Update to upstream

examples/BlockSolver/RigidBodyBoxes.cpp

@@ -8,7 +8,7 @@ class RigidBodyBoxes : public CommonRigidBodyBase
 {
 	int m_option;
 	int m_numIterations;
-	int m_numBoxes = 4;
+	int m_numBoxes;
 	btAlignedObjectArray<btRigidBody*> boxes;
 	static btScalar numSolverIterations;
 
@@ -38,7 +38,8 @@ btScalar RigidBodyBoxes::numSolverIterations = 50;
 RigidBodyBoxes::RigidBodyBoxes(GUIHelperInterface* helper, int option)
 	: CommonRigidBodyBase(helper),
 	  m_option(option),
-	  m_numIterations(numSolverIterations)
+	  m_numIterations(numSolverIterations),
+	  m_numBoxes(4)
 {
 	m_guiHelper->setUpAxis(2);
 }

examples/CommonInterfaces/CommonRenderInterface.h

@@ -49,6 +49,9 @@ struct CommonRenderInterface
 
 	virtual void setLightPosition(const float lightPos[3]) = 0;
 	virtual void setLightPosition(const double lightPos[3]) = 0;
+	virtual void setShadowMapResolution(int shadowMapResolution) = 0;
+	virtual void setShadowMapWorldSize(float worldSize) = 0;
+	
 	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]){};
 	virtual void setProjectiveTexture(bool useProjectiveTexture){};
 

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -257,7 +257,11 @@ void MyKeyboardCallback(int key, int state)
 			}
 			else
 			{
+#ifdef _WIN32
 				b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
+#else
+				b3ChromeUtilsStopTimingsAndWriteJsonFile("/tmp/timings");
+#endif
 			}
 		}
 

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -27,7 +27,7 @@ static bool parseVector4(btVector4& vec4, const std::string& vector_str)
 {
 	vec4.setZero();
 	btArray<std::string> pieces;
-	btArray<float> rgba;
+	btArray<double> rgba;
 	btAlignedObjectArray<std::string> strArray;
 	urdfIsAnyOf(" ", strArray);
 	urdfStringSplit(pieces, vector_str, strArray);
@@ -50,7 +50,7 @@ static bool parseVector3(btVector3& vec3, const std::string& vector_str, ErrorLo
 {
 	vec3.setZero();
 	btArray<std::string> pieces;
-	btArray<float> rgba;
+	btArray<double> rgba;
 	btAlignedObjectArray<std::string> strArray;
 	urdfIsAnyOf(" ", strArray);
 	urdfStringSplit(pieces, vector_str, strArray);

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -16,9 +16,8 @@ subject to the following restrictions:
 
 ///todo: make this configurable in the gui
 bool useShadowMap = true;  // true;//false;//true;
-int shadowMapWidth = 4096;
+
-int shadowMapHeight = 4096;
+
-float shadowMapWorldSize = 10;
 #include <stdio.h>
 
 struct caster2
@@ -244,11 +243,22 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 
 	b3ResizablePool<b3PublicGraphicsInstance> m_publicGraphicsInstances;
 
+	int m_shadowMapWidth;
+	int m_shadowMapHeight;
+	float m_shadowMapWorldSize;
+	bool m_updateShadowMap;
+
 	InternalDataRenderer() : m_activeCamera(&m_defaultCamera1),
 							 m_shadowMap(0),
 							 m_shadowTexture(0),
-							 m_renderFrameBuffer(0)
+							 m_renderFrameBuffer(0),
+							m_shadowMapWidth(4096),
+							m_shadowMapHeight(4096),
+							m_shadowMapWorldSize(10),
+							m_updateShadowMap(true)
+
 	{
+		
 		m_lightPos = b3MakeVector3(-50, 30, 40);
 		m_lightSpecularIntensity.setValue(1, 1, 1);
 
@@ -1449,6 +1459,19 @@ void GLInstancingRenderer::setLightPosition(const float lightPos[3])
 	m_data->m_lightPos[2] = lightPos[2];
 }
 
+void GLInstancingRenderer::setShadowMapResolution(int shadowMapResolution)
+{
+	m_data->m_shadowMapWidth = shadowMapResolution;
+	m_data->m_shadowMapHeight = shadowMapResolution;
+	m_data->m_updateShadowMap = true;
+}
+
+void GLInstancingRenderer::setShadowMapWorldSize(float worldSize)
+{
+	m_data->m_shadowMapWorldSize = worldSize;
+	m_data->m_updateShadowMap = true;
+}
+
 void GLInstancingRenderer::setLightPosition(const double lightPos[3])
 {
 	m_data->m_lightPos[0] = lightPos[0];
@@ -2071,6 +2094,13 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 		glEnable(GL_CULL_FACE);
 		glCullFace(GL_FRONT);
 
+		if (m_data->m_shadowMap && m_data->m_updateShadowMap)
+		{
+			m_data->m_updateShadowMap = false;
+			glDeleteTextures(1, &m_data->m_shadowTexture);
+			delete m_data->m_shadowMap;
+			m_data->m_shadowMap = 0;
+		}
 		if (!m_data->m_shadowMap)
 		{
 			glActiveTexture(GL_TEXTURE0);
@@ -2088,27 +2118,27 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 
 			int size;
 			glGetIntegerv(GL_MAX_TEXTURE_SIZE, &size);
-			if (size < shadowMapWidth)
+			if (size < m_data->m_shadowMapWidth)
 			{
-				shadowMapWidth = size;
+				m_data->m_shadowMapWidth = size;
 			}
-			if (size < shadowMapHeight)
+			if (size < m_data->m_shadowMapHeight)
 			{
-				shadowMapHeight = size;
+				m_data->m_shadowMapHeight = size;
 			}
 			GLuint err;
 			do
 			{
 				glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT16,
-							 shadowMapWidth, shadowMapHeight,
+					m_data->m_shadowMapWidth, m_data->m_shadowMapHeight,
 							 0, GL_DEPTH_COMPONENT, GL_FLOAT, 0);
 				err = glGetError();
 				if (err != GL_NO_ERROR)
 				{
-					shadowMapHeight >>= 1;
+					m_data->m_shadowMapHeight >>= 1;
-					shadowMapWidth >>= 1;
+					m_data->m_shadowMapWidth >>= 1;
 				}
-			} while (err != GL_NO_ERROR && shadowMapWidth > 0);
+			} while (err != GL_NO_ERROR && m_data->m_shadowMapWidth > 0);
 #endif  //OLD_SHADOWMAP_INIT
 
 			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
@@ -2124,10 +2154,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_REF_TO_TEXTURE);
 
 			m_data->m_shadowMap = new GLRenderToTexture();
-			m_data->m_shadowMap->init(shadowMapWidth, shadowMapHeight, m_data->m_shadowTexture, RENDERTEXTURE_DEPTH);
+			m_data->m_shadowMap->init(m_data->m_shadowMapWidth, m_data->m_shadowMapHeight, m_data->m_shadowTexture, RENDERTEXTURE_DEPTH);
 		}
 		m_data->m_shadowMap->enable();
-		glViewport(0, 0, shadowMapWidth, shadowMapHeight);
+		glViewport(0, 0, m_data->m_shadowMapWidth, m_data->m_shadowMapHeight);
 		//glClearColor(1,1,1,1);
 		glClear(GL_DEPTH_BUFFER_BIT);
 		//glClearColor(0.3,0.3,0.3,1);
@@ -2145,7 +2175,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 		glCullFace(GL_BACK);
 	}
 
-	b3CreateOrtho(-shadowMapWorldSize, shadowMapWorldSize, -shadowMapWorldSize, shadowMapWorldSize, 1, 300, depthProjectionMatrix);  //-14,14,-14,14,1,200, depthProjectionMatrix);
+	b3CreateOrtho(-m_data->m_shadowMapWorldSize, m_data->m_shadowMapWorldSize, -m_data->m_shadowMapWorldSize, m_data->m_shadowMapWorldSize, 1, 300, depthProjectionMatrix);  //-14,14,-14,14,1,200, depthProjectionMatrix);
 	float depthViewMatrix[4][4];
 	b3Vector3 center = b3MakeVector3(0, 0, 0);
 	m_data->m_activeCamera->getCameraTargetPosition(center);

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -120,6 +120,8 @@ public:
 
 	virtual void setLightPosition(const float lightPos[3]);
 	virtual void setLightPosition(const double lightPos[3]);
+	virtual void setShadowMapResolution(int shadowMapResolution);
+	virtual void setShadowMapWorldSize(float worldSize);
 	void setLightSpecularIntensity(const float lightSpecularIntensity[3]);
 	virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
 	virtual void setProjectiveTexture(bool useProjectiveTexture);

examples/OpenGLWindow/LoadShader.cpp

@@ -44,7 +44,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 		return 0;
 		glDeleteShader(hVertexShader);
 		glDeleteShader(hFragmentShader);
-		return (GLuint)NULL;
+		return (GLuint)0;
 	}
 
 	assert(glGetError() == GL_NO_ERROR);
@@ -62,7 +62,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 		exit(EXIT_FAILURE);
 		glDeleteShader(hVertexShader);
 		glDeleteShader(hFragmentShader);
-		return (GLuint)NULL;
+		return (GLuint)0;
 	}
 
 	assert(glGetError() == GL_NO_ERROR);
@@ -96,7 +96,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 		printf("Warning/Error in GLSL shader:\n");
 		printf("%s\n", infoLog);
 		glDeleteProgram(hReturn);
-		return (GLuint)NULL;
+		return (GLuint)0;
 	}
 
 	return hReturn;

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -26,7 +26,8 @@ public:
 
 	virtual void setLightPosition(const float lightPos[3]);
 	virtual void setLightPosition(const double lightPos[3]);
-
+	virtual void setShadowMapResolution(int shadowMapResolution) {}
+	virtual void setShadowMapWorldSize(float worldSize) {}
 	virtual void resize(int width, int height);
 
 	virtual void removeAllInstances();

examples/SharedMemory/GraphicsServerExample.cpp

@@ -10,6 +10,7 @@
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "GraphicsSharedMemoryBlock.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "SharedMemoryPublic.h"
 
 #define MAX_GRAPHICS_SHARED_MEMORY_BLOCKS 1
 
@@ -107,12 +108,16 @@ public:
 				break;
 			}
 			case GFX_CMD_SET_VISUALIZER_FLAG:
+			{
+				if (clientCmd.m_visualizerFlagCommand.m_visualizerFlag!=COV_ENABLE_RENDERING)
 				{
 					//printf("clientCmd.m_visualizerFlag.m_visualizerFlag: %d, clientCmd.m_visualizerFlag.m_enable %d\n",
 					//	clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
 
 					this->m_guiHelper->setVisualizerFlag(clientCmd.m_visualizerFlagCommand.m_visualizerFlag, clientCmd.m_visualizerFlagCommand.m_enable);
+				}
 				break;
+
 			}
 
 			case GFX_CMD_UPLOAD_DATA:

examples/SharedMemory/GraphicsSharedMemoryCommands.h

@@ -26,7 +26,7 @@ typedef unsigned long long int smUint64a_t;
 #ifdef __APPLE__
 #define GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512 * 1024)
 #else
-#define GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (4 * 1024 * 1024)
+ #define GRAPHICS_SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (4 * 1024 * 1024)
 #endif
 
 struct GraphicsCommand0

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -5462,6 +5462,58 @@ B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemo
 	}
 }
 
+B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+	if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+	{
+		command->m_updateFlags |= COV_SET_LIGHT_POSITION;
+		command->m_configureOpenGLVisualizerArguments.m_lightPosition[0] = lightPosition[0];
+		command->m_configureOpenGLVisualizerArguments.m_lightPosition[1] = lightPosition[1];
+		command->m_configureOpenGLVisualizerArguments.m_lightPosition[2] = lightPosition[2];
+	}
+}
+
+B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+	if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+	{
+		command->m_updateFlags |= COV_SET_SHADOWMAP_RESOLUTION;
+		command->m_configureOpenGLVisualizerArguments.m_shadowMapResolution = shadowMapResolution;
+	}
+}
+
+B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+	if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+	{
+		command->m_updateFlags |= COV_SET_SHADOWMAP_WORLD_SIZE;
+		command->m_configureOpenGLVisualizerArguments.m_shadowMapWorldSize = shadowMapWorldSize;
+	}
+}
+
+
+B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
+	if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
+	{
+		command->m_updateFlags |= COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL;
+		command->m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval = remoteSyncTransformInterval;
+	}
+}
+
+
 B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3])
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -207,6 +207,11 @@ extern "C"
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient);
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer2(b3SharedMemoryCommandHandle commandHandle);
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
+	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetLightPosition(b3SharedMemoryCommandHandle commandHandle, const float lightPosition[3]);
+	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapResolution(b3SharedMemoryCommandHandle commandHandle, int shadowMapResolution);
+	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(b3SharedMemoryCommandHandle commandHandle, int shadowMapWorldSize);
+	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(b3SharedMemoryCommandHandle commandHandle, double remoteSyncTransformInterval);
+	
 	B3_SHARED_API void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[/*3*/]);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestOpenGLVisualizerCameraCommand(b3PhysicsClientHandle physClient);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1672,6 +1672,9 @@ struct PhysicsServerCommandProcessorInternalData
 	b3ThreadPool* m_threadPool;
 	btScalar m_defaultCollisionMargin;
 
+	double m_remoteSyncTransformTime;
+	double m_remoteSyncTransformInterval;
+
 	PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
 		: m_pluginManager(proc),
 		  m_useRealTimeSimulation(false),
@@ -1705,12 +1708,14 @@ struct PhysicsServerCommandProcessorInternalData
 		  m_collisionFilterPlugin(-1),
 		  m_grpcPlugin(-1),
 		  m_threadPool(0),
-		  m_defaultCollisionMargin(0.001)
+		  m_defaultCollisionMargin(0.001),
+		  m_remoteSyncTransformTime(1. / 30.),
+		m_remoteSyncTransformInterval(1. / 30.)
 	{
 		{
 			//register static plugins:
 #ifdef STATIC_LINK_VR_PLUGIN
-			b3PluginFunctions funcs(initPlugin_vrSyncPlugin,exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin);
+			b3PluginFunctions funcs(initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin);
 			funcs.m_preTickFunc = preTickPluginCallback_vrSyncPlugin;
 			m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", funcs);
 #endif  //STATIC_LINK_VR_PLUGIN
@@ -1718,7 +1723,7 @@ struct PhysicsServerCommandProcessorInternalData
 #ifndef SKIP_STATIC_PD_CONTROL_PLUGIN
 		{
 			//int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, PFN_GET_COLLISION_INTERFACE getCollisionFunc, bool initPlugin)
-				b3PluginFunctions funcs(initPlugin_pdControlPlugin,exitPlugin_pdControlPlugin,executePluginCommand_pdControlPlugin);
+			b3PluginFunctions funcs(initPlugin_pdControlPlugin, exitPlugin_pdControlPlugin, executePluginCommand_pdControlPlugin);
 			funcs.m_preTickFunc = preTickPluginCallback_pdControlPlugin;
 			m_pdControlPlugin = m_pluginManager.registerStaticLinkedPlugin("pdControlPlugin", funcs);
 		}
@@ -1726,9 +1731,9 @@ struct PhysicsServerCommandProcessorInternalData
 
 #ifndef SKIP_COLLISION_FILTER_PLUGIN
 		{
-				b3PluginFunctions funcs(initPlugin_collisionFilterPlugin,exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin);
+			b3PluginFunctions funcs(initPlugin_collisionFilterPlugin, exitPlugin_collisionFilterPlugin, executePluginCommand_collisionFilterPlugin);
 			funcs.m_getCollisionFunc = getCollisionInterface_collisionFilterPlugin;
-				m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", funcs );
+			m_collisionFilterPlugin = m_pluginManager.registerStaticLinkedPlugin("collisionFilterPlugin", funcs);
 			m_pluginManager.selectCollisionPlugin(m_collisionFilterPlugin);
 		}
 #endif
@@ -1754,7 +1759,7 @@ struct PhysicsServerCommandProcessorInternalData
 #ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
 		{
 			b3PluginFunctions funcs(initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin);
-				funcs.m_getRendererFunc=getRenderInterface_tinyRendererPlugin;
+			funcs.m_getRendererFunc = getRenderInterface_tinyRendererPlugin;
 			int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", funcs);
 			m_pluginManager.selectPluginRenderer(renderPluginId);
 		}
@@ -1769,8 +1774,6 @@ struct PhysicsServerCommandProcessorInternalData
 		}
 #endif
 
-
-
 		m_vrControllerEvents.init();
 
 		m_bodyHandles.exitHandles();
@@ -1868,7 +1871,6 @@ struct PhysicsServerCommandProcessorInternalData
 		int dof = 7;
 		int veldof = 7;
 
-
 		for (int l = 0; l < multiBody->getNumLinks(); l++)
 		{
 			switch (multiBody->getLink(l).m_jointType)
@@ -1910,7 +1912,7 @@ struct PhysicsServerCommandProcessorInternalData
 		}
 
 		btVector3 gravOrg = m_dynamicsWorld->getGravity();
-		tVector grav (gravOrg[0], gravOrg[1], gravOrg[2], 0);
+		tVector grav(gravOrg[0], gravOrg[1], gravOrg[2], 0);
 		rbdModel->SetGravity(grav);
 		rbdModel->Update(pose, vel);
 
@@ -7763,7 +7765,13 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
 	}
 	serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
 
+	m_data->m_remoteSyncTransformTime += deltaTimeScaled;
+	if (m_data->m_remoteSyncTransformTime >= m_data->m_remoteSyncTransformInterval)
+	{
+		m_data->m_remoteSyncTransformTime = 0;
 		syncPhysicsToGraphics2();
+	}
+
 	return hasStatus;
 }
 
@@ -9058,6 +9066,29 @@ bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(cons
 										 clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1],
 										 clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2]);
 	}
+	if (m_data->m_guiHelper->getRenderInterface())
+	{
+		if (clientCmd.m_updateFlags & COV_SET_LIGHT_POSITION)
+		{
+			m_data->m_guiHelper->getRenderInterface()->setLightPosition(clientCmd.m_configureOpenGLVisualizerArguments.m_lightPosition);
+		}
+		if (clientCmd.m_updateFlags & COV_SET_SHADOWMAP_RESOLUTION)
+		{
+			m_data->m_guiHelper->getRenderInterface()->setShadowMapResolution(clientCmd.m_configureOpenGLVisualizerArguments.m_shadowMapResolution);
+		}
+		if (clientCmd.m_updateFlags & COV_SET_SHADOWMAP_WORLD_SIZE)
+		{
+			float worldSize = clientCmd.m_configureOpenGLVisualizerArguments.m_shadowMapWorldSize;
+			m_data->m_guiHelper->getRenderInterface()->setShadowMapWorldSize(worldSize);
+		}
+	}
+
+	if (clientCmd.m_updateFlags & COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL)
+	{
+		m_data->m_remoteSyncTransformInterval = clientCmd.m_configureOpenGLVisualizerArguments.m_remoteSyncTransformInterval;
+	}
+
+	
 	return hasStatus;
 }
 
@@ -12031,6 +12062,7 @@ void PhysicsServerCommandProcessor::addTransformChangedNotifications()
 void PhysicsServerCommandProcessor::resetSimulation()
 {
 	//clean up all data
+	m_data->m_remoteSyncTransformTime = m_data->m_remoteSyncTransformInterval;
 	
 	m_data->m_simulationTimestamp = 0;
         m_data->m_cachedVUrdfisualShapes.clear();

examples/SharedMemory/SharedMemoryCommands.h

@@ -905,6 +905,10 @@ enum InternalOpenGLVisualizerUpdateFlags
 {
 	COV_SET_CAMERA_VIEW_MATRIX = 1,
 	COV_SET_FLAGS = 2,
+	COV_SET_LIGHT_POSITION = 4,
+	COV_SET_SHADOWMAP_RESOLUTION = 8,
+	COV_SET_SHADOWMAP_WORLD_SIZE = 16,
+	COV_SET_REMOTE_SYNC_TRANSFORM_INTERVAL = 32,
 };
 
 struct ConfigureOpenGLVisualizerRequest
@@ -913,7 +917,10 @@ struct ConfigureOpenGLVisualizerRequest
 	double m_cameraPitch;
 	double m_cameraYaw;
 	double m_cameraTargetPosition[3];
-
+	double m_lightPosition[3];
+	int m_shadowMapResolution;
+	int m_shadowMapWorldSize;
+	double m_remoteSyncTransformInterval;
 	int m_setFlag;
 	int m_setEnabled;
 };

examples/pybullet/examples/configureDebugVisualizer.py

@@ -0,0 +1,21 @@
+import pybullet as p
+import math
+import time
+dt = 1./240.
+
+p.connect(p.GUI)
+p.loadURDF("r2d2.urdf",[0,0,1])
+p.loadURDF("plane.urdf")
+p.setGravity(0,0,-10)
+
+radius=5
+t = 0
+p.configureDebugVisualizer(shadowMapWorldSize=5)
+p.configureDebugVisualizer(shadowMapResolution=8192)
+
+while (1):
+  t+=dt
+  p.configureDebugVisualizer(lightPosition=[radius*math.sin(t),radius*math.cos(t),3])
+  
+  p.stepSimulation()
+  time.sleep(dt)

examples/pybullet/gym/pybullet_data/mini_cheetah/meshes/mini_lower_link.obj

@@ -1,6 +1,5 @@
 # Blender v2.76 (sub 0) OBJ File: ''
 # www.blender.org
-mtllib l_link_mini.mtl
 o lower_link
 v -0.007927 -0.006511 0.072209
 v -0.007918 -0.006511 0.072209

examples/pybullet/gym/pybullet_data/mini_cheetah/mini_cheetah.urdf

@@ -4,7 +4,7 @@
         <inertial>
             <mass value="3.3"/>
             <origin xyz="0.0 0.0 0.0"/>
-            <inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.362030" iyz="0" izz="0.042673"/>
+            <inertia ixx="0.011253" ixy="0" ixz="0" iyy="0.036203" iyz="0" izz="0.042673"/>
         </inertial>
         <visual>
             <geometry>

examples/pybullet/pybullet.c

@@ -5869,15 +5869,18 @@ static PyObject* pybullet_getDebugVisualizerCamera(PyObject* self, PyObject* arg
 
 static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	int flag = 1;
+	int flag = -1;
 	int enable = -1;
-
+	int shadowMapResolution = -1;
+	int shadowMapWorldSize = -1;
 	int physicsClientId = 0;
+	double remoteSyncTransformInterval = -1;
+	PyObject* pyLightPosition = 0;
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"flag", "enable", "physicsClientId", NULL};
+	static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist,
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiidi", kwlist,
-									 &flag, &enable, &physicsClientId))
+									 &flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &physicsClientId))
 		return NULL;
 
 	sm = getPhysicsClient(physicsClientId);
@@ -5889,7 +5892,31 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
 
 	{
 		b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(sm);
+		if (flag >= 0)
+		{
 			b3ConfigureOpenGLVisualizerSetVisualizationFlags(commandHandle, flag, enable);
+		}
+		if (pyLightPosition)
+		{
+			float lightPosition[3];
+			if (pybullet_internalSetVector(pyLightPosition, lightPosition))
+			{
+				b3ConfigureOpenGLVisualizerSetLightPosition(commandHandle, lightPosition);
+			}
+		}
+		if (shadowMapResolution > 0)
+		{
+			b3ConfigureOpenGLVisualizerSetShadowMapResolution(commandHandle, shadowMapResolution);
+		}
+		if (shadowMapWorldSize > 0)
+		{
+			b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(commandHandle, shadowMapWorldSize);
+		}
+		if (remoteSyncTransformInterval >= 0)
+		{
+			b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(commandHandle, remoteSyncTransformInterval);
+		}
+
 		b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	}
 	Py_INCREF(Py_None);