diff --git a/examples/BasicDemo/BasicExample.cpp b/examples/BasicDemo/BasicExample.cpp
index 775f6fbb6..f5bd9486c 100644
--- a/examples/BasicDemo/BasicExample.cpp
+++ b/examples/BasicDemo/BasicExample.cpp
@@ -140,7 +140,11 @@ void BasicExample::renderScene()
 CommonExampleInterface*    BasicExampleCreateFunc(CommonExampleOptions& options)
 {
 	return new BasicExample(options.m_guiHelper);
+
 }
 
 
+B3_STANDALONE_EXAMPLE(BasicExampleCreateFunc)
+
+
 
diff --git a/examples/BasicDemo/main.cpp b/examples/BasicDemo/main.cpp
index eb5e6c958..9ee7222d6 100644
--- a/examples/BasicDemo/main.cpp
+++ b/examples/BasicDemo/main.cpp
@@ -26,248 +26,6 @@ subject to the following restrictions:
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btHashMap.h"
 
-#ifdef USE_GUI
-#include "../TinyRenderer/TinyRenderer.h"
-#include "../OpenGLWindow/SimpleOpenGL3App.h"
-#include <stdio.h>
-#include "../ExampleBrowser/OpenGLGuiHelper.h"
-
-class SW_And_OpenGLGuiHelper : public OpenGLGuiHelper
-{
-    
-    btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
-	btHashMap<btHashInt,int> m_swInstances;
-	
-
-	int m_swWidth;
-    int m_swHeight;
-	TGAImage m_rgbColorBuffer;
-	
-	b3AlignedObjectArray<float> m_depthBuffer;
-	int m_textureHandle;
-	unsigned char*	m_image;
-	GLPrimitiveRenderer* m_primRenderer;
-    
-public:
-    SW_And_OpenGLGuiHelper (CommonGraphicsApp* glApp, bool useOpenGL2, int swWidth, int swHeight, GLPrimitiveRenderer* primRenderer)
-    :OpenGLGuiHelper(glApp,useOpenGL2),
-    m_swWidth(swWidth),
-    m_swHeight(swHeight),
-	m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB),
-	m_primRenderer(primRenderer)
-    {
-
-		m_depthBuffer.resize(swWidth*swHeight);
-		CommonRenderInterface* render = getRenderInterface();
-		m_image=new unsigned char[m_swWidth*m_swHeight*4];
-
-		m_textureHandle = render->registerTexture(m_image,m_swWidth,m_swHeight);
-    }
-	
-	void clearBuffers(TGAColor& clearColor)
-	{
-		for(int y=0;y<m_swHeight;++y)
-		{
-			for(int x=0;x<m_swWidth;++x)
-			{
-				m_rgbColorBuffer.set(x,y,clearColor);
-				m_depthBuffer[x+y*m_swWidth] = -1e30f;
-			}
-		}
-		
-	}
-    
-	const TGAImage& getFrameBuffer() const
-	{
-		return m_rgbColorBuffer;
-	}
-	
-    virtual ~SW_And_OpenGLGuiHelper()
-    {
-        for (int i=0;i<m_swRenderObjects.size();i++)
-        {
-            TinyRenderObjectData** d = m_swRenderObjects[i];
-            if (d && *d)
-            {
-                delete *d;
-            }
-        }
-    }
-    
-	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
-	{
-		OpenGLGuiHelper::createCollisionObjectGraphicsObject(obj,color);
-		int colIndex = obj->getUserIndex();
-		int shapeIndex = obj->getCollisionShape()->getUserIndex();
-		
-		if (colIndex>=0 && shapeIndex>=0)
-		{
-			m_swInstances.insert(colIndex,shapeIndex);
-		}
-		
-	}
-	
-   	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
-   	{
-   	    int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
-   	    if (shapeIndex>=0)
-        {
-            TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
-            //swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
-			swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
-			
-            m_swRenderObjects.insert(shapeIndex,swObj);
-        }
-   	    return shapeIndex;
-   	}
-
-	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
-	{
-	    int instanceId = OpenGLGuiHelper::registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
-	    return instanceId ;
-	}
-
-	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
-	{
-	    OpenGLGuiHelper::createCollisionShapeGraphicsObject(collisionShape);
-	}
-
-	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
-	{
-	    OpenGLGuiHelper::syncPhysicsToGraphics(rbWorld);
-	}
-
-	virtual void render(const btDiscreteDynamicsWorld* rbWorld)
-	{
-	    OpenGLGuiHelper::render(rbWorld);
-		
-		//clear the color buffer
-		TGAColor clearColor;
-		clearColor.bgra[0] = 255;
-		clearColor.bgra[1] = 255;
-		clearColor.bgra[2] = 255;
-		clearColor.bgra[3] = 255;
-		
-		clearBuffers(clearColor);
-	
-		
-		ATTRIBUTE_ALIGNED16(float modelMat[16]);
-		ATTRIBUTE_ALIGNED16(float viewMat[16]);
-		CommonRenderInterface* render = getRenderInterface();
-		
-		render->getActiveCamera()->getCameraViewMatrix(viewMat);
-		
-		
-		for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
-		{
-			btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
-			int colObjIndex = colObj->getUserIndex();
-			int shapeIndex = colObj->getCollisionShape()->getUserIndex();
-			if (colObjIndex>=0 && shapeIndex>=0)
-			{
-				
-				TinyRenderObjectData* renderObj = 0;
-				
-				int* cptr = m_swInstances[colObjIndex];
-				if (cptr)
-				{
-					int c = *cptr;
-					TinyRenderObjectData** sptr = m_swRenderObjects[c];
-					if (sptr)
-					{
-						renderObj = *sptr;
-					}
-				}
-				//sync the object transform
-				const btTransform& tr = colObj->getWorldTransform();
-				tr.getOpenGLMatrix(modelMat);
-				
-				for (int i=0;i<4;i++)
-				{
-					for (int j=0;j<4;j++)
-					{
-						renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
-						renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
-					}
-				}
-				TinyRenderer::renderObject(*renderObj);
-			}
-		}
-		
-		for(int y=0;y<m_swHeight;++y)
-		{
-			unsigned char*	pi=m_image+(y)*m_swWidth*3;
-			for(int x=0;x<m_swWidth;++x)
-			{
-				
-				const TGAColor& color = getFrameBuffer().get(x,y);
-				pi[0] = color.bgra[2];
-				pi[1] = color.bgra[1];
-				pi[2] = color.bgra[0];
-				pi+=3;
-				
-			}
-		} 
-		render->activateTexture(m_textureHandle);
-		render->updateTexture(m_textureHandle,m_image);
-		
-		static int counter=0;
-		counter++;
-		if (counter>10)
-		{
-			counter=0;
-			getFrameBuffer().write_tga_file("/Users/erwincoumans/develop/bullet3/framebuf.tga",true);
-		}
-		float color[4] = {1,1,1,1};
-		m_primRenderer->drawTexturedRect(0,0,m_swWidth, m_swHeight,color,0,0,1,1,true);
-		
-		
-	}
-
-    virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
-    {
-        OpenGLGuiHelper::autogenerateGraphicsObjects(rbWorld);
-    }
-
-};
-
-int main(int argc, char* argv[])
-{
-
-	SimpleOpenGL3App* app = new SimpleOpenGL3App("BasicDemoGui",1024,768,true);
-	int textureWidth = 640;
-    int textureHeight = 480;
-	
-	
-	SW_And_OpenGLGuiHelper gui(app,false,textureWidth,textureHeight,app->m_primRenderer);
-    
-    CommonExampleOptions options(&gui);
-    CommonExampleInterface*    example = BasicExampleCreateFunc(options);
-        
-	example->initPhysics();
-
-	do
-	{
-		app->m_instancingRenderer->init();
-        app->m_instancingRenderer->updateCamera();
-
-		example->stepSimulation(1./60.);
-		
-	  	
-		example->renderScene();
- 	
-		app->drawGrid();
-		app->swapBuffer();
-	} while (!app->m_window->requestedExit());
-
-	example->exitPhysics();
-	delete example;
-	delete app;
-	return 0;
-}
-
-
-#else
 
 int main(int argc, char* argv[])
 {
@@ -285,5 +43,5 @@ int main(int argc, char* argv[])
 
 	return 0;
 }
-#endif
+
 
diff --git a/examples/BasicDemo/premake4.lua b/examples/BasicDemo/premake4.lua
index 8e9625e55..2b2a7d45f 100644
--- a/examples/BasicDemo/premake4.lua
+++ b/examples/BasicDemo/premake4.lua
@@ -28,7 +28,44 @@ if _OPTIONS["ios"] then
 else
         kind "ConsoleApp"
 end
-defines {"USE_GUI"}
+defines {"B3_USE_STANDALONE_EXAMPLE"}
+
+includedirs {"../../src"}
+
+links {
+        "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
+}
+
+	initOpenGL()
+  initGlew()
+
+
+language "C++"
+
+files {
+        "BasicExample.cpp",
+        "*.h",
+        "../StandaloneMain/main_opengl_single_example.cpp",
+	"../ExampleBrowser/OpenGLGuiHelper.cpp",
+	"../ExampleBrowser/GL_ShapeDrawer.cpp",
+}
+
+if os.is("Linux") then initX11() end
+
+if os.is("MacOSX") then
+        links{"Cocoa.framework"}
+end
+                          
+
+
+project "App_BasicExampleGuiWithSoftwareRenderer"
+
+if _OPTIONS["ios"] then
+        kind "WindowedApp"
+else
+        kind "ConsoleApp"
+end
+defines {"B3_USE_STANDALONE_EXAMPLE"}
 
 includedirs {"../../src"}
 
@@ -43,8 +80,9 @@ links {
 language "C++"
 
 files {
-        "**.cpp",
-        "**.h",
+        "BasicExample.cpp",
+        "*.h",
+        "../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
 	"../TinyRenderer/geometry.cpp",
@@ -60,4 +98,4 @@ if os.is("Linux") then initX11() end
 if os.is("MacOSX") then
         links{"Cocoa.framework"}
 end
-                          
+                          
\ No newline at end of file
diff --git a/examples/CommonInterfaces/CommonExampleInterface.h b/examples/CommonInterfaces/CommonExampleInterface.h
index 71ced8fca..28859f99e 100644
--- a/examples/CommonInterfaces/CommonExampleInterface.h
+++ b/examples/CommonInterfaces/CommonExampleInterface.h
@@ -48,6 +48,17 @@ public:
 
 };
 
+CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options);
+
+#ifdef B3_USE_STANDALONE_EXAMPLE
+	#define B3_STANDALONE_EXAMPLE(ExampleFunc) CommonExampleInterface*    StandaloneExampleCreateFunc(CommonExampleOptions& options)\
+	{\
+		return ExampleFunc(options);\
+	}
+#else//B3_USE_STANDALONE_EXAMPLE
+	#define B3_STANDALONE_EXAMPLE(ExampleFunc)
+#endif //B3_USE_STANDALONE_EXAMPLE
+
 
 
 #endif //COMMON_EXAMPLE_INTERFACE_H
diff --git a/examples/StandaloneMain/main_console_single_example.cpp b/examples/StandaloneMain/main_console_single_example.cpp
new file mode 100644
index 000000000..e1f5b6dd8
--- /dev/null
+++ b/examples/StandaloneMain/main_console_single_example.cpp
@@ -0,0 +1,46 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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.
+*/
+
+
+
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btHashMap.h"
+
+
+int main(int argc, char* argv[])
+{
+	
+	DummyGUIHelper noGfx;
+
+	CommonExampleOptions options(&noGfx);
+	CommonExampleInterface*    example = StandaloneExampleCreateFunc(options);
+	
+	example->initPhysics();
+	example->stepSimulation(1.f/60.f);
+	example->exitPhysics();
+
+	delete example;
+
+	return 0;
+}
+
+
diff --git a/examples/StandaloneMain/main_opengl_single_example.cpp b/examples/StandaloneMain/main_opengl_single_example.cpp
new file mode 100644
index 000000000..4fd1ff422
--- /dev/null
+++ b/examples/StandaloneMain/main_opengl_single_example.cpp
@@ -0,0 +1,65 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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.
+*/
+
+
+
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btHashMap.h"
+
+
+
+#include "../OpenGLWindow/SimpleOpenGL3App.h"
+#include <stdio.h>
+#include "../ExampleBrowser/OpenGLGuiHelper.h"
+
+
+int main(int argc, char* argv[])
+{
+
+	SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet Standalone Example",1024,768,true);
+	
+	OpenGLGuiHelper gui(app,false);
+    
+	CommonExampleOptions options(&gui);
+	CommonExampleInterface*    example = StandaloneExampleCreateFunc(options);
+        
+	example->initPhysics();
+
+	do
+	{
+		app->m_instancingRenderer->init();
+        app->m_instancingRenderer->updateCamera();
+
+		example->stepSimulation(1./60.);
+	  	
+		example->renderScene();
+ 	
+		app->drawGrid();
+		app->swapBuffer();
+	} while (!app->m_window->requestedExit());
+
+	example->exitPhysics();
+	delete example;
+	delete app;
+	return 0;
+}
+
diff --git a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
new file mode 100644
index 000000000..230f5e651
--- /dev/null
+++ b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
@@ -0,0 +1,266 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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.
+*/
+
+
+
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btHashMap.h"
+
+
+#include "../TinyRenderer/TinyRenderer.h"
+#include "../OpenGLWindow/SimpleOpenGL3App.h"
+#include <stdio.h>
+#include "../ExampleBrowser/OpenGLGuiHelper.h"
+
+class SW_And_OpenGLGuiHelper : public OpenGLGuiHelper
+{
+    
+	btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
+	btHashMap<btHashInt,int> m_swInstances;
+	
+	int m_swWidth;
+	int m_swHeight;
+	TGAImage m_rgbColorBuffer;
+	
+	b3AlignedObjectArray<float> m_depthBuffer;
+	int m_textureHandle;
+	unsigned char*	m_image;
+	GLPrimitiveRenderer* m_primRenderer;
+    
+public:
+    SW_And_OpenGLGuiHelper (CommonGraphicsApp* glApp, bool useOpenGL2, int swWidth, int swHeight, GLPrimitiveRenderer* primRenderer)
+    :OpenGLGuiHelper(glApp,useOpenGL2),
+    m_swWidth(swWidth),
+    m_swHeight(swHeight),
+	m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB),
+	m_primRenderer(primRenderer)
+    {
+
+		m_depthBuffer.resize(swWidth*swHeight);
+		CommonRenderInterface* render = getRenderInterface();
+		m_image=new unsigned char[m_swWidth*m_swHeight*4];
+
+		m_textureHandle = render->registerTexture(m_image,m_swWidth,m_swHeight);
+    }
+	
+	void clearBuffers(TGAColor& clearColor)
+	{
+		for(int y=0;y<m_swHeight;++y)
+		{
+			for(int x=0;x<m_swWidth;++x)
+			{
+				m_rgbColorBuffer.set(x,y,clearColor);
+				m_depthBuffer[x+y*m_swWidth] = -1e30f;
+			}
+		}
+		
+	}
+    
+	const TGAImage& getFrameBuffer() const
+	{
+		return m_rgbColorBuffer;
+	}
+	
+    virtual ~SW_And_OpenGLGuiHelper()
+    {
+        for (int i=0;i<m_swRenderObjects.size();i++)
+        {
+            TinyRenderObjectData** d = m_swRenderObjects[i];
+            if (d && *d)
+            {
+                delete *d;
+            }
+        }
+    }
+    
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
+	{
+		OpenGLGuiHelper::createCollisionObjectGraphicsObject(obj,color);
+		int colIndex = obj->getUserIndex();
+		int shapeIndex = obj->getCollisionShape()->getUserIndex();
+		
+		if (colIndex>=0 && shapeIndex>=0)
+		{
+			m_swInstances.insert(colIndex,shapeIndex);
+		}
+		
+	}
+	
+   	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+   	{
+   	    int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
+   	    if (shapeIndex>=0)
+        {
+            TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
+            //swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
+						swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
+            m_swRenderObjects.insert(shapeIndex,swObj);
+        }
+   	    return shapeIndex;
+   	}
+
+	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
+	{
+	    int instanceId = OpenGLGuiHelper::registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
+	    return instanceId ;
+	}
+
+	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
+	{
+	    OpenGLGuiHelper::createCollisionShapeGraphicsObject(collisionShape);
+	}
+
+	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
+	{
+	    OpenGLGuiHelper::syncPhysicsToGraphics(rbWorld);
+	}
+
+	virtual void render(const btDiscreteDynamicsWorld* rbWorld)
+	{
+	    OpenGLGuiHelper::render(rbWorld);
+		
+		//clear the color buffer
+		TGAColor clearColor;
+		clearColor.bgra[0] = 255;
+		clearColor.bgra[1] = 255;
+		clearColor.bgra[2] = 255;
+		clearColor.bgra[3] = 255;
+		
+		clearBuffers(clearColor);
+	
+		
+		ATTRIBUTE_ALIGNED16(float modelMat[16]);
+		ATTRIBUTE_ALIGNED16(float viewMat[16]);
+		CommonRenderInterface* render = getRenderInterface();
+		
+		render->getActiveCamera()->getCameraViewMatrix(viewMat);
+		
+		
+		for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
+		{
+			btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
+			int colObjIndex = colObj->getUserIndex();
+			int shapeIndex = colObj->getCollisionShape()->getUserIndex();
+			if (colObjIndex>=0 && shapeIndex>=0)
+			{
+				
+				TinyRenderObjectData* renderObj = 0;
+				
+				int* cptr = m_swInstances[colObjIndex];
+				if (cptr)
+				{
+					int c = *cptr;
+					TinyRenderObjectData** sptr = m_swRenderObjects[c];
+					if (sptr)
+					{
+						renderObj = *sptr;
+					}
+				}
+				//sync the object transform
+				const btTransform& tr = colObj->getWorldTransform();
+				tr.getOpenGLMatrix(modelMat);
+				
+				for (int i=0;i<4;i++)
+				{
+					for (int j=0;j<4;j++)
+					{
+						renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
+						renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
+					}
+				}
+				TinyRenderer::renderObject(*renderObj);
+			}
+		}
+		
+		for(int y=0;y<m_swHeight;++y)
+		{
+			unsigned char*	pi=m_image+(y)*m_swWidth*3;
+			for(int x=0;x<m_swWidth;++x)
+			{
+				
+				const TGAColor& color = getFrameBuffer().get(x,y);
+				pi[0] = color.bgra[2];
+				pi[1] = color.bgra[1];
+				pi[2] = color.bgra[0];
+				pi+=3;
+				
+			}
+		} 
+		render->activateTexture(m_textureHandle);
+		render->updateTexture(m_textureHandle,m_image);
+		
+		static int counter=0;
+		counter++;
+		if (counter>10)
+		{
+			counter=0;
+			getFrameBuffer().write_tga_file("/Users/erwincoumans/develop/bullet3/framebuf.tga",true);
+		}
+		float color[4] = {1,1,1,1};
+		m_primRenderer->drawTexturedRect(0,0,m_swWidth, m_swHeight,color,0,0,1,1,true);
+		
+		
+	}
+
+    virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
+    {
+        OpenGLGuiHelper::autogenerateGraphicsObjects(rbWorld);
+    }
+
+};
+
+int main(int argc, char* argv[])
+{
+
+	SimpleOpenGL3App* app = new SimpleOpenGL3App("Standalone Example (Software Renderer, TinyRenderer)",1024,768,true);
+	int textureWidth = 640;
+    int textureHeight = 480;
+	
+	
+	SW_And_OpenGLGuiHelper gui(app,false,textureWidth,textureHeight,app->m_primRenderer);
+    
+	CommonExampleOptions options(&gui);
+	CommonExampleInterface*    example = StandaloneExampleCreateFunc(options);
+        
+	example->initPhysics();
+
+	do
+	{
+		app->m_instancingRenderer->init();
+        app->m_instancingRenderer->updateCamera();
+
+		example->stepSimulation(1./60.);
+		
+	  	
+		example->renderScene();
+ 	
+		app->drawGrid();
+		app->swapBuffer();
+	} while (!app->m_window->requestedExit());
+
+	example->exitPhysics();
+	delete example;
+	delete app;
+	return 0;
+}
+
+