": "GetResourceFullPath",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchResourceName" ,"paramtype": "const char *"},
+{	"paramname": "pchResourceTypeDirectory" ,"paramtype": "const char *"},
+{	"paramname": "pchPathBuffer" ,"paramtype": "char *"},
+{	"paramname": "unBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "nDriver" ,"paramtype": "vr::DriverId_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+]
+}
\ No newline at end of file
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_capi.h b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_capi.h
new file mode 100644
index 000000000..a6685e579
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_capi.h
@@ -0,0 +1,1918 @@
+//======= Copyright (c) Valve Corporation, All rights reserved. ===============
+//
+// Purpose: Header for flatted SteamAPI. Use this for binding to other languages.
+// This file is auto-generated, do not edit it.
+//
+//=============================================================================
+
+#ifndef __OPENVR_API_FLAT_H__
+#define __OPENVR_API_FLAT_H__
+#if defined( _WIN32 ) || defined( __clang__ )
+#pragma once
+#endif
+
+#ifdef __cplusplus
+#define EXTERN_C extern "C"
+#else
+#define EXTERN_C
+#endif
+
+#if defined( _WIN32 )
+#define OPENVR_FNTABLE_CALLTYPE __stdcall
+#else
+#define OPENVR_FNTABLE_CALLTYPE 
+#endif
+
+// OPENVR API export macro
+#if defined( _WIN32 ) && !defined( _X360 )
+	#if defined( OPENVR_API_EXPORTS )
+	#define S_API EXTERN_C __declspec( dllexport )
+	#elif defined( OPENVR_API_NODLL )
+	#define S_API EXTERN_C
+	#else
+	#define S_API extern "C" __declspec( dllimport ) 
+	#endif // OPENVR_API_EXPORTS
+#elif defined( __GNUC__ )
+	#if defined( OPENVR_API_EXPORTS )
+	#define S_API EXTERN_C __attribute__ ((visibility("default")))
+	#else
+	#define S_API EXTERN_C
+	#endif // OPENVR_API_EXPORTS
+#else // !WIN32
+	#if defined( OPENVR_API_EXPORTS )
+	#define S_API EXTERN_C
+	#else
+	#define S_API EXTERN_C
+	#endif // OPENVR_API_EXPORTS
+#endif
+
+#include <stdint.h>
+
+#if defined( __WIN32 )
+typedef char bool;
+#else
+#include <stdbool.h>
+#endif
+
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+
+// OpenVR Constants
+
+static const unsigned int k_nDriverNone = 4294967295;
+static const unsigned int k_unMaxDriverDebugResponseSize = 32768;
+static const unsigned int k_unTrackedDeviceIndex_Hmd = 0;
+static const unsigned int k_unMaxTrackedDeviceCount = 16;
+static const unsigned int k_unTrackedDeviceIndexOther = 4294967294;
+static const unsigned int k_unTrackedDeviceIndexInvalid = 4294967295;
+static const unsigned long k_ulInvalidPropertyContainer = 0;
+static const unsigned int k_unInvalidPropertyTag = 0;
+static const unsigned int k_unFloatPropertyTag = 1;
+static const unsigned int k_unInt32PropertyTag = 2;
+static const unsigned int k_unUint64PropertyTag = 3;
+static const unsigned int k_unBoolPropertyTag = 4;
+static const unsigned int k_unStringPropertyTag = 5;
+static const unsigned int k_unHmdMatrix34PropertyTag = 20;
+static const unsigned int k_unHmdMatrix44PropertyTag = 21;
+static const unsigned int k_unHmdVector3PropertyTag = 22;
+static const unsigned int k_unHmdVector4PropertyTag = 23;
+static const unsigned int k_unHiddenAreaPropertyTag = 30;
+static const unsigned int k_unOpenVRInternalReserved_Start = 1000;
+static const unsigned int k_unOpenVRInternalReserved_End = 10000;
+static const unsigned int k_unMaxPropertyStringSize = 32768;
+static const unsigned int k_unControllerStateAxisCount = 5;
+static const unsigned long k_ulOverlayHandleInvalid = 0;
+static const unsigned int k_unScreenshotHandleInvalid = 0;
+static const char * IVRSystem_Version = "IVRSystem_016";
+static const char * IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
+static const char * IVRTrackedCamera_Version = "IVRTrackedCamera_003";
+static const unsigned int k_unMaxApplicationKeyLength = 128;
+static const char * k_pch_MimeType_HomeApp = "vr/home";
+static const char * k_pch_MimeType_GameTheater = "vr/game_theater";
+static const char * IVRApplications_Version = "IVRApplications_006";
+static const char * IVRChaperone_Version = "IVRChaperone_003";
+static const char * IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
+static const char * IVRCompositor_Version = "IVRCompositor_020";
+static const unsigned int k_unVROverlayMaxKeyLength = 128;
+static const unsigned int k_unVROverlayMaxNameLength = 128;
+static const unsigned int k_unMaxOverlayCount = 64;
+static const unsigned int k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
+static const char * IVROverlay_Version = "IVROverlay_016";
+static const char * k_pch_Controller_Component_GDC2015 = "gdc2015";
+static const char * k_pch_Controller_Component_Base = "base";
+static const char * k_pch_Controller_Component_Tip = "tip";
+static const char * k_pch_Controller_Component_HandGrip = "handgrip";
+static const char * k_pch_Controller_Component_Status = "status";
+static const char * IVRRenderModels_Version = "IVRRenderModels_005";
+static const unsigned int k_unNotificationTextMaxSize = 256;
+static const char * IVRNotifications_Version = "IVRNotifications_002";
+static const unsigned int k_unMaxSettingsKeyLength = 128;
+static const char * IVRSettings_Version = "IVRSettings_002";
+static const char * k_pch_SteamVR_Section = "steamvr";
+static const char * k_pch_SteamVR_RequireHmd_String = "requireHmd";
+static const char * k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+static const char * k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+static const char * k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+static const char * k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+static const char * k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+static const char * k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+static const char * k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps";
+static const char * k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+static const char * k_pch_SteamVR_IPD_Float = "ipd";
+static const char * k_pch_SteamVR_Background_String = "background";
+static const char * k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+static const char * k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+static const char * k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+static const char * k_pch_SteamVR_GridColor_String = "gridColor";
+static const char * k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+static const char * k_pch_SteamVR_ShowStage_Bool = "showStage";
+static const char * k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+static const char * k_pch_SteamVR_DirectMode_Bool = "directMode";
+static const char * k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+static const char * k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+static const char * k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+static const char * k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+static const char * k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+static const char * k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+static const char * k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+static const char * k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+static const char * k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+static const char * k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+static const char * k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+static const char * k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+static const char * k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+static const char * k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+static const char * k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+static const char * k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+static const char * k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+static const char * k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+static const char * k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+static const char * k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+static const char * k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+static const char * k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+static const char * k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+static const char * k_pch_Lighthouse_Section = "driver_lighthouse";
+static const char * k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+static const char * k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+static const char * k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+static const char * k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+static const char * k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+static const char * k_pch_Null_Section = "driver_null";
+static const char * k_pch_Null_SerialNumber_String = "serialNumber";
+static const char * k_pch_Null_ModelNumber_String = "modelNumber";
+static const char * k_pch_Null_WindowX_Int32 = "windowX";
+static const char * k_pch_Null_WindowY_Int32 = "windowY";
+static const char * k_pch_Null_WindowWidth_Int32 = "windowWidth";
+static const char * k_pch_Null_WindowHeight_Int32 = "windowHeight";
+static const char * k_pch_Null_RenderWidth_Int32 = "renderWidth";
+static const char * k_pch_Null_RenderHeight_Int32 = "renderHeight";
+static const char * k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+static const char * k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+static const char * k_pch_UserInterface_Section = "userinterface";
+static const char * k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+static const char * k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+static const char * k_pch_UserInterface_Screenshots_Bool = "screenshots";
+static const char * k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+static const char * k_pch_Notifications_Section = "notifications";
+static const char * k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+static const char * k_pch_Keyboard_Section = "keyboard";
+static const char * k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+static const char * k_pch_Keyboard_ScaleX = "ScaleX";
+static const char * k_pch_Keyboard_ScaleY = "ScaleY";
+static const char * k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+static const char * k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+static const char * k_pch_Keyboard_OffsetY = "OffsetY";
+static const char * k_pch_Keyboard_Smoothing = "Smoothing";
+static const char * k_pch_Perf_Section = "perfcheck";
+static const char * k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+static const char * k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+static const char * k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+static const char * k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+static const char * k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+static const char * k_pch_Perf_TestData_Float = "perfTestData";
+static const char * k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+static const char * k_pch_CollisionBounds_Section = "collisionBounds";
+static const char * k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+static const char * k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+static const char * k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+static const char * k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+static const char * k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+static const char * k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+static const char * k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+static const char * k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+static const char * k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+static const char * k_pch_Camera_Section = "camera";
+static const char * k_pch_Camera_EnableCamera_Bool = "enableCamera";
+static const char * k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+static const char * k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+static const char * k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+static const char * k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+static const char * k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+static const char * k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+static const char * k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+static const char * k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+static const char * k_pch_audio_Section = "audio";
+static const char * k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+static const char * k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+static const char * k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+static const char * k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+static const char * k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+static const char * k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+static const char * k_pch_Power_Section = "power";
+static const char * k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+static const char * k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+static const char * k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+static const char * k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+static const char * k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+static const char * k_pch_Dashboard_Section = "dashboard";
+static const char * k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+static const char * k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+static const char * k_pch_modelskin_Section = "modelskins";
+static const char * k_pch_Driver_Enable_Bool = "enable";
+static const char * IVRScreenshots_Version = "IVRScreenshots_001";
+static const char * IVRResources_Version = "IVRResources_001";
+static const char * IVRDriverManager_Version = "IVRDriverManager_001";
+
+// OpenVR Enums
+
+typedef enum EVREye
+{
+	EVREye_Eye_Left = 0,
+	EVREye_Eye_Right = 1,
+} EVREye;
+
+typedef enum ETextureType
+{
+	ETextureType_TextureType_DirectX = 0,
+	ETextureType_TextureType_OpenGL = 1,
+	ETextureType_TextureType_Vulkan = 2,
+	ETextureType_TextureType_IOSurface = 3,
+	ETextureType_TextureType_DirectX12 = 4,
+} ETextureType;
+
+typedef enum EColorSpace
+{
+	EColorSpace_ColorSpace_Auto = 0,
+	EColorSpace_ColorSpace_Gamma = 1,
+	EColorSpace_ColorSpace_Linear = 2,
+} EColorSpace;
+
+typedef enum ETrackingResult
+{
+	ETrackingResult_TrackingResult_Uninitialized = 1,
+	ETrackingResult_TrackingResult_Calibrating_InProgress = 100,
+	ETrackingResult_TrackingResult_Calibrating_OutOfRange = 101,
+	ETrackingResult_TrackingResult_Running_OK = 200,
+	ETrackingResult_TrackingResult_Running_OutOfRange = 201,
+} ETrackingResult;
+
+typedef enum ETrackedDeviceClass
+{
+	ETrackedDeviceClass_TrackedDeviceClass_Invalid = 0,
+	ETrackedDeviceClass_TrackedDeviceClass_HMD = 1,
+	ETrackedDeviceClass_TrackedDeviceClass_Controller = 2,
+	ETrackedDeviceClass_TrackedDeviceClass_GenericTracker = 3,
+	ETrackedDeviceClass_TrackedDeviceClass_TrackingReference = 4,
+	ETrackedDeviceClass_TrackedDeviceClass_DisplayRedirect = 5,
+} ETrackedDeviceClass;
+
+typedef enum ETrackedControllerRole
+{
+	ETrackedControllerRole_TrackedControllerRole_Invalid = 0,
+	ETrackedControllerRole_TrackedControllerRole_LeftHand = 1,
+	ETrackedControllerRole_TrackedControllerRole_RightHand = 2,
+} ETrackedControllerRole;
+
+typedef enum ETrackingUniverseOrigin
+{
+	ETrackingUniverseOrigin_TrackingUniverseSeated = 0,
+	ETrackingUniverseOrigin_TrackingUniverseStanding = 1,
+	ETrackingUniverseOrigin_TrackingUniverseRawAndUncalibrated = 2,
+} ETrackingUniverseOrigin;
+
+typedef enum ETrackedDeviceProperty
+{
+	ETrackedDeviceProperty_Prop_Invalid = 0,
+	ETrackedDeviceProperty_Prop_TrackingSystemName_String = 1000,
+	ETrackedDeviceProperty_Prop_ModelNumber_String = 1001,
+	ETrackedDeviceProperty_Prop_SerialNumber_String = 1002,
+	ETrackedDeviceProperty_Prop_RenderModelName_String = 1003,
+	ETrackedDeviceProperty_Prop_WillDriftInYaw_Bool = 1004,
+	ETrackedDeviceProperty_Prop_ManufacturerName_String = 1005,
+	ETrackedDeviceProperty_Prop_TrackingFirmwareVersion_String = 1006,
+	ETrackedDeviceProperty_Prop_HardwareRevision_String = 1007,
+	ETrackedDeviceProperty_Prop_AllWirelessDongleDescriptions_String = 1008,
+	ETrackedDeviceProperty_Prop_ConnectedWirelessDongle_String = 1009,
+	ETrackedDeviceProperty_Prop_DeviceIsWireless_Bool = 1010,
+	ETrackedDeviceProperty_Prop_DeviceIsCharging_Bool = 1011,
+	ETrackedDeviceProperty_Prop_DeviceBatteryPercentage_Float = 1012,
+	ETrackedDeviceProperty_Prop_StatusDisplayTransform_Matrix34 = 1013,
+	ETrackedDeviceProperty_Prop_Firmware_UpdateAvailable_Bool = 1014,
+	ETrackedDeviceProperty_Prop_Firmware_ManualUpdate_Bool = 1015,
+	ETrackedDeviceProperty_Prop_Firmware_ManualUpdateURL_String = 1016,
+	ETrackedDeviceProperty_Prop_HardwareRevision_Uint64 = 1017,
+	ETrackedDeviceProperty_Prop_FirmwareVersion_Uint64 = 1018,
+	ETrackedDeviceProperty_Prop_FPGAVersion_Uint64 = 1019,
+	ETrackedDeviceProperty_Prop_VRCVersion_Uint64 = 1020,
+	ETrackedDeviceProperty_Prop_RadioVersion_Uint64 = 1021,
+	ETrackedDeviceProperty_Prop_DongleVersion_Uint64 = 1022,
+	ETrackedDeviceProperty_Prop_BlockServerShutdown_Bool = 1023,
+	ETrackedDeviceProperty_Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024,
+	ETrackedDeviceProperty_Prop_ContainsProximitySensor_Bool = 1025,
+	ETrackedDeviceProperty_Prop_DeviceProvidesBatteryStatus_Bool = 1026,
+	ETrackedDeviceProperty_Prop_DeviceCanPowerOff_Bool = 1027,
+	ETrackedDeviceProperty_Prop_Firmware_ProgrammingTarget_String = 1028,
+	ETrackedDeviceProperty_Prop_DeviceClass_Int32 = 1029,
+	ETrackedDeviceProperty_Prop_HasCamera_Bool = 1030,
+	ETrackedDeviceProperty_Prop_DriverVersion_String = 1031,
+	ETrackedDeviceProperty_Prop_Firmware_ForceUpdateRequired_Bool = 1032,
+	ETrackedDeviceProperty_Prop_ViveSystemButtonFixRequired_Bool = 1033,
+	ETrackedDeviceProperty_Prop_ParentDriver_Uint64 = 1034,
+	ETrackedDeviceProperty_Prop_ResourceRoot_String = 1035,
+	ETrackedDeviceProperty_Prop_ReportsTimeSinceVSync_Bool = 2000,
+	ETrackedDeviceProperty_Prop_SecondsFromVsyncToPhotons_Float = 2001,
+	ETrackedDeviceProperty_Prop_DisplayFrequency_Float = 2002,
+	ETrackedDeviceProperty_Prop_UserIpdMeters_Float = 2003,
+	ETrackedDeviceProperty_Prop_CurrentUniverseId_Uint64 = 2004,
+	ETrackedDeviceProperty_Prop_PreviousUniverseId_Uint64 = 2005,
+	ETrackedDeviceProperty_Prop_DisplayFirmwareVersion_Uint64 = 2006,
+	ETrackedDeviceProperty_Prop_IsOnDesktop_Bool = 2007,
+	ETrackedDeviceProperty_Prop_DisplayMCType_Int32 = 2008,
+	ETrackedDeviceProperty_Prop_DisplayMCOffset_Float = 2009,
+	ETrackedDeviceProperty_Prop_DisplayMCScale_Float = 2010,
+	ETrackedDeviceProperty_Prop_EdidVendorID_Int32 = 2011,
+	ETrackedDeviceProperty_Prop_DisplayMCImageLeft_String = 2012,
+	ETrackedDeviceProperty_Prop_DisplayMCImageRight_String = 2013,
+	ETrackedDeviceProperty_Prop_DisplayGCBlackClamp_Float = 2014,
+	ETrackedDeviceProperty_Prop_EdidProductID_Int32 = 2015,
+	ETrackedDeviceProperty_Prop_CameraToHeadTransform_Matrix34 = 2016,
+	ETrackedDeviceProperty_Prop_DisplayGCType_Int32 = 2017,
+	ETrackedDeviceProperty_Prop_DisplayGCOffset_Float = 2018,
+	ETrackedDeviceProperty_Prop_DisplayGCScale_Float = 2019,
+	ETrackedDeviceProperty_Prop_DisplayGCPrescale_Float = 2020,
+	ETrackedDeviceProperty_Prop_DisplayGCImage_String = 2021,
+	ETrackedDeviceProperty_Prop_LensCenterLeftU_Float = 2022,
+	ETrackedDeviceProperty_Prop_LensCenterLeftV_Float = 2023,
+	ETrackedDeviceProperty_Prop_LensCenterRightU_Float = 2024,
+	ETrackedDeviceProperty_Prop_LensCenterRightV_Float = 2025,
+	ETrackedDeviceProperty_Prop_UserHeadToEyeDepthMeters_Float = 2026,
+	ETrackedDeviceProperty_Prop_CameraFirmwareVersion_Uint64 = 2027,
+	ETrackedDeviceProperty_Prop_CameraFirmwareDescription_String = 2028,
+	ETrackedDeviceProperty_Prop_DisplayFPGAVersion_Uint64 = 2029,
+	ETrackedDeviceProperty_Prop_DisplayBootloaderVersion_Uint64 = 2030,
+	ETrackedDeviceProperty_Prop_DisplayHardwareVersion_Uint64 = 2031,
+	ETrackedDeviceProperty_Prop_AudioFirmwareVersion_Uint64 = 2032,
+	ETrackedDeviceProperty_Prop_CameraCompatibilityMode_Int32 = 2033,
+	ETrackedDeviceProperty_Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	ETrackedDeviceProperty_Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	ETrackedDeviceProperty_Prop_DisplaySuppressed_Bool = 2036,
+	ETrackedDeviceProperty_Prop_DisplayAllowNightMode_Bool = 2037,
+	ETrackedDeviceProperty_Prop_DisplayMCImageWidth_Int32 = 2038,
+	ETrackedDeviceProperty_Prop_DisplayMCImageHeight_Int32 = 2039,
+	ETrackedDeviceProperty_Prop_DisplayMCImageNumChannels_Int32 = 2040,
+	ETrackedDeviceProperty_Prop_DisplayMCImageData_Binary = 2041,
+	ETrackedDeviceProperty_Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	ETrackedDeviceProperty_Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	ETrackedDeviceProperty_Prop_DisplayDebugMode_Bool = 2044,
+	ETrackedDeviceProperty_Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	ETrackedDeviceProperty_Prop_AttachedDeviceId_String = 3000,
+	ETrackedDeviceProperty_Prop_SupportedButtons_Uint64 = 3001,
+	ETrackedDeviceProperty_Prop_Axis0Type_Int32 = 3002,
+	ETrackedDeviceProperty_Prop_Axis1Type_Int32 = 3003,
+	ETrackedDeviceProperty_Prop_Axis2Type_Int32 = 3004,
+	ETrackedDeviceProperty_Prop_Axis3Type_Int32 = 3005,
+	ETrackedDeviceProperty_Prop_Axis4Type_Int32 = 3006,
+	ETrackedDeviceProperty_Prop_ControllerRoleHint_Int32 = 3007,
+	ETrackedDeviceProperty_Prop_FieldOfViewLeftDegrees_Float = 4000,
+	ETrackedDeviceProperty_Prop_FieldOfViewRightDegrees_Float = 4001,
+	ETrackedDeviceProperty_Prop_FieldOfViewTopDegrees_Float = 4002,
+	ETrackedDeviceProperty_Prop_FieldOfViewBottomDegrees_Float = 4003,
+	ETrackedDeviceProperty_Prop_TrackingRangeMinimumMeters_Float = 4004,
+	ETrackedDeviceProperty_Prop_TrackingRangeMaximumMeters_Float = 4005,
+	ETrackedDeviceProperty_Prop_ModeLabel_String = 4006,
+	ETrackedDeviceProperty_Prop_IconPathName_String = 5000,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceOff_String = 5001,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceSearching_String = 5002,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceSearchingAlert_String = 5003,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceReady_String = 5004,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceReadyAlert_String = 5005,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceNotReady_String = 5006,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceStandby_String = 5007,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceAlertLow_String = 5008,
+	ETrackedDeviceProperty_Prop_DisplayHiddenArea_Binary_Start = 5100,
+	ETrackedDeviceProperty_Prop_DisplayHiddenArea_Binary_End = 5150,
+	ETrackedDeviceProperty_Prop_UserConfigPath_String = 6000,
+	ETrackedDeviceProperty_Prop_InstallPath_String = 6001,
+	ETrackedDeviceProperty_Prop_HasDisplayComponent_Bool = 6002,
+	ETrackedDeviceProperty_Prop_HasControllerComponent_Bool = 6003,
+	ETrackedDeviceProperty_Prop_HasCameraComponent_Bool = 6004,
+	ETrackedDeviceProperty_Prop_HasDriverDirectModeComponent_Bool = 6005,
+	ETrackedDeviceProperty_Prop_HasVirtualDisplayComponent_Bool = 6006,
+	ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_Start = 10000,
+	ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_End = 10999,
+} ETrackedDeviceProperty;
+
+typedef enum ETrackedPropertyError
+{
+	ETrackedPropertyError_TrackedProp_Success = 0,
+	ETrackedPropertyError_TrackedProp_WrongDataType = 1,
+	ETrackedPropertyError_TrackedProp_WrongDeviceClass = 2,
+	ETrackedPropertyError_TrackedProp_BufferTooSmall = 3,
+	ETrackedPropertyError_TrackedProp_UnknownProperty = 4,
+	ETrackedPropertyError_TrackedProp_InvalidDevice = 5,
+	ETrackedPropertyError_TrackedProp_CouldNotContactServer = 6,
+	ETrackedPropertyError_TrackedProp_ValueNotProvidedByDevice = 7,
+	ETrackedPropertyError_TrackedProp_StringExceedsMaximumLength = 8,
+	ETrackedPropertyError_TrackedProp_NotYetAvailable = 9,
+	ETrackedPropertyError_TrackedProp_PermissionDenied = 10,
+	ETrackedPropertyError_TrackedProp_InvalidOperation = 11,
+} ETrackedPropertyError;
+
+typedef enum EVRSubmitFlags
+{
+	EVRSubmitFlags_Submit_Default = 0,
+	EVRSubmitFlags_Submit_LensDistortionAlreadyApplied = 1,
+	EVRSubmitFlags_Submit_GlRenderBuffer = 2,
+	EVRSubmitFlags_Submit_Reserved = 4,
+} EVRSubmitFlags;
+
+typedef enum EVRState
+{
+	EVRState_VRState_Undefined = -1,
+	EVRState_VRState_Off = 0,
+	EVRState_VRState_Searching = 1,
+	EVRState_VRState_Searching_Alert = 2,
+	EVRState_VRState_Ready = 3,
+	EVRState_VRState_Ready_Alert = 4,
+	EVRState_VRState_NotReady = 5,
+	EVRState_VRState_Standby = 6,
+	EVRState_VRState_Ready_Alert_Low = 7,
+} EVRState;
+
+typedef enum EVREventType
+{
+	EVREventType_VREvent_None = 0,
+	EVREventType_VREvent_TrackedDeviceActivated = 100,
+	EVREventType_VREvent_TrackedDeviceDeactivated = 101,
+	EVREventType_VREvent_TrackedDeviceUpdated = 102,
+	EVREventType_VREvent_TrackedDeviceUserInteractionStarted = 103,
+	EVREventType_VREvent_TrackedDeviceUserInteractionEnded = 104,
+	EVREventType_VREvent_IpdChanged = 105,
+	EVREventType_VREvent_EnterStandbyMode = 106,
+	EVREventType_VREvent_LeaveStandbyMode = 107,
+	EVREventType_VREvent_TrackedDeviceRoleChanged = 108,
+	EVREventType_VREvent_WatchdogWakeUpRequested = 109,
+	EVREventType_VREvent_LensDistortionChanged = 110,
+	EVREventType_VREvent_PropertyChanged = 111,
+	EVREventType_VREvent_ButtonPress = 200,
+	EVREventType_VREvent_ButtonUnpress = 201,
+	EVREventType_VREvent_ButtonTouch = 202,
+	EVREventType_VREvent_ButtonUntouch = 203,
+	EVREventType_VREvent_MouseMove = 300,
+	EVREventType_VREvent_MouseButtonDown = 301,
+	EVREventType_VREvent_MouseButtonUp = 302,
+	EVREventType_VREvent_FocusEnter = 303,
+	EVREventType_VREvent_FocusLeave = 304,
+	EVREventType_VREvent_Scroll = 305,
+	EVREventType_VREvent_TouchPadMove = 306,
+	EVREventType_VREvent_OverlayFocusChanged = 307,
+	EVREventType_VREvent_InputFocusCaptured = 400,
+	EVREventType_VREvent_InputFocusReleased = 401,
+	EVREventType_VREvent_SceneFocusLost = 402,
+	EVREventType_VREvent_SceneFocusGained = 403,
+	EVREventType_VREvent_SceneApplicationChanged = 404,
+	EVREventType_VREvent_SceneFocusChanged = 405,
+	EVREventType_VREvent_InputFocusChanged = 406,
+	EVREventType_VREvent_SceneApplicationSecondaryRenderingStarted = 407,
+	EVREventType_VREvent_HideRenderModels = 410,
+	EVREventType_VREvent_ShowRenderModels = 411,
+	EVREventType_VREvent_OverlayShown = 500,
+	EVREventType_VREvent_OverlayHidden = 501,
+	EVREventType_VREvent_DashboardActivated = 502,
+	EVREventType_VREvent_DashboardDeactivated = 503,
+	EVREventType_VREvent_DashboardThumbSelected = 504,
+	EVREventType_VREvent_DashboardRequested = 505,
+	EVREventType_VREvent_ResetDashboard = 506,
+	EVREventType_VREvent_RenderToast = 507,
+	EVREventType_VREvent_ImageLoaded = 508,
+	EVREventType_VREvent_ShowKeyboard = 509,
+	EVREventType_VREvent_HideKeyboard = 510,
+	EVREventType_VREvent_OverlayGamepadFocusGained = 511,
+	EVREventType_VREvent_OverlayGamepadFocusLost = 512,
+	EVREventType_VREvent_OverlaySharedTextureChanged = 513,
+	EVREventType_VREvent_DashboardGuideButtonDown = 514,
+	EVREventType_VREvent_DashboardGuideButtonUp = 515,
+	EVREventType_VREvent_ScreenshotTriggered = 516,
+	EVREventType_VREvent_ImageFailed = 517,
+	EVREventType_VREvent_DashboardOverlayCreated = 518,
+	EVREventType_VREvent_RequestScreenshot = 520,
+	EVREventType_VREvent_ScreenshotTaken = 521,
+	EVREventType_VREvent_ScreenshotFailed = 522,
+	EVREventType_VREvent_SubmitScreenshotToDashboard = 523,
+	EVREventType_VREvent_ScreenshotProgressToDashboard = 524,
+	EVREventType_VREvent_PrimaryDashboardDeviceChanged = 525,
+	EVREventType_VREvent_Notification_Shown = 600,
+	EVREventType_VREvent_Notification_Hidden = 601,
+	EVREventType_VREvent_Notification_BeginInteraction = 602,
+	EVREventType_VREvent_Notification_Destroyed = 603,
+	EVREventType_VREvent_Quit = 700,
+	EVREventType_VREvent_ProcessQuit = 701,
+	EVREventType_VREvent_QuitAborted_UserPrompt = 702,
+	EVREventType_VREvent_QuitAcknowledged = 703,
+	EVREventType_VREvent_DriverRequestedQuit = 704,
+	EVREventType_VREvent_ChaperoneDataHasChanged = 800,
+	EVREventType_VREvent_ChaperoneUniverseHasChanged = 801,
+	EVREventType_VREvent_ChaperoneTempDataHasChanged = 802,
+	EVREventType_VREvent_ChaperoneSettingsHaveChanged = 803,
+	EVREventType_VREvent_SeatedZeroPoseReset = 804,
+	EVREventType_VREvent_AudioSettingsHaveChanged = 820,
+	EVREventType_VREvent_BackgroundSettingHasChanged = 850,
+	EVREventType_VREvent_CameraSettingsHaveChanged = 851,
+	EVREventType_VREvent_ReprojectionSettingHasChanged = 852,
+	EVREventType_VREvent_ModelSkinSettingsHaveChanged = 853,
+	EVREventType_VREvent_EnvironmentSettingsHaveChanged = 854,
+	EVREventType_VREvent_PowerSettingsHaveChanged = 855,
+	EVREventType_VREvent_EnableHomeAppSettingsHaveChanged = 856,
+	EVREventType_VREvent_StatusUpdate = 900,
+	EVREventType_VREvent_MCImageUpdated = 1000,
+	EVREventType_VREvent_FirmwareUpdateStarted = 1100,
+	EVREventType_VREvent_FirmwareUpdateFinished = 1101,
+	EVREventType_VREvent_KeyboardClosed = 1200,
+	EVREventType_VREvent_KeyboardCharInput = 1201,
+	EVREventType_VREvent_KeyboardDone = 1202,
+	EVREventType_VREvent_ApplicationTransitionStarted = 1300,
+	EVREventType_VREvent_ApplicationTransitionAborted = 1301,
+	EVREventType_VREvent_ApplicationTransitionNewAppStarted = 1302,
+	EVREventType_VREvent_ApplicationListUpdated = 1303,
+	EVREventType_VREvent_ApplicationMimeTypeLoad = 1304,
+	EVREventType_VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	EVREventType_VREvent_ProcessConnected = 1306,
+	EVREventType_VREvent_ProcessDisconnected = 1307,
+	EVREventType_VREvent_Compositor_MirrorWindowShown = 1400,
+	EVREventType_VREvent_Compositor_MirrorWindowHidden = 1401,
+	EVREventType_VREvent_Compositor_ChaperoneBoundsShown = 1410,
+	EVREventType_VREvent_Compositor_ChaperoneBoundsHidden = 1411,
+	EVREventType_VREvent_TrackedCamera_StartVideoStream = 1500,
+	EVREventType_VREvent_TrackedCamera_StopVideoStream = 1501,
+	EVREventType_VREvent_TrackedCamera_PauseVideoStream = 1502,
+	EVREventType_VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	EVREventType_VREvent_TrackedCamera_EditingSurface = 1550,
+	EVREventType_VREvent_PerformanceTest_EnableCapture = 1600,
+	EVREventType_VREvent_PerformanceTest_DisableCapture = 1601,
+	EVREventType_VREvent_PerformanceTest_FidelityLevel = 1602,
+	EVREventType_VREvent_MessageOverlay_Closed = 1650,
+	EVREventType_VREvent_VendorSpecific_Reserved_Start = 10000,
+	EVREventType_VREvent_VendorSpecific_Reserved_End = 19999,
+} EVREventType;
+
+typedef enum EDeviceActivityLevel
+{
+	EDeviceActivityLevel_k_EDeviceActivityLevel_Unknown = -1,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_Idle = 0,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_UserInteraction = 1,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_UserInteraction_Timeout = 2,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_Standby = 3,
+} EDeviceActivityLevel;
+
+typedef enum EVRButtonId
+{
+	EVRButtonId_k_EButton_System = 0,
+	EVRButtonId_k_EButton_ApplicationMenu = 1,
+	EVRButtonId_k_EButton_Grip = 2,
+	EVRButtonId_k_EButton_DPad_Left = 3,
+	EVRButtonId_k_EButton_DPad_Up = 4,
+	EVRButtonId_k_EButton_DPad_Right = 5,
+	EVRButtonId_k_EButton_DPad_Down = 6,
+	EVRButtonId_k_EButton_A = 7,
+	EVRButtonId_k_EButton_ProximitySensor = 31,
+	EVRButtonId_k_EButton_Axis0 = 32,
+	EVRButtonId_k_EButton_Axis1 = 33,
+	EVRButtonId_k_EButton_Axis2 = 34,
+	EVRButtonId_k_EButton_Axis3 = 35,
+	EVRButtonId_k_EButton_Axis4 = 36,
+	EVRButtonId_k_EButton_SteamVR_Touchpad = 32,
+	EVRButtonId_k_EButton_SteamVR_Trigger = 33,
+	EVRButtonId_k_EButton_Dashboard_Back = 2,
+	EVRButtonId_k_EButton_Max = 64,
+} EVRButtonId;
+
+typedef enum EVRMouseButton
+{
+	EVRMouseButton_VRMouseButton_Left = 1,
+	EVRMouseButton_VRMouseButton_Right = 2,
+	EVRMouseButton_VRMouseButton_Middle = 4,
+} EVRMouseButton;
+
+typedef enum EHiddenAreaMeshType
+{
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Standard = 0,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Inverse = 1,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_LineLoop = 2,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Max = 3,
+} EHiddenAreaMeshType;
+
+typedef enum EVRControllerAxisType
+{
+	EVRControllerAxisType_k_eControllerAxis_None = 0,
+	EVRControllerAxisType_k_eControllerAxis_TrackPad = 1,
+	EVRControllerAxisType_k_eControllerAxis_Joystick = 2,
+	EVRControllerAxisType_k_eControllerAxis_Trigger = 3,
+} EVRControllerAxisType;
+
+typedef enum EVRControllerEventOutputType
+{
+	EVRControllerEventOutputType_ControllerEventOutput_OSEvents = 0,
+	EVRControllerEventOutputType_ControllerEventOutput_VREvents = 1,
+} EVRControllerEventOutputType;
+
+typedef enum ECollisionBoundsStyle
+{
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_INTERMEDIATE = 1,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_SQUARES = 2,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_ADVANCED = 3,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_NONE = 4,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_COUNT = 5,
+} ECollisionBoundsStyle;
+
+typedef enum EVROverlayError
+{
+	EVROverlayError_VROverlayError_None = 0,
+	EVROverlayError_VROverlayError_UnknownOverlay = 10,
+	EVROverlayError_VROverlayError_InvalidHandle = 11,
+	EVROverlayError_VROverlayError_PermissionDenied = 12,
+	EVROverlayError_VROverlayError_OverlayLimitExceeded = 13,
+	EVROverlayError_VROverlayError_WrongVisibilityType = 14,
+	EVROverlayError_VROverlayError_KeyTooLong = 15,
+	EVROverlayError_VROverlayError_NameTooLong = 16,
+	EVROverlayError_VROverlayError_KeyInUse = 17,
+	EVROverlayError_VROverlayError_WrongTransformType = 18,
+	EVROverlayError_VROverlayError_InvalidTrackedDevice = 19,
+	EVROverlayError_VROverlayError_InvalidParameter = 20,
+	EVROverlayError_VROverlayError_ThumbnailCantBeDestroyed = 21,
+	EVROverlayError_VROverlayError_ArrayTooSmall = 22,
+	EVROverlayError_VROverlayError_RequestFailed = 23,
+	EVROverlayError_VROverlayError_InvalidTexture = 24,
+	EVROverlayError_VROverlayError_UnableToLoadFile = 25,
+	EVROverlayError_VROverlayError_KeyboardAlreadyInUse = 26,
+	EVROverlayError_VROverlayError_NoNeighbor = 27,
+	EVROverlayError_VROverlayError_TooManyMaskPrimitives = 29,
+	EVROverlayError_VROverlayError_BadMaskPrimitive = 30,
+} EVROverlayError;
+
+typedef enum EVRApplicationType
+{
+	EVRApplicationType_VRApplication_Other = 0,
+	EVRApplicationType_VRApplication_Scene = 1,
+	EVRApplicationType_VRApplication_Overlay = 2,
+	EVRApplicationType_VRApplication_Background = 3,
+	EVRApplicationType_VRApplication_Utility = 4,
+	EVRApplicationType_VRApplication_VRMonitor = 5,
+	EVRApplicationType_VRApplication_SteamWatchdog = 6,
+	EVRApplicationType_VRApplication_Bootstrapper = 7,
+	EVRApplicationType_VRApplication_Max = 8,
+} EVRApplicationType;
+
+typedef enum EVRFirmwareError
+{
+	EVRFirmwareError_VRFirmwareError_None = 0,
+	EVRFirmwareError_VRFirmwareError_Success = 1,
+	EVRFirmwareError_VRFirmwareError_Fail = 2,
+} EVRFirmwareError;
+
+typedef enum EVRNotificationError
+{
+	EVRNotificationError_VRNotificationError_OK = 0,
+	EVRNotificationError_VRNotificationError_InvalidNotificationId = 100,
+	EVRNotificationError_VRNotificationError_NotificationQueueFull = 101,
+	EVRNotificationError_VRNotificationError_InvalidOverlayHandle = 102,
+	EVRNotificationError_VRNotificationError_SystemWithUserValueAlreadyExists = 103,
+} EVRNotificationError;
+
+typedef enum EVRInitError
+{
+	EVRInitError_VRInitError_None = 0,
+	EVRInitError_VRInitError_Unknown = 1,
+	EVRInitError_VRInitError_Init_InstallationNotFound = 100,
+	EVRInitError_VRInitError_Init_InstallationCorrupt = 101,
+	EVRInitError_VRInitError_Init_VRClientDLLNotFound = 102,
+	EVRInitError_VRInitError_Init_FileNotFound = 103,
+	EVRInitError_VRInitError_Init_FactoryNotFound = 104,
+	EVRInitError_VRInitError_Init_InterfaceNotFound = 105,
+	EVRInitError_VRInitError_Init_InvalidInterface = 106,
+	EVRInitError_VRInitError_Init_UserConfigDirectoryInvalid = 107,
+	EVRInitError_VRInitError_Init_HmdNotFound = 108,
+	EVRInitError_VRInitError_Init_NotInitialized = 109,
+	EVRInitError_VRInitError_Init_PathRegistryNotFound = 110,
+	EVRInitError_VRInitError_Init_NoConfigPath = 111,
+	EVRInitError_VRInitError_Init_NoLogPath = 112,
+	EVRInitError_VRInitError_Init_PathRegistryNotWritable = 113,
+	EVRInitError_VRInitError_Init_AppInfoInitFailed = 114,
+	EVRInitError_VRInitError_Init_Retry = 115,
+	EVRInitError_VRInitError_Init_InitCanceledByUser = 116,
+	EVRInitError_VRInitError_Init_AnotherAppLaunching = 117,
+	EVRInitError_VRInitError_Init_SettingsInitFailed = 118,
+	EVRInitError_VRInitError_Init_ShuttingDown = 119,
+	EVRInitError_VRInitError_Init_TooManyObjects = 120,
+	EVRInitError_VRInitError_Init_NoServerForBackgroundApp = 121,
+	EVRInitError_VRInitError_Init_NotSupportedWithCompositor = 122,
+	EVRInitError_VRInitError_Init_NotAvailableToUtilityApps = 123,
+	EVRInitError_VRInitError_Init_Internal = 124,
+	EVRInitError_VRInitError_Init_HmdDriverIdIsNone = 125,
+	EVRInitError_VRInitError_Init_HmdNotFoundPresenceFailed = 126,
+	EVRInitError_VRInitError_Init_VRMonitorNotFound = 127,
+	EVRInitError_VRInitError_Init_VRMonitorStartupFailed = 128,
+	EVRInitError_VRInitError_Init_LowPowerWatchdogNotSupported = 129,
+	EVRInitError_VRInitError_Init_InvalidApplicationType = 130,
+	EVRInitError_VRInitError_Init_NotAvailableToWatchdogApps = 131,
+	EVRInitError_VRInitError_Init_WatchdogDisabledInSettings = 132,
+	EVRInitError_VRInitError_Init_VRDashboardNotFound = 133,
+	EVRInitError_VRInitError_Init_VRDashboardStartupFailed = 134,
+	EVRInitError_VRInitError_Init_VRHomeNotFound = 135,
+	EVRInitError_VRInitError_Init_VRHomeStartupFailed = 136,
+	EVRInitError_VRInitError_Driver_Failed = 200,
+	EVRInitError_VRInitError_Driver_Unknown = 201,
+	EVRInitError_VRInitError_Driver_HmdUnknown = 202,
+	EVRInitError_VRInitError_Driver_NotLoaded = 203,
+	EVRInitError_VRInitError_Driver_RuntimeOutOfDate = 204,
+	EVRInitError_VRInitError_Driver_HmdInUse = 205,
+	EVRInitError_VRInitError_Driver_NotCalibrated = 206,
+	EVRInitError_VRInitError_Driver_CalibrationInvalid = 207,
+	EVRInitError_VRInitError_Driver_HmdDisplayNotFound = 208,
+	EVRInitError_VRInitError_Driver_TrackedDeviceInterfaceUnknown = 209,
+	EVRInitError_VRInitError_Driver_HmdDriverIdOutOfBounds = 211,
+	EVRInitError_VRInitError_Driver_HmdDisplayMirrored = 212,
+	EVRInitError_VRInitError_IPC_ServerInitFailed = 300,
+	EVRInitError_VRInitError_IPC_ConnectFailed = 301,
+	EVRInitError_VRInitError_IPC_SharedStateInitFailed = 302,
+	EVRInitError_VRInitError_IPC_CompositorInitFailed = 303,
+	EVRInitError_VRInitError_IPC_MutexInitFailed = 304,
+	EVRInitError_VRInitError_IPC_Failed = 305,
+	EVRInitError_VRInitError_IPC_CompositorConnectFailed = 306,
+	EVRInitError_VRInitError_IPC_CompositorInvalidConnectResponse = 307,
+	EVRInitError_VRInitError_IPC_ConnectFailedAfterMultipleAttempts = 308,
+	EVRInitError_VRInitError_Compositor_Failed = 400,
+	EVRInitError_VRInitError_Compositor_D3D11HardwareRequired = 401,
+	EVRInitError_VRInitError_Compositor_FirmwareRequiresUpdate = 402,
+	EVRInitError_VRInitError_Compositor_OverlayInitFailed = 403,
+	EVRInitError_VRInitError_Compositor_ScreenshotsInitFailed = 404,
+	EVRInitError_VRInitError_Compositor_UnableToCreateDevice = 405,
+	EVRInitError_VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_CantOpenDevice = 1101,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_NoStoredConfig = 1103,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigTooBig = 1104,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigTooSmall = 1105,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToInitZLib = 1106,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UserDataAddressRange = 1111,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UserDataError = 1112,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113,
+	EVRInitError_VRInitError_Steam_SteamInstallationNotFound = 2000,
+} EVRInitError;
+
+typedef enum EVRScreenshotType
+{
+	EVRScreenshotType_VRScreenshotType_None = 0,
+	EVRScreenshotType_VRScreenshotType_Mono = 1,
+	EVRScreenshotType_VRScreenshotType_Stereo = 2,
+	EVRScreenshotType_VRScreenshotType_Cubemap = 3,
+	EVRScreenshotType_VRScreenshotType_MonoPanorama = 4,
+	EVRScreenshotType_VRScreenshotType_StereoPanorama = 5,
+} EVRScreenshotType;
+
+typedef enum EVRScreenshotPropertyFilenames
+{
+	EVRScreenshotPropertyFilenames_VRScreenshotPropertyFilenames_Preview = 0,
+	EVRScreenshotPropertyFilenames_VRScreenshotPropertyFilenames_VR = 1,
+} EVRScreenshotPropertyFilenames;
+
+typedef enum EVRTrackedCameraError
+{
+	EVRTrackedCameraError_VRTrackedCameraError_None = 0,
+	EVRTrackedCameraError_VRTrackedCameraError_OperationFailed = 100,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidHandle = 101,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidFrameHeaderVersion = 102,
+	EVRTrackedCameraError_VRTrackedCameraError_OutOfHandles = 103,
+	EVRTrackedCameraError_VRTrackedCameraError_IPCFailure = 104,
+	EVRTrackedCameraError_VRTrackedCameraError_NotSupportedForThisDevice = 105,
+	EVRTrackedCameraError_VRTrackedCameraError_SharedMemoryFailure = 106,
+	EVRTrackedCameraError_VRTrackedCameraError_FrameBufferingFailure = 107,
+	EVRTrackedCameraError_VRTrackedCameraError_StreamSetupFailure = 108,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidGLTextureId = 109,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidSharedTextureHandle = 110,
+	EVRTrackedCameraError_VRTrackedCameraError_FailedToGetGLTextureId = 111,
+	EVRTrackedCameraError_VRTrackedCameraError_SharedTextureFailure = 112,
+	EVRTrackedCameraError_VRTrackedCameraError_NoFrameAvailable = 113,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidArgument = 114,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidFrameBufferSize = 115,
+} EVRTrackedCameraError;
+
+typedef enum EVRTrackedCameraFrameType
+{
+	EVRTrackedCameraFrameType_VRTrackedCameraFrameType_Distorted = 0,
+	EVRTrackedCameraFrameType_VRTrackedCameraFrameType_Undistorted = 1,
+	EVRTrackedCameraFrameType_VRTrackedCameraFrameType_MaximumUndistorted = 2,
+	EVRTrackedCameraFrameType_MAX_CAMERA_FRAME_TYPES = 3,
+} EVRTrackedCameraFrameType;
+
+typedef enum EVRApplicationError
+{
+	EVRApplicationError_VRApplicationError_None = 0,
+	EVRApplicationError_VRApplicationError_AppKeyAlreadyExists = 100,
+	EVRApplicationError_VRApplicationError_NoManifest = 101,
+	EVRApplicationError_VRApplicationError_NoApplication = 102,
+	EVRApplicationError_VRApplicationError_InvalidIndex = 103,
+	EVRApplicationError_VRApplicationError_UnknownApplication = 104,
+	EVRApplicationError_VRApplicationError_IPCFailed = 105,
+	EVRApplicationError_VRApplicationError_ApplicationAlreadyRunning = 106,
+	EVRApplicationError_VRApplicationError_InvalidManifest = 107,
+	EVRApplicationError_VRApplicationError_InvalidApplication = 108,
+	EVRApplicationError_VRApplicationError_LaunchFailed = 109,
+	EVRApplicationError_VRApplicationError_ApplicationAlreadyStarting = 110,
+	EVRApplicationError_VRApplicationError_LaunchInProgress = 111,
+	EVRApplicationError_VRApplicationError_OldApplicationQuitting = 112,
+	EVRApplicationError_VRApplicationError_TransitionAborted = 113,
+	EVRApplicationError_VRApplicationError_IsTemplate = 114,
+	EVRApplicationError_VRApplicationError_BufferTooSmall = 200,
+	EVRApplicationError_VRApplicationError_PropertyNotSet = 201,
+	EVRApplicationError_VRApplicationError_UnknownProperty = 202,
+	EVRApplicationError_VRApplicationError_InvalidParameter = 203,
+} EVRApplicationError;
+
+typedef enum EVRApplicationProperty
+{
+	EVRApplicationProperty_VRApplicationProperty_Name_String = 0,
+	EVRApplicationProperty_VRApplicationProperty_LaunchType_String = 11,
+	EVRApplicationProperty_VRApplicationProperty_WorkingDirectory_String = 12,
+	EVRApplicationProperty_VRApplicationProperty_BinaryPath_String = 13,
+	EVRApplicationProperty_VRApplicationProperty_Arguments_String = 14,
+	EVRApplicationProperty_VRApplicationProperty_URL_String = 15,
+	EVRApplicationProperty_VRApplicationProperty_Description_String = 50,
+	EVRApplicationProperty_VRApplicationProperty_NewsURL_String = 51,
+	EVRApplicationProperty_VRApplicationProperty_ImagePath_String = 52,
+	EVRApplicationProperty_VRApplicationProperty_Source_String = 53,
+	EVRApplicationProperty_VRApplicationProperty_IsDashboardOverlay_Bool = 60,
+	EVRApplicationProperty_VRApplicationProperty_IsTemplate_Bool = 61,
+	EVRApplicationProperty_VRApplicationProperty_IsInstanced_Bool = 62,
+	EVRApplicationProperty_VRApplicationProperty_IsInternal_Bool = 63,
+	EVRApplicationProperty_VRApplicationProperty_LastLaunchTime_Uint64 = 70,
+} EVRApplicationProperty;
+
+typedef enum EVRApplicationTransitionState
+{
+	EVRApplicationTransitionState_VRApplicationTransition_None = 0,
+	EVRApplicationTransitionState_VRApplicationTransition_OldAppQuitSent = 10,
+	EVRApplicationTransitionState_VRApplicationTransition_WaitingForExternalLaunch = 11,
+	EVRApplicationTransitionState_VRApplicationTransition_NewAppLaunched = 20,
+} EVRApplicationTransitionState;
+
+typedef enum ChaperoneCalibrationState
+{
+	ChaperoneCalibrationState_OK = 1,
+	ChaperoneCalibrationState_Warning = 100,
+	ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved = 101,
+	ChaperoneCalibrationState_Warning_BaseStationRemoved = 102,
+	ChaperoneCalibrationState_Warning_SeatedBoundsInvalid = 103,
+	ChaperoneCalibrationState_Error = 200,
+	ChaperoneCalibrationState_Error_BaseStationUninitialized = 201,
+	ChaperoneCalibrationState_Error_BaseStationConflict = 202,
+	ChaperoneCalibrationState_Error_PlayAreaInvalid = 203,
+	ChaperoneCalibrationState_Error_CollisionBoundsInvalid = 204,
+} ChaperoneCalibrationState;
+
+typedef enum EChaperoneConfigFile
+{
+	EChaperoneConfigFile_Live = 1,
+	EChaperoneConfigFile_Temp = 2,
+} EChaperoneConfigFile;
+
+typedef enum EChaperoneImportFlags
+{
+	EChaperoneImportFlags_EChaperoneImport_BoundsOnly = 1,
+} EChaperoneImportFlags;
+
+typedef enum EVRCompositorError
+{
+	EVRCompositorError_VRCompositorError_None = 0,
+	EVRCompositorError_VRCompositorError_RequestFailed = 1,
+	EVRCompositorError_VRCompositorError_IncompatibleVersion = 100,
+	EVRCompositorError_VRCompositorError_DoNotHaveFocus = 101,
+	EVRCompositorError_VRCompositorError_InvalidTexture = 102,
+	EVRCompositorError_VRCompositorError_IsNotSceneApplication = 103,
+	EVRCompositorError_VRCompositorError_TextureIsOnWrongDevice = 104,
+	EVRCompositorError_VRCompositorError_TextureUsesUnsupportedFormat = 105,
+	EVRCompositorError_VRCompositorError_SharedTexturesNotSupported = 106,
+	EVRCompositorError_VRCompositorError_IndexOutOfRange = 107,
+	EVRCompositorError_VRCompositorError_AlreadySubmitted = 108,
+} EVRCompositorError;
+
+typedef enum VROverlayInputMethod
+{
+	VROverlayInputMethod_None = 0,
+	VROverlayInputMethod_Mouse = 1,
+} VROverlayInputMethod;
+
+typedef enum VROverlayTransformType
+{
+	VROverlayTransformType_VROverlayTransform_Absolute = 0,
+	VROverlayTransformType_VROverlayTransform_TrackedDeviceRelative = 1,
+	VROverlayTransformType_VROverlayTransform_SystemOverlay = 2,
+	VROverlayTransformType_VROverlayTransform_TrackedComponent = 3,
+} VROverlayTransformType;
+
+typedef enum VROverlayFlags
+{
+	VROverlayFlags_None = 0,
+	VROverlayFlags_Curved = 1,
+	VROverlayFlags_RGSS4X = 2,
+	VROverlayFlags_NoDashboardTab = 3,
+	VROverlayFlags_AcceptsGamepadEvents = 4,
+	VROverlayFlags_ShowGamepadFocus = 5,
+	VROverlayFlags_SendVRScrollEvents = 6,
+	VROverlayFlags_SendVRTouchpadEvents = 7,
+	VROverlayFlags_ShowTouchPadScrollWheel = 8,
+	VROverlayFlags_TransferOwnershipToInternalProcess = 9,
+	VROverlayFlags_SideBySide_Parallel = 10,
+	VROverlayFlags_SideBySide_Crossed = 11,
+	VROverlayFlags_Panorama = 12,
+	VROverlayFlags_StereoPanorama = 13,
+	VROverlayFlags_SortWithNonSceneOverlays = 14,
+	VROverlayFlags_VisibleInDashboard = 15,
+} VROverlayFlags;
+
+typedef enum VRMessageOverlayResponse
+{
+	VRMessageOverlayResponse_ButtonPress_0 = 0,
+	VRMessageOverlayResponse_ButtonPress_1 = 1,
+	VRMessageOverlayResponse_ButtonPress_2 = 2,
+	VRMessageOverlayResponse_ButtonPress_3 = 3,
+	VRMessageOverlayResponse_CouldntFindSystemOverlay = 4,
+	VRMessageOverlayResponse_CouldntFindOrCreateClientOverlay = 5,
+	VRMessageOverlayResponse_ApplicationQuit = 6,
+} VRMessageOverlayResponse;
+
+typedef enum EGamepadTextInputMode
+{
+	EGamepadTextInputMode_k_EGamepadTextInputModeNormal = 0,
+	EGamepadTextInputMode_k_EGamepadTextInputModePassword = 1,
+	EGamepadTextInputMode_k_EGamepadTextInputModeSubmit = 2,
+} EGamepadTextInputMode;
+
+typedef enum EGamepadTextInputLineMode
+{
+	EGamepadTextInputLineMode_k_EGamepadTextInputLineModeSingleLine = 0,
+	EGamepadTextInputLineMode_k_EGamepadTextInputLineModeMultipleLines = 1,
+} EGamepadTextInputLineMode;
+
+typedef enum EOverlayDirection
+{
+	EOverlayDirection_OverlayDirection_Up = 0,
+	EOverlayDirection_OverlayDirection_Down = 1,
+	EOverlayDirection_OverlayDirection_Left = 2,
+	EOverlayDirection_OverlayDirection_Right = 3,
+	EOverlayDirection_OverlayDirection_Count = 4,
+} EOverlayDirection;
+
+typedef enum EVROverlayIntersectionMaskPrimitiveType
+{
+	EVROverlayIntersectionMaskPrimitiveType_OverlayIntersectionPrimitiveType_Rectangle = 0,
+	EVROverlayIntersectionMaskPrimitiveType_OverlayIntersectionPrimitiveType_Circle = 1,
+} EVROverlayIntersectionMaskPrimitiveType;
+
+typedef enum EVRRenderModelError
+{
+	EVRRenderModelError_VRRenderModelError_None = 0,
+	EVRRenderModelError_VRRenderModelError_Loading = 100,
+	EVRRenderModelError_VRRenderModelError_NotSupported = 200,
+	EVRRenderModelError_VRRenderModelError_InvalidArg = 300,
+	EVRRenderModelError_VRRenderModelError_InvalidModel = 301,
+	EVRRenderModelError_VRRenderModelError_NoShapes = 302,
+	EVRRenderModelError_VRRenderModelError_MultipleShapes = 303,
+	EVRRenderModelError_VRRenderModelError_TooManyVertices = 304,
+	EVRRenderModelError_VRRenderModelError_MultipleTextures = 305,
+	EVRRenderModelError_VRRenderModelError_BufferTooSmall = 306,
+	EVRRenderModelError_VRRenderModelError_NotEnoughNormals = 307,
+	EVRRenderModelError_VRRenderModelError_NotEnoughTexCoords = 308,
+	EVRRenderModelError_VRRenderModelError_InvalidTexture = 400,
+} EVRRenderModelError;
+
+typedef enum EVRComponentProperty
+{
+	EVRComponentProperty_VRComponentProperty_IsStatic = 1,
+	EVRComponentProperty_VRComponentProperty_IsVisible = 2,
+	EVRComponentProperty_VRComponentProperty_IsTouched = 4,
+	EVRComponentProperty_VRComponentProperty_IsPressed = 8,
+	EVRComponentProperty_VRComponentProperty_IsScrolled = 16,
+} EVRComponentProperty;
+
+typedef enum EVRNotificationType
+{
+	EVRNotificationType_Transient = 0,
+	EVRNotificationType_Persistent = 1,
+	EVRNotificationType_Transient_SystemWithUserValue = 2,
+} EVRNotificationType;
+
+typedef enum EVRNotificationStyle
+{
+	EVRNotificationStyle_None = 0,
+	EVRNotificationStyle_Application = 100,
+	EVRNotificationStyle_Contact_Disabled = 200,
+	EVRNotificationStyle_Contact_Enabled = 201,
+	EVRNotificationStyle_Contact_Active = 202,
+} EVRNotificationStyle;
+
+typedef enum EVRSettingsError
+{
+	EVRSettingsError_VRSettingsError_None = 0,
+	EVRSettingsError_VRSettingsError_IPCFailed = 1,
+	EVRSettingsError_VRSettingsError_WriteFailed = 2,
+	EVRSettingsError_VRSettingsError_ReadFailed = 3,
+	EVRSettingsError_VRSettingsError_JsonParseFailed = 4,
+	EVRSettingsError_VRSettingsError_UnsetSettingHasNoDefault = 5,
+} EVRSettingsError;
+
+typedef enum EVRScreenshotError
+{
+	EVRScreenshotError_VRScreenshotError_None = 0,
+	EVRScreenshotError_VRScreenshotError_RequestFailed = 1,
+	EVRScreenshotError_VRScreenshotError_IncompatibleVersion = 100,
+	EVRScreenshotError_VRScreenshotError_NotFound = 101,
+	EVRScreenshotError_VRScreenshotError_BufferTooSmall = 102,
+	EVRScreenshotError_VRScreenshotError_ScreenshotAlreadyInProgress = 108,
+} EVRScreenshotError;
+
+
+// OpenVR typedefs
+
+typedef uint32_t TrackedDeviceIndex_t;
+typedef uint32_t VRNotificationId;
+typedef uint64_t VROverlayHandle_t;
+
+typedef void * glSharedTextureHandle_t;
+typedef int32_t glInt_t;
+typedef uint32_t glUInt_t;
+typedef uint64_t SharedTextureHandle_t;
+typedef uint32_t DriverId_t;
+typedef uint32_t TrackedDeviceIndex_t;
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+typedef uint64_t VROverlayHandle_t;
+typedef uint64_t TrackedCameraHandle_t;
+typedef uint32_t ScreenshotHandle_t;
+typedef uint32_t VRComponentProperties;
+typedef int32_t TextureID_t;
+typedef uint32_t VRNotificationId;
+typedef EVRInitError HmdError;
+typedef EVREye Hmd_Eye;
+typedef EColorSpace ColorSpace;
+typedef ETrackingResult HmdTrackingResult;
+typedef ETrackedDeviceClass TrackedDeviceClass;
+typedef ETrackingUniverseOrigin TrackingUniverseOrigin;
+typedef ETrackedDeviceProperty TrackedDeviceProperty;
+typedef ETrackedPropertyError TrackedPropertyError;
+typedef EVRSubmitFlags VRSubmitFlags_t;
+typedef EVRState VRState_t;
+typedef ECollisionBoundsStyle CollisionBoundsStyle_t;
+typedef EVROverlayError VROverlayError;
+typedef EVRFirmwareError VRFirmwareError;
+typedef EVRCompositorError VRCompositorError;
+typedef EVRScreenshotError VRScreenshotsError;
+
+// OpenVR Structs
+
+typedef struct HmdMatrix34_t
+{
+	float m[3][4]; //float[3][4]
+} HmdMatrix34_t;
+
+typedef struct HmdMatrix44_t
+{
+	float m[4][4]; //float[4][4]
+} HmdMatrix44_t;
+
+typedef struct HmdVector3_t
+{
+	float v[3]; //float[3]
+} HmdVector3_t;
+
+typedef struct HmdVector4_t
+{
+	float v[4]; //float[4]
+} HmdVector4_t;
+
+typedef struct HmdVector3d_t
+{
+	double v[3]; //double[3]
+} HmdVector3d_t;
+
+typedef struct HmdVector2_t
+{
+	float v[2]; //float[2]
+} HmdVector2_t;
+
+typedef struct HmdQuaternion_t
+{
+	double w;
+	double x;
+	double y;
+	double z;
+} HmdQuaternion_t;
+
+typedef struct HmdColor_t
+{
+	float r;
+	float g;
+	float b;
+	float a;
+} HmdColor_t;
+
+typedef struct HmdQuad_t
+{
+	struct HmdVector3_t vCorners[4]; //struct vr::HmdVector3_t[4]
+} HmdQuad_t;
+
+typedef struct HmdRect2_t
+{
+	struct HmdVector2_t vTopLeft;
+	struct HmdVector2_t vBottomRight;
+} HmdRect2_t;
+
+typedef struct DistortionCoordinates_t
+{
+	float rfRed[2]; //float[2]
+	float rfGreen[2]; //float[2]
+	float rfBlue[2]; //float[2]
+} DistortionCoordinates_t;
+
+typedef struct Texture_t
+{
+	void * handle; // void *
+	enum ETextureType eType;
+	enum EColorSpace eColorSpace;
+} Texture_t;
+
+typedef struct TrackedDevicePose_t
+{
+	struct HmdMatrix34_t mDeviceToAbsoluteTracking;
+	struct HmdVector3_t vVelocity;
+	struct HmdVector3_t vAngularVelocity;
+	enum ETrackingResult eTrackingResult;
+	bool bPoseIsValid;
+	bool bDeviceIsConnected;
+} TrackedDevicePose_t;
+
+typedef struct VRTextureBounds_t
+{
+	float uMin;
+	float vMin;
+	float uMax;
+	float vMax;
+} VRTextureBounds_t;
+
+typedef struct VRVulkanTextureData_t
+{
+	uint64_t m_nImage;
+	struct VkDevice_T * m_pDevice; // struct VkDevice_T *
+	struct VkPhysicalDevice_T * m_pPhysicalDevice; // struct VkPhysicalDevice_T *
+	struct VkInstance_T * m_pInstance; // struct VkInstance_T *
+	struct VkQueue_T * m_pQueue; // struct VkQueue_T *
+	uint32_t m_nQueueFamilyIndex;
+	uint32_t m_nWidth;
+	uint32_t m_nHeight;
+	uint32_t m_nFormat;
+	uint32_t m_nSampleCount;
+} VRVulkanTextureData_t;
+
+typedef struct D3D12TextureData_t
+{
+	struct ID3D12Resource * m_pResource; // struct ID3D12Resource *
+	struct ID3D12CommandQueue * m_pCommandQueue; // struct ID3D12CommandQueue *
+	uint32_t m_nNodeMask;
+} D3D12TextureData_t;
+
+typedef struct VREvent_Controller_t
+{
+	uint32_t button;
+} VREvent_Controller_t;
+
+typedef struct VREvent_Mouse_t
+{
+	float x;
+	float y;
+	uint32_t button;
+} VREvent_Mouse_t;
+
+typedef struct VREvent_Scroll_t
+{
+	float xdelta;
+	float ydelta;
+	uint32_t repeatCount;
+} VREvent_Scroll_t;
+
+typedef struct VREvent_TouchPadMove_t
+{
+	bool bFingerDown;
+	float flSecondsFingerDown;
+	float fValueXFirst;
+	float fValueYFirst;
+	float fValueXRaw;
+	float fValueYRaw;
+} VREvent_TouchPadMove_t;
+
+typedef struct VREvent_Notification_t
+{
+	uint64_t ulUserValue;
+	uint32_t notificationId;
+} VREvent_Notification_t;
+
+typedef struct VREvent_Process_t
+{
+	uint32_t pid;
+	uint32_t oldPid;
+	bool bForced;
+} VREvent_Process_t;
+
+typedef struct VREvent_Overlay_t
+{
+	uint64_t overlayHandle;
+} VREvent_Overlay_t;
+
+typedef struct VREvent_Status_t
+{
+	uint32_t statusState;
+} VREvent_Status_t;
+
+typedef struct VREvent_Keyboard_t
+{
+	char * cNewInput[8]; //char[8]
+	uint64_t uUserValue;
+} VREvent_Keyboard_t;
+
+typedef struct VREvent_Ipd_t
+{
+	float ipdMeters;
+} VREvent_Ipd_t;
+
+typedef struct VREvent_Chaperone_t
+{
+	uint64_t m_nPreviousUniverse;
+	uint64_t m_nCurrentUniverse;
+} VREvent_Chaperone_t;
+
+typedef struct VREvent_Reserved_t
+{
+	uint64_t reserved0;
+	uint64_t reserved1;
+} VREvent_Reserved_t;
+
+typedef struct VREvent_PerformanceTest_t
+{
+	uint32_t m_nFidelityLevel;
+} VREvent_PerformanceTest_t;
+
+typedef struct VREvent_SeatedZeroPoseReset_t
+{
+	bool bResetBySystemMenu;
+} VREvent_SeatedZeroPoseReset_t;
+
+typedef struct VREvent_Screenshot_t
+{
+	uint32_t handle;
+	uint32_t type;
+} VREvent_Screenshot_t;
+
+typedef struct VREvent_ScreenshotProgress_t
+{
+	float progress;
+} VREvent_ScreenshotProgress_t;
+
+typedef struct VREvent_ApplicationLaunch_t
+{
+	uint32_t pid;
+	uint32_t unArgsHandle;
+} VREvent_ApplicationLaunch_t;
+
+typedef struct VREvent_EditingCameraSurface_t
+{
+	uint64_t overlayHandle;
+	uint32_t nVisualMode;
+} VREvent_EditingCameraSurface_t;
+
+typedef struct VREvent_MessageOverlay_t
+{
+	uint32_t unVRMessageOverlayResponse;
+} VREvent_MessageOverlay_t;
+
+typedef struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	enum ETrackedDeviceProperty prop;
+} VREvent_Property_t;
+
+typedef struct HiddenAreaMesh_t
+{
+	struct HmdVector2_t * pVertexData; // const struct vr::HmdVector2_t *
+	uint32_t unTriangleCount;
+} HiddenAreaMesh_t;
+
+typedef struct VRControllerAxis_t
+{
+	float x;
+	float y;
+} VRControllerAxis_t;
+
+typedef struct VRControllerState_t
+{
+	uint32_t unPacketNum;
+	uint64_t ulButtonPressed;
+	uint64_t ulButtonTouched;
+	struct VRControllerAxis_t rAxis[5]; //struct vr::VRControllerAxis_t[5]
+} VRControllerState_t;
+
+typedef struct Compositor_OverlaySettings
+{
+	uint32_t size;
+	bool curved;
+	bool antialias;
+	float scale;
+	float distance;
+	float alpha;
+	float uOffset;
+	float vOffset;
+	float uScale;
+	float vScale;
+	float gridDivs;
+	float gridWidth;
+	float gridScale;
+	struct HmdMatrix44_t transform;
+} Compositor_OverlaySettings;
+
+typedef struct CameraVideoStreamFrameHeader_t
+{
+	enum EVRTrackedCameraFrameType eFrameType;
+	uint32_t nWidth;
+	uint32_t nHeight;
+	uint32_t nBytesPerPixel;
+	uint32_t nFrameSequence;
+	struct TrackedDevicePose_t standingTrackedDevicePose;
+} CameraVideoStreamFrameHeader_t;
+
+typedef struct AppOverrideKeys_t
+{
+	char * pchKey; // const char *
+	char * pchValue; // const char *
+} AppOverrideKeys_t;
+
+typedef struct Compositor_FrameTiming
+{
+	uint32_t m_nSize;
+	uint32_t m_nFrameIndex;
+	uint32_t m_nNumFramePresents;
+	uint32_t m_nNumMisPresented;
+	uint32_t m_nNumDroppedFrames;
+	uint32_t m_nReprojectionFlags;
+	double m_flSystemTimeInSeconds;
+	float m_flPreSubmitGpuMs;
+	float m_flPostSubmitGpuMs;
+	float m_flTotalRenderGpuMs;
+	float m_flCompositorRenderGpuMs;
+	float m_flCompositorRenderCpuMs;
+	float m_flCompositorIdleCpuMs;
+	float m_flClientFrameIntervalMs;
+	float m_flPresentCallCpuMs;
+	float m_flWaitForPresentCpuMs;
+	float m_flSubmitFrameMs;
+	float m_flWaitGetPosesCalledMs;
+	float m_flNewPosesReadyMs;
+	float m_flNewFrameReadyMs;
+	float m_flCompositorUpdateStartMs;
+	float m_flCompositorUpdateEndMs;
+	float m_flCompositorRenderStartMs;
+	TrackedDevicePose_t m_HmdPose;
+} Compositor_FrameTiming;
+
+typedef struct Compositor_CumulativeStats
+{
+	uint32_t m_nPid;
+	uint32_t m_nNumFramePresents;
+	uint32_t m_nNumDroppedFrames;
+	uint32_t m_nNumReprojectedFrames;
+	uint32_t m_nNumFramePresentsOnStartup;
+	uint32_t m_nNumDroppedFramesOnStartup;
+	uint32_t m_nNumReprojectedFramesOnStartup;
+	uint32_t m_nNumLoading;
+	uint32_t m_nNumFramePresentsLoading;
+	uint32_t m_nNumDroppedFramesLoading;
+	uint32_t m_nNumReprojectedFramesLoading;
+	uint32_t m_nNumTimedOut;
+	uint32_t m_nNumFramePresentsTimedOut;
+	uint32_t m_nNumDroppedFramesTimedOut;
+	uint32_t m_nNumReprojectedFramesTimedOut;
+} Compositor_CumulativeStats;
+
+typedef struct VROverlayIntersectionParams_t
+{
+	struct HmdVector3_t vSource;
+	struct HmdVector3_t vDirection;
+	enum ETrackingUniverseOrigin eOrigin;
+} VROverlayIntersectionParams_t;
+
+typedef struct VROverlayIntersectionResults_t
+{
+	struct HmdVector3_t vPoint;
+	struct HmdVector3_t vNormal;
+	struct HmdVector2_t vUVs;
+	float fDistance;
+} VROverlayIntersectionResults_t;
+
+typedef struct IntersectionMaskRectangle_t
+{
+	float m_flTopLeftX;
+	float m_flTopLeftY;
+	float m_flWidth;
+	float m_flHeight;
+} IntersectionMaskRectangle_t;
+
+typedef struct IntersectionMaskCircle_t
+{
+	float m_flCenterX;
+	float m_flCenterY;
+	float m_flRadius;
+} IntersectionMaskCircle_t;
+
+typedef struct RenderModel_ComponentState_t
+{
+	struct HmdMatrix34_t mTrackingToComponentRenderModel;
+	struct HmdMatrix34_t mTrackingToComponentLocal;
+	VRComponentProperties uProperties;
+} RenderModel_ComponentState_t;
+
+typedef struct RenderModel_Vertex_t
+{
+	struct HmdVector3_t vPosition;
+	struct HmdVector3_t vNormal;
+	float rfTextureCoord[2]; //float[2]
+} RenderModel_Vertex_t;
+
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( push, 4 )
+#endif
+typedef struct RenderModel_TextureMap_t
+{
+	uint16_t unWidth;
+	uint16_t unHeight;
+	uint8_t * rubTextureMapData; // const uint8_t *
+} RenderModel_TextureMap_t;
+
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( pop )
+#endif
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( push, 4 )
+#endif
+typedef struct RenderModel_t
+{
+	struct RenderModel_Vertex_t * rVertexData; // const struct vr::RenderModel_Vertex_t *
+	uint32_t unVertexCount;
+	uint16_t * rIndexData; // const uint16_t *
+	uint32_t unTriangleCount;
+	TextureID_t diffuseTextureId;
+} RenderModel_t;
+
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( pop )
+#endif
+typedef struct RenderModel_ControllerMode_State_t
+{
+	bool bScrollWheelVisible;
+} RenderModel_ControllerMode_State_t;
+
+typedef struct NotificationBitmap_t
+{
+	void * m_pImageData; // void *
+	int32_t m_nWidth;
+	int32_t m_nHeight;
+	int32_t m_nBytesPerPixel;
+} NotificationBitmap_t;
+
+typedef struct COpenVRContext
+{
+	intptr_t m_pVRSystem; // class vr::IVRSystem *
+	intptr_t m_pVRChaperone; // class vr::IVRChaperone *
+	intptr_t m_pVRChaperoneSetup; // class vr::IVRChaperoneSetup *
+	intptr_t m_pVRCompositor; // class vr::IVRCompositor *
+	intptr_t m_pVROverlay; // class vr::IVROverlay *
+	intptr_t m_pVRResources; // class vr::IVRResources *
+	intptr_t m_pVRRenderModels; // class vr::IVRRenderModels *
+	intptr_t m_pVRExtendedDisplay; // class vr::IVRExtendedDisplay *
+	intptr_t m_pVRSettings; // class vr::IVRSettings *
+	intptr_t m_pVRApplications; // class vr::IVRApplications *
+	intptr_t m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
+	intptr_t m_pVRScreenshots; // class vr::IVRScreenshots *
+	intptr_t m_pVRDriverManager; // class vr::IVRDriverManager *
+} COpenVRContext;
+
+
+typedef union
+{
+	VREvent_Reserved_t reserved;
+	VREvent_Controller_t controller;
+	VREvent_Mouse_t mouse;
+	VREvent_Scroll_t scroll;
+	VREvent_Process_t process;
+	VREvent_Notification_t notification;
+	VREvent_Overlay_t overlay;
+	VREvent_Status_t status;
+	VREvent_Keyboard_t keyboard;
+	VREvent_Ipd_t ipd;
+	VREvent_Chaperone_t chaperone;
+	VREvent_PerformanceTest_t performanceTest;
+	VREvent_TouchPadMove_t touchPadMove;
+	VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+} VREvent_Data_t;
+
+/** An event posted by the server to all running applications */
+struct VREvent_t
+{
+	uint32_t eventType; // EVREventType enum
+	TrackedDeviceIndex_t trackedDeviceIndex;
+	float eventAgeSeconds;
+	// event data must be the end of the struct as its size is variable
+	VREvent_Data_t data;
+};
+
+
+typedef union
+{
+	IntersectionMaskRectangle_t m_Rectangle;
+	IntersectionMaskCircle_t m_Circle;
+} VROverlayIntersectionMaskPrimitive_Data_t;
+
+struct VROverlayIntersectionMaskPrimitive_t
+{
+	EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType;
+	VROverlayIntersectionMaskPrimitive_Data_t m_Primitive;
+};
+
+
+// OpenVR Function Pointer Tables
+
+struct VR_IVRSystem_FnTable
+{
+	void (OPENVR_FNTABLE_CALLTYPE *GetRecommendedRenderTargetSize)(uint32_t * pnWidth, uint32_t * pnHeight);
+	struct HmdMatrix44_t (OPENVR_FNTABLE_CALLTYPE *GetProjectionMatrix)(EVREye eEye, float fNearZ, float fFarZ);
+	void (OPENVR_FNTABLE_CALLTYPE *GetProjectionRaw)(EVREye eEye, float * pfLeft, float * pfRight, float * pfTop, float * pfBottom);
+	bool (OPENVR_FNTABLE_CALLTYPE *ComputeDistortion)(EVREye eEye, float fU, float fV, struct DistortionCoordinates_t * pDistortionCoordinates);
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetEyeToHeadTransform)(EVREye eEye);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetTimeSinceLastVsync)(float * pfSecondsSinceLastVsync, uint64_t * pulFrameCounter);
+	int32_t (OPENVR_FNTABLE_CALLTYPE *GetD3D9AdapterIndex)();
+	void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex);
+	void (OPENVR_FNTABLE_CALLTYPE *GetOutputDevice)(uint64_t * pnDevice, ETextureType textureType);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsDisplayOnDesktop)();
+	bool (OPENVR_FNTABLE_CALLTYPE *SetDisplayVisibility)(bool bIsVisibleOnDesktop);
+	void (OPENVR_FNTABLE_CALLTYPE *GetDeviceToAbsoluteTrackingPose)(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, struct TrackedDevicePose_t * pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount);
+	void (OPENVR_FNTABLE_CALLTYPE *ResetSeatedZeroPose)();
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetSeatedZeroPoseToStandingAbsoluteTrackingPose)();
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetRawZeroPoseToStandingAbsoluteTrackingPose)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetSortedTrackedDeviceIndicesOfClass)(ETrackedDeviceClass eTrackedDeviceClass, TrackedDeviceIndex_t * punTrackedDeviceIndexArray, uint32_t unTrackedDeviceIndexArrayCount, TrackedDeviceIndex_t unRelativeToTrackedDeviceIndex);
+	EDeviceActivityLevel (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceActivityLevel)(TrackedDeviceIndex_t unDeviceId);
+	void (OPENVR_FNTABLE_CALLTYPE *ApplyTransform)(struct TrackedDevicePose_t * pOutputPose, struct TrackedDevicePose_t * pTrackedDevicePose, struct HmdMatrix34_t * pTransform);
+	TrackedDeviceIndex_t (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceIndexForControllerRole)(ETrackedControllerRole unDeviceType);
+	ETrackedControllerRole (OPENVR_FNTABLE_CALLTYPE *GetControllerRoleForTrackedDeviceIndex)(TrackedDeviceIndex_t unDeviceIndex);
+	ETrackedDeviceClass (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceClass)(TrackedDeviceIndex_t unDeviceIndex);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsTrackedDeviceConnected)(TrackedDeviceIndex_t unDeviceIndex);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetBoolTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	float (OPENVR_FNTABLE_CALLTYPE *GetFloatTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	int32_t (OPENVR_FNTABLE_CALLTYPE *GetInt32TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	uint64_t (OPENVR_FNTABLE_CALLTYPE *GetUint64TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetMatrix34TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetStringTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, char * pchValue, uint32_t unBufferSize, ETrackedPropertyError * pError);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetPropErrorNameFromEnum)(ETrackedPropertyError error);
+	bool (OPENVR_FNTABLE_CALLTYPE *PollNextEvent)(struct VREvent_t * pEvent, uint32_t uncbVREvent);
+	bool (OPENVR_FNTABLE_CALLTYPE *PollNextEventWithPose)(ETrackingUniverseOrigin eOrigin, struct VREvent_t * pEvent, uint32_t uncbVREvent, TrackedDevicePose_t * pTrackedDevicePose);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetEventTypeNameFromEnum)(EVREventType eType);
+	struct HiddenAreaMesh_t (OPENVR_FNTABLE_CALLTYPE *GetHiddenAreaMesh)(EVREye eEye, EHiddenAreaMeshType type);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetControllerState)(TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, uint32_t unControllerStateSize);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetControllerStateWithPose)(ETrackingUniverseOrigin eOrigin, TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, uint32_t unControllerStateSize, struct TrackedDevicePose_t * pTrackedDevicePose);
+	void (OPENVR_FNTABLE_CALLTYPE *TriggerHapticPulse)(TrackedDeviceIndex_t unControllerDeviceIndex, uint32_t unAxisId, unsigned short usDurationMicroSec);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetButtonIdNameFromEnum)(EVRButtonId eButtonId);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetControllerAxisTypeNameFromEnum)(EVRControllerAxisType eAxisType);
+	bool (OPENVR_FNTABLE_CALLTYPE *CaptureInputFocus)();
+	void (OPENVR_FNTABLE_CALLTYPE *ReleaseInputFocus)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsInputFocusCapturedByAnotherProcess)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *DriverDebugRequest)(TrackedDeviceIndex_t unDeviceIndex, char * pchRequest, char * pchResponseBuffer, uint32_t unResponseBufferSize);
+	EVRFirmwareError (OPENVR_FNTABLE_CALLTYPE *PerformFirmwareUpdate)(TrackedDeviceIndex_t unDeviceIndex);
+	void (OPENVR_FNTABLE_CALLTYPE *AcknowledgeQuit_Exiting)();
+	void (OPENVR_FNTABLE_CALLTYPE *AcknowledgeQuit_UserPrompt)();
+};
+
+struct VR_IVRExtendedDisplay_FnTable
+{
+	void (OPENVR_FNTABLE_CALLTYPE *GetWindowBounds)(int32_t * pnX, int32_t * pnY, uint32_t * pnWidth, uint32_t * pnHeight);
+	void (OPENVR_FNTABLE_CALLTYPE *GetEyeOutputViewport)(EVREye eEye, uint32_t * pnX, uint32_t * pnY, uint32_t * pnWidth, uint32_t * pnHeight);
+	void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex, int32_t * pnAdapterOutputIndex);
+};
+
+struct VR_IVRTrackedCamera_FnTable
+{
+	char * (OPENVR_FNTABLE_CALLTYPE *GetCameraErrorNameFromEnum)(EVRTrackedCameraError eCameraError);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *HasCamera)(TrackedDeviceIndex_t nDeviceIndex, bool * pHasCamera);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraFrameSize)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, uint32_t * pnWidth, uint32_t * pnHeight, uint32_t * pnFrameBufferSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraIntrinsics)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, HmdVector2_t * pFocalLength, HmdVector2_t * pCenter);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraProjection)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, HmdMatrix44_t * pProjection);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *AcquireVideoStreamingService)(TrackedDeviceIndex_t nDeviceIndex, TrackedCameraHandle_t * pHandle);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *ReleaseVideoStreamingService)(TrackedCameraHandle_t hTrackedCamera);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamFrameBuffer)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, void * pFrameBuffer, uint32_t nFrameBufferSize, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamTextureSize)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, VRTextureBounds_t * pTextureBounds, uint32_t * pnWidth, uint32_t * pnHeight);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamTextureD3D11)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, void * pD3D11DeviceOrResource, void ** ppD3D11ShaderResourceView, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamTextureGL)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, glUInt_t * pglTextureId, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *ReleaseVideoStreamTextureGL)(TrackedCameraHandle_t hTrackedCamera, glUInt_t glTextureId);
+};
+
+struct VR_IVRApplications_FnTable
+{
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *AddApplicationManifest)(char * pchApplicationManifestFullPath, bool bTemporary);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *RemoveApplicationManifest)(char * pchApplicationManifestFullPath);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsApplicationInstalled)(char * pchAppKey);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationCount)();
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetApplicationKeyByIndex)(uint32_t unApplicationIndex, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetApplicationKeyByProcessId)(uint32_t unProcessId, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchApplication)(char * pchAppKey);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchTemplateApplication)(char * pchTemplateAppKey, char * pchNewAppKey, struct AppOverrideKeys_t * pKeys, uint32_t unKeys);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchApplicationFromMimeType)(char * pchMimeType, char * pchArgs);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchDashboardOverlay)(char * pchAppKey);
+	bool (OPENVR_FNTABLE_CALLTYPE *CancelApplicationLaunch)(char * pchAppKey);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *IdentifyApplication)(uint32_t unProcessId, char * pchAppKey);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationProcessId)(char * pchAppKey);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetApplicationsErrorNameFromEnum)(EVRApplicationError error);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyString)(char * pchAppKey, EVRApplicationProperty eProperty, char * pchPropertyValueBuffer, uint32_t unPropertyValueBufferLen, EVRApplicationError * peError);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyBool)(char * pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError * peError);
+	uint64_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyUint64)(char * pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError * peError);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *SetApplicationAutoLaunch)(char * pchAppKey, bool bAutoLaunch);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationAutoLaunch)(char * pchAppKey);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *SetDefaultApplicationForMimeType)(char * pchAppKey, char * pchMimeType);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetDefaultApplicationForMimeType)(char * pchMimeType, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationSupportedMimeTypes)(char * pchAppKey, char * pchMimeTypesBuffer, uint32_t unMimeTypesBuffer);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationsThatSupportMimeType)(char * pchMimeType, char * pchAppKeysThatSupportBuffer, uint32_t unAppKeysThatSupportBuffer);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationLaunchArguments)(uint32_t unHandle, char * pchArgs, uint32_t unArgs);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetStartingApplication)(char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	EVRApplicationTransitionState (OPENVR_FNTABLE_CALLTYPE *GetTransitionState)();
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *PerformApplicationPrelaunchCheck)(char * pchAppKey);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetApplicationsTransitionStateNameFromEnum)(EVRApplicationTransitionState state);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsQuitUserPromptRequested)();
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchInternalProcess)(char * pchBinaryPath, char * pchArguments, char * pchWorkingDirectory);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentSceneProcessId)();
+};
+
+struct VR_IVRChaperone_FnTable
+{
+	ChaperoneCalibrationState (OPENVR_FNTABLE_CALLTYPE *GetCalibrationState)();
+	bool (OPENVR_FNTABLE_CALLTYPE *GetPlayAreaSize)(float * pSizeX, float * pSizeZ);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetPlayAreaRect)(struct HmdQuad_t * rect);
+	void (OPENVR_FNTABLE_CALLTYPE *ReloadInfo)();
+	void (OPENVR_FNTABLE_CALLTYPE *SetSceneColor)(struct HmdColor_t color);
+	void (OPENVR_FNTABLE_CALLTYPE *GetBoundsColor)(struct HmdColor_t * pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, struct HmdColor_t * pOutputCameraColor);
+	bool (OPENVR_FNTABLE_CALLTYPE *AreBoundsVisible)();
+	void (OPENVR_FNTABLE_CALLTYPE *ForceBoundsVisible)(bool bForce);
+};
+
+struct VR_IVRChaperoneSetup_FnTable
+{
+	bool (OPENVR_FNTABLE_CALLTYPE *CommitWorkingCopy)(EChaperoneConfigFile configFile);
+	void (OPENVR_FNTABLE_CALLTYPE *RevertWorkingCopy)();
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingPlayAreaSize)(float * pSizeX, float * pSizeZ);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingPlayAreaRect)(struct HmdQuad_t * rect);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLiveCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatSeatedZeroPoseToRawTrackingPose);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingStandingZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatStandingZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingPlayAreaSize)(float sizeX, float sizeZ);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t unQuadsCount);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pMatSeatedZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingStandingZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pMatStandingZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *ReloadFromDisk)(EChaperoneConfigFile configFile);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLiveSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatSeatedZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingCollisionBoundsTagsInfo)(uint8_t * pTagsBuffer, uint32_t unTagCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLiveCollisionBoundsTagsInfo)(uint8_t * pTagsBuffer, uint32_t * punTagCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *SetWorkingPhysicalBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t unQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLivePhysicalBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *ExportLiveToBuffer)(char * pBuffer, uint32_t * pnBufferLength);
+	bool (OPENVR_FNTABLE_CALLTYPE *ImportFromBufferToWorking)(char * pBuffer, uint32_t nImportFlags);
+};
+
+struct VR_IVRCompositor_FnTable
+{
+	void (OPENVR_FNTABLE_CALLTYPE *SetTrackingSpace)(ETrackingUniverseOrigin eOrigin);
+	ETrackingUniverseOrigin (OPENVR_FNTABLE_CALLTYPE *GetTrackingSpace)();
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *WaitGetPoses)(struct TrackedDevicePose_t * pRenderPoseArray, uint32_t unRenderPoseArrayCount, struct TrackedDevicePose_t * pGamePoseArray, uint32_t unGamePoseArrayCount);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetLastPoses)(struct TrackedDevicePose_t * pRenderPoseArray, uint32_t unRenderPoseArrayCount, struct TrackedDevicePose_t * pGamePoseArray, uint32_t unGamePoseArrayCount);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetLastPoseForTrackedDeviceIndex)(TrackedDeviceIndex_t unDeviceIndex, struct TrackedDevicePose_t * pOutputPose, struct TrackedDevicePose_t * pOutputGamePose);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *Submit)(EVREye eEye, struct Texture_t * pTexture, struct VRTextureBounds_t * pBounds, EVRSubmitFlags nSubmitFlags);
+	void (OPENVR_FNTABLE_CALLTYPE *ClearLastSubmittedFrame)();
+	void (OPENVR_FNTABLE_CALLTYPE *PostPresentHandoff)();
+	bool (OPENVR_FNTABLE_CALLTYPE *GetFrameTiming)(struct Compositor_FrameTiming * pTiming, uint32_t unFramesAgo);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetFrameTimings)(struct Compositor_FrameTiming * pTiming, uint32_t nFrames);
+	float (OPENVR_FNTABLE_CALLTYPE *GetFrameTimeRemaining)();
+	void (OPENVR_FNTABLE_CALLTYPE *GetCumulativeStats)(struct Compositor_CumulativeStats * pStats, uint32_t nStatsSizeInBytes);
+	void (OPENVR_FNTABLE_CALLTYPE *FadeToColor)(float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground);
+	struct HmdColor_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentFadeColor)(bool bBackground);
+	void (OPENVR_FNTABLE_CALLTYPE *FadeGrid)(float fSeconds, bool bFadeIn);
+	float (OPENVR_FNTABLE_CALLTYPE *GetCurrentGridAlpha)();
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *SetSkyboxOverride)(struct Texture_t * pTextures, uint32_t unTextureCount);
+	void (OPENVR_FNTABLE_CALLTYPE *ClearSkyboxOverride)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorBringToFront)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorGoToBack)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorQuit)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsFullscreen)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentSceneFocusProcess)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetLastFrameRenderer)();
+	bool (OPENVR_FNTABLE_CALLTYPE *CanRenderScene)();
+	void (OPENVR_FNTABLE_CALLTYPE *ShowMirrorWindow)();
+	void (OPENVR_FNTABLE_CALLTYPE *HideMirrorWindow)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsMirrorWindowVisible)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorDumpImages)();
+	bool (OPENVR_FNTABLE_CALLTYPE *ShouldAppRenderWithLowResources)();
+	void (OPENVR_FNTABLE_CALLTYPE *ForceInterleavedReprojectionOn)(bool bOverride);
+	void (OPENVR_FNTABLE_CALLTYPE *ForceReconnectProcess)();
+	void (OPENVR_FNTABLE_CALLTYPE *SuspendRendering)(bool bSuspend);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureD3D11)(EVREye eEye, void * pD3D11DeviceOrResource, void ** ppD3D11ShaderResourceView);
+	void (OPENVR_FNTABLE_CALLTYPE *ReleaseMirrorTextureD3D11)(void * pD3D11ShaderResourceView);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureGL)(EVREye eEye, glUInt_t * pglTextureId, glSharedTextureHandle_t * pglSharedTextureHandle);
+	bool (OPENVR_FNTABLE_CALLTYPE *ReleaseSharedGLTexture)(glUInt_t glTextureId, glSharedTextureHandle_t glSharedTextureHandle);
+	void (OPENVR_FNTABLE_CALLTYPE *LockGLSharedTextureForAccess)(glSharedTextureHandle_t glSharedTextureHandle);
+	void (OPENVR_FNTABLE_CALLTYPE *UnlockGLSharedTextureForAccess)(glSharedTextureHandle_t glSharedTextureHandle);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetVulkanInstanceExtensionsRequired)(char * pchValue, uint32_t unBufferSize);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetVulkanDeviceExtensionsRequired)(struct VkPhysicalDevice_T * pPhysicalDevice, char * pchValue, uint32_t unBufferSize);
+};
+
+struct VR_IVROverlay_FnTable
+{
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *FindOverlay)(char * pchOverlayKey, VROverlayHandle_t * pOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateOverlay)(char * pchOverlayKey, char * pchOverlayName, VROverlayHandle_t * pOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *DestroyOverlay)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetHighQualityOverlay)(VROverlayHandle_t ulOverlayHandle);
+	VROverlayHandle_t (OPENVR_FNTABLE_CALLTYPE *GetHighQualityOverlay)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayKey)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayName)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayName)(VROverlayHandle_t ulOverlayHandle, char * pchName);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayImageData)(VROverlayHandle_t ulOverlayHandle, void * pvBuffer, uint32_t unBufferSize, uint32_t * punWidth, uint32_t * punHeight);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetOverlayErrorNameFromEnum)(EVROverlayError error);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRenderingPid)(VROverlayHandle_t ulOverlayHandle, uint32_t unPID);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayRenderingPid)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayFlag)(VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayFlag)(VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool * pbEnabled);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayColor)(VROverlayHandle_t ulOverlayHandle, float fRed, float fGreen, float fBlue);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayColor)(VROverlayHandle_t ulOverlayHandle, float * pfRed, float * pfGreen, float * pfBlue);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayAlpha)(VROverlayHandle_t ulOverlayHandle, float fAlpha);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayAlpha)(VROverlayHandle_t ulOverlayHandle, float * pfAlpha);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTexelAspect)(VROverlayHandle_t ulOverlayHandle, float fTexelAspect);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTexelAspect)(VROverlayHandle_t ulOverlayHandle, float * pfTexelAspect);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlaySortOrder)(VROverlayHandle_t ulOverlayHandle, uint32_t unSortOrder);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlaySortOrder)(VROverlayHandle_t ulOverlayHandle, uint32_t * punSortOrder);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayWidthInMeters)(VROverlayHandle_t ulOverlayHandle, float fWidthInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayWidthInMeters)(VROverlayHandle_t ulOverlayHandle, float * pfWidthInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayAutoCurveDistanceRangeInMeters)(VROverlayHandle_t ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayAutoCurveDistanceRangeInMeters)(VROverlayHandle_t ulOverlayHandle, float * pfMinDistanceInMeters, float * pfMaxDistanceInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTextureColorSpace)(VROverlayHandle_t ulOverlayHandle, EColorSpace eTextureColorSpace);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureColorSpace)(VROverlayHandle_t ulOverlayHandle, EColorSpace * peTextureColorSpace);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayRenderModel)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, struct HmdColor_t * pColor, EVROverlayError * pError);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRenderModel)(VROverlayHandle_t ulOverlayHandle, char * pchRenderModel, struct HmdColor_t * pColor);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformType)(VROverlayHandle_t ulOverlayHandle, VROverlayTransformType * peTransformType);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin * peTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformTrackedDeviceRelative)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unTrackedDevice, struct HmdMatrix34_t * pmatTrackedDeviceToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceRelative)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punTrackedDevice, struct HmdMatrix34_t * pmatTrackedDeviceToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unDeviceIndex, char * pchComponentName);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punDeviceIndex, char * pchComponentName, uint32_t unComponentNameSize);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformOverlayRelative)(VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t * ulOverlayHandleParent, struct HmdMatrix34_t * pmatParentOverlayToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformOverlayRelative)(VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t ulOverlayHandleParent, struct HmdMatrix34_t * pmatParentOverlayToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowOverlay)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *HideOverlay)(VROverlayHandle_t ulOverlayHandle);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsOverlayVisible)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetTransformForOverlayCoordinates)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, struct HmdVector2_t coordinatesInOverlay, struct HmdMatrix34_t * pmatTransform);
+	bool (OPENVR_FNTABLE_CALLTYPE *PollNextOverlayEvent)(VROverlayHandle_t ulOverlayHandle, struct VREvent_t * pEvent, uint32_t uncbVREvent);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayInputMethod)(VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod * peInputMethod);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayInputMethod)(VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod eInputMethod);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayMouseScale)(VROverlayHandle_t ulOverlayHandle, struct HmdVector2_t * pvecMouseScale);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayMouseScale)(VROverlayHandle_t ulOverlayHandle, struct HmdVector2_t * pvecMouseScale);
+	bool (OPENVR_FNTABLE_CALLTYPE *ComputeOverlayIntersection)(VROverlayHandle_t ulOverlayHandle, struct VROverlayIntersectionParams_t * pParams, struct VROverlayIntersectionResults_t * pResults);
+	bool (OPENVR_FNTABLE_CALLTYPE *HandleControllerOverlayInteractionAsMouse)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unControllerDeviceIndex);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsHoverTargetOverlay)(VROverlayHandle_t ulOverlayHandle);
+	VROverlayHandle_t (OPENVR_FNTABLE_CALLTYPE *GetGamepadFocusOverlay)();
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetGamepadFocusOverlay)(VROverlayHandle_t ulNewFocusOverlay);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayNeighbor)(EOverlayDirection eDirection, VROverlayHandle_t ulFrom, VROverlayHandle_t ulTo);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *MoveGamepadFocusToNeighbor)(EOverlayDirection eDirection, VROverlayHandle_t ulFrom);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTexture)(VROverlayHandle_t ulOverlayHandle, struct Texture_t * pTexture);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ClearOverlayTexture)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRaw)(VROverlayHandle_t ulOverlayHandle, void * pvBuffer, uint32_t unWidth, uint32_t unHeight, uint32_t unDepth);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayFromFile)(VROverlayHandle_t ulOverlayHandle, char * pchFilePath);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTexture)(VROverlayHandle_t ulOverlayHandle, void ** pNativeTextureHandle, void * pNativeTextureRef, uint32_t * pWidth, uint32_t * pHeight, uint32_t * pNativeFormat, ETextureType * pAPIType, EColorSpace * pColorSpace, struct VRTextureBounds_t * pTextureBounds);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ReleaseNativeOverlayHandle)(VROverlayHandle_t ulOverlayHandle, void * pNativeTextureHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureSize)(VROverlayHandle_t ulOverlayHandle, uint32_t * pWidth, uint32_t * pHeight);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateDashboardOverlay)(char * pchOverlayKey, char * pchOverlayFriendlyName, VROverlayHandle_t * pMainHandle, VROverlayHandle_t * pThumbnailHandle);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsDashboardVisible)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsActiveDashboardOverlay)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetDashboardOverlaySceneProcess)(VROverlayHandle_t ulOverlayHandle, uint32_t unProcessId);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetDashboardOverlaySceneProcess)(VROverlayHandle_t ulOverlayHandle, uint32_t * punProcessId);
+	void (OPENVR_FNTABLE_CALLTYPE *ShowDashboard)(char * pchOverlayToShow);
+	TrackedDeviceIndex_t (OPENVR_FNTABLE_CALLTYPE *GetPrimaryDashboardDevice)();
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowKeyboard)(EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, char * pchDescription, uint32_t unCharMax, char * pchExistingText, bool bUseMinimalMode, uint64_t uUserValue);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowKeyboardForOverlay)(VROverlayHandle_t ulOverlayHandle, EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, char * pchDescription, uint32_t unCharMax, char * pchExistingText, bool bUseMinimalMode, uint64_t uUserValue);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetKeyboardText)(char * pchText, uint32_t cchText);
+	void (OPENVR_FNTABLE_CALLTYPE *HideKeyboard)();
+	void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardTransformAbsolute)(ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToKeyboardTransform);
+	void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardPositionForOverlay)(VROverlayHandle_t ulOverlayHandle, struct HmdRect2_t avoidRect);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayIntersectionMask)(VROverlayHandle_t ulOverlayHandle, struct VROverlayIntersectionMaskPrimitive_t * pMaskPrimitives, uint32_t unNumMaskPrimitives, uint32_t unPrimitiveSize);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayFlags)(VROverlayHandle_t ulOverlayHandle, uint32_t * pFlags);
+	VRMessageOverlayResponse (OPENVR_FNTABLE_CALLTYPE *ShowMessageOverlay)(char * pchText, char * pchCaption, char * pchButton0Text, char * pchButton1Text, char * pchButton2Text, char * pchButton3Text);
+};
+
+struct VR_IVRRenderModels_FnTable
+{
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadRenderModel_Async)(char * pchRenderModelName, struct RenderModel_t ** ppRenderModel);
+	void (OPENVR_FNTABLE_CALLTYPE *FreeRenderModel)(struct RenderModel_t * pRenderModel);
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadTexture_Async)(TextureID_t textureId, struct RenderModel_TextureMap_t ** ppTexture);
+	void (OPENVR_FNTABLE_CALLTYPE *FreeTexture)(struct RenderModel_TextureMap_t * pTexture);
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadTextureD3D11_Async)(TextureID_t textureId, void * pD3D11Device, void ** ppD3D11Texture2D);
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadIntoTextureD3D11_Async)(TextureID_t textureId, void * pDstTexture);
+	void (OPENVR_FNTABLE_CALLTYPE *FreeTextureD3D11)(void * pD3D11Texture2D);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelName)(uint32_t unRenderModelIndex, char * pchRenderModelName, uint32_t unRenderModelNameLen);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelCount)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentCount)(char * pchRenderModelName);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentName)(char * pchRenderModelName, uint32_t unComponentIndex, char * pchComponentName, uint32_t unComponentNameLen);
+	uint64_t (OPENVR_FNTABLE_CALLTYPE *GetComponentButtonMask)(char * pchRenderModelName, char * pchComponentName);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentRenderModelName)(char * pchRenderModelName, char * pchComponentName, char * pchComponentRenderModelName, uint32_t unComponentRenderModelNameLen);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetComponentState)(char * pchRenderModelName, char * pchComponentName, VRControllerState_t * pControllerState, struct RenderModel_ControllerMode_State_t * pState, struct RenderModel_ComponentState_t * pComponentState);
+	bool (OPENVR_FNTABLE_CALLTYPE *RenderModelHasComponent)(char * pchRenderModelName, char * pchComponentName);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelThumbnailURL)(char * pchRenderModelName, char * pchThumbnailURL, uint32_t unThumbnailURLLen, EVRRenderModelError * peError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelOriginalPath)(char * pchRenderModelName, char * pchOriginalPath, uint32_t unOriginalPathLen, EVRRenderModelError * peError);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetRenderModelErrorNameFromEnum)(EVRRenderModelError error);
+};
+
+struct VR_IVRNotifications_FnTable
+{
+	EVRNotificationError (OPENVR_FNTABLE_CALLTYPE *CreateNotification)(VROverlayHandle_t ulOverlayHandle, uint64_t ulUserValue, EVRNotificationType type, char * pchText, EVRNotificationStyle style, struct NotificationBitmap_t * pImage, VRNotificationId * pNotificationId);
+	EVRNotificationError (OPENVR_FNTABLE_CALLTYPE *RemoveNotification)(VRNotificationId notificationId);
+};
+
+struct VR_IVRSettings_FnTable
+{
+	char * (OPENVR_FNTABLE_CALLTYPE *GetSettingsErrorNameFromEnum)(EVRSettingsError eError);
+	bool (OPENVR_FNTABLE_CALLTYPE *Sync)(bool bForce, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetBool)(char * pchSection, char * pchSettingsKey, bool bValue, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetInt32)(char * pchSection, char * pchSettingsKey, int32_t nValue, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetFloat)(char * pchSection, char * pchSettingsKey, float flValue, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetString)(char * pchSection, char * pchSettingsKey, char * pchValue, EVRSettingsError * peError);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetBool)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+	int32_t (OPENVR_FNTABLE_CALLTYPE *GetInt32)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+	float (OPENVR_FNTABLE_CALLTYPE *GetFloat)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *GetString)(char * pchSection, char * pchSettingsKey, char * pchValue, uint32_t unValueLen, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *RemoveSection)(char * pchSection, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *RemoveKeyInSection)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+};
+
+struct VR_IVRScreenshots_FnTable
+{
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *RequestScreenshot)(ScreenshotHandle_t * pOutScreenshotHandle, EVRScreenshotType type, char * pchPreviewFilename, char * pchVRFilename);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *HookScreenshot)(EVRScreenshotType * pSupportedTypes, int numTypes);
+	EVRScreenshotType (OPENVR_FNTABLE_CALLTYPE *GetScreenshotPropertyType)(ScreenshotHandle_t screenshotHandle, EVRScreenshotError * pError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetScreenshotPropertyFilename)(ScreenshotHandle_t screenshotHandle, EVRScreenshotPropertyFilenames filenameType, char * pchFilename, uint32_t cchFilename, EVRScreenshotError * pError);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *UpdateScreenshotProgress)(ScreenshotHandle_t screenshotHandle, float flProgress);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *TakeStereoScreenshot)(ScreenshotHandle_t * pOutScreenshotHandle, char * pchPreviewFilename, char * pchVRFilename);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *SubmitScreenshot)(ScreenshotHandle_t screenshotHandle, EVRScreenshotType type, char * pchSourcePreviewFilename, char * pchSourceVRFilename);
+};
+
+struct VR_IVRResources_FnTable
+{
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *LoadSharedResource)(char * pchResourceName, char * pchBuffer, uint32_t unBufferLen);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetResourceFullPath)(char * pchResourceName, char * pchResourceTypeDirectory, char * pchPathBuffer, uint32_t unBufferLen);
+};
+
+struct VR_IVRDriverManager_FnTable
+{
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverCount)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverName)(DriverId_t nDriver, char * pchValue, uint32_t unBufferSize);
+};
+
+
+#if 0
+// Global entry points
+S_API intptr_t VR_InitInternal( EVRInitError *peError, EVRApplicationType eType );
+S_API void VR_ShutdownInternal();
+S_API bool VR_IsHmdPresent();
+S_API intptr_t VR_GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError );
+S_API bool VR_IsRuntimeInstalled();
+S_API const char * VR_GetVRInitErrorAsSymbol( EVRInitError error );
+S_API const char * VR_GetVRInitErrorAsEnglishDescription( EVRInitError error );
+#endif
+
+#endif // __OPENVR_API_FLAT_H__
+
+
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_driver.h b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_driver.h
new file mode 100644
index 000000000..bfe24c003
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Headers/openvr_driver.h
@@ -0,0 +1,2677 @@
+#pragma once
+
+// openvr_driver.h
+//========= Copyright Valve Corporation ============//
+// Dynamically generated file. Do not modify this file directly.
+
+#ifndef _OPENVR_DRIVER_API
+#define _OPENVR_DRIVER_API
+
+#include <stdint.h>
+
+
+
+// vrtypes.h
+#ifndef _INCLUDE_VRTYPES_H
+#define _INCLUDE_VRTYPES_H
+
+// Forward declarations to avoid requiring vulkan.h
+struct VkDevice_T;
+struct VkPhysicalDevice_T;
+struct VkInstance_T;
+struct VkQueue_T;
+
+// Forward declarations to avoid requiring d3d12.h
+struct ID3D12Resource;
+struct ID3D12CommandQueue;
+
+namespace vr
+{
+#pragma pack( push, 8 )
+
+typedef void* glSharedTextureHandle_t;
+typedef int32_t glInt_t;
+typedef uint32_t glUInt_t;
+
+// right-handed system
+// +y is up
+// +x is to the right
+// -z is going away from you
+// Distance unit is  meters
+struct HmdMatrix34_t
+{
+	float m[3][4];
+};
+
+struct HmdMatrix44_t
+{
+	float m[4][4];
+};
+
+struct HmdVector3_t
+{
+	float v[3];
+};
+
+struct HmdVector4_t
+{
+	float v[4];
+};
+
+struct HmdVector3d_t
+{
+	double v[3];
+};
+
+struct HmdVector2_t
+{
+	float v[2];
+};
+
+struct HmdQuaternion_t
+{
+	double w, x, y, z;
+};
+
+struct HmdColor_t
+{
+	float r, g, b, a;
+};
+
+struct HmdQuad_t
+{
+	HmdVector3_t vCorners[ 4 ];
+};
+
+struct HmdRect2_t
+{
+	HmdVector2_t vTopLeft;
+	HmdVector2_t vBottomRight;
+};
+
+/** Used to return the post-distortion UVs for each color channel. 
+* UVs range from 0 to 1 with 0,0 in the upper left corner of the 
+* source render target. The 0,0 to 1,1 range covers a single eye. */
+struct DistortionCoordinates_t
+{
+	float rfRed[2];
+	float rfGreen[2];
+	float rfBlue[2];
+};
+
+enum EVREye
+{
+	Eye_Left = 0,
+	Eye_Right = 1
+};
+
+enum ETextureType
+{
+	TextureType_DirectX = 0, // Handle is an ID3D11Texture
+	TextureType_OpenGL = 1,  // Handle is an OpenGL texture name or an OpenGL render buffer name, depending on submit flags
+	TextureType_Vulkan = 2, // Handle is a pointer to a VRVulkanTextureData_t structure
+	TextureType_IOSurface = 3, // Handle is a macOS cross-process-sharable IOSurfaceRef
+	TextureType_DirectX12 = 4, // Handle is a pointer to a D3D12TextureData_t structure
+};
+
+enum EColorSpace
+{
+	ColorSpace_Auto = 0,	// Assumes 'gamma' for 8-bit per component formats, otherwise 'linear'.  This mirrors the DXGI formats which have _SRGB variants.
+	ColorSpace_Gamma = 1,	// Texture data can be displayed directly on the display without any conversion (a.k.a. display native format).
+	ColorSpace_Linear = 2,	// Same as gamma but has been converted to a linear representation using DXGI's sRGB conversion algorithm.
+};
+
+struct Texture_t
+{
+	void* handle; // See ETextureType definition above
+	ETextureType eType;
+	EColorSpace eColorSpace;
+};
+
+// Handle to a shared texture (HANDLE on Windows obtained using OpenSharedResource).
+typedef uint64_t SharedTextureHandle_t;
+#define INVALID_SHARED_TEXTURE_HANDLE	((vr::SharedTextureHandle_t)0)
+
+enum ETrackingResult
+{
+	TrackingResult_Uninitialized			= 1,
+
+	TrackingResult_Calibrating_InProgress	= 100,
+	TrackingResult_Calibrating_OutOfRange	= 101,
+
+	TrackingResult_Running_OK				= 200,
+	TrackingResult_Running_OutOfRange		= 201,
+};
+
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
+static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
+
+/** Used to pass device IDs to API calls */
+typedef uint32_t TrackedDeviceIndex_t;
+static const uint32_t k_unTrackedDeviceIndex_Hmd = 0;
+static const uint32_t k_unMaxTrackedDeviceCount = 16;
+static const uint32_t k_unTrackedDeviceIndexOther = 0xFFFFFFFE;
+static const uint32_t k_unTrackedDeviceIndexInvalid = 0xFFFFFFFF;
+
+/** Describes what kind of object is being tracked at a given ID */
+enum ETrackedDeviceClass
+{
+	TrackedDeviceClass_Invalid = 0,				// the ID was not valid.
+	TrackedDeviceClass_HMD = 1,					// Head-Mounted Displays
+	TrackedDeviceClass_Controller = 2,			// Tracked controllers
+	TrackedDeviceClass_GenericTracker = 3,		// Generic trackers, similar to controllers
+	TrackedDeviceClass_TrackingReference = 4,	// Camera and base stations that serve as tracking reference points
+	TrackedDeviceClass_DisplayRedirect = 5,		// Accessories that aren't necessarily tracked themselves, but may redirect video output from other tracked devices
+};
+
+
+/** Describes what specific role associated with a tracked device */
+enum ETrackedControllerRole
+{
+	TrackedControllerRole_Invalid = 0,					// Invalid value for controller type
+	TrackedControllerRole_LeftHand = 1,					// Tracked device associated with the left hand
+	TrackedControllerRole_RightHand = 2,				// Tracked device associated with the right hand
+};
+
+
+/** describes a single pose for a tracked object */
+struct TrackedDevicePose_t
+{
+	HmdMatrix34_t mDeviceToAbsoluteTracking;
+	HmdVector3_t vVelocity;				// velocity in tracker space in m/s
+	HmdVector3_t vAngularVelocity;		// angular velocity in radians/s (?)
+	ETrackingResult eTrackingResult;
+	bool bPoseIsValid;
+
+	// This indicates that there is a device connected for this spot in the pose array.
+	// It could go from true to false if the user unplugs the device.
+	bool bDeviceIsConnected;
+};
+
+/** Identifies which style of tracking origin the application wants to use
+* for the poses it is requesting */
+enum ETrackingUniverseOrigin
+{
+	TrackingUniverseSeated = 0,		// Poses are provided relative to the seated zero pose
+	TrackingUniverseStanding = 1,	// Poses are provided relative to the safe bounds configured by the user
+	TrackingUniverseRawAndUncalibrated = 2,	// Poses are provided in the coordinate system defined by the driver.  It has Y up and is unified for devices of the same driver. You usually don't want this one.
+};
+
+// Refers to a single container of properties
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+static const PropertyContainerHandle_t k_ulInvalidPropertyContainer = 0;
+static const PropertyTypeTag_t k_unInvalidPropertyTag = 0;
+
+// Use these tags to set/get common types as struct properties
+static const PropertyTypeTag_t k_unFloatPropertyTag = 1;
+static const PropertyTypeTag_t k_unInt32PropertyTag = 2;
+static const PropertyTypeTag_t k_unUint64PropertyTag = 3;
+static const PropertyTypeTag_t k_unBoolPropertyTag = 4;
+static const PropertyTypeTag_t k_unStringPropertyTag = 5;
+
+static const PropertyTypeTag_t k_unHmdMatrix34PropertyTag = 20;
+static const PropertyTypeTag_t k_unHmdMatrix44PropertyTag = 21;
+static const PropertyTypeTag_t k_unHmdVector3PropertyTag = 22;
+static const PropertyTypeTag_t k_unHmdVector4PropertyTag = 23;
+
+static const PropertyTypeTag_t k_unHiddenAreaPropertyTag = 30;
+
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_Start = 1000;
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_End = 10000;
+
+
+/** Each entry in this enum represents a property that can be retrieved about a
+* tracked device. Many fields are only valid for one ETrackedDeviceClass. */
+enum ETrackedDeviceProperty
+{
+	Prop_Invalid								= 0,
+
+	// general properties that apply to all device classes
+	Prop_TrackingSystemName_String				= 1000,
+	Prop_ModelNumber_String						= 1001,
+	Prop_SerialNumber_String					= 1002,
+	Prop_RenderModelName_String					= 1003,
+	Prop_WillDriftInYaw_Bool					= 1004,
+	Prop_ManufacturerName_String				= 1005,
+	Prop_TrackingFirmwareVersion_String			= 1006,
+	Prop_HardwareRevision_String				= 1007,
+	Prop_AllWirelessDongleDescriptions_String	= 1008,
+	Prop_ConnectedWirelessDongle_String			= 1009,
+	Prop_DeviceIsWireless_Bool					= 1010,
+	Prop_DeviceIsCharging_Bool					= 1011,
+	Prop_DeviceBatteryPercentage_Float			= 1012, // 0 is empty, 1 is full
+	Prop_StatusDisplayTransform_Matrix34		= 1013,
+	Prop_Firmware_UpdateAvailable_Bool			= 1014,
+	Prop_Firmware_ManualUpdate_Bool				= 1015,
+	Prop_Firmware_ManualUpdateURL_String		= 1016,
+	Prop_HardwareRevision_Uint64				= 1017,
+	Prop_FirmwareVersion_Uint64					= 1018,
+	Prop_FPGAVersion_Uint64						= 1019,
+	Prop_VRCVersion_Uint64						= 1020,
+	Prop_RadioVersion_Uint64					= 1021,
+	Prop_DongleVersion_Uint64					= 1022,
+	Prop_BlockServerShutdown_Bool				= 1023,
+	Prop_CanUnifyCoordinateSystemWithHmd_Bool	= 1024,
+	Prop_ContainsProximitySensor_Bool			= 1025,
+	Prop_DeviceProvidesBatteryStatus_Bool		= 1026,
+	Prop_DeviceCanPowerOff_Bool					= 1027,
+	Prop_Firmware_ProgrammingTarget_String		= 1028,
+	Prop_DeviceClass_Int32						= 1029,
+	Prop_HasCamera_Bool							= 1030,
+	Prop_DriverVersion_String                   = 1031,
+	Prop_Firmware_ForceUpdateRequired_Bool      = 1032,
+	Prop_ViveSystemButtonFixRequired_Bool		= 1033,
+	Prop_ParentDriver_Uint64					= 1034,
+	Prop_ResourceRoot_String					= 1035,
+
+	// Properties that are unique to TrackedDeviceClass_HMD
+	Prop_ReportsTimeSinceVSync_Bool				= 2000,
+	Prop_SecondsFromVsyncToPhotons_Float		= 2001,
+	Prop_DisplayFrequency_Float					= 2002,
+	Prop_UserIpdMeters_Float					= 2003,
+	Prop_CurrentUniverseId_Uint64				= 2004, 
+	Prop_PreviousUniverseId_Uint64				= 2005, 
+	Prop_DisplayFirmwareVersion_Uint64			= 2006,
+	Prop_IsOnDesktop_Bool						= 2007,
+	Prop_DisplayMCType_Int32					= 2008,
+	Prop_DisplayMCOffset_Float					= 2009,
+	Prop_DisplayMCScale_Float					= 2010,
+	Prop_EdidVendorID_Int32						= 2011,
+	Prop_DisplayMCImageLeft_String              = 2012,
+	Prop_DisplayMCImageRight_String             = 2013,
+	Prop_DisplayGCBlackClamp_Float				= 2014,
+	Prop_EdidProductID_Int32					= 2015,
+	Prop_CameraToHeadTransform_Matrix34			= 2016,
+	Prop_DisplayGCType_Int32					= 2017,
+	Prop_DisplayGCOffset_Float					= 2018,
+	Prop_DisplayGCScale_Float					= 2019,
+	Prop_DisplayGCPrescale_Float				= 2020,
+	Prop_DisplayGCImage_String					= 2021,
+	Prop_LensCenterLeftU_Float					= 2022,
+	Prop_LensCenterLeftV_Float					= 2023,
+	Prop_LensCenterRightU_Float					= 2024,
+	Prop_LensCenterRightV_Float					= 2025,
+	Prop_UserHeadToEyeDepthMeters_Float			= 2026,
+	Prop_CameraFirmwareVersion_Uint64			= 2027,
+	Prop_CameraFirmwareDescription_String		= 2028,
+	Prop_DisplayFPGAVersion_Uint64				= 2029,
+	Prop_DisplayBootloaderVersion_Uint64		= 2030,
+	Prop_DisplayHardwareVersion_Uint64			= 2031,
+	Prop_AudioFirmwareVersion_Uint64			= 2032,
+	Prop_CameraCompatibilityMode_Int32			= 2033,
+	Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	Prop_DisplaySuppressed_Bool					= 2036,
+	Prop_DisplayAllowNightMode_Bool				= 2037,
+	Prop_DisplayMCImageWidth_Int32				= 2038,
+	Prop_DisplayMCImageHeight_Int32				= 2039,
+	Prop_DisplayMCImageNumChannels_Int32		= 2040,
+	Prop_DisplayMCImageData_Binary				= 2041,
+	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+
+	// Properties that are unique to TrackedDeviceClass_Controller
+	Prop_AttachedDeviceId_String				= 3000,
+	Prop_SupportedButtons_Uint64				= 3001,
+	Prop_Axis0Type_Int32						= 3002, // Return value is of type EVRControllerAxisType
+	Prop_Axis1Type_Int32						= 3003, // Return value is of type EVRControllerAxisType
+	Prop_Axis2Type_Int32						= 3004, // Return value is of type EVRControllerAxisType
+	Prop_Axis3Type_Int32						= 3005, // Return value is of type EVRControllerAxisType
+	Prop_Axis4Type_Int32						= 3006, // Return value is of type EVRControllerAxisType
+	Prop_ControllerRoleHint_Int32				= 3007, // Return value is of type ETrackedControllerRole
+
+	// Properties that are unique to TrackedDeviceClass_TrackingReference
+	Prop_FieldOfViewLeftDegrees_Float			= 4000,
+	Prop_FieldOfViewRightDegrees_Float			= 4001,
+	Prop_FieldOfViewTopDegrees_Float			= 4002,
+	Prop_FieldOfViewBottomDegrees_Float			= 4003,
+	Prop_TrackingRangeMinimumMeters_Float		= 4004,
+	Prop_TrackingRangeMaximumMeters_Float		= 4005,
+	Prop_ModeLabel_String						= 4006,
+
+	// Properties that are used for user interface like icons names
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+
+	// Properties that are used by helpers, but are opaque to applications
+	Prop_DisplayHiddenArea_Binary_Start				= 5100,
+	Prop_DisplayHiddenArea_Binary_End				= 5150,
+
+	// Properties that are unique to drivers
+	Prop_UserConfigPath_String					= 6000,
+	Prop_InstallPath_String						= 6001,
+	Prop_HasDisplayComponent_Bool				= 6002,
+	Prop_HasControllerComponent_Bool			= 6003,
+	Prop_HasCameraComponent_Bool				= 6004,
+	Prop_HasDriverDirectModeComponent_Bool		= 6005,
+	Prop_HasVirtualDisplayComponent_Bool		= 6006,
+
+	// Vendors are free to expose private debug data in this reserved region
+	Prop_VendorSpecific_Reserved_Start			= 10000,
+	Prop_VendorSpecific_Reserved_End			= 10999,
+};
+
+/** No string property will ever be longer than this length */
+static const uint32_t k_unMaxPropertyStringSize = 32 * 1024;
+
+/** Used to return errors that occur when reading properties. */
+enum ETrackedPropertyError
+{
+	TrackedProp_Success						= 0,
+	TrackedProp_WrongDataType				= 1,
+	TrackedProp_WrongDeviceClass			= 2,
+	TrackedProp_BufferTooSmall				= 3,
+	TrackedProp_UnknownProperty				= 4, // Driver has not set the property (and may not ever).
+	TrackedProp_InvalidDevice				= 5,
+	TrackedProp_CouldNotContactServer		= 6,
+	TrackedProp_ValueNotProvidedByDevice	= 7,
+	TrackedProp_StringExceedsMaximumLength	= 8,
+	TrackedProp_NotYetAvailable				= 9, // The property value isn't known yet, but is expected soon. Call again later.
+	TrackedProp_PermissionDenied			= 10,
+	TrackedProp_InvalidOperation			= 11,
+};
+
+/** Allows the application to control what part of the provided texture will be used in the
+* frame buffer. */
+struct VRTextureBounds_t
+{
+	float uMin, vMin;
+	float uMax, vMax;
+};
+
+
+/** Allows the application to control how scene textures are used by the compositor when calling Submit. */
+enum EVRSubmitFlags
+{
+	// Simple render path. App submits rendered left and right eye images with no lens distortion correction applied.
+	Submit_Default = 0x00,
+
+	// App submits final left and right eye images with lens distortion already applied (lens distortion makes the images appear
+	// barrel distorted with chromatic aberration correction applied). The app would have used the data returned by
+	// vr::IVRSystem::ComputeDistortion() to apply the correct distortion to the rendered images before calling Submit().
+	Submit_LensDistortionAlreadyApplied = 0x01,
+
+	// If the texture pointer passed in is actually a renderbuffer (e.g. for MSAA in OpenGL) then set this flag.
+	Submit_GlRenderBuffer = 0x02,
+
+	// Do not use
+	Submit_Reserved = 0x04,
+};
+
+/** Data required for passing Vulkan textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct VRVulkanTextureData_t
+{
+	uint64_t m_nImage; // VkImage
+	VkDevice_T *m_pDevice;
+	VkPhysicalDevice_T *m_pPhysicalDevice;
+	VkInstance_T *m_pInstance;
+	VkQueue_T *m_pQueue;
+	uint32_t m_nQueueFamilyIndex;
+	uint32_t m_nWidth, m_nHeight, m_nFormat, m_nSampleCount;
+};
+
+/** Data required for passing D3D12 textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct D3D12TextureData_t
+{
+	ID3D12Resource *m_pResource;
+	ID3D12CommandQueue *m_pCommandQueue;
+	uint32_t m_nNodeMask;
+};
+
+/** Status of the overall system or tracked objects */
+enum EVRState
+{
+	VRState_Undefined = -1,
+	VRState_Off = 0,
+	VRState_Searching = 1,
+	VRState_Searching_Alert = 2,
+	VRState_Ready = 3,
+	VRState_Ready_Alert = 4,
+	VRState_NotReady = 5,
+	VRState_Standby = 6,
+	VRState_Ready_Alert_Low = 7,
+};
+
+/** The types of events that could be posted (and what the parameters mean for each event type) */
+enum EVREventType
+{
+	VREvent_None = 0,
+
+	VREvent_TrackedDeviceActivated		= 100,
+	VREvent_TrackedDeviceDeactivated	= 101,
+	VREvent_TrackedDeviceUpdated		= 102,
+	VREvent_TrackedDeviceUserInteractionStarted	= 103,
+	VREvent_TrackedDeviceUserInteractionEnded	= 104,
+	VREvent_IpdChanged					= 105,
+	VREvent_EnterStandbyMode			= 106,
+	VREvent_LeaveStandbyMode			= 107,
+	VREvent_TrackedDeviceRoleChanged	= 108,
+	VREvent_WatchdogWakeUpRequested		= 109,
+	VREvent_LensDistortionChanged		= 110,
+	VREvent_PropertyChanged				= 111,
+
+	VREvent_ButtonPress					= 200, // data is controller
+	VREvent_ButtonUnpress				= 201, // data is controller
+	VREvent_ButtonTouch					= 202, // data is controller
+	VREvent_ButtonUntouch				= 203, // data is controller
+
+	VREvent_MouseMove					= 300, // data is mouse
+	VREvent_MouseButtonDown				= 301, // data is mouse
+	VREvent_MouseButtonUp				= 302, // data is mouse
+	VREvent_FocusEnter					= 303, // data is overlay
+	VREvent_FocusLeave					= 304, // data is overlay
+	VREvent_Scroll						= 305, // data is mouse
+	VREvent_TouchPadMove				= 306, // data is mouse
+	VREvent_OverlayFocusChanged			= 307, // data is overlay, global event
+
+	VREvent_InputFocusCaptured			= 400, // data is process DEPRECATED
+	VREvent_InputFocusReleased			= 401, // data is process DEPRECATED
+	VREvent_SceneFocusLost				= 402, // data is process
+	VREvent_SceneFocusGained			= 403, // data is process
+	VREvent_SceneApplicationChanged		= 404, // data is process - The App actually drawing the scene changed (usually to or from the compositor)
+	VREvent_SceneFocusChanged			= 405, // data is process - New app got access to draw the scene
+	VREvent_InputFocusChanged			= 406, // data is process
+	VREvent_SceneApplicationSecondaryRenderingStarted = 407, // data is process
+
+	VREvent_HideRenderModels			= 410, // Sent to the scene application to request hiding render models temporarily
+	VREvent_ShowRenderModels			= 411, // Sent to the scene application to request restoring render model visibility
+
+	VREvent_OverlayShown				= 500,
+	VREvent_OverlayHidden				= 501,
+	VREvent_DashboardActivated			= 502,
+	VREvent_DashboardDeactivated		= 503,
+	VREvent_DashboardThumbSelected		= 504, // Sent to the overlay manager - data is overlay
+	VREvent_DashboardRequested			= 505, // Sent to the overlay manager - data is overlay
+	VREvent_ResetDashboard				= 506, // Send to the overlay manager
+	VREvent_RenderToast					= 507, // Send to the dashboard to render a toast - data is the notification ID
+	VREvent_ImageLoaded					= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
+	VREvent_ShowKeyboard				= 509, // Sent to keyboard renderer in the dashboard to invoke it
+	VREvent_HideKeyboard				= 510, // Sent to keyboard renderer in the dashboard to hide it
+	VREvent_OverlayGamepadFocusGained	= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
+	VREvent_OverlayGamepadFocusLost		= 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
+	VREvent_OverlaySharedTextureChanged = 513,
+	VREvent_DashboardGuideButtonDown	= 514,
+	VREvent_DashboardGuideButtonUp		= 515,
+	VREvent_ScreenshotTriggered			= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
+	VREvent_ImageFailed					= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
+	VREvent_DashboardOverlayCreated		= 518,
+
+	// Screenshot API
+	VREvent_RequestScreenshot				= 520, // Sent by vrclient application to compositor to take a screenshot
+	VREvent_ScreenshotTaken					= 521, // Sent by compositor to the application that the screenshot has been taken
+	VREvent_ScreenshotFailed				= 522, // Sent by compositor to the application that the screenshot failed to be taken
+	VREvent_SubmitScreenshotToDashboard		= 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_ScreenshotProgressToDashboard	= 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+
+	VREvent_PrimaryDashboardDeviceChanged	= 525,
+
+	VREvent_Notification_Shown				= 600,
+	VREvent_Notification_Hidden				= 601,
+	VREvent_Notification_BeginInteraction	= 602,
+	VREvent_Notification_Destroyed			= 603,
+
+	VREvent_Quit							= 700, // data is process
+	VREvent_ProcessQuit						= 701, // data is process
+	VREvent_QuitAborted_UserPrompt			= 702, // data is process
+	VREvent_QuitAcknowledged				= 703, // data is process
+	VREvent_DriverRequestedQuit				= 704, // The driver has requested that SteamVR shut down
+
+	VREvent_ChaperoneDataHasChanged			= 800,
+	VREvent_ChaperoneUniverseHasChanged		= 801,
+	VREvent_ChaperoneTempDataHasChanged		= 802,
+	VREvent_ChaperoneSettingsHaveChanged	= 803,
+	VREvent_SeatedZeroPoseReset				= 804,
+
+	VREvent_AudioSettingsHaveChanged		= 820,
+
+	VREvent_BackgroundSettingHasChanged		= 850,
+	VREvent_CameraSettingsHaveChanged		= 851,
+	VREvent_ReprojectionSettingHasChanged	= 852,
+	VREvent_ModelSkinSettingsHaveChanged	= 853,
+	VREvent_EnvironmentSettingsHaveChanged	= 854,
+	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
+
+	VREvent_StatusUpdate					= 900,
+
+	VREvent_MCImageUpdated					= 1000,
+
+	VREvent_FirmwareUpdateStarted			= 1100,
+	VREvent_FirmwareUpdateFinished			= 1101,
+
+	VREvent_KeyboardClosed					= 1200,
+	VREvent_KeyboardCharInput				= 1201,
+	VREvent_KeyboardDone					= 1202, // Sent when DONE button clicked on keyboard
+
+	VREvent_ApplicationTransitionStarted		= 1300,
+	VREvent_ApplicationTransitionAborted		= 1301,
+	VREvent_ApplicationTransitionNewAppStarted	= 1302,
+	VREvent_ApplicationListUpdated				= 1303,
+	VREvent_ApplicationMimeTypeLoad				= 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected					= 1306,
+	VREvent_ProcessDisconnected					= 1307,
+
+	VREvent_Compositor_MirrorWindowShown		= 1400,
+	VREvent_Compositor_MirrorWindowHidden		= 1401,
+	VREvent_Compositor_ChaperoneBoundsShown		= 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden	= 1411,
+
+	VREvent_TrackedCamera_StartVideoStream  = 1500,
+	VREvent_TrackedCamera_StopVideoStream   = 1501,
+	VREvent_TrackedCamera_PauseVideoStream  = 1502,
+	VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	VREvent_TrackedCamera_EditingSurface    = 1550,
+
+	VREvent_PerformanceTest_EnableCapture	= 1600,
+	VREvent_PerformanceTest_DisableCapture	= 1601,
+	VREvent_PerformanceTest_FidelityLevel	= 1602,
+
+	VREvent_MessageOverlay_Closed			= 1650,
+	
+	// Vendors are free to expose private events in this reserved region
+	VREvent_VendorSpecific_Reserved_Start	= 10000,
+	VREvent_VendorSpecific_Reserved_End		= 19999,
+};
+
+
+/** Level of Hmd activity */
+// UserInteraction_Timeout means the device is in the process of timing out.
+// InUse = ( k_EDeviceActivityLevel_UserInteraction || k_EDeviceActivityLevel_UserInteraction_Timeout )
+// VREvent_TrackedDeviceUserInteractionStarted fires when the devices transitions from Standby -> UserInteraction or Idle -> UserInteraction.
+// VREvent_TrackedDeviceUserInteractionEnded fires when the devices transitions from UserInteraction_Timeout -> Idle
+enum EDeviceActivityLevel
+{	
+	k_EDeviceActivityLevel_Unknown = -1,									
+	k_EDeviceActivityLevel_Idle = 0,						// No activity for the last 10 seconds
+	k_EDeviceActivityLevel_UserInteraction = 1,				// Activity (movement or prox sensor) is happening now	
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,		// No activity for the last 0.5 seconds
+	k_EDeviceActivityLevel_Standby = 3,						// Idle for at least 5 seconds (configurable in Settings -> Power Management)
+};
+
+
+/** VR controller button and axis IDs */
+enum EVRButtonId
+{
+	k_EButton_System			= 0,
+	k_EButton_ApplicationMenu	= 1,
+	k_EButton_Grip				= 2,
+	k_EButton_DPad_Left			= 3,
+	k_EButton_DPad_Up			= 4,
+	k_EButton_DPad_Right		= 5,
+	k_EButton_DPad_Down			= 6,
+	k_EButton_A					= 7,
+	
+	k_EButton_ProximitySensor   = 31,
+
+	k_EButton_Axis0				= 32,
+	k_EButton_Axis1				= 33,
+	k_EButton_Axis2				= 34,
+	k_EButton_Axis3				= 35,
+	k_EButton_Axis4				= 36,
+
+	// aliases for well known controllers
+	k_EButton_SteamVR_Touchpad	= k_EButton_Axis0,
+	k_EButton_SteamVR_Trigger	= k_EButton_Axis1,
+
+	k_EButton_Dashboard_Back	= k_EButton_Grip,
+
+	k_EButton_Max				= 64
+};
+
+inline uint64_t ButtonMaskFromId( EVRButtonId id ) { return 1ull << id; }
+
+/** used for controller button events */
+struct VREvent_Controller_t
+{
+	uint32_t button; // EVRButtonId enum
+};
+
+
+/** used for simulated mouse events in overlay space */
+enum EVRMouseButton
+{
+	VRMouseButton_Left					= 0x0001,
+	VRMouseButton_Right					= 0x0002,
+	VRMouseButton_Middle				= 0x0004,
+};
+
+
+/** used for simulated mouse events in overlay space */
+struct VREvent_Mouse_t
+{
+	float x, y; // co-ords are in GL space, bottom left of the texture is 0,0
+	uint32_t button; // EVRMouseButton enum
+};
+
+/** used for simulated mouse wheel scroll in overlay space */
+struct VREvent_Scroll_t
+{
+	float xdelta, ydelta; // movement in fraction of the pad traversed since last delta, 1.0 for a full swipe
+	uint32_t repeatCount;
+};
+
+/** when in mouse input mode you can receive data from the touchpad, these events are only sent if the users finger
+   is on the touchpad (or just released from it) 
+**/
+struct VREvent_TouchPadMove_t
+{
+	// true if the users finger is detected on the touch pad
+	bool bFingerDown;
+
+	// How long the finger has been down in seconds
+	float flSecondsFingerDown;
+
+	// These values indicate the starting finger position (so you can do some basic swipe stuff)
+	float fValueXFirst;
+	float fValueYFirst;
+
+	// This is the raw sampled coordinate without deadzoning
+	float fValueXRaw;
+	float fValueYRaw;
+};
+
+/** notification related events. Details will still change at this point */
+struct VREvent_Notification_t
+{
+	uint64_t ulUserValue;
+	uint32_t notificationId;
+};
+
+/** Used for events about processes */
+struct VREvent_Process_t
+{
+	uint32_t pid;
+	uint32_t oldPid;
+	bool bForced;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Overlay_t
+{
+	uint64_t overlayHandle;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Status_t
+{
+	uint32_t statusState; // EVRState enum
+};
+
+/** Used for keyboard events **/
+struct VREvent_Keyboard_t
+{
+	char cNewInput[8];	// Up to 11 bytes of new input
+	uint64_t uUserValue;	// Possible flags about the new input
+};
+
+struct VREvent_Ipd_t
+{
+	float ipdMeters;
+};
+
+struct VREvent_Chaperone_t
+{
+	uint64_t m_nPreviousUniverse;
+	uint64_t m_nCurrentUniverse;
+};
+
+/** Not actually used for any events */
+struct VREvent_Reserved_t
+{
+	uint64_t reserved0;
+	uint64_t reserved1;
+};
+
+struct VREvent_PerformanceTest_t
+{
+	uint32_t m_nFidelityLevel;
+};
+
+struct VREvent_SeatedZeroPoseReset_t
+{
+	bool bResetBySystemMenu;
+};
+
+struct VREvent_Screenshot_t
+{
+	uint32_t handle;
+	uint32_t type;
+};
+
+struct VREvent_ScreenshotProgress_t
+{
+	float progress;
+};
+
+struct VREvent_ApplicationLaunch_t
+{
+	uint32_t pid;
+	uint32_t unArgsHandle;
+};
+
+struct VREvent_EditingCameraSurface_t
+{
+	uint64_t overlayHandle;
+	uint32_t nVisualMode;
+};
+
+struct VREvent_MessageOverlay_t
+{
+	uint32_t unVRMessageOverlayResponse; // vr::VRMessageOverlayResponse enum
+};
+
+struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	ETrackedDeviceProperty prop;
+};
+
+/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py */
+typedef union
+{
+	VREvent_Reserved_t reserved;
+	VREvent_Controller_t controller;
+	VREvent_Mouse_t mouse;
+	VREvent_Scroll_t scroll;
+	VREvent_Process_t process;
+	VREvent_Notification_t notification;
+	VREvent_Overlay_t overlay;
+	VREvent_Status_t status;
+	VREvent_Keyboard_t keyboard;
+	VREvent_Ipd_t ipd;
+	VREvent_Chaperone_t chaperone;
+	VREvent_PerformanceTest_t performanceTest;
+	VREvent_TouchPadMove_t touchPadMove;
+	VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+	VREvent_Screenshot_t screenshot;
+	VREvent_ScreenshotProgress_t screenshotProgress;
+	VREvent_ApplicationLaunch_t applicationLaunch;
+	VREvent_EditingCameraSurface_t cameraSurface;
+	VREvent_MessageOverlay_t messageOverlay;
+	VREvent_Property_t property;
+} VREvent_Data_t;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** An event posted by the server to all running applications */
+struct VREvent_t
+{
+	uint32_t eventType; // EVREventType enum
+	TrackedDeviceIndex_t trackedDeviceIndex;
+	float eventAgeSeconds;
+	// event data must be the end of the struct as its size is variable
+	VREvent_Data_t data;
+};
+
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+/** The mesh to draw into the stencil (or depth) buffer to perform 
+* early stencil (or depth) kills of pixels that will never appear on the HMD.
+* This mesh draws on all the pixels that will be hidden after distortion. 
+*
+* If the HMD does not provide a visible area mesh pVertexData will be
+* NULL and unTriangleCount will be 0. */
+struct HiddenAreaMesh_t
+{
+	const HmdVector2_t *pVertexData;
+	uint32_t unTriangleCount;
+};
+
+
+enum EHiddenAreaMeshType
+{
+	k_eHiddenAreaMesh_Standard = 0,
+	k_eHiddenAreaMesh_Inverse = 1,
+	k_eHiddenAreaMesh_LineLoop = 2,
+
+	k_eHiddenAreaMesh_Max = 3,
+};
+
+
+/** Identifies what kind of axis is on the controller at index n. Read this type 
+* with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n );
+*/
+enum EVRControllerAxisType
+{
+	k_eControllerAxis_None = 0,
+	k_eControllerAxis_TrackPad = 1,
+	k_eControllerAxis_Joystick = 2,
+	k_eControllerAxis_Trigger = 3, // Analog trigger data is in the X axis
+};
+
+
+/** contains information about one axis on the controller */
+struct VRControllerAxis_t
+{
+	float x; // Ranges from -1.0 to 1.0 for joysticks and track pads. Ranges from 0.0 to 1.0 for triggers were 0 is fully released.
+	float y; // Ranges from -1.0 to 1.0 for joysticks and track pads. Is always 0.0 for triggers.
+};
+
+
+/** the number of axes in the controller state */
+static const uint32_t k_unControllerStateAxisCount = 5;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** Holds all the state of a controller at one moment in time. */
+struct VRControllerState001_t
+{
+	// If packet num matches that on your prior call, then the controller state hasn't been changed since 
+	// your last call and there is no need to process it
+	uint32_t unPacketNum;
+
+	// bit flags for each of the buttons. Use ButtonMaskFromId to turn an ID into a mask
+	uint64_t ulButtonPressed;
+	uint64_t ulButtonTouched;
+
+	// Axis data for the controller's analog inputs
+	VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ];
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+
+typedef VRControllerState001_t VRControllerState_t;
+
+
+/** determines how to provide output to the application of various event processing functions. */
+enum EVRControllerEventOutputType
+{
+	ControllerEventOutput_OSEvents = 0,
+	ControllerEventOutput_VREvents = 1,
+};
+
+
+
+/** Collision Bounds Style */
+enum ECollisionBoundsStyle
+{
+	COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	COLLISION_BOUNDS_STYLE_INTERMEDIATE,
+	COLLISION_BOUNDS_STYLE_SQUARES,
+	COLLISION_BOUNDS_STYLE_ADVANCED,
+	COLLISION_BOUNDS_STYLE_NONE,
+
+	COLLISION_BOUNDS_STYLE_COUNT
+};
+
+/** Allows the application to customize how the overlay appears in the compositor */
+struct Compositor_OverlaySettings
+{
+	uint32_t size; // sizeof(Compositor_OverlaySettings)
+	bool curved, antialias;
+	float scale, distance, alpha;
+	float uOffset, vOffset, uScale, vScale;
+	float gridDivs, gridWidth, gridScale;
+	HmdMatrix44_t transform;
+};
+
+/** used to refer to a single VR overlay */
+typedef uint64_t VROverlayHandle_t;
+
+static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0;
+
+/** Errors that can occur around VR overlays */
+enum EVROverlayError
+{
+	VROverlayError_None						= 0,
+
+	VROverlayError_UnknownOverlay			= 10,
+	VROverlayError_InvalidHandle			= 11,
+	VROverlayError_PermissionDenied			= 12,
+	VROverlayError_OverlayLimitExceeded		= 13, // No more overlays could be created because the maximum number already exist
+	VROverlayError_WrongVisibilityType		= 14,
+	VROverlayError_KeyTooLong				= 15,
+	VROverlayError_NameTooLong				= 16,
+	VROverlayError_KeyInUse					= 17,
+	VROverlayError_WrongTransformType		= 18,
+	VROverlayError_InvalidTrackedDevice		= 19,
+	VROverlayError_InvalidParameter			= 20,
+	VROverlayError_ThumbnailCantBeDestroyed	= 21,
+	VROverlayError_ArrayTooSmall			= 22,
+	VROverlayError_RequestFailed			= 23,
+	VROverlayError_InvalidTexture			= 24,
+	VROverlayError_UnableToLoadFile			= 25,
+	VROverlayError_KeyboardAlreadyInUse		= 26,
+	VROverlayError_NoNeighbor				= 27,
+	VROverlayError_TooManyMaskPrimitives	= 29,
+	VROverlayError_BadMaskPrimitive			= 30,
+};
+
+/** enum values to pass in to VR_Init to identify whether the application will 
+* draw a 3D scene. */
+enum EVRApplicationType
+{
+	VRApplication_Other = 0,		// Some other kind of application that isn't covered by the other entries 
+	VRApplication_Scene	= 1,		// Application will submit 3D frames 
+	VRApplication_Overlay = 2,		// Application only interacts with overlays
+	VRApplication_Background = 3,	// Application should not start SteamVR if it's not already running, and should not
+									// keep it running if everything else quits.
+	VRApplication_Utility = 4,		// Init should not try to load any drivers. The application needs access to utility
+									// interfaces (like IVRSettings and IVRApplications) but not hardware.
+	VRApplication_VRMonitor = 5,	// Reserved for vrmonitor
+	VRApplication_SteamWatchdog = 6,// Reserved for Steam
+	VRApplication_Bootstrapper = 7, // Start up SteamVR
+
+	VRApplication_Max
+};
+
+
+/** error codes for firmware */
+enum EVRFirmwareError
+{
+	VRFirmwareError_None = 0,
+	VRFirmwareError_Success = 1,
+	VRFirmwareError_Fail = 2,
+};
+
+
+/** error codes for notifications */
+enum EVRNotificationError
+{
+	VRNotificationError_OK = 0,
+	VRNotificationError_InvalidNotificationId = 100,
+	VRNotificationError_NotificationQueueFull = 101,
+	VRNotificationError_InvalidOverlayHandle = 102,
+	VRNotificationError_SystemWithUserValueAlreadyExists = 103,
+};
+
+
+/** error codes returned by Vr_Init */
+
+// Please add adequate error description to https://developer.valvesoftware.com/w/index.php?title=Category:SteamVRHelp
+enum EVRInitError
+{
+	VRInitError_None	= 0,
+	VRInitError_Unknown = 1,
+
+	VRInitError_Init_InstallationNotFound		= 100,
+	VRInitError_Init_InstallationCorrupt		= 101,
+	VRInitError_Init_VRClientDLLNotFound		= 102,
+	VRInitError_Init_FileNotFound				= 103,
+	VRInitError_Init_FactoryNotFound			= 104,
+	VRInitError_Init_InterfaceNotFound			= 105,
+	VRInitError_Init_InvalidInterface			= 106,
+	VRInitError_Init_UserConfigDirectoryInvalid = 107,
+	VRInitError_Init_HmdNotFound				= 108,
+	VRInitError_Init_NotInitialized				= 109,
+	VRInitError_Init_PathRegistryNotFound		= 110,
+	VRInitError_Init_NoConfigPath				= 111,
+	VRInitError_Init_NoLogPath					= 112,
+	VRInitError_Init_PathRegistryNotWritable	= 113,
+	VRInitError_Init_AppInfoInitFailed			= 114,
+	VRInitError_Init_Retry						= 115, // Used internally to cause retries to vrserver
+	VRInitError_Init_InitCanceledByUser			= 116, // The calling application should silently exit. The user canceled app startup
+	VRInitError_Init_AnotherAppLaunching		= 117, 
+	VRInitError_Init_SettingsInitFailed			= 118, 
+	VRInitError_Init_ShuttingDown				= 119,
+	VRInitError_Init_TooManyObjects				= 120,
+	VRInitError_Init_NoServerForBackgroundApp	= 121,
+	VRInitError_Init_NotSupportedWithCompositor	= 122,
+	VRInitError_Init_NotAvailableToUtilityApps	= 123,
+	VRInitError_Init_Internal				 	= 124,
+	VRInitError_Init_HmdDriverIdIsNone		 	= 125,
+	VRInitError_Init_HmdNotFoundPresenceFailed 	= 126,
+	VRInitError_Init_VRMonitorNotFound			= 127,
+	VRInitError_Init_VRMonitorStartupFailed		= 128,
+	VRInitError_Init_LowPowerWatchdogNotSupported = 129, 
+	VRInitError_Init_InvalidApplicationType		= 130,
+	VRInitError_Init_NotAvailableToWatchdogApps = 131,
+	VRInitError_Init_WatchdogDisabledInSettings = 132,
+	VRInitError_Init_VRDashboardNotFound		= 133,
+	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
+
+	VRInitError_Driver_Failed				= 200,
+	VRInitError_Driver_Unknown				= 201,
+	VRInitError_Driver_HmdUnknown			= 202,
+	VRInitError_Driver_NotLoaded			= 203,
+	VRInitError_Driver_RuntimeOutOfDate		= 204,
+	VRInitError_Driver_HmdInUse				= 205,
+	VRInitError_Driver_NotCalibrated		= 206,
+	VRInitError_Driver_CalibrationInvalid	= 207,
+	VRInitError_Driver_HmdDisplayNotFound	= 208,
+	VRInitError_Driver_TrackedDeviceInterfaceUnknown = 209,
+	// VRInitError_Driver_HmdDisplayNotFoundAfterFix	 = 210, // not needed: here for historic reasons
+	VRInitError_Driver_HmdDriverIdOutOfBounds = 211,
+	VRInitError_Driver_HmdDisplayMirrored  = 212,
+
+	VRInitError_IPC_ServerInitFailed		= 300,
+	VRInitError_IPC_ConnectFailed			= 301,
+	VRInitError_IPC_SharedStateInitFailed	= 302,
+	VRInitError_IPC_CompositorInitFailed	= 303,
+	VRInitError_IPC_MutexInitFailed			= 304,
+	VRInitError_IPC_Failed					= 305,
+	VRInitError_IPC_CompositorConnectFailed	= 306,
+	VRInitError_IPC_CompositorInvalidConnectResponse = 307,
+	VRInitError_IPC_ConnectFailedAfterMultipleAttempts = 308,
+
+	VRInitError_Compositor_Failed					= 400,
+	VRInitError_Compositor_D3D11HardwareRequired	= 401,
+	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
+	VRInitError_Compositor_OverlayInitFailed		= 403,
+	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
+
+	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+
+	VRInitError_VendorSpecific_HmdFound_CantOpenDevice 				= 1101,
+	VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart	= 1102,
+	VRInitError_VendorSpecific_HmdFound_NoStoredConfig 				= 1103,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooBig 				= 1104,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooSmall 				= 1105,
+	VRInitError_VendorSpecific_HmdFound_UnableToInitZLib 			= 1106,
+	VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion 	= 1107,
+	VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart	= 1108,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart	= 1109,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext		= 1110,
+	VRInitError_VendorSpecific_HmdFound_UserDataAddressRange		= 1111,
+	VRInitError_VendorSpecific_HmdFound_UserDataError				= 1112,
+	VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck		= 1113,
+
+	VRInitError_Steam_SteamInstallationNotFound = 2000,
+};
+
+enum EVRScreenshotType
+{
+	VRScreenshotType_None = 0,
+	VRScreenshotType_Mono = 1, // left eye only
+	VRScreenshotType_Stereo = 2,
+	VRScreenshotType_Cubemap = 3,
+	VRScreenshotType_MonoPanorama = 4,
+	VRScreenshotType_StereoPanorama = 5
+};
+
+enum EVRScreenshotPropertyFilenames
+{
+	VRScreenshotPropertyFilenames_Preview = 0,
+	VRScreenshotPropertyFilenames_VR = 1,
+};
+
+enum EVRTrackedCameraError
+{
+	VRTrackedCameraError_None                       = 0,
+	VRTrackedCameraError_OperationFailed            = 100,
+	VRTrackedCameraError_InvalidHandle              = 101,	
+	VRTrackedCameraError_InvalidFrameHeaderVersion  = 102,
+	VRTrackedCameraError_OutOfHandles               = 103,
+	VRTrackedCameraError_IPCFailure                 = 104,
+	VRTrackedCameraError_NotSupportedForThisDevice  = 105,
+	VRTrackedCameraError_SharedMemoryFailure        = 106,
+	VRTrackedCameraError_FrameBufferingFailure      = 107,
+	VRTrackedCameraError_StreamSetupFailure         = 108,
+	VRTrackedCameraError_InvalidGLTextureId         = 109,
+	VRTrackedCameraError_InvalidSharedTextureHandle = 110,
+	VRTrackedCameraError_FailedToGetGLTextureId     = 111,
+	VRTrackedCameraError_SharedTextureFailure       = 112,
+	VRTrackedCameraError_NoFrameAvailable           = 113,
+	VRTrackedCameraError_InvalidArgument            = 114,
+	VRTrackedCameraError_InvalidFrameBufferSize     = 115,
+};
+
+enum EVRTrackedCameraFrameType
+{
+	VRTrackedCameraFrameType_Distorted = 0,			// This is the camera video frame size in pixels, still distorted.
+	VRTrackedCameraFrameType_Undistorted,			// In pixels, an undistorted inscribed rectangle region without invalid regions. This size is subject to changes shortly.
+	VRTrackedCameraFrameType_MaximumUndistorted,	// In pixels, maximum undistorted with invalid regions. Non zero alpha component identifies valid regions.
+	MAX_CAMERA_FRAME_TYPES
+};
+
+typedef uint64_t TrackedCameraHandle_t;
+#define INVALID_TRACKED_CAMERA_HANDLE	((vr::TrackedCameraHandle_t)0)
+
+struct CameraVideoStreamFrameHeader_t
+{
+	EVRTrackedCameraFrameType eFrameType;
+
+	uint32_t nWidth;
+	uint32_t nHeight;
+	uint32_t nBytesPerPixel;
+
+	uint32_t nFrameSequence;
+
+	TrackedDevicePose_t standingTrackedDevicePose;
+};
+
+// Screenshot types
+typedef uint32_t ScreenshotHandle_t;
+
+static const uint32_t k_unScreenshotHandleInvalid = 0;
+
+#pragma pack( pop )
+
+// figure out how to import from the VR API dll
+#if defined(_WIN32)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __declspec( dllexport )
+#else
+#define VR_INTERFACE extern "C" __declspec( dllimport )
+#endif
+
+#elif defined(__GNUC__) || defined(COMPILER_GCC) || defined(__APPLE__)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __attribute__((visibility("default")))
+#else
+#define VR_INTERFACE extern "C" 
+#endif
+
+#else
+#error "Unsupported Platform."
+#endif
+
+
+#if defined( _WIN32 )
+#define VR_CALLTYPE __cdecl
+#else
+#define VR_CALLTYPE 
+#endif
+
+} // namespace vr
+
+#endif // _INCLUDE_VRTYPES_H
+
+
+// vrannotation.h
+#ifdef API_GEN
+# define VR_CLANG_ATTR(ATTR) __attribute__((annotate( ATTR )))
+#else
+# define VR_CLANG_ATTR(ATTR)
+#endif
+
+#define VR_METHOD_DESC(DESC) VR_CLANG_ATTR( "desc:" #DESC ";" )
+#define VR_IGNOREATTR() VR_CLANG_ATTR( "ignore" )
+#define VR_OUT_STRUCT() VR_CLANG_ATTR( "out_struct: ;" )
+#define VR_OUT_STRING() VR_CLANG_ATTR( "out_string: ;" )
+#define VR_OUT_ARRAY_CALL(COUNTER,FUNCTION,PARAMS) VR_CLANG_ATTR( "out_array_call:" #COUNTER "," #FUNCTION "," #PARAMS ";" )
+#define VR_OUT_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "out_array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT_D(COUNTER, DESC) VR_CLANG_ATTR( "array_count:" #COUNTER ";desc:" #DESC )
+#define VR_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "buffer_count:" #COUNTER ";" )
+#define VR_OUT_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "out_buffer_count:" #COUNTER ";" )
+#define VR_OUT_STRING_COUNT(COUNTER) VR_CLANG_ATTR( "out_string_count:" #COUNTER ";" )
+
+// vrtrackedcameratypes.h
+#ifndef _VRTRACKEDCAMERATYPES_H
+#define _VRTRACKEDCAMERATYPES_H 
+
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+enum ECameraVideoStreamFormat
+{
+	CVS_FORMAT_UNKNOWN = 0,
+	CVS_FORMAT_RAW10 = 1,		// 10 bits per pixel
+	CVS_FORMAT_NV12 = 2,		// 12 bits per pixel
+	CVS_FORMAT_RGB24 = 3,		// 24 bits per pixel
+	CVS_MAX_FORMATS
+};
+
+enum ECameraCompatibilityMode
+{
+	CAMERA_COMPAT_MODE_BULK_DEFAULT = 0,
+	CAMERA_COMPAT_MODE_BULK_64K_DMA,
+	CAMERA_COMPAT_MODE_BULK_16K_DMA,
+	CAMERA_COMPAT_MODE_BULK_8K_DMA,
+	CAMERA_COMPAT_MODE_ISO_52FPS,
+	CAMERA_COMPAT_MODE_ISO_50FPS,
+	CAMERA_COMPAT_MODE_ISO_48FPS,
+	CAMERA_COMPAT_MODE_ISO_46FPS,
+	CAMERA_COMPAT_MODE_ISO_44FPS,
+	CAMERA_COMPAT_MODE_ISO_42FPS,
+	CAMERA_COMPAT_MODE_ISO_40FPS,
+	CAMERA_COMPAT_MODE_ISO_35FPS,
+	CAMERA_COMPAT_MODE_ISO_30FPS,
+	MAX_CAMERA_COMPAT_MODES
+};
+
+#ifdef _MSC_VER
+#define VR_CAMERA_DECL_ALIGN( x ) __declspec( align( x ) )
+#else
+#define VR_CAMERA_DECL_ALIGN( x ) //
+#endif
+
+#define MAX_CAMERA_FRAME_SHARED_HANDLES	4
+
+VR_CAMERA_DECL_ALIGN( 8 ) struct CameraVideoStreamFrame_t
+{
+	ECameraVideoStreamFormat m_nStreamFormat;
+
+	uint32_t m_nWidth;
+	uint32_t m_nHeight;
+
+	uint32_t m_nImageDataSize;						// Based on stream format, width, height
+
+	uint32_t m_nFrameSequence;						// Starts from 0 when stream starts.
+
+	uint32_t m_nBufferIndex;						// Identifies which buffer the image data is hosted
+	uint32_t m_nBufferCount;						// Total number of configured buffers
+
+	uint32_t m_nExposureTime;
+
+	uint32_t m_nISPFrameTimeStamp;					// Driver provided time stamp per driver centric time base
+	uint32_t m_nISPReferenceTimeStamp;
+	uint32_t m_nSyncCounter;
+
+	uint32_t m_nCamSyncEvents;
+	uint32_t m_nISPSyncEvents;
+
+	double m_flReferenceCamSyncTime;
+
+	double m_flFrameElapsedTime;					// Starts from 0 when stream starts. In seconds.
+	double m_flFrameDeliveryRate;
+
+	double m_flFrameCaptureTime_DriverAbsolute;		// In USB time, via AuxEvent
+	double m_flFrameCaptureTime_ServerRelative;		// In System time within the server
+	uint64_t m_nFrameCaptureTicks_ServerAbsolute;	// In system ticks within the server
+	double m_flFrameCaptureTime_ClientRelative;		// At the client, relative to when the frame was exposed/captured.
+
+	double m_flSyncMarkerError;
+
+	TrackedDevicePose_t m_StandingTrackedDevicePose;	// Supplied by HMD layer when used as a tracked camera
+
+	uint64_t m_pImageData;
+};
+
+#pragma pack( pop )
+
+}
+
+#endif // _VRTRACKEDCAMERATYPES_H
+// ivrsettings.h
+namespace vr
+{
+	enum EVRSettingsError
+	{
+		VRSettingsError_None = 0,
+		VRSettingsError_IPCFailed = 1,
+		VRSettingsError_WriteFailed = 2,
+		VRSettingsError_ReadFailed = 3,
+		VRSettingsError_JsonParseFailed = 4,
+		VRSettingsError_UnsetSettingHasNoDefault = 5, // This will be returned if the setting does not appear in the appropriate default file and has not been set
+	};
+
+	// The maximum length of a settings key
+	static const uint32_t k_unMaxSettingsKeyLength = 128;
+
+	class IVRSettings
+	{
+	public:
+		virtual const char *GetSettingsErrorNameFromEnum( EVRSettingsError eError ) = 0;
+
+		// Returns true if file sync occurred (force or settings dirty)
+		virtual bool Sync( bool bForce = false, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void SetBool( const char *pchSection, const char *pchSettingsKey, bool bValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetFloat( const char *pchSection, const char *pchSettingsKey, float flValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetString( const char *pchSection, const char *pchSettingsKey, const char *pchValue, EVRSettingsError *peError = nullptr ) = 0;
+
+		// Users of the system need to provide a proper default in default.vrsettings in the resources/settings/ directory
+		// of either the runtime or the driver_xxx directory. Otherwise the default will be false, 0, 0.0 or ""
+		virtual bool GetBool( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual int32_t GetInt32( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual float GetFloat( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void GetString( const char *pchSection, const char *pchSettingsKey, VR_OUT_STRING() char *pchValue, uint32_t unValueLen, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void RemoveSection( const char *pchSection, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void RemoveKeyInSection( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+	};
+
+	//-----------------------------------------------------------------------------
+	static const char * const IVRSettings_Version = "IVRSettings_002";
+
+	//-----------------------------------------------------------------------------
+	// steamvr keys
+	static const char * const k_pch_SteamVR_Section = "steamvr";
+	static const char * const k_pch_SteamVR_RequireHmd_String = "requireHmd";
+	static const char * const k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+	static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+	static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+	static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+	static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+	static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+	static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps";
+	static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+	static const char * const k_pch_SteamVR_IPD_Float = "ipd";
+	static const char * const k_pch_SteamVR_Background_String = "background";
+	static const char * const k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+	static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+	static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+	static const char * const k_pch_SteamVR_GridColor_String = "gridColor";
+	static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+	static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage";
+	static const char * const k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+	static const char * const k_pch_SteamVR_DirectMode_Bool = "directMode";
+	static const char * const k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+	static const char * const k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+	static const char * const k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+	static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+	static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+	static const char * const k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+	static const char * const k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+	static const char * const k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+
+	//-----------------------------------------------------------------------------
+	// lighthouse keys
+	static const char * const k_pch_Lighthouse_Section = "driver_lighthouse";
+	static const char * const k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+	static const char * const k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+	static const char * const k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+	static const char * const k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+	static const char * const k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+
+	//-----------------------------------------------------------------------------
+	// null keys
+	static const char * const k_pch_Null_Section = "driver_null";
+	static const char * const k_pch_Null_SerialNumber_String = "serialNumber";
+	static const char * const k_pch_Null_ModelNumber_String = "modelNumber";
+	static const char * const k_pch_Null_WindowX_Int32 = "windowX";
+	static const char * const k_pch_Null_WindowY_Int32 = "windowY";
+	static const char * const k_pch_Null_WindowWidth_Int32 = "windowWidth";
+	static const char * const k_pch_Null_WindowHeight_Int32 = "windowHeight";
+	static const char * const k_pch_Null_RenderWidth_Int32 = "renderWidth";
+	static const char * const k_pch_Null_RenderHeight_Int32 = "renderHeight";
+	static const char * const k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+	static const char * const k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+
+	//-----------------------------------------------------------------------------
+	// user interface keys
+	static const char * const k_pch_UserInterface_Section = "userinterface";
+	static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+	static const char * const k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+	static const char * const k_pch_UserInterface_Screenshots_Bool = "screenshots";
+	static const char * const k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+
+	//-----------------------------------------------------------------------------
+	// notification keys
+	static const char * const k_pch_Notifications_Section = "notifications";
+	static const char * const k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+
+	//-----------------------------------------------------------------------------
+	// keyboard keys
+	static const char * const k_pch_Keyboard_Section = "keyboard";
+	static const char * const k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+	static const char * const k_pch_Keyboard_ScaleX = "ScaleX";
+	static const char * const k_pch_Keyboard_ScaleY = "ScaleY";
+	static const char * const k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+	static const char * const k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+	static const char * const k_pch_Keyboard_OffsetY = "OffsetY";
+	static const char * const k_pch_Keyboard_Smoothing = "Smoothing";
+
+	//-----------------------------------------------------------------------------
+	// perf keys
+	static const char * const k_pch_Perf_Section = "perfcheck";
+	static const char * const k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+	static const char * const k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+	static const char * const k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+
+	//-----------------------------------------------------------------------------
+	// collision bounds keys
+	static const char * const k_pch_CollisionBounds_Section = "collisionBounds";
+	static const char * const k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+	static const char * const k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+	static const char * const k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+	static const char * const k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+	static const char * const k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+	static const char * const k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+	static const char * const k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+	static const char * const k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+	static const char * const k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+
+	//-----------------------------------------------------------------------------
+	// camera keys
+	static const char * const k_pch_Camera_Section = "camera";
+	static const char * const k_pch_Camera_EnableCamera_Bool = "enableCamera";
+	static const char * const k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+	static const char * const k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+	static const char * const k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+	static const char * const k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+	static const char * const k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+	static const char * const k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+	static const char * const k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+	static const char * const k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+
+	//-----------------------------------------------------------------------------
+	// audio keys
+	static const char * const k_pch_audio_Section = "audio";
+	static const char * const k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+	static const char * const k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+	static const char * const k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+	static const char * const k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+	static const char * const k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+	static const char * const k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+
+	//-----------------------------------------------------------------------------
+	// power management keys
+	static const char * const k_pch_Power_Section = "power";
+	static const char * const k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+	static const char * const k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+
+	//-----------------------------------------------------------------------------
+	// dashboard keys
+	static const char * const k_pch_Dashboard_Section = "dashboard";
+	static const char * const k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+	static const char * const k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+
+	//-----------------------------------------------------------------------------
+	// model skin keys
+	static const char * const k_pch_modelskin_Section = "modelskins";
+
+	//-----------------------------------------------------------------------------
+	// driver keys - These could be checked in any driver_<name> section
+	static const char * const k_pch_Driver_Enable_Bool = "enable";
+
+} // namespace vr
+
+// iservertrackeddevicedriver.h
+namespace vr
+{
+
+
+struct DriverPoseQuaternion_t
+{
+	double w, x, y, z;
+};
+
+struct DriverPose_t
+{
+	/* Time offset of this pose, in seconds from the actual time of the pose,
+	 * relative to the time of the PoseUpdated() call made by the driver.
+	 */
+	double poseTimeOffset;
+
+	/* Generally, the pose maintained by a driver
+	 * is in an inertial coordinate system different
+	 * from the world system of x+ right, y+ up, z+ back.
+	 * Also, the driver is not usually tracking the "head" position,
+	 * but instead an internal IMU or another reference point in the HMD.
+	 * The following two transforms transform positions and orientations
+	 * to app world space from driver world space,
+	 * and to HMD head space from driver local body space. 
+	 *
+	 * We maintain the driver pose state in its internal coordinate system,
+	 * so we can do the pose prediction math without having to
+	 * use angular acceleration.  A driver's angular acceleration is generally not measured,
+	 * and is instead calculated from successive samples of angular velocity.
+	 * This leads to a noisy angular acceleration values, which are also
+	 * lagged due to the filtering required to reduce noise to an acceptable level.
+	 */
+	vr::HmdQuaternion_t qWorldFromDriverRotation;
+	double vecWorldFromDriverTranslation[ 3 ];
+
+	vr::HmdQuaternion_t qDriverFromHeadRotation;
+	double vecDriverFromHeadTranslation[ 3 ];
+
+	/* State of driver pose, in meters and radians. */
+	/* Position of the driver tracking reference in driver world space
+	* +[0] (x) is right
+	* +[1] (y) is up
+	* -[2] (z) is forward
+	*/
+	double vecPosition[ 3 ];
+
+	/* Velocity of the pose in meters/second */
+	double vecVelocity[ 3 ];
+
+	/* Acceleration of the pose in meters/second */
+	double vecAcceleration[ 3 ];
+
+	/* Orientation of the tracker, represented as a quaternion */
+	vr::HmdQuaternion_t qRotation;
+
+	/* Angular velocity of the pose in axis-angle 
+	* representation. The direction is the angle of
+	* rotation and the magnitude is the angle around
+	* that axis in radians/second. */
+	double vecAngularVelocity[ 3 ];
+
+	/* Angular acceleration of the pose in axis-angle 
+	* representation. The direction is the angle of
+	* rotation and the magnitude is the angle around
+	* that axis in radians/second^2. */
+	double vecAngularAcceleration[ 3 ];
+
+	ETrackingResult result;
+
+	bool poseIsValid;
+	bool willDriftInYaw;
+	bool shouldApplyHeadModel;
+	bool deviceIsConnected;
+};
+
+
+// ----------------------------------------------------------------------------------------------
+// Purpose: Represents a single tracked device in a driver
+// ----------------------------------------------------------------------------------------------
+class ITrackedDeviceServerDriver
+{
+public:
+
+	// ------------------------------------
+	// Management Methods
+	// ------------------------------------
+	/** This is called before an HMD is returned to the application. It will always be
+	* called before any display or tracking methods. Memory and processor use by the
+	* ITrackedDeviceServerDriver object should be kept to a minimum until it is activated.
+	* The pose listener is guaranteed to be valid until Deactivate is called, but
+	* should not be used after that point. */
+	virtual EVRInitError Activate( uint32_t unObjectId ) = 0;
+
+	/** This is called when The VR system is switching from this Hmd being the active display
+	* to another Hmd being the active display. The driver should clean whatever memory
+	* and thread use it can when it is deactivated */
+	virtual void Deactivate() = 0;
+
+	/** Handles a request from the system to put this device into standby mode. What that means is defined per-device. */
+	virtual void EnterStandby() = 0;
+
+	/** Requests a component interface of the driver for device-specific functionality. The driver should return NULL
+	* if the requested interface or version is not supported. */
+	virtual void *GetComponent( const char *pchComponentNameAndVersion ) = 0;
+
+	/** A VR Client has made this debug request of the driver. The set of valid requests is entirely
+	* up to the driver and the client to figure out, as is the format of the response. Responses that
+	* exceed the length of the supplied buffer should be truncated and null terminated */
+	virtual void DebugRequest( const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize ) = 0;
+
+	// ------------------------------------
+	// Tracking Methods
+	// ------------------------------------
+	virtual DriverPose_t GetPose() = 0;
+};
+
+
+
+static const char *ITrackedDeviceServerDriver_Version = "ITrackedDeviceServerDriver_005";
+
+}
+// ivrdisplaycomponent.h
+namespace vr
+{
+
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: The display component on a single tracked device
+	// ----------------------------------------------------------------------------------------------
+	class IVRDisplayComponent
+	{
+	public:
+
+		// ------------------------------------
+		// Display Methods
+		// ------------------------------------
+
+		/** Size and position that the window needs to be on the VR display. */
+		virtual void GetWindowBounds( int32_t *pnX, int32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** Returns true if the display is extending the desktop. */
+		virtual bool IsDisplayOnDesktop( ) = 0;
+
+		/** Returns true if the display is real and not a fictional display. */
+		virtual bool IsDisplayRealDisplay( ) = 0;
+
+		/** Suggested size for the intermediate render target that the distortion pulls from. */
+		virtual void GetRecommendedRenderTargetSize( uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** Gets the viewport in the frame buffer to draw the output of the distortion into */
+		virtual void GetEyeOutputViewport( EVREye eEye, uint32_t *pnX, uint32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** The components necessary to build your own projection matrix in case your
+		* application is doing something fancy like infinite Z */
+		virtual void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom ) = 0;
+
+		/** Returns the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in
+		* the upper left of that eye's viewport and 1,1 in the lower right of that eye's viewport. */
+		virtual DistortionCoordinates_t ComputeDistortion( EVREye eEye, float fU, float fV ) = 0;
+
+	};
+
+	static const char *IVRDisplayComponent_Version = "IVRDisplayComponent_002";
+
+}
+
+// ivrdriverdirectmodecomponent.h
+namespace vr
+{
+
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: This component is used for drivers that implement direct mode entirely on their own
+	//			without allowing the VR Compositor to own the window/device. Chances are you don't
+	//			need to implement this component in your driver.
+	// ----------------------------------------------------------------------------------------------
+	class IVRDriverDirectModeComponent
+	{
+	public:
+
+		// -----------------------------------
+		// Direct mode methods
+		// -----------------------------------
+
+		/** Specific to Oculus compositor support, textures supplied must be created using this method. */
+		virtual void CreateSwapTextureSet( uint32_t unPid, uint32_t unFormat, uint32_t unWidth, uint32_t unHeight, vr::SharedTextureHandle_t( *pSharedTextureHandles )[ 3 ] ) {}
+
+		/** Used to textures created using CreateSwapTextureSet.  Only one of the set's handles needs to be used to destroy the entire set. */
+		virtual void DestroySwapTextureSet( vr::SharedTextureHandle_t sharedTextureHandle ) {}
+
+		/** Used to purge all texture sets for a given process. */
+		virtual void DestroyAllSwapTextureSets( uint32_t unPid ) {}
+
+		/** After Present returns, calls this to get the next index to use for rendering. */
+		virtual void GetNextSwapTextureSetIndex( vr::SharedTextureHandle_t sharedTextureHandles[ 2 ], uint32_t( *pIndices )[ 2 ] ) {}
+
+		/** Call once per layer to draw for this frame.  One shared texture handle per eye.  Textures must be created
+		* using CreateSwapTextureSet and should be alternated per frame.  Call Present once all layers have been submitted. */
+		virtual void SubmitLayer( vr::SharedTextureHandle_t sharedTextureHandles[ 2 ], const vr::VRTextureBounds_t( &bounds )[ 2 ], const vr::HmdMatrix34_t *pPose ) {}
+
+		/** Submits queued layers for display. */
+		virtual void Present( vr::SharedTextureHandle_t syncTexture ) {}
+
+	};
+
+	static const char *IVRDriverDirectModeComponent_Version = "IVRDriverDirectModeComponent_002";
+
+}
+
+// ivrcontrollercomponent.h
+namespace vr
+{
+
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: Controller access on a single tracked device.
+	// ----------------------------------------------------------------------------------------------
+	class IVRControllerComponent
+	{
+	public:
+
+		// ------------------------------------
+		// Controller Methods
+		// ------------------------------------
+
+		/** Gets the current state of a controller. */
+		virtual VRControllerState_t GetControllerState( ) = 0;
+
+		/** Returns a uint64 property. If the property is not available this function will return 0. */
+		virtual bool TriggerHapticPulse( uint32_t unAxisId, uint16_t usPulseDurationMicroseconds ) = 0;
+
+	};
+
+
+
+	static const char *IVRControllerComponent_Version = "IVRControllerComponent_001";
+
+}
+// ivrcameracomponent.h
+namespace vr
+{
+	//-----------------------------------------------------------------------------
+	//-----------------------------------------------------------------------------
+	class ICameraVideoSinkCallback
+	{
+	public:
+		virtual void OnCameraVideoSinkCallback() = 0;
+	};
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: The camera on a single tracked device
+	// ----------------------------------------------------------------------------------------------
+	class IVRCameraComponent
+	{
+	public:
+		// ------------------------------------
+		// Camera Methods
+		// ------------------------------------
+		virtual bool GetCameraFrameDimensions( vr::ECameraVideoStreamFormat nVideoStreamFormat, uint32_t *pWidth, uint32_t *pHeight ) = 0;
+		virtual bool GetCameraFrameBufferingRequirements( int *pDefaultFrameQueueSize, uint32_t *pFrameBufferDataSize ) = 0;
+		virtual bool SetCameraFrameBuffering( int nFrameBufferCount, void **ppFrameBuffers, uint32_t nFrameBufferDataSize ) = 0;
+		virtual bool SetCameraVideoStreamFormat( vr::ECameraVideoStreamFormat nVideoStreamFormat ) = 0;
+		virtual vr::ECameraVideoStreamFormat GetCameraVideoStreamFormat() = 0;
+		virtual bool StartVideoStream() = 0;
+		virtual void StopVideoStream() = 0;
+		virtual bool IsVideoStreamActive( bool *pbPaused, float *pflElapsedTime ) = 0;
+		virtual const vr::CameraVideoStreamFrame_t *GetVideoStreamFrame() = 0;
+		virtual void ReleaseVideoStreamFrame( const vr::CameraVideoStreamFrame_t *pFrameImage ) = 0;
+		virtual bool SetAutoExposure( bool bEnable ) = 0;
+		virtual bool PauseVideoStream() = 0;
+		virtual bool ResumeVideoStream() = 0;
+		virtual bool GetCameraDistortion( float flInputU, float flInputV, float *pflOutputU, float *pflOutputV ) = 0;
+		virtual bool GetCameraProjection( vr::EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, vr::HmdMatrix44_t *pProjection ) = 0;
+		virtual bool SetFrameRate( int nISPFrameRate, int nSensorFrameRate ) = 0;
+		virtual bool SetCameraVideoSinkCallback( vr::ICameraVideoSinkCallback *pCameraVideoSinkCallback ) = 0;
+		virtual bool GetCameraCompatibilityMode( vr::ECameraCompatibilityMode *pCameraCompatibilityMode ) = 0;
+		virtual bool SetCameraCompatibilityMode( vr::ECameraCompatibilityMode nCameraCompatibilityMode ) = 0;
+		virtual bool GetCameraFrameBounds( vr::EVRTrackedCameraFrameType eFrameType, uint32_t *pLeft, uint32_t *pTop, uint32_t *pWidth, uint32_t *pHeight ) = 0;
+		virtual bool GetCameraIntrinsics( vr::EVRTrackedCameraFrameType eFrameType, HmdVector2_t *pFocalLength, HmdVector2_t *pCenter ) = 0;
+	};
+
+	static const char *IVRCameraComponent_Version = "IVRCameraComponent_002";
+}
+// itrackeddevicedriverprovider.h
+namespace vr
+{
+
+class ITrackedDeviceServerDriver;
+struct TrackedDeviceDriverInfo_t;
+struct DriverPose_t;
+typedef PropertyContainerHandle_t DriverHandle_t;
+
+/** This interface is provided by vrserver to allow the driver to notify 
+* the system when something changes about a device. These changes must
+* not change the serial number or class of the device because those values
+* are permanently associated with the device's index. */
+class IVRDriverContext
+{
+public:
+	/** Returns the requested interface. If the interface was not available it will return NULL and fill
+	* out the error. */
+	virtual void *GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError = nullptr ) = 0;
+
+	/** Returns the property container handle for this driver */
+	virtual DriverHandle_t GetDriverHandle() = 0;
+};
+
+
+/** This interface must be implemented in each driver. It will be loaded in vrserver.exe */
+class IServerTrackedDeviceProvider
+{
+public:
+	/** initializes the driver. This will be called before any other methods are called.
+	* If Init returns anything other than VRInitError_None the driver DLL will be unloaded.
+	*
+	* pDriverHost will never be NULL, and will always be a pointer to a IServerDriverHost interface
+	*
+	* pchUserDriverConfigDir - The absolute path of the directory where the driver should store user
+	*	config files.
+	* pchDriverInstallDir - The absolute path of the root directory for the driver.
+	*/
+	virtual EVRInitError Init( IVRDriverContext *pDriverContext ) = 0;
+
+	/** cleans up the driver right before it is unloaded */
+	virtual void Cleanup() = 0;
+
+	/** Returns the version of the ITrackedDeviceServerDriver interface used by this driver */
+	virtual const char * const *GetInterfaceVersions() = 0;
+
+	/** Allows the driver do to some work in the main loop of the server. */
+	virtual void RunFrame() = 0;
+
+
+	// ------------  Power State Functions ----------------------- //
+
+	/** Returns true if the driver wants to block Standby mode. */
+	virtual bool ShouldBlockStandbyMode() = 0;
+
+	/** Called when the system is entering Standby mode. The driver should switch itself into whatever sort of low-power
+	* state it has. */
+	virtual void EnterStandby() = 0;
+
+	/** Called when the system is leaving Standby mode. The driver should switch itself back to
+	full operation. */
+	virtual void LeaveStandby() = 0;
+
+};
+
+
+static const char *IServerTrackedDeviceProvider_Version = "IServerTrackedDeviceProvider_004";
+
+
+
+
+/** This interface must be implemented in each driver. It will be loaded in vrclient.dll */
+class IVRWatchdogProvider
+{
+public:
+	/** initializes the driver in watchdog mode. */
+	virtual EVRInitError Init( IVRDriverContext *pDriverContext ) = 0;
+
+	/** cleans up the driver right before it is unloaded */
+	virtual void Cleanup() = 0;
+};
+
+static const char *IVRWatchdogProvider_Version = "IVRWatchdogProvider_001";
+
+}
+// ivrproperties.h
+#include <string>
+
+namespace vr
+{
+
+	enum EPropertyWriteType
+	{
+		PropertyWrite_Set = 0,
+		PropertyWrite_Erase = 1,
+		PropertyWrite_SetError = 2
+	};
+
+	struct PropertyWrite_t
+	{
+		ETrackedDeviceProperty prop;
+		EPropertyWriteType writeType;
+		ETrackedPropertyError eSetError;
+		void *pvBuffer;
+		uint32_t unBufferSize;
+		PropertyTypeTag_t unTag;
+		ETrackedPropertyError eError;
+	};
+
+	struct PropertyRead_t
+	{
+		ETrackedDeviceProperty prop;
+		void *pvBuffer;
+		uint32_t unBufferSize;
+		PropertyTypeTag_t unTag;
+		uint32_t unRequiredBufferSize;
+		ETrackedPropertyError eError;
+	};
+
+
+class IVRProperties
+{
+public:
+
+	/** Reads a set of properties atomically. See the PropertyReadBatch_t struct for more information. */
+	virtual ETrackedPropertyError ReadPropertyBatch( PropertyContainerHandle_t ulContainerHandle, PropertyRead_t *pBatch, uint32_t unBatchEntryCount ) = 0;
+
+	/** Writes a set of properties atomically. See the PropertyWriteBatch_t struct for more information. */
+	virtual ETrackedPropertyError WritePropertyBatch( PropertyContainerHandle_t ulContainerHandle, PropertyWrite_t *pBatch, uint32_t unBatchEntryCount ) = 0;
+
+	/** returns a string that corresponds with the specified property error. The string will be the name
+	* of the error enum value for all valid error codes */
+	virtual const char *GetPropErrorNameFromEnum( ETrackedPropertyError error ) = 0;
+
+	/** Returns a container handle given a tracked device index */
+	virtual PropertyContainerHandle_t TrackedDeviceToPropertyContainer( TrackedDeviceIndex_t nDevice ) = 0;
+
+};
+
+static const char * const IVRProperties_Version = "IVRProperties_001";
+
+class CVRPropertyHelpers
+{
+public:
+	CVRPropertyHelpers( IVRProperties * pProperties ) : m_pProperties( pProperties ) {}
+
+	/** Returns a scaler property. If the device index is not valid or the property value type does not match,
+	* this function will return false. */
+	bool GetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	float GetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	int32_t GetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	uint64_t GetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+
+	/** Returns a single typed property. If the device index is not valid or the property is not a string type this function will
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	uint32_t GetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() void *pvBuffer, uint32_t unBufferSize, PropertyTypeTag_t *punTag, ETrackedPropertyError *pError = 0L );
+
+
+	/** Returns a string property. If the device index is not valid or the property is not a string type this function will
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	uint32_t GetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L );
+
+	/** Returns a string property as a std::string. If the device index is not valid or the property is not a string type this function will
+	* return an empty string. */
+	std::string GetStringProperty( vr::PropertyContainerHandle_t ulContainer, vr::ETrackedDeviceProperty prop, vr::ETrackedPropertyError *peError = nullptr );
+
+	/** Sets a scaler property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, bool bNewValue );
+	ETrackedPropertyError SetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, float fNewValue );
+	ETrackedPropertyError SetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, int32_t nNewValue );
+	ETrackedPropertyError SetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, uint64_t ulNewValue );
+
+	/** Sets a string property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, const char *pchNewValue );
+
+	/** Sets a single typed property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, void *pvNewValue, uint32_t unNewValueSize, PropertyTypeTag_t unTag );
+
+	/** Sets the error return value for a property. This value will be returned on all subsequent requests to get the property */
+	ETrackedPropertyError SetPropertyError( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError eError );
+
+	/** Clears any value or error set for the property. */
+	ETrackedPropertyError EraseProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop );
+
+	/* Turns a device index into a property container handle. */
+	PropertyContainerHandle_t TrackedDeviceToPropertyContainer( TrackedDeviceIndex_t nDevice ) { return m_pProperties->TrackedDeviceToPropertyContainer( nDevice );  }
+
+private:
+	template<typename T>
+	T GetPropertyHelper( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError, T bDefault, PropertyTypeTag_t unTypeTag );
+
+	IVRProperties *m_pProperties;
+};
+
+
+inline uint32_t CVRPropertyHelpers::GetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() void *pvBuffer, uint32_t unBufferSize, PropertyTypeTag_t *punTag, ETrackedPropertyError *pError )
+{
+	PropertyRead_t batch;
+	batch.prop = prop;
+	batch.pvBuffer = pvBuffer;
+	batch.unBufferSize = unBufferSize;
+
+	m_pProperties->ReadPropertyBatch( ulContainerHandle, &batch, 1 );
+
+	if ( pError )
+	{
+		*pError = batch.eError;
+	}
+
+	if ( punTag )
+	{
+		*punTag = batch.unTag;
+	}
+
+	return batch.unRequiredBufferSize;
+}
+
+
+/** Sets a single typed property. The new value will be returned on any subsequent call to get this property in any process. */
+inline ETrackedPropertyError CVRPropertyHelpers::SetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, void *pvNewValue, uint32_t unNewValueSize, PropertyTypeTag_t unTag )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_Set;
+	batch.prop = prop;
+	batch.pvBuffer = pvNewValue;
+	batch.unBufferSize = unNewValueSize;
+	batch.unTag = unTag;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+}
+
+
+/** Returns a string property. If the device index is not valid or the property is not a string type this function will
+* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+inline uint32_t CVRPropertyHelpers::GetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError )
+{
+	PropertyTypeTag_t unTag;
+	ETrackedPropertyError error;
+	uint32_t unRequiredSize = GetProperty( ulContainerHandle, prop, pchValue, unBufferSize, &unTag, &error );
+	if ( unTag != k_unStringPropertyTag && error == TrackedProp_Success )
+	{
+		error = TrackedProp_WrongDataType;
+	}
+
+	if ( pError )
+	{
+		*pError = error;
+	}
+
+	if ( error != TrackedProp_Success )
+	{
+		if ( pchValue && unBufferSize )
+		{
+			*pchValue = '\0';
+		}
+	}
+
+	return unRequiredSize;
+}
+
+
+/** Returns a string property as a std::string. If the device index is not valid or the property is not a string type this function will
+* return an empty string. */
+inline std::string CVRPropertyHelpers::GetStringProperty( vr::PropertyContainerHandle_t ulContainer, vr::ETrackedDeviceProperty prop, vr::ETrackedPropertyError *peError )
+{
+	char buf[1024];
+	vr::ETrackedPropertyError err;
+	uint32_t unRequiredBufferLen = GetStringProperty( ulContainer, prop, buf, sizeof(buf), &err );
+
+	std::string sResult;
+
+	if ( err == TrackedProp_Success )
+	{
+		sResult = buf;
+	}
+	else if ( err == TrackedProp_BufferTooSmall )
+	{
+		char *pchBuffer = new char[unRequiredBufferLen];
+		unRequiredBufferLen = GetStringProperty( ulContainer, prop, pchBuffer, unRequiredBufferLen, &err );
+		sResult = pchBuffer;
+		delete[] pchBuffer;
+	}
+
+	if ( peError )
+	{
+		*peError = err;
+	}
+
+	return sResult;
+}
+
+
+/** Sets a string property. The new value will be returned on any subsequent call to get this property in any process. */
+inline ETrackedPropertyError CVRPropertyHelpers::SetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, const char *pchNewValue )
+{
+	if ( !pchNewValue )
+		return TrackedProp_InvalidOperation;
+
+	// this is strlen without the dependency on string.h
+	const char *pchCurr = pchNewValue;
+	while ( *pchCurr )
+	{
+		pchCurr++;
+	}
+
+	return SetProperty( ulContainerHandle, prop, (void *)pchNewValue, (uint32_t)(pchCurr - pchNewValue) + 1, k_unStringPropertyTag );
+}
+
+
+template<typename T>
+inline T CVRPropertyHelpers::GetPropertyHelper( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError, T bDefault, PropertyTypeTag_t unTypeTag )
+{
+	T bValue;
+	ETrackedPropertyError eError;
+	PropertyTypeTag_t unReadTag;
+	GetProperty( ulContainerHandle, prop, &bValue, sizeof( bValue ), &unReadTag, &eError );
+	if ( unReadTag != unTypeTag && eError == TrackedProp_Success )
+	{
+		eError = TrackedProp_WrongDataType;
+	};
+
+	if ( pError )
+		*pError = eError;
+	if ( eError != TrackedProp_Success )
+	{
+		return bDefault;
+	}
+	else
+	{
+		return bValue;
+	}
+}
+
+
+inline bool CVRPropertyHelpers::GetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<bool>( ulContainerHandle, prop, pError, false, k_unBoolPropertyTag );
+}
+
+
+inline float CVRPropertyHelpers::GetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<float>( ulContainerHandle, prop, pError, 0.f, k_unFloatPropertyTag );
+}
+
+inline int32_t CVRPropertyHelpers::GetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<int32_t>( ulContainerHandle, prop, pError, 0, k_unInt32PropertyTag );
+}
+
+inline uint64_t CVRPropertyHelpers::GetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<uint64_t>( ulContainerHandle, prop, pError, 0, k_unUint64PropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, bool bNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &bNewValue, sizeof( bNewValue ), k_unBoolPropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, float fNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &fNewValue, sizeof( fNewValue ), k_unFloatPropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, int32_t nNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &nNewValue, sizeof( nNewValue ), k_unInt32PropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, uint64_t ulNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &ulNewValue, sizeof( ulNewValue ), k_unUint64PropertyTag );
+}
+
+/** Sets the error return value for a property. This value will be returned on all subsequent requests to get the property */
+inline ETrackedPropertyError CVRPropertyHelpers::SetPropertyError( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError eError )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_SetError;
+	batch.prop = prop;
+	batch.eSetError = eError;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+}
+
+/** Clears any value or error set for the property. */
+inline ETrackedPropertyError CVRPropertyHelpers::EraseProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_Erase;
+	batch.prop = prop;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+
+}
+
+}
+
+
+// ivrdriverlog.h
+namespace vr
+{
+
+class IVRDriverLog
+{
+public:
+	/** Writes a log message to the log file prefixed with the driver name */
+	virtual void Log( const char *pchLogMessage ) = 0;
+};
+
+
+static const char *IVRDriverLog_Version = "IVRDriverLog_001";
+
+}
+// ivrserverdriverhost.h
+namespace vr
+{
+
+class ITrackedDeviceServerDriver;
+struct TrackedDeviceDriverInfo_t;
+struct DriverPose_t;
+
+/** This interface is provided by vrserver to allow the driver to notify 
+* the system when something changes about a device. These changes must
+* not change the serial number or class of the device because those values
+* are permanently associated with the device's index. */
+class IVRServerDriverHost
+{
+public:
+	/** Notifies the server that a tracked device has been added. If this function returns true
+	* the server will call Activate on the device. If it returns false some kind of error
+	* has occurred and the device will not be activated. */
+	virtual bool TrackedDeviceAdded( const char *pchDeviceSerialNumber, ETrackedDeviceClass eDeviceClass, ITrackedDeviceServerDriver *pDriver ) = 0;
+
+	/** Notifies the server that a tracked device's pose has been updated */
+	virtual void TrackedDevicePoseUpdated( uint32_t unWhichDevice, const DriverPose_t & newPose, uint32_t unPoseStructSize ) = 0;
+
+	/** Notifies the server that vsync has occurred on the the display attached to the device. This is
+	* only permitted on devices of the HMD class. */
+	virtual void VsyncEvent( double vsyncTimeOffsetSeconds ) = 0;
+
+	/** notifies the server that the button was pressed */
+	virtual void TrackedDeviceButtonPressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was unpressed */
+	virtual void TrackedDeviceButtonUnpressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was pressed */
+	virtual void TrackedDeviceButtonTouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was unpressed */
+	virtual void TrackedDeviceButtonUntouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server than a controller axis changed */
+	virtual void TrackedDeviceAxisUpdated( uint32_t unWhichDevice, uint32_t unWhichAxis, const VRControllerAxis_t & axisState ) = 0;
+
+	/** Notifies the server that the proximity sensor on the specified device  */
+	virtual void ProximitySensorState( uint32_t unWhichDevice, bool bProximitySensorTriggered ) = 0;
+
+	/** Sends a vendor specific event (VREvent_VendorSpecific_Reserved_Start..VREvent_VendorSpecific_Reserved_End */
+	virtual void VendorSpecificEvent( uint32_t unWhichDevice, vr::EVREventType eventType, const VREvent_Data_t & eventData, double eventTimeOffset ) = 0;
+
+	/** Returns true if SteamVR is exiting */
+	virtual bool IsExiting() = 0;
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+	/** Provides access to device poses for drivers.  Poses are in their "raw" tracking space which is uniquely
+	* defined by each driver providing poses for its devices.  It is up to clients of this function to correlate
+	* poses across different drivers.  Poses are indexed by their device id, and their associated driver and
+	* other properties can be looked up via IVRProperties. */
+	virtual void GetRawTrackedDevicePoses( float fPredictedSecondsFromNow, TrackedDevicePose_t *pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount ) = 0;
+
+	/** Notifies the server that a tracked device's display component transforms have been updated. */
+	virtual void TrackedDeviceDisplayTransformUpdated( uint32_t unWhichDevice, HmdMatrix34_t eyeToHeadLeft, HmdMatrix34_t eyeToHeadRight ) = 0;
+};
+
+static const char *IVRServerDriverHost_Version = "IVRServerDriverHost_004";
+
+}
+
+// ivrhiddenarea.h
+namespace vr
+{
+
+class CVRHiddenAreaHelpers
+{
+public:
+	CVRHiddenAreaHelpers( IVRProperties *pProperties ) : m_pProperties( pProperties ) {}
+
+	/** Stores a hidden area mesh in a property */
+	ETrackedPropertyError SetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount );
+
+	/** retrieves a hidden area mesh from a property. Returns the vert count read out of the property.  */
+	uint32_t GetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount, ETrackedPropertyError *peError );
+
+private:
+	ETrackedDeviceProperty GetPropertyEnum( EVREye eEye, EHiddenAreaMeshType type )
+	{
+		return (ETrackedDeviceProperty)(Prop_DisplayHiddenArea_Binary_Start + ((int)type * 2) + (int)eEye);
+	}
+
+	IVRProperties *m_pProperties;
+};
+
+
+inline ETrackedPropertyError CVRHiddenAreaHelpers::SetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount )
+{
+	ETrackedDeviceProperty prop = GetPropertyEnum( eEye, type );
+	CVRPropertyHelpers propHelpers( m_pProperties );
+	return propHelpers.SetProperty( propHelpers.TrackedDeviceToPropertyContainer( k_unTrackedDeviceIndex_Hmd ), prop, pVerts, sizeof( HmdVector2_t ) * unVertCount, k_unHiddenAreaPropertyTag );
+}
+
+
+inline uint32_t CVRHiddenAreaHelpers::GetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount, ETrackedPropertyError *peError )
+{
+	ETrackedDeviceProperty prop = GetPropertyEnum( eEye, type );
+	CVRPropertyHelpers propHelpers( m_pProperties );
+	ETrackedPropertyError propError;
+	PropertyTypeTag_t unTag;
+	uint32_t unBytesNeeded = propHelpers.GetProperty( propHelpers.TrackedDeviceToPropertyContainer( k_unTrackedDeviceIndex_Hmd ), prop, pVerts, sizeof( HmdVector2_t )*unVertCount, &unTag, &propError );
+	if ( propError == TrackedProp_Success && unTag != k_unHiddenAreaPropertyTag )
+	{
+		propError = TrackedProp_WrongDataType;
+		unBytesNeeded = 0;
+	}
+
+	if ( peError )
+	{
+		*peError = propError;
+	}
+
+	return unBytesNeeded / sizeof( HmdVector2_t );
+}
+
+}
+// ivrwatchdoghost.h
+namespace vr
+{
+
+/** This interface is provided by vrclient to allow the driver to make everything wake up */
+class IVRWatchdogHost
+{
+public:
+	/** Client drivers in watchdog mode should call this when they have received a signal from hardware that should
+	* cause SteamVR to start */
+	virtual void WatchdogWakeUp() = 0;
+};
+
+static const char *IVRWatchdogHost_Version = "IVRWatchdogHost_001";
+
+};
+
+
+
+// ivrvirtualdisplay.h
+namespace vr
+{
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: This component is used for drivers that implement a virtual display (e.g. wireless).
+	// ----------------------------------------------------------------------------------------------
+	class IVRVirtualDisplay
+	{
+	public:
+
+		/** Submits final backbuffer for display. */
+		virtual void Present( vr::SharedTextureHandle_t backbufferTextureHandle ) = 0;
+
+		/** Block until the last presented buffer start scanning out. */
+		virtual void WaitForPresent() = 0;
+
+		/** Provides timing data for synchronizing with display. */
+		virtual bool GetTimeSinceLastVsync( float *pfSecondsSinceLastVsync, uint64_t *pulFrameCounter ) = 0;
+	};
+
+	static const char *IVRVirtualDisplay_Version = "IVRVirtualDisplay_001";
+
+	/** Returns the current IVRVirtualDisplay pointer or NULL the interface could not be found. */
+	VR_INTERFACE vr::IVRVirtualDisplay *VR_CALLTYPE VRVirtualDisplay();
+}
+
+
+// ivrresources.h
+namespace vr
+{
+
+class IVRResources
+{
+public:
+
+	// ------------------------------------
+	// Shared Resource Methods
+	// ------------------------------------
+
+	/** Loads the specified resource into the provided buffer if large enough.
+	* Returns the size in bytes of the buffer required to hold the specified resource. */
+	virtual uint32_t LoadSharedResource( const char *pchResourceName, char *pchBuffer, uint32_t unBufferLen ) = 0;
+
+	/** Provides the full path to the specified resource. Resource names can include named directories for
+	* drivers and other things, and this resolves all of those and returns the actual physical path. 
+	* pchResourceTypeDirectory is the subdirectory of resources to look in. */
+	virtual uint32_t GetResourceFullPath( const char *pchResourceName, const char *pchResourceTypeDirectory, char *pchPathBuffer, uint32_t unBufferLen ) = 0;
+};
+
+static const char * const IVRResources_Version = "IVRResources_001";
+
+
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
+
+
+
+
+namespace vr
+{
+	static const char * const k_InterfaceVersions[] =
+	{
+		IVRSettings_Version,
+		ITrackedDeviceServerDriver_Version,
+		IVRDisplayComponent_Version,
+		IVRDriverDirectModeComponent_Version,
+		IVRControllerComponent_Version,
+		IVRCameraComponent_Version,
+		IServerTrackedDeviceProvider_Version,
+		IVRWatchdogProvider_Version,
+		IVRVirtualDisplay_Version,
+		IVRDriverManager_Version,
+		IVRResources_Version,
+		nullptr
+	};
+
+	inline IVRDriverContext *&VRDriverContext()
+	{
+		static IVRDriverContext *pHost;
+		return pHost;
+	}
+
+	class COpenVRDriverContext
+	{
+	public:
+		COpenVRDriverContext() : m_propertyHelpers(nullptr), m_hiddenAreaHelpers(nullptr) { Clear(); }
+		void Clear();
+
+		EVRInitError InitServer();
+		EVRInitError InitWatchdog();
+
+		IVRSettings *VRSettings()
+		{
+			if ( m_pVRSettings == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSettings = (IVRSettings *)VRDriverContext()->GetGenericInterface( IVRSettings_Version, &eError );
+			}
+			return m_pVRSettings;
+		}
+
+		IVRProperties *VRPropertiesRaw()
+		{
+			if ( m_pVRProperties == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRProperties = (IVRProperties *)VRDriverContext()->GetGenericInterface( IVRProperties_Version, &eError );
+				m_propertyHelpers = CVRPropertyHelpers( m_pVRProperties );
+				m_hiddenAreaHelpers = CVRHiddenAreaHelpers( m_pVRProperties );
+			}
+			return m_pVRProperties;
+		}
+
+		CVRPropertyHelpers *VRProperties()
+		{
+			VRPropertiesRaw();
+			return &m_propertyHelpers;
+		}
+
+		CVRHiddenAreaHelpers *VRHiddenArea()
+		{
+			VRPropertiesRaw();
+			return &m_hiddenAreaHelpers;
+		}
+
+		IVRServerDriverHost *VRServerDriverHost()
+		{
+			if ( m_pVRServerDriverHost == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRServerDriverHost = (IVRServerDriverHost *)VRDriverContext()->GetGenericInterface( IVRServerDriverHost_Version, &eError );
+			}
+			return m_pVRServerDriverHost;
+		}
+
+		IVRWatchdogHost *VRWatchdogHost()
+		{
+			if ( m_pVRWatchdogHost == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRWatchdogHost = (IVRWatchdogHost *)VRDriverContext()->GetGenericInterface( IVRWatchdogHost_Version, &eError );
+			}
+			return m_pVRWatchdogHost;
+		}
+
+		IVRDriverLog *VRDriverLog()
+		{
+			if ( m_pVRDriverLog == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRDriverLog = (IVRDriverLog *)VRDriverContext()->GetGenericInterface( IVRDriverLog_Version, &eError );
+			}
+			return m_pVRDriverLog;
+		}
+
+		DriverHandle_t VR_CALLTYPE VRDriverHandle()
+		{
+			return VRDriverContext()->GetDriverHandle();
+		}
+
+		IVRDriverManager *VRDriverManager()
+		{
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = (IVRDriverManager *)VRDriverContext()->GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
+		IVRResources *VRResources()
+		{
+			if ( !m_pVRResources )
+			{
+				EVRInitError eError;
+				m_pVRResources = (IVRResources *)VRDriverContext()->GetGenericInterface( IVRResources_Version, &eError );
+			}
+			return m_pVRResources;
+		}
+
+	private:
+		CVRPropertyHelpers		m_propertyHelpers;
+		CVRHiddenAreaHelpers	m_hiddenAreaHelpers;
+
+		IVRSettings				*m_pVRSettings;
+		IVRProperties			*m_pVRProperties;
+		IVRServerDriverHost		*m_pVRServerDriverHost;
+		IVRWatchdogHost			*m_pVRWatchdogHost;
+		IVRDriverLog			*m_pVRDriverLog;
+		IVRDriverManager		*m_pVRDriverManager;
+		IVRResources			*m_pVRResources;
+	};
+
+	inline COpenVRDriverContext &OpenVRInternal_ModuleServerDriverContext()
+	{
+		static void *ctx[sizeof( COpenVRDriverContext ) / sizeof( void * )];
+		return *(COpenVRDriverContext *)ctx; // bypass zero-init constructor
+	}
+
+	inline IVRSettings *VR_CALLTYPE VRSettings() { return OpenVRInternal_ModuleServerDriverContext().VRSettings(); }
+	inline IVRProperties *VR_CALLTYPE VRPropertiesRaw() { return OpenVRInternal_ModuleServerDriverContext().VRPropertiesRaw(); }
+	inline CVRPropertyHelpers *VR_CALLTYPE VRProperties() { return OpenVRInternal_ModuleServerDriverContext().VRProperties(); }
+	inline CVRHiddenAreaHelpers *VR_CALLTYPE VRHiddenArea() { return OpenVRInternal_ModuleServerDriverContext().VRHiddenArea(); }
+	inline IVRDriverLog *VR_CALLTYPE VRDriverLog() { return OpenVRInternal_ModuleServerDriverContext().VRDriverLog(); }
+	inline IVRServerDriverHost *VR_CALLTYPE VRServerDriverHost() { return OpenVRInternal_ModuleServerDriverContext().VRServerDriverHost(); }
+	inline IVRWatchdogHost *VR_CALLTYPE VRWatchdogHost() { return OpenVRInternal_ModuleServerDriverContext().VRWatchdogHost(); }
+	inline DriverHandle_t VR_CALLTYPE VRDriverHandle() { return OpenVRInternal_ModuleServerDriverContext().VRDriverHandle(); }
+	inline IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleServerDriverContext().VRDriverManager(); }
+	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleServerDriverContext().VRResources(); }
+
+	inline void COpenVRDriverContext::Clear()
+	{
+		m_pVRSettings = nullptr;
+		m_pVRProperties = nullptr;
+		m_pVRServerDriverHost = nullptr;
+		m_pVRDriverLog = nullptr;
+		m_pVRWatchdogHost = nullptr;
+		m_pVRDriverManager = nullptr;
+		m_pVRResources = nullptr;
+	}
+
+	inline EVRInitError COpenVRDriverContext::InitServer()
+	{
+		Clear();
+		if ( !VRServerDriverHost()
+			|| !VRSettings()
+			|| !VRProperties()
+			|| !VRDriverLog() 
+			|| !VRDriverManager()
+			|| !VRResources() )
+			return VRInitError_Init_InterfaceNotFound;
+		return VRInitError_None;
+	}
+
+	inline EVRInitError COpenVRDriverContext::InitWatchdog()
+	{
+		Clear();
+		if ( !VRWatchdogHost()
+			|| !VRSettings()
+			|| !VRDriverLog() )
+			return VRInitError_Init_InterfaceNotFound;
+		return VRInitError_None;
+	}
+
+	inline EVRInitError InitServerDriverContext( IVRDriverContext *pContext )
+	{
+		VRDriverContext() = pContext;
+		return OpenVRInternal_ModuleServerDriverContext().InitServer();
+	}
+
+	inline EVRInitError InitWatchdogDriverContext( IVRDriverContext *pContext )
+	{
+		VRDriverContext() = pContext;
+		return OpenVRInternal_ModuleServerDriverContext().InitWatchdog();
+	}
+
+	inline void CleanupDriverContext()
+	{
+		VRDriverContext() = nullptr;
+		OpenVRInternal_ModuleServerDriverContext().Clear();
+	}
+
+	#define VR_INIT_SERVER_DRIVER_CONTEXT( pContext ) \
+			{ \
+			vr::EVRInitError eError = vr::InitServerDriverContext( pContext ); \
+			if( eError != vr::VRInitError_None ) \
+				return eError; \
+			}
+
+	#define VR_CLEANUP_SERVER_DRIVER_CONTEXT() \
+		vr::CleanupDriverContext();
+
+	#define VR_INIT_WATCHDOG_DRIVER_CONTEXT( pContext ) \
+			{ \
+			vr::EVRInitError eError = vr::InitWatchdogDriverContext( pContext ); \
+			if( eError != vr::VRInitError_None ) \
+				return eError; \
+			}
+
+	#define VR_CLEANUP_WATCHDOG_DRIVER_CONTEXT() \
+		vr::CleanupDriverContext();
+}
+// End
+
+#endif // _OPENVR_DRIVER_API
+
+
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/OpenVR b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/OpenVR
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diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Resources/Info.plist b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Resources/Info.plist
new file mode 100644
index 000000000..50ff90a2c
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Resources/Info.plist
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleIdentifier</key>
+	<string>com.valvesoftware.OpenVR.framework</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>OpenVR</string>
+	<key>CFBundlePackageType</key>
+	<string>FMWK</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleVersion</key>
+	<string>1.0</string>
+</dict>
+</plist>
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr.h b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr.h
new file mode 100644
index 000000000..79abf062a
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr.h
@@ -0,0 +1,3721 @@
+#pragma once
+
+// openvr.h
+//========= Copyright Valve Corporation ============//
+// Dynamically generated file. Do not modify this file directly.
+
+#ifndef _OPENVR_API
+#define _OPENVR_API
+
+#include <stdint.h>
+
+
+
+// vrtypes.h
+#ifndef _INCLUDE_VRTYPES_H
+#define _INCLUDE_VRTYPES_H
+
+// Forward declarations to avoid requiring vulkan.h
+struct VkDevice_T;
+struct VkPhysicalDevice_T;
+struct VkInstance_T;
+struct VkQueue_T;
+
+// Forward declarations to avoid requiring d3d12.h
+struct ID3D12Resource;
+struct ID3D12CommandQueue;
+
+namespace vr
+{
+#pragma pack( push, 8 )
+
+typedef void* glSharedTextureHandle_t;
+typedef int32_t glInt_t;
+typedef uint32_t glUInt_t;
+
+// right-handed system
+// +y is up
+// +x is to the right
+// -z is going away from you
+// Distance unit is  meters
+struct HmdMatrix34_t
+{
+	float m[3][4];
+};
+
+struct HmdMatrix44_t
+{
+	float m[4][4];
+};
+
+struct HmdVector3_t
+{
+	float v[3];
+};
+
+struct HmdVector4_t
+{
+	float v[4];
+};
+
+struct HmdVector3d_t
+{
+	double v[3];
+};
+
+struct HmdVector2_t
+{
+	float v[2];
+};
+
+struct HmdQuaternion_t
+{
+	double w, x, y, z;
+};
+
+struct HmdColor_t
+{
+	float r, g, b, a;
+};
+
+struct HmdQuad_t
+{
+	HmdVector3_t vCorners[ 4 ];
+};
+
+struct HmdRect2_t
+{
+	HmdVector2_t vTopLeft;
+	HmdVector2_t vBottomRight;
+};
+
+/** Used to return the post-distortion UVs for each color channel. 
+* UVs range from 0 to 1 with 0,0 in the upper left corner of the 
+* source render target. The 0,0 to 1,1 range covers a single eye. */
+struct DistortionCoordinates_t
+{
+	float rfRed[2];
+	float rfGreen[2];
+	float rfBlue[2];
+};
+
+enum EVREye
+{
+	Eye_Left = 0,
+	Eye_Right = 1
+};
+
+enum ETextureType
+{
+	TextureType_DirectX = 0, // Handle is an ID3D11Texture
+	TextureType_OpenGL = 1,  // Handle is an OpenGL texture name or an OpenGL render buffer name, depending on submit flags
+	TextureType_Vulkan = 2, // Handle is a pointer to a VRVulkanTextureData_t structure
+	TextureType_IOSurface = 3, // Handle is a macOS cross-process-sharable IOSurfaceRef
+	TextureType_DirectX12 = 4, // Handle is a pointer to a D3D12TextureData_t structure
+};
+
+enum EColorSpace
+{
+	ColorSpace_Auto = 0,	// Assumes 'gamma' for 8-bit per component formats, otherwise 'linear'.  This mirrors the DXGI formats which have _SRGB variants.
+	ColorSpace_Gamma = 1,	// Texture data can be displayed directly on the display without any conversion (a.k.a. display native format).
+	ColorSpace_Linear = 2,	// Same as gamma but has been converted to a linear representation using DXGI's sRGB conversion algorithm.
+};
+
+struct Texture_t
+{
+	void* handle; // See ETextureType definition above
+	ETextureType eType;
+	EColorSpace eColorSpace;
+};
+
+// Handle to a shared texture (HANDLE on Windows obtained using OpenSharedResource).
+typedef uint64_t SharedTextureHandle_t;
+#define INVALID_SHARED_TEXTURE_HANDLE	((vr::SharedTextureHandle_t)0)
+
+enum ETrackingResult
+{
+	TrackingResult_Uninitialized			= 1,
+
+	TrackingResult_Calibrating_InProgress	= 100,
+	TrackingResult_Calibrating_OutOfRange	= 101,
+
+	TrackingResult_Running_OK				= 200,
+	TrackingResult_Running_OutOfRange		= 201,
+};
+
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
+static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
+
+/** Used to pass device IDs to API calls */
+typedef uint32_t TrackedDeviceIndex_t;
+static const uint32_t k_unTrackedDeviceIndex_Hmd = 0;
+static const uint32_t k_unMaxTrackedDeviceCount = 16;
+static const uint32_t k_unTrackedDeviceIndexOther = 0xFFFFFFFE;
+static const uint32_t k_unTrackedDeviceIndexInvalid = 0xFFFFFFFF;
+
+/** Describes what kind of object is being tracked at a given ID */
+enum ETrackedDeviceClass
+{
+	TrackedDeviceClass_Invalid = 0,				// the ID was not valid.
+	TrackedDeviceClass_HMD = 1,					// Head-Mounted Displays
+	TrackedDeviceClass_Controller = 2,			// Tracked controllers
+	TrackedDeviceClass_GenericTracker = 3,		// Generic trackers, similar to controllers
+	TrackedDeviceClass_TrackingReference = 4,	// Camera and base stations that serve as tracking reference points
+	TrackedDeviceClass_DisplayRedirect = 5,		// Accessories that aren't necessarily tracked themselves, but may redirect video output from other tracked devices
+};
+
+
+/** Describes what specific role associated with a tracked device */
+enum ETrackedControllerRole
+{
+	TrackedControllerRole_Invalid = 0,					// Invalid value for controller type
+	TrackedControllerRole_LeftHand = 1,					// Tracked device associated with the left hand
+	TrackedControllerRole_RightHand = 2,				// Tracked device associated with the right hand
+};
+
+
+/** describes a single pose for a tracked object */
+struct TrackedDevicePose_t
+{
+	HmdMatrix34_t mDeviceToAbsoluteTracking;
+	HmdVector3_t vVelocity;				// velocity in tracker space in m/s
+	HmdVector3_t vAngularVelocity;		// angular velocity in radians/s (?)
+	ETrackingResult eTrackingResult;
+	bool bPoseIsValid;
+
+	// This indicates that there is a device connected for this spot in the pose array.
+	// It could go from true to false if the user unplugs the device.
+	bool bDeviceIsConnected;
+};
+
+/** Identifies which style of tracking origin the application wants to use
+* for the poses it is requesting */
+enum ETrackingUniverseOrigin
+{
+	TrackingUniverseSeated = 0,		// Poses are provided relative to the seated zero pose
+	TrackingUniverseStanding = 1,	// Poses are provided relative to the safe bounds configured by the user
+	TrackingUniverseRawAndUncalibrated = 2,	// Poses are provided in the coordinate system defined by the driver.  It has Y up and is unified for devices of the same driver. You usually don't want this one.
+};
+
+// Refers to a single container of properties
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+static const PropertyContainerHandle_t k_ulInvalidPropertyContainer = 0;
+static const PropertyTypeTag_t k_unInvalidPropertyTag = 0;
+
+// Use these tags to set/get common types as struct properties
+static const PropertyTypeTag_t k_unFloatPropertyTag = 1;
+static const PropertyTypeTag_t k_unInt32PropertyTag = 2;
+static const PropertyTypeTag_t k_unUint64PropertyTag = 3;
+static const PropertyTypeTag_t k_unBoolPropertyTag = 4;
+static const PropertyTypeTag_t k_unStringPropertyTag = 5;
+
+static const PropertyTypeTag_t k_unHmdMatrix34PropertyTag = 20;
+static const PropertyTypeTag_t k_unHmdMatrix44PropertyTag = 21;
+static const PropertyTypeTag_t k_unHmdVector3PropertyTag = 22;
+static const PropertyTypeTag_t k_unHmdVector4PropertyTag = 23;
+
+static const PropertyTypeTag_t k_unHiddenAreaPropertyTag = 30;
+
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_Start = 1000;
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_End = 10000;
+
+
+/** Each entry in this enum represents a property that can be retrieved about a
+* tracked device. Many fields are only valid for one ETrackedDeviceClass. */
+enum ETrackedDeviceProperty
+{
+	Prop_Invalid								= 0,
+
+	// general properties that apply to all device classes
+	Prop_TrackingSystemName_String				= 1000,
+	Prop_ModelNumber_String						= 1001,
+	Prop_SerialNumber_String					= 1002,
+	Prop_RenderModelName_String					= 1003,
+	Prop_WillDriftInYaw_Bool					= 1004,
+	Prop_ManufacturerName_String				= 1005,
+	Prop_TrackingFirmwareVersion_String			= 1006,
+	Prop_HardwareRevision_String				= 1007,
+	Prop_AllWirelessDongleDescriptions_String	= 1008,
+	Prop_ConnectedWirelessDongle_String			= 1009,
+	Prop_DeviceIsWireless_Bool					= 1010,
+	Prop_DeviceIsCharging_Bool					= 1011,
+	Prop_DeviceBatteryPercentage_Float			= 1012, // 0 is empty, 1 is full
+	Prop_StatusDisplayTransform_Matrix34		= 1013,
+	Prop_Firmware_UpdateAvailable_Bool			= 1014,
+	Prop_Firmware_ManualUpdate_Bool				= 1015,
+	Prop_Firmware_ManualUpdateURL_String		= 1016,
+	Prop_HardwareRevision_Uint64				= 1017,
+	Prop_FirmwareVersion_Uint64					= 1018,
+	Prop_FPGAVersion_Uint64						= 1019,
+	Prop_VRCVersion_Uint64						= 1020,
+	Prop_RadioVersion_Uint64					= 1021,
+	Prop_DongleVersion_Uint64					= 1022,
+	Prop_BlockServerShutdown_Bool				= 1023,
+	Prop_CanUnifyCoordinateSystemWithHmd_Bool	= 1024,
+	Prop_ContainsProximitySensor_Bool			= 1025,
+	Prop_DeviceProvidesBatteryStatus_Bool		= 1026,
+	Prop_DeviceCanPowerOff_Bool					= 1027,
+	Prop_Firmware_ProgrammingTarget_String		= 1028,
+	Prop_DeviceClass_Int32						= 1029,
+	Prop_HasCamera_Bool							= 1030,
+	Prop_DriverVersion_String                   = 1031,
+	Prop_Firmware_ForceUpdateRequired_Bool      = 1032,
+	Prop_ViveSystemButtonFixRequired_Bool		= 1033,
+	Prop_ParentDriver_Uint64					= 1034,
+	Prop_ResourceRoot_String					= 1035,
+
+	// Properties that are unique to TrackedDeviceClass_HMD
+	Prop_ReportsTimeSinceVSync_Bool				= 2000,
+	Prop_SecondsFromVsyncToPhotons_Float		= 2001,
+	Prop_DisplayFrequency_Float					= 2002,
+	Prop_UserIpdMeters_Float					= 2003,
+	Prop_CurrentUniverseId_Uint64				= 2004, 
+	Prop_PreviousUniverseId_Uint64				= 2005, 
+	Prop_DisplayFirmwareVersion_Uint64			= 2006,
+	Prop_IsOnDesktop_Bool						= 2007,
+	Prop_DisplayMCType_Int32					= 2008,
+	Prop_DisplayMCOffset_Float					= 2009,
+	Prop_DisplayMCScale_Float					= 2010,
+	Prop_EdidVendorID_Int32						= 2011,
+	Prop_DisplayMCImageLeft_String              = 2012,
+	Prop_DisplayMCImageRight_String             = 2013,
+	Prop_DisplayGCBlackClamp_Float				= 2014,
+	Prop_EdidProductID_Int32					= 2015,
+	Prop_CameraToHeadTransform_Matrix34			= 2016,
+	Prop_DisplayGCType_Int32					= 2017,
+	Prop_DisplayGCOffset_Float					= 2018,
+	Prop_DisplayGCScale_Float					= 2019,
+	Prop_DisplayGCPrescale_Float				= 2020,
+	Prop_DisplayGCImage_String					= 2021,
+	Prop_LensCenterLeftU_Float					= 2022,
+	Prop_LensCenterLeftV_Float					= 2023,
+	Prop_LensCenterRightU_Float					= 2024,
+	Prop_LensCenterRightV_Float					= 2025,
+	Prop_UserHeadToEyeDepthMeters_Float			= 2026,
+	Prop_CameraFirmwareVersion_Uint64			= 2027,
+	Prop_CameraFirmwareDescription_String		= 2028,
+	Prop_DisplayFPGAVersion_Uint64				= 2029,
+	Prop_DisplayBootloaderVersion_Uint64		= 2030,
+	Prop_DisplayHardwareVersion_Uint64			= 2031,
+	Prop_AudioFirmwareVersion_Uint64			= 2032,
+	Prop_CameraCompatibilityMode_Int32			= 2033,
+	Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	Prop_DisplaySuppressed_Bool					= 2036,
+	Prop_DisplayAllowNightMode_Bool				= 2037,
+	Prop_DisplayMCImageWidth_Int32				= 2038,
+	Prop_DisplayMCImageHeight_Int32				= 2039,
+	Prop_DisplayMCImageNumChannels_Int32		= 2040,
+	Prop_DisplayMCImageData_Binary				= 2041,
+	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+
+	// Properties that are unique to TrackedDeviceClass_Controller
+	Prop_AttachedDeviceId_String				= 3000,
+	Prop_SupportedButtons_Uint64				= 3001,
+	Prop_Axis0Type_Int32						= 3002, // Return value is of type EVRControllerAxisType
+	Prop_Axis1Type_Int32						= 3003, // Return value is of type EVRControllerAxisType
+	Prop_Axis2Type_Int32						= 3004, // Return value is of type EVRControllerAxisType
+	Prop_Axis3Type_Int32						= 3005, // Return value is of type EVRControllerAxisType
+	Prop_Axis4Type_Int32						= 3006, // Return value is of type EVRControllerAxisType
+	Prop_ControllerRoleHint_Int32				= 3007, // Return value is of type ETrackedControllerRole
+
+	// Properties that are unique to TrackedDeviceClass_TrackingReference
+	Prop_FieldOfViewLeftDegrees_Float			= 4000,
+	Prop_FieldOfViewRightDegrees_Float			= 4001,
+	Prop_FieldOfViewTopDegrees_Float			= 4002,
+	Prop_FieldOfViewBottomDegrees_Float			= 4003,
+	Prop_TrackingRangeMinimumMeters_Float		= 4004,
+	Prop_TrackingRangeMaximumMeters_Float		= 4005,
+	Prop_ModeLabel_String						= 4006,
+
+	// Properties that are used for user interface like icons names
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+
+	// Properties that are used by helpers, but are opaque to applications
+	Prop_DisplayHiddenArea_Binary_Start				= 5100,
+	Prop_DisplayHiddenArea_Binary_End				= 5150,
+
+	// Properties that are unique to drivers
+	Prop_UserConfigPath_String					= 6000,
+	Prop_InstallPath_String						= 6001,
+	Prop_HasDisplayComponent_Bool				= 6002,
+	Prop_HasControllerComponent_Bool			= 6003,
+	Prop_HasCameraComponent_Bool				= 6004,
+	Prop_HasDriverDirectModeComponent_Bool		= 6005,
+	Prop_HasVirtualDisplayComponent_Bool		= 6006,
+
+	// Vendors are free to expose private debug data in this reserved region
+	Prop_VendorSpecific_Reserved_Start			= 10000,
+	Prop_VendorSpecific_Reserved_End			= 10999,
+};
+
+/** No string property will ever be longer than this length */
+static const uint32_t k_unMaxPropertyStringSize = 32 * 1024;
+
+/** Used to return errors that occur when reading properties. */
+enum ETrackedPropertyError
+{
+	TrackedProp_Success						= 0,
+	TrackedProp_WrongDataType				= 1,
+	TrackedProp_WrongDeviceClass			= 2,
+	TrackedProp_BufferTooSmall				= 3,
+	TrackedProp_UnknownProperty				= 4, // Driver has not set the property (and may not ever).
+	TrackedProp_InvalidDevice				= 5,
+	TrackedProp_CouldNotContactServer		= 6,
+	TrackedProp_ValueNotProvidedByDevice	= 7,
+	TrackedProp_StringExceedsMaximumLength	= 8,
+	TrackedProp_NotYetAvailable				= 9, // The property value isn't known yet, but is expected soon. Call again later.
+	TrackedProp_PermissionDenied			= 10,
+	TrackedProp_InvalidOperation			= 11,
+};
+
+/** Allows the application to control what part of the provided texture will be used in the
+* frame buffer. */
+struct VRTextureBounds_t
+{
+	float uMin, vMin;
+	float uMax, vMax;
+};
+
+
+/** Allows the application to control how scene textures are used by the compositor when calling Submit. */
+enum EVRSubmitFlags
+{
+	// Simple render path. App submits rendered left and right eye images with no lens distortion correction applied.
+	Submit_Default = 0x00,
+
+	// App submits final left and right eye images with lens distortion already applied (lens distortion makes the images appear
+	// barrel distorted with chromatic aberration correction applied). The app would have used the data returned by
+	// vr::IVRSystem::ComputeDistortion() to apply the correct distortion to the rendered images before calling Submit().
+	Submit_LensDistortionAlreadyApplied = 0x01,
+
+	// If the texture pointer passed in is actually a renderbuffer (e.g. for MSAA in OpenGL) then set this flag.
+	Submit_GlRenderBuffer = 0x02,
+
+	// Do not use
+	Submit_Reserved = 0x04,
+};
+
+/** Data required for passing Vulkan textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct VRVulkanTextureData_t
+{
+	uint64_t m_nImage; // VkImage
+	VkDevice_T *m_pDevice;
+	VkPhysicalDevice_T *m_pPhysicalDevice;
+	VkInstance_T *m_pInstance;
+	VkQueue_T *m_pQueue;
+	uint32_t m_nQueueFamilyIndex;
+	uint32_t m_nWidth, m_nHeight, m_nFormat, m_nSampleCount;
+};
+
+/** Data required for passing D3D12 textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct D3D12TextureData_t
+{
+	ID3D12Resource *m_pResource;
+	ID3D12CommandQueue *m_pCommandQueue;
+	uint32_t m_nNodeMask;
+};
+
+/** Status of the overall system or tracked objects */
+enum EVRState
+{
+	VRState_Undefined = -1,
+	VRState_Off = 0,
+	VRState_Searching = 1,
+	VRState_Searching_Alert = 2,
+	VRState_Ready = 3,
+	VRState_Ready_Alert = 4,
+	VRState_NotReady = 5,
+	VRState_Standby = 6,
+	VRState_Ready_Alert_Low = 7,
+};
+
+/** The types of events that could be posted (and what the parameters mean for each event type) */
+enum EVREventType
+{
+	VREvent_None = 0,
+
+	VREvent_TrackedDeviceActivated		= 100,
+	VREvent_TrackedDeviceDeactivated	= 101,
+	VREvent_TrackedDeviceUpdated		= 102,
+	VREvent_TrackedDeviceUserInteractionStarted	= 103,
+	VREvent_TrackedDeviceUserInteractionEnded	= 104,
+	VREvent_IpdChanged					= 105,
+	VREvent_EnterStandbyMode			= 106,
+	VREvent_LeaveStandbyMode			= 107,
+	VREvent_TrackedDeviceRoleChanged	= 108,
+	VREvent_WatchdogWakeUpRequested		= 109,
+	VREvent_LensDistortionChanged		= 110,
+	VREvent_PropertyChanged				= 111,
+
+	VREvent_ButtonPress					= 200, // data is controller
+	VREvent_ButtonUnpress				= 201, // data is controller
+	VREvent_ButtonTouch					= 202, // data is controller
+	VREvent_ButtonUntouch				= 203, // data is controller
+
+	VREvent_MouseMove					= 300, // data is mouse
+	VREvent_MouseButtonDown				= 301, // data is mouse
+	VREvent_MouseButtonUp				= 302, // data is mouse
+	VREvent_FocusEnter					= 303, // data is overlay
+	VREvent_FocusLeave					= 304, // data is overlay
+	VREvent_Scroll						= 305, // data is mouse
+	VREvent_TouchPadMove				= 306, // data is mouse
+	VREvent_OverlayFocusChanged			= 307, // data is overlay, global event
+
+	VREvent_InputFocusCaptured			= 400, // data is process DEPRECATED
+	VREvent_InputFocusReleased			= 401, // data is process DEPRECATED
+	VREvent_SceneFocusLost				= 402, // data is process
+	VREvent_SceneFocusGained			= 403, // data is process
+	VREvent_SceneApplicationChanged		= 404, // data is process - The App actually drawing the scene changed (usually to or from the compositor)
+	VREvent_SceneFocusChanged			= 405, // data is process - New app got access to draw the scene
+	VREvent_InputFocusChanged			= 406, // data is process
+	VREvent_SceneApplicationSecondaryRenderingStarted = 407, // data is process
+
+	VREvent_HideRenderModels			= 410, // Sent to the scene application to request hiding render models temporarily
+	VREvent_ShowRenderModels			= 411, // Sent to the scene application to request restoring render model visibility
+
+	VREvent_OverlayShown				= 500,
+	VREvent_OverlayHidden				= 501,
+	VREvent_DashboardActivated			= 502,
+	VREvent_DashboardDeactivated		= 503,
+	VREvent_DashboardThumbSelected		= 504, // Sent to the overlay manager - data is overlay
+	VREvent_DashboardRequested			= 505, // Sent to the overlay manager - data is overlay
+	VREvent_ResetDashboard				= 506, // Send to the overlay manager
+	VREvent_RenderToast					= 507, // Send to the dashboard to render a toast - data is the notification ID
+	VREvent_ImageLoaded					= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
+	VREvent_ShowKeyboard				= 509, // Sent to keyboard renderer in the dashboard to invoke it
+	VREvent_HideKeyboard				= 510, // Sent to keyboard renderer in the dashboard to hide it
+	VREvent_OverlayGamepadFocusGained	= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
+	VREvent_OverlayGamepadFocusLost		= 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
+	VREvent_OverlaySharedTextureChanged = 513,
+	VREvent_DashboardGuideButtonDown	= 514,
+	VREvent_DashboardGuideButtonUp		= 515,
+	VREvent_ScreenshotTriggered			= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
+	VREvent_ImageFailed					= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
+	VREvent_DashboardOverlayCreated		= 518,
+
+	// Screenshot API
+	VREvent_RequestScreenshot				= 520, // Sent by vrclient application to compositor to take a screenshot
+	VREvent_ScreenshotTaken					= 521, // Sent by compositor to the application that the screenshot has been taken
+	VREvent_ScreenshotFailed				= 522, // Sent by compositor to the application that the screenshot failed to be taken
+	VREvent_SubmitScreenshotToDashboard		= 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_ScreenshotProgressToDashboard	= 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+
+	VREvent_PrimaryDashboardDeviceChanged	= 525,
+
+	VREvent_Notification_Shown				= 600,
+	VREvent_Notification_Hidden				= 601,
+	VREvent_Notification_BeginInteraction	= 602,
+	VREvent_Notification_Destroyed			= 603,
+
+	VREvent_Quit							= 700, // data is process
+	VREvent_ProcessQuit						= 701, // data is process
+	VREvent_QuitAborted_UserPrompt			= 702, // data is process
+	VREvent_QuitAcknowledged				= 703, // data is process
+	VREvent_DriverRequestedQuit				= 704, // The driver has requested that SteamVR shut down
+
+	VREvent_ChaperoneDataHasChanged			= 800,
+	VREvent_ChaperoneUniverseHasChanged		= 801,
+	VREvent_ChaperoneTempDataHasChanged		= 802,
+	VREvent_ChaperoneSettingsHaveChanged	= 803,
+	VREvent_SeatedZeroPoseReset				= 804,
+
+	VREvent_AudioSettingsHaveChanged		= 820,
+
+	VREvent_BackgroundSettingHasChanged		= 850,
+	VREvent_CameraSettingsHaveChanged		= 851,
+	VREvent_ReprojectionSettingHasChanged	= 852,
+	VREvent_ModelSkinSettingsHaveChanged	= 853,
+	VREvent_EnvironmentSettingsHaveChanged	= 854,
+	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
+
+	VREvent_StatusUpdate					= 900,
+
+	VREvent_MCImageUpdated					= 1000,
+
+	VREvent_FirmwareUpdateStarted			= 1100,
+	VREvent_FirmwareUpdateFinished			= 1101,
+
+	VREvent_KeyboardClosed					= 1200,
+	VREvent_KeyboardCharInput				= 1201,
+	VREvent_KeyboardDone					= 1202, // Sent when DONE button clicked on keyboard
+
+	VREvent_ApplicationTransitionStarted		= 1300,
+	VREvent_ApplicationTransitionAborted		= 1301,
+	VREvent_ApplicationTransitionNewAppStarted	= 1302,
+	VREvent_ApplicationListUpdated				= 1303,
+	VREvent_ApplicationMimeTypeLoad				= 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected					= 1306,
+	VREvent_ProcessDisconnected					= 1307,
+
+	VREvent_Compositor_MirrorWindowShown		= 1400,
+	VREvent_Compositor_MirrorWindowHidden		= 1401,
+	VREvent_Compositor_ChaperoneBoundsShown		= 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden	= 1411,
+
+	VREvent_TrackedCamera_StartVideoStream  = 1500,
+	VREvent_TrackedCamera_StopVideoStream   = 1501,
+	VREvent_TrackedCamera_PauseVideoStream  = 1502,
+	VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	VREvent_TrackedCamera_EditingSurface    = 1550,
+
+	VREvent_PerformanceTest_EnableCapture	= 1600,
+	VREvent_PerformanceTest_DisableCapture	= 1601,
+	VREvent_PerformanceTest_FidelityLevel	= 1602,
+
+	VREvent_MessageOverlay_Closed			= 1650,
+	
+	// Vendors are free to expose private events in this reserved region
+	VREvent_VendorSpecific_Reserved_Start	= 10000,
+	VREvent_VendorSpecific_Reserved_End		= 19999,
+};
+
+
+/** Level of Hmd activity */
+// UserInteraction_Timeout means the device is in the process of timing out.
+// InUse = ( k_EDeviceActivityLevel_UserInteraction || k_EDeviceActivityLevel_UserInteraction_Timeout )
+// VREvent_TrackedDeviceUserInteractionStarted fires when the devices transitions from Standby -> UserInteraction or Idle -> UserInteraction.
+// VREvent_TrackedDeviceUserInteractionEnded fires when the devices transitions from UserInteraction_Timeout -> Idle
+enum EDeviceActivityLevel
+{	
+	k_EDeviceActivityLevel_Unknown = -1,									
+	k_EDeviceActivityLevel_Idle = 0,						// No activity for the last 10 seconds
+	k_EDeviceActivityLevel_UserInteraction = 1,				// Activity (movement or prox sensor) is happening now	
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,		// No activity for the last 0.5 seconds
+	k_EDeviceActivityLevel_Standby = 3,						// Idle for at least 5 seconds (configurable in Settings -> Power Management)
+};
+
+
+/** VR controller button and axis IDs */
+enum EVRButtonId
+{
+	k_EButton_System			= 0,
+	k_EButton_ApplicationMenu	= 1,
+	k_EButton_Grip				= 2,
+	k_EButton_DPad_Left			= 3,
+	k_EButton_DPad_Up			= 4,
+	k_EButton_DPad_Right		= 5,
+	k_EButton_DPad_Down			= 6,
+	k_EButton_A					= 7,
+	
+	k_EButton_ProximitySensor   = 31,
+
+	k_EButton_Axis0				= 32,
+	k_EButton_Axis1				= 33,
+	k_EButton_Axis2				= 34,
+	k_EButton_Axis3				= 35,
+	k_EButton_Axis4				= 36,
+
+	// aliases for well known controllers
+	k_EButton_SteamVR_Touchpad	= k_EButton_Axis0,
+	k_EButton_SteamVR_Trigger	= k_EButton_Axis1,
+
+	k_EButton_Dashboard_Back	= k_EButton_Grip,
+
+	k_EButton_Max				= 64
+};
+
+inline uint64_t ButtonMaskFromId( EVRButtonId id ) { return 1ull << id; }
+
+/** used for controller button events */
+struct VREvent_Controller_t
+{
+	uint32_t button; // EVRButtonId enum
+};
+
+
+/** used for simulated mouse events in overlay space */
+enum EVRMouseButton
+{
+	VRMouseButton_Left					= 0x0001,
+	VRMouseButton_Right					= 0x0002,
+	VRMouseButton_Middle				= 0x0004,
+};
+
+
+/** used for simulated mouse events in overlay space */
+struct VREvent_Mouse_t
+{
+	float x, y; // co-ords are in GL space, bottom left of the texture is 0,0
+	uint32_t button; // EVRMouseButton enum
+};
+
+/** used for simulated mouse wheel scroll in overlay space */
+struct VREvent_Scroll_t
+{
+	float xdelta, ydelta; // movement in fraction of the pad traversed since last delta, 1.0 for a full swipe
+	uint32_t repeatCount;
+};
+
+/** when in mouse input mode you can receive data from the touchpad, these events are only sent if the users finger
+   is on the touchpad (or just released from it) 
+**/
+struct VREvent_TouchPadMove_t
+{
+	// true if the users finger is detected on the touch pad
+	bool bFingerDown;
+
+	// How long the finger has been down in seconds
+	float flSecondsFingerDown;
+
+	// These values indicate the starting finger position (so you can do some basic swipe stuff)
+	float fValueXFirst;
+	float fValueYFirst;
+
+	// This is the raw sampled coordinate without deadzoning
+	float fValueXRaw;
+	float fValueYRaw;
+};
+
+/** notification related events. Details will still change at this point */
+struct VREvent_Notification_t
+{
+	uint64_t ulUserValue;
+	uint32_t notificationId;
+};
+
+/** Used for events about processes */
+struct VREvent_Process_t
+{
+	uint32_t pid;
+	uint32_t oldPid;
+	bool bForced;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Overlay_t
+{
+	uint64_t overlayHandle;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Status_t
+{
+	uint32_t statusState; // EVRState enum
+};
+
+/** Used for keyboard events **/
+struct VREvent_Keyboard_t
+{
+	char cNewInput[8];	// Up to 11 bytes of new input
+	uint64_t uUserValue;	// Possible flags about the new input
+};
+
+struct VREvent_Ipd_t
+{
+	float ipdMeters;
+};
+
+struct VREvent_Chaperone_t
+{
+	uint64_t m_nPreviousUniverse;
+	uint64_t m_nCurrentUniverse;
+};
+
+/** Not actually used for any events */
+struct VREvent_Reserved_t
+{
+	uint64_t reserved0;
+	uint64_t reserved1;
+};
+
+struct VREvent_PerformanceTest_t
+{
+	uint32_t m_nFidelityLevel;
+};
+
+struct VREvent_SeatedZeroPoseReset_t
+{
+	bool bResetBySystemMenu;
+};
+
+struct VREvent_Screenshot_t
+{
+	uint32_t handle;
+	uint32_t type;
+};
+
+struct VREvent_ScreenshotProgress_t
+{
+	float progress;
+};
+
+struct VREvent_ApplicationLaunch_t
+{
+	uint32_t pid;
+	uint32_t unArgsHandle;
+};
+
+struct VREvent_EditingCameraSurface_t
+{
+	uint64_t overlayHandle;
+	uint32_t nVisualMode;
+};
+
+struct VREvent_MessageOverlay_t
+{
+	uint32_t unVRMessageOverlayResponse; // vr::VRMessageOverlayResponse enum
+};
+
+struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	ETrackedDeviceProperty prop;
+};
+
+/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py */
+typedef union
+{
+	VREvent_Reserved_t reserved;
+	VREvent_Controller_t controller;
+	VREvent_Mouse_t mouse;
+	VREvent_Scroll_t scroll;
+	VREvent_Process_t process;
+	VREvent_Notification_t notification;
+	VREvent_Overlay_t overlay;
+	VREvent_Status_t status;
+	VREvent_Keyboard_t keyboard;
+	VREvent_Ipd_t ipd;
+	VREvent_Chaperone_t chaperone;
+	VREvent_PerformanceTest_t performanceTest;
+	VREvent_TouchPadMove_t touchPadMove;
+	VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+	VREvent_Screenshot_t screenshot;
+	VREvent_ScreenshotProgress_t screenshotProgress;
+	VREvent_ApplicationLaunch_t applicationLaunch;
+	VREvent_EditingCameraSurface_t cameraSurface;
+	VREvent_MessageOverlay_t messageOverlay;
+	VREvent_Property_t property;
+} VREvent_Data_t;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** An event posted by the server to all running applications */
+struct VREvent_t
+{
+	uint32_t eventType; // EVREventType enum
+	TrackedDeviceIndex_t trackedDeviceIndex;
+	float eventAgeSeconds;
+	// event data must be the end of the struct as its size is variable
+	VREvent_Data_t data;
+};
+
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+/** The mesh to draw into the stencil (or depth) buffer to perform 
+* early stencil (or depth) kills of pixels that will never appear on the HMD.
+* This mesh draws on all the pixels that will be hidden after distortion. 
+*
+* If the HMD does not provide a visible area mesh pVertexData will be
+* NULL and unTriangleCount will be 0. */
+struct HiddenAreaMesh_t
+{
+	const HmdVector2_t *pVertexData;
+	uint32_t unTriangleCount;
+};
+
+
+enum EHiddenAreaMeshType
+{
+	k_eHiddenAreaMesh_Standard = 0,
+	k_eHiddenAreaMesh_Inverse = 1,
+	k_eHiddenAreaMesh_LineLoop = 2,
+
+	k_eHiddenAreaMesh_Max = 3,
+};
+
+
+/** Identifies what kind of axis is on the controller at index n. Read this type 
+* with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n );
+*/
+enum EVRControllerAxisType
+{
+	k_eControllerAxis_None = 0,
+	k_eControllerAxis_TrackPad = 1,
+	k_eControllerAxis_Joystick = 2,
+	k_eControllerAxis_Trigger = 3, // Analog trigger data is in the X axis
+};
+
+
+/** contains information about one axis on the controller */
+struct VRControllerAxis_t
+{
+	float x; // Ranges from -1.0 to 1.0 for joysticks and track pads. Ranges from 0.0 to 1.0 for triggers were 0 is fully released.
+	float y; // Ranges from -1.0 to 1.0 for joysticks and track pads. Is always 0.0 for triggers.
+};
+
+
+/** the number of axes in the controller state */
+static const uint32_t k_unControllerStateAxisCount = 5;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** Holds all the state of a controller at one moment in time. */
+struct VRControllerState001_t
+{
+	// If packet num matches that on your prior call, then the controller state hasn't been changed since 
+	// your last call and there is no need to process it
+	uint32_t unPacketNum;
+
+	// bit flags for each of the buttons. Use ButtonMaskFromId to turn an ID into a mask
+	uint64_t ulButtonPressed;
+	uint64_t ulButtonTouched;
+
+	// Axis data for the controller's analog inputs
+	VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ];
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+
+typedef VRControllerState001_t VRControllerState_t;
+
+
+/** determines how to provide output to the application of various event processing functions. */
+enum EVRControllerEventOutputType
+{
+	ControllerEventOutput_OSEvents = 0,
+	ControllerEventOutput_VREvents = 1,
+};
+
+
+
+/** Collision Bounds Style */
+enum ECollisionBoundsStyle
+{
+	COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	COLLISION_BOUNDS_STYLE_INTERMEDIATE,
+	COLLISION_BOUNDS_STYLE_SQUARES,
+	COLLISION_BOUNDS_STYLE_ADVANCED,
+	COLLISION_BOUNDS_STYLE_NONE,
+
+	COLLISION_BOUNDS_STYLE_COUNT
+};
+
+/** Allows the application to customize how the overlay appears in the compositor */
+struct Compositor_OverlaySettings
+{
+	uint32_t size; // sizeof(Compositor_OverlaySettings)
+	bool curved, antialias;
+	float scale, distance, alpha;
+	float uOffset, vOffset, uScale, vScale;
+	float gridDivs, gridWidth, gridScale;
+	HmdMatrix44_t transform;
+};
+
+/** used to refer to a single VR overlay */
+typedef uint64_t VROverlayHandle_t;
+
+static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0;
+
+/** Errors that can occur around VR overlays */
+enum EVROverlayError
+{
+	VROverlayError_None						= 0,
+
+	VROverlayError_UnknownOverlay			= 10,
+	VROverlayError_InvalidHandle			= 11,
+	VROverlayError_PermissionDenied			= 12,
+	VROverlayError_OverlayLimitExceeded		= 13, // No more overlays could be created because the maximum number already exist
+	VROverlayError_WrongVisibilityType		= 14,
+	VROverlayError_KeyTooLong				= 15,
+	VROverlayError_NameTooLong				= 16,
+	VROverlayError_KeyInUse					= 17,
+	VROverlayError_WrongTransformType		= 18,
+	VROverlayError_InvalidTrackedDevice		= 19,
+	VROverlayError_InvalidParameter			= 20,
+	VROverlayError_ThumbnailCantBeDestroyed	= 21,
+	VROverlayError_ArrayTooSmall			= 22,
+	VROverlayError_RequestFailed			= 23,
+	VROverlayError_InvalidTexture			= 24,
+	VROverlayError_UnableToLoadFile			= 25,
+	VROverlayError_KeyboardAlreadyInUse		= 26,
+	VROverlayError_NoNeighbor				= 27,
+	VROverlayError_TooManyMaskPrimitives	= 29,
+	VROverlayError_BadMaskPrimitive			= 30,
+};
+
+/** enum values to pass in to VR_Init to identify whether the application will 
+* draw a 3D scene. */
+enum EVRApplicationType
+{
+	VRApplication_Other = 0,		// Some other kind of application that isn't covered by the other entries 
+	VRApplication_Scene	= 1,		// Application will submit 3D frames 
+	VRApplication_Overlay = 2,		// Application only interacts with overlays
+	VRApplication_Background = 3,	// Application should not start SteamVR if it's not already running, and should not
+									// keep it running if everything else quits.
+	VRApplication_Utility = 4,		// Init should not try to load any drivers. The application needs access to utility
+									// interfaces (like IVRSettings and IVRApplications) but not hardware.
+	VRApplication_VRMonitor = 5,	// Reserved for vrmonitor
+	VRApplication_SteamWatchdog = 6,// Reserved for Steam
+	VRApplication_Bootstrapper = 7, // Start up SteamVR
+
+	VRApplication_Max
+};
+
+
+/** error codes for firmware */
+enum EVRFirmwareError
+{
+	VRFirmwareError_None = 0,
+	VRFirmwareError_Success = 1,
+	VRFirmwareError_Fail = 2,
+};
+
+
+/** error codes for notifications */
+enum EVRNotificationError
+{
+	VRNotificationError_OK = 0,
+	VRNotificationError_InvalidNotificationId = 100,
+	VRNotificationError_NotificationQueueFull = 101,
+	VRNotificationError_InvalidOverlayHandle = 102,
+	VRNotificationError_SystemWithUserValueAlreadyExists = 103,
+};
+
+
+/** error codes returned by Vr_Init */
+
+// Please add adequate error description to https://developer.valvesoftware.com/w/index.php?title=Category:SteamVRHelp
+enum EVRInitError
+{
+	VRInitError_None	= 0,
+	VRInitError_Unknown = 1,
+
+	VRInitError_Init_InstallationNotFound		= 100,
+	VRInitError_Init_InstallationCorrupt		= 101,
+	VRInitError_Init_VRClientDLLNotFound		= 102,
+	VRInitError_Init_FileNotFound				= 103,
+	VRInitError_Init_FactoryNotFound			= 104,
+	VRInitError_Init_InterfaceNotFound			= 105,
+	VRInitError_Init_InvalidInterface			= 106,
+	VRInitError_Init_UserConfigDirectoryInvalid = 107,
+	VRInitError_Init_HmdNotFound				= 108,
+	VRInitError_Init_NotInitialized				= 109,
+	VRInitError_Init_PathRegistryNotFound		= 110,
+	VRInitError_Init_NoConfigPath				= 111,
+	VRInitError_Init_NoLogPath					= 112,
+	VRInitError_Init_PathRegistryNotWritable	= 113,
+	VRInitError_Init_AppInfoInitFailed			= 114,
+	VRInitError_Init_Retry						= 115, // Used internally to cause retries to vrserver
+	VRInitError_Init_InitCanceledByUser			= 116, // The calling application should silently exit. The user canceled app startup
+	VRInitError_Init_AnotherAppLaunching		= 117, 
+	VRInitError_Init_SettingsInitFailed			= 118, 
+	VRInitError_Init_ShuttingDown				= 119,
+	VRInitError_Init_TooManyObjects				= 120,
+	VRInitError_Init_NoServerForBackgroundApp	= 121,
+	VRInitError_Init_NotSupportedWithCompositor	= 122,
+	VRInitError_Init_NotAvailableToUtilityApps	= 123,
+	VRInitError_Init_Internal				 	= 124,
+	VRInitError_Init_HmdDriverIdIsNone		 	= 125,
+	VRInitError_Init_HmdNotFoundPresenceFailed 	= 126,
+	VRInitError_Init_VRMonitorNotFound			= 127,
+	VRInitError_Init_VRMonitorStartupFailed		= 128,
+	VRInitError_Init_LowPowerWatchdogNotSupported = 129, 
+	VRInitError_Init_InvalidApplicationType		= 130,
+	VRInitError_Init_NotAvailableToWatchdogApps = 131,
+	VRInitError_Init_WatchdogDisabledInSettings = 132,
+	VRInitError_Init_VRDashboardNotFound		= 133,
+	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
+
+	VRInitError_Driver_Failed				= 200,
+	VRInitError_Driver_Unknown				= 201,
+	VRInitError_Driver_HmdUnknown			= 202,
+	VRInitError_Driver_NotLoaded			= 203,
+	VRInitError_Driver_RuntimeOutOfDate		= 204,
+	VRInitError_Driver_HmdInUse				= 205,
+	VRInitError_Driver_NotCalibrated		= 206,
+	VRInitError_Driver_CalibrationInvalid	= 207,
+	VRInitError_Driver_HmdDisplayNotFound	= 208,
+	VRInitError_Driver_TrackedDeviceInterfaceUnknown = 209,
+	// VRInitError_Driver_HmdDisplayNotFoundAfterFix	 = 210, // not needed: here for historic reasons
+	VRInitError_Driver_HmdDriverIdOutOfBounds = 211,
+	VRInitError_Driver_HmdDisplayMirrored  = 212,
+
+	VRInitError_IPC_ServerInitFailed		= 300,
+	VRInitError_IPC_ConnectFailed			= 301,
+	VRInitError_IPC_SharedStateInitFailed	= 302,
+	VRInitError_IPC_CompositorInitFailed	= 303,
+	VRInitError_IPC_MutexInitFailed			= 304,
+	VRInitError_IPC_Failed					= 305,
+	VRInitError_IPC_CompositorConnectFailed	= 306,
+	VRInitError_IPC_CompositorInvalidConnectResponse = 307,
+	VRInitError_IPC_ConnectFailedAfterMultipleAttempts = 308,
+
+	VRInitError_Compositor_Failed					= 400,
+	VRInitError_Compositor_D3D11HardwareRequired	= 401,
+	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
+	VRInitError_Compositor_OverlayInitFailed		= 403,
+	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
+
+	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+
+	VRInitError_VendorSpecific_HmdFound_CantOpenDevice 				= 1101,
+	VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart	= 1102,
+	VRInitError_VendorSpecific_HmdFound_NoStoredConfig 				= 1103,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooBig 				= 1104,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooSmall 				= 1105,
+	VRInitError_VendorSpecific_HmdFound_UnableToInitZLib 			= 1106,
+	VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion 	= 1107,
+	VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart	= 1108,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart	= 1109,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext		= 1110,
+	VRInitError_VendorSpecific_HmdFound_UserDataAddressRange		= 1111,
+	VRInitError_VendorSpecific_HmdFound_UserDataError				= 1112,
+	VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck		= 1113,
+
+	VRInitError_Steam_SteamInstallationNotFound = 2000,
+};
+
+enum EVRScreenshotType
+{
+	VRScreenshotType_None = 0,
+	VRScreenshotType_Mono = 1, // left eye only
+	VRScreenshotType_Stereo = 2,
+	VRScreenshotType_Cubemap = 3,
+	VRScreenshotType_MonoPanorama = 4,
+	VRScreenshotType_StereoPanorama = 5
+};
+
+enum EVRScreenshotPropertyFilenames
+{
+	VRScreenshotPropertyFilenames_Preview = 0,
+	VRScreenshotPropertyFilenames_VR = 1,
+};
+
+enum EVRTrackedCameraError
+{
+	VRTrackedCameraError_None                       = 0,
+	VRTrackedCameraError_OperationFailed            = 100,
+	VRTrackedCameraError_InvalidHandle              = 101,	
+	VRTrackedCameraError_InvalidFrameHeaderVersion  = 102,
+	VRTrackedCameraError_OutOfHandles               = 103,
+	VRTrackedCameraError_IPCFailure                 = 104,
+	VRTrackedCameraError_NotSupportedForThisDevice  = 105,
+	VRTrackedCameraError_SharedMemoryFailure        = 106,
+	VRTrackedCameraError_FrameBufferingFailure      = 107,
+	VRTrackedCameraError_StreamSetupFailure         = 108,
+	VRTrackedCameraError_InvalidGLTextureId         = 109,
+	VRTrackedCameraError_InvalidSharedTextureHandle = 110,
+	VRTrackedCameraError_FailedToGetGLTextureId     = 111,
+	VRTrackedCameraError_SharedTextureFailure       = 112,
+	VRTrackedCameraError_NoFrameAvailable           = 113,
+	VRTrackedCameraError_InvalidArgument            = 114,
+	VRTrackedCameraError_InvalidFrameBufferSize     = 115,
+};
+
+enum EVRTrackedCameraFrameType
+{
+	VRTrackedCameraFrameType_Distorted = 0,			// This is the camera video frame size in pixels, still distorted.
+	VRTrackedCameraFrameType_Undistorted,			// In pixels, an undistorted inscribed rectangle region without invalid regions. This size is subject to changes shortly.
+	VRTrackedCameraFrameType_MaximumUndistorted,	// In pixels, maximum undistorted with invalid regions. Non zero alpha component identifies valid regions.
+	MAX_CAMERA_FRAME_TYPES
+};
+
+typedef uint64_t TrackedCameraHandle_t;
+#define INVALID_TRACKED_CAMERA_HANDLE	((vr::TrackedCameraHandle_t)0)
+
+struct CameraVideoStreamFrameHeader_t
+{
+	EVRTrackedCameraFrameType eFrameType;
+
+	uint32_t nWidth;
+	uint32_t nHeight;
+	uint32_t nBytesPerPixel;
+
+	uint32_t nFrameSequence;
+
+	TrackedDevicePose_t standingTrackedDevicePose;
+};
+
+// Screenshot types
+typedef uint32_t ScreenshotHandle_t;
+
+static const uint32_t k_unScreenshotHandleInvalid = 0;
+
+#pragma pack( pop )
+
+// figure out how to import from the VR API dll
+#if defined(_WIN32)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __declspec( dllexport )
+#else
+#define VR_INTERFACE extern "C" __declspec( dllimport )
+#endif
+
+#elif defined(__GNUC__) || defined(COMPILER_GCC) || defined(__APPLE__)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __attribute__((visibility("default")))
+#else
+#define VR_INTERFACE extern "C" 
+#endif
+
+#else
+#error "Unsupported Platform."
+#endif
+
+
+#if defined( _WIN32 )
+#define VR_CALLTYPE __cdecl
+#else
+#define VR_CALLTYPE 
+#endif
+
+} // namespace vr
+
+#endif // _INCLUDE_VRTYPES_H
+
+
+// vrannotation.h
+#ifdef API_GEN
+# define VR_CLANG_ATTR(ATTR) __attribute__((annotate( ATTR )))
+#else
+# define VR_CLANG_ATTR(ATTR)
+#endif
+
+#define VR_METHOD_DESC(DESC) VR_CLANG_ATTR( "desc:" #DESC ";" )
+#define VR_IGNOREATTR() VR_CLANG_ATTR( "ignore" )
+#define VR_OUT_STRUCT() VR_CLANG_ATTR( "out_struct: ;" )
+#define VR_OUT_STRING() VR_CLANG_ATTR( "out_string: ;" )
+#define VR_OUT_ARRAY_CALL(COUNTER,FUNCTION,PARAMS) VR_CLANG_ATTR( "out_array_call:" #COUNTER "," #FUNCTION "," #PARAMS ";" )
+#define VR_OUT_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "out_array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT_D(COUNTER, DESC) VR_CLANG_ATTR( "array_count:" #COUNTER ";desc:" #DESC )
+#define VR_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "buffer_count:" #COUNTER ";" )
+#define VR_OUT_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "out_buffer_count:" #COUNTER ";" )
+#define VR_OUT_STRING_COUNT(COUNTER) VR_CLANG_ATTR( "out_string_count:" #COUNTER ";" )
+
+// ivrsystem.h
+namespace vr
+{
+
+class IVRSystem
+{
+public:
+
+
+	// ------------------------------------
+	// Display Methods
+	// ------------------------------------
+
+	/** Suggested size for the intermediate render target that the distortion pulls from. */
+	virtual void GetRecommendedRenderTargetSize( uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+	/** The projection matrix for the specified eye */
+	virtual HmdMatrix44_t GetProjectionMatrix( EVREye eEye, float fNearZ, float fFarZ ) = 0;
+
+	/** The components necessary to build your own projection matrix in case your
+	* application is doing something fancy like infinite Z */
+	virtual void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom ) = 0;
+
+	/** Gets the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in 
+	* the upper left of that eye's viewport and 1,1 in the lower right of that eye's viewport.
+	* Returns true for success. Otherwise, returns false, and distortion coordinates are not suitable. */
+	virtual bool ComputeDistortion( EVREye eEye, float fU, float fV, DistortionCoordinates_t *pDistortionCoordinates ) = 0;
+
+	/** Returns the transform from eye space to the head space. Eye space is the per-eye flavor of head
+	* space that provides stereo disparity. Instead of Model * View * Projection the sequence is Model * View * Eye^-1 * Projection. 
+	* Normally View and Eye^-1 will be multiplied together and treated as View in your application. 
+	*/
+	virtual HmdMatrix34_t GetEyeToHeadTransform( EVREye eEye ) = 0;
+
+	/** Returns the number of elapsed seconds since the last recorded vsync event. This 
+	*	will come from a vsync timer event in the timer if possible or from the application-reported
+	*   time if that is not available. If no vsync times are available the function will 
+	*   return zero for vsync time and frame counter and return false from the method. */
+	virtual bool GetTimeSinceLastVsync( float *pfSecondsSinceLastVsync, uint64_t *pulFrameCounter ) = 0;
+
+	/** [D3D9 Only]
+	* Returns the adapter index that the user should pass into CreateDevice to set up D3D9 in such
+	* a way that it can go full screen exclusive on the HMD. Returns -1 if there was an error.
+	*/
+	virtual int32_t GetD3D9AdapterIndex() = 0;
+
+	/** [D3D10/11 Only]
+	* Returns the adapter index that the user should pass into EnumAdapters to create the device 
+	* and swap chain in DX10 and DX11. If an error occurs the index will be set to -1.
+	*/
+	virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex ) = 0;
+	
+	/**
+	 * Returns platform- and texture-type specific adapter identification so that applications and the
+	 * compositor are creating textures and swap chains on the same GPU. If an error occurs the device
+	 * will be set to 0.
+	 * [D3D10/11/12 Only (D3D9 Not Supported)]
+	 *  Returns the adapter LUID that identifies the GPU attached to the HMD. The user should
+	 *  enumerate all adapters using IDXGIFactory::EnumAdapters and IDXGIAdapter::GetDesc to find
+	 *  the adapter with the matching LUID, or use IDXGIFactory4::EnumAdapterByLuid.
+	 *  The discovered IDXGIAdapter should be used to create the device and swap chain.
+	 * [Vulkan Only]
+	 *  Returns the vk::PhysicalDevice that should be used by the application.
+	 * [macOS Only]
+	 *  Returns an id<MTLDevice> that should be used by the application.
+	 */
+	virtual void GetOutputDevice( uint64_t *pnDevice, ETextureType textureType ) = 0;
+
+	// ------------------------------------
+	// Display Mode methods
+	// ------------------------------------
+
+	/** Use to determine if the headset display is part of the desktop (i.e. extended) or hidden (i.e. direct mode). */
+	virtual bool IsDisplayOnDesktop() = 0;
+
+	/** Set the display visibility (true = extended, false = direct mode).  Return value of true indicates that the change was successful. */
+	virtual bool SetDisplayVisibility( bool bIsVisibleOnDesktop ) = 0;
+
+	// ------------------------------------
+	// Tracking Methods
+	// ------------------------------------
+
+	/** The pose that the tracker thinks that the HMD will be in at the specified number of seconds into the 
+	* future. Pass 0 to get the state at the instant the method is called. Most of the time the application should
+	* calculate the time until the photons will be emitted from the display and pass that time into the method.
+	*
+	* This is roughly analogous to the inverse of the view matrix in most applications, though 
+	* many games will need to do some additional rotation or translation on top of the rotation
+	* and translation provided by the head pose.
+	*
+	* For devices where bPoseIsValid is true the application can use the pose to position the device
+	* in question. The provided array can be any size up to k_unMaxTrackedDeviceCount. 
+	*
+	* Seated experiences should call this method with TrackingUniverseSeated and receive poses relative
+	* to the seated zero pose. Standing experiences should call this method with TrackingUniverseStanding 
+	* and receive poses relative to the Chaperone Play Area. TrackingUniverseRawAndUncalibrated should 
+	* probably not be used unless the application is the Chaperone calibration tool itself, but will provide
+	* poses relative to the hardware-specific coordinate system in the driver.
+	*/
+	virtual void GetDeviceToAbsoluteTrackingPose( ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, VR_ARRAY_COUNT(unTrackedDevicePoseArrayCount) TrackedDevicePose_t *pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount ) = 0;
+
+	/** Sets the zero pose for the seated tracker coordinate system to the current position and yaw of the HMD. After 
+	* ResetSeatedZeroPose all GetDeviceToAbsoluteTrackingPose calls that pass TrackingUniverseSeated as the origin 
+	* will be relative to this new zero pose. The new zero coordinate system will not change the fact that the Y axis 
+	* is up in the real world, so the next pose returned from GetDeviceToAbsoluteTrackingPose after a call to 
+	* ResetSeatedZeroPose may not be exactly an identity matrix.
+	*
+	* NOTE: This function overrides the user's previously saved seated zero pose and should only be called as the result of a user action. 
+	* Users are also able to set their seated zero pose via the OpenVR Dashboard.
+	**/
+	virtual void ResetSeatedZeroPose() = 0;
+
+	/** Returns the transform from the seated zero pose to the standing absolute tracking system. This allows 
+	* applications to represent the seated origin to used or transform object positions from one coordinate
+	* system to the other. 
+	*
+	* The seated origin may or may not be inside the Play Area or Collision Bounds returned by IVRChaperone. Its position 
+	* depends on what the user has set from the Dashboard settings and previous calls to ResetSeatedZeroPose. */
+	virtual HmdMatrix34_t GetSeatedZeroPoseToStandingAbsoluteTrackingPose() = 0;
+
+	/** Returns the transform from the tracking origin to the standing absolute tracking system. This allows
+	* applications to convert from raw tracking space to the calibrated standing coordinate system. */
+	virtual HmdMatrix34_t GetRawZeroPoseToStandingAbsoluteTrackingPose() = 0;
+
+	/** Get a sorted array of device indices of a given class of tracked devices (e.g. controllers).  Devices are sorted right to left
+	* relative to the specified tracked device (default: hmd -- pass in -1 for absolute tracking space).  Returns the number of devices
+	* in the list, or the size of the array needed if not large enough. */
+	virtual uint32_t GetSortedTrackedDeviceIndicesOfClass( ETrackedDeviceClass eTrackedDeviceClass, VR_ARRAY_COUNT(unTrackedDeviceIndexArrayCount) vr::TrackedDeviceIndex_t *punTrackedDeviceIndexArray, uint32_t unTrackedDeviceIndexArrayCount, vr::TrackedDeviceIndex_t unRelativeToTrackedDeviceIndex = k_unTrackedDeviceIndex_Hmd ) = 0;
+
+	/** Returns the level of activity on the device. */
+	virtual EDeviceActivityLevel GetTrackedDeviceActivityLevel( vr::TrackedDeviceIndex_t unDeviceId ) = 0;
+
+	/** Convenience utility to apply the specified transform to the specified pose.
+	*   This properly transforms all pose components, including velocity and angular velocity
+	*/
+	virtual void ApplyTransform( TrackedDevicePose_t *pOutputPose, const TrackedDevicePose_t *pTrackedDevicePose, const HmdMatrix34_t *pTransform ) = 0;
+
+	/** Returns the device index associated with a specific role, for example the left hand or the right hand. */
+	virtual vr::TrackedDeviceIndex_t GetTrackedDeviceIndexForControllerRole( vr::ETrackedControllerRole unDeviceType ) = 0;
+
+	/** Returns the controller type associated with a device index. */
+	virtual vr::ETrackedControllerRole GetControllerRoleForTrackedDeviceIndex( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	// ------------------------------------
+	// Property methods
+	// ------------------------------------
+
+	/** Returns the device class of a tracked device. If there has not been a device connected in this slot
+	* since the application started this function will return TrackedDevice_Invalid. For previous detected
+	* devices the function will return the previously observed device class. 
+	*
+	* To determine which devices exist on the system, just loop from 0 to k_unMaxTrackedDeviceCount and check
+	* the device class. Every device with something other than TrackedDevice_Invalid is associated with an 
+	* actual tracked device. */
+	virtual ETrackedDeviceClass GetTrackedDeviceClass( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	/** Returns true if there is a device connected in this slot. */
+	virtual bool IsTrackedDeviceConnected( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	/** Returns a bool property. If the device index is not valid or the property is not a bool type this function will return false. */
+	virtual bool GetBoolTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a float property. If the device index is not valid or the property is not a float type this function will return 0. */
+	virtual float GetFloatTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns an int property. If the device index is not valid or the property is not a int type this function will return 0. */
+	virtual int32_t GetInt32TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a uint64 property. If the device index is not valid or the property is not a uint64 type this function will return 0. */
+	virtual uint64_t GetUint64TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a matrix property. If the device index is not valid or the property is not a matrix type, this function will return identity. */
+	virtual HmdMatrix34_t GetMatrix34TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a string property. If the device index is not valid or the property is not a string type this function will 
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	virtual uint32_t GetStringTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** returns a string that corresponds with the specified property error. The string will be the name 
+	* of the error enum value for all valid error codes */
+	virtual const char *GetPropErrorNameFromEnum( ETrackedPropertyError error ) = 0;
+
+	// ------------------------------------
+	// Event methods
+	// ------------------------------------
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. Fills in the pose of the associated tracked device in the provided pose struct. 
+	* This pose will always be older than the call to this function and should not be used to render the device. 
+	uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEventWithPose( ETrackingUniverseOrigin eOrigin, VREvent_t *pEvent, uint32_t uncbVREvent, vr::TrackedDevicePose_t *pTrackedDevicePose ) = 0;
+
+	/** returns the name of an EVREvent enum value */
+	virtual const char *GetEventTypeNameFromEnum( EVREventType eType ) = 0;
+
+	// ------------------------------------
+	// Rendering helper methods
+	// ------------------------------------
+
+	/** Returns the hidden area mesh for the current HMD. The pixels covered by this mesh will never be seen by the user after the lens distortion is
+	* applied based on visibility to the panels. If this HMD does not have a hidden area mesh, the vertex data and count will be NULL and 0 respectively.
+	* This mesh is meant to be rendered into the stencil buffer (or into the depth buffer setting nearz) before rendering each eye's view. 
+	* This will improve performance by letting the GPU early-reject pixels the user will never see before running the pixel shader.
+	* NOTE: Render this mesh with backface culling disabled since the winding order of the vertices can be different per-HMD or per-eye.
+	* Setting the bInverse argument to true will produce the visible area mesh that is commonly used in place of full-screen quads. The visible area mesh covers all of the pixels the hidden area mesh does not cover.
+	* Setting the bLineLoop argument will return a line loop of vertices in HiddenAreaMesh_t->pVertexData with HiddenAreaMesh_t->unTriangleCount set to the number of vertices.
+	*/
+	virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye, EHiddenAreaMeshType type = k_eHiddenAreaMesh_Standard ) = 0;
+
+	// ------------------------------------
+	// Controller methods
+	// ------------------------------------
+
+	/** Fills the supplied struct with the current state of the controller. Returns false if the controller index
+	* is invalid. */
+	virtual bool GetControllerState( vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, uint32_t unControllerStateSize ) = 0;
+
+	/** fills the supplied struct with the current state of the controller and the provided pose with the pose of 
+	* the controller when the controller state was updated most recently. Use this form if you need a precise controller
+	* pose as input to your application when the user presses or releases a button. */
+	virtual bool GetControllerStateWithPose( ETrackingUniverseOrigin eOrigin, vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, uint32_t unControllerStateSize, TrackedDevicePose_t *pTrackedDevicePose ) = 0;
+
+	/** Trigger a single haptic pulse on a controller. After this call the application may not trigger another haptic pulse on this controller
+	* and axis combination for 5ms. */
+	virtual void TriggerHapticPulse( vr::TrackedDeviceIndex_t unControllerDeviceIndex, uint32_t unAxisId, unsigned short usDurationMicroSec ) = 0;
+
+	/** returns the name of an EVRButtonId enum value */
+	virtual const char *GetButtonIdNameFromEnum( EVRButtonId eButtonId ) = 0;
+
+	/** returns the name of an EVRControllerAxisType enum value */
+	virtual const char *GetControllerAxisTypeNameFromEnum( EVRControllerAxisType eAxisType ) = 0;
+
+	/** Tells OpenVR that this process wants exclusive access to controller button states and button events. Other apps will be notified that 
+	* they have lost input focus with a VREvent_InputFocusCaptured event. Returns false if input focus could not be captured for
+	* some reason. */
+	virtual bool CaptureInputFocus() = 0;
+
+	/** Tells OpenVR that this process no longer wants exclusive access to button states and button events. Other apps will be notified 
+	* that input focus has been released with a VREvent_InputFocusReleased event. */
+	virtual void ReleaseInputFocus() = 0;
+
+	/** Returns true if input focus is captured by another process. */
+	virtual bool IsInputFocusCapturedByAnotherProcess() = 0;
+
+	// ------------------------------------
+	// Debug Methods
+	// ------------------------------------
+
+	/** Sends a request to the driver for the specified device and returns the response. The maximum response size is 32k,
+	* but this method can be called with a smaller buffer. If the response exceeds the size of the buffer, it is truncated. 
+	* The size of the response including its terminating null is returned. */
+	virtual uint32_t DriverDebugRequest( vr::TrackedDeviceIndex_t unDeviceIndex, const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize ) = 0;
+
+	// ------------------------------------
+	// Firmware methods
+	// ------------------------------------
+	
+	/** Performs the actual firmware update if applicable. 
+	 * The following events will be sent, if VRFirmwareError_None was returned: VREvent_FirmwareUpdateStarted, VREvent_FirmwareUpdateFinished 
+	 * Use the properties Prop_Firmware_UpdateAvailable_Bool, Prop_Firmware_ManualUpdate_Bool, and Prop_Firmware_ManualUpdateURL_String
+	 * to figure our whether a firmware update is available, and to figure out whether its a manual update 
+	 * Prop_Firmware_ManualUpdateURL_String should point to an URL describing the manual update process */
+	virtual vr::EVRFirmwareError PerformFirmwareUpdate( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	// ------------------------------------
+	// Application life cycle methods
+	// ------------------------------------
+
+	/** Call this to acknowledge to the system that VREvent_Quit has been received and that the process is exiting.
+	* This extends the timeout until the process is killed. */
+	virtual void AcknowledgeQuit_Exiting() = 0;
+
+	/** Call this to tell the system that the user is being prompted to save data. This
+	* halts the timeout and dismisses the dashboard (if it was up). Applications should be sure to actually 
+	* prompt the user to save and then exit afterward, otherwise the user will be left in a confusing state. */
+	virtual void AcknowledgeQuit_UserPrompt() = 0;
+
+};
+
+static const char * const IVRSystem_Version = "IVRSystem_016";
+
+}
+
+
+// ivrapplications.h
+namespace vr
+{
+
+	/** Used for all errors reported by the IVRApplications interface */
+	enum EVRApplicationError
+	{
+		VRApplicationError_None = 0,
+
+		VRApplicationError_AppKeyAlreadyExists = 100,	// Only one application can use any given key
+		VRApplicationError_NoManifest = 101,			// the running application does not have a manifest
+		VRApplicationError_NoApplication = 102,			// No application is running
+		VRApplicationError_InvalidIndex = 103,
+		VRApplicationError_UnknownApplication = 104,	// the application could not be found
+		VRApplicationError_IPCFailed = 105,				// An IPC failure caused the request to fail
+		VRApplicationError_ApplicationAlreadyRunning = 106, 
+		VRApplicationError_InvalidManifest = 107,
+		VRApplicationError_InvalidApplication = 108,
+		VRApplicationError_LaunchFailed = 109,			// the process didn't start
+		VRApplicationError_ApplicationAlreadyStarting = 110, // the system was already starting the same application
+		VRApplicationError_LaunchInProgress = 111,		// The system was already starting a different application
+		VRApplicationError_OldApplicationQuitting = 112, 
+		VRApplicationError_TransitionAborted = 113,
+		VRApplicationError_IsTemplate = 114, // error when you try to call LaunchApplication() on a template type app (use LaunchTemplateApplication)
+
+		VRApplicationError_BufferTooSmall = 200,		// The provided buffer was too small to fit the requested data
+		VRApplicationError_PropertyNotSet = 201,		// The requested property was not set
+		VRApplicationError_UnknownProperty = 202,
+		VRApplicationError_InvalidParameter = 203,
+	};
+
+	/** The maximum length of an application key */
+	static const uint32_t k_unMaxApplicationKeyLength = 128;
+
+	/** these are the properties available on applications. */
+	enum EVRApplicationProperty
+	{
+		VRApplicationProperty_Name_String				= 0,
+
+		VRApplicationProperty_LaunchType_String			= 11,
+		VRApplicationProperty_WorkingDirectory_String	= 12,
+		VRApplicationProperty_BinaryPath_String			= 13,
+		VRApplicationProperty_Arguments_String			= 14,
+		VRApplicationProperty_URL_String				= 15,
+
+		VRApplicationProperty_Description_String		= 50,
+		VRApplicationProperty_NewsURL_String			= 51,
+		VRApplicationProperty_ImagePath_String			= 52,
+		VRApplicationProperty_Source_String				= 53,
+
+		VRApplicationProperty_IsDashboardOverlay_Bool	= 60,
+		VRApplicationProperty_IsTemplate_Bool			= 61,
+		VRApplicationProperty_IsInstanced_Bool			= 62,
+		VRApplicationProperty_IsInternal_Bool			= 63,
+
+		VRApplicationProperty_LastLaunchTime_Uint64		= 70,
+	};
+
+	/** These are states the scene application startup process will go through. */
+	enum EVRApplicationTransitionState
+	{
+		VRApplicationTransition_None = 0,
+
+		VRApplicationTransition_OldAppQuitSent = 10,
+		VRApplicationTransition_WaitingForExternalLaunch = 11,
+		
+		VRApplicationTransition_NewAppLaunched = 20,
+	};
+
+	struct AppOverrideKeys_t
+	{
+		const char *pchKey;
+		const char *pchValue;
+	};
+
+	/** Currently recognized mime types */
+	static const char * const k_pch_MimeType_HomeApp		= "vr/home";
+	static const char * const k_pch_MimeType_GameTheater	= "vr/game_theater";
+
+	class IVRApplications
+	{
+	public:
+
+		// ---------------  Application management  --------------- //
+
+		/** Adds an application manifest to the list to load when building the list of installed applications. 
+		* Temporary manifests are not automatically loaded */
+		virtual EVRApplicationError AddApplicationManifest( const char *pchApplicationManifestFullPath, bool bTemporary = false ) = 0;
+
+		/** Removes an application manifest from the list to load when building the list of installed applications. */
+		virtual EVRApplicationError RemoveApplicationManifest( const char *pchApplicationManifestFullPath ) = 0;
+
+		/** Returns true if an application is installed */
+		virtual bool IsApplicationInstalled( const char *pchAppKey ) = 0;
+
+		/** Returns the number of applications available in the list */
+		virtual uint32_t GetApplicationCount() = 0;
+
+		/** Returns the key of the specified application. The index is at least 0 and is less than the return 
+		* value of GetApplicationCount(). The buffer should be at least k_unMaxApplicationKeyLength in order to 
+		* fit the key. */
+		virtual EVRApplicationError GetApplicationKeyByIndex( uint32_t unApplicationIndex, VR_OUT_STRING() char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Returns the key of the application for the specified Process Id. The buffer should be at least 
+		* k_unMaxApplicationKeyLength in order to fit the key. */
+		virtual EVRApplicationError GetApplicationKeyByProcessId( uint32_t unProcessId, char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Launches the application. The existing scene application will exit and then the new application will start.
+		* This call is not valid for dashboard overlay applications. */
+		virtual EVRApplicationError LaunchApplication( const char *pchAppKey ) = 0;
+
+		/** Launches an instance of an application of type template, with its app key being pchNewAppKey (which must be unique) and optionally override sections
+		* from the manifest file via AppOverrideKeys_t
+		*/
+		virtual EVRApplicationError LaunchTemplateApplication( const char *pchTemplateAppKey, const char *pchNewAppKey, VR_ARRAY_COUNT( unKeys ) const AppOverrideKeys_t *pKeys, uint32_t unKeys ) = 0;
+
+		/** launches the application currently associated with this mime type and passes it the option args, typically the filename or object name of the item being launched */
+		virtual vr::EVRApplicationError LaunchApplicationFromMimeType( const char *pchMimeType, const char *pchArgs ) = 0;
+
+		/** Launches the dashboard overlay application if it is not already running. This call is only valid for 
+		* dashboard overlay applications. */
+		virtual EVRApplicationError LaunchDashboardOverlay( const char *pchAppKey ) = 0;
+
+		/** Cancel a pending launch for an application */
+		virtual bool CancelApplicationLaunch( const char *pchAppKey ) = 0;
+
+		/** Identifies a running application. OpenVR can't always tell which process started in response
+		* to a URL. This function allows a URL handler (or the process itself) to identify the app key 
+		* for the now running application. Passing a process ID of 0 identifies the calling process. 
+		* The application must be one that's known to the system via a call to AddApplicationManifest. */
+		virtual EVRApplicationError IdentifyApplication( uint32_t unProcessId, const char *pchAppKey ) = 0;
+
+		/** Returns the process ID for an application. Return 0 if the application was not found or is not running. */
+		virtual uint32_t GetApplicationProcessId( const char *pchAppKey ) = 0;
+
+		/** Returns a string for an applications error */
+		virtual const char *GetApplicationsErrorNameFromEnum( EVRApplicationError error ) = 0;
+
+		// ---------------  Application properties  --------------- //
+
+		/** Returns a value for an application property. The required buffer size to fit this value will be returned. */
+		virtual uint32_t GetApplicationPropertyString( const char *pchAppKey, EVRApplicationProperty eProperty, VR_OUT_STRING() char *pchPropertyValueBuffer, uint32_t unPropertyValueBufferLen, EVRApplicationError *peError = nullptr ) = 0;
+
+		/** Returns a bool value for an application property. Returns false in all error cases. */
+		virtual bool GetApplicationPropertyBool( const char *pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError *peError = nullptr ) = 0;
+
+		/** Returns a uint64 value for an application property. Returns 0 in all error cases. */
+		virtual uint64_t GetApplicationPropertyUint64( const char *pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError *peError = nullptr ) = 0;
+
+		/** Sets the application auto-launch flag. This is only valid for applications which return true for VRApplicationProperty_IsDashboardOverlay_Bool. */
+		virtual EVRApplicationError SetApplicationAutoLaunch( const char *pchAppKey, bool bAutoLaunch ) = 0;
+
+		/** Gets the application auto-launch flag. This is only valid for applications which return true for VRApplicationProperty_IsDashboardOverlay_Bool. */
+		virtual bool GetApplicationAutoLaunch( const char *pchAppKey ) = 0;
+
+		/** Adds this mime-type to the list of supported mime types for this application*/
+		virtual EVRApplicationError SetDefaultApplicationForMimeType( const char *pchAppKey, const char *pchMimeType ) = 0;
+
+		/** return the app key that will open this mime type */
+		virtual bool GetDefaultApplicationForMimeType( const char *pchMimeType, char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Get the list of supported mime types for this application, comma-delimited */
+		virtual bool GetApplicationSupportedMimeTypes( const char *pchAppKey, char *pchMimeTypesBuffer, uint32_t unMimeTypesBuffer ) = 0;
+
+		/** Get the list of app-keys that support this mime type, comma-delimited, the return value is number of bytes you need to return the full string */
+		virtual uint32_t GetApplicationsThatSupportMimeType( const char *pchMimeType, char *pchAppKeysThatSupportBuffer, uint32_t unAppKeysThatSupportBuffer ) = 0;
+
+		/** Get the args list from an app launch that had the process already running, you call this when you get a VREvent_ApplicationMimeTypeLoad */
+		virtual uint32_t GetApplicationLaunchArguments( uint32_t unHandle, char *pchArgs, uint32_t unArgs ) = 0;
+
+		// ---------------  Transition methods --------------- //
+
+		/** Returns the app key for the application that is starting up */
+		virtual EVRApplicationError GetStartingApplication( char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Returns the application transition state */
+		virtual EVRApplicationTransitionState GetTransitionState() = 0;
+
+		/** Returns errors that would prevent the specified application from launching immediately. Calling this function will
+		* cause the current scene application to quit, so only call it when you are actually about to launch something else.
+		* What the caller should do about these failures depends on the failure:
+		*   VRApplicationError_OldApplicationQuitting - An existing application has been told to quit. Wait for a VREvent_ProcessQuit
+		*                                               and try again.
+		*   VRApplicationError_ApplicationAlreadyStarting - This application is already starting. This is a permanent failure.
+		*   VRApplicationError_LaunchInProgress	      - A different application is already starting. This is a permanent failure.
+		*   VRApplicationError_None                   - Go ahead and launch. Everything is clear.
+		*/
+		virtual EVRApplicationError PerformApplicationPrelaunchCheck( const char *pchAppKey ) = 0;
+
+		/** Returns a string for an application transition state */
+		virtual const char *GetApplicationsTransitionStateNameFromEnum( EVRApplicationTransitionState state ) = 0;
+
+		/** Returns true if the outgoing scene app has requested a save prompt before exiting */
+		virtual bool IsQuitUserPromptRequested() = 0;
+
+		/** Starts a subprocess within the calling application. This
+		* suppresses all application transition UI and automatically identifies the new executable 
+		* as part of the same application. On success the calling process should exit immediately. 
+		* If working directory is NULL or "" the directory portion of the binary path will be 
+		* the working directory. */
+		virtual EVRApplicationError LaunchInternalProcess( const char *pchBinaryPath, const char *pchArguments, const char *pchWorkingDirectory ) = 0;
+
+		/** Returns the current scene process ID according to the application system. A scene process will get scene
+		* focus once it starts rendering, but it will appear here once it calls VR_Init with the Scene application
+		* type. */
+		virtual uint32_t GetCurrentSceneProcessId() = 0;
+	};
+
+	static const char * const IVRApplications_Version = "IVRApplications_006";
+
+} // namespace vr
+
+// ivrsettings.h
+namespace vr
+{
+	enum EVRSettingsError
+	{
+		VRSettingsError_None = 0,
+		VRSettingsError_IPCFailed = 1,
+		VRSettingsError_WriteFailed = 2,
+		VRSettingsError_ReadFailed = 3,
+		VRSettingsError_JsonParseFailed = 4,
+		VRSettingsError_UnsetSettingHasNoDefault = 5, // This will be returned if the setting does not appear in the appropriate default file and has not been set
+	};
+
+	// The maximum length of a settings key
+	static const uint32_t k_unMaxSettingsKeyLength = 128;
+
+	class IVRSettings
+	{
+	public:
+		virtual const char *GetSettingsErrorNameFromEnum( EVRSettingsError eError ) = 0;
+
+		// Returns true if file sync occurred (force or settings dirty)
+		virtual bool Sync( bool bForce = false, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void SetBool( const char *pchSection, const char *pchSettingsKey, bool bValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetFloat( const char *pchSection, const char *pchSettingsKey, float flValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetString( const char *pchSection, const char *pchSettingsKey, const char *pchValue, EVRSettingsError *peError = nullptr ) = 0;
+
+		// Users of the system need to provide a proper default in default.vrsettings in the resources/settings/ directory
+		// of either the runtime or the driver_xxx directory. Otherwise the default will be false, 0, 0.0 or ""
+		virtual bool GetBool( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual int32_t GetInt32( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual float GetFloat( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void GetString( const char *pchSection, const char *pchSettingsKey, VR_OUT_STRING() char *pchValue, uint32_t unValueLen, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void RemoveSection( const char *pchSection, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void RemoveKeyInSection( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+	};
+
+	//-----------------------------------------------------------------------------
+	static const char * const IVRSettings_Version = "IVRSettings_002";
+
+	//-----------------------------------------------------------------------------
+	// steamvr keys
+	static const char * const k_pch_SteamVR_Section = "steamvr";
+	static const char * const k_pch_SteamVR_RequireHmd_String = "requireHmd";
+	static const char * const k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+	static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+	static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+	static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+	static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+	static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+	static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps";
+	static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+	static const char * const k_pch_SteamVR_IPD_Float = "ipd";
+	static const char * const k_pch_SteamVR_Background_String = "background";
+	static const char * const k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+	static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+	static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+	static const char * const k_pch_SteamVR_GridColor_String = "gridColor";
+	static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+	static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage";
+	static const char * const k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+	static const char * const k_pch_SteamVR_DirectMode_Bool = "directMode";
+	static const char * const k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+	static const char * const k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+	static const char * const k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+	static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+	static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+	static const char * const k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+	static const char * const k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+	static const char * const k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+
+	//-----------------------------------------------------------------------------
+	// lighthouse keys
+	static const char * const k_pch_Lighthouse_Section = "driver_lighthouse";
+	static const char * const k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+	static const char * const k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+	static const char * const k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+	static const char * const k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+	static const char * const k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+
+	//-----------------------------------------------------------------------------
+	// null keys
+	static const char * const k_pch_Null_Section = "driver_null";
+	static const char * const k_pch_Null_SerialNumber_String = "serialNumber";
+	static const char * const k_pch_Null_ModelNumber_String = "modelNumber";
+	static const char * const k_pch_Null_WindowX_Int32 = "windowX";
+	static const char * const k_pch_Null_WindowY_Int32 = "windowY";
+	static const char * const k_pch_Null_WindowWidth_Int32 = "windowWidth";
+	static const char * const k_pch_Null_WindowHeight_Int32 = "windowHeight";
+	static const char * const k_pch_Null_RenderWidth_Int32 = "renderWidth";
+	static const char * const k_pch_Null_RenderHeight_Int32 = "renderHeight";
+	static const char * const k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+	static const char * const k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+
+	//-----------------------------------------------------------------------------
+	// user interface keys
+	static const char * const k_pch_UserInterface_Section = "userinterface";
+	static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+	static const char * const k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+	static const char * const k_pch_UserInterface_Screenshots_Bool = "screenshots";
+	static const char * const k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+
+	//-----------------------------------------------------------------------------
+	// notification keys
+	static const char * const k_pch_Notifications_Section = "notifications";
+	static const char * const k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+
+	//-----------------------------------------------------------------------------
+	// keyboard keys
+	static const char * const k_pch_Keyboard_Section = "keyboard";
+	static const char * const k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+	static const char * const k_pch_Keyboard_ScaleX = "ScaleX";
+	static const char * const k_pch_Keyboard_ScaleY = "ScaleY";
+	static const char * const k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+	static const char * const k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+	static const char * const k_pch_Keyboard_OffsetY = "OffsetY";
+	static const char * const k_pch_Keyboard_Smoothing = "Smoothing";
+
+	//-----------------------------------------------------------------------------
+	// perf keys
+	static const char * const k_pch_Perf_Section = "perfcheck";
+	static const char * const k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+	static const char * const k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+	static const char * const k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+
+	//-----------------------------------------------------------------------------
+	// collision bounds keys
+	static const char * const k_pch_CollisionBounds_Section = "collisionBounds";
+	static const char * const k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+	static const char * const k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+	static const char * const k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+	static const char * const k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+	static const char * const k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+	static const char * const k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+	static const char * const k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+	static const char * const k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+	static const char * const k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+
+	//-----------------------------------------------------------------------------
+	// camera keys
+	static const char * const k_pch_Camera_Section = "camera";
+	static const char * const k_pch_Camera_EnableCamera_Bool = "enableCamera";
+	static const char * const k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+	static const char * const k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+	static const char * const k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+	static const char * const k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+	static const char * const k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+	static const char * const k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+	static const char * const k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+	static const char * const k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+
+	//-----------------------------------------------------------------------------
+	// audio keys
+	static const char * const k_pch_audio_Section = "audio";
+	static const char * const k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+	static const char * const k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+	static const char * const k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+	static const char * const k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+	static const char * const k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+	static const char * const k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+
+	//-----------------------------------------------------------------------------
+	// power management keys
+	static const char * const k_pch_Power_Section = "power";
+	static const char * const k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+	static const char * const k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+
+	//-----------------------------------------------------------------------------
+	// dashboard keys
+	static const char * const k_pch_Dashboard_Section = "dashboard";
+	static const char * const k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+	static const char * const k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+
+	//-----------------------------------------------------------------------------
+	// model skin keys
+	static const char * const k_pch_modelskin_Section = "modelskins";
+
+	//-----------------------------------------------------------------------------
+	// driver keys - These could be checked in any driver_<name> section
+	static const char * const k_pch_Driver_Enable_Bool = "enable";
+
+} // namespace vr
+
+// ivrchaperone.h
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+enum ChaperoneCalibrationState
+{
+	// OK!
+	ChaperoneCalibrationState_OK = 1,									// Chaperone is fully calibrated and working correctly
+
+	// Warnings
+	ChaperoneCalibrationState_Warning = 100,
+	ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved = 101,	// A base station thinks that it might have moved
+	ChaperoneCalibrationState_Warning_BaseStationRemoved = 102,			// There are less base stations than when calibrated
+	ChaperoneCalibrationState_Warning_SeatedBoundsInvalid = 103,		// Seated bounds haven't been calibrated for the current tracking center
+
+	// Errors
+	ChaperoneCalibrationState_Error = 200,								// The UniverseID is invalid
+	ChaperoneCalibrationState_Error_BaseStationUninitialized = 201,		// Tracking center hasn't be calibrated for at least one of the base stations
+	ChaperoneCalibrationState_Error_BaseStationConflict = 202,			// Tracking center is calibrated, but base stations disagree on the tracking space
+	ChaperoneCalibrationState_Error_PlayAreaInvalid = 203,				// Play Area hasn't been calibrated for the current tracking center
+	ChaperoneCalibrationState_Error_CollisionBoundsInvalid = 204,		// Collision Bounds haven't been calibrated for the current tracking center
+};
+
+
+/** HIGH LEVEL TRACKING SPACE ASSUMPTIONS:
+* 0,0,0 is the preferred standing area center.
+* 0Y is the floor height.
+* -Z is the preferred forward facing direction. */
+class IVRChaperone
+{
+public:
+
+	/** Get the current state of Chaperone calibration. This state can change at any time during a session due to physical base station changes. **/
+	virtual ChaperoneCalibrationState GetCalibrationState() = 0;
+
+	/** Returns the width and depth of the Play Area (formerly named Soft Bounds) in X and Z. 
+	* Tracking space center (0,0,0) is the center of the Play Area. **/
+	virtual bool GetPlayAreaSize( float *pSizeX, float *pSizeZ ) = 0;
+
+	/** Returns the 4 corner positions of the Play Area (formerly named Soft Bounds).
+	* Corners are in counter-clockwise order.
+	* Standing center (0,0,0) is the center of the Play Area.
+	* It's a rectangle.
+	* 2 sides are parallel to the X axis and 2 sides are parallel to the Z axis.
+	* Height of every corner is 0Y (on the floor). **/
+	virtual bool GetPlayAreaRect( HmdQuad_t *rect ) = 0;
+
+	/** Reload Chaperone data from the .vrchap file on disk. */
+	virtual void ReloadInfo( void ) = 0;
+
+	/** Optionally give the chaperone system a hit about the color and brightness in the scene **/
+	virtual void SetSceneColor( HmdColor_t color ) = 0;
+
+	/** Get the current chaperone bounds draw color and brightness **/
+	virtual void GetBoundsColor( HmdColor_t *pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, HmdColor_t *pOutputCameraColor ) = 0;
+
+	/** Determine whether the bounds are showing right now **/
+	virtual bool AreBoundsVisible() = 0;
+
+	/** Force the bounds to show, mostly for utilities **/
+	virtual void ForceBoundsVisible( bool bForce ) = 0;
+};
+
+static const char * const IVRChaperone_Version = "IVRChaperone_003";
+
+#pragma pack( pop )
+
+}
+
+// ivrchaperonesetup.h
+namespace vr
+{
+
+enum EChaperoneConfigFile
+{
+	EChaperoneConfigFile_Live = 1,		// The live chaperone config, used by most applications and games
+	EChaperoneConfigFile_Temp = 2,		// The temporary chaperone config, used to live-preview collision bounds in room setup
+};
+
+enum EChaperoneImportFlags
+{
+	EChaperoneImport_BoundsOnly = 0x0001,
+};
+
+/** Manages the working copy of the chaperone info. By default this will be the same as the 
+* live copy. Any changes made with this interface will stay in the working copy until 
+* CommitWorkingCopy() is called, at which point the working copy and the live copy will be 
+* the same again. */
+class IVRChaperoneSetup
+{
+public:
+
+	/** Saves the current working copy to disk */
+	virtual bool CommitWorkingCopy( EChaperoneConfigFile configFile ) = 0;
+
+	/** Reverts the working copy to match the live chaperone calibration.
+	* To modify existing data this MUST be do WHILE getting a non-error ChaperoneCalibrationStatus.
+	* Only after this should you do gets and sets on the existing data. */
+	virtual void RevertWorkingCopy() = 0;
+
+	/** Returns the width and depth of the Play Area (formerly named Soft Bounds) in X and Z from the working copy.
+	* Tracking space center (0,0,0) is the center of the Play Area. */
+	virtual bool GetWorkingPlayAreaSize( float *pSizeX, float *pSizeZ ) = 0;
+
+	/** Returns the 4 corner positions of the Play Area (formerly named Soft Bounds) from the working copy.
+	* Corners are in clockwise order.
+	* Tracking space center (0,0,0) is the center of the Play Area.
+	* It's a rectangle.
+	* 2 sides are parallel to the X axis and 2 sides are parallel to the Z axis.
+	* Height of every corner is 0Y (on the floor). **/
+	virtual bool GetWorkingPlayAreaRect( HmdQuad_t *rect ) = 0;
+
+	/** Returns the number of Quads if the buffer points to null. Otherwise it returns Quads 
+	* into the buffer up to the max specified from the working copy. */
+	virtual bool GetWorkingCollisionBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0;
+
+	/** Returns the number of Quads if the buffer points to null. Otherwise it returns Quads 
+	* into the buffer up to the max specified. */
+	virtual bool GetLiveCollisionBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0;
+
+	/** Returns the preferred seated position from the working copy. */
+	virtual bool GetWorkingSeatedZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatSeatedZeroPoseToRawTrackingPose ) = 0;
+
+	/** Returns the standing origin from the working copy. */
+	virtual bool GetWorkingStandingZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatStandingZeroPoseToRawTrackingPose ) = 0;
+
+	/** Sets the Play Area in the working copy. */
+	virtual void SetWorkingPlayAreaSize( float sizeX, float sizeZ ) = 0;
+
+	/** Sets the Collision Bounds in the working copy. */
+	virtual void SetWorkingCollisionBoundsInfo( VR_ARRAY_COUNT(unQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t unQuadsCount ) = 0;
+
+	/** Sets the preferred seated position in the working copy. */
+	virtual void SetWorkingSeatedZeroPoseToRawTrackingPose( const HmdMatrix34_t *pMatSeatedZeroPoseToRawTrackingPose ) = 0;
+
+	/** Sets the preferred standing position in the working copy. */
+	virtual void SetWorkingStandingZeroPoseToRawTrackingPose( const HmdMatrix34_t *pMatStandingZeroPoseToRawTrackingPose ) = 0;
+
+	/** Tear everything down and reload it from the file on disk */
+	virtual void ReloadFromDisk( EChaperoneConfigFile configFile ) = 0;
+
+	/** Returns the preferred seated position. */
+	virtual bool GetLiveSeatedZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatSeatedZeroPoseToRawTrackingPose ) = 0;
+
+	virtual void SetWorkingCollisionBoundsTagsInfo( VR_ARRAY_COUNT(unTagCount) uint8_t *pTagsBuffer, uint32_t unTagCount ) = 0;
+	virtual bool GetLiveCollisionBoundsTagsInfo( VR_OUT_ARRAY_COUNT(punTagCount) uint8_t *pTagsBuffer, uint32_t *punTagCount ) = 0;
+
+	virtual bool SetWorkingPhysicalBoundsInfo( VR_ARRAY_COUNT(unQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t unQuadsCount ) = 0;
+	virtual bool GetLivePhysicalBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0;
+
+	virtual bool ExportLiveToBuffer( VR_OUT_STRING() char *pBuffer, uint32_t *pnBufferLength ) = 0;
+	virtual bool ImportFromBufferToWorking( const char *pBuffer, uint32_t nImportFlags ) = 0;
+};
+
+static const char * const IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
+
+
+}
+
+// ivrcompositor.h
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+/** Errors that can occur with the VR compositor */
+enum EVRCompositorError
+{
+	VRCompositorError_None						= 0,
+	VRCompositorError_RequestFailed				= 1,
+	VRCompositorError_IncompatibleVersion		= 100,
+	VRCompositorError_DoNotHaveFocus			= 101,
+	VRCompositorError_InvalidTexture			= 102,
+	VRCompositorError_IsNotSceneApplication		= 103,
+	VRCompositorError_TextureIsOnWrongDevice	= 104,
+	VRCompositorError_TextureUsesUnsupportedFormat = 105,
+	VRCompositorError_SharedTexturesNotSupported = 106,
+	VRCompositorError_IndexOutOfRange			= 107,
+	VRCompositorError_AlreadySubmitted			= 108,
+};
+
+const uint32_t VRCompositor_ReprojectionReason_Cpu = 0x01;
+const uint32_t VRCompositor_ReprojectionReason_Gpu = 0x02;
+const uint32_t VRCompositor_ReprojectionAsync      = 0x04;	// This flag indicates the async reprojection mode is active,
+															// but does not indicate if reprojection actually happened or not.
+															// Use the ReprojectionReason flags above to check if reprojection
+															// was actually applied (i.e. scene texture was reused).
+															// NumFramePresents > 1 also indicates the scene texture was reused,
+															// and also the number of times that it was presented in total.
+
+/** Provides a single frame's timing information to the app */
+struct Compositor_FrameTiming
+{
+	uint32_t m_nSize; // Set to sizeof( Compositor_FrameTiming )
+	uint32_t m_nFrameIndex;
+	uint32_t m_nNumFramePresents; // number of times this frame was presented
+	uint32_t m_nNumMisPresented; // number of times this frame was presented on a vsync other than it was originally predicted to
+	uint32_t m_nNumDroppedFrames; // number of additional times previous frame was scanned out
+	uint32_t m_nReprojectionFlags;
+
+	/** Absolute time reference for comparing frames.  This aligns with the vsync that running start is relative to. */
+	double m_flSystemTimeInSeconds;
+
+	/** These times may include work from other processes due to OS scheduling.
+	* The fewer packets of work these are broken up into, the less likely this will happen.
+	* GPU work can be broken up by calling Flush.  This can sometimes be useful to get the GPU started
+	* processing that work earlier in the frame. */
+	float m_flPreSubmitGpuMs; // time spent rendering the scene (gpu work submitted between WaitGetPoses and second Submit)
+	float m_flPostSubmitGpuMs; // additional time spent rendering by application (e.g. companion window)
+	float m_flTotalRenderGpuMs; // time between work submitted immediately after present (ideally vsync) until the end of compositor submitted work
+	float m_flCompositorRenderGpuMs; // time spend performing distortion correction, rendering chaperone, overlays, etc.
+	float m_flCompositorRenderCpuMs; // time spent on cpu submitting the above work for this frame
+	float m_flCompositorIdleCpuMs; // time spent waiting for running start (application could have used this much more time)
+
+	/** Miscellaneous measured intervals. */
+	float m_flClientFrameIntervalMs; // time between calls to WaitGetPoses
+	float m_flPresentCallCpuMs; // time blocked on call to present (usually 0.0, but can go long)
+	float m_flWaitForPresentCpuMs; // time spent spin-waiting for frame index to change (not near-zero indicates wait object failure)
+	float m_flSubmitFrameMs; // time spent in IVRCompositor::Submit (not near-zero indicates driver issue)
+
+	/** The following are all relative to this frame's SystemTimeInSeconds */
+	float m_flWaitGetPosesCalledMs;
+	float m_flNewPosesReadyMs;
+	float m_flNewFrameReadyMs; // second call to IVRCompositor::Submit
+	float m_flCompositorUpdateStartMs;
+	float m_flCompositorUpdateEndMs;
+	float m_flCompositorRenderStartMs;
+
+	vr::TrackedDevicePose_t m_HmdPose; // pose used by app to render this frame
+};
+
+/** Cumulative stats for current application.  These are not cleared until a new app connects,
+* but they do stop accumulating once the associated app disconnects. */
+struct Compositor_CumulativeStats
+{
+	uint32_t m_nPid; // Process id associated with these stats (may no longer be running).
+	uint32_t m_nNumFramePresents; // total number of times we called present (includes reprojected frames)
+	uint32_t m_nNumDroppedFrames; // total number of times an old frame was re-scanned out (without reprojection)
+	uint32_t m_nNumReprojectedFrames; // total number of times a frame was scanned out a second time (with reprojection)
+
+	/** Values recorded at startup before application has fully faded in the first time. */
+	uint32_t m_nNumFramePresentsOnStartup;
+	uint32_t m_nNumDroppedFramesOnStartup;
+	uint32_t m_nNumReprojectedFramesOnStartup;
+
+	/** Applications may explicitly fade to the compositor.  This is usually to handle level transitions, and loading often causes
+	* system wide hitches.  The following stats are collected during this period.  Does not include values recorded during startup. */
+	uint32_t m_nNumLoading;
+	uint32_t m_nNumFramePresentsLoading;
+	uint32_t m_nNumDroppedFramesLoading;
+	uint32_t m_nNumReprojectedFramesLoading;
+
+	/** If we don't get a new frame from the app in less than 2.5 frames, then we assume the app has hung and start
+	* fading back to the compositor.  The following stats are a result of this, and are a subset of those recorded above.
+	* Does not include values recorded during start up or loading. */
+	uint32_t m_nNumTimedOut;
+	uint32_t m_nNumFramePresentsTimedOut;
+	uint32_t m_nNumDroppedFramesTimedOut;
+	uint32_t m_nNumReprojectedFramesTimedOut;
+};
+
+#pragma pack( pop )
+
+/** Allows the application to interact with the compositor */
+class IVRCompositor
+{
+public:
+	/** Sets tracking space returned by WaitGetPoses */
+	virtual void SetTrackingSpace( ETrackingUniverseOrigin eOrigin ) = 0;
+
+	/** Gets current tracking space returned by WaitGetPoses */
+	virtual ETrackingUniverseOrigin GetTrackingSpace() = 0;
+
+	/** Scene applications should call this function to get poses to render with (and optionally poses predicted an additional frame out to use for gameplay).
+	* This function will block until "running start" milliseconds before the start of the frame, and should be called at the last moment before needing to
+	* start rendering.
+	*
+	* Return codes:
+	*	- IsNotSceneApplication (make sure to call VR_Init with VRApplicaiton_Scene)
+	*	- DoNotHaveFocus (some other app has taken focus - this will throttle the call to 10hz to reduce the impact on that app)
+	*/
+	virtual EVRCompositorError WaitGetPoses( VR_ARRAY_COUNT(unRenderPoseArrayCount) TrackedDevicePose_t* pRenderPoseArray, uint32_t unRenderPoseArrayCount,
+		VR_ARRAY_COUNT(unGamePoseArrayCount) TrackedDevicePose_t* pGamePoseArray, uint32_t unGamePoseArrayCount ) = 0;
+
+	/** Get the last set of poses returned by WaitGetPoses. */
+	virtual EVRCompositorError GetLastPoses( VR_ARRAY_COUNT( unRenderPoseArrayCount ) TrackedDevicePose_t* pRenderPoseArray, uint32_t unRenderPoseArrayCount,
+		VR_ARRAY_COUNT( unGamePoseArrayCount ) TrackedDevicePose_t* pGamePoseArray, uint32_t unGamePoseArrayCount ) = 0;
+
+	/** Interface for accessing last set of poses returned by WaitGetPoses one at a time.
+	* Returns VRCompositorError_IndexOutOfRange if unDeviceIndex not less than k_unMaxTrackedDeviceCount otherwise VRCompositorError_None.
+	* It is okay to pass NULL for either pose if you only want one of the values. */
+	virtual EVRCompositorError GetLastPoseForTrackedDeviceIndex( TrackedDeviceIndex_t unDeviceIndex, TrackedDevicePose_t *pOutputPose, TrackedDevicePose_t *pOutputGamePose ) = 0;
+
+	/** Updated scene texture to display. If pBounds is NULL the entire texture will be used.  If called from an OpenGL app, consider adding a glFlush after
+	* Submitting both frames to signal the driver to start processing, otherwise it may wait until the command buffer fills up, causing the app to miss frames.
+	*
+	* OpenGL dirty state:
+	*	glBindTexture
+	*
+	* Return codes:
+	*	- IsNotSceneApplication (make sure to call VR_Init with VRApplicaiton_Scene)
+	*	- DoNotHaveFocus (some other app has taken focus)
+	*	- TextureIsOnWrongDevice (application did not use proper AdapterIndex - see IVRSystem.GetDXGIOutputInfo)
+	*	- SharedTexturesNotSupported (application needs to call CreateDXGIFactory1 or later before creating DX device)
+	*	- TextureUsesUnsupportedFormat (scene textures must be compatible with DXGI sharing rules - e.g. uncompressed, no mips, etc.)
+	*	- InvalidTexture (usually means bad arguments passed in)
+	*	- AlreadySubmitted (app has submitted two left textures or two right textures in a single frame - i.e. before calling WaitGetPoses again)
+	*/
+	virtual EVRCompositorError Submit( EVREye eEye, const Texture_t *pTexture, const VRTextureBounds_t* pBounds = 0, EVRSubmitFlags nSubmitFlags = Submit_Default ) = 0;
+
+	/** Clears the frame that was sent with the last call to Submit. This will cause the 
+	* compositor to show the grid until Submit is called again. */
+	virtual void ClearLastSubmittedFrame() = 0;
+
+	/** Call immediately after presenting your app's window (i.e. companion window) to unblock the compositor.
+	* This is an optional call, which only needs to be used if you can't instead call WaitGetPoses immediately after Present.
+	* For example, if your engine's render and game loop are not on separate threads, or blocking the render thread until 3ms before the next vsync would
+	* introduce a deadlock of some sort.  This function tells the compositor that you have finished all rendering after having Submitted buffers for both
+	* eyes, and it is free to start its rendering work.  This should only be called from the same thread you are rendering on. */
+	virtual void PostPresentHandoff() = 0;
+
+	/** Returns true if timing data is filled it.  Sets oldest timing info if nFramesAgo is larger than the stored history.
+	* Be sure to set timing.size = sizeof(Compositor_FrameTiming) on struct passed in before calling this function. */
+	virtual bool GetFrameTiming( Compositor_FrameTiming *pTiming, uint32_t unFramesAgo = 0 ) = 0;
+
+	/** Interface for copying a range of timing data.  Frames are returned in ascending order (oldest to newest) with the last being the most recent frame.
+	* Only the first entry's m_nSize needs to be set, as the rest will be inferred from that.  Returns total number of entries filled out. */
+	virtual uint32_t GetFrameTimings( Compositor_FrameTiming *pTiming, uint32_t nFrames ) = 0;
+
+	/** Returns the time in seconds left in the current (as identified by FrameTiming's frameIndex) frame.
+	* Due to "running start", this value may roll over to the next frame before ever reaching 0.0. */
+	virtual float GetFrameTimeRemaining() = 0;
+
+	/** Fills out stats accumulated for the last connected application.  Pass in sizeof( Compositor_CumulativeStats ) as second parameter. */
+	virtual void GetCumulativeStats( Compositor_CumulativeStats *pStats, uint32_t nStatsSizeInBytes ) = 0;
+
+	/** Fades the view on the HMD to the specified color. The fade will take fSeconds, and the color values are between
+	* 0.0 and 1.0. This color is faded on top of the scene based on the alpha parameter. Removing the fade color instantly 
+	* would be FadeToColor( 0.0, 0.0, 0.0, 0.0, 0.0 ).  Values are in un-premultiplied alpha space. */
+	virtual void FadeToColor( float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground = false ) = 0;
+
+	/** Get current fade color value. */
+	virtual HmdColor_t GetCurrentFadeColor( bool bBackground = false ) = 0;
+
+	/** Fading the Grid in or out in fSeconds */
+	virtual void FadeGrid( float fSeconds, bool bFadeIn ) = 0;
+
+	/** Get current alpha value of grid. */
+	virtual float GetCurrentGridAlpha() = 0;
+
+	/** Override the skybox used in the compositor (e.g. for during level loads when the app can't feed scene images fast enough)
+	* Order is Front, Back, Left, Right, Top, Bottom.  If only a single texture is passed, it is assumed in lat-long format.
+	* If two are passed, it is assumed a lat-long stereo pair. */
+	virtual EVRCompositorError SetSkyboxOverride( VR_ARRAY_COUNT( unTextureCount ) const Texture_t *pTextures, uint32_t unTextureCount ) = 0;
+
+	/** Resets compositor skybox back to defaults. */
+	virtual void ClearSkyboxOverride() = 0;
+
+	/** Brings the compositor window to the front. This is useful for covering any other window that may be on the HMD
+	* and is obscuring the compositor window. */
+	virtual void CompositorBringToFront() = 0;
+
+	/** Pushes the compositor window to the back. This is useful for allowing other applications to draw directly to the HMD. */
+	virtual void CompositorGoToBack() = 0;
+
+	/** Tells the compositor process to clean up and exit. You do not need to call this function at shutdown. Under normal 
+	* circumstances the compositor will manage its own life cycle based on what applications are running. */
+	virtual void CompositorQuit() = 0;
+	
+	/** Return whether the compositor is fullscreen */
+	virtual bool IsFullscreen() = 0;
+
+	/** Returns the process ID of the process that is currently rendering the scene */
+	virtual uint32_t GetCurrentSceneFocusProcess() = 0;
+
+	/** Returns the process ID of the process that rendered the last frame (or 0 if the compositor itself rendered the frame.)
+	* Returns 0 when fading out from an app and the app's process Id when fading into an app. */
+	virtual uint32_t GetLastFrameRenderer() = 0;
+
+	/** Returns true if the current process has the scene focus */
+	virtual bool CanRenderScene() = 0;
+
+	/** Creates a window on the primary monitor to display what is being shown in the headset. */
+	virtual void ShowMirrorWindow() = 0;
+
+	/** Closes the mirror window. */
+	virtual void HideMirrorWindow() = 0;
+
+	/** Returns true if the mirror window is shown. */
+	virtual bool IsMirrorWindowVisible() = 0;
+
+	/** Writes all images that the compositor knows about (including overlays) to a 'screenshots' folder in the SteamVR runtime root. */
+	virtual void CompositorDumpImages() = 0;
+
+	/** Let an app know it should be rendering with low resources. */
+	virtual bool ShouldAppRenderWithLowResources() = 0;
+
+	/** Override interleaved reprojection logic to force on. */
+	virtual void ForceInterleavedReprojectionOn( bool bOverride ) = 0;
+
+	/** Force reconnecting to the compositor process. */
+	virtual void ForceReconnectProcess() = 0;
+
+	/** Temporarily suspends rendering (useful for finer control over scene transitions). */
+	virtual void SuspendRendering( bool bSuspend ) = 0;
+
+	/** Opens a shared D3D11 texture with the undistorted composited image for each eye.  Use ReleaseMirrorTextureD3D11 when finished
+	* instead of calling Release on the resource itself. */
+	virtual vr::EVRCompositorError GetMirrorTextureD3D11( vr::EVREye eEye, void *pD3D11DeviceOrResource, void **ppD3D11ShaderResourceView ) = 0;
+	virtual void ReleaseMirrorTextureD3D11( void *pD3D11ShaderResourceView ) = 0;
+
+	/** Access to mirror textures from OpenGL. */
+	virtual vr::EVRCompositorError GetMirrorTextureGL( vr::EVREye eEye, vr::glUInt_t *pglTextureId, vr::glSharedTextureHandle_t *pglSharedTextureHandle ) = 0;
+	virtual bool ReleaseSharedGLTexture( vr::glUInt_t glTextureId, vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0;
+	virtual void LockGLSharedTextureForAccess( vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0;
+	virtual void UnlockGLSharedTextureForAccess( vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0;
+
+	/** [Vulkan Only]
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null.  The string will be a space separated list of-required instance extensions to enable in VkCreateInstance */
+	virtual uint32_t GetVulkanInstanceExtensionsRequired( VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+
+	/** [Vulkan only]
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null.  The string will be a space separated list of required device extensions to enable in VkCreateDevice */
+	virtual uint32_t GetVulkanDeviceExtensionsRequired( VkPhysicalDevice_T *pPhysicalDevice, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+
+};
+
+static const char * const IVRCompositor_Version = "IVRCompositor_020";
+
+} // namespace vr
+
+
+
+// ivrnotifications.h
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+// Used for passing graphic data
+struct NotificationBitmap_t
+{
+	NotificationBitmap_t()
+		: m_pImageData( nullptr )
+		, m_nWidth( 0 )
+		, m_nHeight( 0 )
+		, m_nBytesPerPixel( 0 )
+	{
+	};
+
+	void *m_pImageData;
+	int32_t m_nWidth;
+	int32_t m_nHeight;
+	int32_t m_nBytesPerPixel;
+};
+
+
+/** Be aware that the notification type is used as 'priority' to pick the next notification */
+enum EVRNotificationType
+{
+	/** Transient notifications are automatically hidden after a period of time set by the user. 
+	* They are used for things like information and chat messages that do not require user interaction. */
+	EVRNotificationType_Transient = 0,
+
+	/** Persistent notifications are shown to the user until they are hidden by calling RemoveNotification().
+	* They are used for things like phone calls and alarms that require user interaction. */
+	EVRNotificationType_Persistent = 1,
+
+	/** System notifications are shown no matter what. It is expected, that the ulUserValue is used as ID.
+	 * If there is already a system notification in the queue with that ID it is not accepted into the queue
+	 * to prevent spamming with system notification */
+	EVRNotificationType_Transient_SystemWithUserValue = 2,
+};
+
+enum EVRNotificationStyle
+{
+	/** Creates a notification with minimal external styling. */
+	EVRNotificationStyle_None = 0,
+
+	/** Used for notifications about overlay-level status. In Steam this is used for events like downloads completing. */
+	EVRNotificationStyle_Application = 100,
+
+	/** Used for notifications about contacts that are unknown or not available. In Steam this is used for friend invitations and offline friends. */
+	EVRNotificationStyle_Contact_Disabled = 200,
+
+	/** Used for notifications about contacts that are available but inactive. In Steam this is used for friends that are online but not playing a game. */
+	EVRNotificationStyle_Contact_Enabled = 201,
+
+	/** Used for notifications about contacts that are available and active. In Steam this is used for friends that are online and currently running a game. */
+	EVRNotificationStyle_Contact_Active = 202,
+};
+
+static const uint32_t k_unNotificationTextMaxSize = 256;
+
+typedef uint32_t VRNotificationId;
+
+
+
+#pragma pack( pop )
+
+/** Allows notification sources to interact with the VR system
+	This current interface is not yet implemented. Do not use yet. */
+class IVRNotifications
+{
+public:
+	/** Create a notification and enqueue it to be shown to the user.
+	* An overlay handle is required to create a notification, as otherwise it would be impossible for a user to act on it.
+	* To create a two-line notification, use a line break ('\n') to split the text into two lines.
+	* The pImage argument may be NULL, in which case the specified overlay's icon will be used instead. */
+	virtual EVRNotificationError CreateNotification( VROverlayHandle_t ulOverlayHandle, uint64_t ulUserValue, EVRNotificationType type, const char *pchText, EVRNotificationStyle style, const NotificationBitmap_t *pImage, /* out */ VRNotificationId *pNotificationId ) = 0;
+
+	/** Destroy a notification, hiding it first if it currently shown to the user. */
+	virtual EVRNotificationError RemoveNotification( VRNotificationId notificationId ) = 0;
+
+};
+
+static const char * const IVRNotifications_Version = "IVRNotifications_002";
+
+} // namespace vr
+
+
+
+// ivroverlay.h
+namespace vr
+{
+
+	/** The maximum length of an overlay key in bytes, counting the terminating null character. */
+	static const uint32_t k_unVROverlayMaxKeyLength = 128;
+
+	/** The maximum length of an overlay name in bytes, counting the terminating null character. */
+	static const uint32_t k_unVROverlayMaxNameLength = 128;
+
+	/** The maximum number of overlays that can exist in the system at one time. */
+	static const uint32_t k_unMaxOverlayCount = 64;
+
+	/** The maximum number of overlay intersection mask primitives per overlay */
+	static const uint32_t k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
+
+	/** Types of input supported by VR Overlays */
+	enum VROverlayInputMethod
+	{
+		VROverlayInputMethod_None		= 0, // No input events will be generated automatically for this overlay
+		VROverlayInputMethod_Mouse		= 1, // Tracked controllers will get mouse events automatically
+	};
+
+	/** Allows the caller to figure out which overlay transform getter to call. */
+	enum VROverlayTransformType
+	{
+		VROverlayTransform_Absolute					= 0,
+		VROverlayTransform_TrackedDeviceRelative	= 1,
+		VROverlayTransform_SystemOverlay			= 2,
+		VROverlayTransform_TrackedComponent 		= 3,
+	};
+
+	/** Overlay control settings */
+	enum VROverlayFlags
+	{
+		VROverlayFlags_None			= 0,
+
+		// The following only take effect when rendered using the high quality render path (see SetHighQualityOverlay).
+		VROverlayFlags_Curved		= 1,
+		VROverlayFlags_RGSS4X		= 2,
+
+		// Set this flag on a dashboard overlay to prevent a tab from showing up for that overlay
+		VROverlayFlags_NoDashboardTab = 3,
+
+		// Set this flag on a dashboard that is able to deal with gamepad focus events
+		VROverlayFlags_AcceptsGamepadEvents = 4,
+
+		// Indicates that the overlay should dim/brighten to show gamepad focus
+		VROverlayFlags_ShowGamepadFocus = 5,
+
+		// When in VROverlayInputMethod_Mouse you can optionally enable sending VRScroll_t 
+		VROverlayFlags_SendVRScrollEvents = 6,
+		VROverlayFlags_SendVRTouchpadEvents = 7,
+
+		// If set this will render a vertical scroll wheel on the primary controller, 
+		//  only needed if not using VROverlayFlags_SendVRScrollEvents but you still want to represent a scroll wheel
+		VROverlayFlags_ShowTouchPadScrollWheel = 8,
+
+		// If this is set ownership and render access to the overlay are transferred 
+		// to the new scene process on a call to IVRApplications::LaunchInternalProcess
+		VROverlayFlags_TransferOwnershipToInternalProcess = 9,
+
+		// If set, renders 50% of the texture in each eye, side by side
+		VROverlayFlags_SideBySide_Parallel = 10, // Texture is left/right
+		VROverlayFlags_SideBySide_Crossed = 11, // Texture is crossed and right/left
+
+		VROverlayFlags_Panorama = 12, // Texture is a panorama
+		VROverlayFlags_StereoPanorama = 13, // Texture is a stereo panorama
+
+		// If this is set on an overlay owned by the scene application that overlay
+		// will be sorted with the "Other" overlays on top of all other scene overlays
+		VROverlayFlags_SortWithNonSceneOverlays = 14,
+
+		// If set, the overlay will be shown in the dashboard, otherwise it will be hidden.
+		VROverlayFlags_VisibleInDashboard = 15,
+	};
+
+	enum VRMessageOverlayResponse
+	{
+		VRMessageOverlayResponse_ButtonPress_0 = 0,
+		VRMessageOverlayResponse_ButtonPress_1 = 1,
+		VRMessageOverlayResponse_ButtonPress_2 = 2,
+		VRMessageOverlayResponse_ButtonPress_3 = 3,
+		VRMessageOverlayResponse_CouldntFindSystemOverlay = 4,
+		VRMessageOverlayResponse_CouldntFindOrCreateClientOverlay= 5,
+		VRMessageOverlayResponse_ApplicationQuit = 6
+	};
+
+	struct VROverlayIntersectionParams_t
+	{
+		HmdVector3_t vSource;
+		HmdVector3_t vDirection;
+		ETrackingUniverseOrigin eOrigin;
+	};
+
+	struct VROverlayIntersectionResults_t
+	{
+		HmdVector3_t vPoint;
+		HmdVector3_t vNormal;
+		HmdVector2_t vUVs;
+		float fDistance;
+	};
+
+	// Input modes for the Big Picture gamepad text entry
+	enum EGamepadTextInputMode
+	{
+		k_EGamepadTextInputModeNormal = 0,
+		k_EGamepadTextInputModePassword = 1,
+		k_EGamepadTextInputModeSubmit = 2,
+	};
+
+	// Controls number of allowed lines for the Big Picture gamepad text entry
+	enum EGamepadTextInputLineMode
+	{
+		k_EGamepadTextInputLineModeSingleLine = 0,
+		k_EGamepadTextInputLineModeMultipleLines = 1
+	};
+
+	/** Directions for changing focus between overlays with the gamepad */
+	enum EOverlayDirection
+	{
+		OverlayDirection_Up = 0,
+		OverlayDirection_Down = 1,
+		OverlayDirection_Left = 2,
+		OverlayDirection_Right = 3,
+		
+		OverlayDirection_Count = 4,
+	};
+
+	enum EVROverlayIntersectionMaskPrimitiveType
+	{
+		OverlayIntersectionPrimitiveType_Rectangle,
+		OverlayIntersectionPrimitiveType_Circle,
+	};
+
+	struct IntersectionMaskRectangle_t
+	{
+		float m_flTopLeftX;
+		float m_flTopLeftY;
+		float m_flWidth;
+		float m_flHeight;
+	};
+
+	struct IntersectionMaskCircle_t
+	{
+		float m_flCenterX;
+		float m_flCenterY;
+		float m_flRadius;
+	};
+
+	/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py and openvr_api_flat.h.py */
+	typedef union
+	{
+		IntersectionMaskRectangle_t m_Rectangle;
+		IntersectionMaskCircle_t m_Circle;
+	} VROverlayIntersectionMaskPrimitive_Data_t;
+
+	struct VROverlayIntersectionMaskPrimitive_t
+	{
+		EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType;
+		VROverlayIntersectionMaskPrimitive_Data_t m_Primitive;
+	};
+
+	class IVROverlay
+	{
+	public:
+
+		// ---------------------------------------------
+		// Overlay management methods
+		// ---------------------------------------------
+
+		/** Finds an existing overlay with the specified key. */
+		virtual EVROverlayError FindOverlay( const char *pchOverlayKey, VROverlayHandle_t * pOverlayHandle ) = 0;
+
+		/** Creates a new named overlay. All overlays start hidden and with default settings. */
+		virtual EVROverlayError CreateOverlay( const char *pchOverlayKey, const char *pchOverlayName, VROverlayHandle_t * pOverlayHandle ) = 0;
+
+		/** Destroys the specified overlay. When an application calls VR_Shutdown all overlays created by that app are
+		* automatically destroyed. */
+		virtual EVROverlayError DestroyOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Specify which overlay to use the high quality render path.  This overlay will be composited in during the distortion pass which
+		* results in it drawing on top of everything else, but also at a higher quality as it samples the source texture directly rather than
+		* rasterizing into each eye's render texture first.  Because if this, only one of these is supported at any given time.  It is most useful
+		* for overlays that are expected to take up most of the user's view (e.g. streaming video).
+		* This mode does not support mouse input to your overlay. */
+		virtual EVROverlayError SetHighQualityOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Returns the overlay handle of the current overlay being rendered using the single high quality overlay render path.
+		* Otherwise it will return k_ulOverlayHandleInvalid. */
+		virtual vr::VROverlayHandle_t GetHighQualityOverlay() = 0;
+
+		/** Fills the provided buffer with the string key of the overlay. Returns the size of buffer required to store the key, including
+		* the terminating null character. k_unVROverlayMaxKeyLength will be enough bytes to fit the string. */
+		virtual uint32_t GetOverlayKey( VROverlayHandle_t ulOverlayHandle, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, EVROverlayError *pError = 0L ) = 0;
+
+		/** Fills the provided buffer with the friendly name of the overlay. Returns the size of buffer required to store the key, including
+		* the terminating null character. k_unVROverlayMaxNameLength will be enough bytes to fit the string. */
+		virtual uint32_t GetOverlayName( VROverlayHandle_t ulOverlayHandle, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, EVROverlayError *pError = 0L ) = 0;
+
+		/** set the name to use for this overlay */
+		virtual EVROverlayError SetOverlayName( VROverlayHandle_t ulOverlayHandle, const char *pchName ) = 0;
+
+		/** Gets the raw image data from an overlay. Overlay image data is always returned as RGBA data, 4 bytes per pixel. If the buffer is not large enough, width and height 
+		* will be set and VROverlayError_ArrayTooSmall is returned. */
+		virtual EVROverlayError GetOverlayImageData( VROverlayHandle_t ulOverlayHandle, void *pvBuffer, uint32_t unBufferSize, uint32_t *punWidth, uint32_t *punHeight ) = 0;
+
+		/** returns a string that corresponds with the specified overlay error. The string will be the name 
+		* of the error enum value for all valid error codes */
+		virtual const char *GetOverlayErrorNameFromEnum( EVROverlayError error ) = 0;
+
+		// ---------------------------------------------
+		// Overlay rendering methods
+		// ---------------------------------------------
+
+		/** Sets the pid that is allowed to render to this overlay (the creator pid is always allow to render),
+		*	by default this is the pid of the process that made the overlay */
+		virtual EVROverlayError SetOverlayRenderingPid( VROverlayHandle_t ulOverlayHandle, uint32_t unPID ) = 0;
+
+		/** Gets the pid that is allowed to render to this overlay */
+		virtual uint32_t GetOverlayRenderingPid( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Specify flag setting for a given overlay */
+		virtual EVROverlayError SetOverlayFlag( VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled ) = 0;
+
+		/** Sets flag setting for a given overlay */
+		virtual EVROverlayError GetOverlayFlag( VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool *pbEnabled ) = 0;
+
+		/** Sets the color tint of the overlay quad. Use 0.0 to 1.0 per channel. */
+		virtual EVROverlayError SetOverlayColor( VROverlayHandle_t ulOverlayHandle, float fRed, float fGreen, float fBlue ) = 0;
+
+		/** Gets the color tint of the overlay quad. */
+		virtual EVROverlayError GetOverlayColor( VROverlayHandle_t ulOverlayHandle, float *pfRed, float *pfGreen, float *pfBlue ) = 0;
+
+		/** Sets the alpha of the overlay quad. Use 1.0 for 100 percent opacity to 0.0 for 0 percent opacity. */
+		virtual EVROverlayError SetOverlayAlpha( VROverlayHandle_t ulOverlayHandle, float fAlpha ) = 0;
+
+		/** Gets the alpha of the overlay quad. By default overlays are rendering at 100 percent alpha (1.0). */
+		virtual EVROverlayError GetOverlayAlpha( VROverlayHandle_t ulOverlayHandle, float *pfAlpha ) = 0;
+
+		/** Sets the aspect ratio of the texels in the overlay. 1.0 means the texels are square. 2.0 means the texels
+		* are twice as wide as they are tall. Defaults to 1.0. */
+		virtual EVROverlayError SetOverlayTexelAspect( VROverlayHandle_t ulOverlayHandle, float fTexelAspect ) = 0;
+
+		/** Gets the aspect ratio of the texels in the overlay. Defaults to 1.0 */
+		virtual EVROverlayError GetOverlayTexelAspect( VROverlayHandle_t ulOverlayHandle, float *pfTexelAspect ) = 0;
+
+		/** Sets the rendering sort order for the overlay. Overlays are rendered this order:
+		*      Overlays owned by the scene application
+		*      Overlays owned by some other application
+		*
+		*	Within a category overlays are rendered lowest sort order to highest sort order. Overlays with the same 
+		*	sort order are rendered back to front base on distance from the HMD.
+		*
+		*	Sort order defaults to 0. */
+		virtual EVROverlayError SetOverlaySortOrder( VROverlayHandle_t ulOverlayHandle, uint32_t unSortOrder ) = 0;
+
+		/** Gets the sort order of the overlay. See SetOverlaySortOrder for how this works. */
+		virtual EVROverlayError GetOverlaySortOrder( VROverlayHandle_t ulOverlayHandle, uint32_t *punSortOrder ) = 0;
+
+		/** Sets the width of the overlay quad in meters. By default overlays are rendered on a quad that is 1 meter across */
+		virtual EVROverlayError SetOverlayWidthInMeters( VROverlayHandle_t ulOverlayHandle, float fWidthInMeters ) = 0;
+
+		/** Returns the width of the overlay quad in meters. By default overlays are rendered on a quad that is 1 meter across */
+		virtual EVROverlayError GetOverlayWidthInMeters( VROverlayHandle_t ulOverlayHandle, float *pfWidthInMeters ) = 0;
+
+		/** For high-quality curved overlays only, sets the distance range in meters from the overlay used to automatically curve
+		* the surface around the viewer.  Min is distance is when the surface will be most curved.  Max is when least curved. */
+		virtual EVROverlayError SetOverlayAutoCurveDistanceRangeInMeters( VROverlayHandle_t ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters ) = 0;
+
+		/** For high-quality curved overlays only, gets the distance range in meters from the overlay used to automatically curve
+		* the surface around the viewer.  Min is distance is when the surface will be most curved.  Max is when least curved. */
+		virtual EVROverlayError GetOverlayAutoCurveDistanceRangeInMeters( VROverlayHandle_t ulOverlayHandle, float *pfMinDistanceInMeters, float *pfMaxDistanceInMeters ) = 0;
+
+		/** Sets the colorspace the overlay texture's data is in.  Defaults to 'auto'.
+		* If the texture needs to be resolved, you should call SetOverlayTexture with the appropriate colorspace instead. */
+		virtual EVROverlayError SetOverlayTextureColorSpace( VROverlayHandle_t ulOverlayHandle, EColorSpace eTextureColorSpace ) = 0;
+
+		/** Gets the overlay's current colorspace setting. */
+		virtual EVROverlayError GetOverlayTextureColorSpace( VROverlayHandle_t ulOverlayHandle, EColorSpace *peTextureColorSpace ) = 0;
+
+		/** Sets the part of the texture to use for the overlay. UV Min is the upper left corner and UV Max is the lower right corner. */
+		virtual EVROverlayError SetOverlayTextureBounds( VROverlayHandle_t ulOverlayHandle, const VRTextureBounds_t *pOverlayTextureBounds ) = 0;
+
+		/** Gets the part of the texture to use for the overlay. UV Min is the upper left corner and UV Max is the lower right corner. */
+		virtual EVROverlayError GetOverlayTextureBounds( VROverlayHandle_t ulOverlayHandle, VRTextureBounds_t *pOverlayTextureBounds ) = 0;
+
+		/** Gets render model to draw behind this overlay */
+		virtual uint32_t GetOverlayRenderModel( vr::VROverlayHandle_t ulOverlayHandle, char *pchValue, uint32_t unBufferSize, HmdColor_t *pColor, vr::EVROverlayError *pError ) = 0;
+
+		/** Sets render model to draw behind this overlay and the vertex color to use, pass null for pColor to match the overlays vertex color. 
+			The model is scaled by the same amount as the overlay, with a default of 1m. */
+		virtual vr::EVROverlayError SetOverlayRenderModel( vr::VROverlayHandle_t ulOverlayHandle, const char *pchRenderModel, const HmdColor_t *pColor ) = 0;
+
+		/** Returns the transform type of this overlay. */
+		virtual EVROverlayError GetOverlayTransformType( VROverlayHandle_t ulOverlayHandle, VROverlayTransformType *peTransformType ) = 0;
+
+		/** Sets the transform to absolute tracking origin. */
+		virtual EVROverlayError SetOverlayTransformAbsolute( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, const HmdMatrix34_t *pmatTrackingOriginToOverlayTransform ) = 0;
+
+		/** Gets the transform if it is absolute. Returns an error if the transform is some other type. */
+		virtual EVROverlayError GetOverlayTransformAbsolute( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin *peTrackingOrigin, HmdMatrix34_t *pmatTrackingOriginToOverlayTransform ) = 0;
+
+		/** Sets the transform to relative to the transform of the specified tracked device. */
+		virtual EVROverlayError SetOverlayTransformTrackedDeviceRelative( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unTrackedDevice, const HmdMatrix34_t *pmatTrackedDeviceToOverlayTransform ) = 0;
+
+		/** Gets the transform if it is relative to a tracked device. Returns an error if the transform is some other type. */
+		virtual EVROverlayError GetOverlayTransformTrackedDeviceRelative( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t *punTrackedDevice, HmdMatrix34_t *pmatTrackedDeviceToOverlayTransform ) = 0;
+
+		/** Sets the transform to draw the overlay on a rendermodel component mesh instead of a quad. This will only draw when the system is
+		* drawing the device. Overlays with this transform type cannot receive mouse events. */
+		virtual EVROverlayError SetOverlayTransformTrackedDeviceComponent( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unDeviceIndex, const char *pchComponentName ) = 0;
+
+		/** Gets the transform information when the overlay is rendering on a component. */
+		virtual EVROverlayError GetOverlayTransformTrackedDeviceComponent( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t *punDeviceIndex, char *pchComponentName, uint32_t unComponentNameSize ) = 0;
+
+		/** Gets the transform if it is relative to another overlay. Returns an error if the transform is some other type. */
+		virtual vr::EVROverlayError GetOverlayTransformOverlayRelative( VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t *ulOverlayHandleParent, HmdMatrix34_t *pmatParentOverlayToOverlayTransform ) = 0;
+		
+		/** Sets the transform to relative to the transform of the specified overlay. This overlays visibility will also track the parents visibility */
+		virtual vr::EVROverlayError SetOverlayTransformOverlayRelative( VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t ulOverlayHandleParent, const HmdMatrix34_t *pmatParentOverlayToOverlayTransform ) = 0;
+
+		/** Shows the VR overlay.  For dashboard overlays, only the Dashboard Manager is allowed to call this. */
+		virtual EVROverlayError ShowOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Hides the VR overlay.  For dashboard overlays, only the Dashboard Manager is allowed to call this. */
+		virtual EVROverlayError HideOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Returns true if the overlay is visible. */
+		virtual bool IsOverlayVisible( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Get the transform in 3d space associated with a specific 2d point in the overlay's coordinate space (where 0,0 is the lower left). -Z points out of the overlay */
+		virtual EVROverlayError GetTransformForOverlayCoordinates( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, HmdVector2_t coordinatesInOverlay, HmdMatrix34_t *pmatTransform ) = 0;
+
+		// ---------------------------------------------
+		// Overlay input methods
+		// ---------------------------------------------
+
+		/** Returns true and fills the event with the next event on the overlay's event queue, if there is one. 
+		* If there are no events this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+		virtual bool PollNextOverlayEvent( VROverlayHandle_t ulOverlayHandle, VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+		/** Returns the current input settings for the specified overlay. */
+		virtual EVROverlayError GetOverlayInputMethod( VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod *peInputMethod ) = 0;
+
+		/** Sets the input settings for the specified overlay. */
+		virtual EVROverlayError SetOverlayInputMethod( VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod eInputMethod ) = 0;
+
+		/** Gets the mouse scaling factor that is used for mouse events. The actual texture may be a different size, but this is
+		* typically the size of the underlying UI in pixels. */
+		virtual EVROverlayError GetOverlayMouseScale( VROverlayHandle_t ulOverlayHandle, HmdVector2_t *pvecMouseScale ) = 0;
+
+		/** Sets the mouse scaling factor that is used for mouse events. The actual texture may be a different size, but this is
+		* typically the size of the underlying UI in pixels (not in world space). */
+		virtual EVROverlayError SetOverlayMouseScale( VROverlayHandle_t ulOverlayHandle, const HmdVector2_t *pvecMouseScale ) = 0;
+
+		/** Computes the overlay-space pixel coordinates of where the ray intersects the overlay with the
+		* specified settings. Returns false if there is no intersection. */
+		virtual bool ComputeOverlayIntersection( VROverlayHandle_t ulOverlayHandle, const VROverlayIntersectionParams_t *pParams, VROverlayIntersectionResults_t *pResults ) = 0;
+
+		/** Processes mouse input from the specified controller as though it were a mouse pointed at a compositor overlay with the
+		* specified settings. The controller is treated like a laser pointer on the -z axis. The point where the laser pointer would
+		* intersect with the overlay is the mouse position, the trigger is left mouse, and the track pad is right mouse. 
+		*
+		* Return true if the controller is pointed at the overlay and an event was generated. */
+		virtual bool HandleControllerOverlayInteractionAsMouse( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unControllerDeviceIndex ) = 0;
+
+		/** Returns true if the specified overlay is the hover target. An overlay is the hover target when it is the last overlay "moused over" 
+		* by the virtual mouse pointer */
+		virtual bool IsHoverTargetOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Returns the current Gamepad focus overlay */
+		virtual vr::VROverlayHandle_t GetGamepadFocusOverlay() = 0;
+
+		/** Sets the current Gamepad focus overlay */
+		virtual EVROverlayError SetGamepadFocusOverlay( VROverlayHandle_t ulNewFocusOverlay ) = 0;
+
+		/** Sets an overlay's neighbor. This will also set the neighbor of the "to" overlay
+		* to point back to the "from" overlay. If an overlay's neighbor is set to invalid both
+		* ends will be cleared */
+		virtual EVROverlayError SetOverlayNeighbor( EOverlayDirection eDirection, VROverlayHandle_t ulFrom, VROverlayHandle_t ulTo ) = 0;
+
+		/** Changes the Gamepad focus from one overlay to one of its neighbors. Returns VROverlayError_NoNeighbor if there is no
+		* neighbor in that direction */
+		virtual EVROverlayError MoveGamepadFocusToNeighbor( EOverlayDirection eDirection, VROverlayHandle_t ulFrom ) = 0;
+
+		// ---------------------------------------------
+		// Overlay texture methods
+		// ---------------------------------------------
+
+		/** Texture to draw for the overlay. This function can only be called by the overlay's creator or renderer process (see SetOverlayRenderingPid) .
+		*
+		* OpenGL dirty state:
+		*	glBindTexture
+		*/
+		virtual EVROverlayError SetOverlayTexture( VROverlayHandle_t ulOverlayHandle, const Texture_t *pTexture ) = 0;
+
+		/** Use this to tell the overlay system to release the texture set for this overlay. */
+		virtual EVROverlayError ClearOverlayTexture( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Separate interface for providing the data as a stream of bytes, but there is an upper bound on data 
+		* that can be sent. This function can only be called by the overlay's renderer process. */
+		virtual EVROverlayError SetOverlayRaw( VROverlayHandle_t ulOverlayHandle, void *pvBuffer, uint32_t unWidth, uint32_t unHeight, uint32_t unDepth ) = 0;
+
+		/** Separate interface for providing the image through a filename: can be png or jpg, and should not be bigger than 1920x1080.
+		* This function can only be called by the overlay's renderer process */
+		virtual EVROverlayError SetOverlayFromFile( VROverlayHandle_t ulOverlayHandle, const char *pchFilePath ) = 0;
+
+		/** Get the native texture handle/device for an overlay you have created.
+		* On windows this handle will be a ID3D11ShaderResourceView with a ID3D11Texture2D bound.
+		*
+		* The texture will always be sized to match the backing texture you supplied in SetOverlayTexture above.
+		*
+		* You MUST call ReleaseNativeOverlayHandle() with pNativeTextureHandle once you are done with this texture.
+		*
+		* pNativeTextureHandle is an OUTPUT, it will be a pointer to a ID3D11ShaderResourceView *.
+		* pNativeTextureRef is an INPUT and should be a ID3D11Resource *. The device used by pNativeTextureRef will be used to bind pNativeTextureHandle.
+		*/
+		virtual EVROverlayError GetOverlayTexture( VROverlayHandle_t ulOverlayHandle, void **pNativeTextureHandle, void *pNativeTextureRef, uint32_t *pWidth, uint32_t *pHeight, uint32_t *pNativeFormat, ETextureType *pAPIType, EColorSpace *pColorSpace, VRTextureBounds_t *pTextureBounds ) = 0;
+
+		/** Release the pNativeTextureHandle provided from the GetOverlayTexture call, this allows the system to free the underlying GPU resources for this object,
+		* so only do it once you stop rendering this texture.
+		*/
+		virtual EVROverlayError ReleaseNativeOverlayHandle( VROverlayHandle_t ulOverlayHandle, void *pNativeTextureHandle ) = 0;
+
+		/** Get the size of the overlay texture */
+		virtual EVROverlayError GetOverlayTextureSize( VROverlayHandle_t ulOverlayHandle, uint32_t *pWidth, uint32_t *pHeight ) = 0;
+
+		// ----------------------------------------------
+		// Dashboard Overlay Methods
+		// ----------------------------------------------
+
+		/** Creates a dashboard overlay and returns its handle */
+		virtual EVROverlayError CreateDashboardOverlay( const char *pchOverlayKey, const char *pchOverlayFriendlyName, VROverlayHandle_t * pMainHandle, VROverlayHandle_t *pThumbnailHandle ) = 0;
+
+		/** Returns true if the dashboard is visible */
+		virtual bool IsDashboardVisible() = 0;
+
+		/** returns true if the dashboard is visible and the specified overlay is the active system Overlay */
+		virtual bool IsActiveDashboardOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Sets the dashboard overlay to only appear when the specified process ID has scene focus */
+		virtual EVROverlayError SetDashboardOverlaySceneProcess( VROverlayHandle_t ulOverlayHandle, uint32_t unProcessId ) = 0;
+
+		/** Gets the process ID that this dashboard overlay requires to have scene focus */
+		virtual EVROverlayError GetDashboardOverlaySceneProcess( VROverlayHandle_t ulOverlayHandle, uint32_t *punProcessId ) = 0;
+
+		/** Shows the dashboard. */
+		virtual void ShowDashboard( const char *pchOverlayToShow ) = 0;
+
+		/** Returns the tracked device that has the laser pointer in the dashboard */
+		virtual vr::TrackedDeviceIndex_t GetPrimaryDashboardDevice() = 0;
+
+		// ---------------------------------------------
+		// Keyboard methods
+		// ---------------------------------------------
+		
+		/** Show the virtual keyboard to accept input **/
+		virtual EVROverlayError ShowKeyboard( EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, const char *pchDescription, uint32_t unCharMax, const char *pchExistingText, bool bUseMinimalMode, uint64_t uUserValue ) = 0;
+
+		virtual EVROverlayError ShowKeyboardForOverlay( VROverlayHandle_t ulOverlayHandle, EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, const char *pchDescription, uint32_t unCharMax, const char *pchExistingText, bool bUseMinimalMode, uint64_t uUserValue ) = 0;
+
+		/** Get the text that was entered into the text input **/
+		virtual uint32_t GetKeyboardText( VR_OUT_STRING() char *pchText, uint32_t cchText ) = 0;
+
+		/** Hide the virtual keyboard **/
+		virtual void HideKeyboard() = 0;
+
+		/** Set the position of the keyboard in world space **/
+		virtual void SetKeyboardTransformAbsolute( ETrackingUniverseOrigin eTrackingOrigin, const HmdMatrix34_t *pmatTrackingOriginToKeyboardTransform ) = 0;
+
+		/** Set the position of the keyboard in overlay space by telling it to avoid a rectangle in the overlay. Rectangle coords have (0,0) in the bottom left **/
+		virtual void SetKeyboardPositionForOverlay( VROverlayHandle_t ulOverlayHandle, HmdRect2_t avoidRect ) = 0;
+
+		// ---------------------------------------------
+		// Overlay input methods
+		// ---------------------------------------------
+
+		/** Sets a list of primitives to be used for controller ray intersection
+		* typically the size of the underlying UI in pixels (not in world space). */
+		virtual EVROverlayError SetOverlayIntersectionMask( VROverlayHandle_t ulOverlayHandle, VROverlayIntersectionMaskPrimitive_t *pMaskPrimitives, uint32_t unNumMaskPrimitives, uint32_t unPrimitiveSize = sizeof( VROverlayIntersectionMaskPrimitive_t ) ) = 0;
+
+		virtual EVROverlayError GetOverlayFlags( VROverlayHandle_t ulOverlayHandle, uint32_t *pFlags ) = 0;
+
+		// ---------------------------------------------
+		// Message box methods
+		// ---------------------------------------------
+
+		/** Show the message overlay. This will block and return you a result. **/
+		virtual VRMessageOverlayResponse ShowMessageOverlay( const char* pchText, const char* pchCaption, const char* pchButton0Text, const char* pchButton1Text = nullptr, const char* pchButton2Text = nullptr, const char* pchButton3Text = nullptr ) = 0;
+	};
+
+	static const char * const IVROverlay_Version = "IVROverlay_016";
+
+} // namespace vr
+
+// ivrrendermodels.h
+namespace vr
+{
+
+static const char * const k_pch_Controller_Component_GDC2015 = "gdc2015";   // Canonical coordinate system of the gdc 2015 wired controller, provided for backwards compatibility
+static const char * const k_pch_Controller_Component_Base = "base";         // For controllers with an unambiguous 'base'.
+static const char * const k_pch_Controller_Component_Tip = "tip";           // For controllers with an unambiguous 'tip' (used for 'laser-pointing')
+static const char * const k_pch_Controller_Component_HandGrip = "handgrip"; // Neutral, ambidextrous hand-pose when holding controller. On plane between neutrally posed index finger and thumb
+static const char * const k_pch_Controller_Component_Status = "status";		// 1:1 aspect ratio status area, with canonical [0,1] uv mapping
+
+#pragma pack( push, 8 )
+
+/** Errors that can occur with the VR compositor */
+enum EVRRenderModelError
+{
+	VRRenderModelError_None = 0,
+	VRRenderModelError_Loading = 100,
+	VRRenderModelError_NotSupported = 200,
+	VRRenderModelError_InvalidArg = 300,
+	VRRenderModelError_InvalidModel = 301,
+	VRRenderModelError_NoShapes = 302,
+	VRRenderModelError_MultipleShapes = 303,
+	VRRenderModelError_TooManyVertices = 304,
+	VRRenderModelError_MultipleTextures = 305,
+	VRRenderModelError_BufferTooSmall = 306,
+	VRRenderModelError_NotEnoughNormals = 307,
+	VRRenderModelError_NotEnoughTexCoords = 308,
+
+	VRRenderModelError_InvalidTexture = 400,
+};
+
+typedef uint32_t VRComponentProperties;
+
+enum EVRComponentProperty
+{
+	VRComponentProperty_IsStatic = (1 << 0),
+	VRComponentProperty_IsVisible = (1 << 1),
+	VRComponentProperty_IsTouched = (1 << 2),
+	VRComponentProperty_IsPressed = (1 << 3),
+	VRComponentProperty_IsScrolled = (1 << 4),
+};
+
+/** Describes state information about a render-model component, including transforms and other dynamic properties */
+struct RenderModel_ComponentState_t
+{
+	HmdMatrix34_t mTrackingToComponentRenderModel;  // Transform required when drawing the component render model
+	HmdMatrix34_t mTrackingToComponentLocal;        // Transform available for attaching to a local component coordinate system (-Z out from surface )
+	VRComponentProperties uProperties;
+};
+
+/** A single vertex in a render model */
+struct RenderModel_Vertex_t
+{
+	HmdVector3_t vPosition;		// position in meters in device space
+	HmdVector3_t vNormal;
+	float rfTextureCoord[2];
+};
+
+/** A texture map for use on a render model */
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+struct RenderModel_TextureMap_t
+{
+	uint16_t unWidth, unHeight; // width and height of the texture map in pixels
+	const uint8_t *rubTextureMapData;	// Map texture data. All textures are RGBA with 8 bits per channel per pixel. Data size is width * height * 4ub
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+/**  Session unique texture identifier. Rendermodels which share the same texture will have the same id.
+IDs <0 denote the texture is not present */
+
+typedef int32_t TextureID_t;
+
+const TextureID_t INVALID_TEXTURE_ID = -1;
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+struct RenderModel_t
+{
+	const RenderModel_Vertex_t *rVertexData;	// Vertex data for the mesh
+	uint32_t unVertexCount;						// Number of vertices in the vertex data
+	const uint16_t *rIndexData;					// Indices into the vertex data for each triangle
+	uint32_t unTriangleCount;					// Number of triangles in the mesh. Index count is 3 * TriangleCount
+	TextureID_t diffuseTextureId;				// Session unique texture identifier. Rendermodels which share the same texture will have the same id. <0 == texture not present
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+
+struct RenderModel_ControllerMode_State_t
+{
+	bool bScrollWheelVisible; // is this controller currently set to be in a scroll wheel mode
+};
+
+#pragma pack( pop )
+
+class IVRRenderModels
+{
+public:
+
+	/** Loads and returns a render model for use in the application. pchRenderModelName should be a render model name
+	* from the Prop_RenderModelName_String property or an absolute path name to a render model on disk. 
+	*
+	* The resulting render model is valid until VR_Shutdown() is called or until FreeRenderModel() is called. When the 
+	* application is finished with the render model it should call FreeRenderModel() to free the memory associated
+	* with the model.
+	*
+	* The method returns VRRenderModelError_Loading while the render model is still being loaded.
+	* The method returns VRRenderModelError_None once loaded successfully, otherwise will return an error. */
+	virtual EVRRenderModelError LoadRenderModel_Async( const char *pchRenderModelName, RenderModel_t **ppRenderModel ) = 0;
+
+	/** Frees a previously returned render model
+	*   It is safe to call this on a null ptr. */
+	virtual void FreeRenderModel( RenderModel_t *pRenderModel ) = 0;
+
+	/** Loads and returns a texture for use in the application. */
+	virtual EVRRenderModelError LoadTexture_Async( TextureID_t textureId, RenderModel_TextureMap_t **ppTexture ) = 0;
+
+	/** Frees a previously returned texture
+	*   It is safe to call this on a null ptr. */
+	virtual void FreeTexture( RenderModel_TextureMap_t *pTexture ) = 0;
+
+	/** Creates a D3D11 texture and loads data into it. */
+	virtual EVRRenderModelError LoadTextureD3D11_Async( TextureID_t textureId, void *pD3D11Device, void **ppD3D11Texture2D ) = 0;
+
+	/** Helper function to copy the bits into an existing texture. */
+	virtual EVRRenderModelError LoadIntoTextureD3D11_Async( TextureID_t textureId, void *pDstTexture ) = 0;
+
+	/** Use this to free textures created with LoadTextureD3D11_Async instead of calling Release on them. */
+	virtual void FreeTextureD3D11( void *pD3D11Texture2D ) = 0;
+
+	/** Use this to get the names of available render models.  Index does not correlate to a tracked device index, but
+	* is only used for iterating over all available render models.  If the index is out of range, this function will return 0.
+	* Otherwise, it will return the size of the buffer required for the name. */
+	virtual uint32_t GetRenderModelName( uint32_t unRenderModelIndex, VR_OUT_STRING() char *pchRenderModelName, uint32_t unRenderModelNameLen ) = 0;
+
+	/** Returns the number of available render models. */
+	virtual uint32_t GetRenderModelCount() = 0;
+
+
+	/** Returns the number of components of the specified render model.
+	*  Components are useful when client application wish to draw, label, or otherwise interact with components of tracked objects.
+	*  Examples controller components:
+	*   renderable things such as triggers, buttons
+	*   non-renderable things which include coordinate systems such as 'tip', 'base', a neutral controller agnostic hand-pose
+	*   If all controller components are enumerated and rendered, it will be equivalent to drawing the traditional render model
+	*   Returns 0 if components not supported, >0 otherwise */
+	virtual uint32_t GetComponentCount( const char *pchRenderModelName ) = 0;
+
+	/** Use this to get the names of available components.  Index does not correlate to a tracked device index, but
+	* is only used for iterating over all available components.  If the index is out of range, this function will return 0.
+	* Otherwise, it will return the size of the buffer required for the name. */
+	virtual uint32_t GetComponentName( const char *pchRenderModelName, uint32_t unComponentIndex, VR_OUT_STRING( ) char *pchComponentName, uint32_t unComponentNameLen ) = 0;
+
+	/** Get the button mask for all buttons associated with this component
+	*   If no buttons (or axes) are associated with this component, return 0
+	*   Note: multiple components may be associated with the same button. Ex: two grip buttons on a single controller.
+	*   Note: A single component may be associated with multiple buttons. Ex: A trackpad which also provides "D-pad" functionality */
+	virtual uint64_t GetComponentButtonMask( const char *pchRenderModelName, const char *pchComponentName ) = 0;
+
+	/** Use this to get the render model name for the specified rendermode/component combination, to be passed to LoadRenderModel.
+	* If the component name is out of range, this function will return 0.
+	* Otherwise, it will return the size of the buffer required for the name. */
+	virtual uint32_t GetComponentRenderModelName( const char *pchRenderModelName, const char *pchComponentName, VR_OUT_STRING( ) char *pchComponentRenderModelName, uint32_t unComponentRenderModelNameLen ) = 0;
+
+	/** Use this to query information about the component, as a function of the controller state.
+	*
+	* For dynamic controller components (ex: trigger) values will reflect component motions
+	* For static components this will return a consistent value independent of the VRControllerState_t
+	*
+	* If the pchRenderModelName or pchComponentName is invalid, this will return false (and transforms will be set to identity).
+	* Otherwise, return true
+	* Note: For dynamic objects, visibility may be dynamic. (I.e., true/false will be returned based on controller state and controller mode state ) */
+	virtual bool GetComponentState( const char *pchRenderModelName, const char *pchComponentName, const vr::VRControllerState_t *pControllerState, const RenderModel_ControllerMode_State_t *pState, RenderModel_ComponentState_t *pComponentState ) = 0;
+
+	/** Returns true if the render model has a component with the specified name */
+	virtual bool RenderModelHasComponent( const char *pchRenderModelName, const char *pchComponentName ) = 0;
+
+	/** Returns the URL of the thumbnail image for this rendermodel */
+	virtual uint32_t GetRenderModelThumbnailURL( const char *pchRenderModelName, VR_OUT_STRING() char *pchThumbnailURL, uint32_t unThumbnailURLLen, vr::EVRRenderModelError *peError ) = 0;
+
+	/** Provides a render model path that will load the unskinned model if the model name provided has been replace by the user. If the model
+	* hasn't been replaced the path value will still be a valid path to load the model. Pass this to LoadRenderModel_Async, etc. to load the
+	* model. */
+	virtual uint32_t GetRenderModelOriginalPath( const char *pchRenderModelName, VR_OUT_STRING() char *pchOriginalPath, uint32_t unOriginalPathLen, vr::EVRRenderModelError *peError ) = 0;
+
+	/** Returns a string for a render model error */
+	virtual const char *GetRenderModelErrorNameFromEnum( vr::EVRRenderModelError error ) = 0;
+};
+
+static const char * const IVRRenderModels_Version = "IVRRenderModels_005";
+
+}
+
+
+// ivrextendeddisplay.h
+namespace vr
+{
+
+	/** NOTE: Use of this interface is not recommended in production applications. It will not work for displays which use
+	* direct-to-display mode. Creating our own window is also incompatible with the VR compositor and is not available when the compositor is running. */
+	class IVRExtendedDisplay
+	{
+	public:
+
+		/** Size and position that the window needs to be on the VR display. */
+		virtual void GetWindowBounds( int32_t *pnX, int32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** Gets the viewport in the frame buffer to draw the output of the distortion into */
+		virtual void GetEyeOutputViewport( EVREye eEye, uint32_t *pnX, uint32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** [D3D10/11 Only]
+		* Returns the adapter index and output index that the user should pass into EnumAdapters and EnumOutputs
+		* to create the device and swap chain in DX10 and DX11. If an error occurs both indices will be set to -1.
+		*/
+		virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex, int32_t *pnAdapterOutputIndex ) = 0;
+
+	};
+
+	static const char * const IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
+
+}
+
+
+// ivrtrackedcamera.h
+namespace vr
+{
+
+class IVRTrackedCamera
+{
+public:
+	/** Returns a string for an error */
+	virtual const char *GetCameraErrorNameFromEnum( vr::EVRTrackedCameraError eCameraError ) = 0;
+
+	/** For convenience, same as tracked property request Prop_HasCamera_Bool */
+	virtual vr::EVRTrackedCameraError HasCamera( vr::TrackedDeviceIndex_t nDeviceIndex, bool *pHasCamera ) = 0;
+
+	/** Gets size of the image frame. */
+	virtual vr::EVRTrackedCameraError GetCameraFrameSize( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, uint32_t *pnWidth, uint32_t *pnHeight, uint32_t *pnFrameBufferSize ) = 0;
+
+	virtual vr::EVRTrackedCameraError GetCameraIntrinsics( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, vr::HmdVector2_t *pFocalLength, vr::HmdVector2_t *pCenter ) = 0;
+
+	virtual vr::EVRTrackedCameraError GetCameraProjection( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, vr::HmdMatrix44_t *pProjection ) = 0;
+
+	/** Acquiring streaming service permits video streaming for the caller. Releasing hints the system that video services do not need to be maintained for this client.
+	* If the camera has not already been activated, a one time spin up may incur some auto exposure as well as initial streaming frame delays.
+	* The camera should be considered a global resource accessible for shared consumption but not exclusive to any caller.
+	* The camera may go inactive due to lack of active consumers or headset idleness. */
+	virtual vr::EVRTrackedCameraError AcquireVideoStreamingService( vr::TrackedDeviceIndex_t nDeviceIndex, vr::TrackedCameraHandle_t *pHandle ) = 0;
+	virtual vr::EVRTrackedCameraError ReleaseVideoStreamingService( vr::TrackedCameraHandle_t hTrackedCamera ) = 0;
+
+	/** Copies the image frame into a caller's provided buffer. The image data is currently provided as RGBA data, 4 bytes per pixel.
+	* A caller can provide null for the framebuffer or frameheader if not desired. Requesting the frame header first, followed by the frame buffer allows
+	* the caller to determine if the frame as advanced per the frame header sequence. 
+	* If there is no frame available yet, due to initial camera spinup or re-activation, the error will be VRTrackedCameraError_NoFrameAvailable.
+	* Ideally a caller should be polling at ~16ms intervals */
+	virtual vr::EVRTrackedCameraError GetVideoStreamFrameBuffer( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, void *pFrameBuffer, uint32_t nFrameBufferSize, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0;
+
+	/** Gets size of the image frame. */
+	virtual vr::EVRTrackedCameraError GetVideoStreamTextureSize( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, vr::VRTextureBounds_t *pTextureBounds, uint32_t *pnWidth, uint32_t *pnHeight ) = 0; 
+
+	/** Access a shared D3D11 texture for the specified tracked camera stream.
+	* The camera frame type VRTrackedCameraFrameType_Undistorted is not supported directly as a shared texture. It is an interior subregion of the shared texture VRTrackedCameraFrameType_MaximumUndistorted.
+	* Instead, use GetVideoStreamTextureSize() with VRTrackedCameraFrameType_Undistorted to determine the proper interior subregion bounds along with GetVideoStreamTextureD3D11() with
+	* VRTrackedCameraFrameType_MaximumUndistorted to provide the texture. The VRTrackedCameraFrameType_MaximumUndistorted will yield an image where the invalid regions are decoded
+	* by the alpha channel having a zero component. The valid regions all have a non-zero alpha component. The subregion as described by VRTrackedCameraFrameType_Undistorted 
+	* guarantees a rectangle where all pixels are valid. */
+	virtual vr::EVRTrackedCameraError GetVideoStreamTextureD3D11( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, void *pD3D11DeviceOrResource, void **ppD3D11ShaderResourceView, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0;
+
+	/** Access a shared GL texture for the specified tracked camera stream */
+	virtual vr::EVRTrackedCameraError GetVideoStreamTextureGL( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, vr::glUInt_t *pglTextureId, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0;
+	virtual vr::EVRTrackedCameraError ReleaseVideoStreamTextureGL( vr::TrackedCameraHandle_t hTrackedCamera, vr::glUInt_t glTextureId ) = 0;
+};
+
+static const char * const IVRTrackedCamera_Version = "IVRTrackedCamera_003";
+
+} // namespace vr
+
+
+// ivrscreenshots.h
+namespace vr
+{
+
+/** Errors that can occur with the VR compositor */
+enum EVRScreenshotError
+{
+	VRScreenshotError_None							= 0,
+	VRScreenshotError_RequestFailed					= 1,
+	VRScreenshotError_IncompatibleVersion			= 100,
+	VRScreenshotError_NotFound						= 101,
+	VRScreenshotError_BufferTooSmall				= 102,
+	VRScreenshotError_ScreenshotAlreadyInProgress	= 108,
+};
+
+/** Allows the application to generate screenshots */
+class IVRScreenshots
+{
+public:
+	/** Request a screenshot of the requested type.
+	 *  A request of the VRScreenshotType_Stereo type will always
+	 *  work. Other types will depend on the underlying application
+	 *  support.
+	 *  The first file name is for the preview image and should be a
+	 *  regular screenshot (ideally from the left eye). The second
+	 *  is the VR screenshot in the correct format. They should be
+	 *  in the same aspect ratio.  Formats per type:
+	 *  VRScreenshotType_Mono: the VR filename is ignored (can be
+	 *  nullptr), this is a normal flat single shot.
+	 *  VRScreenshotType_Stereo:  The VR image should be a
+	 *  side-by-side with the left eye image on the left.
+	 *  VRScreenshotType_Cubemap: The VR image should be six square
+	 *  images composited horizontally.
+	 *  VRScreenshotType_StereoPanorama: above/below with left eye
+	 *  panorama being the above image.  Image is typically square
+	 *  with the panorama being 2x horizontal.
+	 *  
+	 *  Note that the VR dashboard will call this function when
+	 *  the user presses the screenshot binding (currently System
+	 *  Button + Trigger).  If Steam is running, the destination
+	 *  file names will be in %TEMP% and will be copied into
+	 *  Steam's screenshot library for the running application
+	 *  once SubmitScreenshot() is called.
+	 *  If Steam is not running, the paths will be in the user's
+	 *  documents folder under Documents\SteamVR\Screenshots.
+	 *  Other VR applications can call this to initiate a
+	 *  screenshot outside of user control.
+	 *  The destination file names do not need an extension,
+	 *  will be replaced with the correct one for the format
+	 *  which is currently .png. */
+	virtual vr::EVRScreenshotError RequestScreenshot( vr::ScreenshotHandle_t *pOutScreenshotHandle, vr::EVRScreenshotType type, const char *pchPreviewFilename, const char *pchVRFilename ) = 0;
+
+	/** Called by the running VR application to indicate that it
+	 *  wishes to be in charge of screenshots.  If the
+	 *  application does not call this, the Compositor will only
+	 *  support VRScreenshotType_Stereo screenshots that will be
+	 *  captured without notification to the running app.
+	 *  Once hooked your application will receive a
+	 *  VREvent_RequestScreenshot event when the user presses the
+	 *  buttons to take a screenshot. */
+	virtual vr::EVRScreenshotError HookScreenshot( VR_ARRAY_COUNT( numTypes ) const vr::EVRScreenshotType *pSupportedTypes, int numTypes ) = 0;
+
+	/** When your application receives a
+	 *  VREvent_RequestScreenshot event, call these functions to get
+	 *  the details of the screenshot request. */
+	virtual vr::EVRScreenshotType GetScreenshotPropertyType( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotError *pError ) = 0;
+
+	/** Get the filename for the preview or vr image (see
+	 *  vr::EScreenshotPropertyFilenames).  The return value is
+	 *  the size of the string.   */
+ 	virtual uint32_t GetScreenshotPropertyFilename( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotPropertyFilenames filenameType, VR_OUT_STRING() char *pchFilename, uint32_t cchFilename, vr::EVRScreenshotError *pError ) = 0;
+
+	/** Call this if the application is taking the screen shot
+	 *  will take more than a few ms processing. This will result
+	 *  in an overlay being presented that shows a completion
+	 *  bar. */
+	virtual vr::EVRScreenshotError UpdateScreenshotProgress( vr::ScreenshotHandle_t screenshotHandle, float flProgress ) = 0;
+
+	/** Tells the compositor to take an internal screenshot of
+	 *  type VRScreenshotType_Stereo. It will take the current
+	 *  submitted scene textures of the running application and
+	 *  write them into the preview image and a side-by-side file
+	 *  for the VR image.
+	 *  This is similar to request screenshot, but doesn't ever
+	 *  talk to the application, just takes the shot and submits. */
+	virtual vr::EVRScreenshotError TakeStereoScreenshot( vr::ScreenshotHandle_t *pOutScreenshotHandle, const char *pchPreviewFilename, const char *pchVRFilename ) = 0;
+
+	/** Submit the completed screenshot.  If Steam is running
+	 *  this will call into the Steam client and upload the
+	 *  screenshot to the screenshots section of the library for
+	 *  the running application.  If Steam is not running, this
+	 *  function will display a notification to the user that the
+	 *  screenshot was taken. The paths should be full paths with
+	 *  extensions.
+	 *  File paths should be absolute including extensions.
+	 *  screenshotHandle can be k_unScreenshotHandleInvalid if this
+	 *  was a new shot taking by the app to be saved and not
+	 *  initiated by a user (achievement earned or something) */
+	virtual vr::EVRScreenshotError SubmitScreenshot( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotType type, const char *pchSourcePreviewFilename, const char *pchSourceVRFilename ) = 0;
+};
+
+static const char * const IVRScreenshots_Version = "IVRScreenshots_001";
+
+} // namespace vr
+
+
+
+// ivrresources.h
+namespace vr
+{
+
+class IVRResources
+{
+public:
+
+	// ------------------------------------
+	// Shared Resource Methods
+	// ------------------------------------
+
+	/** Loads the specified resource into the provided buffer if large enough.
+	* Returns the size in bytes of the buffer required to hold the specified resource. */
+	virtual uint32_t LoadSharedResource( const char *pchResourceName, char *pchBuffer, uint32_t unBufferLen ) = 0;
+
+	/** Provides the full path to the specified resource. Resource names can include named directories for
+	* drivers and other things, and this resolves all of those and returns the actual physical path. 
+	* pchResourceTypeDirectory is the subdirectory of resources to look in. */
+	virtual uint32_t GetResourceFullPath( const char *pchResourceName, const char *pchResourceTypeDirectory, char *pchPathBuffer, uint32_t unBufferLen ) = 0;
+};
+
+static const char * const IVRResources_Version = "IVRResources_001";
+
+
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
+
+// End
+
+#endif // _OPENVR_API
+
+
+namespace vr
+{
+	/** Finds the active installation of the VR API and initializes it. The provided path must be absolute
+	* or relative to the current working directory. These are the local install versions of the equivalent
+	* functions in steamvr.h and will work without a local Steam install.
+	*
+	* This path is to the "root" of the VR API install. That's the directory with
+	* the "drivers" directory and a platform (i.e. "win32") directory in it, not the directory with the DLL itself.
+	*/
+	inline IVRSystem *VR_Init( EVRInitError *peError, EVRApplicationType eApplicationType );
+
+	/** unloads vrclient.dll. Any interface pointers from the interface are
+	* invalid after this point */
+	inline void VR_Shutdown();
+
+	/** Returns true if there is an HMD attached. This check is as lightweight as possible and
+	* can be called outside of VR_Init/VR_Shutdown. It should be used when an application wants
+	* to know if initializing VR is a possibility but isn't ready to take that step yet.
+	*/
+	VR_INTERFACE bool VR_CALLTYPE VR_IsHmdPresent();
+
+	/** Returns true if the OpenVR runtime is installed. */
+	VR_INTERFACE bool VR_CALLTYPE VR_IsRuntimeInstalled();
+
+	/** Returns where the OpenVR runtime is installed. */
+	VR_INTERFACE const char *VR_CALLTYPE VR_RuntimePath();
+
+	/** Returns the name of the enum value for an EVRInitError. This function may be called outside of VR_Init()/VR_Shutdown(). */
+	VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsSymbol( EVRInitError error );
+
+	/** Returns an English string for an EVRInitError. Applications should call VR_GetVRInitErrorAsSymbol instead and
+	* use that as a key to look up their own localized error message. This function may be called outside of VR_Init()/VR_Shutdown(). */
+	VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsEnglishDescription( EVRInitError error );
+
+	/** Returns the interface of the specified version. This method must be called after VR_Init. The
+	* pointer returned is valid until VR_Shutdown is called.
+	*/
+	VR_INTERFACE void *VR_CALLTYPE VR_GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError );
+
+	/** Returns whether the interface of the specified version exists.
+	*/
+	VR_INTERFACE bool VR_CALLTYPE VR_IsInterfaceVersionValid( const char *pchInterfaceVersion );
+
+	/** Returns a token that represents whether the VR interface handles need to be reloaded */
+	VR_INTERFACE uint32_t VR_CALLTYPE VR_GetInitToken();
+
+	// These typedefs allow old enum names from SDK 0.9.11 to be used in applications.
+	// They will go away in the future.
+	typedef EVRInitError HmdError;
+	typedef EVREye Hmd_Eye;
+	typedef EColorSpace ColorSpace;
+	typedef ETrackingResult HmdTrackingResult;
+	typedef ETrackedDeviceClass TrackedDeviceClass;
+	typedef ETrackingUniverseOrigin TrackingUniverseOrigin;
+	typedef ETrackedDeviceProperty TrackedDeviceProperty;
+	typedef ETrackedPropertyError TrackedPropertyError;
+	typedef EVRSubmitFlags VRSubmitFlags_t;
+	typedef EVRState VRState_t;
+	typedef ECollisionBoundsStyle CollisionBoundsStyle_t;
+	typedef EVROverlayError VROverlayError;
+	typedef EVRFirmwareError VRFirmwareError;
+	typedef EVRCompositorError VRCompositorError;
+	typedef EVRScreenshotError VRScreenshotsError;
+
+	inline uint32_t &VRToken()
+	{
+		static uint32_t token;
+		return token;
+	}
+
+	class COpenVRContext
+	{
+	public:
+		COpenVRContext() { Clear(); }
+		void Clear();
+
+		inline void CheckClear()
+		{
+			if ( VRToken() != VR_GetInitToken() )
+			{
+				Clear();
+				VRToken() = VR_GetInitToken();
+			}
+		}
+
+		IVRSystem *VRSystem()
+		{
+			CheckClear();
+			if ( m_pVRSystem == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSystem = ( IVRSystem * )VR_GetGenericInterface( IVRSystem_Version, &eError );
+			}
+			return m_pVRSystem;
+		}
+		IVRChaperone *VRChaperone()
+		{
+			CheckClear();
+			if ( m_pVRChaperone == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRChaperone = ( IVRChaperone * )VR_GetGenericInterface( IVRChaperone_Version, &eError );
+			}
+			return m_pVRChaperone;
+		}
+
+		IVRChaperoneSetup *VRChaperoneSetup()
+		{
+			CheckClear();
+			if ( m_pVRChaperoneSetup == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRChaperoneSetup = ( IVRChaperoneSetup * )VR_GetGenericInterface( IVRChaperoneSetup_Version, &eError );
+			}
+			return m_pVRChaperoneSetup;
+		}
+
+		IVRCompositor *VRCompositor()
+		{
+			CheckClear();
+			if ( m_pVRCompositor == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRCompositor = ( IVRCompositor * )VR_GetGenericInterface( IVRCompositor_Version, &eError );
+			}
+			return m_pVRCompositor;
+		}
+
+		IVROverlay *VROverlay()
+		{
+			CheckClear();
+			if ( m_pVROverlay == nullptr )
+			{
+				EVRInitError eError;
+				m_pVROverlay = ( IVROverlay * )VR_GetGenericInterface( IVROverlay_Version, &eError );
+			}
+			return m_pVROverlay;
+		}
+
+		IVRResources *VRResources()
+		{
+			CheckClear();
+			if ( m_pVRResources == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRResources = (IVRResources *)VR_GetGenericInterface( IVRResources_Version, &eError );
+			}
+			return m_pVRResources;
+		}
+
+		IVRScreenshots *VRScreenshots()
+		{
+			CheckClear();
+			if ( m_pVRScreenshots == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRScreenshots = ( IVRScreenshots * )VR_GetGenericInterface( IVRScreenshots_Version, &eError );
+			}
+			return m_pVRScreenshots;
+		}
+
+		IVRRenderModels *VRRenderModels()
+		{
+			CheckClear();
+			if ( m_pVRRenderModels == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRRenderModels = ( IVRRenderModels * )VR_GetGenericInterface( IVRRenderModels_Version, &eError );
+			}
+			return m_pVRRenderModels;
+		}
+
+		IVRExtendedDisplay *VRExtendedDisplay()
+		{
+			CheckClear();
+			if ( m_pVRExtendedDisplay == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRExtendedDisplay = ( IVRExtendedDisplay * )VR_GetGenericInterface( IVRExtendedDisplay_Version, &eError );
+			}
+			return m_pVRExtendedDisplay;
+		}
+
+		IVRSettings *VRSettings()
+		{
+			CheckClear();
+			if ( m_pVRSettings == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSettings = ( IVRSettings * )VR_GetGenericInterface( IVRSettings_Version, &eError );
+			}
+			return m_pVRSettings;
+		}
+
+		IVRApplications *VRApplications()
+		{
+			CheckClear();
+			if ( m_pVRApplications == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRApplications = ( IVRApplications * )VR_GetGenericInterface( IVRApplications_Version, &eError );
+			}
+			return m_pVRApplications;
+		}
+
+		IVRTrackedCamera *VRTrackedCamera()
+		{
+			CheckClear();
+			if ( m_pVRTrackedCamera == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRTrackedCamera = ( IVRTrackedCamera * )VR_GetGenericInterface( IVRTrackedCamera_Version, &eError );
+			}
+			return m_pVRTrackedCamera;
+		}
+
+		IVRDriverManager *VRDriverManager()
+		{
+			CheckClear();
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = ( IVRDriverManager * )VR_GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
+	private:
+		IVRSystem			*m_pVRSystem;
+		IVRChaperone		*m_pVRChaperone;
+		IVRChaperoneSetup	*m_pVRChaperoneSetup;
+		IVRCompositor		*m_pVRCompositor;
+		IVROverlay			*m_pVROverlay;
+		IVRResources		*m_pVRResources;
+		IVRRenderModels		*m_pVRRenderModels;
+		IVRExtendedDisplay	*m_pVRExtendedDisplay;
+		IVRSettings			*m_pVRSettings;
+		IVRApplications		*m_pVRApplications;
+		IVRTrackedCamera	*m_pVRTrackedCamera;
+		IVRScreenshots		*m_pVRScreenshots;
+		IVRDriverManager	*m_pVRDriverManager;
+	};
+
+	inline COpenVRContext &OpenVRInternal_ModuleContext()
+	{
+		static void *ctx[ sizeof( COpenVRContext ) / sizeof( void * ) ];
+		return *( COpenVRContext * )ctx; // bypass zero-init constructor
+	}
+
+	inline IVRSystem *VR_CALLTYPE VRSystem() { return OpenVRInternal_ModuleContext().VRSystem(); }
+	inline IVRChaperone *VR_CALLTYPE VRChaperone() { return OpenVRInternal_ModuleContext().VRChaperone(); }
+	inline IVRChaperoneSetup *VR_CALLTYPE VRChaperoneSetup() { return OpenVRInternal_ModuleContext().VRChaperoneSetup(); }
+	inline IVRCompositor *VR_CALLTYPE VRCompositor() { return OpenVRInternal_ModuleContext().VRCompositor(); }
+	inline IVROverlay *VR_CALLTYPE VROverlay() { return OpenVRInternal_ModuleContext().VROverlay(); }
+	inline IVRScreenshots *VR_CALLTYPE VRScreenshots() { return OpenVRInternal_ModuleContext().VRScreenshots(); }
+	inline IVRRenderModels *VR_CALLTYPE VRRenderModels() { return OpenVRInternal_ModuleContext().VRRenderModels(); }
+	inline IVRApplications *VR_CALLTYPE VRApplications() { return OpenVRInternal_ModuleContext().VRApplications(); }
+	inline IVRSettings *VR_CALLTYPE VRSettings() { return OpenVRInternal_ModuleContext().VRSettings(); }
+	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleContext().VRResources(); }
+	inline IVRExtendedDisplay *VR_CALLTYPE VRExtendedDisplay() { return OpenVRInternal_ModuleContext().VRExtendedDisplay(); }
+	inline IVRTrackedCamera *VR_CALLTYPE VRTrackedCamera() { return OpenVRInternal_ModuleContext().VRTrackedCamera(); }
+	inline IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleContext().VRDriverManager(); }
+
+	inline void COpenVRContext::Clear()
+	{
+		m_pVRSystem = nullptr;
+		m_pVRChaperone = nullptr;
+		m_pVRChaperoneSetup = nullptr;
+		m_pVRCompositor = nullptr;
+		m_pVROverlay = nullptr;
+		m_pVRRenderModels = nullptr;
+		m_pVRExtendedDisplay = nullptr;
+		m_pVRSettings = nullptr;
+		m_pVRApplications = nullptr;
+		m_pVRTrackedCamera = nullptr;
+		m_pVRResources = nullptr;
+		m_pVRScreenshots = nullptr;
+		m_pVRDriverManager = nullptr;
+	}
+
+	VR_INTERFACE uint32_t VR_CALLTYPE VR_InitInternal( EVRInitError *peError, EVRApplicationType eApplicationType );
+	VR_INTERFACE void VR_CALLTYPE VR_ShutdownInternal();
+
+	/** Finds the active installation of vrclient.dll and initializes it */
+	inline IVRSystem *VR_Init( EVRInitError *peError, EVRApplicationType eApplicationType )
+	{
+		IVRSystem *pVRSystem = nullptr;
+
+		EVRInitError eError;
+		VRToken() = VR_InitInternal( &eError, eApplicationType );
+		COpenVRContext &ctx = OpenVRInternal_ModuleContext();
+		ctx.Clear();
+
+		if ( eError == VRInitError_None )
+		{
+			if ( VR_IsInterfaceVersionValid( IVRSystem_Version ) )
+			{
+				pVRSystem = VRSystem();
+			}
+			else
+			{
+				VR_ShutdownInternal();
+				eError = VRInitError_Init_InterfaceNotFound;
+			}
+		}
+
+		if ( peError )
+			*peError = eError;
+		return pVRSystem;
+	}
+
+	/** unloads vrclient.dll. Any interface pointers from the interface are
+	* invalid after this point */
+	inline void VR_Shutdown()
+	{
+		VR_ShutdownInternal();
+	}
+}
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_api.cs b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_api.cs
new file mode 100644
index 000000000..2596b3783
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_api.cs
@@ -0,0 +1,4997 @@
+//======= Copyright (c) Valve Corporation, All rights reserved. ===============
+//
+// Purpose: This file contains C#/managed code bindings for the OpenVR interfaces
+// This file is auto-generated, do not edit it.
+//
+//=============================================================================
+
+using System;
+using System.Runtime.InteropServices;
+using Valve.VR;
+
+namespace Valve.VR
+{
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRSystem
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetRecommendedRenderTargetSize(ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRecommendedRenderTargetSize GetRecommendedRenderTargetSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix44_t _GetProjectionMatrix(EVREye eEye, float fNearZ, float fFarZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetProjectionMatrix GetProjectionMatrix;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetProjectionRaw(EVREye eEye, ref float pfLeft, ref float pfRight, ref float pfTop, ref float pfBottom);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetProjectionRaw GetProjectionRaw;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ComputeDistortion(EVREye eEye, float fU, float fV, ref DistortionCoordinates_t pDistortionCoordinates);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ComputeDistortion ComputeDistortion;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetEyeToHeadTransform(EVREye eEye);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetEyeToHeadTransform GetEyeToHeadTransform;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetTimeSinceLastVsync(ref float pfSecondsSinceLastVsync, ref ulong pulFrameCounter);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTimeSinceLastVsync GetTimeSinceLastVsync;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate int _GetD3D9AdapterIndex();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetD3D9AdapterIndex GetD3D9AdapterIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetDXGIOutputInfo(ref int pnAdapterIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDXGIOutputInfo GetDXGIOutputInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetOutputDevice(ref ulong pnDevice, ETextureType textureType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOutputDevice GetOutputDevice;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsDisplayOnDesktop();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsDisplayOnDesktop IsDisplayOnDesktop;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _SetDisplayVisibility(bool bIsVisibleOnDesktop);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetDisplayVisibility SetDisplayVisibility;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, [In, Out] TrackedDevicePose_t[] pTrackedDevicePoseArray, uint unTrackedDevicePoseArrayCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDeviceToAbsoluteTrackingPose GetDeviceToAbsoluteTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ResetSeatedZeroPose();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ResetSeatedZeroPose ResetSeatedZeroPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetSeatedZeroPoseToStandingAbsoluteTrackingPose();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetSeatedZeroPoseToStandingAbsoluteTrackingPose GetSeatedZeroPoseToStandingAbsoluteTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetRawZeroPoseToStandingAbsoluteTrackingPose();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRawZeroPoseToStandingAbsoluteTrackingPose GetRawZeroPoseToStandingAbsoluteTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetSortedTrackedDeviceIndicesOfClass(ETrackedDeviceClass eTrackedDeviceClass, [In, Out] uint[] punTrackedDeviceIndexArray, uint unTrackedDeviceIndexArrayCount, uint unRelativeToTrackedDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetSortedTrackedDeviceIndicesOfClass GetSortedTrackedDeviceIndicesOfClass;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EDeviceActivityLevel _GetTrackedDeviceActivityLevel(uint unDeviceId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackedDeviceActivityLevel GetTrackedDeviceActivityLevel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ApplyTransform(ref TrackedDevicePose_t pOutputPose, ref TrackedDevicePose_t pTrackedDevicePose, ref HmdMatrix34_t pTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ApplyTransform ApplyTransform;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole unDeviceType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackedDeviceIndexForControllerRole GetTrackedDeviceIndexForControllerRole;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ETrackedControllerRole _GetControllerRoleForTrackedDeviceIndex(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerRoleForTrackedDeviceIndex GetControllerRoleForTrackedDeviceIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ETrackedDeviceClass _GetTrackedDeviceClass(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackedDeviceClass GetTrackedDeviceClass;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsTrackedDeviceConnected(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsTrackedDeviceConnected IsTrackedDeviceConnected;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetBoolTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetBoolTrackedDeviceProperty GetBoolTrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetFloatTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFloatTrackedDeviceProperty GetFloatTrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate int _GetInt32TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetInt32TrackedDeviceProperty GetInt32TrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetUint64TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetUint64TrackedDeviceProperty GetUint64TrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetMatrix34TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetMatrix34TrackedDeviceProperty GetMatrix34TrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetStringTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, System.Text.StringBuilder pchValue, uint unBufferSize, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetStringTrackedDeviceProperty GetStringTrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetPropErrorNameFromEnum(ETrackedPropertyError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPropErrorNameFromEnum GetPropErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEvent(ref VREvent_t pEvent, uint uncbVREvent);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PollNextEvent PollNextEvent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEventWithPose(ETrackingUniverseOrigin eOrigin, ref VREvent_t pEvent, uint uncbVREvent, ref TrackedDevicePose_t pTrackedDevicePose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PollNextEventWithPose PollNextEventWithPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetEventTypeNameFromEnum(EVREventType eType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetEventTypeNameFromEnum GetEventTypeNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HiddenAreaMesh_t _GetHiddenAreaMesh(EVREye eEye, EHiddenAreaMeshType type);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetHiddenAreaMesh GetHiddenAreaMesh;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerState(uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, uint unControllerStateSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerState GetControllerState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin, uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, uint unControllerStateSize, ref TrackedDevicePose_t pTrackedDevicePose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerStateWithPose GetControllerStateWithPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _TriggerHapticPulse(uint unControllerDeviceIndex, uint unAxisId, char usDurationMicroSec);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _TriggerHapticPulse TriggerHapticPulse;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetButtonIdNameFromEnum(EVRButtonId eButtonId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetButtonIdNameFromEnum GetButtonIdNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetControllerAxisTypeNameFromEnum(EVRControllerAxisType eAxisType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerAxisTypeNameFromEnum GetControllerAxisTypeNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CaptureInputFocus();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CaptureInputFocus CaptureInputFocus;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReleaseInputFocus();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseInputFocus ReleaseInputFocus;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsInputFocusCapturedByAnotherProcess();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsInputFocusCapturedByAnotherProcess IsInputFocusCapturedByAnotherProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _DriverDebugRequest(uint unDeviceIndex, string pchRequest, string pchResponseBuffer, uint unResponseBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _DriverDebugRequest DriverDebugRequest;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRFirmwareError _PerformFirmwareUpdate(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PerformFirmwareUpdate PerformFirmwareUpdate;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _AcknowledgeQuit_Exiting();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AcknowledgeQuit_Exiting AcknowledgeQuit_Exiting;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _AcknowledgeQuit_UserPrompt();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AcknowledgeQuit_UserPrompt AcknowledgeQuit_UserPrompt;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRExtendedDisplay
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetWindowBounds(ref int pnX, ref int pnY, ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWindowBounds GetWindowBounds;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetEyeOutputViewport(EVREye eEye, ref uint pnX, ref uint pnY, ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetEyeOutputViewport GetEyeOutputViewport;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetDXGIOutputInfo(ref int pnAdapterIndex, ref int pnAdapterOutputIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDXGIOutputInfo GetDXGIOutputInfo;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRTrackedCamera
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetCameraErrorNameFromEnum(EVRTrackedCameraError eCameraError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraErrorNameFromEnum GetCameraErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _HasCamera(uint nDeviceIndex, ref bool pHasCamera);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HasCamera HasCamera;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetCameraFrameSize(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref uint pnWidth, ref uint pnHeight, ref uint pnFrameBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraFrameSize GetCameraFrameSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetCameraIntrinsics(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref HmdVector2_t pFocalLength, ref HmdVector2_t pCenter);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraIntrinsics GetCameraIntrinsics;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetCameraProjection(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, ref HmdMatrix44_t pProjection);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraProjection GetCameraProjection;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _AcquireVideoStreamingService(uint nDeviceIndex, ref ulong pHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AcquireVideoStreamingService AcquireVideoStreamingService;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _ReleaseVideoStreamingService(ulong hTrackedCamera);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseVideoStreamingService ReleaseVideoStreamingService;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamFrameBuffer(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, IntPtr pFrameBuffer, uint nFrameBufferSize, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamFrameBuffer GetVideoStreamFrameBuffer;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamTextureSize(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref VRTextureBounds_t pTextureBounds, ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamTextureSize GetVideoStreamTextureSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamTextureD3D11(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, IntPtr pD3D11DeviceOrResource, ref IntPtr ppD3D11ShaderResourceView, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamTextureD3D11 GetVideoStreamTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamTextureGL(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, ref uint pglTextureId, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamTextureGL GetVideoStreamTextureGL;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _ReleaseVideoStreamTextureGL(ulong hTrackedCamera, uint glTextureId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseVideoStreamTextureGL ReleaseVideoStreamTextureGL;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRApplications
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _AddApplicationManifest(string pchApplicationManifestFullPath, bool bTemporary);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AddApplicationManifest AddApplicationManifest;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _RemoveApplicationManifest(string pchApplicationManifestFullPath);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveApplicationManifest RemoveApplicationManifest;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsApplicationInstalled(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsApplicationInstalled IsApplicationInstalled;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationCount GetApplicationCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _GetApplicationKeyByIndex(uint unApplicationIndex, System.Text.StringBuilder pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationKeyByIndex GetApplicationKeyByIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _GetApplicationKeyByProcessId(uint unProcessId, string pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationKeyByProcessId GetApplicationKeyByProcessId;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchApplication(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchApplication LaunchApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchTemplateApplication(string pchTemplateAppKey, string pchNewAppKey, [In, Out] AppOverrideKeys_t[] pKeys, uint unKeys);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchTemplateApplication LaunchTemplateApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchApplicationFromMimeType(string pchMimeType, string pchArgs);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchApplicationFromMimeType LaunchApplicationFromMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchDashboardOverlay(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchDashboardOverlay LaunchDashboardOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CancelApplicationLaunch(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CancelApplicationLaunch CancelApplicationLaunch;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _IdentifyApplication(uint unProcessId, string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IdentifyApplication IdentifyApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationProcessId(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationProcessId GetApplicationProcessId;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetApplicationsErrorNameFromEnum(EVRApplicationError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationsErrorNameFromEnum GetApplicationsErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationPropertyString(string pchAppKey, EVRApplicationProperty eProperty, System.Text.StringBuilder pchPropertyValueBuffer, uint unPropertyValueBufferLen, ref EVRApplicationError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationPropertyString GetApplicationPropertyString;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetApplicationPropertyBool(string pchAppKey, EVRApplicationProperty eProperty, ref EVRApplicationError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationPropertyBool GetApplicationPropertyBool;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetApplicationPropertyUint64(string pchAppKey, EVRApplicationProperty eProperty, ref EVRApplicationError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationPropertyUint64 GetApplicationPropertyUint64;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _SetApplicationAutoLaunch(string pchAppKey, bool bAutoLaunch);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetApplicationAutoLaunch SetApplicationAutoLaunch;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetApplicationAutoLaunch(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationAutoLaunch GetApplicationAutoLaunch;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _SetDefaultApplicationForMimeType(string pchAppKey, string pchMimeType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetDefaultApplicationForMimeType SetDefaultApplicationForMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetDefaultApplicationForMimeType(string pchMimeType, string pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDefaultApplicationForMimeType GetDefaultApplicationForMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetApplicationSupportedMimeTypes(string pchAppKey, string pchMimeTypesBuffer, uint unMimeTypesBuffer);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationSupportedMimeTypes GetApplicationSupportedMimeTypes;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationsThatSupportMimeType(string pchMimeType, string pchAppKeysThatSupportBuffer, uint unAppKeysThatSupportBuffer);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationsThatSupportMimeType GetApplicationsThatSupportMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationLaunchArguments(uint unHandle, string pchArgs, uint unArgs);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationLaunchArguments GetApplicationLaunchArguments;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _GetStartingApplication(string pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetStartingApplication GetStartingApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationTransitionState _GetTransitionState();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTransitionState GetTransitionState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _PerformApplicationPrelaunchCheck(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PerformApplicationPrelaunchCheck PerformApplicationPrelaunchCheck;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetApplicationsTransitionStateNameFromEnum(EVRApplicationTransitionState state);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationsTransitionStateNameFromEnum GetApplicationsTransitionStateNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsQuitUserPromptRequested();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsQuitUserPromptRequested IsQuitUserPromptRequested;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchInternalProcess(string pchBinaryPath, string pchArguments, string pchWorkingDirectory);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchInternalProcess LaunchInternalProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetCurrentSceneProcessId();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentSceneProcessId GetCurrentSceneProcessId;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRChaperone
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ChaperoneCalibrationState _GetCalibrationState();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCalibrationState GetCalibrationState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetPlayAreaSize(ref float pSizeX, ref float pSizeZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPlayAreaSize GetPlayAreaSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetPlayAreaRect(ref HmdQuad_t rect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPlayAreaRect GetPlayAreaRect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReloadInfo();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReloadInfo ReloadInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetSceneColor(HmdColor_t color);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetSceneColor SetSceneColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetBoundsColor(ref HmdColor_t pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, ref HmdColor_t pOutputCameraColor);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetBoundsColor GetBoundsColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _AreBoundsVisible();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AreBoundsVisible AreBoundsVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ForceBoundsVisible(bool bForce);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ForceBoundsVisible ForceBoundsVisible;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRChaperoneSetup
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CommitWorkingCopy(EChaperoneConfigFile configFile);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CommitWorkingCopy CommitWorkingCopy;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _RevertWorkingCopy();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RevertWorkingCopy RevertWorkingCopy;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingPlayAreaSize(ref float pSizeX, ref float pSizeZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingPlayAreaSize GetWorkingPlayAreaSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingPlayAreaRect(ref HmdQuad_t rect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingPlayAreaRect GetWorkingPlayAreaRect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingCollisionBoundsInfo GetWorkingCollisionBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLiveCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLiveCollisionBoundsInfo GetLiveCollisionBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingSeatedZeroPoseToRawTrackingPose GetWorkingSeatedZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingStandingZeroPoseToRawTrackingPose GetWorkingStandingZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingPlayAreaSize(float sizeX, float sizeZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingPlayAreaSize SetWorkingPlayAreaSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, uint unQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingCollisionBoundsInfo SetWorkingCollisionBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatSeatedZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingSeatedZeroPoseToRawTrackingPose SetWorkingSeatedZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingStandingZeroPoseToRawTrackingPose SetWorkingStandingZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReloadFromDisk(EChaperoneConfigFile configFile);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReloadFromDisk ReloadFromDisk;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLiveSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLiveSeatedZeroPoseToRawTrackingPose GetLiveSeatedZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingCollisionBoundsTagsInfo([In, Out] byte[] pTagsBuffer, uint unTagCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingCollisionBoundsTagsInfo SetWorkingCollisionBoundsTagsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLiveCollisionBoundsTagsInfo([In, Out] byte[] pTagsBuffer, ref uint punTagCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLiveCollisionBoundsTagsInfo GetLiveCollisionBoundsTagsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _SetWorkingPhysicalBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, uint unQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingPhysicalBoundsInfo SetWorkingPhysicalBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLivePhysicalBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLivePhysicalBoundsInfo GetLivePhysicalBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ExportLiveToBuffer(System.Text.StringBuilder pBuffer, ref uint pnBufferLength);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ExportLiveToBuffer ExportLiveToBuffer;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ImportFromBufferToWorking(string pBuffer, uint nImportFlags);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ImportFromBufferToWorking ImportFromBufferToWorking;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRCompositor
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetTrackingSpace(ETrackingUniverseOrigin eOrigin);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetTrackingSpace SetTrackingSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ETrackingUniverseOrigin _GetTrackingSpace();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackingSpace GetTrackingSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _WaitGetPoses([In, Out] TrackedDevicePose_t[] pRenderPoseArray, uint unRenderPoseArrayCount, [In, Out] TrackedDevicePose_t[] pGamePoseArray, uint unGamePoseArrayCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _WaitGetPoses WaitGetPoses;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetLastPoses([In, Out] TrackedDevicePose_t[] pRenderPoseArray, uint unRenderPoseArrayCount, [In, Out] TrackedDevicePose_t[] pGamePoseArray, uint unGamePoseArrayCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLastPoses GetLastPoses;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetLastPoseForTrackedDeviceIndex(uint unDeviceIndex, ref TrackedDevicePose_t pOutputPose, ref TrackedDevicePose_t pOutputGamePose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLastPoseForTrackedDeviceIndex GetLastPoseForTrackedDeviceIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _Submit(EVREye eEye, ref Texture_t pTexture, ref VRTextureBounds_t pBounds, EVRSubmitFlags nSubmitFlags);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _Submit Submit;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ClearLastSubmittedFrame();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ClearLastSubmittedFrame ClearLastSubmittedFrame;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _PostPresentHandoff();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PostPresentHandoff PostPresentHandoff;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetFrameTiming(ref Compositor_FrameTiming pTiming, uint unFramesAgo);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFrameTiming GetFrameTiming;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetFrameTimings(ref Compositor_FrameTiming pTiming, uint nFrames);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFrameTimings GetFrameTimings;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetFrameTimeRemaining();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFrameTimeRemaining GetFrameTimeRemaining;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetCumulativeStats(ref Compositor_CumulativeStats pStats, uint nStatsSizeInBytes);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCumulativeStats GetCumulativeStats;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FadeToColor(float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FadeToColor FadeToColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdColor_t _GetCurrentFadeColor(bool bBackground);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentFadeColor GetCurrentFadeColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FadeGrid(float fSeconds, bool bFadeIn);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FadeGrid FadeGrid;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetCurrentGridAlpha();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentGridAlpha GetCurrentGridAlpha;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _SetSkyboxOverride([In, Out] Texture_t[] pTextures, uint unTextureCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetSkyboxOverride SetSkyboxOverride;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ClearSkyboxOverride();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ClearSkyboxOverride ClearSkyboxOverride;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorBringToFront();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorBringToFront CompositorBringToFront;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorGoToBack();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorGoToBack CompositorGoToBack;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorQuit();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorQuit CompositorQuit;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsFullscreen();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsFullscreen IsFullscreen;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetCurrentSceneFocusProcess();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentSceneFocusProcess GetCurrentSceneFocusProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetLastFrameRenderer();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLastFrameRenderer GetLastFrameRenderer;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CanRenderScene();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CanRenderScene CanRenderScene;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ShowMirrorWindow();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowMirrorWindow ShowMirrorWindow;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _HideMirrorWindow();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HideMirrorWindow HideMirrorWindow;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsMirrorWindowVisible();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsMirrorWindowVisible IsMirrorWindowVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorDumpImages();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorDumpImages CompositorDumpImages;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ShouldAppRenderWithLowResources();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShouldAppRenderWithLowResources ShouldAppRenderWithLowResources;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ForceInterleavedReprojectionOn(bool bOverride);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ForceInterleavedReprojectionOn ForceInterleavedReprojectionOn;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ForceReconnectProcess();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ForceReconnectProcess ForceReconnectProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SuspendRendering(bool bSuspend);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SuspendRendering SuspendRendering;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetMirrorTextureD3D11(EVREye eEye, IntPtr pD3D11DeviceOrResource, ref IntPtr ppD3D11ShaderResourceView);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetMirrorTextureD3D11 GetMirrorTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReleaseMirrorTextureD3D11(IntPtr pD3D11ShaderResourceView);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseMirrorTextureD3D11 ReleaseMirrorTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetMirrorTextureGL(EVREye eEye, ref uint pglTextureId, IntPtr pglSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetMirrorTextureGL GetMirrorTextureGL;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ReleaseSharedGLTexture(uint glTextureId, IntPtr glSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseSharedGLTexture ReleaseSharedGLTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _LockGLSharedTextureForAccess(IntPtr glSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LockGLSharedTextureForAccess LockGLSharedTextureForAccess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _UnlockGLSharedTextureForAccess(IntPtr glSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _UnlockGLSharedTextureForAccess UnlockGLSharedTextureForAccess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetVulkanInstanceExtensionsRequired(System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVulkanInstanceExtensionsRequired GetVulkanInstanceExtensionsRequired;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetVulkanDeviceExtensionsRequired(IntPtr pPhysicalDevice, System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVulkanDeviceExtensionsRequired GetVulkanDeviceExtensionsRequired;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVROverlay
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _FindOverlay(string pchOverlayKey, ref ulong pOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FindOverlay FindOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _CreateOverlay(string pchOverlayKey, string pchOverlayName, ref ulong pOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CreateOverlay CreateOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _DestroyOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _DestroyOverlay DestroyOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetHighQualityOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetHighQualityOverlay SetHighQualityOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetHighQualityOverlay();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetHighQualityOverlay GetHighQualityOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayKey(ulong ulOverlayHandle, System.Text.StringBuilder pchValue, uint unBufferSize, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayKey GetOverlayKey;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayName(ulong ulOverlayHandle, System.Text.StringBuilder pchValue, uint unBufferSize, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayName GetOverlayName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayName(ulong ulOverlayHandle, string pchName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayName SetOverlayName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayImageData(ulong ulOverlayHandle, IntPtr pvBuffer, uint unBufferSize, ref uint punWidth, ref uint punHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayImageData GetOverlayImageData;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetOverlayErrorNameFromEnum(EVROverlayError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayErrorNameFromEnum GetOverlayErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRenderingPid(ulong ulOverlayHandle, uint unPID);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRenderingPid SetOverlayRenderingPid;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayRenderingPid(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayRenderingPid GetOverlayRenderingPid;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayFlag(ulong ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayFlag SetOverlayFlag;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayFlag(ulong ulOverlayHandle, VROverlayFlags eOverlayFlag, ref bool pbEnabled);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayFlag GetOverlayFlag;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayColor(ulong ulOverlayHandle, float fRed, float fGreen, float fBlue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayColor SetOverlayColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayColor(ulong ulOverlayHandle, ref float pfRed, ref float pfGreen, ref float pfBlue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayColor GetOverlayColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayAlpha(ulong ulOverlayHandle, float fAlpha);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayAlpha SetOverlayAlpha;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayAlpha(ulong ulOverlayHandle, ref float pfAlpha);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayAlpha GetOverlayAlpha;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTexelAspect(ulong ulOverlayHandle, float fTexelAspect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTexelAspect SetOverlayTexelAspect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTexelAspect(ulong ulOverlayHandle, ref float pfTexelAspect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTexelAspect GetOverlayTexelAspect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlaySortOrder(ulong ulOverlayHandle, uint unSortOrder);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlaySortOrder SetOverlaySortOrder;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlaySortOrder(ulong ulOverlayHandle, ref uint punSortOrder);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlaySortOrder GetOverlaySortOrder;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayWidthInMeters(ulong ulOverlayHandle, float fWidthInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayWidthInMeters SetOverlayWidthInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayWidthInMeters(ulong ulOverlayHandle, ref float pfWidthInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayWidthInMeters GetOverlayWidthInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayAutoCurveDistanceRangeInMeters SetOverlayAutoCurveDistanceRangeInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle, ref float pfMinDistanceInMeters, ref float pfMaxDistanceInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayAutoCurveDistanceRangeInMeters GetOverlayAutoCurveDistanceRangeInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTextureColorSpace(ulong ulOverlayHandle, EColorSpace eTextureColorSpace);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTextureColorSpace SetOverlayTextureColorSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTextureColorSpace(ulong ulOverlayHandle, ref EColorSpace peTextureColorSpace);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTextureColorSpace GetOverlayTextureColorSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTextureBounds(ulong ulOverlayHandle, ref VRTextureBounds_t pOverlayTextureBounds);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTextureBounds SetOverlayTextureBounds;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTextureBounds(ulong ulOverlayHandle, ref VRTextureBounds_t pOverlayTextureBounds);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTextureBounds GetOverlayTextureBounds;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayRenderModel(ulong ulOverlayHandle, string pchValue, uint unBufferSize, ref HmdColor_t pColor, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayRenderModel GetOverlayRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRenderModel(ulong ulOverlayHandle, string pchRenderModel, ref HmdColor_t pColor);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRenderModel SetOverlayRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformType(ulong ulOverlayHandle, ref VROverlayTransformType peTransformType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformType GetOverlayTransformType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformAbsolute(ulong ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformAbsolute SetOverlayTransformAbsolute;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformAbsolute(ulong ulOverlayHandle, ref ETrackingUniverseOrigin peTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformAbsolute GetOverlayTransformAbsolute;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle, uint unTrackedDevice, ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformTrackedDeviceRelative SetOverlayTransformTrackedDeviceRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle, ref uint punTrackedDevice, ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformTrackedDeviceRelative GetOverlayTransformTrackedDeviceRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle, uint unDeviceIndex, string pchComponentName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformTrackedDeviceComponent SetOverlayTransformTrackedDeviceComponent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle, ref uint punDeviceIndex, string pchComponentName, uint unComponentNameSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformTrackedDeviceComponent GetOverlayTransformTrackedDeviceComponent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformOverlayRelative(ulong ulOverlayHandle, ref ulong ulOverlayHandleParent, ref HmdMatrix34_t pmatParentOverlayToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformOverlayRelative GetOverlayTransformOverlayRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformOverlayRelative(ulong ulOverlayHandle, ulong ulOverlayHandleParent, ref HmdMatrix34_t pmatParentOverlayToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformOverlayRelative SetOverlayTransformOverlayRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ShowOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowOverlay ShowOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _HideOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HideOverlay HideOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsOverlayVisible(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsOverlayVisible IsOverlayVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetTransformForOverlayCoordinates(ulong ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, HmdVector2_t coordinatesInOverlay, ref HmdMatrix34_t pmatTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTransformForOverlayCoordinates GetTransformForOverlayCoordinates;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextOverlayEvent(ulong ulOverlayHandle, ref VREvent_t pEvent, uint uncbVREvent);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PollNextOverlayEvent PollNextOverlayEvent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayInputMethod(ulong ulOverlayHandle, ref VROverlayInputMethod peInputMethod);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayInputMethod GetOverlayInputMethod;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayInputMethod(ulong ulOverlayHandle, VROverlayInputMethod eInputMethod);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayInputMethod SetOverlayInputMethod;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayMouseScale(ulong ulOverlayHandle, ref HmdVector2_t pvecMouseScale);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayMouseScale GetOverlayMouseScale;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayMouseScale(ulong ulOverlayHandle, ref HmdVector2_t pvecMouseScale);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayMouseScale SetOverlayMouseScale;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ComputeOverlayIntersection(ulong ulOverlayHandle, ref VROverlayIntersectionParams_t pParams, ref VROverlayIntersectionResults_t pResults);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ComputeOverlayIntersection ComputeOverlayIntersection;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _HandleControllerOverlayInteractionAsMouse(ulong ulOverlayHandle, uint unControllerDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HandleControllerOverlayInteractionAsMouse HandleControllerOverlayInteractionAsMouse;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsHoverTargetOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsHoverTargetOverlay IsHoverTargetOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetGamepadFocusOverlay();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetGamepadFocusOverlay GetGamepadFocusOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetGamepadFocusOverlay(ulong ulNewFocusOverlay);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetGamepadFocusOverlay SetGamepadFocusOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayNeighbor(EOverlayDirection eDirection, ulong ulFrom, ulong ulTo);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayNeighbor SetOverlayNeighbor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _MoveGamepadFocusToNeighbor(EOverlayDirection eDirection, ulong ulFrom);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _MoveGamepadFocusToNeighbor MoveGamepadFocusToNeighbor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTexture(ulong ulOverlayHandle, ref Texture_t pTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTexture SetOverlayTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ClearOverlayTexture(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ClearOverlayTexture ClearOverlayTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRaw(ulong ulOverlayHandle, IntPtr pvBuffer, uint unWidth, uint unHeight, uint unDepth);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRaw SetOverlayRaw;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayFromFile(ulong ulOverlayHandle, string pchFilePath);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayFromFile SetOverlayFromFile;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTexture(ulong ulOverlayHandle, ref IntPtr pNativeTextureHandle, IntPtr pNativeTextureRef, ref uint pWidth, ref uint pHeight, ref uint pNativeFormat, ref ETextureType pAPIType, ref EColorSpace pColorSpace, ref VRTextureBounds_t pTextureBounds);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTexture GetOverlayTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ReleaseNativeOverlayHandle(ulong ulOverlayHandle, IntPtr pNativeTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseNativeOverlayHandle ReleaseNativeOverlayHandle;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTextureSize(ulong ulOverlayHandle, ref uint pWidth, ref uint pHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTextureSize GetOverlayTextureSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _CreateDashboardOverlay(string pchOverlayKey, string pchOverlayFriendlyName, ref ulong pMainHandle, ref ulong pThumbnailHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CreateDashboardOverlay CreateDashboardOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsDashboardVisible();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsDashboardVisible IsDashboardVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsActiveDashboardOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsActiveDashboardOverlay IsActiveDashboardOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetDashboardOverlaySceneProcess(ulong ulOverlayHandle, uint unProcessId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetDashboardOverlaySceneProcess SetDashboardOverlaySceneProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetDashboardOverlaySceneProcess(ulong ulOverlayHandle, ref uint punProcessId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDashboardOverlaySceneProcess GetDashboardOverlaySceneProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ShowDashboard(string pchOverlayToShow);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowDashboard ShowDashboard;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetPrimaryDashboardDevice();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPrimaryDashboardDevice GetPrimaryDashboardDevice;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ShowKeyboard(int eInputMode, int eLineInputMode, string pchDescription, uint unCharMax, string pchExistingText, bool bUseMinimalMode, ulong uUserValue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowKeyboard ShowKeyboard;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ShowKeyboardForOverlay(ulong ulOverlayHandle, int eInputMode, int eLineInputMode, string pchDescription, uint unCharMax, string pchExistingText, bool bUseMinimalMode, ulong uUserValue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowKeyboardForOverlay ShowKeyboardForOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetKeyboardText(System.Text.StringBuilder pchText, uint cchText);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetKeyboardText GetKeyboardText;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _HideKeyboard();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HideKeyboard HideKeyboard;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetKeyboardTransformAbsolute SetKeyboardTransformAbsolute;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetKeyboardPositionForOverlay(ulong ulOverlayHandle, HmdRect2_t avoidRect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetKeyboardPositionForOverlay SetKeyboardPositionForOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayIntersectionMask(ulong ulOverlayHandle, ref VROverlayIntersectionMaskPrimitive_t pMaskPrimitives, uint unNumMaskPrimitives, uint unPrimitiveSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayIntersectionMask SetOverlayIntersectionMask;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayFlags(ulong ulOverlayHandle, ref uint pFlags);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayFlags GetOverlayFlags;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate VRMessageOverlayResponse _ShowMessageOverlay(string pchText, string pchCaption, string pchButton0Text, string pchButton1Text, string pchButton2Text, string pchButton3Text);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowMessageOverlay ShowMessageOverlay;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRRenderModels
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadRenderModel_Async(string pchRenderModelName, ref IntPtr ppRenderModel);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadRenderModel_Async LoadRenderModel_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FreeRenderModel(IntPtr pRenderModel);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FreeRenderModel FreeRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadTexture_Async(int textureId, ref IntPtr ppTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadTexture_Async LoadTexture_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FreeTexture(IntPtr pTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FreeTexture FreeTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadTextureD3D11_Async(int textureId, IntPtr pD3D11Device, ref IntPtr ppD3D11Texture2D);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadTextureD3D11_Async LoadTextureD3D11_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadIntoTextureD3D11_Async(int textureId, IntPtr pDstTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadIntoTextureD3D11_Async LoadIntoTextureD3D11_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FreeTextureD3D11(IntPtr pD3D11Texture2D);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FreeTextureD3D11 FreeTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelName(uint unRenderModelIndex, System.Text.StringBuilder pchRenderModelName, uint unRenderModelNameLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelName GetRenderModelName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelCount GetRenderModelCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetComponentCount(string pchRenderModelName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentCount GetComponentCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetComponentName(string pchRenderModelName, uint unComponentIndex, System.Text.StringBuilder pchComponentName, uint unComponentNameLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentName GetComponentName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetComponentButtonMask(string pchRenderModelName, string pchComponentName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentButtonMask GetComponentButtonMask;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetComponentRenderModelName(string pchRenderModelName, string pchComponentName, System.Text.StringBuilder pchComponentRenderModelName, uint unComponentRenderModelNameLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentRenderModelName GetComponentRenderModelName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetComponentState(string pchRenderModelName, string pchComponentName, ref VRControllerState_t pControllerState, ref RenderModel_ControllerMode_State_t pState, ref RenderModel_ComponentState_t pComponentState);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentState GetComponentState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _RenderModelHasComponent(string pchRenderModelName, string pchComponentName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RenderModelHasComponent RenderModelHasComponent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelThumbnailURL(string pchRenderModelName, System.Text.StringBuilder pchThumbnailURL, uint unThumbnailURLLen, ref EVRRenderModelError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelThumbnailURL GetRenderModelThumbnailURL;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelOriginalPath(string pchRenderModelName, System.Text.StringBuilder pchOriginalPath, uint unOriginalPathLen, ref EVRRenderModelError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelOriginalPath GetRenderModelOriginalPath;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetRenderModelErrorNameFromEnum(EVRRenderModelError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelErrorNameFromEnum GetRenderModelErrorNameFromEnum;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRNotifications
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRNotificationError _CreateNotification(ulong ulOverlayHandle, ulong ulUserValue, EVRNotificationType type, string pchText, EVRNotificationStyle style, ref NotificationBitmap_t pImage, ref uint pNotificationId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CreateNotification CreateNotification;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRNotificationError _RemoveNotification(uint notificationId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveNotification RemoveNotification;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRSettings
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetSettingsErrorNameFromEnum(EVRSettingsError eError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetSettingsErrorNameFromEnum GetSettingsErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _Sync(bool bForce, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _Sync Sync;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetBool(string pchSection, string pchSettingsKey, bool bValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetBool SetBool;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetInt32(string pchSection, string pchSettingsKey, int nValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetInt32 SetInt32;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetFloat(string pchSection, string pchSettingsKey, float flValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetFloat SetFloat;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetString(string pchSection, string pchSettingsKey, string pchValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetString SetString;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetBool(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetBool GetBool;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate int _GetInt32(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetInt32 GetInt32;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetFloat(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFloat GetFloat;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetString(string pchSection, string pchSettingsKey, System.Text.StringBuilder pchValue, uint unValueLen, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetString GetString;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _RemoveSection(string pchSection, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveSection RemoveSection;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _RemoveKeyInSection(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveKeyInSection RemoveKeyInSection;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRScreenshots
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _RequestScreenshot(ref uint pOutScreenshotHandle, EVRScreenshotType type, string pchPreviewFilename, string pchVRFilename);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RequestScreenshot RequestScreenshot;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _HookScreenshot([In, Out] EVRScreenshotType[] pSupportedTypes, int numTypes);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HookScreenshot HookScreenshot;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotType _GetScreenshotPropertyType(uint screenshotHandle, ref EVRScreenshotError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetScreenshotPropertyType GetScreenshotPropertyType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetScreenshotPropertyFilename(uint screenshotHandle, EVRScreenshotPropertyFilenames filenameType, System.Text.StringBuilder pchFilename, uint cchFilename, ref EVRScreenshotError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetScreenshotPropertyFilename GetScreenshotPropertyFilename;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _UpdateScreenshotProgress(uint screenshotHandle, float flProgress);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _UpdateScreenshotProgress UpdateScreenshotProgress;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _TakeStereoScreenshot(ref uint pOutScreenshotHandle, string pchPreviewFilename, string pchVRFilename);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _TakeStereoScreenshot TakeStereoScreenshot;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _SubmitScreenshot(uint screenshotHandle, EVRScreenshotType type, string pchSourcePreviewFilename, string pchSourceVRFilename);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SubmitScreenshot SubmitScreenshot;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRResources
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _LoadSharedResource(string pchResourceName, string pchBuffer, uint unBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadSharedResource LoadSharedResource;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetResourceFullPath(string pchResourceName, string pchResourceTypeDirectory, string pchPathBuffer, uint unBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetResourceFullPath GetResourceFullPath;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRDriverManager
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverCount GetDriverCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverName(uint nDriver, System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverName GetDriverName;
+
+}
+
+
+public class CVRSystem
+{
+	IVRSystem FnTable;
+	internal CVRSystem(IntPtr pInterface)
+	{
+		FnTable = (IVRSystem)Marshal.PtrToStructure(pInterface, typeof(IVRSystem));
+	}
+	public void GetRecommendedRenderTargetSize(ref uint pnWidth,ref uint pnHeight)
+	{
+		pnWidth = 0;
+		pnHeight = 0;
+		FnTable.GetRecommendedRenderTargetSize(ref pnWidth,ref pnHeight);
+	}
+	public HmdMatrix44_t GetProjectionMatrix(EVREye eEye,float fNearZ,float fFarZ)
+	{
+		HmdMatrix44_t result = FnTable.GetProjectionMatrix(eEye,fNearZ,fFarZ);
+		return result;
+	}
+	public void GetProjectionRaw(EVREye eEye,ref float pfLeft,ref float pfRight,ref float pfTop,ref float pfBottom)
+	{
+		pfLeft = 0;
+		pfRight = 0;
+		pfTop = 0;
+		pfBottom = 0;
+		FnTable.GetProjectionRaw(eEye,ref pfLeft,ref pfRight,ref pfTop,ref pfBottom);
+	}
+	public bool ComputeDistortion(EVREye eEye,float fU,float fV,ref DistortionCoordinates_t pDistortionCoordinates)
+	{
+		bool result = FnTable.ComputeDistortion(eEye,fU,fV,ref pDistortionCoordinates);
+		return result;
+	}
+	public HmdMatrix34_t GetEyeToHeadTransform(EVREye eEye)
+	{
+		HmdMatrix34_t result = FnTable.GetEyeToHeadTransform(eEye);
+		return result;
+	}
+	public bool GetTimeSinceLastVsync(ref float pfSecondsSinceLastVsync,ref ulong pulFrameCounter)
+	{
+		pfSecondsSinceLastVsync = 0;
+		pulFrameCounter = 0;
+		bool result = FnTable.GetTimeSinceLastVsync(ref pfSecondsSinceLastVsync,ref pulFrameCounter);
+		return result;
+	}
+	public int GetD3D9AdapterIndex()
+	{
+		int result = FnTable.GetD3D9AdapterIndex();
+		return result;
+	}
+	public void GetDXGIOutputInfo(ref int pnAdapterIndex)
+	{
+		pnAdapterIndex = 0;
+		FnTable.GetDXGIOutputInfo(ref pnAdapterIndex);
+	}
+	public void GetOutputDevice(ref ulong pnDevice,ETextureType textureType)
+	{
+		pnDevice = 0;
+		FnTable.GetOutputDevice(ref pnDevice,textureType);
+	}
+	public bool IsDisplayOnDesktop()
+	{
+		bool result = FnTable.IsDisplayOnDesktop();
+		return result;
+	}
+	public bool SetDisplayVisibility(bool bIsVisibleOnDesktop)
+	{
+		bool result = FnTable.SetDisplayVisibility(bIsVisibleOnDesktop);
+		return result;
+	}
+	public void GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin eOrigin,float fPredictedSecondsToPhotonsFromNow,TrackedDevicePose_t [] pTrackedDevicePoseArray)
+	{
+		FnTable.GetDeviceToAbsoluteTrackingPose(eOrigin,fPredictedSecondsToPhotonsFromNow,pTrackedDevicePoseArray,(uint) pTrackedDevicePoseArray.Length);
+	}
+	public void ResetSeatedZeroPose()
+	{
+		FnTable.ResetSeatedZeroPose();
+	}
+	public HmdMatrix34_t GetSeatedZeroPoseToStandingAbsoluteTrackingPose()
+	{
+		HmdMatrix34_t result = FnTable.GetSeatedZeroPoseToStandingAbsoluteTrackingPose();
+		return result;
+	}
+	public HmdMatrix34_t GetRawZeroPoseToStandingAbsoluteTrackingPose()
+	{
+		HmdMatrix34_t result = FnTable.GetRawZeroPoseToStandingAbsoluteTrackingPose();
+		return result;
+	}
+	public uint GetSortedTrackedDeviceIndicesOfClass(ETrackedDeviceClass eTrackedDeviceClass,uint [] punTrackedDeviceIndexArray,uint unRelativeToTrackedDeviceIndex)
+	{
+		uint result = FnTable.GetSortedTrackedDeviceIndicesOfClass(eTrackedDeviceClass,punTrackedDeviceIndexArray,(uint) punTrackedDeviceIndexArray.Length,unRelativeToTrackedDeviceIndex);
+		return result;
+	}
+	public EDeviceActivityLevel GetTrackedDeviceActivityLevel(uint unDeviceId)
+	{
+		EDeviceActivityLevel result = FnTable.GetTrackedDeviceActivityLevel(unDeviceId);
+		return result;
+	}
+	public void ApplyTransform(ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pTrackedDevicePose,ref HmdMatrix34_t pTransform)
+	{
+		FnTable.ApplyTransform(ref pOutputPose,ref pTrackedDevicePose,ref pTransform);
+	}
+	public uint GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole unDeviceType)
+	{
+		uint result = FnTable.GetTrackedDeviceIndexForControllerRole(unDeviceType);
+		return result;
+	}
+	public ETrackedControllerRole GetControllerRoleForTrackedDeviceIndex(uint unDeviceIndex)
+	{
+		ETrackedControllerRole result = FnTable.GetControllerRoleForTrackedDeviceIndex(unDeviceIndex);
+		return result;
+	}
+	public ETrackedDeviceClass GetTrackedDeviceClass(uint unDeviceIndex)
+	{
+		ETrackedDeviceClass result = FnTable.GetTrackedDeviceClass(unDeviceIndex);
+		return result;
+	}
+	public bool IsTrackedDeviceConnected(uint unDeviceIndex)
+	{
+		bool result = FnTable.IsTrackedDeviceConnected(unDeviceIndex);
+		return result;
+	}
+	public bool GetBoolTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		bool result = FnTable.GetBoolTrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public float GetFloatTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		float result = FnTable.GetFloatTrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public int GetInt32TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		int result = FnTable.GetInt32TrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public ulong GetUint64TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		ulong result = FnTable.GetUint64TrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public HmdMatrix34_t GetMatrix34TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		HmdMatrix34_t result = FnTable.GetMatrix34TrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public uint GetStringTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,System.Text.StringBuilder pchValue,uint unBufferSize,ref ETrackedPropertyError pError)
+	{
+		uint result = FnTable.GetStringTrackedDeviceProperty(unDeviceIndex,prop,pchValue,unBufferSize,ref pError);
+		return result;
+	}
+	public string GetPropErrorNameFromEnum(ETrackedPropertyError error)
+	{
+		IntPtr result = FnTable.GetPropErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEventPacked(ref VREvent_t_Packed pEvent,uint uncbVREvent);
+	[StructLayout(LayoutKind.Explicit)]
+	struct PollNextEventUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._PollNextEvent pPollNextEvent;
+		[FieldOffset(0)]
+		public _PollNextEventPacked pPollNextEventPacked;
+	}
+	public bool PollNextEvent(ref VREvent_t pEvent,uint uncbVREvent)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			PollNextEventUnion u;
+			VREvent_t_Packed event_packed = new VREvent_t_Packed();
+			u.pPollNextEventPacked = null;
+			u.pPollNextEvent = FnTable.PollNextEvent;
+			bool packed_result = u.pPollNextEventPacked(ref event_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VREvent_t_Packed)));
+
+			event_packed.Unpack(ref pEvent);
+			return packed_result;
+		}
+		bool result = FnTable.PollNextEvent(ref pEvent,uncbVREvent);
+		return result;
+	}
+	public bool PollNextEventWithPose(ETrackingUniverseOrigin eOrigin,ref VREvent_t pEvent,uint uncbVREvent,ref TrackedDevicePose_t pTrackedDevicePose)
+	{
+		bool result = FnTable.PollNextEventWithPose(eOrigin,ref pEvent,uncbVREvent,ref pTrackedDevicePose);
+		return result;
+	}
+	public string GetEventTypeNameFromEnum(EVREventType eType)
+	{
+		IntPtr result = FnTable.GetEventTypeNameFromEnum(eType);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public HiddenAreaMesh_t GetHiddenAreaMesh(EVREye eEye,EHiddenAreaMeshType type)
+	{
+		HiddenAreaMesh_t result = FnTable.GetHiddenAreaMesh(eEye,type);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStatePacked(uint unControllerDeviceIndex,ref VRControllerState_t_Packed pControllerState,uint unControllerStateSize);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetControllerStateUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._GetControllerState pGetControllerState;
+		[FieldOffset(0)]
+		public _GetControllerStatePacked pGetControllerStatePacked;
+	}
+	public bool GetControllerState(uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetControllerStateUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetControllerStatePacked = null;
+			u.pGetControllerState = FnTable.GetControllerState;
+			bool packed_result = u.pGetControllerStatePacked(unControllerDeviceIndex,ref state_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t_Packed)));
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
+		bool result = FnTable.GetControllerState(unControllerDeviceIndex,ref pControllerState,unControllerStateSize);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStateWithPosePacked(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t_Packed pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetControllerStateWithPoseUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._GetControllerStateWithPose pGetControllerStateWithPose;
+		[FieldOffset(0)]
+		public _GetControllerStateWithPosePacked pGetControllerStateWithPosePacked;
+	}
+	public bool GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetControllerStateWithPoseUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetControllerStateWithPosePacked = null;
+			u.pGetControllerStateWithPose = FnTable.GetControllerStateWithPose;
+			bool packed_result = u.pGetControllerStateWithPosePacked(eOrigin,unControllerDeviceIndex,ref state_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t_Packed)),ref pTrackedDevicePose);
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
+		bool result = FnTable.GetControllerStateWithPose(eOrigin,unControllerDeviceIndex,ref pControllerState,unControllerStateSize,ref pTrackedDevicePose);
+		return result;
+	}
+	public void TriggerHapticPulse(uint unControllerDeviceIndex,uint unAxisId,char usDurationMicroSec)
+	{
+		FnTable.TriggerHapticPulse(unControllerDeviceIndex,unAxisId,usDurationMicroSec);
+	}
+	public string GetButtonIdNameFromEnum(EVRButtonId eButtonId)
+	{
+		IntPtr result = FnTable.GetButtonIdNameFromEnum(eButtonId);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public string GetControllerAxisTypeNameFromEnum(EVRControllerAxisType eAxisType)
+	{
+		IntPtr result = FnTable.GetControllerAxisTypeNameFromEnum(eAxisType);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public bool CaptureInputFocus()
+	{
+		bool result = FnTable.CaptureInputFocus();
+		return result;
+	}
+	public void ReleaseInputFocus()
+	{
+		FnTable.ReleaseInputFocus();
+	}
+	public bool IsInputFocusCapturedByAnotherProcess()
+	{
+		bool result = FnTable.IsInputFocusCapturedByAnotherProcess();
+		return result;
+	}
+	public uint DriverDebugRequest(uint unDeviceIndex,string pchRequest,string pchResponseBuffer,uint unResponseBufferSize)
+	{
+		uint result = FnTable.DriverDebugRequest(unDeviceIndex,pchRequest,pchResponseBuffer,unResponseBufferSize);
+		return result;
+	}
+	public EVRFirmwareError PerformFirmwareUpdate(uint unDeviceIndex)
+	{
+		EVRFirmwareError result = FnTable.PerformFirmwareUpdate(unDeviceIndex);
+		return result;
+	}
+	public void AcknowledgeQuit_Exiting()
+	{
+		FnTable.AcknowledgeQuit_Exiting();
+	}
+	public void AcknowledgeQuit_UserPrompt()
+	{
+		FnTable.AcknowledgeQuit_UserPrompt();
+	}
+}
+
+
+public class CVRExtendedDisplay
+{
+	IVRExtendedDisplay FnTable;
+	internal CVRExtendedDisplay(IntPtr pInterface)
+	{
+		FnTable = (IVRExtendedDisplay)Marshal.PtrToStructure(pInterface, typeof(IVRExtendedDisplay));
+	}
+	public void GetWindowBounds(ref int pnX,ref int pnY,ref uint pnWidth,ref uint pnHeight)
+	{
+		pnX = 0;
+		pnY = 0;
+		pnWidth = 0;
+		pnHeight = 0;
+		FnTable.GetWindowBounds(ref pnX,ref pnY,ref pnWidth,ref pnHeight);
+	}
+	public void GetEyeOutputViewport(EVREye eEye,ref uint pnX,ref uint pnY,ref uint pnWidth,ref uint pnHeight)
+	{
+		pnX = 0;
+		pnY = 0;
+		pnWidth = 0;
+		pnHeight = 0;
+		FnTable.GetEyeOutputViewport(eEye,ref pnX,ref pnY,ref pnWidth,ref pnHeight);
+	}
+	public void GetDXGIOutputInfo(ref int pnAdapterIndex,ref int pnAdapterOutputIndex)
+	{
+		pnAdapterIndex = 0;
+		pnAdapterOutputIndex = 0;
+		FnTable.GetDXGIOutputInfo(ref pnAdapterIndex,ref pnAdapterOutputIndex);
+	}
+}
+
+
+public class CVRTrackedCamera
+{
+	IVRTrackedCamera FnTable;
+	internal CVRTrackedCamera(IntPtr pInterface)
+	{
+		FnTable = (IVRTrackedCamera)Marshal.PtrToStructure(pInterface, typeof(IVRTrackedCamera));
+	}
+	public string GetCameraErrorNameFromEnum(EVRTrackedCameraError eCameraError)
+	{
+		IntPtr result = FnTable.GetCameraErrorNameFromEnum(eCameraError);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public EVRTrackedCameraError HasCamera(uint nDeviceIndex,ref bool pHasCamera)
+	{
+		pHasCamera = false;
+		EVRTrackedCameraError result = FnTable.HasCamera(nDeviceIndex,ref pHasCamera);
+		return result;
+	}
+	public EVRTrackedCameraError GetCameraFrameSize(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref uint pnWidth,ref uint pnHeight,ref uint pnFrameBufferSize)
+	{
+		pnWidth = 0;
+		pnHeight = 0;
+		pnFrameBufferSize = 0;
+		EVRTrackedCameraError result = FnTable.GetCameraFrameSize(nDeviceIndex,eFrameType,ref pnWidth,ref pnHeight,ref pnFrameBufferSize);
+		return result;
+	}
+	public EVRTrackedCameraError GetCameraIntrinsics(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref HmdVector2_t pFocalLength,ref HmdVector2_t pCenter)
+	{
+		EVRTrackedCameraError result = FnTable.GetCameraIntrinsics(nDeviceIndex,eFrameType,ref pFocalLength,ref pCenter);
+		return result;
+	}
+	public EVRTrackedCameraError GetCameraProjection(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,float flZNear,float flZFar,ref HmdMatrix44_t pProjection)
+	{
+		EVRTrackedCameraError result = FnTable.GetCameraProjection(nDeviceIndex,eFrameType,flZNear,flZFar,ref pProjection);
+		return result;
+	}
+	public EVRTrackedCameraError AcquireVideoStreamingService(uint nDeviceIndex,ref ulong pHandle)
+	{
+		pHandle = 0;
+		EVRTrackedCameraError result = FnTable.AcquireVideoStreamingService(nDeviceIndex,ref pHandle);
+		return result;
+	}
+	public EVRTrackedCameraError ReleaseVideoStreamingService(ulong hTrackedCamera)
+	{
+		EVRTrackedCameraError result = FnTable.ReleaseVideoStreamingService(hTrackedCamera);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamFrameBuffer(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,IntPtr pFrameBuffer,uint nFrameBufferSize,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize)
+	{
+		EVRTrackedCameraError result = FnTable.GetVideoStreamFrameBuffer(hTrackedCamera,eFrameType,pFrameBuffer,nFrameBufferSize,ref pFrameHeader,nFrameHeaderSize);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamTextureSize(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref VRTextureBounds_t pTextureBounds,ref uint pnWidth,ref uint pnHeight)
+	{
+		pnWidth = 0;
+		pnHeight = 0;
+		EVRTrackedCameraError result = FnTable.GetVideoStreamTextureSize(nDeviceIndex,eFrameType,ref pTextureBounds,ref pnWidth,ref pnHeight);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamTextureD3D11(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,IntPtr pD3D11DeviceOrResource,ref IntPtr ppD3D11ShaderResourceView,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize)
+	{
+		EVRTrackedCameraError result = FnTable.GetVideoStreamTextureD3D11(hTrackedCamera,eFrameType,pD3D11DeviceOrResource,ref ppD3D11ShaderResourceView,ref pFrameHeader,nFrameHeaderSize);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamTextureGL(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,ref uint pglTextureId,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize)
+	{
+		pglTextureId = 0;
+		EVRTrackedCameraError result = FnTable.GetVideoStreamTextureGL(hTrackedCamera,eFrameType,ref pglTextureId,ref pFrameHeader,nFrameHeaderSize);
+		return result;
+	}
+	public EVRTrackedCameraError ReleaseVideoStreamTextureGL(ulong hTrackedCamera,uint glTextureId)
+	{
+		EVRTrackedCameraError result = FnTable.ReleaseVideoStreamTextureGL(hTrackedCamera,glTextureId);
+		return result;
+	}
+}
+
+
+public class CVRApplications
+{
+	IVRApplications FnTable;
+	internal CVRApplications(IntPtr pInterface)
+	{
+		FnTable = (IVRApplications)Marshal.PtrToStructure(pInterface, typeof(IVRApplications));
+	}
+	public EVRApplicationError AddApplicationManifest(string pchApplicationManifestFullPath,bool bTemporary)
+	{
+		EVRApplicationError result = FnTable.AddApplicationManifest(pchApplicationManifestFullPath,bTemporary);
+		return result;
+	}
+	public EVRApplicationError RemoveApplicationManifest(string pchApplicationManifestFullPath)
+	{
+		EVRApplicationError result = FnTable.RemoveApplicationManifest(pchApplicationManifestFullPath);
+		return result;
+	}
+	public bool IsApplicationInstalled(string pchAppKey)
+	{
+		bool result = FnTable.IsApplicationInstalled(pchAppKey);
+		return result;
+	}
+	public uint GetApplicationCount()
+	{
+		uint result = FnTable.GetApplicationCount();
+		return result;
+	}
+	public EVRApplicationError GetApplicationKeyByIndex(uint unApplicationIndex,System.Text.StringBuilder pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		EVRApplicationError result = FnTable.GetApplicationKeyByIndex(unApplicationIndex,pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public EVRApplicationError GetApplicationKeyByProcessId(uint unProcessId,string pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		EVRApplicationError result = FnTable.GetApplicationKeyByProcessId(unProcessId,pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public EVRApplicationError LaunchApplication(string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.LaunchApplication(pchAppKey);
+		return result;
+	}
+	public EVRApplicationError LaunchTemplateApplication(string pchTemplateAppKey,string pchNewAppKey,AppOverrideKeys_t [] pKeys)
+	{
+		EVRApplicationError result = FnTable.LaunchTemplateApplication(pchTemplateAppKey,pchNewAppKey,pKeys,(uint) pKeys.Length);
+		return result;
+	}
+	public EVRApplicationError LaunchApplicationFromMimeType(string pchMimeType,string pchArgs)
+	{
+		EVRApplicationError result = FnTable.LaunchApplicationFromMimeType(pchMimeType,pchArgs);
+		return result;
+	}
+	public EVRApplicationError LaunchDashboardOverlay(string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.LaunchDashboardOverlay(pchAppKey);
+		return result;
+	}
+	public bool CancelApplicationLaunch(string pchAppKey)
+	{
+		bool result = FnTable.CancelApplicationLaunch(pchAppKey);
+		return result;
+	}
+	public EVRApplicationError IdentifyApplication(uint unProcessId,string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.IdentifyApplication(unProcessId,pchAppKey);
+		return result;
+	}
+	public uint GetApplicationProcessId(string pchAppKey)
+	{
+		uint result = FnTable.GetApplicationProcessId(pchAppKey);
+		return result;
+	}
+	public string GetApplicationsErrorNameFromEnum(EVRApplicationError error)
+	{
+		IntPtr result = FnTable.GetApplicationsErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public uint GetApplicationPropertyString(string pchAppKey,EVRApplicationProperty eProperty,System.Text.StringBuilder pchPropertyValueBuffer,uint unPropertyValueBufferLen,ref EVRApplicationError peError)
+	{
+		uint result = FnTable.GetApplicationPropertyString(pchAppKey,eProperty,pchPropertyValueBuffer,unPropertyValueBufferLen,ref peError);
+		return result;
+	}
+	public bool GetApplicationPropertyBool(string pchAppKey,EVRApplicationProperty eProperty,ref EVRApplicationError peError)
+	{
+		bool result = FnTable.GetApplicationPropertyBool(pchAppKey,eProperty,ref peError);
+		return result;
+	}
+	public ulong GetApplicationPropertyUint64(string pchAppKey,EVRApplicationProperty eProperty,ref EVRApplicationError peError)
+	{
+		ulong result = FnTable.GetApplicationPropertyUint64(pchAppKey,eProperty,ref peError);
+		return result;
+	}
+	public EVRApplicationError SetApplicationAutoLaunch(string pchAppKey,bool bAutoLaunch)
+	{
+		EVRApplicationError result = FnTable.SetApplicationAutoLaunch(pchAppKey,bAutoLaunch);
+		return result;
+	}
+	public bool GetApplicationAutoLaunch(string pchAppKey)
+	{
+		bool result = FnTable.GetApplicationAutoLaunch(pchAppKey);
+		return result;
+	}
+	public EVRApplicationError SetDefaultApplicationForMimeType(string pchAppKey,string pchMimeType)
+	{
+		EVRApplicationError result = FnTable.SetDefaultApplicationForMimeType(pchAppKey,pchMimeType);
+		return result;
+	}
+	public bool GetDefaultApplicationForMimeType(string pchMimeType,string pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		bool result = FnTable.GetDefaultApplicationForMimeType(pchMimeType,pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public bool GetApplicationSupportedMimeTypes(string pchAppKey,string pchMimeTypesBuffer,uint unMimeTypesBuffer)
+	{
+		bool result = FnTable.GetApplicationSupportedMimeTypes(pchAppKey,pchMimeTypesBuffer,unMimeTypesBuffer);
+		return result;
+	}
+	public uint GetApplicationsThatSupportMimeType(string pchMimeType,string pchAppKeysThatSupportBuffer,uint unAppKeysThatSupportBuffer)
+	{
+		uint result = FnTable.GetApplicationsThatSupportMimeType(pchMimeType,pchAppKeysThatSupportBuffer,unAppKeysThatSupportBuffer);
+		return result;
+	}
+	public uint GetApplicationLaunchArguments(uint unHandle,string pchArgs,uint unArgs)
+	{
+		uint result = FnTable.GetApplicationLaunchArguments(unHandle,pchArgs,unArgs);
+		return result;
+	}
+	public EVRApplicationError GetStartingApplication(string pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		EVRApplicationError result = FnTable.GetStartingApplication(pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public EVRApplicationTransitionState GetTransitionState()
+	{
+		EVRApplicationTransitionState result = FnTable.GetTransitionState();
+		return result;
+	}
+	public EVRApplicationError PerformApplicationPrelaunchCheck(string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.PerformApplicationPrelaunchCheck(pchAppKey);
+		return result;
+	}
+	public string GetApplicationsTransitionStateNameFromEnum(EVRApplicationTransitionState state)
+	{
+		IntPtr result = FnTable.GetApplicationsTransitionStateNameFromEnum(state);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public bool IsQuitUserPromptRequested()
+	{
+		bool result = FnTable.IsQuitUserPromptRequested();
+		return result;
+	}
+	public EVRApplicationError LaunchInternalProcess(string pchBinaryPath,string pchArguments,string pchWorkingDirectory)
+	{
+		EVRApplicationError result = FnTable.LaunchInternalProcess(pchBinaryPath,pchArguments,pchWorkingDirectory);
+		return result;
+	}
+	public uint GetCurrentSceneProcessId()
+	{
+		uint result = FnTable.GetCurrentSceneProcessId();
+		return result;
+	}
+}
+
+
+public class CVRChaperone
+{
+	IVRChaperone FnTable;
+	internal CVRChaperone(IntPtr pInterface)
+	{
+		FnTable = (IVRChaperone)Marshal.PtrToStructure(pInterface, typeof(IVRChaperone));
+	}
+	public ChaperoneCalibrationState GetCalibrationState()
+	{
+		ChaperoneCalibrationState result = FnTable.GetCalibrationState();
+		return result;
+	}
+	public bool GetPlayAreaSize(ref float pSizeX,ref float pSizeZ)
+	{
+		pSizeX = 0;
+		pSizeZ = 0;
+		bool result = FnTable.GetPlayAreaSize(ref pSizeX,ref pSizeZ);
+		return result;
+	}
+	public bool GetPlayAreaRect(ref HmdQuad_t rect)
+	{
+		bool result = FnTable.GetPlayAreaRect(ref rect);
+		return result;
+	}
+	public void ReloadInfo()
+	{
+		FnTable.ReloadInfo();
+	}
+	public void SetSceneColor(HmdColor_t color)
+	{
+		FnTable.SetSceneColor(color);
+	}
+	public void GetBoundsColor(ref HmdColor_t pOutputColorArray,int nNumOutputColors,float flCollisionBoundsFadeDistance,ref HmdColor_t pOutputCameraColor)
+	{
+		FnTable.GetBoundsColor(ref pOutputColorArray,nNumOutputColors,flCollisionBoundsFadeDistance,ref pOutputCameraColor);
+	}
+	public bool AreBoundsVisible()
+	{
+		bool result = FnTable.AreBoundsVisible();
+		return result;
+	}
+	public void ForceBoundsVisible(bool bForce)
+	{
+		FnTable.ForceBoundsVisible(bForce);
+	}
+}
+
+
+public class CVRChaperoneSetup
+{
+	IVRChaperoneSetup FnTable;
+	internal CVRChaperoneSetup(IntPtr pInterface)
+	{
+		FnTable = (IVRChaperoneSetup)Marshal.PtrToStructure(pInterface, typeof(IVRChaperoneSetup));
+	}
+	public bool CommitWorkingCopy(EChaperoneConfigFile configFile)
+	{
+		bool result = FnTable.CommitWorkingCopy(configFile);
+		return result;
+	}
+	public void RevertWorkingCopy()
+	{
+		FnTable.RevertWorkingCopy();
+	}
+	public bool GetWorkingPlayAreaSize(ref float pSizeX,ref float pSizeZ)
+	{
+		pSizeX = 0;
+		pSizeZ = 0;
+		bool result = FnTable.GetWorkingPlayAreaSize(ref pSizeX,ref pSizeZ);
+		return result;
+	}
+	public bool GetWorkingPlayAreaRect(ref HmdQuad_t rect)
+	{
+		bool result = FnTable.GetWorkingPlayAreaRect(ref rect);
+		return result;
+	}
+	public bool GetWorkingCollisionBoundsInfo(out HmdQuad_t [] pQuadsBuffer)
+	{
+		uint punQuadsCount = 0;
+		bool result = FnTable.GetWorkingCollisionBoundsInfo(null,ref punQuadsCount);
+		pQuadsBuffer= new HmdQuad_t[punQuadsCount];
+		result = FnTable.GetWorkingCollisionBoundsInfo(pQuadsBuffer,ref punQuadsCount);
+		return result;
+	}
+	public bool GetLiveCollisionBoundsInfo(out HmdQuad_t [] pQuadsBuffer)
+	{
+		uint punQuadsCount = 0;
+		bool result = FnTable.GetLiveCollisionBoundsInfo(null,ref punQuadsCount);
+		pQuadsBuffer= new HmdQuad_t[punQuadsCount];
+		result = FnTable.GetLiveCollisionBoundsInfo(pQuadsBuffer,ref punQuadsCount);
+		return result;
+	}
+	public bool GetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose)
+	{
+		bool result = FnTable.GetWorkingSeatedZeroPoseToRawTrackingPose(ref pmatSeatedZeroPoseToRawTrackingPose);
+		return result;
+	}
+	public bool GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose)
+	{
+		bool result = FnTable.GetWorkingStandingZeroPoseToRawTrackingPose(ref pmatStandingZeroPoseToRawTrackingPose);
+		return result;
+	}
+	public void SetWorkingPlayAreaSize(float sizeX,float sizeZ)
+	{
+		FnTable.SetWorkingPlayAreaSize(sizeX,sizeZ);
+	}
+	public void SetWorkingCollisionBoundsInfo(HmdQuad_t [] pQuadsBuffer)
+	{
+		FnTable.SetWorkingCollisionBoundsInfo(pQuadsBuffer,(uint) pQuadsBuffer.Length);
+	}
+	public void SetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatSeatedZeroPoseToRawTrackingPose)
+	{
+		FnTable.SetWorkingSeatedZeroPoseToRawTrackingPose(ref pMatSeatedZeroPoseToRawTrackingPose);
+	}
+	public void SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose)
+	{
+		FnTable.SetWorkingStandingZeroPoseToRawTrackingPose(ref pMatStandingZeroPoseToRawTrackingPose);
+	}
+	public void ReloadFromDisk(EChaperoneConfigFile configFile)
+	{
+		FnTable.ReloadFromDisk(configFile);
+	}
+	public bool GetLiveSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose)
+	{
+		bool result = FnTable.GetLiveSeatedZeroPoseToRawTrackingPose(ref pmatSeatedZeroPoseToRawTrackingPose);
+		return result;
+	}
+	public void SetWorkingCollisionBoundsTagsInfo(byte [] pTagsBuffer)
+	{
+		FnTable.SetWorkingCollisionBoundsTagsInfo(pTagsBuffer,(uint) pTagsBuffer.Length);
+	}
+	public bool GetLiveCollisionBoundsTagsInfo(out byte [] pTagsBuffer)
+	{
+		uint punTagCount = 0;
+		bool result = FnTable.GetLiveCollisionBoundsTagsInfo(null,ref punTagCount);
+		pTagsBuffer= new byte[punTagCount];
+		result = FnTable.GetLiveCollisionBoundsTagsInfo(pTagsBuffer,ref punTagCount);
+		return result;
+	}
+	public bool SetWorkingPhysicalBoundsInfo(HmdQuad_t [] pQuadsBuffer)
+	{
+		bool result = FnTable.SetWorkingPhysicalBoundsInfo(pQuadsBuffer,(uint) pQuadsBuffer.Length);
+		return result;
+	}
+	public bool GetLivePhysicalBoundsInfo(out HmdQuad_t [] pQuadsBuffer)
+	{
+		uint punQuadsCount = 0;
+		bool result = FnTable.GetLivePhysicalBoundsInfo(null,ref punQuadsCount);
+		pQuadsBuffer= new HmdQuad_t[punQuadsCount];
+		result = FnTable.GetLivePhysicalBoundsInfo(pQuadsBuffer,ref punQuadsCount);
+		return result;
+	}
+	public bool ExportLiveToBuffer(System.Text.StringBuilder pBuffer,ref uint pnBufferLength)
+	{
+		pnBufferLength = 0;
+		bool result = FnTable.ExportLiveToBuffer(pBuffer,ref pnBufferLength);
+		return result;
+	}
+	public bool ImportFromBufferToWorking(string pBuffer,uint nImportFlags)
+	{
+		bool result = FnTable.ImportFromBufferToWorking(pBuffer,nImportFlags);
+		return result;
+	}
+}
+
+
+public class CVRCompositor
+{
+	IVRCompositor FnTable;
+	internal CVRCompositor(IntPtr pInterface)
+	{
+		FnTable = (IVRCompositor)Marshal.PtrToStructure(pInterface, typeof(IVRCompositor));
+	}
+	public void SetTrackingSpace(ETrackingUniverseOrigin eOrigin)
+	{
+		FnTable.SetTrackingSpace(eOrigin);
+	}
+	public ETrackingUniverseOrigin GetTrackingSpace()
+	{
+		ETrackingUniverseOrigin result = FnTable.GetTrackingSpace();
+		return result;
+	}
+	public EVRCompositorError WaitGetPoses(TrackedDevicePose_t [] pRenderPoseArray,TrackedDevicePose_t [] pGamePoseArray)
+	{
+		EVRCompositorError result = FnTable.WaitGetPoses(pRenderPoseArray,(uint) pRenderPoseArray.Length,pGamePoseArray,(uint) pGamePoseArray.Length);
+		return result;
+	}
+	public EVRCompositorError GetLastPoses(TrackedDevicePose_t [] pRenderPoseArray,TrackedDevicePose_t [] pGamePoseArray)
+	{
+		EVRCompositorError result = FnTable.GetLastPoses(pRenderPoseArray,(uint) pRenderPoseArray.Length,pGamePoseArray,(uint) pGamePoseArray.Length);
+		return result;
+	}
+	public EVRCompositorError GetLastPoseForTrackedDeviceIndex(uint unDeviceIndex,ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pOutputGamePose)
+	{
+		EVRCompositorError result = FnTable.GetLastPoseForTrackedDeviceIndex(unDeviceIndex,ref pOutputPose,ref pOutputGamePose);
+		return result;
+	}
+	public EVRCompositorError Submit(EVREye eEye,ref Texture_t pTexture,ref VRTextureBounds_t pBounds,EVRSubmitFlags nSubmitFlags)
+	{
+		EVRCompositorError result = FnTable.Submit(eEye,ref pTexture,ref pBounds,nSubmitFlags);
+		return result;
+	}
+	public void ClearLastSubmittedFrame()
+	{
+		FnTable.ClearLastSubmittedFrame();
+	}
+	public void PostPresentHandoff()
+	{
+		FnTable.PostPresentHandoff();
+	}
+	public bool GetFrameTiming(ref Compositor_FrameTiming pTiming,uint unFramesAgo)
+	{
+		bool result = FnTable.GetFrameTiming(ref pTiming,unFramesAgo);
+		return result;
+	}
+	public uint GetFrameTimings(ref Compositor_FrameTiming pTiming,uint nFrames)
+	{
+		uint result = FnTable.GetFrameTimings(ref pTiming,nFrames);
+		return result;
+	}
+	public float GetFrameTimeRemaining()
+	{
+		float result = FnTable.GetFrameTimeRemaining();
+		return result;
+	}
+	public void GetCumulativeStats(ref Compositor_CumulativeStats pStats,uint nStatsSizeInBytes)
+	{
+		FnTable.GetCumulativeStats(ref pStats,nStatsSizeInBytes);
+	}
+	public void FadeToColor(float fSeconds,float fRed,float fGreen,float fBlue,float fAlpha,bool bBackground)
+	{
+		FnTable.FadeToColor(fSeconds,fRed,fGreen,fBlue,fAlpha,bBackground);
+	}
+	public HmdColor_t GetCurrentFadeColor(bool bBackground)
+	{
+		HmdColor_t result = FnTable.GetCurrentFadeColor(bBackground);
+		return result;
+	}
+	public void FadeGrid(float fSeconds,bool bFadeIn)
+	{
+		FnTable.FadeGrid(fSeconds,bFadeIn);
+	}
+	public float GetCurrentGridAlpha()
+	{
+		float result = FnTable.GetCurrentGridAlpha();
+		return result;
+	}
+	public EVRCompositorError SetSkyboxOverride(Texture_t [] pTextures)
+	{
+		EVRCompositorError result = FnTable.SetSkyboxOverride(pTextures,(uint) pTextures.Length);
+		return result;
+	}
+	public void ClearSkyboxOverride()
+	{
+		FnTable.ClearSkyboxOverride();
+	}
+	public void CompositorBringToFront()
+	{
+		FnTable.CompositorBringToFront();
+	}
+	public void CompositorGoToBack()
+	{
+		FnTable.CompositorGoToBack();
+	}
+	public void CompositorQuit()
+	{
+		FnTable.CompositorQuit();
+	}
+	public bool IsFullscreen()
+	{
+		bool result = FnTable.IsFullscreen();
+		return result;
+	}
+	public uint GetCurrentSceneFocusProcess()
+	{
+		uint result = FnTable.GetCurrentSceneFocusProcess();
+		return result;
+	}
+	public uint GetLastFrameRenderer()
+	{
+		uint result = FnTable.GetLastFrameRenderer();
+		return result;
+	}
+	public bool CanRenderScene()
+	{
+		bool result = FnTable.CanRenderScene();
+		return result;
+	}
+	public void ShowMirrorWindow()
+	{
+		FnTable.ShowMirrorWindow();
+	}
+	public void HideMirrorWindow()
+	{
+		FnTable.HideMirrorWindow();
+	}
+	public bool IsMirrorWindowVisible()
+	{
+		bool result = FnTable.IsMirrorWindowVisible();
+		return result;
+	}
+	public void CompositorDumpImages()
+	{
+		FnTable.CompositorDumpImages();
+	}
+	public bool ShouldAppRenderWithLowResources()
+	{
+		bool result = FnTable.ShouldAppRenderWithLowResources();
+		return result;
+	}
+	public void ForceInterleavedReprojectionOn(bool bOverride)
+	{
+		FnTable.ForceInterleavedReprojectionOn(bOverride);
+	}
+	public void ForceReconnectProcess()
+	{
+		FnTable.ForceReconnectProcess();
+	}
+	public void SuspendRendering(bool bSuspend)
+	{
+		FnTable.SuspendRendering(bSuspend);
+	}
+	public EVRCompositorError GetMirrorTextureD3D11(EVREye eEye,IntPtr pD3D11DeviceOrResource,ref IntPtr ppD3D11ShaderResourceView)
+	{
+		EVRCompositorError result = FnTable.GetMirrorTextureD3D11(eEye,pD3D11DeviceOrResource,ref ppD3D11ShaderResourceView);
+		return result;
+	}
+	public void ReleaseMirrorTextureD3D11(IntPtr pD3D11ShaderResourceView)
+	{
+		FnTable.ReleaseMirrorTextureD3D11(pD3D11ShaderResourceView);
+	}
+	public EVRCompositorError GetMirrorTextureGL(EVREye eEye,ref uint pglTextureId,IntPtr pglSharedTextureHandle)
+	{
+		pglTextureId = 0;
+		EVRCompositorError result = FnTable.GetMirrorTextureGL(eEye,ref pglTextureId,pglSharedTextureHandle);
+		return result;
+	}
+	public bool ReleaseSharedGLTexture(uint glTextureId,IntPtr glSharedTextureHandle)
+	{
+		bool result = FnTable.ReleaseSharedGLTexture(glTextureId,glSharedTextureHandle);
+		return result;
+	}
+	public void LockGLSharedTextureForAccess(IntPtr glSharedTextureHandle)
+	{
+		FnTable.LockGLSharedTextureForAccess(glSharedTextureHandle);
+	}
+	public void UnlockGLSharedTextureForAccess(IntPtr glSharedTextureHandle)
+	{
+		FnTable.UnlockGLSharedTextureForAccess(glSharedTextureHandle);
+	}
+	public uint GetVulkanInstanceExtensionsRequired(System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetVulkanInstanceExtensionsRequired(pchValue,unBufferSize);
+		return result;
+	}
+	public uint GetVulkanDeviceExtensionsRequired(IntPtr pPhysicalDevice,System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetVulkanDeviceExtensionsRequired(pPhysicalDevice,pchValue,unBufferSize);
+		return result;
+	}
+}
+
+
+public class CVROverlay
+{
+	IVROverlay FnTable;
+	internal CVROverlay(IntPtr pInterface)
+	{
+		FnTable = (IVROverlay)Marshal.PtrToStructure(pInterface, typeof(IVROverlay));
+	}
+	public EVROverlayError FindOverlay(string pchOverlayKey,ref ulong pOverlayHandle)
+	{
+		pOverlayHandle = 0;
+		EVROverlayError result = FnTable.FindOverlay(pchOverlayKey,ref pOverlayHandle);
+		return result;
+	}
+	public EVROverlayError CreateOverlay(string pchOverlayKey,string pchOverlayName,ref ulong pOverlayHandle)
+	{
+		pOverlayHandle = 0;
+		EVROverlayError result = FnTable.CreateOverlay(pchOverlayKey,pchOverlayName,ref pOverlayHandle);
+		return result;
+	}
+	public EVROverlayError DestroyOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.DestroyOverlay(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetHighQualityOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.SetHighQualityOverlay(ulOverlayHandle);
+		return result;
+	}
+	public ulong GetHighQualityOverlay()
+	{
+		ulong result = FnTable.GetHighQualityOverlay();
+		return result;
+	}
+	public uint GetOverlayKey(ulong ulOverlayHandle,System.Text.StringBuilder pchValue,uint unBufferSize,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayKey(ulOverlayHandle,pchValue,unBufferSize,ref pError);
+		return result;
+	}
+	public uint GetOverlayName(ulong ulOverlayHandle,System.Text.StringBuilder pchValue,uint unBufferSize,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayName(ulOverlayHandle,pchValue,unBufferSize,ref pError);
+		return result;
+	}
+	public EVROverlayError SetOverlayName(ulong ulOverlayHandle,string pchName)
+	{
+		EVROverlayError result = FnTable.SetOverlayName(ulOverlayHandle,pchName);
+		return result;
+	}
+	public EVROverlayError GetOverlayImageData(ulong ulOverlayHandle,IntPtr pvBuffer,uint unBufferSize,ref uint punWidth,ref uint punHeight)
+	{
+		punWidth = 0;
+		punHeight = 0;
+		EVROverlayError result = FnTable.GetOverlayImageData(ulOverlayHandle,pvBuffer,unBufferSize,ref punWidth,ref punHeight);
+		return result;
+	}
+	public string GetOverlayErrorNameFromEnum(EVROverlayError error)
+	{
+		IntPtr result = FnTable.GetOverlayErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public EVROverlayError SetOverlayRenderingPid(ulong ulOverlayHandle,uint unPID)
+	{
+		EVROverlayError result = FnTable.SetOverlayRenderingPid(ulOverlayHandle,unPID);
+		return result;
+	}
+	public uint GetOverlayRenderingPid(ulong ulOverlayHandle)
+	{
+		uint result = FnTable.GetOverlayRenderingPid(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetOverlayFlag(ulong ulOverlayHandle,VROverlayFlags eOverlayFlag,bool bEnabled)
+	{
+		EVROverlayError result = FnTable.SetOverlayFlag(ulOverlayHandle,eOverlayFlag,bEnabled);
+		return result;
+	}
+	public EVROverlayError GetOverlayFlag(ulong ulOverlayHandle,VROverlayFlags eOverlayFlag,ref bool pbEnabled)
+	{
+		pbEnabled = false;
+		EVROverlayError result = FnTable.GetOverlayFlag(ulOverlayHandle,eOverlayFlag,ref pbEnabled);
+		return result;
+	}
+	public EVROverlayError SetOverlayColor(ulong ulOverlayHandle,float fRed,float fGreen,float fBlue)
+	{
+		EVROverlayError result = FnTable.SetOverlayColor(ulOverlayHandle,fRed,fGreen,fBlue);
+		return result;
+	}
+	public EVROverlayError GetOverlayColor(ulong ulOverlayHandle,ref float pfRed,ref float pfGreen,ref float pfBlue)
+	{
+		pfRed = 0;
+		pfGreen = 0;
+		pfBlue = 0;
+		EVROverlayError result = FnTable.GetOverlayColor(ulOverlayHandle,ref pfRed,ref pfGreen,ref pfBlue);
+		return result;
+	}
+	public EVROverlayError SetOverlayAlpha(ulong ulOverlayHandle,float fAlpha)
+	{
+		EVROverlayError result = FnTable.SetOverlayAlpha(ulOverlayHandle,fAlpha);
+		return result;
+	}
+	public EVROverlayError GetOverlayAlpha(ulong ulOverlayHandle,ref float pfAlpha)
+	{
+		pfAlpha = 0;
+		EVROverlayError result = FnTable.GetOverlayAlpha(ulOverlayHandle,ref pfAlpha);
+		return result;
+	}
+	public EVROverlayError SetOverlayTexelAspect(ulong ulOverlayHandle,float fTexelAspect)
+	{
+		EVROverlayError result = FnTable.SetOverlayTexelAspect(ulOverlayHandle,fTexelAspect);
+		return result;
+	}
+	public EVROverlayError GetOverlayTexelAspect(ulong ulOverlayHandle,ref float pfTexelAspect)
+	{
+		pfTexelAspect = 0;
+		EVROverlayError result = FnTable.GetOverlayTexelAspect(ulOverlayHandle,ref pfTexelAspect);
+		return result;
+	}
+	public EVROverlayError SetOverlaySortOrder(ulong ulOverlayHandle,uint unSortOrder)
+	{
+		EVROverlayError result = FnTable.SetOverlaySortOrder(ulOverlayHandle,unSortOrder);
+		return result;
+	}
+	public EVROverlayError GetOverlaySortOrder(ulong ulOverlayHandle,ref uint punSortOrder)
+	{
+		punSortOrder = 0;
+		EVROverlayError result = FnTable.GetOverlaySortOrder(ulOverlayHandle,ref punSortOrder);
+		return result;
+	}
+	public EVROverlayError SetOverlayWidthInMeters(ulong ulOverlayHandle,float fWidthInMeters)
+	{
+		EVROverlayError result = FnTable.SetOverlayWidthInMeters(ulOverlayHandle,fWidthInMeters);
+		return result;
+	}
+	public EVROverlayError GetOverlayWidthInMeters(ulong ulOverlayHandle,ref float pfWidthInMeters)
+	{
+		pfWidthInMeters = 0;
+		EVROverlayError result = FnTable.GetOverlayWidthInMeters(ulOverlayHandle,ref pfWidthInMeters);
+		return result;
+	}
+	public EVROverlayError SetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle,float fMinDistanceInMeters,float fMaxDistanceInMeters)
+	{
+		EVROverlayError result = FnTable.SetOverlayAutoCurveDistanceRangeInMeters(ulOverlayHandle,fMinDistanceInMeters,fMaxDistanceInMeters);
+		return result;
+	}
+	public EVROverlayError GetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle,ref float pfMinDistanceInMeters,ref float pfMaxDistanceInMeters)
+	{
+		pfMinDistanceInMeters = 0;
+		pfMaxDistanceInMeters = 0;
+		EVROverlayError result = FnTable.GetOverlayAutoCurveDistanceRangeInMeters(ulOverlayHandle,ref pfMinDistanceInMeters,ref pfMaxDistanceInMeters);
+		return result;
+	}
+	public EVROverlayError SetOverlayTextureColorSpace(ulong ulOverlayHandle,EColorSpace eTextureColorSpace)
+	{
+		EVROverlayError result = FnTable.SetOverlayTextureColorSpace(ulOverlayHandle,eTextureColorSpace);
+		return result;
+	}
+	public EVROverlayError GetOverlayTextureColorSpace(ulong ulOverlayHandle,ref EColorSpace peTextureColorSpace)
+	{
+		EVROverlayError result = FnTable.GetOverlayTextureColorSpace(ulOverlayHandle,ref peTextureColorSpace);
+		return result;
+	}
+	public EVROverlayError SetOverlayTextureBounds(ulong ulOverlayHandle,ref VRTextureBounds_t pOverlayTextureBounds)
+	{
+		EVROverlayError result = FnTable.SetOverlayTextureBounds(ulOverlayHandle,ref pOverlayTextureBounds);
+		return result;
+	}
+	public EVROverlayError GetOverlayTextureBounds(ulong ulOverlayHandle,ref VRTextureBounds_t pOverlayTextureBounds)
+	{
+		EVROverlayError result = FnTable.GetOverlayTextureBounds(ulOverlayHandle,ref pOverlayTextureBounds);
+		return result;
+	}
+	public uint GetOverlayRenderModel(ulong ulOverlayHandle,string pchValue,uint unBufferSize,ref HmdColor_t pColor,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayRenderModel(ulOverlayHandle,pchValue,unBufferSize,ref pColor,ref pError);
+		return result;
+	}
+	public EVROverlayError SetOverlayRenderModel(ulong ulOverlayHandle,string pchRenderModel,ref HmdColor_t pColor)
+	{
+		EVROverlayError result = FnTable.SetOverlayRenderModel(ulOverlayHandle,pchRenderModel,ref pColor);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformType(ulong ulOverlayHandle,ref VROverlayTransformType peTransformType)
+	{
+		EVROverlayError result = FnTable.GetOverlayTransformType(ulOverlayHandle,ref peTransformType);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformAbsolute(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformAbsolute(ulOverlayHandle,eTrackingOrigin,ref pmatTrackingOriginToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformAbsolute(ulong ulOverlayHandle,ref ETrackingUniverseOrigin peTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.GetOverlayTransformAbsolute(ulOverlayHandle,ref peTrackingOrigin,ref pmatTrackingOriginToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,uint unTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformTrackedDeviceRelative(ulOverlayHandle,unTrackedDevice,ref pmatTrackedDeviceToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,ref uint punTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform)
+	{
+		punTrackedDevice = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformTrackedDeviceRelative(ulOverlayHandle,ref punTrackedDevice,ref pmatTrackedDeviceToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle,uint unDeviceIndex,string pchComponentName)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformTrackedDeviceComponent(ulOverlayHandle,unDeviceIndex,pchComponentName);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle,ref uint punDeviceIndex,string pchComponentName,uint unComponentNameSize)
+	{
+		punDeviceIndex = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformTrackedDeviceComponent(ulOverlayHandle,ref punDeviceIndex,pchComponentName,unComponentNameSize);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformOverlayRelative(ulong ulOverlayHandle,ref ulong ulOverlayHandleParent,ref HmdMatrix34_t pmatParentOverlayToOverlayTransform)
+	{
+		ulOverlayHandleParent = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformOverlayRelative(ulOverlayHandle,ref ulOverlayHandleParent,ref pmatParentOverlayToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformOverlayRelative(ulong ulOverlayHandle,ulong ulOverlayHandleParent,ref HmdMatrix34_t pmatParentOverlayToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformOverlayRelative(ulOverlayHandle,ulOverlayHandleParent,ref pmatParentOverlayToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError ShowOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.ShowOverlay(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError HideOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.HideOverlay(ulOverlayHandle);
+		return result;
+	}
+	public bool IsOverlayVisible(ulong ulOverlayHandle)
+	{
+		bool result = FnTable.IsOverlayVisible(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError GetTransformForOverlayCoordinates(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,HmdVector2_t coordinatesInOverlay,ref HmdMatrix34_t pmatTransform)
+	{
+		EVROverlayError result = FnTable.GetTransformForOverlayCoordinates(ulOverlayHandle,eTrackingOrigin,coordinatesInOverlay,ref pmatTransform);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextOverlayEventPacked(ulong ulOverlayHandle,ref VREvent_t_Packed pEvent,uint uncbVREvent);
+	[StructLayout(LayoutKind.Explicit)]
+	struct PollNextOverlayEventUnion
+	{
+		[FieldOffset(0)]
+		public IVROverlay._PollNextOverlayEvent pPollNextOverlayEvent;
+		[FieldOffset(0)]
+		public _PollNextOverlayEventPacked pPollNextOverlayEventPacked;
+	}
+	public bool PollNextOverlayEvent(ulong ulOverlayHandle,ref VREvent_t pEvent,uint uncbVREvent)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			PollNextOverlayEventUnion u;
+			VREvent_t_Packed event_packed = new VREvent_t_Packed();
+			u.pPollNextOverlayEventPacked = null;
+			u.pPollNextOverlayEvent = FnTable.PollNextOverlayEvent;
+			bool packed_result = u.pPollNextOverlayEventPacked(ulOverlayHandle,ref event_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VREvent_t_Packed)));
+
+			event_packed.Unpack(ref pEvent);
+			return packed_result;
+		}
+		bool result = FnTable.PollNextOverlayEvent(ulOverlayHandle,ref pEvent,uncbVREvent);
+		return result;
+	}
+	public EVROverlayError GetOverlayInputMethod(ulong ulOverlayHandle,ref VROverlayInputMethod peInputMethod)
+	{
+		EVROverlayError result = FnTable.GetOverlayInputMethod(ulOverlayHandle,ref peInputMethod);
+		return result;
+	}
+	public EVROverlayError SetOverlayInputMethod(ulong ulOverlayHandle,VROverlayInputMethod eInputMethod)
+	{
+		EVROverlayError result = FnTable.SetOverlayInputMethod(ulOverlayHandle,eInputMethod);
+		return result;
+	}
+	public EVROverlayError GetOverlayMouseScale(ulong ulOverlayHandle,ref HmdVector2_t pvecMouseScale)
+	{
+		EVROverlayError result = FnTable.GetOverlayMouseScale(ulOverlayHandle,ref pvecMouseScale);
+		return result;
+	}
+	public EVROverlayError SetOverlayMouseScale(ulong ulOverlayHandle,ref HmdVector2_t pvecMouseScale)
+	{
+		EVROverlayError result = FnTable.SetOverlayMouseScale(ulOverlayHandle,ref pvecMouseScale);
+		return result;
+	}
+	public bool ComputeOverlayIntersection(ulong ulOverlayHandle,ref VROverlayIntersectionParams_t pParams,ref VROverlayIntersectionResults_t pResults)
+	{
+		bool result = FnTable.ComputeOverlayIntersection(ulOverlayHandle,ref pParams,ref pResults);
+		return result;
+	}
+	public bool HandleControllerOverlayInteractionAsMouse(ulong ulOverlayHandle,uint unControllerDeviceIndex)
+	{
+		bool result = FnTable.HandleControllerOverlayInteractionAsMouse(ulOverlayHandle,unControllerDeviceIndex);
+		return result;
+	}
+	public bool IsHoverTargetOverlay(ulong ulOverlayHandle)
+	{
+		bool result = FnTable.IsHoverTargetOverlay(ulOverlayHandle);
+		return result;
+	}
+	public ulong GetGamepadFocusOverlay()
+	{
+		ulong result = FnTable.GetGamepadFocusOverlay();
+		return result;
+	}
+	public EVROverlayError SetGamepadFocusOverlay(ulong ulNewFocusOverlay)
+	{
+		EVROverlayError result = FnTable.SetGamepadFocusOverlay(ulNewFocusOverlay);
+		return result;
+	}
+	public EVROverlayError SetOverlayNeighbor(EOverlayDirection eDirection,ulong ulFrom,ulong ulTo)
+	{
+		EVROverlayError result = FnTable.SetOverlayNeighbor(eDirection,ulFrom,ulTo);
+		return result;
+	}
+	public EVROverlayError MoveGamepadFocusToNeighbor(EOverlayDirection eDirection,ulong ulFrom)
+	{
+		EVROverlayError result = FnTable.MoveGamepadFocusToNeighbor(eDirection,ulFrom);
+		return result;
+	}
+	public EVROverlayError SetOverlayTexture(ulong ulOverlayHandle,ref Texture_t pTexture)
+	{
+		EVROverlayError result = FnTable.SetOverlayTexture(ulOverlayHandle,ref pTexture);
+		return result;
+	}
+	public EVROverlayError ClearOverlayTexture(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.ClearOverlayTexture(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetOverlayRaw(ulong ulOverlayHandle,IntPtr pvBuffer,uint unWidth,uint unHeight,uint unDepth)
+	{
+		EVROverlayError result = FnTable.SetOverlayRaw(ulOverlayHandle,pvBuffer,unWidth,unHeight,unDepth);
+		return result;
+	}
+	public EVROverlayError SetOverlayFromFile(ulong ulOverlayHandle,string pchFilePath)
+	{
+		EVROverlayError result = FnTable.SetOverlayFromFile(ulOverlayHandle,pchFilePath);
+		return result;
+	}
+	public EVROverlayError GetOverlayTexture(ulong ulOverlayHandle,ref IntPtr pNativeTextureHandle,IntPtr pNativeTextureRef,ref uint pWidth,ref uint pHeight,ref uint pNativeFormat,ref ETextureType pAPIType,ref EColorSpace pColorSpace,ref VRTextureBounds_t pTextureBounds)
+	{
+		pWidth = 0;
+		pHeight = 0;
+		pNativeFormat = 0;
+		EVROverlayError result = FnTable.GetOverlayTexture(ulOverlayHandle,ref pNativeTextureHandle,pNativeTextureRef,ref pWidth,ref pHeight,ref pNativeFormat,ref pAPIType,ref pColorSpace,ref pTextureBounds);
+		return result;
+	}
+	public EVROverlayError ReleaseNativeOverlayHandle(ulong ulOverlayHandle,IntPtr pNativeTextureHandle)
+	{
+		EVROverlayError result = FnTable.ReleaseNativeOverlayHandle(ulOverlayHandle,pNativeTextureHandle);
+		return result;
+	}
+	public EVROverlayError GetOverlayTextureSize(ulong ulOverlayHandle,ref uint pWidth,ref uint pHeight)
+	{
+		pWidth = 0;
+		pHeight = 0;
+		EVROverlayError result = FnTable.GetOverlayTextureSize(ulOverlayHandle,ref pWidth,ref pHeight);
+		return result;
+	}
+	public EVROverlayError CreateDashboardOverlay(string pchOverlayKey,string pchOverlayFriendlyName,ref ulong pMainHandle,ref ulong pThumbnailHandle)
+	{
+		pMainHandle = 0;
+		pThumbnailHandle = 0;
+		EVROverlayError result = FnTable.CreateDashboardOverlay(pchOverlayKey,pchOverlayFriendlyName,ref pMainHandle,ref pThumbnailHandle);
+		return result;
+	}
+	public bool IsDashboardVisible()
+	{
+		bool result = FnTable.IsDashboardVisible();
+		return result;
+	}
+	public bool IsActiveDashboardOverlay(ulong ulOverlayHandle)
+	{
+		bool result = FnTable.IsActiveDashboardOverlay(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetDashboardOverlaySceneProcess(ulong ulOverlayHandle,uint unProcessId)
+	{
+		EVROverlayError result = FnTable.SetDashboardOverlaySceneProcess(ulOverlayHandle,unProcessId);
+		return result;
+	}
+	public EVROverlayError GetDashboardOverlaySceneProcess(ulong ulOverlayHandle,ref uint punProcessId)
+	{
+		punProcessId = 0;
+		EVROverlayError result = FnTable.GetDashboardOverlaySceneProcess(ulOverlayHandle,ref punProcessId);
+		return result;
+	}
+	public void ShowDashboard(string pchOverlayToShow)
+	{
+		FnTable.ShowDashboard(pchOverlayToShow);
+	}
+	public uint GetPrimaryDashboardDevice()
+	{
+		uint result = FnTable.GetPrimaryDashboardDevice();
+		return result;
+	}
+	public EVROverlayError ShowKeyboard(int eInputMode,int eLineInputMode,string pchDescription,uint unCharMax,string pchExistingText,bool bUseMinimalMode,ulong uUserValue)
+	{
+		EVROverlayError result = FnTable.ShowKeyboard(eInputMode,eLineInputMode,pchDescription,unCharMax,pchExistingText,bUseMinimalMode,uUserValue);
+		return result;
+	}
+	public EVROverlayError ShowKeyboardForOverlay(ulong ulOverlayHandle,int eInputMode,int eLineInputMode,string pchDescription,uint unCharMax,string pchExistingText,bool bUseMinimalMode,ulong uUserValue)
+	{
+		EVROverlayError result = FnTable.ShowKeyboardForOverlay(ulOverlayHandle,eInputMode,eLineInputMode,pchDescription,unCharMax,pchExistingText,bUseMinimalMode,uUserValue);
+		return result;
+	}
+	public uint GetKeyboardText(System.Text.StringBuilder pchText,uint cchText)
+	{
+		uint result = FnTable.GetKeyboardText(pchText,cchText);
+		return result;
+	}
+	public void HideKeyboard()
+	{
+		FnTable.HideKeyboard();
+	}
+	public void SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform)
+	{
+		FnTable.SetKeyboardTransformAbsolute(eTrackingOrigin,ref pmatTrackingOriginToKeyboardTransform);
+	}
+	public void SetKeyboardPositionForOverlay(ulong ulOverlayHandle,HmdRect2_t avoidRect)
+	{
+		FnTable.SetKeyboardPositionForOverlay(ulOverlayHandle,avoidRect);
+	}
+	public EVROverlayError SetOverlayIntersectionMask(ulong ulOverlayHandle,ref VROverlayIntersectionMaskPrimitive_t pMaskPrimitives,uint unNumMaskPrimitives,uint unPrimitiveSize)
+	{
+		EVROverlayError result = FnTable.SetOverlayIntersectionMask(ulOverlayHandle,ref pMaskPrimitives,unNumMaskPrimitives,unPrimitiveSize);
+		return result;
+	}
+	public EVROverlayError GetOverlayFlags(ulong ulOverlayHandle,ref uint pFlags)
+	{
+		pFlags = 0;
+		EVROverlayError result = FnTable.GetOverlayFlags(ulOverlayHandle,ref pFlags);
+		return result;
+	}
+	public VRMessageOverlayResponse ShowMessageOverlay(string pchText,string pchCaption,string pchButton0Text,string pchButton1Text,string pchButton2Text,string pchButton3Text)
+	{
+		VRMessageOverlayResponse result = FnTable.ShowMessageOverlay(pchText,pchCaption,pchButton0Text,pchButton1Text,pchButton2Text,pchButton3Text);
+		return result;
+	}
+}
+
+
+public class CVRRenderModels
+{
+	IVRRenderModels FnTable;
+	internal CVRRenderModels(IntPtr pInterface)
+	{
+		FnTable = (IVRRenderModels)Marshal.PtrToStructure(pInterface, typeof(IVRRenderModels));
+	}
+	public EVRRenderModelError LoadRenderModel_Async(string pchRenderModelName,ref IntPtr ppRenderModel)
+	{
+		EVRRenderModelError result = FnTable.LoadRenderModel_Async(pchRenderModelName,ref ppRenderModel);
+		return result;
+	}
+	public void FreeRenderModel(IntPtr pRenderModel)
+	{
+		FnTable.FreeRenderModel(pRenderModel);
+	}
+	public EVRRenderModelError LoadTexture_Async(int textureId,ref IntPtr ppTexture)
+	{
+		EVRRenderModelError result = FnTable.LoadTexture_Async(textureId,ref ppTexture);
+		return result;
+	}
+	public void FreeTexture(IntPtr pTexture)
+	{
+		FnTable.FreeTexture(pTexture);
+	}
+	public EVRRenderModelError LoadTextureD3D11_Async(int textureId,IntPtr pD3D11Device,ref IntPtr ppD3D11Texture2D)
+	{
+		EVRRenderModelError result = FnTable.LoadTextureD3D11_Async(textureId,pD3D11Device,ref ppD3D11Texture2D);
+		return result;
+	}
+	public EVRRenderModelError LoadIntoTextureD3D11_Async(int textureId,IntPtr pDstTexture)
+	{
+		EVRRenderModelError result = FnTable.LoadIntoTextureD3D11_Async(textureId,pDstTexture);
+		return result;
+	}
+	public void FreeTextureD3D11(IntPtr pD3D11Texture2D)
+	{
+		FnTable.FreeTextureD3D11(pD3D11Texture2D);
+	}
+	public uint GetRenderModelName(uint unRenderModelIndex,System.Text.StringBuilder pchRenderModelName,uint unRenderModelNameLen)
+	{
+		uint result = FnTable.GetRenderModelName(unRenderModelIndex,pchRenderModelName,unRenderModelNameLen);
+		return result;
+	}
+	public uint GetRenderModelCount()
+	{
+		uint result = FnTable.GetRenderModelCount();
+		return result;
+	}
+	public uint GetComponentCount(string pchRenderModelName)
+	{
+		uint result = FnTable.GetComponentCount(pchRenderModelName);
+		return result;
+	}
+	public uint GetComponentName(string pchRenderModelName,uint unComponentIndex,System.Text.StringBuilder pchComponentName,uint unComponentNameLen)
+	{
+		uint result = FnTable.GetComponentName(pchRenderModelName,unComponentIndex,pchComponentName,unComponentNameLen);
+		return result;
+	}
+	public ulong GetComponentButtonMask(string pchRenderModelName,string pchComponentName)
+	{
+		ulong result = FnTable.GetComponentButtonMask(pchRenderModelName,pchComponentName);
+		return result;
+	}
+	public uint GetComponentRenderModelName(string pchRenderModelName,string pchComponentName,System.Text.StringBuilder pchComponentRenderModelName,uint unComponentRenderModelNameLen)
+	{
+		uint result = FnTable.GetComponentRenderModelName(pchRenderModelName,pchComponentName,pchComponentRenderModelName,unComponentRenderModelNameLen);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetComponentStatePacked(string pchRenderModelName,string pchComponentName,ref VRControllerState_t_Packed pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetComponentStateUnion
+	{
+		[FieldOffset(0)]
+		public IVRRenderModels._GetComponentState pGetComponentState;
+		[FieldOffset(0)]
+		public _GetComponentStatePacked pGetComponentStatePacked;
+	}
+	public bool GetComponentState(string pchRenderModelName,string pchComponentName,ref VRControllerState_t pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetComponentStateUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetComponentStatePacked = null;
+			u.pGetComponentState = FnTable.GetComponentState;
+			bool packed_result = u.pGetComponentStatePacked(pchRenderModelName,pchComponentName,ref state_packed,ref pState,ref pComponentState);
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
+		bool result = FnTable.GetComponentState(pchRenderModelName,pchComponentName,ref pControllerState,ref pState,ref pComponentState);
+		return result;
+	}
+	public bool RenderModelHasComponent(string pchRenderModelName,string pchComponentName)
+	{
+		bool result = FnTable.RenderModelHasComponent(pchRenderModelName,pchComponentName);
+		return result;
+	}
+	public uint GetRenderModelThumbnailURL(string pchRenderModelName,System.Text.StringBuilder pchThumbnailURL,uint unThumbnailURLLen,ref EVRRenderModelError peError)
+	{
+		uint result = FnTable.GetRenderModelThumbnailURL(pchRenderModelName,pchThumbnailURL,unThumbnailURLLen,ref peError);
+		return result;
+	}
+	public uint GetRenderModelOriginalPath(string pchRenderModelName,System.Text.StringBuilder pchOriginalPath,uint unOriginalPathLen,ref EVRRenderModelError peError)
+	{
+		uint result = FnTable.GetRenderModelOriginalPath(pchRenderModelName,pchOriginalPath,unOriginalPathLen,ref peError);
+		return result;
+	}
+	public string GetRenderModelErrorNameFromEnum(EVRRenderModelError error)
+	{
+		IntPtr result = FnTable.GetRenderModelErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+}
+
+
+public class CVRNotifications
+{
+	IVRNotifications FnTable;
+	internal CVRNotifications(IntPtr pInterface)
+	{
+		FnTable = (IVRNotifications)Marshal.PtrToStructure(pInterface, typeof(IVRNotifications));
+	}
+	public EVRNotificationError CreateNotification(ulong ulOverlayHandle,ulong ulUserValue,EVRNotificationType type,string pchText,EVRNotificationStyle style,ref NotificationBitmap_t pImage,ref uint pNotificationId)
+	{
+		pNotificationId = 0;
+		EVRNotificationError result = FnTable.CreateNotification(ulOverlayHandle,ulUserValue,type,pchText,style,ref pImage,ref pNotificationId);
+		return result;
+	}
+	public EVRNotificationError RemoveNotification(uint notificationId)
+	{
+		EVRNotificationError result = FnTable.RemoveNotification(notificationId);
+		return result;
+	}
+}
+
+
+public class CVRSettings
+{
+	IVRSettings FnTable;
+	internal CVRSettings(IntPtr pInterface)
+	{
+		FnTable = (IVRSettings)Marshal.PtrToStructure(pInterface, typeof(IVRSettings));
+	}
+	public string GetSettingsErrorNameFromEnum(EVRSettingsError eError)
+	{
+		IntPtr result = FnTable.GetSettingsErrorNameFromEnum(eError);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public bool Sync(bool bForce,ref EVRSettingsError peError)
+	{
+		bool result = FnTable.Sync(bForce,ref peError);
+		return result;
+	}
+	public void SetBool(string pchSection,string pchSettingsKey,bool bValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetBool(pchSection,pchSettingsKey,bValue,ref peError);
+	}
+	public void SetInt32(string pchSection,string pchSettingsKey,int nValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetInt32(pchSection,pchSettingsKey,nValue,ref peError);
+	}
+	public void SetFloat(string pchSection,string pchSettingsKey,float flValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetFloat(pchSection,pchSettingsKey,flValue,ref peError);
+	}
+	public void SetString(string pchSection,string pchSettingsKey,string pchValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetString(pchSection,pchSettingsKey,pchValue,ref peError);
+	}
+	public bool GetBool(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		bool result = FnTable.GetBool(pchSection,pchSettingsKey,ref peError);
+		return result;
+	}
+	public int GetInt32(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		int result = FnTable.GetInt32(pchSection,pchSettingsKey,ref peError);
+		return result;
+	}
+	public float GetFloat(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		float result = FnTable.GetFloat(pchSection,pchSettingsKey,ref peError);
+		return result;
+	}
+	public void GetString(string pchSection,string pchSettingsKey,System.Text.StringBuilder pchValue,uint unValueLen,ref EVRSettingsError peError)
+	{
+		FnTable.GetString(pchSection,pchSettingsKey,pchValue,unValueLen,ref peError);
+	}
+	public void RemoveSection(string pchSection,ref EVRSettingsError peError)
+	{
+		FnTable.RemoveSection(pchSection,ref peError);
+	}
+	public void RemoveKeyInSection(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		FnTable.RemoveKeyInSection(pchSection,pchSettingsKey,ref peError);
+	}
+}
+
+
+public class CVRScreenshots
+{
+	IVRScreenshots FnTable;
+	internal CVRScreenshots(IntPtr pInterface)
+	{
+		FnTable = (IVRScreenshots)Marshal.PtrToStructure(pInterface, typeof(IVRScreenshots));
+	}
+	public EVRScreenshotError RequestScreenshot(ref uint pOutScreenshotHandle,EVRScreenshotType type,string pchPreviewFilename,string pchVRFilename)
+	{
+		pOutScreenshotHandle = 0;
+		EVRScreenshotError result = FnTable.RequestScreenshot(ref pOutScreenshotHandle,type,pchPreviewFilename,pchVRFilename);
+		return result;
+	}
+	public EVRScreenshotError HookScreenshot(EVRScreenshotType [] pSupportedTypes)
+	{
+		EVRScreenshotError result = FnTable.HookScreenshot(pSupportedTypes,(int) pSupportedTypes.Length);
+		return result;
+	}
+	public EVRScreenshotType GetScreenshotPropertyType(uint screenshotHandle,ref EVRScreenshotError pError)
+	{
+		EVRScreenshotType result = FnTable.GetScreenshotPropertyType(screenshotHandle,ref pError);
+		return result;
+	}
+	public uint GetScreenshotPropertyFilename(uint screenshotHandle,EVRScreenshotPropertyFilenames filenameType,System.Text.StringBuilder pchFilename,uint cchFilename,ref EVRScreenshotError pError)
+	{
+		uint result = FnTable.GetScreenshotPropertyFilename(screenshotHandle,filenameType,pchFilename,cchFilename,ref pError);
+		return result;
+	}
+	public EVRScreenshotError UpdateScreenshotProgress(uint screenshotHandle,float flProgress)
+	{
+		EVRScreenshotError result = FnTable.UpdateScreenshotProgress(screenshotHandle,flProgress);
+		return result;
+	}
+	public EVRScreenshotError TakeStereoScreenshot(ref uint pOutScreenshotHandle,string pchPreviewFilename,string pchVRFilename)
+	{
+		pOutScreenshotHandle = 0;
+		EVRScreenshotError result = FnTable.TakeStereoScreenshot(ref pOutScreenshotHandle,pchPreviewFilename,pchVRFilename);
+		return result;
+	}
+	public EVRScreenshotError SubmitScreenshot(uint screenshotHandle,EVRScreenshotType type,string pchSourcePreviewFilename,string pchSourceVRFilename)
+	{
+		EVRScreenshotError result = FnTable.SubmitScreenshot(screenshotHandle,type,pchSourcePreviewFilename,pchSourceVRFilename);
+		return result;
+	}
+}
+
+
+public class CVRResources
+{
+	IVRResources FnTable;
+	internal CVRResources(IntPtr pInterface)
+	{
+		FnTable = (IVRResources)Marshal.PtrToStructure(pInterface, typeof(IVRResources));
+	}
+	public uint LoadSharedResource(string pchResourceName,string pchBuffer,uint unBufferLen)
+	{
+		uint result = FnTable.LoadSharedResource(pchResourceName,pchBuffer,unBufferLen);
+		return result;
+	}
+	public uint GetResourceFullPath(string pchResourceName,string pchResourceTypeDirectory,string pchPathBuffer,uint unBufferLen)
+	{
+		uint result = FnTable.GetResourceFullPath(pchResourceName,pchResourceTypeDirectory,pchPathBuffer,unBufferLen);
+		return result;
+	}
+}
+
+
+public class CVRDriverManager
+{
+	IVRDriverManager FnTable;
+	internal CVRDriverManager(IntPtr pInterface)
+	{
+		FnTable = (IVRDriverManager)Marshal.PtrToStructure(pInterface, typeof(IVRDriverManager));
+	}
+	public uint GetDriverCount()
+	{
+		uint result = FnTable.GetDriverCount();
+		return result;
+	}
+	public uint GetDriverName(uint nDriver,System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetDriverName(nDriver,pchValue,unBufferSize);
+		return result;
+	}
+}
+
+
+public class OpenVRInterop
+{
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_InitInternal", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern uint InitInternal(ref EVRInitError peError, EVRApplicationType eApplicationType);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_ShutdownInternal", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern void ShutdownInternal();
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_IsHmdPresent", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern bool IsHmdPresent();
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_IsRuntimeInstalled", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern bool IsRuntimeInstalled();
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_GetStringForHmdError", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern IntPtr GetStringForHmdError(EVRInitError error);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_GetGenericInterface", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern IntPtr GetGenericInterface([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion, ref EVRInitError peError);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_IsInterfaceVersionValid", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern bool IsInterfaceVersionValid([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_GetInitToken", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern uint GetInitToken();
+}
+
+
+public enum EVREye
+{
+	Eye_Left = 0,
+	Eye_Right = 1,
+}
+public enum ETextureType
+{
+	DirectX = 0,
+	OpenGL = 1,
+	Vulkan = 2,
+	IOSurface = 3,
+	DirectX12 = 4,
+}
+public enum EColorSpace
+{
+	Auto = 0,
+	Gamma = 1,
+	Linear = 2,
+}
+public enum ETrackingResult
+{
+	Uninitialized = 1,
+	Calibrating_InProgress = 100,
+	Calibrating_OutOfRange = 101,
+	Running_OK = 200,
+	Running_OutOfRange = 201,
+}
+public enum ETrackedDeviceClass
+{
+	Invalid = 0,
+	HMD = 1,
+	Controller = 2,
+	GenericTracker = 3,
+	TrackingReference = 4,
+	DisplayRedirect = 5,
+}
+public enum ETrackedControllerRole
+{
+	Invalid = 0,
+	LeftHand = 1,
+	RightHand = 2,
+}
+public enum ETrackingUniverseOrigin
+{
+	TrackingUniverseSeated = 0,
+	TrackingUniverseStanding = 1,
+	TrackingUniverseRawAndUncalibrated = 2,
+}
+public enum ETrackedDeviceProperty
+{
+	Prop_Invalid = 0,
+	Prop_TrackingSystemName_String = 1000,
+	Prop_ModelNumber_String = 1001,
+	Prop_SerialNumber_String = 1002,
+	Prop_RenderModelName_String = 1003,
+	Prop_WillDriftInYaw_Bool = 1004,
+	Prop_ManufacturerName_String = 1005,
+	Prop_TrackingFirmwareVersion_String = 1006,
+	Prop_HardwareRevision_String = 1007,
+	Prop_AllWirelessDongleDescriptions_String = 1008,
+	Prop_ConnectedWirelessDongle_String = 1009,
+	Prop_DeviceIsWireless_Bool = 1010,
+	Prop_DeviceIsCharging_Bool = 1011,
+	Prop_DeviceBatteryPercentage_Float = 1012,
+	Prop_StatusDisplayTransform_Matrix34 = 1013,
+	Prop_Firmware_UpdateAvailable_Bool = 1014,
+	Prop_Firmware_ManualUpdate_Bool = 1015,
+	Prop_Firmware_ManualUpdateURL_String = 1016,
+	Prop_HardwareRevision_Uint64 = 1017,
+	Prop_FirmwareVersion_Uint64 = 1018,
+	Prop_FPGAVersion_Uint64 = 1019,
+	Prop_VRCVersion_Uint64 = 1020,
+	Prop_RadioVersion_Uint64 = 1021,
+	Prop_DongleVersion_Uint64 = 1022,
+	Prop_BlockServerShutdown_Bool = 1023,
+	Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024,
+	Prop_ContainsProximitySensor_Bool = 1025,
+	Prop_DeviceProvidesBatteryStatus_Bool = 1026,
+	Prop_DeviceCanPowerOff_Bool = 1027,
+	Prop_Firmware_ProgrammingTarget_String = 1028,
+	Prop_DeviceClass_Int32 = 1029,
+	Prop_HasCamera_Bool = 1030,
+	Prop_DriverVersion_String = 1031,
+	Prop_Firmware_ForceUpdateRequired_Bool = 1032,
+	Prop_ViveSystemButtonFixRequired_Bool = 1033,
+	Prop_ParentDriver_Uint64 = 1034,
+	Prop_ResourceRoot_String = 1035,
+	Prop_ReportsTimeSinceVSync_Bool = 2000,
+	Prop_SecondsFromVsyncToPhotons_Float = 2001,
+	Prop_DisplayFrequency_Float = 2002,
+	Prop_UserIpdMeters_Float = 2003,
+	Prop_CurrentUniverseId_Uint64 = 2004,
+	Prop_PreviousUniverseId_Uint64 = 2005,
+	Prop_DisplayFirmwareVersion_Uint64 = 2006,
+	Prop_IsOnDesktop_Bool = 2007,
+	Prop_DisplayMCType_Int32 = 2008,
+	Prop_DisplayMCOffset_Float = 2009,
+	Prop_DisplayMCScale_Float = 2010,
+	Prop_EdidVendorID_Int32 = 2011,
+	Prop_DisplayMCImageLeft_String = 2012,
+	Prop_DisplayMCImageRight_String = 2013,
+	Prop_DisplayGCBlackClamp_Float = 2014,
+	Prop_EdidProductID_Int32 = 2015,
+	Prop_CameraToHeadTransform_Matrix34 = 2016,
+	Prop_DisplayGCType_Int32 = 2017,
+	Prop_DisplayGCOffset_Float = 2018,
+	Prop_DisplayGCScale_Float = 2019,
+	Prop_DisplayGCPrescale_Float = 2020,
+	Prop_DisplayGCImage_String = 2021,
+	Prop_LensCenterLeftU_Float = 2022,
+	Prop_LensCenterLeftV_Float = 2023,
+	Prop_LensCenterRightU_Float = 2024,
+	Prop_LensCenterRightV_Float = 2025,
+	Prop_UserHeadToEyeDepthMeters_Float = 2026,
+	Prop_CameraFirmwareVersion_Uint64 = 2027,
+	Prop_CameraFirmwareDescription_String = 2028,
+	Prop_DisplayFPGAVersion_Uint64 = 2029,
+	Prop_DisplayBootloaderVersion_Uint64 = 2030,
+	Prop_DisplayHardwareVersion_Uint64 = 2031,
+	Prop_AudioFirmwareVersion_Uint64 = 2032,
+	Prop_CameraCompatibilityMode_Int32 = 2033,
+	Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	Prop_DisplaySuppressed_Bool = 2036,
+	Prop_DisplayAllowNightMode_Bool = 2037,
+	Prop_DisplayMCImageWidth_Int32 = 2038,
+	Prop_DisplayMCImageHeight_Int32 = 2039,
+	Prop_DisplayMCImageNumChannels_Int32 = 2040,
+	Prop_DisplayMCImageData_Binary = 2041,
+	Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	Prop_DisplayDebugMode_Bool = 2044,
+	Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	Prop_AttachedDeviceId_String = 3000,
+	Prop_SupportedButtons_Uint64 = 3001,
+	Prop_Axis0Type_Int32 = 3002,
+	Prop_Axis1Type_Int32 = 3003,
+	Prop_Axis2Type_Int32 = 3004,
+	Prop_Axis3Type_Int32 = 3005,
+	Prop_Axis4Type_Int32 = 3006,
+	Prop_ControllerRoleHint_Int32 = 3007,
+	Prop_FieldOfViewLeftDegrees_Float = 4000,
+	Prop_FieldOfViewRightDegrees_Float = 4001,
+	Prop_FieldOfViewTopDegrees_Float = 4002,
+	Prop_FieldOfViewBottomDegrees_Float = 4003,
+	Prop_TrackingRangeMinimumMeters_Float = 4004,
+	Prop_TrackingRangeMaximumMeters_Float = 4005,
+	Prop_ModeLabel_String = 4006,
+	Prop_IconPathName_String = 5000,
+	Prop_NamedIconPathDeviceOff_String = 5001,
+	Prop_NamedIconPathDeviceSearching_String = 5002,
+	Prop_NamedIconPathDeviceSearchingAlert_String = 5003,
+	Prop_NamedIconPathDeviceReady_String = 5004,
+	Prop_NamedIconPathDeviceReadyAlert_String = 5005,
+	Prop_NamedIconPathDeviceNotReady_String = 5006,
+	Prop_NamedIconPathDeviceStandby_String = 5007,
+	Prop_NamedIconPathDeviceAlertLow_String = 5008,
+	Prop_DisplayHiddenArea_Binary_Start = 5100,
+	Prop_DisplayHiddenArea_Binary_End = 5150,
+	Prop_UserConfigPath_String = 6000,
+	Prop_InstallPath_String = 6001,
+	Prop_HasDisplayComponent_Bool = 6002,
+	Prop_HasControllerComponent_Bool = 6003,
+	Prop_HasCameraComponent_Bool = 6004,
+	Prop_HasDriverDirectModeComponent_Bool = 6005,
+	Prop_HasVirtualDisplayComponent_Bool = 6006,
+	Prop_VendorSpecific_Reserved_Start = 10000,
+	Prop_VendorSpecific_Reserved_End = 10999,
+}
+public enum ETrackedPropertyError
+{
+	TrackedProp_Success = 0,
+	TrackedProp_WrongDataType = 1,
+	TrackedProp_WrongDeviceClass = 2,
+	TrackedProp_BufferTooSmall = 3,
+	TrackedProp_UnknownProperty = 4,
+	TrackedProp_InvalidDevice = 5,
+	TrackedProp_CouldNotContactServer = 6,
+	TrackedProp_ValueNotProvidedByDevice = 7,
+	TrackedProp_StringExceedsMaximumLength = 8,
+	TrackedProp_NotYetAvailable = 9,
+	TrackedProp_PermissionDenied = 10,
+	TrackedProp_InvalidOperation = 11,
+}
+public enum EVRSubmitFlags
+{
+	Submit_Default = 0,
+	Submit_LensDistortionAlreadyApplied = 1,
+	Submit_GlRenderBuffer = 2,
+	Submit_Reserved = 4,
+}
+public enum EVRState
+{
+	Undefined = -1,
+	Off = 0,
+	Searching = 1,
+	Searching_Alert = 2,
+	Ready = 3,
+	Ready_Alert = 4,
+	NotReady = 5,
+	Standby = 6,
+	Ready_Alert_Low = 7,
+}
+public enum EVREventType
+{
+	VREvent_None = 0,
+	VREvent_TrackedDeviceActivated = 100,
+	VREvent_TrackedDeviceDeactivated = 101,
+	VREvent_TrackedDeviceUpdated = 102,
+	VREvent_TrackedDeviceUserInteractionStarted = 103,
+	VREvent_TrackedDeviceUserInteractionEnded = 104,
+	VREvent_IpdChanged = 105,
+	VREvent_EnterStandbyMode = 106,
+	VREvent_LeaveStandbyMode = 107,
+	VREvent_TrackedDeviceRoleChanged = 108,
+	VREvent_WatchdogWakeUpRequested = 109,
+	VREvent_LensDistortionChanged = 110,
+	VREvent_PropertyChanged = 111,
+	VREvent_ButtonPress = 200,
+	VREvent_ButtonUnpress = 201,
+	VREvent_ButtonTouch = 202,
+	VREvent_ButtonUntouch = 203,
+	VREvent_MouseMove = 300,
+	VREvent_MouseButtonDown = 301,
+	VREvent_MouseButtonUp = 302,
+	VREvent_FocusEnter = 303,
+	VREvent_FocusLeave = 304,
+	VREvent_Scroll = 305,
+	VREvent_TouchPadMove = 306,
+	VREvent_OverlayFocusChanged = 307,
+	VREvent_InputFocusCaptured = 400,
+	VREvent_InputFocusReleased = 401,
+	VREvent_SceneFocusLost = 402,
+	VREvent_SceneFocusGained = 403,
+	VREvent_SceneApplicationChanged = 404,
+	VREvent_SceneFocusChanged = 405,
+	VREvent_InputFocusChanged = 406,
+	VREvent_SceneApplicationSecondaryRenderingStarted = 407,
+	VREvent_HideRenderModels = 410,
+	VREvent_ShowRenderModels = 411,
+	VREvent_OverlayShown = 500,
+	VREvent_OverlayHidden = 501,
+	VREvent_DashboardActivated = 502,
+	VREvent_DashboardDeactivated = 503,
+	VREvent_DashboardThumbSelected = 504,
+	VREvent_DashboardRequested = 505,
+	VREvent_ResetDashboard = 506,
+	VREvent_RenderToast = 507,
+	VREvent_ImageLoaded = 508,
+	VREvent_ShowKeyboard = 509,
+	VREvent_HideKeyboard = 510,
+	VREvent_OverlayGamepadFocusGained = 511,
+	VREvent_OverlayGamepadFocusLost = 512,
+	VREvent_OverlaySharedTextureChanged = 513,
+	VREvent_DashboardGuideButtonDown = 514,
+	VREvent_DashboardGuideButtonUp = 515,
+	VREvent_ScreenshotTriggered = 516,
+	VREvent_ImageFailed = 517,
+	VREvent_DashboardOverlayCreated = 518,
+	VREvent_RequestScreenshot = 520,
+	VREvent_ScreenshotTaken = 521,
+	VREvent_ScreenshotFailed = 522,
+	VREvent_SubmitScreenshotToDashboard = 523,
+	VREvent_ScreenshotProgressToDashboard = 524,
+	VREvent_PrimaryDashboardDeviceChanged = 525,
+	VREvent_Notification_Shown = 600,
+	VREvent_Notification_Hidden = 601,
+	VREvent_Notification_BeginInteraction = 602,
+	VREvent_Notification_Destroyed = 603,
+	VREvent_Quit = 700,
+	VREvent_ProcessQuit = 701,
+	VREvent_QuitAborted_UserPrompt = 702,
+	VREvent_QuitAcknowledged = 703,
+	VREvent_DriverRequestedQuit = 704,
+	VREvent_ChaperoneDataHasChanged = 800,
+	VREvent_ChaperoneUniverseHasChanged = 801,
+	VREvent_ChaperoneTempDataHasChanged = 802,
+	VREvent_ChaperoneSettingsHaveChanged = 803,
+	VREvent_SeatedZeroPoseReset = 804,
+	VREvent_AudioSettingsHaveChanged = 820,
+	VREvent_BackgroundSettingHasChanged = 850,
+	VREvent_CameraSettingsHaveChanged = 851,
+	VREvent_ReprojectionSettingHasChanged = 852,
+	VREvent_ModelSkinSettingsHaveChanged = 853,
+	VREvent_EnvironmentSettingsHaveChanged = 854,
+	VREvent_PowerSettingsHaveChanged = 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
+	VREvent_StatusUpdate = 900,
+	VREvent_MCImageUpdated = 1000,
+	VREvent_FirmwareUpdateStarted = 1100,
+	VREvent_FirmwareUpdateFinished = 1101,
+	VREvent_KeyboardClosed = 1200,
+	VREvent_KeyboardCharInput = 1201,
+	VREvent_KeyboardDone = 1202,
+	VREvent_ApplicationTransitionStarted = 1300,
+	VREvent_ApplicationTransitionAborted = 1301,
+	VREvent_ApplicationTransitionNewAppStarted = 1302,
+	VREvent_ApplicationListUpdated = 1303,
+	VREvent_ApplicationMimeTypeLoad = 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected = 1306,
+	VREvent_ProcessDisconnected = 1307,
+	VREvent_Compositor_MirrorWindowShown = 1400,
+	VREvent_Compositor_MirrorWindowHidden = 1401,
+	VREvent_Compositor_ChaperoneBoundsShown = 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden = 1411,
+	VREvent_TrackedCamera_StartVideoStream = 1500,
+	VREvent_TrackedCamera_StopVideoStream = 1501,
+	VREvent_TrackedCamera_PauseVideoStream = 1502,
+	VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	VREvent_TrackedCamera_EditingSurface = 1550,
+	VREvent_PerformanceTest_EnableCapture = 1600,
+	VREvent_PerformanceTest_DisableCapture = 1601,
+	VREvent_PerformanceTest_FidelityLevel = 1602,
+	VREvent_MessageOverlay_Closed = 1650,
+	VREvent_VendorSpecific_Reserved_Start = 10000,
+	VREvent_VendorSpecific_Reserved_End = 19999,
+}
+public enum EDeviceActivityLevel
+{
+	k_EDeviceActivityLevel_Unknown = -1,
+	k_EDeviceActivityLevel_Idle = 0,
+	k_EDeviceActivityLevel_UserInteraction = 1,
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,
+	k_EDeviceActivityLevel_Standby = 3,
+}
+public enum EVRButtonId
+{
+	k_EButton_System = 0,
+	k_EButton_ApplicationMenu = 1,
+	k_EButton_Grip = 2,
+	k_EButton_DPad_Left = 3,
+	k_EButton_DPad_Up = 4,
+	k_EButton_DPad_Right = 5,
+	k_EButton_DPad_Down = 6,
+	k_EButton_A = 7,
+	k_EButton_ProximitySensor = 31,
+	k_EButton_Axis0 = 32,
+	k_EButton_Axis1 = 33,
+	k_EButton_Axis2 = 34,
+	k_EButton_Axis3 = 35,
+	k_EButton_Axis4 = 36,
+	k_EButton_SteamVR_Touchpad = 32,
+	k_EButton_SteamVR_Trigger = 33,
+	k_EButton_Dashboard_Back = 2,
+	k_EButton_Max = 64,
+}
+public enum EVRMouseButton
+{
+	Left = 1,
+	Right = 2,
+	Middle = 4,
+}
+public enum EHiddenAreaMeshType
+{
+	k_eHiddenAreaMesh_Standard = 0,
+	k_eHiddenAreaMesh_Inverse = 1,
+	k_eHiddenAreaMesh_LineLoop = 2,
+	k_eHiddenAreaMesh_Max = 3,
+}
+public enum EVRControllerAxisType
+{
+	k_eControllerAxis_None = 0,
+	k_eControllerAxis_TrackPad = 1,
+	k_eControllerAxis_Joystick = 2,
+	k_eControllerAxis_Trigger = 3,
+}
+public enum EVRControllerEventOutputType
+{
+	ControllerEventOutput_OSEvents = 0,
+	ControllerEventOutput_VREvents = 1,
+}
+public enum ECollisionBoundsStyle
+{
+	COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	COLLISION_BOUNDS_STYLE_INTERMEDIATE = 1,
+	COLLISION_BOUNDS_STYLE_SQUARES = 2,
+	COLLISION_BOUNDS_STYLE_ADVANCED = 3,
+	COLLISION_BOUNDS_STYLE_NONE = 4,
+	COLLISION_BOUNDS_STYLE_COUNT = 5,
+}
+public enum EVROverlayError
+{
+	None = 0,
+	UnknownOverlay = 10,
+	InvalidHandle = 11,
+	PermissionDenied = 12,
+	OverlayLimitExceeded = 13,
+	WrongVisibilityType = 14,
+	KeyTooLong = 15,
+	NameTooLong = 16,
+	KeyInUse = 17,
+	WrongTransformType = 18,
+	InvalidTrackedDevice = 19,
+	InvalidParameter = 20,
+	ThumbnailCantBeDestroyed = 21,
+	ArrayTooSmall = 22,
+	RequestFailed = 23,
+	InvalidTexture = 24,
+	UnableToLoadFile = 25,
+	KeyboardAlreadyInUse = 26,
+	NoNeighbor = 27,
+	TooManyMaskPrimitives = 29,
+	BadMaskPrimitive = 30,
+}
+public enum EVRApplicationType
+{
+	VRApplication_Other = 0,
+	VRApplication_Scene = 1,
+	VRApplication_Overlay = 2,
+	VRApplication_Background = 3,
+	VRApplication_Utility = 4,
+	VRApplication_VRMonitor = 5,
+	VRApplication_SteamWatchdog = 6,
+	VRApplication_Bootstrapper = 7,
+	VRApplication_Max = 8,
+}
+public enum EVRFirmwareError
+{
+	None = 0,
+	Success = 1,
+	Fail = 2,
+}
+public enum EVRNotificationError
+{
+	OK = 0,
+	InvalidNotificationId = 100,
+	NotificationQueueFull = 101,
+	InvalidOverlayHandle = 102,
+	SystemWithUserValueAlreadyExists = 103,
+}
+public enum EVRInitError
+{
+	None = 0,
+	Unknown = 1,
+	Init_InstallationNotFound = 100,
+	Init_InstallationCorrupt = 101,
+	Init_VRClientDLLNotFound = 102,
+	Init_FileNotFound = 103,
+	Init_FactoryNotFound = 104,
+	Init_InterfaceNotFound = 105,
+	Init_InvalidInterface = 106,
+	Init_UserConfigDirectoryInvalid = 107,
+	Init_HmdNotFound = 108,
+	Init_NotInitialized = 109,
+	Init_PathRegistryNotFound = 110,
+	Init_NoConfigPath = 111,
+	Init_NoLogPath = 112,
+	Init_PathRegistryNotWritable = 113,
+	Init_AppInfoInitFailed = 114,
+	Init_Retry = 115,
+	Init_InitCanceledByUser = 116,
+	Init_AnotherAppLaunching = 117,
+	Init_SettingsInitFailed = 118,
+	Init_ShuttingDown = 119,
+	Init_TooManyObjects = 120,
+	Init_NoServerForBackgroundApp = 121,
+	Init_NotSupportedWithCompositor = 122,
+	Init_NotAvailableToUtilityApps = 123,
+	Init_Internal = 124,
+	Init_HmdDriverIdIsNone = 125,
+	Init_HmdNotFoundPresenceFailed = 126,
+	Init_VRMonitorNotFound = 127,
+	Init_VRMonitorStartupFailed = 128,
+	Init_LowPowerWatchdogNotSupported = 129,
+	Init_InvalidApplicationType = 130,
+	Init_NotAvailableToWatchdogApps = 131,
+	Init_WatchdogDisabledInSettings = 132,
+	Init_VRDashboardNotFound = 133,
+	Init_VRDashboardStartupFailed = 134,
+	Init_VRHomeNotFound = 135,
+	Init_VRHomeStartupFailed = 136,
+	Driver_Failed = 200,
+	Driver_Unknown = 201,
+	Driver_HmdUnknown = 202,
+	Driver_NotLoaded = 203,
+	Driver_RuntimeOutOfDate = 204,
+	Driver_HmdInUse = 205,
+	Driver_NotCalibrated = 206,
+	Driver_CalibrationInvalid = 207,
+	Driver_HmdDisplayNotFound = 208,
+	Driver_TrackedDeviceInterfaceUnknown = 209,
+	Driver_HmdDriverIdOutOfBounds = 211,
+	Driver_HmdDisplayMirrored = 212,
+	IPC_ServerInitFailed = 300,
+	IPC_ConnectFailed = 301,
+	IPC_SharedStateInitFailed = 302,
+	IPC_CompositorInitFailed = 303,
+	IPC_MutexInitFailed = 304,
+	IPC_Failed = 305,
+	IPC_CompositorConnectFailed = 306,
+	IPC_CompositorInvalidConnectResponse = 307,
+	IPC_ConnectFailedAfterMultipleAttempts = 308,
+	Compositor_Failed = 400,
+	Compositor_D3D11HardwareRequired = 401,
+	Compositor_FirmwareRequiresUpdate = 402,
+	Compositor_OverlayInitFailed = 403,
+	Compositor_ScreenshotsInitFailed = 404,
+	Compositor_UnableToCreateDevice = 405,
+	VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+	VendorSpecific_HmdFound_CantOpenDevice = 1101,
+	VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
+	VendorSpecific_HmdFound_NoStoredConfig = 1103,
+	VendorSpecific_HmdFound_ConfigTooBig = 1104,
+	VendorSpecific_HmdFound_ConfigTooSmall = 1105,
+	VendorSpecific_HmdFound_UnableToInitZLib = 1106,
+	VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107,
+	VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108,
+	VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109,
+	VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110,
+	VendorSpecific_HmdFound_UserDataAddressRange = 1111,
+	VendorSpecific_HmdFound_UserDataError = 1112,
+	VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113,
+	Steam_SteamInstallationNotFound = 2000,
+}
+public enum EVRScreenshotType
+{
+	None = 0,
+	Mono = 1,
+	Stereo = 2,
+	Cubemap = 3,
+	MonoPanorama = 4,
+	StereoPanorama = 5,
+}
+public enum EVRScreenshotPropertyFilenames
+{
+	Preview = 0,
+	VR = 1,
+}
+public enum EVRTrackedCameraError
+{
+	None = 0,
+	OperationFailed = 100,
+	InvalidHandle = 101,
+	InvalidFrameHeaderVersion = 102,
+	OutOfHandles = 103,
+	IPCFailure = 104,
+	NotSupportedForThisDevice = 105,
+	SharedMemoryFailure = 106,
+	FrameBufferingFailure = 107,
+	StreamSetupFailure = 108,
+	InvalidGLTextureId = 109,
+	InvalidSharedTextureHandle = 110,
+	FailedToGetGLTextureId = 111,
+	SharedTextureFailure = 112,
+	NoFrameAvailable = 113,
+	InvalidArgument = 114,
+	InvalidFrameBufferSize = 115,
+}
+public enum EVRTrackedCameraFrameType
+{
+	Distorted = 0,
+	Undistorted = 1,
+	MaximumUndistorted = 2,
+	MAX_CAMERA_FRAME_TYPES = 3,
+}
+public enum EVRApplicationError
+{
+	None = 0,
+	AppKeyAlreadyExists = 100,
+	NoManifest = 101,
+	NoApplication = 102,
+	InvalidIndex = 103,
+	UnknownApplication = 104,
+	IPCFailed = 105,
+	ApplicationAlreadyRunning = 106,
+	InvalidManifest = 107,
+	InvalidApplication = 108,
+	LaunchFailed = 109,
+	ApplicationAlreadyStarting = 110,
+	LaunchInProgress = 111,
+	OldApplicationQuitting = 112,
+	TransitionAborted = 113,
+	IsTemplate = 114,
+	BufferTooSmall = 200,
+	PropertyNotSet = 201,
+	UnknownProperty = 202,
+	InvalidParameter = 203,
+}
+public enum EVRApplicationProperty
+{
+	Name_String = 0,
+	LaunchType_String = 11,
+	WorkingDirectory_String = 12,
+	BinaryPath_String = 13,
+	Arguments_String = 14,
+	URL_String = 15,
+	Description_String = 50,
+	NewsURL_String = 51,
+	ImagePath_String = 52,
+	Source_String = 53,
+	IsDashboardOverlay_Bool = 60,
+	IsTemplate_Bool = 61,
+	IsInstanced_Bool = 62,
+	IsInternal_Bool = 63,
+	LastLaunchTime_Uint64 = 70,
+}
+public enum EVRApplicationTransitionState
+{
+	VRApplicationTransition_None = 0,
+	VRApplicationTransition_OldAppQuitSent = 10,
+	VRApplicationTransition_WaitingForExternalLaunch = 11,
+	VRApplicationTransition_NewAppLaunched = 20,
+}
+public enum ChaperoneCalibrationState
+{
+	OK = 1,
+	Warning = 100,
+	Warning_BaseStationMayHaveMoved = 101,
+	Warning_BaseStationRemoved = 102,
+	Warning_SeatedBoundsInvalid = 103,
+	Error = 200,
+	Error_BaseStationUninitialized = 201,
+	Error_BaseStationConflict = 202,
+	Error_PlayAreaInvalid = 203,
+	Error_CollisionBoundsInvalid = 204,
+}
+public enum EChaperoneConfigFile
+{
+	Live = 1,
+	Temp = 2,
+}
+public enum EChaperoneImportFlags
+{
+	EChaperoneImport_BoundsOnly = 1,
+}
+public enum EVRCompositorError
+{
+	None = 0,
+	RequestFailed = 1,
+	IncompatibleVersion = 100,
+	DoNotHaveFocus = 101,
+	InvalidTexture = 102,
+	IsNotSceneApplication = 103,
+	TextureIsOnWrongDevice = 104,
+	TextureUsesUnsupportedFormat = 105,
+	SharedTexturesNotSupported = 106,
+	IndexOutOfRange = 107,
+	AlreadySubmitted = 108,
+}
+public enum VROverlayInputMethod
+{
+	None = 0,
+	Mouse = 1,
+}
+public enum VROverlayTransformType
+{
+	VROverlayTransform_Absolute = 0,
+	VROverlayTransform_TrackedDeviceRelative = 1,
+	VROverlayTransform_SystemOverlay = 2,
+	VROverlayTransform_TrackedComponent = 3,
+}
+public enum VROverlayFlags
+{
+	None = 0,
+	Curved = 1,
+	RGSS4X = 2,
+	NoDashboardTab = 3,
+	AcceptsGamepadEvents = 4,
+	ShowGamepadFocus = 5,
+	SendVRScrollEvents = 6,
+	SendVRTouchpadEvents = 7,
+	ShowTouchPadScrollWheel = 8,
+	TransferOwnershipToInternalProcess = 9,
+	SideBySide_Parallel = 10,
+	SideBySide_Crossed = 11,
+	Panorama = 12,
+	StereoPanorama = 13,
+	SortWithNonSceneOverlays = 14,
+	VisibleInDashboard = 15,
+}
+public enum VRMessageOverlayResponse
+{
+	ButtonPress_0 = 0,
+	ButtonPress_1 = 1,
+	ButtonPress_2 = 2,
+	ButtonPress_3 = 3,
+	CouldntFindSystemOverlay = 4,
+	CouldntFindOrCreateClientOverlay = 5,
+	ApplicationQuit = 6,
+}
+public enum EGamepadTextInputMode
+{
+	k_EGamepadTextInputModeNormal = 0,
+	k_EGamepadTextInputModePassword = 1,
+	k_EGamepadTextInputModeSubmit = 2,
+}
+public enum EGamepadTextInputLineMode
+{
+	k_EGamepadTextInputLineModeSingleLine = 0,
+	k_EGamepadTextInputLineModeMultipleLines = 1,
+}
+public enum EOverlayDirection
+{
+	Up = 0,
+	Down = 1,
+	Left = 2,
+	Right = 3,
+	Count = 4,
+}
+public enum EVROverlayIntersectionMaskPrimitiveType
+{
+	OverlayIntersectionPrimitiveType_Rectangle = 0,
+	OverlayIntersectionPrimitiveType_Circle = 1,
+}
+public enum EVRRenderModelError
+{
+	None = 0,
+	Loading = 100,
+	NotSupported = 200,
+	InvalidArg = 300,
+	InvalidModel = 301,
+	NoShapes = 302,
+	MultipleShapes = 303,
+	TooManyVertices = 304,
+	MultipleTextures = 305,
+	BufferTooSmall = 306,
+	NotEnoughNormals = 307,
+	NotEnoughTexCoords = 308,
+	InvalidTexture = 400,
+}
+public enum EVRComponentProperty
+{
+	IsStatic = 1,
+	IsVisible = 2,
+	IsTouched = 4,
+	IsPressed = 8,
+	IsScrolled = 16,
+}
+public enum EVRNotificationType
+{
+	Transient = 0,
+	Persistent = 1,
+	Transient_SystemWithUserValue = 2,
+}
+public enum EVRNotificationStyle
+{
+	None = 0,
+	Application = 100,
+	Contact_Disabled = 200,
+	Contact_Enabled = 201,
+	Contact_Active = 202,
+}
+public enum EVRSettingsError
+{
+	None = 0,
+	IPCFailed = 1,
+	WriteFailed = 2,
+	ReadFailed = 3,
+	JsonParseFailed = 4,
+	UnsetSettingHasNoDefault = 5,
+}
+public enum EVRScreenshotError
+{
+	None = 0,
+	RequestFailed = 1,
+	IncompatibleVersion = 100,
+	NotFound = 101,
+	BufferTooSmall = 102,
+	ScreenshotAlreadyInProgress = 108,
+}
+
+[StructLayout(LayoutKind.Explicit)] public struct VREvent_Data_t
+{
+	[FieldOffset(0)] public VREvent_Reserved_t reserved;
+	[FieldOffset(0)] public VREvent_Controller_t controller;
+	[FieldOffset(0)] public VREvent_Mouse_t mouse;
+	[FieldOffset(0)] public VREvent_Scroll_t scroll;
+	[FieldOffset(0)] public VREvent_Process_t process;
+	[FieldOffset(0)] public VREvent_Notification_t notification;
+	[FieldOffset(0)] public VREvent_Overlay_t overlay;
+	[FieldOffset(0)] public VREvent_Status_t status;
+	[FieldOffset(0)] public VREvent_Ipd_t ipd;
+	[FieldOffset(0)] public VREvent_Chaperone_t chaperone;
+	[FieldOffset(0)] public VREvent_PerformanceTest_t performanceTest;
+	[FieldOffset(0)] public VREvent_TouchPadMove_t touchPadMove;
+	[FieldOffset(0)] public VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+	[FieldOffset(0)] public VREvent_Screenshot_t screenshot;
+	[FieldOffset(0)] public VREvent_ScreenshotProgress_t screenshotProgress;
+	[FieldOffset(0)] public VREvent_ApplicationLaunch_t applicationLaunch;
+	[FieldOffset(0)] public VREvent_EditingCameraSurface_t cameraSurface;
+	[FieldOffset(0)] public VREvent_MessageOverlay_t messageOverlay;
+	[FieldOffset(0)] public VREvent_Keyboard_t keyboard; // This has to be at the end due to a mono bug
+}
+
+
+[StructLayout(LayoutKind.Explicit)] public struct VROverlayIntersectionMaskPrimitive_Data_t
+{
+	[FieldOffset(0)] public IntersectionMaskRectangle_t m_Rectangle;
+	[FieldOffset(0)] public IntersectionMaskCircle_t m_Circle;
+}
+
+[StructLayout(LayoutKind.Sequential)] public struct HmdMatrix34_t
+{
+	public float m0; //float[3][4]
+	public float m1;
+	public float m2;
+	public float m3;
+	public float m4;
+	public float m5;
+	public float m6;
+	public float m7;
+	public float m8;
+	public float m9;
+	public float m10;
+	public float m11;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdMatrix44_t
+{
+	public float m0; //float[4][4]
+	public float m1;
+	public float m2;
+	public float m3;
+	public float m4;
+	public float m5;
+	public float m6;
+	public float m7;
+	public float m8;
+	public float m9;
+	public float m10;
+	public float m11;
+	public float m12;
+	public float m13;
+	public float m14;
+	public float m15;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector3_t
+{
+	public float v0; //float[3]
+	public float v1;
+	public float v2;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector4_t
+{
+	public float v0; //float[4]
+	public float v1;
+	public float v2;
+	public float v3;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector3d_t
+{
+	public double v0; //double[3]
+	public double v1;
+	public double v2;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector2_t
+{
+	public float v0; //float[2]
+	public float v1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdQuaternion_t
+{
+	public double w;
+	public double x;
+	public double y;
+	public double z;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdColor_t
+{
+	public float r;
+	public float g;
+	public float b;
+	public float a;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdQuad_t
+{
+	public HmdVector3_t vCorners0; //HmdVector3_t[4]
+	public HmdVector3_t vCorners1;
+	public HmdVector3_t vCorners2;
+	public HmdVector3_t vCorners3;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdRect2_t
+{
+	public HmdVector2_t vTopLeft;
+	public HmdVector2_t vBottomRight;
+}
+[StructLayout(LayoutKind.Sequential)] public struct DistortionCoordinates_t
+{
+	public float rfRed0; //float[2]
+	public float rfRed1;
+	public float rfGreen0; //float[2]
+	public float rfGreen1;
+	public float rfBlue0; //float[2]
+	public float rfBlue1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct Texture_t
+{
+	public IntPtr handle; // void *
+	public ETextureType eType;
+	public EColorSpace eColorSpace;
+}
+[StructLayout(LayoutKind.Sequential)] public struct TrackedDevicePose_t
+{
+	public HmdMatrix34_t mDeviceToAbsoluteTracking;
+	public HmdVector3_t vVelocity;
+	public HmdVector3_t vAngularVelocity;
+	public ETrackingResult eTrackingResult;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bPoseIsValid;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bDeviceIsConnected;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRTextureBounds_t
+{
+	public float uMin;
+	public float vMin;
+	public float uMax;
+	public float vMax;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRVulkanTextureData_t
+{
+	public ulong m_nImage;
+	public IntPtr m_pDevice; // struct VkDevice_T *
+	public IntPtr m_pPhysicalDevice; // struct VkPhysicalDevice_T *
+	public IntPtr m_pInstance; // struct VkInstance_T *
+	public IntPtr m_pQueue; // struct VkQueue_T *
+	public uint m_nQueueFamilyIndex;
+	public uint m_nWidth;
+	public uint m_nHeight;
+	public uint m_nFormat;
+	public uint m_nSampleCount;
+}
+[StructLayout(LayoutKind.Sequential)] public struct D3D12TextureData_t
+{
+	public IntPtr m_pResource; // struct ID3D12Resource *
+	public IntPtr m_pCommandQueue; // struct ID3D12CommandQueue *
+	public uint m_nNodeMask;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Controller_t
+{
+	public uint button;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Mouse_t
+{
+	public float x;
+	public float y;
+	public uint button;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Scroll_t
+{
+	public float xdelta;
+	public float ydelta;
+	public uint repeatCount;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_TouchPadMove_t
+{
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bFingerDown;
+	public float flSecondsFingerDown;
+	public float fValueXFirst;
+	public float fValueYFirst;
+	public float fValueXRaw;
+	public float fValueYRaw;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Notification_t
+{
+	public ulong ulUserValue;
+	public uint notificationId;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Process_t
+{
+	public uint pid;
+	public uint oldPid;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bForced;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Overlay_t
+{
+	public ulong overlayHandle;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Status_t
+{
+	public uint statusState;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Keyboard_t
+{
+	public byte cNewInput0,cNewInput1,cNewInput2,cNewInput3,cNewInput4,cNewInput5,cNewInput6,cNewInput7;
+	public ulong uUserValue;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Ipd_t
+{
+	public float ipdMeters;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Chaperone_t
+{
+	public ulong m_nPreviousUniverse;
+	public ulong m_nCurrentUniverse;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Reserved_t
+{
+	public ulong reserved0;
+	public ulong reserved1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_PerformanceTest_t
+{
+	public uint m_nFidelityLevel;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_SeatedZeroPoseReset_t
+{
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bResetBySystemMenu;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Screenshot_t
+{
+	public uint handle;
+	public uint type;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_ScreenshotProgress_t
+{
+	public float progress;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_ApplicationLaunch_t
+{
+	public uint pid;
+	public uint unArgsHandle;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_EditingCameraSurface_t
+{
+	public ulong overlayHandle;
+	public uint nVisualMode;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_MessageOverlay_t
+{
+	public uint unVRMessageOverlayResponse;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Property_t
+{
+	public ulong container;
+	public ETrackedDeviceProperty prop;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_t
+{
+	public uint eventType;
+	public uint trackedDeviceIndex;
+	public float eventAgeSeconds;
+	public VREvent_Data_t data;
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct VREvent_t_Packed
+{
+	public uint eventType;
+	public uint trackedDeviceIndex;
+	public float eventAgeSeconds;
+	public VREvent_Data_t data;
+	public VREvent_t_Packed(VREvent_t unpacked)
+	{
+		this.eventType = unpacked.eventType;
+		this.trackedDeviceIndex = unpacked.trackedDeviceIndex;
+		this.eventAgeSeconds = unpacked.eventAgeSeconds;
+		this.data = unpacked.data;
+	}
+	public void Unpack(ref VREvent_t unpacked)
+	{
+		unpacked.eventType = this.eventType;
+		unpacked.trackedDeviceIndex = this.trackedDeviceIndex;
+		unpacked.eventAgeSeconds = this.eventAgeSeconds;
+		unpacked.data = this.data;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct HiddenAreaMesh_t
+{
+	public IntPtr pVertexData; // const struct vr::HmdVector2_t *
+	public uint unTriangleCount;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRControllerAxis_t
+{
+	public float x;
+	public float y;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRControllerState_t
+{
+	public uint unPacketNum;
+	public ulong ulButtonPressed;
+	public ulong ulButtonTouched;
+	public VRControllerAxis_t rAxis0; //VRControllerAxis_t[5]
+	public VRControllerAxis_t rAxis1;
+	public VRControllerAxis_t rAxis2;
+	public VRControllerAxis_t rAxis3;
+	public VRControllerAxis_t rAxis4;
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct VRControllerState_t_Packed
+{
+	public uint unPacketNum;
+	public ulong ulButtonPressed;
+	public ulong ulButtonTouched;
+	public VRControllerAxis_t rAxis0; //VRControllerAxis_t[5]
+	public VRControllerAxis_t rAxis1;
+	public VRControllerAxis_t rAxis2;
+	public VRControllerAxis_t rAxis3;
+	public VRControllerAxis_t rAxis4;
+	public VRControllerState_t_Packed(VRControllerState_t unpacked)
+	{
+		this.unPacketNum = unpacked.unPacketNum;
+		this.ulButtonPressed = unpacked.ulButtonPressed;
+		this.ulButtonTouched = unpacked.ulButtonTouched;
+		this.rAxis0 = unpacked.rAxis0;
+		this.rAxis1 = unpacked.rAxis1;
+		this.rAxis2 = unpacked.rAxis2;
+		this.rAxis3 = unpacked.rAxis3;
+		this.rAxis4 = unpacked.rAxis4;
+	}
+	public void Unpack(ref VRControllerState_t unpacked)
+	{
+		unpacked.unPacketNum = this.unPacketNum;
+		unpacked.ulButtonPressed = this.ulButtonPressed;
+		unpacked.ulButtonTouched = this.ulButtonTouched;
+		unpacked.rAxis0 = this.rAxis0;
+		unpacked.rAxis1 = this.rAxis1;
+		unpacked.rAxis2 = this.rAxis2;
+		unpacked.rAxis3 = this.rAxis3;
+		unpacked.rAxis4 = this.rAxis4;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct Compositor_OverlaySettings
+{
+	public uint size;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool curved;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool antialias;
+	public float scale;
+	public float distance;
+	public float alpha;
+	public float uOffset;
+	public float vOffset;
+	public float uScale;
+	public float vScale;
+	public float gridDivs;
+	public float gridWidth;
+	public float gridScale;
+	public HmdMatrix44_t transform;
+}
+[StructLayout(LayoutKind.Sequential)] public struct CameraVideoStreamFrameHeader_t
+{
+	public EVRTrackedCameraFrameType eFrameType;
+	public uint nWidth;
+	public uint nHeight;
+	public uint nBytesPerPixel;
+	public uint nFrameSequence;
+	public TrackedDevicePose_t standingTrackedDevicePose;
+}
+[StructLayout(LayoutKind.Sequential)] public struct AppOverrideKeys_t
+{
+	public IntPtr pchKey; // const char *
+	public IntPtr pchValue; // const char *
+}
+[StructLayout(LayoutKind.Sequential)] public struct Compositor_FrameTiming
+{
+	public uint m_nSize;
+	public uint m_nFrameIndex;
+	public uint m_nNumFramePresents;
+	public uint m_nNumMisPresented;
+	public uint m_nNumDroppedFrames;
+	public uint m_nReprojectionFlags;
+	public double m_flSystemTimeInSeconds;
+	public float m_flPreSubmitGpuMs;
+	public float m_flPostSubmitGpuMs;
+	public float m_flTotalRenderGpuMs;
+	public float m_flCompositorRenderGpuMs;
+	public float m_flCompositorRenderCpuMs;
+	public float m_flCompositorIdleCpuMs;
+	public float m_flClientFrameIntervalMs;
+	public float m_flPresentCallCpuMs;
+	public float m_flWaitForPresentCpuMs;
+	public float m_flSubmitFrameMs;
+	public float m_flWaitGetPosesCalledMs;
+	public float m_flNewPosesReadyMs;
+	public float m_flNewFrameReadyMs;
+	public float m_flCompositorUpdateStartMs;
+	public float m_flCompositorUpdateEndMs;
+	public float m_flCompositorRenderStartMs;
+	public TrackedDevicePose_t m_HmdPose;
+}
+[StructLayout(LayoutKind.Sequential)] public struct Compositor_CumulativeStats
+{
+	public uint m_nPid;
+	public uint m_nNumFramePresents;
+	public uint m_nNumDroppedFrames;
+	public uint m_nNumReprojectedFrames;
+	public uint m_nNumFramePresentsOnStartup;
+	public uint m_nNumDroppedFramesOnStartup;
+	public uint m_nNumReprojectedFramesOnStartup;
+	public uint m_nNumLoading;
+	public uint m_nNumFramePresentsLoading;
+	public uint m_nNumDroppedFramesLoading;
+	public uint m_nNumReprojectedFramesLoading;
+	public uint m_nNumTimedOut;
+	public uint m_nNumFramePresentsTimedOut;
+	public uint m_nNumDroppedFramesTimedOut;
+	public uint m_nNumReprojectedFramesTimedOut;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionParams_t
+{
+	public HmdVector3_t vSource;
+	public HmdVector3_t vDirection;
+	public ETrackingUniverseOrigin eOrigin;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionResults_t
+{
+	public HmdVector3_t vPoint;
+	public HmdVector3_t vNormal;
+	public HmdVector2_t vUVs;
+	public float fDistance;
+}
+[StructLayout(LayoutKind.Sequential)] public struct IntersectionMaskRectangle_t
+{
+	public float m_flTopLeftX;
+	public float m_flTopLeftY;
+	public float m_flWidth;
+	public float m_flHeight;
+}
+[StructLayout(LayoutKind.Sequential)] public struct IntersectionMaskCircle_t
+{
+	public float m_flCenterX;
+	public float m_flCenterY;
+	public float m_flRadius;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionMaskPrimitive_t
+{
+	public EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType;
+	public VROverlayIntersectionMaskPrimitive_Data_t m_Primitive;
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_ComponentState_t
+{
+	public HmdMatrix34_t mTrackingToComponentRenderModel;
+	public HmdMatrix34_t mTrackingToComponentLocal;
+	public uint uProperties;
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_Vertex_t
+{
+	public HmdVector3_t vPosition;
+	public HmdVector3_t vNormal;
+	public float rfTextureCoord0; //float[2]
+	public float rfTextureCoord1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_TextureMap_t
+{
+	public char unWidth;
+	public char unHeight;
+	public IntPtr rubTextureMapData; // const uint8_t *
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct RenderModel_TextureMap_t_Packed
+{
+	public char unWidth;
+	public char unHeight;
+	public IntPtr rubTextureMapData; // const uint8_t *
+	public RenderModel_TextureMap_t_Packed(RenderModel_TextureMap_t unpacked)
+	{
+		this.unWidth = unpacked.unWidth;
+		this.unHeight = unpacked.unHeight;
+		this.rubTextureMapData = unpacked.rubTextureMapData;
+	}
+	public void Unpack(ref RenderModel_TextureMap_t unpacked)
+	{
+		unpacked.unWidth = this.unWidth;
+		unpacked.unHeight = this.unHeight;
+		unpacked.rubTextureMapData = this.rubTextureMapData;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_t
+{
+	public IntPtr rVertexData; // const struct vr::RenderModel_Vertex_t *
+	public uint unVertexCount;
+	public IntPtr rIndexData; // const uint16_t *
+	public uint unTriangleCount;
+	public int diffuseTextureId;
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct RenderModel_t_Packed
+{
+	public IntPtr rVertexData; // const struct vr::RenderModel_Vertex_t *
+	public uint unVertexCount;
+	public IntPtr rIndexData; // const uint16_t *
+	public uint unTriangleCount;
+	public int diffuseTextureId;
+	public RenderModel_t_Packed(RenderModel_t unpacked)
+	{
+		this.rVertexData = unpacked.rVertexData;
+		this.unVertexCount = unpacked.unVertexCount;
+		this.rIndexData = unpacked.rIndexData;
+		this.unTriangleCount = unpacked.unTriangleCount;
+		this.diffuseTextureId = unpacked.diffuseTextureId;
+	}
+	public void Unpack(ref RenderModel_t unpacked)
+	{
+		unpacked.rVertexData = this.rVertexData;
+		unpacked.unVertexCount = this.unVertexCount;
+		unpacked.rIndexData = this.rIndexData;
+		unpacked.unTriangleCount = this.unTriangleCount;
+		unpacked.diffuseTextureId = this.diffuseTextureId;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_ControllerMode_State_t
+{
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bScrollWheelVisible;
+}
+[StructLayout(LayoutKind.Sequential)] public struct NotificationBitmap_t
+{
+	public IntPtr m_pImageData; // void *
+	public int m_nWidth;
+	public int m_nHeight;
+	public int m_nBytesPerPixel;
+}
+[StructLayout(LayoutKind.Sequential)] public struct COpenVRContext
+{
+	public IntPtr m_pVRSystem; // class vr::IVRSystem *
+	public IntPtr m_pVRChaperone; // class vr::IVRChaperone *
+	public IntPtr m_pVRChaperoneSetup; // class vr::IVRChaperoneSetup *
+	public IntPtr m_pVRCompositor; // class vr::IVRCompositor *
+	public IntPtr m_pVROverlay; // class vr::IVROverlay *
+	public IntPtr m_pVRResources; // class vr::IVRResources *
+	public IntPtr m_pVRRenderModels; // class vr::IVRRenderModels *
+	public IntPtr m_pVRExtendedDisplay; // class vr::IVRExtendedDisplay *
+	public IntPtr m_pVRSettings; // class vr::IVRSettings *
+	public IntPtr m_pVRApplications; // class vr::IVRApplications *
+	public IntPtr m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
+	public IntPtr m_pVRScreenshots; // class vr::IVRScreenshots *
+	public IntPtr m_pVRDriverManager; // class vr::IVRDriverManager *
+}
+
+public class OpenVR
+{
+
+	public static uint InitInternal(ref EVRInitError peError, EVRApplicationType eApplicationType)
+	{
+		return OpenVRInterop.InitInternal(ref peError, eApplicationType);
+	}
+
+	public static void ShutdownInternal()
+	{
+		OpenVRInterop.ShutdownInternal();
+	}
+
+	public static bool IsHmdPresent()
+	{
+		return OpenVRInterop.IsHmdPresent();
+	}
+
+	public static bool IsRuntimeInstalled()
+	{
+		return OpenVRInterop.IsRuntimeInstalled();
+	}
+
+	public static string GetStringForHmdError(EVRInitError error)
+	{
+		return Marshal.PtrToStringAnsi(OpenVRInterop.GetStringForHmdError(error));
+	}
+
+	public static IntPtr GetGenericInterface(string pchInterfaceVersion, ref EVRInitError peError)
+	{
+		return OpenVRInterop.GetGenericInterface(pchInterfaceVersion, ref peError);
+	}
+
+	public static bool IsInterfaceVersionValid(string pchInterfaceVersion)
+	{
+		return OpenVRInterop.IsInterfaceVersionValid(pchInterfaceVersion);
+	}
+
+	public static uint GetInitToken()
+	{
+		return OpenVRInterop.GetInitToken();
+	}
+
+	public const uint k_nDriverNone = 4294967295;
+	public const uint k_unMaxDriverDebugResponseSize = 32768;
+	public const uint k_unTrackedDeviceIndex_Hmd = 0;
+	public const uint k_unMaxTrackedDeviceCount = 16;
+	public const uint k_unTrackedDeviceIndexOther = 4294967294;
+	public const uint k_unTrackedDeviceIndexInvalid = 4294967295;
+	public const ulong k_ulInvalidPropertyContainer = 0;
+	public const uint k_unInvalidPropertyTag = 0;
+	public const uint k_unFloatPropertyTag = 1;
+	public const uint k_unInt32PropertyTag = 2;
+	public const uint k_unUint64PropertyTag = 3;
+	public const uint k_unBoolPropertyTag = 4;
+	public const uint k_unStringPropertyTag = 5;
+	public const uint k_unHmdMatrix34PropertyTag = 20;
+	public const uint k_unHmdMatrix44PropertyTag = 21;
+	public const uint k_unHmdVector3PropertyTag = 22;
+	public const uint k_unHmdVector4PropertyTag = 23;
+	public const uint k_unHiddenAreaPropertyTag = 30;
+	public const uint k_unOpenVRInternalReserved_Start = 1000;
+	public const uint k_unOpenVRInternalReserved_End = 10000;
+	public const uint k_unMaxPropertyStringSize = 32768;
+	public const uint k_unControllerStateAxisCount = 5;
+	public const ulong k_ulOverlayHandleInvalid = 0;
+	public const uint k_unScreenshotHandleInvalid = 0;
+	public const string IVRSystem_Version = "IVRSystem_016";
+	public const string IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
+	public const string IVRTrackedCamera_Version = "IVRTrackedCamera_003";
+	public const uint k_unMaxApplicationKeyLength = 128;
+	public const string k_pch_MimeType_HomeApp = "vr/home";
+	public const string k_pch_MimeType_GameTheater = "vr/game_theater";
+	public const string IVRApplications_Version = "IVRApplications_006";
+	public const string IVRChaperone_Version = "IVRChaperone_003";
+	public const string IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
+	public const string IVRCompositor_Version = "IVRCompositor_020";
+	public const uint k_unVROverlayMaxKeyLength = 128;
+	public const uint k_unVROverlayMaxNameLength = 128;
+	public const uint k_unMaxOverlayCount = 64;
+	public const uint k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
+	public const string IVROverlay_Version = "IVROverlay_016";
+	public const string k_pch_Controller_Component_GDC2015 = "gdc2015";
+	public const string k_pch_Controller_Component_Base = "base";
+	public const string k_pch_Controller_Component_Tip = "tip";
+	public const string k_pch_Controller_Component_HandGrip = "handgrip";
+	public const string k_pch_Controller_Component_Status = "status";
+	public const string IVRRenderModels_Version = "IVRRenderModels_005";
+	public const uint k_unNotificationTextMaxSize = 256;
+	public const string IVRNotifications_Version = "IVRNotifications_002";
+	public const uint k_unMaxSettingsKeyLength = 128;
+	public const string IVRSettings_Version = "IVRSettings_002";
+	public const string k_pch_SteamVR_Section = "steamvr";
+	public const string k_pch_SteamVR_RequireHmd_String = "requireHmd";
+	public const string k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+	public const string k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+	public const string k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+	public const string k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+	public const string k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+	public const string k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+	public const string k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps";
+	public const string k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+	public const string k_pch_SteamVR_IPD_Float = "ipd";
+	public const string k_pch_SteamVR_Background_String = "background";
+	public const string k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+	public const string k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+	public const string k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+	public const string k_pch_SteamVR_GridColor_String = "gridColor";
+	public const string k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+	public const string k_pch_SteamVR_ShowStage_Bool = "showStage";
+	public const string k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+	public const string k_pch_SteamVR_DirectMode_Bool = "directMode";
+	public const string k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+	public const string k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+	public const string k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+	public const string k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+	public const string k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+	public const string k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+	public const string k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+	public const string k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+	public const string k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+	public const string k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+	public const string k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+	public const string k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+	public const string k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+	public const string k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+	public const string k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+	public const string k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+	public const string k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+	public const string k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+	public const string k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+	public const string k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+	public const string k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+	public const string k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	public const string k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+	public const string k_pch_Lighthouse_Section = "driver_lighthouse";
+	public const string k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+	public const string k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+	public const string k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+	public const string k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+	public const string k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+	public const string k_pch_Null_Section = "driver_null";
+	public const string k_pch_Null_SerialNumber_String = "serialNumber";
+	public const string k_pch_Null_ModelNumber_String = "modelNumber";
+	public const string k_pch_Null_WindowX_Int32 = "windowX";
+	public const string k_pch_Null_WindowY_Int32 = "windowY";
+	public const string k_pch_Null_WindowWidth_Int32 = "windowWidth";
+	public const string k_pch_Null_WindowHeight_Int32 = "windowHeight";
+	public const string k_pch_Null_RenderWidth_Int32 = "renderWidth";
+	public const string k_pch_Null_RenderHeight_Int32 = "renderHeight";
+	public const string k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+	public const string k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+	public const string k_pch_UserInterface_Section = "userinterface";
+	public const string k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+	public const string k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+	public const string k_pch_UserInterface_Screenshots_Bool = "screenshots";
+	public const string k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+	public const string k_pch_Notifications_Section = "notifications";
+	public const string k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+	public const string k_pch_Keyboard_Section = "keyboard";
+	public const string k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+	public const string k_pch_Keyboard_ScaleX = "ScaleX";
+	public const string k_pch_Keyboard_ScaleY = "ScaleY";
+	public const string k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+	public const string k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+	public const string k_pch_Keyboard_OffsetY = "OffsetY";
+	public const string k_pch_Keyboard_Smoothing = "Smoothing";
+	public const string k_pch_Perf_Section = "perfcheck";
+	public const string k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+	public const string k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+	public const string k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+	public const string k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+	public const string k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+	public const string k_pch_Perf_TestData_Float = "perfTestData";
+	public const string k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+	public const string k_pch_CollisionBounds_Section = "collisionBounds";
+	public const string k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+	public const string k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+	public const string k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+	public const string k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+	public const string k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+	public const string k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+	public const string k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+	public const string k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+	public const string k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+	public const string k_pch_Camera_Section = "camera";
+	public const string k_pch_Camera_EnableCamera_Bool = "enableCamera";
+	public const string k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+	public const string k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+	public const string k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+	public const string k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+	public const string k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+	public const string k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+	public const string k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+	public const string k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+	public const string k_pch_audio_Section = "audio";
+	public const string k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+	public const string k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+	public const string k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+	public const string k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+	public const string k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+	public const string k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+	public const string k_pch_Power_Section = "power";
+	public const string k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+	public const string k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+	public const string k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+	public const string k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+	public const string k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+	public const string k_pch_Dashboard_Section = "dashboard";
+	public const string k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+	public const string k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+	public const string k_pch_modelskin_Section = "modelskins";
+	public const string k_pch_Driver_Enable_Bool = "enable";
+	public const string IVRScreenshots_Version = "IVRScreenshots_001";
+	public const string IVRResources_Version = "IVRResources_001";
+	public const string IVRDriverManager_Version = "IVRDriverManager_001";
+
+	static uint VRToken { get; set; }
+
+	const string FnTable_Prefix = "FnTable:";
+
+	class COpenVRContext
+	{
+		public COpenVRContext() { Clear(); }
+
+		public void Clear()
+		{
+			m_pVRSystem = null;
+			m_pVRChaperone = null;
+			m_pVRChaperoneSetup = null;
+			m_pVRCompositor = null;
+			m_pVROverlay = null;
+			m_pVRRenderModels = null;
+			m_pVRExtendedDisplay = null;
+			m_pVRSettings = null;
+			m_pVRApplications = null;
+			m_pVRScreenshots = null;
+			m_pVRTrackedCamera = null;
+		}
+
+		void CheckClear()
+		{
+			if (VRToken != GetInitToken())
+			{
+				Clear();
+				VRToken = GetInitToken();
+			}
+		}
+
+		public CVRSystem VRSystem()
+		{
+			CheckClear();
+			if (m_pVRSystem == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRSystem_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRSystem = new CVRSystem(pInterface);
+			}
+			return m_pVRSystem;
+		}
+
+		public CVRChaperone VRChaperone()
+		{
+			CheckClear();
+			if (m_pVRChaperone == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRChaperone_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRChaperone = new CVRChaperone(pInterface);
+			}
+			return m_pVRChaperone;
+		}
+
+		public CVRChaperoneSetup VRChaperoneSetup()
+		{
+			CheckClear();
+			if (m_pVRChaperoneSetup == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRChaperoneSetup_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRChaperoneSetup = new CVRChaperoneSetup(pInterface);
+			}
+			return m_pVRChaperoneSetup;
+		}
+
+		public CVRCompositor VRCompositor()
+		{
+			CheckClear();
+			if (m_pVRCompositor == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRCompositor_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRCompositor = new CVRCompositor(pInterface);
+			}
+			return m_pVRCompositor;
+		}
+
+		public CVROverlay VROverlay()
+		{
+			CheckClear();
+			if (m_pVROverlay == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVROverlay_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVROverlay = new CVROverlay(pInterface);
+			}
+			return m_pVROverlay;
+		}
+
+		public CVRRenderModels VRRenderModels()
+		{
+			CheckClear();
+			if (m_pVRRenderModels == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRRenderModels_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRRenderModels = new CVRRenderModels(pInterface);
+			}
+			return m_pVRRenderModels;
+		}
+
+		public CVRExtendedDisplay VRExtendedDisplay()
+		{
+			CheckClear();
+			if (m_pVRExtendedDisplay == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRExtendedDisplay_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRExtendedDisplay = new CVRExtendedDisplay(pInterface);
+			}
+			return m_pVRExtendedDisplay;
+		}
+
+		public CVRSettings VRSettings()
+		{
+			CheckClear();
+			if (m_pVRSettings == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRSettings_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRSettings = new CVRSettings(pInterface);
+			}
+			return m_pVRSettings;
+		}
+
+		public CVRApplications VRApplications()
+		{
+			CheckClear();
+			if (m_pVRApplications == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRApplications_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRApplications = new CVRApplications(pInterface);
+			}
+			return m_pVRApplications;
+		}
+
+		public CVRScreenshots VRScreenshots()
+		{
+			CheckClear();
+			if (m_pVRScreenshots == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRScreenshots_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRScreenshots = new CVRScreenshots(pInterface);
+			}
+			return m_pVRScreenshots;
+		}
+
+		public CVRTrackedCamera VRTrackedCamera()
+		{
+			CheckClear();
+			if (m_pVRTrackedCamera == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRTrackedCamera_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRTrackedCamera = new CVRTrackedCamera(pInterface);
+			}
+			return m_pVRTrackedCamera;
+		}
+
+		private CVRSystem m_pVRSystem;
+		private CVRChaperone m_pVRChaperone;
+		private CVRChaperoneSetup m_pVRChaperoneSetup;
+		private CVRCompositor m_pVRCompositor;
+		private CVROverlay m_pVROverlay;
+		private CVRRenderModels m_pVRRenderModels;
+		private CVRExtendedDisplay m_pVRExtendedDisplay;
+		private CVRSettings m_pVRSettings;
+		private CVRApplications m_pVRApplications;
+		private CVRScreenshots m_pVRScreenshots;
+		private CVRTrackedCamera m_pVRTrackedCamera;
+	};
+
+	private static COpenVRContext _OpenVRInternal_ModuleContext = null;
+	static COpenVRContext OpenVRInternal_ModuleContext
+	{
+		get
+		{
+			if (_OpenVRInternal_ModuleContext == null)
+				_OpenVRInternal_ModuleContext = new COpenVRContext();
+			return _OpenVRInternal_ModuleContext;
+		}
+	}
+
+	public static CVRSystem System { get { return OpenVRInternal_ModuleContext.VRSystem(); } }
+	public static CVRChaperone Chaperone { get { return OpenVRInternal_ModuleContext.VRChaperone(); } }
+	public static CVRChaperoneSetup ChaperoneSetup { get { return OpenVRInternal_ModuleContext.VRChaperoneSetup(); } }
+	public static CVRCompositor Compositor { get { return OpenVRInternal_ModuleContext.VRCompositor(); } }
+	public static CVROverlay Overlay { get { return OpenVRInternal_ModuleContext.VROverlay(); } }
+	public static CVRRenderModels RenderModels { get { return OpenVRInternal_ModuleContext.VRRenderModels(); } }
+	public static CVRExtendedDisplay ExtendedDisplay { get { return OpenVRInternal_ModuleContext.VRExtendedDisplay(); } }
+	public static CVRSettings Settings { get { return OpenVRInternal_ModuleContext.VRSettings(); } }
+	public static CVRApplications Applications { get { return OpenVRInternal_ModuleContext.VRApplications(); } }
+	public static CVRScreenshots Screenshots { get { return OpenVRInternal_ModuleContext.VRScreenshots(); } }
+	public static CVRTrackedCamera TrackedCamera { get { return OpenVRInternal_ModuleContext.VRTrackedCamera(); } }
+
+	/** Finds the active installation of vrclient.dll and initializes it */
+	public static CVRSystem Init(ref EVRInitError peError, EVRApplicationType eApplicationType = EVRApplicationType.VRApplication_Scene)
+	{
+		VRToken = InitInternal(ref peError, eApplicationType);
+		OpenVRInternal_ModuleContext.Clear();
+
+		if (peError != EVRInitError.None)
+			return null;
+
+		bool bInterfaceValid = IsInterfaceVersionValid(IVRSystem_Version);
+		if (!bInterfaceValid)
+		{
+			ShutdownInternal();
+			peError = EVRInitError.Init_InterfaceNotFound;
+			return null;
+		}
+
+		return OpenVR.System;
+	}
+
+	/** unloads vrclient.dll. Any interface pointers from the interface are
+	* invalid after this point */
+	public static void Shutdown()
+	{
+		ShutdownInternal();
+	}
+
+}
+
+
+
+}
+
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_api.json b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_api.json
new file mode 100644
index 000000000..bd76ded9f
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_api.json
@@ -0,0 +1,3887 @@
+{"typedefs":[{"typedef": "vr::glSharedTextureHandle_t","type": "void *"}
+,{"typedef": "vr::glInt_t","type": "int32_t"}
+,{"typedef": "vr::glUInt_t","type": "uint32_t"}
+,{"typedef": "vr::SharedTextureHandle_t","type": "uint64_t"}
+,{"typedef": "vr::DriverId_t","type": "uint32_t"}
+,{"typedef": "vr::TrackedDeviceIndex_t","type": "uint32_t"}
+,{"typedef": "vr::PropertyContainerHandle_t","type": "uint64_t"}
+,{"typedef": "vr::PropertyTypeTag_t","type": "uint32_t"}
+,{"typedef": "vr::VREvent_Data_t","type": "union VREvent_Data_t"}
+,{"typedef": "vr::VRControllerState_t","type": "struct vr::VRControllerState001_t"}
+,{"typedef": "vr::VROverlayHandle_t","type": "uint64_t"}
+,{"typedef": "vr::TrackedCameraHandle_t","type": "uint64_t"}
+,{"typedef": "vr::ScreenshotHandle_t","type": "uint32_t"}
+,{"typedef": "vr::VROverlayIntersectionMaskPrimitive_Data_t","type": "union VROverlayIntersectionMaskPrimitive_Data_t"}
+,{"typedef": "vr::VRComponentProperties","type": "uint32_t"}
+,{"typedef": "vr::TextureID_t","type": "int32_t"}
+,{"typedef": "vr::VRNotificationId","type": "uint32_t"}
+,{"typedef": "vr::HmdError","type": "enum vr::EVRInitError"}
+,{"typedef": "vr::Hmd_Eye","type": "enum vr::EVREye"}
+,{"typedef": "vr::ColorSpace","type": "enum vr::EColorSpace"}
+,{"typedef": "vr::HmdTrackingResult","type": "enum vr::ETrackingResult"}
+,{"typedef": "vr::TrackedDeviceClass","type": "enum vr::ETrackedDeviceClass"}
+,{"typedef": "vr::TrackingUniverseOrigin","type": "enum vr::ETrackingUniverseOrigin"}
+,{"typedef": "vr::TrackedDeviceProperty","type": "enum vr::ETrackedDeviceProperty"}
+,{"typedef": "vr::TrackedPropertyError","type": "enum vr::ETrackedPropertyError"}
+,{"typedef": "vr::VRSubmitFlags_t","type": "enum vr::EVRSubmitFlags"}
+,{"typedef": "vr::VRState_t","type": "enum vr::EVRState"}
+,{"typedef": "vr::CollisionBoundsStyle_t","type": "enum vr::ECollisionBoundsStyle"}
+,{"typedef": "vr::VROverlayError","type": "enum vr::EVROverlayError"}
+,{"typedef": "vr::VRFirmwareError","type": "enum vr::EVRFirmwareError"}
+,{"typedef": "vr::VRCompositorError","type": "enum vr::EVRCompositorError"}
+,{"typedef": "vr::VRScreenshotsError","type": "enum vr::EVRScreenshotError"}
+],
+"enums":[
+	{"enumname": "vr::EVREye","values": [ 
+	{"name": "Eye_Left","value": "0"}
+	,{"name": "Eye_Right","value": "1"}
+]}
+,	{"enumname": "vr::ETextureType","values": [ 
+	{"name": "TextureType_DirectX","value": "0"}
+	,{"name": "TextureType_OpenGL","value": "1"}
+	,{"name": "TextureType_Vulkan","value": "2"}
+	,{"name": "TextureType_IOSurface","value": "3"}
+	,{"name": "TextureType_DirectX12","value": "4"}
+]}
+,	{"enumname": "vr::EColorSpace","values": [ 
+	{"name": "ColorSpace_Auto","value": "0"}
+	,{"name": "ColorSpace_Gamma","value": "1"}
+	,{"name": "ColorSpace_Linear","value": "2"}
+]}
+,	{"enumname": "vr::ETrackingResult","values": [ 
+	{"name": "TrackingResult_Uninitialized","value": "1"}
+	,{"name": "TrackingResult_Calibrating_InProgress","value": "100"}
+	,{"name": "TrackingResult_Calibrating_OutOfRange","value": "101"}
+	,{"name": "TrackingResult_Running_OK","value": "200"}
+	,{"name": "TrackingResult_Running_OutOfRange","value": "201"}
+]}
+,	{"enumname": "vr::ETrackedDeviceClass","values": [ 
+	{"name": "TrackedDeviceClass_Invalid","value": "0"}
+	,{"name": "TrackedDeviceClass_HMD","value": "1"}
+	,{"name": "TrackedDeviceClass_Controller","value": "2"}
+	,{"name": "TrackedDeviceClass_GenericTracker","value": "3"}
+	,{"name": "TrackedDeviceClass_TrackingReference","value": "4"}
+	,{"name": "TrackedDeviceClass_DisplayRedirect","value": "5"}
+]}
+,	{"enumname": "vr::ETrackedControllerRole","values": [ 
+	{"name": "TrackedControllerRole_Invalid","value": "0"}
+	,{"name": "TrackedControllerRole_LeftHand","value": "1"}
+	,{"name": "TrackedControllerRole_RightHand","value": "2"}
+]}
+,	{"enumname": "vr::ETrackingUniverseOrigin","values": [ 
+	{"name": "TrackingUniverseSeated","value": "0"}
+	,{"name": "TrackingUniverseStanding","value": "1"}
+	,{"name": "TrackingUniverseRawAndUncalibrated","value": "2"}
+]}
+,	{"enumname": "vr::ETrackedDeviceProperty","values": [ 
+	{"name": "Prop_Invalid","value": "0"}
+	,{"name": "Prop_TrackingSystemName_String","value": "1000"}
+	,{"name": "Prop_ModelNumber_String","value": "1001"}
+	,{"name": "Prop_SerialNumber_String","value": "1002"}
+	,{"name": "Prop_RenderModelName_String","value": "1003"}
+	,{"name": "Prop_WillDriftInYaw_Bool","value": "1004"}
+	,{"name": "Prop_ManufacturerName_String","value": "1005"}
+	,{"name": "Prop_TrackingFirmwareVersion_String","value": "1006"}
+	,{"name": "Prop_HardwareRevision_String","value": "1007"}
+	,{"name": "Prop_AllWirelessDongleDescriptions_String","value": "1008"}
+	,{"name": "Prop_ConnectedWirelessDongle_String","value": "1009"}
+	,{"name": "Prop_DeviceIsWireless_Bool","value": "1010"}
+	,{"name": "Prop_DeviceIsCharging_Bool","value": "1011"}
+	,{"name": "Prop_DeviceBatteryPercentage_Float","value": "1012"}
+	,{"name": "Prop_StatusDisplayTransform_Matrix34","value": "1013"}
+	,{"name": "Prop_Firmware_UpdateAvailable_Bool","value": "1014"}
+	,{"name": "Prop_Firmware_ManualUpdate_Bool","value": "1015"}
+	,{"name": "Prop_Firmware_ManualUpdateURL_String","value": "1016"}
+	,{"name": "Prop_HardwareRevision_Uint64","value": "1017"}
+	,{"name": "Prop_FirmwareVersion_Uint64","value": "1018"}
+	,{"name": "Prop_FPGAVersion_Uint64","value": "1019"}
+	,{"name": "Prop_VRCVersion_Uint64","value": "1020"}
+	,{"name": "Prop_RadioVersion_Uint64","value": "1021"}
+	,{"name": "Prop_DongleVersion_Uint64","value": "1022"}
+	,{"name": "Prop_BlockServerShutdown_Bool","value": "1023"}
+	,{"name": "Prop_CanUnifyCoordinateSystemWithHmd_Bool","value": "1024"}
+	,{"name": "Prop_ContainsProximitySensor_Bool","value": "1025"}
+	,{"name": "Prop_DeviceProvidesBatteryStatus_Bool","value": "1026"}
+	,{"name": "Prop_DeviceCanPowerOff_Bool","value": "1027"}
+	,{"name": "Prop_Firmware_ProgrammingTarget_String","value": "1028"}
+	,{"name": "Prop_DeviceClass_Int32","value": "1029"}
+	,{"name": "Prop_HasCamera_Bool","value": "1030"}
+	,{"name": "Prop_DriverVersion_String","value": "1031"}
+	,{"name": "Prop_Firmware_ForceUpdateRequired_Bool","value": "1032"}
+	,{"name": "Prop_ViveSystemButtonFixRequired_Bool","value": "1033"}
+	,{"name": "Prop_ParentDriver_Uint64","value": "1034"}
+	,{"name": "Prop_ResourceRoot_String","value": "1035"}
+	,{"name": "Prop_ReportsTimeSinceVSync_Bool","value": "2000"}
+	,{"name": "Prop_SecondsFromVsyncToPhotons_Float","value": "2001"}
+	,{"name": "Prop_DisplayFrequency_Float","value": "2002"}
+	,{"name": "Prop_UserIpdMeters_Float","value": "2003"}
+	,{"name": "Prop_CurrentUniverseId_Uint64","value": "2004"}
+	,{"name": "Prop_PreviousUniverseId_Uint64","value": "2005"}
+	,{"name": "Prop_DisplayFirmwareVersion_Uint64","value": "2006"}
+	,{"name": "Prop_IsOnDesktop_Bool","value": "2007"}
+	,{"name": "Prop_DisplayMCType_Int32","value": "2008"}
+	,{"name": "Prop_DisplayMCOffset_Float","value": "2009"}
+	,{"name": "Prop_DisplayMCScale_Float","value": "2010"}
+	,{"name": "Prop_EdidVendorID_Int32","value": "2011"}
+	,{"name": "Prop_DisplayMCImageLeft_String","value": "2012"}
+	,{"name": "Prop_DisplayMCImageRight_String","value": "2013"}
+	,{"name": "Prop_DisplayGCBlackClamp_Float","value": "2014"}
+	,{"name": "Prop_EdidProductID_Int32","value": "2015"}
+	,{"name": "Prop_CameraToHeadTransform_Matrix34","value": "2016"}
+	,{"name": "Prop_DisplayGCType_Int32","value": "2017"}
+	,{"name": "Prop_DisplayGCOffset_Float","value": "2018"}
+	,{"name": "Prop_DisplayGCScale_Float","value": "2019"}
+	,{"name": "Prop_DisplayGCPrescale_Float","value": "2020"}
+	,{"name": "Prop_DisplayGCImage_String","value": "2021"}
+	,{"name": "Prop_LensCenterLeftU_Float","value": "2022"}
+	,{"name": "Prop_LensCenterLeftV_Float","value": "2023"}
+	,{"name": "Prop_LensCenterRightU_Float","value": "2024"}
+	,{"name": "Prop_LensCenterRightV_Float","value": "2025"}
+	,{"name": "Prop_UserHeadToEyeDepthMeters_Float","value": "2026"}
+	,{"name": "Prop_CameraFirmwareVersion_Uint64","value": "2027"}
+	,{"name": "Prop_CameraFirmwareDescription_String","value": "2028"}
+	,{"name": "Prop_DisplayFPGAVersion_Uint64","value": "2029"}
+	,{"name": "Prop_DisplayBootloaderVersion_Uint64","value": "2030"}
+	,{"name": "Prop_DisplayHardwareVersion_Uint64","value": "2031"}
+	,{"name": "Prop_AudioFirmwareVersion_Uint64","value": "2032"}
+	,{"name": "Prop_CameraCompatibilityMode_Int32","value": "2033"}
+	,{"name": "Prop_ScreenshotHorizontalFieldOfViewDegrees_Float","value": "2034"}
+	,{"name": "Prop_ScreenshotVerticalFieldOfViewDegrees_Float","value": "2035"}
+	,{"name": "Prop_DisplaySuppressed_Bool","value": "2036"}
+	,{"name": "Prop_DisplayAllowNightMode_Bool","value": "2037"}
+	,{"name": "Prop_DisplayMCImageWidth_Int32","value": "2038"}
+	,{"name": "Prop_DisplayMCImageHeight_Int32","value": "2039"}
+	,{"name": "Prop_DisplayMCImageNumChannels_Int32","value": "2040"}
+	,{"name": "Prop_DisplayMCImageData_Binary","value": "2041"}
+	,{"name": "Prop_SecondsFromPhotonsToVblank_Float","value": "2042"}
+	,{"name": "Prop_DriverDirectModeSendsVsyncEvents_Bool","value": "2043"}
+	,{"name": "Prop_DisplayDebugMode_Bool","value": "2044"}
+	,{"name": "Prop_GraphicsAdapterLuid_Uint64","value": "2045"}
+	,{"name": "Prop_AttachedDeviceId_String","value": "3000"}
+	,{"name": "Prop_SupportedButtons_Uint64","value": "3001"}
+	,{"name": "Prop_Axis0Type_Int32","value": "3002"}
+	,{"name": "Prop_Axis1Type_Int32","value": "3003"}
+	,{"name": "Prop_Axis2Type_Int32","value": "3004"}
+	,{"name": "Prop_Axis3Type_Int32","value": "3005"}
+	,{"name": "Prop_Axis4Type_Int32","value": "3006"}
+	,{"name": "Prop_ControllerRoleHint_Int32","value": "3007"}
+	,{"name": "Prop_FieldOfViewLeftDegrees_Float","value": "4000"}
+	,{"name": "Prop_FieldOfViewRightDegrees_Float","value": "4001"}
+	,{"name": "Prop_FieldOfViewTopDegrees_Float","value": "4002"}
+	,{"name": "Prop_FieldOfViewBottomDegrees_Float","value": "4003"}
+	,{"name": "Prop_TrackingRangeMinimumMeters_Float","value": "4004"}
+	,{"name": "Prop_TrackingRangeMaximumMeters_Float","value": "4005"}
+	,{"name": "Prop_ModeLabel_String","value": "4006"}
+	,{"name": "Prop_IconPathName_String","value": "5000"}
+	,{"name": "Prop_NamedIconPathDeviceOff_String","value": "5001"}
+	,{"name": "Prop_NamedIconPathDeviceSearching_String","value": "5002"}
+	,{"name": "Prop_NamedIconPathDeviceSearchingAlert_String","value": "5003"}
+	,{"name": "Prop_NamedIconPathDeviceReady_String","value": "5004"}
+	,{"name": "Prop_NamedIconPathDeviceReadyAlert_String","value": "5005"}
+	,{"name": "Prop_NamedIconPathDeviceNotReady_String","value": "5006"}
+	,{"name": "Prop_NamedIconPathDeviceStandby_String","value": "5007"}
+	,{"name": "Prop_NamedIconPathDeviceAlertLow_String","value": "5008"}
+	,{"name": "Prop_DisplayHiddenArea_Binary_Start","value": "5100"}
+	,{"name": "Prop_DisplayHiddenArea_Binary_End","value": "5150"}
+	,{"name": "Prop_UserConfigPath_String","value": "6000"}
+	,{"name": "Prop_InstallPath_String","value": "6001"}
+	,{"name": "Prop_HasDisplayComponent_Bool","value": "6002"}
+	,{"name": "Prop_HasControllerComponent_Bool","value": "6003"}
+	,{"name": "Prop_HasCameraComponent_Bool","value": "6004"}
+	,{"name": "Prop_HasDriverDirectModeComponent_Bool","value": "6005"}
+	,{"name": "Prop_HasVirtualDisplayComponent_Bool","value": "6006"}
+	,{"name": "Prop_VendorSpecific_Reserved_Start","value": "10000"}
+	,{"name": "Prop_VendorSpecific_Reserved_End","value": "10999"}
+]}
+,	{"enumname": "vr::ETrackedPropertyError","values": [ 
+	{"name": "TrackedProp_Success","value": "0"}
+	,{"name": "TrackedProp_WrongDataType","value": "1"}
+	,{"name": "TrackedProp_WrongDeviceClass","value": "2"}
+	,{"name": "TrackedProp_BufferTooSmall","value": "3"}
+	,{"name": "TrackedProp_UnknownProperty","value": "4"}
+	,{"name": "TrackedProp_InvalidDevice","value": "5"}
+	,{"name": "TrackedProp_CouldNotContactServer","value": "6"}
+	,{"name": "TrackedProp_ValueNotProvidedByDevice","value": "7"}
+	,{"name": "TrackedProp_StringExceedsMaximumLength","value": "8"}
+	,{"name": "TrackedProp_NotYetAvailable","value": "9"}
+	,{"name": "TrackedProp_PermissionDenied","value": "10"}
+	,{"name": "TrackedProp_InvalidOperation","value": "11"}
+]}
+,	{"enumname": "vr::EVRSubmitFlags","values": [ 
+	{"name": "Submit_Default","value": "0"}
+	,{"name": "Submit_LensDistortionAlreadyApplied","value": "1"}
+	,{"name": "Submit_GlRenderBuffer","value": "2"}
+	,{"name": "Submit_Reserved","value": "4"}
+]}
+,	{"enumname": "vr::EVRState","values": [ 
+	{"name": "VRState_Undefined","value": "-1"}
+	,{"name": "VRState_Off","value": "0"}
+	,{"name": "VRState_Searching","value": "1"}
+	,{"name": "VRState_Searching_Alert","value": "2"}
+	,{"name": "VRState_Ready","value": "3"}
+	,{"name": "VRState_Ready_Alert","value": "4"}
+	,{"name": "VRState_NotReady","value": "5"}
+	,{"name": "VRState_Standby","value": "6"}
+	,{"name": "VRState_Ready_Alert_Low","value": "7"}
+]}
+,	{"enumname": "vr::EVREventType","values": [ 
+	{"name": "VREvent_None","value": "0"}
+	,{"name": "VREvent_TrackedDeviceActivated","value": "100"}
+	,{"name": "VREvent_TrackedDeviceDeactivated","value": "101"}
+	,{"name": "VREvent_TrackedDeviceUpdated","value": "102"}
+	,{"name": "VREvent_TrackedDeviceUserInteractionStarted","value": "103"}
+	,{"name": "VREvent_TrackedDeviceUserInteractionEnded","value": "104"}
+	,{"name": "VREvent_IpdChanged","value": "105"}
+	,{"name": "VREvent_EnterStandbyMode","value": "106"}
+	,{"name": "VREvent_LeaveStandbyMode","value": "107"}
+	,{"name": "VREvent_TrackedDeviceRoleChanged","value": "108"}
+	,{"name": "VREvent_WatchdogWakeUpRequested","value": "109"}
+	,{"name": "VREvent_LensDistortionChanged","value": "110"}
+	,{"name": "VREvent_PropertyChanged","value": "111"}
+	,{"name": "VREvent_ButtonPress","value": "200"}
+	,{"name": "VREvent_ButtonUnpress","value": "201"}
+	,{"name": "VREvent_ButtonTouch","value": "202"}
+	,{"name": "VREvent_ButtonUntouch","value": "203"}
+	,{"name": "VREvent_MouseMove","value": "300"}
+	,{"name": "VREvent_MouseButtonDown","value": "301"}
+	,{"name": "VREvent_MouseButtonUp","value": "302"}
+	,{"name": "VREvent_FocusEnter","value": "303"}
+	,{"name": "VREvent_FocusLeave","value": "304"}
+	,{"name": "VREvent_Scroll","value": "305"}
+	,{"name": "VREvent_TouchPadMove","value": "306"}
+	,{"name": "VREvent_OverlayFocusChanged","value": "307"}
+	,{"name": "VREvent_InputFocusCaptured","value": "400"}
+	,{"name": "VREvent_InputFocusReleased","value": "401"}
+	,{"name": "VREvent_SceneFocusLost","value": "402"}
+	,{"name": "VREvent_SceneFocusGained","value": "403"}
+	,{"name": "VREvent_SceneApplicationChanged","value": "404"}
+	,{"name": "VREvent_SceneFocusChanged","value": "405"}
+	,{"name": "VREvent_InputFocusChanged","value": "406"}
+	,{"name": "VREvent_SceneApplicationSecondaryRenderingStarted","value": "407"}
+	,{"name": "VREvent_HideRenderModels","value": "410"}
+	,{"name": "VREvent_ShowRenderModels","value": "411"}
+	,{"name": "VREvent_OverlayShown","value": "500"}
+	,{"name": "VREvent_OverlayHidden","value": "501"}
+	,{"name": "VREvent_DashboardActivated","value": "502"}
+	,{"name": "VREvent_DashboardDeactivated","value": "503"}
+	,{"name": "VREvent_DashboardThumbSelected","value": "504"}
+	,{"name": "VREvent_DashboardRequested","value": "505"}
+	,{"name": "VREvent_ResetDashboard","value": "506"}
+	,{"name": "VREvent_RenderToast","value": "507"}
+	,{"name": "VREvent_ImageLoaded","value": "508"}
+	,{"name": "VREvent_ShowKeyboard","value": "509"}
+	,{"name": "VREvent_HideKeyboard","value": "510"}
+	,{"name": "VREvent_OverlayGamepadFocusGained","value": "511"}
+	,{"name": "VREvent_OverlayGamepadFocusLost","value": "512"}
+	,{"name": "VREvent_OverlaySharedTextureChanged","value": "513"}
+	,{"name": "VREvent_DashboardGuideButtonDown","value": "514"}
+	,{"name": "VREvent_DashboardGuideButtonUp","value": "515"}
+	,{"name": "VREvent_ScreenshotTriggered","value": "516"}
+	,{"name": "VREvent_ImageFailed","value": "517"}
+	,{"name": "VREvent_DashboardOverlayCreated","value": "518"}
+	,{"name": "VREvent_RequestScreenshot","value": "520"}
+	,{"name": "VREvent_ScreenshotTaken","value": "521"}
+	,{"name": "VREvent_ScreenshotFailed","value": "522"}
+	,{"name": "VREvent_SubmitScreenshotToDashboard","value": "523"}
+	,{"name": "VREvent_ScreenshotProgressToDashboard","value": "524"}
+	,{"name": "VREvent_PrimaryDashboardDeviceChanged","value": "525"}
+	,{"name": "VREvent_Notification_Shown","value": "600"}
+	,{"name": "VREvent_Notification_Hidden","value": "601"}
+	,{"name": "VREvent_Notification_BeginInteraction","value": "602"}
+	,{"name": "VREvent_Notification_Destroyed","value": "603"}
+	,{"name": "VREvent_Quit","value": "700"}
+	,{"name": "VREvent_ProcessQuit","value": "701"}
+	,{"name": "VREvent_QuitAborted_UserPrompt","value": "702"}
+	,{"name": "VREvent_QuitAcknowledged","value": "703"}
+	,{"name": "VREvent_DriverRequestedQuit","value": "704"}
+	,{"name": "VREvent_ChaperoneDataHasChanged","value": "800"}
+	,{"name": "VREvent_ChaperoneUniverseHasChanged","value": "801"}
+	,{"name": "VREvent_ChaperoneTempDataHasChanged","value": "802"}
+	,{"name": "VREvent_ChaperoneSettingsHaveChanged","value": "803"}
+	,{"name": "VREvent_SeatedZeroPoseReset","value": "804"}
+	,{"name": "VREvent_AudioSettingsHaveChanged","value": "820"}
+	,{"name": "VREvent_BackgroundSettingHasChanged","value": "850"}
+	,{"name": "VREvent_CameraSettingsHaveChanged","value": "851"}
+	,{"name": "VREvent_ReprojectionSettingHasChanged","value": "852"}
+	,{"name": "VREvent_ModelSkinSettingsHaveChanged","value": "853"}
+	,{"name": "VREvent_EnvironmentSettingsHaveChanged","value": "854"}
+	,{"name": "VREvent_PowerSettingsHaveChanged","value": "855"}
+	,{"name": "VREvent_EnableHomeAppSettingsHaveChanged","value": "856"}
+	,{"name": "VREvent_StatusUpdate","value": "900"}
+	,{"name": "VREvent_MCImageUpdated","value": "1000"}
+	,{"name": "VREvent_FirmwareUpdateStarted","value": "1100"}
+	,{"name": "VREvent_FirmwareUpdateFinished","value": "1101"}
+	,{"name": "VREvent_KeyboardClosed","value": "1200"}
+	,{"name": "VREvent_KeyboardCharInput","value": "1201"}
+	,{"name": "VREvent_KeyboardDone","value": "1202"}
+	,{"name": "VREvent_ApplicationTransitionStarted","value": "1300"}
+	,{"name": "VREvent_ApplicationTransitionAborted","value": "1301"}
+	,{"name": "VREvent_ApplicationTransitionNewAppStarted","value": "1302"}
+	,{"name": "VREvent_ApplicationListUpdated","value": "1303"}
+	,{"name": "VREvent_ApplicationMimeTypeLoad","value": "1304"}
+	,{"name": "VREvent_ApplicationTransitionNewAppLaunchComplete","value": "1305"}
+	,{"name": "VREvent_ProcessConnected","value": "1306"}
+	,{"name": "VREvent_ProcessDisconnected","value": "1307"}
+	,{"name": "VREvent_Compositor_MirrorWindowShown","value": "1400"}
+	,{"name": "VREvent_Compositor_MirrorWindowHidden","value": "1401"}
+	,{"name": "VREvent_Compositor_ChaperoneBoundsShown","value": "1410"}
+	,{"name": "VREvent_Compositor_ChaperoneBoundsHidden","value": "1411"}
+	,{"name": "VREvent_TrackedCamera_StartVideoStream","value": "1500"}
+	,{"name": "VREvent_TrackedCamera_StopVideoStream","value": "1501"}
+	,{"name": "VREvent_TrackedCamera_PauseVideoStream","value": "1502"}
+	,{"name": "VREvent_TrackedCamera_ResumeVideoStream","value": "1503"}
+	,{"name": "VREvent_TrackedCamera_EditingSurface","value": "1550"}
+	,{"name": "VREvent_PerformanceTest_EnableCapture","value": "1600"}
+	,{"name": "VREvent_PerformanceTest_DisableCapture","value": "1601"}
+	,{"name": "VREvent_PerformanceTest_FidelityLevel","value": "1602"}
+	,{"name": "VREvent_MessageOverlay_Closed","value": "1650"}
+	,{"name": "VREvent_VendorSpecific_Reserved_Start","value": "10000"}
+	,{"name": "VREvent_VendorSpecific_Reserved_End","value": "19999"}
+]}
+,	{"enumname": "vr::EDeviceActivityLevel","values": [ 
+	{"name": "k_EDeviceActivityLevel_Unknown","value": "-1"}
+	,{"name": "k_EDeviceActivityLevel_Idle","value": "0"}
+	,{"name": "k_EDeviceActivityLevel_UserInteraction","value": "1"}
+	,{"name": "k_EDeviceActivityLevel_UserInteraction_Timeout","value": "2"}
+	,{"name": "k_EDeviceActivityLevel_Standby","value": "3"}
+]}
+,	{"enumname": "vr::EVRButtonId","values": [ 
+	{"name": "k_EButton_System","value": "0"}
+	,{"name": "k_EButton_ApplicationMenu","value": "1"}
+	,{"name": "k_EButton_Grip","value": "2"}
+	,{"name": "k_EButton_DPad_Left","value": "3"}
+	,{"name": "k_EButton_DPad_Up","value": "4"}
+	,{"name": "k_EButton_DPad_Right","value": "5"}
+	,{"name": "k_EButton_DPad_Down","value": "6"}
+	,{"name": "k_EButton_A","value": "7"}
+	,{"name": "k_EButton_ProximitySensor","value": "31"}
+	,{"name": "k_EButton_Axis0","value": "32"}
+	,{"name": "k_EButton_Axis1","value": "33"}
+	,{"name": "k_EButton_Axis2","value": "34"}
+	,{"name": "k_EButton_Axis3","value": "35"}
+	,{"name": "k_EButton_Axis4","value": "36"}
+	,{"name": "k_EButton_SteamVR_Touchpad","value": "32"}
+	,{"name": "k_EButton_SteamVR_Trigger","value": "33"}
+	,{"name": "k_EButton_Dashboard_Back","value": "2"}
+	,{"name": "k_EButton_Max","value": "64"}
+]}
+,	{"enumname": "vr::EVRMouseButton","values": [ 
+	{"name": "VRMouseButton_Left","value": "1"}
+	,{"name": "VRMouseButton_Right","value": "2"}
+	,{"name": "VRMouseButton_Middle","value": "4"}
+]}
+,	{"enumname": "vr::EHiddenAreaMeshType","values": [ 
+	{"name": "k_eHiddenAreaMesh_Standard","value": "0"}
+	,{"name": "k_eHiddenAreaMesh_Inverse","value": "1"}
+	,{"name": "k_eHiddenAreaMesh_LineLoop","value": "2"}
+	,{"name": "k_eHiddenAreaMesh_Max","value": "3"}
+]}
+,	{"enumname": "vr::EVRControllerAxisType","values": [ 
+	{"name": "k_eControllerAxis_None","value": "0"}
+	,{"name": "k_eControllerAxis_TrackPad","value": "1"}
+	,{"name": "k_eControllerAxis_Joystick","value": "2"}
+	,{"name": "k_eControllerAxis_Trigger","value": "3"}
+]}
+,	{"enumname": "vr::EVRControllerEventOutputType","values": [ 
+	{"name": "ControllerEventOutput_OSEvents","value": "0"}
+	,{"name": "ControllerEventOutput_VREvents","value": "1"}
+]}
+,	{"enumname": "vr::ECollisionBoundsStyle","values": [ 
+	{"name": "COLLISION_BOUNDS_STYLE_BEGINNER","value": "0"}
+	,{"name": "COLLISION_BOUNDS_STYLE_INTERMEDIATE","value": "1"}
+	,{"name": "COLLISION_BOUNDS_STYLE_SQUARES","value": "2"}
+	,{"name": "COLLISION_BOUNDS_STYLE_ADVANCED","value": "3"}
+	,{"name": "COLLISION_BOUNDS_STYLE_NONE","value": "4"}
+	,{"name": "COLLISION_BOUNDS_STYLE_COUNT","value": "5"}
+]}
+,	{"enumname": "vr::EVROverlayError","values": [ 
+	{"name": "VROverlayError_None","value": "0"}
+	,{"name": "VROverlayError_UnknownOverlay","value": "10"}
+	,{"name": "VROverlayError_InvalidHandle","value": "11"}
+	,{"name": "VROverlayError_PermissionDenied","value": "12"}
+	,{"name": "VROverlayError_OverlayLimitExceeded","value": "13"}
+	,{"name": "VROverlayError_WrongVisibilityType","value": "14"}
+	,{"name": "VROverlayError_KeyTooLong","value": "15"}
+	,{"name": "VROverlayError_NameTooLong","value": "16"}
+	,{"name": "VROverlayError_KeyInUse","value": "17"}
+	,{"name": "VROverlayError_WrongTransformType","value": "18"}
+	,{"name": "VROverlayError_InvalidTrackedDevice","value": "19"}
+	,{"name": "VROverlayError_InvalidParameter","value": "20"}
+	,{"name": "VROverlayError_ThumbnailCantBeDestroyed","value": "21"}
+	,{"name": "VROverlayError_ArrayTooSmall","value": "22"}
+	,{"name": "VROverlayError_RequestFailed","value": "23"}
+	,{"name": "VROverlayError_InvalidTexture","value": "24"}
+	,{"name": "VROverlayError_UnableToLoadFile","value": "25"}
+	,{"name": "VROverlayError_KeyboardAlreadyInUse","value": "26"}
+	,{"name": "VROverlayError_NoNeighbor","value": "27"}
+	,{"name": "VROverlayError_TooManyMaskPrimitives","value": "29"}
+	,{"name": "VROverlayError_BadMaskPrimitive","value": "30"}
+]}
+,	{"enumname": "vr::EVRApplicationType","values": [ 
+	{"name": "VRApplication_Other","value": "0"}
+	,{"name": "VRApplication_Scene","value": "1"}
+	,{"name": "VRApplication_Overlay","value": "2"}
+	,{"name": "VRApplication_Background","value": "3"}
+	,{"name": "VRApplication_Utility","value": "4"}
+	,{"name": "VRApplication_VRMonitor","value": "5"}
+	,{"name": "VRApplication_SteamWatchdog","value": "6"}
+	,{"name": "VRApplication_Bootstrapper","value": "7"}
+	,{"name": "VRApplication_Max","value": "8"}
+]}
+,	{"enumname": "vr::EVRFirmwareError","values": [ 
+	{"name": "VRFirmwareError_None","value": "0"}
+	,{"name": "VRFirmwareError_Success","value": "1"}
+	,{"name": "VRFirmwareError_Fail","value": "2"}
+]}
+,	{"enumname": "vr::EVRNotificationError","values": [ 
+	{"name": "VRNotificationError_OK","value": "0"}
+	,{"name": "VRNotificationError_InvalidNotificationId","value": "100"}
+	,{"name": "VRNotificationError_NotificationQueueFull","value": "101"}
+	,{"name": "VRNotificationError_InvalidOverlayHandle","value": "102"}
+	,{"name": "VRNotificationError_SystemWithUserValueAlreadyExists","value": "103"}
+]}
+,	{"enumname": "vr::EVRInitError","values": [ 
+	{"name": "VRInitError_None","value": "0"}
+	,{"name": "VRInitError_Unknown","value": "1"}
+	,{"name": "VRInitError_Init_InstallationNotFound","value": "100"}
+	,{"name": "VRInitError_Init_InstallationCorrupt","value": "101"}
+	,{"name": "VRInitError_Init_VRClientDLLNotFound","value": "102"}
+	,{"name": "VRInitError_Init_FileNotFound","value": "103"}
+	,{"name": "VRInitError_Init_FactoryNotFound","value": "104"}
+	,{"name": "VRInitError_Init_InterfaceNotFound","value": "105"}
+	,{"name": "VRInitError_Init_InvalidInterface","value": "106"}
+	,{"name": "VRInitError_Init_UserConfigDirectoryInvalid","value": "107"}
+	,{"name": "VRInitError_Init_HmdNotFound","value": "108"}
+	,{"name": "VRInitError_Init_NotInitialized","value": "109"}
+	,{"name": "VRInitError_Init_PathRegistryNotFound","value": "110"}
+	,{"name": "VRInitError_Init_NoConfigPath","value": "111"}
+	,{"name": "VRInitError_Init_NoLogPath","value": "112"}
+	,{"name": "VRInitError_Init_PathRegistryNotWritable","value": "113"}
+	,{"name": "VRInitError_Init_AppInfoInitFailed","value": "114"}
+	,{"name": "VRInitError_Init_Retry","value": "115"}
+	,{"name": "VRInitError_Init_InitCanceledByUser","value": "116"}
+	,{"name": "VRInitError_Init_AnotherAppLaunching","value": "117"}
+	,{"name": "VRInitError_Init_SettingsInitFailed","value": "118"}
+	,{"name": "VRInitError_Init_ShuttingDown","value": "119"}
+	,{"name": "VRInitError_Init_TooManyObjects","value": "120"}
+	,{"name": "VRInitError_Init_NoServerForBackgroundApp","value": "121"}
+	,{"name": "VRInitError_Init_NotSupportedWithCompositor","value": "122"}
+	,{"name": "VRInitError_Init_NotAvailableToUtilityApps","value": "123"}
+	,{"name": "VRInitError_Init_Internal","value": "124"}
+	,{"name": "VRInitError_Init_HmdDriverIdIsNone","value": "125"}
+	,{"name": "VRInitError_Init_HmdNotFoundPresenceFailed","value": "126"}
+	,{"name": "VRInitError_Init_VRMonitorNotFound","value": "127"}
+	,{"name": "VRInitError_Init_VRMonitorStartupFailed","value": "128"}
+	,{"name": "VRInitError_Init_LowPowerWatchdogNotSupported","value": "129"}
+	,{"name": "VRInitError_Init_InvalidApplicationType","value": "130"}
+	,{"name": "VRInitError_Init_NotAvailableToWatchdogApps","value": "131"}
+	,{"name": "VRInitError_Init_WatchdogDisabledInSettings","value": "132"}
+	,{"name": "VRInitError_Init_VRDashboardNotFound","value": "133"}
+	,{"name": "VRInitError_Init_VRDashboardStartupFailed","value": "134"}
+	,{"name": "VRInitError_Init_VRHomeNotFound","value": "135"}
+	,{"name": "VRInitError_Init_VRHomeStartupFailed","value": "136"}
+	,{"name": "VRInitError_Driver_Failed","value": "200"}
+	,{"name": "VRInitError_Driver_Unknown","value": "201"}
+	,{"name": "VRInitError_Driver_HmdUnknown","value": "202"}
+	,{"name": "VRInitError_Driver_NotLoaded","value": "203"}
+	,{"name": "VRInitError_Driver_RuntimeOutOfDate","value": "204"}
+	,{"name": "VRInitError_Driver_HmdInUse","value": "205"}
+	,{"name": "VRInitError_Driver_NotCalibrated","value": "206"}
+	,{"name": "VRInitError_Driver_CalibrationInvalid","value": "207"}
+	,{"name": "VRInitError_Driver_HmdDisplayNotFound","value": "208"}
+	,{"name": "VRInitError_Driver_TrackedDeviceInterfaceUnknown","value": "209"}
+	,{"name": "VRInitError_Driver_HmdDriverIdOutOfBounds","value": "211"}
+	,{"name": "VRInitError_Driver_HmdDisplayMirrored","value": "212"}
+	,{"name": "VRInitError_IPC_ServerInitFailed","value": "300"}
+	,{"name": "VRInitError_IPC_ConnectFailed","value": "301"}
+	,{"name": "VRInitError_IPC_SharedStateInitFailed","value": "302"}
+	,{"name": "VRInitError_IPC_CompositorInitFailed","value": "303"}
+	,{"name": "VRInitError_IPC_MutexInitFailed","value": "304"}
+	,{"name": "VRInitError_IPC_Failed","value": "305"}
+	,{"name": "VRInitError_IPC_CompositorConnectFailed","value": "306"}
+	,{"name": "VRInitError_IPC_CompositorInvalidConnectResponse","value": "307"}
+	,{"name": "VRInitError_IPC_ConnectFailedAfterMultipleAttempts","value": "308"}
+	,{"name": "VRInitError_Compositor_Failed","value": "400"}
+	,{"name": "VRInitError_Compositor_D3D11HardwareRequired","value": "401"}
+	,{"name": "VRInitError_Compositor_FirmwareRequiresUpdate","value": "402"}
+	,{"name": "VRInitError_Compositor_OverlayInitFailed","value": "403"}
+	,{"name": "VRInitError_Compositor_ScreenshotsInitFailed","value": "404"}
+	,{"name": "VRInitError_Compositor_UnableToCreateDevice","value": "405"}
+	,{"name": "VRInitError_VendorSpecific_UnableToConnectToOculusRuntime","value": "1000"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_CantOpenDevice","value": "1101"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart","value": "1102"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_NoStoredConfig","value": "1103"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigTooBig","value": "1104"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigTooSmall","value": "1105"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToInitZLib","value": "1106"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion","value": "1107"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart","value": "1108"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart","value": "1109"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext","value": "1110"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UserDataAddressRange","value": "1111"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UserDataError","value": "1112"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck","value": "1113"}
+	,{"name": "VRInitError_Steam_SteamInstallationNotFound","value": "2000"}
+]}
+,	{"enumname": "vr::EVRScreenshotType","values": [ 
+	{"name": "VRScreenshotType_None","value": "0"}
+	,{"name": "VRScreenshotType_Mono","value": "1"}
+	,{"name": "VRScreenshotType_Stereo","value": "2"}
+	,{"name": "VRScreenshotType_Cubemap","value": "3"}
+	,{"name": "VRScreenshotType_MonoPanorama","value": "4"}
+	,{"name": "VRScreenshotType_StereoPanorama","value": "5"}
+]}
+,	{"enumname": "vr::EVRScreenshotPropertyFilenames","values": [ 
+	{"name": "VRScreenshotPropertyFilenames_Preview","value": "0"}
+	,{"name": "VRScreenshotPropertyFilenames_VR","value": "1"}
+]}
+,	{"enumname": "vr::EVRTrackedCameraError","values": [ 
+	{"name": "VRTrackedCameraError_None","value": "0"}
+	,{"name": "VRTrackedCameraError_OperationFailed","value": "100"}
+	,{"name": "VRTrackedCameraError_InvalidHandle","value": "101"}
+	,{"name": "VRTrackedCameraError_InvalidFrameHeaderVersion","value": "102"}
+	,{"name": "VRTrackedCameraError_OutOfHandles","value": "103"}
+	,{"name": "VRTrackedCameraError_IPCFailure","value": "104"}
+	,{"name": "VRTrackedCameraError_NotSupportedForThisDevice","value": "105"}
+	,{"name": "VRTrackedCameraError_SharedMemoryFailure","value": "106"}
+	,{"name": "VRTrackedCameraError_FrameBufferingFailure","value": "107"}
+	,{"name": "VRTrackedCameraError_StreamSetupFailure","value": "108"}
+	,{"name": "VRTrackedCameraError_InvalidGLTextureId","value": "109"}
+	,{"name": "VRTrackedCameraError_InvalidSharedTextureHandle","value": "110"}
+	,{"name": "VRTrackedCameraError_FailedToGetGLTextureId","value": "111"}
+	,{"name": "VRTrackedCameraError_SharedTextureFailure","value": "112"}
+	,{"name": "VRTrackedCameraError_NoFrameAvailable","value": "113"}
+	,{"name": "VRTrackedCameraError_InvalidArgument","value": "114"}
+	,{"name": "VRTrackedCameraError_InvalidFrameBufferSize","value": "115"}
+]}
+,	{"enumname": "vr::EVRTrackedCameraFrameType","values": [ 
+	{"name": "VRTrackedCameraFrameType_Distorted","value": "0"}
+	,{"name": "VRTrackedCameraFrameType_Undistorted","value": "1"}
+	,{"name": "VRTrackedCameraFrameType_MaximumUndistorted","value": "2"}
+	,{"name": "MAX_CAMERA_FRAME_TYPES","value": "3"}
+]}
+,	{"enumname": "vr::EVRApplicationError","values": [ 
+	{"name": "VRApplicationError_None","value": "0"}
+	,{"name": "VRApplicationError_AppKeyAlreadyExists","value": "100"}
+	,{"name": "VRApplicationError_NoManifest","value": "101"}
+	,{"name": "VRApplicationError_NoApplication","value": "102"}
+	,{"name": "VRApplicationError_InvalidIndex","value": "103"}
+	,{"name": "VRApplicationError_UnknownApplication","value": "104"}
+	,{"name": "VRApplicationError_IPCFailed","value": "105"}
+	,{"name": "VRApplicationError_ApplicationAlreadyRunning","value": "106"}
+	,{"name": "VRApplicationError_InvalidManifest","value": "107"}
+	,{"name": "VRApplicationError_InvalidApplication","value": "108"}
+	,{"name": "VRApplicationError_LaunchFailed","value": "109"}
+	,{"name": "VRApplicationError_ApplicationAlreadyStarting","value": "110"}
+	,{"name": "VRApplicationError_LaunchInProgress","value": "111"}
+	,{"name": "VRApplicationError_OldApplicationQuitting","value": "112"}
+	,{"name": "VRApplicationError_TransitionAborted","value": "113"}
+	,{"name": "VRApplicationError_IsTemplate","value": "114"}
+	,{"name": "VRApplicationError_BufferTooSmall","value": "200"}
+	,{"name": "VRApplicationError_PropertyNotSet","value": "201"}
+	,{"name": "VRApplicationError_UnknownProperty","value": "202"}
+	,{"name": "VRApplicationError_InvalidParameter","value": "203"}
+]}
+,	{"enumname": "vr::EVRApplicationProperty","values": [ 
+	{"name": "VRApplicationProperty_Name_String","value": "0"}
+	,{"name": "VRApplicationProperty_LaunchType_String","value": "11"}
+	,{"name": "VRApplicationProperty_WorkingDirectory_String","value": "12"}
+	,{"name": "VRApplicationProperty_BinaryPath_String","value": "13"}
+	,{"name": "VRApplicationProperty_Arguments_String","value": "14"}
+	,{"name": "VRApplicationProperty_URL_String","value": "15"}
+	,{"name": "VRApplicationProperty_Description_String","value": "50"}
+	,{"name": "VRApplicationProperty_NewsURL_String","value": "51"}
+	,{"name": "VRApplicationProperty_ImagePath_String","value": "52"}
+	,{"name": "VRApplicationProperty_Source_String","value": "53"}
+	,{"name": "VRApplicationProperty_IsDashboardOverlay_Bool","value": "60"}
+	,{"name": "VRApplicationProperty_IsTemplate_Bool","value": "61"}
+	,{"name": "VRApplicationProperty_IsInstanced_Bool","value": "62"}
+	,{"name": "VRApplicationProperty_IsInternal_Bool","value": "63"}
+	,{"name": "VRApplicationProperty_LastLaunchTime_Uint64","value": "70"}
+]}
+,	{"enumname": "vr::EVRApplicationTransitionState","values": [ 
+	{"name": "VRApplicationTransition_None","value": "0"}
+	,{"name": "VRApplicationTransition_OldAppQuitSent","value": "10"}
+	,{"name": "VRApplicationTransition_WaitingForExternalLaunch","value": "11"}
+	,{"name": "VRApplicationTransition_NewAppLaunched","value": "20"}
+]}
+,	{"enumname": "vr::ChaperoneCalibrationState","values": [ 
+	{"name": "ChaperoneCalibrationState_OK","value": "1"}
+	,{"name": "ChaperoneCalibrationState_Warning","value": "100"}
+	,{"name": "ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved","value": "101"}
+	,{"name": "ChaperoneCalibrationState_Warning_BaseStationRemoved","value": "102"}
+	,{"name": "ChaperoneCalibrationState_Warning_SeatedBoundsInvalid","value": "103"}
+	,{"name": "ChaperoneCalibrationState_Error","value": "200"}
+	,{"name": "ChaperoneCalibrationState_Error_BaseStationUninitialized","value": "201"}
+	,{"name": "ChaperoneCalibrationState_Error_BaseStationConflict","value": "202"}
+	,{"name": "ChaperoneCalibrationState_Error_PlayAreaInvalid","value": "203"}
+	,{"name": "ChaperoneCalibrationState_Error_CollisionBoundsInvalid","value": "204"}
+]}
+,	{"enumname": "vr::EChaperoneConfigFile","values": [ 
+	{"name": "EChaperoneConfigFile_Live","value": "1"}
+	,{"name": "EChaperoneConfigFile_Temp","value": "2"}
+]}
+,	{"enumname": "vr::EChaperoneImportFlags","values": [ 
+	{"name": "EChaperoneImport_BoundsOnly","value": "1"}
+]}
+,	{"enumname": "vr::EVRCompositorError","values": [ 
+	{"name": "VRCompositorError_None","value": "0"}
+	,{"name": "VRCompositorError_RequestFailed","value": "1"}
+	,{"name": "VRCompositorError_IncompatibleVersion","value": "100"}
+	,{"name": "VRCompositorError_DoNotHaveFocus","value": "101"}
+	,{"name": "VRCompositorError_InvalidTexture","value": "102"}
+	,{"name": "VRCompositorError_IsNotSceneApplication","value": "103"}
+	,{"name": "VRCompositorError_TextureIsOnWrongDevice","value": "104"}
+	,{"name": "VRCompositorError_TextureUsesUnsupportedFormat","value": "105"}
+	,{"name": "VRCompositorError_SharedTexturesNotSupported","value": "106"}
+	,{"name": "VRCompositorError_IndexOutOfRange","value": "107"}
+	,{"name": "VRCompositorError_AlreadySubmitted","value": "108"}
+]}
+,	{"enumname": "vr::VROverlayInputMethod","values": [ 
+	{"name": "VROverlayInputMethod_None","value": "0"}
+	,{"name": "VROverlayInputMethod_Mouse","value": "1"}
+]}
+,	{"enumname": "vr::VROverlayTransformType","values": [ 
+	{"name": "VROverlayTransform_Absolute","value": "0"}
+	,{"name": "VROverlayTransform_TrackedDeviceRelative","value": "1"}
+	,{"name": "VROverlayTransform_SystemOverlay","value": "2"}
+	,{"name": "VROverlayTransform_TrackedComponent","value": "3"}
+]}
+,	{"enumname": "vr::VROverlayFlags","values": [ 
+	{"name": "VROverlayFlags_None","value": "0"}
+	,{"name": "VROverlayFlags_Curved","value": "1"}
+	,{"name": "VROverlayFlags_RGSS4X","value": "2"}
+	,{"name": "VROverlayFlags_NoDashboardTab","value": "3"}
+	,{"name": "VROverlayFlags_AcceptsGamepadEvents","value": "4"}
+	,{"name": "VROverlayFlags_ShowGamepadFocus","value": "5"}
+	,{"name": "VROverlayFlags_SendVRScrollEvents","value": "6"}
+	,{"name": "VROverlayFlags_SendVRTouchpadEvents","value": "7"}
+	,{"name": "VROverlayFlags_ShowTouchPadScrollWheel","value": "8"}
+	,{"name": "VROverlayFlags_TransferOwnershipToInternalProcess","value": "9"}
+	,{"name": "VROverlayFlags_SideBySide_Parallel","value": "10"}
+	,{"name": "VROverlayFlags_SideBySide_Crossed","value": "11"}
+	,{"name": "VROverlayFlags_Panorama","value": "12"}
+	,{"name": "VROverlayFlags_StereoPanorama","value": "13"}
+	,{"name": "VROverlayFlags_SortWithNonSceneOverlays","value": "14"}
+	,{"name": "VROverlayFlags_VisibleInDashboard","value": "15"}
+]}
+,	{"enumname": "vr::VRMessageOverlayResponse","values": [ 
+	{"name": "VRMessageOverlayResponse_ButtonPress_0","value": "0"}
+	,{"name": "VRMessageOverlayResponse_ButtonPress_1","value": "1"}
+	,{"name": "VRMessageOverlayResponse_ButtonPress_2","value": "2"}
+	,{"name": "VRMessageOverlayResponse_ButtonPress_3","value": "3"}
+	,{"name": "VRMessageOverlayResponse_CouldntFindSystemOverlay","value": "4"}
+	,{"name": "VRMessageOverlayResponse_CouldntFindOrCreateClientOverlay","value": "5"}
+	,{"name": "VRMessageOverlayResponse_ApplicationQuit","value": "6"}
+]}
+,	{"enumname": "vr::EGamepadTextInputMode","values": [ 
+	{"name": "k_EGamepadTextInputModeNormal","value": "0"}
+	,{"name": "k_EGamepadTextInputModePassword","value": "1"}
+	,{"name": "k_EGamepadTextInputModeSubmit","value": "2"}
+]}
+,	{"enumname": "vr::EGamepadTextInputLineMode","values": [ 
+	{"name": "k_EGamepadTextInputLineModeSingleLine","value": "0"}
+	,{"name": "k_EGamepadTextInputLineModeMultipleLines","value": "1"}
+]}
+,	{"enumname": "vr::EOverlayDirection","values": [ 
+	{"name": "OverlayDirection_Up","value": "0"}
+	,{"name": "OverlayDirection_Down","value": "1"}
+	,{"name": "OverlayDirection_Left","value": "2"}
+	,{"name": "OverlayDirection_Right","value": "3"}
+	,{"name": "OverlayDirection_Count","value": "4"}
+]}
+,	{"enumname": "vr::EVROverlayIntersectionMaskPrimitiveType","values": [ 
+	{"name": "OverlayIntersectionPrimitiveType_Rectangle","value": "0"}
+	,{"name": "OverlayIntersectionPrimitiveType_Circle","value": "1"}
+]}
+,	{"enumname": "vr::EVRRenderModelError","values": [ 
+	{"name": "VRRenderModelError_None","value": "0"}
+	,{"name": "VRRenderModelError_Loading","value": "100"}
+	,{"name": "VRRenderModelError_NotSupported","value": "200"}
+	,{"name": "VRRenderModelError_InvalidArg","value": "300"}
+	,{"name": "VRRenderModelError_InvalidModel","value": "301"}
+	,{"name": "VRRenderModelError_NoShapes","value": "302"}
+	,{"name": "VRRenderModelError_MultipleShapes","value": "303"}
+	,{"name": "VRRenderModelError_TooManyVertices","value": "304"}
+	,{"name": "VRRenderModelError_MultipleTextures","value": "305"}
+	,{"name": "VRRenderModelError_BufferTooSmall","value": "306"}
+	,{"name": "VRRenderModelError_NotEnoughNormals","value": "307"}
+	,{"name": "VRRenderModelError_NotEnoughTexCoords","value": "308"}
+	,{"name": "VRRenderModelError_InvalidTexture","value": "400"}
+]}
+,	{"enumname": "vr::EVRComponentProperty","values": [ 
+	{"name": "VRComponentProperty_IsStatic","value": "1"}
+	,{"name": "VRComponentProperty_IsVisible","value": "2"}
+	,{"name": "VRComponentProperty_IsTouched","value": "4"}
+	,{"name": "VRComponentProperty_IsPressed","value": "8"}
+	,{"name": "VRComponentProperty_IsScrolled","value": "16"}
+]}
+,	{"enumname": "vr::EVRNotificationType","values": [ 
+	{"name": "EVRNotificationType_Transient","value": "0"}
+	,{"name": "EVRNotificationType_Persistent","value": "1"}
+	,{"name": "EVRNotificationType_Transient_SystemWithUserValue","value": "2"}
+]}
+,	{"enumname": "vr::EVRNotificationStyle","values": [ 
+	{"name": "EVRNotificationStyle_None","value": "0"}
+	,{"name": "EVRNotificationStyle_Application","value": "100"}
+	,{"name": "EVRNotificationStyle_Contact_Disabled","value": "200"}
+	,{"name": "EVRNotificationStyle_Contact_Enabled","value": "201"}
+	,{"name": "EVRNotificationStyle_Contact_Active","value": "202"}
+]}
+,	{"enumname": "vr::EVRSettingsError","values": [ 
+	{"name": "VRSettingsError_None","value": "0"}
+	,{"name": "VRSettingsError_IPCFailed","value": "1"}
+	,{"name": "VRSettingsError_WriteFailed","value": "2"}
+	,{"name": "VRSettingsError_ReadFailed","value": "3"}
+	,{"name": "VRSettingsError_JsonParseFailed","value": "4"}
+	,{"name": "VRSettingsError_UnsetSettingHasNoDefault","value": "5"}
+]}
+,	{"enumname": "vr::EVRScreenshotError","values": [ 
+	{"name": "VRScreenshotError_None","value": "0"}
+	,{"name": "VRScreenshotError_RequestFailed","value": "1"}
+	,{"name": "VRScreenshotError_IncompatibleVersion","value": "100"}
+	,{"name": "VRScreenshotError_NotFound","value": "101"}
+	,{"name": "VRScreenshotError_BufferTooSmall","value": "102"}
+	,{"name": "VRScreenshotError_ScreenshotAlreadyInProgress","value": "108"}
+]}
+],
+"consts":[{
+	"constname": "k_nDriverNone","consttype": "const uint32_t", "constval": "4294967295"}
+,{
+	"constname": "k_unMaxDriverDebugResponseSize","consttype": "const uint32_t", "constval": "32768"}
+,{
+	"constname": "k_unTrackedDeviceIndex_Hmd","consttype": "const uint32_t", "constval": "0"}
+,{
+	"constname": "k_unMaxTrackedDeviceCount","consttype": "const uint32_t", "constval": "16"}
+,{
+	"constname": "k_unTrackedDeviceIndexOther","consttype": "const uint32_t", "constval": "4294967294"}
+,{
+	"constname": "k_unTrackedDeviceIndexInvalid","consttype": "const uint32_t", "constval": "4294967295"}
+,{
+	"constname": "k_ulInvalidPropertyContainer","consttype": "const PropertyContainerHandle_t", "constval": "0"}
+,{
+	"constname": "k_unInvalidPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "0"}
+,{
+	"constname": "k_unFloatPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "1"}
+,{
+	"constname": "k_unInt32PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "2"}
+,{
+	"constname": "k_unUint64PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "3"}
+,{
+	"constname": "k_unBoolPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "4"}
+,{
+	"constname": "k_unStringPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "5"}
+,{
+	"constname": "k_unHmdMatrix34PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "20"}
+,{
+	"constname": "k_unHmdMatrix44PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "21"}
+,{
+	"constname": "k_unHmdVector3PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "22"}
+,{
+	"constname": "k_unHmdVector4PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "23"}
+,{
+	"constname": "k_unHiddenAreaPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "30"}
+,{
+	"constname": "k_unOpenVRInternalReserved_Start","consttype": "const PropertyTypeTag_t", "constval": "1000"}
+,{
+	"constname": "k_unOpenVRInternalReserved_End","consttype": "const PropertyTypeTag_t", "constval": "10000"}
+,{
+	"constname": "k_unMaxPropertyStringSize","consttype": "const uint32_t", "constval": "32768"}
+,{
+	"constname": "k_unControllerStateAxisCount","consttype": "const uint32_t", "constval": "5"}
+,{
+	"constname": "k_ulOverlayHandleInvalid","consttype": "const VROverlayHandle_t", "constval": "0"}
+,{
+	"constname": "k_unScreenshotHandleInvalid","consttype": "const uint32_t", "constval": "0"}
+,{
+	"constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_016"}
+,{
+	"constname": "IVRExtendedDisplay_Version","consttype": "const char *const", "constval": "IVRExtendedDisplay_001"}
+,{
+	"constname": "IVRTrackedCamera_Version","consttype": "const char *const", "constval": "IVRTrackedCamera_003"}
+,{
+	"constname": "k_unMaxApplicationKeyLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "k_pch_MimeType_HomeApp","consttype": "const char *const", "constval": "vr/home"}
+,{
+	"constname": "k_pch_MimeType_GameTheater","consttype": "const char *const", "constval": "vr/game_theater"}
+,{
+	"constname": "IVRApplications_Version","consttype": "const char *const", "constval": "IVRApplications_006"}
+,{
+	"constname": "IVRChaperone_Version","consttype": "const char *const", "constval": "IVRChaperone_003"}
+,{
+	"constname": "IVRChaperoneSetup_Version","consttype": "const char *const", "constval": "IVRChaperoneSetup_005"}
+,{
+	"constname": "IVRCompositor_Version","consttype": "const char *const", "constval": "IVRCompositor_020"}
+,{
+	"constname": "k_unVROverlayMaxKeyLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "k_unVROverlayMaxNameLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "k_unMaxOverlayCount","consttype": "const uint32_t", "constval": "64"}
+,{
+	"constname": "k_unMaxOverlayIntersectionMaskPrimitivesCount","consttype": "const uint32_t", "constval": "32"}
+,{
+	"constname": "IVROverlay_Version","consttype": "const char *const", "constval": "IVROverlay_016"}
+,{
+	"constname": "k_pch_Controller_Component_GDC2015","consttype": "const char *const", "constval": "gdc2015"}
+,{
+	"constname": "k_pch_Controller_Component_Base","consttype": "const char *const", "constval": "base"}
+,{
+	"constname": "k_pch_Controller_Component_Tip","consttype": "const char *const", "constval": "tip"}
+,{
+	"constname": "k_pch_Controller_Component_HandGrip","consttype": "const char *const", "constval": "handgrip"}
+,{
+	"constname": "k_pch_Controller_Component_Status","consttype": "const char *const", "constval": "status"}
+,{
+	"constname": "IVRRenderModels_Version","consttype": "const char *const", "constval": "IVRRenderModels_005"}
+,{
+	"constname": "k_unNotificationTextMaxSize","consttype": "const uint32_t", "constval": "256"}
+,{
+	"constname": "IVRNotifications_Version","consttype": "const char *const", "constval": "IVRNotifications_002"}
+,{
+	"constname": "k_unMaxSettingsKeyLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "IVRSettings_Version","consttype": "const char *const", "constval": "IVRSettings_002"}
+,{
+	"constname": "k_pch_SteamVR_Section","consttype": "const char *const", "constval": "steamvr"}
+,{
+	"constname": "k_pch_SteamVR_RequireHmd_String","consttype": "const char *const", "constval": "requireHmd"}
+,{
+	"constname": "k_pch_SteamVR_ForcedDriverKey_String","consttype": "const char *const", "constval": "forcedDriver"}
+,{
+	"constname": "k_pch_SteamVR_ForcedHmdKey_String","consttype": "const char *const", "constval": "forcedHmd"}
+,{
+	"constname": "k_pch_SteamVR_DisplayDebug_Bool","consttype": "const char *const", "constval": "displayDebug"}
+,{
+	"constname": "k_pch_SteamVR_DebugProcessPipe_String","consttype": "const char *const", "constval": "debugProcessPipe"}
+,{
+	"constname": "k_pch_SteamVR_DisplayDebugX_Int32","consttype": "const char *const", "constval": "displayDebugX"}
+,{
+	"constname": "k_pch_SteamVR_DisplayDebugY_Int32","consttype": "const char *const", "constval": "displayDebugY"}
+,{
+	"constname": "k_pch_SteamVR_SendSystemButtonToAllApps_Bool","consttype": "const char *const", "constval": "sendSystemButtonToAllApps"}
+,{
+	"constname": "k_pch_SteamVR_LogLevel_Int32","consttype": "const char *const", "constval": "loglevel"}
+,{
+	"constname": "k_pch_SteamVR_IPD_Float","consttype": "const char *const", "constval": "ipd"}
+,{
+	"constname": "k_pch_SteamVR_Background_String","consttype": "const char *const", "constval": "background"}
+,{
+	"constname": "k_pch_SteamVR_BackgroundUseDomeProjection_Bool","consttype": "const char *const", "constval": "backgroundUseDomeProjection"}
+,{
+	"constname": "k_pch_SteamVR_BackgroundCameraHeight_Float","consttype": "const char *const", "constval": "backgroundCameraHeight"}
+,{
+	"constname": "k_pch_SteamVR_BackgroundDomeRadius_Float","consttype": "const char *const", "constval": "backgroundDomeRadius"}
+,{
+	"constname": "k_pch_SteamVR_GridColor_String","consttype": "const char *const", "constval": "gridColor"}
+,{
+	"constname": "k_pch_SteamVR_PlayAreaColor_String","consttype": "const char *const", "constval": "playAreaColor"}
+,{
+	"constname": "k_pch_SteamVR_ShowStage_Bool","consttype": "const char *const", "constval": "showStage"}
+,{
+	"constname": "k_pch_SteamVR_ActivateMultipleDrivers_Bool","consttype": "const char *const", "constval": "activateMultipleDrivers"}
+,{
+	"constname": "k_pch_SteamVR_DirectMode_Bool","consttype": "const char *const", "constval": "directMode"}
+,{
+	"constname": "k_pch_SteamVR_DirectModeEdidVid_Int32","consttype": "const char *const", "constval": "directModeEdidVid"}
+,{
+	"constname": "k_pch_SteamVR_DirectModeEdidPid_Int32","consttype": "const char *const", "constval": "directModeEdidPid"}
+,{
+	"constname": "k_pch_SteamVR_UsingSpeakers_Bool","consttype": "const char *const", "constval": "usingSpeakers"}
+,{
+	"constname": "k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float","consttype": "const char *const", "constval": "speakersForwardYawOffsetDegrees"}
+,{
+	"constname": "k_pch_SteamVR_BaseStationPowerManagement_Bool","consttype": "const char *const", "constval": "basestationPowerManagement"}
+,{
+	"constname": "k_pch_SteamVR_NeverKillProcesses_Bool","consttype": "const char *const", "constval": "neverKillProcesses"}
+,{
+	"constname": "k_pch_SteamVR_SupersampleScale_Float","consttype": "const char *const", "constval": "supersampleScale"}
+,{
+	"constname": "k_pch_SteamVR_AllowAsyncReprojection_Bool","consttype": "const char *const", "constval": "allowAsyncReprojection"}
+,{
+	"constname": "k_pch_SteamVR_AllowReprojection_Bool","consttype": "const char *const", "constval": "allowInterleavedReprojection"}
+,{
+	"constname": "k_pch_SteamVR_ForceReprojection_Bool","consttype": "const char *const", "constval": "forceReprojection"}
+,{
+	"constname": "k_pch_SteamVR_ForceFadeOnBadTracking_Bool","consttype": "const char *const", "constval": "forceFadeOnBadTracking"}
+,{
+	"constname": "k_pch_SteamVR_DefaultMirrorView_Int32","consttype": "const char *const", "constval": "defaultMirrorView"}
+,{
+	"constname": "k_pch_SteamVR_ShowMirrorView_Bool","consttype": "const char *const", "constval": "showMirrorView"}
+,{
+	"constname": "k_pch_SteamVR_MirrorViewGeometry_String","consttype": "const char *const", "constval": "mirrorViewGeometry"}
+,{
+	"constname": "k_pch_SteamVR_StartMonitorFromAppLaunch","consttype": "const char *const", "constval": "startMonitorFromAppLaunch"}
+,{
+	"constname": "k_pch_SteamVR_StartCompositorFromAppLaunch_Bool","consttype": "const char *const", "constval": "startCompositorFromAppLaunch"}
+,{
+	"constname": "k_pch_SteamVR_StartDashboardFromAppLaunch_Bool","consttype": "const char *const", "constval": "startDashboardFromAppLaunch"}
+,{
+	"constname": "k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool","consttype": "const char *const", "constval": "startOverlayAppsFromDashboard"}
+,{
+	"constname": "k_pch_SteamVR_EnableHomeApp","consttype": "const char *const", "constval": "enableHomeApp"}
+,{
+	"constname": "k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32","consttype": "const char *const", "constval": "CycleBackgroundImageTimeSec"}
+,{
+	"constname": "k_pch_SteamVR_RetailDemo_Bool","consttype": "const char *const", "constval": "retailDemo"}
+,{
+	"constname": "k_pch_SteamVR_IpdOffset_Float","consttype": "const char *const", "constval": "ipdOffset"}
+,{
+	"constname": "k_pch_SteamVR_AllowSupersampleFiltering_Bool","consttype": "const char *const", "constval": "allowSupersampleFiltering"}
+,{
+	"constname": "k_pch_Lighthouse_Section","consttype": "const char *const", "constval": "driver_lighthouse"}
+,{
+	"constname": "k_pch_Lighthouse_DisableIMU_Bool","consttype": "const char *const", "constval": "disableimu"}
+,{
+	"constname": "k_pch_Lighthouse_UseDisambiguation_String","consttype": "const char *const", "constval": "usedisambiguation"}
+,{
+	"constname": "k_pch_Lighthouse_DisambiguationDebug_Int32","consttype": "const char *const", "constval": "disambiguationdebug"}
+,{
+	"constname": "k_pch_Lighthouse_PrimaryBasestation_Int32","consttype": "const char *const", "constval": "primarybasestation"}
+,{
+	"constname": "k_pch_Lighthouse_DBHistory_Bool","consttype": "const char *const", "constval": "dbhistory"}
+,{
+	"constname": "k_pch_Null_Section","consttype": "const char *const", "constval": "driver_null"}
+,{
+	"constname": "k_pch_Null_SerialNumber_String","consttype": "const char *const", "constval": "serialNumber"}
+,{
+	"constname": "k_pch_Null_ModelNumber_String","consttype": "const char *const", "constval": "modelNumber"}
+,{
+	"constname": "k_pch_Null_WindowX_Int32","consttype": "const char *const", "constval": "windowX"}
+,{
+	"constname": "k_pch_Null_WindowY_Int32","consttype": "const char *const", "constval": "windowY"}
+,{
+	"constname": "k_pch_Null_WindowWidth_Int32","consttype": "const char *const", "constval": "windowWidth"}
+,{
+	"constname": "k_pch_Null_WindowHeight_Int32","consttype": "const char *const", "constval": "windowHeight"}
+,{
+	"constname": "k_pch_Null_RenderWidth_Int32","consttype": "const char *const", "constval": "renderWidth"}
+,{
+	"constname": "k_pch_Null_RenderHeight_Int32","consttype": "const char *const", "constval": "renderHeight"}
+,{
+	"constname": "k_pch_Null_SecondsFromVsyncToPhotons_Float","consttype": "const char *const", "constval": "secondsFromVsyncToPhotons"}
+,{
+	"constname": "k_pch_Null_DisplayFrequency_Float","consttype": "const char *const", "constval": "displayFrequency"}
+,{
+	"constname": "k_pch_UserInterface_Section","consttype": "const char *const", "constval": "userinterface"}
+,{
+	"constname": "k_pch_UserInterface_StatusAlwaysOnTop_Bool","consttype": "const char *const", "constval": "StatusAlwaysOnTop"}
+,{
+	"constname": "k_pch_UserInterface_MinimizeToTray_Bool","consttype": "const char *const", "constval": "MinimizeToTray"}
+,{
+	"constname": "k_pch_UserInterface_Screenshots_Bool","consttype": "const char *const", "constval": "screenshots"}
+,{
+	"constname": "k_pch_UserInterface_ScreenshotType_Int","consttype": "const char *const", "constval": "screenshotType"}
+,{
+	"constname": "k_pch_Notifications_Section","consttype": "const char *const", "constval": "notifications"}
+,{
+	"constname": "k_pch_Notifications_DoNotDisturb_Bool","consttype": "const char *const", "constval": "DoNotDisturb"}
+,{
+	"constname": "k_pch_Keyboard_Section","consttype": "const char *const", "constval": "keyboard"}
+,{
+	"constname": "k_pch_Keyboard_TutorialCompletions","consttype": "const char *const", "constval": "TutorialCompletions"}
+,{
+	"constname": "k_pch_Keyboard_ScaleX","consttype": "const char *const", "constval": "ScaleX"}
+,{
+	"constname": "k_pch_Keyboard_ScaleY","consttype": "const char *const", "constval": "ScaleY"}
+,{
+	"constname": "k_pch_Keyboard_OffsetLeftX","consttype": "const char *const", "constval": "OffsetLeftX"}
+,{
+	"constname": "k_pch_Keyboard_OffsetRightX","consttype": "const char *const", "constval": "OffsetRightX"}
+,{
+	"constname": "k_pch_Keyboard_OffsetY","consttype": "const char *const", "constval": "OffsetY"}
+,{
+	"constname": "k_pch_Keyboard_Smoothing","consttype": "const char *const", "constval": "Smoothing"}
+,{
+	"constname": "k_pch_Perf_Section","consttype": "const char *const", "constval": "perfcheck"}
+,{
+	"constname": "k_pch_Perf_HeuristicActive_Bool","consttype": "const char *const", "constval": "heuristicActive"}
+,{
+	"constname": "k_pch_Perf_NotifyInHMD_Bool","consttype": "const char *const", "constval": "warnInHMD"}
+,{
+	"constname": "k_pch_Perf_NotifyOnlyOnce_Bool","consttype": "const char *const", "constval": "warnOnlyOnce"}
+,{
+	"constname": "k_pch_Perf_AllowTimingStore_Bool","consttype": "const char *const", "constval": "allowTimingStore"}
+,{
+	"constname": "k_pch_Perf_SaveTimingsOnExit_Bool","consttype": "const char *const", "constval": "saveTimingsOnExit"}
+,{
+	"constname": "k_pch_Perf_TestData_Float","consttype": "const char *const", "constval": "perfTestData"}
+,{
+	"constname": "k_pch_Perf_LinuxGPUProfiling_Bool","consttype": "const char *const", "constval": "linuxGPUProfiling"}
+,{
+	"constname": "k_pch_CollisionBounds_Section","consttype": "const char *const", "constval": "collisionBounds"}
+,{
+	"constname": "k_pch_CollisionBounds_Style_Int32","consttype": "const char *const", "constval": "CollisionBoundsStyle"}
+,{
+	"constname": "k_pch_CollisionBounds_GroundPerimeterOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsGroundPerimeterOn"}
+,{
+	"constname": "k_pch_CollisionBounds_CenterMarkerOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsCenterMarkerOn"}
+,{
+	"constname": "k_pch_CollisionBounds_PlaySpaceOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsPlaySpaceOn"}
+,{
+	"constname": "k_pch_CollisionBounds_FadeDistance_Float","consttype": "const char *const", "constval": "CollisionBoundsFadeDistance"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaR_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaR"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaG_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaG"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaB_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaB"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaA_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaA"}
+,{
+	"constname": "k_pch_Camera_Section","consttype": "const char *const", "constval": "camera"}
+,{
+	"constname": "k_pch_Camera_EnableCamera_Bool","consttype": "const char *const", "constval": "enableCamera"}
+,{
+	"constname": "k_pch_Camera_EnableCameraInDashboard_Bool","consttype": "const char *const", "constval": "enableCameraInDashboard"}
+,{
+	"constname": "k_pch_Camera_EnableCameraForCollisionBounds_Bool","consttype": "const char *const", "constval": "enableCameraForCollisionBounds"}
+,{
+	"constname": "k_pch_Camera_EnableCameraForRoomView_Bool","consttype": "const char *const", "constval": "enableCameraForRoomView"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaR_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaR"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaG_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaG"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaB_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaB"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaA_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaA"}
+,{
+	"constname": "k_pch_Camera_BoundsStrength_Int32","consttype": "const char *const", "constval": "cameraBoundsStrength"}
+,{
+	"constname": "k_pch_audio_Section","consttype": "const char *const", "constval": "audio"}
+,{
+	"constname": "k_pch_audio_OnPlaybackDevice_String","consttype": "const char *const", "constval": "onPlaybackDevice"}
+,{
+	"constname": "k_pch_audio_OnRecordDevice_String","consttype": "const char *const", "constval": "onRecordDevice"}
+,{
+	"constname": "k_pch_audio_OnPlaybackMirrorDevice_String","consttype": "const char *const", "constval": "onPlaybackMirrorDevice"}
+,{
+	"constname": "k_pch_audio_OffPlaybackDevice_String","consttype": "const char *const", "constval": "offPlaybackDevice"}
+,{
+	"constname": "k_pch_audio_OffRecordDevice_String","consttype": "const char *const", "constval": "offRecordDevice"}
+,{
+	"constname": "k_pch_audio_VIVEHDMIGain","consttype": "const char *const", "constval": "viveHDMIGain"}
+,{
+	"constname": "k_pch_Power_Section","consttype": "const char *const", "constval": "power"}
+,{
+	"constname": "k_pch_Power_PowerOffOnExit_Bool","consttype": "const char *const", "constval": "powerOffOnExit"}
+,{
+	"constname": "k_pch_Power_TurnOffScreensTimeout_Float","consttype": "const char *const", "constval": "turnOffScreensTimeout"}
+,{
+	"constname": "k_pch_Power_TurnOffControllersTimeout_Float","consttype": "const char *const", "constval": "turnOffControllersTimeout"}
+,{
+	"constname": "k_pch_Power_ReturnToWatchdogTimeout_Float","consttype": "const char *const", "constval": "returnToWatchdogTimeout"}
+,{
+	"constname": "k_pch_Power_AutoLaunchSteamVROnButtonPress","consttype": "const char *const", "constval": "autoLaunchSteamVROnButtonPress"}
+,{
+	"constname": "k_pch_Dashboard_Section","consttype": "const char *const", "constval": "dashboard"}
+,{
+	"constname": "k_pch_Dashboard_EnableDashboard_Bool","consttype": "const char *const", "constval": "enableDashboard"}
+,{
+	"constname": "k_pch_Dashboard_ArcadeMode_Bool","consttype": "const char *const", "constval": "arcadeMode"}
+,{
+	"constname": "k_pch_modelskin_Section","consttype": "const char *const", "constval": "modelskins"}
+,{
+	"constname": "k_pch_Driver_Enable_Bool","consttype": "const char *const", "constval": "enable"}
+,{
+	"constname": "IVRScreenshots_Version","consttype": "const char *const", "constval": "IVRScreenshots_001"}
+,{
+	"constname": "IVRResources_Version","consttype": "const char *const", "constval": "IVRResources_001"}
+,{
+	"constname": "IVRDriverManager_Version","consttype": "const char *const", "constval": "IVRDriverManager_001"}
+],
+"structs":[{"struct": "vr::HmdMatrix34_t","fields": [
+{ "fieldname": "m", "fieldtype": "float [3][4]"}]}
+,{"struct": "vr::HmdMatrix44_t","fields": [
+{ "fieldname": "m", "fieldtype": "float [4][4]"}]}
+,{"struct": "vr::HmdVector3_t","fields": [
+{ "fieldname": "v", "fieldtype": "float [3]"}]}
+,{"struct": "vr::HmdVector4_t","fields": [
+{ "fieldname": "v", "fieldtype": "float [4]"}]}
+,{"struct": "vr::HmdVector3d_t","fields": [
+{ "fieldname": "v", "fieldtype": "double [3]"}]}
+,{"struct": "vr::HmdVector2_t","fields": [
+{ "fieldname": "v", "fieldtype": "float [2]"}]}
+,{"struct": "vr::HmdQuaternion_t","fields": [
+{ "fieldname": "w", "fieldtype": "double"},
+{ "fieldname": "x", "fieldtype": "double"},
+{ "fieldname": "y", "fieldtype": "double"},
+{ "fieldname": "z", "fieldtype": "double"}]}
+,{"struct": "vr::HmdColor_t","fields": [
+{ "fieldname": "r", "fieldtype": "float"},
+{ "fieldname": "g", "fieldtype": "float"},
+{ "fieldname": "b", "fieldtype": "float"},
+{ "fieldname": "a", "fieldtype": "float"}]}
+,{"struct": "vr::HmdQuad_t","fields": [
+{ "fieldname": "vCorners", "fieldtype": "struct vr::HmdVector3_t [4]"}]}
+,{"struct": "vr::HmdRect2_t","fields": [
+{ "fieldname": "vTopLeft", "fieldtype": "struct vr::HmdVector2_t"},
+{ "fieldname": "vBottomRight", "fieldtype": "struct vr::HmdVector2_t"}]}
+,{"struct": "vr::DistortionCoordinates_t","fields": [
+{ "fieldname": "rfRed", "fieldtype": "float [2]"},
+{ "fieldname": "rfGreen", "fieldtype": "float [2]"},
+{ "fieldname": "rfBlue", "fieldtype": "float [2]"}]}
+,{"struct": "vr::Texture_t","fields": [
+{ "fieldname": "handle", "fieldtype": "void *"},
+{ "fieldname": "eType", "fieldtype": "enum vr::ETextureType"},
+{ "fieldname": "eColorSpace", "fieldtype": "enum vr::EColorSpace"}]}
+,{"struct": "vr::TrackedDevicePose_t","fields": [
+{ "fieldname": "mDeviceToAbsoluteTracking", "fieldtype": "struct vr::HmdMatrix34_t"},
+{ "fieldname": "vVelocity", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vAngularVelocity", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "eTrackingResult", "fieldtype": "enum vr::ETrackingResult"},
+{ "fieldname": "bPoseIsValid", "fieldtype": "_Bool"},
+{ "fieldname": "bDeviceIsConnected", "fieldtype": "_Bool"}]}
+,{"struct": "vr::VRTextureBounds_t","fields": [
+{ "fieldname": "uMin", "fieldtype": "float"},
+{ "fieldname": "vMin", "fieldtype": "float"},
+{ "fieldname": "uMax", "fieldtype": "float"},
+{ "fieldname": "vMax", "fieldtype": "float"}]}
+,{"struct": "vr::VRVulkanTextureData_t","fields": [
+{ "fieldname": "m_nImage", "fieldtype": "uint64_t"},
+{ "fieldname": "m_pDevice", "fieldtype": "struct VkDevice_T *"},
+{ "fieldname": "m_pPhysicalDevice", "fieldtype": "struct VkPhysicalDevice_T *"},
+{ "fieldname": "m_pInstance", "fieldtype": "struct VkInstance_T *"},
+{ "fieldname": "m_pQueue", "fieldtype": "struct VkQueue_T *"},
+{ "fieldname": "m_nQueueFamilyIndex", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nWidth", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nHeight", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nFormat", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nSampleCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::D3D12TextureData_t","fields": [
+{ "fieldname": "m_pResource", "fieldtype": "struct ID3D12Resource *"},
+{ "fieldname": "m_pCommandQueue", "fieldtype": "struct ID3D12CommandQueue *"},
+{ "fieldname": "m_nNodeMask", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Controller_t","fields": [
+{ "fieldname": "button", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Mouse_t","fields": [
+{ "fieldname": "x", "fieldtype": "float"},
+{ "fieldname": "y", "fieldtype": "float"},
+{ "fieldname": "button", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Scroll_t","fields": [
+{ "fieldname": "xdelta", "fieldtype": "float"},
+{ "fieldname": "ydelta", "fieldtype": "float"},
+{ "fieldname": "repeatCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_TouchPadMove_t","fields": [
+{ "fieldname": "bFingerDown", "fieldtype": "_Bool"},
+{ "fieldname": "flSecondsFingerDown", "fieldtype": "float"},
+{ "fieldname": "fValueXFirst", "fieldtype": "float"},
+{ "fieldname": "fValueYFirst", "fieldtype": "float"},
+{ "fieldname": "fValueXRaw", "fieldtype": "float"},
+{ "fieldname": "fValueYRaw", "fieldtype": "float"}]}
+,{"struct": "vr::VREvent_Notification_t","fields": [
+{ "fieldname": "ulUserValue", "fieldtype": "uint64_t"},
+{ "fieldname": "notificationId", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Process_t","fields": [
+{ "fieldname": "pid", "fieldtype": "uint32_t"},
+{ "fieldname": "oldPid", "fieldtype": "uint32_t"},
+{ "fieldname": "bForced", "fieldtype": "_Bool"}]}
+,{"struct": "vr::VREvent_Overlay_t","fields": [
+{ "fieldname": "overlayHandle", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_Status_t","fields": [
+{ "fieldname": "statusState", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Keyboard_t","fields": [
+{ "fieldname": "cNewInput", "fieldtype": "char [8]"},
+{ "fieldname": "uUserValue", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_Ipd_t","fields": [
+{ "fieldname": "ipdMeters", "fieldtype": "float"}]}
+,{"struct": "vr::VREvent_Chaperone_t","fields": [
+{ "fieldname": "m_nPreviousUniverse", "fieldtype": "uint64_t"},
+{ "fieldname": "m_nCurrentUniverse", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_Reserved_t","fields": [
+{ "fieldname": "reserved0", "fieldtype": "uint64_t"},
+{ "fieldname": "reserved1", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_PerformanceTest_t","fields": [
+{ "fieldname": "m_nFidelityLevel", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_SeatedZeroPoseReset_t","fields": [
+{ "fieldname": "bResetBySystemMenu", "fieldtype": "_Bool"}]}
+,{"struct": "vr::VREvent_Screenshot_t","fields": [
+{ "fieldname": "handle", "fieldtype": "uint32_t"},
+{ "fieldname": "type", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_ScreenshotProgress_t","fields": [
+{ "fieldname": "progress", "fieldtype": "float"}]}
+,{"struct": "vr::VREvent_ApplicationLaunch_t","fields": [
+{ "fieldname": "pid", "fieldtype": "uint32_t"},
+{ "fieldname": "unArgsHandle", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_EditingCameraSurface_t","fields": [
+{ "fieldname": "overlayHandle", "fieldtype": "uint64_t"},
+{ "fieldname": "nVisualMode", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_MessageOverlay_t","fields": [
+{ "fieldname": "unVRMessageOverlayResponse", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Property_t","fields": [
+{ "fieldname": "container", "fieldtype": "PropertyContainerHandle_t"},
+{ "fieldname": "prop", "fieldtype": "enum vr::ETrackedDeviceProperty"}]}
+,{"struct": "vr::(anonymous)","fields": [
+{ "fieldname": "reserved", "fieldtype": "struct vr::VREvent_Reserved_t"},
+{ "fieldname": "controller", "fieldtype": "struct vr::VREvent_Controller_t"},
+{ "fieldname": "mouse", "fieldtype": "struct vr::VREvent_Mouse_t"},
+{ "fieldname": "scroll", "fieldtype": "struct vr::VREvent_Scroll_t"},
+{ "fieldname": "process", "fieldtype": "struct vr::VREvent_Process_t"},
+{ "fieldname": "notification", "fieldtype": "struct vr::VREvent_Notification_t"},
+{ "fieldname": "overlay", "fieldtype": "struct vr::VREvent_Overlay_t"},
+{ "fieldname": "status", "fieldtype": "struct vr::VREvent_Status_t"},
+{ "fieldname": "keyboard", "fieldtype": "struct vr::VREvent_Keyboard_t"},
+{ "fieldname": "ipd", "fieldtype": "struct vr::VREvent_Ipd_t"},
+{ "fieldname": "chaperone", "fieldtype": "struct vr::VREvent_Chaperone_t"},
+{ "fieldname": "performanceTest", "fieldtype": "struct vr::VREvent_PerformanceTest_t"},
+{ "fieldname": "touchPadMove", "fieldtype": "struct vr::VREvent_TouchPadMove_t"},
+{ "fieldname": "seatedZeroPoseReset", "fieldtype": "struct vr::VREvent_SeatedZeroPoseReset_t"},
+{ "fieldname": "screenshot", "fieldtype": "struct vr::VREvent_Screenshot_t"},
+{ "fieldname": "screenshotProgress", "fieldtype": "struct vr::VREvent_ScreenshotProgress_t"},
+{ "fieldname": "applicationLaunch", "fieldtype": "struct vr::VREvent_ApplicationLaunch_t"},
+{ "fieldname": "cameraSurface", "fieldtype": "struct vr::VREvent_EditingCameraSurface_t"},
+{ "fieldname": "messageOverlay", "fieldtype": "struct vr::VREvent_MessageOverlay_t"},
+{ "fieldname": "property", "fieldtype": "struct vr::VREvent_Property_t"}]}
+,{"struct": "vr::VREvent_t","fields": [
+{ "fieldname": "eventType", "fieldtype": "uint32_t"},
+{ "fieldname": "trackedDeviceIndex", "fieldtype": "TrackedDeviceIndex_t"},
+{ "fieldname": "eventAgeSeconds", "fieldtype": "float"},
+{ "fieldname": "data", "fieldtype": "VREvent_Data_t"}]}
+,{"struct": "vr::HiddenAreaMesh_t","fields": [
+{ "fieldname": "pVertexData", "fieldtype": "const struct vr::HmdVector2_t *"},
+{ "fieldname": "unTriangleCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VRControllerAxis_t","fields": [
+{ "fieldname": "x", "fieldtype": "float"},
+{ "fieldname": "y", "fieldtype": "float"}]}
+,{"struct": "vr::VRControllerState001_t","fields": [
+{ "fieldname": "unPacketNum", "fieldtype": "uint32_t"},
+{ "fieldname": "ulButtonPressed", "fieldtype": "uint64_t"},
+{ "fieldname": "ulButtonTouched", "fieldtype": "uint64_t"},
+{ "fieldname": "rAxis", "fieldtype": "struct vr::VRControllerAxis_t [5]"}]}
+,{"struct": "vr::Compositor_OverlaySettings","fields": [
+{ "fieldname": "size", "fieldtype": "uint32_t"},
+{ "fieldname": "curved", "fieldtype": "_Bool"},
+{ "fieldname": "antialias", "fieldtype": "_Bool"},
+{ "fieldname": "scale", "fieldtype": "float"},
+{ "fieldname": "distance", "fieldtype": "float"},
+{ "fieldname": "alpha", "fieldtype": "float"},
+{ "fieldname": "uOffset", "fieldtype": "float"},
+{ "fieldname": "vOffset", "fieldtype": "float"},
+{ "fieldname": "uScale", "fieldtype": "float"},
+{ "fieldname": "vScale", "fieldtype": "float"},
+{ "fieldname": "gridDivs", "fieldtype": "float"},
+{ "fieldname": "gridWidth", "fieldtype": "float"},
+{ "fieldname": "gridScale", "fieldtype": "float"},
+{ "fieldname": "transform", "fieldtype": "struct vr::HmdMatrix44_t"}]}
+,{"struct": "vr::CameraVideoStreamFrameHeader_t","fields": [
+{ "fieldname": "eFrameType", "fieldtype": "enum vr::EVRTrackedCameraFrameType"},
+{ "fieldname": "nWidth", "fieldtype": "uint32_t"},
+{ "fieldname": "nHeight", "fieldtype": "uint32_t"},
+{ "fieldname": "nBytesPerPixel", "fieldtype": "uint32_t"},
+{ "fieldname": "nFrameSequence", "fieldtype": "uint32_t"},
+{ "fieldname": "standingTrackedDevicePose", "fieldtype": "struct vr::TrackedDevicePose_t"}]}
+,{"struct": "vr::AppOverrideKeys_t","fields": [
+{ "fieldname": "pchKey", "fieldtype": "const char *"},
+{ "fieldname": "pchValue", "fieldtype": "const char *"}]}
+,{"struct": "vr::Compositor_FrameTiming","fields": [
+{ "fieldname": "m_nSize", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nFrameIndex", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresents", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumMisPresented", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFrames", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nReprojectionFlags", "fieldtype": "uint32_t"},
+{ "fieldname": "m_flSystemTimeInSeconds", "fieldtype": "double"},
+{ "fieldname": "m_flPreSubmitGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flPostSubmitGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flTotalRenderGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorRenderGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorRenderCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorIdleCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flClientFrameIntervalMs", "fieldtype": "float"},
+{ "fieldname": "m_flPresentCallCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flWaitForPresentCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flSubmitFrameMs", "fieldtype": "float"},
+{ "fieldname": "m_flWaitGetPosesCalledMs", "fieldtype": "float"},
+{ "fieldname": "m_flNewPosesReadyMs", "fieldtype": "float"},
+{ "fieldname": "m_flNewFrameReadyMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorUpdateStartMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorUpdateEndMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorRenderStartMs", "fieldtype": "float"},
+{ "fieldname": "m_HmdPose", "fieldtype": "vr::TrackedDevicePose_t"}]}
+,{"struct": "vr::Compositor_CumulativeStats","fields": [
+{ "fieldname": "m_nPid", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresents", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFrames", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFrames", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresentsOnStartup", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFramesOnStartup", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFramesOnStartup", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresentsLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFramesLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFramesLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumTimedOut", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresentsTimedOut", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFramesTimedOut", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFramesTimedOut", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VROverlayIntersectionParams_t","fields": [
+{ "fieldname": "vSource", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vDirection", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "eOrigin", "fieldtype": "enum vr::ETrackingUniverseOrigin"}]}
+,{"struct": "vr::VROverlayIntersectionResults_t","fields": [
+{ "fieldname": "vPoint", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vNormal", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vUVs", "fieldtype": "struct vr::HmdVector2_t"},
+{ "fieldname": "fDistance", "fieldtype": "float"}]}
+,{"struct": "vr::IntersectionMaskRectangle_t","fields": [
+{ "fieldname": "m_flTopLeftX", "fieldtype": "float"},
+{ "fieldname": "m_flTopLeftY", "fieldtype": "float"},
+{ "fieldname": "m_flWidth", "fieldtype": "float"},
+{ "fieldname": "m_flHeight", "fieldtype": "float"}]}
+,{"struct": "vr::IntersectionMaskCircle_t","fields": [
+{ "fieldname": "m_flCenterX", "fieldtype": "float"},
+{ "fieldname": "m_flCenterY", "fieldtype": "float"},
+{ "fieldname": "m_flRadius", "fieldtype": "float"}]}
+,{"struct": "vr::(anonymous)","fields": [
+{ "fieldname": "m_Rectangle", "fieldtype": "struct vr::IntersectionMaskRectangle_t"},
+{ "fieldname": "m_Circle", "fieldtype": "struct vr::IntersectionMaskCircle_t"}]}
+,{"struct": "vr::VROverlayIntersectionMaskPrimitive_t","fields": [
+{ "fieldname": "m_nPrimitiveType", "fieldtype": "enum vr::EVROverlayIntersectionMaskPrimitiveType"},
+{ "fieldname": "m_Primitive", "fieldtype": "VROverlayIntersectionMaskPrimitive_Data_t"}]}
+,{"struct": "vr::RenderModel_ComponentState_t","fields": [
+{ "fieldname": "mTrackingToComponentRenderModel", "fieldtype": "struct vr::HmdMatrix34_t"},
+{ "fieldname": "mTrackingToComponentLocal", "fieldtype": "struct vr::HmdMatrix34_t"},
+{ "fieldname": "uProperties", "fieldtype": "VRComponentProperties"}]}
+,{"struct": "vr::RenderModel_Vertex_t","fields": [
+{ "fieldname": "vPosition", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vNormal", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "rfTextureCoord", "fieldtype": "float [2]"}]}
+,{"struct": "vr::RenderModel_TextureMap_t","fields": [
+{ "fieldname": "unWidth", "fieldtype": "uint16_t"},
+{ "fieldname": "unHeight", "fieldtype": "uint16_t"},
+{ "fieldname": "rubTextureMapData", "fieldtype": "const uint8_t *"}]}
+,{"struct": "vr::RenderModel_t","fields": [
+{ "fieldname": "rVertexData", "fieldtype": "const struct vr::RenderModel_Vertex_t *"},
+{ "fieldname": "unVertexCount", "fieldtype": "uint32_t"},
+{ "fieldname": "rIndexData", "fieldtype": "const uint16_t *"},
+{ "fieldname": "unTriangleCount", "fieldtype": "uint32_t"},
+{ "fieldname": "diffuseTextureId", "fieldtype": "TextureID_t"}]}
+,{"struct": "vr::RenderModel_ControllerMode_State_t","fields": [
+{ "fieldname": "bScrollWheelVisible", "fieldtype": "_Bool"}]}
+,{"struct": "vr::NotificationBitmap_t","fields": [
+{ "fieldname": "m_pImageData", "fieldtype": "void *"},
+{ "fieldname": "m_nWidth", "fieldtype": "int32_t"},
+{ "fieldname": "m_nHeight", "fieldtype": "int32_t"},
+{ "fieldname": "m_nBytesPerPixel", "fieldtype": "int32_t"}]}
+,{"struct": "vr::COpenVRContext","fields": [
+{ "fieldname": "m_pVRSystem", "fieldtype": "class vr::IVRSystem *"},
+{ "fieldname": "m_pVRChaperone", "fieldtype": "class vr::IVRChaperone *"},
+{ "fieldname": "m_pVRChaperoneSetup", "fieldtype": "class vr::IVRChaperoneSetup *"},
+{ "fieldname": "m_pVRCompositor", "fieldtype": "class vr::IVRCompositor *"},
+{ "fieldname": "m_pVROverlay", "fieldtype": "class vr::IVROverlay *"},
+{ "fieldname": "m_pVRResources", "fieldtype": "class vr::IVRResources *"},
+{ "fieldname": "m_pVRRenderModels", "fieldtype": "class vr::IVRRenderModels *"},
+{ "fieldname": "m_pVRExtendedDisplay", "fieldtype": "class vr::IVRExtendedDisplay *"},
+{ "fieldname": "m_pVRSettings", "fieldtype": "class vr::IVRSettings *"},
+{ "fieldname": "m_pVRApplications", "fieldtype": "class vr::IVRApplications *"},
+{ "fieldname": "m_pVRTrackedCamera", "fieldtype": "class vr::IVRTrackedCamera *"},
+{ "fieldname": "m_pVRScreenshots", "fieldtype": "class vr::IVRScreenshots *"},
+{ "fieldname": "m_pVRDriverManager", "fieldtype": "class vr::IVRDriverManager *"}]}
+],
+"methods":[{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetRecommendedRenderTargetSize",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetProjectionMatrix",
+	"returntype": "struct vr::HmdMatrix44_t",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "fNearZ" ,"paramtype": "float"},
+{	"paramname": "fFarZ" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetProjectionRaw",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pfLeft" ,"paramtype": "float *"},
+{	"paramname": "pfRight" ,"paramtype": "float *"},
+{	"paramname": "pfTop" ,"paramtype": "float *"},
+{	"paramname": "pfBottom" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ComputeDistortion",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "fU" ,"paramtype": "float"},
+{	"paramname": "fV" ,"paramtype": "float"},
+{	"paramname": "pDistortionCoordinates" ,"paramtype": "struct vr::DistortionCoordinates_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetEyeToHeadTransform",
+	"returntype": "struct vr::HmdMatrix34_t",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTimeSinceLastVsync",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pfSecondsSinceLastVsync" ,"paramtype": "float *"},
+{	"paramname": "pulFrameCounter" ,"paramtype": "uint64_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetD3D9AdapterIndex",
+	"returntype": "int32_t"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetDXGIOutputInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetOutputDevice",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnDevice" ,"paramtype": "uint64_t *"},
+{	"paramname": "textureType" ,"paramtype": "vr::ETextureType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "IsDisplayOnDesktop",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "SetDisplayVisibility",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "bIsVisibleOnDesktop" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetDeviceToAbsoluteTrackingPose",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "fPredictedSecondsToPhotonsFromNow" ,"paramtype": "float"},
+{	"paramname": "pTrackedDevicePoseArray" ,"array_count": "unTrackedDevicePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unTrackedDevicePoseArrayCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ResetSeatedZeroPose",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetSeatedZeroPoseToStandingAbsoluteTrackingPose",
+	"returntype": "struct vr::HmdMatrix34_t"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetRawZeroPoseToStandingAbsoluteTrackingPose",
+	"returntype": "struct vr::HmdMatrix34_t"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetSortedTrackedDeviceIndicesOfClass",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "eTrackedDeviceClass" ,"paramtype": "vr::ETrackedDeviceClass"},
+{	"paramname": "punTrackedDeviceIndexArray" ,"array_count": "unTrackedDeviceIndexArrayCount" ,"paramtype": "vr::TrackedDeviceIndex_t *"},
+{	"paramname": "unTrackedDeviceIndexArrayCount" ,"paramtype": "uint32_t"},
+{	"paramname": "unRelativeToTrackedDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTrackedDeviceActivityLevel",
+	"returntype": "vr::EDeviceActivityLevel",
+	"params": [ 
+{	"paramname": "unDeviceId" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ApplyTransform",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pOutputPose" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "pTrackedDevicePose" ,"paramtype": "const struct vr::TrackedDevicePose_t *"},
+{	"paramname": "pTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTrackedDeviceIndexForControllerRole",
+	"returntype": "vr::TrackedDeviceIndex_t",
+	"params": [ 
+{	"paramname": "unDeviceType" ,"paramtype": "vr::ETrackedControllerRole"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerRoleForTrackedDeviceIndex",
+	"returntype": "vr::ETrackedControllerRole",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTrackedDeviceClass",
+	"returntype": "vr::ETrackedDeviceClass",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "IsTrackedDeviceConnected",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetBoolTrackedDeviceProperty",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetFloatTrackedDeviceProperty",
+	"returntype": "float",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetInt32TrackedDeviceProperty",
+	"returntype": "int32_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetUint64TrackedDeviceProperty",
+	"returntype": "uint64_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetMatrix34TrackedDeviceProperty",
+	"returntype": "struct vr::HmdMatrix34_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetStringTrackedDeviceProperty",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetPropErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::ETrackedPropertyError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "PollNextEvent",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"},
+{	"paramname": "uncbVREvent" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "PollNextEventWithPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"},
+{	"paramname": "uncbVREvent" ,"paramtype": "uint32_t"},
+{	"paramname": "pTrackedDevicePose" ,"paramtype": "vr::TrackedDevicePose_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetEventTypeNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eType" ,"paramtype": "vr::EVREventType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetHiddenAreaMesh",
+	"returntype": "struct vr::HiddenAreaMesh_t",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "type" ,"paramtype": "vr::EHiddenAreaMeshType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerState",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"},
+{	"paramname": "unControllerStateSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerStateWithPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"},
+{	"paramname": "unControllerStateSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pTrackedDevicePose" ,"paramtype": "struct vr::TrackedDevicePose_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "TriggerHapticPulse",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "unAxisId" ,"paramtype": "uint32_t"},
+{	"paramname": "usDurationMicroSec" ,"paramtype": "unsigned short"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetButtonIdNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eButtonId" ,"paramtype": "vr::EVRButtonId"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerAxisTypeNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eAxisType" ,"paramtype": "vr::EVRControllerAxisType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "CaptureInputFocus",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ReleaseInputFocus",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "IsInputFocusCapturedByAnotherProcess",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "DriverDebugRequest",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pchRequest" ,"paramtype": "const char *"},
+{	"paramname": "pchResponseBuffer" ,"paramtype": "char *"},
+{	"paramname": "unResponseBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "PerformFirmwareUpdate",
+	"returntype": "vr::EVRFirmwareError",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "AcknowledgeQuit_Exiting",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "AcknowledgeQuit_UserPrompt",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRExtendedDisplay",
+	"methodname": "GetWindowBounds",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnX" ,"paramtype": "int32_t *"},
+{	"paramname": "pnY" ,"paramtype": "int32_t *"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRExtendedDisplay",
+	"methodname": "GetEyeOutputViewport",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pnX" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnY" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRExtendedDisplay",
+	"methodname": "GetDXGIOutputInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"},
+{	"paramname": "pnAdapterOutputIndex" ,"paramtype": "int32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eCameraError" ,"paramtype": "vr::EVRTrackedCameraError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "HasCamera",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pHasCamera" ,"paramtype": "bool *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraFrameSize",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnFrameBufferSize" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraIntrinsics",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pFocalLength" ,"paramtype": "vr::HmdVector2_t *"},
+{	"paramname": "pCenter" ,"paramtype": "vr::HmdVector2_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraProjection",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "flZNear" ,"paramtype": "float"},
+{	"paramname": "flZFar" ,"paramtype": "float"},
+{	"paramname": "pProjection" ,"paramtype": "vr::HmdMatrix44_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "AcquireVideoStreamingService",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pHandle" ,"paramtype": "vr::TrackedCameraHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "ReleaseVideoStreamingService",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamFrameBuffer",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pFrameBuffer" ,"paramtype": "void *"},
+{	"paramname": "nFrameBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"},
+{	"paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamTextureSize",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pTextureBounds" ,"paramtype": "vr::VRTextureBounds_t *"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamTextureD3D11",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pD3D11DeviceOrResource" ,"paramtype": "void *"},
+{	"paramname": "ppD3D11ShaderResourceView" ,"paramtype": "void **"},
+{	"paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"},
+{	"paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamTextureGL",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pglTextureId" ,"paramtype": "vr::glUInt_t *"},
+{	"paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"},
+{	"paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "ReleaseVideoStreamTextureGL",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "glTextureId" ,"paramtype": "vr::glUInt_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "AddApplicationManifest",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchApplicationManifestFullPath" ,"paramtype": "const char *"},
+{	"paramname": "bTemporary" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "RemoveApplicationManifest",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchApplicationManifestFullPath" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "IsApplicationInstalled",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationKeyByIndex",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "unApplicationIndex" ,"paramtype": "uint32_t"},
+{	"paramname": "pchAppKeyBuffer" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationKeyByProcessId",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "unProcessId" ,"paramtype": "uint32_t"},
+{	"paramname": "pchAppKeyBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchTemplateApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchTemplateAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pchNewAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pKeys" ,"array_count": "unKeys" ,"paramtype": "const struct vr::AppOverrideKeys_t *"},
+{	"paramname": "unKeys" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchApplicationFromMimeType",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"},
+{	"paramname": "pchArgs" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchDashboardOverlay",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "CancelApplicationLaunch",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "IdentifyApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "unProcessId" ,"paramtype": "uint32_t"},
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationProcessId",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationsErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::EVRApplicationError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationPropertyString",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"},
+{	"paramname": "pchPropertyValueBuffer" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unPropertyValueBufferLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationPropertyBool",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationPropertyUint64",
+	"returntype": "uint64_t",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "SetApplicationAutoLaunch",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "bAutoLaunch" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationAutoLaunch",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "SetDefaultApplicationForMimeType",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetDefaultApplicationForMimeType",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"},
+{	"paramname": "pchAppKeyBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationSupportedMimeTypes",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pchMimeTypesBuffer" ,"paramtype": "char *"},
+{	"paramname": "unMimeTypesBuffer" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationsThatSupportMimeType",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"},
+{	"paramname": "pchAppKeysThatSupportBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeysThatSupportBuffer" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationLaunchArguments",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unHandle" ,"paramtype": "uint32_t"},
+{	"paramname": "pchArgs" ,"paramtype": "char *"},
+{	"paramname": "unArgs" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetStartingApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKeyBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetTransitionState",
+	"returntype": "vr::EVRApplicationTransitionState"
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "PerformApplicationPrelaunchCheck",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationsTransitionStateNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "state" ,"paramtype": "vr::EVRApplicationTransitionState"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "IsQuitUserPromptRequested",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchInternalProcess",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchBinaryPath" ,"paramtype": "const char *"},
+{	"paramname": "pchArguments" ,"paramtype": "const char *"},
+{	"paramname": "pchWorkingDirectory" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetCurrentSceneProcessId",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetCalibrationState",
+	"returntype": "vr::ChaperoneCalibrationState"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetPlayAreaSize",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pSizeX" ,"paramtype": "float *"},
+{	"paramname": "pSizeZ" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetPlayAreaRect",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "rect" ,"paramtype": "struct vr::HmdQuad_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "ReloadInfo",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "SetSceneColor",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "color" ,"paramtype": "struct vr::HmdColor_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetBoundsColor",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pOutputColorArray" ,"paramtype": "struct vr::HmdColor_t *"},
+{	"paramname": "nNumOutputColors" ,"paramtype": "int"},
+{	"paramname": "flCollisionBoundsFadeDistance" ,"paramtype": "float"},
+{	"paramname": "pOutputCameraColor" ,"paramtype": "struct vr::HmdColor_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "AreBoundsVisible",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "ForceBoundsVisible",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "bForce" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "CommitWorkingCopy",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "configFile" ,"paramtype": "vr::EChaperoneConfigFile"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "RevertWorkingCopy",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingPlayAreaSize",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pSizeX" ,"paramtype": "float *"},
+{	"paramname": "pSizeZ" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingPlayAreaRect",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "rect" ,"paramtype": "struct vr::HmdQuad_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingCollisionBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "punQuadsCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLiveCollisionBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "punQuadsCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingSeatedZeroPoseToRawTrackingPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pmatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingStandingZeroPoseToRawTrackingPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pmatStandingZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingPlayAreaSize",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "sizeX" ,"paramtype": "float"},
+{	"paramname": "sizeZ" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingCollisionBoundsInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"array_count": "unQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "unQuadsCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingSeatedZeroPoseToRawTrackingPose",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pMatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingStandingZeroPoseToRawTrackingPose",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pMatStandingZeroPoseToRawTrackingPose" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "ReloadFromDisk",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "configFile" ,"paramtype": "vr::EChaperoneConfigFile"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLiveSeatedZeroPoseToRawTrackingPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pmatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingCollisionBoundsTagsInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pTagsBuffer" ,"array_count": "unTagCount" ,"paramtype": "uint8_t *"},
+{	"paramname": "unTagCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLiveCollisionBoundsTagsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pTagsBuffer" ,"out_array_count": "punTagCount" ,"paramtype": "uint8_t *"},
+{	"paramname": "punTagCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingPhysicalBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"array_count": "unQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "unQuadsCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLivePhysicalBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "punQuadsCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "ExportLiveToBuffer",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pBuffer" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "pnBufferLength" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "ImportFromBufferToWorking",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pBuffer" ,"paramtype": "const char *"},
+{	"paramname": "nImportFlags" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "SetTrackingSpace",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetTrackingSpace",
+	"returntype": "vr::ETrackingUniverseOrigin"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "WaitGetPoses",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "pRenderPoseArray" ,"array_count": "unRenderPoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unRenderPoseArrayCount" ,"paramtype": "uint32_t"},
+{	"paramname": "pGamePoseArray" ,"array_count": "unGamePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unGamePoseArrayCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetLastPoses",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "pRenderPoseArray" ,"array_count": "unRenderPoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unRenderPoseArrayCount" ,"paramtype": "uint32_t"},
+{	"paramname": "pGamePoseArray" ,"array_count": "unGamePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unGamePoseArrayCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetLastPoseForTrackedDeviceIndex",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pOutputPose" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "pOutputGamePose" ,"paramtype": "struct vr::TrackedDevicePose_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "Submit",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pTexture" ,"paramtype": "const struct vr::Texture_t *"},
+{	"paramname": "pBounds" ,"paramtype": "const struct vr::VRTextureBounds_t *"},
+{	"paramname": "nSubmitFlags" ,"paramtype": "vr::EVRSubmitFlags"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ClearLastSubmittedFrame",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "PostPresentHandoff",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetFrameTiming",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pTiming" ,"paramtype": "struct vr::Compositor_FrameTiming *"},
+{	"paramname": "unFramesAgo" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetFrameTimings",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pTiming" ,"paramtype": "struct vr::Compositor_FrameTiming *"},
+{	"paramname": "nFrames" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetFrameTimeRemaining",
+	"returntype": "float"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCumulativeStats",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pStats" ,"paramtype": "struct vr::Compositor_CumulativeStats *"},
+{	"paramname": "nStatsSizeInBytes" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "FadeToColor",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "fSeconds" ,"paramtype": "float"},
+{	"paramname": "fRed" ,"paramtype": "float"},
+{	"paramname": "fGreen" ,"paramtype": "float"},
+{	"paramname": "fBlue" ,"paramtype": "float"},
+{	"paramname": "fAlpha" ,"paramtype": "float"},
+{	"paramname": "bBackground" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCurrentFadeColor",
+	"returntype": "struct vr::HmdColor_t",
+	"params": [ 
+{	"paramname": "bBackground" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "FadeGrid",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "fSeconds" ,"paramtype": "float"},
+{	"paramname": "bFadeIn" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCurrentGridAlpha",
+	"returntype": "float"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "SetSkyboxOverride",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "pTextures" ,"array_count": "unTextureCount" ,"paramtype": "const struct vr::Texture_t *"},
+{	"paramname": "unTextureCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ClearSkyboxOverride",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorBringToFront",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorGoToBack",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorQuit",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "IsFullscreen",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCurrentSceneFocusProcess",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetLastFrameRenderer",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CanRenderScene",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ShowMirrorWindow",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "HideMirrorWindow",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "IsMirrorWindowVisible",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorDumpImages",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ShouldAppRenderWithLowResources",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ForceInterleavedReprojectionOn",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "bOverride" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ForceReconnectProcess",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "SuspendRendering",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "bSuspend" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetMirrorTextureD3D11",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pD3D11DeviceOrResource" ,"paramtype": "void *"},
+{	"paramname": "ppD3D11ShaderResourceView" ,"paramtype": "void **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ReleaseMirrorTextureD3D11",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pD3D11ShaderResourceView" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetMirrorTextureGL",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pglTextureId" ,"paramtype": "vr::glUInt_t *"},
+{	"paramname": "pglSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ReleaseSharedGLTexture",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "glTextureId" ,"paramtype": "vr::glUInt_t"},
+{	"paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "LockGLSharedTextureForAccess",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "UnlockGLSharedTextureForAccess",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetVulkanInstanceExtensionsRequired",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetVulkanDeviceExtensionsRequired",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pPhysicalDevice" ,"paramtype": "struct VkPhysicalDevice_T *"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "FindOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
+{	"paramname": "pOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "CreateOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
+{	"paramname": "pchOverlayName" ,"paramtype": "const char *"},
+{	"paramname": "pOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "DestroyOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetHighQualityOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetHighQualityOverlay",
+	"returntype": "vr::VROverlayHandle_t"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayKey",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayName",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayImageData",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvBuffer" ,"paramtype": "void *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "punWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "punHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::EVROverlayError"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRenderingPid",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unPID" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayRenderingPid",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayFlag",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eOverlayFlag" ,"paramtype": "vr::VROverlayFlags"},
+{	"paramname": "bEnabled" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayFlag",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eOverlayFlag" ,"paramtype": "vr::VROverlayFlags"},
+{	"paramname": "pbEnabled" ,"paramtype": "bool *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayColor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fRed" ,"paramtype": "float"},
+{	"paramname": "fGreen" ,"paramtype": "float"},
+{	"paramname": "fBlue" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayColor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfRed" ,"paramtype": "float *"},
+{	"paramname": "pfGreen" ,"paramtype": "float *"},
+{	"paramname": "pfBlue" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayAlpha",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fAlpha" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayAlpha",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfAlpha" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTexelAspect",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fTexelAspect" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTexelAspect",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfTexelAspect" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlaySortOrder",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unSortOrder" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlaySortOrder",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punSortOrder" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayWidthInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fWidthInMeters" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayWidthInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfWidthInMeters" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayAutoCurveDistanceRangeInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fMinDistanceInMeters" ,"paramtype": "float"},
+{	"paramname": "fMaxDistanceInMeters" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayAutoCurveDistanceRangeInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfMinDistanceInMeters" ,"paramtype": "float *"},
+{	"paramname": "pfMaxDistanceInMeters" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTextureColorSpace",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eTextureColorSpace" ,"paramtype": "vr::EColorSpace"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTextureColorSpace",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peTextureColorSpace" ,"paramtype": "vr::EColorSpace *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTextureBounds",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pOverlayTextureBounds" ,"paramtype": "const struct vr::VRTextureBounds_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTextureBounds",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pOverlayTextureBounds" ,"paramtype": "struct vr::VRTextureBounds_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayRenderModel",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pColor" ,"paramtype": "struct vr::HmdColor_t *"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRenderModel",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchRenderModel" ,"paramtype": "const char *"},
+{	"paramname": "pColor" ,"paramtype": "const struct vr::HmdColor_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformType",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peTransformType" ,"paramtype": "vr::VROverlayTransformType *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformAbsolute",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "pmatTrackingOriginToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformAbsolute",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin *"},
+{	"paramname": "pmatTrackingOriginToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformTrackedDeviceRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unTrackedDevice" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pmatTrackedDeviceToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformTrackedDeviceRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punTrackedDevice" ,"paramtype": "vr::TrackedDeviceIndex_t *"},
+{	"paramname": "pmatTrackedDeviceToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformTrackedDeviceComponent",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformTrackedDeviceComponent",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t *"},
+{	"paramname": "pchComponentName" ,"paramtype": "char *"},
+{	"paramname": "unComponentNameSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformOverlayRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulOverlayHandleParent" ,"paramtype": "vr::VROverlayHandle_t *"},
+{	"paramname": "pmatParentOverlayToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformOverlayRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulOverlayHandleParent" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pmatParentOverlayToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "HideOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsOverlayVisible",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetTransformForOverlayCoordinates",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "coordinatesInOverlay" ,"paramtype": "struct vr::HmdVector2_t"},
+{	"paramname": "pmatTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "PollNextOverlayEvent",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"},
+{	"paramname": "uncbVREvent" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayInputMethod",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peInputMethod" ,"paramtype": "vr::VROverlayInputMethod *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayInputMethod",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eInputMethod" ,"paramtype": "vr::VROverlayInputMethod"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayMouseScale",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvecMouseScale" ,"paramtype": "struct vr::HmdVector2_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayMouseScale",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvecMouseScale" ,"paramtype": "const struct vr::HmdVector2_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ComputeOverlayIntersection",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pParams" ,"paramtype": "const struct vr::VROverlayIntersectionParams_t *"},
+{	"paramname": "pResults" ,"paramtype": "struct vr::VROverlayIntersectionResults_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "HandleControllerOverlayInteractionAsMouse",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsHoverTargetOverlay",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetGamepadFocusOverlay",
+	"returntype": "vr::VROverlayHandle_t"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetGamepadFocusOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulNewFocusOverlay" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayNeighbor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "eDirection" ,"paramtype": "vr::EOverlayDirection"},
+{	"paramname": "ulFrom" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulTo" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "MoveGamepadFocusToNeighbor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "eDirection" ,"paramtype": "vr::EOverlayDirection"},
+{	"paramname": "ulFrom" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTexture",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pTexture" ,"paramtype": "const struct vr::Texture_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ClearOverlayTexture",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRaw",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvBuffer" ,"paramtype": "void *"},
+{	"paramname": "unWidth" ,"paramtype": "uint32_t"},
+{	"paramname": "unHeight" ,"paramtype": "uint32_t"},
+{	"paramname": "unDepth" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayFromFile",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchFilePath" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTexture",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pNativeTextureHandle" ,"paramtype": "void **"},
+{	"paramname": "pNativeTextureRef" ,"paramtype": "void *"},
+{	"paramname": "pWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pHeight" ,"paramtype": "uint32_t *"},
+{	"paramname": "pNativeFormat" ,"paramtype": "uint32_t *"},
+{	"paramname": "pAPIType" ,"paramtype": "vr::ETextureType *"},
+{	"paramname": "pColorSpace" ,"paramtype": "vr::EColorSpace *"},
+{	"paramname": "pTextureBounds" ,"paramtype": "struct vr::VRTextureBounds_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ReleaseNativeOverlayHandle",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pNativeTextureHandle" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTextureSize",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "CreateDashboardOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
+{	"paramname": "pchOverlayFriendlyName" ,"paramtype": "const char *"},
+{	"paramname": "pMainHandle" ,"paramtype": "vr::VROverlayHandle_t *"},
+{	"paramname": "pThumbnailHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsDashboardVisible",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsActiveDashboardOverlay",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetDashboardOverlaySceneProcess",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unProcessId" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetDashboardOverlaySceneProcess",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punProcessId" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowDashboard",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchOverlayToShow" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetPrimaryDashboardDevice",
+	"returntype": "vr::TrackedDeviceIndex_t"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowKeyboard",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "eInputMode" ,"paramtype": "vr::EGamepadTextInputMode"},
+{	"paramname": "eLineInputMode" ,"paramtype": "vr::EGamepadTextInputLineMode"},
+{	"paramname": "pchDescription" ,"paramtype": "const char *"},
+{	"paramname": "unCharMax" ,"paramtype": "uint32_t"},
+{	"paramname": "pchExistingText" ,"paramtype": "const char *"},
+{	"paramname": "bUseMinimalMode" ,"paramtype": "bool"},
+{	"paramname": "uUserValue" ,"paramtype": "uint64_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowKeyboardForOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eInputMode" ,"paramtype": "vr::EGamepadTextInputMode"},
+{	"paramname": "eLineInputMode" ,"paramtype": "vr::EGamepadTextInputLineMode"},
+{	"paramname": "pchDescription" ,"paramtype": "const char *"},
+{	"paramname": "unCharMax" ,"paramtype": "uint32_t"},
+{	"paramname": "pchExistingText" ,"paramtype": "const char *"},
+{	"paramname": "bUseMinimalMode" ,"paramtype": "bool"},
+{	"paramname": "uUserValue" ,"paramtype": "uint64_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetKeyboardText",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchText" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "cchText" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "HideKeyboard",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetKeyboardTransformAbsolute",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "pmatTrackingOriginToKeyboardTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetKeyboardPositionForOverlay",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "avoidRect" ,"paramtype": "struct vr::HmdRect2_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayIntersectionMask",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pMaskPrimitives" ,"paramtype": "struct vr::VROverlayIntersectionMaskPrimitive_t *"},
+{	"paramname": "unNumMaskPrimitives" ,"paramtype": "uint32_t"},
+{	"paramname": "unPrimitiveSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayFlags",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pFlags" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowMessageOverlay",
+	"returntype": "vr::VRMessageOverlayResponse",
+	"params": [ 
+{	"paramname": "pchText" ,"paramtype": "const char *"},
+{	"paramname": "pchCaption" ,"paramtype": "const char *"},
+{	"paramname": "pchButton0Text" ,"paramtype": "const char *"},
+{	"paramname": "pchButton1Text" ,"paramtype": "const char *"},
+{	"paramname": "pchButton2Text" ,"paramtype": "const char *"},
+{	"paramname": "pchButton3Text" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadRenderModel_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "ppRenderModel" ,"paramtype": "struct vr::RenderModel_t **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "FreeRenderModel",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pRenderModel" ,"paramtype": "struct vr::RenderModel_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadTexture_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "textureId" ,"paramtype": "vr::TextureID_t"},
+{	"paramname": "ppTexture" ,"paramtype": "struct vr::RenderModel_TextureMap_t **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "FreeTexture",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pTexture" ,"paramtype": "struct vr::RenderModel_TextureMap_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadTextureD3D11_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "textureId" ,"paramtype": "vr::TextureID_t"},
+{	"paramname": "pD3D11Device" ,"paramtype": "void *"},
+{	"paramname": "ppD3D11Texture2D" ,"paramtype": "void **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadIntoTextureD3D11_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "textureId" ,"paramtype": "vr::TextureID_t"},
+{	"paramname": "pDstTexture" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "FreeTextureD3D11",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pD3D11Texture2D" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unRenderModelIndex" ,"paramtype": "uint32_t"},
+{	"paramname": "pchRenderModelName" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unRenderModelNameLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentCount",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "unComponentIndex" ,"paramtype": "uint32_t"},
+{	"paramname": "pchComponentName" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unComponentNameLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentButtonMask",
+	"returntype": "uint64_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentRenderModelName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentRenderModelName" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unComponentRenderModelNameLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentState",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"},
+{	"paramname": "pControllerState" ,"paramtype": "const vr::VRControllerState_t *"},
+{	"paramname": "pState" ,"paramtype": "const struct vr::RenderModel_ControllerMode_State_t *"},
+{	"paramname": "pComponentState" ,"paramtype": "struct vr::RenderModel_ComponentState_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "RenderModelHasComponent",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelThumbnailURL",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchThumbnailURL" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unThumbnailURLLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRRenderModelError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelOriginalPath",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchOriginalPath" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unOriginalPathLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRRenderModelError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::EVRRenderModelError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRNotifications",
+	"methodname": "CreateNotification",
+	"returntype": "vr::EVRNotificationError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulUserValue" ,"paramtype": "uint64_t"},
+{	"paramname": "type" ,"paramtype": "vr::EVRNotificationType"},
+{	"paramname": "pchText" ,"paramtype": "const char *"},
+{	"paramname": "style" ,"paramtype": "vr::EVRNotificationStyle"},
+{	"paramname": "pImage" ,"paramtype": "const struct vr::NotificationBitmap_t *"},
+{	"paramname": "pNotificationId" ,"paramtype": "vr::VRNotificationId *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRNotifications",
+	"methodname": "RemoveNotification",
+	"returntype": "vr::EVRNotificationError",
+	"params": [ 
+{	"paramname": "notificationId" ,"paramtype": "vr::VRNotificationId"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetSettingsErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eError" ,"paramtype": "vr::EVRSettingsError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "Sync",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "bForce" ,"paramtype": "bool"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetBool",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "bValue" ,"paramtype": "bool"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetInt32",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "nValue" ,"paramtype": "int32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetFloat",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "flValue" ,"paramtype": "float"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetString",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "pchValue" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetBool",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetInt32",
+	"returntype": "int32_t",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetFloat",
+	"returntype": "float",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetString",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unValueLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "RemoveSection",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "RemoveKeyInSection",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "RequestScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "pOutScreenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t *"},
+{	"paramname": "type" ,"paramtype": "vr::EVRScreenshotType"},
+{	"paramname": "pchPreviewFilename" ,"paramtype": "const char *"},
+{	"paramname": "pchVRFilename" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "HookScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "pSupportedTypes" ,"array_count": "numTypes" ,"paramtype": "const vr::EVRScreenshotType *"},
+{	"paramname": "numTypes" ,"paramtype": "int"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "GetScreenshotPropertyType",
+	"returntype": "vr::EVRScreenshotType",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVRScreenshotError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "GetScreenshotPropertyFilename",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "filenameType" ,"paramtype": "vr::EVRScreenshotPropertyFilenames"},
+{	"paramname": "pchFilename" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "cchFilename" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVRScreenshotError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "UpdateScreenshotProgress",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "flProgress" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "TakeStereoScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "pOutScreenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t *"},
+{	"paramname": "pchPreviewFilename" ,"paramtype": "const char *"},
+{	"paramname": "pchVRFilename" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "SubmitScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "type" ,"paramtype": "vr::EVRScreenshotType"},
+{	"paramname": "pchSourcePreviewFilename" ,"paramtype": "const char *"},
+{	"paramname": "pchSourceVRFilename" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRResources",
+	"methodname": "LoadSharedResource",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchResourceName" ,"paramtype": "const char *"},
+{	"paramname": "pchBuffer" ,"paramtype": "char *"},
+{	"paramname": "unBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRResources",
+	"methodname": "GetResourceFullPath",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchResourceName" ,"paramtype": "const char *"},
+{	"paramname": "pchResourceTypeDirectory" ,"paramtype": "const char *"},
+{	"paramname": "pchPathBuffer" ,"paramtype": "char *"},
+{	"paramname": "unBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "nDriver" ,"paramtype": "vr::DriverId_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+]
+}
\ No newline at end of file
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_capi.h b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_capi.h
new file mode 100644
index 000000000..a6685e579
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_capi.h
@@ -0,0 +1,1918 @@
+//======= Copyright (c) Valve Corporation, All rights reserved. ===============
+//
+// Purpose: Header for flatted SteamAPI. Use this for binding to other languages.
+// This file is auto-generated, do not edit it.
+//
+//=============================================================================
+
+#ifndef __OPENVR_API_FLAT_H__
+#define __OPENVR_API_FLAT_H__
+#if defined( _WIN32 ) || defined( __clang__ )
+#pragma once
+#endif
+
+#ifdef __cplusplus
+#define EXTERN_C extern "C"
+#else
+#define EXTERN_C
+#endif
+
+#if defined( _WIN32 )
+#define OPENVR_FNTABLE_CALLTYPE __stdcall
+#else
+#define OPENVR_FNTABLE_CALLTYPE 
+#endif
+
+// OPENVR API export macro
+#if defined( _WIN32 ) && !defined( _X360 )
+	#if defined( OPENVR_API_EXPORTS )
+	#define S_API EXTERN_C __declspec( dllexport )
+	#elif defined( OPENVR_API_NODLL )
+	#define S_API EXTERN_C
+	#else
+	#define S_API extern "C" __declspec( dllimport ) 
+	#endif // OPENVR_API_EXPORTS
+#elif defined( __GNUC__ )
+	#if defined( OPENVR_API_EXPORTS )
+	#define S_API EXTERN_C __attribute__ ((visibility("default")))
+	#else
+	#define S_API EXTERN_C
+	#endif // OPENVR_API_EXPORTS
+#else // !WIN32
+	#if defined( OPENVR_API_EXPORTS )
+	#define S_API EXTERN_C
+	#else
+	#define S_API EXTERN_C
+	#endif // OPENVR_API_EXPORTS
+#endif
+
+#include <stdint.h>
+
+#if defined( __WIN32 )
+typedef char bool;
+#else
+#include <stdbool.h>
+#endif
+
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+
+// OpenVR Constants
+
+static const unsigned int k_nDriverNone = 4294967295;
+static const unsigned int k_unMaxDriverDebugResponseSize = 32768;
+static const unsigned int k_unTrackedDeviceIndex_Hmd = 0;
+static const unsigned int k_unMaxTrackedDeviceCount = 16;
+static const unsigned int k_unTrackedDeviceIndexOther = 4294967294;
+static const unsigned int k_unTrackedDeviceIndexInvalid = 4294967295;
+static const unsigned long k_ulInvalidPropertyContainer = 0;
+static const unsigned int k_unInvalidPropertyTag = 0;
+static const unsigned int k_unFloatPropertyTag = 1;
+static const unsigned int k_unInt32PropertyTag = 2;
+static const unsigned int k_unUint64PropertyTag = 3;
+static const unsigned int k_unBoolPropertyTag = 4;
+static const unsigned int k_unStringPropertyTag = 5;
+static const unsigned int k_unHmdMatrix34PropertyTag = 20;
+static const unsigned int k_unHmdMatrix44PropertyTag = 21;
+static const unsigned int k_unHmdVector3PropertyTag = 22;
+static const unsigned int k_unHmdVector4PropertyTag = 23;
+static const unsigned int k_unHiddenAreaPropertyTag = 30;
+static const unsigned int k_unOpenVRInternalReserved_Start = 1000;
+static const unsigned int k_unOpenVRInternalReserved_End = 10000;
+static const unsigned int k_unMaxPropertyStringSize = 32768;
+static const unsigned int k_unControllerStateAxisCount = 5;
+static const unsigned long k_ulOverlayHandleInvalid = 0;
+static const unsigned int k_unScreenshotHandleInvalid = 0;
+static const char * IVRSystem_Version = "IVRSystem_016";
+static const char * IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
+static const char * IVRTrackedCamera_Version = "IVRTrackedCamera_003";
+static const unsigned int k_unMaxApplicationKeyLength = 128;
+static const char * k_pch_MimeType_HomeApp = "vr/home";
+static const char * k_pch_MimeType_GameTheater = "vr/game_theater";
+static const char * IVRApplications_Version = "IVRApplications_006";
+static const char * IVRChaperone_Version = "IVRChaperone_003";
+static const char * IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
+static const char * IVRCompositor_Version = "IVRCompositor_020";
+static const unsigned int k_unVROverlayMaxKeyLength = 128;
+static const unsigned int k_unVROverlayMaxNameLength = 128;
+static const unsigned int k_unMaxOverlayCount = 64;
+static const unsigned int k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
+static const char * IVROverlay_Version = "IVROverlay_016";
+static const char * k_pch_Controller_Component_GDC2015 = "gdc2015";
+static const char * k_pch_Controller_Component_Base = "base";
+static const char * k_pch_Controller_Component_Tip = "tip";
+static const char * k_pch_Controller_Component_HandGrip = "handgrip";
+static const char * k_pch_Controller_Component_Status = "status";
+static const char * IVRRenderModels_Version = "IVRRenderModels_005";
+static const unsigned int k_unNotificationTextMaxSize = 256;
+static const char * IVRNotifications_Version = "IVRNotifications_002";
+static const unsigned int k_unMaxSettingsKeyLength = 128;
+static const char * IVRSettings_Version = "IVRSettings_002";
+static const char * k_pch_SteamVR_Section = "steamvr";
+static const char * k_pch_SteamVR_RequireHmd_String = "requireHmd";
+static const char * k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+static const char * k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+static const char * k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+static const char * k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+static const char * k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+static const char * k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+static const char * k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps";
+static const char * k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+static const char * k_pch_SteamVR_IPD_Float = "ipd";
+static const char * k_pch_SteamVR_Background_String = "background";
+static const char * k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+static const char * k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+static const char * k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+static const char * k_pch_SteamVR_GridColor_String = "gridColor";
+static const char * k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+static const char * k_pch_SteamVR_ShowStage_Bool = "showStage";
+static const char * k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+static const char * k_pch_SteamVR_DirectMode_Bool = "directMode";
+static const char * k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+static const char * k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+static const char * k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+static const char * k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+static const char * k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+static const char * k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+static const char * k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+static const char * k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+static const char * k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+static const char * k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+static const char * k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+static const char * k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+static const char * k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+static const char * k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+static const char * k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+static const char * k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+static const char * k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+static const char * k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+static const char * k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+static const char * k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+static const char * k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+static const char * k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+static const char * k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+static const char * k_pch_Lighthouse_Section = "driver_lighthouse";
+static const char * k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+static const char * k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+static const char * k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+static const char * k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+static const char * k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+static const char * k_pch_Null_Section = "driver_null";
+static const char * k_pch_Null_SerialNumber_String = "serialNumber";
+static const char * k_pch_Null_ModelNumber_String = "modelNumber";
+static const char * k_pch_Null_WindowX_Int32 = "windowX";
+static const char * k_pch_Null_WindowY_Int32 = "windowY";
+static const char * k_pch_Null_WindowWidth_Int32 = "windowWidth";
+static const char * k_pch_Null_WindowHeight_Int32 = "windowHeight";
+static const char * k_pch_Null_RenderWidth_Int32 = "renderWidth";
+static const char * k_pch_Null_RenderHeight_Int32 = "renderHeight";
+static const char * k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+static const char * k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+static const char * k_pch_UserInterface_Section = "userinterface";
+static const char * k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+static const char * k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+static const char * k_pch_UserInterface_Screenshots_Bool = "screenshots";
+static const char * k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+static const char * k_pch_Notifications_Section = "notifications";
+static const char * k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+static const char * k_pch_Keyboard_Section = "keyboard";
+static const char * k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+static const char * k_pch_Keyboard_ScaleX = "ScaleX";
+static const char * k_pch_Keyboard_ScaleY = "ScaleY";
+static const char * k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+static const char * k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+static const char * k_pch_Keyboard_OffsetY = "OffsetY";
+static const char * k_pch_Keyboard_Smoothing = "Smoothing";
+static const char * k_pch_Perf_Section = "perfcheck";
+static const char * k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+static const char * k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+static const char * k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+static const char * k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+static const char * k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+static const char * k_pch_Perf_TestData_Float = "perfTestData";
+static const char * k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+static const char * k_pch_CollisionBounds_Section = "collisionBounds";
+static const char * k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+static const char * k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+static const char * k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+static const char * k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+static const char * k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+static const char * k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+static const char * k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+static const char * k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+static const char * k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+static const char * k_pch_Camera_Section = "camera";
+static const char * k_pch_Camera_EnableCamera_Bool = "enableCamera";
+static const char * k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+static const char * k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+static const char * k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+static const char * k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+static const char * k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+static const char * k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+static const char * k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+static const char * k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+static const char * k_pch_audio_Section = "audio";
+static const char * k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+static const char * k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+static const char * k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+static const char * k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+static const char * k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+static const char * k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+static const char * k_pch_Power_Section = "power";
+static const char * k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+static const char * k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+static const char * k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+static const char * k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+static const char * k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+static const char * k_pch_Dashboard_Section = "dashboard";
+static const char * k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+static const char * k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+static const char * k_pch_modelskin_Section = "modelskins";
+static const char * k_pch_Driver_Enable_Bool = "enable";
+static const char * IVRScreenshots_Version = "IVRScreenshots_001";
+static const char * IVRResources_Version = "IVRResources_001";
+static const char * IVRDriverManager_Version = "IVRDriverManager_001";
+
+// OpenVR Enums
+
+typedef enum EVREye
+{
+	EVREye_Eye_Left = 0,
+	EVREye_Eye_Right = 1,
+} EVREye;
+
+typedef enum ETextureType
+{
+	ETextureType_TextureType_DirectX = 0,
+	ETextureType_TextureType_OpenGL = 1,
+	ETextureType_TextureType_Vulkan = 2,
+	ETextureType_TextureType_IOSurface = 3,
+	ETextureType_TextureType_DirectX12 = 4,
+} ETextureType;
+
+typedef enum EColorSpace
+{
+	EColorSpace_ColorSpace_Auto = 0,
+	EColorSpace_ColorSpace_Gamma = 1,
+	EColorSpace_ColorSpace_Linear = 2,
+} EColorSpace;
+
+typedef enum ETrackingResult
+{
+	ETrackingResult_TrackingResult_Uninitialized = 1,
+	ETrackingResult_TrackingResult_Calibrating_InProgress = 100,
+	ETrackingResult_TrackingResult_Calibrating_OutOfRange = 101,
+	ETrackingResult_TrackingResult_Running_OK = 200,
+	ETrackingResult_TrackingResult_Running_OutOfRange = 201,
+} ETrackingResult;
+
+typedef enum ETrackedDeviceClass
+{
+	ETrackedDeviceClass_TrackedDeviceClass_Invalid = 0,
+	ETrackedDeviceClass_TrackedDeviceClass_HMD = 1,
+	ETrackedDeviceClass_TrackedDeviceClass_Controller = 2,
+	ETrackedDeviceClass_TrackedDeviceClass_GenericTracker = 3,
+	ETrackedDeviceClass_TrackedDeviceClass_TrackingReference = 4,
+	ETrackedDeviceClass_TrackedDeviceClass_DisplayRedirect = 5,
+} ETrackedDeviceClass;
+
+typedef enum ETrackedControllerRole
+{
+	ETrackedControllerRole_TrackedControllerRole_Invalid = 0,
+	ETrackedControllerRole_TrackedControllerRole_LeftHand = 1,
+	ETrackedControllerRole_TrackedControllerRole_RightHand = 2,
+} ETrackedControllerRole;
+
+typedef enum ETrackingUniverseOrigin
+{
+	ETrackingUniverseOrigin_TrackingUniverseSeated = 0,
+	ETrackingUniverseOrigin_TrackingUniverseStanding = 1,
+	ETrackingUniverseOrigin_TrackingUniverseRawAndUncalibrated = 2,
+} ETrackingUniverseOrigin;
+
+typedef enum ETrackedDeviceProperty
+{
+	ETrackedDeviceProperty_Prop_Invalid = 0,
+	ETrackedDeviceProperty_Prop_TrackingSystemName_String = 1000,
+	ETrackedDeviceProperty_Prop_ModelNumber_String = 1001,
+	ETrackedDeviceProperty_Prop_SerialNumber_String = 1002,
+	ETrackedDeviceProperty_Prop_RenderModelName_String = 1003,
+	ETrackedDeviceProperty_Prop_WillDriftInYaw_Bool = 1004,
+	ETrackedDeviceProperty_Prop_ManufacturerName_String = 1005,
+	ETrackedDeviceProperty_Prop_TrackingFirmwareVersion_String = 1006,
+	ETrackedDeviceProperty_Prop_HardwareRevision_String = 1007,
+	ETrackedDeviceProperty_Prop_AllWirelessDongleDescriptions_String = 1008,
+	ETrackedDeviceProperty_Prop_ConnectedWirelessDongle_String = 1009,
+	ETrackedDeviceProperty_Prop_DeviceIsWireless_Bool = 1010,
+	ETrackedDeviceProperty_Prop_DeviceIsCharging_Bool = 1011,
+	ETrackedDeviceProperty_Prop_DeviceBatteryPercentage_Float = 1012,
+	ETrackedDeviceProperty_Prop_StatusDisplayTransform_Matrix34 = 1013,
+	ETrackedDeviceProperty_Prop_Firmware_UpdateAvailable_Bool = 1014,
+	ETrackedDeviceProperty_Prop_Firmware_ManualUpdate_Bool = 1015,
+	ETrackedDeviceProperty_Prop_Firmware_ManualUpdateURL_String = 1016,
+	ETrackedDeviceProperty_Prop_HardwareRevision_Uint64 = 1017,
+	ETrackedDeviceProperty_Prop_FirmwareVersion_Uint64 = 1018,
+	ETrackedDeviceProperty_Prop_FPGAVersion_Uint64 = 1019,
+	ETrackedDeviceProperty_Prop_VRCVersion_Uint64 = 1020,
+	ETrackedDeviceProperty_Prop_RadioVersion_Uint64 = 1021,
+	ETrackedDeviceProperty_Prop_DongleVersion_Uint64 = 1022,
+	ETrackedDeviceProperty_Prop_BlockServerShutdown_Bool = 1023,
+	ETrackedDeviceProperty_Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024,
+	ETrackedDeviceProperty_Prop_ContainsProximitySensor_Bool = 1025,
+	ETrackedDeviceProperty_Prop_DeviceProvidesBatteryStatus_Bool = 1026,
+	ETrackedDeviceProperty_Prop_DeviceCanPowerOff_Bool = 1027,
+	ETrackedDeviceProperty_Prop_Firmware_ProgrammingTarget_String = 1028,
+	ETrackedDeviceProperty_Prop_DeviceClass_Int32 = 1029,
+	ETrackedDeviceProperty_Prop_HasCamera_Bool = 1030,
+	ETrackedDeviceProperty_Prop_DriverVersion_String = 1031,
+	ETrackedDeviceProperty_Prop_Firmware_ForceUpdateRequired_Bool = 1032,
+	ETrackedDeviceProperty_Prop_ViveSystemButtonFixRequired_Bool = 1033,
+	ETrackedDeviceProperty_Prop_ParentDriver_Uint64 = 1034,
+	ETrackedDeviceProperty_Prop_ResourceRoot_String = 1035,
+	ETrackedDeviceProperty_Prop_ReportsTimeSinceVSync_Bool = 2000,
+	ETrackedDeviceProperty_Prop_SecondsFromVsyncToPhotons_Float = 2001,
+	ETrackedDeviceProperty_Prop_DisplayFrequency_Float = 2002,
+	ETrackedDeviceProperty_Prop_UserIpdMeters_Float = 2003,
+	ETrackedDeviceProperty_Prop_CurrentUniverseId_Uint64 = 2004,
+	ETrackedDeviceProperty_Prop_PreviousUniverseId_Uint64 = 2005,
+	ETrackedDeviceProperty_Prop_DisplayFirmwareVersion_Uint64 = 2006,
+	ETrackedDeviceProperty_Prop_IsOnDesktop_Bool = 2007,
+	ETrackedDeviceProperty_Prop_DisplayMCType_Int32 = 2008,
+	ETrackedDeviceProperty_Prop_DisplayMCOffset_Float = 2009,
+	ETrackedDeviceProperty_Prop_DisplayMCScale_Float = 2010,
+	ETrackedDeviceProperty_Prop_EdidVendorID_Int32 = 2011,
+	ETrackedDeviceProperty_Prop_DisplayMCImageLeft_String = 2012,
+	ETrackedDeviceProperty_Prop_DisplayMCImageRight_String = 2013,
+	ETrackedDeviceProperty_Prop_DisplayGCBlackClamp_Float = 2014,
+	ETrackedDeviceProperty_Prop_EdidProductID_Int32 = 2015,
+	ETrackedDeviceProperty_Prop_CameraToHeadTransform_Matrix34 = 2016,
+	ETrackedDeviceProperty_Prop_DisplayGCType_Int32 = 2017,
+	ETrackedDeviceProperty_Prop_DisplayGCOffset_Float = 2018,
+	ETrackedDeviceProperty_Prop_DisplayGCScale_Float = 2019,
+	ETrackedDeviceProperty_Prop_DisplayGCPrescale_Float = 2020,
+	ETrackedDeviceProperty_Prop_DisplayGCImage_String = 2021,
+	ETrackedDeviceProperty_Prop_LensCenterLeftU_Float = 2022,
+	ETrackedDeviceProperty_Prop_LensCenterLeftV_Float = 2023,
+	ETrackedDeviceProperty_Prop_LensCenterRightU_Float = 2024,
+	ETrackedDeviceProperty_Prop_LensCenterRightV_Float = 2025,
+	ETrackedDeviceProperty_Prop_UserHeadToEyeDepthMeters_Float = 2026,
+	ETrackedDeviceProperty_Prop_CameraFirmwareVersion_Uint64 = 2027,
+	ETrackedDeviceProperty_Prop_CameraFirmwareDescription_String = 2028,
+	ETrackedDeviceProperty_Prop_DisplayFPGAVersion_Uint64 = 2029,
+	ETrackedDeviceProperty_Prop_DisplayBootloaderVersion_Uint64 = 2030,
+	ETrackedDeviceProperty_Prop_DisplayHardwareVersion_Uint64 = 2031,
+	ETrackedDeviceProperty_Prop_AudioFirmwareVersion_Uint64 = 2032,
+	ETrackedDeviceProperty_Prop_CameraCompatibilityMode_Int32 = 2033,
+	ETrackedDeviceProperty_Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	ETrackedDeviceProperty_Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	ETrackedDeviceProperty_Prop_DisplaySuppressed_Bool = 2036,
+	ETrackedDeviceProperty_Prop_DisplayAllowNightMode_Bool = 2037,
+	ETrackedDeviceProperty_Prop_DisplayMCImageWidth_Int32 = 2038,
+	ETrackedDeviceProperty_Prop_DisplayMCImageHeight_Int32 = 2039,
+	ETrackedDeviceProperty_Prop_DisplayMCImageNumChannels_Int32 = 2040,
+	ETrackedDeviceProperty_Prop_DisplayMCImageData_Binary = 2041,
+	ETrackedDeviceProperty_Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	ETrackedDeviceProperty_Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	ETrackedDeviceProperty_Prop_DisplayDebugMode_Bool = 2044,
+	ETrackedDeviceProperty_Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	ETrackedDeviceProperty_Prop_AttachedDeviceId_String = 3000,
+	ETrackedDeviceProperty_Prop_SupportedButtons_Uint64 = 3001,
+	ETrackedDeviceProperty_Prop_Axis0Type_Int32 = 3002,
+	ETrackedDeviceProperty_Prop_Axis1Type_Int32 = 3003,
+	ETrackedDeviceProperty_Prop_Axis2Type_Int32 = 3004,
+	ETrackedDeviceProperty_Prop_Axis3Type_Int32 = 3005,
+	ETrackedDeviceProperty_Prop_Axis4Type_Int32 = 3006,
+	ETrackedDeviceProperty_Prop_ControllerRoleHint_Int32 = 3007,
+	ETrackedDeviceProperty_Prop_FieldOfViewLeftDegrees_Float = 4000,
+	ETrackedDeviceProperty_Prop_FieldOfViewRightDegrees_Float = 4001,
+	ETrackedDeviceProperty_Prop_FieldOfViewTopDegrees_Float = 4002,
+	ETrackedDeviceProperty_Prop_FieldOfViewBottomDegrees_Float = 4003,
+	ETrackedDeviceProperty_Prop_TrackingRangeMinimumMeters_Float = 4004,
+	ETrackedDeviceProperty_Prop_TrackingRangeMaximumMeters_Float = 4005,
+	ETrackedDeviceProperty_Prop_ModeLabel_String = 4006,
+	ETrackedDeviceProperty_Prop_IconPathName_String = 5000,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceOff_String = 5001,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceSearching_String = 5002,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceSearchingAlert_String = 5003,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceReady_String = 5004,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceReadyAlert_String = 5005,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceNotReady_String = 5006,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceStandby_String = 5007,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceAlertLow_String = 5008,
+	ETrackedDeviceProperty_Prop_DisplayHiddenArea_Binary_Start = 5100,
+	ETrackedDeviceProperty_Prop_DisplayHiddenArea_Binary_End = 5150,
+	ETrackedDeviceProperty_Prop_UserConfigPath_String = 6000,
+	ETrackedDeviceProperty_Prop_InstallPath_String = 6001,
+	ETrackedDeviceProperty_Prop_HasDisplayComponent_Bool = 6002,
+	ETrackedDeviceProperty_Prop_HasControllerComponent_Bool = 6003,
+	ETrackedDeviceProperty_Prop_HasCameraComponent_Bool = 6004,
+	ETrackedDeviceProperty_Prop_HasDriverDirectModeComponent_Bool = 6005,
+	ETrackedDeviceProperty_Prop_HasVirtualDisplayComponent_Bool = 6006,
+	ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_Start = 10000,
+	ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_End = 10999,
+} ETrackedDeviceProperty;
+
+typedef enum ETrackedPropertyError
+{
+	ETrackedPropertyError_TrackedProp_Success = 0,
+	ETrackedPropertyError_TrackedProp_WrongDataType = 1,
+	ETrackedPropertyError_TrackedProp_WrongDeviceClass = 2,
+	ETrackedPropertyError_TrackedProp_BufferTooSmall = 3,
+	ETrackedPropertyError_TrackedProp_UnknownProperty = 4,
+	ETrackedPropertyError_TrackedProp_InvalidDevice = 5,
+	ETrackedPropertyError_TrackedProp_CouldNotContactServer = 6,
+	ETrackedPropertyError_TrackedProp_ValueNotProvidedByDevice = 7,
+	ETrackedPropertyError_TrackedProp_StringExceedsMaximumLength = 8,
+	ETrackedPropertyError_TrackedProp_NotYetAvailable = 9,
+	ETrackedPropertyError_TrackedProp_PermissionDenied = 10,
+	ETrackedPropertyError_TrackedProp_InvalidOperation = 11,
+} ETrackedPropertyError;
+
+typedef enum EVRSubmitFlags
+{
+	EVRSubmitFlags_Submit_Default = 0,
+	EVRSubmitFlags_Submit_LensDistortionAlreadyApplied = 1,
+	EVRSubmitFlags_Submit_GlRenderBuffer = 2,
+	EVRSubmitFlags_Submit_Reserved = 4,
+} EVRSubmitFlags;
+
+typedef enum EVRState
+{
+	EVRState_VRState_Undefined = -1,
+	EVRState_VRState_Off = 0,
+	EVRState_VRState_Searching = 1,
+	EVRState_VRState_Searching_Alert = 2,
+	EVRState_VRState_Ready = 3,
+	EVRState_VRState_Ready_Alert = 4,
+	EVRState_VRState_NotReady = 5,
+	EVRState_VRState_Standby = 6,
+	EVRState_VRState_Ready_Alert_Low = 7,
+} EVRState;
+
+typedef enum EVREventType
+{
+	EVREventType_VREvent_None = 0,
+	EVREventType_VREvent_TrackedDeviceActivated = 100,
+	EVREventType_VREvent_TrackedDeviceDeactivated = 101,
+	EVREventType_VREvent_TrackedDeviceUpdated = 102,
+	EVREventType_VREvent_TrackedDeviceUserInteractionStarted = 103,
+	EVREventType_VREvent_TrackedDeviceUserInteractionEnded = 104,
+	EVREventType_VREvent_IpdChanged = 105,
+	EVREventType_VREvent_EnterStandbyMode = 106,
+	EVREventType_VREvent_LeaveStandbyMode = 107,
+	EVREventType_VREvent_TrackedDeviceRoleChanged = 108,
+	EVREventType_VREvent_WatchdogWakeUpRequested = 109,
+	EVREventType_VREvent_LensDistortionChanged = 110,
+	EVREventType_VREvent_PropertyChanged = 111,
+	EVREventType_VREvent_ButtonPress = 200,
+	EVREventType_VREvent_ButtonUnpress = 201,
+	EVREventType_VREvent_ButtonTouch = 202,
+	EVREventType_VREvent_ButtonUntouch = 203,
+	EVREventType_VREvent_MouseMove = 300,
+	EVREventType_VREvent_MouseButtonDown = 301,
+	EVREventType_VREvent_MouseButtonUp = 302,
+	EVREventType_VREvent_FocusEnter = 303,
+	EVREventType_VREvent_FocusLeave = 304,
+	EVREventType_VREvent_Scroll = 305,
+	EVREventType_VREvent_TouchPadMove = 306,
+	EVREventType_VREvent_OverlayFocusChanged = 307,
+	EVREventType_VREvent_InputFocusCaptured = 400,
+	EVREventType_VREvent_InputFocusReleased = 401,
+	EVREventType_VREvent_SceneFocusLost = 402,
+	EVREventType_VREvent_SceneFocusGained = 403,
+	EVREventType_VREvent_SceneApplicationChanged = 404,
+	EVREventType_VREvent_SceneFocusChanged = 405,
+	EVREventType_VREvent_InputFocusChanged = 406,
+	EVREventType_VREvent_SceneApplicationSecondaryRenderingStarted = 407,
+	EVREventType_VREvent_HideRenderModels = 410,
+	EVREventType_VREvent_ShowRenderModels = 411,
+	EVREventType_VREvent_OverlayShown = 500,
+	EVREventType_VREvent_OverlayHidden = 501,
+	EVREventType_VREvent_DashboardActivated = 502,
+	EVREventType_VREvent_DashboardDeactivated = 503,
+	EVREventType_VREvent_DashboardThumbSelected = 504,
+	EVREventType_VREvent_DashboardRequested = 505,
+	EVREventType_VREvent_ResetDashboard = 506,
+	EVREventType_VREvent_RenderToast = 507,
+	EVREventType_VREvent_ImageLoaded = 508,
+	EVREventType_VREvent_ShowKeyboard = 509,
+	EVREventType_VREvent_HideKeyboard = 510,
+	EVREventType_VREvent_OverlayGamepadFocusGained = 511,
+	EVREventType_VREvent_OverlayGamepadFocusLost = 512,
+	EVREventType_VREvent_OverlaySharedTextureChanged = 513,
+	EVREventType_VREvent_DashboardGuideButtonDown = 514,
+	EVREventType_VREvent_DashboardGuideButtonUp = 515,
+	EVREventType_VREvent_ScreenshotTriggered = 516,
+	EVREventType_VREvent_ImageFailed = 517,
+	EVREventType_VREvent_DashboardOverlayCreated = 518,
+	EVREventType_VREvent_RequestScreenshot = 520,
+	EVREventType_VREvent_ScreenshotTaken = 521,
+	EVREventType_VREvent_ScreenshotFailed = 522,
+	EVREventType_VREvent_SubmitScreenshotToDashboard = 523,
+	EVREventType_VREvent_ScreenshotProgressToDashboard = 524,
+	EVREventType_VREvent_PrimaryDashboardDeviceChanged = 525,
+	EVREventType_VREvent_Notification_Shown = 600,
+	EVREventType_VREvent_Notification_Hidden = 601,
+	EVREventType_VREvent_Notification_BeginInteraction = 602,
+	EVREventType_VREvent_Notification_Destroyed = 603,
+	EVREventType_VREvent_Quit = 700,
+	EVREventType_VREvent_ProcessQuit = 701,
+	EVREventType_VREvent_QuitAborted_UserPrompt = 702,
+	EVREventType_VREvent_QuitAcknowledged = 703,
+	EVREventType_VREvent_DriverRequestedQuit = 704,
+	EVREventType_VREvent_ChaperoneDataHasChanged = 800,
+	EVREventType_VREvent_ChaperoneUniverseHasChanged = 801,
+	EVREventType_VREvent_ChaperoneTempDataHasChanged = 802,
+	EVREventType_VREvent_ChaperoneSettingsHaveChanged = 803,
+	EVREventType_VREvent_SeatedZeroPoseReset = 804,
+	EVREventType_VREvent_AudioSettingsHaveChanged = 820,
+	EVREventType_VREvent_BackgroundSettingHasChanged = 850,
+	EVREventType_VREvent_CameraSettingsHaveChanged = 851,
+	EVREventType_VREvent_ReprojectionSettingHasChanged = 852,
+	EVREventType_VREvent_ModelSkinSettingsHaveChanged = 853,
+	EVREventType_VREvent_EnvironmentSettingsHaveChanged = 854,
+	EVREventType_VREvent_PowerSettingsHaveChanged = 855,
+	EVREventType_VREvent_EnableHomeAppSettingsHaveChanged = 856,
+	EVREventType_VREvent_StatusUpdate = 900,
+	EVREventType_VREvent_MCImageUpdated = 1000,
+	EVREventType_VREvent_FirmwareUpdateStarted = 1100,
+	EVREventType_VREvent_FirmwareUpdateFinished = 1101,
+	EVREventType_VREvent_KeyboardClosed = 1200,
+	EVREventType_VREvent_KeyboardCharInput = 1201,
+	EVREventType_VREvent_KeyboardDone = 1202,
+	EVREventType_VREvent_ApplicationTransitionStarted = 1300,
+	EVREventType_VREvent_ApplicationTransitionAborted = 1301,
+	EVREventType_VREvent_ApplicationTransitionNewAppStarted = 1302,
+	EVREventType_VREvent_ApplicationListUpdated = 1303,
+	EVREventType_VREvent_ApplicationMimeTypeLoad = 1304,
+	EVREventType_VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	EVREventType_VREvent_ProcessConnected = 1306,
+	EVREventType_VREvent_ProcessDisconnected = 1307,
+	EVREventType_VREvent_Compositor_MirrorWindowShown = 1400,
+	EVREventType_VREvent_Compositor_MirrorWindowHidden = 1401,
+	EVREventType_VREvent_Compositor_ChaperoneBoundsShown = 1410,
+	EVREventType_VREvent_Compositor_ChaperoneBoundsHidden = 1411,
+	EVREventType_VREvent_TrackedCamera_StartVideoStream = 1500,
+	EVREventType_VREvent_TrackedCamera_StopVideoStream = 1501,
+	EVREventType_VREvent_TrackedCamera_PauseVideoStream = 1502,
+	EVREventType_VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	EVREventType_VREvent_TrackedCamera_EditingSurface = 1550,
+	EVREventType_VREvent_PerformanceTest_EnableCapture = 1600,
+	EVREventType_VREvent_PerformanceTest_DisableCapture = 1601,
+	EVREventType_VREvent_PerformanceTest_FidelityLevel = 1602,
+	EVREventType_VREvent_MessageOverlay_Closed = 1650,
+	EVREventType_VREvent_VendorSpecific_Reserved_Start = 10000,
+	EVREventType_VREvent_VendorSpecific_Reserved_End = 19999,
+} EVREventType;
+
+typedef enum EDeviceActivityLevel
+{
+	EDeviceActivityLevel_k_EDeviceActivityLevel_Unknown = -1,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_Idle = 0,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_UserInteraction = 1,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_UserInteraction_Timeout = 2,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_Standby = 3,
+} EDeviceActivityLevel;
+
+typedef enum EVRButtonId
+{
+	EVRButtonId_k_EButton_System = 0,
+	EVRButtonId_k_EButton_ApplicationMenu = 1,
+	EVRButtonId_k_EButton_Grip = 2,
+	EVRButtonId_k_EButton_DPad_Left = 3,
+	EVRButtonId_k_EButton_DPad_Up = 4,
+	EVRButtonId_k_EButton_DPad_Right = 5,
+	EVRButtonId_k_EButton_DPad_Down = 6,
+	EVRButtonId_k_EButton_A = 7,
+	EVRButtonId_k_EButton_ProximitySensor = 31,
+	EVRButtonId_k_EButton_Axis0 = 32,
+	EVRButtonId_k_EButton_Axis1 = 33,
+	EVRButtonId_k_EButton_Axis2 = 34,
+	EVRButtonId_k_EButton_Axis3 = 35,
+	EVRButtonId_k_EButton_Axis4 = 36,
+	EVRButtonId_k_EButton_SteamVR_Touchpad = 32,
+	EVRButtonId_k_EButton_SteamVR_Trigger = 33,
+	EVRButtonId_k_EButton_Dashboard_Back = 2,
+	EVRButtonId_k_EButton_Max = 64,
+} EVRButtonId;
+
+typedef enum EVRMouseButton
+{
+	EVRMouseButton_VRMouseButton_Left = 1,
+	EVRMouseButton_VRMouseButton_Right = 2,
+	EVRMouseButton_VRMouseButton_Middle = 4,
+} EVRMouseButton;
+
+typedef enum EHiddenAreaMeshType
+{
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Standard = 0,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Inverse = 1,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_LineLoop = 2,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Max = 3,
+} EHiddenAreaMeshType;
+
+typedef enum EVRControllerAxisType
+{
+	EVRControllerAxisType_k_eControllerAxis_None = 0,
+	EVRControllerAxisType_k_eControllerAxis_TrackPad = 1,
+	EVRControllerAxisType_k_eControllerAxis_Joystick = 2,
+	EVRControllerAxisType_k_eControllerAxis_Trigger = 3,
+} EVRControllerAxisType;
+
+typedef enum EVRControllerEventOutputType
+{
+	EVRControllerEventOutputType_ControllerEventOutput_OSEvents = 0,
+	EVRControllerEventOutputType_ControllerEventOutput_VREvents = 1,
+} EVRControllerEventOutputType;
+
+typedef enum ECollisionBoundsStyle
+{
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_INTERMEDIATE = 1,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_SQUARES = 2,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_ADVANCED = 3,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_NONE = 4,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_COUNT = 5,
+} ECollisionBoundsStyle;
+
+typedef enum EVROverlayError
+{
+	EVROverlayError_VROverlayError_None = 0,
+	EVROverlayError_VROverlayError_UnknownOverlay = 10,
+	EVROverlayError_VROverlayError_InvalidHandle = 11,
+	EVROverlayError_VROverlayError_PermissionDenied = 12,
+	EVROverlayError_VROverlayError_OverlayLimitExceeded = 13,
+	EVROverlayError_VROverlayError_WrongVisibilityType = 14,
+	EVROverlayError_VROverlayError_KeyTooLong = 15,
+	EVROverlayError_VROverlayError_NameTooLong = 16,
+	EVROverlayError_VROverlayError_KeyInUse = 17,
+	EVROverlayError_VROverlayError_WrongTransformType = 18,
+	EVROverlayError_VROverlayError_InvalidTrackedDevice = 19,
+	EVROverlayError_VROverlayError_InvalidParameter = 20,
+	EVROverlayError_VROverlayError_ThumbnailCantBeDestroyed = 21,
+	EVROverlayError_VROverlayError_ArrayTooSmall = 22,
+	EVROverlayError_VROverlayError_RequestFailed = 23,
+	EVROverlayError_VROverlayError_InvalidTexture = 24,
+	EVROverlayError_VROverlayError_UnableToLoadFile = 25,
+	EVROverlayError_VROverlayError_KeyboardAlreadyInUse = 26,
+	EVROverlayError_VROverlayError_NoNeighbor = 27,
+	EVROverlayError_VROverlayError_TooManyMaskPrimitives = 29,
+	EVROverlayError_VROverlayError_BadMaskPrimitive = 30,
+} EVROverlayError;
+
+typedef enum EVRApplicationType
+{
+	EVRApplicationType_VRApplication_Other = 0,
+	EVRApplicationType_VRApplication_Scene = 1,
+	EVRApplicationType_VRApplication_Overlay = 2,
+	EVRApplicationType_VRApplication_Background = 3,
+	EVRApplicationType_VRApplication_Utility = 4,
+	EVRApplicationType_VRApplication_VRMonitor = 5,
+	EVRApplicationType_VRApplication_SteamWatchdog = 6,
+	EVRApplicationType_VRApplication_Bootstrapper = 7,
+	EVRApplicationType_VRApplication_Max = 8,
+} EVRApplicationType;
+
+typedef enum EVRFirmwareError
+{
+	EVRFirmwareError_VRFirmwareError_None = 0,
+	EVRFirmwareError_VRFirmwareError_Success = 1,
+	EVRFirmwareError_VRFirmwareError_Fail = 2,
+} EVRFirmwareError;
+
+typedef enum EVRNotificationError
+{
+	EVRNotificationError_VRNotificationError_OK = 0,
+	EVRNotificationError_VRNotificationError_InvalidNotificationId = 100,
+	EVRNotificationError_VRNotificationError_NotificationQueueFull = 101,
+	EVRNotificationError_VRNotificationError_InvalidOverlayHandle = 102,
+	EVRNotificationError_VRNotificationError_SystemWithUserValueAlreadyExists = 103,
+} EVRNotificationError;
+
+typedef enum EVRInitError
+{
+	EVRInitError_VRInitError_None = 0,
+	EVRInitError_VRInitError_Unknown = 1,
+	EVRInitError_VRInitError_Init_InstallationNotFound = 100,
+	EVRInitError_VRInitError_Init_InstallationCorrupt = 101,
+	EVRInitError_VRInitError_Init_VRClientDLLNotFound = 102,
+	EVRInitError_VRInitError_Init_FileNotFound = 103,
+	EVRInitError_VRInitError_Init_FactoryNotFound = 104,
+	EVRInitError_VRInitError_Init_InterfaceNotFound = 105,
+	EVRInitError_VRInitError_Init_InvalidInterface = 106,
+	EVRInitError_VRInitError_Init_UserConfigDirectoryInvalid = 107,
+	EVRInitError_VRInitError_Init_HmdNotFound = 108,
+	EVRInitError_VRInitError_Init_NotInitialized = 109,
+	EVRInitError_VRInitError_Init_PathRegistryNotFound = 110,
+	EVRInitError_VRInitError_Init_NoConfigPath = 111,
+	EVRInitError_VRInitError_Init_NoLogPath = 112,
+	EVRInitError_VRInitError_Init_PathRegistryNotWritable = 113,
+	EVRInitError_VRInitError_Init_AppInfoInitFailed = 114,
+	EVRInitError_VRInitError_Init_Retry = 115,
+	EVRInitError_VRInitError_Init_InitCanceledByUser = 116,
+	EVRInitError_VRInitError_Init_AnotherAppLaunching = 117,
+	EVRInitError_VRInitError_Init_SettingsInitFailed = 118,
+	EVRInitError_VRInitError_Init_ShuttingDown = 119,
+	EVRInitError_VRInitError_Init_TooManyObjects = 120,
+	EVRInitError_VRInitError_Init_NoServerForBackgroundApp = 121,
+	EVRInitError_VRInitError_Init_NotSupportedWithCompositor = 122,
+	EVRInitError_VRInitError_Init_NotAvailableToUtilityApps = 123,
+	EVRInitError_VRInitError_Init_Internal = 124,
+	EVRInitError_VRInitError_Init_HmdDriverIdIsNone = 125,
+	EVRInitError_VRInitError_Init_HmdNotFoundPresenceFailed = 126,
+	EVRInitError_VRInitError_Init_VRMonitorNotFound = 127,
+	EVRInitError_VRInitError_Init_VRMonitorStartupFailed = 128,
+	EVRInitError_VRInitError_Init_LowPowerWatchdogNotSupported = 129,
+	EVRInitError_VRInitError_Init_InvalidApplicationType = 130,
+	EVRInitError_VRInitError_Init_NotAvailableToWatchdogApps = 131,
+	EVRInitError_VRInitError_Init_WatchdogDisabledInSettings = 132,
+	EVRInitError_VRInitError_Init_VRDashboardNotFound = 133,
+	EVRInitError_VRInitError_Init_VRDashboardStartupFailed = 134,
+	EVRInitError_VRInitError_Init_VRHomeNotFound = 135,
+	EVRInitError_VRInitError_Init_VRHomeStartupFailed = 136,
+	EVRInitError_VRInitError_Driver_Failed = 200,
+	EVRInitError_VRInitError_Driver_Unknown = 201,
+	EVRInitError_VRInitError_Driver_HmdUnknown = 202,
+	EVRInitError_VRInitError_Driver_NotLoaded = 203,
+	EVRInitError_VRInitError_Driver_RuntimeOutOfDate = 204,
+	EVRInitError_VRInitError_Driver_HmdInUse = 205,
+	EVRInitError_VRInitError_Driver_NotCalibrated = 206,
+	EVRInitError_VRInitError_Driver_CalibrationInvalid = 207,
+	EVRInitError_VRInitError_Driver_HmdDisplayNotFound = 208,
+	EVRInitError_VRInitError_Driver_TrackedDeviceInterfaceUnknown = 209,
+	EVRInitError_VRInitError_Driver_HmdDriverIdOutOfBounds = 211,
+	EVRInitError_VRInitError_Driver_HmdDisplayMirrored = 212,
+	EVRInitError_VRInitError_IPC_ServerInitFailed = 300,
+	EVRInitError_VRInitError_IPC_ConnectFailed = 301,
+	EVRInitError_VRInitError_IPC_SharedStateInitFailed = 302,
+	EVRInitError_VRInitError_IPC_CompositorInitFailed = 303,
+	EVRInitError_VRInitError_IPC_MutexInitFailed = 304,
+	EVRInitError_VRInitError_IPC_Failed = 305,
+	EVRInitError_VRInitError_IPC_CompositorConnectFailed = 306,
+	EVRInitError_VRInitError_IPC_CompositorInvalidConnectResponse = 307,
+	EVRInitError_VRInitError_IPC_ConnectFailedAfterMultipleAttempts = 308,
+	EVRInitError_VRInitError_Compositor_Failed = 400,
+	EVRInitError_VRInitError_Compositor_D3D11HardwareRequired = 401,
+	EVRInitError_VRInitError_Compositor_FirmwareRequiresUpdate = 402,
+	EVRInitError_VRInitError_Compositor_OverlayInitFailed = 403,
+	EVRInitError_VRInitError_Compositor_ScreenshotsInitFailed = 404,
+	EVRInitError_VRInitError_Compositor_UnableToCreateDevice = 405,
+	EVRInitError_VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_CantOpenDevice = 1101,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_NoStoredConfig = 1103,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigTooBig = 1104,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigTooSmall = 1105,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToInitZLib = 1106,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UserDataAddressRange = 1111,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UserDataError = 1112,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113,
+	EVRInitError_VRInitError_Steam_SteamInstallationNotFound = 2000,
+} EVRInitError;
+
+typedef enum EVRScreenshotType
+{
+	EVRScreenshotType_VRScreenshotType_None = 0,
+	EVRScreenshotType_VRScreenshotType_Mono = 1,
+	EVRScreenshotType_VRScreenshotType_Stereo = 2,
+	EVRScreenshotType_VRScreenshotType_Cubemap = 3,
+	EVRScreenshotType_VRScreenshotType_MonoPanorama = 4,
+	EVRScreenshotType_VRScreenshotType_StereoPanorama = 5,
+} EVRScreenshotType;
+
+typedef enum EVRScreenshotPropertyFilenames
+{
+	EVRScreenshotPropertyFilenames_VRScreenshotPropertyFilenames_Preview = 0,
+	EVRScreenshotPropertyFilenames_VRScreenshotPropertyFilenames_VR = 1,
+} EVRScreenshotPropertyFilenames;
+
+typedef enum EVRTrackedCameraError
+{
+	EVRTrackedCameraError_VRTrackedCameraError_None = 0,
+	EVRTrackedCameraError_VRTrackedCameraError_OperationFailed = 100,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidHandle = 101,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidFrameHeaderVersion = 102,
+	EVRTrackedCameraError_VRTrackedCameraError_OutOfHandles = 103,
+	EVRTrackedCameraError_VRTrackedCameraError_IPCFailure = 104,
+	EVRTrackedCameraError_VRTrackedCameraError_NotSupportedForThisDevice = 105,
+	EVRTrackedCameraError_VRTrackedCameraError_SharedMemoryFailure = 106,
+	EVRTrackedCameraError_VRTrackedCameraError_FrameBufferingFailure = 107,
+	EVRTrackedCameraError_VRTrackedCameraError_StreamSetupFailure = 108,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidGLTextureId = 109,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidSharedTextureHandle = 110,
+	EVRTrackedCameraError_VRTrackedCameraError_FailedToGetGLTextureId = 111,
+	EVRTrackedCameraError_VRTrackedCameraError_SharedTextureFailure = 112,
+	EVRTrackedCameraError_VRTrackedCameraError_NoFrameAvailable = 113,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidArgument = 114,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidFrameBufferSize = 115,
+} EVRTrackedCameraError;
+
+typedef enum EVRTrackedCameraFrameType
+{
+	EVRTrackedCameraFrameType_VRTrackedCameraFrameType_Distorted = 0,
+	EVRTrackedCameraFrameType_VRTrackedCameraFrameType_Undistorted = 1,
+	EVRTrackedCameraFrameType_VRTrackedCameraFrameType_MaximumUndistorted = 2,
+	EVRTrackedCameraFrameType_MAX_CAMERA_FRAME_TYPES = 3,
+} EVRTrackedCameraFrameType;
+
+typedef enum EVRApplicationError
+{
+	EVRApplicationError_VRApplicationError_None = 0,
+	EVRApplicationError_VRApplicationError_AppKeyAlreadyExists = 100,
+	EVRApplicationError_VRApplicationError_NoManifest = 101,
+	EVRApplicationError_VRApplicationError_NoApplication = 102,
+	EVRApplicationError_VRApplicationError_InvalidIndex = 103,
+	EVRApplicationError_VRApplicationError_UnknownApplication = 104,
+	EVRApplicationError_VRApplicationError_IPCFailed = 105,
+	EVRApplicationError_VRApplicationError_ApplicationAlreadyRunning = 106,
+	EVRApplicationError_VRApplicationError_InvalidManifest = 107,
+	EVRApplicationError_VRApplicationError_InvalidApplication = 108,
+	EVRApplicationError_VRApplicationError_LaunchFailed = 109,
+	EVRApplicationError_VRApplicationError_ApplicationAlreadyStarting = 110,
+	EVRApplicationError_VRApplicationError_LaunchInProgress = 111,
+	EVRApplicationError_VRApplicationError_OldApplicationQuitting = 112,
+	EVRApplicationError_VRApplicationError_TransitionAborted = 113,
+	EVRApplicationError_VRApplicationError_IsTemplate = 114,
+	EVRApplicationError_VRApplicationError_BufferTooSmall = 200,
+	EVRApplicationError_VRApplicationError_PropertyNotSet = 201,
+	EVRApplicationError_VRApplicationError_UnknownProperty = 202,
+	EVRApplicationError_VRApplicationError_InvalidParameter = 203,
+} EVRApplicationError;
+
+typedef enum EVRApplicationProperty
+{
+	EVRApplicationProperty_VRApplicationProperty_Name_String = 0,
+	EVRApplicationProperty_VRApplicationProperty_LaunchType_String = 11,
+	EVRApplicationProperty_VRApplicationProperty_WorkingDirectory_String = 12,
+	EVRApplicationProperty_VRApplicationProperty_BinaryPath_String = 13,
+	EVRApplicationProperty_VRApplicationProperty_Arguments_String = 14,
+	EVRApplicationProperty_VRApplicationProperty_URL_String = 15,
+	EVRApplicationProperty_VRApplicationProperty_Description_String = 50,
+	EVRApplicationProperty_VRApplicationProperty_NewsURL_String = 51,
+	EVRApplicationProperty_VRApplicationProperty_ImagePath_String = 52,
+	EVRApplicationProperty_VRApplicationProperty_Source_String = 53,
+	EVRApplicationProperty_VRApplicationProperty_IsDashboardOverlay_Bool = 60,
+	EVRApplicationProperty_VRApplicationProperty_IsTemplate_Bool = 61,
+	EVRApplicationProperty_VRApplicationProperty_IsInstanced_Bool = 62,
+	EVRApplicationProperty_VRApplicationProperty_IsInternal_Bool = 63,
+	EVRApplicationProperty_VRApplicationProperty_LastLaunchTime_Uint64 = 70,
+} EVRApplicationProperty;
+
+typedef enum EVRApplicationTransitionState
+{
+	EVRApplicationTransitionState_VRApplicationTransition_None = 0,
+	EVRApplicationTransitionState_VRApplicationTransition_OldAppQuitSent = 10,
+	EVRApplicationTransitionState_VRApplicationTransition_WaitingForExternalLaunch = 11,
+	EVRApplicationTransitionState_VRApplicationTransition_NewAppLaunched = 20,
+} EVRApplicationTransitionState;
+
+typedef enum ChaperoneCalibrationState
+{
+	ChaperoneCalibrationState_OK = 1,
+	ChaperoneCalibrationState_Warning = 100,
+	ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved = 101,
+	ChaperoneCalibrationState_Warning_BaseStationRemoved = 102,
+	ChaperoneCalibrationState_Warning_SeatedBoundsInvalid = 103,
+	ChaperoneCalibrationState_Error = 200,
+	ChaperoneCalibrationState_Error_BaseStationUninitialized = 201,
+	ChaperoneCalibrationState_Error_BaseStationConflict = 202,
+	ChaperoneCalibrationState_Error_PlayAreaInvalid = 203,
+	ChaperoneCalibrationState_Error_CollisionBoundsInvalid = 204,
+} ChaperoneCalibrationState;
+
+typedef enum EChaperoneConfigFile
+{
+	EChaperoneConfigFile_Live = 1,
+	EChaperoneConfigFile_Temp = 2,
+} EChaperoneConfigFile;
+
+typedef enum EChaperoneImportFlags
+{
+	EChaperoneImportFlags_EChaperoneImport_BoundsOnly = 1,
+} EChaperoneImportFlags;
+
+typedef enum EVRCompositorError
+{
+	EVRCompositorError_VRCompositorError_None = 0,
+	EVRCompositorError_VRCompositorError_RequestFailed = 1,
+	EVRCompositorError_VRCompositorError_IncompatibleVersion = 100,
+	EVRCompositorError_VRCompositorError_DoNotHaveFocus = 101,
+	EVRCompositorError_VRCompositorError_InvalidTexture = 102,
+	EVRCompositorError_VRCompositorError_IsNotSceneApplication = 103,
+	EVRCompositorError_VRCompositorError_TextureIsOnWrongDevice = 104,
+	EVRCompositorError_VRCompositorError_TextureUsesUnsupportedFormat = 105,
+	EVRCompositorError_VRCompositorError_SharedTexturesNotSupported = 106,
+	EVRCompositorError_VRCompositorError_IndexOutOfRange = 107,
+	EVRCompositorError_VRCompositorError_AlreadySubmitted = 108,
+} EVRCompositorError;
+
+typedef enum VROverlayInputMethod
+{
+	VROverlayInputMethod_None = 0,
+	VROverlayInputMethod_Mouse = 1,
+} VROverlayInputMethod;
+
+typedef enum VROverlayTransformType
+{
+	VROverlayTransformType_VROverlayTransform_Absolute = 0,
+	VROverlayTransformType_VROverlayTransform_TrackedDeviceRelative = 1,
+	VROverlayTransformType_VROverlayTransform_SystemOverlay = 2,
+	VROverlayTransformType_VROverlayTransform_TrackedComponent = 3,
+} VROverlayTransformType;
+
+typedef enum VROverlayFlags
+{
+	VROverlayFlags_None = 0,
+	VROverlayFlags_Curved = 1,
+	VROverlayFlags_RGSS4X = 2,
+	VROverlayFlags_NoDashboardTab = 3,
+	VROverlayFlags_AcceptsGamepadEvents = 4,
+	VROverlayFlags_ShowGamepadFocus = 5,
+	VROverlayFlags_SendVRScrollEvents = 6,
+	VROverlayFlags_SendVRTouchpadEvents = 7,
+	VROverlayFlags_ShowTouchPadScrollWheel = 8,
+	VROverlayFlags_TransferOwnershipToInternalProcess = 9,
+	VROverlayFlags_SideBySide_Parallel = 10,
+	VROverlayFlags_SideBySide_Crossed = 11,
+	VROverlayFlags_Panorama = 12,
+	VROverlayFlags_StereoPanorama = 13,
+	VROverlayFlags_SortWithNonSceneOverlays = 14,
+	VROverlayFlags_VisibleInDashboard = 15,
+} VROverlayFlags;
+
+typedef enum VRMessageOverlayResponse
+{
+	VRMessageOverlayResponse_ButtonPress_0 = 0,
+	VRMessageOverlayResponse_ButtonPress_1 = 1,
+	VRMessageOverlayResponse_ButtonPress_2 = 2,
+	VRMessageOverlayResponse_ButtonPress_3 = 3,
+	VRMessageOverlayResponse_CouldntFindSystemOverlay = 4,
+	VRMessageOverlayResponse_CouldntFindOrCreateClientOverlay = 5,
+	VRMessageOverlayResponse_ApplicationQuit = 6,
+} VRMessageOverlayResponse;
+
+typedef enum EGamepadTextInputMode
+{
+	EGamepadTextInputMode_k_EGamepadTextInputModeNormal = 0,
+	EGamepadTextInputMode_k_EGamepadTextInputModePassword = 1,
+	EGamepadTextInputMode_k_EGamepadTextInputModeSubmit = 2,
+} EGamepadTextInputMode;
+
+typedef enum EGamepadTextInputLineMode
+{
+	EGamepadTextInputLineMode_k_EGamepadTextInputLineModeSingleLine = 0,
+	EGamepadTextInputLineMode_k_EGamepadTextInputLineModeMultipleLines = 1,
+} EGamepadTextInputLineMode;
+
+typedef enum EOverlayDirection
+{
+	EOverlayDirection_OverlayDirection_Up = 0,
+	EOverlayDirection_OverlayDirection_Down = 1,
+	EOverlayDirection_OverlayDirection_Left = 2,
+	EOverlayDirection_OverlayDirection_Right = 3,
+	EOverlayDirection_OverlayDirection_Count = 4,
+} EOverlayDirection;
+
+typedef enum EVROverlayIntersectionMaskPrimitiveType
+{
+	EVROverlayIntersectionMaskPrimitiveType_OverlayIntersectionPrimitiveType_Rectangle = 0,
+	EVROverlayIntersectionMaskPrimitiveType_OverlayIntersectionPrimitiveType_Circle = 1,
+} EVROverlayIntersectionMaskPrimitiveType;
+
+typedef enum EVRRenderModelError
+{
+	EVRRenderModelError_VRRenderModelError_None = 0,
+	EVRRenderModelError_VRRenderModelError_Loading = 100,
+	EVRRenderModelError_VRRenderModelError_NotSupported = 200,
+	EVRRenderModelError_VRRenderModelError_InvalidArg = 300,
+	EVRRenderModelError_VRRenderModelError_InvalidModel = 301,
+	EVRRenderModelError_VRRenderModelError_NoShapes = 302,
+	EVRRenderModelError_VRRenderModelError_MultipleShapes = 303,
+	EVRRenderModelError_VRRenderModelError_TooManyVertices = 304,
+	EVRRenderModelError_VRRenderModelError_MultipleTextures = 305,
+	EVRRenderModelError_VRRenderModelError_BufferTooSmall = 306,
+	EVRRenderModelError_VRRenderModelError_NotEnoughNormals = 307,
+	EVRRenderModelError_VRRenderModelError_NotEnoughTexCoords = 308,
+	EVRRenderModelError_VRRenderModelError_InvalidTexture = 400,
+} EVRRenderModelError;
+
+typedef enum EVRComponentProperty
+{
+	EVRComponentProperty_VRComponentProperty_IsStatic = 1,
+	EVRComponentProperty_VRComponentProperty_IsVisible = 2,
+	EVRComponentProperty_VRComponentProperty_IsTouched = 4,
+	EVRComponentProperty_VRComponentProperty_IsPressed = 8,
+	EVRComponentProperty_VRComponentProperty_IsScrolled = 16,
+} EVRComponentProperty;
+
+typedef enum EVRNotificationType
+{
+	EVRNotificationType_Transient = 0,
+	EVRNotificationType_Persistent = 1,
+	EVRNotificationType_Transient_SystemWithUserValue = 2,
+} EVRNotificationType;
+
+typedef enum EVRNotificationStyle
+{
+	EVRNotificationStyle_None = 0,
+	EVRNotificationStyle_Application = 100,
+	EVRNotificationStyle_Contact_Disabled = 200,
+	EVRNotificationStyle_Contact_Enabled = 201,
+	EVRNotificationStyle_Contact_Active = 202,
+} EVRNotificationStyle;
+
+typedef enum EVRSettingsError
+{
+	EVRSettingsError_VRSettingsError_None = 0,
+	EVRSettingsError_VRSettingsError_IPCFailed = 1,
+	EVRSettingsError_VRSettingsError_WriteFailed = 2,
+	EVRSettingsError_VRSettingsError_ReadFailed = 3,
+	EVRSettingsError_VRSettingsError_JsonParseFailed = 4,
+	EVRSettingsError_VRSettingsError_UnsetSettingHasNoDefault = 5,
+} EVRSettingsError;
+
+typedef enum EVRScreenshotError
+{
+	EVRScreenshotError_VRScreenshotError_None = 0,
+	EVRScreenshotError_VRScreenshotError_RequestFailed = 1,
+	EVRScreenshotError_VRScreenshotError_IncompatibleVersion = 100,
+	EVRScreenshotError_VRScreenshotError_NotFound = 101,
+	EVRScreenshotError_VRScreenshotError_BufferTooSmall = 102,
+	EVRScreenshotError_VRScreenshotError_ScreenshotAlreadyInProgress = 108,
+} EVRScreenshotError;
+
+
+// OpenVR typedefs
+
+typedef uint32_t TrackedDeviceIndex_t;
+typedef uint32_t VRNotificationId;
+typedef uint64_t VROverlayHandle_t;
+
+typedef void * glSharedTextureHandle_t;
+typedef int32_t glInt_t;
+typedef uint32_t glUInt_t;
+typedef uint64_t SharedTextureHandle_t;
+typedef uint32_t DriverId_t;
+typedef uint32_t TrackedDeviceIndex_t;
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+typedef uint64_t VROverlayHandle_t;
+typedef uint64_t TrackedCameraHandle_t;
+typedef uint32_t ScreenshotHandle_t;
+typedef uint32_t VRComponentProperties;
+typedef int32_t TextureID_t;
+typedef uint32_t VRNotificationId;
+typedef EVRInitError HmdError;
+typedef EVREye Hmd_Eye;
+typedef EColorSpace ColorSpace;
+typedef ETrackingResult HmdTrackingResult;
+typedef ETrackedDeviceClass TrackedDeviceClass;
+typedef ETrackingUniverseOrigin TrackingUniverseOrigin;
+typedef ETrackedDeviceProperty TrackedDeviceProperty;
+typedef ETrackedPropertyError TrackedPropertyError;
+typedef EVRSubmitFlags VRSubmitFlags_t;
+typedef EVRState VRState_t;
+typedef ECollisionBoundsStyle CollisionBoundsStyle_t;
+typedef EVROverlayError VROverlayError;
+typedef EVRFirmwareError VRFirmwareError;
+typedef EVRCompositorError VRCompositorError;
+typedef EVRScreenshotError VRScreenshotsError;
+
+// OpenVR Structs
+
+typedef struct HmdMatrix34_t
+{
+	float m[3][4]; //float[3][4]
+} HmdMatrix34_t;
+
+typedef struct HmdMatrix44_t
+{
+	float m[4][4]; //float[4][4]
+} HmdMatrix44_t;
+
+typedef struct HmdVector3_t
+{
+	float v[3]; //float[3]
+} HmdVector3_t;
+
+typedef struct HmdVector4_t
+{
+	float v[4]; //float[4]
+} HmdVector4_t;
+
+typedef struct HmdVector3d_t
+{
+	double v[3]; //double[3]
+} HmdVector3d_t;
+
+typedef struct HmdVector2_t
+{
+	float v[2]; //float[2]
+} HmdVector2_t;
+
+typedef struct HmdQuaternion_t
+{
+	double w;
+	double x;
+	double y;
+	double z;
+} HmdQuaternion_t;
+
+typedef struct HmdColor_t
+{
+	float r;
+	float g;
+	float b;
+	float a;
+} HmdColor_t;
+
+typedef struct HmdQuad_t
+{
+	struct HmdVector3_t vCorners[4]; //struct vr::HmdVector3_t[4]
+} HmdQuad_t;
+
+typedef struct HmdRect2_t
+{
+	struct HmdVector2_t vTopLeft;
+	struct HmdVector2_t vBottomRight;
+} HmdRect2_t;
+
+typedef struct DistortionCoordinates_t
+{
+	float rfRed[2]; //float[2]
+	float rfGreen[2]; //float[2]
+	float rfBlue[2]; //float[2]
+} DistortionCoordinates_t;
+
+typedef struct Texture_t
+{
+	void * handle; // void *
+	enum ETextureType eType;
+	enum EColorSpace eColorSpace;
+} Texture_t;
+
+typedef struct TrackedDevicePose_t
+{
+	struct HmdMatrix34_t mDeviceToAbsoluteTracking;
+	struct HmdVector3_t vVelocity;
+	struct HmdVector3_t vAngularVelocity;
+	enum ETrackingResult eTrackingResult;
+	bool bPoseIsValid;
+	bool bDeviceIsConnected;
+} TrackedDevicePose_t;
+
+typedef struct VRTextureBounds_t
+{
+	float uMin;
+	float vMin;
+	float uMax;
+	float vMax;
+} VRTextureBounds_t;
+
+typedef struct VRVulkanTextureData_t
+{
+	uint64_t m_nImage;
+	struct VkDevice_T * m_pDevice; // struct VkDevice_T *
+	struct VkPhysicalDevice_T * m_pPhysicalDevice; // struct VkPhysicalDevice_T *
+	struct VkInstance_T * m_pInstance; // struct VkInstance_T *
+	struct VkQueue_T * m_pQueue; // struct VkQueue_T *
+	uint32_t m_nQueueFamilyIndex;
+	uint32_t m_nWidth;
+	uint32_t m_nHeight;
+	uint32_t m_nFormat;
+	uint32_t m_nSampleCount;
+} VRVulkanTextureData_t;
+
+typedef struct D3D12TextureData_t
+{
+	struct ID3D12Resource * m_pResource; // struct ID3D12Resource *
+	struct ID3D12CommandQueue * m_pCommandQueue; // struct ID3D12CommandQueue *
+	uint32_t m_nNodeMask;
+} D3D12TextureData_t;
+
+typedef struct VREvent_Controller_t
+{
+	uint32_t button;
+} VREvent_Controller_t;
+
+typedef struct VREvent_Mouse_t
+{
+	float x;
+	float y;
+	uint32_t button;
+} VREvent_Mouse_t;
+
+typedef struct VREvent_Scroll_t
+{
+	float xdelta;
+	float ydelta;
+	uint32_t repeatCount;
+} VREvent_Scroll_t;
+
+typedef struct VREvent_TouchPadMove_t
+{
+	bool bFingerDown;
+	float flSecondsFingerDown;
+	float fValueXFirst;
+	float fValueYFirst;
+	float fValueXRaw;
+	float fValueYRaw;
+} VREvent_TouchPadMove_t;
+
+typedef struct VREvent_Notification_t
+{
+	uint64_t ulUserValue;
+	uint32_t notificationId;
+} VREvent_Notification_t;
+
+typedef struct VREvent_Process_t
+{
+	uint32_t pid;
+	uint32_t oldPid;
+	bool bForced;
+} VREvent_Process_t;
+
+typedef struct VREvent_Overlay_t
+{
+	uint64_t overlayHandle;
+} VREvent_Overlay_t;
+
+typedef struct VREvent_Status_t
+{
+	uint32_t statusState;
+} VREvent_Status_t;
+
+typedef struct VREvent_Keyboard_t
+{
+	char * cNewInput[8]; //char[8]
+	uint64_t uUserValue;
+} VREvent_Keyboard_t;
+
+typedef struct VREvent_Ipd_t
+{
+	float ipdMeters;
+} VREvent_Ipd_t;
+
+typedef struct VREvent_Chaperone_t
+{
+	uint64_t m_nPreviousUniverse;
+	uint64_t m_nCurrentUniverse;
+} VREvent_Chaperone_t;
+
+typedef struct VREvent_Reserved_t
+{
+	uint64_t reserved0;
+	uint64_t reserved1;
+} VREvent_Reserved_t;
+
+typedef struct VREvent_PerformanceTest_t
+{
+	uint32_t m_nFidelityLevel;
+} VREvent_PerformanceTest_t;
+
+typedef struct VREvent_SeatedZeroPoseReset_t
+{
+	bool bResetBySystemMenu;
+} VREvent_SeatedZeroPoseReset_t;
+
+typedef struct VREvent_Screenshot_t
+{
+	uint32_t handle;
+	uint32_t type;
+} VREvent_Screenshot_t;
+
+typedef struct VREvent_ScreenshotProgress_t
+{
+	float progress;
+} VREvent_ScreenshotProgress_t;
+
+typedef struct VREvent_ApplicationLaunch_t
+{
+	uint32_t pid;
+	uint32_t unArgsHandle;
+} VREvent_ApplicationLaunch_t;
+
+typedef struct VREvent_EditingCameraSurface_t
+{
+	uint64_t overlayHandle;
+	uint32_t nVisualMode;
+} VREvent_EditingCameraSurface_t;
+
+typedef struct VREvent_MessageOverlay_t
+{
+	uint32_t unVRMessageOverlayResponse;
+} VREvent_MessageOverlay_t;
+
+typedef struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	enum ETrackedDeviceProperty prop;
+} VREvent_Property_t;
+
+typedef struct HiddenAreaMesh_t
+{
+	struct HmdVector2_t * pVertexData; // const struct vr::HmdVector2_t *
+	uint32_t unTriangleCount;
+} HiddenAreaMesh_t;
+
+typedef struct VRControllerAxis_t
+{
+	float x;
+	float y;
+} VRControllerAxis_t;
+
+typedef struct VRControllerState_t
+{
+	uint32_t unPacketNum;
+	uint64_t ulButtonPressed;
+	uint64_t ulButtonTouched;
+	struct VRControllerAxis_t rAxis[5]; //struct vr::VRControllerAxis_t[5]
+} VRControllerState_t;
+
+typedef struct Compositor_OverlaySettings
+{
+	uint32_t size;
+	bool curved;
+	bool antialias;
+	float scale;
+	float distance;
+	float alpha;
+	float uOffset;
+	float vOffset;
+	float uScale;
+	float vScale;
+	float gridDivs;
+	float gridWidth;
+	float gridScale;
+	struct HmdMatrix44_t transform;
+} Compositor_OverlaySettings;
+
+typedef struct CameraVideoStreamFrameHeader_t
+{
+	enum EVRTrackedCameraFrameType eFrameType;
+	uint32_t nWidth;
+	uint32_t nHeight;
+	uint32_t nBytesPerPixel;
+	uint32_t nFrameSequence;
+	struct TrackedDevicePose_t standingTrackedDevicePose;
+} CameraVideoStreamFrameHeader_t;
+
+typedef struct AppOverrideKeys_t
+{
+	char * pchKey; // const char *
+	char * pchValue; // const char *
+} AppOverrideKeys_t;
+
+typedef struct Compositor_FrameTiming
+{
+	uint32_t m_nSize;
+	uint32_t m_nFrameIndex;
+	uint32_t m_nNumFramePresents;
+	uint32_t m_nNumMisPresented;
+	uint32_t m_nNumDroppedFrames;
+	uint32_t m_nReprojectionFlags;
+	double m_flSystemTimeInSeconds;
+	float m_flPreSubmitGpuMs;
+	float m_flPostSubmitGpuMs;
+	float m_flTotalRenderGpuMs;
+	float m_flCompositorRenderGpuMs;
+	float m_flCompositorRenderCpuMs;
+	float m_flCompositorIdleCpuMs;
+	float m_flClientFrameIntervalMs;
+	float m_flPresentCallCpuMs;
+	float m_flWaitForPresentCpuMs;
+	float m_flSubmitFrameMs;
+	float m_flWaitGetPosesCalledMs;
+	float m_flNewPosesReadyMs;
+	float m_flNewFrameReadyMs;
+	float m_flCompositorUpdateStartMs;
+	float m_flCompositorUpdateEndMs;
+	float m_flCompositorRenderStartMs;
+	TrackedDevicePose_t m_HmdPose;
+} Compositor_FrameTiming;
+
+typedef struct Compositor_CumulativeStats
+{
+	uint32_t m_nPid;
+	uint32_t m_nNumFramePresents;
+	uint32_t m_nNumDroppedFrames;
+	uint32_t m_nNumReprojectedFrames;
+	uint32_t m_nNumFramePresentsOnStartup;
+	uint32_t m_nNumDroppedFramesOnStartup;
+	uint32_t m_nNumReprojectedFramesOnStartup;
+	uint32_t m_nNumLoading;
+	uint32_t m_nNumFramePresentsLoading;
+	uint32_t m_nNumDroppedFramesLoading;
+	uint32_t m_nNumReprojectedFramesLoading;
+	uint32_t m_nNumTimedOut;
+	uint32_t m_nNumFramePresentsTimedOut;
+	uint32_t m_nNumDroppedFramesTimedOut;
+	uint32_t m_nNumReprojectedFramesTimedOut;
+} Compositor_CumulativeStats;
+
+typedef struct VROverlayIntersectionParams_t
+{
+	struct HmdVector3_t vSource;
+	struct HmdVector3_t vDirection;
+	enum ETrackingUniverseOrigin eOrigin;
+} VROverlayIntersectionParams_t;
+
+typedef struct VROverlayIntersectionResults_t
+{
+	struct HmdVector3_t vPoint;
+	struct HmdVector3_t vNormal;
+	struct HmdVector2_t vUVs;
+	float fDistance;
+} VROverlayIntersectionResults_t;
+
+typedef struct IntersectionMaskRectangle_t
+{
+	float m_flTopLeftX;
+	float m_flTopLeftY;
+	float m_flWidth;
+	float m_flHeight;
+} IntersectionMaskRectangle_t;
+
+typedef struct IntersectionMaskCircle_t
+{
+	float m_flCenterX;
+	float m_flCenterY;
+	float m_flRadius;
+} IntersectionMaskCircle_t;
+
+typedef struct RenderModel_ComponentState_t
+{
+	struct HmdMatrix34_t mTrackingToComponentRenderModel;
+	struct HmdMatrix34_t mTrackingToComponentLocal;
+	VRComponentProperties uProperties;
+} RenderModel_ComponentState_t;
+
+typedef struct RenderModel_Vertex_t
+{
+	struct HmdVector3_t vPosition;
+	struct HmdVector3_t vNormal;
+	float rfTextureCoord[2]; //float[2]
+} RenderModel_Vertex_t;
+
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( push, 4 )
+#endif
+typedef struct RenderModel_TextureMap_t
+{
+	uint16_t unWidth;
+	uint16_t unHeight;
+	uint8_t * rubTextureMapData; // const uint8_t *
+} RenderModel_TextureMap_t;
+
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( pop )
+#endif
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( push, 4 )
+#endif
+typedef struct RenderModel_t
+{
+	struct RenderModel_Vertex_t * rVertexData; // const struct vr::RenderModel_Vertex_t *
+	uint32_t unVertexCount;
+	uint16_t * rIndexData; // const uint16_t *
+	uint32_t unTriangleCount;
+	TextureID_t diffuseTextureId;
+} RenderModel_t;
+
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( pop )
+#endif
+typedef struct RenderModel_ControllerMode_State_t
+{
+	bool bScrollWheelVisible;
+} RenderModel_ControllerMode_State_t;
+
+typedef struct NotificationBitmap_t
+{
+	void * m_pImageData; // void *
+	int32_t m_nWidth;
+	int32_t m_nHeight;
+	int32_t m_nBytesPerPixel;
+} NotificationBitmap_t;
+
+typedef struct COpenVRContext
+{
+	intptr_t m_pVRSystem; // class vr::IVRSystem *
+	intptr_t m_pVRChaperone; // class vr::IVRChaperone *
+	intptr_t m_pVRChaperoneSetup; // class vr::IVRChaperoneSetup *
+	intptr_t m_pVRCompositor; // class vr::IVRCompositor *
+	intptr_t m_pVROverlay; // class vr::IVROverlay *
+	intptr_t m_pVRResources; // class vr::IVRResources *
+	intptr_t m_pVRRenderModels; // class vr::IVRRenderModels *
+	intptr_t m_pVRExtendedDisplay; // class vr::IVRExtendedDisplay *
+	intptr_t m_pVRSettings; // class vr::IVRSettings *
+	intptr_t m_pVRApplications; // class vr::IVRApplications *
+	intptr_t m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
+	intptr_t m_pVRScreenshots; // class vr::IVRScreenshots *
+	intptr_t m_pVRDriverManager; // class vr::IVRDriverManager *
+} COpenVRContext;
+
+
+typedef union
+{
+	VREvent_Reserved_t reserved;
+	VREvent_Controller_t controller;
+	VREvent_Mouse_t mouse;
+	VREvent_Scroll_t scroll;
+	VREvent_Process_t process;
+	VREvent_Notification_t notification;
+	VREvent_Overlay_t overlay;
+	VREvent_Status_t status;
+	VREvent_Keyboard_t keyboard;
+	VREvent_Ipd_t ipd;
+	VREvent_Chaperone_t chaperone;
+	VREvent_PerformanceTest_t performanceTest;
+	VREvent_TouchPadMove_t touchPadMove;
+	VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+} VREvent_Data_t;
+
+/** An event posted by the server to all running applications */
+struct VREvent_t
+{
+	uint32_t eventType; // EVREventType enum
+	TrackedDeviceIndex_t trackedDeviceIndex;
+	float eventAgeSeconds;
+	// event data must be the end of the struct as its size is variable
+	VREvent_Data_t data;
+};
+
+
+typedef union
+{
+	IntersectionMaskRectangle_t m_Rectangle;
+	IntersectionMaskCircle_t m_Circle;
+} VROverlayIntersectionMaskPrimitive_Data_t;
+
+struct VROverlayIntersectionMaskPrimitive_t
+{
+	EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType;
+	VROverlayIntersectionMaskPrimitive_Data_t m_Primitive;
+};
+
+
+// OpenVR Function Pointer Tables
+
+struct VR_IVRSystem_FnTable
+{
+	void (OPENVR_FNTABLE_CALLTYPE *GetRecommendedRenderTargetSize)(uint32_t * pnWidth, uint32_t * pnHeight);
+	struct HmdMatrix44_t (OPENVR_FNTABLE_CALLTYPE *GetProjectionMatrix)(EVREye eEye, float fNearZ, float fFarZ);
+	void (OPENVR_FNTABLE_CALLTYPE *GetProjectionRaw)(EVREye eEye, float * pfLeft, float * pfRight, float * pfTop, float * pfBottom);
+	bool (OPENVR_FNTABLE_CALLTYPE *ComputeDistortion)(EVREye eEye, float fU, float fV, struct DistortionCoordinates_t * pDistortionCoordinates);
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetEyeToHeadTransform)(EVREye eEye);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetTimeSinceLastVsync)(float * pfSecondsSinceLastVsync, uint64_t * pulFrameCounter);
+	int32_t (OPENVR_FNTABLE_CALLTYPE *GetD3D9AdapterIndex)();
+	void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex);
+	void (OPENVR_FNTABLE_CALLTYPE *GetOutputDevice)(uint64_t * pnDevice, ETextureType textureType);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsDisplayOnDesktop)();
+	bool (OPENVR_FNTABLE_CALLTYPE *SetDisplayVisibility)(bool bIsVisibleOnDesktop);
+	void (OPENVR_FNTABLE_CALLTYPE *GetDeviceToAbsoluteTrackingPose)(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, struct TrackedDevicePose_t * pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount);
+	void (OPENVR_FNTABLE_CALLTYPE *ResetSeatedZeroPose)();
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetSeatedZeroPoseToStandingAbsoluteTrackingPose)();
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetRawZeroPoseToStandingAbsoluteTrackingPose)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetSortedTrackedDeviceIndicesOfClass)(ETrackedDeviceClass eTrackedDeviceClass, TrackedDeviceIndex_t * punTrackedDeviceIndexArray, uint32_t unTrackedDeviceIndexArrayCount, TrackedDeviceIndex_t unRelativeToTrackedDeviceIndex);
+	EDeviceActivityLevel (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceActivityLevel)(TrackedDeviceIndex_t unDeviceId);
+	void (OPENVR_FNTABLE_CALLTYPE *ApplyTransform)(struct TrackedDevicePose_t * pOutputPose, struct TrackedDevicePose_t * pTrackedDevicePose, struct HmdMatrix34_t * pTransform);
+	TrackedDeviceIndex_t (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceIndexForControllerRole)(ETrackedControllerRole unDeviceType);
+	ETrackedControllerRole (OPENVR_FNTABLE_CALLTYPE *GetControllerRoleForTrackedDeviceIndex)(TrackedDeviceIndex_t unDeviceIndex);
+	ETrackedDeviceClass (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceClass)(TrackedDeviceIndex_t unDeviceIndex);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsTrackedDeviceConnected)(TrackedDeviceIndex_t unDeviceIndex);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetBoolTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	float (OPENVR_FNTABLE_CALLTYPE *GetFloatTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	int32_t (OPENVR_FNTABLE_CALLTYPE *GetInt32TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	uint64_t (OPENVR_FNTABLE_CALLTYPE *GetUint64TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetMatrix34TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetStringTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, char * pchValue, uint32_t unBufferSize, ETrackedPropertyError * pError);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetPropErrorNameFromEnum)(ETrackedPropertyError error);
+	bool (OPENVR_FNTABLE_CALLTYPE *PollNextEvent)(struct VREvent_t * pEvent, uint32_t uncbVREvent);
+	bool (OPENVR_FNTABLE_CALLTYPE *PollNextEventWithPose)(ETrackingUniverseOrigin eOrigin, struct VREvent_t * pEvent, uint32_t uncbVREvent, TrackedDevicePose_t * pTrackedDevicePose);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetEventTypeNameFromEnum)(EVREventType eType);
+	struct HiddenAreaMesh_t (OPENVR_FNTABLE_CALLTYPE *GetHiddenAreaMesh)(EVREye eEye, EHiddenAreaMeshType type);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetControllerState)(TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, uint32_t unControllerStateSize);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetControllerStateWithPose)(ETrackingUniverseOrigin eOrigin, TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, uint32_t unControllerStateSize, struct TrackedDevicePose_t * pTrackedDevicePose);
+	void (OPENVR_FNTABLE_CALLTYPE *TriggerHapticPulse)(TrackedDeviceIndex_t unControllerDeviceIndex, uint32_t unAxisId, unsigned short usDurationMicroSec);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetButtonIdNameFromEnum)(EVRButtonId eButtonId);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetControllerAxisTypeNameFromEnum)(EVRControllerAxisType eAxisType);
+	bool (OPENVR_FNTABLE_CALLTYPE *CaptureInputFocus)();
+	void (OPENVR_FNTABLE_CALLTYPE *ReleaseInputFocus)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsInputFocusCapturedByAnotherProcess)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *DriverDebugRequest)(TrackedDeviceIndex_t unDeviceIndex, char * pchRequest, char * pchResponseBuffer, uint32_t unResponseBufferSize);
+	EVRFirmwareError (OPENVR_FNTABLE_CALLTYPE *PerformFirmwareUpdate)(TrackedDeviceIndex_t unDeviceIndex);
+	void (OPENVR_FNTABLE_CALLTYPE *AcknowledgeQuit_Exiting)();
+	void (OPENVR_FNTABLE_CALLTYPE *AcknowledgeQuit_UserPrompt)();
+};
+
+struct VR_IVRExtendedDisplay_FnTable
+{
+	void (OPENVR_FNTABLE_CALLTYPE *GetWindowBounds)(int32_t * pnX, int32_t * pnY, uint32_t * pnWidth, uint32_t * pnHeight);
+	void (OPENVR_FNTABLE_CALLTYPE *GetEyeOutputViewport)(EVREye eEye, uint32_t * pnX, uint32_t * pnY, uint32_t * pnWidth, uint32_t * pnHeight);
+	void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex, int32_t * pnAdapterOutputIndex);
+};
+
+struct VR_IVRTrackedCamera_FnTable
+{
+	char * (OPENVR_FNTABLE_CALLTYPE *GetCameraErrorNameFromEnum)(EVRTrackedCameraError eCameraError);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *HasCamera)(TrackedDeviceIndex_t nDeviceIndex, bool * pHasCamera);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraFrameSize)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, uint32_t * pnWidth, uint32_t * pnHeight, uint32_t * pnFrameBufferSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraIntrinsics)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, HmdVector2_t * pFocalLength, HmdVector2_t * pCenter);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraProjection)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, HmdMatrix44_t * pProjection);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *AcquireVideoStreamingService)(TrackedDeviceIndex_t nDeviceIndex, TrackedCameraHandle_t * pHandle);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *ReleaseVideoStreamingService)(TrackedCameraHandle_t hTrackedCamera);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamFrameBuffer)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, void * pFrameBuffer, uint32_t nFrameBufferSize, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamTextureSize)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, VRTextureBounds_t * pTextureBounds, uint32_t * pnWidth, uint32_t * pnHeight);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamTextureD3D11)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, void * pD3D11DeviceOrResource, void ** ppD3D11ShaderResourceView, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamTextureGL)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, glUInt_t * pglTextureId, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *ReleaseVideoStreamTextureGL)(TrackedCameraHandle_t hTrackedCamera, glUInt_t glTextureId);
+};
+
+struct VR_IVRApplications_FnTable
+{
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *AddApplicationManifest)(char * pchApplicationManifestFullPath, bool bTemporary);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *RemoveApplicationManifest)(char * pchApplicationManifestFullPath);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsApplicationInstalled)(char * pchAppKey);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationCount)();
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetApplicationKeyByIndex)(uint32_t unApplicationIndex, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetApplicationKeyByProcessId)(uint32_t unProcessId, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchApplication)(char * pchAppKey);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchTemplateApplication)(char * pchTemplateAppKey, char * pchNewAppKey, struct AppOverrideKeys_t * pKeys, uint32_t unKeys);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchApplicationFromMimeType)(char * pchMimeType, char * pchArgs);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchDashboardOverlay)(char * pchAppKey);
+	bool (OPENVR_FNTABLE_CALLTYPE *CancelApplicationLaunch)(char * pchAppKey);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *IdentifyApplication)(uint32_t unProcessId, char * pchAppKey);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationProcessId)(char * pchAppKey);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetApplicationsErrorNameFromEnum)(EVRApplicationError error);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyString)(char * pchAppKey, EVRApplicationProperty eProperty, char * pchPropertyValueBuffer, uint32_t unPropertyValueBufferLen, EVRApplicationError * peError);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyBool)(char * pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError * peError);
+	uint64_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyUint64)(char * pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError * peError);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *SetApplicationAutoLaunch)(char * pchAppKey, bool bAutoLaunch);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationAutoLaunch)(char * pchAppKey);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *SetDefaultApplicationForMimeType)(char * pchAppKey, char * pchMimeType);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetDefaultApplicationForMimeType)(char * pchMimeType, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationSupportedMimeTypes)(char * pchAppKey, char * pchMimeTypesBuffer, uint32_t unMimeTypesBuffer);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationsThatSupportMimeType)(char * pchMimeType, char * pchAppKeysThatSupportBuffer, uint32_t unAppKeysThatSupportBuffer);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationLaunchArguments)(uint32_t unHandle, char * pchArgs, uint32_t unArgs);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetStartingApplication)(char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	EVRApplicationTransitionState (OPENVR_FNTABLE_CALLTYPE *GetTransitionState)();
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *PerformApplicationPrelaunchCheck)(char * pchAppKey);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetApplicationsTransitionStateNameFromEnum)(EVRApplicationTransitionState state);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsQuitUserPromptRequested)();
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchInternalProcess)(char * pchBinaryPath, char * pchArguments, char * pchWorkingDirectory);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentSceneProcessId)();
+};
+
+struct VR_IVRChaperone_FnTable
+{
+	ChaperoneCalibrationState (OPENVR_FNTABLE_CALLTYPE *GetCalibrationState)();
+	bool (OPENVR_FNTABLE_CALLTYPE *GetPlayAreaSize)(float * pSizeX, float * pSizeZ);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetPlayAreaRect)(struct HmdQuad_t * rect);
+	void (OPENVR_FNTABLE_CALLTYPE *ReloadInfo)();
+	void (OPENVR_FNTABLE_CALLTYPE *SetSceneColor)(struct HmdColor_t color);
+	void (OPENVR_FNTABLE_CALLTYPE *GetBoundsColor)(struct HmdColor_t * pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, struct HmdColor_t * pOutputCameraColor);
+	bool (OPENVR_FNTABLE_CALLTYPE *AreBoundsVisible)();
+	void (OPENVR_FNTABLE_CALLTYPE *ForceBoundsVisible)(bool bForce);
+};
+
+struct VR_IVRChaperoneSetup_FnTable
+{
+	bool (OPENVR_FNTABLE_CALLTYPE *CommitWorkingCopy)(EChaperoneConfigFile configFile);
+	void (OPENVR_FNTABLE_CALLTYPE *RevertWorkingCopy)();
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingPlayAreaSize)(float * pSizeX, float * pSizeZ);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingPlayAreaRect)(struct HmdQuad_t * rect);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLiveCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatSeatedZeroPoseToRawTrackingPose);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingStandingZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatStandingZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingPlayAreaSize)(float sizeX, float sizeZ);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t unQuadsCount);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pMatSeatedZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingStandingZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pMatStandingZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *ReloadFromDisk)(EChaperoneConfigFile configFile);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLiveSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatSeatedZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingCollisionBoundsTagsInfo)(uint8_t * pTagsBuffer, uint32_t unTagCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLiveCollisionBoundsTagsInfo)(uint8_t * pTagsBuffer, uint32_t * punTagCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *SetWorkingPhysicalBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t unQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLivePhysicalBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *ExportLiveToBuffer)(char * pBuffer, uint32_t * pnBufferLength);
+	bool (OPENVR_FNTABLE_CALLTYPE *ImportFromBufferToWorking)(char * pBuffer, uint32_t nImportFlags);
+};
+
+struct VR_IVRCompositor_FnTable
+{
+	void (OPENVR_FNTABLE_CALLTYPE *SetTrackingSpace)(ETrackingUniverseOrigin eOrigin);
+	ETrackingUniverseOrigin (OPENVR_FNTABLE_CALLTYPE *GetTrackingSpace)();
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *WaitGetPoses)(struct TrackedDevicePose_t * pRenderPoseArray, uint32_t unRenderPoseArrayCount, struct TrackedDevicePose_t * pGamePoseArray, uint32_t unGamePoseArrayCount);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetLastPoses)(struct TrackedDevicePose_t * pRenderPoseArray, uint32_t unRenderPoseArrayCount, struct TrackedDevicePose_t * pGamePoseArray, uint32_t unGamePoseArrayCount);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetLastPoseForTrackedDeviceIndex)(TrackedDeviceIndex_t unDeviceIndex, struct TrackedDevicePose_t * pOutputPose, struct TrackedDevicePose_t * pOutputGamePose);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *Submit)(EVREye eEye, struct Texture_t * pTexture, struct VRTextureBounds_t * pBounds, EVRSubmitFlags nSubmitFlags);
+	void (OPENVR_FNTABLE_CALLTYPE *ClearLastSubmittedFrame)();
+	void (OPENVR_FNTABLE_CALLTYPE *PostPresentHandoff)();
+	bool (OPENVR_FNTABLE_CALLTYPE *GetFrameTiming)(struct Compositor_FrameTiming * pTiming, uint32_t unFramesAgo);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetFrameTimings)(struct Compositor_FrameTiming * pTiming, uint32_t nFrames);
+	float (OPENVR_FNTABLE_CALLTYPE *GetFrameTimeRemaining)();
+	void (OPENVR_FNTABLE_CALLTYPE *GetCumulativeStats)(struct Compositor_CumulativeStats * pStats, uint32_t nStatsSizeInBytes);
+	void (OPENVR_FNTABLE_CALLTYPE *FadeToColor)(float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground);
+	struct HmdColor_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentFadeColor)(bool bBackground);
+	void (OPENVR_FNTABLE_CALLTYPE *FadeGrid)(float fSeconds, bool bFadeIn);
+	float (OPENVR_FNTABLE_CALLTYPE *GetCurrentGridAlpha)();
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *SetSkyboxOverride)(struct Texture_t * pTextures, uint32_t unTextureCount);
+	void (OPENVR_FNTABLE_CALLTYPE *ClearSkyboxOverride)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorBringToFront)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorGoToBack)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorQuit)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsFullscreen)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentSceneFocusProcess)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetLastFrameRenderer)();
+	bool (OPENVR_FNTABLE_CALLTYPE *CanRenderScene)();
+	void (OPENVR_FNTABLE_CALLTYPE *ShowMirrorWindow)();
+	void (OPENVR_FNTABLE_CALLTYPE *HideMirrorWindow)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsMirrorWindowVisible)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorDumpImages)();
+	bool (OPENVR_FNTABLE_CALLTYPE *ShouldAppRenderWithLowResources)();
+	void (OPENVR_FNTABLE_CALLTYPE *ForceInterleavedReprojectionOn)(bool bOverride);
+	void (OPENVR_FNTABLE_CALLTYPE *ForceReconnectProcess)();
+	void (OPENVR_FNTABLE_CALLTYPE *SuspendRendering)(bool bSuspend);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureD3D11)(EVREye eEye, void * pD3D11DeviceOrResource, void ** ppD3D11ShaderResourceView);
+	void (OPENVR_FNTABLE_CALLTYPE *ReleaseMirrorTextureD3D11)(void * pD3D11ShaderResourceView);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureGL)(EVREye eEye, glUInt_t * pglTextureId, glSharedTextureHandle_t * pglSharedTextureHandle);
+	bool (OPENVR_FNTABLE_CALLTYPE *ReleaseSharedGLTexture)(glUInt_t glTextureId, glSharedTextureHandle_t glSharedTextureHandle);
+	void (OPENVR_FNTABLE_CALLTYPE *LockGLSharedTextureForAccess)(glSharedTextureHandle_t glSharedTextureHandle);
+	void (OPENVR_FNTABLE_CALLTYPE *UnlockGLSharedTextureForAccess)(glSharedTextureHandle_t glSharedTextureHandle);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetVulkanInstanceExtensionsRequired)(char * pchValue, uint32_t unBufferSize);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetVulkanDeviceExtensionsRequired)(struct VkPhysicalDevice_T * pPhysicalDevice, char * pchValue, uint32_t unBufferSize);
+};
+
+struct VR_IVROverlay_FnTable
+{
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *FindOverlay)(char * pchOverlayKey, VROverlayHandle_t * pOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateOverlay)(char * pchOverlayKey, char * pchOverlayName, VROverlayHandle_t * pOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *DestroyOverlay)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetHighQualityOverlay)(VROverlayHandle_t ulOverlayHandle);
+	VROverlayHandle_t (OPENVR_FNTABLE_CALLTYPE *GetHighQualityOverlay)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayKey)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayName)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayName)(VROverlayHandle_t ulOverlayHandle, char * pchName);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayImageData)(VROverlayHandle_t ulOverlayHandle, void * pvBuffer, uint32_t unBufferSize, uint32_t * punWidth, uint32_t * punHeight);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetOverlayErrorNameFromEnum)(EVROverlayError error);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRenderingPid)(VROverlayHandle_t ulOverlayHandle, uint32_t unPID);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayRenderingPid)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayFlag)(VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayFlag)(VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool * pbEnabled);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayColor)(VROverlayHandle_t ulOverlayHandle, float fRed, float fGreen, float fBlue);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayColor)(VROverlayHandle_t ulOverlayHandle, float * pfRed, float * pfGreen, float * pfBlue);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayAlpha)(VROverlayHandle_t ulOverlayHandle, float fAlpha);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayAlpha)(VROverlayHandle_t ulOverlayHandle, float * pfAlpha);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTexelAspect)(VROverlayHandle_t ulOverlayHandle, float fTexelAspect);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTexelAspect)(VROverlayHandle_t ulOverlayHandle, float * pfTexelAspect);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlaySortOrder)(VROverlayHandle_t ulOverlayHandle, uint32_t unSortOrder);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlaySortOrder)(VROverlayHandle_t ulOverlayHandle, uint32_t * punSortOrder);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayWidthInMeters)(VROverlayHandle_t ulOverlayHandle, float fWidthInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayWidthInMeters)(VROverlayHandle_t ulOverlayHandle, float * pfWidthInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayAutoCurveDistanceRangeInMeters)(VROverlayHandle_t ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayAutoCurveDistanceRangeInMeters)(VROverlayHandle_t ulOverlayHandle, float * pfMinDistanceInMeters, float * pfMaxDistanceInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTextureColorSpace)(VROverlayHandle_t ulOverlayHandle, EColorSpace eTextureColorSpace);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureColorSpace)(VROverlayHandle_t ulOverlayHandle, EColorSpace * peTextureColorSpace);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayRenderModel)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, struct HmdColor_t * pColor, EVROverlayError * pError);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRenderModel)(VROverlayHandle_t ulOverlayHandle, char * pchRenderModel, struct HmdColor_t * pColor);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformType)(VROverlayHandle_t ulOverlayHandle, VROverlayTransformType * peTransformType);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin * peTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformTrackedDeviceRelative)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unTrackedDevice, struct HmdMatrix34_t * pmatTrackedDeviceToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceRelative)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punTrackedDevice, struct HmdMatrix34_t * pmatTrackedDeviceToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unDeviceIndex, char * pchComponentName);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punDeviceIndex, char * pchComponentName, uint32_t unComponentNameSize);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformOverlayRelative)(VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t * ulOverlayHandleParent, struct HmdMatrix34_t * pmatParentOverlayToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformOverlayRelative)(VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t ulOverlayHandleParent, struct HmdMatrix34_t * pmatParentOverlayToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowOverlay)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *HideOverlay)(VROverlayHandle_t ulOverlayHandle);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsOverlayVisible)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetTransformForOverlayCoordinates)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, struct HmdVector2_t coordinatesInOverlay, struct HmdMatrix34_t * pmatTransform);
+	bool (OPENVR_FNTABLE_CALLTYPE *PollNextOverlayEvent)(VROverlayHandle_t ulOverlayHandle, struct VREvent_t * pEvent, uint32_t uncbVREvent);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayInputMethod)(VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod * peInputMethod);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayInputMethod)(VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod eInputMethod);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayMouseScale)(VROverlayHandle_t ulOverlayHandle, struct HmdVector2_t * pvecMouseScale);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayMouseScale)(VROverlayHandle_t ulOverlayHandle, struct HmdVector2_t * pvecMouseScale);
+	bool (OPENVR_FNTABLE_CALLTYPE *ComputeOverlayIntersection)(VROverlayHandle_t ulOverlayHandle, struct VROverlayIntersectionParams_t * pParams, struct VROverlayIntersectionResults_t * pResults);
+	bool (OPENVR_FNTABLE_CALLTYPE *HandleControllerOverlayInteractionAsMouse)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unControllerDeviceIndex);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsHoverTargetOverlay)(VROverlayHandle_t ulOverlayHandle);
+	VROverlayHandle_t (OPENVR_FNTABLE_CALLTYPE *GetGamepadFocusOverlay)();
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetGamepadFocusOverlay)(VROverlayHandle_t ulNewFocusOverlay);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayNeighbor)(EOverlayDirection eDirection, VROverlayHandle_t ulFrom, VROverlayHandle_t ulTo);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *MoveGamepadFocusToNeighbor)(EOverlayDirection eDirection, VROverlayHandle_t ulFrom);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTexture)(VROverlayHandle_t ulOverlayHandle, struct Texture_t * pTexture);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ClearOverlayTexture)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRaw)(VROverlayHandle_t ulOverlayHandle, void * pvBuffer, uint32_t unWidth, uint32_t unHeight, uint32_t unDepth);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayFromFile)(VROverlayHandle_t ulOverlayHandle, char * pchFilePath);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTexture)(VROverlayHandle_t ulOverlayHandle, void ** pNativeTextureHandle, void * pNativeTextureRef, uint32_t * pWidth, uint32_t * pHeight, uint32_t * pNativeFormat, ETextureType * pAPIType, EColorSpace * pColorSpace, struct VRTextureBounds_t * pTextureBounds);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ReleaseNativeOverlayHandle)(VROverlayHandle_t ulOverlayHandle, void * pNativeTextureHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureSize)(VROverlayHandle_t ulOverlayHandle, uint32_t * pWidth, uint32_t * pHeight);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateDashboardOverlay)(char * pchOverlayKey, char * pchOverlayFriendlyName, VROverlayHandle_t * pMainHandle, VROverlayHandle_t * pThumbnailHandle);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsDashboardVisible)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsActiveDashboardOverlay)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetDashboardOverlaySceneProcess)(VROverlayHandle_t ulOverlayHandle, uint32_t unProcessId);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetDashboardOverlaySceneProcess)(VROverlayHandle_t ulOverlayHandle, uint32_t * punProcessId);
+	void (OPENVR_FNTABLE_CALLTYPE *ShowDashboard)(char * pchOverlayToShow);
+	TrackedDeviceIndex_t (OPENVR_FNTABLE_CALLTYPE *GetPrimaryDashboardDevice)();
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowKeyboard)(EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, char * pchDescription, uint32_t unCharMax, char * pchExistingText, bool bUseMinimalMode, uint64_t uUserValue);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowKeyboardForOverlay)(VROverlayHandle_t ulOverlayHandle, EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, char * pchDescription, uint32_t unCharMax, char * pchExistingText, bool bUseMinimalMode, uint64_t uUserValue);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetKeyboardText)(char * pchText, uint32_t cchText);
+	void (OPENVR_FNTABLE_CALLTYPE *HideKeyboard)();
+	void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardTransformAbsolute)(ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToKeyboardTransform);
+	void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardPositionForOverlay)(VROverlayHandle_t ulOverlayHandle, struct HmdRect2_t avoidRect);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayIntersectionMask)(VROverlayHandle_t ulOverlayHandle, struct VROverlayIntersectionMaskPrimitive_t * pMaskPrimitives, uint32_t unNumMaskPrimitives, uint32_t unPrimitiveSize);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayFlags)(VROverlayHandle_t ulOverlayHandle, uint32_t * pFlags);
+	VRMessageOverlayResponse (OPENVR_FNTABLE_CALLTYPE *ShowMessageOverlay)(char * pchText, char * pchCaption, char * pchButton0Text, char * pchButton1Text, char * pchButton2Text, char * pchButton3Text);
+};
+
+struct VR_IVRRenderModels_FnTable
+{
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadRenderModel_Async)(char * pchRenderModelName, struct RenderModel_t ** ppRenderModel);
+	void (OPENVR_FNTABLE_CALLTYPE *FreeRenderModel)(struct RenderModel_t * pRenderModel);
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadTexture_Async)(TextureID_t textureId, struct RenderModel_TextureMap_t ** ppTexture);
+	void (OPENVR_FNTABLE_CALLTYPE *FreeTexture)(struct RenderModel_TextureMap_t * pTexture);
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadTextureD3D11_Async)(TextureID_t textureId, void * pD3D11Device, void ** ppD3D11Texture2D);
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadIntoTextureD3D11_Async)(TextureID_t textureId, void * pDstTexture);
+	void (OPENVR_FNTABLE_CALLTYPE *FreeTextureD3D11)(void * pD3D11Texture2D);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelName)(uint32_t unRenderModelIndex, char * pchRenderModelName, uint32_t unRenderModelNameLen);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelCount)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentCount)(char * pchRenderModelName);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentName)(char * pchRenderModelName, uint32_t unComponentIndex, char * pchComponentName, uint32_t unComponentNameLen);
+	uint64_t (OPENVR_FNTABLE_CALLTYPE *GetComponentButtonMask)(char * pchRenderModelName, char * pchComponentName);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentRenderModelName)(char * pchRenderModelName, char * pchComponentName, char * pchComponentRenderModelName, uint32_t unComponentRenderModelNameLen);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetComponentState)(char * pchRenderModelName, char * pchComponentName, VRControllerState_t * pControllerState, struct RenderModel_ControllerMode_State_t * pState, struct RenderModel_ComponentState_t * pComponentState);
+	bool (OPENVR_FNTABLE_CALLTYPE *RenderModelHasComponent)(char * pchRenderModelName, char * pchComponentName);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelThumbnailURL)(char * pchRenderModelName, char * pchThumbnailURL, uint32_t unThumbnailURLLen, EVRRenderModelError * peError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelOriginalPath)(char * pchRenderModelName, char * pchOriginalPath, uint32_t unOriginalPathLen, EVRRenderModelError * peError);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetRenderModelErrorNameFromEnum)(EVRRenderModelError error);
+};
+
+struct VR_IVRNotifications_FnTable
+{
+	EVRNotificationError (OPENVR_FNTABLE_CALLTYPE *CreateNotification)(VROverlayHandle_t ulOverlayHandle, uint64_t ulUserValue, EVRNotificationType type, char * pchText, EVRNotificationStyle style, struct NotificationBitmap_t * pImage, VRNotificationId * pNotificationId);
+	EVRNotificationError (OPENVR_FNTABLE_CALLTYPE *RemoveNotification)(VRNotificationId notificationId);
+};
+
+struct VR_IVRSettings_FnTable
+{
+	char * (OPENVR_FNTABLE_CALLTYPE *GetSettingsErrorNameFromEnum)(EVRSettingsError eError);
+	bool (OPENVR_FNTABLE_CALLTYPE *Sync)(bool bForce, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetBool)(char * pchSection, char * pchSettingsKey, bool bValue, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetInt32)(char * pchSection, char * pchSettingsKey, int32_t nValue, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetFloat)(char * pchSection, char * pchSettingsKey, float flValue, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetString)(char * pchSection, char * pchSettingsKey, char * pchValue, EVRSettingsError * peError);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetBool)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+	int32_t (OPENVR_FNTABLE_CALLTYPE *GetInt32)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+	float (OPENVR_FNTABLE_CALLTYPE *GetFloat)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *GetString)(char * pchSection, char * pchSettingsKey, char * pchValue, uint32_t unValueLen, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *RemoveSection)(char * pchSection, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *RemoveKeyInSection)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+};
+
+struct VR_IVRScreenshots_FnTable
+{
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *RequestScreenshot)(ScreenshotHandle_t * pOutScreenshotHandle, EVRScreenshotType type, char * pchPreviewFilename, char * pchVRFilename);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *HookScreenshot)(EVRScreenshotType * pSupportedTypes, int numTypes);
+	EVRScreenshotType (OPENVR_FNTABLE_CALLTYPE *GetScreenshotPropertyType)(ScreenshotHandle_t screenshotHandle, EVRScreenshotError * pError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetScreenshotPropertyFilename)(ScreenshotHandle_t screenshotHandle, EVRScreenshotPropertyFilenames filenameType, char * pchFilename, uint32_t cchFilename, EVRScreenshotError * pError);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *UpdateScreenshotProgress)(ScreenshotHandle_t screenshotHandle, float flProgress);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *TakeStereoScreenshot)(ScreenshotHandle_t * pOutScreenshotHandle, char * pchPreviewFilename, char * pchVRFilename);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *SubmitScreenshot)(ScreenshotHandle_t screenshotHandle, EVRScreenshotType type, char * pchSourcePreviewFilename, char * pchSourceVRFilename);
+};
+
+struct VR_IVRResources_FnTable
+{
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *LoadSharedResource)(char * pchResourceName, char * pchBuffer, uint32_t unBufferLen);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetResourceFullPath)(char * pchResourceName, char * pchResourceTypeDirectory, char * pchPathBuffer, uint32_t unBufferLen);
+};
+
+struct VR_IVRDriverManager_FnTable
+{
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverCount)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverName)(DriverId_t nDriver, char * pchValue, uint32_t unBufferSize);
+};
+
+
+#if 0
+// Global entry points
+S_API intptr_t VR_InitInternal( EVRInitError *peError, EVRApplicationType eType );
+S_API void VR_ShutdownInternal();
+S_API bool VR_IsHmdPresent();
+S_API intptr_t VR_GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError );
+S_API bool VR_IsRuntimeInstalled();
+S_API const char * VR_GetVRInitErrorAsSymbol( EVRInitError error );
+S_API const char * VR_GetVRInitErrorAsEnglishDescription( EVRInitError error );
+#endif
+
+#endif // __OPENVR_API_FLAT_H__
+
+
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_driver.h b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_driver.h
new file mode 100644
index 000000000..bfe24c003
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Headers/openvr_driver.h
@@ -0,0 +1,2677 @@
+#pragma once
+
+// openvr_driver.h
+//========= Copyright Valve Corporation ============//
+// Dynamically generated file. Do not modify this file directly.
+
+#ifndef _OPENVR_DRIVER_API
+#define _OPENVR_DRIVER_API
+
+#include <stdint.h>
+
+
+
+// vrtypes.h
+#ifndef _INCLUDE_VRTYPES_H
+#define _INCLUDE_VRTYPES_H
+
+// Forward declarations to avoid requiring vulkan.h
+struct VkDevice_T;
+struct VkPhysicalDevice_T;
+struct VkInstance_T;
+struct VkQueue_T;
+
+// Forward declarations to avoid requiring d3d12.h
+struct ID3D12Resource;
+struct ID3D12CommandQueue;
+
+namespace vr
+{
+#pragma pack( push, 8 )
+
+typedef void* glSharedTextureHandle_t;
+typedef int32_t glInt_t;
+typedef uint32_t glUInt_t;
+
+// right-handed system
+// +y is up
+// +x is to the right
+// -z is going away from you
+// Distance unit is  meters
+struct HmdMatrix34_t
+{
+	float m[3][4];
+};
+
+struct HmdMatrix44_t
+{
+	float m[4][4];
+};
+
+struct HmdVector3_t
+{
+	float v[3];
+};
+
+struct HmdVector4_t
+{
+	float v[4];
+};
+
+struct HmdVector3d_t
+{
+	double v[3];
+};
+
+struct HmdVector2_t
+{
+	float v[2];
+};
+
+struct HmdQuaternion_t
+{
+	double w, x, y, z;
+};
+
+struct HmdColor_t
+{
+	float r, g, b, a;
+};
+
+struct HmdQuad_t
+{
+	HmdVector3_t vCorners[ 4 ];
+};
+
+struct HmdRect2_t
+{
+	HmdVector2_t vTopLeft;
+	HmdVector2_t vBottomRight;
+};
+
+/** Used to return the post-distortion UVs for each color channel. 
+* UVs range from 0 to 1 with 0,0 in the upper left corner of the 
+* source render target. The 0,0 to 1,1 range covers a single eye. */
+struct DistortionCoordinates_t
+{
+	float rfRed[2];
+	float rfGreen[2];
+	float rfBlue[2];
+};
+
+enum EVREye
+{
+	Eye_Left = 0,
+	Eye_Right = 1
+};
+
+enum ETextureType
+{
+	TextureType_DirectX = 0, // Handle is an ID3D11Texture
+	TextureType_OpenGL = 1,  // Handle is an OpenGL texture name or an OpenGL render buffer name, depending on submit flags
+	TextureType_Vulkan = 2, // Handle is a pointer to a VRVulkanTextureData_t structure
+	TextureType_IOSurface = 3, // Handle is a macOS cross-process-sharable IOSurfaceRef
+	TextureType_DirectX12 = 4, // Handle is a pointer to a D3D12TextureData_t structure
+};
+
+enum EColorSpace
+{
+	ColorSpace_Auto = 0,	// Assumes 'gamma' for 8-bit per component formats, otherwise 'linear'.  This mirrors the DXGI formats which have _SRGB variants.
+	ColorSpace_Gamma = 1,	// Texture data can be displayed directly on the display without any conversion (a.k.a. display native format).
+	ColorSpace_Linear = 2,	// Same as gamma but has been converted to a linear representation using DXGI's sRGB conversion algorithm.
+};
+
+struct Texture_t
+{
+	void* handle; // See ETextureType definition above
+	ETextureType eType;
+	EColorSpace eColorSpace;
+};
+
+// Handle to a shared texture (HANDLE on Windows obtained using OpenSharedResource).
+typedef uint64_t SharedTextureHandle_t;
+#define INVALID_SHARED_TEXTURE_HANDLE	((vr::SharedTextureHandle_t)0)
+
+enum ETrackingResult
+{
+	TrackingResult_Uninitialized			= 1,
+
+	TrackingResult_Calibrating_InProgress	= 100,
+	TrackingResult_Calibrating_OutOfRange	= 101,
+
+	TrackingResult_Running_OK				= 200,
+	TrackingResult_Running_OutOfRange		= 201,
+};
+
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
+static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
+
+/** Used to pass device IDs to API calls */
+typedef uint32_t TrackedDeviceIndex_t;
+static const uint32_t k_unTrackedDeviceIndex_Hmd = 0;
+static const uint32_t k_unMaxTrackedDeviceCount = 16;
+static const uint32_t k_unTrackedDeviceIndexOther = 0xFFFFFFFE;
+static const uint32_t k_unTrackedDeviceIndexInvalid = 0xFFFFFFFF;
+
+/** Describes what kind of object is being tracked at a given ID */
+enum ETrackedDeviceClass
+{
+	TrackedDeviceClass_Invalid = 0,				// the ID was not valid.
+	TrackedDeviceClass_HMD = 1,					// Head-Mounted Displays
+	TrackedDeviceClass_Controller = 2,			// Tracked controllers
+	TrackedDeviceClass_GenericTracker = 3,		// Generic trackers, similar to controllers
+	TrackedDeviceClass_TrackingReference = 4,	// Camera and base stations that serve as tracking reference points
+	TrackedDeviceClass_DisplayRedirect = 5,		// Accessories that aren't necessarily tracked themselves, but may redirect video output from other tracked devices
+};
+
+
+/** Describes what specific role associated with a tracked device */
+enum ETrackedControllerRole
+{
+	TrackedControllerRole_Invalid = 0,					// Invalid value for controller type
+	TrackedControllerRole_LeftHand = 1,					// Tracked device associated with the left hand
+	TrackedControllerRole_RightHand = 2,				// Tracked device associated with the right hand
+};
+
+
+/** describes a single pose for a tracked object */
+struct TrackedDevicePose_t
+{
+	HmdMatrix34_t mDeviceToAbsoluteTracking;
+	HmdVector3_t vVelocity;				// velocity in tracker space in m/s
+	HmdVector3_t vAngularVelocity;		// angular velocity in radians/s (?)
+	ETrackingResult eTrackingResult;
+	bool bPoseIsValid;
+
+	// This indicates that there is a device connected for this spot in the pose array.
+	// It could go from true to false if the user unplugs the device.
+	bool bDeviceIsConnected;
+};
+
+/** Identifies which style of tracking origin the application wants to use
+* for the poses it is requesting */
+enum ETrackingUniverseOrigin
+{
+	TrackingUniverseSeated = 0,		// Poses are provided relative to the seated zero pose
+	TrackingUniverseStanding = 1,	// Poses are provided relative to the safe bounds configured by the user
+	TrackingUniverseRawAndUncalibrated = 2,	// Poses are provided in the coordinate system defined by the driver.  It has Y up and is unified for devices of the same driver. You usually don't want this one.
+};
+
+// Refers to a single container of properties
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+static const PropertyContainerHandle_t k_ulInvalidPropertyContainer = 0;
+static const PropertyTypeTag_t k_unInvalidPropertyTag = 0;
+
+// Use these tags to set/get common types as struct properties
+static const PropertyTypeTag_t k_unFloatPropertyTag = 1;
+static const PropertyTypeTag_t k_unInt32PropertyTag = 2;
+static const PropertyTypeTag_t k_unUint64PropertyTag = 3;
+static const PropertyTypeTag_t k_unBoolPropertyTag = 4;
+static const PropertyTypeTag_t k_unStringPropertyTag = 5;
+
+static const PropertyTypeTag_t k_unHmdMatrix34PropertyTag = 20;
+static const PropertyTypeTag_t k_unHmdMatrix44PropertyTag = 21;
+static const PropertyTypeTag_t k_unHmdVector3PropertyTag = 22;
+static const PropertyTypeTag_t k_unHmdVector4PropertyTag = 23;
+
+static const PropertyTypeTag_t k_unHiddenAreaPropertyTag = 30;
+
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_Start = 1000;
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_End = 10000;
+
+
+/** Each entry in this enum represents a property that can be retrieved about a
+* tracked device. Many fields are only valid for one ETrackedDeviceClass. */
+enum ETrackedDeviceProperty
+{
+	Prop_Invalid								= 0,
+
+	// general properties that apply to all device classes
+	Prop_TrackingSystemName_String				= 1000,
+	Prop_ModelNumber_String						= 1001,
+	Prop_SerialNumber_String					= 1002,
+	Prop_RenderModelName_String					= 1003,
+	Prop_WillDriftInYaw_Bool					= 1004,
+	Prop_ManufacturerName_String				= 1005,
+	Prop_TrackingFirmwareVersion_String			= 1006,
+	Prop_HardwareRevision_String				= 1007,
+	Prop_AllWirelessDongleDescriptions_String	= 1008,
+	Prop_ConnectedWirelessDongle_String			= 1009,
+	Prop_DeviceIsWireless_Bool					= 1010,
+	Prop_DeviceIsCharging_Bool					= 1011,
+	Prop_DeviceBatteryPercentage_Float			= 1012, // 0 is empty, 1 is full
+	Prop_StatusDisplayTransform_Matrix34		= 1013,
+	Prop_Firmware_UpdateAvailable_Bool			= 1014,
+	Prop_Firmware_ManualUpdate_Bool				= 1015,
+	Prop_Firmware_ManualUpdateURL_String		= 1016,
+	Prop_HardwareRevision_Uint64				= 1017,
+	Prop_FirmwareVersion_Uint64					= 1018,
+	Prop_FPGAVersion_Uint64						= 1019,
+	Prop_VRCVersion_Uint64						= 1020,
+	Prop_RadioVersion_Uint64					= 1021,
+	Prop_DongleVersion_Uint64					= 1022,
+	Prop_BlockServerShutdown_Bool				= 1023,
+	Prop_CanUnifyCoordinateSystemWithHmd_Bool	= 1024,
+	Prop_ContainsProximitySensor_Bool			= 1025,
+	Prop_DeviceProvidesBatteryStatus_Bool		= 1026,
+	Prop_DeviceCanPowerOff_Bool					= 1027,
+	Prop_Firmware_ProgrammingTarget_String		= 1028,
+	Prop_DeviceClass_Int32						= 1029,
+	Prop_HasCamera_Bool							= 1030,
+	Prop_DriverVersion_String                   = 1031,
+	Prop_Firmware_ForceUpdateRequired_Bool      = 1032,
+	Prop_ViveSystemButtonFixRequired_Bool		= 1033,
+	Prop_ParentDriver_Uint64					= 1034,
+	Prop_ResourceRoot_String					= 1035,
+
+	// Properties that are unique to TrackedDeviceClass_HMD
+	Prop_ReportsTimeSinceVSync_Bool				= 2000,
+	Prop_SecondsFromVsyncToPhotons_Float		= 2001,
+	Prop_DisplayFrequency_Float					= 2002,
+	Prop_UserIpdMeters_Float					= 2003,
+	Prop_CurrentUniverseId_Uint64				= 2004, 
+	Prop_PreviousUniverseId_Uint64				= 2005, 
+	Prop_DisplayFirmwareVersion_Uint64			= 2006,
+	Prop_IsOnDesktop_Bool						= 2007,
+	Prop_DisplayMCType_Int32					= 2008,
+	Prop_DisplayMCOffset_Float					= 2009,
+	Prop_DisplayMCScale_Float					= 2010,
+	Prop_EdidVendorID_Int32						= 2011,
+	Prop_DisplayMCImageLeft_String              = 2012,
+	Prop_DisplayMCImageRight_String             = 2013,
+	Prop_DisplayGCBlackClamp_Float				= 2014,
+	Prop_EdidProductID_Int32					= 2015,
+	Prop_CameraToHeadTransform_Matrix34			= 2016,
+	Prop_DisplayGCType_Int32					= 2017,
+	Prop_DisplayGCOffset_Float					= 2018,
+	Prop_DisplayGCScale_Float					= 2019,
+	Prop_DisplayGCPrescale_Float				= 2020,
+	Prop_DisplayGCImage_String					= 2021,
+	Prop_LensCenterLeftU_Float					= 2022,
+	Prop_LensCenterLeftV_Float					= 2023,
+	Prop_LensCenterRightU_Float					= 2024,
+	Prop_LensCenterRightV_Float					= 2025,
+	Prop_UserHeadToEyeDepthMeters_Float			= 2026,
+	Prop_CameraFirmwareVersion_Uint64			= 2027,
+	Prop_CameraFirmwareDescription_String		= 2028,
+	Prop_DisplayFPGAVersion_Uint64				= 2029,
+	Prop_DisplayBootloaderVersion_Uint64		= 2030,
+	Prop_DisplayHardwareVersion_Uint64			= 2031,
+	Prop_AudioFirmwareVersion_Uint64			= 2032,
+	Prop_CameraCompatibilityMode_Int32			= 2033,
+	Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	Prop_DisplaySuppressed_Bool					= 2036,
+	Prop_DisplayAllowNightMode_Bool				= 2037,
+	Prop_DisplayMCImageWidth_Int32				= 2038,
+	Prop_DisplayMCImageHeight_Int32				= 2039,
+	Prop_DisplayMCImageNumChannels_Int32		= 2040,
+	Prop_DisplayMCImageData_Binary				= 2041,
+	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+
+	// Properties that are unique to TrackedDeviceClass_Controller
+	Prop_AttachedDeviceId_String				= 3000,
+	Prop_SupportedButtons_Uint64				= 3001,
+	Prop_Axis0Type_Int32						= 3002, // Return value is of type EVRControllerAxisType
+	Prop_Axis1Type_Int32						= 3003, // Return value is of type EVRControllerAxisType
+	Prop_Axis2Type_Int32						= 3004, // Return value is of type EVRControllerAxisType
+	Prop_Axis3Type_Int32						= 3005, // Return value is of type EVRControllerAxisType
+	Prop_Axis4Type_Int32						= 3006, // Return value is of type EVRControllerAxisType
+	Prop_ControllerRoleHint_Int32				= 3007, // Return value is of type ETrackedControllerRole
+
+	// Properties that are unique to TrackedDeviceClass_TrackingReference
+	Prop_FieldOfViewLeftDegrees_Float			= 4000,
+	Prop_FieldOfViewRightDegrees_Float			= 4001,
+	Prop_FieldOfViewTopDegrees_Float			= 4002,
+	Prop_FieldOfViewBottomDegrees_Float			= 4003,
+	Prop_TrackingRangeMinimumMeters_Float		= 4004,
+	Prop_TrackingRangeMaximumMeters_Float		= 4005,
+	Prop_ModeLabel_String						= 4006,
+
+	// Properties that are used for user interface like icons names
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+
+	// Properties that are used by helpers, but are opaque to applications
+	Prop_DisplayHiddenArea_Binary_Start				= 5100,
+	Prop_DisplayHiddenArea_Binary_End				= 5150,
+
+	// Properties that are unique to drivers
+	Prop_UserConfigPath_String					= 6000,
+	Prop_InstallPath_String						= 6001,
+	Prop_HasDisplayComponent_Bool				= 6002,
+	Prop_HasControllerComponent_Bool			= 6003,
+	Prop_HasCameraComponent_Bool				= 6004,
+	Prop_HasDriverDirectModeComponent_Bool		= 6005,
+	Prop_HasVirtualDisplayComponent_Bool		= 6006,
+
+	// Vendors are free to expose private debug data in this reserved region
+	Prop_VendorSpecific_Reserved_Start			= 10000,
+	Prop_VendorSpecific_Reserved_End			= 10999,
+};
+
+/** No string property will ever be longer than this length */
+static const uint32_t k_unMaxPropertyStringSize = 32 * 1024;
+
+/** Used to return errors that occur when reading properties. */
+enum ETrackedPropertyError
+{
+	TrackedProp_Success						= 0,
+	TrackedProp_WrongDataType				= 1,
+	TrackedProp_WrongDeviceClass			= 2,
+	TrackedProp_BufferTooSmall				= 3,
+	TrackedProp_UnknownProperty				= 4, // Driver has not set the property (and may not ever).
+	TrackedProp_InvalidDevice				= 5,
+	TrackedProp_CouldNotContactServer		= 6,
+	TrackedProp_ValueNotProvidedByDevice	= 7,
+	TrackedProp_StringExceedsMaximumLength	= 8,
+	TrackedProp_NotYetAvailable				= 9, // The property value isn't known yet, but is expected soon. Call again later.
+	TrackedProp_PermissionDenied			= 10,
+	TrackedProp_InvalidOperation			= 11,
+};
+
+/** Allows the application to control what part of the provided texture will be used in the
+* frame buffer. */
+struct VRTextureBounds_t
+{
+	float uMin, vMin;
+	float uMax, vMax;
+};
+
+
+/** Allows the application to control how scene textures are used by the compositor when calling Submit. */
+enum EVRSubmitFlags
+{
+	// Simple render path. App submits rendered left and right eye images with no lens distortion correction applied.
+	Submit_Default = 0x00,
+
+	// App submits final left and right eye images with lens distortion already applied (lens distortion makes the images appear
+	// barrel distorted with chromatic aberration correction applied). The app would have used the data returned by
+	// vr::IVRSystem::ComputeDistortion() to apply the correct distortion to the rendered images before calling Submit().
+	Submit_LensDistortionAlreadyApplied = 0x01,
+
+	// If the texture pointer passed in is actually a renderbuffer (e.g. for MSAA in OpenGL) then set this flag.
+	Submit_GlRenderBuffer = 0x02,
+
+	// Do not use
+	Submit_Reserved = 0x04,
+};
+
+/** Data required for passing Vulkan textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct VRVulkanTextureData_t
+{
+	uint64_t m_nImage; // VkImage
+	VkDevice_T *m_pDevice;
+	VkPhysicalDevice_T *m_pPhysicalDevice;
+	VkInstance_T *m_pInstance;
+	VkQueue_T *m_pQueue;
+	uint32_t m_nQueueFamilyIndex;
+	uint32_t m_nWidth, m_nHeight, m_nFormat, m_nSampleCount;
+};
+
+/** Data required for passing D3D12 textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct D3D12TextureData_t
+{
+	ID3D12Resource *m_pResource;
+	ID3D12CommandQueue *m_pCommandQueue;
+	uint32_t m_nNodeMask;
+};
+
+/** Status of the overall system or tracked objects */
+enum EVRState
+{
+	VRState_Undefined = -1,
+	VRState_Off = 0,
+	VRState_Searching = 1,
+	VRState_Searching_Alert = 2,
+	VRState_Ready = 3,
+	VRState_Ready_Alert = 4,
+	VRState_NotReady = 5,
+	VRState_Standby = 6,
+	VRState_Ready_Alert_Low = 7,
+};
+
+/** The types of events that could be posted (and what the parameters mean for each event type) */
+enum EVREventType
+{
+	VREvent_None = 0,
+
+	VREvent_TrackedDeviceActivated		= 100,
+	VREvent_TrackedDeviceDeactivated	= 101,
+	VREvent_TrackedDeviceUpdated		= 102,
+	VREvent_TrackedDeviceUserInteractionStarted	= 103,
+	VREvent_TrackedDeviceUserInteractionEnded	= 104,
+	VREvent_IpdChanged					= 105,
+	VREvent_EnterStandbyMode			= 106,
+	VREvent_LeaveStandbyMode			= 107,
+	VREvent_TrackedDeviceRoleChanged	= 108,
+	VREvent_WatchdogWakeUpRequested		= 109,
+	VREvent_LensDistortionChanged		= 110,
+	VREvent_PropertyChanged				= 111,
+
+	VREvent_ButtonPress					= 200, // data is controller
+	VREvent_ButtonUnpress				= 201, // data is controller
+	VREvent_ButtonTouch					= 202, // data is controller
+	VREvent_ButtonUntouch				= 203, // data is controller
+
+	VREvent_MouseMove					= 300, // data is mouse
+	VREvent_MouseButtonDown				= 301, // data is mouse
+	VREvent_MouseButtonUp				= 302, // data is mouse
+	VREvent_FocusEnter					= 303, // data is overlay
+	VREvent_FocusLeave					= 304, // data is overlay
+	VREvent_Scroll						= 305, // data is mouse
+	VREvent_TouchPadMove				= 306, // data is mouse
+	VREvent_OverlayFocusChanged			= 307, // data is overlay, global event
+
+	VREvent_InputFocusCaptured			= 400, // data is process DEPRECATED
+	VREvent_InputFocusReleased			= 401, // data is process DEPRECATED
+	VREvent_SceneFocusLost				= 402, // data is process
+	VREvent_SceneFocusGained			= 403, // data is process
+	VREvent_SceneApplicationChanged		= 404, // data is process - The App actually drawing the scene changed (usually to or from the compositor)
+	VREvent_SceneFocusChanged			= 405, // data is process - New app got access to draw the scene
+	VREvent_InputFocusChanged			= 406, // data is process
+	VREvent_SceneApplicationSecondaryRenderingStarted = 407, // data is process
+
+	VREvent_HideRenderModels			= 410, // Sent to the scene application to request hiding render models temporarily
+	VREvent_ShowRenderModels			= 411, // Sent to the scene application to request restoring render model visibility
+
+	VREvent_OverlayShown				= 500,
+	VREvent_OverlayHidden				= 501,
+	VREvent_DashboardActivated			= 502,
+	VREvent_DashboardDeactivated		= 503,
+	VREvent_DashboardThumbSelected		= 504, // Sent to the overlay manager - data is overlay
+	VREvent_DashboardRequested			= 505, // Sent to the overlay manager - data is overlay
+	VREvent_ResetDashboard				= 506, // Send to the overlay manager
+	VREvent_RenderToast					= 507, // Send to the dashboard to render a toast - data is the notification ID
+	VREvent_ImageLoaded					= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
+	VREvent_ShowKeyboard				= 509, // Sent to keyboard renderer in the dashboard to invoke it
+	VREvent_HideKeyboard				= 510, // Sent to keyboard renderer in the dashboard to hide it
+	VREvent_OverlayGamepadFocusGained	= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
+	VREvent_OverlayGamepadFocusLost		= 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
+	VREvent_OverlaySharedTextureChanged = 513,
+	VREvent_DashboardGuideButtonDown	= 514,
+	VREvent_DashboardGuideButtonUp		= 515,
+	VREvent_ScreenshotTriggered			= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
+	VREvent_ImageFailed					= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
+	VREvent_DashboardOverlayCreated		= 518,
+
+	// Screenshot API
+	VREvent_RequestScreenshot				= 520, // Sent by vrclient application to compositor to take a screenshot
+	VREvent_ScreenshotTaken					= 521, // Sent by compositor to the application that the screenshot has been taken
+	VREvent_ScreenshotFailed				= 522, // Sent by compositor to the application that the screenshot failed to be taken
+	VREvent_SubmitScreenshotToDashboard		= 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_ScreenshotProgressToDashboard	= 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+
+	VREvent_PrimaryDashboardDeviceChanged	= 525,
+
+	VREvent_Notification_Shown				= 600,
+	VREvent_Notification_Hidden				= 601,
+	VREvent_Notification_BeginInteraction	= 602,
+	VREvent_Notification_Destroyed			= 603,
+
+	VREvent_Quit							= 700, // data is process
+	VREvent_ProcessQuit						= 701, // data is process
+	VREvent_QuitAborted_UserPrompt			= 702, // data is process
+	VREvent_QuitAcknowledged				= 703, // data is process
+	VREvent_DriverRequestedQuit				= 704, // The driver has requested that SteamVR shut down
+
+	VREvent_ChaperoneDataHasChanged			= 800,
+	VREvent_ChaperoneUniverseHasChanged		= 801,
+	VREvent_ChaperoneTempDataHasChanged		= 802,
+	VREvent_ChaperoneSettingsHaveChanged	= 803,
+	VREvent_SeatedZeroPoseReset				= 804,
+
+	VREvent_AudioSettingsHaveChanged		= 820,
+
+	VREvent_BackgroundSettingHasChanged		= 850,
+	VREvent_CameraSettingsHaveChanged		= 851,
+	VREvent_ReprojectionSettingHasChanged	= 852,
+	VREvent_ModelSkinSettingsHaveChanged	= 853,
+	VREvent_EnvironmentSettingsHaveChanged	= 854,
+	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
+
+	VREvent_StatusUpdate					= 900,
+
+	VREvent_MCImageUpdated					= 1000,
+
+	VREvent_FirmwareUpdateStarted			= 1100,
+	VREvent_FirmwareUpdateFinished			= 1101,
+
+	VREvent_KeyboardClosed					= 1200,
+	VREvent_KeyboardCharInput				= 1201,
+	VREvent_KeyboardDone					= 1202, // Sent when DONE button clicked on keyboard
+
+	VREvent_ApplicationTransitionStarted		= 1300,
+	VREvent_ApplicationTransitionAborted		= 1301,
+	VREvent_ApplicationTransitionNewAppStarted	= 1302,
+	VREvent_ApplicationListUpdated				= 1303,
+	VREvent_ApplicationMimeTypeLoad				= 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected					= 1306,
+	VREvent_ProcessDisconnected					= 1307,
+
+	VREvent_Compositor_MirrorWindowShown		= 1400,
+	VREvent_Compositor_MirrorWindowHidden		= 1401,
+	VREvent_Compositor_ChaperoneBoundsShown		= 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden	= 1411,
+
+	VREvent_TrackedCamera_StartVideoStream  = 1500,
+	VREvent_TrackedCamera_StopVideoStream   = 1501,
+	VREvent_TrackedCamera_PauseVideoStream  = 1502,
+	VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	VREvent_TrackedCamera_EditingSurface    = 1550,
+
+	VREvent_PerformanceTest_EnableCapture	= 1600,
+	VREvent_PerformanceTest_DisableCapture	= 1601,
+	VREvent_PerformanceTest_FidelityLevel	= 1602,
+
+	VREvent_MessageOverlay_Closed			= 1650,
+	
+	// Vendors are free to expose private events in this reserved region
+	VREvent_VendorSpecific_Reserved_Start	= 10000,
+	VREvent_VendorSpecific_Reserved_End		= 19999,
+};
+
+
+/** Level of Hmd activity */
+// UserInteraction_Timeout means the device is in the process of timing out.
+// InUse = ( k_EDeviceActivityLevel_UserInteraction || k_EDeviceActivityLevel_UserInteraction_Timeout )
+// VREvent_TrackedDeviceUserInteractionStarted fires when the devices transitions from Standby -> UserInteraction or Idle -> UserInteraction.
+// VREvent_TrackedDeviceUserInteractionEnded fires when the devices transitions from UserInteraction_Timeout -> Idle
+enum EDeviceActivityLevel
+{	
+	k_EDeviceActivityLevel_Unknown = -1,									
+	k_EDeviceActivityLevel_Idle = 0,						// No activity for the last 10 seconds
+	k_EDeviceActivityLevel_UserInteraction = 1,				// Activity (movement or prox sensor) is happening now	
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,		// No activity for the last 0.5 seconds
+	k_EDeviceActivityLevel_Standby = 3,						// Idle for at least 5 seconds (configurable in Settings -> Power Management)
+};
+
+
+/** VR controller button and axis IDs */
+enum EVRButtonId
+{
+	k_EButton_System			= 0,
+	k_EButton_ApplicationMenu	= 1,
+	k_EButton_Grip				= 2,
+	k_EButton_DPad_Left			= 3,
+	k_EButton_DPad_Up			= 4,
+	k_EButton_DPad_Right		= 5,
+	k_EButton_DPad_Down			= 6,
+	k_EButton_A					= 7,
+	
+	k_EButton_ProximitySensor   = 31,
+
+	k_EButton_Axis0				= 32,
+	k_EButton_Axis1				= 33,
+	k_EButton_Axis2				= 34,
+	k_EButton_Axis3				= 35,
+	k_EButton_Axis4				= 36,
+
+	// aliases for well known controllers
+	k_EButton_SteamVR_Touchpad	= k_EButton_Axis0,
+	k_EButton_SteamVR_Trigger	= k_EButton_Axis1,
+
+	k_EButton_Dashboard_Back	= k_EButton_Grip,
+
+	k_EButton_Max				= 64
+};
+
+inline uint64_t ButtonMaskFromId( EVRButtonId id ) { return 1ull << id; }
+
+/** used for controller button events */
+struct VREvent_Controller_t
+{
+	uint32_t button; // EVRButtonId enum
+};
+
+
+/** used for simulated mouse events in overlay space */
+enum EVRMouseButton
+{
+	VRMouseButton_Left					= 0x0001,
+	VRMouseButton_Right					= 0x0002,
+	VRMouseButton_Middle				= 0x0004,
+};
+
+
+/** used for simulated mouse events in overlay space */
+struct VREvent_Mouse_t
+{
+	float x, y; // co-ords are in GL space, bottom left of the texture is 0,0
+	uint32_t button; // EVRMouseButton enum
+};
+
+/** used for simulated mouse wheel scroll in overlay space */
+struct VREvent_Scroll_t
+{
+	float xdelta, ydelta; // movement in fraction of the pad traversed since last delta, 1.0 for a full swipe
+	uint32_t repeatCount;
+};
+
+/** when in mouse input mode you can receive data from the touchpad, these events are only sent if the users finger
+   is on the touchpad (or just released from it) 
+**/
+struct VREvent_TouchPadMove_t
+{
+	// true if the users finger is detected on the touch pad
+	bool bFingerDown;
+
+	// How long the finger has been down in seconds
+	float flSecondsFingerDown;
+
+	// These values indicate the starting finger position (so you can do some basic swipe stuff)
+	float fValueXFirst;
+	float fValueYFirst;
+
+	// This is the raw sampled coordinate without deadzoning
+	float fValueXRaw;
+	float fValueYRaw;
+};
+
+/** notification related events. Details will still change at this point */
+struct VREvent_Notification_t
+{
+	uint64_t ulUserValue;
+	uint32_t notificationId;
+};
+
+/** Used for events about processes */
+struct VREvent_Process_t
+{
+	uint32_t pid;
+	uint32_t oldPid;
+	bool bForced;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Overlay_t
+{
+	uint64_t overlayHandle;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Status_t
+{
+	uint32_t statusState; // EVRState enum
+};
+
+/** Used for keyboard events **/
+struct VREvent_Keyboard_t
+{
+	char cNewInput[8];	// Up to 11 bytes of new input
+	uint64_t uUserValue;	// Possible flags about the new input
+};
+
+struct VREvent_Ipd_t
+{
+	float ipdMeters;
+};
+
+struct VREvent_Chaperone_t
+{
+	uint64_t m_nPreviousUniverse;
+	uint64_t m_nCurrentUniverse;
+};
+
+/** Not actually used for any events */
+struct VREvent_Reserved_t
+{
+	uint64_t reserved0;
+	uint64_t reserved1;
+};
+
+struct VREvent_PerformanceTest_t
+{
+	uint32_t m_nFidelityLevel;
+};
+
+struct VREvent_SeatedZeroPoseReset_t
+{
+	bool bResetBySystemMenu;
+};
+
+struct VREvent_Screenshot_t
+{
+	uint32_t handle;
+	uint32_t type;
+};
+
+struct VREvent_ScreenshotProgress_t
+{
+	float progress;
+};
+
+struct VREvent_ApplicationLaunch_t
+{
+	uint32_t pid;
+	uint32_t unArgsHandle;
+};
+
+struct VREvent_EditingCameraSurface_t
+{
+	uint64_t overlayHandle;
+	uint32_t nVisualMode;
+};
+
+struct VREvent_MessageOverlay_t
+{
+	uint32_t unVRMessageOverlayResponse; // vr::VRMessageOverlayResponse enum
+};
+
+struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	ETrackedDeviceProperty prop;
+};
+
+/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py */
+typedef union
+{
+	VREvent_Reserved_t reserved;
+	VREvent_Controller_t controller;
+	VREvent_Mouse_t mouse;
+	VREvent_Scroll_t scroll;
+	VREvent_Process_t process;
+	VREvent_Notification_t notification;
+	VREvent_Overlay_t overlay;
+	VREvent_Status_t status;
+	VREvent_Keyboard_t keyboard;
+	VREvent_Ipd_t ipd;
+	VREvent_Chaperone_t chaperone;
+	VREvent_PerformanceTest_t performanceTest;
+	VREvent_TouchPadMove_t touchPadMove;
+	VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+	VREvent_Screenshot_t screenshot;
+	VREvent_ScreenshotProgress_t screenshotProgress;
+	VREvent_ApplicationLaunch_t applicationLaunch;
+	VREvent_EditingCameraSurface_t cameraSurface;
+	VREvent_MessageOverlay_t messageOverlay;
+	VREvent_Property_t property;
+} VREvent_Data_t;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** An event posted by the server to all running applications */
+struct VREvent_t
+{
+	uint32_t eventType; // EVREventType enum
+	TrackedDeviceIndex_t trackedDeviceIndex;
+	float eventAgeSeconds;
+	// event data must be the end of the struct as its size is variable
+	VREvent_Data_t data;
+};
+
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+/** The mesh to draw into the stencil (or depth) buffer to perform 
+* early stencil (or depth) kills of pixels that will never appear on the HMD.
+* This mesh draws on all the pixels that will be hidden after distortion. 
+*
+* If the HMD does not provide a visible area mesh pVertexData will be
+* NULL and unTriangleCount will be 0. */
+struct HiddenAreaMesh_t
+{
+	const HmdVector2_t *pVertexData;
+	uint32_t unTriangleCount;
+};
+
+
+enum EHiddenAreaMeshType
+{
+	k_eHiddenAreaMesh_Standard = 0,
+	k_eHiddenAreaMesh_Inverse = 1,
+	k_eHiddenAreaMesh_LineLoop = 2,
+
+	k_eHiddenAreaMesh_Max = 3,
+};
+
+
+/** Identifies what kind of axis is on the controller at index n. Read this type 
+* with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n );
+*/
+enum EVRControllerAxisType
+{
+	k_eControllerAxis_None = 0,
+	k_eControllerAxis_TrackPad = 1,
+	k_eControllerAxis_Joystick = 2,
+	k_eControllerAxis_Trigger = 3, // Analog trigger data is in the X axis
+};
+
+
+/** contains information about one axis on the controller */
+struct VRControllerAxis_t
+{
+	float x; // Ranges from -1.0 to 1.0 for joysticks and track pads. Ranges from 0.0 to 1.0 for triggers were 0 is fully released.
+	float y; // Ranges from -1.0 to 1.0 for joysticks and track pads. Is always 0.0 for triggers.
+};
+
+
+/** the number of axes in the controller state */
+static const uint32_t k_unControllerStateAxisCount = 5;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** Holds all the state of a controller at one moment in time. */
+struct VRControllerState001_t
+{
+	// If packet num matches that on your prior call, then the controller state hasn't been changed since 
+	// your last call and there is no need to process it
+	uint32_t unPacketNum;
+
+	// bit flags for each of the buttons. Use ButtonMaskFromId to turn an ID into a mask
+	uint64_t ulButtonPressed;
+	uint64_t ulButtonTouched;
+
+	// Axis data for the controller's analog inputs
+	VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ];
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+
+typedef VRControllerState001_t VRControllerState_t;
+
+
+/** determines how to provide output to the application of various event processing functions. */
+enum EVRControllerEventOutputType
+{
+	ControllerEventOutput_OSEvents = 0,
+	ControllerEventOutput_VREvents = 1,
+};
+
+
+
+/** Collision Bounds Style */
+enum ECollisionBoundsStyle
+{
+	COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	COLLISION_BOUNDS_STYLE_INTERMEDIATE,
+	COLLISION_BOUNDS_STYLE_SQUARES,
+	COLLISION_BOUNDS_STYLE_ADVANCED,
+	COLLISION_BOUNDS_STYLE_NONE,
+
+	COLLISION_BOUNDS_STYLE_COUNT
+};
+
+/** Allows the application to customize how the overlay appears in the compositor */
+struct Compositor_OverlaySettings
+{
+	uint32_t size; // sizeof(Compositor_OverlaySettings)
+	bool curved, antialias;
+	float scale, distance, alpha;
+	float uOffset, vOffset, uScale, vScale;
+	float gridDivs, gridWidth, gridScale;
+	HmdMatrix44_t transform;
+};
+
+/** used to refer to a single VR overlay */
+typedef uint64_t VROverlayHandle_t;
+
+static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0;
+
+/** Errors that can occur around VR overlays */
+enum EVROverlayError
+{
+	VROverlayError_None						= 0,
+
+	VROverlayError_UnknownOverlay			= 10,
+	VROverlayError_InvalidHandle			= 11,
+	VROverlayError_PermissionDenied			= 12,
+	VROverlayError_OverlayLimitExceeded		= 13, // No more overlays could be created because the maximum number already exist
+	VROverlayError_WrongVisibilityType		= 14,
+	VROverlayError_KeyTooLong				= 15,
+	VROverlayError_NameTooLong				= 16,
+	VROverlayError_KeyInUse					= 17,
+	VROverlayError_WrongTransformType		= 18,
+	VROverlayError_InvalidTrackedDevice		= 19,
+	VROverlayError_InvalidParameter			= 20,
+	VROverlayError_ThumbnailCantBeDestroyed	= 21,
+	VROverlayError_ArrayTooSmall			= 22,
+	VROverlayError_RequestFailed			= 23,
+	VROverlayError_InvalidTexture			= 24,
+	VROverlayError_UnableToLoadFile			= 25,
+	VROverlayError_KeyboardAlreadyInUse		= 26,
+	VROverlayError_NoNeighbor				= 27,
+	VROverlayError_TooManyMaskPrimitives	= 29,
+	VROverlayError_BadMaskPrimitive			= 30,
+};
+
+/** enum values to pass in to VR_Init to identify whether the application will 
+* draw a 3D scene. */
+enum EVRApplicationType
+{
+	VRApplication_Other = 0,		// Some other kind of application that isn't covered by the other entries 
+	VRApplication_Scene	= 1,		// Application will submit 3D frames 
+	VRApplication_Overlay = 2,		// Application only interacts with overlays
+	VRApplication_Background = 3,	// Application should not start SteamVR if it's not already running, and should not
+									// keep it running if everything else quits.
+	VRApplication_Utility = 4,		// Init should not try to load any drivers. The application needs access to utility
+									// interfaces (like IVRSettings and IVRApplications) but not hardware.
+	VRApplication_VRMonitor = 5,	// Reserved for vrmonitor
+	VRApplication_SteamWatchdog = 6,// Reserved for Steam
+	VRApplication_Bootstrapper = 7, // Start up SteamVR
+
+	VRApplication_Max
+};
+
+
+/** error codes for firmware */
+enum EVRFirmwareError
+{
+	VRFirmwareError_None = 0,
+	VRFirmwareError_Success = 1,
+	VRFirmwareError_Fail = 2,
+};
+
+
+/** error codes for notifications */
+enum EVRNotificationError
+{
+	VRNotificationError_OK = 0,
+	VRNotificationError_InvalidNotificationId = 100,
+	VRNotificationError_NotificationQueueFull = 101,
+	VRNotificationError_InvalidOverlayHandle = 102,
+	VRNotificationError_SystemWithUserValueAlreadyExists = 103,
+};
+
+
+/** error codes returned by Vr_Init */
+
+// Please add adequate error description to https://developer.valvesoftware.com/w/index.php?title=Category:SteamVRHelp
+enum EVRInitError
+{
+	VRInitError_None	= 0,
+	VRInitError_Unknown = 1,
+
+	VRInitError_Init_InstallationNotFound		= 100,
+	VRInitError_Init_InstallationCorrupt		= 101,
+	VRInitError_Init_VRClientDLLNotFound		= 102,
+	VRInitError_Init_FileNotFound				= 103,
+	VRInitError_Init_FactoryNotFound			= 104,
+	VRInitError_Init_InterfaceNotFound			= 105,
+	VRInitError_Init_InvalidInterface			= 106,
+	VRInitError_Init_UserConfigDirectoryInvalid = 107,
+	VRInitError_Init_HmdNotFound				= 108,
+	VRInitError_Init_NotInitialized				= 109,
+	VRInitError_Init_PathRegistryNotFound		= 110,
+	VRInitError_Init_NoConfigPath				= 111,
+	VRInitError_Init_NoLogPath					= 112,
+	VRInitError_Init_PathRegistryNotWritable	= 113,
+	VRInitError_Init_AppInfoInitFailed			= 114,
+	VRInitError_Init_Retry						= 115, // Used internally to cause retries to vrserver
+	VRInitError_Init_InitCanceledByUser			= 116, // The calling application should silently exit. The user canceled app startup
+	VRInitError_Init_AnotherAppLaunching		= 117, 
+	VRInitError_Init_SettingsInitFailed			= 118, 
+	VRInitError_Init_ShuttingDown				= 119,
+	VRInitError_Init_TooManyObjects				= 120,
+	VRInitError_Init_NoServerForBackgroundApp	= 121,
+	VRInitError_Init_NotSupportedWithCompositor	= 122,
+	VRInitError_Init_NotAvailableToUtilityApps	= 123,
+	VRInitError_Init_Internal				 	= 124,
+	VRInitError_Init_HmdDriverIdIsNone		 	= 125,
+	VRInitError_Init_HmdNotFoundPresenceFailed 	= 126,
+	VRInitError_Init_VRMonitorNotFound			= 127,
+	VRInitError_Init_VRMonitorStartupFailed		= 128,
+	VRInitError_Init_LowPowerWatchdogNotSupported = 129, 
+	VRInitError_Init_InvalidApplicationType		= 130,
+	VRInitError_Init_NotAvailableToWatchdogApps = 131,
+	VRInitError_Init_WatchdogDisabledInSettings = 132,
+	VRInitError_Init_VRDashboardNotFound		= 133,
+	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
+
+	VRInitError_Driver_Failed				= 200,
+	VRInitError_Driver_Unknown				= 201,
+	VRInitError_Driver_HmdUnknown			= 202,
+	VRInitError_Driver_NotLoaded			= 203,
+	VRInitError_Driver_RuntimeOutOfDate		= 204,
+	VRInitError_Driver_HmdInUse				= 205,
+	VRInitError_Driver_NotCalibrated		= 206,
+	VRInitError_Driver_CalibrationInvalid	= 207,
+	VRInitError_Driver_HmdDisplayNotFound	= 208,
+	VRInitError_Driver_TrackedDeviceInterfaceUnknown = 209,
+	// VRInitError_Driver_HmdDisplayNotFoundAfterFix	 = 210, // not needed: here for historic reasons
+	VRInitError_Driver_HmdDriverIdOutOfBounds = 211,
+	VRInitError_Driver_HmdDisplayMirrored  = 212,
+
+	VRInitError_IPC_ServerInitFailed		= 300,
+	VRInitError_IPC_ConnectFailed			= 301,
+	VRInitError_IPC_SharedStateInitFailed	= 302,
+	VRInitError_IPC_CompositorInitFailed	= 303,
+	VRInitError_IPC_MutexInitFailed			= 304,
+	VRInitError_IPC_Failed					= 305,
+	VRInitError_IPC_CompositorConnectFailed	= 306,
+	VRInitError_IPC_CompositorInvalidConnectResponse = 307,
+	VRInitError_IPC_ConnectFailedAfterMultipleAttempts = 308,
+
+	VRInitError_Compositor_Failed					= 400,
+	VRInitError_Compositor_D3D11HardwareRequired	= 401,
+	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
+	VRInitError_Compositor_OverlayInitFailed		= 403,
+	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
+
+	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+
+	VRInitError_VendorSpecific_HmdFound_CantOpenDevice 				= 1101,
+	VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart	= 1102,
+	VRInitError_VendorSpecific_HmdFound_NoStoredConfig 				= 1103,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooBig 				= 1104,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooSmall 				= 1105,
+	VRInitError_VendorSpecific_HmdFound_UnableToInitZLib 			= 1106,
+	VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion 	= 1107,
+	VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart	= 1108,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart	= 1109,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext		= 1110,
+	VRInitError_VendorSpecific_HmdFound_UserDataAddressRange		= 1111,
+	VRInitError_VendorSpecific_HmdFound_UserDataError				= 1112,
+	VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck		= 1113,
+
+	VRInitError_Steam_SteamInstallationNotFound = 2000,
+};
+
+enum EVRScreenshotType
+{
+	VRScreenshotType_None = 0,
+	VRScreenshotType_Mono = 1, // left eye only
+	VRScreenshotType_Stereo = 2,
+	VRScreenshotType_Cubemap = 3,
+	VRScreenshotType_MonoPanorama = 4,
+	VRScreenshotType_StereoPanorama = 5
+};
+
+enum EVRScreenshotPropertyFilenames
+{
+	VRScreenshotPropertyFilenames_Preview = 0,
+	VRScreenshotPropertyFilenames_VR = 1,
+};
+
+enum EVRTrackedCameraError
+{
+	VRTrackedCameraError_None                       = 0,
+	VRTrackedCameraError_OperationFailed            = 100,
+	VRTrackedCameraError_InvalidHandle              = 101,	
+	VRTrackedCameraError_InvalidFrameHeaderVersion  = 102,
+	VRTrackedCameraError_OutOfHandles               = 103,
+	VRTrackedCameraError_IPCFailure                 = 104,
+	VRTrackedCameraError_NotSupportedForThisDevice  = 105,
+	VRTrackedCameraError_SharedMemoryFailure        = 106,
+	VRTrackedCameraError_FrameBufferingFailure      = 107,
+	VRTrackedCameraError_StreamSetupFailure         = 108,
+	VRTrackedCameraError_InvalidGLTextureId         = 109,
+	VRTrackedCameraError_InvalidSharedTextureHandle = 110,
+	VRTrackedCameraError_FailedToGetGLTextureId     = 111,
+	VRTrackedCameraError_SharedTextureFailure       = 112,
+	VRTrackedCameraError_NoFrameAvailable           = 113,
+	VRTrackedCameraError_InvalidArgument            = 114,
+	VRTrackedCameraError_InvalidFrameBufferSize     = 115,
+};
+
+enum EVRTrackedCameraFrameType
+{
+	VRTrackedCameraFrameType_Distorted = 0,			// This is the camera video frame size in pixels, still distorted.
+	VRTrackedCameraFrameType_Undistorted,			// In pixels, an undistorted inscribed rectangle region without invalid regions. This size is subject to changes shortly.
+	VRTrackedCameraFrameType_MaximumUndistorted,	// In pixels, maximum undistorted with invalid regions. Non zero alpha component identifies valid regions.
+	MAX_CAMERA_FRAME_TYPES
+};
+
+typedef uint64_t TrackedCameraHandle_t;
+#define INVALID_TRACKED_CAMERA_HANDLE	((vr::TrackedCameraHandle_t)0)
+
+struct CameraVideoStreamFrameHeader_t
+{
+	EVRTrackedCameraFrameType eFrameType;
+
+	uint32_t nWidth;
+	uint32_t nHeight;
+	uint32_t nBytesPerPixel;
+
+	uint32_t nFrameSequence;
+
+	TrackedDevicePose_t standingTrackedDevicePose;
+};
+
+// Screenshot types
+typedef uint32_t ScreenshotHandle_t;
+
+static const uint32_t k_unScreenshotHandleInvalid = 0;
+
+#pragma pack( pop )
+
+// figure out how to import from the VR API dll
+#if defined(_WIN32)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __declspec( dllexport )
+#else
+#define VR_INTERFACE extern "C" __declspec( dllimport )
+#endif
+
+#elif defined(__GNUC__) || defined(COMPILER_GCC) || defined(__APPLE__)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __attribute__((visibility("default")))
+#else
+#define VR_INTERFACE extern "C" 
+#endif
+
+#else
+#error "Unsupported Platform."
+#endif
+
+
+#if defined( _WIN32 )
+#define VR_CALLTYPE __cdecl
+#else
+#define VR_CALLTYPE 
+#endif
+
+} // namespace vr
+
+#endif // _INCLUDE_VRTYPES_H
+
+
+// vrannotation.h
+#ifdef API_GEN
+# define VR_CLANG_ATTR(ATTR) __attribute__((annotate( ATTR )))
+#else
+# define VR_CLANG_ATTR(ATTR)
+#endif
+
+#define VR_METHOD_DESC(DESC) VR_CLANG_ATTR( "desc:" #DESC ";" )
+#define VR_IGNOREATTR() VR_CLANG_ATTR( "ignore" )
+#define VR_OUT_STRUCT() VR_CLANG_ATTR( "out_struct: ;" )
+#define VR_OUT_STRING() VR_CLANG_ATTR( "out_string: ;" )
+#define VR_OUT_ARRAY_CALL(COUNTER,FUNCTION,PARAMS) VR_CLANG_ATTR( "out_array_call:" #COUNTER "," #FUNCTION "," #PARAMS ";" )
+#define VR_OUT_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "out_array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT_D(COUNTER, DESC) VR_CLANG_ATTR( "array_count:" #COUNTER ";desc:" #DESC )
+#define VR_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "buffer_count:" #COUNTER ";" )
+#define VR_OUT_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "out_buffer_count:" #COUNTER ";" )
+#define VR_OUT_STRING_COUNT(COUNTER) VR_CLANG_ATTR( "out_string_count:" #COUNTER ";" )
+
+// vrtrackedcameratypes.h
+#ifndef _VRTRACKEDCAMERATYPES_H
+#define _VRTRACKEDCAMERATYPES_H 
+
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+enum ECameraVideoStreamFormat
+{
+	CVS_FORMAT_UNKNOWN = 0,
+	CVS_FORMAT_RAW10 = 1,		// 10 bits per pixel
+	CVS_FORMAT_NV12 = 2,		// 12 bits per pixel
+	CVS_FORMAT_RGB24 = 3,		// 24 bits per pixel
+	CVS_MAX_FORMATS
+};
+
+enum ECameraCompatibilityMode
+{
+	CAMERA_COMPAT_MODE_BULK_DEFAULT = 0,
+	CAMERA_COMPAT_MODE_BULK_64K_DMA,
+	CAMERA_COMPAT_MODE_BULK_16K_DMA,
+	CAMERA_COMPAT_MODE_BULK_8K_DMA,
+	CAMERA_COMPAT_MODE_ISO_52FPS,
+	CAMERA_COMPAT_MODE_ISO_50FPS,
+	CAMERA_COMPAT_MODE_ISO_48FPS,
+	CAMERA_COMPAT_MODE_ISO_46FPS,
+	CAMERA_COMPAT_MODE_ISO_44FPS,
+	CAMERA_COMPAT_MODE_ISO_42FPS,
+	CAMERA_COMPAT_MODE_ISO_40FPS,
+	CAMERA_COMPAT_MODE_ISO_35FPS,
+	CAMERA_COMPAT_MODE_ISO_30FPS,
+	MAX_CAMERA_COMPAT_MODES
+};
+
+#ifdef _MSC_VER
+#define VR_CAMERA_DECL_ALIGN( x ) __declspec( align( x ) )
+#else
+#define VR_CAMERA_DECL_ALIGN( x ) //
+#endif
+
+#define MAX_CAMERA_FRAME_SHARED_HANDLES	4
+
+VR_CAMERA_DECL_ALIGN( 8 ) struct CameraVideoStreamFrame_t
+{
+	ECameraVideoStreamFormat m_nStreamFormat;
+
+	uint32_t m_nWidth;
+	uint32_t m_nHeight;
+
+	uint32_t m_nImageDataSize;						// Based on stream format, width, height
+
+	uint32_t m_nFrameSequence;						// Starts from 0 when stream starts.
+
+	uint32_t m_nBufferIndex;						// Identifies which buffer the image data is hosted
+	uint32_t m_nBufferCount;						// Total number of configured buffers
+
+	uint32_t m_nExposureTime;
+
+	uint32_t m_nISPFrameTimeStamp;					// Driver provided time stamp per driver centric time base
+	uint32_t m_nISPReferenceTimeStamp;
+	uint32_t m_nSyncCounter;
+
+	uint32_t m_nCamSyncEvents;
+	uint32_t m_nISPSyncEvents;
+
+	double m_flReferenceCamSyncTime;
+
+	double m_flFrameElapsedTime;					// Starts from 0 when stream starts. In seconds.
+	double m_flFrameDeliveryRate;
+
+	double m_flFrameCaptureTime_DriverAbsolute;		// In USB time, via AuxEvent
+	double m_flFrameCaptureTime_ServerRelative;		// In System time within the server
+	uint64_t m_nFrameCaptureTicks_ServerAbsolute;	// In system ticks within the server
+	double m_flFrameCaptureTime_ClientRelative;		// At the client, relative to when the frame was exposed/captured.
+
+	double m_flSyncMarkerError;
+
+	TrackedDevicePose_t m_StandingTrackedDevicePose;	// Supplied by HMD layer when used as a tracked camera
+
+	uint64_t m_pImageData;
+};
+
+#pragma pack( pop )
+
+}
+
+#endif // _VRTRACKEDCAMERATYPES_H
+// ivrsettings.h
+namespace vr
+{
+	enum EVRSettingsError
+	{
+		VRSettingsError_None = 0,
+		VRSettingsError_IPCFailed = 1,
+		VRSettingsError_WriteFailed = 2,
+		VRSettingsError_ReadFailed = 3,
+		VRSettingsError_JsonParseFailed = 4,
+		VRSettingsError_UnsetSettingHasNoDefault = 5, // This will be returned if the setting does not appear in the appropriate default file and has not been set
+	};
+
+	// The maximum length of a settings key
+	static const uint32_t k_unMaxSettingsKeyLength = 128;
+
+	class IVRSettings
+	{
+	public:
+		virtual const char *GetSettingsErrorNameFromEnum( EVRSettingsError eError ) = 0;
+
+		// Returns true if file sync occurred (force or settings dirty)
+		virtual bool Sync( bool bForce = false, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void SetBool( const char *pchSection, const char *pchSettingsKey, bool bValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetFloat( const char *pchSection, const char *pchSettingsKey, float flValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetString( const char *pchSection, const char *pchSettingsKey, const char *pchValue, EVRSettingsError *peError = nullptr ) = 0;
+
+		// Users of the system need to provide a proper default in default.vrsettings in the resources/settings/ directory
+		// of either the runtime or the driver_xxx directory. Otherwise the default will be false, 0, 0.0 or ""
+		virtual bool GetBool( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual int32_t GetInt32( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual float GetFloat( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void GetString( const char *pchSection, const char *pchSettingsKey, VR_OUT_STRING() char *pchValue, uint32_t unValueLen, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void RemoveSection( const char *pchSection, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void RemoveKeyInSection( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+	};
+
+	//-----------------------------------------------------------------------------
+	static const char * const IVRSettings_Version = "IVRSettings_002";
+
+	//-----------------------------------------------------------------------------
+	// steamvr keys
+	static const char * const k_pch_SteamVR_Section = "steamvr";
+	static const char * const k_pch_SteamVR_RequireHmd_String = "requireHmd";
+	static const char * const k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+	static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+	static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+	static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+	static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+	static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+	static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps";
+	static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+	static const char * const k_pch_SteamVR_IPD_Float = "ipd";
+	static const char * const k_pch_SteamVR_Background_String = "background";
+	static const char * const k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+	static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+	static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+	static const char * const k_pch_SteamVR_GridColor_String = "gridColor";
+	static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+	static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage";
+	static const char * const k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+	static const char * const k_pch_SteamVR_DirectMode_Bool = "directMode";
+	static const char * const k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+	static const char * const k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+	static const char * const k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+	static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+	static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+	static const char * const k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+	static const char * const k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+	static const char * const k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+
+	//-----------------------------------------------------------------------------
+	// lighthouse keys
+	static const char * const k_pch_Lighthouse_Section = "driver_lighthouse";
+	static const char * const k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+	static const char * const k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+	static const char * const k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+	static const char * const k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+	static const char * const k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+
+	//-----------------------------------------------------------------------------
+	// null keys
+	static const char * const k_pch_Null_Section = "driver_null";
+	static const char * const k_pch_Null_SerialNumber_String = "serialNumber";
+	static const char * const k_pch_Null_ModelNumber_String = "modelNumber";
+	static const char * const k_pch_Null_WindowX_Int32 = "windowX";
+	static const char * const k_pch_Null_WindowY_Int32 = "windowY";
+	static const char * const k_pch_Null_WindowWidth_Int32 = "windowWidth";
+	static const char * const k_pch_Null_WindowHeight_Int32 = "windowHeight";
+	static const char * const k_pch_Null_RenderWidth_Int32 = "renderWidth";
+	static const char * const k_pch_Null_RenderHeight_Int32 = "renderHeight";
+	static const char * const k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+	static const char * const k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+
+	//-----------------------------------------------------------------------------
+	// user interface keys
+	static const char * const k_pch_UserInterface_Section = "userinterface";
+	static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+	static const char * const k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+	static const char * const k_pch_UserInterface_Screenshots_Bool = "screenshots";
+	static const char * const k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+
+	//-----------------------------------------------------------------------------
+	// notification keys
+	static const char * const k_pch_Notifications_Section = "notifications";
+	static const char * const k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+
+	//-----------------------------------------------------------------------------
+	// keyboard keys
+	static const char * const k_pch_Keyboard_Section = "keyboard";
+	static const char * const k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+	static const char * const k_pch_Keyboard_ScaleX = "ScaleX";
+	static const char * const k_pch_Keyboard_ScaleY = "ScaleY";
+	static const char * const k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+	static const char * const k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+	static const char * const k_pch_Keyboard_OffsetY = "OffsetY";
+	static const char * const k_pch_Keyboard_Smoothing = "Smoothing";
+
+	//-----------------------------------------------------------------------------
+	// perf keys
+	static const char * const k_pch_Perf_Section = "perfcheck";
+	static const char * const k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+	static const char * const k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+	static const char * const k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+
+	//-----------------------------------------------------------------------------
+	// collision bounds keys
+	static const char * const k_pch_CollisionBounds_Section = "collisionBounds";
+	static const char * const k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+	static const char * const k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+	static const char * const k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+	static const char * const k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+	static const char * const k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+	static const char * const k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+	static const char * const k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+	static const char * const k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+	static const char * const k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+
+	//-----------------------------------------------------------------------------
+	// camera keys
+	static const char * const k_pch_Camera_Section = "camera";
+	static const char * const k_pch_Camera_EnableCamera_Bool = "enableCamera";
+	static const char * const k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+	static const char * const k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+	static const char * const k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+	static const char * const k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+	static const char * const k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+	static const char * const k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+	static const char * const k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+	static const char * const k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+
+	//-----------------------------------------------------------------------------
+	// audio keys
+	static const char * const k_pch_audio_Section = "audio";
+	static const char * const k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+	static const char * const k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+	static const char * const k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+	static const char * const k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+	static const char * const k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+	static const char * const k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+
+	//-----------------------------------------------------------------------------
+	// power management keys
+	static const char * const k_pch_Power_Section = "power";
+	static const char * const k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+	static const char * const k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+
+	//-----------------------------------------------------------------------------
+	// dashboard keys
+	static const char * const k_pch_Dashboard_Section = "dashboard";
+	static const char * const k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+	static const char * const k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+
+	//-----------------------------------------------------------------------------
+	// model skin keys
+	static const char * const k_pch_modelskin_Section = "modelskins";
+
+	//-----------------------------------------------------------------------------
+	// driver keys - These could be checked in any driver_<name> section
+	static const char * const k_pch_Driver_Enable_Bool = "enable";
+
+} // namespace vr
+
+// iservertrackeddevicedriver.h
+namespace vr
+{
+
+
+struct DriverPoseQuaternion_t
+{
+	double w, x, y, z;
+};
+
+struct DriverPose_t
+{
+	/* Time offset of this pose, in seconds from the actual time of the pose,
+	 * relative to the time of the PoseUpdated() call made by the driver.
+	 */
+	double poseTimeOffset;
+
+	/* Generally, the pose maintained by a driver
+	 * is in an inertial coordinate system different
+	 * from the world system of x+ right, y+ up, z+ back.
+	 * Also, the driver is not usually tracking the "head" position,
+	 * but instead an internal IMU or another reference point in the HMD.
+	 * The following two transforms transform positions and orientations
+	 * to app world space from driver world space,
+	 * and to HMD head space from driver local body space. 
+	 *
+	 * We maintain the driver pose state in its internal coordinate system,
+	 * so we can do the pose prediction math without having to
+	 * use angular acceleration.  A driver's angular acceleration is generally not measured,
+	 * and is instead calculated from successive samples of angular velocity.
+	 * This leads to a noisy angular acceleration values, which are also
+	 * lagged due to the filtering required to reduce noise to an acceptable level.
+	 */
+	vr::HmdQuaternion_t qWorldFromDriverRotation;
+	double vecWorldFromDriverTranslation[ 3 ];
+
+	vr::HmdQuaternion_t qDriverFromHeadRotation;
+	double vecDriverFromHeadTranslation[ 3 ];
+
+	/* State of driver pose, in meters and radians. */
+	/* Position of the driver tracking reference in driver world space
+	* +[0] (x) is right
+	* +[1] (y) is up
+	* -[2] (z) is forward
+	*/
+	double vecPosition[ 3 ];
+
+	/* Velocity of the pose in meters/second */
+	double vecVelocity[ 3 ];
+
+	/* Acceleration of the pose in meters/second */
+	double vecAcceleration[ 3 ];
+
+	/* Orientation of the tracker, represented as a quaternion */
+	vr::HmdQuaternion_t qRotation;
+
+	/* Angular velocity of the pose in axis-angle 
+	* representation. The direction is the angle of
+	* rotation and the magnitude is the angle around
+	* that axis in radians/second. */
+	double vecAngularVelocity[ 3 ];
+
+	/* Angular acceleration of the pose in axis-angle 
+	* representation. The direction is the angle of
+	* rotation and the magnitude is the angle around
+	* that axis in radians/second^2. */
+	double vecAngularAcceleration[ 3 ];
+
+	ETrackingResult result;
+
+	bool poseIsValid;
+	bool willDriftInYaw;
+	bool shouldApplyHeadModel;
+	bool deviceIsConnected;
+};
+
+
+// ----------------------------------------------------------------------------------------------
+// Purpose: Represents a single tracked device in a driver
+// ----------------------------------------------------------------------------------------------
+class ITrackedDeviceServerDriver
+{
+public:
+
+	// ------------------------------------
+	// Management Methods
+	// ------------------------------------
+	/** This is called before an HMD is returned to the application. It will always be
+	* called before any display or tracking methods. Memory and processor use by the
+	* ITrackedDeviceServerDriver object should be kept to a minimum until it is activated.
+	* The pose listener is guaranteed to be valid until Deactivate is called, but
+	* should not be used after that point. */
+	virtual EVRInitError Activate( uint32_t unObjectId ) = 0;
+
+	/** This is called when The VR system is switching from this Hmd being the active display
+	* to another Hmd being the active display. The driver should clean whatever memory
+	* and thread use it can when it is deactivated */
+	virtual void Deactivate() = 0;
+
+	/** Handles a request from the system to put this device into standby mode. What that means is defined per-device. */
+	virtual void EnterStandby() = 0;
+
+	/** Requests a component interface of the driver for device-specific functionality. The driver should return NULL
+	* if the requested interface or version is not supported. */
+	virtual void *GetComponent( const char *pchComponentNameAndVersion ) = 0;
+
+	/** A VR Client has made this debug request of the driver. The set of valid requests is entirely
+	* up to the driver and the client to figure out, as is the format of the response. Responses that
+	* exceed the length of the supplied buffer should be truncated and null terminated */
+	virtual void DebugRequest( const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize ) = 0;
+
+	// ------------------------------------
+	// Tracking Methods
+	// ------------------------------------
+	virtual DriverPose_t GetPose() = 0;
+};
+
+
+
+static const char *ITrackedDeviceServerDriver_Version = "ITrackedDeviceServerDriver_005";
+
+}
+// ivrdisplaycomponent.h
+namespace vr
+{
+
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: The display component on a single tracked device
+	// ----------------------------------------------------------------------------------------------
+	class IVRDisplayComponent
+	{
+	public:
+
+		// ------------------------------------
+		// Display Methods
+		// ------------------------------------
+
+		/** Size and position that the window needs to be on the VR display. */
+		virtual void GetWindowBounds( int32_t *pnX, int32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** Returns true if the display is extending the desktop. */
+		virtual bool IsDisplayOnDesktop( ) = 0;
+
+		/** Returns true if the display is real and not a fictional display. */
+		virtual bool IsDisplayRealDisplay( ) = 0;
+
+		/** Suggested size for the intermediate render target that the distortion pulls from. */
+		virtual void GetRecommendedRenderTargetSize( uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** Gets the viewport in the frame buffer to draw the output of the distortion into */
+		virtual void GetEyeOutputViewport( EVREye eEye, uint32_t *pnX, uint32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** The components necessary to build your own projection matrix in case your
+		* application is doing something fancy like infinite Z */
+		virtual void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom ) = 0;
+
+		/** Returns the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in
+		* the upper left of that eye's viewport and 1,1 in the lower right of that eye's viewport. */
+		virtual DistortionCoordinates_t ComputeDistortion( EVREye eEye, float fU, float fV ) = 0;
+
+	};
+
+	static const char *IVRDisplayComponent_Version = "IVRDisplayComponent_002";
+
+}
+
+// ivrdriverdirectmodecomponent.h
+namespace vr
+{
+
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: This component is used for drivers that implement direct mode entirely on their own
+	//			without allowing the VR Compositor to own the window/device. Chances are you don't
+	//			need to implement this component in your driver.
+	// ----------------------------------------------------------------------------------------------
+	class IVRDriverDirectModeComponent
+	{
+	public:
+
+		// -----------------------------------
+		// Direct mode methods
+		// -----------------------------------
+
+		/** Specific to Oculus compositor support, textures supplied must be created using this method. */
+		virtual void CreateSwapTextureSet( uint32_t unPid, uint32_t unFormat, uint32_t unWidth, uint32_t unHeight, vr::SharedTextureHandle_t( *pSharedTextureHandles )[ 3 ] ) {}
+
+		/** Used to textures created using CreateSwapTextureSet.  Only one of the set's handles needs to be used to destroy the entire set. */
+		virtual void DestroySwapTextureSet( vr::SharedTextureHandle_t sharedTextureHandle ) {}
+
+		/** Used to purge all texture sets for a given process. */
+		virtual void DestroyAllSwapTextureSets( uint32_t unPid ) {}
+
+		/** After Present returns, calls this to get the next index to use for rendering. */
+		virtual void GetNextSwapTextureSetIndex( vr::SharedTextureHandle_t sharedTextureHandles[ 2 ], uint32_t( *pIndices )[ 2 ] ) {}
+
+		/** Call once per layer to draw for this frame.  One shared texture handle per eye.  Textures must be created
+		* using CreateSwapTextureSet and should be alternated per frame.  Call Present once all layers have been submitted. */
+		virtual void SubmitLayer( vr::SharedTextureHandle_t sharedTextureHandles[ 2 ], const vr::VRTextureBounds_t( &bounds )[ 2 ], const vr::HmdMatrix34_t *pPose ) {}
+
+		/** Submits queued layers for display. */
+		virtual void Present( vr::SharedTextureHandle_t syncTexture ) {}
+
+	};
+
+	static const char *IVRDriverDirectModeComponent_Version = "IVRDriverDirectModeComponent_002";
+
+}
+
+// ivrcontrollercomponent.h
+namespace vr
+{
+
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: Controller access on a single tracked device.
+	// ----------------------------------------------------------------------------------------------
+	class IVRControllerComponent
+	{
+	public:
+
+		// ------------------------------------
+		// Controller Methods
+		// ------------------------------------
+
+		/** Gets the current state of a controller. */
+		virtual VRControllerState_t GetControllerState( ) = 0;
+
+		/** Returns a uint64 property. If the property is not available this function will return 0. */
+		virtual bool TriggerHapticPulse( uint32_t unAxisId, uint16_t usPulseDurationMicroseconds ) = 0;
+
+	};
+
+
+
+	static const char *IVRControllerComponent_Version = "IVRControllerComponent_001";
+
+}
+// ivrcameracomponent.h
+namespace vr
+{
+	//-----------------------------------------------------------------------------
+	//-----------------------------------------------------------------------------
+	class ICameraVideoSinkCallback
+	{
+	public:
+		virtual void OnCameraVideoSinkCallback() = 0;
+	};
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: The camera on a single tracked device
+	// ----------------------------------------------------------------------------------------------
+	class IVRCameraComponent
+	{
+	public:
+		// ------------------------------------
+		// Camera Methods
+		// ------------------------------------
+		virtual bool GetCameraFrameDimensions( vr::ECameraVideoStreamFormat nVideoStreamFormat, uint32_t *pWidth, uint32_t *pHeight ) = 0;
+		virtual bool GetCameraFrameBufferingRequirements( int *pDefaultFrameQueueSize, uint32_t *pFrameBufferDataSize ) = 0;
+		virtual bool SetCameraFrameBuffering( int nFrameBufferCount, void **ppFrameBuffers, uint32_t nFrameBufferDataSize ) = 0;
+		virtual bool SetCameraVideoStreamFormat( vr::ECameraVideoStreamFormat nVideoStreamFormat ) = 0;
+		virtual vr::ECameraVideoStreamFormat GetCameraVideoStreamFormat() = 0;
+		virtual bool StartVideoStream() = 0;
+		virtual void StopVideoStream() = 0;
+		virtual bool IsVideoStreamActive( bool *pbPaused, float *pflElapsedTime ) = 0;
+		virtual const vr::CameraVideoStreamFrame_t *GetVideoStreamFrame() = 0;
+		virtual void ReleaseVideoStreamFrame( const vr::CameraVideoStreamFrame_t *pFrameImage ) = 0;
+		virtual bool SetAutoExposure( bool bEnable ) = 0;
+		virtual bool PauseVideoStream() = 0;
+		virtual bool ResumeVideoStream() = 0;
+		virtual bool GetCameraDistortion( float flInputU, float flInputV, float *pflOutputU, float *pflOutputV ) = 0;
+		virtual bool GetCameraProjection( vr::EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, vr::HmdMatrix44_t *pProjection ) = 0;
+		virtual bool SetFrameRate( int nISPFrameRate, int nSensorFrameRate ) = 0;
+		virtual bool SetCameraVideoSinkCallback( vr::ICameraVideoSinkCallback *pCameraVideoSinkCallback ) = 0;
+		virtual bool GetCameraCompatibilityMode( vr::ECameraCompatibilityMode *pCameraCompatibilityMode ) = 0;
+		virtual bool SetCameraCompatibilityMode( vr::ECameraCompatibilityMode nCameraCompatibilityMode ) = 0;
+		virtual bool GetCameraFrameBounds( vr::EVRTrackedCameraFrameType eFrameType, uint32_t *pLeft, uint32_t *pTop, uint32_t *pWidth, uint32_t *pHeight ) = 0;
+		virtual bool GetCameraIntrinsics( vr::EVRTrackedCameraFrameType eFrameType, HmdVector2_t *pFocalLength, HmdVector2_t *pCenter ) = 0;
+	};
+
+	static const char *IVRCameraComponent_Version = "IVRCameraComponent_002";
+}
+// itrackeddevicedriverprovider.h
+namespace vr
+{
+
+class ITrackedDeviceServerDriver;
+struct TrackedDeviceDriverInfo_t;
+struct DriverPose_t;
+typedef PropertyContainerHandle_t DriverHandle_t;
+
+/** This interface is provided by vrserver to allow the driver to notify 
+* the system when something changes about a device. These changes must
+* not change the serial number or class of the device because those values
+* are permanently associated with the device's index. */
+class IVRDriverContext
+{
+public:
+	/** Returns the requested interface. If the interface was not available it will return NULL and fill
+	* out the error. */
+	virtual void *GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError = nullptr ) = 0;
+
+	/** Returns the property container handle for this driver */
+	virtual DriverHandle_t GetDriverHandle() = 0;
+};
+
+
+/** This interface must be implemented in each driver. It will be loaded in vrserver.exe */
+class IServerTrackedDeviceProvider
+{
+public:
+	/** initializes the driver. This will be called before any other methods are called.
+	* If Init returns anything other than VRInitError_None the driver DLL will be unloaded.
+	*
+	* pDriverHost will never be NULL, and will always be a pointer to a IServerDriverHost interface
+	*
+	* pchUserDriverConfigDir - The absolute path of the directory where the driver should store user
+	*	config files.
+	* pchDriverInstallDir - The absolute path of the root directory for the driver.
+	*/
+	virtual EVRInitError Init( IVRDriverContext *pDriverContext ) = 0;
+
+	/** cleans up the driver right before it is unloaded */
+	virtual void Cleanup() = 0;
+
+	/** Returns the version of the ITrackedDeviceServerDriver interface used by this driver */
+	virtual const char * const *GetInterfaceVersions() = 0;
+
+	/** Allows the driver do to some work in the main loop of the server. */
+	virtual void RunFrame() = 0;
+
+
+	// ------------  Power State Functions ----------------------- //
+
+	/** Returns true if the driver wants to block Standby mode. */
+	virtual bool ShouldBlockStandbyMode() = 0;
+
+	/** Called when the system is entering Standby mode. The driver should switch itself into whatever sort of low-power
+	* state it has. */
+	virtual void EnterStandby() = 0;
+
+	/** Called when the system is leaving Standby mode. The driver should switch itself back to
+	full operation. */
+	virtual void LeaveStandby() = 0;
+
+};
+
+
+static const char *IServerTrackedDeviceProvider_Version = "IServerTrackedDeviceProvider_004";
+
+
+
+
+/** This interface must be implemented in each driver. It will be loaded in vrclient.dll */
+class IVRWatchdogProvider
+{
+public:
+	/** initializes the driver in watchdog mode. */
+	virtual EVRInitError Init( IVRDriverContext *pDriverContext ) = 0;
+
+	/** cleans up the driver right before it is unloaded */
+	virtual void Cleanup() = 0;
+};
+
+static const char *IVRWatchdogProvider_Version = "IVRWatchdogProvider_001";
+
+}
+// ivrproperties.h
+#include <string>
+
+namespace vr
+{
+
+	enum EPropertyWriteType
+	{
+		PropertyWrite_Set = 0,
+		PropertyWrite_Erase = 1,
+		PropertyWrite_SetError = 2
+	};
+
+	struct PropertyWrite_t
+	{
+		ETrackedDeviceProperty prop;
+		EPropertyWriteType writeType;
+		ETrackedPropertyError eSetError;
+		void *pvBuffer;
+		uint32_t unBufferSize;
+		PropertyTypeTag_t unTag;
+		ETrackedPropertyError eError;
+	};
+
+	struct PropertyRead_t
+	{
+		ETrackedDeviceProperty prop;
+		void *pvBuffer;
+		uint32_t unBufferSize;
+		PropertyTypeTag_t unTag;
+		uint32_t unRequiredBufferSize;
+		ETrackedPropertyError eError;
+	};
+
+
+class IVRProperties
+{
+public:
+
+	/** Reads a set of properties atomically. See the PropertyReadBatch_t struct for more information. */
+	virtual ETrackedPropertyError ReadPropertyBatch( PropertyContainerHandle_t ulContainerHandle, PropertyRead_t *pBatch, uint32_t unBatchEntryCount ) = 0;
+
+	/** Writes a set of properties atomically. See the PropertyWriteBatch_t struct for more information. */
+	virtual ETrackedPropertyError WritePropertyBatch( PropertyContainerHandle_t ulContainerHandle, PropertyWrite_t *pBatch, uint32_t unBatchEntryCount ) = 0;
+
+	/** returns a string that corresponds with the specified property error. The string will be the name
+	* of the error enum value for all valid error codes */
+	virtual const char *GetPropErrorNameFromEnum( ETrackedPropertyError error ) = 0;
+
+	/** Returns a container handle given a tracked device index */
+	virtual PropertyContainerHandle_t TrackedDeviceToPropertyContainer( TrackedDeviceIndex_t nDevice ) = 0;
+
+};
+
+static const char * const IVRProperties_Version = "IVRProperties_001";
+
+class CVRPropertyHelpers
+{
+public:
+	CVRPropertyHelpers( IVRProperties * pProperties ) : m_pProperties( pProperties ) {}
+
+	/** Returns a scaler property. If the device index is not valid or the property value type does not match,
+	* this function will return false. */
+	bool GetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	float GetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	int32_t GetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	uint64_t GetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+
+	/** Returns a single typed property. If the device index is not valid or the property is not a string type this function will
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	uint32_t GetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() void *pvBuffer, uint32_t unBufferSize, PropertyTypeTag_t *punTag, ETrackedPropertyError *pError = 0L );
+
+
+	/** Returns a string property. If the device index is not valid or the property is not a string type this function will
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	uint32_t GetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L );
+
+	/** Returns a string property as a std::string. If the device index is not valid or the property is not a string type this function will
+	* return an empty string. */
+	std::string GetStringProperty( vr::PropertyContainerHandle_t ulContainer, vr::ETrackedDeviceProperty prop, vr::ETrackedPropertyError *peError = nullptr );
+
+	/** Sets a scaler property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, bool bNewValue );
+	ETrackedPropertyError SetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, float fNewValue );
+	ETrackedPropertyError SetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, int32_t nNewValue );
+	ETrackedPropertyError SetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, uint64_t ulNewValue );
+
+	/** Sets a string property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, const char *pchNewValue );
+
+	/** Sets a single typed property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, void *pvNewValue, uint32_t unNewValueSize, PropertyTypeTag_t unTag );
+
+	/** Sets the error return value for a property. This value will be returned on all subsequent requests to get the property */
+	ETrackedPropertyError SetPropertyError( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError eError );
+
+	/** Clears any value or error set for the property. */
+	ETrackedPropertyError EraseProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop );
+
+	/* Turns a device index into a property container handle. */
+	PropertyContainerHandle_t TrackedDeviceToPropertyContainer( TrackedDeviceIndex_t nDevice ) { return m_pProperties->TrackedDeviceToPropertyContainer( nDevice );  }
+
+private:
+	template<typename T>
+	T GetPropertyHelper( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError, T bDefault, PropertyTypeTag_t unTypeTag );
+
+	IVRProperties *m_pProperties;
+};
+
+
+inline uint32_t CVRPropertyHelpers::GetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() void *pvBuffer, uint32_t unBufferSize, PropertyTypeTag_t *punTag, ETrackedPropertyError *pError )
+{
+	PropertyRead_t batch;
+	batch.prop = prop;
+	batch.pvBuffer = pvBuffer;
+	batch.unBufferSize = unBufferSize;
+
+	m_pProperties->ReadPropertyBatch( ulContainerHandle, &batch, 1 );
+
+	if ( pError )
+	{
+		*pError = batch.eError;
+	}
+
+	if ( punTag )
+	{
+		*punTag = batch.unTag;
+	}
+
+	return batch.unRequiredBufferSize;
+}
+
+
+/** Sets a single typed property. The new value will be returned on any subsequent call to get this property in any process. */
+inline ETrackedPropertyError CVRPropertyHelpers::SetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, void *pvNewValue, uint32_t unNewValueSize, PropertyTypeTag_t unTag )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_Set;
+	batch.prop = prop;
+	batch.pvBuffer = pvNewValue;
+	batch.unBufferSize = unNewValueSize;
+	batch.unTag = unTag;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+}
+
+
+/** Returns a string property. If the device index is not valid or the property is not a string type this function will
+* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+inline uint32_t CVRPropertyHelpers::GetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError )
+{
+	PropertyTypeTag_t unTag;
+	ETrackedPropertyError error;
+	uint32_t unRequiredSize = GetProperty( ulContainerHandle, prop, pchValue, unBufferSize, &unTag, &error );
+	if ( unTag != k_unStringPropertyTag && error == TrackedProp_Success )
+	{
+		error = TrackedProp_WrongDataType;
+	}
+
+	if ( pError )
+	{
+		*pError = error;
+	}
+
+	if ( error != TrackedProp_Success )
+	{
+		if ( pchValue && unBufferSize )
+		{
+			*pchValue = '\0';
+		}
+	}
+
+	return unRequiredSize;
+}
+
+
+/** Returns a string property as a std::string. If the device index is not valid or the property is not a string type this function will
+* return an empty string. */
+inline std::string CVRPropertyHelpers::GetStringProperty( vr::PropertyContainerHandle_t ulContainer, vr::ETrackedDeviceProperty prop, vr::ETrackedPropertyError *peError )
+{
+	char buf[1024];
+	vr::ETrackedPropertyError err;
+	uint32_t unRequiredBufferLen = GetStringProperty( ulContainer, prop, buf, sizeof(buf), &err );
+
+	std::string sResult;
+
+	if ( err == TrackedProp_Success )
+	{
+		sResult = buf;
+	}
+	else if ( err == TrackedProp_BufferTooSmall )
+	{
+		char *pchBuffer = new char[unRequiredBufferLen];
+		unRequiredBufferLen = GetStringProperty( ulContainer, prop, pchBuffer, unRequiredBufferLen, &err );
+		sResult = pchBuffer;
+		delete[] pchBuffer;
+	}
+
+	if ( peError )
+	{
+		*peError = err;
+	}
+
+	return sResult;
+}
+
+
+/** Sets a string property. The new value will be returned on any subsequent call to get this property in any process. */
+inline ETrackedPropertyError CVRPropertyHelpers::SetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, const char *pchNewValue )
+{
+	if ( !pchNewValue )
+		return TrackedProp_InvalidOperation;
+
+	// this is strlen without the dependency on string.h
+	const char *pchCurr = pchNewValue;
+	while ( *pchCurr )
+	{
+		pchCurr++;
+	}
+
+	return SetProperty( ulContainerHandle, prop, (void *)pchNewValue, (uint32_t)(pchCurr - pchNewValue) + 1, k_unStringPropertyTag );
+}
+
+
+template<typename T>
+inline T CVRPropertyHelpers::GetPropertyHelper( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError, T bDefault, PropertyTypeTag_t unTypeTag )
+{
+	T bValue;
+	ETrackedPropertyError eError;
+	PropertyTypeTag_t unReadTag;
+	GetProperty( ulContainerHandle, prop, &bValue, sizeof( bValue ), &unReadTag, &eError );
+	if ( unReadTag != unTypeTag && eError == TrackedProp_Success )
+	{
+		eError = TrackedProp_WrongDataType;
+	};
+
+	if ( pError )
+		*pError = eError;
+	if ( eError != TrackedProp_Success )
+	{
+		return bDefault;
+	}
+	else
+	{
+		return bValue;
+	}
+}
+
+
+inline bool CVRPropertyHelpers::GetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<bool>( ulContainerHandle, prop, pError, false, k_unBoolPropertyTag );
+}
+
+
+inline float CVRPropertyHelpers::GetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<float>( ulContainerHandle, prop, pError, 0.f, k_unFloatPropertyTag );
+}
+
+inline int32_t CVRPropertyHelpers::GetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<int32_t>( ulContainerHandle, prop, pError, 0, k_unInt32PropertyTag );
+}
+
+inline uint64_t CVRPropertyHelpers::GetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<uint64_t>( ulContainerHandle, prop, pError, 0, k_unUint64PropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, bool bNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &bNewValue, sizeof( bNewValue ), k_unBoolPropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, float fNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &fNewValue, sizeof( fNewValue ), k_unFloatPropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, int32_t nNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &nNewValue, sizeof( nNewValue ), k_unInt32PropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, uint64_t ulNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &ulNewValue, sizeof( ulNewValue ), k_unUint64PropertyTag );
+}
+
+/** Sets the error return value for a property. This value will be returned on all subsequent requests to get the property */
+inline ETrackedPropertyError CVRPropertyHelpers::SetPropertyError( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError eError )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_SetError;
+	batch.prop = prop;
+	batch.eSetError = eError;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+}
+
+/** Clears any value or error set for the property. */
+inline ETrackedPropertyError CVRPropertyHelpers::EraseProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_Erase;
+	batch.prop = prop;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+
+}
+
+}
+
+
+// ivrdriverlog.h
+namespace vr
+{
+
+class IVRDriverLog
+{
+public:
+	/** Writes a log message to the log file prefixed with the driver name */
+	virtual void Log( const char *pchLogMessage ) = 0;
+};
+
+
+static const char *IVRDriverLog_Version = "IVRDriverLog_001";
+
+}
+// ivrserverdriverhost.h
+namespace vr
+{
+
+class ITrackedDeviceServerDriver;
+struct TrackedDeviceDriverInfo_t;
+struct DriverPose_t;
+
+/** This interface is provided by vrserver to allow the driver to notify 
+* the system when something changes about a device. These changes must
+* not change the serial number or class of the device because those values
+* are permanently associated with the device's index. */
+class IVRServerDriverHost
+{
+public:
+	/** Notifies the server that a tracked device has been added. If this function returns true
+	* the server will call Activate on the device. If it returns false some kind of error
+	* has occurred and the device will not be activated. */
+	virtual bool TrackedDeviceAdded( const char *pchDeviceSerialNumber, ETrackedDeviceClass eDeviceClass, ITrackedDeviceServerDriver *pDriver ) = 0;
+
+	/** Notifies the server that a tracked device's pose has been updated */
+	virtual void TrackedDevicePoseUpdated( uint32_t unWhichDevice, const DriverPose_t & newPose, uint32_t unPoseStructSize ) = 0;
+
+	/** Notifies the server that vsync has occurred on the the display attached to the device. This is
+	* only permitted on devices of the HMD class. */
+	virtual void VsyncEvent( double vsyncTimeOffsetSeconds ) = 0;
+
+	/** notifies the server that the button was pressed */
+	virtual void TrackedDeviceButtonPressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was unpressed */
+	virtual void TrackedDeviceButtonUnpressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was pressed */
+	virtual void TrackedDeviceButtonTouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was unpressed */
+	virtual void TrackedDeviceButtonUntouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server than a controller axis changed */
+	virtual void TrackedDeviceAxisUpdated( uint32_t unWhichDevice, uint32_t unWhichAxis, const VRControllerAxis_t & axisState ) = 0;
+
+	/** Notifies the server that the proximity sensor on the specified device  */
+	virtual void ProximitySensorState( uint32_t unWhichDevice, bool bProximitySensorTriggered ) = 0;
+
+	/** Sends a vendor specific event (VREvent_VendorSpecific_Reserved_Start..VREvent_VendorSpecific_Reserved_End */
+	virtual void VendorSpecificEvent( uint32_t unWhichDevice, vr::EVREventType eventType, const VREvent_Data_t & eventData, double eventTimeOffset ) = 0;
+
+	/** Returns true if SteamVR is exiting */
+	virtual bool IsExiting() = 0;
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+	/** Provides access to device poses for drivers.  Poses are in their "raw" tracking space which is uniquely
+	* defined by each driver providing poses for its devices.  It is up to clients of this function to correlate
+	* poses across different drivers.  Poses are indexed by their device id, and their associated driver and
+	* other properties can be looked up via IVRProperties. */
+	virtual void GetRawTrackedDevicePoses( float fPredictedSecondsFromNow, TrackedDevicePose_t *pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount ) = 0;
+
+	/** Notifies the server that a tracked device's display component transforms have been updated. */
+	virtual void TrackedDeviceDisplayTransformUpdated( uint32_t unWhichDevice, HmdMatrix34_t eyeToHeadLeft, HmdMatrix34_t eyeToHeadRight ) = 0;
+};
+
+static const char *IVRServerDriverHost_Version = "IVRServerDriverHost_004";
+
+}
+
+// ivrhiddenarea.h
+namespace vr
+{
+
+class CVRHiddenAreaHelpers
+{
+public:
+	CVRHiddenAreaHelpers( IVRProperties *pProperties ) : m_pProperties( pProperties ) {}
+
+	/** Stores a hidden area mesh in a property */
+	ETrackedPropertyError SetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount );
+
+	/** retrieves a hidden area mesh from a property. Returns the vert count read out of the property.  */
+	uint32_t GetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount, ETrackedPropertyError *peError );
+
+private:
+	ETrackedDeviceProperty GetPropertyEnum( EVREye eEye, EHiddenAreaMeshType type )
+	{
+		return (ETrackedDeviceProperty)(Prop_DisplayHiddenArea_Binary_Start + ((int)type * 2) + (int)eEye);
+	}
+
+	IVRProperties *m_pProperties;
+};
+
+
+inline ETrackedPropertyError CVRHiddenAreaHelpers::SetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount )
+{
+	ETrackedDeviceProperty prop = GetPropertyEnum( eEye, type );
+	CVRPropertyHelpers propHelpers( m_pProperties );
+	return propHelpers.SetProperty( propHelpers.TrackedDeviceToPropertyContainer( k_unTrackedDeviceIndex_Hmd ), prop, pVerts, sizeof( HmdVector2_t ) * unVertCount, k_unHiddenAreaPropertyTag );
+}
+
+
+inline uint32_t CVRHiddenAreaHelpers::GetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount, ETrackedPropertyError *peError )
+{
+	ETrackedDeviceProperty prop = GetPropertyEnum( eEye, type );
+	CVRPropertyHelpers propHelpers( m_pProperties );
+	ETrackedPropertyError propError;
+	PropertyTypeTag_t unTag;
+	uint32_t unBytesNeeded = propHelpers.GetProperty( propHelpers.TrackedDeviceToPropertyContainer( k_unTrackedDeviceIndex_Hmd ), prop, pVerts, sizeof( HmdVector2_t )*unVertCount, &unTag, &propError );
+	if ( propError == TrackedProp_Success && unTag != k_unHiddenAreaPropertyTag )
+	{
+		propError = TrackedProp_WrongDataType;
+		unBytesNeeded = 0;
+	}
+
+	if ( peError )
+	{
+		*peError = propError;
+	}
+
+	return unBytesNeeded / sizeof( HmdVector2_t );
+}
+
+}
+// ivrwatchdoghost.h
+namespace vr
+{
+
+/** This interface is provided by vrclient to allow the driver to make everything wake up */
+class IVRWatchdogHost
+{
+public:
+	/** Client drivers in watchdog mode should call this when they have received a signal from hardware that should
+	* cause SteamVR to start */
+	virtual void WatchdogWakeUp() = 0;
+};
+
+static const char *IVRWatchdogHost_Version = "IVRWatchdogHost_001";
+
+};
+
+
+
+// ivrvirtualdisplay.h
+namespace vr
+{
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: This component is used for drivers that implement a virtual display (e.g. wireless).
+	// ----------------------------------------------------------------------------------------------
+	class IVRVirtualDisplay
+	{
+	public:
+
+		/** Submits final backbuffer for display. */
+		virtual void Present( vr::SharedTextureHandle_t backbufferTextureHandle ) = 0;
+
+		/** Block until the last presented buffer start scanning out. */
+		virtual void WaitForPresent() = 0;
+
+		/** Provides timing data for synchronizing with display. */
+		virtual bool GetTimeSinceLastVsync( float *pfSecondsSinceLastVsync, uint64_t *pulFrameCounter ) = 0;
+	};
+
+	static const char *IVRVirtualDisplay_Version = "IVRVirtualDisplay_001";
+
+	/** Returns the current IVRVirtualDisplay pointer or NULL the interface could not be found. */
+	VR_INTERFACE vr::IVRVirtualDisplay *VR_CALLTYPE VRVirtualDisplay();
+}
+
+
+// ivrresources.h
+namespace vr
+{
+
+class IVRResources
+{
+public:
+
+	// ------------------------------------
+	// Shared Resource Methods
+	// ------------------------------------
+
+	/** Loads the specified resource into the provided buffer if large enough.
+	* Returns the size in bytes of the buffer required to hold the specified resource. */
+	virtual uint32_t LoadSharedResource( const char *pchResourceName, char *pchBuffer, uint32_t unBufferLen ) = 0;
+
+	/** Provides the full path to the specified resource. Resource names can include named directories for
+	* drivers and other things, and this resolves all of those and returns the actual physical path. 
+	* pchResourceTypeDirectory is the subdirectory of resources to look in. */
+	virtual uint32_t GetResourceFullPath( const char *pchResourceName, const char *pchResourceTypeDirectory, char *pchPathBuffer, uint32_t unBufferLen ) = 0;
+};
+
+static const char * const IVRResources_Version = "IVRResources_001";
+
+
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
+
+
+
+
+namespace vr
+{
+	static const char * const k_InterfaceVersions[] =
+	{
+		IVRSettings_Version,
+		ITrackedDeviceServerDriver_Version,
+		IVRDisplayComponent_Version,
+		IVRDriverDirectModeComponent_Version,
+		IVRControllerComponent_Version,
+		IVRCameraComponent_Version,
+		IServerTrackedDeviceProvider_Version,
+		IVRWatchdogProvider_Version,
+		IVRVirtualDisplay_Version,
+		IVRDriverManager_Version,
+		IVRResources_Version,
+		nullptr
+	};
+
+	inline IVRDriverContext *&VRDriverContext()
+	{
+		static IVRDriverContext *pHost;
+		return pHost;
+	}
+
+	class COpenVRDriverContext
+	{
+	public:
+		COpenVRDriverContext() : m_propertyHelpers(nullptr), m_hiddenAreaHelpers(nullptr) { Clear(); }
+		void Clear();
+
+		EVRInitError InitServer();
+		EVRInitError InitWatchdog();
+
+		IVRSettings *VRSettings()
+		{
+			if ( m_pVRSettings == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSettings = (IVRSettings *)VRDriverContext()->GetGenericInterface( IVRSettings_Version, &eError );
+			}
+			return m_pVRSettings;
+		}
+
+		IVRProperties *VRPropertiesRaw()
+		{
+			if ( m_pVRProperties == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRProperties = (IVRProperties *)VRDriverContext()->GetGenericInterface( IVRProperties_Version, &eError );
+				m_propertyHelpers = CVRPropertyHelpers( m_pVRProperties );
+				m_hiddenAreaHelpers = CVRHiddenAreaHelpers( m_pVRProperties );
+			}
+			return m_pVRProperties;
+		}
+
+		CVRPropertyHelpers *VRProperties()
+		{
+			VRPropertiesRaw();
+			return &m_propertyHelpers;
+		}
+
+		CVRHiddenAreaHelpers *VRHiddenArea()
+		{
+			VRPropertiesRaw();
+			return &m_hiddenAreaHelpers;
+		}
+
+		IVRServerDriverHost *VRServerDriverHost()
+		{
+			if ( m_pVRServerDriverHost == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRServerDriverHost = (IVRServerDriverHost *)VRDriverContext()->GetGenericInterface( IVRServerDriverHost_Version, &eError );
+			}
+			return m_pVRServerDriverHost;
+		}
+
+		IVRWatchdogHost *VRWatchdogHost()
+		{
+			if ( m_pVRWatchdogHost == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRWatchdogHost = (IVRWatchdogHost *)VRDriverContext()->GetGenericInterface( IVRWatchdogHost_Version, &eError );
+			}
+			return m_pVRWatchdogHost;
+		}
+
+		IVRDriverLog *VRDriverLog()
+		{
+			if ( m_pVRDriverLog == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRDriverLog = (IVRDriverLog *)VRDriverContext()->GetGenericInterface( IVRDriverLog_Version, &eError );
+			}
+			return m_pVRDriverLog;
+		}
+
+		DriverHandle_t VR_CALLTYPE VRDriverHandle()
+		{
+			return VRDriverContext()->GetDriverHandle();
+		}
+
+		IVRDriverManager *VRDriverManager()
+		{
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = (IVRDriverManager *)VRDriverContext()->GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
+		IVRResources *VRResources()
+		{
+			if ( !m_pVRResources )
+			{
+				EVRInitError eError;
+				m_pVRResources = (IVRResources *)VRDriverContext()->GetGenericInterface( IVRResources_Version, &eError );
+			}
+			return m_pVRResources;
+		}
+
+	private:
+		CVRPropertyHelpers		m_propertyHelpers;
+		CVRHiddenAreaHelpers	m_hiddenAreaHelpers;
+
+		IVRSettings				*m_pVRSettings;
+		IVRProperties			*m_pVRProperties;
+		IVRServerDriverHost		*m_pVRServerDriverHost;
+		IVRWatchdogHost			*m_pVRWatchdogHost;
+		IVRDriverLog			*m_pVRDriverLog;
+		IVRDriverManager		*m_pVRDriverManager;
+		IVRResources			*m_pVRResources;
+	};
+
+	inline COpenVRDriverContext &OpenVRInternal_ModuleServerDriverContext()
+	{
+		static void *ctx[sizeof( COpenVRDriverContext ) / sizeof( void * )];
+		return *(COpenVRDriverContext *)ctx; // bypass zero-init constructor
+	}
+
+	inline IVRSettings *VR_CALLTYPE VRSettings() { return OpenVRInternal_ModuleServerDriverContext().VRSettings(); }
+	inline IVRProperties *VR_CALLTYPE VRPropertiesRaw() { return OpenVRInternal_ModuleServerDriverContext().VRPropertiesRaw(); }
+	inline CVRPropertyHelpers *VR_CALLTYPE VRProperties() { return OpenVRInternal_ModuleServerDriverContext().VRProperties(); }
+	inline CVRHiddenAreaHelpers *VR_CALLTYPE VRHiddenArea() { return OpenVRInternal_ModuleServerDriverContext().VRHiddenArea(); }
+	inline IVRDriverLog *VR_CALLTYPE VRDriverLog() { return OpenVRInternal_ModuleServerDriverContext().VRDriverLog(); }
+	inline IVRServerDriverHost *VR_CALLTYPE VRServerDriverHost() { return OpenVRInternal_ModuleServerDriverContext().VRServerDriverHost(); }
+	inline IVRWatchdogHost *VR_CALLTYPE VRWatchdogHost() { return OpenVRInternal_ModuleServerDriverContext().VRWatchdogHost(); }
+	inline DriverHandle_t VR_CALLTYPE VRDriverHandle() { return OpenVRInternal_ModuleServerDriverContext().VRDriverHandle(); }
+	inline IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleServerDriverContext().VRDriverManager(); }
+	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleServerDriverContext().VRResources(); }
+
+	inline void COpenVRDriverContext::Clear()
+	{
+		m_pVRSettings = nullptr;
+		m_pVRProperties = nullptr;
+		m_pVRServerDriverHost = nullptr;
+		m_pVRDriverLog = nullptr;
+		m_pVRWatchdogHost = nullptr;
+		m_pVRDriverManager = nullptr;
+		m_pVRResources = nullptr;
+	}
+
+	inline EVRInitError COpenVRDriverContext::InitServer()
+	{
+		Clear();
+		if ( !VRServerDriverHost()
+			|| !VRSettings()
+			|| !VRProperties()
+			|| !VRDriverLog() 
+			|| !VRDriverManager()
+			|| !VRResources() )
+			return VRInitError_Init_InterfaceNotFound;
+		return VRInitError_None;
+	}
+
+	inline EVRInitError COpenVRDriverContext::InitWatchdog()
+	{
+		Clear();
+		if ( !VRWatchdogHost()
+			|| !VRSettings()
+			|| !VRDriverLog() )
+			return VRInitError_Init_InterfaceNotFound;
+		return VRInitError_None;
+	}
+
+	inline EVRInitError InitServerDriverContext( IVRDriverContext *pContext )
+	{
+		VRDriverContext() = pContext;
+		return OpenVRInternal_ModuleServerDriverContext().InitServer();
+	}
+
+	inline EVRInitError InitWatchdogDriverContext( IVRDriverContext *pContext )
+	{
+		VRDriverContext() = pContext;
+		return OpenVRInternal_ModuleServerDriverContext().InitWatchdog();
+	}
+
+	inline void CleanupDriverContext()
+	{
+		VRDriverContext() = nullptr;
+		OpenVRInternal_ModuleServerDriverContext().Clear();
+	}
+
+	#define VR_INIT_SERVER_DRIVER_CONTEXT( pContext ) \
+			{ \
+			vr::EVRInitError eError = vr::InitServerDriverContext( pContext ); \
+			if( eError != vr::VRInitError_None ) \
+				return eError; \
+			}
+
+	#define VR_CLEANUP_SERVER_DRIVER_CONTEXT() \
+		vr::CleanupDriverContext();
+
+	#define VR_INIT_WATCHDOG_DRIVER_CONTEXT( pContext ) \
+			{ \
+			vr::EVRInitError eError = vr::InitWatchdogDriverContext( pContext ); \
+			if( eError != vr::VRInitError_None ) \
+				return eError; \
+			}
+
+	#define VR_CLEANUP_WATCHDOG_DRIVER_CONTEXT() \
+		vr::CleanupDriverContext();
+}
+// End
+
+#endif // _OPENVR_DRIVER_API
+
+
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/OpenVR b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/OpenVR
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diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Resources/Info.plist b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Resources/Info.plist
new file mode 100644
index 000000000..50ff90a2c
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Resources/Info.plist
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleIdentifier</key>
+	<string>com.valvesoftware.OpenVR.framework</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>OpenVR</string>
+	<key>CFBundlePackageType</key>
+	<string>FMWK</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleVersion</key>
+	<string>1.0</string>
+</dict>
+</plist>
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr.h b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr.h
new file mode 100644
index 000000000..79abf062a
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr.h
@@ -0,0 +1,3721 @@
+#pragma once
+
+// openvr.h
+//========= Copyright Valve Corporation ============//
+// Dynamically generated file. Do not modify this file directly.
+
+#ifndef _OPENVR_API
+#define _OPENVR_API
+
+#include <stdint.h>
+
+
+
+// vrtypes.h
+#ifndef _INCLUDE_VRTYPES_H
+#define _INCLUDE_VRTYPES_H
+
+// Forward declarations to avoid requiring vulkan.h
+struct VkDevice_T;
+struct VkPhysicalDevice_T;
+struct VkInstance_T;
+struct VkQueue_T;
+
+// Forward declarations to avoid requiring d3d12.h
+struct ID3D12Resource;
+struct ID3D12CommandQueue;
+
+namespace vr
+{
+#pragma pack( push, 8 )
+
+typedef void* glSharedTextureHandle_t;
+typedef int32_t glInt_t;
+typedef uint32_t glUInt_t;
+
+// right-handed system
+// +y is up
+// +x is to the right
+// -z is going away from you
+// Distance unit is  meters
+struct HmdMatrix34_t
+{
+	float m[3][4];
+};
+
+struct HmdMatrix44_t
+{
+	float m[4][4];
+};
+
+struct HmdVector3_t
+{
+	float v[3];
+};
+
+struct HmdVector4_t
+{
+	float v[4];
+};
+
+struct HmdVector3d_t
+{
+	double v[3];
+};
+
+struct HmdVector2_t
+{
+	float v[2];
+};
+
+struct HmdQuaternion_t
+{
+	double w, x, y, z;
+};
+
+struct HmdColor_t
+{
+	float r, g, b, a;
+};
+
+struct HmdQuad_t
+{
+	HmdVector3_t vCorners[ 4 ];
+};
+
+struct HmdRect2_t
+{
+	HmdVector2_t vTopLeft;
+	HmdVector2_t vBottomRight;
+};
+
+/** Used to return the post-distortion UVs for each color channel. 
+* UVs range from 0 to 1 with 0,0 in the upper left corner of the 
+* source render target. The 0,0 to 1,1 range covers a single eye. */
+struct DistortionCoordinates_t
+{
+	float rfRed[2];
+	float rfGreen[2];
+	float rfBlue[2];
+};
+
+enum EVREye
+{
+	Eye_Left = 0,
+	Eye_Right = 1
+};
+
+enum ETextureType
+{
+	TextureType_DirectX = 0, // Handle is an ID3D11Texture
+	TextureType_OpenGL = 1,  // Handle is an OpenGL texture name or an OpenGL render buffer name, depending on submit flags
+	TextureType_Vulkan = 2, // Handle is a pointer to a VRVulkanTextureData_t structure
+	TextureType_IOSurface = 3, // Handle is a macOS cross-process-sharable IOSurfaceRef
+	TextureType_DirectX12 = 4, // Handle is a pointer to a D3D12TextureData_t structure
+};
+
+enum EColorSpace
+{
+	ColorSpace_Auto = 0,	// Assumes 'gamma' for 8-bit per component formats, otherwise 'linear'.  This mirrors the DXGI formats which have _SRGB variants.
+	ColorSpace_Gamma = 1,	// Texture data can be displayed directly on the display without any conversion (a.k.a. display native format).
+	ColorSpace_Linear = 2,	// Same as gamma but has been converted to a linear representation using DXGI's sRGB conversion algorithm.
+};
+
+struct Texture_t
+{
+	void* handle; // See ETextureType definition above
+	ETextureType eType;
+	EColorSpace eColorSpace;
+};
+
+// Handle to a shared texture (HANDLE on Windows obtained using OpenSharedResource).
+typedef uint64_t SharedTextureHandle_t;
+#define INVALID_SHARED_TEXTURE_HANDLE	((vr::SharedTextureHandle_t)0)
+
+enum ETrackingResult
+{
+	TrackingResult_Uninitialized			= 1,
+
+	TrackingResult_Calibrating_InProgress	= 100,
+	TrackingResult_Calibrating_OutOfRange	= 101,
+
+	TrackingResult_Running_OK				= 200,
+	TrackingResult_Running_OutOfRange		= 201,
+};
+
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
+static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
+
+/** Used to pass device IDs to API calls */
+typedef uint32_t TrackedDeviceIndex_t;
+static const uint32_t k_unTrackedDeviceIndex_Hmd = 0;
+static const uint32_t k_unMaxTrackedDeviceCount = 16;
+static const uint32_t k_unTrackedDeviceIndexOther = 0xFFFFFFFE;
+static const uint32_t k_unTrackedDeviceIndexInvalid = 0xFFFFFFFF;
+
+/** Describes what kind of object is being tracked at a given ID */
+enum ETrackedDeviceClass
+{
+	TrackedDeviceClass_Invalid = 0,				// the ID was not valid.
+	TrackedDeviceClass_HMD = 1,					// Head-Mounted Displays
+	TrackedDeviceClass_Controller = 2,			// Tracked controllers
+	TrackedDeviceClass_GenericTracker = 3,		// Generic trackers, similar to controllers
+	TrackedDeviceClass_TrackingReference = 4,	// Camera and base stations that serve as tracking reference points
+	TrackedDeviceClass_DisplayRedirect = 5,		// Accessories that aren't necessarily tracked themselves, but may redirect video output from other tracked devices
+};
+
+
+/** Describes what specific role associated with a tracked device */
+enum ETrackedControllerRole
+{
+	TrackedControllerRole_Invalid = 0,					// Invalid value for controller type
+	TrackedControllerRole_LeftHand = 1,					// Tracked device associated with the left hand
+	TrackedControllerRole_RightHand = 2,				// Tracked device associated with the right hand
+};
+
+
+/** describes a single pose for a tracked object */
+struct TrackedDevicePose_t
+{
+	HmdMatrix34_t mDeviceToAbsoluteTracking;
+	HmdVector3_t vVelocity;				// velocity in tracker space in m/s
+	HmdVector3_t vAngularVelocity;		// angular velocity in radians/s (?)
+	ETrackingResult eTrackingResult;
+	bool bPoseIsValid;
+
+	// This indicates that there is a device connected for this spot in the pose array.
+	// It could go from true to false if the user unplugs the device.
+	bool bDeviceIsConnected;
+};
+
+/** Identifies which style of tracking origin the application wants to use
+* for the poses it is requesting */
+enum ETrackingUniverseOrigin
+{
+	TrackingUniverseSeated = 0,		// Poses are provided relative to the seated zero pose
+	TrackingUniverseStanding = 1,	// Poses are provided relative to the safe bounds configured by the user
+	TrackingUniverseRawAndUncalibrated = 2,	// Poses are provided in the coordinate system defined by the driver.  It has Y up and is unified for devices of the same driver. You usually don't want this one.
+};
+
+// Refers to a single container of properties
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+static const PropertyContainerHandle_t k_ulInvalidPropertyContainer = 0;
+static const PropertyTypeTag_t k_unInvalidPropertyTag = 0;
+
+// Use these tags to set/get common types as struct properties
+static const PropertyTypeTag_t k_unFloatPropertyTag = 1;
+static const PropertyTypeTag_t k_unInt32PropertyTag = 2;
+static const PropertyTypeTag_t k_unUint64PropertyTag = 3;
+static const PropertyTypeTag_t k_unBoolPropertyTag = 4;
+static const PropertyTypeTag_t k_unStringPropertyTag = 5;
+
+static const PropertyTypeTag_t k_unHmdMatrix34PropertyTag = 20;
+static const PropertyTypeTag_t k_unHmdMatrix44PropertyTag = 21;
+static const PropertyTypeTag_t k_unHmdVector3PropertyTag = 22;
+static const PropertyTypeTag_t k_unHmdVector4PropertyTag = 23;
+
+static const PropertyTypeTag_t k_unHiddenAreaPropertyTag = 30;
+
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_Start = 1000;
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_End = 10000;
+
+
+/** Each entry in this enum represents a property that can be retrieved about a
+* tracked device. Many fields are only valid for one ETrackedDeviceClass. */
+enum ETrackedDeviceProperty
+{
+	Prop_Invalid								= 0,
+
+	// general properties that apply to all device classes
+	Prop_TrackingSystemName_String				= 1000,
+	Prop_ModelNumber_String						= 1001,
+	Prop_SerialNumber_String					= 1002,
+	Prop_RenderModelName_String					= 1003,
+	Prop_WillDriftInYaw_Bool					= 1004,
+	Prop_ManufacturerName_String				= 1005,
+	Prop_TrackingFirmwareVersion_String			= 1006,
+	Prop_HardwareRevision_String				= 1007,
+	Prop_AllWirelessDongleDescriptions_String	= 1008,
+	Prop_ConnectedWirelessDongle_String			= 1009,
+	Prop_DeviceIsWireless_Bool					= 1010,
+	Prop_DeviceIsCharging_Bool					= 1011,
+	Prop_DeviceBatteryPercentage_Float			= 1012, // 0 is empty, 1 is full
+	Prop_StatusDisplayTransform_Matrix34		= 1013,
+	Prop_Firmware_UpdateAvailable_Bool			= 1014,
+	Prop_Firmware_ManualUpdate_Bool				= 1015,
+	Prop_Firmware_ManualUpdateURL_String		= 1016,
+	Prop_HardwareRevision_Uint64				= 1017,
+	Prop_FirmwareVersion_Uint64					= 1018,
+	Prop_FPGAVersion_Uint64						= 1019,
+	Prop_VRCVersion_Uint64						= 1020,
+	Prop_RadioVersion_Uint64					= 1021,
+	Prop_DongleVersion_Uint64					= 1022,
+	Prop_BlockServerShutdown_Bool				= 1023,
+	Prop_CanUnifyCoordinateSystemWithHmd_Bool	= 1024,
+	Prop_ContainsProximitySensor_Bool			= 1025,
+	Prop_DeviceProvidesBatteryStatus_Bool		= 1026,
+	Prop_DeviceCanPowerOff_Bool					= 1027,
+	Prop_Firmware_ProgrammingTarget_String		= 1028,
+	Prop_DeviceClass_Int32						= 1029,
+	Prop_HasCamera_Bool							= 1030,
+	Prop_DriverVersion_String                   = 1031,
+	Prop_Firmware_ForceUpdateRequired_Bool      = 1032,
+	Prop_ViveSystemButtonFixRequired_Bool		= 1033,
+	Prop_ParentDriver_Uint64					= 1034,
+	Prop_ResourceRoot_String					= 1035,
+
+	// Properties that are unique to TrackedDeviceClass_HMD
+	Prop_ReportsTimeSinceVSync_Bool				= 2000,
+	Prop_SecondsFromVsyncToPhotons_Float		= 2001,
+	Prop_DisplayFrequency_Float					= 2002,
+	Prop_UserIpdMeters_Float					= 2003,
+	Prop_CurrentUniverseId_Uint64				= 2004, 
+	Prop_PreviousUniverseId_Uint64				= 2005, 
+	Prop_DisplayFirmwareVersion_Uint64			= 2006,
+	Prop_IsOnDesktop_Bool						= 2007,
+	Prop_DisplayMCType_Int32					= 2008,
+	Prop_DisplayMCOffset_Float					= 2009,
+	Prop_DisplayMCScale_Float					= 2010,
+	Prop_EdidVendorID_Int32						= 2011,
+	Prop_DisplayMCImageLeft_String              = 2012,
+	Prop_DisplayMCImageRight_String             = 2013,
+	Prop_DisplayGCBlackClamp_Float				= 2014,
+	Prop_EdidProductID_Int32					= 2015,
+	Prop_CameraToHeadTransform_Matrix34			= 2016,
+	Prop_DisplayGCType_Int32					= 2017,
+	Prop_DisplayGCOffset_Float					= 2018,
+	Prop_DisplayGCScale_Float					= 2019,
+	Prop_DisplayGCPrescale_Float				= 2020,
+	Prop_DisplayGCImage_String					= 2021,
+	Prop_LensCenterLeftU_Float					= 2022,
+	Prop_LensCenterLeftV_Float					= 2023,
+	Prop_LensCenterRightU_Float					= 2024,
+	Prop_LensCenterRightV_Float					= 2025,
+	Prop_UserHeadToEyeDepthMeters_Float			= 2026,
+	Prop_CameraFirmwareVersion_Uint64			= 2027,
+	Prop_CameraFirmwareDescription_String		= 2028,
+	Prop_DisplayFPGAVersion_Uint64				= 2029,
+	Prop_DisplayBootloaderVersion_Uint64		= 2030,
+	Prop_DisplayHardwareVersion_Uint64			= 2031,
+	Prop_AudioFirmwareVersion_Uint64			= 2032,
+	Prop_CameraCompatibilityMode_Int32			= 2033,
+	Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	Prop_DisplaySuppressed_Bool					= 2036,
+	Prop_DisplayAllowNightMode_Bool				= 2037,
+	Prop_DisplayMCImageWidth_Int32				= 2038,
+	Prop_DisplayMCImageHeight_Int32				= 2039,
+	Prop_DisplayMCImageNumChannels_Int32		= 2040,
+	Prop_DisplayMCImageData_Binary				= 2041,
+	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+
+	// Properties that are unique to TrackedDeviceClass_Controller
+	Prop_AttachedDeviceId_String				= 3000,
+	Prop_SupportedButtons_Uint64				= 3001,
+	Prop_Axis0Type_Int32						= 3002, // Return value is of type EVRControllerAxisType
+	Prop_Axis1Type_Int32						= 3003, // Return value is of type EVRControllerAxisType
+	Prop_Axis2Type_Int32						= 3004, // Return value is of type EVRControllerAxisType
+	Prop_Axis3Type_Int32						= 3005, // Return value is of type EVRControllerAxisType
+	Prop_Axis4Type_Int32						= 3006, // Return value is of type EVRControllerAxisType
+	Prop_ControllerRoleHint_Int32				= 3007, // Return value is of type ETrackedControllerRole
+
+	// Properties that are unique to TrackedDeviceClass_TrackingReference
+	Prop_FieldOfViewLeftDegrees_Float			= 4000,
+	Prop_FieldOfViewRightDegrees_Float			= 4001,
+	Prop_FieldOfViewTopDegrees_Float			= 4002,
+	Prop_FieldOfViewBottomDegrees_Float			= 4003,
+	Prop_TrackingRangeMinimumMeters_Float		= 4004,
+	Prop_TrackingRangeMaximumMeters_Float		= 4005,
+	Prop_ModeLabel_String						= 4006,
+
+	// Properties that are used for user interface like icons names
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+
+	// Properties that are used by helpers, but are opaque to applications
+	Prop_DisplayHiddenArea_Binary_Start				= 5100,
+	Prop_DisplayHiddenArea_Binary_End				= 5150,
+
+	// Properties that are unique to drivers
+	Prop_UserConfigPath_String					= 6000,
+	Prop_InstallPath_String						= 6001,
+	Prop_HasDisplayComponent_Bool				= 6002,
+	Prop_HasControllerComponent_Bool			= 6003,
+	Prop_HasCameraComponent_Bool				= 6004,
+	Prop_HasDriverDirectModeComponent_Bool		= 6005,
+	Prop_HasVirtualDisplayComponent_Bool		= 6006,
+
+	// Vendors are free to expose private debug data in this reserved region
+	Prop_VendorSpecific_Reserved_Start			= 10000,
+	Prop_VendorSpecific_Reserved_End			= 10999,
+};
+
+/** No string property will ever be longer than this length */
+static const uint32_t k_unMaxPropertyStringSize = 32 * 1024;
+
+/** Used to return errors that occur when reading properties. */
+enum ETrackedPropertyError
+{
+	TrackedProp_Success						= 0,
+	TrackedProp_WrongDataType				= 1,
+	TrackedProp_WrongDeviceClass			= 2,
+	TrackedProp_BufferTooSmall				= 3,
+	TrackedProp_UnknownProperty				= 4, // Driver has not set the property (and may not ever).
+	TrackedProp_InvalidDevice				= 5,
+	TrackedProp_CouldNotContactServer		= 6,
+	TrackedProp_ValueNotProvidedByDevice	= 7,
+	TrackedProp_StringExceedsMaximumLength	= 8,
+	TrackedProp_NotYetAvailable				= 9, // The property value isn't known yet, but is expected soon. Call again later.
+	TrackedProp_PermissionDenied			= 10,
+	TrackedProp_InvalidOperation			= 11,
+};
+
+/** Allows the application to control what part of the provided texture will be used in the
+* frame buffer. */
+struct VRTextureBounds_t
+{
+	float uMin, vMin;
+	float uMax, vMax;
+};
+
+
+/** Allows the application to control how scene textures are used by the compositor when calling Submit. */
+enum EVRSubmitFlags
+{
+	// Simple render path. App submits rendered left and right eye images with no lens distortion correction applied.
+	Submit_Default = 0x00,
+
+	// App submits final left and right eye images with lens distortion already applied (lens distortion makes the images appear
+	// barrel distorted with chromatic aberration correction applied). The app would have used the data returned by
+	// vr::IVRSystem::ComputeDistortion() to apply the correct distortion to the rendered images before calling Submit().
+	Submit_LensDistortionAlreadyApplied = 0x01,
+
+	// If the texture pointer passed in is actually a renderbuffer (e.g. for MSAA in OpenGL) then set this flag.
+	Submit_GlRenderBuffer = 0x02,
+
+	// Do not use
+	Submit_Reserved = 0x04,
+};
+
+/** Data required for passing Vulkan textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct VRVulkanTextureData_t
+{
+	uint64_t m_nImage; // VkImage
+	VkDevice_T *m_pDevice;
+	VkPhysicalDevice_T *m_pPhysicalDevice;
+	VkInstance_T *m_pInstance;
+	VkQueue_T *m_pQueue;
+	uint32_t m_nQueueFamilyIndex;
+	uint32_t m_nWidth, m_nHeight, m_nFormat, m_nSampleCount;
+};
+
+/** Data required for passing D3D12 textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct D3D12TextureData_t
+{
+	ID3D12Resource *m_pResource;
+	ID3D12CommandQueue *m_pCommandQueue;
+	uint32_t m_nNodeMask;
+};
+
+/** Status of the overall system or tracked objects */
+enum EVRState
+{
+	VRState_Undefined = -1,
+	VRState_Off = 0,
+	VRState_Searching = 1,
+	VRState_Searching_Alert = 2,
+	VRState_Ready = 3,
+	VRState_Ready_Alert = 4,
+	VRState_NotReady = 5,
+	VRState_Standby = 6,
+	VRState_Ready_Alert_Low = 7,
+};
+
+/** The types of events that could be posted (and what the parameters mean for each event type) */
+enum EVREventType
+{
+	VREvent_None = 0,
+
+	VREvent_TrackedDeviceActivated		= 100,
+	VREvent_TrackedDeviceDeactivated	= 101,
+	VREvent_TrackedDeviceUpdated		= 102,
+	VREvent_TrackedDeviceUserInteractionStarted	= 103,
+	VREvent_TrackedDeviceUserInteractionEnded	= 104,
+	VREvent_IpdChanged					= 105,
+	VREvent_EnterStandbyMode			= 106,
+	VREvent_LeaveStandbyMode			= 107,
+	VREvent_TrackedDeviceRoleChanged	= 108,
+	VREvent_WatchdogWakeUpRequested		= 109,
+	VREvent_LensDistortionChanged		= 110,
+	VREvent_PropertyChanged				= 111,
+
+	VREvent_ButtonPress					= 200, // data is controller
+	VREvent_ButtonUnpress				= 201, // data is controller
+	VREvent_ButtonTouch					= 202, // data is controller
+	VREvent_ButtonUntouch				= 203, // data is controller
+
+	VREvent_MouseMove					= 300, // data is mouse
+	VREvent_MouseButtonDown				= 301, // data is mouse
+	VREvent_MouseButtonUp				= 302, // data is mouse
+	VREvent_FocusEnter					= 303, // data is overlay
+	VREvent_FocusLeave					= 304, // data is overlay
+	VREvent_Scroll						= 305, // data is mouse
+	VREvent_TouchPadMove				= 306, // data is mouse
+	VREvent_OverlayFocusChanged			= 307, // data is overlay, global event
+
+	VREvent_InputFocusCaptured			= 400, // data is process DEPRECATED
+	VREvent_InputFocusReleased			= 401, // data is process DEPRECATED
+	VREvent_SceneFocusLost				= 402, // data is process
+	VREvent_SceneFocusGained			= 403, // data is process
+	VREvent_SceneApplicationChanged		= 404, // data is process - The App actually drawing the scene changed (usually to or from the compositor)
+	VREvent_SceneFocusChanged			= 405, // data is process - New app got access to draw the scene
+	VREvent_InputFocusChanged			= 406, // data is process
+	VREvent_SceneApplicationSecondaryRenderingStarted = 407, // data is process
+
+	VREvent_HideRenderModels			= 410, // Sent to the scene application to request hiding render models temporarily
+	VREvent_ShowRenderModels			= 411, // Sent to the scene application to request restoring render model visibility
+
+	VREvent_OverlayShown				= 500,
+	VREvent_OverlayHidden				= 501,
+	VREvent_DashboardActivated			= 502,
+	VREvent_DashboardDeactivated		= 503,
+	VREvent_DashboardThumbSelected		= 504, // Sent to the overlay manager - data is overlay
+	VREvent_DashboardRequested			= 505, // Sent to the overlay manager - data is overlay
+	VREvent_ResetDashboard				= 506, // Send to the overlay manager
+	VREvent_RenderToast					= 507, // Send to the dashboard to render a toast - data is the notification ID
+	VREvent_ImageLoaded					= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
+	VREvent_ShowKeyboard				= 509, // Sent to keyboard renderer in the dashboard to invoke it
+	VREvent_HideKeyboard				= 510, // Sent to keyboard renderer in the dashboard to hide it
+	VREvent_OverlayGamepadFocusGained	= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
+	VREvent_OverlayGamepadFocusLost		= 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
+	VREvent_OverlaySharedTextureChanged = 513,
+	VREvent_DashboardGuideButtonDown	= 514,
+	VREvent_DashboardGuideButtonUp		= 515,
+	VREvent_ScreenshotTriggered			= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
+	VREvent_ImageFailed					= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
+	VREvent_DashboardOverlayCreated		= 518,
+
+	// Screenshot API
+	VREvent_RequestScreenshot				= 520, // Sent by vrclient application to compositor to take a screenshot
+	VREvent_ScreenshotTaken					= 521, // Sent by compositor to the application that the screenshot has been taken
+	VREvent_ScreenshotFailed				= 522, // Sent by compositor to the application that the screenshot failed to be taken
+	VREvent_SubmitScreenshotToDashboard		= 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_ScreenshotProgressToDashboard	= 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+
+	VREvent_PrimaryDashboardDeviceChanged	= 525,
+
+	VREvent_Notification_Shown				= 600,
+	VREvent_Notification_Hidden				= 601,
+	VREvent_Notification_BeginInteraction	= 602,
+	VREvent_Notification_Destroyed			= 603,
+
+	VREvent_Quit							= 700, // data is process
+	VREvent_ProcessQuit						= 701, // data is process
+	VREvent_QuitAborted_UserPrompt			= 702, // data is process
+	VREvent_QuitAcknowledged				= 703, // data is process
+	VREvent_DriverRequestedQuit				= 704, // The driver has requested that SteamVR shut down
+
+	VREvent_ChaperoneDataHasChanged			= 800,
+	VREvent_ChaperoneUniverseHasChanged		= 801,
+	VREvent_ChaperoneTempDataHasChanged		= 802,
+	VREvent_ChaperoneSettingsHaveChanged	= 803,
+	VREvent_SeatedZeroPoseReset				= 804,
+
+	VREvent_AudioSettingsHaveChanged		= 820,
+
+	VREvent_BackgroundSettingHasChanged		= 850,
+	VREvent_CameraSettingsHaveChanged		= 851,
+	VREvent_ReprojectionSettingHasChanged	= 852,
+	VREvent_ModelSkinSettingsHaveChanged	= 853,
+	VREvent_EnvironmentSettingsHaveChanged	= 854,
+	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
+
+	VREvent_StatusUpdate					= 900,
+
+	VREvent_MCImageUpdated					= 1000,
+
+	VREvent_FirmwareUpdateStarted			= 1100,
+	VREvent_FirmwareUpdateFinished			= 1101,
+
+	VREvent_KeyboardClosed					= 1200,
+	VREvent_KeyboardCharInput				= 1201,
+	VREvent_KeyboardDone					= 1202, // Sent when DONE button clicked on keyboard
+
+	VREvent_ApplicationTransitionStarted		= 1300,
+	VREvent_ApplicationTransitionAborted		= 1301,
+	VREvent_ApplicationTransitionNewAppStarted	= 1302,
+	VREvent_ApplicationListUpdated				= 1303,
+	VREvent_ApplicationMimeTypeLoad				= 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected					= 1306,
+	VREvent_ProcessDisconnected					= 1307,
+
+	VREvent_Compositor_MirrorWindowShown		= 1400,
+	VREvent_Compositor_MirrorWindowHidden		= 1401,
+	VREvent_Compositor_ChaperoneBoundsShown		= 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden	= 1411,
+
+	VREvent_TrackedCamera_StartVideoStream  = 1500,
+	VREvent_TrackedCamera_StopVideoStream   = 1501,
+	VREvent_TrackedCamera_PauseVideoStream  = 1502,
+	VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	VREvent_TrackedCamera_EditingSurface    = 1550,
+
+	VREvent_PerformanceTest_EnableCapture	= 1600,
+	VREvent_PerformanceTest_DisableCapture	= 1601,
+	VREvent_PerformanceTest_FidelityLevel	= 1602,
+
+	VREvent_MessageOverlay_Closed			= 1650,
+	
+	// Vendors are free to expose private events in this reserved region
+	VREvent_VendorSpecific_Reserved_Start	= 10000,
+	VREvent_VendorSpecific_Reserved_End		= 19999,
+};
+
+
+/** Level of Hmd activity */
+// UserInteraction_Timeout means the device is in the process of timing out.
+// InUse = ( k_EDeviceActivityLevel_UserInteraction || k_EDeviceActivityLevel_UserInteraction_Timeout )
+// VREvent_TrackedDeviceUserInteractionStarted fires when the devices transitions from Standby -> UserInteraction or Idle -> UserInteraction.
+// VREvent_TrackedDeviceUserInteractionEnded fires when the devices transitions from UserInteraction_Timeout -> Idle
+enum EDeviceActivityLevel
+{	
+	k_EDeviceActivityLevel_Unknown = -1,									
+	k_EDeviceActivityLevel_Idle = 0,						// No activity for the last 10 seconds
+	k_EDeviceActivityLevel_UserInteraction = 1,				// Activity (movement or prox sensor) is happening now	
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,		// No activity for the last 0.5 seconds
+	k_EDeviceActivityLevel_Standby = 3,						// Idle for at least 5 seconds (configurable in Settings -> Power Management)
+};
+
+
+/** VR controller button and axis IDs */
+enum EVRButtonId
+{
+	k_EButton_System			= 0,
+	k_EButton_ApplicationMenu	= 1,
+	k_EButton_Grip				= 2,
+	k_EButton_DPad_Left			= 3,
+	k_EButton_DPad_Up			= 4,
+	k_EButton_DPad_Right		= 5,
+	k_EButton_DPad_Down			= 6,
+	k_EButton_A					= 7,
+	
+	k_EButton_ProximitySensor   = 31,
+
+	k_EButton_Axis0				= 32,
+	k_EButton_Axis1				= 33,
+	k_EButton_Axis2				= 34,
+	k_EButton_Axis3				= 35,
+	k_EButton_Axis4				= 36,
+
+	// aliases for well known controllers
+	k_EButton_SteamVR_Touchpad	= k_EButton_Axis0,
+	k_EButton_SteamVR_Trigger	= k_EButton_Axis1,
+
+	k_EButton_Dashboard_Back	= k_EButton_Grip,
+
+	k_EButton_Max				= 64
+};
+
+inline uint64_t ButtonMaskFromId( EVRButtonId id ) { return 1ull << id; }
+
+/** used for controller button events */
+struct VREvent_Controller_t
+{
+	uint32_t button; // EVRButtonId enum
+};
+
+
+/** used for simulated mouse events in overlay space */
+enum EVRMouseButton
+{
+	VRMouseButton_Left					= 0x0001,
+	VRMouseButton_Right					= 0x0002,
+	VRMouseButton_Middle				= 0x0004,
+};
+
+
+/** used for simulated mouse events in overlay space */
+struct VREvent_Mouse_t
+{
+	float x, y; // co-ords are in GL space, bottom left of the texture is 0,0
+	uint32_t button; // EVRMouseButton enum
+};
+
+/** used for simulated mouse wheel scroll in overlay space */
+struct VREvent_Scroll_t
+{
+	float xdelta, ydelta; // movement in fraction of the pad traversed since last delta, 1.0 for a full swipe
+	uint32_t repeatCount;
+};
+
+/** when in mouse input mode you can receive data from the touchpad, these events are only sent if the users finger
+   is on the touchpad (or just released from it) 
+**/
+struct VREvent_TouchPadMove_t
+{
+	// true if the users finger is detected on the touch pad
+	bool bFingerDown;
+
+	// How long the finger has been down in seconds
+	float flSecondsFingerDown;
+
+	// These values indicate the starting finger position (so you can do some basic swipe stuff)
+	float fValueXFirst;
+	float fValueYFirst;
+
+	// This is the raw sampled coordinate without deadzoning
+	float fValueXRaw;
+	float fValueYRaw;
+};
+
+/** notification related events. Details will still change at this point */
+struct VREvent_Notification_t
+{
+	uint64_t ulUserValue;
+	uint32_t notificationId;
+};
+
+/** Used for events about processes */
+struct VREvent_Process_t
+{
+	uint32_t pid;
+	uint32_t oldPid;
+	bool bForced;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Overlay_t
+{
+	uint64_t overlayHandle;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Status_t
+{
+	uint32_t statusState; // EVRState enum
+};
+
+/** Used for keyboard events **/
+struct VREvent_Keyboard_t
+{
+	char cNewInput[8];	// Up to 11 bytes of new input
+	uint64_t uUserValue;	// Possible flags about the new input
+};
+
+struct VREvent_Ipd_t
+{
+	float ipdMeters;
+};
+
+struct VREvent_Chaperone_t
+{
+	uint64_t m_nPreviousUniverse;
+	uint64_t m_nCurrentUniverse;
+};
+
+/** Not actually used for any events */
+struct VREvent_Reserved_t
+{
+	uint64_t reserved0;
+	uint64_t reserved1;
+};
+
+struct VREvent_PerformanceTest_t
+{
+	uint32_t m_nFidelityLevel;
+};
+
+struct VREvent_SeatedZeroPoseReset_t
+{
+	bool bResetBySystemMenu;
+};
+
+struct VREvent_Screenshot_t
+{
+	uint32_t handle;
+	uint32_t type;
+};
+
+struct VREvent_ScreenshotProgress_t
+{
+	float progress;
+};
+
+struct VREvent_ApplicationLaunch_t
+{
+	uint32_t pid;
+	uint32_t unArgsHandle;
+};
+
+struct VREvent_EditingCameraSurface_t
+{
+	uint64_t overlayHandle;
+	uint32_t nVisualMode;
+};
+
+struct VREvent_MessageOverlay_t
+{
+	uint32_t unVRMessageOverlayResponse; // vr::VRMessageOverlayResponse enum
+};
+
+struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	ETrackedDeviceProperty prop;
+};
+
+/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py */
+typedef union
+{
+	VREvent_Reserved_t reserved;
+	VREvent_Controller_t controller;
+	VREvent_Mouse_t mouse;
+	VREvent_Scroll_t scroll;
+	VREvent_Process_t process;
+	VREvent_Notification_t notification;
+	VREvent_Overlay_t overlay;
+	VREvent_Status_t status;
+	VREvent_Keyboard_t keyboard;
+	VREvent_Ipd_t ipd;
+	VREvent_Chaperone_t chaperone;
+	VREvent_PerformanceTest_t performanceTest;
+	VREvent_TouchPadMove_t touchPadMove;
+	VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+	VREvent_Screenshot_t screenshot;
+	VREvent_ScreenshotProgress_t screenshotProgress;
+	VREvent_ApplicationLaunch_t applicationLaunch;
+	VREvent_EditingCameraSurface_t cameraSurface;
+	VREvent_MessageOverlay_t messageOverlay;
+	VREvent_Property_t property;
+} VREvent_Data_t;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** An event posted by the server to all running applications */
+struct VREvent_t
+{
+	uint32_t eventType; // EVREventType enum
+	TrackedDeviceIndex_t trackedDeviceIndex;
+	float eventAgeSeconds;
+	// event data must be the end of the struct as its size is variable
+	VREvent_Data_t data;
+};
+
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+/** The mesh to draw into the stencil (or depth) buffer to perform 
+* early stencil (or depth) kills of pixels that will never appear on the HMD.
+* This mesh draws on all the pixels that will be hidden after distortion. 
+*
+* If the HMD does not provide a visible area mesh pVertexData will be
+* NULL and unTriangleCount will be 0. */
+struct HiddenAreaMesh_t
+{
+	const HmdVector2_t *pVertexData;
+	uint32_t unTriangleCount;
+};
+
+
+enum EHiddenAreaMeshType
+{
+	k_eHiddenAreaMesh_Standard = 0,
+	k_eHiddenAreaMesh_Inverse = 1,
+	k_eHiddenAreaMesh_LineLoop = 2,
+
+	k_eHiddenAreaMesh_Max = 3,
+};
+
+
+/** Identifies what kind of axis is on the controller at index n. Read this type 
+* with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n );
+*/
+enum EVRControllerAxisType
+{
+	k_eControllerAxis_None = 0,
+	k_eControllerAxis_TrackPad = 1,
+	k_eControllerAxis_Joystick = 2,
+	k_eControllerAxis_Trigger = 3, // Analog trigger data is in the X axis
+};
+
+
+/** contains information about one axis on the controller */
+struct VRControllerAxis_t
+{
+	float x; // Ranges from -1.0 to 1.0 for joysticks and track pads. Ranges from 0.0 to 1.0 for triggers were 0 is fully released.
+	float y; // Ranges from -1.0 to 1.0 for joysticks and track pads. Is always 0.0 for triggers.
+};
+
+
+/** the number of axes in the controller state */
+static const uint32_t k_unControllerStateAxisCount = 5;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** Holds all the state of a controller at one moment in time. */
+struct VRControllerState001_t
+{
+	// If packet num matches that on your prior call, then the controller state hasn't been changed since 
+	// your last call and there is no need to process it
+	uint32_t unPacketNum;
+
+	// bit flags for each of the buttons. Use ButtonMaskFromId to turn an ID into a mask
+	uint64_t ulButtonPressed;
+	uint64_t ulButtonTouched;
+
+	// Axis data for the controller's analog inputs
+	VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ];
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+
+typedef VRControllerState001_t VRControllerState_t;
+
+
+/** determines how to provide output to the application of various event processing functions. */
+enum EVRControllerEventOutputType
+{
+	ControllerEventOutput_OSEvents = 0,
+	ControllerEventOutput_VREvents = 1,
+};
+
+
+
+/** Collision Bounds Style */
+enum ECollisionBoundsStyle
+{
+	COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	COLLISION_BOUNDS_STYLE_INTERMEDIATE,
+	COLLISION_BOUNDS_STYLE_SQUARES,
+	COLLISION_BOUNDS_STYLE_ADVANCED,
+	COLLISION_BOUNDS_STYLE_NONE,
+
+	COLLISION_BOUNDS_STYLE_COUNT
+};
+
+/** Allows the application to customize how the overlay appears in the compositor */
+struct Compositor_OverlaySettings
+{
+	uint32_t size; // sizeof(Compositor_OverlaySettings)
+	bool curved, antialias;
+	float scale, distance, alpha;
+	float uOffset, vOffset, uScale, vScale;
+	float gridDivs, gridWidth, gridScale;
+	HmdMatrix44_t transform;
+};
+
+/** used to refer to a single VR overlay */
+typedef uint64_t VROverlayHandle_t;
+
+static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0;
+
+/** Errors that can occur around VR overlays */
+enum EVROverlayError
+{
+	VROverlayError_None						= 0,
+
+	VROverlayError_UnknownOverlay			= 10,
+	VROverlayError_InvalidHandle			= 11,
+	VROverlayError_PermissionDenied			= 12,
+	VROverlayError_OverlayLimitExceeded		= 13, // No more overlays could be created because the maximum number already exist
+	VROverlayError_WrongVisibilityType		= 14,
+	VROverlayError_KeyTooLong				= 15,
+	VROverlayError_NameTooLong				= 16,
+	VROverlayError_KeyInUse					= 17,
+	VROverlayError_WrongTransformType		= 18,
+	VROverlayError_InvalidTrackedDevice		= 19,
+	VROverlayError_InvalidParameter			= 20,
+	VROverlayError_ThumbnailCantBeDestroyed	= 21,
+	VROverlayError_ArrayTooSmall			= 22,
+	VROverlayError_RequestFailed			= 23,
+	VROverlayError_InvalidTexture			= 24,
+	VROverlayError_UnableToLoadFile			= 25,
+	VROverlayError_KeyboardAlreadyInUse		= 26,
+	VROverlayError_NoNeighbor				= 27,
+	VROverlayError_TooManyMaskPrimitives	= 29,
+	VROverlayError_BadMaskPrimitive			= 30,
+};
+
+/** enum values to pass in to VR_Init to identify whether the application will 
+* draw a 3D scene. */
+enum EVRApplicationType
+{
+	VRApplication_Other = 0,		// Some other kind of application that isn't covered by the other entries 
+	VRApplication_Scene	= 1,		// Application will submit 3D frames 
+	VRApplication_Overlay = 2,		// Application only interacts with overlays
+	VRApplication_Background = 3,	// Application should not start SteamVR if it's not already running, and should not
+									// keep it running if everything else quits.
+	VRApplication_Utility = 4,		// Init should not try to load any drivers. The application needs access to utility
+									// interfaces (like IVRSettings and IVRApplications) but not hardware.
+	VRApplication_VRMonitor = 5,	// Reserved for vrmonitor
+	VRApplication_SteamWatchdog = 6,// Reserved for Steam
+	VRApplication_Bootstrapper = 7, // Start up SteamVR
+
+	VRApplication_Max
+};
+
+
+/** error codes for firmware */
+enum EVRFirmwareError
+{
+	VRFirmwareError_None = 0,
+	VRFirmwareError_Success = 1,
+	VRFirmwareError_Fail = 2,
+};
+
+
+/** error codes for notifications */
+enum EVRNotificationError
+{
+	VRNotificationError_OK = 0,
+	VRNotificationError_InvalidNotificationId = 100,
+	VRNotificationError_NotificationQueueFull = 101,
+	VRNotificationError_InvalidOverlayHandle = 102,
+	VRNotificationError_SystemWithUserValueAlreadyExists = 103,
+};
+
+
+/** error codes returned by Vr_Init */
+
+// Please add adequate error description to https://developer.valvesoftware.com/w/index.php?title=Category:SteamVRHelp
+enum EVRInitError
+{
+	VRInitError_None	= 0,
+	VRInitError_Unknown = 1,
+
+	VRInitError_Init_InstallationNotFound		= 100,
+	VRInitError_Init_InstallationCorrupt		= 101,
+	VRInitError_Init_VRClientDLLNotFound		= 102,
+	VRInitError_Init_FileNotFound				= 103,
+	VRInitError_Init_FactoryNotFound			= 104,
+	VRInitError_Init_InterfaceNotFound			= 105,
+	VRInitError_Init_InvalidInterface			= 106,
+	VRInitError_Init_UserConfigDirectoryInvalid = 107,
+	VRInitError_Init_HmdNotFound				= 108,
+	VRInitError_Init_NotInitialized				= 109,
+	VRInitError_Init_PathRegistryNotFound		= 110,
+	VRInitError_Init_NoConfigPath				= 111,
+	VRInitError_Init_NoLogPath					= 112,
+	VRInitError_Init_PathRegistryNotWritable	= 113,
+	VRInitError_Init_AppInfoInitFailed			= 114,
+	VRInitError_Init_Retry						= 115, // Used internally to cause retries to vrserver
+	VRInitError_Init_InitCanceledByUser			= 116, // The calling application should silently exit. The user canceled app startup
+	VRInitError_Init_AnotherAppLaunching		= 117, 
+	VRInitError_Init_SettingsInitFailed			= 118, 
+	VRInitError_Init_ShuttingDown				= 119,
+	VRInitError_Init_TooManyObjects				= 120,
+	VRInitError_Init_NoServerForBackgroundApp	= 121,
+	VRInitError_Init_NotSupportedWithCompositor	= 122,
+	VRInitError_Init_NotAvailableToUtilityApps	= 123,
+	VRInitError_Init_Internal				 	= 124,
+	VRInitError_Init_HmdDriverIdIsNone		 	= 125,
+	VRInitError_Init_HmdNotFoundPresenceFailed 	= 126,
+	VRInitError_Init_VRMonitorNotFound			= 127,
+	VRInitError_Init_VRMonitorStartupFailed		= 128,
+	VRInitError_Init_LowPowerWatchdogNotSupported = 129, 
+	VRInitError_Init_InvalidApplicationType		= 130,
+	VRInitError_Init_NotAvailableToWatchdogApps = 131,
+	VRInitError_Init_WatchdogDisabledInSettings = 132,
+	VRInitError_Init_VRDashboardNotFound		= 133,
+	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
+
+	VRInitError_Driver_Failed				= 200,
+	VRInitError_Driver_Unknown				= 201,
+	VRInitError_Driver_HmdUnknown			= 202,
+	VRInitError_Driver_NotLoaded			= 203,
+	VRInitError_Driver_RuntimeOutOfDate		= 204,
+	VRInitError_Driver_HmdInUse				= 205,
+	VRInitError_Driver_NotCalibrated		= 206,
+	VRInitError_Driver_CalibrationInvalid	= 207,
+	VRInitError_Driver_HmdDisplayNotFound	= 208,
+	VRInitError_Driver_TrackedDeviceInterfaceUnknown = 209,
+	// VRInitError_Driver_HmdDisplayNotFoundAfterFix	 = 210, // not needed: here for historic reasons
+	VRInitError_Driver_HmdDriverIdOutOfBounds = 211,
+	VRInitError_Driver_HmdDisplayMirrored  = 212,
+
+	VRInitError_IPC_ServerInitFailed		= 300,
+	VRInitError_IPC_ConnectFailed			= 301,
+	VRInitError_IPC_SharedStateInitFailed	= 302,
+	VRInitError_IPC_CompositorInitFailed	= 303,
+	VRInitError_IPC_MutexInitFailed			= 304,
+	VRInitError_IPC_Failed					= 305,
+	VRInitError_IPC_CompositorConnectFailed	= 306,
+	VRInitError_IPC_CompositorInvalidConnectResponse = 307,
+	VRInitError_IPC_ConnectFailedAfterMultipleAttempts = 308,
+
+	VRInitError_Compositor_Failed					= 400,
+	VRInitError_Compositor_D3D11HardwareRequired	= 401,
+	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
+	VRInitError_Compositor_OverlayInitFailed		= 403,
+	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
+
+	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+
+	VRInitError_VendorSpecific_HmdFound_CantOpenDevice 				= 1101,
+	VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart	= 1102,
+	VRInitError_VendorSpecific_HmdFound_NoStoredConfig 				= 1103,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooBig 				= 1104,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooSmall 				= 1105,
+	VRInitError_VendorSpecific_HmdFound_UnableToInitZLib 			= 1106,
+	VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion 	= 1107,
+	VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart	= 1108,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart	= 1109,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext		= 1110,
+	VRInitError_VendorSpecific_HmdFound_UserDataAddressRange		= 1111,
+	VRInitError_VendorSpecific_HmdFound_UserDataError				= 1112,
+	VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck		= 1113,
+
+	VRInitError_Steam_SteamInstallationNotFound = 2000,
+};
+
+enum EVRScreenshotType
+{
+	VRScreenshotType_None = 0,
+	VRScreenshotType_Mono = 1, // left eye only
+	VRScreenshotType_Stereo = 2,
+	VRScreenshotType_Cubemap = 3,
+	VRScreenshotType_MonoPanorama = 4,
+	VRScreenshotType_StereoPanorama = 5
+};
+
+enum EVRScreenshotPropertyFilenames
+{
+	VRScreenshotPropertyFilenames_Preview = 0,
+	VRScreenshotPropertyFilenames_VR = 1,
+};
+
+enum EVRTrackedCameraError
+{
+	VRTrackedCameraError_None                       = 0,
+	VRTrackedCameraError_OperationFailed            = 100,
+	VRTrackedCameraError_InvalidHandle              = 101,	
+	VRTrackedCameraError_InvalidFrameHeaderVersion  = 102,
+	VRTrackedCameraError_OutOfHandles               = 103,
+	VRTrackedCameraError_IPCFailure                 = 104,
+	VRTrackedCameraError_NotSupportedForThisDevice  = 105,
+	VRTrackedCameraError_SharedMemoryFailure        = 106,
+	VRTrackedCameraError_FrameBufferingFailure      = 107,
+	VRTrackedCameraError_StreamSetupFailure         = 108,
+	VRTrackedCameraError_InvalidGLTextureId         = 109,
+	VRTrackedCameraError_InvalidSharedTextureHandle = 110,
+	VRTrackedCameraError_FailedToGetGLTextureId     = 111,
+	VRTrackedCameraError_SharedTextureFailure       = 112,
+	VRTrackedCameraError_NoFrameAvailable           = 113,
+	VRTrackedCameraError_InvalidArgument            = 114,
+	VRTrackedCameraError_InvalidFrameBufferSize     = 115,
+};
+
+enum EVRTrackedCameraFrameType
+{
+	VRTrackedCameraFrameType_Distorted = 0,			// This is the camera video frame size in pixels, still distorted.
+	VRTrackedCameraFrameType_Undistorted,			// In pixels, an undistorted inscribed rectangle region without invalid regions. This size is subject to changes shortly.
+	VRTrackedCameraFrameType_MaximumUndistorted,	// In pixels, maximum undistorted with invalid regions. Non zero alpha component identifies valid regions.
+	MAX_CAMERA_FRAME_TYPES
+};
+
+typedef uint64_t TrackedCameraHandle_t;
+#define INVALID_TRACKED_CAMERA_HANDLE	((vr::TrackedCameraHandle_t)0)
+
+struct CameraVideoStreamFrameHeader_t
+{
+	EVRTrackedCameraFrameType eFrameType;
+
+	uint32_t nWidth;
+	uint32_t nHeight;
+	uint32_t nBytesPerPixel;
+
+	uint32_t nFrameSequence;
+
+	TrackedDevicePose_t standingTrackedDevicePose;
+};
+
+// Screenshot types
+typedef uint32_t ScreenshotHandle_t;
+
+static const uint32_t k_unScreenshotHandleInvalid = 0;
+
+#pragma pack( pop )
+
+// figure out how to import from the VR API dll
+#if defined(_WIN32)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __declspec( dllexport )
+#else
+#define VR_INTERFACE extern "C" __declspec( dllimport )
+#endif
+
+#elif defined(__GNUC__) || defined(COMPILER_GCC) || defined(__APPLE__)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __attribute__((visibility("default")))
+#else
+#define VR_INTERFACE extern "C" 
+#endif
+
+#else
+#error "Unsupported Platform."
+#endif
+
+
+#if defined( _WIN32 )
+#define VR_CALLTYPE __cdecl
+#else
+#define VR_CALLTYPE 
+#endif
+
+} // namespace vr
+
+#endif // _INCLUDE_VRTYPES_H
+
+
+// vrannotation.h
+#ifdef API_GEN
+# define VR_CLANG_ATTR(ATTR) __attribute__((annotate( ATTR )))
+#else
+# define VR_CLANG_ATTR(ATTR)
+#endif
+
+#define VR_METHOD_DESC(DESC) VR_CLANG_ATTR( "desc:" #DESC ";" )
+#define VR_IGNOREATTR() VR_CLANG_ATTR( "ignore" )
+#define VR_OUT_STRUCT() VR_CLANG_ATTR( "out_struct: ;" )
+#define VR_OUT_STRING() VR_CLANG_ATTR( "out_string: ;" )
+#define VR_OUT_ARRAY_CALL(COUNTER,FUNCTION,PARAMS) VR_CLANG_ATTR( "out_array_call:" #COUNTER "," #FUNCTION "," #PARAMS ";" )
+#define VR_OUT_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "out_array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT_D(COUNTER, DESC) VR_CLANG_ATTR( "array_count:" #COUNTER ";desc:" #DESC )
+#define VR_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "buffer_count:" #COUNTER ";" )
+#define VR_OUT_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "out_buffer_count:" #COUNTER ";" )
+#define VR_OUT_STRING_COUNT(COUNTER) VR_CLANG_ATTR( "out_string_count:" #COUNTER ";" )
+
+// ivrsystem.h
+namespace vr
+{
+
+class IVRSystem
+{
+public:
+
+
+	// ------------------------------------
+	// Display Methods
+	// ------------------------------------
+
+	/** Suggested size for the intermediate render target that the distortion pulls from. */
+	virtual void GetRecommendedRenderTargetSize( uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+	/** The projection matrix for the specified eye */
+	virtual HmdMatrix44_t GetProjectionMatrix( EVREye eEye, float fNearZ, float fFarZ ) = 0;
+
+	/** The components necessary to build your own projection matrix in case your
+	* application is doing something fancy like infinite Z */
+	virtual void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom ) = 0;
+
+	/** Gets the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in 
+	* the upper left of that eye's viewport and 1,1 in the lower right of that eye's viewport.
+	* Returns true for success. Otherwise, returns false, and distortion coordinates are not suitable. */
+	virtual bool ComputeDistortion( EVREye eEye, float fU, float fV, DistortionCoordinates_t *pDistortionCoordinates ) = 0;
+
+	/** Returns the transform from eye space to the head space. Eye space is the per-eye flavor of head
+	* space that provides stereo disparity. Instead of Model * View * Projection the sequence is Model * View * Eye^-1 * Projection. 
+	* Normally View and Eye^-1 will be multiplied together and treated as View in your application. 
+	*/
+	virtual HmdMatrix34_t GetEyeToHeadTransform( EVREye eEye ) = 0;
+
+	/** Returns the number of elapsed seconds since the last recorded vsync event. This 
+	*	will come from a vsync timer event in the timer if possible or from the application-reported
+	*   time if that is not available. If no vsync times are available the function will 
+	*   return zero for vsync time and frame counter and return false from the method. */
+	virtual bool GetTimeSinceLastVsync( float *pfSecondsSinceLastVsync, uint64_t *pulFrameCounter ) = 0;
+
+	/** [D3D9 Only]
+	* Returns the adapter index that the user should pass into CreateDevice to set up D3D9 in such
+	* a way that it can go full screen exclusive on the HMD. Returns -1 if there was an error.
+	*/
+	virtual int32_t GetD3D9AdapterIndex() = 0;
+
+	/** [D3D10/11 Only]
+	* Returns the adapter index that the user should pass into EnumAdapters to create the device 
+	* and swap chain in DX10 and DX11. If an error occurs the index will be set to -1.
+	*/
+	virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex ) = 0;
+	
+	/**
+	 * Returns platform- and texture-type specific adapter identification so that applications and the
+	 * compositor are creating textures and swap chains on the same GPU. If an error occurs the device
+	 * will be set to 0.
+	 * [D3D10/11/12 Only (D3D9 Not Supported)]
+	 *  Returns the adapter LUID that identifies the GPU attached to the HMD. The user should
+	 *  enumerate all adapters using IDXGIFactory::EnumAdapters and IDXGIAdapter::GetDesc to find
+	 *  the adapter with the matching LUID, or use IDXGIFactory4::EnumAdapterByLuid.
+	 *  The discovered IDXGIAdapter should be used to create the device and swap chain.
+	 * [Vulkan Only]
+	 *  Returns the vk::PhysicalDevice that should be used by the application.
+	 * [macOS Only]
+	 *  Returns an id<MTLDevice> that should be used by the application.
+	 */
+	virtual void GetOutputDevice( uint64_t *pnDevice, ETextureType textureType ) = 0;
+
+	// ------------------------------------
+	// Display Mode methods
+	// ------------------------------------
+
+	/** Use to determine if the headset display is part of the desktop (i.e. extended) or hidden (i.e. direct mode). */
+	virtual bool IsDisplayOnDesktop() = 0;
+
+	/** Set the display visibility (true = extended, false = direct mode).  Return value of true indicates that the change was successful. */
+	virtual bool SetDisplayVisibility( bool bIsVisibleOnDesktop ) = 0;
+
+	// ------------------------------------
+	// Tracking Methods
+	// ------------------------------------
+
+	/** The pose that the tracker thinks that the HMD will be in at the specified number of seconds into the 
+	* future. Pass 0 to get the state at the instant the method is called. Most of the time the application should
+	* calculate the time until the photons will be emitted from the display and pass that time into the method.
+	*
+	* This is roughly analogous to the inverse of the view matrix in most applications, though 
+	* many games will need to do some additional rotation or translation on top of the rotation
+	* and translation provided by the head pose.
+	*
+	* For devices where bPoseIsValid is true the application can use the pose to position the device
+	* in question. The provided array can be any size up to k_unMaxTrackedDeviceCount. 
+	*
+	* Seated experiences should call this method with TrackingUniverseSeated and receive poses relative
+	* to the seated zero pose. Standing experiences should call this method with TrackingUniverseStanding 
+	* and receive poses relative to the Chaperone Play Area. TrackingUniverseRawAndUncalibrated should 
+	* probably not be used unless the application is the Chaperone calibration tool itself, but will provide
+	* poses relative to the hardware-specific coordinate system in the driver.
+	*/
+	virtual void GetDeviceToAbsoluteTrackingPose( ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, VR_ARRAY_COUNT(unTrackedDevicePoseArrayCount) TrackedDevicePose_t *pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount ) = 0;
+
+	/** Sets the zero pose for the seated tracker coordinate system to the current position and yaw of the HMD. After 
+	* ResetSeatedZeroPose all GetDeviceToAbsoluteTrackingPose calls that pass TrackingUniverseSeated as the origin 
+	* will be relative to this new zero pose. The new zero coordinate system will not change the fact that the Y axis 
+	* is up in the real world, so the next pose returned from GetDeviceToAbsoluteTrackingPose after a call to 
+	* ResetSeatedZeroPose may not be exactly an identity matrix.
+	*
+	* NOTE: This function overrides the user's previously saved seated zero pose and should only be called as the result of a user action. 
+	* Users are also able to set their seated zero pose via the OpenVR Dashboard.
+	**/
+	virtual void ResetSeatedZeroPose() = 0;
+
+	/** Returns the transform from the seated zero pose to the standing absolute tracking system. This allows 
+	* applications to represent the seated origin to used or transform object positions from one coordinate
+	* system to the other. 
+	*
+	* The seated origin may or may not be inside the Play Area or Collision Bounds returned by IVRChaperone. Its position 
+	* depends on what the user has set from the Dashboard settings and previous calls to ResetSeatedZeroPose. */
+	virtual HmdMatrix34_t GetSeatedZeroPoseToStandingAbsoluteTrackingPose() = 0;
+
+	/** Returns the transform from the tracking origin to the standing absolute tracking system. This allows
+	* applications to convert from raw tracking space to the calibrated standing coordinate system. */
+	virtual HmdMatrix34_t GetRawZeroPoseToStandingAbsoluteTrackingPose() = 0;
+
+	/** Get a sorted array of device indices of a given class of tracked devices (e.g. controllers).  Devices are sorted right to left
+	* relative to the specified tracked device (default: hmd -- pass in -1 for absolute tracking space).  Returns the number of devices
+	* in the list, or the size of the array needed if not large enough. */
+	virtual uint32_t GetSortedTrackedDeviceIndicesOfClass( ETrackedDeviceClass eTrackedDeviceClass, VR_ARRAY_COUNT(unTrackedDeviceIndexArrayCount) vr::TrackedDeviceIndex_t *punTrackedDeviceIndexArray, uint32_t unTrackedDeviceIndexArrayCount, vr::TrackedDeviceIndex_t unRelativeToTrackedDeviceIndex = k_unTrackedDeviceIndex_Hmd ) = 0;
+
+	/** Returns the level of activity on the device. */
+	virtual EDeviceActivityLevel GetTrackedDeviceActivityLevel( vr::TrackedDeviceIndex_t unDeviceId ) = 0;
+
+	/** Convenience utility to apply the specified transform to the specified pose.
+	*   This properly transforms all pose components, including velocity and angular velocity
+	*/
+	virtual void ApplyTransform( TrackedDevicePose_t *pOutputPose, const TrackedDevicePose_t *pTrackedDevicePose, const HmdMatrix34_t *pTransform ) = 0;
+
+	/** Returns the device index associated with a specific role, for example the left hand or the right hand. */
+	virtual vr::TrackedDeviceIndex_t GetTrackedDeviceIndexForControllerRole( vr::ETrackedControllerRole unDeviceType ) = 0;
+
+	/** Returns the controller type associated with a device index. */
+	virtual vr::ETrackedControllerRole GetControllerRoleForTrackedDeviceIndex( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	// ------------------------------------
+	// Property methods
+	// ------------------------------------
+
+	/** Returns the device class of a tracked device. If there has not been a device connected in this slot
+	* since the application started this function will return TrackedDevice_Invalid. For previous detected
+	* devices the function will return the previously observed device class. 
+	*
+	* To determine which devices exist on the system, just loop from 0 to k_unMaxTrackedDeviceCount and check
+	* the device class. Every device with something other than TrackedDevice_Invalid is associated with an 
+	* actual tracked device. */
+	virtual ETrackedDeviceClass GetTrackedDeviceClass( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	/** Returns true if there is a device connected in this slot. */
+	virtual bool IsTrackedDeviceConnected( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	/** Returns a bool property. If the device index is not valid or the property is not a bool type this function will return false. */
+	virtual bool GetBoolTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a float property. If the device index is not valid or the property is not a float type this function will return 0. */
+	virtual float GetFloatTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns an int property. If the device index is not valid or the property is not a int type this function will return 0. */
+	virtual int32_t GetInt32TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a uint64 property. If the device index is not valid or the property is not a uint64 type this function will return 0. */
+	virtual uint64_t GetUint64TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a matrix property. If the device index is not valid or the property is not a matrix type, this function will return identity. */
+	virtual HmdMatrix34_t GetMatrix34TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** Returns a string property. If the device index is not valid or the property is not a string type this function will 
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	virtual uint32_t GetStringTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L ) = 0;
+
+	/** returns a string that corresponds with the specified property error. The string will be the name 
+	* of the error enum value for all valid error codes */
+	virtual const char *GetPropErrorNameFromEnum( ETrackedPropertyError error ) = 0;
+
+	// ------------------------------------
+	// Event methods
+	// ------------------------------------
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. Fills in the pose of the associated tracked device in the provided pose struct. 
+	* This pose will always be older than the call to this function and should not be used to render the device. 
+	uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEventWithPose( ETrackingUniverseOrigin eOrigin, VREvent_t *pEvent, uint32_t uncbVREvent, vr::TrackedDevicePose_t *pTrackedDevicePose ) = 0;
+
+	/** returns the name of an EVREvent enum value */
+	virtual const char *GetEventTypeNameFromEnum( EVREventType eType ) = 0;
+
+	// ------------------------------------
+	// Rendering helper methods
+	// ------------------------------------
+
+	/** Returns the hidden area mesh for the current HMD. The pixels covered by this mesh will never be seen by the user after the lens distortion is
+	* applied based on visibility to the panels. If this HMD does not have a hidden area mesh, the vertex data and count will be NULL and 0 respectively.
+	* This mesh is meant to be rendered into the stencil buffer (or into the depth buffer setting nearz) before rendering each eye's view. 
+	* This will improve performance by letting the GPU early-reject pixels the user will never see before running the pixel shader.
+	* NOTE: Render this mesh with backface culling disabled since the winding order of the vertices can be different per-HMD or per-eye.
+	* Setting the bInverse argument to true will produce the visible area mesh that is commonly used in place of full-screen quads. The visible area mesh covers all of the pixels the hidden area mesh does not cover.
+	* Setting the bLineLoop argument will return a line loop of vertices in HiddenAreaMesh_t->pVertexData with HiddenAreaMesh_t->unTriangleCount set to the number of vertices.
+	*/
+	virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye, EHiddenAreaMeshType type = k_eHiddenAreaMesh_Standard ) = 0;
+
+	// ------------------------------------
+	// Controller methods
+	// ------------------------------------
+
+	/** Fills the supplied struct with the current state of the controller. Returns false if the controller index
+	* is invalid. */
+	virtual bool GetControllerState( vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, uint32_t unControllerStateSize ) = 0;
+
+	/** fills the supplied struct with the current state of the controller and the provided pose with the pose of 
+	* the controller when the controller state was updated most recently. Use this form if you need a precise controller
+	* pose as input to your application when the user presses or releases a button. */
+	virtual bool GetControllerStateWithPose( ETrackingUniverseOrigin eOrigin, vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, uint32_t unControllerStateSize, TrackedDevicePose_t *pTrackedDevicePose ) = 0;
+
+	/** Trigger a single haptic pulse on a controller. After this call the application may not trigger another haptic pulse on this controller
+	* and axis combination for 5ms. */
+	virtual void TriggerHapticPulse( vr::TrackedDeviceIndex_t unControllerDeviceIndex, uint32_t unAxisId, unsigned short usDurationMicroSec ) = 0;
+
+	/** returns the name of an EVRButtonId enum value */
+	virtual const char *GetButtonIdNameFromEnum( EVRButtonId eButtonId ) = 0;
+
+	/** returns the name of an EVRControllerAxisType enum value */
+	virtual const char *GetControllerAxisTypeNameFromEnum( EVRControllerAxisType eAxisType ) = 0;
+
+	/** Tells OpenVR that this process wants exclusive access to controller button states and button events. Other apps will be notified that 
+	* they have lost input focus with a VREvent_InputFocusCaptured event. Returns false if input focus could not be captured for
+	* some reason. */
+	virtual bool CaptureInputFocus() = 0;
+
+	/** Tells OpenVR that this process no longer wants exclusive access to button states and button events. Other apps will be notified 
+	* that input focus has been released with a VREvent_InputFocusReleased event. */
+	virtual void ReleaseInputFocus() = 0;
+
+	/** Returns true if input focus is captured by another process. */
+	virtual bool IsInputFocusCapturedByAnotherProcess() = 0;
+
+	// ------------------------------------
+	// Debug Methods
+	// ------------------------------------
+
+	/** Sends a request to the driver for the specified device and returns the response. The maximum response size is 32k,
+	* but this method can be called with a smaller buffer. If the response exceeds the size of the buffer, it is truncated. 
+	* The size of the response including its terminating null is returned. */
+	virtual uint32_t DriverDebugRequest( vr::TrackedDeviceIndex_t unDeviceIndex, const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize ) = 0;
+
+	// ------------------------------------
+	// Firmware methods
+	// ------------------------------------
+	
+	/** Performs the actual firmware update if applicable. 
+	 * The following events will be sent, if VRFirmwareError_None was returned: VREvent_FirmwareUpdateStarted, VREvent_FirmwareUpdateFinished 
+	 * Use the properties Prop_Firmware_UpdateAvailable_Bool, Prop_Firmware_ManualUpdate_Bool, and Prop_Firmware_ManualUpdateURL_String
+	 * to figure our whether a firmware update is available, and to figure out whether its a manual update 
+	 * Prop_Firmware_ManualUpdateURL_String should point to an URL describing the manual update process */
+	virtual vr::EVRFirmwareError PerformFirmwareUpdate( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+
+	// ------------------------------------
+	// Application life cycle methods
+	// ------------------------------------
+
+	/** Call this to acknowledge to the system that VREvent_Quit has been received and that the process is exiting.
+	* This extends the timeout until the process is killed. */
+	virtual void AcknowledgeQuit_Exiting() = 0;
+
+	/** Call this to tell the system that the user is being prompted to save data. This
+	* halts the timeout and dismisses the dashboard (if it was up). Applications should be sure to actually 
+	* prompt the user to save and then exit afterward, otherwise the user will be left in a confusing state. */
+	virtual void AcknowledgeQuit_UserPrompt() = 0;
+
+};
+
+static const char * const IVRSystem_Version = "IVRSystem_016";
+
+}
+
+
+// ivrapplications.h
+namespace vr
+{
+
+	/** Used for all errors reported by the IVRApplications interface */
+	enum EVRApplicationError
+	{
+		VRApplicationError_None = 0,
+
+		VRApplicationError_AppKeyAlreadyExists = 100,	// Only one application can use any given key
+		VRApplicationError_NoManifest = 101,			// the running application does not have a manifest
+		VRApplicationError_NoApplication = 102,			// No application is running
+		VRApplicationError_InvalidIndex = 103,
+		VRApplicationError_UnknownApplication = 104,	// the application could not be found
+		VRApplicationError_IPCFailed = 105,				// An IPC failure caused the request to fail
+		VRApplicationError_ApplicationAlreadyRunning = 106, 
+		VRApplicationError_InvalidManifest = 107,
+		VRApplicationError_InvalidApplication = 108,
+		VRApplicationError_LaunchFailed = 109,			// the process didn't start
+		VRApplicationError_ApplicationAlreadyStarting = 110, // the system was already starting the same application
+		VRApplicationError_LaunchInProgress = 111,		// The system was already starting a different application
+		VRApplicationError_OldApplicationQuitting = 112, 
+		VRApplicationError_TransitionAborted = 113,
+		VRApplicationError_IsTemplate = 114, // error when you try to call LaunchApplication() on a template type app (use LaunchTemplateApplication)
+
+		VRApplicationError_BufferTooSmall = 200,		// The provided buffer was too small to fit the requested data
+		VRApplicationError_PropertyNotSet = 201,		// The requested property was not set
+		VRApplicationError_UnknownProperty = 202,
+		VRApplicationError_InvalidParameter = 203,
+	};
+
+	/** The maximum length of an application key */
+	static const uint32_t k_unMaxApplicationKeyLength = 128;
+
+	/** these are the properties available on applications. */
+	enum EVRApplicationProperty
+	{
+		VRApplicationProperty_Name_String				= 0,
+
+		VRApplicationProperty_LaunchType_String			= 11,
+		VRApplicationProperty_WorkingDirectory_String	= 12,
+		VRApplicationProperty_BinaryPath_String			= 13,
+		VRApplicationProperty_Arguments_String			= 14,
+		VRApplicationProperty_URL_String				= 15,
+
+		VRApplicationProperty_Description_String		= 50,
+		VRApplicationProperty_NewsURL_String			= 51,
+		VRApplicationProperty_ImagePath_String			= 52,
+		VRApplicationProperty_Source_String				= 53,
+
+		VRApplicationProperty_IsDashboardOverlay_Bool	= 60,
+		VRApplicationProperty_IsTemplate_Bool			= 61,
+		VRApplicationProperty_IsInstanced_Bool			= 62,
+		VRApplicationProperty_IsInternal_Bool			= 63,
+
+		VRApplicationProperty_LastLaunchTime_Uint64		= 70,
+	};
+
+	/** These are states the scene application startup process will go through. */
+	enum EVRApplicationTransitionState
+	{
+		VRApplicationTransition_None = 0,
+
+		VRApplicationTransition_OldAppQuitSent = 10,
+		VRApplicationTransition_WaitingForExternalLaunch = 11,
+		
+		VRApplicationTransition_NewAppLaunched = 20,
+	};
+
+	struct AppOverrideKeys_t
+	{
+		const char *pchKey;
+		const char *pchValue;
+	};
+
+	/** Currently recognized mime types */
+	static const char * const k_pch_MimeType_HomeApp		= "vr/home";
+	static const char * const k_pch_MimeType_GameTheater	= "vr/game_theater";
+
+	class IVRApplications
+	{
+	public:
+
+		// ---------------  Application management  --------------- //
+
+		/** Adds an application manifest to the list to load when building the list of installed applications. 
+		* Temporary manifests are not automatically loaded */
+		virtual EVRApplicationError AddApplicationManifest( const char *pchApplicationManifestFullPath, bool bTemporary = false ) = 0;
+
+		/** Removes an application manifest from the list to load when building the list of installed applications. */
+		virtual EVRApplicationError RemoveApplicationManifest( const char *pchApplicationManifestFullPath ) = 0;
+
+		/** Returns true if an application is installed */
+		virtual bool IsApplicationInstalled( const char *pchAppKey ) = 0;
+
+		/** Returns the number of applications available in the list */
+		virtual uint32_t GetApplicationCount() = 0;
+
+		/** Returns the key of the specified application. The index is at least 0 and is less than the return 
+		* value of GetApplicationCount(). The buffer should be at least k_unMaxApplicationKeyLength in order to 
+		* fit the key. */
+		virtual EVRApplicationError GetApplicationKeyByIndex( uint32_t unApplicationIndex, VR_OUT_STRING() char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Returns the key of the application for the specified Process Id. The buffer should be at least 
+		* k_unMaxApplicationKeyLength in order to fit the key. */
+		virtual EVRApplicationError GetApplicationKeyByProcessId( uint32_t unProcessId, char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Launches the application. The existing scene application will exit and then the new application will start.
+		* This call is not valid for dashboard overlay applications. */
+		virtual EVRApplicationError LaunchApplication( const char *pchAppKey ) = 0;
+
+		/** Launches an instance of an application of type template, with its app key being pchNewAppKey (which must be unique) and optionally override sections
+		* from the manifest file via AppOverrideKeys_t
+		*/
+		virtual EVRApplicationError LaunchTemplateApplication( const char *pchTemplateAppKey, const char *pchNewAppKey, VR_ARRAY_COUNT( unKeys ) const AppOverrideKeys_t *pKeys, uint32_t unKeys ) = 0;
+
+		/** launches the application currently associated with this mime type and passes it the option args, typically the filename or object name of the item being launched */
+		virtual vr::EVRApplicationError LaunchApplicationFromMimeType( const char *pchMimeType, const char *pchArgs ) = 0;
+
+		/** Launches the dashboard overlay application if it is not already running. This call is only valid for 
+		* dashboard overlay applications. */
+		virtual EVRApplicationError LaunchDashboardOverlay( const char *pchAppKey ) = 0;
+
+		/** Cancel a pending launch for an application */
+		virtual bool CancelApplicationLaunch( const char *pchAppKey ) = 0;
+
+		/** Identifies a running application. OpenVR can't always tell which process started in response
+		* to a URL. This function allows a URL handler (or the process itself) to identify the app key 
+		* for the now running application. Passing a process ID of 0 identifies the calling process. 
+		* The application must be one that's known to the system via a call to AddApplicationManifest. */
+		virtual EVRApplicationError IdentifyApplication( uint32_t unProcessId, const char *pchAppKey ) = 0;
+
+		/** Returns the process ID for an application. Return 0 if the application was not found or is not running. */
+		virtual uint32_t GetApplicationProcessId( const char *pchAppKey ) = 0;
+
+		/** Returns a string for an applications error */
+		virtual const char *GetApplicationsErrorNameFromEnum( EVRApplicationError error ) = 0;
+
+		// ---------------  Application properties  --------------- //
+
+		/** Returns a value for an application property. The required buffer size to fit this value will be returned. */
+		virtual uint32_t GetApplicationPropertyString( const char *pchAppKey, EVRApplicationProperty eProperty, VR_OUT_STRING() char *pchPropertyValueBuffer, uint32_t unPropertyValueBufferLen, EVRApplicationError *peError = nullptr ) = 0;
+
+		/** Returns a bool value for an application property. Returns false in all error cases. */
+		virtual bool GetApplicationPropertyBool( const char *pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError *peError = nullptr ) = 0;
+
+		/** Returns a uint64 value for an application property. Returns 0 in all error cases. */
+		virtual uint64_t GetApplicationPropertyUint64( const char *pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError *peError = nullptr ) = 0;
+
+		/** Sets the application auto-launch flag. This is only valid for applications which return true for VRApplicationProperty_IsDashboardOverlay_Bool. */
+		virtual EVRApplicationError SetApplicationAutoLaunch( const char *pchAppKey, bool bAutoLaunch ) = 0;
+
+		/** Gets the application auto-launch flag. This is only valid for applications which return true for VRApplicationProperty_IsDashboardOverlay_Bool. */
+		virtual bool GetApplicationAutoLaunch( const char *pchAppKey ) = 0;
+
+		/** Adds this mime-type to the list of supported mime types for this application*/
+		virtual EVRApplicationError SetDefaultApplicationForMimeType( const char *pchAppKey, const char *pchMimeType ) = 0;
+
+		/** return the app key that will open this mime type */
+		virtual bool GetDefaultApplicationForMimeType( const char *pchMimeType, char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Get the list of supported mime types for this application, comma-delimited */
+		virtual bool GetApplicationSupportedMimeTypes( const char *pchAppKey, char *pchMimeTypesBuffer, uint32_t unMimeTypesBuffer ) = 0;
+
+		/** Get the list of app-keys that support this mime type, comma-delimited, the return value is number of bytes you need to return the full string */
+		virtual uint32_t GetApplicationsThatSupportMimeType( const char *pchMimeType, char *pchAppKeysThatSupportBuffer, uint32_t unAppKeysThatSupportBuffer ) = 0;
+
+		/** Get the args list from an app launch that had the process already running, you call this when you get a VREvent_ApplicationMimeTypeLoad */
+		virtual uint32_t GetApplicationLaunchArguments( uint32_t unHandle, char *pchArgs, uint32_t unArgs ) = 0;
+
+		// ---------------  Transition methods --------------- //
+
+		/** Returns the app key for the application that is starting up */
+		virtual EVRApplicationError GetStartingApplication( char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0;
+
+		/** Returns the application transition state */
+		virtual EVRApplicationTransitionState GetTransitionState() = 0;
+
+		/** Returns errors that would prevent the specified application from launching immediately. Calling this function will
+		* cause the current scene application to quit, so only call it when you are actually about to launch something else.
+		* What the caller should do about these failures depends on the failure:
+		*   VRApplicationError_OldApplicationQuitting - An existing application has been told to quit. Wait for a VREvent_ProcessQuit
+		*                                               and try again.
+		*   VRApplicationError_ApplicationAlreadyStarting - This application is already starting. This is a permanent failure.
+		*   VRApplicationError_LaunchInProgress	      - A different application is already starting. This is a permanent failure.
+		*   VRApplicationError_None                   - Go ahead and launch. Everything is clear.
+		*/
+		virtual EVRApplicationError PerformApplicationPrelaunchCheck( const char *pchAppKey ) = 0;
+
+		/** Returns a string for an application transition state */
+		virtual const char *GetApplicationsTransitionStateNameFromEnum( EVRApplicationTransitionState state ) = 0;
+
+		/** Returns true if the outgoing scene app has requested a save prompt before exiting */
+		virtual bool IsQuitUserPromptRequested() = 0;
+
+		/** Starts a subprocess within the calling application. This
+		* suppresses all application transition UI and automatically identifies the new executable 
+		* as part of the same application. On success the calling process should exit immediately. 
+		* If working directory is NULL or "" the directory portion of the binary path will be 
+		* the working directory. */
+		virtual EVRApplicationError LaunchInternalProcess( const char *pchBinaryPath, const char *pchArguments, const char *pchWorkingDirectory ) = 0;
+
+		/** Returns the current scene process ID according to the application system. A scene process will get scene
+		* focus once it starts rendering, but it will appear here once it calls VR_Init with the Scene application
+		* type. */
+		virtual uint32_t GetCurrentSceneProcessId() = 0;
+	};
+
+	static const char * const IVRApplications_Version = "IVRApplications_006";
+
+} // namespace vr
+
+// ivrsettings.h
+namespace vr
+{
+	enum EVRSettingsError
+	{
+		VRSettingsError_None = 0,
+		VRSettingsError_IPCFailed = 1,
+		VRSettingsError_WriteFailed = 2,
+		VRSettingsError_ReadFailed = 3,
+		VRSettingsError_JsonParseFailed = 4,
+		VRSettingsError_UnsetSettingHasNoDefault = 5, // This will be returned if the setting does not appear in the appropriate default file and has not been set
+	};
+
+	// The maximum length of a settings key
+	static const uint32_t k_unMaxSettingsKeyLength = 128;
+
+	class IVRSettings
+	{
+	public:
+		virtual const char *GetSettingsErrorNameFromEnum( EVRSettingsError eError ) = 0;
+
+		// Returns true if file sync occurred (force or settings dirty)
+		virtual bool Sync( bool bForce = false, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void SetBool( const char *pchSection, const char *pchSettingsKey, bool bValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetFloat( const char *pchSection, const char *pchSettingsKey, float flValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetString( const char *pchSection, const char *pchSettingsKey, const char *pchValue, EVRSettingsError *peError = nullptr ) = 0;
+
+		// Users of the system need to provide a proper default in default.vrsettings in the resources/settings/ directory
+		// of either the runtime or the driver_xxx directory. Otherwise the default will be false, 0, 0.0 or ""
+		virtual bool GetBool( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual int32_t GetInt32( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual float GetFloat( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void GetString( const char *pchSection, const char *pchSettingsKey, VR_OUT_STRING() char *pchValue, uint32_t unValueLen, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void RemoveSection( const char *pchSection, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void RemoveKeyInSection( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+	};
+
+	//-----------------------------------------------------------------------------
+	static const char * const IVRSettings_Version = "IVRSettings_002";
+
+	//-----------------------------------------------------------------------------
+	// steamvr keys
+	static const char * const k_pch_SteamVR_Section = "steamvr";
+	static const char * const k_pch_SteamVR_RequireHmd_String = "requireHmd";
+	static const char * const k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+	static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+	static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+	static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+	static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+	static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+	static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps";
+	static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+	static const char * const k_pch_SteamVR_IPD_Float = "ipd";
+	static const char * const k_pch_SteamVR_Background_String = "background";
+	static const char * const k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+	static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+	static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+	static const char * const k_pch_SteamVR_GridColor_String = "gridColor";
+	static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+	static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage";
+	static const char * const k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+	static const char * const k_pch_SteamVR_DirectMode_Bool = "directMode";
+	static const char * const k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+	static const char * const k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+	static const char * const k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+	static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+	static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+	static const char * const k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+	static const char * const k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+	static const char * const k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+
+	//-----------------------------------------------------------------------------
+	// lighthouse keys
+	static const char * const k_pch_Lighthouse_Section = "driver_lighthouse";
+	static const char * const k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+	static const char * const k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+	static const char * const k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+	static const char * const k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+	static const char * const k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+
+	//-----------------------------------------------------------------------------
+	// null keys
+	static const char * const k_pch_Null_Section = "driver_null";
+	static const char * const k_pch_Null_SerialNumber_String = "serialNumber";
+	static const char * const k_pch_Null_ModelNumber_String = "modelNumber";
+	static const char * const k_pch_Null_WindowX_Int32 = "windowX";
+	static const char * const k_pch_Null_WindowY_Int32 = "windowY";
+	static const char * const k_pch_Null_WindowWidth_Int32 = "windowWidth";
+	static const char * const k_pch_Null_WindowHeight_Int32 = "windowHeight";
+	static const char * const k_pch_Null_RenderWidth_Int32 = "renderWidth";
+	static const char * const k_pch_Null_RenderHeight_Int32 = "renderHeight";
+	static const char * const k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+	static const char * const k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+
+	//-----------------------------------------------------------------------------
+	// user interface keys
+	static const char * const k_pch_UserInterface_Section = "userinterface";
+	static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+	static const char * const k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+	static const char * const k_pch_UserInterface_Screenshots_Bool = "screenshots";
+	static const char * const k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+
+	//-----------------------------------------------------------------------------
+	// notification keys
+	static const char * const k_pch_Notifications_Section = "notifications";
+	static const char * const k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+
+	//-----------------------------------------------------------------------------
+	// keyboard keys
+	static const char * const k_pch_Keyboard_Section = "keyboard";
+	static const char * const k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+	static const char * const k_pch_Keyboard_ScaleX = "ScaleX";
+	static const char * const k_pch_Keyboard_ScaleY = "ScaleY";
+	static const char * const k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+	static const char * const k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+	static const char * const k_pch_Keyboard_OffsetY = "OffsetY";
+	static const char * const k_pch_Keyboard_Smoothing = "Smoothing";
+
+	//-----------------------------------------------------------------------------
+	// perf keys
+	static const char * const k_pch_Perf_Section = "perfcheck";
+	static const char * const k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+	static const char * const k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+	static const char * const k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+
+	//-----------------------------------------------------------------------------
+	// collision bounds keys
+	static const char * const k_pch_CollisionBounds_Section = "collisionBounds";
+	static const char * const k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+	static const char * const k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+	static const char * const k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+	static const char * const k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+	static const char * const k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+	static const char * const k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+	static const char * const k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+	static const char * const k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+	static const char * const k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+
+	//-----------------------------------------------------------------------------
+	// camera keys
+	static const char * const k_pch_Camera_Section = "camera";
+	static const char * const k_pch_Camera_EnableCamera_Bool = "enableCamera";
+	static const char * const k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+	static const char * const k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+	static const char * const k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+	static const char * const k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+	static const char * const k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+	static const char * const k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+	static const char * const k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+	static const char * const k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+
+	//-----------------------------------------------------------------------------
+	// audio keys
+	static const char * const k_pch_audio_Section = "audio";
+	static const char * const k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+	static const char * const k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+	static const char * const k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+	static const char * const k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+	static const char * const k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+	static const char * const k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+
+	//-----------------------------------------------------------------------------
+	// power management keys
+	static const char * const k_pch_Power_Section = "power";
+	static const char * const k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+	static const char * const k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+
+	//-----------------------------------------------------------------------------
+	// dashboard keys
+	static const char * const k_pch_Dashboard_Section = "dashboard";
+	static const char * const k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+	static const char * const k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+
+	//-----------------------------------------------------------------------------
+	// model skin keys
+	static const char * const k_pch_modelskin_Section = "modelskins";
+
+	//-----------------------------------------------------------------------------
+	// driver keys - These could be checked in any driver_<name> section
+	static const char * const k_pch_Driver_Enable_Bool = "enable";
+
+} // namespace vr
+
+// ivrchaperone.h
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+enum ChaperoneCalibrationState
+{
+	// OK!
+	ChaperoneCalibrationState_OK = 1,									// Chaperone is fully calibrated and working correctly
+
+	// Warnings
+	ChaperoneCalibrationState_Warning = 100,
+	ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved = 101,	// A base station thinks that it might have moved
+	ChaperoneCalibrationState_Warning_BaseStationRemoved = 102,			// There are less base stations than when calibrated
+	ChaperoneCalibrationState_Warning_SeatedBoundsInvalid = 103,		// Seated bounds haven't been calibrated for the current tracking center
+
+	// Errors
+	ChaperoneCalibrationState_Error = 200,								// The UniverseID is invalid
+	ChaperoneCalibrationState_Error_BaseStationUninitialized = 201,		// Tracking center hasn't be calibrated for at least one of the base stations
+	ChaperoneCalibrationState_Error_BaseStationConflict = 202,			// Tracking center is calibrated, but base stations disagree on the tracking space
+	ChaperoneCalibrationState_Error_PlayAreaInvalid = 203,				// Play Area hasn't been calibrated for the current tracking center
+	ChaperoneCalibrationState_Error_CollisionBoundsInvalid = 204,		// Collision Bounds haven't been calibrated for the current tracking center
+};
+
+
+/** HIGH LEVEL TRACKING SPACE ASSUMPTIONS:
+* 0,0,0 is the preferred standing area center.
+* 0Y is the floor height.
+* -Z is the preferred forward facing direction. */
+class IVRChaperone
+{
+public:
+
+	/** Get the current state of Chaperone calibration. This state can change at any time during a session due to physical base station changes. **/
+	virtual ChaperoneCalibrationState GetCalibrationState() = 0;
+
+	/** Returns the width and depth of the Play Area (formerly named Soft Bounds) in X and Z. 
+	* Tracking space center (0,0,0) is the center of the Play Area. **/
+	virtual bool GetPlayAreaSize( float *pSizeX, float *pSizeZ ) = 0;
+
+	/** Returns the 4 corner positions of the Play Area (formerly named Soft Bounds).
+	* Corners are in counter-clockwise order.
+	* Standing center (0,0,0) is the center of the Play Area.
+	* It's a rectangle.
+	* 2 sides are parallel to the X axis and 2 sides are parallel to the Z axis.
+	* Height of every corner is 0Y (on the floor). **/
+	virtual bool GetPlayAreaRect( HmdQuad_t *rect ) = 0;
+
+	/** Reload Chaperone data from the .vrchap file on disk. */
+	virtual void ReloadInfo( void ) = 0;
+
+	/** Optionally give the chaperone system a hit about the color and brightness in the scene **/
+	virtual void SetSceneColor( HmdColor_t color ) = 0;
+
+	/** Get the current chaperone bounds draw color and brightness **/
+	virtual void GetBoundsColor( HmdColor_t *pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, HmdColor_t *pOutputCameraColor ) = 0;
+
+	/** Determine whether the bounds are showing right now **/
+	virtual bool AreBoundsVisible() = 0;
+
+	/** Force the bounds to show, mostly for utilities **/
+	virtual void ForceBoundsVisible( bool bForce ) = 0;
+};
+
+static const char * const IVRChaperone_Version = "IVRChaperone_003";
+
+#pragma pack( pop )
+
+}
+
+// ivrchaperonesetup.h
+namespace vr
+{
+
+enum EChaperoneConfigFile
+{
+	EChaperoneConfigFile_Live = 1,		// The live chaperone config, used by most applications and games
+	EChaperoneConfigFile_Temp = 2,		// The temporary chaperone config, used to live-preview collision bounds in room setup
+};
+
+enum EChaperoneImportFlags
+{
+	EChaperoneImport_BoundsOnly = 0x0001,
+};
+
+/** Manages the working copy of the chaperone info. By default this will be the same as the 
+* live copy. Any changes made with this interface will stay in the working copy until 
+* CommitWorkingCopy() is called, at which point the working copy and the live copy will be 
+* the same again. */
+class IVRChaperoneSetup
+{
+public:
+
+	/** Saves the current working copy to disk */
+	virtual bool CommitWorkingCopy( EChaperoneConfigFile configFile ) = 0;
+
+	/** Reverts the working copy to match the live chaperone calibration.
+	* To modify existing data this MUST be do WHILE getting a non-error ChaperoneCalibrationStatus.
+	* Only after this should you do gets and sets on the existing data. */
+	virtual void RevertWorkingCopy() = 0;
+
+	/** Returns the width and depth of the Play Area (formerly named Soft Bounds) in X and Z from the working copy.
+	* Tracking space center (0,0,0) is the center of the Play Area. */
+	virtual bool GetWorkingPlayAreaSize( float *pSizeX, float *pSizeZ ) = 0;
+
+	/** Returns the 4 corner positions of the Play Area (formerly named Soft Bounds) from the working copy.
+	* Corners are in clockwise order.
+	* Tracking space center (0,0,0) is the center of the Play Area.
+	* It's a rectangle.
+	* 2 sides are parallel to the X axis and 2 sides are parallel to the Z axis.
+	* Height of every corner is 0Y (on the floor). **/
+	virtual bool GetWorkingPlayAreaRect( HmdQuad_t *rect ) = 0;
+
+	/** Returns the number of Quads if the buffer points to null. Otherwise it returns Quads 
+	* into the buffer up to the max specified from the working copy. */
+	virtual bool GetWorkingCollisionBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0;
+
+	/** Returns the number of Quads if the buffer points to null. Otherwise it returns Quads 
+	* into the buffer up to the max specified. */
+	virtual bool GetLiveCollisionBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0;
+
+	/** Returns the preferred seated position from the working copy. */
+	virtual bool GetWorkingSeatedZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatSeatedZeroPoseToRawTrackingPose ) = 0;
+
+	/** Returns the standing origin from the working copy. */
+	virtual bool GetWorkingStandingZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatStandingZeroPoseToRawTrackingPose ) = 0;
+
+	/** Sets the Play Area in the working copy. */
+	virtual void SetWorkingPlayAreaSize( float sizeX, float sizeZ ) = 0;
+
+	/** Sets the Collision Bounds in the working copy. */
+	virtual void SetWorkingCollisionBoundsInfo( VR_ARRAY_COUNT(unQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t unQuadsCount ) = 0;
+
+	/** Sets the preferred seated position in the working copy. */
+	virtual void SetWorkingSeatedZeroPoseToRawTrackingPose( const HmdMatrix34_t *pMatSeatedZeroPoseToRawTrackingPose ) = 0;
+
+	/** Sets the preferred standing position in the working copy. */
+	virtual void SetWorkingStandingZeroPoseToRawTrackingPose( const HmdMatrix34_t *pMatStandingZeroPoseToRawTrackingPose ) = 0;
+
+	/** Tear everything down and reload it from the file on disk */
+	virtual void ReloadFromDisk( EChaperoneConfigFile configFile ) = 0;
+
+	/** Returns the preferred seated position. */
+	virtual bool GetLiveSeatedZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatSeatedZeroPoseToRawTrackingPose ) = 0;
+
+	virtual void SetWorkingCollisionBoundsTagsInfo( VR_ARRAY_COUNT(unTagCount) uint8_t *pTagsBuffer, uint32_t unTagCount ) = 0;
+	virtual bool GetLiveCollisionBoundsTagsInfo( VR_OUT_ARRAY_COUNT(punTagCount) uint8_t *pTagsBuffer, uint32_t *punTagCount ) = 0;
+
+	virtual bool SetWorkingPhysicalBoundsInfo( VR_ARRAY_COUNT(unQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t unQuadsCount ) = 0;
+	virtual bool GetLivePhysicalBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0;
+
+	virtual bool ExportLiveToBuffer( VR_OUT_STRING() char *pBuffer, uint32_t *pnBufferLength ) = 0;
+	virtual bool ImportFromBufferToWorking( const char *pBuffer, uint32_t nImportFlags ) = 0;
+};
+
+static const char * const IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
+
+
+}
+
+// ivrcompositor.h
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+/** Errors that can occur with the VR compositor */
+enum EVRCompositorError
+{
+	VRCompositorError_None						= 0,
+	VRCompositorError_RequestFailed				= 1,
+	VRCompositorError_IncompatibleVersion		= 100,
+	VRCompositorError_DoNotHaveFocus			= 101,
+	VRCompositorError_InvalidTexture			= 102,
+	VRCompositorError_IsNotSceneApplication		= 103,
+	VRCompositorError_TextureIsOnWrongDevice	= 104,
+	VRCompositorError_TextureUsesUnsupportedFormat = 105,
+	VRCompositorError_SharedTexturesNotSupported = 106,
+	VRCompositorError_IndexOutOfRange			= 107,
+	VRCompositorError_AlreadySubmitted			= 108,
+};
+
+const uint32_t VRCompositor_ReprojectionReason_Cpu = 0x01;
+const uint32_t VRCompositor_ReprojectionReason_Gpu = 0x02;
+const uint32_t VRCompositor_ReprojectionAsync      = 0x04;	// This flag indicates the async reprojection mode is active,
+															// but does not indicate if reprojection actually happened or not.
+															// Use the ReprojectionReason flags above to check if reprojection
+															// was actually applied (i.e. scene texture was reused).
+															// NumFramePresents > 1 also indicates the scene texture was reused,
+															// and also the number of times that it was presented in total.
+
+/** Provides a single frame's timing information to the app */
+struct Compositor_FrameTiming
+{
+	uint32_t m_nSize; // Set to sizeof( Compositor_FrameTiming )
+	uint32_t m_nFrameIndex;
+	uint32_t m_nNumFramePresents; // number of times this frame was presented
+	uint32_t m_nNumMisPresented; // number of times this frame was presented on a vsync other than it was originally predicted to
+	uint32_t m_nNumDroppedFrames; // number of additional times previous frame was scanned out
+	uint32_t m_nReprojectionFlags;
+
+	/** Absolute time reference for comparing frames.  This aligns with the vsync that running start is relative to. */
+	double m_flSystemTimeInSeconds;
+
+	/** These times may include work from other processes due to OS scheduling.
+	* The fewer packets of work these are broken up into, the less likely this will happen.
+	* GPU work can be broken up by calling Flush.  This can sometimes be useful to get the GPU started
+	* processing that work earlier in the frame. */
+	float m_flPreSubmitGpuMs; // time spent rendering the scene (gpu work submitted between WaitGetPoses and second Submit)
+	float m_flPostSubmitGpuMs; // additional time spent rendering by application (e.g. companion window)
+	float m_flTotalRenderGpuMs; // time between work submitted immediately after present (ideally vsync) until the end of compositor submitted work
+	float m_flCompositorRenderGpuMs; // time spend performing distortion correction, rendering chaperone, overlays, etc.
+	float m_flCompositorRenderCpuMs; // time spent on cpu submitting the above work for this frame
+	float m_flCompositorIdleCpuMs; // time spent waiting for running start (application could have used this much more time)
+
+	/** Miscellaneous measured intervals. */
+	float m_flClientFrameIntervalMs; // time between calls to WaitGetPoses
+	float m_flPresentCallCpuMs; // time blocked on call to present (usually 0.0, but can go long)
+	float m_flWaitForPresentCpuMs; // time spent spin-waiting for frame index to change (not near-zero indicates wait object failure)
+	float m_flSubmitFrameMs; // time spent in IVRCompositor::Submit (not near-zero indicates driver issue)
+
+	/** The following are all relative to this frame's SystemTimeInSeconds */
+	float m_flWaitGetPosesCalledMs;
+	float m_flNewPosesReadyMs;
+	float m_flNewFrameReadyMs; // second call to IVRCompositor::Submit
+	float m_flCompositorUpdateStartMs;
+	float m_flCompositorUpdateEndMs;
+	float m_flCompositorRenderStartMs;
+
+	vr::TrackedDevicePose_t m_HmdPose; // pose used by app to render this frame
+};
+
+/** Cumulative stats for current application.  These are not cleared until a new app connects,
+* but they do stop accumulating once the associated app disconnects. */
+struct Compositor_CumulativeStats
+{
+	uint32_t m_nPid; // Process id associated with these stats (may no longer be running).
+	uint32_t m_nNumFramePresents; // total number of times we called present (includes reprojected frames)
+	uint32_t m_nNumDroppedFrames; // total number of times an old frame was re-scanned out (without reprojection)
+	uint32_t m_nNumReprojectedFrames; // total number of times a frame was scanned out a second time (with reprojection)
+
+	/** Values recorded at startup before application has fully faded in the first time. */
+	uint32_t m_nNumFramePresentsOnStartup;
+	uint32_t m_nNumDroppedFramesOnStartup;
+	uint32_t m_nNumReprojectedFramesOnStartup;
+
+	/** Applications may explicitly fade to the compositor.  This is usually to handle level transitions, and loading often causes
+	* system wide hitches.  The following stats are collected during this period.  Does not include values recorded during startup. */
+	uint32_t m_nNumLoading;
+	uint32_t m_nNumFramePresentsLoading;
+	uint32_t m_nNumDroppedFramesLoading;
+	uint32_t m_nNumReprojectedFramesLoading;
+
+	/** If we don't get a new frame from the app in less than 2.5 frames, then we assume the app has hung and start
+	* fading back to the compositor.  The following stats are a result of this, and are a subset of those recorded above.
+	* Does not include values recorded during start up or loading. */
+	uint32_t m_nNumTimedOut;
+	uint32_t m_nNumFramePresentsTimedOut;
+	uint32_t m_nNumDroppedFramesTimedOut;
+	uint32_t m_nNumReprojectedFramesTimedOut;
+};
+
+#pragma pack( pop )
+
+/** Allows the application to interact with the compositor */
+class IVRCompositor
+{
+public:
+	/** Sets tracking space returned by WaitGetPoses */
+	virtual void SetTrackingSpace( ETrackingUniverseOrigin eOrigin ) = 0;
+
+	/** Gets current tracking space returned by WaitGetPoses */
+	virtual ETrackingUniverseOrigin GetTrackingSpace() = 0;
+
+	/** Scene applications should call this function to get poses to render with (and optionally poses predicted an additional frame out to use for gameplay).
+	* This function will block until "running start" milliseconds before the start of the frame, and should be called at the last moment before needing to
+	* start rendering.
+	*
+	* Return codes:
+	*	- IsNotSceneApplication (make sure to call VR_Init with VRApplicaiton_Scene)
+	*	- DoNotHaveFocus (some other app has taken focus - this will throttle the call to 10hz to reduce the impact on that app)
+	*/
+	virtual EVRCompositorError WaitGetPoses( VR_ARRAY_COUNT(unRenderPoseArrayCount) TrackedDevicePose_t* pRenderPoseArray, uint32_t unRenderPoseArrayCount,
+		VR_ARRAY_COUNT(unGamePoseArrayCount) TrackedDevicePose_t* pGamePoseArray, uint32_t unGamePoseArrayCount ) = 0;
+
+	/** Get the last set of poses returned by WaitGetPoses. */
+	virtual EVRCompositorError GetLastPoses( VR_ARRAY_COUNT( unRenderPoseArrayCount ) TrackedDevicePose_t* pRenderPoseArray, uint32_t unRenderPoseArrayCount,
+		VR_ARRAY_COUNT( unGamePoseArrayCount ) TrackedDevicePose_t* pGamePoseArray, uint32_t unGamePoseArrayCount ) = 0;
+
+	/** Interface for accessing last set of poses returned by WaitGetPoses one at a time.
+	* Returns VRCompositorError_IndexOutOfRange if unDeviceIndex not less than k_unMaxTrackedDeviceCount otherwise VRCompositorError_None.
+	* It is okay to pass NULL for either pose if you only want one of the values. */
+	virtual EVRCompositorError GetLastPoseForTrackedDeviceIndex( TrackedDeviceIndex_t unDeviceIndex, TrackedDevicePose_t *pOutputPose, TrackedDevicePose_t *pOutputGamePose ) = 0;
+
+	/** Updated scene texture to display. If pBounds is NULL the entire texture will be used.  If called from an OpenGL app, consider adding a glFlush after
+	* Submitting both frames to signal the driver to start processing, otherwise it may wait until the command buffer fills up, causing the app to miss frames.
+	*
+	* OpenGL dirty state:
+	*	glBindTexture
+	*
+	* Return codes:
+	*	- IsNotSceneApplication (make sure to call VR_Init with VRApplicaiton_Scene)
+	*	- DoNotHaveFocus (some other app has taken focus)
+	*	- TextureIsOnWrongDevice (application did not use proper AdapterIndex - see IVRSystem.GetDXGIOutputInfo)
+	*	- SharedTexturesNotSupported (application needs to call CreateDXGIFactory1 or later before creating DX device)
+	*	- TextureUsesUnsupportedFormat (scene textures must be compatible with DXGI sharing rules - e.g. uncompressed, no mips, etc.)
+	*	- InvalidTexture (usually means bad arguments passed in)
+	*	- AlreadySubmitted (app has submitted two left textures or two right textures in a single frame - i.e. before calling WaitGetPoses again)
+	*/
+	virtual EVRCompositorError Submit( EVREye eEye, const Texture_t *pTexture, const VRTextureBounds_t* pBounds = 0, EVRSubmitFlags nSubmitFlags = Submit_Default ) = 0;
+
+	/** Clears the frame that was sent with the last call to Submit. This will cause the 
+	* compositor to show the grid until Submit is called again. */
+	virtual void ClearLastSubmittedFrame() = 0;
+
+	/** Call immediately after presenting your app's window (i.e. companion window) to unblock the compositor.
+	* This is an optional call, which only needs to be used if you can't instead call WaitGetPoses immediately after Present.
+	* For example, if your engine's render and game loop are not on separate threads, or blocking the render thread until 3ms before the next vsync would
+	* introduce a deadlock of some sort.  This function tells the compositor that you have finished all rendering after having Submitted buffers for both
+	* eyes, and it is free to start its rendering work.  This should only be called from the same thread you are rendering on. */
+	virtual void PostPresentHandoff() = 0;
+
+	/** Returns true if timing data is filled it.  Sets oldest timing info if nFramesAgo is larger than the stored history.
+	* Be sure to set timing.size = sizeof(Compositor_FrameTiming) on struct passed in before calling this function. */
+	virtual bool GetFrameTiming( Compositor_FrameTiming *pTiming, uint32_t unFramesAgo = 0 ) = 0;
+
+	/** Interface for copying a range of timing data.  Frames are returned in ascending order (oldest to newest) with the last being the most recent frame.
+	* Only the first entry's m_nSize needs to be set, as the rest will be inferred from that.  Returns total number of entries filled out. */
+	virtual uint32_t GetFrameTimings( Compositor_FrameTiming *pTiming, uint32_t nFrames ) = 0;
+
+	/** Returns the time in seconds left in the current (as identified by FrameTiming's frameIndex) frame.
+	* Due to "running start", this value may roll over to the next frame before ever reaching 0.0. */
+	virtual float GetFrameTimeRemaining() = 0;
+
+	/** Fills out stats accumulated for the last connected application.  Pass in sizeof( Compositor_CumulativeStats ) as second parameter. */
+	virtual void GetCumulativeStats( Compositor_CumulativeStats *pStats, uint32_t nStatsSizeInBytes ) = 0;
+
+	/** Fades the view on the HMD to the specified color. The fade will take fSeconds, and the color values are between
+	* 0.0 and 1.0. This color is faded on top of the scene based on the alpha parameter. Removing the fade color instantly 
+	* would be FadeToColor( 0.0, 0.0, 0.0, 0.0, 0.0 ).  Values are in un-premultiplied alpha space. */
+	virtual void FadeToColor( float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground = false ) = 0;
+
+	/** Get current fade color value. */
+	virtual HmdColor_t GetCurrentFadeColor( bool bBackground = false ) = 0;
+
+	/** Fading the Grid in or out in fSeconds */
+	virtual void FadeGrid( float fSeconds, bool bFadeIn ) = 0;
+
+	/** Get current alpha value of grid. */
+	virtual float GetCurrentGridAlpha() = 0;
+
+	/** Override the skybox used in the compositor (e.g. for during level loads when the app can't feed scene images fast enough)
+	* Order is Front, Back, Left, Right, Top, Bottom.  If only a single texture is passed, it is assumed in lat-long format.
+	* If two are passed, it is assumed a lat-long stereo pair. */
+	virtual EVRCompositorError SetSkyboxOverride( VR_ARRAY_COUNT( unTextureCount ) const Texture_t *pTextures, uint32_t unTextureCount ) = 0;
+
+	/** Resets compositor skybox back to defaults. */
+	virtual void ClearSkyboxOverride() = 0;
+
+	/** Brings the compositor window to the front. This is useful for covering any other window that may be on the HMD
+	* and is obscuring the compositor window. */
+	virtual void CompositorBringToFront() = 0;
+
+	/** Pushes the compositor window to the back. This is useful for allowing other applications to draw directly to the HMD. */
+	virtual void CompositorGoToBack() = 0;
+
+	/** Tells the compositor process to clean up and exit. You do not need to call this function at shutdown. Under normal 
+	* circumstances the compositor will manage its own life cycle based on what applications are running. */
+	virtual void CompositorQuit() = 0;
+	
+	/** Return whether the compositor is fullscreen */
+	virtual bool IsFullscreen() = 0;
+
+	/** Returns the process ID of the process that is currently rendering the scene */
+	virtual uint32_t GetCurrentSceneFocusProcess() = 0;
+
+	/** Returns the process ID of the process that rendered the last frame (or 0 if the compositor itself rendered the frame.)
+	* Returns 0 when fading out from an app and the app's process Id when fading into an app. */
+	virtual uint32_t GetLastFrameRenderer() = 0;
+
+	/** Returns true if the current process has the scene focus */
+	virtual bool CanRenderScene() = 0;
+
+	/** Creates a window on the primary monitor to display what is being shown in the headset. */
+	virtual void ShowMirrorWindow() = 0;
+
+	/** Closes the mirror window. */
+	virtual void HideMirrorWindow() = 0;
+
+	/** Returns true if the mirror window is shown. */
+	virtual bool IsMirrorWindowVisible() = 0;
+
+	/** Writes all images that the compositor knows about (including overlays) to a 'screenshots' folder in the SteamVR runtime root. */
+	virtual void CompositorDumpImages() = 0;
+
+	/** Let an app know it should be rendering with low resources. */
+	virtual bool ShouldAppRenderWithLowResources() = 0;
+
+	/** Override interleaved reprojection logic to force on. */
+	virtual void ForceInterleavedReprojectionOn( bool bOverride ) = 0;
+
+	/** Force reconnecting to the compositor process. */
+	virtual void ForceReconnectProcess() = 0;
+
+	/** Temporarily suspends rendering (useful for finer control over scene transitions). */
+	virtual void SuspendRendering( bool bSuspend ) = 0;
+
+	/** Opens a shared D3D11 texture with the undistorted composited image for each eye.  Use ReleaseMirrorTextureD3D11 when finished
+	* instead of calling Release on the resource itself. */
+	virtual vr::EVRCompositorError GetMirrorTextureD3D11( vr::EVREye eEye, void *pD3D11DeviceOrResource, void **ppD3D11ShaderResourceView ) = 0;
+	virtual void ReleaseMirrorTextureD3D11( void *pD3D11ShaderResourceView ) = 0;
+
+	/** Access to mirror textures from OpenGL. */
+	virtual vr::EVRCompositorError GetMirrorTextureGL( vr::EVREye eEye, vr::glUInt_t *pglTextureId, vr::glSharedTextureHandle_t *pglSharedTextureHandle ) = 0;
+	virtual bool ReleaseSharedGLTexture( vr::glUInt_t glTextureId, vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0;
+	virtual void LockGLSharedTextureForAccess( vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0;
+	virtual void UnlockGLSharedTextureForAccess( vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0;
+
+	/** [Vulkan Only]
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null.  The string will be a space separated list of-required instance extensions to enable in VkCreateInstance */
+	virtual uint32_t GetVulkanInstanceExtensionsRequired( VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+
+	/** [Vulkan only]
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null.  The string will be a space separated list of required device extensions to enable in VkCreateDevice */
+	virtual uint32_t GetVulkanDeviceExtensionsRequired( VkPhysicalDevice_T *pPhysicalDevice, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+
+};
+
+static const char * const IVRCompositor_Version = "IVRCompositor_020";
+
+} // namespace vr
+
+
+
+// ivrnotifications.h
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+// Used for passing graphic data
+struct NotificationBitmap_t
+{
+	NotificationBitmap_t()
+		: m_pImageData( nullptr )
+		, m_nWidth( 0 )
+		, m_nHeight( 0 )
+		, m_nBytesPerPixel( 0 )
+	{
+	};
+
+	void *m_pImageData;
+	int32_t m_nWidth;
+	int32_t m_nHeight;
+	int32_t m_nBytesPerPixel;
+};
+
+
+/** Be aware that the notification type is used as 'priority' to pick the next notification */
+enum EVRNotificationType
+{
+	/** Transient notifications are automatically hidden after a period of time set by the user. 
+	* They are used for things like information and chat messages that do not require user interaction. */
+	EVRNotificationType_Transient = 0,
+
+	/** Persistent notifications are shown to the user until they are hidden by calling RemoveNotification().
+	* They are used for things like phone calls and alarms that require user interaction. */
+	EVRNotificationType_Persistent = 1,
+
+	/** System notifications are shown no matter what. It is expected, that the ulUserValue is used as ID.
+	 * If there is already a system notification in the queue with that ID it is not accepted into the queue
+	 * to prevent spamming with system notification */
+	EVRNotificationType_Transient_SystemWithUserValue = 2,
+};
+
+enum EVRNotificationStyle
+{
+	/** Creates a notification with minimal external styling. */
+	EVRNotificationStyle_None = 0,
+
+	/** Used for notifications about overlay-level status. In Steam this is used for events like downloads completing. */
+	EVRNotificationStyle_Application = 100,
+
+	/** Used for notifications about contacts that are unknown or not available. In Steam this is used for friend invitations and offline friends. */
+	EVRNotificationStyle_Contact_Disabled = 200,
+
+	/** Used for notifications about contacts that are available but inactive. In Steam this is used for friends that are online but not playing a game. */
+	EVRNotificationStyle_Contact_Enabled = 201,
+
+	/** Used for notifications about contacts that are available and active. In Steam this is used for friends that are online and currently running a game. */
+	EVRNotificationStyle_Contact_Active = 202,
+};
+
+static const uint32_t k_unNotificationTextMaxSize = 256;
+
+typedef uint32_t VRNotificationId;
+
+
+
+#pragma pack( pop )
+
+/** Allows notification sources to interact with the VR system
+	This current interface is not yet implemented. Do not use yet. */
+class IVRNotifications
+{
+public:
+	/** Create a notification and enqueue it to be shown to the user.
+	* An overlay handle is required to create a notification, as otherwise it would be impossible for a user to act on it.
+	* To create a two-line notification, use a line break ('\n') to split the text into two lines.
+	* The pImage argument may be NULL, in which case the specified overlay's icon will be used instead. */
+	virtual EVRNotificationError CreateNotification( VROverlayHandle_t ulOverlayHandle, uint64_t ulUserValue, EVRNotificationType type, const char *pchText, EVRNotificationStyle style, const NotificationBitmap_t *pImage, /* out */ VRNotificationId *pNotificationId ) = 0;
+
+	/** Destroy a notification, hiding it first if it currently shown to the user. */
+	virtual EVRNotificationError RemoveNotification( VRNotificationId notificationId ) = 0;
+
+};
+
+static const char * const IVRNotifications_Version = "IVRNotifications_002";
+
+} // namespace vr
+
+
+
+// ivroverlay.h
+namespace vr
+{
+
+	/** The maximum length of an overlay key in bytes, counting the terminating null character. */
+	static const uint32_t k_unVROverlayMaxKeyLength = 128;
+
+	/** The maximum length of an overlay name in bytes, counting the terminating null character. */
+	static const uint32_t k_unVROverlayMaxNameLength = 128;
+
+	/** The maximum number of overlays that can exist in the system at one time. */
+	static const uint32_t k_unMaxOverlayCount = 64;
+
+	/** The maximum number of overlay intersection mask primitives per overlay */
+	static const uint32_t k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
+
+	/** Types of input supported by VR Overlays */
+	enum VROverlayInputMethod
+	{
+		VROverlayInputMethod_None		= 0, // No input events will be generated automatically for this overlay
+		VROverlayInputMethod_Mouse		= 1, // Tracked controllers will get mouse events automatically
+	};
+
+	/** Allows the caller to figure out which overlay transform getter to call. */
+	enum VROverlayTransformType
+	{
+		VROverlayTransform_Absolute					= 0,
+		VROverlayTransform_TrackedDeviceRelative	= 1,
+		VROverlayTransform_SystemOverlay			= 2,
+		VROverlayTransform_TrackedComponent 		= 3,
+	};
+
+	/** Overlay control settings */
+	enum VROverlayFlags
+	{
+		VROverlayFlags_None			= 0,
+
+		// The following only take effect when rendered using the high quality render path (see SetHighQualityOverlay).
+		VROverlayFlags_Curved		= 1,
+		VROverlayFlags_RGSS4X		= 2,
+
+		// Set this flag on a dashboard overlay to prevent a tab from showing up for that overlay
+		VROverlayFlags_NoDashboardTab = 3,
+
+		// Set this flag on a dashboard that is able to deal with gamepad focus events
+		VROverlayFlags_AcceptsGamepadEvents = 4,
+
+		// Indicates that the overlay should dim/brighten to show gamepad focus
+		VROverlayFlags_ShowGamepadFocus = 5,
+
+		// When in VROverlayInputMethod_Mouse you can optionally enable sending VRScroll_t 
+		VROverlayFlags_SendVRScrollEvents = 6,
+		VROverlayFlags_SendVRTouchpadEvents = 7,
+
+		// If set this will render a vertical scroll wheel on the primary controller, 
+		//  only needed if not using VROverlayFlags_SendVRScrollEvents but you still want to represent a scroll wheel
+		VROverlayFlags_ShowTouchPadScrollWheel = 8,
+
+		// If this is set ownership and render access to the overlay are transferred 
+		// to the new scene process on a call to IVRApplications::LaunchInternalProcess
+		VROverlayFlags_TransferOwnershipToInternalProcess = 9,
+
+		// If set, renders 50% of the texture in each eye, side by side
+		VROverlayFlags_SideBySide_Parallel = 10, // Texture is left/right
+		VROverlayFlags_SideBySide_Crossed = 11, // Texture is crossed and right/left
+
+		VROverlayFlags_Panorama = 12, // Texture is a panorama
+		VROverlayFlags_StereoPanorama = 13, // Texture is a stereo panorama
+
+		// If this is set on an overlay owned by the scene application that overlay
+		// will be sorted with the "Other" overlays on top of all other scene overlays
+		VROverlayFlags_SortWithNonSceneOverlays = 14,
+
+		// If set, the overlay will be shown in the dashboard, otherwise it will be hidden.
+		VROverlayFlags_VisibleInDashboard = 15,
+	};
+
+	enum VRMessageOverlayResponse
+	{
+		VRMessageOverlayResponse_ButtonPress_0 = 0,
+		VRMessageOverlayResponse_ButtonPress_1 = 1,
+		VRMessageOverlayResponse_ButtonPress_2 = 2,
+		VRMessageOverlayResponse_ButtonPress_3 = 3,
+		VRMessageOverlayResponse_CouldntFindSystemOverlay = 4,
+		VRMessageOverlayResponse_CouldntFindOrCreateClientOverlay= 5,
+		VRMessageOverlayResponse_ApplicationQuit = 6
+	};
+
+	struct VROverlayIntersectionParams_t
+	{
+		HmdVector3_t vSource;
+		HmdVector3_t vDirection;
+		ETrackingUniverseOrigin eOrigin;
+	};
+
+	struct VROverlayIntersectionResults_t
+	{
+		HmdVector3_t vPoint;
+		HmdVector3_t vNormal;
+		HmdVector2_t vUVs;
+		float fDistance;
+	};
+
+	// Input modes for the Big Picture gamepad text entry
+	enum EGamepadTextInputMode
+	{
+		k_EGamepadTextInputModeNormal = 0,
+		k_EGamepadTextInputModePassword = 1,
+		k_EGamepadTextInputModeSubmit = 2,
+	};
+
+	// Controls number of allowed lines for the Big Picture gamepad text entry
+	enum EGamepadTextInputLineMode
+	{
+		k_EGamepadTextInputLineModeSingleLine = 0,
+		k_EGamepadTextInputLineModeMultipleLines = 1
+	};
+
+	/** Directions for changing focus between overlays with the gamepad */
+	enum EOverlayDirection
+	{
+		OverlayDirection_Up = 0,
+		OverlayDirection_Down = 1,
+		OverlayDirection_Left = 2,
+		OverlayDirection_Right = 3,
+		
+		OverlayDirection_Count = 4,
+	};
+
+	enum EVROverlayIntersectionMaskPrimitiveType
+	{
+		OverlayIntersectionPrimitiveType_Rectangle,
+		OverlayIntersectionPrimitiveType_Circle,
+	};
+
+	struct IntersectionMaskRectangle_t
+	{
+		float m_flTopLeftX;
+		float m_flTopLeftY;
+		float m_flWidth;
+		float m_flHeight;
+	};
+
+	struct IntersectionMaskCircle_t
+	{
+		float m_flCenterX;
+		float m_flCenterY;
+		float m_flRadius;
+	};
+
+	/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py and openvr_api_flat.h.py */
+	typedef union
+	{
+		IntersectionMaskRectangle_t m_Rectangle;
+		IntersectionMaskCircle_t m_Circle;
+	} VROverlayIntersectionMaskPrimitive_Data_t;
+
+	struct VROverlayIntersectionMaskPrimitive_t
+	{
+		EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType;
+		VROverlayIntersectionMaskPrimitive_Data_t m_Primitive;
+	};
+
+	class IVROverlay
+	{
+	public:
+
+		// ---------------------------------------------
+		// Overlay management methods
+		// ---------------------------------------------
+
+		/** Finds an existing overlay with the specified key. */
+		virtual EVROverlayError FindOverlay( const char *pchOverlayKey, VROverlayHandle_t * pOverlayHandle ) = 0;
+
+		/** Creates a new named overlay. All overlays start hidden and with default settings. */
+		virtual EVROverlayError CreateOverlay( const char *pchOverlayKey, const char *pchOverlayName, VROverlayHandle_t * pOverlayHandle ) = 0;
+
+		/** Destroys the specified overlay. When an application calls VR_Shutdown all overlays created by that app are
+		* automatically destroyed. */
+		virtual EVROverlayError DestroyOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Specify which overlay to use the high quality render path.  This overlay will be composited in during the distortion pass which
+		* results in it drawing on top of everything else, but also at a higher quality as it samples the source texture directly rather than
+		* rasterizing into each eye's render texture first.  Because if this, only one of these is supported at any given time.  It is most useful
+		* for overlays that are expected to take up most of the user's view (e.g. streaming video).
+		* This mode does not support mouse input to your overlay. */
+		virtual EVROverlayError SetHighQualityOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Returns the overlay handle of the current overlay being rendered using the single high quality overlay render path.
+		* Otherwise it will return k_ulOverlayHandleInvalid. */
+		virtual vr::VROverlayHandle_t GetHighQualityOverlay() = 0;
+
+		/** Fills the provided buffer with the string key of the overlay. Returns the size of buffer required to store the key, including
+		* the terminating null character. k_unVROverlayMaxKeyLength will be enough bytes to fit the string. */
+		virtual uint32_t GetOverlayKey( VROverlayHandle_t ulOverlayHandle, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, EVROverlayError *pError = 0L ) = 0;
+
+		/** Fills the provided buffer with the friendly name of the overlay. Returns the size of buffer required to store the key, including
+		* the terminating null character. k_unVROverlayMaxNameLength will be enough bytes to fit the string. */
+		virtual uint32_t GetOverlayName( VROverlayHandle_t ulOverlayHandle, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, EVROverlayError *pError = 0L ) = 0;
+
+		/** set the name to use for this overlay */
+		virtual EVROverlayError SetOverlayName( VROverlayHandle_t ulOverlayHandle, const char *pchName ) = 0;
+
+		/** Gets the raw image data from an overlay. Overlay image data is always returned as RGBA data, 4 bytes per pixel. If the buffer is not large enough, width and height 
+		* will be set and VROverlayError_ArrayTooSmall is returned. */
+		virtual EVROverlayError GetOverlayImageData( VROverlayHandle_t ulOverlayHandle, void *pvBuffer, uint32_t unBufferSize, uint32_t *punWidth, uint32_t *punHeight ) = 0;
+
+		/** returns a string that corresponds with the specified overlay error. The string will be the name 
+		* of the error enum value for all valid error codes */
+		virtual const char *GetOverlayErrorNameFromEnum( EVROverlayError error ) = 0;
+
+		// ---------------------------------------------
+		// Overlay rendering methods
+		// ---------------------------------------------
+
+		/** Sets the pid that is allowed to render to this overlay (the creator pid is always allow to render),
+		*	by default this is the pid of the process that made the overlay */
+		virtual EVROverlayError SetOverlayRenderingPid( VROverlayHandle_t ulOverlayHandle, uint32_t unPID ) = 0;
+
+		/** Gets the pid that is allowed to render to this overlay */
+		virtual uint32_t GetOverlayRenderingPid( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Specify flag setting for a given overlay */
+		virtual EVROverlayError SetOverlayFlag( VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled ) = 0;
+
+		/** Sets flag setting for a given overlay */
+		virtual EVROverlayError GetOverlayFlag( VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool *pbEnabled ) = 0;
+
+		/** Sets the color tint of the overlay quad. Use 0.0 to 1.0 per channel. */
+		virtual EVROverlayError SetOverlayColor( VROverlayHandle_t ulOverlayHandle, float fRed, float fGreen, float fBlue ) = 0;
+
+		/** Gets the color tint of the overlay quad. */
+		virtual EVROverlayError GetOverlayColor( VROverlayHandle_t ulOverlayHandle, float *pfRed, float *pfGreen, float *pfBlue ) = 0;
+
+		/** Sets the alpha of the overlay quad. Use 1.0 for 100 percent opacity to 0.0 for 0 percent opacity. */
+		virtual EVROverlayError SetOverlayAlpha( VROverlayHandle_t ulOverlayHandle, float fAlpha ) = 0;
+
+		/** Gets the alpha of the overlay quad. By default overlays are rendering at 100 percent alpha (1.0). */
+		virtual EVROverlayError GetOverlayAlpha( VROverlayHandle_t ulOverlayHandle, float *pfAlpha ) = 0;
+
+		/** Sets the aspect ratio of the texels in the overlay. 1.0 means the texels are square. 2.0 means the texels
+		* are twice as wide as they are tall. Defaults to 1.0. */
+		virtual EVROverlayError SetOverlayTexelAspect( VROverlayHandle_t ulOverlayHandle, float fTexelAspect ) = 0;
+
+		/** Gets the aspect ratio of the texels in the overlay. Defaults to 1.0 */
+		virtual EVROverlayError GetOverlayTexelAspect( VROverlayHandle_t ulOverlayHandle, float *pfTexelAspect ) = 0;
+
+		/** Sets the rendering sort order for the overlay. Overlays are rendered this order:
+		*      Overlays owned by the scene application
+		*      Overlays owned by some other application
+		*
+		*	Within a category overlays are rendered lowest sort order to highest sort order. Overlays with the same 
+		*	sort order are rendered back to front base on distance from the HMD.
+		*
+		*	Sort order defaults to 0. */
+		virtual EVROverlayError SetOverlaySortOrder( VROverlayHandle_t ulOverlayHandle, uint32_t unSortOrder ) = 0;
+
+		/** Gets the sort order of the overlay. See SetOverlaySortOrder for how this works. */
+		virtual EVROverlayError GetOverlaySortOrder( VROverlayHandle_t ulOverlayHandle, uint32_t *punSortOrder ) = 0;
+
+		/** Sets the width of the overlay quad in meters. By default overlays are rendered on a quad that is 1 meter across */
+		virtual EVROverlayError SetOverlayWidthInMeters( VROverlayHandle_t ulOverlayHandle, float fWidthInMeters ) = 0;
+
+		/** Returns the width of the overlay quad in meters. By default overlays are rendered on a quad that is 1 meter across */
+		virtual EVROverlayError GetOverlayWidthInMeters( VROverlayHandle_t ulOverlayHandle, float *pfWidthInMeters ) = 0;
+
+		/** For high-quality curved overlays only, sets the distance range in meters from the overlay used to automatically curve
+		* the surface around the viewer.  Min is distance is when the surface will be most curved.  Max is when least curved. */
+		virtual EVROverlayError SetOverlayAutoCurveDistanceRangeInMeters( VROverlayHandle_t ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters ) = 0;
+
+		/** For high-quality curved overlays only, gets the distance range in meters from the overlay used to automatically curve
+		* the surface around the viewer.  Min is distance is when the surface will be most curved.  Max is when least curved. */
+		virtual EVROverlayError GetOverlayAutoCurveDistanceRangeInMeters( VROverlayHandle_t ulOverlayHandle, float *pfMinDistanceInMeters, float *pfMaxDistanceInMeters ) = 0;
+
+		/** Sets the colorspace the overlay texture's data is in.  Defaults to 'auto'.
+		* If the texture needs to be resolved, you should call SetOverlayTexture with the appropriate colorspace instead. */
+		virtual EVROverlayError SetOverlayTextureColorSpace( VROverlayHandle_t ulOverlayHandle, EColorSpace eTextureColorSpace ) = 0;
+
+		/** Gets the overlay's current colorspace setting. */
+		virtual EVROverlayError GetOverlayTextureColorSpace( VROverlayHandle_t ulOverlayHandle, EColorSpace *peTextureColorSpace ) = 0;
+
+		/** Sets the part of the texture to use for the overlay. UV Min is the upper left corner and UV Max is the lower right corner. */
+		virtual EVROverlayError SetOverlayTextureBounds( VROverlayHandle_t ulOverlayHandle, const VRTextureBounds_t *pOverlayTextureBounds ) = 0;
+
+		/** Gets the part of the texture to use for the overlay. UV Min is the upper left corner and UV Max is the lower right corner. */
+		virtual EVROverlayError GetOverlayTextureBounds( VROverlayHandle_t ulOverlayHandle, VRTextureBounds_t *pOverlayTextureBounds ) = 0;
+
+		/** Gets render model to draw behind this overlay */
+		virtual uint32_t GetOverlayRenderModel( vr::VROverlayHandle_t ulOverlayHandle, char *pchValue, uint32_t unBufferSize, HmdColor_t *pColor, vr::EVROverlayError *pError ) = 0;
+
+		/** Sets render model to draw behind this overlay and the vertex color to use, pass null for pColor to match the overlays vertex color. 
+			The model is scaled by the same amount as the overlay, with a default of 1m. */
+		virtual vr::EVROverlayError SetOverlayRenderModel( vr::VROverlayHandle_t ulOverlayHandle, const char *pchRenderModel, const HmdColor_t *pColor ) = 0;
+
+		/** Returns the transform type of this overlay. */
+		virtual EVROverlayError GetOverlayTransformType( VROverlayHandle_t ulOverlayHandle, VROverlayTransformType *peTransformType ) = 0;
+
+		/** Sets the transform to absolute tracking origin. */
+		virtual EVROverlayError SetOverlayTransformAbsolute( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, const HmdMatrix34_t *pmatTrackingOriginToOverlayTransform ) = 0;
+
+		/** Gets the transform if it is absolute. Returns an error if the transform is some other type. */
+		virtual EVROverlayError GetOverlayTransformAbsolute( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin *peTrackingOrigin, HmdMatrix34_t *pmatTrackingOriginToOverlayTransform ) = 0;
+
+		/** Sets the transform to relative to the transform of the specified tracked device. */
+		virtual EVROverlayError SetOverlayTransformTrackedDeviceRelative( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unTrackedDevice, const HmdMatrix34_t *pmatTrackedDeviceToOverlayTransform ) = 0;
+
+		/** Gets the transform if it is relative to a tracked device. Returns an error if the transform is some other type. */
+		virtual EVROverlayError GetOverlayTransformTrackedDeviceRelative( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t *punTrackedDevice, HmdMatrix34_t *pmatTrackedDeviceToOverlayTransform ) = 0;
+
+		/** Sets the transform to draw the overlay on a rendermodel component mesh instead of a quad. This will only draw when the system is
+		* drawing the device. Overlays with this transform type cannot receive mouse events. */
+		virtual EVROverlayError SetOverlayTransformTrackedDeviceComponent( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unDeviceIndex, const char *pchComponentName ) = 0;
+
+		/** Gets the transform information when the overlay is rendering on a component. */
+		virtual EVROverlayError GetOverlayTransformTrackedDeviceComponent( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t *punDeviceIndex, char *pchComponentName, uint32_t unComponentNameSize ) = 0;
+
+		/** Gets the transform if it is relative to another overlay. Returns an error if the transform is some other type. */
+		virtual vr::EVROverlayError GetOverlayTransformOverlayRelative( VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t *ulOverlayHandleParent, HmdMatrix34_t *pmatParentOverlayToOverlayTransform ) = 0;
+		
+		/** Sets the transform to relative to the transform of the specified overlay. This overlays visibility will also track the parents visibility */
+		virtual vr::EVROverlayError SetOverlayTransformOverlayRelative( VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t ulOverlayHandleParent, const HmdMatrix34_t *pmatParentOverlayToOverlayTransform ) = 0;
+
+		/** Shows the VR overlay.  For dashboard overlays, only the Dashboard Manager is allowed to call this. */
+		virtual EVROverlayError ShowOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Hides the VR overlay.  For dashboard overlays, only the Dashboard Manager is allowed to call this. */
+		virtual EVROverlayError HideOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Returns true if the overlay is visible. */
+		virtual bool IsOverlayVisible( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Get the transform in 3d space associated with a specific 2d point in the overlay's coordinate space (where 0,0 is the lower left). -Z points out of the overlay */
+		virtual EVROverlayError GetTransformForOverlayCoordinates( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, HmdVector2_t coordinatesInOverlay, HmdMatrix34_t *pmatTransform ) = 0;
+
+		// ---------------------------------------------
+		// Overlay input methods
+		// ---------------------------------------------
+
+		/** Returns true and fills the event with the next event on the overlay's event queue, if there is one. 
+		* If there are no events this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+		virtual bool PollNextOverlayEvent( VROverlayHandle_t ulOverlayHandle, VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+		/** Returns the current input settings for the specified overlay. */
+		virtual EVROverlayError GetOverlayInputMethod( VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod *peInputMethod ) = 0;
+
+		/** Sets the input settings for the specified overlay. */
+		virtual EVROverlayError SetOverlayInputMethod( VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod eInputMethod ) = 0;
+
+		/** Gets the mouse scaling factor that is used for mouse events. The actual texture may be a different size, but this is
+		* typically the size of the underlying UI in pixels. */
+		virtual EVROverlayError GetOverlayMouseScale( VROverlayHandle_t ulOverlayHandle, HmdVector2_t *pvecMouseScale ) = 0;
+
+		/** Sets the mouse scaling factor that is used for mouse events. The actual texture may be a different size, but this is
+		* typically the size of the underlying UI in pixels (not in world space). */
+		virtual EVROverlayError SetOverlayMouseScale( VROverlayHandle_t ulOverlayHandle, const HmdVector2_t *pvecMouseScale ) = 0;
+
+		/** Computes the overlay-space pixel coordinates of where the ray intersects the overlay with the
+		* specified settings. Returns false if there is no intersection. */
+		virtual bool ComputeOverlayIntersection( VROverlayHandle_t ulOverlayHandle, const VROverlayIntersectionParams_t *pParams, VROverlayIntersectionResults_t *pResults ) = 0;
+
+		/** Processes mouse input from the specified controller as though it were a mouse pointed at a compositor overlay with the
+		* specified settings. The controller is treated like a laser pointer on the -z axis. The point where the laser pointer would
+		* intersect with the overlay is the mouse position, the trigger is left mouse, and the track pad is right mouse. 
+		*
+		* Return true if the controller is pointed at the overlay and an event was generated. */
+		virtual bool HandleControllerOverlayInteractionAsMouse( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unControllerDeviceIndex ) = 0;
+
+		/** Returns true if the specified overlay is the hover target. An overlay is the hover target when it is the last overlay "moused over" 
+		* by the virtual mouse pointer */
+		virtual bool IsHoverTargetOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Returns the current Gamepad focus overlay */
+		virtual vr::VROverlayHandle_t GetGamepadFocusOverlay() = 0;
+
+		/** Sets the current Gamepad focus overlay */
+		virtual EVROverlayError SetGamepadFocusOverlay( VROverlayHandle_t ulNewFocusOverlay ) = 0;
+
+		/** Sets an overlay's neighbor. This will also set the neighbor of the "to" overlay
+		* to point back to the "from" overlay. If an overlay's neighbor is set to invalid both
+		* ends will be cleared */
+		virtual EVROverlayError SetOverlayNeighbor( EOverlayDirection eDirection, VROverlayHandle_t ulFrom, VROverlayHandle_t ulTo ) = 0;
+
+		/** Changes the Gamepad focus from one overlay to one of its neighbors. Returns VROverlayError_NoNeighbor if there is no
+		* neighbor in that direction */
+		virtual EVROverlayError MoveGamepadFocusToNeighbor( EOverlayDirection eDirection, VROverlayHandle_t ulFrom ) = 0;
+
+		// ---------------------------------------------
+		// Overlay texture methods
+		// ---------------------------------------------
+
+		/** Texture to draw for the overlay. This function can only be called by the overlay's creator or renderer process (see SetOverlayRenderingPid) .
+		*
+		* OpenGL dirty state:
+		*	glBindTexture
+		*/
+		virtual EVROverlayError SetOverlayTexture( VROverlayHandle_t ulOverlayHandle, const Texture_t *pTexture ) = 0;
+
+		/** Use this to tell the overlay system to release the texture set for this overlay. */
+		virtual EVROverlayError ClearOverlayTexture( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Separate interface for providing the data as a stream of bytes, but there is an upper bound on data 
+		* that can be sent. This function can only be called by the overlay's renderer process. */
+		virtual EVROverlayError SetOverlayRaw( VROverlayHandle_t ulOverlayHandle, void *pvBuffer, uint32_t unWidth, uint32_t unHeight, uint32_t unDepth ) = 0;
+
+		/** Separate interface for providing the image through a filename: can be png or jpg, and should not be bigger than 1920x1080.
+		* This function can only be called by the overlay's renderer process */
+		virtual EVROverlayError SetOverlayFromFile( VROverlayHandle_t ulOverlayHandle, const char *pchFilePath ) = 0;
+
+		/** Get the native texture handle/device for an overlay you have created.
+		* On windows this handle will be a ID3D11ShaderResourceView with a ID3D11Texture2D bound.
+		*
+		* The texture will always be sized to match the backing texture you supplied in SetOverlayTexture above.
+		*
+		* You MUST call ReleaseNativeOverlayHandle() with pNativeTextureHandle once you are done with this texture.
+		*
+		* pNativeTextureHandle is an OUTPUT, it will be a pointer to a ID3D11ShaderResourceView *.
+		* pNativeTextureRef is an INPUT and should be a ID3D11Resource *. The device used by pNativeTextureRef will be used to bind pNativeTextureHandle.
+		*/
+		virtual EVROverlayError GetOverlayTexture( VROverlayHandle_t ulOverlayHandle, void **pNativeTextureHandle, void *pNativeTextureRef, uint32_t *pWidth, uint32_t *pHeight, uint32_t *pNativeFormat, ETextureType *pAPIType, EColorSpace *pColorSpace, VRTextureBounds_t *pTextureBounds ) = 0;
+
+		/** Release the pNativeTextureHandle provided from the GetOverlayTexture call, this allows the system to free the underlying GPU resources for this object,
+		* so only do it once you stop rendering this texture.
+		*/
+		virtual EVROverlayError ReleaseNativeOverlayHandle( VROverlayHandle_t ulOverlayHandle, void *pNativeTextureHandle ) = 0;
+
+		/** Get the size of the overlay texture */
+		virtual EVROverlayError GetOverlayTextureSize( VROverlayHandle_t ulOverlayHandle, uint32_t *pWidth, uint32_t *pHeight ) = 0;
+
+		// ----------------------------------------------
+		// Dashboard Overlay Methods
+		// ----------------------------------------------
+
+		/** Creates a dashboard overlay and returns its handle */
+		virtual EVROverlayError CreateDashboardOverlay( const char *pchOverlayKey, const char *pchOverlayFriendlyName, VROverlayHandle_t * pMainHandle, VROverlayHandle_t *pThumbnailHandle ) = 0;
+
+		/** Returns true if the dashboard is visible */
+		virtual bool IsDashboardVisible() = 0;
+
+		/** returns true if the dashboard is visible and the specified overlay is the active system Overlay */
+		virtual bool IsActiveDashboardOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
+
+		/** Sets the dashboard overlay to only appear when the specified process ID has scene focus */
+		virtual EVROverlayError SetDashboardOverlaySceneProcess( VROverlayHandle_t ulOverlayHandle, uint32_t unProcessId ) = 0;
+
+		/** Gets the process ID that this dashboard overlay requires to have scene focus */
+		virtual EVROverlayError GetDashboardOverlaySceneProcess( VROverlayHandle_t ulOverlayHandle, uint32_t *punProcessId ) = 0;
+
+		/** Shows the dashboard. */
+		virtual void ShowDashboard( const char *pchOverlayToShow ) = 0;
+
+		/** Returns the tracked device that has the laser pointer in the dashboard */
+		virtual vr::TrackedDeviceIndex_t GetPrimaryDashboardDevice() = 0;
+
+		// ---------------------------------------------
+		// Keyboard methods
+		// ---------------------------------------------
+		
+		/** Show the virtual keyboard to accept input **/
+		virtual EVROverlayError ShowKeyboard( EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, const char *pchDescription, uint32_t unCharMax, const char *pchExistingText, bool bUseMinimalMode, uint64_t uUserValue ) = 0;
+
+		virtual EVROverlayError ShowKeyboardForOverlay( VROverlayHandle_t ulOverlayHandle, EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, const char *pchDescription, uint32_t unCharMax, const char *pchExistingText, bool bUseMinimalMode, uint64_t uUserValue ) = 0;
+
+		/** Get the text that was entered into the text input **/
+		virtual uint32_t GetKeyboardText( VR_OUT_STRING() char *pchText, uint32_t cchText ) = 0;
+
+		/** Hide the virtual keyboard **/
+		virtual void HideKeyboard() = 0;
+
+		/** Set the position of the keyboard in world space **/
+		virtual void SetKeyboardTransformAbsolute( ETrackingUniverseOrigin eTrackingOrigin, const HmdMatrix34_t *pmatTrackingOriginToKeyboardTransform ) = 0;
+
+		/** Set the position of the keyboard in overlay space by telling it to avoid a rectangle in the overlay. Rectangle coords have (0,0) in the bottom left **/
+		virtual void SetKeyboardPositionForOverlay( VROverlayHandle_t ulOverlayHandle, HmdRect2_t avoidRect ) = 0;
+
+		// ---------------------------------------------
+		// Overlay input methods
+		// ---------------------------------------------
+
+		/** Sets a list of primitives to be used for controller ray intersection
+		* typically the size of the underlying UI in pixels (not in world space). */
+		virtual EVROverlayError SetOverlayIntersectionMask( VROverlayHandle_t ulOverlayHandle, VROverlayIntersectionMaskPrimitive_t *pMaskPrimitives, uint32_t unNumMaskPrimitives, uint32_t unPrimitiveSize = sizeof( VROverlayIntersectionMaskPrimitive_t ) ) = 0;
+
+		virtual EVROverlayError GetOverlayFlags( VROverlayHandle_t ulOverlayHandle, uint32_t *pFlags ) = 0;
+
+		// ---------------------------------------------
+		// Message box methods
+		// ---------------------------------------------
+
+		/** Show the message overlay. This will block and return you a result. **/
+		virtual VRMessageOverlayResponse ShowMessageOverlay( const char* pchText, const char* pchCaption, const char* pchButton0Text, const char* pchButton1Text = nullptr, const char* pchButton2Text = nullptr, const char* pchButton3Text = nullptr ) = 0;
+	};
+
+	static const char * const IVROverlay_Version = "IVROverlay_016";
+
+} // namespace vr
+
+// ivrrendermodels.h
+namespace vr
+{
+
+static const char * const k_pch_Controller_Component_GDC2015 = "gdc2015";   // Canonical coordinate system of the gdc 2015 wired controller, provided for backwards compatibility
+static const char * const k_pch_Controller_Component_Base = "base";         // For controllers with an unambiguous 'base'.
+static const char * const k_pch_Controller_Component_Tip = "tip";           // For controllers with an unambiguous 'tip' (used for 'laser-pointing')
+static const char * const k_pch_Controller_Component_HandGrip = "handgrip"; // Neutral, ambidextrous hand-pose when holding controller. On plane between neutrally posed index finger and thumb
+static const char * const k_pch_Controller_Component_Status = "status";		// 1:1 aspect ratio status area, with canonical [0,1] uv mapping
+
+#pragma pack( push, 8 )
+
+/** Errors that can occur with the VR compositor */
+enum EVRRenderModelError
+{
+	VRRenderModelError_None = 0,
+	VRRenderModelError_Loading = 100,
+	VRRenderModelError_NotSupported = 200,
+	VRRenderModelError_InvalidArg = 300,
+	VRRenderModelError_InvalidModel = 301,
+	VRRenderModelError_NoShapes = 302,
+	VRRenderModelError_MultipleShapes = 303,
+	VRRenderModelError_TooManyVertices = 304,
+	VRRenderModelError_MultipleTextures = 305,
+	VRRenderModelError_BufferTooSmall = 306,
+	VRRenderModelError_NotEnoughNormals = 307,
+	VRRenderModelError_NotEnoughTexCoords = 308,
+
+	VRRenderModelError_InvalidTexture = 400,
+};
+
+typedef uint32_t VRComponentProperties;
+
+enum EVRComponentProperty
+{
+	VRComponentProperty_IsStatic = (1 << 0),
+	VRComponentProperty_IsVisible = (1 << 1),
+	VRComponentProperty_IsTouched = (1 << 2),
+	VRComponentProperty_IsPressed = (1 << 3),
+	VRComponentProperty_IsScrolled = (1 << 4),
+};
+
+/** Describes state information about a render-model component, including transforms and other dynamic properties */
+struct RenderModel_ComponentState_t
+{
+	HmdMatrix34_t mTrackingToComponentRenderModel;  // Transform required when drawing the component render model
+	HmdMatrix34_t mTrackingToComponentLocal;        // Transform available for attaching to a local component coordinate system (-Z out from surface )
+	VRComponentProperties uProperties;
+};
+
+/** A single vertex in a render model */
+struct RenderModel_Vertex_t
+{
+	HmdVector3_t vPosition;		// position in meters in device space
+	HmdVector3_t vNormal;
+	float rfTextureCoord[2];
+};
+
+/** A texture map for use on a render model */
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+struct RenderModel_TextureMap_t
+{
+	uint16_t unWidth, unHeight; // width and height of the texture map in pixels
+	const uint8_t *rubTextureMapData;	// Map texture data. All textures are RGBA with 8 bits per channel per pixel. Data size is width * height * 4ub
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+/**  Session unique texture identifier. Rendermodels which share the same texture will have the same id.
+IDs <0 denote the texture is not present */
+
+typedef int32_t TextureID_t;
+
+const TextureID_t INVALID_TEXTURE_ID = -1;
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+struct RenderModel_t
+{
+	const RenderModel_Vertex_t *rVertexData;	// Vertex data for the mesh
+	uint32_t unVertexCount;						// Number of vertices in the vertex data
+	const uint16_t *rIndexData;					// Indices into the vertex data for each triangle
+	uint32_t unTriangleCount;					// Number of triangles in the mesh. Index count is 3 * TriangleCount
+	TextureID_t diffuseTextureId;				// Session unique texture identifier. Rendermodels which share the same texture will have the same id. <0 == texture not present
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+
+struct RenderModel_ControllerMode_State_t
+{
+	bool bScrollWheelVisible; // is this controller currently set to be in a scroll wheel mode
+};
+
+#pragma pack( pop )
+
+class IVRRenderModels
+{
+public:
+
+	/** Loads and returns a render model for use in the application. pchRenderModelName should be a render model name
+	* from the Prop_RenderModelName_String property or an absolute path name to a render model on disk. 
+	*
+	* The resulting render model is valid until VR_Shutdown() is called or until FreeRenderModel() is called. When the 
+	* application is finished with the render model it should call FreeRenderModel() to free the memory associated
+	* with the model.
+	*
+	* The method returns VRRenderModelError_Loading while the render model is still being loaded.
+	* The method returns VRRenderModelError_None once loaded successfully, otherwise will return an error. */
+	virtual EVRRenderModelError LoadRenderModel_Async( const char *pchRenderModelName, RenderModel_t **ppRenderModel ) = 0;
+
+	/** Frees a previously returned render model
+	*   It is safe to call this on a null ptr. */
+	virtual void FreeRenderModel( RenderModel_t *pRenderModel ) = 0;
+
+	/** Loads and returns a texture for use in the application. */
+	virtual EVRRenderModelError LoadTexture_Async( TextureID_t textureId, RenderModel_TextureMap_t **ppTexture ) = 0;
+
+	/** Frees a previously returned texture
+	*   It is safe to call this on a null ptr. */
+	virtual void FreeTexture( RenderModel_TextureMap_t *pTexture ) = 0;
+
+	/** Creates a D3D11 texture and loads data into it. */
+	virtual EVRRenderModelError LoadTextureD3D11_Async( TextureID_t textureId, void *pD3D11Device, void **ppD3D11Texture2D ) = 0;
+
+	/** Helper function to copy the bits into an existing texture. */
+	virtual EVRRenderModelError LoadIntoTextureD3D11_Async( TextureID_t textureId, void *pDstTexture ) = 0;
+
+	/** Use this to free textures created with LoadTextureD3D11_Async instead of calling Release on them. */
+	virtual void FreeTextureD3D11( void *pD3D11Texture2D ) = 0;
+
+	/** Use this to get the names of available render models.  Index does not correlate to a tracked device index, but
+	* is only used for iterating over all available render models.  If the index is out of range, this function will return 0.
+	* Otherwise, it will return the size of the buffer required for the name. */
+	virtual uint32_t GetRenderModelName( uint32_t unRenderModelIndex, VR_OUT_STRING() char *pchRenderModelName, uint32_t unRenderModelNameLen ) = 0;
+
+	/** Returns the number of available render models. */
+	virtual uint32_t GetRenderModelCount() = 0;
+
+
+	/** Returns the number of components of the specified render model.
+	*  Components are useful when client application wish to draw, label, or otherwise interact with components of tracked objects.
+	*  Examples controller components:
+	*   renderable things such as triggers, buttons
+	*   non-renderable things which include coordinate systems such as 'tip', 'base', a neutral controller agnostic hand-pose
+	*   If all controller components are enumerated and rendered, it will be equivalent to drawing the traditional render model
+	*   Returns 0 if components not supported, >0 otherwise */
+	virtual uint32_t GetComponentCount( const char *pchRenderModelName ) = 0;
+
+	/** Use this to get the names of available components.  Index does not correlate to a tracked device index, but
+	* is only used for iterating over all available components.  If the index is out of range, this function will return 0.
+	* Otherwise, it will return the size of the buffer required for the name. */
+	virtual uint32_t GetComponentName( const char *pchRenderModelName, uint32_t unComponentIndex, VR_OUT_STRING( ) char *pchComponentName, uint32_t unComponentNameLen ) = 0;
+
+	/** Get the button mask for all buttons associated with this component
+	*   If no buttons (or axes) are associated with this component, return 0
+	*   Note: multiple components may be associated with the same button. Ex: two grip buttons on a single controller.
+	*   Note: A single component may be associated with multiple buttons. Ex: A trackpad which also provides "D-pad" functionality */
+	virtual uint64_t GetComponentButtonMask( const char *pchRenderModelName, const char *pchComponentName ) = 0;
+
+	/** Use this to get the render model name for the specified rendermode/component combination, to be passed to LoadRenderModel.
+	* If the component name is out of range, this function will return 0.
+	* Otherwise, it will return the size of the buffer required for the name. */
+	virtual uint32_t GetComponentRenderModelName( const char *pchRenderModelName, const char *pchComponentName, VR_OUT_STRING( ) char *pchComponentRenderModelName, uint32_t unComponentRenderModelNameLen ) = 0;
+
+	/** Use this to query information about the component, as a function of the controller state.
+	*
+	* For dynamic controller components (ex: trigger) values will reflect component motions
+	* For static components this will return a consistent value independent of the VRControllerState_t
+	*
+	* If the pchRenderModelName or pchComponentName is invalid, this will return false (and transforms will be set to identity).
+	* Otherwise, return true
+	* Note: For dynamic objects, visibility may be dynamic. (I.e., true/false will be returned based on controller state and controller mode state ) */
+	virtual bool GetComponentState( const char *pchRenderModelName, const char *pchComponentName, const vr::VRControllerState_t *pControllerState, const RenderModel_ControllerMode_State_t *pState, RenderModel_ComponentState_t *pComponentState ) = 0;
+
+	/** Returns true if the render model has a component with the specified name */
+	virtual bool RenderModelHasComponent( const char *pchRenderModelName, const char *pchComponentName ) = 0;
+
+	/** Returns the URL of the thumbnail image for this rendermodel */
+	virtual uint32_t GetRenderModelThumbnailURL( const char *pchRenderModelName, VR_OUT_STRING() char *pchThumbnailURL, uint32_t unThumbnailURLLen, vr::EVRRenderModelError *peError ) = 0;
+
+	/** Provides a render model path that will load the unskinned model if the model name provided has been replace by the user. If the model
+	* hasn't been replaced the path value will still be a valid path to load the model. Pass this to LoadRenderModel_Async, etc. to load the
+	* model. */
+	virtual uint32_t GetRenderModelOriginalPath( const char *pchRenderModelName, VR_OUT_STRING() char *pchOriginalPath, uint32_t unOriginalPathLen, vr::EVRRenderModelError *peError ) = 0;
+
+	/** Returns a string for a render model error */
+	virtual const char *GetRenderModelErrorNameFromEnum( vr::EVRRenderModelError error ) = 0;
+};
+
+static const char * const IVRRenderModels_Version = "IVRRenderModels_005";
+
+}
+
+
+// ivrextendeddisplay.h
+namespace vr
+{
+
+	/** NOTE: Use of this interface is not recommended in production applications. It will not work for displays which use
+	* direct-to-display mode. Creating our own window is also incompatible with the VR compositor and is not available when the compositor is running. */
+	class IVRExtendedDisplay
+	{
+	public:
+
+		/** Size and position that the window needs to be on the VR display. */
+		virtual void GetWindowBounds( int32_t *pnX, int32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** Gets the viewport in the frame buffer to draw the output of the distortion into */
+		virtual void GetEyeOutputViewport( EVREye eEye, uint32_t *pnX, uint32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** [D3D10/11 Only]
+		* Returns the adapter index and output index that the user should pass into EnumAdapters and EnumOutputs
+		* to create the device and swap chain in DX10 and DX11. If an error occurs both indices will be set to -1.
+		*/
+		virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex, int32_t *pnAdapterOutputIndex ) = 0;
+
+	};
+
+	static const char * const IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
+
+}
+
+
+// ivrtrackedcamera.h
+namespace vr
+{
+
+class IVRTrackedCamera
+{
+public:
+	/** Returns a string for an error */
+	virtual const char *GetCameraErrorNameFromEnum( vr::EVRTrackedCameraError eCameraError ) = 0;
+
+	/** For convenience, same as tracked property request Prop_HasCamera_Bool */
+	virtual vr::EVRTrackedCameraError HasCamera( vr::TrackedDeviceIndex_t nDeviceIndex, bool *pHasCamera ) = 0;
+
+	/** Gets size of the image frame. */
+	virtual vr::EVRTrackedCameraError GetCameraFrameSize( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, uint32_t *pnWidth, uint32_t *pnHeight, uint32_t *pnFrameBufferSize ) = 0;
+
+	virtual vr::EVRTrackedCameraError GetCameraIntrinsics( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, vr::HmdVector2_t *pFocalLength, vr::HmdVector2_t *pCenter ) = 0;
+
+	virtual vr::EVRTrackedCameraError GetCameraProjection( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, vr::HmdMatrix44_t *pProjection ) = 0;
+
+	/** Acquiring streaming service permits video streaming for the caller. Releasing hints the system that video services do not need to be maintained for this client.
+	* If the camera has not already been activated, a one time spin up may incur some auto exposure as well as initial streaming frame delays.
+	* The camera should be considered a global resource accessible for shared consumption but not exclusive to any caller.
+	* The camera may go inactive due to lack of active consumers or headset idleness. */
+	virtual vr::EVRTrackedCameraError AcquireVideoStreamingService( vr::TrackedDeviceIndex_t nDeviceIndex, vr::TrackedCameraHandle_t *pHandle ) = 0;
+	virtual vr::EVRTrackedCameraError ReleaseVideoStreamingService( vr::TrackedCameraHandle_t hTrackedCamera ) = 0;
+
+	/** Copies the image frame into a caller's provided buffer. The image data is currently provided as RGBA data, 4 bytes per pixel.
+	* A caller can provide null for the framebuffer or frameheader if not desired. Requesting the frame header first, followed by the frame buffer allows
+	* the caller to determine if the frame as advanced per the frame header sequence. 
+	* If there is no frame available yet, due to initial camera spinup or re-activation, the error will be VRTrackedCameraError_NoFrameAvailable.
+	* Ideally a caller should be polling at ~16ms intervals */
+	virtual vr::EVRTrackedCameraError GetVideoStreamFrameBuffer( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, void *pFrameBuffer, uint32_t nFrameBufferSize, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0;
+
+	/** Gets size of the image frame. */
+	virtual vr::EVRTrackedCameraError GetVideoStreamTextureSize( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, vr::VRTextureBounds_t *pTextureBounds, uint32_t *pnWidth, uint32_t *pnHeight ) = 0; 
+
+	/** Access a shared D3D11 texture for the specified tracked camera stream.
+	* The camera frame type VRTrackedCameraFrameType_Undistorted is not supported directly as a shared texture. It is an interior subregion of the shared texture VRTrackedCameraFrameType_MaximumUndistorted.
+	* Instead, use GetVideoStreamTextureSize() with VRTrackedCameraFrameType_Undistorted to determine the proper interior subregion bounds along with GetVideoStreamTextureD3D11() with
+	* VRTrackedCameraFrameType_MaximumUndistorted to provide the texture. The VRTrackedCameraFrameType_MaximumUndistorted will yield an image where the invalid regions are decoded
+	* by the alpha channel having a zero component. The valid regions all have a non-zero alpha component. The subregion as described by VRTrackedCameraFrameType_Undistorted 
+	* guarantees a rectangle where all pixels are valid. */
+	virtual vr::EVRTrackedCameraError GetVideoStreamTextureD3D11( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, void *pD3D11DeviceOrResource, void **ppD3D11ShaderResourceView, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0;
+
+	/** Access a shared GL texture for the specified tracked camera stream */
+	virtual vr::EVRTrackedCameraError GetVideoStreamTextureGL( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, vr::glUInt_t *pglTextureId, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0;
+	virtual vr::EVRTrackedCameraError ReleaseVideoStreamTextureGL( vr::TrackedCameraHandle_t hTrackedCamera, vr::glUInt_t glTextureId ) = 0;
+};
+
+static const char * const IVRTrackedCamera_Version = "IVRTrackedCamera_003";
+
+} // namespace vr
+
+
+// ivrscreenshots.h
+namespace vr
+{
+
+/** Errors that can occur with the VR compositor */
+enum EVRScreenshotError
+{
+	VRScreenshotError_None							= 0,
+	VRScreenshotError_RequestFailed					= 1,
+	VRScreenshotError_IncompatibleVersion			= 100,
+	VRScreenshotError_NotFound						= 101,
+	VRScreenshotError_BufferTooSmall				= 102,
+	VRScreenshotError_ScreenshotAlreadyInProgress	= 108,
+};
+
+/** Allows the application to generate screenshots */
+class IVRScreenshots
+{
+public:
+	/** Request a screenshot of the requested type.
+	 *  A request of the VRScreenshotType_Stereo type will always
+	 *  work. Other types will depend on the underlying application
+	 *  support.
+	 *  The first file name is for the preview image and should be a
+	 *  regular screenshot (ideally from the left eye). The second
+	 *  is the VR screenshot in the correct format. They should be
+	 *  in the same aspect ratio.  Formats per type:
+	 *  VRScreenshotType_Mono: the VR filename is ignored (can be
+	 *  nullptr), this is a normal flat single shot.
+	 *  VRScreenshotType_Stereo:  The VR image should be a
+	 *  side-by-side with the left eye image on the left.
+	 *  VRScreenshotType_Cubemap: The VR image should be six square
+	 *  images composited horizontally.
+	 *  VRScreenshotType_StereoPanorama: above/below with left eye
+	 *  panorama being the above image.  Image is typically square
+	 *  with the panorama being 2x horizontal.
+	 *  
+	 *  Note that the VR dashboard will call this function when
+	 *  the user presses the screenshot binding (currently System
+	 *  Button + Trigger).  If Steam is running, the destination
+	 *  file names will be in %TEMP% and will be copied into
+	 *  Steam's screenshot library for the running application
+	 *  once SubmitScreenshot() is called.
+	 *  If Steam is not running, the paths will be in the user's
+	 *  documents folder under Documents\SteamVR\Screenshots.
+	 *  Other VR applications can call this to initiate a
+	 *  screenshot outside of user control.
+	 *  The destination file names do not need an extension,
+	 *  will be replaced with the correct one for the format
+	 *  which is currently .png. */
+	virtual vr::EVRScreenshotError RequestScreenshot( vr::ScreenshotHandle_t *pOutScreenshotHandle, vr::EVRScreenshotType type, const char *pchPreviewFilename, const char *pchVRFilename ) = 0;
+
+	/** Called by the running VR application to indicate that it
+	 *  wishes to be in charge of screenshots.  If the
+	 *  application does not call this, the Compositor will only
+	 *  support VRScreenshotType_Stereo screenshots that will be
+	 *  captured without notification to the running app.
+	 *  Once hooked your application will receive a
+	 *  VREvent_RequestScreenshot event when the user presses the
+	 *  buttons to take a screenshot. */
+	virtual vr::EVRScreenshotError HookScreenshot( VR_ARRAY_COUNT( numTypes ) const vr::EVRScreenshotType *pSupportedTypes, int numTypes ) = 0;
+
+	/** When your application receives a
+	 *  VREvent_RequestScreenshot event, call these functions to get
+	 *  the details of the screenshot request. */
+	virtual vr::EVRScreenshotType GetScreenshotPropertyType( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotError *pError ) = 0;
+
+	/** Get the filename for the preview or vr image (see
+	 *  vr::EScreenshotPropertyFilenames).  The return value is
+	 *  the size of the string.   */
+ 	virtual uint32_t GetScreenshotPropertyFilename( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotPropertyFilenames filenameType, VR_OUT_STRING() char *pchFilename, uint32_t cchFilename, vr::EVRScreenshotError *pError ) = 0;
+
+	/** Call this if the application is taking the screen shot
+	 *  will take more than a few ms processing. This will result
+	 *  in an overlay being presented that shows a completion
+	 *  bar. */
+	virtual vr::EVRScreenshotError UpdateScreenshotProgress( vr::ScreenshotHandle_t screenshotHandle, float flProgress ) = 0;
+
+	/** Tells the compositor to take an internal screenshot of
+	 *  type VRScreenshotType_Stereo. It will take the current
+	 *  submitted scene textures of the running application and
+	 *  write them into the preview image and a side-by-side file
+	 *  for the VR image.
+	 *  This is similar to request screenshot, but doesn't ever
+	 *  talk to the application, just takes the shot and submits. */
+	virtual vr::EVRScreenshotError TakeStereoScreenshot( vr::ScreenshotHandle_t *pOutScreenshotHandle, const char *pchPreviewFilename, const char *pchVRFilename ) = 0;
+
+	/** Submit the completed screenshot.  If Steam is running
+	 *  this will call into the Steam client and upload the
+	 *  screenshot to the screenshots section of the library for
+	 *  the running application.  If Steam is not running, this
+	 *  function will display a notification to the user that the
+	 *  screenshot was taken. The paths should be full paths with
+	 *  extensions.
+	 *  File paths should be absolute including extensions.
+	 *  screenshotHandle can be k_unScreenshotHandleInvalid if this
+	 *  was a new shot taking by the app to be saved and not
+	 *  initiated by a user (achievement earned or something) */
+	virtual vr::EVRScreenshotError SubmitScreenshot( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotType type, const char *pchSourcePreviewFilename, const char *pchSourceVRFilename ) = 0;
+};
+
+static const char * const IVRScreenshots_Version = "IVRScreenshots_001";
+
+} // namespace vr
+
+
+
+// ivrresources.h
+namespace vr
+{
+
+class IVRResources
+{
+public:
+
+	// ------------------------------------
+	// Shared Resource Methods
+	// ------------------------------------
+
+	/** Loads the specified resource into the provided buffer if large enough.
+	* Returns the size in bytes of the buffer required to hold the specified resource. */
+	virtual uint32_t LoadSharedResource( const char *pchResourceName, char *pchBuffer, uint32_t unBufferLen ) = 0;
+
+	/** Provides the full path to the specified resource. Resource names can include named directories for
+	* drivers and other things, and this resolves all of those and returns the actual physical path. 
+	* pchResourceTypeDirectory is the subdirectory of resources to look in. */
+	virtual uint32_t GetResourceFullPath( const char *pchResourceName, const char *pchResourceTypeDirectory, char *pchPathBuffer, uint32_t unBufferLen ) = 0;
+};
+
+static const char * const IVRResources_Version = "IVRResources_001";
+
+
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
+
+// End
+
+#endif // _OPENVR_API
+
+
+namespace vr
+{
+	/** Finds the active installation of the VR API and initializes it. The provided path must be absolute
+	* or relative to the current working directory. These are the local install versions of the equivalent
+	* functions in steamvr.h and will work without a local Steam install.
+	*
+	* This path is to the "root" of the VR API install. That's the directory with
+	* the "drivers" directory and a platform (i.e. "win32") directory in it, not the directory with the DLL itself.
+	*/
+	inline IVRSystem *VR_Init( EVRInitError *peError, EVRApplicationType eApplicationType );
+
+	/** unloads vrclient.dll. Any interface pointers from the interface are
+	* invalid after this point */
+	inline void VR_Shutdown();
+
+	/** Returns true if there is an HMD attached. This check is as lightweight as possible and
+	* can be called outside of VR_Init/VR_Shutdown. It should be used when an application wants
+	* to know if initializing VR is a possibility but isn't ready to take that step yet.
+	*/
+	VR_INTERFACE bool VR_CALLTYPE VR_IsHmdPresent();
+
+	/** Returns true if the OpenVR runtime is installed. */
+	VR_INTERFACE bool VR_CALLTYPE VR_IsRuntimeInstalled();
+
+	/** Returns where the OpenVR runtime is installed. */
+	VR_INTERFACE const char *VR_CALLTYPE VR_RuntimePath();
+
+	/** Returns the name of the enum value for an EVRInitError. This function may be called outside of VR_Init()/VR_Shutdown(). */
+	VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsSymbol( EVRInitError error );
+
+	/** Returns an English string for an EVRInitError. Applications should call VR_GetVRInitErrorAsSymbol instead and
+	* use that as a key to look up their own localized error message. This function may be called outside of VR_Init()/VR_Shutdown(). */
+	VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsEnglishDescription( EVRInitError error );
+
+	/** Returns the interface of the specified version. This method must be called after VR_Init. The
+	* pointer returned is valid until VR_Shutdown is called.
+	*/
+	VR_INTERFACE void *VR_CALLTYPE VR_GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError );
+
+	/** Returns whether the interface of the specified version exists.
+	*/
+	VR_INTERFACE bool VR_CALLTYPE VR_IsInterfaceVersionValid( const char *pchInterfaceVersion );
+
+	/** Returns a token that represents whether the VR interface handles need to be reloaded */
+	VR_INTERFACE uint32_t VR_CALLTYPE VR_GetInitToken();
+
+	// These typedefs allow old enum names from SDK 0.9.11 to be used in applications.
+	// They will go away in the future.
+	typedef EVRInitError HmdError;
+	typedef EVREye Hmd_Eye;
+	typedef EColorSpace ColorSpace;
+	typedef ETrackingResult HmdTrackingResult;
+	typedef ETrackedDeviceClass TrackedDeviceClass;
+	typedef ETrackingUniverseOrigin TrackingUniverseOrigin;
+	typedef ETrackedDeviceProperty TrackedDeviceProperty;
+	typedef ETrackedPropertyError TrackedPropertyError;
+	typedef EVRSubmitFlags VRSubmitFlags_t;
+	typedef EVRState VRState_t;
+	typedef ECollisionBoundsStyle CollisionBoundsStyle_t;
+	typedef EVROverlayError VROverlayError;
+	typedef EVRFirmwareError VRFirmwareError;
+	typedef EVRCompositorError VRCompositorError;
+	typedef EVRScreenshotError VRScreenshotsError;
+
+	inline uint32_t &VRToken()
+	{
+		static uint32_t token;
+		return token;
+	}
+
+	class COpenVRContext
+	{
+	public:
+		COpenVRContext() { Clear(); }
+		void Clear();
+
+		inline void CheckClear()
+		{
+			if ( VRToken() != VR_GetInitToken() )
+			{
+				Clear();
+				VRToken() = VR_GetInitToken();
+			}
+		}
+
+		IVRSystem *VRSystem()
+		{
+			CheckClear();
+			if ( m_pVRSystem == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSystem = ( IVRSystem * )VR_GetGenericInterface( IVRSystem_Version, &eError );
+			}
+			return m_pVRSystem;
+		}
+		IVRChaperone *VRChaperone()
+		{
+			CheckClear();
+			if ( m_pVRChaperone == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRChaperone = ( IVRChaperone * )VR_GetGenericInterface( IVRChaperone_Version, &eError );
+			}
+			return m_pVRChaperone;
+		}
+
+		IVRChaperoneSetup *VRChaperoneSetup()
+		{
+			CheckClear();
+			if ( m_pVRChaperoneSetup == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRChaperoneSetup = ( IVRChaperoneSetup * )VR_GetGenericInterface( IVRChaperoneSetup_Version, &eError );
+			}
+			return m_pVRChaperoneSetup;
+		}
+
+		IVRCompositor *VRCompositor()
+		{
+			CheckClear();
+			if ( m_pVRCompositor == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRCompositor = ( IVRCompositor * )VR_GetGenericInterface( IVRCompositor_Version, &eError );
+			}
+			return m_pVRCompositor;
+		}
+
+		IVROverlay *VROverlay()
+		{
+			CheckClear();
+			if ( m_pVROverlay == nullptr )
+			{
+				EVRInitError eError;
+				m_pVROverlay = ( IVROverlay * )VR_GetGenericInterface( IVROverlay_Version, &eError );
+			}
+			return m_pVROverlay;
+		}
+
+		IVRResources *VRResources()
+		{
+			CheckClear();
+			if ( m_pVRResources == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRResources = (IVRResources *)VR_GetGenericInterface( IVRResources_Version, &eError );
+			}
+			return m_pVRResources;
+		}
+
+		IVRScreenshots *VRScreenshots()
+		{
+			CheckClear();
+			if ( m_pVRScreenshots == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRScreenshots = ( IVRScreenshots * )VR_GetGenericInterface( IVRScreenshots_Version, &eError );
+			}
+			return m_pVRScreenshots;
+		}
+
+		IVRRenderModels *VRRenderModels()
+		{
+			CheckClear();
+			if ( m_pVRRenderModels == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRRenderModels = ( IVRRenderModels * )VR_GetGenericInterface( IVRRenderModels_Version, &eError );
+			}
+			return m_pVRRenderModels;
+		}
+
+		IVRExtendedDisplay *VRExtendedDisplay()
+		{
+			CheckClear();
+			if ( m_pVRExtendedDisplay == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRExtendedDisplay = ( IVRExtendedDisplay * )VR_GetGenericInterface( IVRExtendedDisplay_Version, &eError );
+			}
+			return m_pVRExtendedDisplay;
+		}
+
+		IVRSettings *VRSettings()
+		{
+			CheckClear();
+			if ( m_pVRSettings == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSettings = ( IVRSettings * )VR_GetGenericInterface( IVRSettings_Version, &eError );
+			}
+			return m_pVRSettings;
+		}
+
+		IVRApplications *VRApplications()
+		{
+			CheckClear();
+			if ( m_pVRApplications == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRApplications = ( IVRApplications * )VR_GetGenericInterface( IVRApplications_Version, &eError );
+			}
+			return m_pVRApplications;
+		}
+
+		IVRTrackedCamera *VRTrackedCamera()
+		{
+			CheckClear();
+			if ( m_pVRTrackedCamera == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRTrackedCamera = ( IVRTrackedCamera * )VR_GetGenericInterface( IVRTrackedCamera_Version, &eError );
+			}
+			return m_pVRTrackedCamera;
+		}
+
+		IVRDriverManager *VRDriverManager()
+		{
+			CheckClear();
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = ( IVRDriverManager * )VR_GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
+	private:
+		IVRSystem			*m_pVRSystem;
+		IVRChaperone		*m_pVRChaperone;
+		IVRChaperoneSetup	*m_pVRChaperoneSetup;
+		IVRCompositor		*m_pVRCompositor;
+		IVROverlay			*m_pVROverlay;
+		IVRResources		*m_pVRResources;
+		IVRRenderModels		*m_pVRRenderModels;
+		IVRExtendedDisplay	*m_pVRExtendedDisplay;
+		IVRSettings			*m_pVRSettings;
+		IVRApplications		*m_pVRApplications;
+		IVRTrackedCamera	*m_pVRTrackedCamera;
+		IVRScreenshots		*m_pVRScreenshots;
+		IVRDriverManager	*m_pVRDriverManager;
+	};
+
+	inline COpenVRContext &OpenVRInternal_ModuleContext()
+	{
+		static void *ctx[ sizeof( COpenVRContext ) / sizeof( void * ) ];
+		return *( COpenVRContext * )ctx; // bypass zero-init constructor
+	}
+
+	inline IVRSystem *VR_CALLTYPE VRSystem() { return OpenVRInternal_ModuleContext().VRSystem(); }
+	inline IVRChaperone *VR_CALLTYPE VRChaperone() { return OpenVRInternal_ModuleContext().VRChaperone(); }
+	inline IVRChaperoneSetup *VR_CALLTYPE VRChaperoneSetup() { return OpenVRInternal_ModuleContext().VRChaperoneSetup(); }
+	inline IVRCompositor *VR_CALLTYPE VRCompositor() { return OpenVRInternal_ModuleContext().VRCompositor(); }
+	inline IVROverlay *VR_CALLTYPE VROverlay() { return OpenVRInternal_ModuleContext().VROverlay(); }
+	inline IVRScreenshots *VR_CALLTYPE VRScreenshots() { return OpenVRInternal_ModuleContext().VRScreenshots(); }
+	inline IVRRenderModels *VR_CALLTYPE VRRenderModels() { return OpenVRInternal_ModuleContext().VRRenderModels(); }
+	inline IVRApplications *VR_CALLTYPE VRApplications() { return OpenVRInternal_ModuleContext().VRApplications(); }
+	inline IVRSettings *VR_CALLTYPE VRSettings() { return OpenVRInternal_ModuleContext().VRSettings(); }
+	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleContext().VRResources(); }
+	inline IVRExtendedDisplay *VR_CALLTYPE VRExtendedDisplay() { return OpenVRInternal_ModuleContext().VRExtendedDisplay(); }
+	inline IVRTrackedCamera *VR_CALLTYPE VRTrackedCamera() { return OpenVRInternal_ModuleContext().VRTrackedCamera(); }
+	inline IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleContext().VRDriverManager(); }
+
+	inline void COpenVRContext::Clear()
+	{
+		m_pVRSystem = nullptr;
+		m_pVRChaperone = nullptr;
+		m_pVRChaperoneSetup = nullptr;
+		m_pVRCompositor = nullptr;
+		m_pVROverlay = nullptr;
+		m_pVRRenderModels = nullptr;
+		m_pVRExtendedDisplay = nullptr;
+		m_pVRSettings = nullptr;
+		m_pVRApplications = nullptr;
+		m_pVRTrackedCamera = nullptr;
+		m_pVRResources = nullptr;
+		m_pVRScreenshots = nullptr;
+		m_pVRDriverManager = nullptr;
+	}
+
+	VR_INTERFACE uint32_t VR_CALLTYPE VR_InitInternal( EVRInitError *peError, EVRApplicationType eApplicationType );
+	VR_INTERFACE void VR_CALLTYPE VR_ShutdownInternal();
+
+	/** Finds the active installation of vrclient.dll and initializes it */
+	inline IVRSystem *VR_Init( EVRInitError *peError, EVRApplicationType eApplicationType )
+	{
+		IVRSystem *pVRSystem = nullptr;
+
+		EVRInitError eError;
+		VRToken() = VR_InitInternal( &eError, eApplicationType );
+		COpenVRContext &ctx = OpenVRInternal_ModuleContext();
+		ctx.Clear();
+
+		if ( eError == VRInitError_None )
+		{
+			if ( VR_IsInterfaceVersionValid( IVRSystem_Version ) )
+			{
+				pVRSystem = VRSystem();
+			}
+			else
+			{
+				VR_ShutdownInternal();
+				eError = VRInitError_Init_InterfaceNotFound;
+			}
+		}
+
+		if ( peError )
+			*peError = eError;
+		return pVRSystem;
+	}
+
+	/** unloads vrclient.dll. Any interface pointers from the interface are
+	* invalid after this point */
+	inline void VR_Shutdown()
+	{
+		VR_ShutdownInternal();
+	}
+}
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_api.cs b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_api.cs
new file mode 100644
index 000000000..2596b3783
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_api.cs
@@ -0,0 +1,4997 @@
+//======= Copyright (c) Valve Corporation, All rights reserved. ===============
+//
+// Purpose: This file contains C#/managed code bindings for the OpenVR interfaces
+// This file is auto-generated, do not edit it.
+//
+//=============================================================================
+
+using System;
+using System.Runtime.InteropServices;
+using Valve.VR;
+
+namespace Valve.VR
+{
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRSystem
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetRecommendedRenderTargetSize(ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRecommendedRenderTargetSize GetRecommendedRenderTargetSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix44_t _GetProjectionMatrix(EVREye eEye, float fNearZ, float fFarZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetProjectionMatrix GetProjectionMatrix;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetProjectionRaw(EVREye eEye, ref float pfLeft, ref float pfRight, ref float pfTop, ref float pfBottom);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetProjectionRaw GetProjectionRaw;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ComputeDistortion(EVREye eEye, float fU, float fV, ref DistortionCoordinates_t pDistortionCoordinates);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ComputeDistortion ComputeDistortion;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetEyeToHeadTransform(EVREye eEye);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetEyeToHeadTransform GetEyeToHeadTransform;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetTimeSinceLastVsync(ref float pfSecondsSinceLastVsync, ref ulong pulFrameCounter);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTimeSinceLastVsync GetTimeSinceLastVsync;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate int _GetD3D9AdapterIndex();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetD3D9AdapterIndex GetD3D9AdapterIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetDXGIOutputInfo(ref int pnAdapterIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDXGIOutputInfo GetDXGIOutputInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetOutputDevice(ref ulong pnDevice, ETextureType textureType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOutputDevice GetOutputDevice;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsDisplayOnDesktop();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsDisplayOnDesktop IsDisplayOnDesktop;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _SetDisplayVisibility(bool bIsVisibleOnDesktop);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetDisplayVisibility SetDisplayVisibility;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, [In, Out] TrackedDevicePose_t[] pTrackedDevicePoseArray, uint unTrackedDevicePoseArrayCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDeviceToAbsoluteTrackingPose GetDeviceToAbsoluteTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ResetSeatedZeroPose();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ResetSeatedZeroPose ResetSeatedZeroPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetSeatedZeroPoseToStandingAbsoluteTrackingPose();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetSeatedZeroPoseToStandingAbsoluteTrackingPose GetSeatedZeroPoseToStandingAbsoluteTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetRawZeroPoseToStandingAbsoluteTrackingPose();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRawZeroPoseToStandingAbsoluteTrackingPose GetRawZeroPoseToStandingAbsoluteTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetSortedTrackedDeviceIndicesOfClass(ETrackedDeviceClass eTrackedDeviceClass, [In, Out] uint[] punTrackedDeviceIndexArray, uint unTrackedDeviceIndexArrayCount, uint unRelativeToTrackedDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetSortedTrackedDeviceIndicesOfClass GetSortedTrackedDeviceIndicesOfClass;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EDeviceActivityLevel _GetTrackedDeviceActivityLevel(uint unDeviceId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackedDeviceActivityLevel GetTrackedDeviceActivityLevel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ApplyTransform(ref TrackedDevicePose_t pOutputPose, ref TrackedDevicePose_t pTrackedDevicePose, ref HmdMatrix34_t pTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ApplyTransform ApplyTransform;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole unDeviceType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackedDeviceIndexForControllerRole GetTrackedDeviceIndexForControllerRole;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ETrackedControllerRole _GetControllerRoleForTrackedDeviceIndex(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerRoleForTrackedDeviceIndex GetControllerRoleForTrackedDeviceIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ETrackedDeviceClass _GetTrackedDeviceClass(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackedDeviceClass GetTrackedDeviceClass;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsTrackedDeviceConnected(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsTrackedDeviceConnected IsTrackedDeviceConnected;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetBoolTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetBoolTrackedDeviceProperty GetBoolTrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetFloatTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFloatTrackedDeviceProperty GetFloatTrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate int _GetInt32TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetInt32TrackedDeviceProperty GetInt32TrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetUint64TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetUint64TrackedDeviceProperty GetUint64TrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdMatrix34_t _GetMatrix34TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetMatrix34TrackedDeviceProperty GetMatrix34TrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetStringTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, System.Text.StringBuilder pchValue, uint unBufferSize, ref ETrackedPropertyError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetStringTrackedDeviceProperty GetStringTrackedDeviceProperty;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetPropErrorNameFromEnum(ETrackedPropertyError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPropErrorNameFromEnum GetPropErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEvent(ref VREvent_t pEvent, uint uncbVREvent);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PollNextEvent PollNextEvent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEventWithPose(ETrackingUniverseOrigin eOrigin, ref VREvent_t pEvent, uint uncbVREvent, ref TrackedDevicePose_t pTrackedDevicePose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PollNextEventWithPose PollNextEventWithPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetEventTypeNameFromEnum(EVREventType eType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetEventTypeNameFromEnum GetEventTypeNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HiddenAreaMesh_t _GetHiddenAreaMesh(EVREye eEye, EHiddenAreaMeshType type);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetHiddenAreaMesh GetHiddenAreaMesh;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerState(uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, uint unControllerStateSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerState GetControllerState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin, uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, uint unControllerStateSize, ref TrackedDevicePose_t pTrackedDevicePose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerStateWithPose GetControllerStateWithPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _TriggerHapticPulse(uint unControllerDeviceIndex, uint unAxisId, char usDurationMicroSec);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _TriggerHapticPulse TriggerHapticPulse;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetButtonIdNameFromEnum(EVRButtonId eButtonId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetButtonIdNameFromEnum GetButtonIdNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetControllerAxisTypeNameFromEnum(EVRControllerAxisType eAxisType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetControllerAxisTypeNameFromEnum GetControllerAxisTypeNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CaptureInputFocus();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CaptureInputFocus CaptureInputFocus;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReleaseInputFocus();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseInputFocus ReleaseInputFocus;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsInputFocusCapturedByAnotherProcess();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsInputFocusCapturedByAnotherProcess IsInputFocusCapturedByAnotherProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _DriverDebugRequest(uint unDeviceIndex, string pchRequest, string pchResponseBuffer, uint unResponseBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _DriverDebugRequest DriverDebugRequest;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRFirmwareError _PerformFirmwareUpdate(uint unDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PerformFirmwareUpdate PerformFirmwareUpdate;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _AcknowledgeQuit_Exiting();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AcknowledgeQuit_Exiting AcknowledgeQuit_Exiting;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _AcknowledgeQuit_UserPrompt();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AcknowledgeQuit_UserPrompt AcknowledgeQuit_UserPrompt;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRExtendedDisplay
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetWindowBounds(ref int pnX, ref int pnY, ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWindowBounds GetWindowBounds;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetEyeOutputViewport(EVREye eEye, ref uint pnX, ref uint pnY, ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetEyeOutputViewport GetEyeOutputViewport;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetDXGIOutputInfo(ref int pnAdapterIndex, ref int pnAdapterOutputIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDXGIOutputInfo GetDXGIOutputInfo;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRTrackedCamera
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetCameraErrorNameFromEnum(EVRTrackedCameraError eCameraError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraErrorNameFromEnum GetCameraErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _HasCamera(uint nDeviceIndex, ref bool pHasCamera);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HasCamera HasCamera;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetCameraFrameSize(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref uint pnWidth, ref uint pnHeight, ref uint pnFrameBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraFrameSize GetCameraFrameSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetCameraIntrinsics(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref HmdVector2_t pFocalLength, ref HmdVector2_t pCenter);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraIntrinsics GetCameraIntrinsics;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetCameraProjection(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, ref HmdMatrix44_t pProjection);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCameraProjection GetCameraProjection;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _AcquireVideoStreamingService(uint nDeviceIndex, ref ulong pHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AcquireVideoStreamingService AcquireVideoStreamingService;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _ReleaseVideoStreamingService(ulong hTrackedCamera);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseVideoStreamingService ReleaseVideoStreamingService;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamFrameBuffer(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, IntPtr pFrameBuffer, uint nFrameBufferSize, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamFrameBuffer GetVideoStreamFrameBuffer;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamTextureSize(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref VRTextureBounds_t pTextureBounds, ref uint pnWidth, ref uint pnHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamTextureSize GetVideoStreamTextureSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamTextureD3D11(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, IntPtr pD3D11DeviceOrResource, ref IntPtr ppD3D11ShaderResourceView, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamTextureD3D11 GetVideoStreamTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _GetVideoStreamTextureGL(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, ref uint pglTextureId, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVideoStreamTextureGL GetVideoStreamTextureGL;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRTrackedCameraError _ReleaseVideoStreamTextureGL(ulong hTrackedCamera, uint glTextureId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseVideoStreamTextureGL ReleaseVideoStreamTextureGL;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRApplications
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _AddApplicationManifest(string pchApplicationManifestFullPath, bool bTemporary);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AddApplicationManifest AddApplicationManifest;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _RemoveApplicationManifest(string pchApplicationManifestFullPath);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveApplicationManifest RemoveApplicationManifest;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsApplicationInstalled(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsApplicationInstalled IsApplicationInstalled;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationCount GetApplicationCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _GetApplicationKeyByIndex(uint unApplicationIndex, System.Text.StringBuilder pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationKeyByIndex GetApplicationKeyByIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _GetApplicationKeyByProcessId(uint unProcessId, string pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationKeyByProcessId GetApplicationKeyByProcessId;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchApplication(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchApplication LaunchApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchTemplateApplication(string pchTemplateAppKey, string pchNewAppKey, [In, Out] AppOverrideKeys_t[] pKeys, uint unKeys);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchTemplateApplication LaunchTemplateApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchApplicationFromMimeType(string pchMimeType, string pchArgs);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchApplicationFromMimeType LaunchApplicationFromMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchDashboardOverlay(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchDashboardOverlay LaunchDashboardOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CancelApplicationLaunch(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CancelApplicationLaunch CancelApplicationLaunch;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _IdentifyApplication(uint unProcessId, string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IdentifyApplication IdentifyApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationProcessId(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationProcessId GetApplicationProcessId;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetApplicationsErrorNameFromEnum(EVRApplicationError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationsErrorNameFromEnum GetApplicationsErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationPropertyString(string pchAppKey, EVRApplicationProperty eProperty, System.Text.StringBuilder pchPropertyValueBuffer, uint unPropertyValueBufferLen, ref EVRApplicationError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationPropertyString GetApplicationPropertyString;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetApplicationPropertyBool(string pchAppKey, EVRApplicationProperty eProperty, ref EVRApplicationError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationPropertyBool GetApplicationPropertyBool;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetApplicationPropertyUint64(string pchAppKey, EVRApplicationProperty eProperty, ref EVRApplicationError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationPropertyUint64 GetApplicationPropertyUint64;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _SetApplicationAutoLaunch(string pchAppKey, bool bAutoLaunch);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetApplicationAutoLaunch SetApplicationAutoLaunch;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetApplicationAutoLaunch(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationAutoLaunch GetApplicationAutoLaunch;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _SetDefaultApplicationForMimeType(string pchAppKey, string pchMimeType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetDefaultApplicationForMimeType SetDefaultApplicationForMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetDefaultApplicationForMimeType(string pchMimeType, string pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDefaultApplicationForMimeType GetDefaultApplicationForMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetApplicationSupportedMimeTypes(string pchAppKey, string pchMimeTypesBuffer, uint unMimeTypesBuffer);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationSupportedMimeTypes GetApplicationSupportedMimeTypes;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationsThatSupportMimeType(string pchMimeType, string pchAppKeysThatSupportBuffer, uint unAppKeysThatSupportBuffer);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationsThatSupportMimeType GetApplicationsThatSupportMimeType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetApplicationLaunchArguments(uint unHandle, string pchArgs, uint unArgs);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationLaunchArguments GetApplicationLaunchArguments;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _GetStartingApplication(string pchAppKeyBuffer, uint unAppKeyBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetStartingApplication GetStartingApplication;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationTransitionState _GetTransitionState();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTransitionState GetTransitionState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _PerformApplicationPrelaunchCheck(string pchAppKey);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PerformApplicationPrelaunchCheck PerformApplicationPrelaunchCheck;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetApplicationsTransitionStateNameFromEnum(EVRApplicationTransitionState state);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetApplicationsTransitionStateNameFromEnum GetApplicationsTransitionStateNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsQuitUserPromptRequested();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsQuitUserPromptRequested IsQuitUserPromptRequested;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRApplicationError _LaunchInternalProcess(string pchBinaryPath, string pchArguments, string pchWorkingDirectory);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LaunchInternalProcess LaunchInternalProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetCurrentSceneProcessId();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentSceneProcessId GetCurrentSceneProcessId;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRChaperone
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ChaperoneCalibrationState _GetCalibrationState();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCalibrationState GetCalibrationState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetPlayAreaSize(ref float pSizeX, ref float pSizeZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPlayAreaSize GetPlayAreaSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetPlayAreaRect(ref HmdQuad_t rect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPlayAreaRect GetPlayAreaRect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReloadInfo();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReloadInfo ReloadInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetSceneColor(HmdColor_t color);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetSceneColor SetSceneColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetBoundsColor(ref HmdColor_t pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, ref HmdColor_t pOutputCameraColor);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetBoundsColor GetBoundsColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _AreBoundsVisible();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _AreBoundsVisible AreBoundsVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ForceBoundsVisible(bool bForce);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ForceBoundsVisible ForceBoundsVisible;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRChaperoneSetup
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CommitWorkingCopy(EChaperoneConfigFile configFile);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CommitWorkingCopy CommitWorkingCopy;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _RevertWorkingCopy();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RevertWorkingCopy RevertWorkingCopy;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingPlayAreaSize(ref float pSizeX, ref float pSizeZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingPlayAreaSize GetWorkingPlayAreaSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingPlayAreaRect(ref HmdQuad_t rect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingPlayAreaRect GetWorkingPlayAreaRect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingCollisionBoundsInfo GetWorkingCollisionBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLiveCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLiveCollisionBoundsInfo GetLiveCollisionBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingSeatedZeroPoseToRawTrackingPose GetWorkingSeatedZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetWorkingStandingZeroPoseToRawTrackingPose GetWorkingStandingZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingPlayAreaSize(float sizeX, float sizeZ);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingPlayAreaSize SetWorkingPlayAreaSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, uint unQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingCollisionBoundsInfo SetWorkingCollisionBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatSeatedZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingSeatedZeroPoseToRawTrackingPose SetWorkingSeatedZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingStandingZeroPoseToRawTrackingPose SetWorkingStandingZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReloadFromDisk(EChaperoneConfigFile configFile);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReloadFromDisk ReloadFromDisk;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLiveSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLiveSeatedZeroPoseToRawTrackingPose GetLiveSeatedZeroPoseToRawTrackingPose;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetWorkingCollisionBoundsTagsInfo([In, Out] byte[] pTagsBuffer, uint unTagCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingCollisionBoundsTagsInfo SetWorkingCollisionBoundsTagsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLiveCollisionBoundsTagsInfo([In, Out] byte[] pTagsBuffer, ref uint punTagCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLiveCollisionBoundsTagsInfo GetLiveCollisionBoundsTagsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _SetWorkingPhysicalBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, uint unQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetWorkingPhysicalBoundsInfo SetWorkingPhysicalBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetLivePhysicalBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLivePhysicalBoundsInfo GetLivePhysicalBoundsInfo;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ExportLiveToBuffer(System.Text.StringBuilder pBuffer, ref uint pnBufferLength);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ExportLiveToBuffer ExportLiveToBuffer;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ImportFromBufferToWorking(string pBuffer, uint nImportFlags);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ImportFromBufferToWorking ImportFromBufferToWorking;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRCompositor
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetTrackingSpace(ETrackingUniverseOrigin eOrigin);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetTrackingSpace SetTrackingSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ETrackingUniverseOrigin _GetTrackingSpace();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTrackingSpace GetTrackingSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _WaitGetPoses([In, Out] TrackedDevicePose_t[] pRenderPoseArray, uint unRenderPoseArrayCount, [In, Out] TrackedDevicePose_t[] pGamePoseArray, uint unGamePoseArrayCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _WaitGetPoses WaitGetPoses;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetLastPoses([In, Out] TrackedDevicePose_t[] pRenderPoseArray, uint unRenderPoseArrayCount, [In, Out] TrackedDevicePose_t[] pGamePoseArray, uint unGamePoseArrayCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLastPoses GetLastPoses;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetLastPoseForTrackedDeviceIndex(uint unDeviceIndex, ref TrackedDevicePose_t pOutputPose, ref TrackedDevicePose_t pOutputGamePose);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLastPoseForTrackedDeviceIndex GetLastPoseForTrackedDeviceIndex;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _Submit(EVREye eEye, ref Texture_t pTexture, ref VRTextureBounds_t pBounds, EVRSubmitFlags nSubmitFlags);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _Submit Submit;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ClearLastSubmittedFrame();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ClearLastSubmittedFrame ClearLastSubmittedFrame;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _PostPresentHandoff();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PostPresentHandoff PostPresentHandoff;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetFrameTiming(ref Compositor_FrameTiming pTiming, uint unFramesAgo);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFrameTiming GetFrameTiming;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetFrameTimings(ref Compositor_FrameTiming pTiming, uint nFrames);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFrameTimings GetFrameTimings;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetFrameTimeRemaining();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFrameTimeRemaining GetFrameTimeRemaining;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetCumulativeStats(ref Compositor_CumulativeStats pStats, uint nStatsSizeInBytes);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCumulativeStats GetCumulativeStats;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FadeToColor(float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FadeToColor FadeToColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate HmdColor_t _GetCurrentFadeColor(bool bBackground);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentFadeColor GetCurrentFadeColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FadeGrid(float fSeconds, bool bFadeIn);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FadeGrid FadeGrid;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetCurrentGridAlpha();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentGridAlpha GetCurrentGridAlpha;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _SetSkyboxOverride([In, Out] Texture_t[] pTextures, uint unTextureCount);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetSkyboxOverride SetSkyboxOverride;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ClearSkyboxOverride();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ClearSkyboxOverride ClearSkyboxOverride;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorBringToFront();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorBringToFront CompositorBringToFront;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorGoToBack();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorGoToBack CompositorGoToBack;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorQuit();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorQuit CompositorQuit;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsFullscreen();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsFullscreen IsFullscreen;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetCurrentSceneFocusProcess();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentSceneFocusProcess GetCurrentSceneFocusProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetLastFrameRenderer();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetLastFrameRenderer GetLastFrameRenderer;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _CanRenderScene();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CanRenderScene CanRenderScene;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ShowMirrorWindow();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowMirrorWindow ShowMirrorWindow;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _HideMirrorWindow();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HideMirrorWindow HideMirrorWindow;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsMirrorWindowVisible();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsMirrorWindowVisible IsMirrorWindowVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _CompositorDumpImages();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CompositorDumpImages CompositorDumpImages;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ShouldAppRenderWithLowResources();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShouldAppRenderWithLowResources ShouldAppRenderWithLowResources;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ForceInterleavedReprojectionOn(bool bOverride);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ForceInterleavedReprojectionOn ForceInterleavedReprojectionOn;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ForceReconnectProcess();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ForceReconnectProcess ForceReconnectProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SuspendRendering(bool bSuspend);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SuspendRendering SuspendRendering;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetMirrorTextureD3D11(EVREye eEye, IntPtr pD3D11DeviceOrResource, ref IntPtr ppD3D11ShaderResourceView);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetMirrorTextureD3D11 GetMirrorTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReleaseMirrorTextureD3D11(IntPtr pD3D11ShaderResourceView);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseMirrorTextureD3D11 ReleaseMirrorTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRCompositorError _GetMirrorTextureGL(EVREye eEye, ref uint pglTextureId, IntPtr pglSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetMirrorTextureGL GetMirrorTextureGL;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ReleaseSharedGLTexture(uint glTextureId, IntPtr glSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseSharedGLTexture ReleaseSharedGLTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _LockGLSharedTextureForAccess(IntPtr glSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LockGLSharedTextureForAccess LockGLSharedTextureForAccess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _UnlockGLSharedTextureForAccess(IntPtr glSharedTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _UnlockGLSharedTextureForAccess UnlockGLSharedTextureForAccess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetVulkanInstanceExtensionsRequired(System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVulkanInstanceExtensionsRequired GetVulkanInstanceExtensionsRequired;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetVulkanDeviceExtensionsRequired(IntPtr pPhysicalDevice, System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetVulkanDeviceExtensionsRequired GetVulkanDeviceExtensionsRequired;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVROverlay
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _FindOverlay(string pchOverlayKey, ref ulong pOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FindOverlay FindOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _CreateOverlay(string pchOverlayKey, string pchOverlayName, ref ulong pOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CreateOverlay CreateOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _DestroyOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _DestroyOverlay DestroyOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetHighQualityOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetHighQualityOverlay SetHighQualityOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetHighQualityOverlay();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetHighQualityOverlay GetHighQualityOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayKey(ulong ulOverlayHandle, System.Text.StringBuilder pchValue, uint unBufferSize, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayKey GetOverlayKey;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayName(ulong ulOverlayHandle, System.Text.StringBuilder pchValue, uint unBufferSize, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayName GetOverlayName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayName(ulong ulOverlayHandle, string pchName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayName SetOverlayName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayImageData(ulong ulOverlayHandle, IntPtr pvBuffer, uint unBufferSize, ref uint punWidth, ref uint punHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayImageData GetOverlayImageData;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetOverlayErrorNameFromEnum(EVROverlayError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayErrorNameFromEnum GetOverlayErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRenderingPid(ulong ulOverlayHandle, uint unPID);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRenderingPid SetOverlayRenderingPid;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayRenderingPid(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayRenderingPid GetOverlayRenderingPid;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayFlag(ulong ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayFlag SetOverlayFlag;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayFlag(ulong ulOverlayHandle, VROverlayFlags eOverlayFlag, ref bool pbEnabled);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayFlag GetOverlayFlag;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayColor(ulong ulOverlayHandle, float fRed, float fGreen, float fBlue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayColor SetOverlayColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayColor(ulong ulOverlayHandle, ref float pfRed, ref float pfGreen, ref float pfBlue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayColor GetOverlayColor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayAlpha(ulong ulOverlayHandle, float fAlpha);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayAlpha SetOverlayAlpha;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayAlpha(ulong ulOverlayHandle, ref float pfAlpha);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayAlpha GetOverlayAlpha;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTexelAspect(ulong ulOverlayHandle, float fTexelAspect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTexelAspect SetOverlayTexelAspect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTexelAspect(ulong ulOverlayHandle, ref float pfTexelAspect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTexelAspect GetOverlayTexelAspect;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlaySortOrder(ulong ulOverlayHandle, uint unSortOrder);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlaySortOrder SetOverlaySortOrder;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlaySortOrder(ulong ulOverlayHandle, ref uint punSortOrder);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlaySortOrder GetOverlaySortOrder;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayWidthInMeters(ulong ulOverlayHandle, float fWidthInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayWidthInMeters SetOverlayWidthInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayWidthInMeters(ulong ulOverlayHandle, ref float pfWidthInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayWidthInMeters GetOverlayWidthInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayAutoCurveDistanceRangeInMeters SetOverlayAutoCurveDistanceRangeInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle, ref float pfMinDistanceInMeters, ref float pfMaxDistanceInMeters);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayAutoCurveDistanceRangeInMeters GetOverlayAutoCurveDistanceRangeInMeters;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTextureColorSpace(ulong ulOverlayHandle, EColorSpace eTextureColorSpace);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTextureColorSpace SetOverlayTextureColorSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTextureColorSpace(ulong ulOverlayHandle, ref EColorSpace peTextureColorSpace);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTextureColorSpace GetOverlayTextureColorSpace;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTextureBounds(ulong ulOverlayHandle, ref VRTextureBounds_t pOverlayTextureBounds);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTextureBounds SetOverlayTextureBounds;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTextureBounds(ulong ulOverlayHandle, ref VRTextureBounds_t pOverlayTextureBounds);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTextureBounds GetOverlayTextureBounds;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayRenderModel(ulong ulOverlayHandle, string pchValue, uint unBufferSize, ref HmdColor_t pColor, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayRenderModel GetOverlayRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRenderModel(ulong ulOverlayHandle, string pchRenderModel, ref HmdColor_t pColor);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRenderModel SetOverlayRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformType(ulong ulOverlayHandle, ref VROverlayTransformType peTransformType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformType GetOverlayTransformType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformAbsolute(ulong ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformAbsolute SetOverlayTransformAbsolute;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformAbsolute(ulong ulOverlayHandle, ref ETrackingUniverseOrigin peTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformAbsolute GetOverlayTransformAbsolute;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle, uint unTrackedDevice, ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformTrackedDeviceRelative SetOverlayTransformTrackedDeviceRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle, ref uint punTrackedDevice, ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformTrackedDeviceRelative GetOverlayTransformTrackedDeviceRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle, uint unDeviceIndex, string pchComponentName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformTrackedDeviceComponent SetOverlayTransformTrackedDeviceComponent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle, ref uint punDeviceIndex, string pchComponentName, uint unComponentNameSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformTrackedDeviceComponent GetOverlayTransformTrackedDeviceComponent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformOverlayRelative(ulong ulOverlayHandle, ref ulong ulOverlayHandleParent, ref HmdMatrix34_t pmatParentOverlayToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformOverlayRelative GetOverlayTransformOverlayRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformOverlayRelative(ulong ulOverlayHandle, ulong ulOverlayHandleParent, ref HmdMatrix34_t pmatParentOverlayToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformOverlayRelative SetOverlayTransformOverlayRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ShowOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowOverlay ShowOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _HideOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HideOverlay HideOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsOverlayVisible(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsOverlayVisible IsOverlayVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetTransformForOverlayCoordinates(ulong ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, HmdVector2_t coordinatesInOverlay, ref HmdMatrix34_t pmatTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetTransformForOverlayCoordinates GetTransformForOverlayCoordinates;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextOverlayEvent(ulong ulOverlayHandle, ref VREvent_t pEvent, uint uncbVREvent);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _PollNextOverlayEvent PollNextOverlayEvent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayInputMethod(ulong ulOverlayHandle, ref VROverlayInputMethod peInputMethod);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayInputMethod GetOverlayInputMethod;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayInputMethod(ulong ulOverlayHandle, VROverlayInputMethod eInputMethod);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayInputMethod SetOverlayInputMethod;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayMouseScale(ulong ulOverlayHandle, ref HmdVector2_t pvecMouseScale);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayMouseScale GetOverlayMouseScale;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayMouseScale(ulong ulOverlayHandle, ref HmdVector2_t pvecMouseScale);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayMouseScale SetOverlayMouseScale;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _ComputeOverlayIntersection(ulong ulOverlayHandle, ref VROverlayIntersectionParams_t pParams, ref VROverlayIntersectionResults_t pResults);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ComputeOverlayIntersection ComputeOverlayIntersection;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _HandleControllerOverlayInteractionAsMouse(ulong ulOverlayHandle, uint unControllerDeviceIndex);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HandleControllerOverlayInteractionAsMouse HandleControllerOverlayInteractionAsMouse;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsHoverTargetOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsHoverTargetOverlay IsHoverTargetOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetGamepadFocusOverlay();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetGamepadFocusOverlay GetGamepadFocusOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetGamepadFocusOverlay(ulong ulNewFocusOverlay);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetGamepadFocusOverlay SetGamepadFocusOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayNeighbor(EOverlayDirection eDirection, ulong ulFrom, ulong ulTo);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayNeighbor SetOverlayNeighbor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _MoveGamepadFocusToNeighbor(EOverlayDirection eDirection, ulong ulFrom);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _MoveGamepadFocusToNeighbor MoveGamepadFocusToNeighbor;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTexture(ulong ulOverlayHandle, ref Texture_t pTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTexture SetOverlayTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ClearOverlayTexture(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ClearOverlayTexture ClearOverlayTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRaw(ulong ulOverlayHandle, IntPtr pvBuffer, uint unWidth, uint unHeight, uint unDepth);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRaw SetOverlayRaw;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayFromFile(ulong ulOverlayHandle, string pchFilePath);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayFromFile SetOverlayFromFile;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTexture(ulong ulOverlayHandle, ref IntPtr pNativeTextureHandle, IntPtr pNativeTextureRef, ref uint pWidth, ref uint pHeight, ref uint pNativeFormat, ref ETextureType pAPIType, ref EColorSpace pColorSpace, ref VRTextureBounds_t pTextureBounds);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTexture GetOverlayTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ReleaseNativeOverlayHandle(ulong ulOverlayHandle, IntPtr pNativeTextureHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseNativeOverlayHandle ReleaseNativeOverlayHandle;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTextureSize(ulong ulOverlayHandle, ref uint pWidth, ref uint pHeight);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTextureSize GetOverlayTextureSize;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _CreateDashboardOverlay(string pchOverlayKey, string pchOverlayFriendlyName, ref ulong pMainHandle, ref ulong pThumbnailHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CreateDashboardOverlay CreateDashboardOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsDashboardVisible();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsDashboardVisible IsDashboardVisible;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _IsActiveDashboardOverlay(ulong ulOverlayHandle);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _IsActiveDashboardOverlay IsActiveDashboardOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetDashboardOverlaySceneProcess(ulong ulOverlayHandle, uint unProcessId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetDashboardOverlaySceneProcess SetDashboardOverlaySceneProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetDashboardOverlaySceneProcess(ulong ulOverlayHandle, ref uint punProcessId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDashboardOverlaySceneProcess GetDashboardOverlaySceneProcess;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ShowDashboard(string pchOverlayToShow);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowDashboard ShowDashboard;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetPrimaryDashboardDevice();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetPrimaryDashboardDevice GetPrimaryDashboardDevice;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ShowKeyboard(int eInputMode, int eLineInputMode, string pchDescription, uint unCharMax, string pchExistingText, bool bUseMinimalMode, ulong uUserValue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowKeyboard ShowKeyboard;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _ShowKeyboardForOverlay(ulong ulOverlayHandle, int eInputMode, int eLineInputMode, string pchDescription, uint unCharMax, string pchExistingText, bool bUseMinimalMode, ulong uUserValue);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowKeyboardForOverlay ShowKeyboardForOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetKeyboardText(System.Text.StringBuilder pchText, uint cchText);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetKeyboardText GetKeyboardText;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _HideKeyboard();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HideKeyboard HideKeyboard;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetKeyboardTransformAbsolute SetKeyboardTransformAbsolute;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetKeyboardPositionForOverlay(ulong ulOverlayHandle, HmdRect2_t avoidRect);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetKeyboardPositionForOverlay SetKeyboardPositionForOverlay;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayIntersectionMask(ulong ulOverlayHandle, ref VROverlayIntersectionMaskPrimitive_t pMaskPrimitives, uint unNumMaskPrimitives, uint unPrimitiveSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayIntersectionMask SetOverlayIntersectionMask;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayFlags(ulong ulOverlayHandle, ref uint pFlags);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayFlags GetOverlayFlags;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate VRMessageOverlayResponse _ShowMessageOverlay(string pchText, string pchCaption, string pchButton0Text, string pchButton1Text, string pchButton2Text, string pchButton3Text);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ShowMessageOverlay ShowMessageOverlay;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRRenderModels
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadRenderModel_Async(string pchRenderModelName, ref IntPtr ppRenderModel);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadRenderModel_Async LoadRenderModel_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FreeRenderModel(IntPtr pRenderModel);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FreeRenderModel FreeRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadTexture_Async(int textureId, ref IntPtr ppTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadTexture_Async LoadTexture_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FreeTexture(IntPtr pTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FreeTexture FreeTexture;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadTextureD3D11_Async(int textureId, IntPtr pD3D11Device, ref IntPtr ppD3D11Texture2D);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadTextureD3D11_Async LoadTextureD3D11_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRRenderModelError _LoadIntoTextureD3D11_Async(int textureId, IntPtr pDstTexture);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadIntoTextureD3D11_Async LoadIntoTextureD3D11_Async;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _FreeTextureD3D11(IntPtr pD3D11Texture2D);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _FreeTextureD3D11 FreeTextureD3D11;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelName(uint unRenderModelIndex, System.Text.StringBuilder pchRenderModelName, uint unRenderModelNameLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelName GetRenderModelName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelCount GetRenderModelCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetComponentCount(string pchRenderModelName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentCount GetComponentCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetComponentName(string pchRenderModelName, uint unComponentIndex, System.Text.StringBuilder pchComponentName, uint unComponentNameLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentName GetComponentName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate ulong _GetComponentButtonMask(string pchRenderModelName, string pchComponentName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentButtonMask GetComponentButtonMask;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetComponentRenderModelName(string pchRenderModelName, string pchComponentName, System.Text.StringBuilder pchComponentRenderModelName, uint unComponentRenderModelNameLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentRenderModelName GetComponentRenderModelName;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetComponentState(string pchRenderModelName, string pchComponentName, ref VRControllerState_t pControllerState, ref RenderModel_ControllerMode_State_t pState, ref RenderModel_ComponentState_t pComponentState);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetComponentState GetComponentState;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _RenderModelHasComponent(string pchRenderModelName, string pchComponentName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RenderModelHasComponent RenderModelHasComponent;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelThumbnailURL(string pchRenderModelName, System.Text.StringBuilder pchThumbnailURL, uint unThumbnailURLLen, ref EVRRenderModelError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelThumbnailURL GetRenderModelThumbnailURL;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetRenderModelOriginalPath(string pchRenderModelName, System.Text.StringBuilder pchOriginalPath, uint unOriginalPathLen, ref EVRRenderModelError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelOriginalPath GetRenderModelOriginalPath;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetRenderModelErrorNameFromEnum(EVRRenderModelError error);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetRenderModelErrorNameFromEnum GetRenderModelErrorNameFromEnum;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRNotifications
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRNotificationError _CreateNotification(ulong ulOverlayHandle, ulong ulUserValue, EVRNotificationType type, string pchText, EVRNotificationStyle style, ref NotificationBitmap_t pImage, ref uint pNotificationId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _CreateNotification CreateNotification;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRNotificationError _RemoveNotification(uint notificationId);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveNotification RemoveNotification;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRSettings
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate IntPtr _GetSettingsErrorNameFromEnum(EVRSettingsError eError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetSettingsErrorNameFromEnum GetSettingsErrorNameFromEnum;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _Sync(bool bForce, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _Sync Sync;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetBool(string pchSection, string pchSettingsKey, bool bValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetBool SetBool;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetInt32(string pchSection, string pchSettingsKey, int nValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetInt32 SetInt32;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetFloat(string pchSection, string pchSettingsKey, float flValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetFloat SetFloat;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _SetString(string pchSection, string pchSettingsKey, string pchValue, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetString SetString;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetBool(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetBool GetBool;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate int _GetInt32(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetInt32 GetInt32;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate float _GetFloat(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetFloat GetFloat;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetString(string pchSection, string pchSettingsKey, System.Text.StringBuilder pchValue, uint unValueLen, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetString GetString;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _RemoveSection(string pchSection, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveSection RemoveSection;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _RemoveKeyInSection(string pchSection, string pchSettingsKey, ref EVRSettingsError peError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RemoveKeyInSection RemoveKeyInSection;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRScreenshots
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _RequestScreenshot(ref uint pOutScreenshotHandle, EVRScreenshotType type, string pchPreviewFilename, string pchVRFilename);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _RequestScreenshot RequestScreenshot;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _HookScreenshot([In, Out] EVRScreenshotType[] pSupportedTypes, int numTypes);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _HookScreenshot HookScreenshot;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotType _GetScreenshotPropertyType(uint screenshotHandle, ref EVRScreenshotError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetScreenshotPropertyType GetScreenshotPropertyType;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetScreenshotPropertyFilename(uint screenshotHandle, EVRScreenshotPropertyFilenames filenameType, System.Text.StringBuilder pchFilename, uint cchFilename, ref EVRScreenshotError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetScreenshotPropertyFilename GetScreenshotPropertyFilename;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _UpdateScreenshotProgress(uint screenshotHandle, float flProgress);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _UpdateScreenshotProgress UpdateScreenshotProgress;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _TakeStereoScreenshot(ref uint pOutScreenshotHandle, string pchPreviewFilename, string pchVRFilename);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _TakeStereoScreenshot TakeStereoScreenshot;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVRScreenshotError _SubmitScreenshot(uint screenshotHandle, EVRScreenshotType type, string pchSourcePreviewFilename, string pchSourceVRFilename);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SubmitScreenshot SubmitScreenshot;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRResources
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _LoadSharedResource(string pchResourceName, string pchBuffer, uint unBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _LoadSharedResource LoadSharedResource;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetResourceFullPath(string pchResourceName, string pchResourceTypeDirectory, string pchPathBuffer, uint unBufferLen);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetResourceFullPath GetResourceFullPath;
+
+}
+
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRDriverManager
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverCount GetDriverCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverName(uint nDriver, System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverName GetDriverName;
+
+}
+
+
+public class CVRSystem
+{
+	IVRSystem FnTable;
+	internal CVRSystem(IntPtr pInterface)
+	{
+		FnTable = (IVRSystem)Marshal.PtrToStructure(pInterface, typeof(IVRSystem));
+	}
+	public void GetRecommendedRenderTargetSize(ref uint pnWidth,ref uint pnHeight)
+	{
+		pnWidth = 0;
+		pnHeight = 0;
+		FnTable.GetRecommendedRenderTargetSize(ref pnWidth,ref pnHeight);
+	}
+	public HmdMatrix44_t GetProjectionMatrix(EVREye eEye,float fNearZ,float fFarZ)
+	{
+		HmdMatrix44_t result = FnTable.GetProjectionMatrix(eEye,fNearZ,fFarZ);
+		return result;
+	}
+	public void GetProjectionRaw(EVREye eEye,ref float pfLeft,ref float pfRight,ref float pfTop,ref float pfBottom)
+	{
+		pfLeft = 0;
+		pfRight = 0;
+		pfTop = 0;
+		pfBottom = 0;
+		FnTable.GetProjectionRaw(eEye,ref pfLeft,ref pfRight,ref pfTop,ref pfBottom);
+	}
+	public bool ComputeDistortion(EVREye eEye,float fU,float fV,ref DistortionCoordinates_t pDistortionCoordinates)
+	{
+		bool result = FnTable.ComputeDistortion(eEye,fU,fV,ref pDistortionCoordinates);
+		return result;
+	}
+	public HmdMatrix34_t GetEyeToHeadTransform(EVREye eEye)
+	{
+		HmdMatrix34_t result = FnTable.GetEyeToHeadTransform(eEye);
+		return result;
+	}
+	public bool GetTimeSinceLastVsync(ref float pfSecondsSinceLastVsync,ref ulong pulFrameCounter)
+	{
+		pfSecondsSinceLastVsync = 0;
+		pulFrameCounter = 0;
+		bool result = FnTable.GetTimeSinceLastVsync(ref pfSecondsSinceLastVsync,ref pulFrameCounter);
+		return result;
+	}
+	public int GetD3D9AdapterIndex()
+	{
+		int result = FnTable.GetD3D9AdapterIndex();
+		return result;
+	}
+	public void GetDXGIOutputInfo(ref int pnAdapterIndex)
+	{
+		pnAdapterIndex = 0;
+		FnTable.GetDXGIOutputInfo(ref pnAdapterIndex);
+	}
+	public void GetOutputDevice(ref ulong pnDevice,ETextureType textureType)
+	{
+		pnDevice = 0;
+		FnTable.GetOutputDevice(ref pnDevice,textureType);
+	}
+	public bool IsDisplayOnDesktop()
+	{
+		bool result = FnTable.IsDisplayOnDesktop();
+		return result;
+	}
+	public bool SetDisplayVisibility(bool bIsVisibleOnDesktop)
+	{
+		bool result = FnTable.SetDisplayVisibility(bIsVisibleOnDesktop);
+		return result;
+	}
+	public void GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin eOrigin,float fPredictedSecondsToPhotonsFromNow,TrackedDevicePose_t [] pTrackedDevicePoseArray)
+	{
+		FnTable.GetDeviceToAbsoluteTrackingPose(eOrigin,fPredictedSecondsToPhotonsFromNow,pTrackedDevicePoseArray,(uint) pTrackedDevicePoseArray.Length);
+	}
+	public void ResetSeatedZeroPose()
+	{
+		FnTable.ResetSeatedZeroPose();
+	}
+	public HmdMatrix34_t GetSeatedZeroPoseToStandingAbsoluteTrackingPose()
+	{
+		HmdMatrix34_t result = FnTable.GetSeatedZeroPoseToStandingAbsoluteTrackingPose();
+		return result;
+	}
+	public HmdMatrix34_t GetRawZeroPoseToStandingAbsoluteTrackingPose()
+	{
+		HmdMatrix34_t result = FnTable.GetRawZeroPoseToStandingAbsoluteTrackingPose();
+		return result;
+	}
+	public uint GetSortedTrackedDeviceIndicesOfClass(ETrackedDeviceClass eTrackedDeviceClass,uint [] punTrackedDeviceIndexArray,uint unRelativeToTrackedDeviceIndex)
+	{
+		uint result = FnTable.GetSortedTrackedDeviceIndicesOfClass(eTrackedDeviceClass,punTrackedDeviceIndexArray,(uint) punTrackedDeviceIndexArray.Length,unRelativeToTrackedDeviceIndex);
+		return result;
+	}
+	public EDeviceActivityLevel GetTrackedDeviceActivityLevel(uint unDeviceId)
+	{
+		EDeviceActivityLevel result = FnTable.GetTrackedDeviceActivityLevel(unDeviceId);
+		return result;
+	}
+	public void ApplyTransform(ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pTrackedDevicePose,ref HmdMatrix34_t pTransform)
+	{
+		FnTable.ApplyTransform(ref pOutputPose,ref pTrackedDevicePose,ref pTransform);
+	}
+	public uint GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole unDeviceType)
+	{
+		uint result = FnTable.GetTrackedDeviceIndexForControllerRole(unDeviceType);
+		return result;
+	}
+	public ETrackedControllerRole GetControllerRoleForTrackedDeviceIndex(uint unDeviceIndex)
+	{
+		ETrackedControllerRole result = FnTable.GetControllerRoleForTrackedDeviceIndex(unDeviceIndex);
+		return result;
+	}
+	public ETrackedDeviceClass GetTrackedDeviceClass(uint unDeviceIndex)
+	{
+		ETrackedDeviceClass result = FnTable.GetTrackedDeviceClass(unDeviceIndex);
+		return result;
+	}
+	public bool IsTrackedDeviceConnected(uint unDeviceIndex)
+	{
+		bool result = FnTable.IsTrackedDeviceConnected(unDeviceIndex);
+		return result;
+	}
+	public bool GetBoolTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		bool result = FnTable.GetBoolTrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public float GetFloatTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		float result = FnTable.GetFloatTrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public int GetInt32TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		int result = FnTable.GetInt32TrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public ulong GetUint64TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		ulong result = FnTable.GetUint64TrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public HmdMatrix34_t GetMatrix34TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError)
+	{
+		HmdMatrix34_t result = FnTable.GetMatrix34TrackedDeviceProperty(unDeviceIndex,prop,ref pError);
+		return result;
+	}
+	public uint GetStringTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,System.Text.StringBuilder pchValue,uint unBufferSize,ref ETrackedPropertyError pError)
+	{
+		uint result = FnTable.GetStringTrackedDeviceProperty(unDeviceIndex,prop,pchValue,unBufferSize,ref pError);
+		return result;
+	}
+	public string GetPropErrorNameFromEnum(ETrackedPropertyError error)
+	{
+		IntPtr result = FnTable.GetPropErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEventPacked(ref VREvent_t_Packed pEvent,uint uncbVREvent);
+	[StructLayout(LayoutKind.Explicit)]
+	struct PollNextEventUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._PollNextEvent pPollNextEvent;
+		[FieldOffset(0)]
+		public _PollNextEventPacked pPollNextEventPacked;
+	}
+	public bool PollNextEvent(ref VREvent_t pEvent,uint uncbVREvent)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			PollNextEventUnion u;
+			VREvent_t_Packed event_packed = new VREvent_t_Packed();
+			u.pPollNextEventPacked = null;
+			u.pPollNextEvent = FnTable.PollNextEvent;
+			bool packed_result = u.pPollNextEventPacked(ref event_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VREvent_t_Packed)));
+
+			event_packed.Unpack(ref pEvent);
+			return packed_result;
+		}
+		bool result = FnTable.PollNextEvent(ref pEvent,uncbVREvent);
+		return result;
+	}
+	public bool PollNextEventWithPose(ETrackingUniverseOrigin eOrigin,ref VREvent_t pEvent,uint uncbVREvent,ref TrackedDevicePose_t pTrackedDevicePose)
+	{
+		bool result = FnTable.PollNextEventWithPose(eOrigin,ref pEvent,uncbVREvent,ref pTrackedDevicePose);
+		return result;
+	}
+	public string GetEventTypeNameFromEnum(EVREventType eType)
+	{
+		IntPtr result = FnTable.GetEventTypeNameFromEnum(eType);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public HiddenAreaMesh_t GetHiddenAreaMesh(EVREye eEye,EHiddenAreaMeshType type)
+	{
+		HiddenAreaMesh_t result = FnTable.GetHiddenAreaMesh(eEye,type);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStatePacked(uint unControllerDeviceIndex,ref VRControllerState_t_Packed pControllerState,uint unControllerStateSize);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetControllerStateUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._GetControllerState pGetControllerState;
+		[FieldOffset(0)]
+		public _GetControllerStatePacked pGetControllerStatePacked;
+	}
+	public bool GetControllerState(uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetControllerStateUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetControllerStatePacked = null;
+			u.pGetControllerState = FnTable.GetControllerState;
+			bool packed_result = u.pGetControllerStatePacked(unControllerDeviceIndex,ref state_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t_Packed)));
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
+		bool result = FnTable.GetControllerState(unControllerDeviceIndex,ref pControllerState,unControllerStateSize);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStateWithPosePacked(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t_Packed pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetControllerStateWithPoseUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._GetControllerStateWithPose pGetControllerStateWithPose;
+		[FieldOffset(0)]
+		public _GetControllerStateWithPosePacked pGetControllerStateWithPosePacked;
+	}
+	public bool GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetControllerStateWithPoseUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetControllerStateWithPosePacked = null;
+			u.pGetControllerStateWithPose = FnTable.GetControllerStateWithPose;
+			bool packed_result = u.pGetControllerStateWithPosePacked(eOrigin,unControllerDeviceIndex,ref state_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t_Packed)),ref pTrackedDevicePose);
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
+		bool result = FnTable.GetControllerStateWithPose(eOrigin,unControllerDeviceIndex,ref pControllerState,unControllerStateSize,ref pTrackedDevicePose);
+		return result;
+	}
+	public void TriggerHapticPulse(uint unControllerDeviceIndex,uint unAxisId,char usDurationMicroSec)
+	{
+		FnTable.TriggerHapticPulse(unControllerDeviceIndex,unAxisId,usDurationMicroSec);
+	}
+	public string GetButtonIdNameFromEnum(EVRButtonId eButtonId)
+	{
+		IntPtr result = FnTable.GetButtonIdNameFromEnum(eButtonId);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public string GetControllerAxisTypeNameFromEnum(EVRControllerAxisType eAxisType)
+	{
+		IntPtr result = FnTable.GetControllerAxisTypeNameFromEnum(eAxisType);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public bool CaptureInputFocus()
+	{
+		bool result = FnTable.CaptureInputFocus();
+		return result;
+	}
+	public void ReleaseInputFocus()
+	{
+		FnTable.ReleaseInputFocus();
+	}
+	public bool IsInputFocusCapturedByAnotherProcess()
+	{
+		bool result = FnTable.IsInputFocusCapturedByAnotherProcess();
+		return result;
+	}
+	public uint DriverDebugRequest(uint unDeviceIndex,string pchRequest,string pchResponseBuffer,uint unResponseBufferSize)
+	{
+		uint result = FnTable.DriverDebugRequest(unDeviceIndex,pchRequest,pchResponseBuffer,unResponseBufferSize);
+		return result;
+	}
+	public EVRFirmwareError PerformFirmwareUpdate(uint unDeviceIndex)
+	{
+		EVRFirmwareError result = FnTable.PerformFirmwareUpdate(unDeviceIndex);
+		return result;
+	}
+	public void AcknowledgeQuit_Exiting()
+	{
+		FnTable.AcknowledgeQuit_Exiting();
+	}
+	public void AcknowledgeQuit_UserPrompt()
+	{
+		FnTable.AcknowledgeQuit_UserPrompt();
+	}
+}
+
+
+public class CVRExtendedDisplay
+{
+	IVRExtendedDisplay FnTable;
+	internal CVRExtendedDisplay(IntPtr pInterface)
+	{
+		FnTable = (IVRExtendedDisplay)Marshal.PtrToStructure(pInterface, typeof(IVRExtendedDisplay));
+	}
+	public void GetWindowBounds(ref int pnX,ref int pnY,ref uint pnWidth,ref uint pnHeight)
+	{
+		pnX = 0;
+		pnY = 0;
+		pnWidth = 0;
+		pnHeight = 0;
+		FnTable.GetWindowBounds(ref pnX,ref pnY,ref pnWidth,ref pnHeight);
+	}
+	public void GetEyeOutputViewport(EVREye eEye,ref uint pnX,ref uint pnY,ref uint pnWidth,ref uint pnHeight)
+	{
+		pnX = 0;
+		pnY = 0;
+		pnWidth = 0;
+		pnHeight = 0;
+		FnTable.GetEyeOutputViewport(eEye,ref pnX,ref pnY,ref pnWidth,ref pnHeight);
+	}
+	public void GetDXGIOutputInfo(ref int pnAdapterIndex,ref int pnAdapterOutputIndex)
+	{
+		pnAdapterIndex = 0;
+		pnAdapterOutputIndex = 0;
+		FnTable.GetDXGIOutputInfo(ref pnAdapterIndex,ref pnAdapterOutputIndex);
+	}
+}
+
+
+public class CVRTrackedCamera
+{
+	IVRTrackedCamera FnTable;
+	internal CVRTrackedCamera(IntPtr pInterface)
+	{
+		FnTable = (IVRTrackedCamera)Marshal.PtrToStructure(pInterface, typeof(IVRTrackedCamera));
+	}
+	public string GetCameraErrorNameFromEnum(EVRTrackedCameraError eCameraError)
+	{
+		IntPtr result = FnTable.GetCameraErrorNameFromEnum(eCameraError);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public EVRTrackedCameraError HasCamera(uint nDeviceIndex,ref bool pHasCamera)
+	{
+		pHasCamera = false;
+		EVRTrackedCameraError result = FnTable.HasCamera(nDeviceIndex,ref pHasCamera);
+		return result;
+	}
+	public EVRTrackedCameraError GetCameraFrameSize(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref uint pnWidth,ref uint pnHeight,ref uint pnFrameBufferSize)
+	{
+		pnWidth = 0;
+		pnHeight = 0;
+		pnFrameBufferSize = 0;
+		EVRTrackedCameraError result = FnTable.GetCameraFrameSize(nDeviceIndex,eFrameType,ref pnWidth,ref pnHeight,ref pnFrameBufferSize);
+		return result;
+	}
+	public EVRTrackedCameraError GetCameraIntrinsics(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref HmdVector2_t pFocalLength,ref HmdVector2_t pCenter)
+	{
+		EVRTrackedCameraError result = FnTable.GetCameraIntrinsics(nDeviceIndex,eFrameType,ref pFocalLength,ref pCenter);
+		return result;
+	}
+	public EVRTrackedCameraError GetCameraProjection(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,float flZNear,float flZFar,ref HmdMatrix44_t pProjection)
+	{
+		EVRTrackedCameraError result = FnTable.GetCameraProjection(nDeviceIndex,eFrameType,flZNear,flZFar,ref pProjection);
+		return result;
+	}
+	public EVRTrackedCameraError AcquireVideoStreamingService(uint nDeviceIndex,ref ulong pHandle)
+	{
+		pHandle = 0;
+		EVRTrackedCameraError result = FnTable.AcquireVideoStreamingService(nDeviceIndex,ref pHandle);
+		return result;
+	}
+	public EVRTrackedCameraError ReleaseVideoStreamingService(ulong hTrackedCamera)
+	{
+		EVRTrackedCameraError result = FnTable.ReleaseVideoStreamingService(hTrackedCamera);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamFrameBuffer(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,IntPtr pFrameBuffer,uint nFrameBufferSize,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize)
+	{
+		EVRTrackedCameraError result = FnTable.GetVideoStreamFrameBuffer(hTrackedCamera,eFrameType,pFrameBuffer,nFrameBufferSize,ref pFrameHeader,nFrameHeaderSize);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamTextureSize(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref VRTextureBounds_t pTextureBounds,ref uint pnWidth,ref uint pnHeight)
+	{
+		pnWidth = 0;
+		pnHeight = 0;
+		EVRTrackedCameraError result = FnTable.GetVideoStreamTextureSize(nDeviceIndex,eFrameType,ref pTextureBounds,ref pnWidth,ref pnHeight);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamTextureD3D11(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,IntPtr pD3D11DeviceOrResource,ref IntPtr ppD3D11ShaderResourceView,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize)
+	{
+		EVRTrackedCameraError result = FnTable.GetVideoStreamTextureD3D11(hTrackedCamera,eFrameType,pD3D11DeviceOrResource,ref ppD3D11ShaderResourceView,ref pFrameHeader,nFrameHeaderSize);
+		return result;
+	}
+	public EVRTrackedCameraError GetVideoStreamTextureGL(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,ref uint pglTextureId,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize)
+	{
+		pglTextureId = 0;
+		EVRTrackedCameraError result = FnTable.GetVideoStreamTextureGL(hTrackedCamera,eFrameType,ref pglTextureId,ref pFrameHeader,nFrameHeaderSize);
+		return result;
+	}
+	public EVRTrackedCameraError ReleaseVideoStreamTextureGL(ulong hTrackedCamera,uint glTextureId)
+	{
+		EVRTrackedCameraError result = FnTable.ReleaseVideoStreamTextureGL(hTrackedCamera,glTextureId);
+		return result;
+	}
+}
+
+
+public class CVRApplications
+{
+	IVRApplications FnTable;
+	internal CVRApplications(IntPtr pInterface)
+	{
+		FnTable = (IVRApplications)Marshal.PtrToStructure(pInterface, typeof(IVRApplications));
+	}
+	public EVRApplicationError AddApplicationManifest(string pchApplicationManifestFullPath,bool bTemporary)
+	{
+		EVRApplicationError result = FnTable.AddApplicationManifest(pchApplicationManifestFullPath,bTemporary);
+		return result;
+	}
+	public EVRApplicationError RemoveApplicationManifest(string pchApplicationManifestFullPath)
+	{
+		EVRApplicationError result = FnTable.RemoveApplicationManifest(pchApplicationManifestFullPath);
+		return result;
+	}
+	public bool IsApplicationInstalled(string pchAppKey)
+	{
+		bool result = FnTable.IsApplicationInstalled(pchAppKey);
+		return result;
+	}
+	public uint GetApplicationCount()
+	{
+		uint result = FnTable.GetApplicationCount();
+		return result;
+	}
+	public EVRApplicationError GetApplicationKeyByIndex(uint unApplicationIndex,System.Text.StringBuilder pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		EVRApplicationError result = FnTable.GetApplicationKeyByIndex(unApplicationIndex,pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public EVRApplicationError GetApplicationKeyByProcessId(uint unProcessId,string pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		EVRApplicationError result = FnTable.GetApplicationKeyByProcessId(unProcessId,pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public EVRApplicationError LaunchApplication(string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.LaunchApplication(pchAppKey);
+		return result;
+	}
+	public EVRApplicationError LaunchTemplateApplication(string pchTemplateAppKey,string pchNewAppKey,AppOverrideKeys_t [] pKeys)
+	{
+		EVRApplicationError result = FnTable.LaunchTemplateApplication(pchTemplateAppKey,pchNewAppKey,pKeys,(uint) pKeys.Length);
+		return result;
+	}
+	public EVRApplicationError LaunchApplicationFromMimeType(string pchMimeType,string pchArgs)
+	{
+		EVRApplicationError result = FnTable.LaunchApplicationFromMimeType(pchMimeType,pchArgs);
+		return result;
+	}
+	public EVRApplicationError LaunchDashboardOverlay(string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.LaunchDashboardOverlay(pchAppKey);
+		return result;
+	}
+	public bool CancelApplicationLaunch(string pchAppKey)
+	{
+		bool result = FnTable.CancelApplicationLaunch(pchAppKey);
+		return result;
+	}
+	public EVRApplicationError IdentifyApplication(uint unProcessId,string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.IdentifyApplication(unProcessId,pchAppKey);
+		return result;
+	}
+	public uint GetApplicationProcessId(string pchAppKey)
+	{
+		uint result = FnTable.GetApplicationProcessId(pchAppKey);
+		return result;
+	}
+	public string GetApplicationsErrorNameFromEnum(EVRApplicationError error)
+	{
+		IntPtr result = FnTable.GetApplicationsErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public uint GetApplicationPropertyString(string pchAppKey,EVRApplicationProperty eProperty,System.Text.StringBuilder pchPropertyValueBuffer,uint unPropertyValueBufferLen,ref EVRApplicationError peError)
+	{
+		uint result = FnTable.GetApplicationPropertyString(pchAppKey,eProperty,pchPropertyValueBuffer,unPropertyValueBufferLen,ref peError);
+		return result;
+	}
+	public bool GetApplicationPropertyBool(string pchAppKey,EVRApplicationProperty eProperty,ref EVRApplicationError peError)
+	{
+		bool result = FnTable.GetApplicationPropertyBool(pchAppKey,eProperty,ref peError);
+		return result;
+	}
+	public ulong GetApplicationPropertyUint64(string pchAppKey,EVRApplicationProperty eProperty,ref EVRApplicationError peError)
+	{
+		ulong result = FnTable.GetApplicationPropertyUint64(pchAppKey,eProperty,ref peError);
+		return result;
+	}
+	public EVRApplicationError SetApplicationAutoLaunch(string pchAppKey,bool bAutoLaunch)
+	{
+		EVRApplicationError result = FnTable.SetApplicationAutoLaunch(pchAppKey,bAutoLaunch);
+		return result;
+	}
+	public bool GetApplicationAutoLaunch(string pchAppKey)
+	{
+		bool result = FnTable.GetApplicationAutoLaunch(pchAppKey);
+		return result;
+	}
+	public EVRApplicationError SetDefaultApplicationForMimeType(string pchAppKey,string pchMimeType)
+	{
+		EVRApplicationError result = FnTable.SetDefaultApplicationForMimeType(pchAppKey,pchMimeType);
+		return result;
+	}
+	public bool GetDefaultApplicationForMimeType(string pchMimeType,string pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		bool result = FnTable.GetDefaultApplicationForMimeType(pchMimeType,pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public bool GetApplicationSupportedMimeTypes(string pchAppKey,string pchMimeTypesBuffer,uint unMimeTypesBuffer)
+	{
+		bool result = FnTable.GetApplicationSupportedMimeTypes(pchAppKey,pchMimeTypesBuffer,unMimeTypesBuffer);
+		return result;
+	}
+	public uint GetApplicationsThatSupportMimeType(string pchMimeType,string pchAppKeysThatSupportBuffer,uint unAppKeysThatSupportBuffer)
+	{
+		uint result = FnTable.GetApplicationsThatSupportMimeType(pchMimeType,pchAppKeysThatSupportBuffer,unAppKeysThatSupportBuffer);
+		return result;
+	}
+	public uint GetApplicationLaunchArguments(uint unHandle,string pchArgs,uint unArgs)
+	{
+		uint result = FnTable.GetApplicationLaunchArguments(unHandle,pchArgs,unArgs);
+		return result;
+	}
+	public EVRApplicationError GetStartingApplication(string pchAppKeyBuffer,uint unAppKeyBufferLen)
+	{
+		EVRApplicationError result = FnTable.GetStartingApplication(pchAppKeyBuffer,unAppKeyBufferLen);
+		return result;
+	}
+	public EVRApplicationTransitionState GetTransitionState()
+	{
+		EVRApplicationTransitionState result = FnTable.GetTransitionState();
+		return result;
+	}
+	public EVRApplicationError PerformApplicationPrelaunchCheck(string pchAppKey)
+	{
+		EVRApplicationError result = FnTable.PerformApplicationPrelaunchCheck(pchAppKey);
+		return result;
+	}
+	public string GetApplicationsTransitionStateNameFromEnum(EVRApplicationTransitionState state)
+	{
+		IntPtr result = FnTable.GetApplicationsTransitionStateNameFromEnum(state);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public bool IsQuitUserPromptRequested()
+	{
+		bool result = FnTable.IsQuitUserPromptRequested();
+		return result;
+	}
+	public EVRApplicationError LaunchInternalProcess(string pchBinaryPath,string pchArguments,string pchWorkingDirectory)
+	{
+		EVRApplicationError result = FnTable.LaunchInternalProcess(pchBinaryPath,pchArguments,pchWorkingDirectory);
+		return result;
+	}
+	public uint GetCurrentSceneProcessId()
+	{
+		uint result = FnTable.GetCurrentSceneProcessId();
+		return result;
+	}
+}
+
+
+public class CVRChaperone
+{
+	IVRChaperone FnTable;
+	internal CVRChaperone(IntPtr pInterface)
+	{
+		FnTable = (IVRChaperone)Marshal.PtrToStructure(pInterface, typeof(IVRChaperone));
+	}
+	public ChaperoneCalibrationState GetCalibrationState()
+	{
+		ChaperoneCalibrationState result = FnTable.GetCalibrationState();
+		return result;
+	}
+	public bool GetPlayAreaSize(ref float pSizeX,ref float pSizeZ)
+	{
+		pSizeX = 0;
+		pSizeZ = 0;
+		bool result = FnTable.GetPlayAreaSize(ref pSizeX,ref pSizeZ);
+		return result;
+	}
+	public bool GetPlayAreaRect(ref HmdQuad_t rect)
+	{
+		bool result = FnTable.GetPlayAreaRect(ref rect);
+		return result;
+	}
+	public void ReloadInfo()
+	{
+		FnTable.ReloadInfo();
+	}
+	public void SetSceneColor(HmdColor_t color)
+	{
+		FnTable.SetSceneColor(color);
+	}
+	public void GetBoundsColor(ref HmdColor_t pOutputColorArray,int nNumOutputColors,float flCollisionBoundsFadeDistance,ref HmdColor_t pOutputCameraColor)
+	{
+		FnTable.GetBoundsColor(ref pOutputColorArray,nNumOutputColors,flCollisionBoundsFadeDistance,ref pOutputCameraColor);
+	}
+	public bool AreBoundsVisible()
+	{
+		bool result = FnTable.AreBoundsVisible();
+		return result;
+	}
+	public void ForceBoundsVisible(bool bForce)
+	{
+		FnTable.ForceBoundsVisible(bForce);
+	}
+}
+
+
+public class CVRChaperoneSetup
+{
+	IVRChaperoneSetup FnTable;
+	internal CVRChaperoneSetup(IntPtr pInterface)
+	{
+		FnTable = (IVRChaperoneSetup)Marshal.PtrToStructure(pInterface, typeof(IVRChaperoneSetup));
+	}
+	public bool CommitWorkingCopy(EChaperoneConfigFile configFile)
+	{
+		bool result = FnTable.CommitWorkingCopy(configFile);
+		return result;
+	}
+	public void RevertWorkingCopy()
+	{
+		FnTable.RevertWorkingCopy();
+	}
+	public bool GetWorkingPlayAreaSize(ref float pSizeX,ref float pSizeZ)
+	{
+		pSizeX = 0;
+		pSizeZ = 0;
+		bool result = FnTable.GetWorkingPlayAreaSize(ref pSizeX,ref pSizeZ);
+		return result;
+	}
+	public bool GetWorkingPlayAreaRect(ref HmdQuad_t rect)
+	{
+		bool result = FnTable.GetWorkingPlayAreaRect(ref rect);
+		return result;
+	}
+	public bool GetWorkingCollisionBoundsInfo(out HmdQuad_t [] pQuadsBuffer)
+	{
+		uint punQuadsCount = 0;
+		bool result = FnTable.GetWorkingCollisionBoundsInfo(null,ref punQuadsCount);
+		pQuadsBuffer= new HmdQuad_t[punQuadsCount];
+		result = FnTable.GetWorkingCollisionBoundsInfo(pQuadsBuffer,ref punQuadsCount);
+		return result;
+	}
+	public bool GetLiveCollisionBoundsInfo(out HmdQuad_t [] pQuadsBuffer)
+	{
+		uint punQuadsCount = 0;
+		bool result = FnTable.GetLiveCollisionBoundsInfo(null,ref punQuadsCount);
+		pQuadsBuffer= new HmdQuad_t[punQuadsCount];
+		result = FnTable.GetLiveCollisionBoundsInfo(pQuadsBuffer,ref punQuadsCount);
+		return result;
+	}
+	public bool GetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose)
+	{
+		bool result = FnTable.GetWorkingSeatedZeroPoseToRawTrackingPose(ref pmatSeatedZeroPoseToRawTrackingPose);
+		return result;
+	}
+	public bool GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose)
+	{
+		bool result = FnTable.GetWorkingStandingZeroPoseToRawTrackingPose(ref pmatStandingZeroPoseToRawTrackingPose);
+		return result;
+	}
+	public void SetWorkingPlayAreaSize(float sizeX,float sizeZ)
+	{
+		FnTable.SetWorkingPlayAreaSize(sizeX,sizeZ);
+	}
+	public void SetWorkingCollisionBoundsInfo(HmdQuad_t [] pQuadsBuffer)
+	{
+		FnTable.SetWorkingCollisionBoundsInfo(pQuadsBuffer,(uint) pQuadsBuffer.Length);
+	}
+	public void SetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatSeatedZeroPoseToRawTrackingPose)
+	{
+		FnTable.SetWorkingSeatedZeroPoseToRawTrackingPose(ref pMatSeatedZeroPoseToRawTrackingPose);
+	}
+	public void SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose)
+	{
+		FnTable.SetWorkingStandingZeroPoseToRawTrackingPose(ref pMatStandingZeroPoseToRawTrackingPose);
+	}
+	public void ReloadFromDisk(EChaperoneConfigFile configFile)
+	{
+		FnTable.ReloadFromDisk(configFile);
+	}
+	public bool GetLiveSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose)
+	{
+		bool result = FnTable.GetLiveSeatedZeroPoseToRawTrackingPose(ref pmatSeatedZeroPoseToRawTrackingPose);
+		return result;
+	}
+	public void SetWorkingCollisionBoundsTagsInfo(byte [] pTagsBuffer)
+	{
+		FnTable.SetWorkingCollisionBoundsTagsInfo(pTagsBuffer,(uint) pTagsBuffer.Length);
+	}
+	public bool GetLiveCollisionBoundsTagsInfo(out byte [] pTagsBuffer)
+	{
+		uint punTagCount = 0;
+		bool result = FnTable.GetLiveCollisionBoundsTagsInfo(null,ref punTagCount);
+		pTagsBuffer= new byte[punTagCount];
+		result = FnTable.GetLiveCollisionBoundsTagsInfo(pTagsBuffer,ref punTagCount);
+		return result;
+	}
+	public bool SetWorkingPhysicalBoundsInfo(HmdQuad_t [] pQuadsBuffer)
+	{
+		bool result = FnTable.SetWorkingPhysicalBoundsInfo(pQuadsBuffer,(uint) pQuadsBuffer.Length);
+		return result;
+	}
+	public bool GetLivePhysicalBoundsInfo(out HmdQuad_t [] pQuadsBuffer)
+	{
+		uint punQuadsCount = 0;
+		bool result = FnTable.GetLivePhysicalBoundsInfo(null,ref punQuadsCount);
+		pQuadsBuffer= new HmdQuad_t[punQuadsCount];
+		result = FnTable.GetLivePhysicalBoundsInfo(pQuadsBuffer,ref punQuadsCount);
+		return result;
+	}
+	public bool ExportLiveToBuffer(System.Text.StringBuilder pBuffer,ref uint pnBufferLength)
+	{
+		pnBufferLength = 0;
+		bool result = FnTable.ExportLiveToBuffer(pBuffer,ref pnBufferLength);
+		return result;
+	}
+	public bool ImportFromBufferToWorking(string pBuffer,uint nImportFlags)
+	{
+		bool result = FnTable.ImportFromBufferToWorking(pBuffer,nImportFlags);
+		return result;
+	}
+}
+
+
+public class CVRCompositor
+{
+	IVRCompositor FnTable;
+	internal CVRCompositor(IntPtr pInterface)
+	{
+		FnTable = (IVRCompositor)Marshal.PtrToStructure(pInterface, typeof(IVRCompositor));
+	}
+	public void SetTrackingSpace(ETrackingUniverseOrigin eOrigin)
+	{
+		FnTable.SetTrackingSpace(eOrigin);
+	}
+	public ETrackingUniverseOrigin GetTrackingSpace()
+	{
+		ETrackingUniverseOrigin result = FnTable.GetTrackingSpace();
+		return result;
+	}
+	public EVRCompositorError WaitGetPoses(TrackedDevicePose_t [] pRenderPoseArray,TrackedDevicePose_t [] pGamePoseArray)
+	{
+		EVRCompositorError result = FnTable.WaitGetPoses(pRenderPoseArray,(uint) pRenderPoseArray.Length,pGamePoseArray,(uint) pGamePoseArray.Length);
+		return result;
+	}
+	public EVRCompositorError GetLastPoses(TrackedDevicePose_t [] pRenderPoseArray,TrackedDevicePose_t [] pGamePoseArray)
+	{
+		EVRCompositorError result = FnTable.GetLastPoses(pRenderPoseArray,(uint) pRenderPoseArray.Length,pGamePoseArray,(uint) pGamePoseArray.Length);
+		return result;
+	}
+	public EVRCompositorError GetLastPoseForTrackedDeviceIndex(uint unDeviceIndex,ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pOutputGamePose)
+	{
+		EVRCompositorError result = FnTable.GetLastPoseForTrackedDeviceIndex(unDeviceIndex,ref pOutputPose,ref pOutputGamePose);
+		return result;
+	}
+	public EVRCompositorError Submit(EVREye eEye,ref Texture_t pTexture,ref VRTextureBounds_t pBounds,EVRSubmitFlags nSubmitFlags)
+	{
+		EVRCompositorError result = FnTable.Submit(eEye,ref pTexture,ref pBounds,nSubmitFlags);
+		return result;
+	}
+	public void ClearLastSubmittedFrame()
+	{
+		FnTable.ClearLastSubmittedFrame();
+	}
+	public void PostPresentHandoff()
+	{
+		FnTable.PostPresentHandoff();
+	}
+	public bool GetFrameTiming(ref Compositor_FrameTiming pTiming,uint unFramesAgo)
+	{
+		bool result = FnTable.GetFrameTiming(ref pTiming,unFramesAgo);
+		return result;
+	}
+	public uint GetFrameTimings(ref Compositor_FrameTiming pTiming,uint nFrames)
+	{
+		uint result = FnTable.GetFrameTimings(ref pTiming,nFrames);
+		return result;
+	}
+	public float GetFrameTimeRemaining()
+	{
+		float result = FnTable.GetFrameTimeRemaining();
+		return result;
+	}
+	public void GetCumulativeStats(ref Compositor_CumulativeStats pStats,uint nStatsSizeInBytes)
+	{
+		FnTable.GetCumulativeStats(ref pStats,nStatsSizeInBytes);
+	}
+	public void FadeToColor(float fSeconds,float fRed,float fGreen,float fBlue,float fAlpha,bool bBackground)
+	{
+		FnTable.FadeToColor(fSeconds,fRed,fGreen,fBlue,fAlpha,bBackground);
+	}
+	public HmdColor_t GetCurrentFadeColor(bool bBackground)
+	{
+		HmdColor_t result = FnTable.GetCurrentFadeColor(bBackground);
+		return result;
+	}
+	public void FadeGrid(float fSeconds,bool bFadeIn)
+	{
+		FnTable.FadeGrid(fSeconds,bFadeIn);
+	}
+	public float GetCurrentGridAlpha()
+	{
+		float result = FnTable.GetCurrentGridAlpha();
+		return result;
+	}
+	public EVRCompositorError SetSkyboxOverride(Texture_t [] pTextures)
+	{
+		EVRCompositorError result = FnTable.SetSkyboxOverride(pTextures,(uint) pTextures.Length);
+		return result;
+	}
+	public void ClearSkyboxOverride()
+	{
+		FnTable.ClearSkyboxOverride();
+	}
+	public void CompositorBringToFront()
+	{
+		FnTable.CompositorBringToFront();
+	}
+	public void CompositorGoToBack()
+	{
+		FnTable.CompositorGoToBack();
+	}
+	public void CompositorQuit()
+	{
+		FnTable.CompositorQuit();
+	}
+	public bool IsFullscreen()
+	{
+		bool result = FnTable.IsFullscreen();
+		return result;
+	}
+	public uint GetCurrentSceneFocusProcess()
+	{
+		uint result = FnTable.GetCurrentSceneFocusProcess();
+		return result;
+	}
+	public uint GetLastFrameRenderer()
+	{
+		uint result = FnTable.GetLastFrameRenderer();
+		return result;
+	}
+	public bool CanRenderScene()
+	{
+		bool result = FnTable.CanRenderScene();
+		return result;
+	}
+	public void ShowMirrorWindow()
+	{
+		FnTable.ShowMirrorWindow();
+	}
+	public void HideMirrorWindow()
+	{
+		FnTable.HideMirrorWindow();
+	}
+	public bool IsMirrorWindowVisible()
+	{
+		bool result = FnTable.IsMirrorWindowVisible();
+		return result;
+	}
+	public void CompositorDumpImages()
+	{
+		FnTable.CompositorDumpImages();
+	}
+	public bool ShouldAppRenderWithLowResources()
+	{
+		bool result = FnTable.ShouldAppRenderWithLowResources();
+		return result;
+	}
+	public void ForceInterleavedReprojectionOn(bool bOverride)
+	{
+		FnTable.ForceInterleavedReprojectionOn(bOverride);
+	}
+	public void ForceReconnectProcess()
+	{
+		FnTable.ForceReconnectProcess();
+	}
+	public void SuspendRendering(bool bSuspend)
+	{
+		FnTable.SuspendRendering(bSuspend);
+	}
+	public EVRCompositorError GetMirrorTextureD3D11(EVREye eEye,IntPtr pD3D11DeviceOrResource,ref IntPtr ppD3D11ShaderResourceView)
+	{
+		EVRCompositorError result = FnTable.GetMirrorTextureD3D11(eEye,pD3D11DeviceOrResource,ref ppD3D11ShaderResourceView);
+		return result;
+	}
+	public void ReleaseMirrorTextureD3D11(IntPtr pD3D11ShaderResourceView)
+	{
+		FnTable.ReleaseMirrorTextureD3D11(pD3D11ShaderResourceView);
+	}
+	public EVRCompositorError GetMirrorTextureGL(EVREye eEye,ref uint pglTextureId,IntPtr pglSharedTextureHandle)
+	{
+		pglTextureId = 0;
+		EVRCompositorError result = FnTable.GetMirrorTextureGL(eEye,ref pglTextureId,pglSharedTextureHandle);
+		return result;
+	}
+	public bool ReleaseSharedGLTexture(uint glTextureId,IntPtr glSharedTextureHandle)
+	{
+		bool result = FnTable.ReleaseSharedGLTexture(glTextureId,glSharedTextureHandle);
+		return result;
+	}
+	public void LockGLSharedTextureForAccess(IntPtr glSharedTextureHandle)
+	{
+		FnTable.LockGLSharedTextureForAccess(glSharedTextureHandle);
+	}
+	public void UnlockGLSharedTextureForAccess(IntPtr glSharedTextureHandle)
+	{
+		FnTable.UnlockGLSharedTextureForAccess(glSharedTextureHandle);
+	}
+	public uint GetVulkanInstanceExtensionsRequired(System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetVulkanInstanceExtensionsRequired(pchValue,unBufferSize);
+		return result;
+	}
+	public uint GetVulkanDeviceExtensionsRequired(IntPtr pPhysicalDevice,System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetVulkanDeviceExtensionsRequired(pPhysicalDevice,pchValue,unBufferSize);
+		return result;
+	}
+}
+
+
+public class CVROverlay
+{
+	IVROverlay FnTable;
+	internal CVROverlay(IntPtr pInterface)
+	{
+		FnTable = (IVROverlay)Marshal.PtrToStructure(pInterface, typeof(IVROverlay));
+	}
+	public EVROverlayError FindOverlay(string pchOverlayKey,ref ulong pOverlayHandle)
+	{
+		pOverlayHandle = 0;
+		EVROverlayError result = FnTable.FindOverlay(pchOverlayKey,ref pOverlayHandle);
+		return result;
+	}
+	public EVROverlayError CreateOverlay(string pchOverlayKey,string pchOverlayName,ref ulong pOverlayHandle)
+	{
+		pOverlayHandle = 0;
+		EVROverlayError result = FnTable.CreateOverlay(pchOverlayKey,pchOverlayName,ref pOverlayHandle);
+		return result;
+	}
+	public EVROverlayError DestroyOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.DestroyOverlay(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetHighQualityOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.SetHighQualityOverlay(ulOverlayHandle);
+		return result;
+	}
+	public ulong GetHighQualityOverlay()
+	{
+		ulong result = FnTable.GetHighQualityOverlay();
+		return result;
+	}
+	public uint GetOverlayKey(ulong ulOverlayHandle,System.Text.StringBuilder pchValue,uint unBufferSize,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayKey(ulOverlayHandle,pchValue,unBufferSize,ref pError);
+		return result;
+	}
+	public uint GetOverlayName(ulong ulOverlayHandle,System.Text.StringBuilder pchValue,uint unBufferSize,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayName(ulOverlayHandle,pchValue,unBufferSize,ref pError);
+		return result;
+	}
+	public EVROverlayError SetOverlayName(ulong ulOverlayHandle,string pchName)
+	{
+		EVROverlayError result = FnTable.SetOverlayName(ulOverlayHandle,pchName);
+		return result;
+	}
+	public EVROverlayError GetOverlayImageData(ulong ulOverlayHandle,IntPtr pvBuffer,uint unBufferSize,ref uint punWidth,ref uint punHeight)
+	{
+		punWidth = 0;
+		punHeight = 0;
+		EVROverlayError result = FnTable.GetOverlayImageData(ulOverlayHandle,pvBuffer,unBufferSize,ref punWidth,ref punHeight);
+		return result;
+	}
+	public string GetOverlayErrorNameFromEnum(EVROverlayError error)
+	{
+		IntPtr result = FnTable.GetOverlayErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public EVROverlayError SetOverlayRenderingPid(ulong ulOverlayHandle,uint unPID)
+	{
+		EVROverlayError result = FnTable.SetOverlayRenderingPid(ulOverlayHandle,unPID);
+		return result;
+	}
+	public uint GetOverlayRenderingPid(ulong ulOverlayHandle)
+	{
+		uint result = FnTable.GetOverlayRenderingPid(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetOverlayFlag(ulong ulOverlayHandle,VROverlayFlags eOverlayFlag,bool bEnabled)
+	{
+		EVROverlayError result = FnTable.SetOverlayFlag(ulOverlayHandle,eOverlayFlag,bEnabled);
+		return result;
+	}
+	public EVROverlayError GetOverlayFlag(ulong ulOverlayHandle,VROverlayFlags eOverlayFlag,ref bool pbEnabled)
+	{
+		pbEnabled = false;
+		EVROverlayError result = FnTable.GetOverlayFlag(ulOverlayHandle,eOverlayFlag,ref pbEnabled);
+		return result;
+	}
+	public EVROverlayError SetOverlayColor(ulong ulOverlayHandle,float fRed,float fGreen,float fBlue)
+	{
+		EVROverlayError result = FnTable.SetOverlayColor(ulOverlayHandle,fRed,fGreen,fBlue);
+		return result;
+	}
+	public EVROverlayError GetOverlayColor(ulong ulOverlayHandle,ref float pfRed,ref float pfGreen,ref float pfBlue)
+	{
+		pfRed = 0;
+		pfGreen = 0;
+		pfBlue = 0;
+		EVROverlayError result = FnTable.GetOverlayColor(ulOverlayHandle,ref pfRed,ref pfGreen,ref pfBlue);
+		return result;
+	}
+	public EVROverlayError SetOverlayAlpha(ulong ulOverlayHandle,float fAlpha)
+	{
+		EVROverlayError result = FnTable.SetOverlayAlpha(ulOverlayHandle,fAlpha);
+		return result;
+	}
+	public EVROverlayError GetOverlayAlpha(ulong ulOverlayHandle,ref float pfAlpha)
+	{
+		pfAlpha = 0;
+		EVROverlayError result = FnTable.GetOverlayAlpha(ulOverlayHandle,ref pfAlpha);
+		return result;
+	}
+	public EVROverlayError SetOverlayTexelAspect(ulong ulOverlayHandle,float fTexelAspect)
+	{
+		EVROverlayError result = FnTable.SetOverlayTexelAspect(ulOverlayHandle,fTexelAspect);
+		return result;
+	}
+	public EVROverlayError GetOverlayTexelAspect(ulong ulOverlayHandle,ref float pfTexelAspect)
+	{
+		pfTexelAspect = 0;
+		EVROverlayError result = FnTable.GetOverlayTexelAspect(ulOverlayHandle,ref pfTexelAspect);
+		return result;
+	}
+	public EVROverlayError SetOverlaySortOrder(ulong ulOverlayHandle,uint unSortOrder)
+	{
+		EVROverlayError result = FnTable.SetOverlaySortOrder(ulOverlayHandle,unSortOrder);
+		return result;
+	}
+	public EVROverlayError GetOverlaySortOrder(ulong ulOverlayHandle,ref uint punSortOrder)
+	{
+		punSortOrder = 0;
+		EVROverlayError result = FnTable.GetOverlaySortOrder(ulOverlayHandle,ref punSortOrder);
+		return result;
+	}
+	public EVROverlayError SetOverlayWidthInMeters(ulong ulOverlayHandle,float fWidthInMeters)
+	{
+		EVROverlayError result = FnTable.SetOverlayWidthInMeters(ulOverlayHandle,fWidthInMeters);
+		return result;
+	}
+	public EVROverlayError GetOverlayWidthInMeters(ulong ulOverlayHandle,ref float pfWidthInMeters)
+	{
+		pfWidthInMeters = 0;
+		EVROverlayError result = FnTable.GetOverlayWidthInMeters(ulOverlayHandle,ref pfWidthInMeters);
+		return result;
+	}
+	public EVROverlayError SetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle,float fMinDistanceInMeters,float fMaxDistanceInMeters)
+	{
+		EVROverlayError result = FnTable.SetOverlayAutoCurveDistanceRangeInMeters(ulOverlayHandle,fMinDistanceInMeters,fMaxDistanceInMeters);
+		return result;
+	}
+	public EVROverlayError GetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle,ref float pfMinDistanceInMeters,ref float pfMaxDistanceInMeters)
+	{
+		pfMinDistanceInMeters = 0;
+		pfMaxDistanceInMeters = 0;
+		EVROverlayError result = FnTable.GetOverlayAutoCurveDistanceRangeInMeters(ulOverlayHandle,ref pfMinDistanceInMeters,ref pfMaxDistanceInMeters);
+		return result;
+	}
+	public EVROverlayError SetOverlayTextureColorSpace(ulong ulOverlayHandle,EColorSpace eTextureColorSpace)
+	{
+		EVROverlayError result = FnTable.SetOverlayTextureColorSpace(ulOverlayHandle,eTextureColorSpace);
+		return result;
+	}
+	public EVROverlayError GetOverlayTextureColorSpace(ulong ulOverlayHandle,ref EColorSpace peTextureColorSpace)
+	{
+		EVROverlayError result = FnTable.GetOverlayTextureColorSpace(ulOverlayHandle,ref peTextureColorSpace);
+		return result;
+	}
+	public EVROverlayError SetOverlayTextureBounds(ulong ulOverlayHandle,ref VRTextureBounds_t pOverlayTextureBounds)
+	{
+		EVROverlayError result = FnTable.SetOverlayTextureBounds(ulOverlayHandle,ref pOverlayTextureBounds);
+		return result;
+	}
+	public EVROverlayError GetOverlayTextureBounds(ulong ulOverlayHandle,ref VRTextureBounds_t pOverlayTextureBounds)
+	{
+		EVROverlayError result = FnTable.GetOverlayTextureBounds(ulOverlayHandle,ref pOverlayTextureBounds);
+		return result;
+	}
+	public uint GetOverlayRenderModel(ulong ulOverlayHandle,string pchValue,uint unBufferSize,ref HmdColor_t pColor,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayRenderModel(ulOverlayHandle,pchValue,unBufferSize,ref pColor,ref pError);
+		return result;
+	}
+	public EVROverlayError SetOverlayRenderModel(ulong ulOverlayHandle,string pchRenderModel,ref HmdColor_t pColor)
+	{
+		EVROverlayError result = FnTable.SetOverlayRenderModel(ulOverlayHandle,pchRenderModel,ref pColor);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformType(ulong ulOverlayHandle,ref VROverlayTransformType peTransformType)
+	{
+		EVROverlayError result = FnTable.GetOverlayTransformType(ulOverlayHandle,ref peTransformType);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformAbsolute(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformAbsolute(ulOverlayHandle,eTrackingOrigin,ref pmatTrackingOriginToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformAbsolute(ulong ulOverlayHandle,ref ETrackingUniverseOrigin peTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.GetOverlayTransformAbsolute(ulOverlayHandle,ref peTrackingOrigin,ref pmatTrackingOriginToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,uint unTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformTrackedDeviceRelative(ulOverlayHandle,unTrackedDevice,ref pmatTrackedDeviceToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,ref uint punTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform)
+	{
+		punTrackedDevice = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformTrackedDeviceRelative(ulOverlayHandle,ref punTrackedDevice,ref pmatTrackedDeviceToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle,uint unDeviceIndex,string pchComponentName)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformTrackedDeviceComponent(ulOverlayHandle,unDeviceIndex,pchComponentName);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle,ref uint punDeviceIndex,string pchComponentName,uint unComponentNameSize)
+	{
+		punDeviceIndex = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformTrackedDeviceComponent(ulOverlayHandle,ref punDeviceIndex,pchComponentName,unComponentNameSize);
+		return result;
+	}
+	public EVROverlayError GetOverlayTransformOverlayRelative(ulong ulOverlayHandle,ref ulong ulOverlayHandleParent,ref HmdMatrix34_t pmatParentOverlayToOverlayTransform)
+	{
+		ulOverlayHandleParent = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformOverlayRelative(ulOverlayHandle,ref ulOverlayHandleParent,ref pmatParentOverlayToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformOverlayRelative(ulong ulOverlayHandle,ulong ulOverlayHandleParent,ref HmdMatrix34_t pmatParentOverlayToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformOverlayRelative(ulOverlayHandle,ulOverlayHandleParent,ref pmatParentOverlayToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError ShowOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.ShowOverlay(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError HideOverlay(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.HideOverlay(ulOverlayHandle);
+		return result;
+	}
+	public bool IsOverlayVisible(ulong ulOverlayHandle)
+	{
+		bool result = FnTable.IsOverlayVisible(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError GetTransformForOverlayCoordinates(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,HmdVector2_t coordinatesInOverlay,ref HmdMatrix34_t pmatTransform)
+	{
+		EVROverlayError result = FnTable.GetTransformForOverlayCoordinates(ulOverlayHandle,eTrackingOrigin,coordinatesInOverlay,ref pmatTransform);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextOverlayEventPacked(ulong ulOverlayHandle,ref VREvent_t_Packed pEvent,uint uncbVREvent);
+	[StructLayout(LayoutKind.Explicit)]
+	struct PollNextOverlayEventUnion
+	{
+		[FieldOffset(0)]
+		public IVROverlay._PollNextOverlayEvent pPollNextOverlayEvent;
+		[FieldOffset(0)]
+		public _PollNextOverlayEventPacked pPollNextOverlayEventPacked;
+	}
+	public bool PollNextOverlayEvent(ulong ulOverlayHandle,ref VREvent_t pEvent,uint uncbVREvent)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			PollNextOverlayEventUnion u;
+			VREvent_t_Packed event_packed = new VREvent_t_Packed();
+			u.pPollNextOverlayEventPacked = null;
+			u.pPollNextOverlayEvent = FnTable.PollNextOverlayEvent;
+			bool packed_result = u.pPollNextOverlayEventPacked(ulOverlayHandle,ref event_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VREvent_t_Packed)));
+
+			event_packed.Unpack(ref pEvent);
+			return packed_result;
+		}
+		bool result = FnTable.PollNextOverlayEvent(ulOverlayHandle,ref pEvent,uncbVREvent);
+		return result;
+	}
+	public EVROverlayError GetOverlayInputMethod(ulong ulOverlayHandle,ref VROverlayInputMethod peInputMethod)
+	{
+		EVROverlayError result = FnTable.GetOverlayInputMethod(ulOverlayHandle,ref peInputMethod);
+		return result;
+	}
+	public EVROverlayError SetOverlayInputMethod(ulong ulOverlayHandle,VROverlayInputMethod eInputMethod)
+	{
+		EVROverlayError result = FnTable.SetOverlayInputMethod(ulOverlayHandle,eInputMethod);
+		return result;
+	}
+	public EVROverlayError GetOverlayMouseScale(ulong ulOverlayHandle,ref HmdVector2_t pvecMouseScale)
+	{
+		EVROverlayError result = FnTable.GetOverlayMouseScale(ulOverlayHandle,ref pvecMouseScale);
+		return result;
+	}
+	public EVROverlayError SetOverlayMouseScale(ulong ulOverlayHandle,ref HmdVector2_t pvecMouseScale)
+	{
+		EVROverlayError result = FnTable.SetOverlayMouseScale(ulOverlayHandle,ref pvecMouseScale);
+		return result;
+	}
+	public bool ComputeOverlayIntersection(ulong ulOverlayHandle,ref VROverlayIntersectionParams_t pParams,ref VROverlayIntersectionResults_t pResults)
+	{
+		bool result = FnTable.ComputeOverlayIntersection(ulOverlayHandle,ref pParams,ref pResults);
+		return result;
+	}
+	public bool HandleControllerOverlayInteractionAsMouse(ulong ulOverlayHandle,uint unControllerDeviceIndex)
+	{
+		bool result = FnTable.HandleControllerOverlayInteractionAsMouse(ulOverlayHandle,unControllerDeviceIndex);
+		return result;
+	}
+	public bool IsHoverTargetOverlay(ulong ulOverlayHandle)
+	{
+		bool result = FnTable.IsHoverTargetOverlay(ulOverlayHandle);
+		return result;
+	}
+	public ulong GetGamepadFocusOverlay()
+	{
+		ulong result = FnTable.GetGamepadFocusOverlay();
+		return result;
+	}
+	public EVROverlayError SetGamepadFocusOverlay(ulong ulNewFocusOverlay)
+	{
+		EVROverlayError result = FnTable.SetGamepadFocusOverlay(ulNewFocusOverlay);
+		return result;
+	}
+	public EVROverlayError SetOverlayNeighbor(EOverlayDirection eDirection,ulong ulFrom,ulong ulTo)
+	{
+		EVROverlayError result = FnTable.SetOverlayNeighbor(eDirection,ulFrom,ulTo);
+		return result;
+	}
+	public EVROverlayError MoveGamepadFocusToNeighbor(EOverlayDirection eDirection,ulong ulFrom)
+	{
+		EVROverlayError result = FnTable.MoveGamepadFocusToNeighbor(eDirection,ulFrom);
+		return result;
+	}
+	public EVROverlayError SetOverlayTexture(ulong ulOverlayHandle,ref Texture_t pTexture)
+	{
+		EVROverlayError result = FnTable.SetOverlayTexture(ulOverlayHandle,ref pTexture);
+		return result;
+	}
+	public EVROverlayError ClearOverlayTexture(ulong ulOverlayHandle)
+	{
+		EVROverlayError result = FnTable.ClearOverlayTexture(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetOverlayRaw(ulong ulOverlayHandle,IntPtr pvBuffer,uint unWidth,uint unHeight,uint unDepth)
+	{
+		EVROverlayError result = FnTable.SetOverlayRaw(ulOverlayHandle,pvBuffer,unWidth,unHeight,unDepth);
+		return result;
+	}
+	public EVROverlayError SetOverlayFromFile(ulong ulOverlayHandle,string pchFilePath)
+	{
+		EVROverlayError result = FnTable.SetOverlayFromFile(ulOverlayHandle,pchFilePath);
+		return result;
+	}
+	public EVROverlayError GetOverlayTexture(ulong ulOverlayHandle,ref IntPtr pNativeTextureHandle,IntPtr pNativeTextureRef,ref uint pWidth,ref uint pHeight,ref uint pNativeFormat,ref ETextureType pAPIType,ref EColorSpace pColorSpace,ref VRTextureBounds_t pTextureBounds)
+	{
+		pWidth = 0;
+		pHeight = 0;
+		pNativeFormat = 0;
+		EVROverlayError result = FnTable.GetOverlayTexture(ulOverlayHandle,ref pNativeTextureHandle,pNativeTextureRef,ref pWidth,ref pHeight,ref pNativeFormat,ref pAPIType,ref pColorSpace,ref pTextureBounds);
+		return result;
+	}
+	public EVROverlayError ReleaseNativeOverlayHandle(ulong ulOverlayHandle,IntPtr pNativeTextureHandle)
+	{
+		EVROverlayError result = FnTable.ReleaseNativeOverlayHandle(ulOverlayHandle,pNativeTextureHandle);
+		return result;
+	}
+	public EVROverlayError GetOverlayTextureSize(ulong ulOverlayHandle,ref uint pWidth,ref uint pHeight)
+	{
+		pWidth = 0;
+		pHeight = 0;
+		EVROverlayError result = FnTable.GetOverlayTextureSize(ulOverlayHandle,ref pWidth,ref pHeight);
+		return result;
+	}
+	public EVROverlayError CreateDashboardOverlay(string pchOverlayKey,string pchOverlayFriendlyName,ref ulong pMainHandle,ref ulong pThumbnailHandle)
+	{
+		pMainHandle = 0;
+		pThumbnailHandle = 0;
+		EVROverlayError result = FnTable.CreateDashboardOverlay(pchOverlayKey,pchOverlayFriendlyName,ref pMainHandle,ref pThumbnailHandle);
+		return result;
+	}
+	public bool IsDashboardVisible()
+	{
+		bool result = FnTable.IsDashboardVisible();
+		return result;
+	}
+	public bool IsActiveDashboardOverlay(ulong ulOverlayHandle)
+	{
+		bool result = FnTable.IsActiveDashboardOverlay(ulOverlayHandle);
+		return result;
+	}
+	public EVROverlayError SetDashboardOverlaySceneProcess(ulong ulOverlayHandle,uint unProcessId)
+	{
+		EVROverlayError result = FnTable.SetDashboardOverlaySceneProcess(ulOverlayHandle,unProcessId);
+		return result;
+	}
+	public EVROverlayError GetDashboardOverlaySceneProcess(ulong ulOverlayHandle,ref uint punProcessId)
+	{
+		punProcessId = 0;
+		EVROverlayError result = FnTable.GetDashboardOverlaySceneProcess(ulOverlayHandle,ref punProcessId);
+		return result;
+	}
+	public void ShowDashboard(string pchOverlayToShow)
+	{
+		FnTable.ShowDashboard(pchOverlayToShow);
+	}
+	public uint GetPrimaryDashboardDevice()
+	{
+		uint result = FnTable.GetPrimaryDashboardDevice();
+		return result;
+	}
+	public EVROverlayError ShowKeyboard(int eInputMode,int eLineInputMode,string pchDescription,uint unCharMax,string pchExistingText,bool bUseMinimalMode,ulong uUserValue)
+	{
+		EVROverlayError result = FnTable.ShowKeyboard(eInputMode,eLineInputMode,pchDescription,unCharMax,pchExistingText,bUseMinimalMode,uUserValue);
+		return result;
+	}
+	public EVROverlayError ShowKeyboardForOverlay(ulong ulOverlayHandle,int eInputMode,int eLineInputMode,string pchDescription,uint unCharMax,string pchExistingText,bool bUseMinimalMode,ulong uUserValue)
+	{
+		EVROverlayError result = FnTable.ShowKeyboardForOverlay(ulOverlayHandle,eInputMode,eLineInputMode,pchDescription,unCharMax,pchExistingText,bUseMinimalMode,uUserValue);
+		return result;
+	}
+	public uint GetKeyboardText(System.Text.StringBuilder pchText,uint cchText)
+	{
+		uint result = FnTable.GetKeyboardText(pchText,cchText);
+		return result;
+	}
+	public void HideKeyboard()
+	{
+		FnTable.HideKeyboard();
+	}
+	public void SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform)
+	{
+		FnTable.SetKeyboardTransformAbsolute(eTrackingOrigin,ref pmatTrackingOriginToKeyboardTransform);
+	}
+	public void SetKeyboardPositionForOverlay(ulong ulOverlayHandle,HmdRect2_t avoidRect)
+	{
+		FnTable.SetKeyboardPositionForOverlay(ulOverlayHandle,avoidRect);
+	}
+	public EVROverlayError SetOverlayIntersectionMask(ulong ulOverlayHandle,ref VROverlayIntersectionMaskPrimitive_t pMaskPrimitives,uint unNumMaskPrimitives,uint unPrimitiveSize)
+	{
+		EVROverlayError result = FnTable.SetOverlayIntersectionMask(ulOverlayHandle,ref pMaskPrimitives,unNumMaskPrimitives,unPrimitiveSize);
+		return result;
+	}
+	public EVROverlayError GetOverlayFlags(ulong ulOverlayHandle,ref uint pFlags)
+	{
+		pFlags = 0;
+		EVROverlayError result = FnTable.GetOverlayFlags(ulOverlayHandle,ref pFlags);
+		return result;
+	}
+	public VRMessageOverlayResponse ShowMessageOverlay(string pchText,string pchCaption,string pchButton0Text,string pchButton1Text,string pchButton2Text,string pchButton3Text)
+	{
+		VRMessageOverlayResponse result = FnTable.ShowMessageOverlay(pchText,pchCaption,pchButton0Text,pchButton1Text,pchButton2Text,pchButton3Text);
+		return result;
+	}
+}
+
+
+public class CVRRenderModels
+{
+	IVRRenderModels FnTable;
+	internal CVRRenderModels(IntPtr pInterface)
+	{
+		FnTable = (IVRRenderModels)Marshal.PtrToStructure(pInterface, typeof(IVRRenderModels));
+	}
+	public EVRRenderModelError LoadRenderModel_Async(string pchRenderModelName,ref IntPtr ppRenderModel)
+	{
+		EVRRenderModelError result = FnTable.LoadRenderModel_Async(pchRenderModelName,ref ppRenderModel);
+		return result;
+	}
+	public void FreeRenderModel(IntPtr pRenderModel)
+	{
+		FnTable.FreeRenderModel(pRenderModel);
+	}
+	public EVRRenderModelError LoadTexture_Async(int textureId,ref IntPtr ppTexture)
+	{
+		EVRRenderModelError result = FnTable.LoadTexture_Async(textureId,ref ppTexture);
+		return result;
+	}
+	public void FreeTexture(IntPtr pTexture)
+	{
+		FnTable.FreeTexture(pTexture);
+	}
+	public EVRRenderModelError LoadTextureD3D11_Async(int textureId,IntPtr pD3D11Device,ref IntPtr ppD3D11Texture2D)
+	{
+		EVRRenderModelError result = FnTable.LoadTextureD3D11_Async(textureId,pD3D11Device,ref ppD3D11Texture2D);
+		return result;
+	}
+	public EVRRenderModelError LoadIntoTextureD3D11_Async(int textureId,IntPtr pDstTexture)
+	{
+		EVRRenderModelError result = FnTable.LoadIntoTextureD3D11_Async(textureId,pDstTexture);
+		return result;
+	}
+	public void FreeTextureD3D11(IntPtr pD3D11Texture2D)
+	{
+		FnTable.FreeTextureD3D11(pD3D11Texture2D);
+	}
+	public uint GetRenderModelName(uint unRenderModelIndex,System.Text.StringBuilder pchRenderModelName,uint unRenderModelNameLen)
+	{
+		uint result = FnTable.GetRenderModelName(unRenderModelIndex,pchRenderModelName,unRenderModelNameLen);
+		return result;
+	}
+	public uint GetRenderModelCount()
+	{
+		uint result = FnTable.GetRenderModelCount();
+		return result;
+	}
+	public uint GetComponentCount(string pchRenderModelName)
+	{
+		uint result = FnTable.GetComponentCount(pchRenderModelName);
+		return result;
+	}
+	public uint GetComponentName(string pchRenderModelName,uint unComponentIndex,System.Text.StringBuilder pchComponentName,uint unComponentNameLen)
+	{
+		uint result = FnTable.GetComponentName(pchRenderModelName,unComponentIndex,pchComponentName,unComponentNameLen);
+		return result;
+	}
+	public ulong GetComponentButtonMask(string pchRenderModelName,string pchComponentName)
+	{
+		ulong result = FnTable.GetComponentButtonMask(pchRenderModelName,pchComponentName);
+		return result;
+	}
+	public uint GetComponentRenderModelName(string pchRenderModelName,string pchComponentName,System.Text.StringBuilder pchComponentRenderModelName,uint unComponentRenderModelNameLen)
+	{
+		uint result = FnTable.GetComponentRenderModelName(pchRenderModelName,pchComponentName,pchComponentRenderModelName,unComponentRenderModelNameLen);
+		return result;
+	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetComponentStatePacked(string pchRenderModelName,string pchComponentName,ref VRControllerState_t_Packed pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetComponentStateUnion
+	{
+		[FieldOffset(0)]
+		public IVRRenderModels._GetComponentState pGetComponentState;
+		[FieldOffset(0)]
+		public _GetComponentStatePacked pGetComponentStatePacked;
+	}
+	public bool GetComponentState(string pchRenderModelName,string pchComponentName,ref VRControllerState_t pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState)
+	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetComponentStateUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetComponentStatePacked = null;
+			u.pGetComponentState = FnTable.GetComponentState;
+			bool packed_result = u.pGetComponentStatePacked(pchRenderModelName,pchComponentName,ref state_packed,ref pState,ref pComponentState);
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
+		bool result = FnTable.GetComponentState(pchRenderModelName,pchComponentName,ref pControllerState,ref pState,ref pComponentState);
+		return result;
+	}
+	public bool RenderModelHasComponent(string pchRenderModelName,string pchComponentName)
+	{
+		bool result = FnTable.RenderModelHasComponent(pchRenderModelName,pchComponentName);
+		return result;
+	}
+	public uint GetRenderModelThumbnailURL(string pchRenderModelName,System.Text.StringBuilder pchThumbnailURL,uint unThumbnailURLLen,ref EVRRenderModelError peError)
+	{
+		uint result = FnTable.GetRenderModelThumbnailURL(pchRenderModelName,pchThumbnailURL,unThumbnailURLLen,ref peError);
+		return result;
+	}
+	public uint GetRenderModelOriginalPath(string pchRenderModelName,System.Text.StringBuilder pchOriginalPath,uint unOriginalPathLen,ref EVRRenderModelError peError)
+	{
+		uint result = FnTable.GetRenderModelOriginalPath(pchRenderModelName,pchOriginalPath,unOriginalPathLen,ref peError);
+		return result;
+	}
+	public string GetRenderModelErrorNameFromEnum(EVRRenderModelError error)
+	{
+		IntPtr result = FnTable.GetRenderModelErrorNameFromEnum(error);
+		return Marshal.PtrToStringAnsi(result);
+	}
+}
+
+
+public class CVRNotifications
+{
+	IVRNotifications FnTable;
+	internal CVRNotifications(IntPtr pInterface)
+	{
+		FnTable = (IVRNotifications)Marshal.PtrToStructure(pInterface, typeof(IVRNotifications));
+	}
+	public EVRNotificationError CreateNotification(ulong ulOverlayHandle,ulong ulUserValue,EVRNotificationType type,string pchText,EVRNotificationStyle style,ref NotificationBitmap_t pImage,ref uint pNotificationId)
+	{
+		pNotificationId = 0;
+		EVRNotificationError result = FnTable.CreateNotification(ulOverlayHandle,ulUserValue,type,pchText,style,ref pImage,ref pNotificationId);
+		return result;
+	}
+	public EVRNotificationError RemoveNotification(uint notificationId)
+	{
+		EVRNotificationError result = FnTable.RemoveNotification(notificationId);
+		return result;
+	}
+}
+
+
+public class CVRSettings
+{
+	IVRSettings FnTable;
+	internal CVRSettings(IntPtr pInterface)
+	{
+		FnTable = (IVRSettings)Marshal.PtrToStructure(pInterface, typeof(IVRSettings));
+	}
+	public string GetSettingsErrorNameFromEnum(EVRSettingsError eError)
+	{
+		IntPtr result = FnTable.GetSettingsErrorNameFromEnum(eError);
+		return Marshal.PtrToStringAnsi(result);
+	}
+	public bool Sync(bool bForce,ref EVRSettingsError peError)
+	{
+		bool result = FnTable.Sync(bForce,ref peError);
+		return result;
+	}
+	public void SetBool(string pchSection,string pchSettingsKey,bool bValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetBool(pchSection,pchSettingsKey,bValue,ref peError);
+	}
+	public void SetInt32(string pchSection,string pchSettingsKey,int nValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetInt32(pchSection,pchSettingsKey,nValue,ref peError);
+	}
+	public void SetFloat(string pchSection,string pchSettingsKey,float flValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetFloat(pchSection,pchSettingsKey,flValue,ref peError);
+	}
+	public void SetString(string pchSection,string pchSettingsKey,string pchValue,ref EVRSettingsError peError)
+	{
+		FnTable.SetString(pchSection,pchSettingsKey,pchValue,ref peError);
+	}
+	public bool GetBool(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		bool result = FnTable.GetBool(pchSection,pchSettingsKey,ref peError);
+		return result;
+	}
+	public int GetInt32(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		int result = FnTable.GetInt32(pchSection,pchSettingsKey,ref peError);
+		return result;
+	}
+	public float GetFloat(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		float result = FnTable.GetFloat(pchSection,pchSettingsKey,ref peError);
+		return result;
+	}
+	public void GetString(string pchSection,string pchSettingsKey,System.Text.StringBuilder pchValue,uint unValueLen,ref EVRSettingsError peError)
+	{
+		FnTable.GetString(pchSection,pchSettingsKey,pchValue,unValueLen,ref peError);
+	}
+	public void RemoveSection(string pchSection,ref EVRSettingsError peError)
+	{
+		FnTable.RemoveSection(pchSection,ref peError);
+	}
+	public void RemoveKeyInSection(string pchSection,string pchSettingsKey,ref EVRSettingsError peError)
+	{
+		FnTable.RemoveKeyInSection(pchSection,pchSettingsKey,ref peError);
+	}
+}
+
+
+public class CVRScreenshots
+{
+	IVRScreenshots FnTable;
+	internal CVRScreenshots(IntPtr pInterface)
+	{
+		FnTable = (IVRScreenshots)Marshal.PtrToStructure(pInterface, typeof(IVRScreenshots));
+	}
+	public EVRScreenshotError RequestScreenshot(ref uint pOutScreenshotHandle,EVRScreenshotType type,string pchPreviewFilename,string pchVRFilename)
+	{
+		pOutScreenshotHandle = 0;
+		EVRScreenshotError result = FnTable.RequestScreenshot(ref pOutScreenshotHandle,type,pchPreviewFilename,pchVRFilename);
+		return result;
+	}
+	public EVRScreenshotError HookScreenshot(EVRScreenshotType [] pSupportedTypes)
+	{
+		EVRScreenshotError result = FnTable.HookScreenshot(pSupportedTypes,(int) pSupportedTypes.Length);
+		return result;
+	}
+	public EVRScreenshotType GetScreenshotPropertyType(uint screenshotHandle,ref EVRScreenshotError pError)
+	{
+		EVRScreenshotType result = FnTable.GetScreenshotPropertyType(screenshotHandle,ref pError);
+		return result;
+	}
+	public uint GetScreenshotPropertyFilename(uint screenshotHandle,EVRScreenshotPropertyFilenames filenameType,System.Text.StringBuilder pchFilename,uint cchFilename,ref EVRScreenshotError pError)
+	{
+		uint result = FnTable.GetScreenshotPropertyFilename(screenshotHandle,filenameType,pchFilename,cchFilename,ref pError);
+		return result;
+	}
+	public EVRScreenshotError UpdateScreenshotProgress(uint screenshotHandle,float flProgress)
+	{
+		EVRScreenshotError result = FnTable.UpdateScreenshotProgress(screenshotHandle,flProgress);
+		return result;
+	}
+	public EVRScreenshotError TakeStereoScreenshot(ref uint pOutScreenshotHandle,string pchPreviewFilename,string pchVRFilename)
+	{
+		pOutScreenshotHandle = 0;
+		EVRScreenshotError result = FnTable.TakeStereoScreenshot(ref pOutScreenshotHandle,pchPreviewFilename,pchVRFilename);
+		return result;
+	}
+	public EVRScreenshotError SubmitScreenshot(uint screenshotHandle,EVRScreenshotType type,string pchSourcePreviewFilename,string pchSourceVRFilename)
+	{
+		EVRScreenshotError result = FnTable.SubmitScreenshot(screenshotHandle,type,pchSourcePreviewFilename,pchSourceVRFilename);
+		return result;
+	}
+}
+
+
+public class CVRResources
+{
+	IVRResources FnTable;
+	internal CVRResources(IntPtr pInterface)
+	{
+		FnTable = (IVRResources)Marshal.PtrToStructure(pInterface, typeof(IVRResources));
+	}
+	public uint LoadSharedResource(string pchResourceName,string pchBuffer,uint unBufferLen)
+	{
+		uint result = FnTable.LoadSharedResource(pchResourceName,pchBuffer,unBufferLen);
+		return result;
+	}
+	public uint GetResourceFullPath(string pchResourceName,string pchResourceTypeDirectory,string pchPathBuffer,uint unBufferLen)
+	{
+		uint result = FnTable.GetResourceFullPath(pchResourceName,pchResourceTypeDirectory,pchPathBuffer,unBufferLen);
+		return result;
+	}
+}
+
+
+public class CVRDriverManager
+{
+	IVRDriverManager FnTable;
+	internal CVRDriverManager(IntPtr pInterface)
+	{
+		FnTable = (IVRDriverManager)Marshal.PtrToStructure(pInterface, typeof(IVRDriverManager));
+	}
+	public uint GetDriverCount()
+	{
+		uint result = FnTable.GetDriverCount();
+		return result;
+	}
+	public uint GetDriverName(uint nDriver,System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetDriverName(nDriver,pchValue,unBufferSize);
+		return result;
+	}
+}
+
+
+public class OpenVRInterop
+{
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_InitInternal", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern uint InitInternal(ref EVRInitError peError, EVRApplicationType eApplicationType);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_ShutdownInternal", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern void ShutdownInternal();
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_IsHmdPresent", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern bool IsHmdPresent();
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_IsRuntimeInstalled", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern bool IsRuntimeInstalled();
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_GetStringForHmdError", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern IntPtr GetStringForHmdError(EVRInitError error);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_GetGenericInterface", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern IntPtr GetGenericInterface([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion, ref EVRInitError peError);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_IsInterfaceVersionValid", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern bool IsInterfaceVersionValid([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion);
+	[DllImportAttribute("openvr_api", EntryPoint = "VR_GetInitToken", CallingConvention = CallingConvention.Cdecl)]
+	internal static extern uint GetInitToken();
+}
+
+
+public enum EVREye
+{
+	Eye_Left = 0,
+	Eye_Right = 1,
+}
+public enum ETextureType
+{
+	DirectX = 0,
+	OpenGL = 1,
+	Vulkan = 2,
+	IOSurface = 3,
+	DirectX12 = 4,
+}
+public enum EColorSpace
+{
+	Auto = 0,
+	Gamma = 1,
+	Linear = 2,
+}
+public enum ETrackingResult
+{
+	Uninitialized = 1,
+	Calibrating_InProgress = 100,
+	Calibrating_OutOfRange = 101,
+	Running_OK = 200,
+	Running_OutOfRange = 201,
+}
+public enum ETrackedDeviceClass
+{
+	Invalid = 0,
+	HMD = 1,
+	Controller = 2,
+	GenericTracker = 3,
+	TrackingReference = 4,
+	DisplayRedirect = 5,
+}
+public enum ETrackedControllerRole
+{
+	Invalid = 0,
+	LeftHand = 1,
+	RightHand = 2,
+}
+public enum ETrackingUniverseOrigin
+{
+	TrackingUniverseSeated = 0,
+	TrackingUniverseStanding = 1,
+	TrackingUniverseRawAndUncalibrated = 2,
+}
+public enum ETrackedDeviceProperty
+{
+	Prop_Invalid = 0,
+	Prop_TrackingSystemName_String = 1000,
+	Prop_ModelNumber_String = 1001,
+	Prop_SerialNumber_String = 1002,
+	Prop_RenderModelName_String = 1003,
+	Prop_WillDriftInYaw_Bool = 1004,
+	Prop_ManufacturerName_String = 1005,
+	Prop_TrackingFirmwareVersion_String = 1006,
+	Prop_HardwareRevision_String = 1007,
+	Prop_AllWirelessDongleDescriptions_String = 1008,
+	Prop_ConnectedWirelessDongle_String = 1009,
+	Prop_DeviceIsWireless_Bool = 1010,
+	Prop_DeviceIsCharging_Bool = 1011,
+	Prop_DeviceBatteryPercentage_Float = 1012,
+	Prop_StatusDisplayTransform_Matrix34 = 1013,
+	Prop_Firmware_UpdateAvailable_Bool = 1014,
+	Prop_Firmware_ManualUpdate_Bool = 1015,
+	Prop_Firmware_ManualUpdateURL_String = 1016,
+	Prop_HardwareRevision_Uint64 = 1017,
+	Prop_FirmwareVersion_Uint64 = 1018,
+	Prop_FPGAVersion_Uint64 = 1019,
+	Prop_VRCVersion_Uint64 = 1020,
+	Prop_RadioVersion_Uint64 = 1021,
+	Prop_DongleVersion_Uint64 = 1022,
+	Prop_BlockServerShutdown_Bool = 1023,
+	Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024,
+	Prop_ContainsProximitySensor_Bool = 1025,
+	Prop_DeviceProvidesBatteryStatus_Bool = 1026,
+	Prop_DeviceCanPowerOff_Bool = 1027,
+	Prop_Firmware_ProgrammingTarget_String = 1028,
+	Prop_DeviceClass_Int32 = 1029,
+	Prop_HasCamera_Bool = 1030,
+	Prop_DriverVersion_String = 1031,
+	Prop_Firmware_ForceUpdateRequired_Bool = 1032,
+	Prop_ViveSystemButtonFixRequired_Bool = 1033,
+	Prop_ParentDriver_Uint64 = 1034,
+	Prop_ResourceRoot_String = 1035,
+	Prop_ReportsTimeSinceVSync_Bool = 2000,
+	Prop_SecondsFromVsyncToPhotons_Float = 2001,
+	Prop_DisplayFrequency_Float = 2002,
+	Prop_UserIpdMeters_Float = 2003,
+	Prop_CurrentUniverseId_Uint64 = 2004,
+	Prop_PreviousUniverseId_Uint64 = 2005,
+	Prop_DisplayFirmwareVersion_Uint64 = 2006,
+	Prop_IsOnDesktop_Bool = 2007,
+	Prop_DisplayMCType_Int32 = 2008,
+	Prop_DisplayMCOffset_Float = 2009,
+	Prop_DisplayMCScale_Float = 2010,
+	Prop_EdidVendorID_Int32 = 2011,
+	Prop_DisplayMCImageLeft_String = 2012,
+	Prop_DisplayMCImageRight_String = 2013,
+	Prop_DisplayGCBlackClamp_Float = 2014,
+	Prop_EdidProductID_Int32 = 2015,
+	Prop_CameraToHeadTransform_Matrix34 = 2016,
+	Prop_DisplayGCType_Int32 = 2017,
+	Prop_DisplayGCOffset_Float = 2018,
+	Prop_DisplayGCScale_Float = 2019,
+	Prop_DisplayGCPrescale_Float = 2020,
+	Prop_DisplayGCImage_String = 2021,
+	Prop_LensCenterLeftU_Float = 2022,
+	Prop_LensCenterLeftV_Float = 2023,
+	Prop_LensCenterRightU_Float = 2024,
+	Prop_LensCenterRightV_Float = 2025,
+	Prop_UserHeadToEyeDepthMeters_Float = 2026,
+	Prop_CameraFirmwareVersion_Uint64 = 2027,
+	Prop_CameraFirmwareDescription_String = 2028,
+	Prop_DisplayFPGAVersion_Uint64 = 2029,
+	Prop_DisplayBootloaderVersion_Uint64 = 2030,
+	Prop_DisplayHardwareVersion_Uint64 = 2031,
+	Prop_AudioFirmwareVersion_Uint64 = 2032,
+	Prop_CameraCompatibilityMode_Int32 = 2033,
+	Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	Prop_DisplaySuppressed_Bool = 2036,
+	Prop_DisplayAllowNightMode_Bool = 2037,
+	Prop_DisplayMCImageWidth_Int32 = 2038,
+	Prop_DisplayMCImageHeight_Int32 = 2039,
+	Prop_DisplayMCImageNumChannels_Int32 = 2040,
+	Prop_DisplayMCImageData_Binary = 2041,
+	Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	Prop_DisplayDebugMode_Bool = 2044,
+	Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	Prop_AttachedDeviceId_String = 3000,
+	Prop_SupportedButtons_Uint64 = 3001,
+	Prop_Axis0Type_Int32 = 3002,
+	Prop_Axis1Type_Int32 = 3003,
+	Prop_Axis2Type_Int32 = 3004,
+	Prop_Axis3Type_Int32 = 3005,
+	Prop_Axis4Type_Int32 = 3006,
+	Prop_ControllerRoleHint_Int32 = 3007,
+	Prop_FieldOfViewLeftDegrees_Float = 4000,
+	Prop_FieldOfViewRightDegrees_Float = 4001,
+	Prop_FieldOfViewTopDegrees_Float = 4002,
+	Prop_FieldOfViewBottomDegrees_Float = 4003,
+	Prop_TrackingRangeMinimumMeters_Float = 4004,
+	Prop_TrackingRangeMaximumMeters_Float = 4005,
+	Prop_ModeLabel_String = 4006,
+	Prop_IconPathName_String = 5000,
+	Prop_NamedIconPathDeviceOff_String = 5001,
+	Prop_NamedIconPathDeviceSearching_String = 5002,
+	Prop_NamedIconPathDeviceSearchingAlert_String = 5003,
+	Prop_NamedIconPathDeviceReady_String = 5004,
+	Prop_NamedIconPathDeviceReadyAlert_String = 5005,
+	Prop_NamedIconPathDeviceNotReady_String = 5006,
+	Prop_NamedIconPathDeviceStandby_String = 5007,
+	Prop_NamedIconPathDeviceAlertLow_String = 5008,
+	Prop_DisplayHiddenArea_Binary_Start = 5100,
+	Prop_DisplayHiddenArea_Binary_End = 5150,
+	Prop_UserConfigPath_String = 6000,
+	Prop_InstallPath_String = 6001,
+	Prop_HasDisplayComponent_Bool = 6002,
+	Prop_HasControllerComponent_Bool = 6003,
+	Prop_HasCameraComponent_Bool = 6004,
+	Prop_HasDriverDirectModeComponent_Bool = 6005,
+	Prop_HasVirtualDisplayComponent_Bool = 6006,
+	Prop_VendorSpecific_Reserved_Start = 10000,
+	Prop_VendorSpecific_Reserved_End = 10999,
+}
+public enum ETrackedPropertyError
+{
+	TrackedProp_Success = 0,
+	TrackedProp_WrongDataType = 1,
+	TrackedProp_WrongDeviceClass = 2,
+	TrackedProp_BufferTooSmall = 3,
+	TrackedProp_UnknownProperty = 4,
+	TrackedProp_InvalidDevice = 5,
+	TrackedProp_CouldNotContactServer = 6,
+	TrackedProp_ValueNotProvidedByDevice = 7,
+	TrackedProp_StringExceedsMaximumLength = 8,
+	TrackedProp_NotYetAvailable = 9,
+	TrackedProp_PermissionDenied = 10,
+	TrackedProp_InvalidOperation = 11,
+}
+public enum EVRSubmitFlags
+{
+	Submit_Default = 0,
+	Submit_LensDistortionAlreadyApplied = 1,
+	Submit_GlRenderBuffer = 2,
+	Submit_Reserved = 4,
+}
+public enum EVRState
+{
+	Undefined = -1,
+	Off = 0,
+	Searching = 1,
+	Searching_Alert = 2,
+	Ready = 3,
+	Ready_Alert = 4,
+	NotReady = 5,
+	Standby = 6,
+	Ready_Alert_Low = 7,
+}
+public enum EVREventType
+{
+	VREvent_None = 0,
+	VREvent_TrackedDeviceActivated = 100,
+	VREvent_TrackedDeviceDeactivated = 101,
+	VREvent_TrackedDeviceUpdated = 102,
+	VREvent_TrackedDeviceUserInteractionStarted = 103,
+	VREvent_TrackedDeviceUserInteractionEnded = 104,
+	VREvent_IpdChanged = 105,
+	VREvent_EnterStandbyMode = 106,
+	VREvent_LeaveStandbyMode = 107,
+	VREvent_TrackedDeviceRoleChanged = 108,
+	VREvent_WatchdogWakeUpRequested = 109,
+	VREvent_LensDistortionChanged = 110,
+	VREvent_PropertyChanged = 111,
+	VREvent_ButtonPress = 200,
+	VREvent_ButtonUnpress = 201,
+	VREvent_ButtonTouch = 202,
+	VREvent_ButtonUntouch = 203,
+	VREvent_MouseMove = 300,
+	VREvent_MouseButtonDown = 301,
+	VREvent_MouseButtonUp = 302,
+	VREvent_FocusEnter = 303,
+	VREvent_FocusLeave = 304,
+	VREvent_Scroll = 305,
+	VREvent_TouchPadMove = 306,
+	VREvent_OverlayFocusChanged = 307,
+	VREvent_InputFocusCaptured = 400,
+	VREvent_InputFocusReleased = 401,
+	VREvent_SceneFocusLost = 402,
+	VREvent_SceneFocusGained = 403,
+	VREvent_SceneApplicationChanged = 404,
+	VREvent_SceneFocusChanged = 405,
+	VREvent_InputFocusChanged = 406,
+	VREvent_SceneApplicationSecondaryRenderingStarted = 407,
+	VREvent_HideRenderModels = 410,
+	VREvent_ShowRenderModels = 411,
+	VREvent_OverlayShown = 500,
+	VREvent_OverlayHidden = 501,
+	VREvent_DashboardActivated = 502,
+	VREvent_DashboardDeactivated = 503,
+	VREvent_DashboardThumbSelected = 504,
+	VREvent_DashboardRequested = 505,
+	VREvent_ResetDashboard = 506,
+	VREvent_RenderToast = 507,
+	VREvent_ImageLoaded = 508,
+	VREvent_ShowKeyboard = 509,
+	VREvent_HideKeyboard = 510,
+	VREvent_OverlayGamepadFocusGained = 511,
+	VREvent_OverlayGamepadFocusLost = 512,
+	VREvent_OverlaySharedTextureChanged = 513,
+	VREvent_DashboardGuideButtonDown = 514,
+	VREvent_DashboardGuideButtonUp = 515,
+	VREvent_ScreenshotTriggered = 516,
+	VREvent_ImageFailed = 517,
+	VREvent_DashboardOverlayCreated = 518,
+	VREvent_RequestScreenshot = 520,
+	VREvent_ScreenshotTaken = 521,
+	VREvent_ScreenshotFailed = 522,
+	VREvent_SubmitScreenshotToDashboard = 523,
+	VREvent_ScreenshotProgressToDashboard = 524,
+	VREvent_PrimaryDashboardDeviceChanged = 525,
+	VREvent_Notification_Shown = 600,
+	VREvent_Notification_Hidden = 601,
+	VREvent_Notification_BeginInteraction = 602,
+	VREvent_Notification_Destroyed = 603,
+	VREvent_Quit = 700,
+	VREvent_ProcessQuit = 701,
+	VREvent_QuitAborted_UserPrompt = 702,
+	VREvent_QuitAcknowledged = 703,
+	VREvent_DriverRequestedQuit = 704,
+	VREvent_ChaperoneDataHasChanged = 800,
+	VREvent_ChaperoneUniverseHasChanged = 801,
+	VREvent_ChaperoneTempDataHasChanged = 802,
+	VREvent_ChaperoneSettingsHaveChanged = 803,
+	VREvent_SeatedZeroPoseReset = 804,
+	VREvent_AudioSettingsHaveChanged = 820,
+	VREvent_BackgroundSettingHasChanged = 850,
+	VREvent_CameraSettingsHaveChanged = 851,
+	VREvent_ReprojectionSettingHasChanged = 852,
+	VREvent_ModelSkinSettingsHaveChanged = 853,
+	VREvent_EnvironmentSettingsHaveChanged = 854,
+	VREvent_PowerSettingsHaveChanged = 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
+	VREvent_StatusUpdate = 900,
+	VREvent_MCImageUpdated = 1000,
+	VREvent_FirmwareUpdateStarted = 1100,
+	VREvent_FirmwareUpdateFinished = 1101,
+	VREvent_KeyboardClosed = 1200,
+	VREvent_KeyboardCharInput = 1201,
+	VREvent_KeyboardDone = 1202,
+	VREvent_ApplicationTransitionStarted = 1300,
+	VREvent_ApplicationTransitionAborted = 1301,
+	VREvent_ApplicationTransitionNewAppStarted = 1302,
+	VREvent_ApplicationListUpdated = 1303,
+	VREvent_ApplicationMimeTypeLoad = 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected = 1306,
+	VREvent_ProcessDisconnected = 1307,
+	VREvent_Compositor_MirrorWindowShown = 1400,
+	VREvent_Compositor_MirrorWindowHidden = 1401,
+	VREvent_Compositor_ChaperoneBoundsShown = 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden = 1411,
+	VREvent_TrackedCamera_StartVideoStream = 1500,
+	VREvent_TrackedCamera_StopVideoStream = 1501,
+	VREvent_TrackedCamera_PauseVideoStream = 1502,
+	VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	VREvent_TrackedCamera_EditingSurface = 1550,
+	VREvent_PerformanceTest_EnableCapture = 1600,
+	VREvent_PerformanceTest_DisableCapture = 1601,
+	VREvent_PerformanceTest_FidelityLevel = 1602,
+	VREvent_MessageOverlay_Closed = 1650,
+	VREvent_VendorSpecific_Reserved_Start = 10000,
+	VREvent_VendorSpecific_Reserved_End = 19999,
+}
+public enum EDeviceActivityLevel
+{
+	k_EDeviceActivityLevel_Unknown = -1,
+	k_EDeviceActivityLevel_Idle = 0,
+	k_EDeviceActivityLevel_UserInteraction = 1,
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,
+	k_EDeviceActivityLevel_Standby = 3,
+}
+public enum EVRButtonId
+{
+	k_EButton_System = 0,
+	k_EButton_ApplicationMenu = 1,
+	k_EButton_Grip = 2,
+	k_EButton_DPad_Left = 3,
+	k_EButton_DPad_Up = 4,
+	k_EButton_DPad_Right = 5,
+	k_EButton_DPad_Down = 6,
+	k_EButton_A = 7,
+	k_EButton_ProximitySensor = 31,
+	k_EButton_Axis0 = 32,
+	k_EButton_Axis1 = 33,
+	k_EButton_Axis2 = 34,
+	k_EButton_Axis3 = 35,
+	k_EButton_Axis4 = 36,
+	k_EButton_SteamVR_Touchpad = 32,
+	k_EButton_SteamVR_Trigger = 33,
+	k_EButton_Dashboard_Back = 2,
+	k_EButton_Max = 64,
+}
+public enum EVRMouseButton
+{
+	Left = 1,
+	Right = 2,
+	Middle = 4,
+}
+public enum EHiddenAreaMeshType
+{
+	k_eHiddenAreaMesh_Standard = 0,
+	k_eHiddenAreaMesh_Inverse = 1,
+	k_eHiddenAreaMesh_LineLoop = 2,
+	k_eHiddenAreaMesh_Max = 3,
+}
+public enum EVRControllerAxisType
+{
+	k_eControllerAxis_None = 0,
+	k_eControllerAxis_TrackPad = 1,
+	k_eControllerAxis_Joystick = 2,
+	k_eControllerAxis_Trigger = 3,
+}
+public enum EVRControllerEventOutputType
+{
+	ControllerEventOutput_OSEvents = 0,
+	ControllerEventOutput_VREvents = 1,
+}
+public enum ECollisionBoundsStyle
+{
+	COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	COLLISION_BOUNDS_STYLE_INTERMEDIATE = 1,
+	COLLISION_BOUNDS_STYLE_SQUARES = 2,
+	COLLISION_BOUNDS_STYLE_ADVANCED = 3,
+	COLLISION_BOUNDS_STYLE_NONE = 4,
+	COLLISION_BOUNDS_STYLE_COUNT = 5,
+}
+public enum EVROverlayError
+{
+	None = 0,
+	UnknownOverlay = 10,
+	InvalidHandle = 11,
+	PermissionDenied = 12,
+	OverlayLimitExceeded = 13,
+	WrongVisibilityType = 14,
+	KeyTooLong = 15,
+	NameTooLong = 16,
+	KeyInUse = 17,
+	WrongTransformType = 18,
+	InvalidTrackedDevice = 19,
+	InvalidParameter = 20,
+	ThumbnailCantBeDestroyed = 21,
+	ArrayTooSmall = 22,
+	RequestFailed = 23,
+	InvalidTexture = 24,
+	UnableToLoadFile = 25,
+	KeyboardAlreadyInUse = 26,
+	NoNeighbor = 27,
+	TooManyMaskPrimitives = 29,
+	BadMaskPrimitive = 30,
+}
+public enum EVRApplicationType
+{
+	VRApplication_Other = 0,
+	VRApplication_Scene = 1,
+	VRApplication_Overlay = 2,
+	VRApplication_Background = 3,
+	VRApplication_Utility = 4,
+	VRApplication_VRMonitor = 5,
+	VRApplication_SteamWatchdog = 6,
+	VRApplication_Bootstrapper = 7,
+	VRApplication_Max = 8,
+}
+public enum EVRFirmwareError
+{
+	None = 0,
+	Success = 1,
+	Fail = 2,
+}
+public enum EVRNotificationError
+{
+	OK = 0,
+	InvalidNotificationId = 100,
+	NotificationQueueFull = 101,
+	InvalidOverlayHandle = 102,
+	SystemWithUserValueAlreadyExists = 103,
+}
+public enum EVRInitError
+{
+	None = 0,
+	Unknown = 1,
+	Init_InstallationNotFound = 100,
+	Init_InstallationCorrupt = 101,
+	Init_VRClientDLLNotFound = 102,
+	Init_FileNotFound = 103,
+	Init_FactoryNotFound = 104,
+	Init_InterfaceNotFound = 105,
+	Init_InvalidInterface = 106,
+	Init_UserConfigDirectoryInvalid = 107,
+	Init_HmdNotFound = 108,
+	Init_NotInitialized = 109,
+	Init_PathRegistryNotFound = 110,
+	Init_NoConfigPath = 111,
+	Init_NoLogPath = 112,
+	Init_PathRegistryNotWritable = 113,
+	Init_AppInfoInitFailed = 114,
+	Init_Retry = 115,
+	Init_InitCanceledByUser = 116,
+	Init_AnotherAppLaunching = 117,
+	Init_SettingsInitFailed = 118,
+	Init_ShuttingDown = 119,
+	Init_TooManyObjects = 120,
+	Init_NoServerForBackgroundApp = 121,
+	Init_NotSupportedWithCompositor = 122,
+	Init_NotAvailableToUtilityApps = 123,
+	Init_Internal = 124,
+	Init_HmdDriverIdIsNone = 125,
+	Init_HmdNotFoundPresenceFailed = 126,
+	Init_VRMonitorNotFound = 127,
+	Init_VRMonitorStartupFailed = 128,
+	Init_LowPowerWatchdogNotSupported = 129,
+	Init_InvalidApplicationType = 130,
+	Init_NotAvailableToWatchdogApps = 131,
+	Init_WatchdogDisabledInSettings = 132,
+	Init_VRDashboardNotFound = 133,
+	Init_VRDashboardStartupFailed = 134,
+	Init_VRHomeNotFound = 135,
+	Init_VRHomeStartupFailed = 136,
+	Driver_Failed = 200,
+	Driver_Unknown = 201,
+	Driver_HmdUnknown = 202,
+	Driver_NotLoaded = 203,
+	Driver_RuntimeOutOfDate = 204,
+	Driver_HmdInUse = 205,
+	Driver_NotCalibrated = 206,
+	Driver_CalibrationInvalid = 207,
+	Driver_HmdDisplayNotFound = 208,
+	Driver_TrackedDeviceInterfaceUnknown = 209,
+	Driver_HmdDriverIdOutOfBounds = 211,
+	Driver_HmdDisplayMirrored = 212,
+	IPC_ServerInitFailed = 300,
+	IPC_ConnectFailed = 301,
+	IPC_SharedStateInitFailed = 302,
+	IPC_CompositorInitFailed = 303,
+	IPC_MutexInitFailed = 304,
+	IPC_Failed = 305,
+	IPC_CompositorConnectFailed = 306,
+	IPC_CompositorInvalidConnectResponse = 307,
+	IPC_ConnectFailedAfterMultipleAttempts = 308,
+	Compositor_Failed = 400,
+	Compositor_D3D11HardwareRequired = 401,
+	Compositor_FirmwareRequiresUpdate = 402,
+	Compositor_OverlayInitFailed = 403,
+	Compositor_ScreenshotsInitFailed = 404,
+	Compositor_UnableToCreateDevice = 405,
+	VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+	VendorSpecific_HmdFound_CantOpenDevice = 1101,
+	VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
+	VendorSpecific_HmdFound_NoStoredConfig = 1103,
+	VendorSpecific_HmdFound_ConfigTooBig = 1104,
+	VendorSpecific_HmdFound_ConfigTooSmall = 1105,
+	VendorSpecific_HmdFound_UnableToInitZLib = 1106,
+	VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107,
+	VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108,
+	VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109,
+	VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110,
+	VendorSpecific_HmdFound_UserDataAddressRange = 1111,
+	VendorSpecific_HmdFound_UserDataError = 1112,
+	VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113,
+	Steam_SteamInstallationNotFound = 2000,
+}
+public enum EVRScreenshotType
+{
+	None = 0,
+	Mono = 1,
+	Stereo = 2,
+	Cubemap = 3,
+	MonoPanorama = 4,
+	StereoPanorama = 5,
+}
+public enum EVRScreenshotPropertyFilenames
+{
+	Preview = 0,
+	VR = 1,
+}
+public enum EVRTrackedCameraError
+{
+	None = 0,
+	OperationFailed = 100,
+	InvalidHandle = 101,
+	InvalidFrameHeaderVersion = 102,
+	OutOfHandles = 103,
+	IPCFailure = 104,
+	NotSupportedForThisDevice = 105,
+	SharedMemoryFailure = 106,
+	FrameBufferingFailure = 107,
+	StreamSetupFailure = 108,
+	InvalidGLTextureId = 109,
+	InvalidSharedTextureHandle = 110,
+	FailedToGetGLTextureId = 111,
+	SharedTextureFailure = 112,
+	NoFrameAvailable = 113,
+	InvalidArgument = 114,
+	InvalidFrameBufferSize = 115,
+}
+public enum EVRTrackedCameraFrameType
+{
+	Distorted = 0,
+	Undistorted = 1,
+	MaximumUndistorted = 2,
+	MAX_CAMERA_FRAME_TYPES = 3,
+}
+public enum EVRApplicationError
+{
+	None = 0,
+	AppKeyAlreadyExists = 100,
+	NoManifest = 101,
+	NoApplication = 102,
+	InvalidIndex = 103,
+	UnknownApplication = 104,
+	IPCFailed = 105,
+	ApplicationAlreadyRunning = 106,
+	InvalidManifest = 107,
+	InvalidApplication = 108,
+	LaunchFailed = 109,
+	ApplicationAlreadyStarting = 110,
+	LaunchInProgress = 111,
+	OldApplicationQuitting = 112,
+	TransitionAborted = 113,
+	IsTemplate = 114,
+	BufferTooSmall = 200,
+	PropertyNotSet = 201,
+	UnknownProperty = 202,
+	InvalidParameter = 203,
+}
+public enum EVRApplicationProperty
+{
+	Name_String = 0,
+	LaunchType_String = 11,
+	WorkingDirectory_String = 12,
+	BinaryPath_String = 13,
+	Arguments_String = 14,
+	URL_String = 15,
+	Description_String = 50,
+	NewsURL_String = 51,
+	ImagePath_String = 52,
+	Source_String = 53,
+	IsDashboardOverlay_Bool = 60,
+	IsTemplate_Bool = 61,
+	IsInstanced_Bool = 62,
+	IsInternal_Bool = 63,
+	LastLaunchTime_Uint64 = 70,
+}
+public enum EVRApplicationTransitionState
+{
+	VRApplicationTransition_None = 0,
+	VRApplicationTransition_OldAppQuitSent = 10,
+	VRApplicationTransition_WaitingForExternalLaunch = 11,
+	VRApplicationTransition_NewAppLaunched = 20,
+}
+public enum ChaperoneCalibrationState
+{
+	OK = 1,
+	Warning = 100,
+	Warning_BaseStationMayHaveMoved = 101,
+	Warning_BaseStationRemoved = 102,
+	Warning_SeatedBoundsInvalid = 103,
+	Error = 200,
+	Error_BaseStationUninitialized = 201,
+	Error_BaseStationConflict = 202,
+	Error_PlayAreaInvalid = 203,
+	Error_CollisionBoundsInvalid = 204,
+}
+public enum EChaperoneConfigFile
+{
+	Live = 1,
+	Temp = 2,
+}
+public enum EChaperoneImportFlags
+{
+	EChaperoneImport_BoundsOnly = 1,
+}
+public enum EVRCompositorError
+{
+	None = 0,
+	RequestFailed = 1,
+	IncompatibleVersion = 100,
+	DoNotHaveFocus = 101,
+	InvalidTexture = 102,
+	IsNotSceneApplication = 103,
+	TextureIsOnWrongDevice = 104,
+	TextureUsesUnsupportedFormat = 105,
+	SharedTexturesNotSupported = 106,
+	IndexOutOfRange = 107,
+	AlreadySubmitted = 108,
+}
+public enum VROverlayInputMethod
+{
+	None = 0,
+	Mouse = 1,
+}
+public enum VROverlayTransformType
+{
+	VROverlayTransform_Absolute = 0,
+	VROverlayTransform_TrackedDeviceRelative = 1,
+	VROverlayTransform_SystemOverlay = 2,
+	VROverlayTransform_TrackedComponent = 3,
+}
+public enum VROverlayFlags
+{
+	None = 0,
+	Curved = 1,
+	RGSS4X = 2,
+	NoDashboardTab = 3,
+	AcceptsGamepadEvents = 4,
+	ShowGamepadFocus = 5,
+	SendVRScrollEvents = 6,
+	SendVRTouchpadEvents = 7,
+	ShowTouchPadScrollWheel = 8,
+	TransferOwnershipToInternalProcess = 9,
+	SideBySide_Parallel = 10,
+	SideBySide_Crossed = 11,
+	Panorama = 12,
+	StereoPanorama = 13,
+	SortWithNonSceneOverlays = 14,
+	VisibleInDashboard = 15,
+}
+public enum VRMessageOverlayResponse
+{
+	ButtonPress_0 = 0,
+	ButtonPress_1 = 1,
+	ButtonPress_2 = 2,
+	ButtonPress_3 = 3,
+	CouldntFindSystemOverlay = 4,
+	CouldntFindOrCreateClientOverlay = 5,
+	ApplicationQuit = 6,
+}
+public enum EGamepadTextInputMode
+{
+	k_EGamepadTextInputModeNormal = 0,
+	k_EGamepadTextInputModePassword = 1,
+	k_EGamepadTextInputModeSubmit = 2,
+}
+public enum EGamepadTextInputLineMode
+{
+	k_EGamepadTextInputLineModeSingleLine = 0,
+	k_EGamepadTextInputLineModeMultipleLines = 1,
+}
+public enum EOverlayDirection
+{
+	Up = 0,
+	Down = 1,
+	Left = 2,
+	Right = 3,
+	Count = 4,
+}
+public enum EVROverlayIntersectionMaskPrimitiveType
+{
+	OverlayIntersectionPrimitiveType_Rectangle = 0,
+	OverlayIntersectionPrimitiveType_Circle = 1,
+}
+public enum EVRRenderModelError
+{
+	None = 0,
+	Loading = 100,
+	NotSupported = 200,
+	InvalidArg = 300,
+	InvalidModel = 301,
+	NoShapes = 302,
+	MultipleShapes = 303,
+	TooManyVertices = 304,
+	MultipleTextures = 305,
+	BufferTooSmall = 306,
+	NotEnoughNormals = 307,
+	NotEnoughTexCoords = 308,
+	InvalidTexture = 400,
+}
+public enum EVRComponentProperty
+{
+	IsStatic = 1,
+	IsVisible = 2,
+	IsTouched = 4,
+	IsPressed = 8,
+	IsScrolled = 16,
+}
+public enum EVRNotificationType
+{
+	Transient = 0,
+	Persistent = 1,
+	Transient_SystemWithUserValue = 2,
+}
+public enum EVRNotificationStyle
+{
+	None = 0,
+	Application = 100,
+	Contact_Disabled = 200,
+	Contact_Enabled = 201,
+	Contact_Active = 202,
+}
+public enum EVRSettingsError
+{
+	None = 0,
+	IPCFailed = 1,
+	WriteFailed = 2,
+	ReadFailed = 3,
+	JsonParseFailed = 4,
+	UnsetSettingHasNoDefault = 5,
+}
+public enum EVRScreenshotError
+{
+	None = 0,
+	RequestFailed = 1,
+	IncompatibleVersion = 100,
+	NotFound = 101,
+	BufferTooSmall = 102,
+	ScreenshotAlreadyInProgress = 108,
+}
+
+[StructLayout(LayoutKind.Explicit)] public struct VREvent_Data_t
+{
+	[FieldOffset(0)] public VREvent_Reserved_t reserved;
+	[FieldOffset(0)] public VREvent_Controller_t controller;
+	[FieldOffset(0)] public VREvent_Mouse_t mouse;
+	[FieldOffset(0)] public VREvent_Scroll_t scroll;
+	[FieldOffset(0)] public VREvent_Process_t process;
+	[FieldOffset(0)] public VREvent_Notification_t notification;
+	[FieldOffset(0)] public VREvent_Overlay_t overlay;
+	[FieldOffset(0)] public VREvent_Status_t status;
+	[FieldOffset(0)] public VREvent_Ipd_t ipd;
+	[FieldOffset(0)] public VREvent_Chaperone_t chaperone;
+	[FieldOffset(0)] public VREvent_PerformanceTest_t performanceTest;
+	[FieldOffset(0)] public VREvent_TouchPadMove_t touchPadMove;
+	[FieldOffset(0)] public VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+	[FieldOffset(0)] public VREvent_Screenshot_t screenshot;
+	[FieldOffset(0)] public VREvent_ScreenshotProgress_t screenshotProgress;
+	[FieldOffset(0)] public VREvent_ApplicationLaunch_t applicationLaunch;
+	[FieldOffset(0)] public VREvent_EditingCameraSurface_t cameraSurface;
+	[FieldOffset(0)] public VREvent_MessageOverlay_t messageOverlay;
+	[FieldOffset(0)] public VREvent_Keyboard_t keyboard; // This has to be at the end due to a mono bug
+}
+
+
+[StructLayout(LayoutKind.Explicit)] public struct VROverlayIntersectionMaskPrimitive_Data_t
+{
+	[FieldOffset(0)] public IntersectionMaskRectangle_t m_Rectangle;
+	[FieldOffset(0)] public IntersectionMaskCircle_t m_Circle;
+}
+
+[StructLayout(LayoutKind.Sequential)] public struct HmdMatrix34_t
+{
+	public float m0; //float[3][4]
+	public float m1;
+	public float m2;
+	public float m3;
+	public float m4;
+	public float m5;
+	public float m6;
+	public float m7;
+	public float m8;
+	public float m9;
+	public float m10;
+	public float m11;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdMatrix44_t
+{
+	public float m0; //float[4][4]
+	public float m1;
+	public float m2;
+	public float m3;
+	public float m4;
+	public float m5;
+	public float m6;
+	public float m7;
+	public float m8;
+	public float m9;
+	public float m10;
+	public float m11;
+	public float m12;
+	public float m13;
+	public float m14;
+	public float m15;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector3_t
+{
+	public float v0; //float[3]
+	public float v1;
+	public float v2;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector4_t
+{
+	public float v0; //float[4]
+	public float v1;
+	public float v2;
+	public float v3;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector3d_t
+{
+	public double v0; //double[3]
+	public double v1;
+	public double v2;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdVector2_t
+{
+	public float v0; //float[2]
+	public float v1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdQuaternion_t
+{
+	public double w;
+	public double x;
+	public double y;
+	public double z;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdColor_t
+{
+	public float r;
+	public float g;
+	public float b;
+	public float a;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdQuad_t
+{
+	public HmdVector3_t vCorners0; //HmdVector3_t[4]
+	public HmdVector3_t vCorners1;
+	public HmdVector3_t vCorners2;
+	public HmdVector3_t vCorners3;
+}
+[StructLayout(LayoutKind.Sequential)] public struct HmdRect2_t
+{
+	public HmdVector2_t vTopLeft;
+	public HmdVector2_t vBottomRight;
+}
+[StructLayout(LayoutKind.Sequential)] public struct DistortionCoordinates_t
+{
+	public float rfRed0; //float[2]
+	public float rfRed1;
+	public float rfGreen0; //float[2]
+	public float rfGreen1;
+	public float rfBlue0; //float[2]
+	public float rfBlue1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct Texture_t
+{
+	public IntPtr handle; // void *
+	public ETextureType eType;
+	public EColorSpace eColorSpace;
+}
+[StructLayout(LayoutKind.Sequential)] public struct TrackedDevicePose_t
+{
+	public HmdMatrix34_t mDeviceToAbsoluteTracking;
+	public HmdVector3_t vVelocity;
+	public HmdVector3_t vAngularVelocity;
+	public ETrackingResult eTrackingResult;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bPoseIsValid;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bDeviceIsConnected;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRTextureBounds_t
+{
+	public float uMin;
+	public float vMin;
+	public float uMax;
+	public float vMax;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRVulkanTextureData_t
+{
+	public ulong m_nImage;
+	public IntPtr m_pDevice; // struct VkDevice_T *
+	public IntPtr m_pPhysicalDevice; // struct VkPhysicalDevice_T *
+	public IntPtr m_pInstance; // struct VkInstance_T *
+	public IntPtr m_pQueue; // struct VkQueue_T *
+	public uint m_nQueueFamilyIndex;
+	public uint m_nWidth;
+	public uint m_nHeight;
+	public uint m_nFormat;
+	public uint m_nSampleCount;
+}
+[StructLayout(LayoutKind.Sequential)] public struct D3D12TextureData_t
+{
+	public IntPtr m_pResource; // struct ID3D12Resource *
+	public IntPtr m_pCommandQueue; // struct ID3D12CommandQueue *
+	public uint m_nNodeMask;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Controller_t
+{
+	public uint button;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Mouse_t
+{
+	public float x;
+	public float y;
+	public uint button;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Scroll_t
+{
+	public float xdelta;
+	public float ydelta;
+	public uint repeatCount;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_TouchPadMove_t
+{
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bFingerDown;
+	public float flSecondsFingerDown;
+	public float fValueXFirst;
+	public float fValueYFirst;
+	public float fValueXRaw;
+	public float fValueYRaw;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Notification_t
+{
+	public ulong ulUserValue;
+	public uint notificationId;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Process_t
+{
+	public uint pid;
+	public uint oldPid;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bForced;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Overlay_t
+{
+	public ulong overlayHandle;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Status_t
+{
+	public uint statusState;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Keyboard_t
+{
+	public byte cNewInput0,cNewInput1,cNewInput2,cNewInput3,cNewInput4,cNewInput5,cNewInput6,cNewInput7;
+	public ulong uUserValue;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Ipd_t
+{
+	public float ipdMeters;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Chaperone_t
+{
+	public ulong m_nPreviousUniverse;
+	public ulong m_nCurrentUniverse;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Reserved_t
+{
+	public ulong reserved0;
+	public ulong reserved1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_PerformanceTest_t
+{
+	public uint m_nFidelityLevel;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_SeatedZeroPoseReset_t
+{
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bResetBySystemMenu;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Screenshot_t
+{
+	public uint handle;
+	public uint type;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_ScreenshotProgress_t
+{
+	public float progress;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_ApplicationLaunch_t
+{
+	public uint pid;
+	public uint unArgsHandle;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_EditingCameraSurface_t
+{
+	public ulong overlayHandle;
+	public uint nVisualMode;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_MessageOverlay_t
+{
+	public uint unVRMessageOverlayResponse;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Property_t
+{
+	public ulong container;
+	public ETrackedDeviceProperty prop;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_t
+{
+	public uint eventType;
+	public uint trackedDeviceIndex;
+	public float eventAgeSeconds;
+	public VREvent_Data_t data;
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct VREvent_t_Packed
+{
+	public uint eventType;
+	public uint trackedDeviceIndex;
+	public float eventAgeSeconds;
+	public VREvent_Data_t data;
+	public VREvent_t_Packed(VREvent_t unpacked)
+	{
+		this.eventType = unpacked.eventType;
+		this.trackedDeviceIndex = unpacked.trackedDeviceIndex;
+		this.eventAgeSeconds = unpacked.eventAgeSeconds;
+		this.data = unpacked.data;
+	}
+	public void Unpack(ref VREvent_t unpacked)
+	{
+		unpacked.eventType = this.eventType;
+		unpacked.trackedDeviceIndex = this.trackedDeviceIndex;
+		unpacked.eventAgeSeconds = this.eventAgeSeconds;
+		unpacked.data = this.data;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct HiddenAreaMesh_t
+{
+	public IntPtr pVertexData; // const struct vr::HmdVector2_t *
+	public uint unTriangleCount;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRControllerAxis_t
+{
+	public float x;
+	public float y;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VRControllerState_t
+{
+	public uint unPacketNum;
+	public ulong ulButtonPressed;
+	public ulong ulButtonTouched;
+	public VRControllerAxis_t rAxis0; //VRControllerAxis_t[5]
+	public VRControllerAxis_t rAxis1;
+	public VRControllerAxis_t rAxis2;
+	public VRControllerAxis_t rAxis3;
+	public VRControllerAxis_t rAxis4;
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct VRControllerState_t_Packed
+{
+	public uint unPacketNum;
+	public ulong ulButtonPressed;
+	public ulong ulButtonTouched;
+	public VRControllerAxis_t rAxis0; //VRControllerAxis_t[5]
+	public VRControllerAxis_t rAxis1;
+	public VRControllerAxis_t rAxis2;
+	public VRControllerAxis_t rAxis3;
+	public VRControllerAxis_t rAxis4;
+	public VRControllerState_t_Packed(VRControllerState_t unpacked)
+	{
+		this.unPacketNum = unpacked.unPacketNum;
+		this.ulButtonPressed = unpacked.ulButtonPressed;
+		this.ulButtonTouched = unpacked.ulButtonTouched;
+		this.rAxis0 = unpacked.rAxis0;
+		this.rAxis1 = unpacked.rAxis1;
+		this.rAxis2 = unpacked.rAxis2;
+		this.rAxis3 = unpacked.rAxis3;
+		this.rAxis4 = unpacked.rAxis4;
+	}
+	public void Unpack(ref VRControllerState_t unpacked)
+	{
+		unpacked.unPacketNum = this.unPacketNum;
+		unpacked.ulButtonPressed = this.ulButtonPressed;
+		unpacked.ulButtonTouched = this.ulButtonTouched;
+		unpacked.rAxis0 = this.rAxis0;
+		unpacked.rAxis1 = this.rAxis1;
+		unpacked.rAxis2 = this.rAxis2;
+		unpacked.rAxis3 = this.rAxis3;
+		unpacked.rAxis4 = this.rAxis4;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct Compositor_OverlaySettings
+{
+	public uint size;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool curved;
+	[MarshalAs(UnmanagedType.I1)]
+	public bool antialias;
+	public float scale;
+	public float distance;
+	public float alpha;
+	public float uOffset;
+	public float vOffset;
+	public float uScale;
+	public float vScale;
+	public float gridDivs;
+	public float gridWidth;
+	public float gridScale;
+	public HmdMatrix44_t transform;
+}
+[StructLayout(LayoutKind.Sequential)] public struct CameraVideoStreamFrameHeader_t
+{
+	public EVRTrackedCameraFrameType eFrameType;
+	public uint nWidth;
+	public uint nHeight;
+	public uint nBytesPerPixel;
+	public uint nFrameSequence;
+	public TrackedDevicePose_t standingTrackedDevicePose;
+}
+[StructLayout(LayoutKind.Sequential)] public struct AppOverrideKeys_t
+{
+	public IntPtr pchKey; // const char *
+	public IntPtr pchValue; // const char *
+}
+[StructLayout(LayoutKind.Sequential)] public struct Compositor_FrameTiming
+{
+	public uint m_nSize;
+	public uint m_nFrameIndex;
+	public uint m_nNumFramePresents;
+	public uint m_nNumMisPresented;
+	public uint m_nNumDroppedFrames;
+	public uint m_nReprojectionFlags;
+	public double m_flSystemTimeInSeconds;
+	public float m_flPreSubmitGpuMs;
+	public float m_flPostSubmitGpuMs;
+	public float m_flTotalRenderGpuMs;
+	public float m_flCompositorRenderGpuMs;
+	public float m_flCompositorRenderCpuMs;
+	public float m_flCompositorIdleCpuMs;
+	public float m_flClientFrameIntervalMs;
+	public float m_flPresentCallCpuMs;
+	public float m_flWaitForPresentCpuMs;
+	public float m_flSubmitFrameMs;
+	public float m_flWaitGetPosesCalledMs;
+	public float m_flNewPosesReadyMs;
+	public float m_flNewFrameReadyMs;
+	public float m_flCompositorUpdateStartMs;
+	public float m_flCompositorUpdateEndMs;
+	public float m_flCompositorRenderStartMs;
+	public TrackedDevicePose_t m_HmdPose;
+}
+[StructLayout(LayoutKind.Sequential)] public struct Compositor_CumulativeStats
+{
+	public uint m_nPid;
+	public uint m_nNumFramePresents;
+	public uint m_nNumDroppedFrames;
+	public uint m_nNumReprojectedFrames;
+	public uint m_nNumFramePresentsOnStartup;
+	public uint m_nNumDroppedFramesOnStartup;
+	public uint m_nNumReprojectedFramesOnStartup;
+	public uint m_nNumLoading;
+	public uint m_nNumFramePresentsLoading;
+	public uint m_nNumDroppedFramesLoading;
+	public uint m_nNumReprojectedFramesLoading;
+	public uint m_nNumTimedOut;
+	public uint m_nNumFramePresentsTimedOut;
+	public uint m_nNumDroppedFramesTimedOut;
+	public uint m_nNumReprojectedFramesTimedOut;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionParams_t
+{
+	public HmdVector3_t vSource;
+	public HmdVector3_t vDirection;
+	public ETrackingUniverseOrigin eOrigin;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionResults_t
+{
+	public HmdVector3_t vPoint;
+	public HmdVector3_t vNormal;
+	public HmdVector2_t vUVs;
+	public float fDistance;
+}
+[StructLayout(LayoutKind.Sequential)] public struct IntersectionMaskRectangle_t
+{
+	public float m_flTopLeftX;
+	public float m_flTopLeftY;
+	public float m_flWidth;
+	public float m_flHeight;
+}
+[StructLayout(LayoutKind.Sequential)] public struct IntersectionMaskCircle_t
+{
+	public float m_flCenterX;
+	public float m_flCenterY;
+	public float m_flRadius;
+}
+[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionMaskPrimitive_t
+{
+	public EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType;
+	public VROverlayIntersectionMaskPrimitive_Data_t m_Primitive;
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_ComponentState_t
+{
+	public HmdMatrix34_t mTrackingToComponentRenderModel;
+	public HmdMatrix34_t mTrackingToComponentLocal;
+	public uint uProperties;
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_Vertex_t
+{
+	public HmdVector3_t vPosition;
+	public HmdVector3_t vNormal;
+	public float rfTextureCoord0; //float[2]
+	public float rfTextureCoord1;
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_TextureMap_t
+{
+	public char unWidth;
+	public char unHeight;
+	public IntPtr rubTextureMapData; // const uint8_t *
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct RenderModel_TextureMap_t_Packed
+{
+	public char unWidth;
+	public char unHeight;
+	public IntPtr rubTextureMapData; // const uint8_t *
+	public RenderModel_TextureMap_t_Packed(RenderModel_TextureMap_t unpacked)
+	{
+		this.unWidth = unpacked.unWidth;
+		this.unHeight = unpacked.unHeight;
+		this.rubTextureMapData = unpacked.rubTextureMapData;
+	}
+	public void Unpack(ref RenderModel_TextureMap_t unpacked)
+	{
+		unpacked.unWidth = this.unWidth;
+		unpacked.unHeight = this.unHeight;
+		unpacked.rubTextureMapData = this.rubTextureMapData;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_t
+{
+	public IntPtr rVertexData; // const struct vr::RenderModel_Vertex_t *
+	public uint unVertexCount;
+	public IntPtr rIndexData; // const uint16_t *
+	public uint unTriangleCount;
+	public int diffuseTextureId;
+}
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct RenderModel_t_Packed
+{
+	public IntPtr rVertexData; // const struct vr::RenderModel_Vertex_t *
+	public uint unVertexCount;
+	public IntPtr rIndexData; // const uint16_t *
+	public uint unTriangleCount;
+	public int diffuseTextureId;
+	public RenderModel_t_Packed(RenderModel_t unpacked)
+	{
+		this.rVertexData = unpacked.rVertexData;
+		this.unVertexCount = unpacked.unVertexCount;
+		this.rIndexData = unpacked.rIndexData;
+		this.unTriangleCount = unpacked.unTriangleCount;
+		this.diffuseTextureId = unpacked.diffuseTextureId;
+	}
+	public void Unpack(ref RenderModel_t unpacked)
+	{
+		unpacked.rVertexData = this.rVertexData;
+		unpacked.unVertexCount = this.unVertexCount;
+		unpacked.rIndexData = this.rIndexData;
+		unpacked.unTriangleCount = this.unTriangleCount;
+		unpacked.diffuseTextureId = this.diffuseTextureId;
+	}
+}
+[StructLayout(LayoutKind.Sequential)] public struct RenderModel_ControllerMode_State_t
+{
+	[MarshalAs(UnmanagedType.I1)]
+	public bool bScrollWheelVisible;
+}
+[StructLayout(LayoutKind.Sequential)] public struct NotificationBitmap_t
+{
+	public IntPtr m_pImageData; // void *
+	public int m_nWidth;
+	public int m_nHeight;
+	public int m_nBytesPerPixel;
+}
+[StructLayout(LayoutKind.Sequential)] public struct COpenVRContext
+{
+	public IntPtr m_pVRSystem; // class vr::IVRSystem *
+	public IntPtr m_pVRChaperone; // class vr::IVRChaperone *
+	public IntPtr m_pVRChaperoneSetup; // class vr::IVRChaperoneSetup *
+	public IntPtr m_pVRCompositor; // class vr::IVRCompositor *
+	public IntPtr m_pVROverlay; // class vr::IVROverlay *
+	public IntPtr m_pVRResources; // class vr::IVRResources *
+	public IntPtr m_pVRRenderModels; // class vr::IVRRenderModels *
+	public IntPtr m_pVRExtendedDisplay; // class vr::IVRExtendedDisplay *
+	public IntPtr m_pVRSettings; // class vr::IVRSettings *
+	public IntPtr m_pVRApplications; // class vr::IVRApplications *
+	public IntPtr m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
+	public IntPtr m_pVRScreenshots; // class vr::IVRScreenshots *
+	public IntPtr m_pVRDriverManager; // class vr::IVRDriverManager *
+}
+
+public class OpenVR
+{
+
+	public static uint InitInternal(ref EVRInitError peError, EVRApplicationType eApplicationType)
+	{
+		return OpenVRInterop.InitInternal(ref peError, eApplicationType);
+	}
+
+	public static void ShutdownInternal()
+	{
+		OpenVRInterop.ShutdownInternal();
+	}
+
+	public static bool IsHmdPresent()
+	{
+		return OpenVRInterop.IsHmdPresent();
+	}
+
+	public static bool IsRuntimeInstalled()
+	{
+		return OpenVRInterop.IsRuntimeInstalled();
+	}
+
+	public static string GetStringForHmdError(EVRInitError error)
+	{
+		return Marshal.PtrToStringAnsi(OpenVRInterop.GetStringForHmdError(error));
+	}
+
+	public static IntPtr GetGenericInterface(string pchInterfaceVersion, ref EVRInitError peError)
+	{
+		return OpenVRInterop.GetGenericInterface(pchInterfaceVersion, ref peError);
+	}
+
+	public static bool IsInterfaceVersionValid(string pchInterfaceVersion)
+	{
+		return OpenVRInterop.IsInterfaceVersionValid(pchInterfaceVersion);
+	}
+
+	public static uint GetInitToken()
+	{
+		return OpenVRInterop.GetInitToken();
+	}
+
+	public const uint k_nDriverNone = 4294967295;
+	public const uint k_unMaxDriverDebugResponseSize = 32768;
+	public const uint k_unTrackedDeviceIndex_Hmd = 0;
+	public const uint k_unMaxTrackedDeviceCount = 16;
+	public const uint k_unTrackedDeviceIndexOther = 4294967294;
+	public const uint k_unTrackedDeviceIndexInvalid = 4294967295;
+	public const ulong k_ulInvalidPropertyContainer = 0;
+	public const uint k_unInvalidPropertyTag = 0;
+	public const uint k_unFloatPropertyTag = 1;
+	public const uint k_unInt32PropertyTag = 2;
+	public const uint k_unUint64PropertyTag = 3;
+	public const uint k_unBoolPropertyTag = 4;
+	public const uint k_unStringPropertyTag = 5;
+	public const uint k_unHmdMatrix34PropertyTag = 20;
+	public const uint k_unHmdMatrix44PropertyTag = 21;
+	public const uint k_unHmdVector3PropertyTag = 22;
+	public const uint k_unHmdVector4PropertyTag = 23;
+	public const uint k_unHiddenAreaPropertyTag = 30;
+	public const uint k_unOpenVRInternalReserved_Start = 1000;
+	public const uint k_unOpenVRInternalReserved_End = 10000;
+	public const uint k_unMaxPropertyStringSize = 32768;
+	public const uint k_unControllerStateAxisCount = 5;
+	public const ulong k_ulOverlayHandleInvalid = 0;
+	public const uint k_unScreenshotHandleInvalid = 0;
+	public const string IVRSystem_Version = "IVRSystem_016";
+	public const string IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
+	public const string IVRTrackedCamera_Version = "IVRTrackedCamera_003";
+	public const uint k_unMaxApplicationKeyLength = 128;
+	public const string k_pch_MimeType_HomeApp = "vr/home";
+	public const string k_pch_MimeType_GameTheater = "vr/game_theater";
+	public const string IVRApplications_Version = "IVRApplications_006";
+	public const string IVRChaperone_Version = "IVRChaperone_003";
+	public const string IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
+	public const string IVRCompositor_Version = "IVRCompositor_020";
+	public const uint k_unVROverlayMaxKeyLength = 128;
+	public const uint k_unVROverlayMaxNameLength = 128;
+	public const uint k_unMaxOverlayCount = 64;
+	public const uint k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
+	public const string IVROverlay_Version = "IVROverlay_016";
+	public const string k_pch_Controller_Component_GDC2015 = "gdc2015";
+	public const string k_pch_Controller_Component_Base = "base";
+	public const string k_pch_Controller_Component_Tip = "tip";
+	public const string k_pch_Controller_Component_HandGrip = "handgrip";
+	public const string k_pch_Controller_Component_Status = "status";
+	public const string IVRRenderModels_Version = "IVRRenderModels_005";
+	public const uint k_unNotificationTextMaxSize = 256;
+	public const string IVRNotifications_Version = "IVRNotifications_002";
+	public const uint k_unMaxSettingsKeyLength = 128;
+	public const string IVRSettings_Version = "IVRSettings_002";
+	public const string k_pch_SteamVR_Section = "steamvr";
+	public const string k_pch_SteamVR_RequireHmd_String = "requireHmd";
+	public const string k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+	public const string k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+	public const string k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+	public const string k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+	public const string k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+	public const string k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+	public const string k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps";
+	public const string k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+	public const string k_pch_SteamVR_IPD_Float = "ipd";
+	public const string k_pch_SteamVR_Background_String = "background";
+	public const string k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+	public const string k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+	public const string k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+	public const string k_pch_SteamVR_GridColor_String = "gridColor";
+	public const string k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+	public const string k_pch_SteamVR_ShowStage_Bool = "showStage";
+	public const string k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+	public const string k_pch_SteamVR_DirectMode_Bool = "directMode";
+	public const string k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+	public const string k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+	public const string k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+	public const string k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+	public const string k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+	public const string k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+	public const string k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+	public const string k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+	public const string k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+	public const string k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+	public const string k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+	public const string k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+	public const string k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+	public const string k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+	public const string k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+	public const string k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+	public const string k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+	public const string k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+	public const string k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+	public const string k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+	public const string k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+	public const string k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	public const string k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+	public const string k_pch_Lighthouse_Section = "driver_lighthouse";
+	public const string k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+	public const string k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+	public const string k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+	public const string k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+	public const string k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+	public const string k_pch_Null_Section = "driver_null";
+	public const string k_pch_Null_SerialNumber_String = "serialNumber";
+	public const string k_pch_Null_ModelNumber_String = "modelNumber";
+	public const string k_pch_Null_WindowX_Int32 = "windowX";
+	public const string k_pch_Null_WindowY_Int32 = "windowY";
+	public const string k_pch_Null_WindowWidth_Int32 = "windowWidth";
+	public const string k_pch_Null_WindowHeight_Int32 = "windowHeight";
+	public const string k_pch_Null_RenderWidth_Int32 = "renderWidth";
+	public const string k_pch_Null_RenderHeight_Int32 = "renderHeight";
+	public const string k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+	public const string k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+	public const string k_pch_UserInterface_Section = "userinterface";
+	public const string k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+	public const string k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+	public const string k_pch_UserInterface_Screenshots_Bool = "screenshots";
+	public const string k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+	public const string k_pch_Notifications_Section = "notifications";
+	public const string k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+	public const string k_pch_Keyboard_Section = "keyboard";
+	public const string k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+	public const string k_pch_Keyboard_ScaleX = "ScaleX";
+	public const string k_pch_Keyboard_ScaleY = "ScaleY";
+	public const string k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+	public const string k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+	public const string k_pch_Keyboard_OffsetY = "OffsetY";
+	public const string k_pch_Keyboard_Smoothing = "Smoothing";
+	public const string k_pch_Perf_Section = "perfcheck";
+	public const string k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+	public const string k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+	public const string k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+	public const string k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+	public const string k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+	public const string k_pch_Perf_TestData_Float = "perfTestData";
+	public const string k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+	public const string k_pch_CollisionBounds_Section = "collisionBounds";
+	public const string k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+	public const string k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+	public const string k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+	public const string k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+	public const string k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+	public const string k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+	public const string k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+	public const string k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+	public const string k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+	public const string k_pch_Camera_Section = "camera";
+	public const string k_pch_Camera_EnableCamera_Bool = "enableCamera";
+	public const string k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+	public const string k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+	public const string k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+	public const string k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+	public const string k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+	public const string k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+	public const string k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+	public const string k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+	public const string k_pch_audio_Section = "audio";
+	public const string k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+	public const string k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+	public const string k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+	public const string k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+	public const string k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+	public const string k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+	public const string k_pch_Power_Section = "power";
+	public const string k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+	public const string k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+	public const string k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+	public const string k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+	public const string k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+	public const string k_pch_Dashboard_Section = "dashboard";
+	public const string k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+	public const string k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+	public const string k_pch_modelskin_Section = "modelskins";
+	public const string k_pch_Driver_Enable_Bool = "enable";
+	public const string IVRScreenshots_Version = "IVRScreenshots_001";
+	public const string IVRResources_Version = "IVRResources_001";
+	public const string IVRDriverManager_Version = "IVRDriverManager_001";
+
+	static uint VRToken { get; set; }
+
+	const string FnTable_Prefix = "FnTable:";
+
+	class COpenVRContext
+	{
+		public COpenVRContext() { Clear(); }
+
+		public void Clear()
+		{
+			m_pVRSystem = null;
+			m_pVRChaperone = null;
+			m_pVRChaperoneSetup = null;
+			m_pVRCompositor = null;
+			m_pVROverlay = null;
+			m_pVRRenderModels = null;
+			m_pVRExtendedDisplay = null;
+			m_pVRSettings = null;
+			m_pVRApplications = null;
+			m_pVRScreenshots = null;
+			m_pVRTrackedCamera = null;
+		}
+
+		void CheckClear()
+		{
+			if (VRToken != GetInitToken())
+			{
+				Clear();
+				VRToken = GetInitToken();
+			}
+		}
+
+		public CVRSystem VRSystem()
+		{
+			CheckClear();
+			if (m_pVRSystem == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRSystem_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRSystem = new CVRSystem(pInterface);
+			}
+			return m_pVRSystem;
+		}
+
+		public CVRChaperone VRChaperone()
+		{
+			CheckClear();
+			if (m_pVRChaperone == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRChaperone_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRChaperone = new CVRChaperone(pInterface);
+			}
+			return m_pVRChaperone;
+		}
+
+		public CVRChaperoneSetup VRChaperoneSetup()
+		{
+			CheckClear();
+			if (m_pVRChaperoneSetup == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRChaperoneSetup_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRChaperoneSetup = new CVRChaperoneSetup(pInterface);
+			}
+			return m_pVRChaperoneSetup;
+		}
+
+		public CVRCompositor VRCompositor()
+		{
+			CheckClear();
+			if (m_pVRCompositor == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRCompositor_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRCompositor = new CVRCompositor(pInterface);
+			}
+			return m_pVRCompositor;
+		}
+
+		public CVROverlay VROverlay()
+		{
+			CheckClear();
+			if (m_pVROverlay == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVROverlay_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVROverlay = new CVROverlay(pInterface);
+			}
+			return m_pVROverlay;
+		}
+
+		public CVRRenderModels VRRenderModels()
+		{
+			CheckClear();
+			if (m_pVRRenderModels == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRRenderModels_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRRenderModels = new CVRRenderModels(pInterface);
+			}
+			return m_pVRRenderModels;
+		}
+
+		public CVRExtendedDisplay VRExtendedDisplay()
+		{
+			CheckClear();
+			if (m_pVRExtendedDisplay == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRExtendedDisplay_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRExtendedDisplay = new CVRExtendedDisplay(pInterface);
+			}
+			return m_pVRExtendedDisplay;
+		}
+
+		public CVRSettings VRSettings()
+		{
+			CheckClear();
+			if (m_pVRSettings == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRSettings_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRSettings = new CVRSettings(pInterface);
+			}
+			return m_pVRSettings;
+		}
+
+		public CVRApplications VRApplications()
+		{
+			CheckClear();
+			if (m_pVRApplications == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRApplications_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRApplications = new CVRApplications(pInterface);
+			}
+			return m_pVRApplications;
+		}
+
+		public CVRScreenshots VRScreenshots()
+		{
+			CheckClear();
+			if (m_pVRScreenshots == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRScreenshots_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRScreenshots = new CVRScreenshots(pInterface);
+			}
+			return m_pVRScreenshots;
+		}
+
+		public CVRTrackedCamera VRTrackedCamera()
+		{
+			CheckClear();
+			if (m_pVRTrackedCamera == null)
+			{
+				var eError = EVRInitError.None;
+				var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRTrackedCamera_Version, ref eError);
+				if (pInterface != IntPtr.Zero && eError == EVRInitError.None)
+					m_pVRTrackedCamera = new CVRTrackedCamera(pInterface);
+			}
+			return m_pVRTrackedCamera;
+		}
+
+		private CVRSystem m_pVRSystem;
+		private CVRChaperone m_pVRChaperone;
+		private CVRChaperoneSetup m_pVRChaperoneSetup;
+		private CVRCompositor m_pVRCompositor;
+		private CVROverlay m_pVROverlay;
+		private CVRRenderModels m_pVRRenderModels;
+		private CVRExtendedDisplay m_pVRExtendedDisplay;
+		private CVRSettings m_pVRSettings;
+		private CVRApplications m_pVRApplications;
+		private CVRScreenshots m_pVRScreenshots;
+		private CVRTrackedCamera m_pVRTrackedCamera;
+	};
+
+	private static COpenVRContext _OpenVRInternal_ModuleContext = null;
+	static COpenVRContext OpenVRInternal_ModuleContext
+	{
+		get
+		{
+			if (_OpenVRInternal_ModuleContext == null)
+				_OpenVRInternal_ModuleContext = new COpenVRContext();
+			return _OpenVRInternal_ModuleContext;
+		}
+	}
+
+	public static CVRSystem System { get { return OpenVRInternal_ModuleContext.VRSystem(); } }
+	public static CVRChaperone Chaperone { get { return OpenVRInternal_ModuleContext.VRChaperone(); } }
+	public static CVRChaperoneSetup ChaperoneSetup { get { return OpenVRInternal_ModuleContext.VRChaperoneSetup(); } }
+	public static CVRCompositor Compositor { get { return OpenVRInternal_ModuleContext.VRCompositor(); } }
+	public static CVROverlay Overlay { get { return OpenVRInternal_ModuleContext.VROverlay(); } }
+	public static CVRRenderModels RenderModels { get { return OpenVRInternal_ModuleContext.VRRenderModels(); } }
+	public static CVRExtendedDisplay ExtendedDisplay { get { return OpenVRInternal_ModuleContext.VRExtendedDisplay(); } }
+	public static CVRSettings Settings { get { return OpenVRInternal_ModuleContext.VRSettings(); } }
+	public static CVRApplications Applications { get { return OpenVRInternal_ModuleContext.VRApplications(); } }
+	public static CVRScreenshots Screenshots { get { return OpenVRInternal_ModuleContext.VRScreenshots(); } }
+	public static CVRTrackedCamera TrackedCamera { get { return OpenVRInternal_ModuleContext.VRTrackedCamera(); } }
+
+	/** Finds the active installation of vrclient.dll and initializes it */
+	public static CVRSystem Init(ref EVRInitError peError, EVRApplicationType eApplicationType = EVRApplicationType.VRApplication_Scene)
+	{
+		VRToken = InitInternal(ref peError, eApplicationType);
+		OpenVRInternal_ModuleContext.Clear();
+
+		if (peError != EVRInitError.None)
+			return null;
+
+		bool bInterfaceValid = IsInterfaceVersionValid(IVRSystem_Version);
+		if (!bInterfaceValid)
+		{
+			ShutdownInternal();
+			peError = EVRInitError.Init_InterfaceNotFound;
+			return null;
+		}
+
+		return OpenVR.System;
+	}
+
+	/** unloads vrclient.dll. Any interface pointers from the interface are
+	* invalid after this point */
+	public static void Shutdown()
+	{
+		ShutdownInternal();
+	}
+
+}
+
+
+
+}
+
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_api.json b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_api.json
new file mode 100644
index 000000000..bd76ded9f
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_api.json
@@ -0,0 +1,3887 @@
+{"typedefs":[{"typedef": "vr::glSharedTextureHandle_t","type": "void *"}
+,{"typedef": "vr::glInt_t","type": "int32_t"}
+,{"typedef": "vr::glUInt_t","type": "uint32_t"}
+,{"typedef": "vr::SharedTextureHandle_t","type": "uint64_t"}
+,{"typedef": "vr::DriverId_t","type": "uint32_t"}
+,{"typedef": "vr::TrackedDeviceIndex_t","type": "uint32_t"}
+,{"typedef": "vr::PropertyContainerHandle_t","type": "uint64_t"}
+,{"typedef": "vr::PropertyTypeTag_t","type": "uint32_t"}
+,{"typedef": "vr::VREvent_Data_t","type": "union VREvent_Data_t"}
+,{"typedef": "vr::VRControllerState_t","type": "struct vr::VRControllerState001_t"}
+,{"typedef": "vr::VROverlayHandle_t","type": "uint64_t"}
+,{"typedef": "vr::TrackedCameraHandle_t","type": "uint64_t"}
+,{"typedef": "vr::ScreenshotHandle_t","type": "uint32_t"}
+,{"typedef": "vr::VROverlayIntersectionMaskPrimitive_Data_t","type": "union VROverlayIntersectionMaskPrimitive_Data_t"}
+,{"typedef": "vr::VRComponentProperties","type": "uint32_t"}
+,{"typedef": "vr::TextureID_t","type": "int32_t"}
+,{"typedef": "vr::VRNotificationId","type": "uint32_t"}
+,{"typedef": "vr::HmdError","type": "enum vr::EVRInitError"}
+,{"typedef": "vr::Hmd_Eye","type": "enum vr::EVREye"}
+,{"typedef": "vr::ColorSpace","type": "enum vr::EColorSpace"}
+,{"typedef": "vr::HmdTrackingResult","type": "enum vr::ETrackingResult"}
+,{"typedef": "vr::TrackedDeviceClass","type": "enum vr::ETrackedDeviceClass"}
+,{"typedef": "vr::TrackingUniverseOrigin","type": "enum vr::ETrackingUniverseOrigin"}
+,{"typedef": "vr::TrackedDeviceProperty","type": "enum vr::ETrackedDeviceProperty"}
+,{"typedef": "vr::TrackedPropertyError","type": "enum vr::ETrackedPropertyError"}
+,{"typedef": "vr::VRSubmitFlags_t","type": "enum vr::EVRSubmitFlags"}
+,{"typedef": "vr::VRState_t","type": "enum vr::EVRState"}
+,{"typedef": "vr::CollisionBoundsStyle_t","type": "enum vr::ECollisionBoundsStyle"}
+,{"typedef": "vr::VROverlayError","type": "enum vr::EVROverlayError"}
+,{"typedef": "vr::VRFirmwareError","type": "enum vr::EVRFirmwareError"}
+,{"typedef": "vr::VRCompositorError","type": "enum vr::EVRCompositorError"}
+,{"typedef": "vr::VRScreenshotsError","type": "enum vr::EVRScreenshotError"}
+],
+"enums":[
+	{"enumname": "vr::EVREye","values": [ 
+	{"name": "Eye_Left","value": "0"}
+	,{"name": "Eye_Right","value": "1"}
+]}
+,	{"enumname": "vr::ETextureType","values": [ 
+	{"name": "TextureType_DirectX","value": "0"}
+	,{"name": "TextureType_OpenGL","value": "1"}
+	,{"name": "TextureType_Vulkan","value": "2"}
+	,{"name": "TextureType_IOSurface","value": "3"}
+	,{"name": "TextureType_DirectX12","value": "4"}
+]}
+,	{"enumname": "vr::EColorSpace","values": [ 
+	{"name": "ColorSpace_Auto","value": "0"}
+	,{"name": "ColorSpace_Gamma","value": "1"}
+	,{"name": "ColorSpace_Linear","value": "2"}
+]}
+,	{"enumname": "vr::ETrackingResult","values": [ 
+	{"name": "TrackingResult_Uninitialized","value": "1"}
+	,{"name": "TrackingResult_Calibrating_InProgress","value": "100"}
+	,{"name": "TrackingResult_Calibrating_OutOfRange","value": "101"}
+	,{"name": "TrackingResult_Running_OK","value": "200"}
+	,{"name": "TrackingResult_Running_OutOfRange","value": "201"}
+]}
+,	{"enumname": "vr::ETrackedDeviceClass","values": [ 
+	{"name": "TrackedDeviceClass_Invalid","value": "0"}
+	,{"name": "TrackedDeviceClass_HMD","value": "1"}
+	,{"name": "TrackedDeviceClass_Controller","value": "2"}
+	,{"name": "TrackedDeviceClass_GenericTracker","value": "3"}
+	,{"name": "TrackedDeviceClass_TrackingReference","value": "4"}
+	,{"name": "TrackedDeviceClass_DisplayRedirect","value": "5"}
+]}
+,	{"enumname": "vr::ETrackedControllerRole","values": [ 
+	{"name": "TrackedControllerRole_Invalid","value": "0"}
+	,{"name": "TrackedControllerRole_LeftHand","value": "1"}
+	,{"name": "TrackedControllerRole_RightHand","value": "2"}
+]}
+,	{"enumname": "vr::ETrackingUniverseOrigin","values": [ 
+	{"name": "TrackingUniverseSeated","value": "0"}
+	,{"name": "TrackingUniverseStanding","value": "1"}
+	,{"name": "TrackingUniverseRawAndUncalibrated","value": "2"}
+]}
+,	{"enumname": "vr::ETrackedDeviceProperty","values": [ 
+	{"name": "Prop_Invalid","value": "0"}
+	,{"name": "Prop_TrackingSystemName_String","value": "1000"}
+	,{"name": "Prop_ModelNumber_String","value": "1001"}
+	,{"name": "Prop_SerialNumber_String","value": "1002"}
+	,{"name": "Prop_RenderModelName_String","value": "1003"}
+	,{"name": "Prop_WillDriftInYaw_Bool","value": "1004"}
+	,{"name": "Prop_ManufacturerName_String","value": "1005"}
+	,{"name": "Prop_TrackingFirmwareVersion_String","value": "1006"}
+	,{"name": "Prop_HardwareRevision_String","value": "1007"}
+	,{"name": "Prop_AllWirelessDongleDescriptions_String","value": "1008"}
+	,{"name": "Prop_ConnectedWirelessDongle_String","value": "1009"}
+	,{"name": "Prop_DeviceIsWireless_Bool","value": "1010"}
+	,{"name": "Prop_DeviceIsCharging_Bool","value": "1011"}
+	,{"name": "Prop_DeviceBatteryPercentage_Float","value": "1012"}
+	,{"name": "Prop_StatusDisplayTransform_Matrix34","value": "1013"}
+	,{"name": "Prop_Firmware_UpdateAvailable_Bool","value": "1014"}
+	,{"name": "Prop_Firmware_ManualUpdate_Bool","value": "1015"}
+	,{"name": "Prop_Firmware_ManualUpdateURL_String","value": "1016"}
+	,{"name": "Prop_HardwareRevision_Uint64","value": "1017"}
+	,{"name": "Prop_FirmwareVersion_Uint64","value": "1018"}
+	,{"name": "Prop_FPGAVersion_Uint64","value": "1019"}
+	,{"name": "Prop_VRCVersion_Uint64","value": "1020"}
+	,{"name": "Prop_RadioVersion_Uint64","value": "1021"}
+	,{"name": "Prop_DongleVersion_Uint64","value": "1022"}
+	,{"name": "Prop_BlockServerShutdown_Bool","value": "1023"}
+	,{"name": "Prop_CanUnifyCoordinateSystemWithHmd_Bool","value": "1024"}
+	,{"name": "Prop_ContainsProximitySensor_Bool","value": "1025"}
+	,{"name": "Prop_DeviceProvidesBatteryStatus_Bool","value": "1026"}
+	,{"name": "Prop_DeviceCanPowerOff_Bool","value": "1027"}
+	,{"name": "Prop_Firmware_ProgrammingTarget_String","value": "1028"}
+	,{"name": "Prop_DeviceClass_Int32","value": "1029"}
+	,{"name": "Prop_HasCamera_Bool","value": "1030"}
+	,{"name": "Prop_DriverVersion_String","value": "1031"}
+	,{"name": "Prop_Firmware_ForceUpdateRequired_Bool","value": "1032"}
+	,{"name": "Prop_ViveSystemButtonFixRequired_Bool","value": "1033"}
+	,{"name": "Prop_ParentDriver_Uint64","value": "1034"}
+	,{"name": "Prop_ResourceRoot_String","value": "1035"}
+	,{"name": "Prop_ReportsTimeSinceVSync_Bool","value": "2000"}
+	,{"name": "Prop_SecondsFromVsyncToPhotons_Float","value": "2001"}
+	,{"name": "Prop_DisplayFrequency_Float","value": "2002"}
+	,{"name": "Prop_UserIpdMeters_Float","value": "2003"}
+	,{"name": "Prop_CurrentUniverseId_Uint64","value": "2004"}
+	,{"name": "Prop_PreviousUniverseId_Uint64","value": "2005"}
+	,{"name": "Prop_DisplayFirmwareVersion_Uint64","value": "2006"}
+	,{"name": "Prop_IsOnDesktop_Bool","value": "2007"}
+	,{"name": "Prop_DisplayMCType_Int32","value": "2008"}
+	,{"name": "Prop_DisplayMCOffset_Float","value": "2009"}
+	,{"name": "Prop_DisplayMCScale_Float","value": "2010"}
+	,{"name": "Prop_EdidVendorID_Int32","value": "2011"}
+	,{"name": "Prop_DisplayMCImageLeft_String","value": "2012"}
+	,{"name": "Prop_DisplayMCImageRight_String","value": "2013"}
+	,{"name": "Prop_DisplayGCBlackClamp_Float","value": "2014"}
+	,{"name": "Prop_EdidProductID_Int32","value": "2015"}
+	,{"name": "Prop_CameraToHeadTransform_Matrix34","value": "2016"}
+	,{"name": "Prop_DisplayGCType_Int32","value": "2017"}
+	,{"name": "Prop_DisplayGCOffset_Float","value": "2018"}
+	,{"name": "Prop_DisplayGCScale_Float","value": "2019"}
+	,{"name": "Prop_DisplayGCPrescale_Float","value": "2020"}
+	,{"name": "Prop_DisplayGCImage_String","value": "2021"}
+	,{"name": "Prop_LensCenterLeftU_Float","value": "2022"}
+	,{"name": "Prop_LensCenterLeftV_Float","value": "2023"}
+	,{"name": "Prop_LensCenterRightU_Float","value": "2024"}
+	,{"name": "Prop_LensCenterRightV_Float","value": "2025"}
+	,{"name": "Prop_UserHeadToEyeDepthMeters_Float","value": "2026"}
+	,{"name": "Prop_CameraFirmwareVersion_Uint64","value": "2027"}
+	,{"name": "Prop_CameraFirmwareDescription_String","value": "2028"}
+	,{"name": "Prop_DisplayFPGAVersion_Uint64","value": "2029"}
+	,{"name": "Prop_DisplayBootloaderVersion_Uint64","value": "2030"}
+	,{"name": "Prop_DisplayHardwareVersion_Uint64","value": "2031"}
+	,{"name": "Prop_AudioFirmwareVersion_Uint64","value": "2032"}
+	,{"name": "Prop_CameraCompatibilityMode_Int32","value": "2033"}
+	,{"name": "Prop_ScreenshotHorizontalFieldOfViewDegrees_Float","value": "2034"}
+	,{"name": "Prop_ScreenshotVerticalFieldOfViewDegrees_Float","value": "2035"}
+	,{"name": "Prop_DisplaySuppressed_Bool","value": "2036"}
+	,{"name": "Prop_DisplayAllowNightMode_Bool","value": "2037"}
+	,{"name": "Prop_DisplayMCImageWidth_Int32","value": "2038"}
+	,{"name": "Prop_DisplayMCImageHeight_Int32","value": "2039"}
+	,{"name": "Prop_DisplayMCImageNumChannels_Int32","value": "2040"}
+	,{"name": "Prop_DisplayMCImageData_Binary","value": "2041"}
+	,{"name": "Prop_SecondsFromPhotonsToVblank_Float","value": "2042"}
+	,{"name": "Prop_DriverDirectModeSendsVsyncEvents_Bool","value": "2043"}
+	,{"name": "Prop_DisplayDebugMode_Bool","value": "2044"}
+	,{"name": "Prop_GraphicsAdapterLuid_Uint64","value": "2045"}
+	,{"name": "Prop_AttachedDeviceId_String","value": "3000"}
+	,{"name": "Prop_SupportedButtons_Uint64","value": "3001"}
+	,{"name": "Prop_Axis0Type_Int32","value": "3002"}
+	,{"name": "Prop_Axis1Type_Int32","value": "3003"}
+	,{"name": "Prop_Axis2Type_Int32","value": "3004"}
+	,{"name": "Prop_Axis3Type_Int32","value": "3005"}
+	,{"name": "Prop_Axis4Type_Int32","value": "3006"}
+	,{"name": "Prop_ControllerRoleHint_Int32","value": "3007"}
+	,{"name": "Prop_FieldOfViewLeftDegrees_Float","value": "4000"}
+	,{"name": "Prop_FieldOfViewRightDegrees_Float","value": "4001"}
+	,{"name": "Prop_FieldOfViewTopDegrees_Float","value": "4002"}
+	,{"name": "Prop_FieldOfViewBottomDegrees_Float","value": "4003"}
+	,{"name": "Prop_TrackingRangeMinimumMeters_Float","value": "4004"}
+	,{"name": "Prop_TrackingRangeMaximumMeters_Float","value": "4005"}
+	,{"name": "Prop_ModeLabel_String","value": "4006"}
+	,{"name": "Prop_IconPathName_String","value": "5000"}
+	,{"name": "Prop_NamedIconPathDeviceOff_String","value": "5001"}
+	,{"name": "Prop_NamedIconPathDeviceSearching_String","value": "5002"}
+	,{"name": "Prop_NamedIconPathDeviceSearchingAlert_String","value": "5003"}
+	,{"name": "Prop_NamedIconPathDeviceReady_String","value": "5004"}
+	,{"name": "Prop_NamedIconPathDeviceReadyAlert_String","value": "5005"}
+	,{"name": "Prop_NamedIconPathDeviceNotReady_String","value": "5006"}
+	,{"name": "Prop_NamedIconPathDeviceStandby_String","value": "5007"}
+	,{"name": "Prop_NamedIconPathDeviceAlertLow_String","value": "5008"}
+	,{"name": "Prop_DisplayHiddenArea_Binary_Start","value": "5100"}
+	,{"name": "Prop_DisplayHiddenArea_Binary_End","value": "5150"}
+	,{"name": "Prop_UserConfigPath_String","value": "6000"}
+	,{"name": "Prop_InstallPath_String","value": "6001"}
+	,{"name": "Prop_HasDisplayComponent_Bool","value": "6002"}
+	,{"name": "Prop_HasControllerComponent_Bool","value": "6003"}
+	,{"name": "Prop_HasCameraComponent_Bool","value": "6004"}
+	,{"name": "Prop_HasDriverDirectModeComponent_Bool","value": "6005"}
+	,{"name": "Prop_HasVirtualDisplayComponent_Bool","value": "6006"}
+	,{"name": "Prop_VendorSpecific_Reserved_Start","value": "10000"}
+	,{"name": "Prop_VendorSpecific_Reserved_End","value": "10999"}
+]}
+,	{"enumname": "vr::ETrackedPropertyError","values": [ 
+	{"name": "TrackedProp_Success","value": "0"}
+	,{"name": "TrackedProp_WrongDataType","value": "1"}
+	,{"name": "TrackedProp_WrongDeviceClass","value": "2"}
+	,{"name": "TrackedProp_BufferTooSmall","value": "3"}
+	,{"name": "TrackedProp_UnknownProperty","value": "4"}
+	,{"name": "TrackedProp_InvalidDevice","value": "5"}
+	,{"name": "TrackedProp_CouldNotContactServer","value": "6"}
+	,{"name": "TrackedProp_ValueNotProvidedByDevice","value": "7"}
+	,{"name": "TrackedProp_StringExceedsMaximumLength","value": "8"}
+	,{"name": "TrackedProp_NotYetAvailable","value": "9"}
+	,{"name": "TrackedProp_PermissionDenied","value": "10"}
+	,{"name": "TrackedProp_InvalidOperation","value": "11"}
+]}
+,	{"enumname": "vr::EVRSubmitFlags","values": [ 
+	{"name": "Submit_Default","value": "0"}
+	,{"name": "Submit_LensDistortionAlreadyApplied","value": "1"}
+	,{"name": "Submit_GlRenderBuffer","value": "2"}
+	,{"name": "Submit_Reserved","value": "4"}
+]}
+,	{"enumname": "vr::EVRState","values": [ 
+	{"name": "VRState_Undefined","value": "-1"}
+	,{"name": "VRState_Off","value": "0"}
+	,{"name": "VRState_Searching","value": "1"}
+	,{"name": "VRState_Searching_Alert","value": "2"}
+	,{"name": "VRState_Ready","value": "3"}
+	,{"name": "VRState_Ready_Alert","value": "4"}
+	,{"name": "VRState_NotReady","value": "5"}
+	,{"name": "VRState_Standby","value": "6"}
+	,{"name": "VRState_Ready_Alert_Low","value": "7"}
+]}
+,	{"enumname": "vr::EVREventType","values": [ 
+	{"name": "VREvent_None","value": "0"}
+	,{"name": "VREvent_TrackedDeviceActivated","value": "100"}
+	,{"name": "VREvent_TrackedDeviceDeactivated","value": "101"}
+	,{"name": "VREvent_TrackedDeviceUpdated","value": "102"}
+	,{"name": "VREvent_TrackedDeviceUserInteractionStarted","value": "103"}
+	,{"name": "VREvent_TrackedDeviceUserInteractionEnded","value": "104"}
+	,{"name": "VREvent_IpdChanged","value": "105"}
+	,{"name": "VREvent_EnterStandbyMode","value": "106"}
+	,{"name": "VREvent_LeaveStandbyMode","value": "107"}
+	,{"name": "VREvent_TrackedDeviceRoleChanged","value": "108"}
+	,{"name": "VREvent_WatchdogWakeUpRequested","value": "109"}
+	,{"name": "VREvent_LensDistortionChanged","value": "110"}
+	,{"name": "VREvent_PropertyChanged","value": "111"}
+	,{"name": "VREvent_ButtonPress","value": "200"}
+	,{"name": "VREvent_ButtonUnpress","value": "201"}
+	,{"name": "VREvent_ButtonTouch","value": "202"}
+	,{"name": "VREvent_ButtonUntouch","value": "203"}
+	,{"name": "VREvent_MouseMove","value": "300"}
+	,{"name": "VREvent_MouseButtonDown","value": "301"}
+	,{"name": "VREvent_MouseButtonUp","value": "302"}
+	,{"name": "VREvent_FocusEnter","value": "303"}
+	,{"name": "VREvent_FocusLeave","value": "304"}
+	,{"name": "VREvent_Scroll","value": "305"}
+	,{"name": "VREvent_TouchPadMove","value": "306"}
+	,{"name": "VREvent_OverlayFocusChanged","value": "307"}
+	,{"name": "VREvent_InputFocusCaptured","value": "400"}
+	,{"name": "VREvent_InputFocusReleased","value": "401"}
+	,{"name": "VREvent_SceneFocusLost","value": "402"}
+	,{"name": "VREvent_SceneFocusGained","value": "403"}
+	,{"name": "VREvent_SceneApplicationChanged","value": "404"}
+	,{"name": "VREvent_SceneFocusChanged","value": "405"}
+	,{"name": "VREvent_InputFocusChanged","value": "406"}
+	,{"name": "VREvent_SceneApplicationSecondaryRenderingStarted","value": "407"}
+	,{"name": "VREvent_HideRenderModels","value": "410"}
+	,{"name": "VREvent_ShowRenderModels","value": "411"}
+	,{"name": "VREvent_OverlayShown","value": "500"}
+	,{"name": "VREvent_OverlayHidden","value": "501"}
+	,{"name": "VREvent_DashboardActivated","value": "502"}
+	,{"name": "VREvent_DashboardDeactivated","value": "503"}
+	,{"name": "VREvent_DashboardThumbSelected","value": "504"}
+	,{"name": "VREvent_DashboardRequested","value": "505"}
+	,{"name": "VREvent_ResetDashboard","value": "506"}
+	,{"name": "VREvent_RenderToast","value": "507"}
+	,{"name": "VREvent_ImageLoaded","value": "508"}
+	,{"name": "VREvent_ShowKeyboard","value": "509"}
+	,{"name": "VREvent_HideKeyboard","value": "510"}
+	,{"name": "VREvent_OverlayGamepadFocusGained","value": "511"}
+	,{"name": "VREvent_OverlayGamepadFocusLost","value": "512"}
+	,{"name": "VREvent_OverlaySharedTextureChanged","value": "513"}
+	,{"name": "VREvent_DashboardGuideButtonDown","value": "514"}
+	,{"name": "VREvent_DashboardGuideButtonUp","value": "515"}
+	,{"name": "VREvent_ScreenshotTriggered","value": "516"}
+	,{"name": "VREvent_ImageFailed","value": "517"}
+	,{"name": "VREvent_DashboardOverlayCreated","value": "518"}
+	,{"name": "VREvent_RequestScreenshot","value": "520"}
+	,{"name": "VREvent_ScreenshotTaken","value": "521"}
+	,{"name": "VREvent_ScreenshotFailed","value": "522"}
+	,{"name": "VREvent_SubmitScreenshotToDashboard","value": "523"}
+	,{"name": "VREvent_ScreenshotProgressToDashboard","value": "524"}
+	,{"name": "VREvent_PrimaryDashboardDeviceChanged","value": "525"}
+	,{"name": "VREvent_Notification_Shown","value": "600"}
+	,{"name": "VREvent_Notification_Hidden","value": "601"}
+	,{"name": "VREvent_Notification_BeginInteraction","value": "602"}
+	,{"name": "VREvent_Notification_Destroyed","value": "603"}
+	,{"name": "VREvent_Quit","value": "700"}
+	,{"name": "VREvent_ProcessQuit","value": "701"}
+	,{"name": "VREvent_QuitAborted_UserPrompt","value": "702"}
+	,{"name": "VREvent_QuitAcknowledged","value": "703"}
+	,{"name": "VREvent_DriverRequestedQuit","value": "704"}
+	,{"name": "VREvent_ChaperoneDataHasChanged","value": "800"}
+	,{"name": "VREvent_ChaperoneUniverseHasChanged","value": "801"}
+	,{"name": "VREvent_ChaperoneTempDataHasChanged","value": "802"}
+	,{"name": "VREvent_ChaperoneSettingsHaveChanged","value": "803"}
+	,{"name": "VREvent_SeatedZeroPoseReset","value": "804"}
+	,{"name": "VREvent_AudioSettingsHaveChanged","value": "820"}
+	,{"name": "VREvent_BackgroundSettingHasChanged","value": "850"}
+	,{"name": "VREvent_CameraSettingsHaveChanged","value": "851"}
+	,{"name": "VREvent_ReprojectionSettingHasChanged","value": "852"}
+	,{"name": "VREvent_ModelSkinSettingsHaveChanged","value": "853"}
+	,{"name": "VREvent_EnvironmentSettingsHaveChanged","value": "854"}
+	,{"name": "VREvent_PowerSettingsHaveChanged","value": "855"}
+	,{"name": "VREvent_EnableHomeAppSettingsHaveChanged","value": "856"}
+	,{"name": "VREvent_StatusUpdate","value": "900"}
+	,{"name": "VREvent_MCImageUpdated","value": "1000"}
+	,{"name": "VREvent_FirmwareUpdateStarted","value": "1100"}
+	,{"name": "VREvent_FirmwareUpdateFinished","value": "1101"}
+	,{"name": "VREvent_KeyboardClosed","value": "1200"}
+	,{"name": "VREvent_KeyboardCharInput","value": "1201"}
+	,{"name": "VREvent_KeyboardDone","value": "1202"}
+	,{"name": "VREvent_ApplicationTransitionStarted","value": "1300"}
+	,{"name": "VREvent_ApplicationTransitionAborted","value": "1301"}
+	,{"name": "VREvent_ApplicationTransitionNewAppStarted","value": "1302"}
+	,{"name": "VREvent_ApplicationListUpdated","value": "1303"}
+	,{"name": "VREvent_ApplicationMimeTypeLoad","value": "1304"}
+	,{"name": "VREvent_ApplicationTransitionNewAppLaunchComplete","value": "1305"}
+	,{"name": "VREvent_ProcessConnected","value": "1306"}
+	,{"name": "VREvent_ProcessDisconnected","value": "1307"}
+	,{"name": "VREvent_Compositor_MirrorWindowShown","value": "1400"}
+	,{"name": "VREvent_Compositor_MirrorWindowHidden","value": "1401"}
+	,{"name": "VREvent_Compositor_ChaperoneBoundsShown","value": "1410"}
+	,{"name": "VREvent_Compositor_ChaperoneBoundsHidden","value": "1411"}
+	,{"name": "VREvent_TrackedCamera_StartVideoStream","value": "1500"}
+	,{"name": "VREvent_TrackedCamera_StopVideoStream","value": "1501"}
+	,{"name": "VREvent_TrackedCamera_PauseVideoStream","value": "1502"}
+	,{"name": "VREvent_TrackedCamera_ResumeVideoStream","value": "1503"}
+	,{"name": "VREvent_TrackedCamera_EditingSurface","value": "1550"}
+	,{"name": "VREvent_PerformanceTest_EnableCapture","value": "1600"}
+	,{"name": "VREvent_PerformanceTest_DisableCapture","value": "1601"}
+	,{"name": "VREvent_PerformanceTest_FidelityLevel","value": "1602"}
+	,{"name": "VREvent_MessageOverlay_Closed","value": "1650"}
+	,{"name": "VREvent_VendorSpecific_Reserved_Start","value": "10000"}
+	,{"name": "VREvent_VendorSpecific_Reserved_End","value": "19999"}
+]}
+,	{"enumname": "vr::EDeviceActivityLevel","values": [ 
+	{"name": "k_EDeviceActivityLevel_Unknown","value": "-1"}
+	,{"name": "k_EDeviceActivityLevel_Idle","value": "0"}
+	,{"name": "k_EDeviceActivityLevel_UserInteraction","value": "1"}
+	,{"name": "k_EDeviceActivityLevel_UserInteraction_Timeout","value": "2"}
+	,{"name": "k_EDeviceActivityLevel_Standby","value": "3"}
+]}
+,	{"enumname": "vr::EVRButtonId","values": [ 
+	{"name": "k_EButton_System","value": "0"}
+	,{"name": "k_EButton_ApplicationMenu","value": "1"}
+	,{"name": "k_EButton_Grip","value": "2"}
+	,{"name": "k_EButton_DPad_Left","value": "3"}
+	,{"name": "k_EButton_DPad_Up","value": "4"}
+	,{"name": "k_EButton_DPad_Right","value": "5"}
+	,{"name": "k_EButton_DPad_Down","value": "6"}
+	,{"name": "k_EButton_A","value": "7"}
+	,{"name": "k_EButton_ProximitySensor","value": "31"}
+	,{"name": "k_EButton_Axis0","value": "32"}
+	,{"name": "k_EButton_Axis1","value": "33"}
+	,{"name": "k_EButton_Axis2","value": "34"}
+	,{"name": "k_EButton_Axis3","value": "35"}
+	,{"name": "k_EButton_Axis4","value": "36"}
+	,{"name": "k_EButton_SteamVR_Touchpad","value": "32"}
+	,{"name": "k_EButton_SteamVR_Trigger","value": "33"}
+	,{"name": "k_EButton_Dashboard_Back","value": "2"}
+	,{"name": "k_EButton_Max","value": "64"}
+]}
+,	{"enumname": "vr::EVRMouseButton","values": [ 
+	{"name": "VRMouseButton_Left","value": "1"}
+	,{"name": "VRMouseButton_Right","value": "2"}
+	,{"name": "VRMouseButton_Middle","value": "4"}
+]}
+,	{"enumname": "vr::EHiddenAreaMeshType","values": [ 
+	{"name": "k_eHiddenAreaMesh_Standard","value": "0"}
+	,{"name": "k_eHiddenAreaMesh_Inverse","value": "1"}
+	,{"name": "k_eHiddenAreaMesh_LineLoop","value": "2"}
+	,{"name": "k_eHiddenAreaMesh_Max","value": "3"}
+]}
+,	{"enumname": "vr::EVRControllerAxisType","values": [ 
+	{"name": "k_eControllerAxis_None","value": "0"}
+	,{"name": "k_eControllerAxis_TrackPad","value": "1"}
+	,{"name": "k_eControllerAxis_Joystick","value": "2"}
+	,{"name": "k_eControllerAxis_Trigger","value": "3"}
+]}
+,	{"enumname": "vr::EVRControllerEventOutputType","values": [ 
+	{"name": "ControllerEventOutput_OSEvents","value": "0"}
+	,{"name": "ControllerEventOutput_VREvents","value": "1"}
+]}
+,	{"enumname": "vr::ECollisionBoundsStyle","values": [ 
+	{"name": "COLLISION_BOUNDS_STYLE_BEGINNER","value": "0"}
+	,{"name": "COLLISION_BOUNDS_STYLE_INTERMEDIATE","value": "1"}
+	,{"name": "COLLISION_BOUNDS_STYLE_SQUARES","value": "2"}
+	,{"name": "COLLISION_BOUNDS_STYLE_ADVANCED","value": "3"}
+	,{"name": "COLLISION_BOUNDS_STYLE_NONE","value": "4"}
+	,{"name": "COLLISION_BOUNDS_STYLE_COUNT","value": "5"}
+]}
+,	{"enumname": "vr::EVROverlayError","values": [ 
+	{"name": "VROverlayError_None","value": "0"}
+	,{"name": "VROverlayError_UnknownOverlay","value": "10"}
+	,{"name": "VROverlayError_InvalidHandle","value": "11"}
+	,{"name": "VROverlayError_PermissionDenied","value": "12"}
+	,{"name": "VROverlayError_OverlayLimitExceeded","value": "13"}
+	,{"name": "VROverlayError_WrongVisibilityType","value": "14"}
+	,{"name": "VROverlayError_KeyTooLong","value": "15"}
+	,{"name": "VROverlayError_NameTooLong","value": "16"}
+	,{"name": "VROverlayError_KeyInUse","value": "17"}
+	,{"name": "VROverlayError_WrongTransformType","value": "18"}
+	,{"name": "VROverlayError_InvalidTrackedDevice","value": "19"}
+	,{"name": "VROverlayError_InvalidParameter","value": "20"}
+	,{"name": "VROverlayError_ThumbnailCantBeDestroyed","value": "21"}
+	,{"name": "VROverlayError_ArrayTooSmall","value": "22"}
+	,{"name": "VROverlayError_RequestFailed","value": "23"}
+	,{"name": "VROverlayError_InvalidTexture","value": "24"}
+	,{"name": "VROverlayError_UnableToLoadFile","value": "25"}
+	,{"name": "VROverlayError_KeyboardAlreadyInUse","value": "26"}
+	,{"name": "VROverlayError_NoNeighbor","value": "27"}
+	,{"name": "VROverlayError_TooManyMaskPrimitives","value": "29"}
+	,{"name": "VROverlayError_BadMaskPrimitive","value": "30"}
+]}
+,	{"enumname": "vr::EVRApplicationType","values": [ 
+	{"name": "VRApplication_Other","value": "0"}
+	,{"name": "VRApplication_Scene","value": "1"}
+	,{"name": "VRApplication_Overlay","value": "2"}
+	,{"name": "VRApplication_Background","value": "3"}
+	,{"name": "VRApplication_Utility","value": "4"}
+	,{"name": "VRApplication_VRMonitor","value": "5"}
+	,{"name": "VRApplication_SteamWatchdog","value": "6"}
+	,{"name": "VRApplication_Bootstrapper","value": "7"}
+	,{"name": "VRApplication_Max","value": "8"}
+]}
+,	{"enumname": "vr::EVRFirmwareError","values": [ 
+	{"name": "VRFirmwareError_None","value": "0"}
+	,{"name": "VRFirmwareError_Success","value": "1"}
+	,{"name": "VRFirmwareError_Fail","value": "2"}
+]}
+,	{"enumname": "vr::EVRNotificationError","values": [ 
+	{"name": "VRNotificationError_OK","value": "0"}
+	,{"name": "VRNotificationError_InvalidNotificationId","value": "100"}
+	,{"name": "VRNotificationError_NotificationQueueFull","value": "101"}
+	,{"name": "VRNotificationError_InvalidOverlayHandle","value": "102"}
+	,{"name": "VRNotificationError_SystemWithUserValueAlreadyExists","value": "103"}
+]}
+,	{"enumname": "vr::EVRInitError","values": [ 
+	{"name": "VRInitError_None","value": "0"}
+	,{"name": "VRInitError_Unknown","value": "1"}
+	,{"name": "VRInitError_Init_InstallationNotFound","value": "100"}
+	,{"name": "VRInitError_Init_InstallationCorrupt","value": "101"}
+	,{"name": "VRInitError_Init_VRClientDLLNotFound","value": "102"}
+	,{"name": "VRInitError_Init_FileNotFound","value": "103"}
+	,{"name": "VRInitError_Init_FactoryNotFound","value": "104"}
+	,{"name": "VRInitError_Init_InterfaceNotFound","value": "105"}
+	,{"name": "VRInitError_Init_InvalidInterface","value": "106"}
+	,{"name": "VRInitError_Init_UserConfigDirectoryInvalid","value": "107"}
+	,{"name": "VRInitError_Init_HmdNotFound","value": "108"}
+	,{"name": "VRInitError_Init_NotInitialized","value": "109"}
+	,{"name": "VRInitError_Init_PathRegistryNotFound","value": "110"}
+	,{"name": "VRInitError_Init_NoConfigPath","value": "111"}
+	,{"name": "VRInitError_Init_NoLogPath","value": "112"}
+	,{"name": "VRInitError_Init_PathRegistryNotWritable","value": "113"}
+	,{"name": "VRInitError_Init_AppInfoInitFailed","value": "114"}
+	,{"name": "VRInitError_Init_Retry","value": "115"}
+	,{"name": "VRInitError_Init_InitCanceledByUser","value": "116"}
+	,{"name": "VRInitError_Init_AnotherAppLaunching","value": "117"}
+	,{"name": "VRInitError_Init_SettingsInitFailed","value": "118"}
+	,{"name": "VRInitError_Init_ShuttingDown","value": "119"}
+	,{"name": "VRInitError_Init_TooManyObjects","value": "120"}
+	,{"name": "VRInitError_Init_NoServerForBackgroundApp","value": "121"}
+	,{"name": "VRInitError_Init_NotSupportedWithCompositor","value": "122"}
+	,{"name": "VRInitError_Init_NotAvailableToUtilityApps","value": "123"}
+	,{"name": "VRInitError_Init_Internal","value": "124"}
+	,{"name": "VRInitError_Init_HmdDriverIdIsNone","value": "125"}
+	,{"name": "VRInitError_Init_HmdNotFoundPresenceFailed","value": "126"}
+	,{"name": "VRInitError_Init_VRMonitorNotFound","value": "127"}
+	,{"name": "VRInitError_Init_VRMonitorStartupFailed","value": "128"}
+	,{"name": "VRInitError_Init_LowPowerWatchdogNotSupported","value": "129"}
+	,{"name": "VRInitError_Init_InvalidApplicationType","value": "130"}
+	,{"name": "VRInitError_Init_NotAvailableToWatchdogApps","value": "131"}
+	,{"name": "VRInitError_Init_WatchdogDisabledInSettings","value": "132"}
+	,{"name": "VRInitError_Init_VRDashboardNotFound","value": "133"}
+	,{"name": "VRInitError_Init_VRDashboardStartupFailed","value": "134"}
+	,{"name": "VRInitError_Init_VRHomeNotFound","value": "135"}
+	,{"name": "VRInitError_Init_VRHomeStartupFailed","value": "136"}
+	,{"name": "VRInitError_Driver_Failed","value": "200"}
+	,{"name": "VRInitError_Driver_Unknown","value": "201"}
+	,{"name": "VRInitError_Driver_HmdUnknown","value": "202"}
+	,{"name": "VRInitError_Driver_NotLoaded","value": "203"}
+	,{"name": "VRInitError_Driver_RuntimeOutOfDate","value": "204"}
+	,{"name": "VRInitError_Driver_HmdInUse","value": "205"}
+	,{"name": "VRInitError_Driver_NotCalibrated","value": "206"}
+	,{"name": "VRInitError_Driver_CalibrationInvalid","value": "207"}
+	,{"name": "VRInitError_Driver_HmdDisplayNotFound","value": "208"}
+	,{"name": "VRInitError_Driver_TrackedDeviceInterfaceUnknown","value": "209"}
+	,{"name": "VRInitError_Driver_HmdDriverIdOutOfBounds","value": "211"}
+	,{"name": "VRInitError_Driver_HmdDisplayMirrored","value": "212"}
+	,{"name": "VRInitError_IPC_ServerInitFailed","value": "300"}
+	,{"name": "VRInitError_IPC_ConnectFailed","value": "301"}
+	,{"name": "VRInitError_IPC_SharedStateInitFailed","value": "302"}
+	,{"name": "VRInitError_IPC_CompositorInitFailed","value": "303"}
+	,{"name": "VRInitError_IPC_MutexInitFailed","value": "304"}
+	,{"name": "VRInitError_IPC_Failed","value": "305"}
+	,{"name": "VRInitError_IPC_CompositorConnectFailed","value": "306"}
+	,{"name": "VRInitError_IPC_CompositorInvalidConnectResponse","value": "307"}
+	,{"name": "VRInitError_IPC_ConnectFailedAfterMultipleAttempts","value": "308"}
+	,{"name": "VRInitError_Compositor_Failed","value": "400"}
+	,{"name": "VRInitError_Compositor_D3D11HardwareRequired","value": "401"}
+	,{"name": "VRInitError_Compositor_FirmwareRequiresUpdate","value": "402"}
+	,{"name": "VRInitError_Compositor_OverlayInitFailed","value": "403"}
+	,{"name": "VRInitError_Compositor_ScreenshotsInitFailed","value": "404"}
+	,{"name": "VRInitError_Compositor_UnableToCreateDevice","value": "405"}
+	,{"name": "VRInitError_VendorSpecific_UnableToConnectToOculusRuntime","value": "1000"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_CantOpenDevice","value": "1101"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart","value": "1102"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_NoStoredConfig","value": "1103"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigTooBig","value": "1104"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigTooSmall","value": "1105"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToInitZLib","value": "1106"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion","value": "1107"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart","value": "1108"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart","value": "1109"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext","value": "1110"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UserDataAddressRange","value": "1111"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_UserDataError","value": "1112"}
+	,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck","value": "1113"}
+	,{"name": "VRInitError_Steam_SteamInstallationNotFound","value": "2000"}
+]}
+,	{"enumname": "vr::EVRScreenshotType","values": [ 
+	{"name": "VRScreenshotType_None","value": "0"}
+	,{"name": "VRScreenshotType_Mono","value": "1"}
+	,{"name": "VRScreenshotType_Stereo","value": "2"}
+	,{"name": "VRScreenshotType_Cubemap","value": "3"}
+	,{"name": "VRScreenshotType_MonoPanorama","value": "4"}
+	,{"name": "VRScreenshotType_StereoPanorama","value": "5"}
+]}
+,	{"enumname": "vr::EVRScreenshotPropertyFilenames","values": [ 
+	{"name": "VRScreenshotPropertyFilenames_Preview","value": "0"}
+	,{"name": "VRScreenshotPropertyFilenames_VR","value": "1"}
+]}
+,	{"enumname": "vr::EVRTrackedCameraError","values": [ 
+	{"name": "VRTrackedCameraError_None","value": "0"}
+	,{"name": "VRTrackedCameraError_OperationFailed","value": "100"}
+	,{"name": "VRTrackedCameraError_InvalidHandle","value": "101"}
+	,{"name": "VRTrackedCameraError_InvalidFrameHeaderVersion","value": "102"}
+	,{"name": "VRTrackedCameraError_OutOfHandles","value": "103"}
+	,{"name": "VRTrackedCameraError_IPCFailure","value": "104"}
+	,{"name": "VRTrackedCameraError_NotSupportedForThisDevice","value": "105"}
+	,{"name": "VRTrackedCameraError_SharedMemoryFailure","value": "106"}
+	,{"name": "VRTrackedCameraError_FrameBufferingFailure","value": "107"}
+	,{"name": "VRTrackedCameraError_StreamSetupFailure","value": "108"}
+	,{"name": "VRTrackedCameraError_InvalidGLTextureId","value": "109"}
+	,{"name": "VRTrackedCameraError_InvalidSharedTextureHandle","value": "110"}
+	,{"name": "VRTrackedCameraError_FailedToGetGLTextureId","value": "111"}
+	,{"name": "VRTrackedCameraError_SharedTextureFailure","value": "112"}
+	,{"name": "VRTrackedCameraError_NoFrameAvailable","value": "113"}
+	,{"name": "VRTrackedCameraError_InvalidArgument","value": "114"}
+	,{"name": "VRTrackedCameraError_InvalidFrameBufferSize","value": "115"}
+]}
+,	{"enumname": "vr::EVRTrackedCameraFrameType","values": [ 
+	{"name": "VRTrackedCameraFrameType_Distorted","value": "0"}
+	,{"name": "VRTrackedCameraFrameType_Undistorted","value": "1"}
+	,{"name": "VRTrackedCameraFrameType_MaximumUndistorted","value": "2"}
+	,{"name": "MAX_CAMERA_FRAME_TYPES","value": "3"}
+]}
+,	{"enumname": "vr::EVRApplicationError","values": [ 
+	{"name": "VRApplicationError_None","value": "0"}
+	,{"name": "VRApplicationError_AppKeyAlreadyExists","value": "100"}
+	,{"name": "VRApplicationError_NoManifest","value": "101"}
+	,{"name": "VRApplicationError_NoApplication","value": "102"}
+	,{"name": "VRApplicationError_InvalidIndex","value": "103"}
+	,{"name": "VRApplicationError_UnknownApplication","value": "104"}
+	,{"name": "VRApplicationError_IPCFailed","value": "105"}
+	,{"name": "VRApplicationError_ApplicationAlreadyRunning","value": "106"}
+	,{"name": "VRApplicationError_InvalidManifest","value": "107"}
+	,{"name": "VRApplicationError_InvalidApplication","value": "108"}
+	,{"name": "VRApplicationError_LaunchFailed","value": "109"}
+	,{"name": "VRApplicationError_ApplicationAlreadyStarting","value": "110"}
+	,{"name": "VRApplicationError_LaunchInProgress","value": "111"}
+	,{"name": "VRApplicationError_OldApplicationQuitting","value": "112"}
+	,{"name": "VRApplicationError_TransitionAborted","value": "113"}
+	,{"name": "VRApplicationError_IsTemplate","value": "114"}
+	,{"name": "VRApplicationError_BufferTooSmall","value": "200"}
+	,{"name": "VRApplicationError_PropertyNotSet","value": "201"}
+	,{"name": "VRApplicationError_UnknownProperty","value": "202"}
+	,{"name": "VRApplicationError_InvalidParameter","value": "203"}
+]}
+,	{"enumname": "vr::EVRApplicationProperty","values": [ 
+	{"name": "VRApplicationProperty_Name_String","value": "0"}
+	,{"name": "VRApplicationProperty_LaunchType_String","value": "11"}
+	,{"name": "VRApplicationProperty_WorkingDirectory_String","value": "12"}
+	,{"name": "VRApplicationProperty_BinaryPath_String","value": "13"}
+	,{"name": "VRApplicationProperty_Arguments_String","value": "14"}
+	,{"name": "VRApplicationProperty_URL_String","value": "15"}
+	,{"name": "VRApplicationProperty_Description_String","value": "50"}
+	,{"name": "VRApplicationProperty_NewsURL_String","value": "51"}
+	,{"name": "VRApplicationProperty_ImagePath_String","value": "52"}
+	,{"name": "VRApplicationProperty_Source_String","value": "53"}
+	,{"name": "VRApplicationProperty_IsDashboardOverlay_Bool","value": "60"}
+	,{"name": "VRApplicationProperty_IsTemplate_Bool","value": "61"}
+	,{"name": "VRApplicationProperty_IsInstanced_Bool","value": "62"}
+	,{"name": "VRApplicationProperty_IsInternal_Bool","value": "63"}
+	,{"name": "VRApplicationProperty_LastLaunchTime_Uint64","value": "70"}
+]}
+,	{"enumname": "vr::EVRApplicationTransitionState","values": [ 
+	{"name": "VRApplicationTransition_None","value": "0"}
+	,{"name": "VRApplicationTransition_OldAppQuitSent","value": "10"}
+	,{"name": "VRApplicationTransition_WaitingForExternalLaunch","value": "11"}
+	,{"name": "VRApplicationTransition_NewAppLaunched","value": "20"}
+]}
+,	{"enumname": "vr::ChaperoneCalibrationState","values": [ 
+	{"name": "ChaperoneCalibrationState_OK","value": "1"}
+	,{"name": "ChaperoneCalibrationState_Warning","value": "100"}
+	,{"name": "ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved","value": "101"}
+	,{"name": "ChaperoneCalibrationState_Warning_BaseStationRemoved","value": "102"}
+	,{"name": "ChaperoneCalibrationState_Warning_SeatedBoundsInvalid","value": "103"}
+	,{"name": "ChaperoneCalibrationState_Error","value": "200"}
+	,{"name": "ChaperoneCalibrationState_Error_BaseStationUninitialized","value": "201"}
+	,{"name": "ChaperoneCalibrationState_Error_BaseStationConflict","value": "202"}
+	,{"name": "ChaperoneCalibrationState_Error_PlayAreaInvalid","value": "203"}
+	,{"name": "ChaperoneCalibrationState_Error_CollisionBoundsInvalid","value": "204"}
+]}
+,	{"enumname": "vr::EChaperoneConfigFile","values": [ 
+	{"name": "EChaperoneConfigFile_Live","value": "1"}
+	,{"name": "EChaperoneConfigFile_Temp","value": "2"}
+]}
+,	{"enumname": "vr::EChaperoneImportFlags","values": [ 
+	{"name": "EChaperoneImport_BoundsOnly","value": "1"}
+]}
+,	{"enumname": "vr::EVRCompositorError","values": [ 
+	{"name": "VRCompositorError_None","value": "0"}
+	,{"name": "VRCompositorError_RequestFailed","value": "1"}
+	,{"name": "VRCompositorError_IncompatibleVersion","value": "100"}
+	,{"name": "VRCompositorError_DoNotHaveFocus","value": "101"}
+	,{"name": "VRCompositorError_InvalidTexture","value": "102"}
+	,{"name": "VRCompositorError_IsNotSceneApplication","value": "103"}
+	,{"name": "VRCompositorError_TextureIsOnWrongDevice","value": "104"}
+	,{"name": "VRCompositorError_TextureUsesUnsupportedFormat","value": "105"}
+	,{"name": "VRCompositorError_SharedTexturesNotSupported","value": "106"}
+	,{"name": "VRCompositorError_IndexOutOfRange","value": "107"}
+	,{"name": "VRCompositorError_AlreadySubmitted","value": "108"}
+]}
+,	{"enumname": "vr::VROverlayInputMethod","values": [ 
+	{"name": "VROverlayInputMethod_None","value": "0"}
+	,{"name": "VROverlayInputMethod_Mouse","value": "1"}
+]}
+,	{"enumname": "vr::VROverlayTransformType","values": [ 
+	{"name": "VROverlayTransform_Absolute","value": "0"}
+	,{"name": "VROverlayTransform_TrackedDeviceRelative","value": "1"}
+	,{"name": "VROverlayTransform_SystemOverlay","value": "2"}
+	,{"name": "VROverlayTransform_TrackedComponent","value": "3"}
+]}
+,	{"enumname": "vr::VROverlayFlags","values": [ 
+	{"name": "VROverlayFlags_None","value": "0"}
+	,{"name": "VROverlayFlags_Curved","value": "1"}
+	,{"name": "VROverlayFlags_RGSS4X","value": "2"}
+	,{"name": "VROverlayFlags_NoDashboardTab","value": "3"}
+	,{"name": "VROverlayFlags_AcceptsGamepadEvents","value": "4"}
+	,{"name": "VROverlayFlags_ShowGamepadFocus","value": "5"}
+	,{"name": "VROverlayFlags_SendVRScrollEvents","value": "6"}
+	,{"name": "VROverlayFlags_SendVRTouchpadEvents","value": "7"}
+	,{"name": "VROverlayFlags_ShowTouchPadScrollWheel","value": "8"}
+	,{"name": "VROverlayFlags_TransferOwnershipToInternalProcess","value": "9"}
+	,{"name": "VROverlayFlags_SideBySide_Parallel","value": "10"}
+	,{"name": "VROverlayFlags_SideBySide_Crossed","value": "11"}
+	,{"name": "VROverlayFlags_Panorama","value": "12"}
+	,{"name": "VROverlayFlags_StereoPanorama","value": "13"}
+	,{"name": "VROverlayFlags_SortWithNonSceneOverlays","value": "14"}
+	,{"name": "VROverlayFlags_VisibleInDashboard","value": "15"}
+]}
+,	{"enumname": "vr::VRMessageOverlayResponse","values": [ 
+	{"name": "VRMessageOverlayResponse_ButtonPress_0","value": "0"}
+	,{"name": "VRMessageOverlayResponse_ButtonPress_1","value": "1"}
+	,{"name": "VRMessageOverlayResponse_ButtonPress_2","value": "2"}
+	,{"name": "VRMessageOverlayResponse_ButtonPress_3","value": "3"}
+	,{"name": "VRMessageOverlayResponse_CouldntFindSystemOverlay","value": "4"}
+	,{"name": "VRMessageOverlayResponse_CouldntFindOrCreateClientOverlay","value": "5"}
+	,{"name": "VRMessageOverlayResponse_ApplicationQuit","value": "6"}
+]}
+,	{"enumname": "vr::EGamepadTextInputMode","values": [ 
+	{"name": "k_EGamepadTextInputModeNormal","value": "0"}
+	,{"name": "k_EGamepadTextInputModePassword","value": "1"}
+	,{"name": "k_EGamepadTextInputModeSubmit","value": "2"}
+]}
+,	{"enumname": "vr::EGamepadTextInputLineMode","values": [ 
+	{"name": "k_EGamepadTextInputLineModeSingleLine","value": "0"}
+	,{"name": "k_EGamepadTextInputLineModeMultipleLines","value": "1"}
+]}
+,	{"enumname": "vr::EOverlayDirection","values": [ 
+	{"name": "OverlayDirection_Up","value": "0"}
+	,{"name": "OverlayDirection_Down","value": "1"}
+	,{"name": "OverlayDirection_Left","value": "2"}
+	,{"name": "OverlayDirection_Right","value": "3"}
+	,{"name": "OverlayDirection_Count","value": "4"}
+]}
+,	{"enumname": "vr::EVROverlayIntersectionMaskPrimitiveType","values": [ 
+	{"name": "OverlayIntersectionPrimitiveType_Rectangle","value": "0"}
+	,{"name": "OverlayIntersectionPrimitiveType_Circle","value": "1"}
+]}
+,	{"enumname": "vr::EVRRenderModelError","values": [ 
+	{"name": "VRRenderModelError_None","value": "0"}
+	,{"name": "VRRenderModelError_Loading","value": "100"}
+	,{"name": "VRRenderModelError_NotSupported","value": "200"}
+	,{"name": "VRRenderModelError_InvalidArg","value": "300"}
+	,{"name": "VRRenderModelError_InvalidModel","value": "301"}
+	,{"name": "VRRenderModelError_NoShapes","value": "302"}
+	,{"name": "VRRenderModelError_MultipleShapes","value": "303"}
+	,{"name": "VRRenderModelError_TooManyVertices","value": "304"}
+	,{"name": "VRRenderModelError_MultipleTextures","value": "305"}
+	,{"name": "VRRenderModelError_BufferTooSmall","value": "306"}
+	,{"name": "VRRenderModelError_NotEnoughNormals","value": "307"}
+	,{"name": "VRRenderModelError_NotEnoughTexCoords","value": "308"}
+	,{"name": "VRRenderModelError_InvalidTexture","value": "400"}
+]}
+,	{"enumname": "vr::EVRComponentProperty","values": [ 
+	{"name": "VRComponentProperty_IsStatic","value": "1"}
+	,{"name": "VRComponentProperty_IsVisible","value": "2"}
+	,{"name": "VRComponentProperty_IsTouched","value": "4"}
+	,{"name": "VRComponentProperty_IsPressed","value": "8"}
+	,{"name": "VRComponentProperty_IsScrolled","value": "16"}
+]}
+,	{"enumname": "vr::EVRNotificationType","values": [ 
+	{"name": "EVRNotificationType_Transient","value": "0"}
+	,{"name": "EVRNotificationType_Persistent","value": "1"}
+	,{"name": "EVRNotificationType_Transient_SystemWithUserValue","value": "2"}
+]}
+,	{"enumname": "vr::EVRNotificationStyle","values": [ 
+	{"name": "EVRNotificationStyle_None","value": "0"}
+	,{"name": "EVRNotificationStyle_Application","value": "100"}
+	,{"name": "EVRNotificationStyle_Contact_Disabled","value": "200"}
+	,{"name": "EVRNotificationStyle_Contact_Enabled","value": "201"}
+	,{"name": "EVRNotificationStyle_Contact_Active","value": "202"}
+]}
+,	{"enumname": "vr::EVRSettingsError","values": [ 
+	{"name": "VRSettingsError_None","value": "0"}
+	,{"name": "VRSettingsError_IPCFailed","value": "1"}
+	,{"name": "VRSettingsError_WriteFailed","value": "2"}
+	,{"name": "VRSettingsError_ReadFailed","value": "3"}
+	,{"name": "VRSettingsError_JsonParseFailed","value": "4"}
+	,{"name": "VRSettingsError_UnsetSettingHasNoDefault","value": "5"}
+]}
+,	{"enumname": "vr::EVRScreenshotError","values": [ 
+	{"name": "VRScreenshotError_None","value": "0"}
+	,{"name": "VRScreenshotError_RequestFailed","value": "1"}
+	,{"name": "VRScreenshotError_IncompatibleVersion","value": "100"}
+	,{"name": "VRScreenshotError_NotFound","value": "101"}
+	,{"name": "VRScreenshotError_BufferTooSmall","value": "102"}
+	,{"name": "VRScreenshotError_ScreenshotAlreadyInProgress","value": "108"}
+]}
+],
+"consts":[{
+	"constname": "k_nDriverNone","consttype": "const uint32_t", "constval": "4294967295"}
+,{
+	"constname": "k_unMaxDriverDebugResponseSize","consttype": "const uint32_t", "constval": "32768"}
+,{
+	"constname": "k_unTrackedDeviceIndex_Hmd","consttype": "const uint32_t", "constval": "0"}
+,{
+	"constname": "k_unMaxTrackedDeviceCount","consttype": "const uint32_t", "constval": "16"}
+,{
+	"constname": "k_unTrackedDeviceIndexOther","consttype": "const uint32_t", "constval": "4294967294"}
+,{
+	"constname": "k_unTrackedDeviceIndexInvalid","consttype": "const uint32_t", "constval": "4294967295"}
+,{
+	"constname": "k_ulInvalidPropertyContainer","consttype": "const PropertyContainerHandle_t", "constval": "0"}
+,{
+	"constname": "k_unInvalidPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "0"}
+,{
+	"constname": "k_unFloatPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "1"}
+,{
+	"constname": "k_unInt32PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "2"}
+,{
+	"constname": "k_unUint64PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "3"}
+,{
+	"constname": "k_unBoolPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "4"}
+,{
+	"constname": "k_unStringPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "5"}
+,{
+	"constname": "k_unHmdMatrix34PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "20"}
+,{
+	"constname": "k_unHmdMatrix44PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "21"}
+,{
+	"constname": "k_unHmdVector3PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "22"}
+,{
+	"constname": "k_unHmdVector4PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "23"}
+,{
+	"constname": "k_unHiddenAreaPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "30"}
+,{
+	"constname": "k_unOpenVRInternalReserved_Start","consttype": "const PropertyTypeTag_t", "constval": "1000"}
+,{
+	"constname": "k_unOpenVRInternalReserved_End","consttype": "const PropertyTypeTag_t", "constval": "10000"}
+,{
+	"constname": "k_unMaxPropertyStringSize","consttype": "const uint32_t", "constval": "32768"}
+,{
+	"constname": "k_unControllerStateAxisCount","consttype": "const uint32_t", "constval": "5"}
+,{
+	"constname": "k_ulOverlayHandleInvalid","consttype": "const VROverlayHandle_t", "constval": "0"}
+,{
+	"constname": "k_unScreenshotHandleInvalid","consttype": "const uint32_t", "constval": "0"}
+,{
+	"constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_016"}
+,{
+	"constname": "IVRExtendedDisplay_Version","consttype": "const char *const", "constval": "IVRExtendedDisplay_001"}
+,{
+	"constname": "IVRTrackedCamera_Version","consttype": "const char *const", "constval": "IVRTrackedCamera_003"}
+,{
+	"constname": "k_unMaxApplicationKeyLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "k_pch_MimeType_HomeApp","consttype": "const char *const", "constval": "vr/home"}
+,{
+	"constname": "k_pch_MimeType_GameTheater","consttype": "const char *const", "constval": "vr/game_theater"}
+,{
+	"constname": "IVRApplications_Version","consttype": "const char *const", "constval": "IVRApplications_006"}
+,{
+	"constname": "IVRChaperone_Version","consttype": "const char *const", "constval": "IVRChaperone_003"}
+,{
+	"constname": "IVRChaperoneSetup_Version","consttype": "const char *const", "constval": "IVRChaperoneSetup_005"}
+,{
+	"constname": "IVRCompositor_Version","consttype": "const char *const", "constval": "IVRCompositor_020"}
+,{
+	"constname": "k_unVROverlayMaxKeyLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "k_unVROverlayMaxNameLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "k_unMaxOverlayCount","consttype": "const uint32_t", "constval": "64"}
+,{
+	"constname": "k_unMaxOverlayIntersectionMaskPrimitivesCount","consttype": "const uint32_t", "constval": "32"}
+,{
+	"constname": "IVROverlay_Version","consttype": "const char *const", "constval": "IVROverlay_016"}
+,{
+	"constname": "k_pch_Controller_Component_GDC2015","consttype": "const char *const", "constval": "gdc2015"}
+,{
+	"constname": "k_pch_Controller_Component_Base","consttype": "const char *const", "constval": "base"}
+,{
+	"constname": "k_pch_Controller_Component_Tip","consttype": "const char *const", "constval": "tip"}
+,{
+	"constname": "k_pch_Controller_Component_HandGrip","consttype": "const char *const", "constval": "handgrip"}
+,{
+	"constname": "k_pch_Controller_Component_Status","consttype": "const char *const", "constval": "status"}
+,{
+	"constname": "IVRRenderModels_Version","consttype": "const char *const", "constval": "IVRRenderModels_005"}
+,{
+	"constname": "k_unNotificationTextMaxSize","consttype": "const uint32_t", "constval": "256"}
+,{
+	"constname": "IVRNotifications_Version","consttype": "const char *const", "constval": "IVRNotifications_002"}
+,{
+	"constname": "k_unMaxSettingsKeyLength","consttype": "const uint32_t", "constval": "128"}
+,{
+	"constname": "IVRSettings_Version","consttype": "const char *const", "constval": "IVRSettings_002"}
+,{
+	"constname": "k_pch_SteamVR_Section","consttype": "const char *const", "constval": "steamvr"}
+,{
+	"constname": "k_pch_SteamVR_RequireHmd_String","consttype": "const char *const", "constval": "requireHmd"}
+,{
+	"constname": "k_pch_SteamVR_ForcedDriverKey_String","consttype": "const char *const", "constval": "forcedDriver"}
+,{
+	"constname": "k_pch_SteamVR_ForcedHmdKey_String","consttype": "const char *const", "constval": "forcedHmd"}
+,{
+	"constname": "k_pch_SteamVR_DisplayDebug_Bool","consttype": "const char *const", "constval": "displayDebug"}
+,{
+	"constname": "k_pch_SteamVR_DebugProcessPipe_String","consttype": "const char *const", "constval": "debugProcessPipe"}
+,{
+	"constname": "k_pch_SteamVR_DisplayDebugX_Int32","consttype": "const char *const", "constval": "displayDebugX"}
+,{
+	"constname": "k_pch_SteamVR_DisplayDebugY_Int32","consttype": "const char *const", "constval": "displayDebugY"}
+,{
+	"constname": "k_pch_SteamVR_SendSystemButtonToAllApps_Bool","consttype": "const char *const", "constval": "sendSystemButtonToAllApps"}
+,{
+	"constname": "k_pch_SteamVR_LogLevel_Int32","consttype": "const char *const", "constval": "loglevel"}
+,{
+	"constname": "k_pch_SteamVR_IPD_Float","consttype": "const char *const", "constval": "ipd"}
+,{
+	"constname": "k_pch_SteamVR_Background_String","consttype": "const char *const", "constval": "background"}
+,{
+	"constname": "k_pch_SteamVR_BackgroundUseDomeProjection_Bool","consttype": "const char *const", "constval": "backgroundUseDomeProjection"}
+,{
+	"constname": "k_pch_SteamVR_BackgroundCameraHeight_Float","consttype": "const char *const", "constval": "backgroundCameraHeight"}
+,{
+	"constname": "k_pch_SteamVR_BackgroundDomeRadius_Float","consttype": "const char *const", "constval": "backgroundDomeRadius"}
+,{
+	"constname": "k_pch_SteamVR_GridColor_String","consttype": "const char *const", "constval": "gridColor"}
+,{
+	"constname": "k_pch_SteamVR_PlayAreaColor_String","consttype": "const char *const", "constval": "playAreaColor"}
+,{
+	"constname": "k_pch_SteamVR_ShowStage_Bool","consttype": "const char *const", "constval": "showStage"}
+,{
+	"constname": "k_pch_SteamVR_ActivateMultipleDrivers_Bool","consttype": "const char *const", "constval": "activateMultipleDrivers"}
+,{
+	"constname": "k_pch_SteamVR_DirectMode_Bool","consttype": "const char *const", "constval": "directMode"}
+,{
+	"constname": "k_pch_SteamVR_DirectModeEdidVid_Int32","consttype": "const char *const", "constval": "directModeEdidVid"}
+,{
+	"constname": "k_pch_SteamVR_DirectModeEdidPid_Int32","consttype": "const char *const", "constval": "directModeEdidPid"}
+,{
+	"constname": "k_pch_SteamVR_UsingSpeakers_Bool","consttype": "const char *const", "constval": "usingSpeakers"}
+,{
+	"constname": "k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float","consttype": "const char *const", "constval": "speakersForwardYawOffsetDegrees"}
+,{
+	"constname": "k_pch_SteamVR_BaseStationPowerManagement_Bool","consttype": "const char *const", "constval": "basestationPowerManagement"}
+,{
+	"constname": "k_pch_SteamVR_NeverKillProcesses_Bool","consttype": "const char *const", "constval": "neverKillProcesses"}
+,{
+	"constname": "k_pch_SteamVR_SupersampleScale_Float","consttype": "const char *const", "constval": "supersampleScale"}
+,{
+	"constname": "k_pch_SteamVR_AllowAsyncReprojection_Bool","consttype": "const char *const", "constval": "allowAsyncReprojection"}
+,{
+	"constname": "k_pch_SteamVR_AllowReprojection_Bool","consttype": "const char *const", "constval": "allowInterleavedReprojection"}
+,{
+	"constname": "k_pch_SteamVR_ForceReprojection_Bool","consttype": "const char *const", "constval": "forceReprojection"}
+,{
+	"constname": "k_pch_SteamVR_ForceFadeOnBadTracking_Bool","consttype": "const char *const", "constval": "forceFadeOnBadTracking"}
+,{
+	"constname": "k_pch_SteamVR_DefaultMirrorView_Int32","consttype": "const char *const", "constval": "defaultMirrorView"}
+,{
+	"constname": "k_pch_SteamVR_ShowMirrorView_Bool","consttype": "const char *const", "constval": "showMirrorView"}
+,{
+	"constname": "k_pch_SteamVR_MirrorViewGeometry_String","consttype": "const char *const", "constval": "mirrorViewGeometry"}
+,{
+	"constname": "k_pch_SteamVR_StartMonitorFromAppLaunch","consttype": "const char *const", "constval": "startMonitorFromAppLaunch"}
+,{
+	"constname": "k_pch_SteamVR_StartCompositorFromAppLaunch_Bool","consttype": "const char *const", "constval": "startCompositorFromAppLaunch"}
+,{
+	"constname": "k_pch_SteamVR_StartDashboardFromAppLaunch_Bool","consttype": "const char *const", "constval": "startDashboardFromAppLaunch"}
+,{
+	"constname": "k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool","consttype": "const char *const", "constval": "startOverlayAppsFromDashboard"}
+,{
+	"constname": "k_pch_SteamVR_EnableHomeApp","consttype": "const char *const", "constval": "enableHomeApp"}
+,{
+	"constname": "k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32","consttype": "const char *const", "constval": "CycleBackgroundImageTimeSec"}
+,{
+	"constname": "k_pch_SteamVR_RetailDemo_Bool","consttype": "const char *const", "constval": "retailDemo"}
+,{
+	"constname": "k_pch_SteamVR_IpdOffset_Float","consttype": "const char *const", "constval": "ipdOffset"}
+,{
+	"constname": "k_pch_SteamVR_AllowSupersampleFiltering_Bool","consttype": "const char *const", "constval": "allowSupersampleFiltering"}
+,{
+	"constname": "k_pch_Lighthouse_Section","consttype": "const char *const", "constval": "driver_lighthouse"}
+,{
+	"constname": "k_pch_Lighthouse_DisableIMU_Bool","consttype": "const char *const", "constval": "disableimu"}
+,{
+	"constname": "k_pch_Lighthouse_UseDisambiguation_String","consttype": "const char *const", "constval": "usedisambiguation"}
+,{
+	"constname": "k_pch_Lighthouse_DisambiguationDebug_Int32","consttype": "const char *const", "constval": "disambiguationdebug"}
+,{
+	"constname": "k_pch_Lighthouse_PrimaryBasestation_Int32","consttype": "const char *const", "constval": "primarybasestation"}
+,{
+	"constname": "k_pch_Lighthouse_DBHistory_Bool","consttype": "const char *const", "constval": "dbhistory"}
+,{
+	"constname": "k_pch_Null_Section","consttype": "const char *const", "constval": "driver_null"}
+,{
+	"constname": "k_pch_Null_SerialNumber_String","consttype": "const char *const", "constval": "serialNumber"}
+,{
+	"constname": "k_pch_Null_ModelNumber_String","consttype": "const char *const", "constval": "modelNumber"}
+,{
+	"constname": "k_pch_Null_WindowX_Int32","consttype": "const char *const", "constval": "windowX"}
+,{
+	"constname": "k_pch_Null_WindowY_Int32","consttype": "const char *const", "constval": "windowY"}
+,{
+	"constname": "k_pch_Null_WindowWidth_Int32","consttype": "const char *const", "constval": "windowWidth"}
+,{
+	"constname": "k_pch_Null_WindowHeight_Int32","consttype": "const char *const", "constval": "windowHeight"}
+,{
+	"constname": "k_pch_Null_RenderWidth_Int32","consttype": "const char *const", "constval": "renderWidth"}
+,{
+	"constname": "k_pch_Null_RenderHeight_Int32","consttype": "const char *const", "constval": "renderHeight"}
+,{
+	"constname": "k_pch_Null_SecondsFromVsyncToPhotons_Float","consttype": "const char *const", "constval": "secondsFromVsyncToPhotons"}
+,{
+	"constname": "k_pch_Null_DisplayFrequency_Float","consttype": "const char *const", "constval": "displayFrequency"}
+,{
+	"constname": "k_pch_UserInterface_Section","consttype": "const char *const", "constval": "userinterface"}
+,{
+	"constname": "k_pch_UserInterface_StatusAlwaysOnTop_Bool","consttype": "const char *const", "constval": "StatusAlwaysOnTop"}
+,{
+	"constname": "k_pch_UserInterface_MinimizeToTray_Bool","consttype": "const char *const", "constval": "MinimizeToTray"}
+,{
+	"constname": "k_pch_UserInterface_Screenshots_Bool","consttype": "const char *const", "constval": "screenshots"}
+,{
+	"constname": "k_pch_UserInterface_ScreenshotType_Int","consttype": "const char *const", "constval": "screenshotType"}
+,{
+	"constname": "k_pch_Notifications_Section","consttype": "const char *const", "constval": "notifications"}
+,{
+	"constname": "k_pch_Notifications_DoNotDisturb_Bool","consttype": "const char *const", "constval": "DoNotDisturb"}
+,{
+	"constname": "k_pch_Keyboard_Section","consttype": "const char *const", "constval": "keyboard"}
+,{
+	"constname": "k_pch_Keyboard_TutorialCompletions","consttype": "const char *const", "constval": "TutorialCompletions"}
+,{
+	"constname": "k_pch_Keyboard_ScaleX","consttype": "const char *const", "constval": "ScaleX"}
+,{
+	"constname": "k_pch_Keyboard_ScaleY","consttype": "const char *const", "constval": "ScaleY"}
+,{
+	"constname": "k_pch_Keyboard_OffsetLeftX","consttype": "const char *const", "constval": "OffsetLeftX"}
+,{
+	"constname": "k_pch_Keyboard_OffsetRightX","consttype": "const char *const", "constval": "OffsetRightX"}
+,{
+	"constname": "k_pch_Keyboard_OffsetY","consttype": "const char *const", "constval": "OffsetY"}
+,{
+	"constname": "k_pch_Keyboard_Smoothing","consttype": "const char *const", "constval": "Smoothing"}
+,{
+	"constname": "k_pch_Perf_Section","consttype": "const char *const", "constval": "perfcheck"}
+,{
+	"constname": "k_pch_Perf_HeuristicActive_Bool","consttype": "const char *const", "constval": "heuristicActive"}
+,{
+	"constname": "k_pch_Perf_NotifyInHMD_Bool","consttype": "const char *const", "constval": "warnInHMD"}
+,{
+	"constname": "k_pch_Perf_NotifyOnlyOnce_Bool","consttype": "const char *const", "constval": "warnOnlyOnce"}
+,{
+	"constname": "k_pch_Perf_AllowTimingStore_Bool","consttype": "const char *const", "constval": "allowTimingStore"}
+,{
+	"constname": "k_pch_Perf_SaveTimingsOnExit_Bool","consttype": "const char *const", "constval": "saveTimingsOnExit"}
+,{
+	"constname": "k_pch_Perf_TestData_Float","consttype": "const char *const", "constval": "perfTestData"}
+,{
+	"constname": "k_pch_Perf_LinuxGPUProfiling_Bool","consttype": "const char *const", "constval": "linuxGPUProfiling"}
+,{
+	"constname": "k_pch_CollisionBounds_Section","consttype": "const char *const", "constval": "collisionBounds"}
+,{
+	"constname": "k_pch_CollisionBounds_Style_Int32","consttype": "const char *const", "constval": "CollisionBoundsStyle"}
+,{
+	"constname": "k_pch_CollisionBounds_GroundPerimeterOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsGroundPerimeterOn"}
+,{
+	"constname": "k_pch_CollisionBounds_CenterMarkerOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsCenterMarkerOn"}
+,{
+	"constname": "k_pch_CollisionBounds_PlaySpaceOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsPlaySpaceOn"}
+,{
+	"constname": "k_pch_CollisionBounds_FadeDistance_Float","consttype": "const char *const", "constval": "CollisionBoundsFadeDistance"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaR_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaR"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaG_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaG"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaB_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaB"}
+,{
+	"constname": "k_pch_CollisionBounds_ColorGammaA_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaA"}
+,{
+	"constname": "k_pch_Camera_Section","consttype": "const char *const", "constval": "camera"}
+,{
+	"constname": "k_pch_Camera_EnableCamera_Bool","consttype": "const char *const", "constval": "enableCamera"}
+,{
+	"constname": "k_pch_Camera_EnableCameraInDashboard_Bool","consttype": "const char *const", "constval": "enableCameraInDashboard"}
+,{
+	"constname": "k_pch_Camera_EnableCameraForCollisionBounds_Bool","consttype": "const char *const", "constval": "enableCameraForCollisionBounds"}
+,{
+	"constname": "k_pch_Camera_EnableCameraForRoomView_Bool","consttype": "const char *const", "constval": "enableCameraForRoomView"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaR_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaR"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaG_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaG"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaB_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaB"}
+,{
+	"constname": "k_pch_Camera_BoundsColorGammaA_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaA"}
+,{
+	"constname": "k_pch_Camera_BoundsStrength_Int32","consttype": "const char *const", "constval": "cameraBoundsStrength"}
+,{
+	"constname": "k_pch_audio_Section","consttype": "const char *const", "constval": "audio"}
+,{
+	"constname": "k_pch_audio_OnPlaybackDevice_String","consttype": "const char *const", "constval": "onPlaybackDevice"}
+,{
+	"constname": "k_pch_audio_OnRecordDevice_String","consttype": "const char *const", "constval": "onRecordDevice"}
+,{
+	"constname": "k_pch_audio_OnPlaybackMirrorDevice_String","consttype": "const char *const", "constval": "onPlaybackMirrorDevice"}
+,{
+	"constname": "k_pch_audio_OffPlaybackDevice_String","consttype": "const char *const", "constval": "offPlaybackDevice"}
+,{
+	"constname": "k_pch_audio_OffRecordDevice_String","consttype": "const char *const", "constval": "offRecordDevice"}
+,{
+	"constname": "k_pch_audio_VIVEHDMIGain","consttype": "const char *const", "constval": "viveHDMIGain"}
+,{
+	"constname": "k_pch_Power_Section","consttype": "const char *const", "constval": "power"}
+,{
+	"constname": "k_pch_Power_PowerOffOnExit_Bool","consttype": "const char *const", "constval": "powerOffOnExit"}
+,{
+	"constname": "k_pch_Power_TurnOffScreensTimeout_Float","consttype": "const char *const", "constval": "turnOffScreensTimeout"}
+,{
+	"constname": "k_pch_Power_TurnOffControllersTimeout_Float","consttype": "const char *const", "constval": "turnOffControllersTimeout"}
+,{
+	"constname": "k_pch_Power_ReturnToWatchdogTimeout_Float","consttype": "const char *const", "constval": "returnToWatchdogTimeout"}
+,{
+	"constname": "k_pch_Power_AutoLaunchSteamVROnButtonPress","consttype": "const char *const", "constval": "autoLaunchSteamVROnButtonPress"}
+,{
+	"constname": "k_pch_Dashboard_Section","consttype": "const char *const", "constval": "dashboard"}
+,{
+	"constname": "k_pch_Dashboard_EnableDashboard_Bool","consttype": "const char *const", "constval": "enableDashboard"}
+,{
+	"constname": "k_pch_Dashboard_ArcadeMode_Bool","consttype": "const char *const", "constval": "arcadeMode"}
+,{
+	"constname": "k_pch_modelskin_Section","consttype": "const char *const", "constval": "modelskins"}
+,{
+	"constname": "k_pch_Driver_Enable_Bool","consttype": "const char *const", "constval": "enable"}
+,{
+	"constname": "IVRScreenshots_Version","consttype": "const char *const", "constval": "IVRScreenshots_001"}
+,{
+	"constname": "IVRResources_Version","consttype": "const char *const", "constval": "IVRResources_001"}
+,{
+	"constname": "IVRDriverManager_Version","consttype": "const char *const", "constval": "IVRDriverManager_001"}
+],
+"structs":[{"struct": "vr::HmdMatrix34_t","fields": [
+{ "fieldname": "m", "fieldtype": "float [3][4]"}]}
+,{"struct": "vr::HmdMatrix44_t","fields": [
+{ "fieldname": "m", "fieldtype": "float [4][4]"}]}
+,{"struct": "vr::HmdVector3_t","fields": [
+{ "fieldname": "v", "fieldtype": "float [3]"}]}
+,{"struct": "vr::HmdVector4_t","fields": [
+{ "fieldname": "v", "fieldtype": "float [4]"}]}
+,{"struct": "vr::HmdVector3d_t","fields": [
+{ "fieldname": "v", "fieldtype": "double [3]"}]}
+,{"struct": "vr::HmdVector2_t","fields": [
+{ "fieldname": "v", "fieldtype": "float [2]"}]}
+,{"struct": "vr::HmdQuaternion_t","fields": [
+{ "fieldname": "w", "fieldtype": "double"},
+{ "fieldname": "x", "fieldtype": "double"},
+{ "fieldname": "y", "fieldtype": "double"},
+{ "fieldname": "z", "fieldtype": "double"}]}
+,{"struct": "vr::HmdColor_t","fields": [
+{ "fieldname": "r", "fieldtype": "float"},
+{ "fieldname": "g", "fieldtype": "float"},
+{ "fieldname": "b", "fieldtype": "float"},
+{ "fieldname": "a", "fieldtype": "float"}]}
+,{"struct": "vr::HmdQuad_t","fields": [
+{ "fieldname": "vCorners", "fieldtype": "struct vr::HmdVector3_t [4]"}]}
+,{"struct": "vr::HmdRect2_t","fields": [
+{ "fieldname": "vTopLeft", "fieldtype": "struct vr::HmdVector2_t"},
+{ "fieldname": "vBottomRight", "fieldtype": "struct vr::HmdVector2_t"}]}
+,{"struct": "vr::DistortionCoordinates_t","fields": [
+{ "fieldname": "rfRed", "fieldtype": "float [2]"},
+{ "fieldname": "rfGreen", "fieldtype": "float [2]"},
+{ "fieldname": "rfBlue", "fieldtype": "float [2]"}]}
+,{"struct": "vr::Texture_t","fields": [
+{ "fieldname": "handle", "fieldtype": "void *"},
+{ "fieldname": "eType", "fieldtype": "enum vr::ETextureType"},
+{ "fieldname": "eColorSpace", "fieldtype": "enum vr::EColorSpace"}]}
+,{"struct": "vr::TrackedDevicePose_t","fields": [
+{ "fieldname": "mDeviceToAbsoluteTracking", "fieldtype": "struct vr::HmdMatrix34_t"},
+{ "fieldname": "vVelocity", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vAngularVelocity", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "eTrackingResult", "fieldtype": "enum vr::ETrackingResult"},
+{ "fieldname": "bPoseIsValid", "fieldtype": "_Bool"},
+{ "fieldname": "bDeviceIsConnected", "fieldtype": "_Bool"}]}
+,{"struct": "vr::VRTextureBounds_t","fields": [
+{ "fieldname": "uMin", "fieldtype": "float"},
+{ "fieldname": "vMin", "fieldtype": "float"},
+{ "fieldname": "uMax", "fieldtype": "float"},
+{ "fieldname": "vMax", "fieldtype": "float"}]}
+,{"struct": "vr::VRVulkanTextureData_t","fields": [
+{ "fieldname": "m_nImage", "fieldtype": "uint64_t"},
+{ "fieldname": "m_pDevice", "fieldtype": "struct VkDevice_T *"},
+{ "fieldname": "m_pPhysicalDevice", "fieldtype": "struct VkPhysicalDevice_T *"},
+{ "fieldname": "m_pInstance", "fieldtype": "struct VkInstance_T *"},
+{ "fieldname": "m_pQueue", "fieldtype": "struct VkQueue_T *"},
+{ "fieldname": "m_nQueueFamilyIndex", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nWidth", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nHeight", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nFormat", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nSampleCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::D3D12TextureData_t","fields": [
+{ "fieldname": "m_pResource", "fieldtype": "struct ID3D12Resource *"},
+{ "fieldname": "m_pCommandQueue", "fieldtype": "struct ID3D12CommandQueue *"},
+{ "fieldname": "m_nNodeMask", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Controller_t","fields": [
+{ "fieldname": "button", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Mouse_t","fields": [
+{ "fieldname": "x", "fieldtype": "float"},
+{ "fieldname": "y", "fieldtype": "float"},
+{ "fieldname": "button", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Scroll_t","fields": [
+{ "fieldname": "xdelta", "fieldtype": "float"},
+{ "fieldname": "ydelta", "fieldtype": "float"},
+{ "fieldname": "repeatCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_TouchPadMove_t","fields": [
+{ "fieldname": "bFingerDown", "fieldtype": "_Bool"},
+{ "fieldname": "flSecondsFingerDown", "fieldtype": "float"},
+{ "fieldname": "fValueXFirst", "fieldtype": "float"},
+{ "fieldname": "fValueYFirst", "fieldtype": "float"},
+{ "fieldname": "fValueXRaw", "fieldtype": "float"},
+{ "fieldname": "fValueYRaw", "fieldtype": "float"}]}
+,{"struct": "vr::VREvent_Notification_t","fields": [
+{ "fieldname": "ulUserValue", "fieldtype": "uint64_t"},
+{ "fieldname": "notificationId", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Process_t","fields": [
+{ "fieldname": "pid", "fieldtype": "uint32_t"},
+{ "fieldname": "oldPid", "fieldtype": "uint32_t"},
+{ "fieldname": "bForced", "fieldtype": "_Bool"}]}
+,{"struct": "vr::VREvent_Overlay_t","fields": [
+{ "fieldname": "overlayHandle", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_Status_t","fields": [
+{ "fieldname": "statusState", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Keyboard_t","fields": [
+{ "fieldname": "cNewInput", "fieldtype": "char [8]"},
+{ "fieldname": "uUserValue", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_Ipd_t","fields": [
+{ "fieldname": "ipdMeters", "fieldtype": "float"}]}
+,{"struct": "vr::VREvent_Chaperone_t","fields": [
+{ "fieldname": "m_nPreviousUniverse", "fieldtype": "uint64_t"},
+{ "fieldname": "m_nCurrentUniverse", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_Reserved_t","fields": [
+{ "fieldname": "reserved0", "fieldtype": "uint64_t"},
+{ "fieldname": "reserved1", "fieldtype": "uint64_t"}]}
+,{"struct": "vr::VREvent_PerformanceTest_t","fields": [
+{ "fieldname": "m_nFidelityLevel", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_SeatedZeroPoseReset_t","fields": [
+{ "fieldname": "bResetBySystemMenu", "fieldtype": "_Bool"}]}
+,{"struct": "vr::VREvent_Screenshot_t","fields": [
+{ "fieldname": "handle", "fieldtype": "uint32_t"},
+{ "fieldname": "type", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_ScreenshotProgress_t","fields": [
+{ "fieldname": "progress", "fieldtype": "float"}]}
+,{"struct": "vr::VREvent_ApplicationLaunch_t","fields": [
+{ "fieldname": "pid", "fieldtype": "uint32_t"},
+{ "fieldname": "unArgsHandle", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_EditingCameraSurface_t","fields": [
+{ "fieldname": "overlayHandle", "fieldtype": "uint64_t"},
+{ "fieldname": "nVisualMode", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_MessageOverlay_t","fields": [
+{ "fieldname": "unVRMessageOverlayResponse", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Property_t","fields": [
+{ "fieldname": "container", "fieldtype": "PropertyContainerHandle_t"},
+{ "fieldname": "prop", "fieldtype": "enum vr::ETrackedDeviceProperty"}]}
+,{"struct": "vr::(anonymous)","fields": [
+{ "fieldname": "reserved", "fieldtype": "struct vr::VREvent_Reserved_t"},
+{ "fieldname": "controller", "fieldtype": "struct vr::VREvent_Controller_t"},
+{ "fieldname": "mouse", "fieldtype": "struct vr::VREvent_Mouse_t"},
+{ "fieldname": "scroll", "fieldtype": "struct vr::VREvent_Scroll_t"},
+{ "fieldname": "process", "fieldtype": "struct vr::VREvent_Process_t"},
+{ "fieldname": "notification", "fieldtype": "struct vr::VREvent_Notification_t"},
+{ "fieldname": "overlay", "fieldtype": "struct vr::VREvent_Overlay_t"},
+{ "fieldname": "status", "fieldtype": "struct vr::VREvent_Status_t"},
+{ "fieldname": "keyboard", "fieldtype": "struct vr::VREvent_Keyboard_t"},
+{ "fieldname": "ipd", "fieldtype": "struct vr::VREvent_Ipd_t"},
+{ "fieldname": "chaperone", "fieldtype": "struct vr::VREvent_Chaperone_t"},
+{ "fieldname": "performanceTest", "fieldtype": "struct vr::VREvent_PerformanceTest_t"},
+{ "fieldname": "touchPadMove", "fieldtype": "struct vr::VREvent_TouchPadMove_t"},
+{ "fieldname": "seatedZeroPoseReset", "fieldtype": "struct vr::VREvent_SeatedZeroPoseReset_t"},
+{ "fieldname": "screenshot", "fieldtype": "struct vr::VREvent_Screenshot_t"},
+{ "fieldname": "screenshotProgress", "fieldtype": "struct vr::VREvent_ScreenshotProgress_t"},
+{ "fieldname": "applicationLaunch", "fieldtype": "struct vr::VREvent_ApplicationLaunch_t"},
+{ "fieldname": "cameraSurface", "fieldtype": "struct vr::VREvent_EditingCameraSurface_t"},
+{ "fieldname": "messageOverlay", "fieldtype": "struct vr::VREvent_MessageOverlay_t"},
+{ "fieldname": "property", "fieldtype": "struct vr::VREvent_Property_t"}]}
+,{"struct": "vr::VREvent_t","fields": [
+{ "fieldname": "eventType", "fieldtype": "uint32_t"},
+{ "fieldname": "trackedDeviceIndex", "fieldtype": "TrackedDeviceIndex_t"},
+{ "fieldname": "eventAgeSeconds", "fieldtype": "float"},
+{ "fieldname": "data", "fieldtype": "VREvent_Data_t"}]}
+,{"struct": "vr::HiddenAreaMesh_t","fields": [
+{ "fieldname": "pVertexData", "fieldtype": "const struct vr::HmdVector2_t *"},
+{ "fieldname": "unTriangleCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VRControllerAxis_t","fields": [
+{ "fieldname": "x", "fieldtype": "float"},
+{ "fieldname": "y", "fieldtype": "float"}]}
+,{"struct": "vr::VRControllerState001_t","fields": [
+{ "fieldname": "unPacketNum", "fieldtype": "uint32_t"},
+{ "fieldname": "ulButtonPressed", "fieldtype": "uint64_t"},
+{ "fieldname": "ulButtonTouched", "fieldtype": "uint64_t"},
+{ "fieldname": "rAxis", "fieldtype": "struct vr::VRControllerAxis_t [5]"}]}
+,{"struct": "vr::Compositor_OverlaySettings","fields": [
+{ "fieldname": "size", "fieldtype": "uint32_t"},
+{ "fieldname": "curved", "fieldtype": "_Bool"},
+{ "fieldname": "antialias", "fieldtype": "_Bool"},
+{ "fieldname": "scale", "fieldtype": "float"},
+{ "fieldname": "distance", "fieldtype": "float"},
+{ "fieldname": "alpha", "fieldtype": "float"},
+{ "fieldname": "uOffset", "fieldtype": "float"},
+{ "fieldname": "vOffset", "fieldtype": "float"},
+{ "fieldname": "uScale", "fieldtype": "float"},
+{ "fieldname": "vScale", "fieldtype": "float"},
+{ "fieldname": "gridDivs", "fieldtype": "float"},
+{ "fieldname": "gridWidth", "fieldtype": "float"},
+{ "fieldname": "gridScale", "fieldtype": "float"},
+{ "fieldname": "transform", "fieldtype": "struct vr::HmdMatrix44_t"}]}
+,{"struct": "vr::CameraVideoStreamFrameHeader_t","fields": [
+{ "fieldname": "eFrameType", "fieldtype": "enum vr::EVRTrackedCameraFrameType"},
+{ "fieldname": "nWidth", "fieldtype": "uint32_t"},
+{ "fieldname": "nHeight", "fieldtype": "uint32_t"},
+{ "fieldname": "nBytesPerPixel", "fieldtype": "uint32_t"},
+{ "fieldname": "nFrameSequence", "fieldtype": "uint32_t"},
+{ "fieldname": "standingTrackedDevicePose", "fieldtype": "struct vr::TrackedDevicePose_t"}]}
+,{"struct": "vr::AppOverrideKeys_t","fields": [
+{ "fieldname": "pchKey", "fieldtype": "const char *"},
+{ "fieldname": "pchValue", "fieldtype": "const char *"}]}
+,{"struct": "vr::Compositor_FrameTiming","fields": [
+{ "fieldname": "m_nSize", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nFrameIndex", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresents", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumMisPresented", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFrames", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nReprojectionFlags", "fieldtype": "uint32_t"},
+{ "fieldname": "m_flSystemTimeInSeconds", "fieldtype": "double"},
+{ "fieldname": "m_flPreSubmitGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flPostSubmitGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flTotalRenderGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorRenderGpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorRenderCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorIdleCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flClientFrameIntervalMs", "fieldtype": "float"},
+{ "fieldname": "m_flPresentCallCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flWaitForPresentCpuMs", "fieldtype": "float"},
+{ "fieldname": "m_flSubmitFrameMs", "fieldtype": "float"},
+{ "fieldname": "m_flWaitGetPosesCalledMs", "fieldtype": "float"},
+{ "fieldname": "m_flNewPosesReadyMs", "fieldtype": "float"},
+{ "fieldname": "m_flNewFrameReadyMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorUpdateStartMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorUpdateEndMs", "fieldtype": "float"},
+{ "fieldname": "m_flCompositorRenderStartMs", "fieldtype": "float"},
+{ "fieldname": "m_HmdPose", "fieldtype": "vr::TrackedDevicePose_t"}]}
+,{"struct": "vr::Compositor_CumulativeStats","fields": [
+{ "fieldname": "m_nPid", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresents", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFrames", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFrames", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresentsOnStartup", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFramesOnStartup", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFramesOnStartup", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresentsLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFramesLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFramesLoading", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumTimedOut", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumFramePresentsTimedOut", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumDroppedFramesTimedOut", "fieldtype": "uint32_t"},
+{ "fieldname": "m_nNumReprojectedFramesTimedOut", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VROverlayIntersectionParams_t","fields": [
+{ "fieldname": "vSource", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vDirection", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "eOrigin", "fieldtype": "enum vr::ETrackingUniverseOrigin"}]}
+,{"struct": "vr::VROverlayIntersectionResults_t","fields": [
+{ "fieldname": "vPoint", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vNormal", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vUVs", "fieldtype": "struct vr::HmdVector2_t"},
+{ "fieldname": "fDistance", "fieldtype": "float"}]}
+,{"struct": "vr::IntersectionMaskRectangle_t","fields": [
+{ "fieldname": "m_flTopLeftX", "fieldtype": "float"},
+{ "fieldname": "m_flTopLeftY", "fieldtype": "float"},
+{ "fieldname": "m_flWidth", "fieldtype": "float"},
+{ "fieldname": "m_flHeight", "fieldtype": "float"}]}
+,{"struct": "vr::IntersectionMaskCircle_t","fields": [
+{ "fieldname": "m_flCenterX", "fieldtype": "float"},
+{ "fieldname": "m_flCenterY", "fieldtype": "float"},
+{ "fieldname": "m_flRadius", "fieldtype": "float"}]}
+,{"struct": "vr::(anonymous)","fields": [
+{ "fieldname": "m_Rectangle", "fieldtype": "struct vr::IntersectionMaskRectangle_t"},
+{ "fieldname": "m_Circle", "fieldtype": "struct vr::IntersectionMaskCircle_t"}]}
+,{"struct": "vr::VROverlayIntersectionMaskPrimitive_t","fields": [
+{ "fieldname": "m_nPrimitiveType", "fieldtype": "enum vr::EVROverlayIntersectionMaskPrimitiveType"},
+{ "fieldname": "m_Primitive", "fieldtype": "VROverlayIntersectionMaskPrimitive_Data_t"}]}
+,{"struct": "vr::RenderModel_ComponentState_t","fields": [
+{ "fieldname": "mTrackingToComponentRenderModel", "fieldtype": "struct vr::HmdMatrix34_t"},
+{ "fieldname": "mTrackingToComponentLocal", "fieldtype": "struct vr::HmdMatrix34_t"},
+{ "fieldname": "uProperties", "fieldtype": "VRComponentProperties"}]}
+,{"struct": "vr::RenderModel_Vertex_t","fields": [
+{ "fieldname": "vPosition", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "vNormal", "fieldtype": "struct vr::HmdVector3_t"},
+{ "fieldname": "rfTextureCoord", "fieldtype": "float [2]"}]}
+,{"struct": "vr::RenderModel_TextureMap_t","fields": [
+{ "fieldname": "unWidth", "fieldtype": "uint16_t"},
+{ "fieldname": "unHeight", "fieldtype": "uint16_t"},
+{ "fieldname": "rubTextureMapData", "fieldtype": "const uint8_t *"}]}
+,{"struct": "vr::RenderModel_t","fields": [
+{ "fieldname": "rVertexData", "fieldtype": "const struct vr::RenderModel_Vertex_t *"},
+{ "fieldname": "unVertexCount", "fieldtype": "uint32_t"},
+{ "fieldname": "rIndexData", "fieldtype": "const uint16_t *"},
+{ "fieldname": "unTriangleCount", "fieldtype": "uint32_t"},
+{ "fieldname": "diffuseTextureId", "fieldtype": "TextureID_t"}]}
+,{"struct": "vr::RenderModel_ControllerMode_State_t","fields": [
+{ "fieldname": "bScrollWheelVisible", "fieldtype": "_Bool"}]}
+,{"struct": "vr::NotificationBitmap_t","fields": [
+{ "fieldname": "m_pImageData", "fieldtype": "void *"},
+{ "fieldname": "m_nWidth", "fieldtype": "int32_t"},
+{ "fieldname": "m_nHeight", "fieldtype": "int32_t"},
+{ "fieldname": "m_nBytesPerPixel", "fieldtype": "int32_t"}]}
+,{"struct": "vr::COpenVRContext","fields": [
+{ "fieldname": "m_pVRSystem", "fieldtype": "class vr::IVRSystem *"},
+{ "fieldname": "m_pVRChaperone", "fieldtype": "class vr::IVRChaperone *"},
+{ "fieldname": "m_pVRChaperoneSetup", "fieldtype": "class vr::IVRChaperoneSetup *"},
+{ "fieldname": "m_pVRCompositor", "fieldtype": "class vr::IVRCompositor *"},
+{ "fieldname": "m_pVROverlay", "fieldtype": "class vr::IVROverlay *"},
+{ "fieldname": "m_pVRResources", "fieldtype": "class vr::IVRResources *"},
+{ "fieldname": "m_pVRRenderModels", "fieldtype": "class vr::IVRRenderModels *"},
+{ "fieldname": "m_pVRExtendedDisplay", "fieldtype": "class vr::IVRExtendedDisplay *"},
+{ "fieldname": "m_pVRSettings", "fieldtype": "class vr::IVRSettings *"},
+{ "fieldname": "m_pVRApplications", "fieldtype": "class vr::IVRApplications *"},
+{ "fieldname": "m_pVRTrackedCamera", "fieldtype": "class vr::IVRTrackedCamera *"},
+{ "fieldname": "m_pVRScreenshots", "fieldtype": "class vr::IVRScreenshots *"},
+{ "fieldname": "m_pVRDriverManager", "fieldtype": "class vr::IVRDriverManager *"}]}
+],
+"methods":[{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetRecommendedRenderTargetSize",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetProjectionMatrix",
+	"returntype": "struct vr::HmdMatrix44_t",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "fNearZ" ,"paramtype": "float"},
+{	"paramname": "fFarZ" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetProjectionRaw",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pfLeft" ,"paramtype": "float *"},
+{	"paramname": "pfRight" ,"paramtype": "float *"},
+{	"paramname": "pfTop" ,"paramtype": "float *"},
+{	"paramname": "pfBottom" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ComputeDistortion",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "fU" ,"paramtype": "float"},
+{	"paramname": "fV" ,"paramtype": "float"},
+{	"paramname": "pDistortionCoordinates" ,"paramtype": "struct vr::DistortionCoordinates_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetEyeToHeadTransform",
+	"returntype": "struct vr::HmdMatrix34_t",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTimeSinceLastVsync",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pfSecondsSinceLastVsync" ,"paramtype": "float *"},
+{	"paramname": "pulFrameCounter" ,"paramtype": "uint64_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetD3D9AdapterIndex",
+	"returntype": "int32_t"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetDXGIOutputInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetOutputDevice",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnDevice" ,"paramtype": "uint64_t *"},
+{	"paramname": "textureType" ,"paramtype": "vr::ETextureType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "IsDisplayOnDesktop",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "SetDisplayVisibility",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "bIsVisibleOnDesktop" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetDeviceToAbsoluteTrackingPose",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "fPredictedSecondsToPhotonsFromNow" ,"paramtype": "float"},
+{	"paramname": "pTrackedDevicePoseArray" ,"array_count": "unTrackedDevicePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unTrackedDevicePoseArrayCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ResetSeatedZeroPose",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetSeatedZeroPoseToStandingAbsoluteTrackingPose",
+	"returntype": "struct vr::HmdMatrix34_t"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetRawZeroPoseToStandingAbsoluteTrackingPose",
+	"returntype": "struct vr::HmdMatrix34_t"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetSortedTrackedDeviceIndicesOfClass",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "eTrackedDeviceClass" ,"paramtype": "vr::ETrackedDeviceClass"},
+{	"paramname": "punTrackedDeviceIndexArray" ,"array_count": "unTrackedDeviceIndexArrayCount" ,"paramtype": "vr::TrackedDeviceIndex_t *"},
+{	"paramname": "unTrackedDeviceIndexArrayCount" ,"paramtype": "uint32_t"},
+{	"paramname": "unRelativeToTrackedDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTrackedDeviceActivityLevel",
+	"returntype": "vr::EDeviceActivityLevel",
+	"params": [ 
+{	"paramname": "unDeviceId" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ApplyTransform",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pOutputPose" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "pTrackedDevicePose" ,"paramtype": "const struct vr::TrackedDevicePose_t *"},
+{	"paramname": "pTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTrackedDeviceIndexForControllerRole",
+	"returntype": "vr::TrackedDeviceIndex_t",
+	"params": [ 
+{	"paramname": "unDeviceType" ,"paramtype": "vr::ETrackedControllerRole"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerRoleForTrackedDeviceIndex",
+	"returntype": "vr::ETrackedControllerRole",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetTrackedDeviceClass",
+	"returntype": "vr::ETrackedDeviceClass",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "IsTrackedDeviceConnected",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetBoolTrackedDeviceProperty",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetFloatTrackedDeviceProperty",
+	"returntype": "float",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetInt32TrackedDeviceProperty",
+	"returntype": "int32_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetUint64TrackedDeviceProperty",
+	"returntype": "uint64_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetMatrix34TrackedDeviceProperty",
+	"returntype": "struct vr::HmdMatrix34_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetStringTrackedDeviceProperty",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetPropErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::ETrackedPropertyError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "PollNextEvent",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"},
+{	"paramname": "uncbVREvent" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "PollNextEventWithPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"},
+{	"paramname": "uncbVREvent" ,"paramtype": "uint32_t"},
+{	"paramname": "pTrackedDevicePose" ,"paramtype": "vr::TrackedDevicePose_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetEventTypeNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eType" ,"paramtype": "vr::EVREventType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetHiddenAreaMesh",
+	"returntype": "struct vr::HiddenAreaMesh_t",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "type" ,"paramtype": "vr::EHiddenAreaMeshType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerState",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"},
+{	"paramname": "unControllerStateSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerStateWithPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"},
+{	"paramname": "unControllerStateSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pTrackedDevicePose" ,"paramtype": "struct vr::TrackedDevicePose_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "TriggerHapticPulse",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "unAxisId" ,"paramtype": "uint32_t"},
+{	"paramname": "usDurationMicroSec" ,"paramtype": "unsigned short"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetButtonIdNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eButtonId" ,"paramtype": "vr::EVRButtonId"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetControllerAxisTypeNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eAxisType" ,"paramtype": "vr::EVRControllerAxisType"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "CaptureInputFocus",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "ReleaseInputFocus",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "IsInputFocusCapturedByAnotherProcess",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "DriverDebugRequest",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pchRequest" ,"paramtype": "const char *"},
+{	"paramname": "pchResponseBuffer" ,"paramtype": "char *"},
+{	"paramname": "unResponseBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "PerformFirmwareUpdate",
+	"returntype": "vr::EVRFirmwareError",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "AcknowledgeQuit_Exiting",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "AcknowledgeQuit_UserPrompt",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRExtendedDisplay",
+	"methodname": "GetWindowBounds",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnX" ,"paramtype": "int32_t *"},
+{	"paramname": "pnY" ,"paramtype": "int32_t *"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRExtendedDisplay",
+	"methodname": "GetEyeOutputViewport",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pnX" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnY" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRExtendedDisplay",
+	"methodname": "GetDXGIOutputInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"},
+{	"paramname": "pnAdapterOutputIndex" ,"paramtype": "int32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eCameraError" ,"paramtype": "vr::EVRTrackedCameraError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "HasCamera",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pHasCamera" ,"paramtype": "bool *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraFrameSize",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnFrameBufferSize" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraIntrinsics",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pFocalLength" ,"paramtype": "vr::HmdVector2_t *"},
+{	"paramname": "pCenter" ,"paramtype": "vr::HmdVector2_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetCameraProjection",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "flZNear" ,"paramtype": "float"},
+{	"paramname": "flZFar" ,"paramtype": "float"},
+{	"paramname": "pProjection" ,"paramtype": "vr::HmdMatrix44_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "AcquireVideoStreamingService",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pHandle" ,"paramtype": "vr::TrackedCameraHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "ReleaseVideoStreamingService",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamFrameBuffer",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pFrameBuffer" ,"paramtype": "void *"},
+{	"paramname": "nFrameBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"},
+{	"paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamTextureSize",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pTextureBounds" ,"paramtype": "vr::VRTextureBounds_t *"},
+{	"paramname": "pnWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pnHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamTextureD3D11",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pD3D11DeviceOrResource" ,"paramtype": "void *"},
+{	"paramname": "ppD3D11ShaderResourceView" ,"paramtype": "void **"},
+{	"paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"},
+{	"paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "GetVideoStreamTextureGL",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"},
+{	"paramname": "pglTextureId" ,"paramtype": "vr::glUInt_t *"},
+{	"paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"},
+{	"paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRTrackedCamera",
+	"methodname": "ReleaseVideoStreamTextureGL",
+	"returntype": "vr::EVRTrackedCameraError",
+	"params": [ 
+{	"paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"},
+{	"paramname": "glTextureId" ,"paramtype": "vr::glUInt_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "AddApplicationManifest",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchApplicationManifestFullPath" ,"paramtype": "const char *"},
+{	"paramname": "bTemporary" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "RemoveApplicationManifest",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchApplicationManifestFullPath" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "IsApplicationInstalled",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationKeyByIndex",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "unApplicationIndex" ,"paramtype": "uint32_t"},
+{	"paramname": "pchAppKeyBuffer" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationKeyByProcessId",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "unProcessId" ,"paramtype": "uint32_t"},
+{	"paramname": "pchAppKeyBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchTemplateApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchTemplateAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pchNewAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pKeys" ,"array_count": "unKeys" ,"paramtype": "const struct vr::AppOverrideKeys_t *"},
+{	"paramname": "unKeys" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchApplicationFromMimeType",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"},
+{	"paramname": "pchArgs" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchDashboardOverlay",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "CancelApplicationLaunch",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "IdentifyApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "unProcessId" ,"paramtype": "uint32_t"},
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationProcessId",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationsErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::EVRApplicationError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationPropertyString",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"},
+{	"paramname": "pchPropertyValueBuffer" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unPropertyValueBufferLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationPropertyBool",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationPropertyUint64",
+	"returntype": "uint64_t",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "SetApplicationAutoLaunch",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "bAutoLaunch" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationAutoLaunch",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "SetDefaultApplicationForMimeType",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetDefaultApplicationForMimeType",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"},
+{	"paramname": "pchAppKeyBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationSupportedMimeTypes",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"},
+{	"paramname": "pchMimeTypesBuffer" ,"paramtype": "char *"},
+{	"paramname": "unMimeTypesBuffer" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationsThatSupportMimeType",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchMimeType" ,"paramtype": "const char *"},
+{	"paramname": "pchAppKeysThatSupportBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeysThatSupportBuffer" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationLaunchArguments",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unHandle" ,"paramtype": "uint32_t"},
+{	"paramname": "pchArgs" ,"paramtype": "char *"},
+{	"paramname": "unArgs" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetStartingApplication",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKeyBuffer" ,"paramtype": "char *"},
+{	"paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetTransitionState",
+	"returntype": "vr::EVRApplicationTransitionState"
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "PerformApplicationPrelaunchCheck",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchAppKey" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetApplicationsTransitionStateNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "state" ,"paramtype": "vr::EVRApplicationTransitionState"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "IsQuitUserPromptRequested",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "LaunchInternalProcess",
+	"returntype": "vr::EVRApplicationError",
+	"params": [ 
+{	"paramname": "pchBinaryPath" ,"paramtype": "const char *"},
+{	"paramname": "pchArguments" ,"paramtype": "const char *"},
+{	"paramname": "pchWorkingDirectory" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetCurrentSceneProcessId",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetCalibrationState",
+	"returntype": "vr::ChaperoneCalibrationState"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetPlayAreaSize",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pSizeX" ,"paramtype": "float *"},
+{	"paramname": "pSizeZ" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetPlayAreaRect",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "rect" ,"paramtype": "struct vr::HmdQuad_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "ReloadInfo",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "SetSceneColor",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "color" ,"paramtype": "struct vr::HmdColor_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "GetBoundsColor",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pOutputColorArray" ,"paramtype": "struct vr::HmdColor_t *"},
+{	"paramname": "nNumOutputColors" ,"paramtype": "int"},
+{	"paramname": "flCollisionBoundsFadeDistance" ,"paramtype": "float"},
+{	"paramname": "pOutputCameraColor" ,"paramtype": "struct vr::HmdColor_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "AreBoundsVisible",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRChaperone",
+	"methodname": "ForceBoundsVisible",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "bForce" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "CommitWorkingCopy",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "configFile" ,"paramtype": "vr::EChaperoneConfigFile"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "RevertWorkingCopy",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingPlayAreaSize",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pSizeX" ,"paramtype": "float *"},
+{	"paramname": "pSizeZ" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingPlayAreaRect",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "rect" ,"paramtype": "struct vr::HmdQuad_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingCollisionBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "punQuadsCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLiveCollisionBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "punQuadsCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingSeatedZeroPoseToRawTrackingPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pmatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetWorkingStandingZeroPoseToRawTrackingPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pmatStandingZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingPlayAreaSize",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "sizeX" ,"paramtype": "float"},
+{	"paramname": "sizeZ" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingCollisionBoundsInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"array_count": "unQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "unQuadsCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingSeatedZeroPoseToRawTrackingPose",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pMatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingStandingZeroPoseToRawTrackingPose",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pMatStandingZeroPoseToRawTrackingPose" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "ReloadFromDisk",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "configFile" ,"paramtype": "vr::EChaperoneConfigFile"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLiveSeatedZeroPoseToRawTrackingPose",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pmatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingCollisionBoundsTagsInfo",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pTagsBuffer" ,"array_count": "unTagCount" ,"paramtype": "uint8_t *"},
+{	"paramname": "unTagCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLiveCollisionBoundsTagsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pTagsBuffer" ,"out_array_count": "punTagCount" ,"paramtype": "uint8_t *"},
+{	"paramname": "punTagCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "SetWorkingPhysicalBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"array_count": "unQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "unQuadsCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "GetLivePhysicalBoundsInfo",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"},
+{	"paramname": "punQuadsCount" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "ExportLiveToBuffer",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pBuffer" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "pnBufferLength" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRChaperoneSetup",
+	"methodname": "ImportFromBufferToWorking",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pBuffer" ,"paramtype": "const char *"},
+{	"paramname": "nImportFlags" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "SetTrackingSpace",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetTrackingSpace",
+	"returntype": "vr::ETrackingUniverseOrigin"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "WaitGetPoses",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "pRenderPoseArray" ,"array_count": "unRenderPoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unRenderPoseArrayCount" ,"paramtype": "uint32_t"},
+{	"paramname": "pGamePoseArray" ,"array_count": "unGamePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unGamePoseArrayCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetLastPoses",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "pRenderPoseArray" ,"array_count": "unRenderPoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unRenderPoseArrayCount" ,"paramtype": "uint32_t"},
+{	"paramname": "pGamePoseArray" ,"array_count": "unGamePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "unGamePoseArrayCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetLastPoseForTrackedDeviceIndex",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pOutputPose" ,"paramtype": "struct vr::TrackedDevicePose_t *"},
+{	"paramname": "pOutputGamePose" ,"paramtype": "struct vr::TrackedDevicePose_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "Submit",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pTexture" ,"paramtype": "const struct vr::Texture_t *"},
+{	"paramname": "pBounds" ,"paramtype": "const struct vr::VRTextureBounds_t *"},
+{	"paramname": "nSubmitFlags" ,"paramtype": "vr::EVRSubmitFlags"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ClearLastSubmittedFrame",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "PostPresentHandoff",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetFrameTiming",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pTiming" ,"paramtype": "struct vr::Compositor_FrameTiming *"},
+{	"paramname": "unFramesAgo" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetFrameTimings",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pTiming" ,"paramtype": "struct vr::Compositor_FrameTiming *"},
+{	"paramname": "nFrames" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetFrameTimeRemaining",
+	"returntype": "float"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCumulativeStats",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pStats" ,"paramtype": "struct vr::Compositor_CumulativeStats *"},
+{	"paramname": "nStatsSizeInBytes" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "FadeToColor",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "fSeconds" ,"paramtype": "float"},
+{	"paramname": "fRed" ,"paramtype": "float"},
+{	"paramname": "fGreen" ,"paramtype": "float"},
+{	"paramname": "fBlue" ,"paramtype": "float"},
+{	"paramname": "fAlpha" ,"paramtype": "float"},
+{	"paramname": "bBackground" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCurrentFadeColor",
+	"returntype": "struct vr::HmdColor_t",
+	"params": [ 
+{	"paramname": "bBackground" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "FadeGrid",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "fSeconds" ,"paramtype": "float"},
+{	"paramname": "bFadeIn" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCurrentGridAlpha",
+	"returntype": "float"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "SetSkyboxOverride",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "pTextures" ,"array_count": "unTextureCount" ,"paramtype": "const struct vr::Texture_t *"},
+{	"paramname": "unTextureCount" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ClearSkyboxOverride",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorBringToFront",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorGoToBack",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorQuit",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "IsFullscreen",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetCurrentSceneFocusProcess",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetLastFrameRenderer",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CanRenderScene",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ShowMirrorWindow",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "HideMirrorWindow",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "IsMirrorWindowVisible",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "CompositorDumpImages",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ShouldAppRenderWithLowResources",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ForceInterleavedReprojectionOn",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "bOverride" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ForceReconnectProcess",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "SuspendRendering",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "bSuspend" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetMirrorTextureD3D11",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pD3D11DeviceOrResource" ,"paramtype": "void *"},
+{	"paramname": "ppD3D11ShaderResourceView" ,"paramtype": "void **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ReleaseMirrorTextureD3D11",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pD3D11ShaderResourceView" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetMirrorTextureGL",
+	"returntype": "vr::EVRCompositorError",
+	"params": [ 
+{	"paramname": "eEye" ,"paramtype": "vr::EVREye"},
+{	"paramname": "pglTextureId" ,"paramtype": "vr::glUInt_t *"},
+{	"paramname": "pglSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ReleaseSharedGLTexture",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "glTextureId" ,"paramtype": "vr::glUInt_t"},
+{	"paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "LockGLSharedTextureForAccess",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "UnlockGLSharedTextureForAccess",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetVulkanInstanceExtensionsRequired",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "GetVulkanDeviceExtensionsRequired",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pPhysicalDevice" ,"paramtype": "struct VkPhysicalDevice_T *"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "FindOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
+{	"paramname": "pOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "CreateOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
+{	"paramname": "pchOverlayName" ,"paramtype": "const char *"},
+{	"paramname": "pOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "DestroyOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetHighQualityOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetHighQualityOverlay",
+	"returntype": "vr::VROverlayHandle_t"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayKey",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayName",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayImageData",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvBuffer" ,"paramtype": "void *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "punWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "punHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::EVROverlayError"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRenderingPid",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unPID" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayRenderingPid",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayFlag",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eOverlayFlag" ,"paramtype": "vr::VROverlayFlags"},
+{	"paramname": "bEnabled" ,"paramtype": "bool"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayFlag",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eOverlayFlag" ,"paramtype": "vr::VROverlayFlags"},
+{	"paramname": "pbEnabled" ,"paramtype": "bool *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayColor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fRed" ,"paramtype": "float"},
+{	"paramname": "fGreen" ,"paramtype": "float"},
+{	"paramname": "fBlue" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayColor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfRed" ,"paramtype": "float *"},
+{	"paramname": "pfGreen" ,"paramtype": "float *"},
+{	"paramname": "pfBlue" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayAlpha",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fAlpha" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayAlpha",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfAlpha" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTexelAspect",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fTexelAspect" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTexelAspect",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfTexelAspect" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlaySortOrder",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unSortOrder" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlaySortOrder",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punSortOrder" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayWidthInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fWidthInMeters" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayWidthInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfWidthInMeters" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayAutoCurveDistanceRangeInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "fMinDistanceInMeters" ,"paramtype": "float"},
+{	"paramname": "fMaxDistanceInMeters" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayAutoCurveDistanceRangeInMeters",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pfMinDistanceInMeters" ,"paramtype": "float *"},
+{	"paramname": "pfMaxDistanceInMeters" ,"paramtype": "float *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTextureColorSpace",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eTextureColorSpace" ,"paramtype": "vr::EColorSpace"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTextureColorSpace",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peTextureColorSpace" ,"paramtype": "vr::EColorSpace *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTextureBounds",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pOverlayTextureBounds" ,"paramtype": "const struct vr::VRTextureBounds_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTextureBounds",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pOverlayTextureBounds" ,"paramtype": "struct vr::VRTextureBounds_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayRenderModel",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pColor" ,"paramtype": "struct vr::HmdColor_t *"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRenderModel",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchRenderModel" ,"paramtype": "const char *"},
+{	"paramname": "pColor" ,"paramtype": "const struct vr::HmdColor_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformType",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peTransformType" ,"paramtype": "vr::VROverlayTransformType *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformAbsolute",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "pmatTrackingOriginToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformAbsolute",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin *"},
+{	"paramname": "pmatTrackingOriginToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformTrackedDeviceRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unTrackedDevice" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pmatTrackedDeviceToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformTrackedDeviceRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punTrackedDevice" ,"paramtype": "vr::TrackedDeviceIndex_t *"},
+{	"paramname": "pmatTrackedDeviceToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformTrackedDeviceComponent",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformTrackedDeviceComponent",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t *"},
+{	"paramname": "pchComponentName" ,"paramtype": "char *"},
+{	"paramname": "unComponentNameSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformOverlayRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulOverlayHandleParent" ,"paramtype": "vr::VROverlayHandle_t *"},
+{	"paramname": "pmatParentOverlayToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformOverlayRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulOverlayHandleParent" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pmatParentOverlayToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "HideOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsOverlayVisible",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetTransformForOverlayCoordinates",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "coordinatesInOverlay" ,"paramtype": "struct vr::HmdVector2_t"},
+{	"paramname": "pmatTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "PollNextOverlayEvent",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"},
+{	"paramname": "uncbVREvent" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayInputMethod",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "peInputMethod" ,"paramtype": "vr::VROverlayInputMethod *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayInputMethod",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eInputMethod" ,"paramtype": "vr::VROverlayInputMethod"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayMouseScale",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvecMouseScale" ,"paramtype": "struct vr::HmdVector2_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayMouseScale",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvecMouseScale" ,"paramtype": "const struct vr::HmdVector2_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ComputeOverlayIntersection",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pParams" ,"paramtype": "const struct vr::VROverlayIntersectionParams_t *"},
+{	"paramname": "pResults" ,"paramtype": "struct vr::VROverlayIntersectionResults_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "HandleControllerOverlayInteractionAsMouse",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsHoverTargetOverlay",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetGamepadFocusOverlay",
+	"returntype": "vr::VROverlayHandle_t"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetGamepadFocusOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulNewFocusOverlay" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayNeighbor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "eDirection" ,"paramtype": "vr::EOverlayDirection"},
+{	"paramname": "ulFrom" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulTo" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "MoveGamepadFocusToNeighbor",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "eDirection" ,"paramtype": "vr::EOverlayDirection"},
+{	"paramname": "ulFrom" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTexture",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pTexture" ,"paramtype": "const struct vr::Texture_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ClearOverlayTexture",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRaw",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pvBuffer" ,"paramtype": "void *"},
+{	"paramname": "unWidth" ,"paramtype": "uint32_t"},
+{	"paramname": "unHeight" ,"paramtype": "uint32_t"},
+{	"paramname": "unDepth" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayFromFile",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchFilePath" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTexture",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pNativeTextureHandle" ,"paramtype": "void **"},
+{	"paramname": "pNativeTextureRef" ,"paramtype": "void *"},
+{	"paramname": "pWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pHeight" ,"paramtype": "uint32_t *"},
+{	"paramname": "pNativeFormat" ,"paramtype": "uint32_t *"},
+{	"paramname": "pAPIType" ,"paramtype": "vr::ETextureType *"},
+{	"paramname": "pColorSpace" ,"paramtype": "vr::EColorSpace *"},
+{	"paramname": "pTextureBounds" ,"paramtype": "struct vr::VRTextureBounds_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ReleaseNativeOverlayHandle",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pNativeTextureHandle" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTextureSize",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pWidth" ,"paramtype": "uint32_t *"},
+{	"paramname": "pHeight" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "CreateDashboardOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
+{	"paramname": "pchOverlayFriendlyName" ,"paramtype": "const char *"},
+{	"paramname": "pMainHandle" ,"paramtype": "vr::VROverlayHandle_t *"},
+{	"paramname": "pThumbnailHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsDashboardVisible",
+	"returntype": "bool"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "IsActiveDashboardOverlay",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetDashboardOverlaySceneProcess",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "unProcessId" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetDashboardOverlaySceneProcess",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "punProcessId" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowDashboard",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchOverlayToShow" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetPrimaryDashboardDevice",
+	"returntype": "vr::TrackedDeviceIndex_t"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowKeyboard",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "eInputMode" ,"paramtype": "vr::EGamepadTextInputMode"},
+{	"paramname": "eLineInputMode" ,"paramtype": "vr::EGamepadTextInputLineMode"},
+{	"paramname": "pchDescription" ,"paramtype": "const char *"},
+{	"paramname": "unCharMax" ,"paramtype": "uint32_t"},
+{	"paramname": "pchExistingText" ,"paramtype": "const char *"},
+{	"paramname": "bUseMinimalMode" ,"paramtype": "bool"},
+{	"paramname": "uUserValue" ,"paramtype": "uint64_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowKeyboardForOverlay",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "eInputMode" ,"paramtype": "vr::EGamepadTextInputMode"},
+{	"paramname": "eLineInputMode" ,"paramtype": "vr::EGamepadTextInputLineMode"},
+{	"paramname": "pchDescription" ,"paramtype": "const char *"},
+{	"paramname": "unCharMax" ,"paramtype": "uint32_t"},
+{	"paramname": "pchExistingText" ,"paramtype": "const char *"},
+{	"paramname": "bUseMinimalMode" ,"paramtype": "bool"},
+{	"paramname": "uUserValue" ,"paramtype": "uint64_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetKeyboardText",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchText" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "cchText" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "HideKeyboard",
+	"returntype": "void"
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetKeyboardTransformAbsolute",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"},
+{	"paramname": "pmatTrackingOriginToKeyboardTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetKeyboardPositionForOverlay",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "avoidRect" ,"paramtype": "struct vr::HmdRect2_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayIntersectionMask",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pMaskPrimitives" ,"paramtype": "struct vr::VROverlayIntersectionMaskPrimitive_t *"},
+{	"paramname": "unNumMaskPrimitives" ,"paramtype": "uint32_t"},
+{	"paramname": "unPrimitiveSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayFlags",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pFlags" ,"paramtype": "uint32_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "ShowMessageOverlay",
+	"returntype": "vr::VRMessageOverlayResponse",
+	"params": [ 
+{	"paramname": "pchText" ,"paramtype": "const char *"},
+{	"paramname": "pchCaption" ,"paramtype": "const char *"},
+{	"paramname": "pchButton0Text" ,"paramtype": "const char *"},
+{	"paramname": "pchButton1Text" ,"paramtype": "const char *"},
+{	"paramname": "pchButton2Text" ,"paramtype": "const char *"},
+{	"paramname": "pchButton3Text" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadRenderModel_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "ppRenderModel" ,"paramtype": "struct vr::RenderModel_t **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "FreeRenderModel",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pRenderModel" ,"paramtype": "struct vr::RenderModel_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadTexture_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "textureId" ,"paramtype": "vr::TextureID_t"},
+{	"paramname": "ppTexture" ,"paramtype": "struct vr::RenderModel_TextureMap_t **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "FreeTexture",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pTexture" ,"paramtype": "struct vr::RenderModel_TextureMap_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadTextureD3D11_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "textureId" ,"paramtype": "vr::TextureID_t"},
+{	"paramname": "pD3D11Device" ,"paramtype": "void *"},
+{	"paramname": "ppD3D11Texture2D" ,"paramtype": "void **"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "LoadIntoTextureD3D11_Async",
+	"returntype": "vr::EVRRenderModelError",
+	"params": [ 
+{	"paramname": "textureId" ,"paramtype": "vr::TextureID_t"},
+{	"paramname": "pDstTexture" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "FreeTextureD3D11",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pD3D11Texture2D" ,"paramtype": "void *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "unRenderModelIndex" ,"paramtype": "uint32_t"},
+{	"paramname": "pchRenderModelName" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unRenderModelNameLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentCount",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "unComponentIndex" ,"paramtype": "uint32_t"},
+{	"paramname": "pchComponentName" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unComponentNameLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentButtonMask",
+	"returntype": "uint64_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentRenderModelName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentRenderModelName" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unComponentRenderModelNameLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetComponentState",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"},
+{	"paramname": "pControllerState" ,"paramtype": "const vr::VRControllerState_t *"},
+{	"paramname": "pState" ,"paramtype": "const struct vr::RenderModel_ControllerMode_State_t *"},
+{	"paramname": "pComponentState" ,"paramtype": "struct vr::RenderModel_ComponentState_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "RenderModelHasComponent",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchComponentName" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelThumbnailURL",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchThumbnailURL" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unThumbnailURLLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRRenderModelError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelOriginalPath",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchRenderModelName" ,"paramtype": "const char *"},
+{	"paramname": "pchOriginalPath" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unOriginalPathLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRRenderModelError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRRenderModels",
+	"methodname": "GetRenderModelErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "error" ,"paramtype": "vr::EVRRenderModelError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRNotifications",
+	"methodname": "CreateNotification",
+	"returntype": "vr::EVRNotificationError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulUserValue" ,"paramtype": "uint64_t"},
+{	"paramname": "type" ,"paramtype": "vr::EVRNotificationType"},
+{	"paramname": "pchText" ,"paramtype": "const char *"},
+{	"paramname": "style" ,"paramtype": "vr::EVRNotificationStyle"},
+{	"paramname": "pImage" ,"paramtype": "const struct vr::NotificationBitmap_t *"},
+{	"paramname": "pNotificationId" ,"paramtype": "vr::VRNotificationId *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRNotifications",
+	"methodname": "RemoveNotification",
+	"returntype": "vr::EVRNotificationError",
+	"params": [ 
+{	"paramname": "notificationId" ,"paramtype": "vr::VRNotificationId"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetSettingsErrorNameFromEnum",
+	"returntype": "const char *",
+	"params": [ 
+{	"paramname": "eError" ,"paramtype": "vr::EVRSettingsError"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "Sync",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "bForce" ,"paramtype": "bool"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetBool",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "bValue" ,"paramtype": "bool"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetInt32",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "nValue" ,"paramtype": "int32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetFloat",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "flValue" ,"paramtype": "float"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "SetString",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "pchValue" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetBool",
+	"returntype": "bool",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetInt32",
+	"returntype": "int32_t",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetFloat",
+	"returntype": "float",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "GetString",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unValueLen" ,"paramtype": "uint32_t"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "RemoveSection",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRSettings",
+	"methodname": "RemoveKeyInSection",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pchSection" ,"paramtype": "const char *"},
+{	"paramname": "pchSettingsKey" ,"paramtype": "const char *"},
+{	"paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "RequestScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "pOutScreenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t *"},
+{	"paramname": "type" ,"paramtype": "vr::EVRScreenshotType"},
+{	"paramname": "pchPreviewFilename" ,"paramtype": "const char *"},
+{	"paramname": "pchVRFilename" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "HookScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "pSupportedTypes" ,"array_count": "numTypes" ,"paramtype": "const vr::EVRScreenshotType *"},
+{	"paramname": "numTypes" ,"paramtype": "int"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "GetScreenshotPropertyType",
+	"returntype": "vr::EVRScreenshotType",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVRScreenshotError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "GetScreenshotPropertyFilename",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "filenameType" ,"paramtype": "vr::EVRScreenshotPropertyFilenames"},
+{	"paramname": "pchFilename" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "cchFilename" ,"paramtype": "uint32_t"},
+{	"paramname": "pError" ,"paramtype": "vr::EVRScreenshotError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "UpdateScreenshotProgress",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "flProgress" ,"paramtype": "float"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "TakeStereoScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "pOutScreenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t *"},
+{	"paramname": "pchPreviewFilename" ,"paramtype": "const char *"},
+{	"paramname": "pchVRFilename" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRScreenshots",
+	"methodname": "SubmitScreenshot",
+	"returntype": "vr::EVRScreenshotError",
+	"params": [ 
+{	"paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"},
+{	"paramname": "type" ,"paramtype": "vr::EVRScreenshotType"},
+{	"paramname": "pchSourcePreviewFilename" ,"paramtype": "const char *"},
+{	"paramname": "pchSourceVRFilename" ,"paramtype": "const char *"}
+	 ]
+}
+,{
+	"classname": "vr::IVRResources",
+	"methodname": "LoadSharedResource",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchResourceName" ,"paramtype": "const char *"},
+{	"paramname": "pchBuffer" ,"paramtype": "char *"},
+{	"paramname": "unBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRResources",
+	"methodname": "GetResourceFullPath",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "pchResourceName" ,"paramtype": "const char *"},
+{	"paramname": "pchResourceTypeDirectory" ,"paramtype": "const char *"},
+{	"paramname": "pchPathBuffer" ,"paramtype": "char *"},
+{	"paramname": "unBufferLen" ,"paramtype": "uint32_t"}
+	 ]
+}
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "nDriver" ,"paramtype": "vr::DriverId_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
+]
+}
\ No newline at end of file
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_capi.h b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_capi.h
new file mode 100644
index 000000000..a6685e579
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_capi.h
@@ -0,0 +1,1918 @@
+//======= Copyright (c) Valve Corporation, All rights reserved. ===============
+//
+// Purpose: Header for flatted SteamAPI. Use this for binding to other languages.
+// This file is auto-generated, do not edit it.
+//
+//=============================================================================
+
+#ifndef __OPENVR_API_FLAT_H__
+#define __OPENVR_API_FLAT_H__
+#if defined( _WIN32 ) || defined( __clang__ )
+#pragma once
+#endif
+
+#ifdef __cplusplus
+#define EXTERN_C extern "C"
+#else
+#define EXTERN_C
+#endif
+
+#if defined( _WIN32 )
+#define OPENVR_FNTABLE_CALLTYPE __stdcall
+#else
+#define OPENVR_FNTABLE_CALLTYPE 
+#endif
+
+// OPENVR API export macro
+#if defined( _WIN32 ) && !defined( _X360 )
+	#if defined( OPENVR_API_EXPORTS )
+	#define S_API EXTERN_C __declspec( dllexport )
+	#elif defined( OPENVR_API_NODLL )
+	#define S_API EXTERN_C
+	#else
+	#define S_API extern "C" __declspec( dllimport ) 
+	#endif // OPENVR_API_EXPORTS
+#elif defined( __GNUC__ )
+	#if defined( OPENVR_API_EXPORTS )
+	#define S_API EXTERN_C __attribute__ ((visibility("default")))
+	#else
+	#define S_API EXTERN_C
+	#endif // OPENVR_API_EXPORTS
+#else // !WIN32
+	#if defined( OPENVR_API_EXPORTS )
+	#define S_API EXTERN_C
+	#else
+	#define S_API EXTERN_C
+	#endif // OPENVR_API_EXPORTS
+#endif
+
+#include <stdint.h>
+
+#if defined( __WIN32 )
+typedef char bool;
+#else
+#include <stdbool.h>
+#endif
+
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+
+// OpenVR Constants
+
+static const unsigned int k_nDriverNone = 4294967295;
+static const unsigned int k_unMaxDriverDebugResponseSize = 32768;
+static const unsigned int k_unTrackedDeviceIndex_Hmd = 0;
+static const unsigned int k_unMaxTrackedDeviceCount = 16;
+static const unsigned int k_unTrackedDeviceIndexOther = 4294967294;
+static const unsigned int k_unTrackedDeviceIndexInvalid = 4294967295;
+static const unsigned long k_ulInvalidPropertyContainer = 0;
+static const unsigned int k_unInvalidPropertyTag = 0;
+static const unsigned int k_unFloatPropertyTag = 1;
+static const unsigned int k_unInt32PropertyTag = 2;
+static const unsigned int k_unUint64PropertyTag = 3;
+static const unsigned int k_unBoolPropertyTag = 4;
+static const unsigned int k_unStringPropertyTag = 5;
+static const unsigned int k_unHmdMatrix34PropertyTag = 20;
+static const unsigned int k_unHmdMatrix44PropertyTag = 21;
+static const unsigned int k_unHmdVector3PropertyTag = 22;
+static const unsigned int k_unHmdVector4PropertyTag = 23;
+static const unsigned int k_unHiddenAreaPropertyTag = 30;
+static const unsigned int k_unOpenVRInternalReserved_Start = 1000;
+static const unsigned int k_unOpenVRInternalReserved_End = 10000;
+static const unsigned int k_unMaxPropertyStringSize = 32768;
+static const unsigned int k_unControllerStateAxisCount = 5;
+static const unsigned long k_ulOverlayHandleInvalid = 0;
+static const unsigned int k_unScreenshotHandleInvalid = 0;
+static const char * IVRSystem_Version = "IVRSystem_016";
+static const char * IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
+static const char * IVRTrackedCamera_Version = "IVRTrackedCamera_003";
+static const unsigned int k_unMaxApplicationKeyLength = 128;
+static const char * k_pch_MimeType_HomeApp = "vr/home";
+static const char * k_pch_MimeType_GameTheater = "vr/game_theater";
+static const char * IVRApplications_Version = "IVRApplications_006";
+static const char * IVRChaperone_Version = "IVRChaperone_003";
+static const char * IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
+static const char * IVRCompositor_Version = "IVRCompositor_020";
+static const unsigned int k_unVROverlayMaxKeyLength = 128;
+static const unsigned int k_unVROverlayMaxNameLength = 128;
+static const unsigned int k_unMaxOverlayCount = 64;
+static const unsigned int k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
+static const char * IVROverlay_Version = "IVROverlay_016";
+static const char * k_pch_Controller_Component_GDC2015 = "gdc2015";
+static const char * k_pch_Controller_Component_Base = "base";
+static const char * k_pch_Controller_Component_Tip = "tip";
+static const char * k_pch_Controller_Component_HandGrip = "handgrip";
+static const char * k_pch_Controller_Component_Status = "status";
+static const char * IVRRenderModels_Version = "IVRRenderModels_005";
+static const unsigned int k_unNotificationTextMaxSize = 256;
+static const char * IVRNotifications_Version = "IVRNotifications_002";
+static const unsigned int k_unMaxSettingsKeyLength = 128;
+static const char * IVRSettings_Version = "IVRSettings_002";
+static const char * k_pch_SteamVR_Section = "steamvr";
+static const char * k_pch_SteamVR_RequireHmd_String = "requireHmd";
+static const char * k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+static const char * k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+static const char * k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+static const char * k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+static const char * k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+static const char * k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+static const char * k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps";
+static const char * k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+static const char * k_pch_SteamVR_IPD_Float = "ipd";
+static const char * k_pch_SteamVR_Background_String = "background";
+static const char * k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+static const char * k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+static const char * k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+static const char * k_pch_SteamVR_GridColor_String = "gridColor";
+static const char * k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+static const char * k_pch_SteamVR_ShowStage_Bool = "showStage";
+static const char * k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+static const char * k_pch_SteamVR_DirectMode_Bool = "directMode";
+static const char * k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+static const char * k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+static const char * k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+static const char * k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+static const char * k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+static const char * k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+static const char * k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+static const char * k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+static const char * k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+static const char * k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+static const char * k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+static const char * k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+static const char * k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+static const char * k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+static const char * k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+static const char * k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+static const char * k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+static const char * k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+static const char * k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+static const char * k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+static const char * k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+static const char * k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+static const char * k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+static const char * k_pch_Lighthouse_Section = "driver_lighthouse";
+static const char * k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+static const char * k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+static const char * k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+static const char * k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+static const char * k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+static const char * k_pch_Null_Section = "driver_null";
+static const char * k_pch_Null_SerialNumber_String = "serialNumber";
+static const char * k_pch_Null_ModelNumber_String = "modelNumber";
+static const char * k_pch_Null_WindowX_Int32 = "windowX";
+static const char * k_pch_Null_WindowY_Int32 = "windowY";
+static const char * k_pch_Null_WindowWidth_Int32 = "windowWidth";
+static const char * k_pch_Null_WindowHeight_Int32 = "windowHeight";
+static const char * k_pch_Null_RenderWidth_Int32 = "renderWidth";
+static const char * k_pch_Null_RenderHeight_Int32 = "renderHeight";
+static const char * k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+static const char * k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+static const char * k_pch_UserInterface_Section = "userinterface";
+static const char * k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+static const char * k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+static const char * k_pch_UserInterface_Screenshots_Bool = "screenshots";
+static const char * k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+static const char * k_pch_Notifications_Section = "notifications";
+static const char * k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+static const char * k_pch_Keyboard_Section = "keyboard";
+static const char * k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+static const char * k_pch_Keyboard_ScaleX = "ScaleX";
+static const char * k_pch_Keyboard_ScaleY = "ScaleY";
+static const char * k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+static const char * k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+static const char * k_pch_Keyboard_OffsetY = "OffsetY";
+static const char * k_pch_Keyboard_Smoothing = "Smoothing";
+static const char * k_pch_Perf_Section = "perfcheck";
+static const char * k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+static const char * k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+static const char * k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+static const char * k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+static const char * k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+static const char * k_pch_Perf_TestData_Float = "perfTestData";
+static const char * k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+static const char * k_pch_CollisionBounds_Section = "collisionBounds";
+static const char * k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+static const char * k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+static const char * k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+static const char * k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+static const char * k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+static const char * k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+static const char * k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+static const char * k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+static const char * k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+static const char * k_pch_Camera_Section = "camera";
+static const char * k_pch_Camera_EnableCamera_Bool = "enableCamera";
+static const char * k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+static const char * k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+static const char * k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+static const char * k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+static const char * k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+static const char * k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+static const char * k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+static const char * k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+static const char * k_pch_audio_Section = "audio";
+static const char * k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+static const char * k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+static const char * k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+static const char * k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+static const char * k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+static const char * k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+static const char * k_pch_Power_Section = "power";
+static const char * k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+static const char * k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+static const char * k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+static const char * k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+static const char * k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+static const char * k_pch_Dashboard_Section = "dashboard";
+static const char * k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+static const char * k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+static const char * k_pch_modelskin_Section = "modelskins";
+static const char * k_pch_Driver_Enable_Bool = "enable";
+static const char * IVRScreenshots_Version = "IVRScreenshots_001";
+static const char * IVRResources_Version = "IVRResources_001";
+static const char * IVRDriverManager_Version = "IVRDriverManager_001";
+
+// OpenVR Enums
+
+typedef enum EVREye
+{
+	EVREye_Eye_Left = 0,
+	EVREye_Eye_Right = 1,
+} EVREye;
+
+typedef enum ETextureType
+{
+	ETextureType_TextureType_DirectX = 0,
+	ETextureType_TextureType_OpenGL = 1,
+	ETextureType_TextureType_Vulkan = 2,
+	ETextureType_TextureType_IOSurface = 3,
+	ETextureType_TextureType_DirectX12 = 4,
+} ETextureType;
+
+typedef enum EColorSpace
+{
+	EColorSpace_ColorSpace_Auto = 0,
+	EColorSpace_ColorSpace_Gamma = 1,
+	EColorSpace_ColorSpace_Linear = 2,
+} EColorSpace;
+
+typedef enum ETrackingResult
+{
+	ETrackingResult_TrackingResult_Uninitialized = 1,
+	ETrackingResult_TrackingResult_Calibrating_InProgress = 100,
+	ETrackingResult_TrackingResult_Calibrating_OutOfRange = 101,
+	ETrackingResult_TrackingResult_Running_OK = 200,
+	ETrackingResult_TrackingResult_Running_OutOfRange = 201,
+} ETrackingResult;
+
+typedef enum ETrackedDeviceClass
+{
+	ETrackedDeviceClass_TrackedDeviceClass_Invalid = 0,
+	ETrackedDeviceClass_TrackedDeviceClass_HMD = 1,
+	ETrackedDeviceClass_TrackedDeviceClass_Controller = 2,
+	ETrackedDeviceClass_TrackedDeviceClass_GenericTracker = 3,
+	ETrackedDeviceClass_TrackedDeviceClass_TrackingReference = 4,
+	ETrackedDeviceClass_TrackedDeviceClass_DisplayRedirect = 5,
+} ETrackedDeviceClass;
+
+typedef enum ETrackedControllerRole
+{
+	ETrackedControllerRole_TrackedControllerRole_Invalid = 0,
+	ETrackedControllerRole_TrackedControllerRole_LeftHand = 1,
+	ETrackedControllerRole_TrackedControllerRole_RightHand = 2,
+} ETrackedControllerRole;
+
+typedef enum ETrackingUniverseOrigin
+{
+	ETrackingUniverseOrigin_TrackingUniverseSeated = 0,
+	ETrackingUniverseOrigin_TrackingUniverseStanding = 1,
+	ETrackingUniverseOrigin_TrackingUniverseRawAndUncalibrated = 2,
+} ETrackingUniverseOrigin;
+
+typedef enum ETrackedDeviceProperty
+{
+	ETrackedDeviceProperty_Prop_Invalid = 0,
+	ETrackedDeviceProperty_Prop_TrackingSystemName_String = 1000,
+	ETrackedDeviceProperty_Prop_ModelNumber_String = 1001,
+	ETrackedDeviceProperty_Prop_SerialNumber_String = 1002,
+	ETrackedDeviceProperty_Prop_RenderModelName_String = 1003,
+	ETrackedDeviceProperty_Prop_WillDriftInYaw_Bool = 1004,
+	ETrackedDeviceProperty_Prop_ManufacturerName_String = 1005,
+	ETrackedDeviceProperty_Prop_TrackingFirmwareVersion_String = 1006,
+	ETrackedDeviceProperty_Prop_HardwareRevision_String = 1007,
+	ETrackedDeviceProperty_Prop_AllWirelessDongleDescriptions_String = 1008,
+	ETrackedDeviceProperty_Prop_ConnectedWirelessDongle_String = 1009,
+	ETrackedDeviceProperty_Prop_DeviceIsWireless_Bool = 1010,
+	ETrackedDeviceProperty_Prop_DeviceIsCharging_Bool = 1011,
+	ETrackedDeviceProperty_Prop_DeviceBatteryPercentage_Float = 1012,
+	ETrackedDeviceProperty_Prop_StatusDisplayTransform_Matrix34 = 1013,
+	ETrackedDeviceProperty_Prop_Firmware_UpdateAvailable_Bool = 1014,
+	ETrackedDeviceProperty_Prop_Firmware_ManualUpdate_Bool = 1015,
+	ETrackedDeviceProperty_Prop_Firmware_ManualUpdateURL_String = 1016,
+	ETrackedDeviceProperty_Prop_HardwareRevision_Uint64 = 1017,
+	ETrackedDeviceProperty_Prop_FirmwareVersion_Uint64 = 1018,
+	ETrackedDeviceProperty_Prop_FPGAVersion_Uint64 = 1019,
+	ETrackedDeviceProperty_Prop_VRCVersion_Uint64 = 1020,
+	ETrackedDeviceProperty_Prop_RadioVersion_Uint64 = 1021,
+	ETrackedDeviceProperty_Prop_DongleVersion_Uint64 = 1022,
+	ETrackedDeviceProperty_Prop_BlockServerShutdown_Bool = 1023,
+	ETrackedDeviceProperty_Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024,
+	ETrackedDeviceProperty_Prop_ContainsProximitySensor_Bool = 1025,
+	ETrackedDeviceProperty_Prop_DeviceProvidesBatteryStatus_Bool = 1026,
+	ETrackedDeviceProperty_Prop_DeviceCanPowerOff_Bool = 1027,
+	ETrackedDeviceProperty_Prop_Firmware_ProgrammingTarget_String = 1028,
+	ETrackedDeviceProperty_Prop_DeviceClass_Int32 = 1029,
+	ETrackedDeviceProperty_Prop_HasCamera_Bool = 1030,
+	ETrackedDeviceProperty_Prop_DriverVersion_String = 1031,
+	ETrackedDeviceProperty_Prop_Firmware_ForceUpdateRequired_Bool = 1032,
+	ETrackedDeviceProperty_Prop_ViveSystemButtonFixRequired_Bool = 1033,
+	ETrackedDeviceProperty_Prop_ParentDriver_Uint64 = 1034,
+	ETrackedDeviceProperty_Prop_ResourceRoot_String = 1035,
+	ETrackedDeviceProperty_Prop_ReportsTimeSinceVSync_Bool = 2000,
+	ETrackedDeviceProperty_Prop_SecondsFromVsyncToPhotons_Float = 2001,
+	ETrackedDeviceProperty_Prop_DisplayFrequency_Float = 2002,
+	ETrackedDeviceProperty_Prop_UserIpdMeters_Float = 2003,
+	ETrackedDeviceProperty_Prop_CurrentUniverseId_Uint64 = 2004,
+	ETrackedDeviceProperty_Prop_PreviousUniverseId_Uint64 = 2005,
+	ETrackedDeviceProperty_Prop_DisplayFirmwareVersion_Uint64 = 2006,
+	ETrackedDeviceProperty_Prop_IsOnDesktop_Bool = 2007,
+	ETrackedDeviceProperty_Prop_DisplayMCType_Int32 = 2008,
+	ETrackedDeviceProperty_Prop_DisplayMCOffset_Float = 2009,
+	ETrackedDeviceProperty_Prop_DisplayMCScale_Float = 2010,
+	ETrackedDeviceProperty_Prop_EdidVendorID_Int32 = 2011,
+	ETrackedDeviceProperty_Prop_DisplayMCImageLeft_String = 2012,
+	ETrackedDeviceProperty_Prop_DisplayMCImageRight_String = 2013,
+	ETrackedDeviceProperty_Prop_DisplayGCBlackClamp_Float = 2014,
+	ETrackedDeviceProperty_Prop_EdidProductID_Int32 = 2015,
+	ETrackedDeviceProperty_Prop_CameraToHeadTransform_Matrix34 = 2016,
+	ETrackedDeviceProperty_Prop_DisplayGCType_Int32 = 2017,
+	ETrackedDeviceProperty_Prop_DisplayGCOffset_Float = 2018,
+	ETrackedDeviceProperty_Prop_DisplayGCScale_Float = 2019,
+	ETrackedDeviceProperty_Prop_DisplayGCPrescale_Float = 2020,
+	ETrackedDeviceProperty_Prop_DisplayGCImage_String = 2021,
+	ETrackedDeviceProperty_Prop_LensCenterLeftU_Float = 2022,
+	ETrackedDeviceProperty_Prop_LensCenterLeftV_Float = 2023,
+	ETrackedDeviceProperty_Prop_LensCenterRightU_Float = 2024,
+	ETrackedDeviceProperty_Prop_LensCenterRightV_Float = 2025,
+	ETrackedDeviceProperty_Prop_UserHeadToEyeDepthMeters_Float = 2026,
+	ETrackedDeviceProperty_Prop_CameraFirmwareVersion_Uint64 = 2027,
+	ETrackedDeviceProperty_Prop_CameraFirmwareDescription_String = 2028,
+	ETrackedDeviceProperty_Prop_DisplayFPGAVersion_Uint64 = 2029,
+	ETrackedDeviceProperty_Prop_DisplayBootloaderVersion_Uint64 = 2030,
+	ETrackedDeviceProperty_Prop_DisplayHardwareVersion_Uint64 = 2031,
+	ETrackedDeviceProperty_Prop_AudioFirmwareVersion_Uint64 = 2032,
+	ETrackedDeviceProperty_Prop_CameraCompatibilityMode_Int32 = 2033,
+	ETrackedDeviceProperty_Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	ETrackedDeviceProperty_Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	ETrackedDeviceProperty_Prop_DisplaySuppressed_Bool = 2036,
+	ETrackedDeviceProperty_Prop_DisplayAllowNightMode_Bool = 2037,
+	ETrackedDeviceProperty_Prop_DisplayMCImageWidth_Int32 = 2038,
+	ETrackedDeviceProperty_Prop_DisplayMCImageHeight_Int32 = 2039,
+	ETrackedDeviceProperty_Prop_DisplayMCImageNumChannels_Int32 = 2040,
+	ETrackedDeviceProperty_Prop_DisplayMCImageData_Binary = 2041,
+	ETrackedDeviceProperty_Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	ETrackedDeviceProperty_Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	ETrackedDeviceProperty_Prop_DisplayDebugMode_Bool = 2044,
+	ETrackedDeviceProperty_Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	ETrackedDeviceProperty_Prop_AttachedDeviceId_String = 3000,
+	ETrackedDeviceProperty_Prop_SupportedButtons_Uint64 = 3001,
+	ETrackedDeviceProperty_Prop_Axis0Type_Int32 = 3002,
+	ETrackedDeviceProperty_Prop_Axis1Type_Int32 = 3003,
+	ETrackedDeviceProperty_Prop_Axis2Type_Int32 = 3004,
+	ETrackedDeviceProperty_Prop_Axis3Type_Int32 = 3005,
+	ETrackedDeviceProperty_Prop_Axis4Type_Int32 = 3006,
+	ETrackedDeviceProperty_Prop_ControllerRoleHint_Int32 = 3007,
+	ETrackedDeviceProperty_Prop_FieldOfViewLeftDegrees_Float = 4000,
+	ETrackedDeviceProperty_Prop_FieldOfViewRightDegrees_Float = 4001,
+	ETrackedDeviceProperty_Prop_FieldOfViewTopDegrees_Float = 4002,
+	ETrackedDeviceProperty_Prop_FieldOfViewBottomDegrees_Float = 4003,
+	ETrackedDeviceProperty_Prop_TrackingRangeMinimumMeters_Float = 4004,
+	ETrackedDeviceProperty_Prop_TrackingRangeMaximumMeters_Float = 4005,
+	ETrackedDeviceProperty_Prop_ModeLabel_String = 4006,
+	ETrackedDeviceProperty_Prop_IconPathName_String = 5000,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceOff_String = 5001,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceSearching_String = 5002,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceSearchingAlert_String = 5003,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceReady_String = 5004,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceReadyAlert_String = 5005,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceNotReady_String = 5006,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceStandby_String = 5007,
+	ETrackedDeviceProperty_Prop_NamedIconPathDeviceAlertLow_String = 5008,
+	ETrackedDeviceProperty_Prop_DisplayHiddenArea_Binary_Start = 5100,
+	ETrackedDeviceProperty_Prop_DisplayHiddenArea_Binary_End = 5150,
+	ETrackedDeviceProperty_Prop_UserConfigPath_String = 6000,
+	ETrackedDeviceProperty_Prop_InstallPath_String = 6001,
+	ETrackedDeviceProperty_Prop_HasDisplayComponent_Bool = 6002,
+	ETrackedDeviceProperty_Prop_HasControllerComponent_Bool = 6003,
+	ETrackedDeviceProperty_Prop_HasCameraComponent_Bool = 6004,
+	ETrackedDeviceProperty_Prop_HasDriverDirectModeComponent_Bool = 6005,
+	ETrackedDeviceProperty_Prop_HasVirtualDisplayComponent_Bool = 6006,
+	ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_Start = 10000,
+	ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_End = 10999,
+} ETrackedDeviceProperty;
+
+typedef enum ETrackedPropertyError
+{
+	ETrackedPropertyError_TrackedProp_Success = 0,
+	ETrackedPropertyError_TrackedProp_WrongDataType = 1,
+	ETrackedPropertyError_TrackedProp_WrongDeviceClass = 2,
+	ETrackedPropertyError_TrackedProp_BufferTooSmall = 3,
+	ETrackedPropertyError_TrackedProp_UnknownProperty = 4,
+	ETrackedPropertyError_TrackedProp_InvalidDevice = 5,
+	ETrackedPropertyError_TrackedProp_CouldNotContactServer = 6,
+	ETrackedPropertyError_TrackedProp_ValueNotProvidedByDevice = 7,
+	ETrackedPropertyError_TrackedProp_StringExceedsMaximumLength = 8,
+	ETrackedPropertyError_TrackedProp_NotYetAvailable = 9,
+	ETrackedPropertyError_TrackedProp_PermissionDenied = 10,
+	ETrackedPropertyError_TrackedProp_InvalidOperation = 11,
+} ETrackedPropertyError;
+
+typedef enum EVRSubmitFlags
+{
+	EVRSubmitFlags_Submit_Default = 0,
+	EVRSubmitFlags_Submit_LensDistortionAlreadyApplied = 1,
+	EVRSubmitFlags_Submit_GlRenderBuffer = 2,
+	EVRSubmitFlags_Submit_Reserved = 4,
+} EVRSubmitFlags;
+
+typedef enum EVRState
+{
+	EVRState_VRState_Undefined = -1,
+	EVRState_VRState_Off = 0,
+	EVRState_VRState_Searching = 1,
+	EVRState_VRState_Searching_Alert = 2,
+	EVRState_VRState_Ready = 3,
+	EVRState_VRState_Ready_Alert = 4,
+	EVRState_VRState_NotReady = 5,
+	EVRState_VRState_Standby = 6,
+	EVRState_VRState_Ready_Alert_Low = 7,
+} EVRState;
+
+typedef enum EVREventType
+{
+	EVREventType_VREvent_None = 0,
+	EVREventType_VREvent_TrackedDeviceActivated = 100,
+	EVREventType_VREvent_TrackedDeviceDeactivated = 101,
+	EVREventType_VREvent_TrackedDeviceUpdated = 102,
+	EVREventType_VREvent_TrackedDeviceUserInteractionStarted = 103,
+	EVREventType_VREvent_TrackedDeviceUserInteractionEnded = 104,
+	EVREventType_VREvent_IpdChanged = 105,
+	EVREventType_VREvent_EnterStandbyMode = 106,
+	EVREventType_VREvent_LeaveStandbyMode = 107,
+	EVREventType_VREvent_TrackedDeviceRoleChanged = 108,
+	EVREventType_VREvent_WatchdogWakeUpRequested = 109,
+	EVREventType_VREvent_LensDistortionChanged = 110,
+	EVREventType_VREvent_PropertyChanged = 111,
+	EVREventType_VREvent_ButtonPress = 200,
+	EVREventType_VREvent_ButtonUnpress = 201,
+	EVREventType_VREvent_ButtonTouch = 202,
+	EVREventType_VREvent_ButtonUntouch = 203,
+	EVREventType_VREvent_MouseMove = 300,
+	EVREventType_VREvent_MouseButtonDown = 301,
+	EVREventType_VREvent_MouseButtonUp = 302,
+	EVREventType_VREvent_FocusEnter = 303,
+	EVREventType_VREvent_FocusLeave = 304,
+	EVREventType_VREvent_Scroll = 305,
+	EVREventType_VREvent_TouchPadMove = 306,
+	EVREventType_VREvent_OverlayFocusChanged = 307,
+	EVREventType_VREvent_InputFocusCaptured = 400,
+	EVREventType_VREvent_InputFocusReleased = 401,
+	EVREventType_VREvent_SceneFocusLost = 402,
+	EVREventType_VREvent_SceneFocusGained = 403,
+	EVREventType_VREvent_SceneApplicationChanged = 404,
+	EVREventType_VREvent_SceneFocusChanged = 405,
+	EVREventType_VREvent_InputFocusChanged = 406,
+	EVREventType_VREvent_SceneApplicationSecondaryRenderingStarted = 407,
+	EVREventType_VREvent_HideRenderModels = 410,
+	EVREventType_VREvent_ShowRenderModels = 411,
+	EVREventType_VREvent_OverlayShown = 500,
+	EVREventType_VREvent_OverlayHidden = 501,
+	EVREventType_VREvent_DashboardActivated = 502,
+	EVREventType_VREvent_DashboardDeactivated = 503,
+	EVREventType_VREvent_DashboardThumbSelected = 504,
+	EVREventType_VREvent_DashboardRequested = 505,
+	EVREventType_VREvent_ResetDashboard = 506,
+	EVREventType_VREvent_RenderToast = 507,
+	EVREventType_VREvent_ImageLoaded = 508,
+	EVREventType_VREvent_ShowKeyboard = 509,
+	EVREventType_VREvent_HideKeyboard = 510,
+	EVREventType_VREvent_OverlayGamepadFocusGained = 511,
+	EVREventType_VREvent_OverlayGamepadFocusLost = 512,
+	EVREventType_VREvent_OverlaySharedTextureChanged = 513,
+	EVREventType_VREvent_DashboardGuideButtonDown = 514,
+	EVREventType_VREvent_DashboardGuideButtonUp = 515,
+	EVREventType_VREvent_ScreenshotTriggered = 516,
+	EVREventType_VREvent_ImageFailed = 517,
+	EVREventType_VREvent_DashboardOverlayCreated = 518,
+	EVREventType_VREvent_RequestScreenshot = 520,
+	EVREventType_VREvent_ScreenshotTaken = 521,
+	EVREventType_VREvent_ScreenshotFailed = 522,
+	EVREventType_VREvent_SubmitScreenshotToDashboard = 523,
+	EVREventType_VREvent_ScreenshotProgressToDashboard = 524,
+	EVREventType_VREvent_PrimaryDashboardDeviceChanged = 525,
+	EVREventType_VREvent_Notification_Shown = 600,
+	EVREventType_VREvent_Notification_Hidden = 601,
+	EVREventType_VREvent_Notification_BeginInteraction = 602,
+	EVREventType_VREvent_Notification_Destroyed = 603,
+	EVREventType_VREvent_Quit = 700,
+	EVREventType_VREvent_ProcessQuit = 701,
+	EVREventType_VREvent_QuitAborted_UserPrompt = 702,
+	EVREventType_VREvent_QuitAcknowledged = 703,
+	EVREventType_VREvent_DriverRequestedQuit = 704,
+	EVREventType_VREvent_ChaperoneDataHasChanged = 800,
+	EVREventType_VREvent_ChaperoneUniverseHasChanged = 801,
+	EVREventType_VREvent_ChaperoneTempDataHasChanged = 802,
+	EVREventType_VREvent_ChaperoneSettingsHaveChanged = 803,
+	EVREventType_VREvent_SeatedZeroPoseReset = 804,
+	EVREventType_VREvent_AudioSettingsHaveChanged = 820,
+	EVREventType_VREvent_BackgroundSettingHasChanged = 850,
+	EVREventType_VREvent_CameraSettingsHaveChanged = 851,
+	EVREventType_VREvent_ReprojectionSettingHasChanged = 852,
+	EVREventType_VREvent_ModelSkinSettingsHaveChanged = 853,
+	EVREventType_VREvent_EnvironmentSettingsHaveChanged = 854,
+	EVREventType_VREvent_PowerSettingsHaveChanged = 855,
+	EVREventType_VREvent_EnableHomeAppSettingsHaveChanged = 856,
+	EVREventType_VREvent_StatusUpdate = 900,
+	EVREventType_VREvent_MCImageUpdated = 1000,
+	EVREventType_VREvent_FirmwareUpdateStarted = 1100,
+	EVREventType_VREvent_FirmwareUpdateFinished = 1101,
+	EVREventType_VREvent_KeyboardClosed = 1200,
+	EVREventType_VREvent_KeyboardCharInput = 1201,
+	EVREventType_VREvent_KeyboardDone = 1202,
+	EVREventType_VREvent_ApplicationTransitionStarted = 1300,
+	EVREventType_VREvent_ApplicationTransitionAborted = 1301,
+	EVREventType_VREvent_ApplicationTransitionNewAppStarted = 1302,
+	EVREventType_VREvent_ApplicationListUpdated = 1303,
+	EVREventType_VREvent_ApplicationMimeTypeLoad = 1304,
+	EVREventType_VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	EVREventType_VREvent_ProcessConnected = 1306,
+	EVREventType_VREvent_ProcessDisconnected = 1307,
+	EVREventType_VREvent_Compositor_MirrorWindowShown = 1400,
+	EVREventType_VREvent_Compositor_MirrorWindowHidden = 1401,
+	EVREventType_VREvent_Compositor_ChaperoneBoundsShown = 1410,
+	EVREventType_VREvent_Compositor_ChaperoneBoundsHidden = 1411,
+	EVREventType_VREvent_TrackedCamera_StartVideoStream = 1500,
+	EVREventType_VREvent_TrackedCamera_StopVideoStream = 1501,
+	EVREventType_VREvent_TrackedCamera_PauseVideoStream = 1502,
+	EVREventType_VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	EVREventType_VREvent_TrackedCamera_EditingSurface = 1550,
+	EVREventType_VREvent_PerformanceTest_EnableCapture = 1600,
+	EVREventType_VREvent_PerformanceTest_DisableCapture = 1601,
+	EVREventType_VREvent_PerformanceTest_FidelityLevel = 1602,
+	EVREventType_VREvent_MessageOverlay_Closed = 1650,
+	EVREventType_VREvent_VendorSpecific_Reserved_Start = 10000,
+	EVREventType_VREvent_VendorSpecific_Reserved_End = 19999,
+} EVREventType;
+
+typedef enum EDeviceActivityLevel
+{
+	EDeviceActivityLevel_k_EDeviceActivityLevel_Unknown = -1,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_Idle = 0,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_UserInteraction = 1,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_UserInteraction_Timeout = 2,
+	EDeviceActivityLevel_k_EDeviceActivityLevel_Standby = 3,
+} EDeviceActivityLevel;
+
+typedef enum EVRButtonId
+{
+	EVRButtonId_k_EButton_System = 0,
+	EVRButtonId_k_EButton_ApplicationMenu = 1,
+	EVRButtonId_k_EButton_Grip = 2,
+	EVRButtonId_k_EButton_DPad_Left = 3,
+	EVRButtonId_k_EButton_DPad_Up = 4,
+	EVRButtonId_k_EButton_DPad_Right = 5,
+	EVRButtonId_k_EButton_DPad_Down = 6,
+	EVRButtonId_k_EButton_A = 7,
+	EVRButtonId_k_EButton_ProximitySensor = 31,
+	EVRButtonId_k_EButton_Axis0 = 32,
+	EVRButtonId_k_EButton_Axis1 = 33,
+	EVRButtonId_k_EButton_Axis2 = 34,
+	EVRButtonId_k_EButton_Axis3 = 35,
+	EVRButtonId_k_EButton_Axis4 = 36,
+	EVRButtonId_k_EButton_SteamVR_Touchpad = 32,
+	EVRButtonId_k_EButton_SteamVR_Trigger = 33,
+	EVRButtonId_k_EButton_Dashboard_Back = 2,
+	EVRButtonId_k_EButton_Max = 64,
+} EVRButtonId;
+
+typedef enum EVRMouseButton
+{
+	EVRMouseButton_VRMouseButton_Left = 1,
+	EVRMouseButton_VRMouseButton_Right = 2,
+	EVRMouseButton_VRMouseButton_Middle = 4,
+} EVRMouseButton;
+
+typedef enum EHiddenAreaMeshType
+{
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Standard = 0,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Inverse = 1,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_LineLoop = 2,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Max = 3,
+} EHiddenAreaMeshType;
+
+typedef enum EVRControllerAxisType
+{
+	EVRControllerAxisType_k_eControllerAxis_None = 0,
+	EVRControllerAxisType_k_eControllerAxis_TrackPad = 1,
+	EVRControllerAxisType_k_eControllerAxis_Joystick = 2,
+	EVRControllerAxisType_k_eControllerAxis_Trigger = 3,
+} EVRControllerAxisType;
+
+typedef enum EVRControllerEventOutputType
+{
+	EVRControllerEventOutputType_ControllerEventOutput_OSEvents = 0,
+	EVRControllerEventOutputType_ControllerEventOutput_VREvents = 1,
+} EVRControllerEventOutputType;
+
+typedef enum ECollisionBoundsStyle
+{
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_INTERMEDIATE = 1,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_SQUARES = 2,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_ADVANCED = 3,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_NONE = 4,
+	ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_COUNT = 5,
+} ECollisionBoundsStyle;
+
+typedef enum EVROverlayError
+{
+	EVROverlayError_VROverlayError_None = 0,
+	EVROverlayError_VROverlayError_UnknownOverlay = 10,
+	EVROverlayError_VROverlayError_InvalidHandle = 11,
+	EVROverlayError_VROverlayError_PermissionDenied = 12,
+	EVROverlayError_VROverlayError_OverlayLimitExceeded = 13,
+	EVROverlayError_VROverlayError_WrongVisibilityType = 14,
+	EVROverlayError_VROverlayError_KeyTooLong = 15,
+	EVROverlayError_VROverlayError_NameTooLong = 16,
+	EVROverlayError_VROverlayError_KeyInUse = 17,
+	EVROverlayError_VROverlayError_WrongTransformType = 18,
+	EVROverlayError_VROverlayError_InvalidTrackedDevice = 19,
+	EVROverlayError_VROverlayError_InvalidParameter = 20,
+	EVROverlayError_VROverlayError_ThumbnailCantBeDestroyed = 21,
+	EVROverlayError_VROverlayError_ArrayTooSmall = 22,
+	EVROverlayError_VROverlayError_RequestFailed = 23,
+	EVROverlayError_VROverlayError_InvalidTexture = 24,
+	EVROverlayError_VROverlayError_UnableToLoadFile = 25,
+	EVROverlayError_VROverlayError_KeyboardAlreadyInUse = 26,
+	EVROverlayError_VROverlayError_NoNeighbor = 27,
+	EVROverlayError_VROverlayError_TooManyMaskPrimitives = 29,
+	EVROverlayError_VROverlayError_BadMaskPrimitive = 30,
+} EVROverlayError;
+
+typedef enum EVRApplicationType
+{
+	EVRApplicationType_VRApplication_Other = 0,
+	EVRApplicationType_VRApplication_Scene = 1,
+	EVRApplicationType_VRApplication_Overlay = 2,
+	EVRApplicationType_VRApplication_Background = 3,
+	EVRApplicationType_VRApplication_Utility = 4,
+	EVRApplicationType_VRApplication_VRMonitor = 5,
+	EVRApplicationType_VRApplication_SteamWatchdog = 6,
+	EVRApplicationType_VRApplication_Bootstrapper = 7,
+	EVRApplicationType_VRApplication_Max = 8,
+} EVRApplicationType;
+
+typedef enum EVRFirmwareError
+{
+	EVRFirmwareError_VRFirmwareError_None = 0,
+	EVRFirmwareError_VRFirmwareError_Success = 1,
+	EVRFirmwareError_VRFirmwareError_Fail = 2,
+} EVRFirmwareError;
+
+typedef enum EVRNotificationError
+{
+	EVRNotificationError_VRNotificationError_OK = 0,
+	EVRNotificationError_VRNotificationError_InvalidNotificationId = 100,
+	EVRNotificationError_VRNotificationError_NotificationQueueFull = 101,
+	EVRNotificationError_VRNotificationError_InvalidOverlayHandle = 102,
+	EVRNotificationError_VRNotificationError_SystemWithUserValueAlreadyExists = 103,
+} EVRNotificationError;
+
+typedef enum EVRInitError
+{
+	EVRInitError_VRInitError_None = 0,
+	EVRInitError_VRInitError_Unknown = 1,
+	EVRInitError_VRInitError_Init_InstallationNotFound = 100,
+	EVRInitError_VRInitError_Init_InstallationCorrupt = 101,
+	EVRInitError_VRInitError_Init_VRClientDLLNotFound = 102,
+	EVRInitError_VRInitError_Init_FileNotFound = 103,
+	EVRInitError_VRInitError_Init_FactoryNotFound = 104,
+	EVRInitError_VRInitError_Init_InterfaceNotFound = 105,
+	EVRInitError_VRInitError_Init_InvalidInterface = 106,
+	EVRInitError_VRInitError_Init_UserConfigDirectoryInvalid = 107,
+	EVRInitError_VRInitError_Init_HmdNotFound = 108,
+	EVRInitError_VRInitError_Init_NotInitialized = 109,
+	EVRInitError_VRInitError_Init_PathRegistryNotFound = 110,
+	EVRInitError_VRInitError_Init_NoConfigPath = 111,
+	EVRInitError_VRInitError_Init_NoLogPath = 112,
+	EVRInitError_VRInitError_Init_PathRegistryNotWritable = 113,
+	EVRInitError_VRInitError_Init_AppInfoInitFailed = 114,
+	EVRInitError_VRInitError_Init_Retry = 115,
+	EVRInitError_VRInitError_Init_InitCanceledByUser = 116,
+	EVRInitError_VRInitError_Init_AnotherAppLaunching = 117,
+	EVRInitError_VRInitError_Init_SettingsInitFailed = 118,
+	EVRInitError_VRInitError_Init_ShuttingDown = 119,
+	EVRInitError_VRInitError_Init_TooManyObjects = 120,
+	EVRInitError_VRInitError_Init_NoServerForBackgroundApp = 121,
+	EVRInitError_VRInitError_Init_NotSupportedWithCompositor = 122,
+	EVRInitError_VRInitError_Init_NotAvailableToUtilityApps = 123,
+	EVRInitError_VRInitError_Init_Internal = 124,
+	EVRInitError_VRInitError_Init_HmdDriverIdIsNone = 125,
+	EVRInitError_VRInitError_Init_HmdNotFoundPresenceFailed = 126,
+	EVRInitError_VRInitError_Init_VRMonitorNotFound = 127,
+	EVRInitError_VRInitError_Init_VRMonitorStartupFailed = 128,
+	EVRInitError_VRInitError_Init_LowPowerWatchdogNotSupported = 129,
+	EVRInitError_VRInitError_Init_InvalidApplicationType = 130,
+	EVRInitError_VRInitError_Init_NotAvailableToWatchdogApps = 131,
+	EVRInitError_VRInitError_Init_WatchdogDisabledInSettings = 132,
+	EVRInitError_VRInitError_Init_VRDashboardNotFound = 133,
+	EVRInitError_VRInitError_Init_VRDashboardStartupFailed = 134,
+	EVRInitError_VRInitError_Init_VRHomeNotFound = 135,
+	EVRInitError_VRInitError_Init_VRHomeStartupFailed = 136,
+	EVRInitError_VRInitError_Driver_Failed = 200,
+	EVRInitError_VRInitError_Driver_Unknown = 201,
+	EVRInitError_VRInitError_Driver_HmdUnknown = 202,
+	EVRInitError_VRInitError_Driver_NotLoaded = 203,
+	EVRInitError_VRInitError_Driver_RuntimeOutOfDate = 204,
+	EVRInitError_VRInitError_Driver_HmdInUse = 205,
+	EVRInitError_VRInitError_Driver_NotCalibrated = 206,
+	EVRInitError_VRInitError_Driver_CalibrationInvalid = 207,
+	EVRInitError_VRInitError_Driver_HmdDisplayNotFound = 208,
+	EVRInitError_VRInitError_Driver_TrackedDeviceInterfaceUnknown = 209,
+	EVRInitError_VRInitError_Driver_HmdDriverIdOutOfBounds = 211,
+	EVRInitError_VRInitError_Driver_HmdDisplayMirrored = 212,
+	EVRInitError_VRInitError_IPC_ServerInitFailed = 300,
+	EVRInitError_VRInitError_IPC_ConnectFailed = 301,
+	EVRInitError_VRInitError_IPC_SharedStateInitFailed = 302,
+	EVRInitError_VRInitError_IPC_CompositorInitFailed = 303,
+	EVRInitError_VRInitError_IPC_MutexInitFailed = 304,
+	EVRInitError_VRInitError_IPC_Failed = 305,
+	EVRInitError_VRInitError_IPC_CompositorConnectFailed = 306,
+	EVRInitError_VRInitError_IPC_CompositorInvalidConnectResponse = 307,
+	EVRInitError_VRInitError_IPC_ConnectFailedAfterMultipleAttempts = 308,
+	EVRInitError_VRInitError_Compositor_Failed = 400,
+	EVRInitError_VRInitError_Compositor_D3D11HardwareRequired = 401,
+	EVRInitError_VRInitError_Compositor_FirmwareRequiresUpdate = 402,
+	EVRInitError_VRInitError_Compositor_OverlayInitFailed = 403,
+	EVRInitError_VRInitError_Compositor_ScreenshotsInitFailed = 404,
+	EVRInitError_VRInitError_Compositor_UnableToCreateDevice = 405,
+	EVRInitError_VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_CantOpenDevice = 1101,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_NoStoredConfig = 1103,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigTooBig = 1104,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigTooSmall = 1105,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToInitZLib = 1106,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UserDataAddressRange = 1111,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_UserDataError = 1112,
+	EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113,
+	EVRInitError_VRInitError_Steam_SteamInstallationNotFound = 2000,
+} EVRInitError;
+
+typedef enum EVRScreenshotType
+{
+	EVRScreenshotType_VRScreenshotType_None = 0,
+	EVRScreenshotType_VRScreenshotType_Mono = 1,
+	EVRScreenshotType_VRScreenshotType_Stereo = 2,
+	EVRScreenshotType_VRScreenshotType_Cubemap = 3,
+	EVRScreenshotType_VRScreenshotType_MonoPanorama = 4,
+	EVRScreenshotType_VRScreenshotType_StereoPanorama = 5,
+} EVRScreenshotType;
+
+typedef enum EVRScreenshotPropertyFilenames
+{
+	EVRScreenshotPropertyFilenames_VRScreenshotPropertyFilenames_Preview = 0,
+	EVRScreenshotPropertyFilenames_VRScreenshotPropertyFilenames_VR = 1,
+} EVRScreenshotPropertyFilenames;
+
+typedef enum EVRTrackedCameraError
+{
+	EVRTrackedCameraError_VRTrackedCameraError_None = 0,
+	EVRTrackedCameraError_VRTrackedCameraError_OperationFailed = 100,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidHandle = 101,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidFrameHeaderVersion = 102,
+	EVRTrackedCameraError_VRTrackedCameraError_OutOfHandles = 103,
+	EVRTrackedCameraError_VRTrackedCameraError_IPCFailure = 104,
+	EVRTrackedCameraError_VRTrackedCameraError_NotSupportedForThisDevice = 105,
+	EVRTrackedCameraError_VRTrackedCameraError_SharedMemoryFailure = 106,
+	EVRTrackedCameraError_VRTrackedCameraError_FrameBufferingFailure = 107,
+	EVRTrackedCameraError_VRTrackedCameraError_StreamSetupFailure = 108,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidGLTextureId = 109,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidSharedTextureHandle = 110,
+	EVRTrackedCameraError_VRTrackedCameraError_FailedToGetGLTextureId = 111,
+	EVRTrackedCameraError_VRTrackedCameraError_SharedTextureFailure = 112,
+	EVRTrackedCameraError_VRTrackedCameraError_NoFrameAvailable = 113,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidArgument = 114,
+	EVRTrackedCameraError_VRTrackedCameraError_InvalidFrameBufferSize = 115,
+} EVRTrackedCameraError;
+
+typedef enum EVRTrackedCameraFrameType
+{
+	EVRTrackedCameraFrameType_VRTrackedCameraFrameType_Distorted = 0,
+	EVRTrackedCameraFrameType_VRTrackedCameraFrameType_Undistorted = 1,
+	EVRTrackedCameraFrameType_VRTrackedCameraFrameType_MaximumUndistorted = 2,
+	EVRTrackedCameraFrameType_MAX_CAMERA_FRAME_TYPES = 3,
+} EVRTrackedCameraFrameType;
+
+typedef enum EVRApplicationError
+{
+	EVRApplicationError_VRApplicationError_None = 0,
+	EVRApplicationError_VRApplicationError_AppKeyAlreadyExists = 100,
+	EVRApplicationError_VRApplicationError_NoManifest = 101,
+	EVRApplicationError_VRApplicationError_NoApplication = 102,
+	EVRApplicationError_VRApplicationError_InvalidIndex = 103,
+	EVRApplicationError_VRApplicationError_UnknownApplication = 104,
+	EVRApplicationError_VRApplicationError_IPCFailed = 105,
+	EVRApplicationError_VRApplicationError_ApplicationAlreadyRunning = 106,
+	EVRApplicationError_VRApplicationError_InvalidManifest = 107,
+	EVRApplicationError_VRApplicationError_InvalidApplication = 108,
+	EVRApplicationError_VRApplicationError_LaunchFailed = 109,
+	EVRApplicationError_VRApplicationError_ApplicationAlreadyStarting = 110,
+	EVRApplicationError_VRApplicationError_LaunchInProgress = 111,
+	EVRApplicationError_VRApplicationError_OldApplicationQuitting = 112,
+	EVRApplicationError_VRApplicationError_TransitionAborted = 113,
+	EVRApplicationError_VRApplicationError_IsTemplate = 114,
+	EVRApplicationError_VRApplicationError_BufferTooSmall = 200,
+	EVRApplicationError_VRApplicationError_PropertyNotSet = 201,
+	EVRApplicationError_VRApplicationError_UnknownProperty = 202,
+	EVRApplicationError_VRApplicationError_InvalidParameter = 203,
+} EVRApplicationError;
+
+typedef enum EVRApplicationProperty
+{
+	EVRApplicationProperty_VRApplicationProperty_Name_String = 0,
+	EVRApplicationProperty_VRApplicationProperty_LaunchType_String = 11,
+	EVRApplicationProperty_VRApplicationProperty_WorkingDirectory_String = 12,
+	EVRApplicationProperty_VRApplicationProperty_BinaryPath_String = 13,
+	EVRApplicationProperty_VRApplicationProperty_Arguments_String = 14,
+	EVRApplicationProperty_VRApplicationProperty_URL_String = 15,
+	EVRApplicationProperty_VRApplicationProperty_Description_String = 50,
+	EVRApplicationProperty_VRApplicationProperty_NewsURL_String = 51,
+	EVRApplicationProperty_VRApplicationProperty_ImagePath_String = 52,
+	EVRApplicationProperty_VRApplicationProperty_Source_String = 53,
+	EVRApplicationProperty_VRApplicationProperty_IsDashboardOverlay_Bool = 60,
+	EVRApplicationProperty_VRApplicationProperty_IsTemplate_Bool = 61,
+	EVRApplicationProperty_VRApplicationProperty_IsInstanced_Bool = 62,
+	EVRApplicationProperty_VRApplicationProperty_IsInternal_Bool = 63,
+	EVRApplicationProperty_VRApplicationProperty_LastLaunchTime_Uint64 = 70,
+} EVRApplicationProperty;
+
+typedef enum EVRApplicationTransitionState
+{
+	EVRApplicationTransitionState_VRApplicationTransition_None = 0,
+	EVRApplicationTransitionState_VRApplicationTransition_OldAppQuitSent = 10,
+	EVRApplicationTransitionState_VRApplicationTransition_WaitingForExternalLaunch = 11,
+	EVRApplicationTransitionState_VRApplicationTransition_NewAppLaunched = 20,
+} EVRApplicationTransitionState;
+
+typedef enum ChaperoneCalibrationState
+{
+	ChaperoneCalibrationState_OK = 1,
+	ChaperoneCalibrationState_Warning = 100,
+	ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved = 101,
+	ChaperoneCalibrationState_Warning_BaseStationRemoved = 102,
+	ChaperoneCalibrationState_Warning_SeatedBoundsInvalid = 103,
+	ChaperoneCalibrationState_Error = 200,
+	ChaperoneCalibrationState_Error_BaseStationUninitialized = 201,
+	ChaperoneCalibrationState_Error_BaseStationConflict = 202,
+	ChaperoneCalibrationState_Error_PlayAreaInvalid = 203,
+	ChaperoneCalibrationState_Error_CollisionBoundsInvalid = 204,
+} ChaperoneCalibrationState;
+
+typedef enum EChaperoneConfigFile
+{
+	EChaperoneConfigFile_Live = 1,
+	EChaperoneConfigFile_Temp = 2,
+} EChaperoneConfigFile;
+
+typedef enum EChaperoneImportFlags
+{
+	EChaperoneImportFlags_EChaperoneImport_BoundsOnly = 1,
+} EChaperoneImportFlags;
+
+typedef enum EVRCompositorError
+{
+	EVRCompositorError_VRCompositorError_None = 0,
+	EVRCompositorError_VRCompositorError_RequestFailed = 1,
+	EVRCompositorError_VRCompositorError_IncompatibleVersion = 100,
+	EVRCompositorError_VRCompositorError_DoNotHaveFocus = 101,
+	EVRCompositorError_VRCompositorError_InvalidTexture = 102,
+	EVRCompositorError_VRCompositorError_IsNotSceneApplication = 103,
+	EVRCompositorError_VRCompositorError_TextureIsOnWrongDevice = 104,
+	EVRCompositorError_VRCompositorError_TextureUsesUnsupportedFormat = 105,
+	EVRCompositorError_VRCompositorError_SharedTexturesNotSupported = 106,
+	EVRCompositorError_VRCompositorError_IndexOutOfRange = 107,
+	EVRCompositorError_VRCompositorError_AlreadySubmitted = 108,
+} EVRCompositorError;
+
+typedef enum VROverlayInputMethod
+{
+	VROverlayInputMethod_None = 0,
+	VROverlayInputMethod_Mouse = 1,
+} VROverlayInputMethod;
+
+typedef enum VROverlayTransformType
+{
+	VROverlayTransformType_VROverlayTransform_Absolute = 0,
+	VROverlayTransformType_VROverlayTransform_TrackedDeviceRelative = 1,
+	VROverlayTransformType_VROverlayTransform_SystemOverlay = 2,
+	VROverlayTransformType_VROverlayTransform_TrackedComponent = 3,
+} VROverlayTransformType;
+
+typedef enum VROverlayFlags
+{
+	VROverlayFlags_None = 0,
+	VROverlayFlags_Curved = 1,
+	VROverlayFlags_RGSS4X = 2,
+	VROverlayFlags_NoDashboardTab = 3,
+	VROverlayFlags_AcceptsGamepadEvents = 4,
+	VROverlayFlags_ShowGamepadFocus = 5,
+	VROverlayFlags_SendVRScrollEvents = 6,
+	VROverlayFlags_SendVRTouchpadEvents = 7,
+	VROverlayFlags_ShowTouchPadScrollWheel = 8,
+	VROverlayFlags_TransferOwnershipToInternalProcess = 9,
+	VROverlayFlags_SideBySide_Parallel = 10,
+	VROverlayFlags_SideBySide_Crossed = 11,
+	VROverlayFlags_Panorama = 12,
+	VROverlayFlags_StereoPanorama = 13,
+	VROverlayFlags_SortWithNonSceneOverlays = 14,
+	VROverlayFlags_VisibleInDashboard = 15,
+} VROverlayFlags;
+
+typedef enum VRMessageOverlayResponse
+{
+	VRMessageOverlayResponse_ButtonPress_0 = 0,
+	VRMessageOverlayResponse_ButtonPress_1 = 1,
+	VRMessageOverlayResponse_ButtonPress_2 = 2,
+	VRMessageOverlayResponse_ButtonPress_3 = 3,
+	VRMessageOverlayResponse_CouldntFindSystemOverlay = 4,
+	VRMessageOverlayResponse_CouldntFindOrCreateClientOverlay = 5,
+	VRMessageOverlayResponse_ApplicationQuit = 6,
+} VRMessageOverlayResponse;
+
+typedef enum EGamepadTextInputMode
+{
+	EGamepadTextInputMode_k_EGamepadTextInputModeNormal = 0,
+	EGamepadTextInputMode_k_EGamepadTextInputModePassword = 1,
+	EGamepadTextInputMode_k_EGamepadTextInputModeSubmit = 2,
+} EGamepadTextInputMode;
+
+typedef enum EGamepadTextInputLineMode
+{
+	EGamepadTextInputLineMode_k_EGamepadTextInputLineModeSingleLine = 0,
+	EGamepadTextInputLineMode_k_EGamepadTextInputLineModeMultipleLines = 1,
+} EGamepadTextInputLineMode;
+
+typedef enum EOverlayDirection
+{
+	EOverlayDirection_OverlayDirection_Up = 0,
+	EOverlayDirection_OverlayDirection_Down = 1,
+	EOverlayDirection_OverlayDirection_Left = 2,
+	EOverlayDirection_OverlayDirection_Right = 3,
+	EOverlayDirection_OverlayDirection_Count = 4,
+} EOverlayDirection;
+
+typedef enum EVROverlayIntersectionMaskPrimitiveType
+{
+	EVROverlayIntersectionMaskPrimitiveType_OverlayIntersectionPrimitiveType_Rectangle = 0,
+	EVROverlayIntersectionMaskPrimitiveType_OverlayIntersectionPrimitiveType_Circle = 1,
+} EVROverlayIntersectionMaskPrimitiveType;
+
+typedef enum EVRRenderModelError
+{
+	EVRRenderModelError_VRRenderModelError_None = 0,
+	EVRRenderModelError_VRRenderModelError_Loading = 100,
+	EVRRenderModelError_VRRenderModelError_NotSupported = 200,
+	EVRRenderModelError_VRRenderModelError_InvalidArg = 300,
+	EVRRenderModelError_VRRenderModelError_InvalidModel = 301,
+	EVRRenderModelError_VRRenderModelError_NoShapes = 302,
+	EVRRenderModelError_VRRenderModelError_MultipleShapes = 303,
+	EVRRenderModelError_VRRenderModelError_TooManyVertices = 304,
+	EVRRenderModelError_VRRenderModelError_MultipleTextures = 305,
+	EVRRenderModelError_VRRenderModelError_BufferTooSmall = 306,
+	EVRRenderModelError_VRRenderModelError_NotEnoughNormals = 307,
+	EVRRenderModelError_VRRenderModelError_NotEnoughTexCoords = 308,
+	EVRRenderModelError_VRRenderModelError_InvalidTexture = 400,
+} EVRRenderModelError;
+
+typedef enum EVRComponentProperty
+{
+	EVRComponentProperty_VRComponentProperty_IsStatic = 1,
+	EVRComponentProperty_VRComponentProperty_IsVisible = 2,
+	EVRComponentProperty_VRComponentProperty_IsTouched = 4,
+	EVRComponentProperty_VRComponentProperty_IsPressed = 8,
+	EVRComponentProperty_VRComponentProperty_IsScrolled = 16,
+} EVRComponentProperty;
+
+typedef enum EVRNotificationType
+{
+	EVRNotificationType_Transient = 0,
+	EVRNotificationType_Persistent = 1,
+	EVRNotificationType_Transient_SystemWithUserValue = 2,
+} EVRNotificationType;
+
+typedef enum EVRNotificationStyle
+{
+	EVRNotificationStyle_None = 0,
+	EVRNotificationStyle_Application = 100,
+	EVRNotificationStyle_Contact_Disabled = 200,
+	EVRNotificationStyle_Contact_Enabled = 201,
+	EVRNotificationStyle_Contact_Active = 202,
+} EVRNotificationStyle;
+
+typedef enum EVRSettingsError
+{
+	EVRSettingsError_VRSettingsError_None = 0,
+	EVRSettingsError_VRSettingsError_IPCFailed = 1,
+	EVRSettingsError_VRSettingsError_WriteFailed = 2,
+	EVRSettingsError_VRSettingsError_ReadFailed = 3,
+	EVRSettingsError_VRSettingsError_JsonParseFailed = 4,
+	EVRSettingsError_VRSettingsError_UnsetSettingHasNoDefault = 5,
+} EVRSettingsError;
+
+typedef enum EVRScreenshotError
+{
+	EVRScreenshotError_VRScreenshotError_None = 0,
+	EVRScreenshotError_VRScreenshotError_RequestFailed = 1,
+	EVRScreenshotError_VRScreenshotError_IncompatibleVersion = 100,
+	EVRScreenshotError_VRScreenshotError_NotFound = 101,
+	EVRScreenshotError_VRScreenshotError_BufferTooSmall = 102,
+	EVRScreenshotError_VRScreenshotError_ScreenshotAlreadyInProgress = 108,
+} EVRScreenshotError;
+
+
+// OpenVR typedefs
+
+typedef uint32_t TrackedDeviceIndex_t;
+typedef uint32_t VRNotificationId;
+typedef uint64_t VROverlayHandle_t;
+
+typedef void * glSharedTextureHandle_t;
+typedef int32_t glInt_t;
+typedef uint32_t glUInt_t;
+typedef uint64_t SharedTextureHandle_t;
+typedef uint32_t DriverId_t;
+typedef uint32_t TrackedDeviceIndex_t;
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+typedef uint64_t VROverlayHandle_t;
+typedef uint64_t TrackedCameraHandle_t;
+typedef uint32_t ScreenshotHandle_t;
+typedef uint32_t VRComponentProperties;
+typedef int32_t TextureID_t;
+typedef uint32_t VRNotificationId;
+typedef EVRInitError HmdError;
+typedef EVREye Hmd_Eye;
+typedef EColorSpace ColorSpace;
+typedef ETrackingResult HmdTrackingResult;
+typedef ETrackedDeviceClass TrackedDeviceClass;
+typedef ETrackingUniverseOrigin TrackingUniverseOrigin;
+typedef ETrackedDeviceProperty TrackedDeviceProperty;
+typedef ETrackedPropertyError TrackedPropertyError;
+typedef EVRSubmitFlags VRSubmitFlags_t;
+typedef EVRState VRState_t;
+typedef ECollisionBoundsStyle CollisionBoundsStyle_t;
+typedef EVROverlayError VROverlayError;
+typedef EVRFirmwareError VRFirmwareError;
+typedef EVRCompositorError VRCompositorError;
+typedef EVRScreenshotError VRScreenshotsError;
+
+// OpenVR Structs
+
+typedef struct HmdMatrix34_t
+{
+	float m[3][4]; //float[3][4]
+} HmdMatrix34_t;
+
+typedef struct HmdMatrix44_t
+{
+	float m[4][4]; //float[4][4]
+} HmdMatrix44_t;
+
+typedef struct HmdVector3_t
+{
+	float v[3]; //float[3]
+} HmdVector3_t;
+
+typedef struct HmdVector4_t
+{
+	float v[4]; //float[4]
+} HmdVector4_t;
+
+typedef struct HmdVector3d_t
+{
+	double v[3]; //double[3]
+} HmdVector3d_t;
+
+typedef struct HmdVector2_t
+{
+	float v[2]; //float[2]
+} HmdVector2_t;
+
+typedef struct HmdQuaternion_t
+{
+	double w;
+	double x;
+	double y;
+	double z;
+} HmdQuaternion_t;
+
+typedef struct HmdColor_t
+{
+	float r;
+	float g;
+	float b;
+	float a;
+} HmdColor_t;
+
+typedef struct HmdQuad_t
+{
+	struct HmdVector3_t vCorners[4]; //struct vr::HmdVector3_t[4]
+} HmdQuad_t;
+
+typedef struct HmdRect2_t
+{
+	struct HmdVector2_t vTopLeft;
+	struct HmdVector2_t vBottomRight;
+} HmdRect2_t;
+
+typedef struct DistortionCoordinates_t
+{
+	float rfRed[2]; //float[2]
+	float rfGreen[2]; //float[2]
+	float rfBlue[2]; //float[2]
+} DistortionCoordinates_t;
+
+typedef struct Texture_t
+{
+	void * handle; // void *
+	enum ETextureType eType;
+	enum EColorSpace eColorSpace;
+} Texture_t;
+
+typedef struct TrackedDevicePose_t
+{
+	struct HmdMatrix34_t mDeviceToAbsoluteTracking;
+	struct HmdVector3_t vVelocity;
+	struct HmdVector3_t vAngularVelocity;
+	enum ETrackingResult eTrackingResult;
+	bool bPoseIsValid;
+	bool bDeviceIsConnected;
+} TrackedDevicePose_t;
+
+typedef struct VRTextureBounds_t
+{
+	float uMin;
+	float vMin;
+	float uMax;
+	float vMax;
+} VRTextureBounds_t;
+
+typedef struct VRVulkanTextureData_t
+{
+	uint64_t m_nImage;
+	struct VkDevice_T * m_pDevice; // struct VkDevice_T *
+	struct VkPhysicalDevice_T * m_pPhysicalDevice; // struct VkPhysicalDevice_T *
+	struct VkInstance_T * m_pInstance; // struct VkInstance_T *
+	struct VkQueue_T * m_pQueue; // struct VkQueue_T *
+	uint32_t m_nQueueFamilyIndex;
+	uint32_t m_nWidth;
+	uint32_t m_nHeight;
+	uint32_t m_nFormat;
+	uint32_t m_nSampleCount;
+} VRVulkanTextureData_t;
+
+typedef struct D3D12TextureData_t
+{
+	struct ID3D12Resource * m_pResource; // struct ID3D12Resource *
+	struct ID3D12CommandQueue * m_pCommandQueue; // struct ID3D12CommandQueue *
+	uint32_t m_nNodeMask;
+} D3D12TextureData_t;
+
+typedef struct VREvent_Controller_t
+{
+	uint32_t button;
+} VREvent_Controller_t;
+
+typedef struct VREvent_Mouse_t
+{
+	float x;
+	float y;
+	uint32_t button;
+} VREvent_Mouse_t;
+
+typedef struct VREvent_Scroll_t
+{
+	float xdelta;
+	float ydelta;
+	uint32_t repeatCount;
+} VREvent_Scroll_t;
+
+typedef struct VREvent_TouchPadMove_t
+{
+	bool bFingerDown;
+	float flSecondsFingerDown;
+	float fValueXFirst;
+	float fValueYFirst;
+	float fValueXRaw;
+	float fValueYRaw;
+} VREvent_TouchPadMove_t;
+
+typedef struct VREvent_Notification_t
+{
+	uint64_t ulUserValue;
+	uint32_t notificationId;
+} VREvent_Notification_t;
+
+typedef struct VREvent_Process_t
+{
+	uint32_t pid;
+	uint32_t oldPid;
+	bool bForced;
+} VREvent_Process_t;
+
+typedef struct VREvent_Overlay_t
+{
+	uint64_t overlayHandle;
+} VREvent_Overlay_t;
+
+typedef struct VREvent_Status_t
+{
+	uint32_t statusState;
+} VREvent_Status_t;
+
+typedef struct VREvent_Keyboard_t
+{
+	char * cNewInput[8]; //char[8]
+	uint64_t uUserValue;
+} VREvent_Keyboard_t;
+
+typedef struct VREvent_Ipd_t
+{
+	float ipdMeters;
+} VREvent_Ipd_t;
+
+typedef struct VREvent_Chaperone_t
+{
+	uint64_t m_nPreviousUniverse;
+	uint64_t m_nCurrentUniverse;
+} VREvent_Chaperone_t;
+
+typedef struct VREvent_Reserved_t
+{
+	uint64_t reserved0;
+	uint64_t reserved1;
+} VREvent_Reserved_t;
+
+typedef struct VREvent_PerformanceTest_t
+{
+	uint32_t m_nFidelityLevel;
+} VREvent_PerformanceTest_t;
+
+typedef struct VREvent_SeatedZeroPoseReset_t
+{
+	bool bResetBySystemMenu;
+} VREvent_SeatedZeroPoseReset_t;
+
+typedef struct VREvent_Screenshot_t
+{
+	uint32_t handle;
+	uint32_t type;
+} VREvent_Screenshot_t;
+
+typedef struct VREvent_ScreenshotProgress_t
+{
+	float progress;
+} VREvent_ScreenshotProgress_t;
+
+typedef struct VREvent_ApplicationLaunch_t
+{
+	uint32_t pid;
+	uint32_t unArgsHandle;
+} VREvent_ApplicationLaunch_t;
+
+typedef struct VREvent_EditingCameraSurface_t
+{
+	uint64_t overlayHandle;
+	uint32_t nVisualMode;
+} VREvent_EditingCameraSurface_t;
+
+typedef struct VREvent_MessageOverlay_t
+{
+	uint32_t unVRMessageOverlayResponse;
+} VREvent_MessageOverlay_t;
+
+typedef struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	enum ETrackedDeviceProperty prop;
+} VREvent_Property_t;
+
+typedef struct HiddenAreaMesh_t
+{
+	struct HmdVector2_t * pVertexData; // const struct vr::HmdVector2_t *
+	uint32_t unTriangleCount;
+} HiddenAreaMesh_t;
+
+typedef struct VRControllerAxis_t
+{
+	float x;
+	float y;
+} VRControllerAxis_t;
+
+typedef struct VRControllerState_t
+{
+	uint32_t unPacketNum;
+	uint64_t ulButtonPressed;
+	uint64_t ulButtonTouched;
+	struct VRControllerAxis_t rAxis[5]; //struct vr::VRControllerAxis_t[5]
+} VRControllerState_t;
+
+typedef struct Compositor_OverlaySettings
+{
+	uint32_t size;
+	bool curved;
+	bool antialias;
+	float scale;
+	float distance;
+	float alpha;
+	float uOffset;
+	float vOffset;
+	float uScale;
+	float vScale;
+	float gridDivs;
+	float gridWidth;
+	float gridScale;
+	struct HmdMatrix44_t transform;
+} Compositor_OverlaySettings;
+
+typedef struct CameraVideoStreamFrameHeader_t
+{
+	enum EVRTrackedCameraFrameType eFrameType;
+	uint32_t nWidth;
+	uint32_t nHeight;
+	uint32_t nBytesPerPixel;
+	uint32_t nFrameSequence;
+	struct TrackedDevicePose_t standingTrackedDevicePose;
+} CameraVideoStreamFrameHeader_t;
+
+typedef struct AppOverrideKeys_t
+{
+	char * pchKey; // const char *
+	char * pchValue; // const char *
+} AppOverrideKeys_t;
+
+typedef struct Compositor_FrameTiming
+{
+	uint32_t m_nSize;
+	uint32_t m_nFrameIndex;
+	uint32_t m_nNumFramePresents;
+	uint32_t m_nNumMisPresented;
+	uint32_t m_nNumDroppedFrames;
+	uint32_t m_nReprojectionFlags;
+	double m_flSystemTimeInSeconds;
+	float m_flPreSubmitGpuMs;
+	float m_flPostSubmitGpuMs;
+	float m_flTotalRenderGpuMs;
+	float m_flCompositorRenderGpuMs;
+	float m_flCompositorRenderCpuMs;
+	float m_flCompositorIdleCpuMs;
+	float m_flClientFrameIntervalMs;
+	float m_flPresentCallCpuMs;
+	float m_flWaitForPresentCpuMs;
+	float m_flSubmitFrameMs;
+	float m_flWaitGetPosesCalledMs;
+	float m_flNewPosesReadyMs;
+	float m_flNewFrameReadyMs;
+	float m_flCompositorUpdateStartMs;
+	float m_flCompositorUpdateEndMs;
+	float m_flCompositorRenderStartMs;
+	TrackedDevicePose_t m_HmdPose;
+} Compositor_FrameTiming;
+
+typedef struct Compositor_CumulativeStats
+{
+	uint32_t m_nPid;
+	uint32_t m_nNumFramePresents;
+	uint32_t m_nNumDroppedFrames;
+	uint32_t m_nNumReprojectedFrames;
+	uint32_t m_nNumFramePresentsOnStartup;
+	uint32_t m_nNumDroppedFramesOnStartup;
+	uint32_t m_nNumReprojectedFramesOnStartup;
+	uint32_t m_nNumLoading;
+	uint32_t m_nNumFramePresentsLoading;
+	uint32_t m_nNumDroppedFramesLoading;
+	uint32_t m_nNumReprojectedFramesLoading;
+	uint32_t m_nNumTimedOut;
+	uint32_t m_nNumFramePresentsTimedOut;
+	uint32_t m_nNumDroppedFramesTimedOut;
+	uint32_t m_nNumReprojectedFramesTimedOut;
+} Compositor_CumulativeStats;
+
+typedef struct VROverlayIntersectionParams_t
+{
+	struct HmdVector3_t vSource;
+	struct HmdVector3_t vDirection;
+	enum ETrackingUniverseOrigin eOrigin;
+} VROverlayIntersectionParams_t;
+
+typedef struct VROverlayIntersectionResults_t
+{
+	struct HmdVector3_t vPoint;
+	struct HmdVector3_t vNormal;
+	struct HmdVector2_t vUVs;
+	float fDistance;
+} VROverlayIntersectionResults_t;
+
+typedef struct IntersectionMaskRectangle_t
+{
+	float m_flTopLeftX;
+	float m_flTopLeftY;
+	float m_flWidth;
+	float m_flHeight;
+} IntersectionMaskRectangle_t;
+
+typedef struct IntersectionMaskCircle_t
+{
+	float m_flCenterX;
+	float m_flCenterY;
+	float m_flRadius;
+} IntersectionMaskCircle_t;
+
+typedef struct RenderModel_ComponentState_t
+{
+	struct HmdMatrix34_t mTrackingToComponentRenderModel;
+	struct HmdMatrix34_t mTrackingToComponentLocal;
+	VRComponentProperties uProperties;
+} RenderModel_ComponentState_t;
+
+typedef struct RenderModel_Vertex_t
+{
+	struct HmdVector3_t vPosition;
+	struct HmdVector3_t vNormal;
+	float rfTextureCoord[2]; //float[2]
+} RenderModel_Vertex_t;
+
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( push, 4 )
+#endif
+typedef struct RenderModel_TextureMap_t
+{
+	uint16_t unWidth;
+	uint16_t unHeight;
+	uint8_t * rubTextureMapData; // const uint8_t *
+} RenderModel_TextureMap_t;
+
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( pop )
+#endif
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( push, 4 )
+#endif
+typedef struct RenderModel_t
+{
+	struct RenderModel_Vertex_t * rVertexData; // const struct vr::RenderModel_Vertex_t *
+	uint32_t unVertexCount;
+	uint16_t * rIndexData; // const uint16_t *
+	uint32_t unTriangleCount;
+	TextureID_t diffuseTextureId;
+} RenderModel_t;
+
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( pop )
+#endif
+typedef struct RenderModel_ControllerMode_State_t
+{
+	bool bScrollWheelVisible;
+} RenderModel_ControllerMode_State_t;
+
+typedef struct NotificationBitmap_t
+{
+	void * m_pImageData; // void *
+	int32_t m_nWidth;
+	int32_t m_nHeight;
+	int32_t m_nBytesPerPixel;
+} NotificationBitmap_t;
+
+typedef struct COpenVRContext
+{
+	intptr_t m_pVRSystem; // class vr::IVRSystem *
+	intptr_t m_pVRChaperone; // class vr::IVRChaperone *
+	intptr_t m_pVRChaperoneSetup; // class vr::IVRChaperoneSetup *
+	intptr_t m_pVRCompositor; // class vr::IVRCompositor *
+	intptr_t m_pVROverlay; // class vr::IVROverlay *
+	intptr_t m_pVRResources; // class vr::IVRResources *
+	intptr_t m_pVRRenderModels; // class vr::IVRRenderModels *
+	intptr_t m_pVRExtendedDisplay; // class vr::IVRExtendedDisplay *
+	intptr_t m_pVRSettings; // class vr::IVRSettings *
+	intptr_t m_pVRApplications; // class vr::IVRApplications *
+	intptr_t m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
+	intptr_t m_pVRScreenshots; // class vr::IVRScreenshots *
+	intptr_t m_pVRDriverManager; // class vr::IVRDriverManager *
+} COpenVRContext;
+
+
+typedef union
+{
+	VREvent_Reserved_t reserved;
+	VREvent_Controller_t controller;
+	VREvent_Mouse_t mouse;
+	VREvent_Scroll_t scroll;
+	VREvent_Process_t process;
+	VREvent_Notification_t notification;
+	VREvent_Overlay_t overlay;
+	VREvent_Status_t status;
+	VREvent_Keyboard_t keyboard;
+	VREvent_Ipd_t ipd;
+	VREvent_Chaperone_t chaperone;
+	VREvent_PerformanceTest_t performanceTest;
+	VREvent_TouchPadMove_t touchPadMove;
+	VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+} VREvent_Data_t;
+
+/** An event posted by the server to all running applications */
+struct VREvent_t
+{
+	uint32_t eventType; // EVREventType enum
+	TrackedDeviceIndex_t trackedDeviceIndex;
+	float eventAgeSeconds;
+	// event data must be the end of the struct as its size is variable
+	VREvent_Data_t data;
+};
+
+
+typedef union
+{
+	IntersectionMaskRectangle_t m_Rectangle;
+	IntersectionMaskCircle_t m_Circle;
+} VROverlayIntersectionMaskPrimitive_Data_t;
+
+struct VROverlayIntersectionMaskPrimitive_t
+{
+	EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType;
+	VROverlayIntersectionMaskPrimitive_Data_t m_Primitive;
+};
+
+
+// OpenVR Function Pointer Tables
+
+struct VR_IVRSystem_FnTable
+{
+	void (OPENVR_FNTABLE_CALLTYPE *GetRecommendedRenderTargetSize)(uint32_t * pnWidth, uint32_t * pnHeight);
+	struct HmdMatrix44_t (OPENVR_FNTABLE_CALLTYPE *GetProjectionMatrix)(EVREye eEye, float fNearZ, float fFarZ);
+	void (OPENVR_FNTABLE_CALLTYPE *GetProjectionRaw)(EVREye eEye, float * pfLeft, float * pfRight, float * pfTop, float * pfBottom);
+	bool (OPENVR_FNTABLE_CALLTYPE *ComputeDistortion)(EVREye eEye, float fU, float fV, struct DistortionCoordinates_t * pDistortionCoordinates);
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetEyeToHeadTransform)(EVREye eEye);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetTimeSinceLastVsync)(float * pfSecondsSinceLastVsync, uint64_t * pulFrameCounter);
+	int32_t (OPENVR_FNTABLE_CALLTYPE *GetD3D9AdapterIndex)();
+	void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex);
+	void (OPENVR_FNTABLE_CALLTYPE *GetOutputDevice)(uint64_t * pnDevice, ETextureType textureType);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsDisplayOnDesktop)();
+	bool (OPENVR_FNTABLE_CALLTYPE *SetDisplayVisibility)(bool bIsVisibleOnDesktop);
+	void (OPENVR_FNTABLE_CALLTYPE *GetDeviceToAbsoluteTrackingPose)(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, struct TrackedDevicePose_t * pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount);
+	void (OPENVR_FNTABLE_CALLTYPE *ResetSeatedZeroPose)();
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetSeatedZeroPoseToStandingAbsoluteTrackingPose)();
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetRawZeroPoseToStandingAbsoluteTrackingPose)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetSortedTrackedDeviceIndicesOfClass)(ETrackedDeviceClass eTrackedDeviceClass, TrackedDeviceIndex_t * punTrackedDeviceIndexArray, uint32_t unTrackedDeviceIndexArrayCount, TrackedDeviceIndex_t unRelativeToTrackedDeviceIndex);
+	EDeviceActivityLevel (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceActivityLevel)(TrackedDeviceIndex_t unDeviceId);
+	void (OPENVR_FNTABLE_CALLTYPE *ApplyTransform)(struct TrackedDevicePose_t * pOutputPose, struct TrackedDevicePose_t * pTrackedDevicePose, struct HmdMatrix34_t * pTransform);
+	TrackedDeviceIndex_t (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceIndexForControllerRole)(ETrackedControllerRole unDeviceType);
+	ETrackedControllerRole (OPENVR_FNTABLE_CALLTYPE *GetControllerRoleForTrackedDeviceIndex)(TrackedDeviceIndex_t unDeviceIndex);
+	ETrackedDeviceClass (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceClass)(TrackedDeviceIndex_t unDeviceIndex);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsTrackedDeviceConnected)(TrackedDeviceIndex_t unDeviceIndex);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetBoolTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	float (OPENVR_FNTABLE_CALLTYPE *GetFloatTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	int32_t (OPENVR_FNTABLE_CALLTYPE *GetInt32TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	uint64_t (OPENVR_FNTABLE_CALLTYPE *GetUint64TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetMatrix34TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetStringTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, char * pchValue, uint32_t unBufferSize, ETrackedPropertyError * pError);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetPropErrorNameFromEnum)(ETrackedPropertyError error);
+	bool (OPENVR_FNTABLE_CALLTYPE *PollNextEvent)(struct VREvent_t * pEvent, uint32_t uncbVREvent);
+	bool (OPENVR_FNTABLE_CALLTYPE *PollNextEventWithPose)(ETrackingUniverseOrigin eOrigin, struct VREvent_t * pEvent, uint32_t uncbVREvent, TrackedDevicePose_t * pTrackedDevicePose);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetEventTypeNameFromEnum)(EVREventType eType);
+	struct HiddenAreaMesh_t (OPENVR_FNTABLE_CALLTYPE *GetHiddenAreaMesh)(EVREye eEye, EHiddenAreaMeshType type);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetControllerState)(TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, uint32_t unControllerStateSize);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetControllerStateWithPose)(ETrackingUniverseOrigin eOrigin, TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, uint32_t unControllerStateSize, struct TrackedDevicePose_t * pTrackedDevicePose);
+	void (OPENVR_FNTABLE_CALLTYPE *TriggerHapticPulse)(TrackedDeviceIndex_t unControllerDeviceIndex, uint32_t unAxisId, unsigned short usDurationMicroSec);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetButtonIdNameFromEnum)(EVRButtonId eButtonId);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetControllerAxisTypeNameFromEnum)(EVRControllerAxisType eAxisType);
+	bool (OPENVR_FNTABLE_CALLTYPE *CaptureInputFocus)();
+	void (OPENVR_FNTABLE_CALLTYPE *ReleaseInputFocus)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsInputFocusCapturedByAnotherProcess)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *DriverDebugRequest)(TrackedDeviceIndex_t unDeviceIndex, char * pchRequest, char * pchResponseBuffer, uint32_t unResponseBufferSize);
+	EVRFirmwareError (OPENVR_FNTABLE_CALLTYPE *PerformFirmwareUpdate)(TrackedDeviceIndex_t unDeviceIndex);
+	void (OPENVR_FNTABLE_CALLTYPE *AcknowledgeQuit_Exiting)();
+	void (OPENVR_FNTABLE_CALLTYPE *AcknowledgeQuit_UserPrompt)();
+};
+
+struct VR_IVRExtendedDisplay_FnTable
+{
+	void (OPENVR_FNTABLE_CALLTYPE *GetWindowBounds)(int32_t * pnX, int32_t * pnY, uint32_t * pnWidth, uint32_t * pnHeight);
+	void (OPENVR_FNTABLE_CALLTYPE *GetEyeOutputViewport)(EVREye eEye, uint32_t * pnX, uint32_t * pnY, uint32_t * pnWidth, uint32_t * pnHeight);
+	void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex, int32_t * pnAdapterOutputIndex);
+};
+
+struct VR_IVRTrackedCamera_FnTable
+{
+	char * (OPENVR_FNTABLE_CALLTYPE *GetCameraErrorNameFromEnum)(EVRTrackedCameraError eCameraError);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *HasCamera)(TrackedDeviceIndex_t nDeviceIndex, bool * pHasCamera);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraFrameSize)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, uint32_t * pnWidth, uint32_t * pnHeight, uint32_t * pnFrameBufferSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraIntrinsics)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, HmdVector2_t * pFocalLength, HmdVector2_t * pCenter);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraProjection)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, HmdMatrix44_t * pProjection);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *AcquireVideoStreamingService)(TrackedDeviceIndex_t nDeviceIndex, TrackedCameraHandle_t * pHandle);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *ReleaseVideoStreamingService)(TrackedCameraHandle_t hTrackedCamera);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamFrameBuffer)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, void * pFrameBuffer, uint32_t nFrameBufferSize, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamTextureSize)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, VRTextureBounds_t * pTextureBounds, uint32_t * pnWidth, uint32_t * pnHeight);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamTextureD3D11)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, void * pD3D11DeviceOrResource, void ** ppD3D11ShaderResourceView, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamTextureGL)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, glUInt_t * pglTextureId, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize);
+	EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *ReleaseVideoStreamTextureGL)(TrackedCameraHandle_t hTrackedCamera, glUInt_t glTextureId);
+};
+
+struct VR_IVRApplications_FnTable
+{
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *AddApplicationManifest)(char * pchApplicationManifestFullPath, bool bTemporary);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *RemoveApplicationManifest)(char * pchApplicationManifestFullPath);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsApplicationInstalled)(char * pchAppKey);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationCount)();
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetApplicationKeyByIndex)(uint32_t unApplicationIndex, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetApplicationKeyByProcessId)(uint32_t unProcessId, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchApplication)(char * pchAppKey);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchTemplateApplication)(char * pchTemplateAppKey, char * pchNewAppKey, struct AppOverrideKeys_t * pKeys, uint32_t unKeys);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchApplicationFromMimeType)(char * pchMimeType, char * pchArgs);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchDashboardOverlay)(char * pchAppKey);
+	bool (OPENVR_FNTABLE_CALLTYPE *CancelApplicationLaunch)(char * pchAppKey);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *IdentifyApplication)(uint32_t unProcessId, char * pchAppKey);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationProcessId)(char * pchAppKey);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetApplicationsErrorNameFromEnum)(EVRApplicationError error);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyString)(char * pchAppKey, EVRApplicationProperty eProperty, char * pchPropertyValueBuffer, uint32_t unPropertyValueBufferLen, EVRApplicationError * peError);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyBool)(char * pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError * peError);
+	uint64_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyUint64)(char * pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError * peError);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *SetApplicationAutoLaunch)(char * pchAppKey, bool bAutoLaunch);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationAutoLaunch)(char * pchAppKey);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *SetDefaultApplicationForMimeType)(char * pchAppKey, char * pchMimeType);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetDefaultApplicationForMimeType)(char * pchMimeType, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationSupportedMimeTypes)(char * pchAppKey, char * pchMimeTypesBuffer, uint32_t unMimeTypesBuffer);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationsThatSupportMimeType)(char * pchMimeType, char * pchAppKeysThatSupportBuffer, uint32_t unAppKeysThatSupportBuffer);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationLaunchArguments)(uint32_t unHandle, char * pchArgs, uint32_t unArgs);
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetStartingApplication)(char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen);
+	EVRApplicationTransitionState (OPENVR_FNTABLE_CALLTYPE *GetTransitionState)();
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *PerformApplicationPrelaunchCheck)(char * pchAppKey);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetApplicationsTransitionStateNameFromEnum)(EVRApplicationTransitionState state);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsQuitUserPromptRequested)();
+	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchInternalProcess)(char * pchBinaryPath, char * pchArguments, char * pchWorkingDirectory);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentSceneProcessId)();
+};
+
+struct VR_IVRChaperone_FnTable
+{
+	ChaperoneCalibrationState (OPENVR_FNTABLE_CALLTYPE *GetCalibrationState)();
+	bool (OPENVR_FNTABLE_CALLTYPE *GetPlayAreaSize)(float * pSizeX, float * pSizeZ);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetPlayAreaRect)(struct HmdQuad_t * rect);
+	void (OPENVR_FNTABLE_CALLTYPE *ReloadInfo)();
+	void (OPENVR_FNTABLE_CALLTYPE *SetSceneColor)(struct HmdColor_t color);
+	void (OPENVR_FNTABLE_CALLTYPE *GetBoundsColor)(struct HmdColor_t * pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, struct HmdColor_t * pOutputCameraColor);
+	bool (OPENVR_FNTABLE_CALLTYPE *AreBoundsVisible)();
+	void (OPENVR_FNTABLE_CALLTYPE *ForceBoundsVisible)(bool bForce);
+};
+
+struct VR_IVRChaperoneSetup_FnTable
+{
+	bool (OPENVR_FNTABLE_CALLTYPE *CommitWorkingCopy)(EChaperoneConfigFile configFile);
+	void (OPENVR_FNTABLE_CALLTYPE *RevertWorkingCopy)();
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingPlayAreaSize)(float * pSizeX, float * pSizeZ);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingPlayAreaRect)(struct HmdQuad_t * rect);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLiveCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatSeatedZeroPoseToRawTrackingPose);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingStandingZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatStandingZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingPlayAreaSize)(float sizeX, float sizeZ);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t unQuadsCount);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pMatSeatedZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingStandingZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pMatStandingZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *ReloadFromDisk)(EChaperoneConfigFile configFile);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLiveSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatSeatedZeroPoseToRawTrackingPose);
+	void (OPENVR_FNTABLE_CALLTYPE *SetWorkingCollisionBoundsTagsInfo)(uint8_t * pTagsBuffer, uint32_t unTagCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLiveCollisionBoundsTagsInfo)(uint8_t * pTagsBuffer, uint32_t * punTagCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *SetWorkingPhysicalBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t unQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetLivePhysicalBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount);
+	bool (OPENVR_FNTABLE_CALLTYPE *ExportLiveToBuffer)(char * pBuffer, uint32_t * pnBufferLength);
+	bool (OPENVR_FNTABLE_CALLTYPE *ImportFromBufferToWorking)(char * pBuffer, uint32_t nImportFlags);
+};
+
+struct VR_IVRCompositor_FnTable
+{
+	void (OPENVR_FNTABLE_CALLTYPE *SetTrackingSpace)(ETrackingUniverseOrigin eOrigin);
+	ETrackingUniverseOrigin (OPENVR_FNTABLE_CALLTYPE *GetTrackingSpace)();
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *WaitGetPoses)(struct TrackedDevicePose_t * pRenderPoseArray, uint32_t unRenderPoseArrayCount, struct TrackedDevicePose_t * pGamePoseArray, uint32_t unGamePoseArrayCount);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetLastPoses)(struct TrackedDevicePose_t * pRenderPoseArray, uint32_t unRenderPoseArrayCount, struct TrackedDevicePose_t * pGamePoseArray, uint32_t unGamePoseArrayCount);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetLastPoseForTrackedDeviceIndex)(TrackedDeviceIndex_t unDeviceIndex, struct TrackedDevicePose_t * pOutputPose, struct TrackedDevicePose_t * pOutputGamePose);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *Submit)(EVREye eEye, struct Texture_t * pTexture, struct VRTextureBounds_t * pBounds, EVRSubmitFlags nSubmitFlags);
+	void (OPENVR_FNTABLE_CALLTYPE *ClearLastSubmittedFrame)();
+	void (OPENVR_FNTABLE_CALLTYPE *PostPresentHandoff)();
+	bool (OPENVR_FNTABLE_CALLTYPE *GetFrameTiming)(struct Compositor_FrameTiming * pTiming, uint32_t unFramesAgo);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetFrameTimings)(struct Compositor_FrameTiming * pTiming, uint32_t nFrames);
+	float (OPENVR_FNTABLE_CALLTYPE *GetFrameTimeRemaining)();
+	void (OPENVR_FNTABLE_CALLTYPE *GetCumulativeStats)(struct Compositor_CumulativeStats * pStats, uint32_t nStatsSizeInBytes);
+	void (OPENVR_FNTABLE_CALLTYPE *FadeToColor)(float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground);
+	struct HmdColor_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentFadeColor)(bool bBackground);
+	void (OPENVR_FNTABLE_CALLTYPE *FadeGrid)(float fSeconds, bool bFadeIn);
+	float (OPENVR_FNTABLE_CALLTYPE *GetCurrentGridAlpha)();
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *SetSkyboxOverride)(struct Texture_t * pTextures, uint32_t unTextureCount);
+	void (OPENVR_FNTABLE_CALLTYPE *ClearSkyboxOverride)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorBringToFront)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorGoToBack)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorQuit)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsFullscreen)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentSceneFocusProcess)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetLastFrameRenderer)();
+	bool (OPENVR_FNTABLE_CALLTYPE *CanRenderScene)();
+	void (OPENVR_FNTABLE_CALLTYPE *ShowMirrorWindow)();
+	void (OPENVR_FNTABLE_CALLTYPE *HideMirrorWindow)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsMirrorWindowVisible)();
+	void (OPENVR_FNTABLE_CALLTYPE *CompositorDumpImages)();
+	bool (OPENVR_FNTABLE_CALLTYPE *ShouldAppRenderWithLowResources)();
+	void (OPENVR_FNTABLE_CALLTYPE *ForceInterleavedReprojectionOn)(bool bOverride);
+	void (OPENVR_FNTABLE_CALLTYPE *ForceReconnectProcess)();
+	void (OPENVR_FNTABLE_CALLTYPE *SuspendRendering)(bool bSuspend);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureD3D11)(EVREye eEye, void * pD3D11DeviceOrResource, void ** ppD3D11ShaderResourceView);
+	void (OPENVR_FNTABLE_CALLTYPE *ReleaseMirrorTextureD3D11)(void * pD3D11ShaderResourceView);
+	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureGL)(EVREye eEye, glUInt_t * pglTextureId, glSharedTextureHandle_t * pglSharedTextureHandle);
+	bool (OPENVR_FNTABLE_CALLTYPE *ReleaseSharedGLTexture)(glUInt_t glTextureId, glSharedTextureHandle_t glSharedTextureHandle);
+	void (OPENVR_FNTABLE_CALLTYPE *LockGLSharedTextureForAccess)(glSharedTextureHandle_t glSharedTextureHandle);
+	void (OPENVR_FNTABLE_CALLTYPE *UnlockGLSharedTextureForAccess)(glSharedTextureHandle_t glSharedTextureHandle);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetVulkanInstanceExtensionsRequired)(char * pchValue, uint32_t unBufferSize);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetVulkanDeviceExtensionsRequired)(struct VkPhysicalDevice_T * pPhysicalDevice, char * pchValue, uint32_t unBufferSize);
+};
+
+struct VR_IVROverlay_FnTable
+{
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *FindOverlay)(char * pchOverlayKey, VROverlayHandle_t * pOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateOverlay)(char * pchOverlayKey, char * pchOverlayName, VROverlayHandle_t * pOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *DestroyOverlay)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetHighQualityOverlay)(VROverlayHandle_t ulOverlayHandle);
+	VROverlayHandle_t (OPENVR_FNTABLE_CALLTYPE *GetHighQualityOverlay)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayKey)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayName)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayName)(VROverlayHandle_t ulOverlayHandle, char * pchName);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayImageData)(VROverlayHandle_t ulOverlayHandle, void * pvBuffer, uint32_t unBufferSize, uint32_t * punWidth, uint32_t * punHeight);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetOverlayErrorNameFromEnum)(EVROverlayError error);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRenderingPid)(VROverlayHandle_t ulOverlayHandle, uint32_t unPID);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayRenderingPid)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayFlag)(VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayFlag)(VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool * pbEnabled);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayColor)(VROverlayHandle_t ulOverlayHandle, float fRed, float fGreen, float fBlue);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayColor)(VROverlayHandle_t ulOverlayHandle, float * pfRed, float * pfGreen, float * pfBlue);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayAlpha)(VROverlayHandle_t ulOverlayHandle, float fAlpha);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayAlpha)(VROverlayHandle_t ulOverlayHandle, float * pfAlpha);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTexelAspect)(VROverlayHandle_t ulOverlayHandle, float fTexelAspect);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTexelAspect)(VROverlayHandle_t ulOverlayHandle, float * pfTexelAspect);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlaySortOrder)(VROverlayHandle_t ulOverlayHandle, uint32_t unSortOrder);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlaySortOrder)(VROverlayHandle_t ulOverlayHandle, uint32_t * punSortOrder);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayWidthInMeters)(VROverlayHandle_t ulOverlayHandle, float fWidthInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayWidthInMeters)(VROverlayHandle_t ulOverlayHandle, float * pfWidthInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayAutoCurveDistanceRangeInMeters)(VROverlayHandle_t ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayAutoCurveDistanceRangeInMeters)(VROverlayHandle_t ulOverlayHandle, float * pfMinDistanceInMeters, float * pfMaxDistanceInMeters);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTextureColorSpace)(VROverlayHandle_t ulOverlayHandle, EColorSpace eTextureColorSpace);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureColorSpace)(VROverlayHandle_t ulOverlayHandle, EColorSpace * peTextureColorSpace);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayRenderModel)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, struct HmdColor_t * pColor, EVROverlayError * pError);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRenderModel)(VROverlayHandle_t ulOverlayHandle, char * pchRenderModel, struct HmdColor_t * pColor);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformType)(VROverlayHandle_t ulOverlayHandle, VROverlayTransformType * peTransformType);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin * peTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformTrackedDeviceRelative)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unTrackedDevice, struct HmdMatrix34_t * pmatTrackedDeviceToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceRelative)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punTrackedDevice, struct HmdMatrix34_t * pmatTrackedDeviceToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unDeviceIndex, char * pchComponentName);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punDeviceIndex, char * pchComponentName, uint32_t unComponentNameSize);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformOverlayRelative)(VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t * ulOverlayHandleParent, struct HmdMatrix34_t * pmatParentOverlayToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformOverlayRelative)(VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t ulOverlayHandleParent, struct HmdMatrix34_t * pmatParentOverlayToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowOverlay)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *HideOverlay)(VROverlayHandle_t ulOverlayHandle);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsOverlayVisible)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetTransformForOverlayCoordinates)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, struct HmdVector2_t coordinatesInOverlay, struct HmdMatrix34_t * pmatTransform);
+	bool (OPENVR_FNTABLE_CALLTYPE *PollNextOverlayEvent)(VROverlayHandle_t ulOverlayHandle, struct VREvent_t * pEvent, uint32_t uncbVREvent);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayInputMethod)(VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod * peInputMethod);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayInputMethod)(VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod eInputMethod);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayMouseScale)(VROverlayHandle_t ulOverlayHandle, struct HmdVector2_t * pvecMouseScale);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayMouseScale)(VROverlayHandle_t ulOverlayHandle, struct HmdVector2_t * pvecMouseScale);
+	bool (OPENVR_FNTABLE_CALLTYPE *ComputeOverlayIntersection)(VROverlayHandle_t ulOverlayHandle, struct VROverlayIntersectionParams_t * pParams, struct VROverlayIntersectionResults_t * pResults);
+	bool (OPENVR_FNTABLE_CALLTYPE *HandleControllerOverlayInteractionAsMouse)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unControllerDeviceIndex);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsHoverTargetOverlay)(VROverlayHandle_t ulOverlayHandle);
+	VROverlayHandle_t (OPENVR_FNTABLE_CALLTYPE *GetGamepadFocusOverlay)();
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetGamepadFocusOverlay)(VROverlayHandle_t ulNewFocusOverlay);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayNeighbor)(EOverlayDirection eDirection, VROverlayHandle_t ulFrom, VROverlayHandle_t ulTo);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *MoveGamepadFocusToNeighbor)(EOverlayDirection eDirection, VROverlayHandle_t ulFrom);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTexture)(VROverlayHandle_t ulOverlayHandle, struct Texture_t * pTexture);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ClearOverlayTexture)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRaw)(VROverlayHandle_t ulOverlayHandle, void * pvBuffer, uint32_t unWidth, uint32_t unHeight, uint32_t unDepth);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayFromFile)(VROverlayHandle_t ulOverlayHandle, char * pchFilePath);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTexture)(VROverlayHandle_t ulOverlayHandle, void ** pNativeTextureHandle, void * pNativeTextureRef, uint32_t * pWidth, uint32_t * pHeight, uint32_t * pNativeFormat, ETextureType * pAPIType, EColorSpace * pColorSpace, struct VRTextureBounds_t * pTextureBounds);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ReleaseNativeOverlayHandle)(VROverlayHandle_t ulOverlayHandle, void * pNativeTextureHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureSize)(VROverlayHandle_t ulOverlayHandle, uint32_t * pWidth, uint32_t * pHeight);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateDashboardOverlay)(char * pchOverlayKey, char * pchOverlayFriendlyName, VROverlayHandle_t * pMainHandle, VROverlayHandle_t * pThumbnailHandle);
+	bool (OPENVR_FNTABLE_CALLTYPE *IsDashboardVisible)();
+	bool (OPENVR_FNTABLE_CALLTYPE *IsActiveDashboardOverlay)(VROverlayHandle_t ulOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetDashboardOverlaySceneProcess)(VROverlayHandle_t ulOverlayHandle, uint32_t unProcessId);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetDashboardOverlaySceneProcess)(VROverlayHandle_t ulOverlayHandle, uint32_t * punProcessId);
+	void (OPENVR_FNTABLE_CALLTYPE *ShowDashboard)(char * pchOverlayToShow);
+	TrackedDeviceIndex_t (OPENVR_FNTABLE_CALLTYPE *GetPrimaryDashboardDevice)();
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowKeyboard)(EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, char * pchDescription, uint32_t unCharMax, char * pchExistingText, bool bUseMinimalMode, uint64_t uUserValue);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowKeyboardForOverlay)(VROverlayHandle_t ulOverlayHandle, EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, char * pchDescription, uint32_t unCharMax, char * pchExistingText, bool bUseMinimalMode, uint64_t uUserValue);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetKeyboardText)(char * pchText, uint32_t cchText);
+	void (OPENVR_FNTABLE_CALLTYPE *HideKeyboard)();
+	void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardTransformAbsolute)(ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToKeyboardTransform);
+	void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardPositionForOverlay)(VROverlayHandle_t ulOverlayHandle, struct HmdRect2_t avoidRect);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayIntersectionMask)(VROverlayHandle_t ulOverlayHandle, struct VROverlayIntersectionMaskPrimitive_t * pMaskPrimitives, uint32_t unNumMaskPrimitives, uint32_t unPrimitiveSize);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayFlags)(VROverlayHandle_t ulOverlayHandle, uint32_t * pFlags);
+	VRMessageOverlayResponse (OPENVR_FNTABLE_CALLTYPE *ShowMessageOverlay)(char * pchText, char * pchCaption, char * pchButton0Text, char * pchButton1Text, char * pchButton2Text, char * pchButton3Text);
+};
+
+struct VR_IVRRenderModels_FnTable
+{
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadRenderModel_Async)(char * pchRenderModelName, struct RenderModel_t ** ppRenderModel);
+	void (OPENVR_FNTABLE_CALLTYPE *FreeRenderModel)(struct RenderModel_t * pRenderModel);
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadTexture_Async)(TextureID_t textureId, struct RenderModel_TextureMap_t ** ppTexture);
+	void (OPENVR_FNTABLE_CALLTYPE *FreeTexture)(struct RenderModel_TextureMap_t * pTexture);
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadTextureD3D11_Async)(TextureID_t textureId, void * pD3D11Device, void ** ppD3D11Texture2D);
+	EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadIntoTextureD3D11_Async)(TextureID_t textureId, void * pDstTexture);
+	void (OPENVR_FNTABLE_CALLTYPE *FreeTextureD3D11)(void * pD3D11Texture2D);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelName)(uint32_t unRenderModelIndex, char * pchRenderModelName, uint32_t unRenderModelNameLen);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelCount)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentCount)(char * pchRenderModelName);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentName)(char * pchRenderModelName, uint32_t unComponentIndex, char * pchComponentName, uint32_t unComponentNameLen);
+	uint64_t (OPENVR_FNTABLE_CALLTYPE *GetComponentButtonMask)(char * pchRenderModelName, char * pchComponentName);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentRenderModelName)(char * pchRenderModelName, char * pchComponentName, char * pchComponentRenderModelName, uint32_t unComponentRenderModelNameLen);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetComponentState)(char * pchRenderModelName, char * pchComponentName, VRControllerState_t * pControllerState, struct RenderModel_ControllerMode_State_t * pState, struct RenderModel_ComponentState_t * pComponentState);
+	bool (OPENVR_FNTABLE_CALLTYPE *RenderModelHasComponent)(char * pchRenderModelName, char * pchComponentName);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelThumbnailURL)(char * pchRenderModelName, char * pchThumbnailURL, uint32_t unThumbnailURLLen, EVRRenderModelError * peError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelOriginalPath)(char * pchRenderModelName, char * pchOriginalPath, uint32_t unOriginalPathLen, EVRRenderModelError * peError);
+	char * (OPENVR_FNTABLE_CALLTYPE *GetRenderModelErrorNameFromEnum)(EVRRenderModelError error);
+};
+
+struct VR_IVRNotifications_FnTable
+{
+	EVRNotificationError (OPENVR_FNTABLE_CALLTYPE *CreateNotification)(VROverlayHandle_t ulOverlayHandle, uint64_t ulUserValue, EVRNotificationType type, char * pchText, EVRNotificationStyle style, struct NotificationBitmap_t * pImage, VRNotificationId * pNotificationId);
+	EVRNotificationError (OPENVR_FNTABLE_CALLTYPE *RemoveNotification)(VRNotificationId notificationId);
+};
+
+struct VR_IVRSettings_FnTable
+{
+	char * (OPENVR_FNTABLE_CALLTYPE *GetSettingsErrorNameFromEnum)(EVRSettingsError eError);
+	bool (OPENVR_FNTABLE_CALLTYPE *Sync)(bool bForce, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetBool)(char * pchSection, char * pchSettingsKey, bool bValue, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetInt32)(char * pchSection, char * pchSettingsKey, int32_t nValue, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetFloat)(char * pchSection, char * pchSettingsKey, float flValue, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *SetString)(char * pchSection, char * pchSettingsKey, char * pchValue, EVRSettingsError * peError);
+	bool (OPENVR_FNTABLE_CALLTYPE *GetBool)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+	int32_t (OPENVR_FNTABLE_CALLTYPE *GetInt32)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+	float (OPENVR_FNTABLE_CALLTYPE *GetFloat)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *GetString)(char * pchSection, char * pchSettingsKey, char * pchValue, uint32_t unValueLen, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *RemoveSection)(char * pchSection, EVRSettingsError * peError);
+	void (OPENVR_FNTABLE_CALLTYPE *RemoveKeyInSection)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError);
+};
+
+struct VR_IVRScreenshots_FnTable
+{
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *RequestScreenshot)(ScreenshotHandle_t * pOutScreenshotHandle, EVRScreenshotType type, char * pchPreviewFilename, char * pchVRFilename);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *HookScreenshot)(EVRScreenshotType * pSupportedTypes, int numTypes);
+	EVRScreenshotType (OPENVR_FNTABLE_CALLTYPE *GetScreenshotPropertyType)(ScreenshotHandle_t screenshotHandle, EVRScreenshotError * pError);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetScreenshotPropertyFilename)(ScreenshotHandle_t screenshotHandle, EVRScreenshotPropertyFilenames filenameType, char * pchFilename, uint32_t cchFilename, EVRScreenshotError * pError);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *UpdateScreenshotProgress)(ScreenshotHandle_t screenshotHandle, float flProgress);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *TakeStereoScreenshot)(ScreenshotHandle_t * pOutScreenshotHandle, char * pchPreviewFilename, char * pchVRFilename);
+	EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *SubmitScreenshot)(ScreenshotHandle_t screenshotHandle, EVRScreenshotType type, char * pchSourcePreviewFilename, char * pchSourceVRFilename);
+};
+
+struct VR_IVRResources_FnTable
+{
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *LoadSharedResource)(char * pchResourceName, char * pchBuffer, uint32_t unBufferLen);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetResourceFullPath)(char * pchResourceName, char * pchResourceTypeDirectory, char * pchPathBuffer, uint32_t unBufferLen);
+};
+
+struct VR_IVRDriverManager_FnTable
+{
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverCount)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverName)(DriverId_t nDriver, char * pchValue, uint32_t unBufferSize);
+};
+
+
+#if 0
+// Global entry points
+S_API intptr_t VR_InitInternal( EVRInitError *peError, EVRApplicationType eType );
+S_API void VR_ShutdownInternal();
+S_API bool VR_IsHmdPresent();
+S_API intptr_t VR_GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError );
+S_API bool VR_IsRuntimeInstalled();
+S_API const char * VR_GetVRInitErrorAsSymbol( EVRInitError error );
+S_API const char * VR_GetVRInitErrorAsEnglishDescription( EVRInitError error );
+#endif
+
+#endif // __OPENVR_API_FLAT_H__
+
+
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_driver.h b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_driver.h
new file mode 100644
index 000000000..bfe24c003
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Headers/openvr_driver.h
@@ -0,0 +1,2677 @@
+#pragma once
+
+// openvr_driver.h
+//========= Copyright Valve Corporation ============//
+// Dynamically generated file. Do not modify this file directly.
+
+#ifndef _OPENVR_DRIVER_API
+#define _OPENVR_DRIVER_API
+
+#include <stdint.h>
+
+
+
+// vrtypes.h
+#ifndef _INCLUDE_VRTYPES_H
+#define _INCLUDE_VRTYPES_H
+
+// Forward declarations to avoid requiring vulkan.h
+struct VkDevice_T;
+struct VkPhysicalDevice_T;
+struct VkInstance_T;
+struct VkQueue_T;
+
+// Forward declarations to avoid requiring d3d12.h
+struct ID3D12Resource;
+struct ID3D12CommandQueue;
+
+namespace vr
+{
+#pragma pack( push, 8 )
+
+typedef void* glSharedTextureHandle_t;
+typedef int32_t glInt_t;
+typedef uint32_t glUInt_t;
+
+// right-handed system
+// +y is up
+// +x is to the right
+// -z is going away from you
+// Distance unit is  meters
+struct HmdMatrix34_t
+{
+	float m[3][4];
+};
+
+struct HmdMatrix44_t
+{
+	float m[4][4];
+};
+
+struct HmdVector3_t
+{
+	float v[3];
+};
+
+struct HmdVector4_t
+{
+	float v[4];
+};
+
+struct HmdVector3d_t
+{
+	double v[3];
+};
+
+struct HmdVector2_t
+{
+	float v[2];
+};
+
+struct HmdQuaternion_t
+{
+	double w, x, y, z;
+};
+
+struct HmdColor_t
+{
+	float r, g, b, a;
+};
+
+struct HmdQuad_t
+{
+	HmdVector3_t vCorners[ 4 ];
+};
+
+struct HmdRect2_t
+{
+	HmdVector2_t vTopLeft;
+	HmdVector2_t vBottomRight;
+};
+
+/** Used to return the post-distortion UVs for each color channel. 
+* UVs range from 0 to 1 with 0,0 in the upper left corner of the 
+* source render target. The 0,0 to 1,1 range covers a single eye. */
+struct DistortionCoordinates_t
+{
+	float rfRed[2];
+	float rfGreen[2];
+	float rfBlue[2];
+};
+
+enum EVREye
+{
+	Eye_Left = 0,
+	Eye_Right = 1
+};
+
+enum ETextureType
+{
+	TextureType_DirectX = 0, // Handle is an ID3D11Texture
+	TextureType_OpenGL = 1,  // Handle is an OpenGL texture name or an OpenGL render buffer name, depending on submit flags
+	TextureType_Vulkan = 2, // Handle is a pointer to a VRVulkanTextureData_t structure
+	TextureType_IOSurface = 3, // Handle is a macOS cross-process-sharable IOSurfaceRef
+	TextureType_DirectX12 = 4, // Handle is a pointer to a D3D12TextureData_t structure
+};
+
+enum EColorSpace
+{
+	ColorSpace_Auto = 0,	// Assumes 'gamma' for 8-bit per component formats, otherwise 'linear'.  This mirrors the DXGI formats which have _SRGB variants.
+	ColorSpace_Gamma = 1,	// Texture data can be displayed directly on the display without any conversion (a.k.a. display native format).
+	ColorSpace_Linear = 2,	// Same as gamma but has been converted to a linear representation using DXGI's sRGB conversion algorithm.
+};
+
+struct Texture_t
+{
+	void* handle; // See ETextureType definition above
+	ETextureType eType;
+	EColorSpace eColorSpace;
+};
+
+// Handle to a shared texture (HANDLE on Windows obtained using OpenSharedResource).
+typedef uint64_t SharedTextureHandle_t;
+#define INVALID_SHARED_TEXTURE_HANDLE	((vr::SharedTextureHandle_t)0)
+
+enum ETrackingResult
+{
+	TrackingResult_Uninitialized			= 1,
+
+	TrackingResult_Calibrating_InProgress	= 100,
+	TrackingResult_Calibrating_OutOfRange	= 101,
+
+	TrackingResult_Running_OK				= 200,
+	TrackingResult_Running_OutOfRange		= 201,
+};
+
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
+static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
+
+/** Used to pass device IDs to API calls */
+typedef uint32_t TrackedDeviceIndex_t;
+static const uint32_t k_unTrackedDeviceIndex_Hmd = 0;
+static const uint32_t k_unMaxTrackedDeviceCount = 16;
+static const uint32_t k_unTrackedDeviceIndexOther = 0xFFFFFFFE;
+static const uint32_t k_unTrackedDeviceIndexInvalid = 0xFFFFFFFF;
+
+/** Describes what kind of object is being tracked at a given ID */
+enum ETrackedDeviceClass
+{
+	TrackedDeviceClass_Invalid = 0,				// the ID was not valid.
+	TrackedDeviceClass_HMD = 1,					// Head-Mounted Displays
+	TrackedDeviceClass_Controller = 2,			// Tracked controllers
+	TrackedDeviceClass_GenericTracker = 3,		// Generic trackers, similar to controllers
+	TrackedDeviceClass_TrackingReference = 4,	// Camera and base stations that serve as tracking reference points
+	TrackedDeviceClass_DisplayRedirect = 5,		// Accessories that aren't necessarily tracked themselves, but may redirect video output from other tracked devices
+};
+
+
+/** Describes what specific role associated with a tracked device */
+enum ETrackedControllerRole
+{
+	TrackedControllerRole_Invalid = 0,					// Invalid value for controller type
+	TrackedControllerRole_LeftHand = 1,					// Tracked device associated with the left hand
+	TrackedControllerRole_RightHand = 2,				// Tracked device associated with the right hand
+};
+
+
+/** describes a single pose for a tracked object */
+struct TrackedDevicePose_t
+{
+	HmdMatrix34_t mDeviceToAbsoluteTracking;
+	HmdVector3_t vVelocity;				// velocity in tracker space in m/s
+	HmdVector3_t vAngularVelocity;		// angular velocity in radians/s (?)
+	ETrackingResult eTrackingResult;
+	bool bPoseIsValid;
+
+	// This indicates that there is a device connected for this spot in the pose array.
+	// It could go from true to false if the user unplugs the device.
+	bool bDeviceIsConnected;
+};
+
+/** Identifies which style of tracking origin the application wants to use
+* for the poses it is requesting */
+enum ETrackingUniverseOrigin
+{
+	TrackingUniverseSeated = 0,		// Poses are provided relative to the seated zero pose
+	TrackingUniverseStanding = 1,	// Poses are provided relative to the safe bounds configured by the user
+	TrackingUniverseRawAndUncalibrated = 2,	// Poses are provided in the coordinate system defined by the driver.  It has Y up and is unified for devices of the same driver. You usually don't want this one.
+};
+
+// Refers to a single container of properties
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+static const PropertyContainerHandle_t k_ulInvalidPropertyContainer = 0;
+static const PropertyTypeTag_t k_unInvalidPropertyTag = 0;
+
+// Use these tags to set/get common types as struct properties
+static const PropertyTypeTag_t k_unFloatPropertyTag = 1;
+static const PropertyTypeTag_t k_unInt32PropertyTag = 2;
+static const PropertyTypeTag_t k_unUint64PropertyTag = 3;
+static const PropertyTypeTag_t k_unBoolPropertyTag = 4;
+static const PropertyTypeTag_t k_unStringPropertyTag = 5;
+
+static const PropertyTypeTag_t k_unHmdMatrix34PropertyTag = 20;
+static const PropertyTypeTag_t k_unHmdMatrix44PropertyTag = 21;
+static const PropertyTypeTag_t k_unHmdVector3PropertyTag = 22;
+static const PropertyTypeTag_t k_unHmdVector4PropertyTag = 23;
+
+static const PropertyTypeTag_t k_unHiddenAreaPropertyTag = 30;
+
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_Start = 1000;
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_End = 10000;
+
+
+/** Each entry in this enum represents a property that can be retrieved about a
+* tracked device. Many fields are only valid for one ETrackedDeviceClass. */
+enum ETrackedDeviceProperty
+{
+	Prop_Invalid								= 0,
+
+	// general properties that apply to all device classes
+	Prop_TrackingSystemName_String				= 1000,
+	Prop_ModelNumber_String						= 1001,
+	Prop_SerialNumber_String					= 1002,
+	Prop_RenderModelName_String					= 1003,
+	Prop_WillDriftInYaw_Bool					= 1004,
+	Prop_ManufacturerName_String				= 1005,
+	Prop_TrackingFirmwareVersion_String			= 1006,
+	Prop_HardwareRevision_String				= 1007,
+	Prop_AllWirelessDongleDescriptions_String	= 1008,
+	Prop_ConnectedWirelessDongle_String			= 1009,
+	Prop_DeviceIsWireless_Bool					= 1010,
+	Prop_DeviceIsCharging_Bool					= 1011,
+	Prop_DeviceBatteryPercentage_Float			= 1012, // 0 is empty, 1 is full
+	Prop_StatusDisplayTransform_Matrix34		= 1013,
+	Prop_Firmware_UpdateAvailable_Bool			= 1014,
+	Prop_Firmware_ManualUpdate_Bool				= 1015,
+	Prop_Firmware_ManualUpdateURL_String		= 1016,
+	Prop_HardwareRevision_Uint64				= 1017,
+	Prop_FirmwareVersion_Uint64					= 1018,
+	Prop_FPGAVersion_Uint64						= 1019,
+	Prop_VRCVersion_Uint64						= 1020,
+	Prop_RadioVersion_Uint64					= 1021,
+	Prop_DongleVersion_Uint64					= 1022,
+	Prop_BlockServerShutdown_Bool				= 1023,
+	Prop_CanUnifyCoordinateSystemWithHmd_Bool	= 1024,
+	Prop_ContainsProximitySensor_Bool			= 1025,
+	Prop_DeviceProvidesBatteryStatus_Bool		= 1026,
+	Prop_DeviceCanPowerOff_Bool					= 1027,
+	Prop_Firmware_ProgrammingTarget_String		= 1028,
+	Prop_DeviceClass_Int32						= 1029,
+	Prop_HasCamera_Bool							= 1030,
+	Prop_DriverVersion_String                   = 1031,
+	Prop_Firmware_ForceUpdateRequired_Bool      = 1032,
+	Prop_ViveSystemButtonFixRequired_Bool		= 1033,
+	Prop_ParentDriver_Uint64					= 1034,
+	Prop_ResourceRoot_String					= 1035,
+
+	// Properties that are unique to TrackedDeviceClass_HMD
+	Prop_ReportsTimeSinceVSync_Bool				= 2000,
+	Prop_SecondsFromVsyncToPhotons_Float		= 2001,
+	Prop_DisplayFrequency_Float					= 2002,
+	Prop_UserIpdMeters_Float					= 2003,
+	Prop_CurrentUniverseId_Uint64				= 2004, 
+	Prop_PreviousUniverseId_Uint64				= 2005, 
+	Prop_DisplayFirmwareVersion_Uint64			= 2006,
+	Prop_IsOnDesktop_Bool						= 2007,
+	Prop_DisplayMCType_Int32					= 2008,
+	Prop_DisplayMCOffset_Float					= 2009,
+	Prop_DisplayMCScale_Float					= 2010,
+	Prop_EdidVendorID_Int32						= 2011,
+	Prop_DisplayMCImageLeft_String              = 2012,
+	Prop_DisplayMCImageRight_String             = 2013,
+	Prop_DisplayGCBlackClamp_Float				= 2014,
+	Prop_EdidProductID_Int32					= 2015,
+	Prop_CameraToHeadTransform_Matrix34			= 2016,
+	Prop_DisplayGCType_Int32					= 2017,
+	Prop_DisplayGCOffset_Float					= 2018,
+	Prop_DisplayGCScale_Float					= 2019,
+	Prop_DisplayGCPrescale_Float				= 2020,
+	Prop_DisplayGCImage_String					= 2021,
+	Prop_LensCenterLeftU_Float					= 2022,
+	Prop_LensCenterLeftV_Float					= 2023,
+	Prop_LensCenterRightU_Float					= 2024,
+	Prop_LensCenterRightV_Float					= 2025,
+	Prop_UserHeadToEyeDepthMeters_Float			= 2026,
+	Prop_CameraFirmwareVersion_Uint64			= 2027,
+	Prop_CameraFirmwareDescription_String		= 2028,
+	Prop_DisplayFPGAVersion_Uint64				= 2029,
+	Prop_DisplayBootloaderVersion_Uint64		= 2030,
+	Prop_DisplayHardwareVersion_Uint64			= 2031,
+	Prop_AudioFirmwareVersion_Uint64			= 2032,
+	Prop_CameraCompatibilityMode_Int32			= 2033,
+	Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034,
+	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
+	Prop_DisplaySuppressed_Bool					= 2036,
+	Prop_DisplayAllowNightMode_Bool				= 2037,
+	Prop_DisplayMCImageWidth_Int32				= 2038,
+	Prop_DisplayMCImageHeight_Int32				= 2039,
+	Prop_DisplayMCImageNumChannels_Int32		= 2040,
+	Prop_DisplayMCImageData_Binary				= 2041,
+	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+
+	// Properties that are unique to TrackedDeviceClass_Controller
+	Prop_AttachedDeviceId_String				= 3000,
+	Prop_SupportedButtons_Uint64				= 3001,
+	Prop_Axis0Type_Int32						= 3002, // Return value is of type EVRControllerAxisType
+	Prop_Axis1Type_Int32						= 3003, // Return value is of type EVRControllerAxisType
+	Prop_Axis2Type_Int32						= 3004, // Return value is of type EVRControllerAxisType
+	Prop_Axis3Type_Int32						= 3005, // Return value is of type EVRControllerAxisType
+	Prop_Axis4Type_Int32						= 3006, // Return value is of type EVRControllerAxisType
+	Prop_ControllerRoleHint_Int32				= 3007, // Return value is of type ETrackedControllerRole
+
+	// Properties that are unique to TrackedDeviceClass_TrackingReference
+	Prop_FieldOfViewLeftDegrees_Float			= 4000,
+	Prop_FieldOfViewRightDegrees_Float			= 4001,
+	Prop_FieldOfViewTopDegrees_Float			= 4002,
+	Prop_FieldOfViewBottomDegrees_Float			= 4003,
+	Prop_TrackingRangeMinimumMeters_Float		= 4004,
+	Prop_TrackingRangeMaximumMeters_Float		= 4005,
+	Prop_ModeLabel_String						= 4006,
+
+	// Properties that are used for user interface like icons names
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+
+	// Properties that are used by helpers, but are opaque to applications
+	Prop_DisplayHiddenArea_Binary_Start				= 5100,
+	Prop_DisplayHiddenArea_Binary_End				= 5150,
+
+	// Properties that are unique to drivers
+	Prop_UserConfigPath_String					= 6000,
+	Prop_InstallPath_String						= 6001,
+	Prop_HasDisplayComponent_Bool				= 6002,
+	Prop_HasControllerComponent_Bool			= 6003,
+	Prop_HasCameraComponent_Bool				= 6004,
+	Prop_HasDriverDirectModeComponent_Bool		= 6005,
+	Prop_HasVirtualDisplayComponent_Bool		= 6006,
+
+	// Vendors are free to expose private debug data in this reserved region
+	Prop_VendorSpecific_Reserved_Start			= 10000,
+	Prop_VendorSpecific_Reserved_End			= 10999,
+};
+
+/** No string property will ever be longer than this length */
+static const uint32_t k_unMaxPropertyStringSize = 32 * 1024;
+
+/** Used to return errors that occur when reading properties. */
+enum ETrackedPropertyError
+{
+	TrackedProp_Success						= 0,
+	TrackedProp_WrongDataType				= 1,
+	TrackedProp_WrongDeviceClass			= 2,
+	TrackedProp_BufferTooSmall				= 3,
+	TrackedProp_UnknownProperty				= 4, // Driver has not set the property (and may not ever).
+	TrackedProp_InvalidDevice				= 5,
+	TrackedProp_CouldNotContactServer		= 6,
+	TrackedProp_ValueNotProvidedByDevice	= 7,
+	TrackedProp_StringExceedsMaximumLength	= 8,
+	TrackedProp_NotYetAvailable				= 9, // The property value isn't known yet, but is expected soon. Call again later.
+	TrackedProp_PermissionDenied			= 10,
+	TrackedProp_InvalidOperation			= 11,
+};
+
+/** Allows the application to control what part of the provided texture will be used in the
+* frame buffer. */
+struct VRTextureBounds_t
+{
+	float uMin, vMin;
+	float uMax, vMax;
+};
+
+
+/** Allows the application to control how scene textures are used by the compositor when calling Submit. */
+enum EVRSubmitFlags
+{
+	// Simple render path. App submits rendered left and right eye images with no lens distortion correction applied.
+	Submit_Default = 0x00,
+
+	// App submits final left and right eye images with lens distortion already applied (lens distortion makes the images appear
+	// barrel distorted with chromatic aberration correction applied). The app would have used the data returned by
+	// vr::IVRSystem::ComputeDistortion() to apply the correct distortion to the rendered images before calling Submit().
+	Submit_LensDistortionAlreadyApplied = 0x01,
+
+	// If the texture pointer passed in is actually a renderbuffer (e.g. for MSAA in OpenGL) then set this flag.
+	Submit_GlRenderBuffer = 0x02,
+
+	// Do not use
+	Submit_Reserved = 0x04,
+};
+
+/** Data required for passing Vulkan textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct VRVulkanTextureData_t
+{
+	uint64_t m_nImage; // VkImage
+	VkDevice_T *m_pDevice;
+	VkPhysicalDevice_T *m_pPhysicalDevice;
+	VkInstance_T *m_pInstance;
+	VkQueue_T *m_pQueue;
+	uint32_t m_nQueueFamilyIndex;
+	uint32_t m_nWidth, m_nHeight, m_nFormat, m_nSampleCount;
+};
+
+/** Data required for passing D3D12 textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct D3D12TextureData_t
+{
+	ID3D12Resource *m_pResource;
+	ID3D12CommandQueue *m_pCommandQueue;
+	uint32_t m_nNodeMask;
+};
+
+/** Status of the overall system or tracked objects */
+enum EVRState
+{
+	VRState_Undefined = -1,
+	VRState_Off = 0,
+	VRState_Searching = 1,
+	VRState_Searching_Alert = 2,
+	VRState_Ready = 3,
+	VRState_Ready_Alert = 4,
+	VRState_NotReady = 5,
+	VRState_Standby = 6,
+	VRState_Ready_Alert_Low = 7,
+};
+
+/** The types of events that could be posted (and what the parameters mean for each event type) */
+enum EVREventType
+{
+	VREvent_None = 0,
+
+	VREvent_TrackedDeviceActivated		= 100,
+	VREvent_TrackedDeviceDeactivated	= 101,
+	VREvent_TrackedDeviceUpdated		= 102,
+	VREvent_TrackedDeviceUserInteractionStarted	= 103,
+	VREvent_TrackedDeviceUserInteractionEnded	= 104,
+	VREvent_IpdChanged					= 105,
+	VREvent_EnterStandbyMode			= 106,
+	VREvent_LeaveStandbyMode			= 107,
+	VREvent_TrackedDeviceRoleChanged	= 108,
+	VREvent_WatchdogWakeUpRequested		= 109,
+	VREvent_LensDistortionChanged		= 110,
+	VREvent_PropertyChanged				= 111,
+
+	VREvent_ButtonPress					= 200, // data is controller
+	VREvent_ButtonUnpress				= 201, // data is controller
+	VREvent_ButtonTouch					= 202, // data is controller
+	VREvent_ButtonUntouch				= 203, // data is controller
+
+	VREvent_MouseMove					= 300, // data is mouse
+	VREvent_MouseButtonDown				= 301, // data is mouse
+	VREvent_MouseButtonUp				= 302, // data is mouse
+	VREvent_FocusEnter					= 303, // data is overlay
+	VREvent_FocusLeave					= 304, // data is overlay
+	VREvent_Scroll						= 305, // data is mouse
+	VREvent_TouchPadMove				= 306, // data is mouse
+	VREvent_OverlayFocusChanged			= 307, // data is overlay, global event
+
+	VREvent_InputFocusCaptured			= 400, // data is process DEPRECATED
+	VREvent_InputFocusReleased			= 401, // data is process DEPRECATED
+	VREvent_SceneFocusLost				= 402, // data is process
+	VREvent_SceneFocusGained			= 403, // data is process
+	VREvent_SceneApplicationChanged		= 404, // data is process - The App actually drawing the scene changed (usually to or from the compositor)
+	VREvent_SceneFocusChanged			= 405, // data is process - New app got access to draw the scene
+	VREvent_InputFocusChanged			= 406, // data is process
+	VREvent_SceneApplicationSecondaryRenderingStarted = 407, // data is process
+
+	VREvent_HideRenderModels			= 410, // Sent to the scene application to request hiding render models temporarily
+	VREvent_ShowRenderModels			= 411, // Sent to the scene application to request restoring render model visibility
+
+	VREvent_OverlayShown				= 500,
+	VREvent_OverlayHidden				= 501,
+	VREvent_DashboardActivated			= 502,
+	VREvent_DashboardDeactivated		= 503,
+	VREvent_DashboardThumbSelected		= 504, // Sent to the overlay manager - data is overlay
+	VREvent_DashboardRequested			= 505, // Sent to the overlay manager - data is overlay
+	VREvent_ResetDashboard				= 506, // Send to the overlay manager
+	VREvent_RenderToast					= 507, // Send to the dashboard to render a toast - data is the notification ID
+	VREvent_ImageLoaded					= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
+	VREvent_ShowKeyboard				= 509, // Sent to keyboard renderer in the dashboard to invoke it
+	VREvent_HideKeyboard				= 510, // Sent to keyboard renderer in the dashboard to hide it
+	VREvent_OverlayGamepadFocusGained	= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
+	VREvent_OverlayGamepadFocusLost		= 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
+	VREvent_OverlaySharedTextureChanged = 513,
+	VREvent_DashboardGuideButtonDown	= 514,
+	VREvent_DashboardGuideButtonUp		= 515,
+	VREvent_ScreenshotTriggered			= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
+	VREvent_ImageFailed					= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
+	VREvent_DashboardOverlayCreated		= 518,
+
+	// Screenshot API
+	VREvent_RequestScreenshot				= 520, // Sent by vrclient application to compositor to take a screenshot
+	VREvent_ScreenshotTaken					= 521, // Sent by compositor to the application that the screenshot has been taken
+	VREvent_ScreenshotFailed				= 522, // Sent by compositor to the application that the screenshot failed to be taken
+	VREvent_SubmitScreenshotToDashboard		= 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_ScreenshotProgressToDashboard	= 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+
+	VREvent_PrimaryDashboardDeviceChanged	= 525,
+
+	VREvent_Notification_Shown				= 600,
+	VREvent_Notification_Hidden				= 601,
+	VREvent_Notification_BeginInteraction	= 602,
+	VREvent_Notification_Destroyed			= 603,
+
+	VREvent_Quit							= 700, // data is process
+	VREvent_ProcessQuit						= 701, // data is process
+	VREvent_QuitAborted_UserPrompt			= 702, // data is process
+	VREvent_QuitAcknowledged				= 703, // data is process
+	VREvent_DriverRequestedQuit				= 704, // The driver has requested that SteamVR shut down
+
+	VREvent_ChaperoneDataHasChanged			= 800,
+	VREvent_ChaperoneUniverseHasChanged		= 801,
+	VREvent_ChaperoneTempDataHasChanged		= 802,
+	VREvent_ChaperoneSettingsHaveChanged	= 803,
+	VREvent_SeatedZeroPoseReset				= 804,
+
+	VREvent_AudioSettingsHaveChanged		= 820,
+
+	VREvent_BackgroundSettingHasChanged		= 850,
+	VREvent_CameraSettingsHaveChanged		= 851,
+	VREvent_ReprojectionSettingHasChanged	= 852,
+	VREvent_ModelSkinSettingsHaveChanged	= 853,
+	VREvent_EnvironmentSettingsHaveChanged	= 854,
+	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
+
+	VREvent_StatusUpdate					= 900,
+
+	VREvent_MCImageUpdated					= 1000,
+
+	VREvent_FirmwareUpdateStarted			= 1100,
+	VREvent_FirmwareUpdateFinished			= 1101,
+
+	VREvent_KeyboardClosed					= 1200,
+	VREvent_KeyboardCharInput				= 1201,
+	VREvent_KeyboardDone					= 1202, // Sent when DONE button clicked on keyboard
+
+	VREvent_ApplicationTransitionStarted		= 1300,
+	VREvent_ApplicationTransitionAborted		= 1301,
+	VREvent_ApplicationTransitionNewAppStarted	= 1302,
+	VREvent_ApplicationListUpdated				= 1303,
+	VREvent_ApplicationMimeTypeLoad				= 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected					= 1306,
+	VREvent_ProcessDisconnected					= 1307,
+
+	VREvent_Compositor_MirrorWindowShown		= 1400,
+	VREvent_Compositor_MirrorWindowHidden		= 1401,
+	VREvent_Compositor_ChaperoneBoundsShown		= 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden	= 1411,
+
+	VREvent_TrackedCamera_StartVideoStream  = 1500,
+	VREvent_TrackedCamera_StopVideoStream   = 1501,
+	VREvent_TrackedCamera_PauseVideoStream  = 1502,
+	VREvent_TrackedCamera_ResumeVideoStream = 1503,
+	VREvent_TrackedCamera_EditingSurface    = 1550,
+
+	VREvent_PerformanceTest_EnableCapture	= 1600,
+	VREvent_PerformanceTest_DisableCapture	= 1601,
+	VREvent_PerformanceTest_FidelityLevel	= 1602,
+
+	VREvent_MessageOverlay_Closed			= 1650,
+	
+	// Vendors are free to expose private events in this reserved region
+	VREvent_VendorSpecific_Reserved_Start	= 10000,
+	VREvent_VendorSpecific_Reserved_End		= 19999,
+};
+
+
+/** Level of Hmd activity */
+// UserInteraction_Timeout means the device is in the process of timing out.
+// InUse = ( k_EDeviceActivityLevel_UserInteraction || k_EDeviceActivityLevel_UserInteraction_Timeout )
+// VREvent_TrackedDeviceUserInteractionStarted fires when the devices transitions from Standby -> UserInteraction or Idle -> UserInteraction.
+// VREvent_TrackedDeviceUserInteractionEnded fires when the devices transitions from UserInteraction_Timeout -> Idle
+enum EDeviceActivityLevel
+{	
+	k_EDeviceActivityLevel_Unknown = -1,									
+	k_EDeviceActivityLevel_Idle = 0,						// No activity for the last 10 seconds
+	k_EDeviceActivityLevel_UserInteraction = 1,				// Activity (movement or prox sensor) is happening now	
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,		// No activity for the last 0.5 seconds
+	k_EDeviceActivityLevel_Standby = 3,						// Idle for at least 5 seconds (configurable in Settings -> Power Management)
+};
+
+
+/** VR controller button and axis IDs */
+enum EVRButtonId
+{
+	k_EButton_System			= 0,
+	k_EButton_ApplicationMenu	= 1,
+	k_EButton_Grip				= 2,
+	k_EButton_DPad_Left			= 3,
+	k_EButton_DPad_Up			= 4,
+	k_EButton_DPad_Right		= 5,
+	k_EButton_DPad_Down			= 6,
+	k_EButton_A					= 7,
+	
+	k_EButton_ProximitySensor   = 31,
+
+	k_EButton_Axis0				= 32,
+	k_EButton_Axis1				= 33,
+	k_EButton_Axis2				= 34,
+	k_EButton_Axis3				= 35,
+	k_EButton_Axis4				= 36,
+
+	// aliases for well known controllers
+	k_EButton_SteamVR_Touchpad	= k_EButton_Axis0,
+	k_EButton_SteamVR_Trigger	= k_EButton_Axis1,
+
+	k_EButton_Dashboard_Back	= k_EButton_Grip,
+
+	k_EButton_Max				= 64
+};
+
+inline uint64_t ButtonMaskFromId( EVRButtonId id ) { return 1ull << id; }
+
+/** used for controller button events */
+struct VREvent_Controller_t
+{
+	uint32_t button; // EVRButtonId enum
+};
+
+
+/** used for simulated mouse events in overlay space */
+enum EVRMouseButton
+{
+	VRMouseButton_Left					= 0x0001,
+	VRMouseButton_Right					= 0x0002,
+	VRMouseButton_Middle				= 0x0004,
+};
+
+
+/** used for simulated mouse events in overlay space */
+struct VREvent_Mouse_t
+{
+	float x, y; // co-ords are in GL space, bottom left of the texture is 0,0
+	uint32_t button; // EVRMouseButton enum
+};
+
+/** used for simulated mouse wheel scroll in overlay space */
+struct VREvent_Scroll_t
+{
+	float xdelta, ydelta; // movement in fraction of the pad traversed since last delta, 1.0 for a full swipe
+	uint32_t repeatCount;
+};
+
+/** when in mouse input mode you can receive data from the touchpad, these events are only sent if the users finger
+   is on the touchpad (or just released from it) 
+**/
+struct VREvent_TouchPadMove_t
+{
+	// true if the users finger is detected on the touch pad
+	bool bFingerDown;
+
+	// How long the finger has been down in seconds
+	float flSecondsFingerDown;
+
+	// These values indicate the starting finger position (so you can do some basic swipe stuff)
+	float fValueXFirst;
+	float fValueYFirst;
+
+	// This is the raw sampled coordinate without deadzoning
+	float fValueXRaw;
+	float fValueYRaw;
+};
+
+/** notification related events. Details will still change at this point */
+struct VREvent_Notification_t
+{
+	uint64_t ulUserValue;
+	uint32_t notificationId;
+};
+
+/** Used for events about processes */
+struct VREvent_Process_t
+{
+	uint32_t pid;
+	uint32_t oldPid;
+	bool bForced;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Overlay_t
+{
+	uint64_t overlayHandle;
+};
+
+
+/** Used for a few events about overlays */
+struct VREvent_Status_t
+{
+	uint32_t statusState; // EVRState enum
+};
+
+/** Used for keyboard events **/
+struct VREvent_Keyboard_t
+{
+	char cNewInput[8];	// Up to 11 bytes of new input
+	uint64_t uUserValue;	// Possible flags about the new input
+};
+
+struct VREvent_Ipd_t
+{
+	float ipdMeters;
+};
+
+struct VREvent_Chaperone_t
+{
+	uint64_t m_nPreviousUniverse;
+	uint64_t m_nCurrentUniverse;
+};
+
+/** Not actually used for any events */
+struct VREvent_Reserved_t
+{
+	uint64_t reserved0;
+	uint64_t reserved1;
+};
+
+struct VREvent_PerformanceTest_t
+{
+	uint32_t m_nFidelityLevel;
+};
+
+struct VREvent_SeatedZeroPoseReset_t
+{
+	bool bResetBySystemMenu;
+};
+
+struct VREvent_Screenshot_t
+{
+	uint32_t handle;
+	uint32_t type;
+};
+
+struct VREvent_ScreenshotProgress_t
+{
+	float progress;
+};
+
+struct VREvent_ApplicationLaunch_t
+{
+	uint32_t pid;
+	uint32_t unArgsHandle;
+};
+
+struct VREvent_EditingCameraSurface_t
+{
+	uint64_t overlayHandle;
+	uint32_t nVisualMode;
+};
+
+struct VREvent_MessageOverlay_t
+{
+	uint32_t unVRMessageOverlayResponse; // vr::VRMessageOverlayResponse enum
+};
+
+struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	ETrackedDeviceProperty prop;
+};
+
+/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py */
+typedef union
+{
+	VREvent_Reserved_t reserved;
+	VREvent_Controller_t controller;
+	VREvent_Mouse_t mouse;
+	VREvent_Scroll_t scroll;
+	VREvent_Process_t process;
+	VREvent_Notification_t notification;
+	VREvent_Overlay_t overlay;
+	VREvent_Status_t status;
+	VREvent_Keyboard_t keyboard;
+	VREvent_Ipd_t ipd;
+	VREvent_Chaperone_t chaperone;
+	VREvent_PerformanceTest_t performanceTest;
+	VREvent_TouchPadMove_t touchPadMove;
+	VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset;
+	VREvent_Screenshot_t screenshot;
+	VREvent_ScreenshotProgress_t screenshotProgress;
+	VREvent_ApplicationLaunch_t applicationLaunch;
+	VREvent_EditingCameraSurface_t cameraSurface;
+	VREvent_MessageOverlay_t messageOverlay;
+	VREvent_Property_t property;
+} VREvent_Data_t;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** An event posted by the server to all running applications */
+struct VREvent_t
+{
+	uint32_t eventType; // EVREventType enum
+	TrackedDeviceIndex_t trackedDeviceIndex;
+	float eventAgeSeconds;
+	// event data must be the end of the struct as its size is variable
+	VREvent_Data_t data;
+};
+
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+/** The mesh to draw into the stencil (or depth) buffer to perform 
+* early stencil (or depth) kills of pixels that will never appear on the HMD.
+* This mesh draws on all the pixels that will be hidden after distortion. 
+*
+* If the HMD does not provide a visible area mesh pVertexData will be
+* NULL and unTriangleCount will be 0. */
+struct HiddenAreaMesh_t
+{
+	const HmdVector2_t *pVertexData;
+	uint32_t unTriangleCount;
+};
+
+
+enum EHiddenAreaMeshType
+{
+	k_eHiddenAreaMesh_Standard = 0,
+	k_eHiddenAreaMesh_Inverse = 1,
+	k_eHiddenAreaMesh_LineLoop = 2,
+
+	k_eHiddenAreaMesh_Max = 3,
+};
+
+
+/** Identifies what kind of axis is on the controller at index n. Read this type 
+* with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n );
+*/
+enum EVRControllerAxisType
+{
+	k_eControllerAxis_None = 0,
+	k_eControllerAxis_TrackPad = 1,
+	k_eControllerAxis_Joystick = 2,
+	k_eControllerAxis_Trigger = 3, // Analog trigger data is in the X axis
+};
+
+
+/** contains information about one axis on the controller */
+struct VRControllerAxis_t
+{
+	float x; // Ranges from -1.0 to 1.0 for joysticks and track pads. Ranges from 0.0 to 1.0 for triggers were 0 is fully released.
+	float y; // Ranges from -1.0 to 1.0 for joysticks and track pads. Is always 0.0 for triggers.
+};
+
+
+/** the number of axes in the controller state */
+static const uint32_t k_unControllerStateAxisCount = 5;
+
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
+/** Holds all the state of a controller at one moment in time. */
+struct VRControllerState001_t
+{
+	// If packet num matches that on your prior call, then the controller state hasn't been changed since 
+	// your last call and there is no need to process it
+	uint32_t unPacketNum;
+
+	// bit flags for each of the buttons. Use ButtonMaskFromId to turn an ID into a mask
+	uint64_t ulButtonPressed;
+	uint64_t ulButtonTouched;
+
+	// Axis data for the controller's analog inputs
+	VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ];
+};
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
+
+typedef VRControllerState001_t VRControllerState_t;
+
+
+/** determines how to provide output to the application of various event processing functions. */
+enum EVRControllerEventOutputType
+{
+	ControllerEventOutput_OSEvents = 0,
+	ControllerEventOutput_VREvents = 1,
+};
+
+
+
+/** Collision Bounds Style */
+enum ECollisionBoundsStyle
+{
+	COLLISION_BOUNDS_STYLE_BEGINNER = 0,
+	COLLISION_BOUNDS_STYLE_INTERMEDIATE,
+	COLLISION_BOUNDS_STYLE_SQUARES,
+	COLLISION_BOUNDS_STYLE_ADVANCED,
+	COLLISION_BOUNDS_STYLE_NONE,
+
+	COLLISION_BOUNDS_STYLE_COUNT
+};
+
+/** Allows the application to customize how the overlay appears in the compositor */
+struct Compositor_OverlaySettings
+{
+	uint32_t size; // sizeof(Compositor_OverlaySettings)
+	bool curved, antialias;
+	float scale, distance, alpha;
+	float uOffset, vOffset, uScale, vScale;
+	float gridDivs, gridWidth, gridScale;
+	HmdMatrix44_t transform;
+};
+
+/** used to refer to a single VR overlay */
+typedef uint64_t VROverlayHandle_t;
+
+static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0;
+
+/** Errors that can occur around VR overlays */
+enum EVROverlayError
+{
+	VROverlayError_None						= 0,
+
+	VROverlayError_UnknownOverlay			= 10,
+	VROverlayError_InvalidHandle			= 11,
+	VROverlayError_PermissionDenied			= 12,
+	VROverlayError_OverlayLimitExceeded		= 13, // No more overlays could be created because the maximum number already exist
+	VROverlayError_WrongVisibilityType		= 14,
+	VROverlayError_KeyTooLong				= 15,
+	VROverlayError_NameTooLong				= 16,
+	VROverlayError_KeyInUse					= 17,
+	VROverlayError_WrongTransformType		= 18,
+	VROverlayError_InvalidTrackedDevice		= 19,
+	VROverlayError_InvalidParameter			= 20,
+	VROverlayError_ThumbnailCantBeDestroyed	= 21,
+	VROverlayError_ArrayTooSmall			= 22,
+	VROverlayError_RequestFailed			= 23,
+	VROverlayError_InvalidTexture			= 24,
+	VROverlayError_UnableToLoadFile			= 25,
+	VROverlayError_KeyboardAlreadyInUse		= 26,
+	VROverlayError_NoNeighbor				= 27,
+	VROverlayError_TooManyMaskPrimitives	= 29,
+	VROverlayError_BadMaskPrimitive			= 30,
+};
+
+/** enum values to pass in to VR_Init to identify whether the application will 
+* draw a 3D scene. */
+enum EVRApplicationType
+{
+	VRApplication_Other = 0,		// Some other kind of application that isn't covered by the other entries 
+	VRApplication_Scene	= 1,		// Application will submit 3D frames 
+	VRApplication_Overlay = 2,		// Application only interacts with overlays
+	VRApplication_Background = 3,	// Application should not start SteamVR if it's not already running, and should not
+									// keep it running if everything else quits.
+	VRApplication_Utility = 4,		// Init should not try to load any drivers. The application needs access to utility
+									// interfaces (like IVRSettings and IVRApplications) but not hardware.
+	VRApplication_VRMonitor = 5,	// Reserved for vrmonitor
+	VRApplication_SteamWatchdog = 6,// Reserved for Steam
+	VRApplication_Bootstrapper = 7, // Start up SteamVR
+
+	VRApplication_Max
+};
+
+
+/** error codes for firmware */
+enum EVRFirmwareError
+{
+	VRFirmwareError_None = 0,
+	VRFirmwareError_Success = 1,
+	VRFirmwareError_Fail = 2,
+};
+
+
+/** error codes for notifications */
+enum EVRNotificationError
+{
+	VRNotificationError_OK = 0,
+	VRNotificationError_InvalidNotificationId = 100,
+	VRNotificationError_NotificationQueueFull = 101,
+	VRNotificationError_InvalidOverlayHandle = 102,
+	VRNotificationError_SystemWithUserValueAlreadyExists = 103,
+};
+
+
+/** error codes returned by Vr_Init */
+
+// Please add adequate error description to https://developer.valvesoftware.com/w/index.php?title=Category:SteamVRHelp
+enum EVRInitError
+{
+	VRInitError_None	= 0,
+	VRInitError_Unknown = 1,
+
+	VRInitError_Init_InstallationNotFound		= 100,
+	VRInitError_Init_InstallationCorrupt		= 101,
+	VRInitError_Init_VRClientDLLNotFound		= 102,
+	VRInitError_Init_FileNotFound				= 103,
+	VRInitError_Init_FactoryNotFound			= 104,
+	VRInitError_Init_InterfaceNotFound			= 105,
+	VRInitError_Init_InvalidInterface			= 106,
+	VRInitError_Init_UserConfigDirectoryInvalid = 107,
+	VRInitError_Init_HmdNotFound				= 108,
+	VRInitError_Init_NotInitialized				= 109,
+	VRInitError_Init_PathRegistryNotFound		= 110,
+	VRInitError_Init_NoConfigPath				= 111,
+	VRInitError_Init_NoLogPath					= 112,
+	VRInitError_Init_PathRegistryNotWritable	= 113,
+	VRInitError_Init_AppInfoInitFailed			= 114,
+	VRInitError_Init_Retry						= 115, // Used internally to cause retries to vrserver
+	VRInitError_Init_InitCanceledByUser			= 116, // The calling application should silently exit. The user canceled app startup
+	VRInitError_Init_AnotherAppLaunching		= 117, 
+	VRInitError_Init_SettingsInitFailed			= 118, 
+	VRInitError_Init_ShuttingDown				= 119,
+	VRInitError_Init_TooManyObjects				= 120,
+	VRInitError_Init_NoServerForBackgroundApp	= 121,
+	VRInitError_Init_NotSupportedWithCompositor	= 122,
+	VRInitError_Init_NotAvailableToUtilityApps	= 123,
+	VRInitError_Init_Internal				 	= 124,
+	VRInitError_Init_HmdDriverIdIsNone		 	= 125,
+	VRInitError_Init_HmdNotFoundPresenceFailed 	= 126,
+	VRInitError_Init_VRMonitorNotFound			= 127,
+	VRInitError_Init_VRMonitorStartupFailed		= 128,
+	VRInitError_Init_LowPowerWatchdogNotSupported = 129, 
+	VRInitError_Init_InvalidApplicationType		= 130,
+	VRInitError_Init_NotAvailableToWatchdogApps = 131,
+	VRInitError_Init_WatchdogDisabledInSettings = 132,
+	VRInitError_Init_VRDashboardNotFound		= 133,
+	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
+
+	VRInitError_Driver_Failed				= 200,
+	VRInitError_Driver_Unknown				= 201,
+	VRInitError_Driver_HmdUnknown			= 202,
+	VRInitError_Driver_NotLoaded			= 203,
+	VRInitError_Driver_RuntimeOutOfDate		= 204,
+	VRInitError_Driver_HmdInUse				= 205,
+	VRInitError_Driver_NotCalibrated		= 206,
+	VRInitError_Driver_CalibrationInvalid	= 207,
+	VRInitError_Driver_HmdDisplayNotFound	= 208,
+	VRInitError_Driver_TrackedDeviceInterfaceUnknown = 209,
+	// VRInitError_Driver_HmdDisplayNotFoundAfterFix	 = 210, // not needed: here for historic reasons
+	VRInitError_Driver_HmdDriverIdOutOfBounds = 211,
+	VRInitError_Driver_HmdDisplayMirrored  = 212,
+
+	VRInitError_IPC_ServerInitFailed		= 300,
+	VRInitError_IPC_ConnectFailed			= 301,
+	VRInitError_IPC_SharedStateInitFailed	= 302,
+	VRInitError_IPC_CompositorInitFailed	= 303,
+	VRInitError_IPC_MutexInitFailed			= 304,
+	VRInitError_IPC_Failed					= 305,
+	VRInitError_IPC_CompositorConnectFailed	= 306,
+	VRInitError_IPC_CompositorInvalidConnectResponse = 307,
+	VRInitError_IPC_ConnectFailedAfterMultipleAttempts = 308,
+
+	VRInitError_Compositor_Failed					= 400,
+	VRInitError_Compositor_D3D11HardwareRequired	= 401,
+	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
+	VRInitError_Compositor_OverlayInitFailed		= 403,
+	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
+
+	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
+
+	VRInitError_VendorSpecific_HmdFound_CantOpenDevice 				= 1101,
+	VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart	= 1102,
+	VRInitError_VendorSpecific_HmdFound_NoStoredConfig 				= 1103,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooBig 				= 1104,
+	VRInitError_VendorSpecific_HmdFound_ConfigTooSmall 				= 1105,
+	VRInitError_VendorSpecific_HmdFound_UnableToInitZLib 			= 1106,
+	VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion 	= 1107,
+	VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart	= 1108,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart	= 1109,
+	VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext		= 1110,
+	VRInitError_VendorSpecific_HmdFound_UserDataAddressRange		= 1111,
+	VRInitError_VendorSpecific_HmdFound_UserDataError				= 1112,
+	VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck		= 1113,
+
+	VRInitError_Steam_SteamInstallationNotFound = 2000,
+};
+
+enum EVRScreenshotType
+{
+	VRScreenshotType_None = 0,
+	VRScreenshotType_Mono = 1, // left eye only
+	VRScreenshotType_Stereo = 2,
+	VRScreenshotType_Cubemap = 3,
+	VRScreenshotType_MonoPanorama = 4,
+	VRScreenshotType_StereoPanorama = 5
+};
+
+enum EVRScreenshotPropertyFilenames
+{
+	VRScreenshotPropertyFilenames_Preview = 0,
+	VRScreenshotPropertyFilenames_VR = 1,
+};
+
+enum EVRTrackedCameraError
+{
+	VRTrackedCameraError_None                       = 0,
+	VRTrackedCameraError_OperationFailed            = 100,
+	VRTrackedCameraError_InvalidHandle              = 101,	
+	VRTrackedCameraError_InvalidFrameHeaderVersion  = 102,
+	VRTrackedCameraError_OutOfHandles               = 103,
+	VRTrackedCameraError_IPCFailure                 = 104,
+	VRTrackedCameraError_NotSupportedForThisDevice  = 105,
+	VRTrackedCameraError_SharedMemoryFailure        = 106,
+	VRTrackedCameraError_FrameBufferingFailure      = 107,
+	VRTrackedCameraError_StreamSetupFailure         = 108,
+	VRTrackedCameraError_InvalidGLTextureId         = 109,
+	VRTrackedCameraError_InvalidSharedTextureHandle = 110,
+	VRTrackedCameraError_FailedToGetGLTextureId     = 111,
+	VRTrackedCameraError_SharedTextureFailure       = 112,
+	VRTrackedCameraError_NoFrameAvailable           = 113,
+	VRTrackedCameraError_InvalidArgument            = 114,
+	VRTrackedCameraError_InvalidFrameBufferSize     = 115,
+};
+
+enum EVRTrackedCameraFrameType
+{
+	VRTrackedCameraFrameType_Distorted = 0,			// This is the camera video frame size in pixels, still distorted.
+	VRTrackedCameraFrameType_Undistorted,			// In pixels, an undistorted inscribed rectangle region without invalid regions. This size is subject to changes shortly.
+	VRTrackedCameraFrameType_MaximumUndistorted,	// In pixels, maximum undistorted with invalid regions. Non zero alpha component identifies valid regions.
+	MAX_CAMERA_FRAME_TYPES
+};
+
+typedef uint64_t TrackedCameraHandle_t;
+#define INVALID_TRACKED_CAMERA_HANDLE	((vr::TrackedCameraHandle_t)0)
+
+struct CameraVideoStreamFrameHeader_t
+{
+	EVRTrackedCameraFrameType eFrameType;
+
+	uint32_t nWidth;
+	uint32_t nHeight;
+	uint32_t nBytesPerPixel;
+
+	uint32_t nFrameSequence;
+
+	TrackedDevicePose_t standingTrackedDevicePose;
+};
+
+// Screenshot types
+typedef uint32_t ScreenshotHandle_t;
+
+static const uint32_t k_unScreenshotHandleInvalid = 0;
+
+#pragma pack( pop )
+
+// figure out how to import from the VR API dll
+#if defined(_WIN32)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __declspec( dllexport )
+#else
+#define VR_INTERFACE extern "C" __declspec( dllimport )
+#endif
+
+#elif defined(__GNUC__) || defined(COMPILER_GCC) || defined(__APPLE__)
+
+#ifdef VR_API_EXPORT
+#define VR_INTERFACE extern "C" __attribute__((visibility("default")))
+#else
+#define VR_INTERFACE extern "C" 
+#endif
+
+#else
+#error "Unsupported Platform."
+#endif
+
+
+#if defined( _WIN32 )
+#define VR_CALLTYPE __cdecl
+#else
+#define VR_CALLTYPE 
+#endif
+
+} // namespace vr
+
+#endif // _INCLUDE_VRTYPES_H
+
+
+// vrannotation.h
+#ifdef API_GEN
+# define VR_CLANG_ATTR(ATTR) __attribute__((annotate( ATTR )))
+#else
+# define VR_CLANG_ATTR(ATTR)
+#endif
+
+#define VR_METHOD_DESC(DESC) VR_CLANG_ATTR( "desc:" #DESC ";" )
+#define VR_IGNOREATTR() VR_CLANG_ATTR( "ignore" )
+#define VR_OUT_STRUCT() VR_CLANG_ATTR( "out_struct: ;" )
+#define VR_OUT_STRING() VR_CLANG_ATTR( "out_string: ;" )
+#define VR_OUT_ARRAY_CALL(COUNTER,FUNCTION,PARAMS) VR_CLANG_ATTR( "out_array_call:" #COUNTER "," #FUNCTION "," #PARAMS ";" )
+#define VR_OUT_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "out_array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "array_count:" #COUNTER ";" )
+#define VR_ARRAY_COUNT_D(COUNTER, DESC) VR_CLANG_ATTR( "array_count:" #COUNTER ";desc:" #DESC )
+#define VR_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "buffer_count:" #COUNTER ";" )
+#define VR_OUT_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "out_buffer_count:" #COUNTER ";" )
+#define VR_OUT_STRING_COUNT(COUNTER) VR_CLANG_ATTR( "out_string_count:" #COUNTER ";" )
+
+// vrtrackedcameratypes.h
+#ifndef _VRTRACKEDCAMERATYPES_H
+#define _VRTRACKEDCAMERATYPES_H 
+
+namespace vr
+{
+
+#pragma pack( push, 8 )
+
+enum ECameraVideoStreamFormat
+{
+	CVS_FORMAT_UNKNOWN = 0,
+	CVS_FORMAT_RAW10 = 1,		// 10 bits per pixel
+	CVS_FORMAT_NV12 = 2,		// 12 bits per pixel
+	CVS_FORMAT_RGB24 = 3,		// 24 bits per pixel
+	CVS_MAX_FORMATS
+};
+
+enum ECameraCompatibilityMode
+{
+	CAMERA_COMPAT_MODE_BULK_DEFAULT = 0,
+	CAMERA_COMPAT_MODE_BULK_64K_DMA,
+	CAMERA_COMPAT_MODE_BULK_16K_DMA,
+	CAMERA_COMPAT_MODE_BULK_8K_DMA,
+	CAMERA_COMPAT_MODE_ISO_52FPS,
+	CAMERA_COMPAT_MODE_ISO_50FPS,
+	CAMERA_COMPAT_MODE_ISO_48FPS,
+	CAMERA_COMPAT_MODE_ISO_46FPS,
+	CAMERA_COMPAT_MODE_ISO_44FPS,
+	CAMERA_COMPAT_MODE_ISO_42FPS,
+	CAMERA_COMPAT_MODE_ISO_40FPS,
+	CAMERA_COMPAT_MODE_ISO_35FPS,
+	CAMERA_COMPAT_MODE_ISO_30FPS,
+	MAX_CAMERA_COMPAT_MODES
+};
+
+#ifdef _MSC_VER
+#define VR_CAMERA_DECL_ALIGN( x ) __declspec( align( x ) )
+#else
+#define VR_CAMERA_DECL_ALIGN( x ) //
+#endif
+
+#define MAX_CAMERA_FRAME_SHARED_HANDLES	4
+
+VR_CAMERA_DECL_ALIGN( 8 ) struct CameraVideoStreamFrame_t
+{
+	ECameraVideoStreamFormat m_nStreamFormat;
+
+	uint32_t m_nWidth;
+	uint32_t m_nHeight;
+
+	uint32_t m_nImageDataSize;						// Based on stream format, width, height
+
+	uint32_t m_nFrameSequence;						// Starts from 0 when stream starts.
+
+	uint32_t m_nBufferIndex;						// Identifies which buffer the image data is hosted
+	uint32_t m_nBufferCount;						// Total number of configured buffers
+
+	uint32_t m_nExposureTime;
+
+	uint32_t m_nISPFrameTimeStamp;					// Driver provided time stamp per driver centric time base
+	uint32_t m_nISPReferenceTimeStamp;
+	uint32_t m_nSyncCounter;
+
+	uint32_t m_nCamSyncEvents;
+	uint32_t m_nISPSyncEvents;
+
+	double m_flReferenceCamSyncTime;
+
+	double m_flFrameElapsedTime;					// Starts from 0 when stream starts. In seconds.
+	double m_flFrameDeliveryRate;
+
+	double m_flFrameCaptureTime_DriverAbsolute;		// In USB time, via AuxEvent
+	double m_flFrameCaptureTime_ServerRelative;		// In System time within the server
+	uint64_t m_nFrameCaptureTicks_ServerAbsolute;	// In system ticks within the server
+	double m_flFrameCaptureTime_ClientRelative;		// At the client, relative to when the frame was exposed/captured.
+
+	double m_flSyncMarkerError;
+
+	TrackedDevicePose_t m_StandingTrackedDevicePose;	// Supplied by HMD layer when used as a tracked camera
+
+	uint64_t m_pImageData;
+};
+
+#pragma pack( pop )
+
+}
+
+#endif // _VRTRACKEDCAMERATYPES_H
+// ivrsettings.h
+namespace vr
+{
+	enum EVRSettingsError
+	{
+		VRSettingsError_None = 0,
+		VRSettingsError_IPCFailed = 1,
+		VRSettingsError_WriteFailed = 2,
+		VRSettingsError_ReadFailed = 3,
+		VRSettingsError_JsonParseFailed = 4,
+		VRSettingsError_UnsetSettingHasNoDefault = 5, // This will be returned if the setting does not appear in the appropriate default file and has not been set
+	};
+
+	// The maximum length of a settings key
+	static const uint32_t k_unMaxSettingsKeyLength = 128;
+
+	class IVRSettings
+	{
+	public:
+		virtual const char *GetSettingsErrorNameFromEnum( EVRSettingsError eError ) = 0;
+
+		// Returns true if file sync occurred (force or settings dirty)
+		virtual bool Sync( bool bForce = false, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void SetBool( const char *pchSection, const char *pchSettingsKey, bool bValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetFloat( const char *pchSection, const char *pchSettingsKey, float flValue, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void SetString( const char *pchSection, const char *pchSettingsKey, const char *pchValue, EVRSettingsError *peError = nullptr ) = 0;
+
+		// Users of the system need to provide a proper default in default.vrsettings in the resources/settings/ directory
+		// of either the runtime or the driver_xxx directory. Otherwise the default will be false, 0, 0.0 or ""
+		virtual bool GetBool( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual int32_t GetInt32( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual float GetFloat( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void GetString( const char *pchSection, const char *pchSettingsKey, VR_OUT_STRING() char *pchValue, uint32_t unValueLen, EVRSettingsError *peError = nullptr ) = 0;
+
+		virtual void RemoveSection( const char *pchSection, EVRSettingsError *peError = nullptr ) = 0;
+		virtual void RemoveKeyInSection( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0;
+	};
+
+	//-----------------------------------------------------------------------------
+	static const char * const IVRSettings_Version = "IVRSettings_002";
+
+	//-----------------------------------------------------------------------------
+	// steamvr keys
+	static const char * const k_pch_SteamVR_Section = "steamvr";
+	static const char * const k_pch_SteamVR_RequireHmd_String = "requireHmd";
+	static const char * const k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
+	static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
+	static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
+	static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
+	static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
+	static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
+	static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps";
+	static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel";
+	static const char * const k_pch_SteamVR_IPD_Float = "ipd";
+	static const char * const k_pch_SteamVR_Background_String = "background";
+	static const char * const k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection";
+	static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight";
+	static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius";
+	static const char * const k_pch_SteamVR_GridColor_String = "gridColor";
+	static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor";
+	static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage";
+	static const char * const k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers";
+	static const char * const k_pch_SteamVR_DirectMode_Bool = "directMode";
+	static const char * const k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid";
+	static const char * const k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid";
+	static const char * const k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
+	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
+	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
+	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
+	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
+	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
+	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
+	static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking";
+	static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView";
+	static const char * const k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView";
+	static const char * const k_pch_SteamVR_MirrorViewGeometry_String = "mirrorViewGeometry";
+	static const char * const k_pch_SteamVR_StartMonitorFromAppLaunch = "startMonitorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startCompositorFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
+	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
+	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
+	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
+	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
+	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
+
+	//-----------------------------------------------------------------------------
+	// lighthouse keys
+	static const char * const k_pch_Lighthouse_Section = "driver_lighthouse";
+	static const char * const k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
+	static const char * const k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
+	static const char * const k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug";
+	static const char * const k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
+	static const char * const k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
+
+	//-----------------------------------------------------------------------------
+	// null keys
+	static const char * const k_pch_Null_Section = "driver_null";
+	static const char * const k_pch_Null_SerialNumber_String = "serialNumber";
+	static const char * const k_pch_Null_ModelNumber_String = "modelNumber";
+	static const char * const k_pch_Null_WindowX_Int32 = "windowX";
+	static const char * const k_pch_Null_WindowY_Int32 = "windowY";
+	static const char * const k_pch_Null_WindowWidth_Int32 = "windowWidth";
+	static const char * const k_pch_Null_WindowHeight_Int32 = "windowHeight";
+	static const char * const k_pch_Null_RenderWidth_Int32 = "renderWidth";
+	static const char * const k_pch_Null_RenderHeight_Int32 = "renderHeight";
+	static const char * const k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
+	static const char * const k_pch_Null_DisplayFrequency_Float = "displayFrequency";
+
+	//-----------------------------------------------------------------------------
+	// user interface keys
+	static const char * const k_pch_UserInterface_Section = "userinterface";
+	static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop";
+	static const char * const k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray";
+	static const char * const k_pch_UserInterface_Screenshots_Bool = "screenshots";
+	static const char * const k_pch_UserInterface_ScreenshotType_Int = "screenshotType";
+
+	//-----------------------------------------------------------------------------
+	// notification keys
+	static const char * const k_pch_Notifications_Section = "notifications";
+	static const char * const k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb";
+
+	//-----------------------------------------------------------------------------
+	// keyboard keys
+	static const char * const k_pch_Keyboard_Section = "keyboard";
+	static const char * const k_pch_Keyboard_TutorialCompletions = "TutorialCompletions";
+	static const char * const k_pch_Keyboard_ScaleX = "ScaleX";
+	static const char * const k_pch_Keyboard_ScaleY = "ScaleY";
+	static const char * const k_pch_Keyboard_OffsetLeftX = "OffsetLeftX";
+	static const char * const k_pch_Keyboard_OffsetRightX = "OffsetRightX";
+	static const char * const k_pch_Keyboard_OffsetY = "OffsetY";
+	static const char * const k_pch_Keyboard_Smoothing = "Smoothing";
+
+	//-----------------------------------------------------------------------------
+	// perf keys
+	static const char * const k_pch_Perf_Section = "perfcheck";
+	static const char * const k_pch_Perf_HeuristicActive_Bool = "heuristicActive";
+	static const char * const k_pch_Perf_NotifyInHMD_Bool = "warnInHMD";
+	static const char * const k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
+	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
+	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
+	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
+
+	//-----------------------------------------------------------------------------
+	// collision bounds keys
+	static const char * const k_pch_CollisionBounds_Section = "collisionBounds";
+	static const char * const k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
+	static const char * const k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
+	static const char * const k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn";
+	static const char * const k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn";
+	static const char * const k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance";
+	static const char * const k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR";
+	static const char * const k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG";
+	static const char * const k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB";
+	static const char * const k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA";
+
+	//-----------------------------------------------------------------------------
+	// camera keys
+	static const char * const k_pch_Camera_Section = "camera";
+	static const char * const k_pch_Camera_EnableCamera_Bool = "enableCamera";
+	static const char * const k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard";
+	static const char * const k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds";
+	static const char * const k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView";
+	static const char * const k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR";
+	static const char * const k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG";
+	static const char * const k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB";
+	static const char * const k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA";
+	static const char * const k_pch_Camera_BoundsStrength_Int32 = "cameraBoundsStrength";
+
+	//-----------------------------------------------------------------------------
+	// audio keys
+	static const char * const k_pch_audio_Section = "audio";
+	static const char * const k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice";
+	static const char * const k_pch_audio_OnRecordDevice_String = "onRecordDevice";
+	static const char * const k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice";
+	static const char * const k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice";
+	static const char * const k_pch_audio_OffRecordDevice_String = "offRecordDevice";
+	static const char * const k_pch_audio_VIVEHDMIGain = "viveHDMIGain";
+
+	//-----------------------------------------------------------------------------
+	// power management keys
+	static const char * const k_pch_Power_Section = "power";
+	static const char * const k_pch_Power_PowerOffOnExit_Bool = "powerOffOnExit";
+	static const char * const k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTimeout";
+	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
+	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
+	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+
+	//-----------------------------------------------------------------------------
+	// dashboard keys
+	static const char * const k_pch_Dashboard_Section = "dashboard";
+	static const char * const k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
+	static const char * const k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
+
+	//-----------------------------------------------------------------------------
+	// model skin keys
+	static const char * const k_pch_modelskin_Section = "modelskins";
+
+	//-----------------------------------------------------------------------------
+	// driver keys - These could be checked in any driver_<name> section
+	static const char * const k_pch_Driver_Enable_Bool = "enable";
+
+} // namespace vr
+
+// iservertrackeddevicedriver.h
+namespace vr
+{
+
+
+struct DriverPoseQuaternion_t
+{
+	double w, x, y, z;
+};
+
+struct DriverPose_t
+{
+	/* Time offset of this pose, in seconds from the actual time of the pose,
+	 * relative to the time of the PoseUpdated() call made by the driver.
+	 */
+	double poseTimeOffset;
+
+	/* Generally, the pose maintained by a driver
+	 * is in an inertial coordinate system different
+	 * from the world system of x+ right, y+ up, z+ back.
+	 * Also, the driver is not usually tracking the "head" position,
+	 * but instead an internal IMU or another reference point in the HMD.
+	 * The following two transforms transform positions and orientations
+	 * to app world space from driver world space,
+	 * and to HMD head space from driver local body space. 
+	 *
+	 * We maintain the driver pose state in its internal coordinate system,
+	 * so we can do the pose prediction math without having to
+	 * use angular acceleration.  A driver's angular acceleration is generally not measured,
+	 * and is instead calculated from successive samples of angular velocity.
+	 * This leads to a noisy angular acceleration values, which are also
+	 * lagged due to the filtering required to reduce noise to an acceptable level.
+	 */
+	vr::HmdQuaternion_t qWorldFromDriverRotation;
+	double vecWorldFromDriverTranslation[ 3 ];
+
+	vr::HmdQuaternion_t qDriverFromHeadRotation;
+	double vecDriverFromHeadTranslation[ 3 ];
+
+	/* State of driver pose, in meters and radians. */
+	/* Position of the driver tracking reference in driver world space
+	* +[0] (x) is right
+	* +[1] (y) is up
+	* -[2] (z) is forward
+	*/
+	double vecPosition[ 3 ];
+
+	/* Velocity of the pose in meters/second */
+	double vecVelocity[ 3 ];
+
+	/* Acceleration of the pose in meters/second */
+	double vecAcceleration[ 3 ];
+
+	/* Orientation of the tracker, represented as a quaternion */
+	vr::HmdQuaternion_t qRotation;
+
+	/* Angular velocity of the pose in axis-angle 
+	* representation. The direction is the angle of
+	* rotation and the magnitude is the angle around
+	* that axis in radians/second. */
+	double vecAngularVelocity[ 3 ];
+
+	/* Angular acceleration of the pose in axis-angle 
+	* representation. The direction is the angle of
+	* rotation and the magnitude is the angle around
+	* that axis in radians/second^2. */
+	double vecAngularAcceleration[ 3 ];
+
+	ETrackingResult result;
+
+	bool poseIsValid;
+	bool willDriftInYaw;
+	bool shouldApplyHeadModel;
+	bool deviceIsConnected;
+};
+
+
+// ----------------------------------------------------------------------------------------------
+// Purpose: Represents a single tracked device in a driver
+// ----------------------------------------------------------------------------------------------
+class ITrackedDeviceServerDriver
+{
+public:
+
+	// ------------------------------------
+	// Management Methods
+	// ------------------------------------
+	/** This is called before an HMD is returned to the application. It will always be
+	* called before any display or tracking methods. Memory and processor use by the
+	* ITrackedDeviceServerDriver object should be kept to a minimum until it is activated.
+	* The pose listener is guaranteed to be valid until Deactivate is called, but
+	* should not be used after that point. */
+	virtual EVRInitError Activate( uint32_t unObjectId ) = 0;
+
+	/** This is called when The VR system is switching from this Hmd being the active display
+	* to another Hmd being the active display. The driver should clean whatever memory
+	* and thread use it can when it is deactivated */
+	virtual void Deactivate() = 0;
+
+	/** Handles a request from the system to put this device into standby mode. What that means is defined per-device. */
+	virtual void EnterStandby() = 0;
+
+	/** Requests a component interface of the driver for device-specific functionality. The driver should return NULL
+	* if the requested interface or version is not supported. */
+	virtual void *GetComponent( const char *pchComponentNameAndVersion ) = 0;
+
+	/** A VR Client has made this debug request of the driver. The set of valid requests is entirely
+	* up to the driver and the client to figure out, as is the format of the response. Responses that
+	* exceed the length of the supplied buffer should be truncated and null terminated */
+	virtual void DebugRequest( const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize ) = 0;
+
+	// ------------------------------------
+	// Tracking Methods
+	// ------------------------------------
+	virtual DriverPose_t GetPose() = 0;
+};
+
+
+
+static const char *ITrackedDeviceServerDriver_Version = "ITrackedDeviceServerDriver_005";
+
+}
+// ivrdisplaycomponent.h
+namespace vr
+{
+
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: The display component on a single tracked device
+	// ----------------------------------------------------------------------------------------------
+	class IVRDisplayComponent
+	{
+	public:
+
+		// ------------------------------------
+		// Display Methods
+		// ------------------------------------
+
+		/** Size and position that the window needs to be on the VR display. */
+		virtual void GetWindowBounds( int32_t *pnX, int32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** Returns true if the display is extending the desktop. */
+		virtual bool IsDisplayOnDesktop( ) = 0;
+
+		/** Returns true if the display is real and not a fictional display. */
+		virtual bool IsDisplayRealDisplay( ) = 0;
+
+		/** Suggested size for the intermediate render target that the distortion pulls from. */
+		virtual void GetRecommendedRenderTargetSize( uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** Gets the viewport in the frame buffer to draw the output of the distortion into */
+		virtual void GetEyeOutputViewport( EVREye eEye, uint32_t *pnX, uint32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0;
+
+		/** The components necessary to build your own projection matrix in case your
+		* application is doing something fancy like infinite Z */
+		virtual void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom ) = 0;
+
+		/** Returns the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in
+		* the upper left of that eye's viewport and 1,1 in the lower right of that eye's viewport. */
+		virtual DistortionCoordinates_t ComputeDistortion( EVREye eEye, float fU, float fV ) = 0;
+
+	};
+
+	static const char *IVRDisplayComponent_Version = "IVRDisplayComponent_002";
+
+}
+
+// ivrdriverdirectmodecomponent.h
+namespace vr
+{
+
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: This component is used for drivers that implement direct mode entirely on their own
+	//			without allowing the VR Compositor to own the window/device. Chances are you don't
+	//			need to implement this component in your driver.
+	// ----------------------------------------------------------------------------------------------
+	class IVRDriverDirectModeComponent
+	{
+	public:
+
+		// -----------------------------------
+		// Direct mode methods
+		// -----------------------------------
+
+		/** Specific to Oculus compositor support, textures supplied must be created using this method. */
+		virtual void CreateSwapTextureSet( uint32_t unPid, uint32_t unFormat, uint32_t unWidth, uint32_t unHeight, vr::SharedTextureHandle_t( *pSharedTextureHandles )[ 3 ] ) {}
+
+		/** Used to textures created using CreateSwapTextureSet.  Only one of the set's handles needs to be used to destroy the entire set. */
+		virtual void DestroySwapTextureSet( vr::SharedTextureHandle_t sharedTextureHandle ) {}
+
+		/** Used to purge all texture sets for a given process. */
+		virtual void DestroyAllSwapTextureSets( uint32_t unPid ) {}
+
+		/** After Present returns, calls this to get the next index to use for rendering. */
+		virtual void GetNextSwapTextureSetIndex( vr::SharedTextureHandle_t sharedTextureHandles[ 2 ], uint32_t( *pIndices )[ 2 ] ) {}
+
+		/** Call once per layer to draw for this frame.  One shared texture handle per eye.  Textures must be created
+		* using CreateSwapTextureSet and should be alternated per frame.  Call Present once all layers have been submitted. */
+		virtual void SubmitLayer( vr::SharedTextureHandle_t sharedTextureHandles[ 2 ], const vr::VRTextureBounds_t( &bounds )[ 2 ], const vr::HmdMatrix34_t *pPose ) {}
+
+		/** Submits queued layers for display. */
+		virtual void Present( vr::SharedTextureHandle_t syncTexture ) {}
+
+	};
+
+	static const char *IVRDriverDirectModeComponent_Version = "IVRDriverDirectModeComponent_002";
+
+}
+
+// ivrcontrollercomponent.h
+namespace vr
+{
+
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: Controller access on a single tracked device.
+	// ----------------------------------------------------------------------------------------------
+	class IVRControllerComponent
+	{
+	public:
+
+		// ------------------------------------
+		// Controller Methods
+		// ------------------------------------
+
+		/** Gets the current state of a controller. */
+		virtual VRControllerState_t GetControllerState( ) = 0;
+
+		/** Returns a uint64 property. If the property is not available this function will return 0. */
+		virtual bool TriggerHapticPulse( uint32_t unAxisId, uint16_t usPulseDurationMicroseconds ) = 0;
+
+	};
+
+
+
+	static const char *IVRControllerComponent_Version = "IVRControllerComponent_001";
+
+}
+// ivrcameracomponent.h
+namespace vr
+{
+	//-----------------------------------------------------------------------------
+	//-----------------------------------------------------------------------------
+	class ICameraVideoSinkCallback
+	{
+	public:
+		virtual void OnCameraVideoSinkCallback() = 0;
+	};
+
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: The camera on a single tracked device
+	// ----------------------------------------------------------------------------------------------
+	class IVRCameraComponent
+	{
+	public:
+		// ------------------------------------
+		// Camera Methods
+		// ------------------------------------
+		virtual bool GetCameraFrameDimensions( vr::ECameraVideoStreamFormat nVideoStreamFormat, uint32_t *pWidth, uint32_t *pHeight ) = 0;
+		virtual bool GetCameraFrameBufferingRequirements( int *pDefaultFrameQueueSize, uint32_t *pFrameBufferDataSize ) = 0;
+		virtual bool SetCameraFrameBuffering( int nFrameBufferCount, void **ppFrameBuffers, uint32_t nFrameBufferDataSize ) = 0;
+		virtual bool SetCameraVideoStreamFormat( vr::ECameraVideoStreamFormat nVideoStreamFormat ) = 0;
+		virtual vr::ECameraVideoStreamFormat GetCameraVideoStreamFormat() = 0;
+		virtual bool StartVideoStream() = 0;
+		virtual void StopVideoStream() = 0;
+		virtual bool IsVideoStreamActive( bool *pbPaused, float *pflElapsedTime ) = 0;
+		virtual const vr::CameraVideoStreamFrame_t *GetVideoStreamFrame() = 0;
+		virtual void ReleaseVideoStreamFrame( const vr::CameraVideoStreamFrame_t *pFrameImage ) = 0;
+		virtual bool SetAutoExposure( bool bEnable ) = 0;
+		virtual bool PauseVideoStream() = 0;
+		virtual bool ResumeVideoStream() = 0;
+		virtual bool GetCameraDistortion( float flInputU, float flInputV, float *pflOutputU, float *pflOutputV ) = 0;
+		virtual bool GetCameraProjection( vr::EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, vr::HmdMatrix44_t *pProjection ) = 0;
+		virtual bool SetFrameRate( int nISPFrameRate, int nSensorFrameRate ) = 0;
+		virtual bool SetCameraVideoSinkCallback( vr::ICameraVideoSinkCallback *pCameraVideoSinkCallback ) = 0;
+		virtual bool GetCameraCompatibilityMode( vr::ECameraCompatibilityMode *pCameraCompatibilityMode ) = 0;
+		virtual bool SetCameraCompatibilityMode( vr::ECameraCompatibilityMode nCameraCompatibilityMode ) = 0;
+		virtual bool GetCameraFrameBounds( vr::EVRTrackedCameraFrameType eFrameType, uint32_t *pLeft, uint32_t *pTop, uint32_t *pWidth, uint32_t *pHeight ) = 0;
+		virtual bool GetCameraIntrinsics( vr::EVRTrackedCameraFrameType eFrameType, HmdVector2_t *pFocalLength, HmdVector2_t *pCenter ) = 0;
+	};
+
+	static const char *IVRCameraComponent_Version = "IVRCameraComponent_002";
+}
+// itrackeddevicedriverprovider.h
+namespace vr
+{
+
+class ITrackedDeviceServerDriver;
+struct TrackedDeviceDriverInfo_t;
+struct DriverPose_t;
+typedef PropertyContainerHandle_t DriverHandle_t;
+
+/** This interface is provided by vrserver to allow the driver to notify 
+* the system when something changes about a device. These changes must
+* not change the serial number or class of the device because those values
+* are permanently associated with the device's index. */
+class IVRDriverContext
+{
+public:
+	/** Returns the requested interface. If the interface was not available it will return NULL and fill
+	* out the error. */
+	virtual void *GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError = nullptr ) = 0;
+
+	/** Returns the property container handle for this driver */
+	virtual DriverHandle_t GetDriverHandle() = 0;
+};
+
+
+/** This interface must be implemented in each driver. It will be loaded in vrserver.exe */
+class IServerTrackedDeviceProvider
+{
+public:
+	/** initializes the driver. This will be called before any other methods are called.
+	* If Init returns anything other than VRInitError_None the driver DLL will be unloaded.
+	*
+	* pDriverHost will never be NULL, and will always be a pointer to a IServerDriverHost interface
+	*
+	* pchUserDriverConfigDir - The absolute path of the directory where the driver should store user
+	*	config files.
+	* pchDriverInstallDir - The absolute path of the root directory for the driver.
+	*/
+	virtual EVRInitError Init( IVRDriverContext *pDriverContext ) = 0;
+
+	/** cleans up the driver right before it is unloaded */
+	virtual void Cleanup() = 0;
+
+	/** Returns the version of the ITrackedDeviceServerDriver interface used by this driver */
+	virtual const char * const *GetInterfaceVersions() = 0;
+
+	/** Allows the driver do to some work in the main loop of the server. */
+	virtual void RunFrame() = 0;
+
+
+	// ------------  Power State Functions ----------------------- //
+
+	/** Returns true if the driver wants to block Standby mode. */
+	virtual bool ShouldBlockStandbyMode() = 0;
+
+	/** Called when the system is entering Standby mode. The driver should switch itself into whatever sort of low-power
+	* state it has. */
+	virtual void EnterStandby() = 0;
+
+	/** Called when the system is leaving Standby mode. The driver should switch itself back to
+	full operation. */
+	virtual void LeaveStandby() = 0;
+
+};
+
+
+static const char *IServerTrackedDeviceProvider_Version = "IServerTrackedDeviceProvider_004";
+
+
+
+
+/** This interface must be implemented in each driver. It will be loaded in vrclient.dll */
+class IVRWatchdogProvider
+{
+public:
+	/** initializes the driver in watchdog mode. */
+	virtual EVRInitError Init( IVRDriverContext *pDriverContext ) = 0;
+
+	/** cleans up the driver right before it is unloaded */
+	virtual void Cleanup() = 0;
+};
+
+static const char *IVRWatchdogProvider_Version = "IVRWatchdogProvider_001";
+
+}
+// ivrproperties.h
+#include <string>
+
+namespace vr
+{
+
+	enum EPropertyWriteType
+	{
+		PropertyWrite_Set = 0,
+		PropertyWrite_Erase = 1,
+		PropertyWrite_SetError = 2
+	};
+
+	struct PropertyWrite_t
+	{
+		ETrackedDeviceProperty prop;
+		EPropertyWriteType writeType;
+		ETrackedPropertyError eSetError;
+		void *pvBuffer;
+		uint32_t unBufferSize;
+		PropertyTypeTag_t unTag;
+		ETrackedPropertyError eError;
+	};
+
+	struct PropertyRead_t
+	{
+		ETrackedDeviceProperty prop;
+		void *pvBuffer;
+		uint32_t unBufferSize;
+		PropertyTypeTag_t unTag;
+		uint32_t unRequiredBufferSize;
+		ETrackedPropertyError eError;
+	};
+
+
+class IVRProperties
+{
+public:
+
+	/** Reads a set of properties atomically. See the PropertyReadBatch_t struct for more information. */
+	virtual ETrackedPropertyError ReadPropertyBatch( PropertyContainerHandle_t ulContainerHandle, PropertyRead_t *pBatch, uint32_t unBatchEntryCount ) = 0;
+
+	/** Writes a set of properties atomically. See the PropertyWriteBatch_t struct for more information. */
+	virtual ETrackedPropertyError WritePropertyBatch( PropertyContainerHandle_t ulContainerHandle, PropertyWrite_t *pBatch, uint32_t unBatchEntryCount ) = 0;
+
+	/** returns a string that corresponds with the specified property error. The string will be the name
+	* of the error enum value for all valid error codes */
+	virtual const char *GetPropErrorNameFromEnum( ETrackedPropertyError error ) = 0;
+
+	/** Returns a container handle given a tracked device index */
+	virtual PropertyContainerHandle_t TrackedDeviceToPropertyContainer( TrackedDeviceIndex_t nDevice ) = 0;
+
+};
+
+static const char * const IVRProperties_Version = "IVRProperties_001";
+
+class CVRPropertyHelpers
+{
+public:
+	CVRPropertyHelpers( IVRProperties * pProperties ) : m_pProperties( pProperties ) {}
+
+	/** Returns a scaler property. If the device index is not valid or the property value type does not match,
+	* this function will return false. */
+	bool GetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	float GetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	int32_t GetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	uint64_t GetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+
+	/** Returns a single typed property. If the device index is not valid or the property is not a string type this function will
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	uint32_t GetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() void *pvBuffer, uint32_t unBufferSize, PropertyTypeTag_t *punTag, ETrackedPropertyError *pError = 0L );
+
+
+	/** Returns a string property. If the device index is not valid or the property is not a string type this function will
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	uint32_t GetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L );
+
+	/** Returns a string property as a std::string. If the device index is not valid or the property is not a string type this function will
+	* return an empty string. */
+	std::string GetStringProperty( vr::PropertyContainerHandle_t ulContainer, vr::ETrackedDeviceProperty prop, vr::ETrackedPropertyError *peError = nullptr );
+
+	/** Sets a scaler property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, bool bNewValue );
+	ETrackedPropertyError SetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, float fNewValue );
+	ETrackedPropertyError SetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, int32_t nNewValue );
+	ETrackedPropertyError SetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, uint64_t ulNewValue );
+
+	/** Sets a string property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, const char *pchNewValue );
+
+	/** Sets a single typed property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, void *pvNewValue, uint32_t unNewValueSize, PropertyTypeTag_t unTag );
+
+	/** Sets the error return value for a property. This value will be returned on all subsequent requests to get the property */
+	ETrackedPropertyError SetPropertyError( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError eError );
+
+	/** Clears any value or error set for the property. */
+	ETrackedPropertyError EraseProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop );
+
+	/* Turns a device index into a property container handle. */
+	PropertyContainerHandle_t TrackedDeviceToPropertyContainer( TrackedDeviceIndex_t nDevice ) { return m_pProperties->TrackedDeviceToPropertyContainer( nDevice );  }
+
+private:
+	template<typename T>
+	T GetPropertyHelper( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError, T bDefault, PropertyTypeTag_t unTypeTag );
+
+	IVRProperties *m_pProperties;
+};
+
+
+inline uint32_t CVRPropertyHelpers::GetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() void *pvBuffer, uint32_t unBufferSize, PropertyTypeTag_t *punTag, ETrackedPropertyError *pError )
+{
+	PropertyRead_t batch;
+	batch.prop = prop;
+	batch.pvBuffer = pvBuffer;
+	batch.unBufferSize = unBufferSize;
+
+	m_pProperties->ReadPropertyBatch( ulContainerHandle, &batch, 1 );
+
+	if ( pError )
+	{
+		*pError = batch.eError;
+	}
+
+	if ( punTag )
+	{
+		*punTag = batch.unTag;
+	}
+
+	return batch.unRequiredBufferSize;
+}
+
+
+/** Sets a single typed property. The new value will be returned on any subsequent call to get this property in any process. */
+inline ETrackedPropertyError CVRPropertyHelpers::SetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, void *pvNewValue, uint32_t unNewValueSize, PropertyTypeTag_t unTag )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_Set;
+	batch.prop = prop;
+	batch.pvBuffer = pvNewValue;
+	batch.unBufferSize = unNewValueSize;
+	batch.unTag = unTag;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+}
+
+
+/** Returns a string property. If the device index is not valid or the property is not a string type this function will
+* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+inline uint32_t CVRPropertyHelpers::GetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError )
+{
+	PropertyTypeTag_t unTag;
+	ETrackedPropertyError error;
+	uint32_t unRequiredSize = GetProperty( ulContainerHandle, prop, pchValue, unBufferSize, &unTag, &error );
+	if ( unTag != k_unStringPropertyTag && error == TrackedProp_Success )
+	{
+		error = TrackedProp_WrongDataType;
+	}
+
+	if ( pError )
+	{
+		*pError = error;
+	}
+
+	if ( error != TrackedProp_Success )
+	{
+		if ( pchValue && unBufferSize )
+		{
+			*pchValue = '\0';
+		}
+	}
+
+	return unRequiredSize;
+}
+
+
+/** Returns a string property as a std::string. If the device index is not valid or the property is not a string type this function will
+* return an empty string. */
+inline std::string CVRPropertyHelpers::GetStringProperty( vr::PropertyContainerHandle_t ulContainer, vr::ETrackedDeviceProperty prop, vr::ETrackedPropertyError *peError )
+{
+	char buf[1024];
+	vr::ETrackedPropertyError err;
+	uint32_t unRequiredBufferLen = GetStringProperty( ulContainer, prop, buf, sizeof(buf), &err );
+
+	std::string sResult;
+
+	if ( err == TrackedProp_Success )
+	{
+		sResult = buf;
+	}
+	else if ( err == TrackedProp_BufferTooSmall )
+	{
+		char *pchBuffer = new char[unRequiredBufferLen];
+		unRequiredBufferLen = GetStringProperty( ulContainer, prop, pchBuffer, unRequiredBufferLen, &err );
+		sResult = pchBuffer;
+		delete[] pchBuffer;
+	}
+
+	if ( peError )
+	{
+		*peError = err;
+	}
+
+	return sResult;
+}
+
+
+/** Sets a string property. The new value will be returned on any subsequent call to get this property in any process. */
+inline ETrackedPropertyError CVRPropertyHelpers::SetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, const char *pchNewValue )
+{
+	if ( !pchNewValue )
+		return TrackedProp_InvalidOperation;
+
+	// this is strlen without the dependency on string.h
+	const char *pchCurr = pchNewValue;
+	while ( *pchCurr )
+	{
+		pchCurr++;
+	}
+
+	return SetProperty( ulContainerHandle, prop, (void *)pchNewValue, (uint32_t)(pchCurr - pchNewValue) + 1, k_unStringPropertyTag );
+}
+
+
+template<typename T>
+inline T CVRPropertyHelpers::GetPropertyHelper( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError, T bDefault, PropertyTypeTag_t unTypeTag )
+{
+	T bValue;
+	ETrackedPropertyError eError;
+	PropertyTypeTag_t unReadTag;
+	GetProperty( ulContainerHandle, prop, &bValue, sizeof( bValue ), &unReadTag, &eError );
+	if ( unReadTag != unTypeTag && eError == TrackedProp_Success )
+	{
+		eError = TrackedProp_WrongDataType;
+	};
+
+	if ( pError )
+		*pError = eError;
+	if ( eError != TrackedProp_Success )
+	{
+		return bDefault;
+	}
+	else
+	{
+		return bValue;
+	}
+}
+
+
+inline bool CVRPropertyHelpers::GetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<bool>( ulContainerHandle, prop, pError, false, k_unBoolPropertyTag );
+}
+
+
+inline float CVRPropertyHelpers::GetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<float>( ulContainerHandle, prop, pError, 0.f, k_unFloatPropertyTag );
+}
+
+inline int32_t CVRPropertyHelpers::GetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<int32_t>( ulContainerHandle, prop, pError, 0, k_unInt32PropertyTag );
+}
+
+inline uint64_t CVRPropertyHelpers::GetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<uint64_t>( ulContainerHandle, prop, pError, 0, k_unUint64PropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, bool bNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &bNewValue, sizeof( bNewValue ), k_unBoolPropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, float fNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &fNewValue, sizeof( fNewValue ), k_unFloatPropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, int32_t nNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &nNewValue, sizeof( nNewValue ), k_unInt32PropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, uint64_t ulNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &ulNewValue, sizeof( ulNewValue ), k_unUint64PropertyTag );
+}
+
+/** Sets the error return value for a property. This value will be returned on all subsequent requests to get the property */
+inline ETrackedPropertyError CVRPropertyHelpers::SetPropertyError( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError eError )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_SetError;
+	batch.prop = prop;
+	batch.eSetError = eError;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+}
+
+/** Clears any value or error set for the property. */
+inline ETrackedPropertyError CVRPropertyHelpers::EraseProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_Erase;
+	batch.prop = prop;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+
+}
+
+}
+
+
+// ivrdriverlog.h
+namespace vr
+{
+
+class IVRDriverLog
+{
+public:
+	/** Writes a log message to the log file prefixed with the driver name */
+	virtual void Log( const char *pchLogMessage ) = 0;
+};
+
+
+static const char *IVRDriverLog_Version = "IVRDriverLog_001";
+
+}
+// ivrserverdriverhost.h
+namespace vr
+{
+
+class ITrackedDeviceServerDriver;
+struct TrackedDeviceDriverInfo_t;
+struct DriverPose_t;
+
+/** This interface is provided by vrserver to allow the driver to notify 
+* the system when something changes about a device. These changes must
+* not change the serial number or class of the device because those values
+* are permanently associated with the device's index. */
+class IVRServerDriverHost
+{
+public:
+	/** Notifies the server that a tracked device has been added. If this function returns true
+	* the server will call Activate on the device. If it returns false some kind of error
+	* has occurred and the device will not be activated. */
+	virtual bool TrackedDeviceAdded( const char *pchDeviceSerialNumber, ETrackedDeviceClass eDeviceClass, ITrackedDeviceServerDriver *pDriver ) = 0;
+
+	/** Notifies the server that a tracked device's pose has been updated */
+	virtual void TrackedDevicePoseUpdated( uint32_t unWhichDevice, const DriverPose_t & newPose, uint32_t unPoseStructSize ) = 0;
+
+	/** Notifies the server that vsync has occurred on the the display attached to the device. This is
+	* only permitted on devices of the HMD class. */
+	virtual void VsyncEvent( double vsyncTimeOffsetSeconds ) = 0;
+
+	/** notifies the server that the button was pressed */
+	virtual void TrackedDeviceButtonPressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was unpressed */
+	virtual void TrackedDeviceButtonUnpressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was pressed */
+	virtual void TrackedDeviceButtonTouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was unpressed */
+	virtual void TrackedDeviceButtonUntouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server than a controller axis changed */
+	virtual void TrackedDeviceAxisUpdated( uint32_t unWhichDevice, uint32_t unWhichAxis, const VRControllerAxis_t & axisState ) = 0;
+
+	/** Notifies the server that the proximity sensor on the specified device  */
+	virtual void ProximitySensorState( uint32_t unWhichDevice, bool bProximitySensorTriggered ) = 0;
+
+	/** Sends a vendor specific event (VREvent_VendorSpecific_Reserved_Start..VREvent_VendorSpecific_Reserved_End */
+	virtual void VendorSpecificEvent( uint32_t unWhichDevice, vr::EVREventType eventType, const VREvent_Data_t & eventData, double eventTimeOffset ) = 0;
+
+	/** Returns true if SteamVR is exiting */
+	virtual bool IsExiting() = 0;
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+	/** Provides access to device poses for drivers.  Poses are in their "raw" tracking space which is uniquely
+	* defined by each driver providing poses for its devices.  It is up to clients of this function to correlate
+	* poses across different drivers.  Poses are indexed by their device id, and their associated driver and
+	* other properties can be looked up via IVRProperties. */
+	virtual void GetRawTrackedDevicePoses( float fPredictedSecondsFromNow, TrackedDevicePose_t *pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount ) = 0;
+
+	/** Notifies the server that a tracked device's display component transforms have been updated. */
+	virtual void TrackedDeviceDisplayTransformUpdated( uint32_t unWhichDevice, HmdMatrix34_t eyeToHeadLeft, HmdMatrix34_t eyeToHeadRight ) = 0;
+};
+
+static const char *IVRServerDriverHost_Version = "IVRServerDriverHost_004";
+
+}
+
+// ivrhiddenarea.h
+namespace vr
+{
+
+class CVRHiddenAreaHelpers
+{
+public:
+	CVRHiddenAreaHelpers( IVRProperties *pProperties ) : m_pProperties( pProperties ) {}
+
+	/** Stores a hidden area mesh in a property */
+	ETrackedPropertyError SetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount );
+
+	/** retrieves a hidden area mesh from a property. Returns the vert count read out of the property.  */
+	uint32_t GetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount, ETrackedPropertyError *peError );
+
+private:
+	ETrackedDeviceProperty GetPropertyEnum( EVREye eEye, EHiddenAreaMeshType type )
+	{
+		return (ETrackedDeviceProperty)(Prop_DisplayHiddenArea_Binary_Start + ((int)type * 2) + (int)eEye);
+	}
+
+	IVRProperties *m_pProperties;
+};
+
+
+inline ETrackedPropertyError CVRHiddenAreaHelpers::SetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount )
+{
+	ETrackedDeviceProperty prop = GetPropertyEnum( eEye, type );
+	CVRPropertyHelpers propHelpers( m_pProperties );
+	return propHelpers.SetProperty( propHelpers.TrackedDeviceToPropertyContainer( k_unTrackedDeviceIndex_Hmd ), prop, pVerts, sizeof( HmdVector2_t ) * unVertCount, k_unHiddenAreaPropertyTag );
+}
+
+
+inline uint32_t CVRHiddenAreaHelpers::GetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount, ETrackedPropertyError *peError )
+{
+	ETrackedDeviceProperty prop = GetPropertyEnum( eEye, type );
+	CVRPropertyHelpers propHelpers( m_pProperties );
+	ETrackedPropertyError propError;
+	PropertyTypeTag_t unTag;
+	uint32_t unBytesNeeded = propHelpers.GetProperty( propHelpers.TrackedDeviceToPropertyContainer( k_unTrackedDeviceIndex_Hmd ), prop, pVerts, sizeof( HmdVector2_t )*unVertCount, &unTag, &propError );
+	if ( propError == TrackedProp_Success && unTag != k_unHiddenAreaPropertyTag )
+	{
+		propError = TrackedProp_WrongDataType;
+		unBytesNeeded = 0;
+	}
+
+	if ( peError )
+	{
+		*peError = propError;
+	}
+
+	return unBytesNeeded / sizeof( HmdVector2_t );
+}
+
+}
+// ivrwatchdoghost.h
+namespace vr
+{
+
+/** This interface is provided by vrclient to allow the driver to make everything wake up */
+class IVRWatchdogHost
+{
+public:
+	/** Client drivers in watchdog mode should call this when they have received a signal from hardware that should
+	* cause SteamVR to start */
+	virtual void WatchdogWakeUp() = 0;
+};
+
+static const char *IVRWatchdogHost_Version = "IVRWatchdogHost_001";
+
+};
+
+
+
+// ivrvirtualdisplay.h
+namespace vr
+{
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: This component is used for drivers that implement a virtual display (e.g. wireless).
+	// ----------------------------------------------------------------------------------------------
+	class IVRVirtualDisplay
+	{
+	public:
+
+		/** Submits final backbuffer for display. */
+		virtual void Present( vr::SharedTextureHandle_t backbufferTextureHandle ) = 0;
+
+		/** Block until the last presented buffer start scanning out. */
+		virtual void WaitForPresent() = 0;
+
+		/** Provides timing data for synchronizing with display. */
+		virtual bool GetTimeSinceLastVsync( float *pfSecondsSinceLastVsync, uint64_t *pulFrameCounter ) = 0;
+	};
+
+	static const char *IVRVirtualDisplay_Version = "IVRVirtualDisplay_001";
+
+	/** Returns the current IVRVirtualDisplay pointer or NULL the interface could not be found. */
+	VR_INTERFACE vr::IVRVirtualDisplay *VR_CALLTYPE VRVirtualDisplay();
+}
+
+
+// ivrresources.h
+namespace vr
+{
+
+class IVRResources
+{
+public:
+
+	// ------------------------------------
+	// Shared Resource Methods
+	// ------------------------------------
+
+	/** Loads the specified resource into the provided buffer if large enough.
+	* Returns the size in bytes of the buffer required to hold the specified resource. */
+	virtual uint32_t LoadSharedResource( const char *pchResourceName, char *pchBuffer, uint32_t unBufferLen ) = 0;
+
+	/** Provides the full path to the specified resource. Resource names can include named directories for
+	* drivers and other things, and this resolves all of those and returns the actual physical path. 
+	* pchResourceTypeDirectory is the subdirectory of resources to look in. */
+	virtual uint32_t GetResourceFullPath( const char *pchResourceName, const char *pchResourceTypeDirectory, char *pchPathBuffer, uint32_t unBufferLen ) = 0;
+};
+
+static const char * const IVRResources_Version = "IVRResources_001";
+
+
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
+
+
+
+
+namespace vr
+{
+	static const char * const k_InterfaceVersions[] =
+	{
+		IVRSettings_Version,
+		ITrackedDeviceServerDriver_Version,
+		IVRDisplayComponent_Version,
+		IVRDriverDirectModeComponent_Version,
+		IVRControllerComponent_Version,
+		IVRCameraComponent_Version,
+		IServerTrackedDeviceProvider_Version,
+		IVRWatchdogProvider_Version,
+		IVRVirtualDisplay_Version,
+		IVRDriverManager_Version,
+		IVRResources_Version,
+		nullptr
+	};
+
+	inline IVRDriverContext *&VRDriverContext()
+	{
+		static IVRDriverContext *pHost;
+		return pHost;
+	}
+
+	class COpenVRDriverContext
+	{
+	public:
+		COpenVRDriverContext() : m_propertyHelpers(nullptr), m_hiddenAreaHelpers(nullptr) { Clear(); }
+		void Clear();
+
+		EVRInitError InitServer();
+		EVRInitError InitWatchdog();
+
+		IVRSettings *VRSettings()
+		{
+			if ( m_pVRSettings == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSettings = (IVRSettings *)VRDriverContext()->GetGenericInterface( IVRSettings_Version, &eError );
+			}
+			return m_pVRSettings;
+		}
+
+		IVRProperties *VRPropertiesRaw()
+		{
+			if ( m_pVRProperties == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRProperties = (IVRProperties *)VRDriverContext()->GetGenericInterface( IVRProperties_Version, &eError );
+				m_propertyHelpers = CVRPropertyHelpers( m_pVRProperties );
+				m_hiddenAreaHelpers = CVRHiddenAreaHelpers( m_pVRProperties );
+			}
+			return m_pVRProperties;
+		}
+
+		CVRPropertyHelpers *VRProperties()
+		{
+			VRPropertiesRaw();
+			return &m_propertyHelpers;
+		}
+
+		CVRHiddenAreaHelpers *VRHiddenArea()
+		{
+			VRPropertiesRaw();
+			return &m_hiddenAreaHelpers;
+		}
+
+		IVRServerDriverHost *VRServerDriverHost()
+		{
+			if ( m_pVRServerDriverHost == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRServerDriverHost = (IVRServerDriverHost *)VRDriverContext()->GetGenericInterface( IVRServerDriverHost_Version, &eError );
+			}
+			return m_pVRServerDriverHost;
+		}
+
+		IVRWatchdogHost *VRWatchdogHost()
+		{
+			if ( m_pVRWatchdogHost == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRWatchdogHost = (IVRWatchdogHost *)VRDriverContext()->GetGenericInterface( IVRWatchdogHost_Version, &eError );
+			}
+			return m_pVRWatchdogHost;
+		}
+
+		IVRDriverLog *VRDriverLog()
+		{
+			if ( m_pVRDriverLog == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRDriverLog = (IVRDriverLog *)VRDriverContext()->GetGenericInterface( IVRDriverLog_Version, &eError );
+			}
+			return m_pVRDriverLog;
+		}
+
+		DriverHandle_t VR_CALLTYPE VRDriverHandle()
+		{
+			return VRDriverContext()->GetDriverHandle();
+		}
+
+		IVRDriverManager *VRDriverManager()
+		{
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = (IVRDriverManager *)VRDriverContext()->GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
+		IVRResources *VRResources()
+		{
+			if ( !m_pVRResources )
+			{
+				EVRInitError eError;
+				m_pVRResources = (IVRResources *)VRDriverContext()->GetGenericInterface( IVRResources_Version, &eError );
+			}
+			return m_pVRResources;
+		}
+
+	private:
+		CVRPropertyHelpers		m_propertyHelpers;
+		CVRHiddenAreaHelpers	m_hiddenAreaHelpers;
+
+		IVRSettings				*m_pVRSettings;
+		IVRProperties			*m_pVRProperties;
+		IVRServerDriverHost		*m_pVRServerDriverHost;
+		IVRWatchdogHost			*m_pVRWatchdogHost;
+		IVRDriverLog			*m_pVRDriverLog;
+		IVRDriverManager		*m_pVRDriverManager;
+		IVRResources			*m_pVRResources;
+	};
+
+	inline COpenVRDriverContext &OpenVRInternal_ModuleServerDriverContext()
+	{
+		static void *ctx[sizeof( COpenVRDriverContext ) / sizeof( void * )];
+		return *(COpenVRDriverContext *)ctx; // bypass zero-init constructor
+	}
+
+	inline IVRSettings *VR_CALLTYPE VRSettings() { return OpenVRInternal_ModuleServerDriverContext().VRSettings(); }
+	inline IVRProperties *VR_CALLTYPE VRPropertiesRaw() { return OpenVRInternal_ModuleServerDriverContext().VRPropertiesRaw(); }
+	inline CVRPropertyHelpers *VR_CALLTYPE VRProperties() { return OpenVRInternal_ModuleServerDriverContext().VRProperties(); }
+	inline CVRHiddenAreaHelpers *VR_CALLTYPE VRHiddenArea() { return OpenVRInternal_ModuleServerDriverContext().VRHiddenArea(); }
+	inline IVRDriverLog *VR_CALLTYPE VRDriverLog() { return OpenVRInternal_ModuleServerDriverContext().VRDriverLog(); }
+	inline IVRServerDriverHost *VR_CALLTYPE VRServerDriverHost() { return OpenVRInternal_ModuleServerDriverContext().VRServerDriverHost(); }
+	inline IVRWatchdogHost *VR_CALLTYPE VRWatchdogHost() { return OpenVRInternal_ModuleServerDriverContext().VRWatchdogHost(); }
+	inline DriverHandle_t VR_CALLTYPE VRDriverHandle() { return OpenVRInternal_ModuleServerDriverContext().VRDriverHandle(); }
+	inline IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleServerDriverContext().VRDriverManager(); }
+	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleServerDriverContext().VRResources(); }
+
+	inline void COpenVRDriverContext::Clear()
+	{
+		m_pVRSettings = nullptr;
+		m_pVRProperties = nullptr;
+		m_pVRServerDriverHost = nullptr;
+		m_pVRDriverLog = nullptr;
+		m_pVRWatchdogHost = nullptr;
+		m_pVRDriverManager = nullptr;
+		m_pVRResources = nullptr;
+	}
+
+	inline EVRInitError COpenVRDriverContext::InitServer()
+	{
+		Clear();
+		if ( !VRServerDriverHost()
+			|| !VRSettings()
+			|| !VRProperties()
+			|| !VRDriverLog() 
+			|| !VRDriverManager()
+			|| !VRResources() )
+			return VRInitError_Init_InterfaceNotFound;
+		return VRInitError_None;
+	}
+
+	inline EVRInitError COpenVRDriverContext::InitWatchdog()
+	{
+		Clear();
+		if ( !VRWatchdogHost()
+			|| !VRSettings()
+			|| !VRDriverLog() )
+			return VRInitError_Init_InterfaceNotFound;
+		return VRInitError_None;
+	}
+
+	inline EVRInitError InitServerDriverContext( IVRDriverContext *pContext )
+	{
+		VRDriverContext() = pContext;
+		return OpenVRInternal_ModuleServerDriverContext().InitServer();
+	}
+
+	inline EVRInitError InitWatchdogDriverContext( IVRDriverContext *pContext )
+	{
+		VRDriverContext() = pContext;
+		return OpenVRInternal_ModuleServerDriverContext().InitWatchdog();
+	}
+
+	inline void CleanupDriverContext()
+	{
+		VRDriverContext() = nullptr;
+		OpenVRInternal_ModuleServerDriverContext().Clear();
+	}
+
+	#define VR_INIT_SERVER_DRIVER_CONTEXT( pContext ) \
+			{ \
+			vr::EVRInitError eError = vr::InitServerDriverContext( pContext ); \
+			if( eError != vr::VRInitError_None ) \
+				return eError; \
+			}
+
+	#define VR_CLEANUP_SERVER_DRIVER_CONTEXT() \
+		vr::CleanupDriverContext();
+
+	#define VR_INIT_WATCHDOG_DRIVER_CONTEXT( pContext ) \
+			{ \
+			vr::EVRInitError eError = vr::InitWatchdogDriverContext( pContext ); \
+			if( eError != vr::VRInitError_None ) \
+				return eError; \
+			}
+
+	#define VR_CLEANUP_WATCHDOG_DRIVER_CONTEXT() \
+		vr::CleanupDriverContext();
+}
+// End
+
+#endif // _OPENVR_DRIVER_API
+
+
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/OpenVR b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/OpenVR
new file mode 100755
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diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Resources/Info.plist b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Resources/Info.plist
new file mode 100644
index 000000000..50ff90a2c
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Resources/Info.plist
@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleIdentifier</key>
+	<string>com.valvesoftware.OpenVR.framework</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>OpenVR</string>
+	<key>CFBundlePackageType</key>
+	<string>FMWK</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleVersion</key>
+	<string>1.0</string>
+</dict>
+</plist>
diff --git a/examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a b/examples/ThirdPartyLibs/openvr/bin/osx64/libopenvr_api.a
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diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr.h b/examples/ThirdPartyLibs/openvr/headers/openvr.h
index 2020e9d3a..98410f163 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr.h
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr.h
@@ -143,6 +143,9 @@ enum ETrackingResult
 	TrackingResult_Running_OutOfRange		= 201,
 };
 
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
 static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
 
 /** Used to pass device IDs to API calls */
@@ -309,6 +312,10 @@ enum ETrackedDeviceProperty
 	Prop_DisplayMCImageNumChannels_Int32		= 2040,
 	Prop_DisplayMCImageData_Binary				= 2041,
 	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+	Prop_DriverProvidedChaperonePath_String		= 2048,
 
 	// Properties that are unique to TrackedDeviceClass_Controller
 	Prop_AttachedDeviceId_String				= 3000,
@@ -330,15 +337,15 @@ enum ETrackedDeviceProperty
 	Prop_ModeLabel_String						= 4006,
 
 	// Properties that are used for user interface like icons names
-	Prop_IconPathName_String						= 5000, // usually a directory named "icons"
-	Prop_NamedIconPathDeviceOff_String				= 5001, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceSearching_String		= 5002, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceReady_String			= 5004, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceNotReady_String			= 5006, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceStandby_String			= 5007, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
 
 	// Properties that are used by helpers, but are opaque to applications
 	Prop_DisplayHiddenArea_Binary_Start				= 5100,
@@ -458,6 +465,8 @@ enum EVREventType
 	VREvent_WatchdogWakeUpRequested		= 109,
 	VREvent_LensDistortionChanged		= 110,
 	VREvent_PropertyChanged				= 111,
+	VREvent_WirelessDisconnect			= 112,
+	VREvent_WirelessReconnect			= 113,
 
 	VREvent_ButtonPress					= 200, // data is controller
 	VREvent_ButtonUnpress				= 201, // data is controller
@@ -539,6 +548,7 @@ enum EVREventType
 	VREvent_ModelSkinSettingsHaveChanged	= 853,
 	VREvent_EnvironmentSettingsHaveChanged	= 854,
 	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
 
 	VREvent_StatusUpdate					= 900,
 
@@ -1044,6 +1054,8 @@ enum EVRInitError
 	VRInitError_Init_WatchdogDisabledInSettings = 132,
 	VRInitError_Init_VRDashboardNotFound		= 133,
 	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
 
 	VRInitError_Driver_Failed				= 200,
 	VRInitError_Driver_Unknown				= 201,
@@ -1074,6 +1086,7 @@ enum EVRInitError
 	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
 	VRInitError_Compositor_OverlayInitFailed		= 403,
 	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
 
 	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
 
@@ -1265,6 +1278,22 @@ public:
 	* and swap chain in DX10 and DX11. If an error occurs the index will be set to -1.
 	*/
 	virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex ) = 0;
+	
+	/**
+	 * Returns platform- and texture-type specific adapter identification so that applications and the
+	 * compositor are creating textures and swap chains on the same GPU. If an error occurs the device
+	 * will be set to 0.
+	 * [D3D10/11/12 Only (D3D9 Not Supported)]
+	 *  Returns the adapter LUID that identifies the GPU attached to the HMD. The user should
+	 *  enumerate all adapters using IDXGIFactory::EnumAdapters and IDXGIAdapter::GetDesc to find
+	 *  the adapter with the matching LUID, or use IDXGIFactory4::EnumAdapterByLuid.
+	 *  The discovered IDXGIAdapter should be used to create the device and swap chain.
+	 * [Vulkan Only]
+	 *  Returns the vk::PhysicalDevice that should be used by the application.
+	 * [macOS Only]
+	 *  Returns an id<MTLDevice> that should be used by the application.
+	 */
+	virtual void GetOutputDevice( uint64_t *pnDevice, ETextureType textureType ) = 0;
 
 	// ------------------------------------
 	// Display Mode methods
@@ -1482,7 +1511,7 @@ public:
 
 };
 
-static const char * const IVRSystem_Version = "IVRSystem_015";
+static const char * const IVRSystem_Version = "IVRSystem_016";
 
 }
 
@@ -1511,6 +1540,7 @@ namespace vr
 		VRApplicationError_OldApplicationQuitting = 112, 
 		VRApplicationError_TransitionAborted = 113,
 		VRApplicationError_IsTemplate = 114, // error when you try to call LaunchApplication() on a template type app (use LaunchTemplateApplication)
+		VRApplicationError_SteamVRIsExiting = 115,
 
 		VRApplicationError_BufferTooSmall = 200,		// The provided buffer was too small to fit the requested data
 		VRApplicationError_PropertyNotSet = 201,		// The requested property was not set
@@ -1541,6 +1571,7 @@ namespace vr
 		VRApplicationProperty_IsTemplate_Bool			= 61,
 		VRApplicationProperty_IsInstanced_Bool			= 62,
 		VRApplicationProperty_IsInternal_Bool			= 63,
+		VRApplicationProperty_WantsCompositorPauseInStandby_Bool = 64,
 
 		VRApplicationProperty_LastLaunchTime_Uint64		= 70,
 	};
@@ -1770,7 +1801,7 @@ namespace vr
 	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
 	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
 	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
-	static const char * const k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
 	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
 	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
 	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
@@ -1783,10 +1814,10 @@ namespace vr
 	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
 	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
 	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
-	static const char * const k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp";
 	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
 	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
 	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
 
 	//-----------------------------------------------------------------------------
 	// lighthouse keys
@@ -1844,6 +1875,7 @@ namespace vr
 	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
 	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
 	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
 
 	//-----------------------------------------------------------------------------
 	// collision bounds keys
@@ -1889,6 +1921,7 @@ namespace vr
 	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
 	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
 	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+	static const char * const k_pch_Power_PauseCompositorOnStandby_Bool = "pauseCompositorOnStandby";
 
 	//-----------------------------------------------------------------------------
 	// dashboard keys
@@ -2087,6 +2120,7 @@ enum EVRCompositorError
 	VRCompositorError_SharedTexturesNotSupported = 106,
 	VRCompositorError_IndexOutOfRange			= 107,
 	VRCompositorError_AlreadySubmitted			= 108,
+	VRCompositorError_InvalidBounds				= 109,
 };
 
 const uint32_t VRCompositor_ReprojectionReason_Cpu = 0x01;
@@ -3350,7 +3384,26 @@ public:
 static const char * const IVRResources_Version = "IVRResources_001";
 
 
-}// End
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
+
+// End
 
 #endif // _OPENVR_API
 
@@ -3571,6 +3624,17 @@ namespace vr
 			return m_pVRTrackedCamera;
 		}
 
+		IVRDriverManager *VRDriverManager()
+		{
+			CheckClear();
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = ( IVRDriverManager * )VR_GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
 	private:
 		IVRSystem			*m_pVRSystem;
 		IVRChaperone		*m_pVRChaperone;
@@ -3584,6 +3648,7 @@ namespace vr
 		IVRApplications		*m_pVRApplications;
 		IVRTrackedCamera	*m_pVRTrackedCamera;
 		IVRScreenshots		*m_pVRScreenshots;
+		IVRDriverManager	*m_pVRDriverManager;
 	};
 
 	inline COpenVRContext &OpenVRInternal_ModuleContext()
@@ -3604,6 +3669,7 @@ namespace vr
 	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleContext().VRResources(); }
 	inline IVRExtendedDisplay *VR_CALLTYPE VRExtendedDisplay() { return OpenVRInternal_ModuleContext().VRExtendedDisplay(); }
 	inline IVRTrackedCamera *VR_CALLTYPE VRTrackedCamera() { return OpenVRInternal_ModuleContext().VRTrackedCamera(); }
+	inline IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleContext().VRDriverManager(); }
 
 	inline void COpenVRContext::Clear()
 	{
@@ -3619,6 +3685,7 @@ namespace vr
 		m_pVRTrackedCamera = nullptr;
 		m_pVRResources = nullptr;
 		m_pVRScreenshots = nullptr;
+		m_pVRDriverManager = nullptr;
 	}
 
 	VR_INTERFACE uint32_t VR_CALLTYPE VR_InitInternal( EVRInitError *peError, EVRApplicationType eApplicationType );
diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs b/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs
index 377d91a65..e08047829 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs
@@ -55,6 +55,11 @@ public struct IVRSystem
 	[MarshalAs(UnmanagedType.FunctionPtr)]
 	internal _GetDXGIOutputInfo GetDXGIOutputInfo;
 
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetOutputDevice(ref ulong pnDevice, ETextureType textureType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOutputDevice GetOutputDevice;
+
 	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
 	internal delegate bool _IsDisplayOnDesktop();
 	[MarshalAs(UnmanagedType.FunctionPtr)]
@@ -1477,6 +1482,21 @@ public struct IVRResources
 
 }
 
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRDriverManager
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverCount GetDriverCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverName(uint nDriver, System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverName GetDriverName;
+
+}
+
 
 public class CVRSystem
 {
@@ -1531,6 +1551,11 @@ public class CVRSystem
 		pnAdapterIndex = 0;
 		FnTable.GetDXGIOutputInfo(ref pnAdapterIndex);
 	}
+	public void GetOutputDevice(ref ulong pnDevice,ETextureType textureType)
+	{
+		pnDevice = 0;
+		FnTable.GetOutputDevice(ref pnDevice,textureType);
+	}
 	public bool IsDisplayOnDesktop()
 	{
 		bool result = FnTable.IsDisplayOnDesktop();
@@ -1642,6 +1667,7 @@ public class CVRSystem
 	}
 	public bool PollNextEvent(ref VREvent_t pEvent,uint uncbVREvent)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -1654,6 +1680,7 @@ public class CVRSystem
 			event_packed.Unpack(ref pEvent);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.PollNextEvent(ref pEvent,uncbVREvent);
 		return result;
 	}
@@ -1686,6 +1713,7 @@ public class CVRSystem
 	}
 	public bool GetControllerState(uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -1698,6 +1726,7 @@ public class CVRSystem
 			state_packed.Unpack(ref pControllerState);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.GetControllerState(unControllerDeviceIndex,ref pControllerState,unControllerStateSize);
 		return result;
 	}
@@ -1715,6 +1744,7 @@ public class CVRSystem
 	}
 	public bool GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -1727,6 +1757,7 @@ public class CVRSystem
 			state_packed.Unpack(ref pControllerState);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.GetControllerStateWithPose(eOrigin,unControllerDeviceIndex,ref pControllerState,unControllerStateSize,ref pTrackedDevicePose);
 		return result;
 	}
@@ -2680,6 +2711,7 @@ public class CVROverlay
 	}
 	public bool PollNextOverlayEvent(ulong ulOverlayHandle,ref VREvent_t pEvent,uint uncbVREvent)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -2692,6 +2724,7 @@ public class CVROverlay
 			event_packed.Unpack(ref pEvent);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.PollNextOverlayEvent(ulOverlayHandle,ref pEvent,uncbVREvent);
 		return result;
 	}
@@ -2956,6 +2989,7 @@ public class CVRRenderModels
 	}
 	public bool GetComponentState(string pchRenderModelName,string pchComponentName,ref VRControllerState_t pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -2968,6 +3002,7 @@ public class CVRRenderModels
 			state_packed.Unpack(ref pControllerState);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.GetComponentState(pchRenderModelName,pchComponentName,ref pControllerState,ref pState,ref pComponentState);
 		return result;
 	}
@@ -3145,6 +3180,26 @@ public class CVRResources
 }
 
 
+public class CVRDriverManager
+{
+	IVRDriverManager FnTable;
+	internal CVRDriverManager(IntPtr pInterface)
+	{
+		FnTable = (IVRDriverManager)Marshal.PtrToStructure(pInterface, typeof(IVRDriverManager));
+	}
+	public uint GetDriverCount()
+	{
+		uint result = FnTable.GetDriverCount();
+		return result;
+	}
+	public uint GetDriverName(uint nDriver,System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetDriverName(nDriver,pchValue,unBufferSize);
+		return result;
+	}
+}
+
+
 public class OpenVRInterop
 {
 	[DllImportAttribute("openvr_api", EntryPoint = "VR_InitInternal", CallingConvention = CallingConvention.Cdecl)]
@@ -3296,6 +3351,10 @@ public enum ETrackedDeviceProperty
 	Prop_DisplayMCImageNumChannels_Int32 = 2040,
 	Prop_DisplayMCImageData_Binary = 2041,
 	Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	Prop_DisplayDebugMode_Bool = 2044,
+	Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	Prop_DriverProvidedChaperonePath_String = 2048,
 	Prop_AttachedDeviceId_String = 3000,
 	Prop_SupportedButtons_Uint64 = 3001,
 	Prop_Axis0Type_Int32 = 3002,
@@ -3381,6 +3440,8 @@ public enum EVREventType
 	VREvent_WatchdogWakeUpRequested = 109,
 	VREvent_LensDistortionChanged = 110,
 	VREvent_PropertyChanged = 111,
+	VREvent_WirelessDisconnect = 112,
+	VREvent_WirelessReconnect = 113,
 	VREvent_ButtonPress = 200,
 	VREvent_ButtonUnpress = 201,
 	VREvent_ButtonTouch = 202,
@@ -3449,6 +3510,7 @@ public enum EVREventType
 	VREvent_ModelSkinSettingsHaveChanged = 853,
 	VREvent_EnvironmentSettingsHaveChanged = 854,
 	VREvent_PowerSettingsHaveChanged = 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
 	VREvent_StatusUpdate = 900,
 	VREvent_MCImageUpdated = 1000,
 	VREvent_FirmwareUpdateStarted = 1100,
@@ -3632,6 +3694,8 @@ public enum EVRInitError
 	Init_WatchdogDisabledInSettings = 132,
 	Init_VRDashboardNotFound = 133,
 	Init_VRDashboardStartupFailed = 134,
+	Init_VRHomeNotFound = 135,
+	Init_VRHomeStartupFailed = 136,
 	Driver_Failed = 200,
 	Driver_Unknown = 201,
 	Driver_HmdUnknown = 202,
@@ -3658,6 +3722,7 @@ public enum EVRInitError
 	Compositor_FirmwareRequiresUpdate = 402,
 	Compositor_OverlayInitFailed = 403,
 	Compositor_ScreenshotsInitFailed = 404,
+	Compositor_UnableToCreateDevice = 405,
 	VendorSpecific_UnableToConnectToOculusRuntime = 1000,
 	VendorSpecific_HmdFound_CantOpenDevice = 1101,
 	VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
@@ -3733,6 +3798,7 @@ public enum EVRApplicationError
 	OldApplicationQuitting = 112,
 	TransitionAborted = 113,
 	IsTemplate = 114,
+	SteamVRIsExiting = 115,
 	BufferTooSmall = 200,
 	PropertyNotSet = 201,
 	UnknownProperty = 202,
@@ -3754,6 +3820,7 @@ public enum EVRApplicationProperty
 	IsTemplate_Bool = 61,
 	IsInstanced_Bool = 62,
 	IsInternal_Bool = 63,
+	WantsCompositorPauseInStandby_Bool = 64,
 	LastLaunchTime_Uint64 = 70,
 }
 public enum EVRApplicationTransitionState
@@ -3798,6 +3865,7 @@ public enum EVRCompositorError
 	SharedTexturesNotSupported = 106,
 	IndexOutOfRange = 107,
 	AlreadySubmitted = 108,
+	InvalidBounds = 109,
 }
 public enum VROverlayInputMethod
 {
@@ -4479,6 +4547,7 @@ public enum EVRScreenshotError
 	public IntPtr m_pVRApplications; // class vr::IVRApplications *
 	public IntPtr m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
 	public IntPtr m_pVRScreenshots; // class vr::IVRScreenshots *
+	public IntPtr m_pVRDriverManager; // class vr::IVRDriverManager *
 }
 
 public class OpenVR
@@ -4524,6 +4593,7 @@ public class OpenVR
 		return OpenVRInterop.GetInitToken();
 	}
 
+	public const uint k_nDriverNone = 4294967295;
 	public const uint k_unMaxDriverDebugResponseSize = 32768;
 	public const uint k_unTrackedDeviceIndex_Hmd = 0;
 	public const uint k_unMaxTrackedDeviceCount = 16;
@@ -4547,7 +4617,7 @@ public class OpenVR
 	public const uint k_unControllerStateAxisCount = 5;
 	public const ulong k_ulOverlayHandleInvalid = 0;
 	public const uint k_unScreenshotHandleInvalid = 0;
-	public const string IVRSystem_Version = "IVRSystem_015";
+	public const string IVRSystem_Version = "IVRSystem_016";
 	public const string IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
 	public const string IVRTrackedCamera_Version = "IVRTrackedCamera_003";
 	public const uint k_unMaxApplicationKeyLength = 128;
@@ -4598,7 +4668,7 @@ public class OpenVR
 	public const string k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
 	public const string k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
 	public const string k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
-	public const string k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier";
+	public const string k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
 	public const string k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
 	public const string k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
 	public const string k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
@@ -4611,10 +4681,10 @@ public class OpenVR
 	public const string k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
 	public const string k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
 	public const string k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
-	public const string k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp";
 	public const string k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
 	public const string k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
 	public const string k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	public const string k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
 	public const string k_pch_Lighthouse_Section = "driver_lighthouse";
 	public const string k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
 	public const string k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
@@ -4654,6 +4724,7 @@ public class OpenVR
 	public const string k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
 	public const string k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
 	public const string k_pch_Perf_TestData_Float = "perfTestData";
+	public const string k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
 	public const string k_pch_CollisionBounds_Section = "collisionBounds";
 	public const string k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
 	public const string k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
@@ -4687,6 +4758,7 @@ public class OpenVR
 	public const string k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
 	public const string k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
 	public const string k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+	public const string k_pch_Power_PauseCompositorOnStandby_Bool = "pauseCompositorOnStandby";
 	public const string k_pch_Dashboard_Section = "dashboard";
 	public const string k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
 	public const string k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
@@ -4694,6 +4766,7 @@ public class OpenVR
 	public const string k_pch_Driver_Enable_Bool = "enable";
 	public const string IVRScreenshots_Version = "IVRScreenshots_001";
 	public const string IVRResources_Version = "IVRResources_001";
+	public const string IVRDriverManager_Version = "IVRDriverManager_001";
 
 	static uint VRToken { get; set; }
 
diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_api.json b/examples/ThirdPartyLibs/openvr/headers/openvr_api.json
index 43c3bf958..f4fab7478 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr_api.json
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr_api.json
@@ -2,6 +2,7 @@
 ,{"typedef": "vr::glInt_t","type": "int32_t"}
 ,{"typedef": "vr::glUInt_t","type": "uint32_t"}
 ,{"typedef": "vr::SharedTextureHandle_t","type": "uint64_t"}
+,{"typedef": "vr::DriverId_t","type": "uint32_t"}
 ,{"typedef": "vr::TrackedDeviceIndex_t","type": "uint32_t"}
 ,{"typedef": "vr::PropertyContainerHandle_t","type": "uint64_t"}
 ,{"typedef": "vr::PropertyTypeTag_t","type": "uint32_t"}
@@ -153,6 +154,10 @@
 	,{"name": "Prop_DisplayMCImageNumChannels_Int32","value": "2040"}
 	,{"name": "Prop_DisplayMCImageData_Binary","value": "2041"}
 	,{"name": "Prop_SecondsFromPhotonsToVblank_Float","value": "2042"}
+	,{"name": "Prop_DriverDirectModeSendsVsyncEvents_Bool","value": "2043"}
+	,{"name": "Prop_DisplayDebugMode_Bool","value": "2044"}
+	,{"name": "Prop_GraphicsAdapterLuid_Uint64","value": "2045"}
+	,{"name": "Prop_DriverProvidedChaperonePath_String","value": "2048"}
 	,{"name": "Prop_AttachedDeviceId_String","value": "3000"}
 	,{"name": "Prop_SupportedButtons_Uint64","value": "3001"}
 	,{"name": "Prop_Axis0Type_Int32","value": "3002"}
@@ -234,6 +239,8 @@
 	,{"name": "VREvent_WatchdogWakeUpRequested","value": "109"}
 	,{"name": "VREvent_LensDistortionChanged","value": "110"}
 	,{"name": "VREvent_PropertyChanged","value": "111"}
+	,{"name": "VREvent_WirelessDisconnect","value": "112"}
+	,{"name": "VREvent_WirelessReconnect","value": "113"}
 	,{"name": "VREvent_ButtonPress","value": "200"}
 	,{"name": "VREvent_ButtonUnpress","value": "201"}
 	,{"name": "VREvent_ButtonTouch","value": "202"}
@@ -302,6 +309,7 @@
 	,{"name": "VREvent_ModelSkinSettingsHaveChanged","value": "853"}
 	,{"name": "VREvent_EnvironmentSettingsHaveChanged","value": "854"}
 	,{"name": "VREvent_PowerSettingsHaveChanged","value": "855"}
+	,{"name": "VREvent_EnableHomeAppSettingsHaveChanged","value": "856"}
 	,{"name": "VREvent_StatusUpdate","value": "900"}
 	,{"name": "VREvent_MCImageUpdated","value": "1000"}
 	,{"name": "VREvent_FirmwareUpdateStarted","value": "1100"}
@@ -473,6 +481,8 @@
 	,{"name": "VRInitError_Init_WatchdogDisabledInSettings","value": "132"}
 	,{"name": "VRInitError_Init_VRDashboardNotFound","value": "133"}
 	,{"name": "VRInitError_Init_VRDashboardStartupFailed","value": "134"}
+	,{"name": "VRInitError_Init_VRHomeNotFound","value": "135"}
+	,{"name": "VRInitError_Init_VRHomeStartupFailed","value": "136"}
 	,{"name": "VRInitError_Driver_Failed","value": "200"}
 	,{"name": "VRInitError_Driver_Unknown","value": "201"}
 	,{"name": "VRInitError_Driver_HmdUnknown","value": "202"}
@@ -499,6 +509,7 @@
 	,{"name": "VRInitError_Compositor_FirmwareRequiresUpdate","value": "402"}
 	,{"name": "VRInitError_Compositor_OverlayInitFailed","value": "403"}
 	,{"name": "VRInitError_Compositor_ScreenshotsInitFailed","value": "404"}
+	,{"name": "VRInitError_Compositor_UnableToCreateDevice","value": "405"}
 	,{"name": "VRInitError_VendorSpecific_UnableToConnectToOculusRuntime","value": "1000"}
 	,{"name": "VRInitError_VendorSpecific_HmdFound_CantOpenDevice","value": "1101"}
 	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart","value": "1102"}
@@ -569,6 +580,7 @@
 	,{"name": "VRApplicationError_OldApplicationQuitting","value": "112"}
 	,{"name": "VRApplicationError_TransitionAborted","value": "113"}
 	,{"name": "VRApplicationError_IsTemplate","value": "114"}
+	,{"name": "VRApplicationError_SteamVRIsExiting","value": "115"}
 	,{"name": "VRApplicationError_BufferTooSmall","value": "200"}
 	,{"name": "VRApplicationError_PropertyNotSet","value": "201"}
 	,{"name": "VRApplicationError_UnknownProperty","value": "202"}
@@ -589,6 +601,7 @@
 	,{"name": "VRApplicationProperty_IsTemplate_Bool","value": "61"}
 	,{"name": "VRApplicationProperty_IsInstanced_Bool","value": "62"}
 	,{"name": "VRApplicationProperty_IsInternal_Bool","value": "63"}
+	,{"name": "VRApplicationProperty_WantsCompositorPauseInStandby_Bool","value": "64"}
 	,{"name": "VRApplicationProperty_LastLaunchTime_Uint64","value": "70"}
 ]}
 ,	{"enumname": "vr::EVRApplicationTransitionState","values": [ 
@@ -628,6 +641,7 @@
 	,{"name": "VRCompositorError_SharedTexturesNotSupported","value": "106"}
 	,{"name": "VRCompositorError_IndexOutOfRange","value": "107"}
 	,{"name": "VRCompositorError_AlreadySubmitted","value": "108"}
+	,{"name": "VRCompositorError_InvalidBounds","value": "109"}
 ]}
 ,	{"enumname": "vr::VROverlayInputMethod","values": [ 
 	{"name": "VROverlayInputMethod_None","value": "0"}
@@ -738,6 +752,8 @@
 ]}
 ],
 "consts":[{
+	"constname": "k_nDriverNone","consttype": "const uint32_t", "constval": "4294967295"}
+,{
 	"constname": "k_unMaxDriverDebugResponseSize","consttype": "const uint32_t", "constval": "32768"}
 ,{
 	"constname": "k_unTrackedDeviceIndex_Hmd","consttype": "const uint32_t", "constval": "0"}
@@ -784,7 +800,7 @@
 ,{
 	"constname": "k_unScreenshotHandleInvalid","consttype": "const uint32_t", "constval": "0"}
 ,{
-	"constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_015"}
+	"constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_016"}
 ,{
 	"constname": "IVRExtendedDisplay_Version","consttype": "const char *const", "constval": "IVRExtendedDisplay_001"}
 ,{
@@ -886,7 +902,7 @@
 ,{
 	"constname": "k_pch_SteamVR_NeverKillProcesses_Bool","consttype": "const char *const", "constval": "neverKillProcesses"}
 ,{
-	"constname": "k_pch_SteamVR_RenderTargetMultiplier_Float","consttype": "const char *const", "constval": "renderTargetMultiplier"}
+	"constname": "k_pch_SteamVR_SupersampleScale_Float","consttype": "const char *const", "constval": "supersampleScale"}
 ,{
 	"constname": "k_pch_SteamVR_AllowAsyncReprojection_Bool","consttype": "const char *const", "constval": "allowAsyncReprojection"}
 ,{
@@ -911,14 +927,14 @@
 	"constname": "k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool","consttype": "const char *const", "constval": "startOverlayAppsFromDashboard"}
 ,{
 	"constname": "k_pch_SteamVR_EnableHomeApp","consttype": "const char *const", "constval": "enableHomeApp"}
-,{
-	"constname": "k_pch_SteamVR_SetInitialDefaultHomeApp","consttype": "const char *const", "constval": "setInitialDefaultHomeApp"}
 ,{
 	"constname": "k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32","consttype": "const char *const", "constval": "CycleBackgroundImageTimeSec"}
 ,{
 	"constname": "k_pch_SteamVR_RetailDemo_Bool","consttype": "const char *const", "constval": "retailDemo"}
 ,{
 	"constname": "k_pch_SteamVR_IpdOffset_Float","consttype": "const char *const", "constval": "ipdOffset"}
+,{
+	"constname": "k_pch_SteamVR_AllowSupersampleFiltering_Bool","consttype": "const char *const", "constval": "allowSupersampleFiltering"}
 ,{
 	"constname": "k_pch_Lighthouse_Section","consttype": "const char *const", "constval": "driver_lighthouse"}
 ,{
@@ -997,6 +1013,8 @@
 	"constname": "k_pch_Perf_SaveTimingsOnExit_Bool","consttype": "const char *const", "constval": "saveTimingsOnExit"}
 ,{
 	"constname": "k_pch_Perf_TestData_Float","consttype": "const char *const", "constval": "perfTestData"}
+,{
+	"constname": "k_pch_Perf_LinuxGPUProfiling_Bool","consttype": "const char *const", "constval": "linuxGPUProfiling"}
 ,{
 	"constname": "k_pch_CollisionBounds_Section","consttype": "const char *const", "constval": "collisionBounds"}
 ,{
@@ -1063,6 +1081,8 @@
 	"constname": "k_pch_Power_ReturnToWatchdogTimeout_Float","consttype": "const char *const", "constval": "returnToWatchdogTimeout"}
 ,{
 	"constname": "k_pch_Power_AutoLaunchSteamVROnButtonPress","consttype": "const char *const", "constval": "autoLaunchSteamVROnButtonPress"}
+,{
+	"constname": "k_pch_Power_PauseCompositorOnStandby_Bool","consttype": "const char *const", "constval": "pauseCompositorOnStandby"}
 ,{
 	"constname": "k_pch_Dashboard_Section","consttype": "const char *const", "constval": "dashboard"}
 ,{
@@ -1077,6 +1097,8 @@
 	"constname": "IVRScreenshots_Version","consttype": "const char *const", "constval": "IVRScreenshots_001"}
 ,{
 	"constname": "IVRResources_Version","consttype": "const char *const", "constval": "IVRResources_001"}
+,{
+	"constname": "IVRDriverManager_Version","consttype": "const char *const", "constval": "IVRDriverManager_001"}
 ],
 "structs":[{"struct": "vr::HmdMatrix34_t","fields": [
 { "fieldname": "m", "fieldtype": "float [3][4]"}]}
@@ -1363,7 +1385,8 @@
 { "fieldname": "m_pVRSettings", "fieldtype": "class vr::IVRSettings *"},
 { "fieldname": "m_pVRApplications", "fieldtype": "class vr::IVRApplications *"},
 { "fieldname": "m_pVRTrackedCamera", "fieldtype": "class vr::IVRTrackedCamera *"},
-{ "fieldname": "m_pVRScreenshots", "fieldtype": "class vr::IVRScreenshots *"}]}
+{ "fieldname": "m_pVRScreenshots", "fieldtype": "class vr::IVRScreenshots *"},
+{ "fieldname": "m_pVRDriverManager", "fieldtype": "class vr::IVRDriverManager *"}]}
 ],
 "methods":[{
 	"classname": "vr::IVRSystem",
@@ -1437,6 +1460,15 @@
 {	"paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"}
 	 ]
 }
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetOutputDevice",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnDevice" ,"paramtype": "uint64_t *"},
+{	"paramname": "textureType" ,"paramtype": "vr::ETextureType"}
+	 ]
+}
 ,{
 	"classname": "vr::IVRSystem",
 	"methodname": "IsDisplayOnDesktop",
@@ -3844,5 +3876,20 @@
 {	"paramname": "unBufferLen" ,"paramtype": "uint32_t"}
 	 ]
 }
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "nDriver" ,"paramtype": "vr::DriverId_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
 ]
 }
\ No newline at end of file
diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h b/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h
index f89566817..24d277876 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h
@@ -60,6 +60,7 @@ typedef uint32_t PropertyTypeTag_t;
 
 // OpenVR Constants
 
+static const unsigned int k_nDriverNone = 4294967295;
 static const unsigned int k_unMaxDriverDebugResponseSize = 32768;
 static const unsigned int k_unTrackedDeviceIndex_Hmd = 0;
 static const unsigned int k_unMaxTrackedDeviceCount = 16;
@@ -83,7 +84,7 @@ static const unsigned int k_unMaxPropertyStringSize = 32768;
 static const unsigned int k_unControllerStateAxisCount = 5;
 static const unsigned long k_ulOverlayHandleInvalid = 0;
 static const unsigned int k_unScreenshotHandleInvalid = 0;
-static const char * IVRSystem_Version = "IVRSystem_015";
+static const char * IVRSystem_Version = "IVRSystem_016";
 static const char * IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
 static const char * IVRTrackedCamera_Version = "IVRTrackedCamera_003";
 static const unsigned int k_unMaxApplicationKeyLength = 128;
@@ -134,7 +135,7 @@ static const char * k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
 static const char * k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
 static const char * k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
 static const char * k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
-static const char * k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier";
+static const char * k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
 static const char * k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
 static const char * k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
 static const char * k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
@@ -147,10 +148,10 @@ static const char * k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startComp
 static const char * k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
 static const char * k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
 static const char * k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
-static const char * k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp";
 static const char * k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
 static const char * k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
 static const char * k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+static const char * k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
 static const char * k_pch_Lighthouse_Section = "driver_lighthouse";
 static const char * k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
 static const char * k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
@@ -190,6 +191,7 @@ static const char * k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
 static const char * k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
 static const char * k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
 static const char * k_pch_Perf_TestData_Float = "perfTestData";
+static const char * k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
 static const char * k_pch_CollisionBounds_Section = "collisionBounds";
 static const char * k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
 static const char * k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
@@ -223,6 +225,7 @@ static const char * k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTim
 static const char * k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
 static const char * k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
 static const char * k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+static const char * k_pch_Power_PauseCompositorOnStandby_Bool = "pauseCompositorOnStandby";
 static const char * k_pch_Dashboard_Section = "dashboard";
 static const char * k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
 static const char * k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
@@ -230,6 +233,7 @@ static const char * k_pch_modelskin_Section = "modelskins";
 static const char * k_pch_Driver_Enable_Bool = "enable";
 static const char * IVRScreenshots_Version = "IVRScreenshots_001";
 static const char * IVRResources_Version = "IVRResources_001";
+static const char * IVRDriverManager_Version = "IVRDriverManager_001";
 
 // OpenVR Enums
 
@@ -370,6 +374,10 @@ typedef enum ETrackedDeviceProperty
 	ETrackedDeviceProperty_Prop_DisplayMCImageNumChannels_Int32 = 2040,
 	ETrackedDeviceProperty_Prop_DisplayMCImageData_Binary = 2041,
 	ETrackedDeviceProperty_Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	ETrackedDeviceProperty_Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	ETrackedDeviceProperty_Prop_DisplayDebugMode_Bool = 2044,
+	ETrackedDeviceProperty_Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	ETrackedDeviceProperty_Prop_DriverProvidedChaperonePath_String = 2048,
 	ETrackedDeviceProperty_Prop_AttachedDeviceId_String = 3000,
 	ETrackedDeviceProperty_Prop_SupportedButtons_Uint64 = 3001,
 	ETrackedDeviceProperty_Prop_Axis0Type_Int32 = 3002,
@@ -459,6 +467,8 @@ typedef enum EVREventType
 	EVREventType_VREvent_WatchdogWakeUpRequested = 109,
 	EVREventType_VREvent_LensDistortionChanged = 110,
 	EVREventType_VREvent_PropertyChanged = 111,
+	EVREventType_VREvent_WirelessDisconnect = 112,
+	EVREventType_VREvent_WirelessReconnect = 113,
 	EVREventType_VREvent_ButtonPress = 200,
 	EVREventType_VREvent_ButtonUnpress = 201,
 	EVREventType_VREvent_ButtonTouch = 202,
@@ -527,6 +537,7 @@ typedef enum EVREventType
 	EVREventType_VREvent_ModelSkinSettingsHaveChanged = 853,
 	EVREventType_VREvent_EnvironmentSettingsHaveChanged = 854,
 	EVREventType_VREvent_PowerSettingsHaveChanged = 855,
+	EVREventType_VREvent_EnableHomeAppSettingsHaveChanged = 856,
 	EVREventType_VREvent_StatusUpdate = 900,
 	EVREventType_VREvent_MCImageUpdated = 1000,
 	EVREventType_VREvent_FirmwareUpdateStarted = 1100,
@@ -722,6 +733,8 @@ typedef enum EVRInitError
 	EVRInitError_VRInitError_Init_WatchdogDisabledInSettings = 132,
 	EVRInitError_VRInitError_Init_VRDashboardNotFound = 133,
 	EVRInitError_VRInitError_Init_VRDashboardStartupFailed = 134,
+	EVRInitError_VRInitError_Init_VRHomeNotFound = 135,
+	EVRInitError_VRInitError_Init_VRHomeStartupFailed = 136,
 	EVRInitError_VRInitError_Driver_Failed = 200,
 	EVRInitError_VRInitError_Driver_Unknown = 201,
 	EVRInitError_VRInitError_Driver_HmdUnknown = 202,
@@ -748,6 +761,7 @@ typedef enum EVRInitError
 	EVRInitError_VRInitError_Compositor_FirmwareRequiresUpdate = 402,
 	EVRInitError_VRInitError_Compositor_OverlayInitFailed = 403,
 	EVRInitError_VRInitError_Compositor_ScreenshotsInitFailed = 404,
+	EVRInitError_VRInitError_Compositor_UnableToCreateDevice = 405,
 	EVRInitError_VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
 	EVRInitError_VRInitError_VendorSpecific_HmdFound_CantOpenDevice = 1101,
 	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
@@ -828,6 +842,7 @@ typedef enum EVRApplicationError
 	EVRApplicationError_VRApplicationError_OldApplicationQuitting = 112,
 	EVRApplicationError_VRApplicationError_TransitionAborted = 113,
 	EVRApplicationError_VRApplicationError_IsTemplate = 114,
+	EVRApplicationError_VRApplicationError_SteamVRIsExiting = 115,
 	EVRApplicationError_VRApplicationError_BufferTooSmall = 200,
 	EVRApplicationError_VRApplicationError_PropertyNotSet = 201,
 	EVRApplicationError_VRApplicationError_UnknownProperty = 202,
@@ -850,6 +865,7 @@ typedef enum EVRApplicationProperty
 	EVRApplicationProperty_VRApplicationProperty_IsTemplate_Bool = 61,
 	EVRApplicationProperty_VRApplicationProperty_IsInstanced_Bool = 62,
 	EVRApplicationProperty_VRApplicationProperty_IsInternal_Bool = 63,
+	EVRApplicationProperty_VRApplicationProperty_WantsCompositorPauseInStandby_Bool = 64,
 	EVRApplicationProperty_VRApplicationProperty_LastLaunchTime_Uint64 = 70,
 } EVRApplicationProperty;
 
@@ -899,6 +915,7 @@ typedef enum EVRCompositorError
 	EVRCompositorError_VRCompositorError_SharedTexturesNotSupported = 106,
 	EVRCompositorError_VRCompositorError_IndexOutOfRange = 107,
 	EVRCompositorError_VRCompositorError_AlreadySubmitted = 108,
+	EVRCompositorError_VRCompositorError_InvalidBounds = 109,
 } EVRCompositorError;
 
 typedef enum VROverlayInputMethod
@@ -1047,6 +1064,7 @@ typedef void * glSharedTextureHandle_t;
 typedef int32_t glInt_t;
 typedef uint32_t glUInt_t;
 typedef uint64_t SharedTextureHandle_t;
+typedef uint32_t DriverId_t;
 typedef uint32_t TrackedDeviceIndex_t;
 typedef uint64_t PropertyContainerHandle_t;
 typedef uint32_t PropertyTypeTag_t;
@@ -1503,6 +1521,7 @@ typedef struct COpenVRContext
 	intptr_t m_pVRApplications; // class vr::IVRApplications *
 	intptr_t m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
 	intptr_t m_pVRScreenshots; // class vr::IVRScreenshots *
+	intptr_t m_pVRDriverManager; // class vr::IVRDriverManager *
 } COpenVRContext;
 
 
@@ -1560,6 +1579,7 @@ struct VR_IVRSystem_FnTable
 	bool (OPENVR_FNTABLE_CALLTYPE *GetTimeSinceLastVsync)(float * pfSecondsSinceLastVsync, uint64_t * pulFrameCounter);
 	int32_t (OPENVR_FNTABLE_CALLTYPE *GetD3D9AdapterIndex)();
 	void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex);
+	void (OPENVR_FNTABLE_CALLTYPE *GetOutputDevice)(uint64_t * pnDevice, ETextureType textureType);
 	bool (OPENVR_FNTABLE_CALLTYPE *IsDisplayOnDesktop)();
 	bool (OPENVR_FNTABLE_CALLTYPE *SetDisplayVisibility)(bool bIsVisibleOnDesktop);
 	void (OPENVR_FNTABLE_CALLTYPE *GetDeviceToAbsoluteTrackingPose)(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, struct TrackedDevicePose_t * pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount);
@@ -1882,6 +1902,12 @@ struct VR_IVRResources_FnTable
 	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetResourceFullPath)(char * pchResourceName, char * pchResourceTypeDirectory, char * pchPathBuffer, uint32_t unBufferLen);
 };
 
+struct VR_IVRDriverManager_FnTable
+{
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverCount)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverName)(DriverId_t nDriver, char * pchValue, uint32_t unBufferSize);
+};
+
 
 #if 0
 // Global entry points
diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h b/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h
index e0732a0f5..7e1d64596 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h
@@ -143,6 +143,9 @@ enum ETrackingResult
 	TrackingResult_Running_OutOfRange		= 201,
 };
 
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
 static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
 
 /** Used to pass device IDs to API calls */
@@ -309,6 +312,10 @@ enum ETrackedDeviceProperty
 	Prop_DisplayMCImageNumChannels_Int32		= 2040,
 	Prop_DisplayMCImageData_Binary				= 2041,
 	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+	Prop_DriverProvidedChaperonePath_String		= 2048,
 
 	// Properties that are unique to TrackedDeviceClass_Controller
 	Prop_AttachedDeviceId_String				= 3000,
@@ -330,15 +337,15 @@ enum ETrackedDeviceProperty
 	Prop_ModeLabel_String						= 4006,
 
 	// Properties that are used for user interface like icons names
-	Prop_IconPathName_String						= 5000, // usually a directory named "icons"
-	Prop_NamedIconPathDeviceOff_String				= 5001, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceSearching_String		= 5002, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceReady_String			= 5004, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceNotReady_String			= 5006, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceStandby_String			= 5007, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
 
 	// Properties that are used by helpers, but are opaque to applications
 	Prop_DisplayHiddenArea_Binary_Start				= 5100,
@@ -458,6 +465,8 @@ enum EVREventType
 	VREvent_WatchdogWakeUpRequested		= 109,
 	VREvent_LensDistortionChanged		= 110,
 	VREvent_PropertyChanged				= 111,
+	VREvent_WirelessDisconnect			= 112,
+	VREvent_WirelessReconnect			= 113,
 
 	VREvent_ButtonPress					= 200, // data is controller
 	VREvent_ButtonUnpress				= 201, // data is controller
@@ -539,6 +548,7 @@ enum EVREventType
 	VREvent_ModelSkinSettingsHaveChanged	= 853,
 	VREvent_EnvironmentSettingsHaveChanged	= 854,
 	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
 
 	VREvent_StatusUpdate					= 900,
 
@@ -1044,6 +1054,8 @@ enum EVRInitError
 	VRInitError_Init_WatchdogDisabledInSettings = 132,
 	VRInitError_Init_VRDashboardNotFound		= 133,
 	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
 
 	VRInitError_Driver_Failed				= 200,
 	VRInitError_Driver_Unknown				= 201,
@@ -1074,6 +1086,7 @@ enum EVRInitError
 	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
 	VRInitError_Compositor_OverlayInitFailed		= 403,
 	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
 
 	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
 
@@ -1374,7 +1387,7 @@ namespace vr
 	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
 	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
 	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
-	static const char * const k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
 	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
 	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
 	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
@@ -1387,10 +1400,10 @@ namespace vr
 	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
 	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
 	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
-	static const char * const k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp";
 	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
 	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
 	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
 
 	//-----------------------------------------------------------------------------
 	// lighthouse keys
@@ -1448,6 +1461,7 @@ namespace vr
 	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
 	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
 	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
 
 	//-----------------------------------------------------------------------------
 	// collision bounds keys
@@ -1493,6 +1507,7 @@ namespace vr
 	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
 	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
 	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+	static const char * const k_pch_Power_PauseCompositorOnStandby_Bool = "pauseCompositorOnStandby";
 
 	//-----------------------------------------------------------------------------
 	// dashboard keys
@@ -2278,6 +2293,9 @@ public:
 	* poses across different drivers.  Poses are indexed by their device id, and their associated driver and
 	* other properties can be looked up via IVRProperties. */
 	virtual void GetRawTrackedDevicePoses( float fPredictedSecondsFromNow, TrackedDevicePose_t *pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount ) = 0;
+
+	/** Notifies the server that a tracked device's display component transforms have been updated. */
+	virtual void TrackedDeviceDisplayTransformUpdated( uint32_t unWhichDevice, HmdMatrix34_t eyeToHeadLeft, HmdMatrix34_t eyeToHeadRight ) = 0;
 };
 
 static const char *IVRServerDriverHost_Version = "IVRServerDriverHost_004";
@@ -2385,6 +2403,49 @@ namespace vr
 }
 
 
+// ivrresources.h
+namespace vr
+{
+
+class IVRResources
+{
+public:
+
+	// ------------------------------------
+	// Shared Resource Methods
+	// ------------------------------------
+
+	/** Loads the specified resource into the provided buffer if large enough.
+	* Returns the size in bytes of the buffer required to hold the specified resource. */
+	virtual uint32_t LoadSharedResource( const char *pchResourceName, char *pchBuffer, uint32_t unBufferLen ) = 0;
+
+	/** Provides the full path to the specified resource. Resource names can include named directories for
+	* drivers and other things, and this resolves all of those and returns the actual physical path. 
+	* pchResourceTypeDirectory is the subdirectory of resources to look in. */
+	virtual uint32_t GetResourceFullPath( const char *pchResourceName, const char *pchResourceTypeDirectory, char *pchPathBuffer, uint32_t unBufferLen ) = 0;
+};
+
+static const char * const IVRResources_Version = "IVRResources_001";
+
+
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
 
 
 
@@ -2402,6 +2463,8 @@ namespace vr
 		IServerTrackedDeviceProvider_Version,
 		IVRWatchdogProvider_Version,
 		IVRVirtualDisplay_Version,
+		IVRDriverManager_Version,
+		IVRResources_Version,
 		nullptr
 	};
 
@@ -2489,14 +2552,37 @@ namespace vr
 			return VRDriverContext()->GetDriverHandle();
 		}
 
+		IVRDriverManager *VRDriverManager()
+		{
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = (IVRDriverManager *)VRDriverContext()->GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
+		IVRResources *VRResources()
+		{
+			if ( !m_pVRResources )
+			{
+				EVRInitError eError;
+				m_pVRResources = (IVRResources *)VRDriverContext()->GetGenericInterface( IVRResources_Version, &eError );
+			}
+			return m_pVRResources;
+		}
+
 	private:
-		IVRSettings			*m_pVRSettings;
-		IVRProperties		*m_pVRProperties;
-		CVRPropertyHelpers	m_propertyHelpers;
+		CVRPropertyHelpers		m_propertyHelpers;
 		CVRHiddenAreaHelpers	m_hiddenAreaHelpers;
-		IVRServerDriverHost	*m_pVRServerDriverHost;
-		IVRWatchdogHost		*m_pVRWatchdogHost;
-		IVRDriverLog		*m_pVRDriverLog;
+
+		IVRSettings				*m_pVRSettings;
+		IVRProperties			*m_pVRProperties;
+		IVRServerDriverHost		*m_pVRServerDriverHost;
+		IVRWatchdogHost			*m_pVRWatchdogHost;
+		IVRDriverLog			*m_pVRDriverLog;
+		IVRDriverManager		*m_pVRDriverManager;
+		IVRResources			*m_pVRResources;
 	};
 
 	inline COpenVRDriverContext &OpenVRInternal_ModuleServerDriverContext()
@@ -2513,6 +2599,9 @@ namespace vr
 	inline IVRServerDriverHost *VR_CALLTYPE VRServerDriverHost() { return OpenVRInternal_ModuleServerDriverContext().VRServerDriverHost(); }
 	inline IVRWatchdogHost *VR_CALLTYPE VRWatchdogHost() { return OpenVRInternal_ModuleServerDriverContext().VRWatchdogHost(); }
 	inline DriverHandle_t VR_CALLTYPE VRDriverHandle() { return OpenVRInternal_ModuleServerDriverContext().VRDriverHandle(); }
+	inline IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleServerDriverContext().VRDriverManager(); }
+	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleServerDriverContext().VRResources(); }
+
 	inline void COpenVRDriverContext::Clear()
 	{
 		m_pVRSettings = nullptr;
@@ -2520,6 +2609,8 @@ namespace vr
 		m_pVRServerDriverHost = nullptr;
 		m_pVRDriverLog = nullptr;
 		m_pVRWatchdogHost = nullptr;
+		m_pVRDriverManager = nullptr;
+		m_pVRResources = nullptr;
 	}
 
 	inline EVRInitError COpenVRDriverContext::InitServer()
@@ -2528,7 +2619,9 @@ namespace vr
 		if ( !VRServerDriverHost()
 			|| !VRSettings()
 			|| !VRProperties()
-			|| !VRDriverLog() )
+			|| !VRDriverLog() 
+			|| !VRDriverManager()
+			|| !VRResources() )
 			return VRInitError_Init_InterfaceNotFound;
 		return VRInitError_None;
 	}
diff --git a/examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so
old mode 100644
new mode 100755
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diff --git a/examples/ThirdPartyLibs/openvr/lib/win32/openvr_api.lib b/examples/ThirdPartyLibs/openvr/lib/win32/openvr_api.lib
index 130bad031c00db9e97245777099c4a2282b69d5b..bf79ff39745896f1b7708bc9578d6e2a51558d34 100644
GIT binary patch
delta 669
zcmX@3cSdi5B&Vr?fr+7kv60c_03orB76(~SMK(*Yo<<cCmoP9>fPe%pA4X<|ONDun
zLW~Ry9Fqfiq&J&!J!V8TVzLE~01HUbW*;7QG&xZt3lj{(ZcO&&k>9+GmlaL%<Wqbi
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ryWzrqqR7JVP~Rtt9_q@lP`47ZM=~EJLN<sY8wQf%6o&?sg18O<5i_yg

delta 669
zcmX@3cSdi5B&Ug`k-3qnv8CnY03orB76(~SMK(*Yo<<cCmoP9>fPe%pA4X<|>3TmS
zgcunZI3@@3NN+addd!Gw#AFK|0Tz&=%|1NrXmX-P7A6>m-I(mlBfohWFDshj$*1^4
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rcEg4JM3IHzp}tQPJ=B$9p>8E+k7PbdglrH)HVh=iDGm)N1#uk!H2Ssv

diff --git a/examples/ThirdPartyLibs/openvr/lib/win64/openvr_api.lib b/examples/ThirdPartyLibs/openvr/lib/win64/openvr_api.lib
index e8d9abf0eab0615897153cfca237cb4ff03e3311..0afa05caf4a2486314af5dea7b3d9e730971fe7c 100644
GIT binary patch
delta 665
zcmeyO`$czxB&Vr?fr+7kv612A1)O3VEoQTzifsPGvJ_QFjpbrtUgY9aoQzEIiJQ-G
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sh{zH}H}I?|B#=~rfg}J7r2S0d7>-2>{3tP$zz2GFqZl+KPKfCM0Dk<r+yDRo

delta 665
zcmeyO`$czxB&Ug`k-3qnv8Czc1)O3VEoQTzifsPGvJ_QFjb*al&xpmRI2oDDOg5k4
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diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
index 2ea352406..da2e8ce78 100644
--- a/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
+++ b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
@@ -4,11 +4,12 @@
 #include "pathtools.h"
 
 #if defined( _WIN32)
-#include <Windows.h>
+#include <windows.h>
 #include <direct.h>
-#include <Shobjidl.h>
-#include <KnownFolders.h>
-#include <Shlobj.h>
+#include <shobjidl.h>
+#include <knownfolders.h>
+#include <shlobj.h>
+#include <share.h>
 
 #undef GetEnvironmentVariable
 #else
diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/strtools.h b/examples/ThirdPartyLibs/openvr/samples/shared/strtools.h
index b69ef15dc..57e62714d 100644
--- a/examples/ThirdPartyLibs/openvr/samples/shared/strtools.h
+++ b/examples/ThirdPartyLibs/openvr/samples/shared/strtools.h
@@ -37,13 +37,15 @@ std::string StringToLower( const std::string & sString );
 
 // we stricmp (from WIN) but it isn't POSIX - OSX/LINUX have strcasecmp so just inline bridge to it
 #if defined( OSX ) || defined( LINUX )
-#include <strings.h>
-inline int stricmp(const char *pStr1, const char *pStr2) { return strcasecmp(pStr1,pStr2); }
-#ifndef _stricmp
-#define _stricmp stricmp
+#ifndef __THROW // If __THROW is defined, these will clash with throw() versions on gcc
+	#include <strings.h>
+	inline int stricmp(const char *pStr1, const char *pStr2) { return strcasecmp(pStr1,pStr2); }
+	#ifndef _stricmp
+	#define _stricmp stricmp
+	#endif
+	inline int strnicmp( const char *pStr1, const char *pStr2, size_t unBufferLen ) { return strncasecmp( pStr1,pStr2, unBufferLen ); }
+	#define _strnicmp strnicmp
 #endif
-inline int strnicmp( const char *pStr1, const char *pStr2, size_t unBufferLen ) { return strncasecmp( pStr1,pStr2, unBufferLen ); }
-#define _strnicmp strnicmp
 
 #ifndef _vsnprintf_s
 #define _vsnprintf_s vsnprintf
@@ -51,7 +53,7 @@ inline int strnicmp( const char *pStr1, const char *pStr2, size_t unBufferLen )
 
 #define _TRUNCATE ((size_t)-1)
 
-#endif
+#endif // defined( OSX ) || defined( LINUX )
 
 #if defined( OSX )
 // behaviors ensure NULL-termination at least as well as _TRUNCATE does, but

From c06ea72a4ce39d8edaea8c874e4b94c4bb9d687d Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Sun, 20 Aug 2017 18:11:53 -0700
Subject: [PATCH 175/175] improve the new pybullet gym environments, follow
 camera, disable 2D GUI, disable rendering during loading (makes it faster)
 disable vsync on Mac fix setup.py file

---
 examples/OpenGLWindow/MacOpenGLWindowObjC.m   |  6 +++-
 .../pybullet/examples/inverse_kinematics.py   |  5 ++--
 .../gym/enjoy_TF_AntBulletEnv_v0_2017may.py   | 25 +++++++++++++----
 ...njoy_TF_HalfCheetahBulletEnv_v0_2017may.py | 26 ++++++++++++++---
 .../enjoy_TF_HopperBulletEnv_v0_2017may.py    | 28 +++++++++++++++----
 .../enjoy_TF_HumanoidBulletEnv_v0_2017may.py  | 25 +++++++++++++----
 ...ertedDoublePendulumBulletEnv_v0_2017may.py |  4 +--
 ...TF_InvertedPendulumBulletEnv_v0_2017may.py | 10 +++----
 ...rtedPendulumSwingupBulletEnv_v0_2017may.py |  4 +--
 .../enjoy_TF_Walker2DBulletEnv_v0_2017may.py  | 26 +++++++++++++----
 .../pybullet/gym/envs/gym_locomotion_envs.py  |  4 +--
 .../pybullet/gym/envs/gym_pendulum_envs.py    |  4 +--
 examples/pybullet/gym/envs/scene_stadium.py   |  2 ++
 setup.py                                      |  2 +-
 14 files changed, 125 insertions(+), 46 deletions(-)

diff --git a/examples/OpenGLWindow/MacOpenGLWindowObjC.m b/examples/OpenGLWindow/MacOpenGLWindowObjC.m
index 1ae9c530c..3fc45fc43 100644
--- a/examples/OpenGLWindow/MacOpenGLWindowObjC.m
+++ b/examples/OpenGLWindow/MacOpenGLWindowObjC.m
@@ -470,6 +470,10 @@ int Mac_createWindow(struct MacOpenGLWindowInternalData* m_internalData,struct M
 #else
     m_internalData->m_retinaScaleFactor=1.f;
 #endif
+        GLint                       sync = 0;
+        CGLContextObj               ctx = CGLGetCurrentContext();
+        CGLSetParameter(ctx, kCGLCPSwapInterval, &sync);
+
     [m_internalData->m_myApp finishLaunching];
     [pool release];
     
@@ -1226,4 +1230,4 @@ void Mac_setResizeCallback(struct MacOpenGLWindowInternalData* m_internalData, b
 b3ResizeCallback Mac_getResizeCallback(struct MacOpenGLWindowInternalData* m_internalData)
 {
 	return [m_internalData->m_myview getResizeCallback];
-}
\ No newline at end of file
+}
diff --git a/examples/pybullet/examples/inverse_kinematics.py b/examples/pybullet/examples/inverse_kinematics.py
index 4c85ec48c..0dba11bf9 100644
--- a/examples/pybullet/examples/inverse_kinematics.py
+++ b/examples/pybullet/examples/inverse_kinematics.py
@@ -3,8 +3,9 @@ import time
 import math
 from datetime import datetime
 
-#clid = p.connect(p.SHARED_MEMORY)
-p.connect(p.GUI)
+clid = p.connect(p.SHARED_MEMORY)
+if (clid<0):
+	p.connect(p.GUI)
 p.loadURDF("plane.urdf",[0,0,-0.3])
 kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
 p.resetBasePositionAndOrientation(kukaId,[0,0,0],[0,0,0,1])
diff --git a/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py
index 51c2a9781..9af65cc3c 100644
--- a/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py
@@ -24,24 +24,39 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("AntBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
-
+    cid = p.connect(p.GUI)
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[0].decode() == "torso"):
+           torsoId=i
+           print("found torso")
+
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
+
             still_open = env.render("human")
             if still_open==False:
                 return
diff --git a/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
index ee6668a37..bf8efd4da 100644
--- a/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py
@@ -24,24 +24,42 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("HalfCheetahBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
+    cid = p.connect(p.GUI)
 
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
+    #disable rendering during reset, makes loading much faster
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[1].decode() == "cheetah"):
+           torsoId=i
+           print("found torso")
+           print(p.getNumJoints(torsoId))
+           for j in range (p.getNumJoints(torsoId)):
+              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
 
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos = p.getLinkState(torsoId,4)[0]
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
             still_open = env.render("human")
             if still_open==False:
                 return
diff --git a/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
index 375a078c1..fef4a281a 100644
--- a/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py
@@ -26,24 +26,40 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("HopperBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
-
+    cid = p.connect(p.GUI)
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
-
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[1].decode() == "hopper"):
+           torsoId=i
+           print("found torso")
+           print(p.getNumJoints(torsoId))
+           for j in range (p.getNumJoints(torsoId)):
+              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        #disable rendering during reset, makes loading much faster
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos = p.getLinkState(torsoId,4)[0]
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
+
             still_open = env.render("human")
             if still_open==False:
                 return
diff --git a/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
index 1440d7140..e6efee53a 100644
--- a/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py
@@ -25,24 +25,37 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("HumanoidBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
-
+    cid = p.connect(p.GUI)
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
-
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[0].decode() == "torso"):
+           torsoId=i
+           print("found humanoid torso")
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
+
             still_open = env.render("human")
             if still_open==False:
                 return
diff --git a/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
index d30d2d61a..120fbb2a2 100644
--- a/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py
@@ -24,9 +24,7 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("InvertedDoublePendulumBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
+    cid = p.connect(p.GUI)
 
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
diff --git a/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
index 36cee0ea6..3c9e21f00 100644
--- a/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py
@@ -22,12 +22,10 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
+    print("create env")
     env = gym.make("InvertedPendulumBulletEnv-v0")
-
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
-
+    print("connecting")
+    cid = p.connect(p.GUI)
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
     while 1:
@@ -35,7 +33,7 @@ def demo_run():
         score = 0
         restart_delay = 0
         obs = env.reset()
-
+        print("frame")
         while 1:
             time.sleep(0.05)
             a = pi.act(obs)
diff --git a/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
index 845608f7a..311b33c3b 100644
--- a/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py
@@ -24,9 +24,7 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("InvertedPendulumSwingupBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
+    cid = p.connect(p.GUI)
 
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
diff --git a/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py b/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
index 758c933e1..f8da0978d 100644
--- a/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
+++ b/examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py
@@ -24,12 +24,24 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("Walker2DBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
-
+    cid = p.connect(p.GUI)
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[1].decode() == "walker2d"):
+           torsoId=i
+           print("found torso")
+           print(p.getNumJoints(torsoId))
+           for j in range (p.getNumJoints(torsoId)):
+              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
+
     while 1:
         frame = 0
         score = 0
@@ -37,11 +49,15 @@ def demo_run():
         obs = env.reset()
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos = p.getLinkState(torsoId,4)[0]
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
             still_open = env.render("human")
             if still_open==False:
                 return
diff --git a/examples/pybullet/gym/envs/gym_locomotion_envs.py b/examples/pybullet/gym/envs/gym_locomotion_envs.py
index 9c7e6f843..32d040e02 100644
--- a/examples/pybullet/gym/envs/gym_locomotion_envs.py
+++ b/examples/pybullet/gym/envs/gym_locomotion_envs.py
@@ -1,5 +1,5 @@
-from scene_stadium import SinglePlayerStadiumScene
-from env_bases import MujocoXmlBaseBulletEnv
+from .scene_stadium import SinglePlayerStadiumScene
+from .env_bases import MujocoXmlBaseBulletEnv
 import numpy as np
 from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid
 
diff --git a/examples/pybullet/gym/envs/gym_pendulum_envs.py b/examples/pybullet/gym/envs/gym_pendulum_envs.py
index 0252daf73..ce83f3e74 100644
--- a/examples/pybullet/gym/envs/gym_pendulum_envs.py
+++ b/examples/pybullet/gym/envs/gym_pendulum_envs.py
@@ -1,5 +1,5 @@
-from scene_abstract import SingleRobotEmptyScene
-from env_bases import MujocoXmlBaseBulletEnv
+from .scene_abstract import SingleRobotEmptyScene
+from .env_bases import MujocoXmlBaseBulletEnv
 from robot_pendula import InvertedPendulum, InvertedPendulumSwingup, InvertedDoublePendulum
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
diff --git a/examples/pybullet/gym/envs/scene_stadium.py b/examples/pybullet/gym/envs/scene_stadium.py
index 61de550f9..30ee26a1e 100644
--- a/examples/pybullet/gym/envs/scene_stadium.py
+++ b/examples/pybullet/gym/envs/scene_stadium.py
@@ -14,6 +14,8 @@ class StadiumScene(Scene):
 		#	 stadium_pose.set_xyz(27, 21, 0)  # see RUN_STARTLINE, RUN_RAD constants
 		self.stadium = p.loadSDF("stadium.sdf")
 		self.ground_plane_mjcf = p.loadMJCF("mjcf/ground_plane.xml")
+		for i in self.ground_plane_mjcf:
+			p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])
 
 class SinglePlayerStadiumScene(StadiumScene):
 	"This scene created by environment, to work in a way as if there was no concept of scene visible to user."
diff --git a/setup.py b/setup.py
index e33002279..deb3be881 100644
--- a/setup.py
+++ b/setup.py
@@ -399,7 +399,7 @@ elif _platform == "win32":
 elif _platform == "darwin":
     print("darwin!")
     os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
-    CXX_FLAFS += '-DB3_NO_PYTHON_FRAMEWORK '
+    CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
     CXX_FLAGS += '-DHAS_SOCKLEN_T '
     CXX_FLAGS += '-D_DARWIN '
 #    CXX_FLAGS += '-framework Cocoa '