Merge remote-tracking branch 'upstream/master'

.travis.yml

@@ -10,10 +10,16 @@ addons:
     packages:
       - python3
 
+
 script:
   - echo "CXX="$CXX
   - echo "CC="$CC
-  - cmake . -DBUILD_PYBULLET=OFF -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
+  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo apt-get install python3-pip; fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo pip3 install -U pip wheel; fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo pip3 install setuptools; fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo python3 setup.py install; fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then python3 examples/pybullet/unittests/unittests.py --verbose; fi
+  - cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
   - make -j8
   - ctest -j8 --output-on-failure
   # Build again with double precision

AUTHORS.txt

@@ -2,17 +2,21 @@ Bullet Physics is created by Erwin Coumans with contributions from the following
 
 AMD
 Apple
+Yunfei Bai
 Steve Baker
 Gino van den Bergen
+Jeff Bingham
 Nicola Candussi
 Erin Catto
 Lawrence Chai
 Erwin Coumans
-Christer Ericson
 Disney Animation
+Benjamin Ellenberger
+Christer Ericson
 Google
 Dirk Gregorius
 Marcus Hennix
+Jasmine Hsu
 MBSim Development Team
 Takahiro Harada
 Simon Hobbs
@@ -20,6 +24,7 @@ John Hsu
 Ole Kniemeyer
 Jay Lee
 Francisco Leon
+lunkhound
 Vsevolod Klementjev
 Phil Knight
 John McCutchan
@@ -32,9 +37,9 @@ Russel Smith
 Sony
 Jakub Stephien
 Marten Svanfeldt
+Jie Tan
 Pierre Terdiman
 Steven Thompson
 Tamas Umenhoffer
-Yunfei Bai
 
 If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3

CMakeLists.txt

@@ -26,16 +26,16 @@ 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" ON)
 
-OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
+OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
-IF (BULLET2_USE_THREAD_LOCKS)
+IF (BULLET2_MULTITHREADING)
     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)
+ENDIF (BULLET2_MULTITHREADING)
 
 
 IF(NOT WIN32)
@@ -108,7 +108,7 @@ IF(MSVC)
 	IF (CMAKE_CL_64)
 	  ADD_DEFINITIONS(-D_WIN64)
 	ELSE()
-	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
+	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	OFF)
 	  option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
 
 	  IF (USE_MSVC_SSE)
@@ -217,20 +217,23 @@ ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
 SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
 ENDIF (USE_DOUBLE_PRECISION)
 
-IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+ENDIF ()
 
 IF(USE_GRAPHICAL_BENCHMARK)
 ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
 ENDIF (USE_GRAPHICAL_BENCHMARK)
 
-IF(BULLET2_USE_THREAD_LOCKS)
+IF(BULLET2_MULTITHREADING)
 	ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
 	IF (NOT MSVC)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 	ENDIF (NOT MSVC)
-ENDIF (BULLET2_USE_THREAD_LOCKS)
+	IF (NOT WIN32)
+		LINK_LIBRARIES( pthread )
+	ENDIF (NOT WIN32)
+ENDIF (BULLET2_MULTITHREADING)
 
 IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
     ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
@@ -302,31 +305,34 @@ ENDIF()
 
 OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
 
+# Optional Python configuration
+# Will not probe environment for Python configuration (which can abort the
+# build process) unless you explicitly turn on BUILD_PYBULLET.
 OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
 IF(BUILD_PYBULLET)
-	# Optional Python configuration
+	SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
-	# builds pybullet automatically if all the requirements are met
+	SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
-	SET(PYTHON_VERSION_PYBULLET "2.7" CACHE STRING "Python version pybullet will use.")
-	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)
+	OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" 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_PYTHON_VERSION_FLAG})
 	# python library should exactly match that of the interpreter
+	# the following can result in fatal error if you don't have the right python configuration
 	FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
-ENDIF()
+ENDIF(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" ON)
+	OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
 	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)
 
@@ -464,7 +470,11 @@ configure_file 	( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
 					${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
 					@ONLY ESCAPE_QUOTES
 				)
+OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON)
+
+IF (INSTALL_CMAKE_FILES)
 	install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
 		${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
 		DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
 	)
+ENDIF (INSTALL_CMAKE_FILES)

Extras/BulletRobotics/CMakeLists.txt

@@ -10,8 +10,8 @@ INCLUDE_DIRECTORIES(
 SET(BulletRobotics_SRCS
 		../../examples/SharedMemory/IKTrajectoryHelper.cpp
 		../../examples/SharedMemory/IKTrajectoryHelper.h
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
 		../../examples/OpenGLWindow/SimpleCamera.cpp
 		../../examples/OpenGLWindow/SimpleCamera.h
 		../../examples/TinyRenderer/geometry.cpp
@@ -32,6 +32,9 @@ SET(BulletRobotics_SRCS
 		../../examples/SharedMemory/PhysicsDirectC_API.h
 		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 		../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+		../../examples/SharedMemory/b3PluginManager.cpp
+		../../examples/SharedMemory/b3PluginManager.h
+				
 		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
 		../../examples/SharedMemory/PhysicsClientSharedMemory.h
 		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
@@ -56,10 +59,7 @@ SET(BulletRobotics_SRCS
 		../../examples/Utils/b3ReferenceFrameHelper.hpp
 		../../examples/Utils/ChromeTraceUtil.cpp
 
-		../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
+		../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
 
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
 		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
@@ -117,6 +117,10 @@ ELSE(WIN32)
 	IF(BUILD_CLSOCKET)	
 		ADD_DEFINITIONS(${OSDEF})
 	ENDIF(BUILD_CLSOCKET)
+		
+	IF(NOT APPLE)
+		LINK_LIBRARIES(  pthread ${DL} )
+	ENDIF(APPLE)
 ENDIF(WIN32)
 
 IF(BUILD_ENET)

Extras/ConvexDecomposition/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {".","../../src"}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Extras/HACD/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {"."}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Extras/InverseDynamics/btMultiBodyFromURDF.hpp

@@ -44,7 +44,7 @@ public:
     void init() {
         this->createEmptyDynamicsWorld();
         m_dynamicsWorld->setGravity(m_gravity);
-        BulletURDFImporter urdf_importer(&m_nogfx,0,1);
+        BulletURDFImporter urdf_importer(&m_nogfx,0,1,0);
         URDFImporterInterface &u2b(urdf_importer);
         bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
 

Extras/InverseDynamics/btMultiBodyTreeCreator.cpp

@@ -27,7 +27,9 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
         } else {
             link.joint_type = FLOATING;
         }
-        btTransform transform(btmb->getBaseWorldTransform());
+		btTransform transform=(btmb->getBaseWorldTransform());
+		//compute inverse dynamics in body-fixed frame
+		transform.setIdentity();
 
         link.parent_r_parent_body_ref(0) = transform.getOrigin()[0];
         link.parent_r_parent_body_ref(1) = transform.getOrigin()[1];

Extras/InverseDynamics/premake4.lua

@@ -6,6 +6,9 @@
 		"../../src"
 	}
 
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"*.cpp",
 		"*.hpp"

Extras/Serialize/BulletFileLoader/autogenerated/bullet.h

@@ -63,6 +63,8 @@ typedef struct bInvalidHandle {
     class btCapsuleShapeData;
     class btTriangleInfoData;
     class btTriangleInfoMapData;
+    class btPersistentManifoldDoubleData;
+    class btPersistentManifoldFloatData;
     class btGImpactMeshShapeData;
     class btConvexHullShapeData;
     class btCollisionObjectDoubleData;
@@ -110,6 +112,8 @@ typedef struct bInvalidHandle {
     class btMultiBodyLinkFloatData;
     class btMultiBodyDoubleData;
     class btMultiBodyFloatData;
+    class btMultiBodyLinkColliderFloatData;
+    class btMultiBodyLinkColliderDoubleData;
 // -------------------------------------------------- //
     class PointerArray
     {
@@ -512,6 +516,96 @@ typedef struct bInvalidHandle {
     };
 
 
+// -------------------------------------------------- //
+    class btPersistentManifoldDoubleData
+    {
+    public:
+        btVector3DoubleData m_pointCacheLocalPointA[4];
+        btVector3DoubleData m_pointCacheLocalPointB[4];
+        btVector3DoubleData m_pointCachePositionWorldOnA[4];
+        btVector3DoubleData m_pointCachePositionWorldOnB[4];
+        btVector3DoubleData m_pointCacheNormalWorldOnB[4];
+        btVector3DoubleData m_pointCacheLateralFrictionDir1[4];
+        btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
+        double m_pointCacheDistance[4];
+        double m_pointCacheAppliedImpulse[4];
+        double m_pointCacheCombinedFriction[4];
+        double m_pointCacheCombinedRollingFriction[4];
+        double m_pointCacheCombinedSpinningFriction[4];
+        double m_pointCacheCombinedRestitution[4];
+        int m_pointCachePartId0[4];
+        int m_pointCachePartId1[4];
+        int m_pointCacheIndex0[4];
+        int m_pointCacheIndex1[4];
+        int m_pointCacheContactPointFlags[4];
+        double m_pointCacheAppliedImpulseLateral1[4];
+        double m_pointCacheAppliedImpulseLateral2[4];
+        double m_pointCacheContactMotion1[4];
+        double m_pointCacheContactMotion2[4];
+        double m_pointCacheContactCFM[4];
+        double m_pointCacheCombinedContactStiffness1[4];
+        double m_pointCacheContactERP[4];
+        double m_pointCacheCombinedContactDamping1[4];
+        double m_pointCacheFrictionCFM[4];
+        int m_pointCacheLifeTime[4];
+        int m_numCachedPoints;
+        int m_companionIdA;
+        int m_companionIdB;
+        int m_index1a;
+        int m_objectType;
+        double m_contactBreakingThreshold;
+        double m_contactProcessingThreshold;
+        int m_padding;
+        btCollisionObjectDoubleData *m_body0;
+        btCollisionObjectDoubleData *m_body1;
+    };
+
+
+// -------------------------------------------------- //
+    class btPersistentManifoldFloatData
+    {
+    public:
+        btVector3FloatData m_pointCacheLocalPointA[4];
+        btVector3FloatData m_pointCacheLocalPointB[4];
+        btVector3FloatData m_pointCachePositionWorldOnA[4];
+        btVector3FloatData m_pointCachePositionWorldOnB[4];
+        btVector3FloatData m_pointCacheNormalWorldOnB[4];
+        btVector3FloatData m_pointCacheLateralFrictionDir1[4];
+        btVector3FloatData m_pointCacheLateralFrictionDir2[4];
+        float m_pointCacheDistance[4];
+        float m_pointCacheAppliedImpulse[4];
+        float m_pointCacheCombinedFriction[4];
+        float m_pointCacheCombinedRollingFriction[4];
+        float m_pointCacheCombinedSpinningFriction[4];
+        float m_pointCacheCombinedRestitution[4];
+        int m_pointCachePartId0[4];
+        int m_pointCachePartId1[4];
+        int m_pointCacheIndex0[4];
+        int m_pointCacheIndex1[4];
+        int m_pointCacheContactPointFlags[4];
+        float m_pointCacheAppliedImpulseLateral1[4];
+        float m_pointCacheAppliedImpulseLateral2[4];
+        float m_pointCacheContactMotion1[4];
+        float m_pointCacheContactMotion2[4];
+        float m_pointCacheContactCFM[4];
+        float m_pointCacheCombinedContactStiffness1[4];
+        float m_pointCacheContactERP[4];
+        float m_pointCacheCombinedContactDamping1[4];
+        float m_pointCacheFrictionCFM[4];
+        int m_pointCacheLifeTime[4];
+        int m_numCachedPoints;
+        int m_companionIdA;
+        int m_companionIdB;
+        int m_index1a;
+        int m_objectType;
+        float m_contactBreakingThreshold;
+        float m_contactProcessingThreshold;
+        int m_padding;
+        btCollisionObjectFloatData *m_body0;
+        btCollisionObjectFloatData *m_body1;
+    };
+
+
 // -------------------------------------------------- //
     class btGImpactMeshShapeData
     {
@@ -566,7 +660,9 @@ typedef struct bInvalidHandle {
         int m_activationState1;
         int m_internalType;
         int m_checkCollideWith;
-        char m_padding[4];
+        int m_collisionFilterGroup;
+        int m_collisionFilterMask;
+        int m_uniqueId;
     };
 
 
@@ -600,7 +696,9 @@ typedef struct bInvalidHandle {
         int m_activationState1;
         int m_internalType;
         int m_checkCollideWith;
-        char m_padding[4];
+        int m_collisionFilterGroup;
+        int m_collisionFilterMask;
+        int m_uniqueId;
     };
 
 
@@ -1353,11 +1451,15 @@ typedef struct bInvalidHandle {
     {
     public:
         btQuaternionDoubleData m_zeroRotParentToThis;
-        btVector3DoubleData m_parentComToThisComOffset;
+        btVector3DoubleData m_parentComToThisPivotOffset;
         btVector3DoubleData m_thisPivotToThisComOffset;
         btVector3DoubleData m_jointAxisTop[6];
         btVector3DoubleData m_jointAxisBottom[6];
         btVector3DoubleData m_linkInertia;
+        btVector3DoubleData m_absFrameTotVelocityTop;
+        btVector3DoubleData m_absFrameTotVelocityBottom;
+        btVector3DoubleData m_absFrameLocVelocityTop;
+        btVector3DoubleData m_absFrameLocVelocityBottom;
         double m_linkMass;
         int m_parentIndex;
         int m_jointType;
@@ -1384,11 +1486,15 @@ typedef struct bInvalidHandle {
     {
     public:
         btQuaternionFloatData m_zeroRotParentToThis;
-        btVector3FloatData m_parentComToThisComOffset;
+        btVector3FloatData m_parentComToThisPivotOffset;
         btVector3FloatData m_thisPivotToThisComOffset;
         btVector3FloatData m_jointAxisTop[6];
         btVector3FloatData m_jointAxisBottom[6];
         btVector3FloatData m_linkInertia;
+        btVector3FloatData m_absFrameTotVelocityTop;
+        btVector3FloatData m_absFrameTotVelocityBottom;
+        btVector3FloatData m_absFrameLocVelocityTop;
+        btVector3FloatData m_absFrameLocVelocityBottom;
         int m_dofCount;
         float m_linkMass;
         int m_parentIndex;
@@ -1414,15 +1520,17 @@ typedef struct bInvalidHandle {
     class btMultiBodyDoubleData
     {
     public:
-        btTransformDoubleData m_baseWorldTransform;
+        btVector3DoubleData m_baseWorldPosition;
+        btQuaternionDoubleData m_baseWorldOrientation;
+        btVector3DoubleData m_baseLinearVelocity;
+        btVector3DoubleData m_baseAngularVelocity;
         btVector3DoubleData m_baseInertia;
         double m_baseMass;
+        int m_numLinks;
+        char m_padding[4];
         char *m_baseName;
         btMultiBodyLinkDoubleData *m_links;
         btCollisionObjectDoubleData *m_baseCollider;
-        char *m_paddingPtr;
-        int m_numLinks;
-        char m_padding[4];
     };
 
 
@@ -1430,13 +1538,38 @@ typedef struct bInvalidHandle {
     class btMultiBodyFloatData
     {
     public:
-        char *m_baseName;
+        btVector3FloatData m_baseWorldPosition;
-        btMultiBodyLinkFloatData *m_links;
+        btQuaternionFloatData m_baseWorldOrientation;
-        btCollisionObjectFloatData *m_baseCollider;
+        btVector3FloatData m_baseLinearVelocity;
-        btTransformFloatData m_baseWorldTransform;
+        btVector3FloatData m_baseAngularVelocity;
         btVector3FloatData m_baseInertia;
         float m_baseMass;
         int m_numLinks;
+        char *m_baseName;
+        btMultiBodyLinkFloatData *m_links;
+        btCollisionObjectFloatData *m_baseCollider;
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyLinkColliderFloatData
+    {
+    public:
+        btCollisionObjectFloatData m_colObjData;
+        btMultiBodyFloatData *m_multiBody;
+        int m_link;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyLinkColliderDoubleData
+    {
+    public:
+        btCollisionObjectDoubleData m_colObjData;
+        btMultiBodyDoubleData *m_multiBody;
+        int m_link;
+        char m_padding[4];
     };
 
 

Extras/Serialize/BulletFileLoader/btBulletFile.cpp

@@ -128,6 +128,9 @@ void btBulletFile::parseData()
 	mDataStart = 12;
 	remain-=12;
 	
+	//invalid/empty file?
+	if (remain < sizeof(bChunkInd))
+		return;
 
 	char *dataPtr = mFileBuffer+mDataStart;
 
@@ -173,11 +176,20 @@ void btBulletFile::parseData()
 					//	listID->push_back((bStructHandle*)id);
 				}
 
+				if (dataChunk.code == BT_CONTACTMANIFOLD_CODE)
+				{
+					m_contactManifolds.push_back((bStructHandle*)id);
+				}
 				if (dataChunk.code == BT_MULTIBODY_CODE)
 				{
 					m_multiBodies.push_back((bStructHandle*)id);
 				}
 
+				if (dataChunk.code == BT_MB_LINKCOLLIDER_CODE)
+				{
+					m_multiBodyLinkColliders.push_back((bStructHandle*)id);
+				}
+
 				if (dataChunk.code == BT_SOFTBODY_CODE)
 				{
 					m_softBodies.push_back((bStructHandle*) id);

Extras/Serialize/BulletFileLoader/btBulletFile.h

@@ -41,6 +41,8 @@ namespace bParse {
 
 		btAlignedObjectArray<bStructHandle*>	m_multiBodies;
 
+		btAlignedObjectArray<bStructHandle*>	m_multiBodyLinkColliders;
+
 		btAlignedObjectArray<bStructHandle*>	m_softBodies;
 
 		btAlignedObjectArray<bStructHandle*>	m_rigidBodies;
@@ -57,6 +59,8 @@ namespace bParse {
 
 		btAlignedObjectArray<bStructHandle*>	m_dynamicsWorldInfo;
 
+		btAlignedObjectArray<bStructHandle*>	m_contactManifolds;
+
 		btAlignedObjectArray<char*>				m_dataBlocks;
 		btBulletFile();
 

Extras/Serialize/BulletFileLoader/premake4.lua

@@ -2,6 +2,10 @@
 		
 	kind "StaticLib"
 	
+	if os.is("Linux") then
+	    buildoptions{"-fPIC"}
+	end
+	 
 	includedirs {
 		"../../../src"
 	}

Extras/Serialize/BulletWorldImporter/CMakeLists.txt

@@ -5,6 +5,7 @@ INCLUDE_DIRECTORIES(
 
 ADD_LIBRARY(
 BulletWorldImporter
+btMultiBodyWorldImporter.cpp
 btBulletWorldImporter.cpp
 btBulletWorldImporter.h
 btWorldImporter.cpp

Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp

@@ -0,0 +1,523 @@
+#include "btMultiBodyWorldImporter.h"
+
+#include "LinearMath/btSerializer.h"
+#include "../BulletFileLoader/btBulletFile.h"
+#include "btBulletWorldImporter.h"
+#include "btBulletDynamicsCommon.h"
+#include "BulletDynamics/Featherstone/btMultiBody.h"
+#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+
+struct btMultiBodyWorldImporterInternalData
+{
+	btMultiBodyDynamicsWorld* m_mbDynamicsWorld;
+	btHashMap<btHashPtr, btMultiBody*> m_mbMap;
+};
+
+btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* world)
+	:btBulletWorldImporter(world)
+{
+	m_data = new btMultiBodyWorldImporterInternalData;
+	m_data->m_mbDynamicsWorld = world;
+}
+	
+
+btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
+{
+	delete m_data;
+}
+
+void btMultiBodyWorldImporter::deleteAllData()
+{
+	btBulletWorldImporter::deleteAllData();
+}
+
+
+static btCollisionObjectDoubleData* getBody0FromContactManifold(btPersistentManifoldDoubleData* manifold)
+{
+	return (btCollisionObjectDoubleData*)manifold->m_body0;
+}
+static btCollisionObjectDoubleData* getBody1FromContactManifold(btPersistentManifoldDoubleData* manifold)
+{
+	return (btCollisionObjectDoubleData*)manifold->m_body1;
+}
+static btCollisionObjectFloatData* getBody0FromContactManifold(btPersistentManifoldFloatData* manifold)
+{
+	return (btCollisionObjectFloatData*)manifold->m_body0;
+}
+static btCollisionObjectFloatData* getBody1FromContactManifold(btPersistentManifoldFloatData* manifold)
+{
+	return (btCollisionObjectFloatData*)manifold->m_body1;
+}
+
+
+template<class T> void syncContactManifolds(T** contactManifolds, int numContactManifolds, btMultiBodyWorldImporterInternalData* m_data)
+{
+	m_data->m_mbDynamicsWorld->updateAabbs();
+	m_data->m_mbDynamicsWorld->computeOverlappingPairs();
+	btDispatcher* dispatcher = m_data->m_mbDynamicsWorld->getDispatcher();
+
+	btDispatcherInfo& dispatchInfo = m_data->m_mbDynamicsWorld->getDispatchInfo();
+
+
+	if (dispatcher)
+	{
+		btOverlappingPairCache* pairCache = m_data->m_mbDynamicsWorld->getBroadphase()->getOverlappingPairCache();
+		if (dispatcher)
+		{
+			dispatcher->dispatchAllCollisionPairs(pairCache, dispatchInfo, dispatcher);
+		}
+		int numExistingManifolds = m_data->m_mbDynamicsWorld->getDispatcher()->getNumManifolds();
+		btManifoldArray manifoldArray;
+		for (int i = 0; i < pairCache->getNumOverlappingPairs(); i++)
+		{
+			btBroadphasePair& pair = pairCache->getOverlappingPairArray()[i];
+			if (pair.m_algorithm)
+			{
+				pair.m_algorithm->getAllContactManifolds(manifoldArray);
+				//for each existing manifold, search a matching manifoldData and reconstruct
+				for (int m = 0; m < manifoldArray.size(); m++)
+				{
+					btPersistentManifold* existingManifold = manifoldArray[m];
+					int uid0 = existingManifold->getBody0()->getBroadphaseHandle()->m_uniqueId;
+					int uid1 = existingManifold->getBody1()->getBroadphaseHandle()->m_uniqueId;
+					int matchingManifoldIndex = -1;
+					for (int q = 0; q < numContactManifolds; q++)
+					{
+						if (uid0 == getBody0FromContactManifold(contactManifolds[q])->m_uniqueId && uid1 == getBody1FromContactManifold(contactManifolds[q])->m_uniqueId)
+						{
+							matchingManifoldIndex = q;
+						}
+					}
+					if (matchingManifoldIndex >= 0)
+					{
+						existingManifold->deSerialize(contactManifolds[matchingManifoldIndex]);
+					}
+					else
+					{
+						existingManifold->setNumContacts(0);
+						//printf("Issue: cannot find maching contact manifold (%d, %d), may cause issues in determinism.\n", uid0, uid1);
+					}
+
+					manifoldArray.clear();
+				}
+			}
+		}
+	}
+
+}
+
+template<class T>  void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldImporterInternalData* m_data, btAlignedObjectArray<btQuaternion>& scratchQ, btAlignedObjectArray<btVector3>& scratchM)
+{
+	bool isFixedBase = mbd->m_baseMass == 0;
+	bool canSleep = false;
+	btVector3 baseInertia;
+	baseInertia.deSerialize(mbd->m_baseInertia);
+
+	btVector3 baseWorldPos;
+	baseWorldPos.deSerialize(mbd->m_baseWorldPosition);
+	mb->setBasePos(baseWorldPos);
+	btQuaternion baseWorldRot;
+	baseWorldRot.deSerialize(mbd->m_baseWorldOrientation);
+	mb->setWorldToBaseRot(baseWorldRot.inverse());
+	btVector3 baseLinVal;
+	baseLinVal.deSerialize(mbd->m_baseLinearVelocity);
+	btVector3 baseAngVel;
+	baseAngVel.deSerialize(mbd->m_baseAngularVelocity);
+	mb->setBaseVel(baseLinVal);
+	mb->setBaseOmega(baseAngVel);
+
+	for (int i = 0; i < mbd->m_numLinks; i++)
+	{
+
+		mb->getLink(i).m_absFrameTotVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityTop);
+		mb->getLink(i).m_absFrameTotVelocity.m_bottomVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityBottom);
+		mb->getLink(i).m_absFrameLocVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameLocVelocityTop);
+		mb->getLink(i).m_absFrameLocVelocity.m_bottomVec.deSerialize(mbd->m_links[i].m_absFrameLocVelocityBottom);
+
+		switch (mbd->m_links[i].m_jointType)
+		{
+		case btMultibodyLink::eFixed:
+		{
+			break;
+		}
+		case btMultibodyLink::ePrismatic:
+		{
+			mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
+			mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
+			break;
+		}
+		case btMultibodyLink::eRevolute:
+		{
+			mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
+			mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
+			break;
+		}
+		case btMultibodyLink::eSpherical:
+		{
+			btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
+			btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
+			mb->setJointPosMultiDof(i, jointPos);
+			mb->setJointVelMultiDof(i, jointVel);
+
+			break;
+		}
+		case btMultibodyLink::ePlanar:
+		{
+			break;
+		}
+		default:
+		{
+		}
+		}
+	}
+	mb->forwardKinematics(scratchQ, scratchM);
+	mb->updateCollisionObjectWorldTransforms(scratchQ, scratchM);
+}
+
+template<class T>  void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data)
+{
+	bool isFixedBase = mbd->m_baseMass == 0;
+	bool canSleep = false;
+	btVector3 baseInertia;
+	baseInertia.deSerialize(mbd->m_baseInertia);
+	btMultiBody* mb = new btMultiBody(mbd->m_numLinks, mbd->m_baseMass, baseInertia, isFixedBase, canSleep);
+	mb->setHasSelfCollision(false);
+
+	btVector3 baseWorldPos;
+	baseWorldPos.deSerialize(mbd->m_baseWorldPosition);
+
+	btQuaternion baseWorldOrn;
+	baseWorldOrn.deSerialize(mbd->m_baseWorldOrientation);
+	mb->setBasePos(baseWorldPos);
+	mb->setWorldToBaseRot(baseWorldOrn.inverse());
+
+	m_data->m_mbMap.insert(mbd, mb);
+	for (int i = 0; i < mbd->m_numLinks; i++)
+	{
+		btVector3 localInertiaDiagonal;
+		localInertiaDiagonal.deSerialize(mbd->m_links[i].m_linkInertia);
+		btQuaternion parentRotToThis;
+		parentRotToThis.deSerialize(mbd->m_links[i].m_zeroRotParentToThis);
+		btVector3 parentComToThisPivotOffset;
+		parentComToThisPivotOffset.deSerialize(mbd->m_links[i].m_parentComToThisPivotOffset);
+		btVector3 thisPivotToThisComOffset;
+		thisPivotToThisComOffset.deSerialize(mbd->m_links[i].m_thisPivotToThisComOffset);
+
+		switch (mbd->m_links[i].m_jointType)
+		{
+		case btMultibodyLink::eFixed:
+		{
+
+
+			mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
+				parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset);
+			//search for the collider
+			//mbd->m_links[i].m_linkCollider
+			break;
+		}
+		case btMultibodyLink::ePrismatic:
+		{
+			btVector3 jointAxis;
+			jointAxis.deSerialize(mbd->m_links[i].m_jointAxisBottom[0]);
+			bool disableParentCollision = true;//todo
+			mb->setupPrismatic(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
+				parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
+			mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
+			mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
+			break;
+		}
+		case btMultibodyLink::eRevolute:
+		{
+			btVector3 jointAxis;
+			jointAxis.deSerialize(mbd->m_links[i].m_jointAxisTop[0]);
+			bool disableParentCollision = true;//todo
+			mb->setupRevolute(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
+				parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
+			mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
+			mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
+			break;
+		}
+		case btMultibodyLink::eSpherical:
+		{
+			btAssert(0);
+			bool disableParentCollision = true;//todo
+			mb->setupSpherical(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
+				parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
+			btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
+			btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
+			mb->setJointPosMultiDof(i, jointPos);
+			mb->setJointVelMultiDof(i, jointVel);
+
+			break;
+		}
+		case btMultibodyLink::ePlanar:
+		{
+			btAssert(0);
+			break;
+		}
+		default:
+		{
+			btAssert(0);
+		}
+		}
+	}
+}
+
+bool btMultiBodyWorldImporter::convertAllObjects(  bParse::btBulletFile* bulletFile2)
+{
+	bool result = false;
+	btAlignedObjectArray<btQuaternion> scratchQ;
+	btAlignedObjectArray<btVector3> scratchM;
+
+	if (m_importerFlags&eRESTORE_EXISTING_OBJECTS)
+	{
+		//check if the snapshot is valid for the existing world
+		//equal number of objects, # links etc
+		if ((bulletFile2->m_multiBodies.size() != m_data->m_mbDynamicsWorld->getNumMultibodies()))
+		{
+			result = false;
+			return result;
+		}
+		result = true;
+
+		//convert all multibodies
+		if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
+		{
+
+			//for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
+			for (int i = bulletFile2->m_multiBodies.size() - 1; i >= 0; i--)
+			{
+				btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
+				btMultiBody* mb = m_data->m_mbDynamicsWorld->getMultiBody(i);
+				syncMultiBody(mbd, mb, m_data, scratchQ, scratchM);
+			}
+
+			for (int i = bulletFile2->m_rigidBodies.size() - 1; i >= 0; i--)
+			{
+				btRigidBodyDoubleData* rbd = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
+				int foundRb = -1;
+				int uid = rbd->m_collisionObjectData.m_uniqueId;
+				for (int i = 0; i < m_data->m_mbDynamicsWorld->getNumCollisionObjects(); i++)
+				{
+					if (uid == m_data->m_mbDynamicsWorld->getCollisionObjectArray()[i]->getBroadphaseHandle()->m_uniqueId)
+					{
+						foundRb = i;
+						break;
+					}
+				}
+				if (foundRb >= 0)
+				{
+					btRigidBody* rb = btRigidBody::upcast(m_data->m_mbDynamicsWorld->getCollisionObjectArray()[foundRb]);
+					if (rb)
+					{
+						btTransform tr;
+						tr.deSerializeDouble(rbd->m_collisionObjectData.m_worldTransform);
+						rb->setWorldTransform(tr);
+						btVector3 linVel, angVel;
+						linVel.deSerializeDouble(rbd->m_linearVelocity);
+						angVel.deSerializeDouble(rbd->m_angularVelocity);
+						rb->setLinearVelocity(linVel);
+						rb->setAngularVelocity(angVel);
+					}
+					else
+					{
+						result = false;
+					}
+				}
+				else
+				{
+					result = false;
+				}
+			}
+
+			//todo: check why body1 pointer is not properly deserialized
+			for (int i = 0; i < bulletFile2->m_contactManifolds.size(); i++)
+			{
+				btPersistentManifoldDoubleData* manifoldData = (btPersistentManifoldDoubleData*)bulletFile2->m_contactManifolds[i];
+				{
+					void* ptr = bulletFile2->findLibPointer(manifoldData->m_body0);
+					if (ptr)
+					{
+						manifoldData->m_body0 = (btCollisionObjectDoubleData*)ptr;
+					}
+				}
+
+				{
+					void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
+					if (ptr)
+					{
+						manifoldData->m_body1 = (btCollisionObjectDoubleData*)ptr;
+					}
+				}
+			}
+
+
+			if (bulletFile2->m_contactManifolds.size())
+			{
+				syncContactManifolds((btPersistentManifoldDoubleData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
+			}
+		}
+		else
+		{
+			//single precision version
+			//for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
+			for (int i = bulletFile2->m_multiBodies.size() - 1; i >= 0; i--)
+			{
+				btMultiBodyFloatData* mbd = (btMultiBodyFloatData*)bulletFile2->m_multiBodies[i];
+				btMultiBody* mb = m_data->m_mbDynamicsWorld->getMultiBody(i);
+				syncMultiBody(mbd, mb, m_data, scratchQ, scratchM);
+			}
+
+			//todo: check why body1 pointer is not properly deserialized
+			for (int i = 0; i < bulletFile2->m_contactManifolds.size(); i++)
+			{
+				btPersistentManifoldFloatData* manifoldData = (btPersistentManifoldFloatData*)bulletFile2->m_contactManifolds[i];
+				{
+					void* ptr = bulletFile2->findLibPointer(manifoldData->m_body0);
+					if (ptr)
+					{
+						manifoldData->m_body0 = (btCollisionObjectFloatData*)ptr;
+					}
+				}
+				{
+					void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
+					if (ptr)
+					{
+						manifoldData->m_body1 = (btCollisionObjectFloatData*)ptr;
+					}
+				}
+			}
+
+
+			if (bulletFile2->m_contactManifolds.size())
+			{
+				syncContactManifolds((btPersistentManifoldFloatData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
+			}
+
+		}
+	}
+	else
+	{
+		result = btBulletWorldImporter::convertAllObjects(bulletFile2);
+
+
+		//convert all multibodies
+		for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
+		{
+
+			if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
+			{
+				btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
+				convertMultiBody(mbd, m_data);
+			}
+			else
+			{
+				btMultiBodyFloatData* mbd = (btMultiBodyFloatData*)bulletFile2->m_multiBodies[i];
+				convertMultiBody(mbd, m_data);
+			}
+		}
+
+		//forward kinematics, so that the link world transforms are valid, for collision detection
+		for (int i = 0; i < m_data->m_mbMap.size(); i++)
+		{
+			btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
+			if (ptr)
+			{
+				btMultiBody* mb = *ptr;
+				mb->finalizeMultiDof();
+				btVector3 linvel = mb->getBaseVel();
+				btVector3 angvel = mb->getBaseOmega();
+				mb->forwardKinematics(scratchQ, scratchM);
+			}
+		}
+
+		//convert all multibody link colliders
+		for (int i = 0; i < bulletFile2->m_multiBodyLinkColliders.size(); i++)
+		{
+			if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
+			{
+				btMultiBodyLinkColliderDoubleData* mblcd = (btMultiBodyLinkColliderDoubleData*)bulletFile2->m_multiBodyLinkColliders[i];
+
+				btMultiBody** ptr = m_data->m_mbMap[mblcd->m_multiBody];
+				if (ptr)
+				{
+					btMultiBody* multiBody = *ptr;
+
+
+					btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
+					if (shapePtr && *shapePtr)
+					{
+						btTransform startTransform;
+						mblcd->m_colObjData.m_worldTransform.m_origin.m_floats[3] = 0.f;
+						startTransform.deSerializeDouble(mblcd->m_colObjData.m_worldTransform);
+
+						btCollisionShape* shape = (btCollisionShape*)*shapePtr;
+						if (shape)
+						{
+							btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(multiBody, mblcd->m_link);
+							col->setCollisionShape(shape);
+							//btCollisionObject* body = createCollisionObject(startTransform,shape,mblcd->m_colObjData.m_name);
+							col->setFriction(btScalar(mblcd->m_colObjData.m_friction));
+							col->setRestitution(btScalar(mblcd->m_colObjData.m_restitution));
+							//m_bodyMap.insert(colObjData,body);
+							if (mblcd->m_link == -1)
+							{
+								col->setWorldTransform(multiBody->getBaseWorldTransform());
+								multiBody->setBaseCollider(col);
+							}
+							else
+							{
+								col->setWorldTransform(multiBody->getLink(mblcd->m_link).m_cachedWorldTransform);
+								multiBody->getLink(mblcd->m_link).m_collider = col;
+							}
+							int mbLinkIndex = mblcd->m_link;
+
+							bool isDynamic = (mbLinkIndex < 0 && multiBody->hasFixedBase()) ? false : true;
+							int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+							int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+
+#if 0
+							int colGroup = 0, colMask = 0;
+							int collisionFlags = mblcd->m_colObjData.m_collisionFlags;
+							if (collisionFlags & URDF_HAS_COLLISION_GROUP)
+							{
+								collisionFilterGroup = colGroup;
+							}
+							if (collisionFlags & URDF_HAS_COLLISION_MASK)
+							{
+								collisionFilterMask = colMask;
+							}
+#endif
+							m_data->m_mbDynamicsWorld->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
+						}
+
+					}
+					else
+					{
+						printf("error: no shape found\n");
+					}
+#if 0
+					//base and fixed? -> static, otherwise flag as dynamic
+
+					world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
+#endif
+				}
+
+			}
+		}
+
+		for (int i = 0; i < m_data->m_mbMap.size(); i++)
+		{
+			btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
+			if (ptr)
+			{
+				btMultiBody* mb = *ptr;
+				mb->finalizeMultiDof();
+
+				m_data->m_mbDynamicsWorld->addMultiBody(mb);
+			}
+		}
+	}
+	return result;
+}

Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.h

@@ -0,0 +1,20 @@
+#ifndef BT_MULTIBODY_WORLD_IMPORTER_H
+#define BT_MULTIBODY_WORLD_IMPORTER_H
+
+#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
+
+class btMultiBodyWorldImporter : public btBulletWorldImporter
+{
+	struct btMultiBodyWorldImporterInternalData* m_data;
+
+public:
+
+	btMultiBodyWorldImporter(class btMultiBodyDynamicsWorld* world);
+	virtual ~btMultiBodyWorldImporter();
+
+	virtual bool convertAllObjects(  bParse::btBulletFile* bulletFile2);
+
+	virtual void deleteAllData();
+};
+
+#endif //BT_MULTIBODY_WORLD_IMPORTER_H

Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp

@@ -20,7 +20,8 @@ subject to the following restrictions:
 #endif
 btWorldImporter::btWorldImporter(btDynamicsWorld* world)
 :m_dynamicsWorld(world),
-m_verboseMode(0)
+m_verboseMode(0),
+m_importerFlags(0)
 {
 
 }

Extras/Serialize/BulletWorldImporter/btWorldImporter.h

@@ -59,6 +59,10 @@ struct btRigidBodyFloatData;
 #define btRigidBodyData btRigidBodyFloatData
 #endif//BT_USE_DOUBLE_PRECISION
 
+enum btWorldImporterFlags
+{
+	eRESTORE_EXISTING_OBJECTS=1,//don't create new objects
+};
 
 class btWorldImporter
 {
@@ -66,6 +70,7 @@ protected:
 	btDynamicsWorld* m_dynamicsWorld;
 	
 	int m_verboseMode;
+	int m_importerFlags;
 
 	btAlignedObjectArray<btCollisionShape*>  m_allocatedCollisionShapes;
 	btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
@@ -131,6 +136,18 @@ public:
 		return m_verboseMode;
 	}
 
+	void	setImporterFlags(int importerFlags)
+	{
+		m_importerFlags = importerFlags;
+	}
+
+	int getImporterFlags() const
+	{
+		return m_importerFlags;
+	}
+
+	
+
 		// query for data
 	int	getNumCollisionShapes() const;
 	btCollisionShape* getCollisionShapeByIndex(int index);

Extras/Serialize/BulletWorldImporter/premake4.lua

@@ -7,6 +7,10 @@
 		"../../../src"
 	}
 
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
+    	 
 	files {
 		"**.cpp",
 		"**.h"

Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt

@@ -2,6 +2,7 @@ INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src
 	${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
 	${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/tinyxml2
 )
 
 ADD_LIBRARY(
@@ -10,12 +11,7 @@ ADD_LIBRARY(
 	btBulletXmlWorldImporter.h
 	string_split.cpp
 	string_split.h
-	tinyxml.cpp
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
-	tinyxml.h
-	tinystr.cpp
-	tinystr.h
-	tinyxmlerror.cpp
-	tinyxmlparser.cpp
 )
 
 SET_TARGET_PROPERTIES(BulletXmlWorldImporter  PROPERTIES VERSION ${BULLET_VERSION})

Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp

@@ -14,9 +14,10 @@ subject to the following restrictions:
 */
 
 #include "btBulletXmlWorldImporter.h"
-#include "tinyxml.h"
+#include "tinyxml2.h"
 #include "btBulletDynamicsCommon.h"
 #include "string_split.h"
+using namespace tinyxml2;
 
 struct MyLocalCaster
 {
@@ -43,12 +44,12 @@ btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
 }
 
 #if 0
-static int get_double_attribute_by_name(const TiXmlElement* pElement, const char* attribName,double* value)
+static int get_double_attribute_by_name(const XMLElement* pElement, const char* attribName,double* value)
 {
 	if ( !pElement ) 
 		return 0;
 
-	const TiXmlAttribute* pAttrib=pElement->FirstAttribute();
+	const XMLAttribute* pAttrib=pElement->FirstAttribute();
 	while (pAttrib)
 	{
 		if (pAttrib->Name()==attribName)
@@ -60,16 +61,16 @@ static int get_double_attribute_by_name(const TiXmlElement* pElement, const char
 }
 #endif
 
-static int get_int_attribute_by_name(const TiXmlElement* pElement, const char* attribName,int* value)
+static int get_int_attribute_by_name(const XMLElement* pElement, const char* attribName,int* value)
 {
 	if ( !pElement ) 
 		return 0;
 
-	const TiXmlAttribute* pAttrib=pElement->FirstAttribute();
+	const XMLAttribute* pAttrib=pElement->FirstAttribute();
 	while (pAttrib)
 	{
 		if (!strcmp(pAttrib->Name(),attribName))
-			if (pAttrib->QueryIntValue(value)==TIXML_SUCCESS)
+			if (pAttrib->QueryIntValue(value)==XML_SUCCESS)
 				return 1;
 //		if (pAttrib->QueryDoubleValue(&dval)==TIXML_SUCCESS) printf( " d=%1.1f", dval);
 		pAttrib=pAttrib->Next();
@@ -84,7 +85,7 @@ void stringToFloatArray(const std::string& string, btAlignedObjectArray<float>&
     bullet_utils::split( pieces, string, " ");
     for ( int i = 0; i < pieces.size(); ++i)
 	{
-		assert(pieces[i]!="");
+		btAssert(pieces[i]!="");
         floats.push_back((float)atof(pieces[i].c_str()));
     }
 	  
@@ -95,7 +96,7 @@ static btVector3FloatData TextToVector3Data(const char* txt)
 	btAssert(txt);
 	btAlignedObjectArray<float> floats;
 	stringToFloatArray(txt, floats);
-	assert(floats.size()==4);
+	btAssert(floats.size()==4);
 
 	btVector3FloatData vec4;
 	vec4.m_floats[0] = floats[0];
@@ -105,13 +106,13 @@ static btVector3FloatData TextToVector3Data(const char* txt)
 	return vec4;
 }
 
-void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors)
+void btBulletXmlWorldImporter::deSerializeVector3FloatData(XMLNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors)
 {
-	TiXmlNode* flNode = pParent->FirstChild("m_floats");
+	XMLNode* flNode = pParent->FirstChildElement("m_floats");
 	btAssert(flNode);
-	while (flNode && flNode->FirstChild())
+	while (flNode && flNode->FirstChildElement())
 	{
-		TiXmlText* pText = flNode->FirstChild()->ToText();
+		XMLText* pText = flNode->FirstChildElement()->ToText();
 //		printf("value = %s\n",pText->Value());
 		btVector3FloatData vec4 = TextToVector3Data(pText->Value());
 		vectors.push_back(vec4);
@@ -122,20 +123,20 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
 
 
 #define SET_INT_VALUE(xmlnode, targetdata, argname) \
-	btAssert((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement());\
+	btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement());\
-	if ((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement())\
+	if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement())\
-		(targetdata)->argname= (int)atof(xmlnode->FirstChild(#argname)->ToElement()->GetText());
+		(targetdata)->argname= (int)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
 
 
 #define SET_FLOAT_VALUE(xmlnode, targetdata, argname) \
-	btAssert((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement());\
+	btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement());\
-	if ((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement())\
+	if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement())\
-		(targetdata)->argname= (float)atof(xmlnode->FirstChild(#argname)->ToElement()->GetText());
+		(targetdata)->argname= (float)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
 
 
 #define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype) \
 	{\
-		TiXmlNode* node = xmlnode->FirstChild(#argname);\
+		XMLNode* node = xmlnode->FirstChildElement(#argname);\
 		btAssert(node);\
 		if (node)\
 		{\
@@ -148,11 +149,11 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
 
 #define SET_VECTOR4_VALUE(xmlnode, targetdata, argname) \
 	{\
-		TiXmlNode* flNode = xmlnode->FirstChild(#argname);\
+		XMLNode* flNode = xmlnode->FirstChildElement(#argname);\
 		btAssert(flNode);\
-		if (flNode && flNode->FirstChild())\
+		if (flNode && flNode->FirstChildElement())\
 		{\
-			const char* txt= flNode->FirstChild()->ToElement()->GetText();\
+			const char* txt= flNode->FirstChildElement()->ToElement()->GetText();\
 			btVector3FloatData vec4 = TextToVector3Data(txt);\
 			(targetdata)->argname.m_floats[0] = vec4.m_floats[0];\
 			(targetdata)->argname.m_floats[1] = vec4.m_floats[1];\
@@ -164,22 +165,22 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
 
 #define SET_MATRIX33_VALUE(n, targetdata, argname) \
 {\
-	TiXmlNode* xmlnode = n->FirstChild(#argname);\
+	XMLNode* xmlnode = n->FirstChildElement(#argname);\
 	btAssert(xmlnode);\
 	if (xmlnode)\
 	{\
-		TiXmlNode* eleNode = xmlnode->FirstChild("m_el");\
+		XMLNode* eleNode = xmlnode->FirstChildElement("m_el");\
 		btAssert(eleNode);\
-		if (eleNode&& eleNode->FirstChild())\
+		if (eleNode&& eleNode->FirstChildElement())\
 		{\
-			const char* txt= eleNode->FirstChild()->ToElement()->GetText();\
+			const char* txt= eleNode->FirstChildElement()->ToElement()->GetText();\
 			btVector3FloatData vec4 = TextToVector3Data(txt);\
 			(targetdata)->argname.m_el[0].m_floats[0] = vec4.m_floats[0];\
 			(targetdata)->argname.m_el[0].m_floats[1] = vec4.m_floats[1];\
 			(targetdata)->argname.m_el[0].m_floats[2] = vec4.m_floats[2];\
 			(targetdata)->argname.m_el[0].m_floats[3] = vec4.m_floats[3];\
 			\
-			TiXmlNode* n1 = eleNode->FirstChild()->NextSibling();\
+			XMLNode* n1 = eleNode->FirstChildElement()->NextSibling();\
 			btAssert(n1);\
 			if (n1)\
 			{\
@@ -190,7 +191,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
 				(targetdata)->argname.m_el[1].m_floats[2] = vec4.m_floats[2];\
 				(targetdata)->argname.m_el[1].m_floats[3] = vec4.m_floats[3];\
 			\
-				TiXmlNode* n2 = n1->NextSibling();\
+				XMLNode* n2 = n1->NextSibling();\
 				btAssert(n2);\
 				if (n2)\
 				{\
@@ -208,7 +209,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
 
 #define SET_TRANSFORM_VALUE(n, targetdata, argname) \
 {\
-	TiXmlNode* trNode = n->FirstChild(#argname);\
+	XMLNode* trNode = n->FirstChildElement(#argname);\
 	btAssert(trNode);\
 	if (trNode)\
 	{\
@@ -218,7 +219,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
 }\
 
 
-void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent, btCollisionShapeData* colShapeData)
+void btBulletXmlWorldImporter::deSerializeCollisionShapeData(XMLNode* pParent, btCollisionShapeData* colShapeData)
 {
 		SET_INT_VALUE(pParent,colShapeData,m_shapeType)
 		colShapeData->m_name = 0;
@@ -226,17 +227,17 @@ void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent,
 
 
 
-void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(XMLNode* pParent)
 {
 	MyLocalCaster cast;
 	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 	btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16);
 
-	TiXmlNode* xmlConvexInt = pParent->FirstChild("m_convexInternalShapeData");
+	XMLNode* xmlConvexInt = pParent->FirstChildElement("m_convexInternalShapeData");
 	btAssert(xmlConvexInt);
 
-	TiXmlNode* xmlColShape = xmlConvexInt ->FirstChild("m_collisionShapeData");
+	XMLNode* xmlColShape = xmlConvexInt ->FirstChildElement("m_collisionShapeData");
 	btAssert(xmlColShape);
 
 	deSerializeCollisionShapeData(xmlColShape,&convexHullData->m_convexInternalShapeData.m_collisionShapeData);
@@ -249,7 +250,7 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
 	//#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype)
 
 	{
-		TiXmlNode* node = pParent->FirstChild("m_unscaledPointsFloatPtr");
+		XMLNode* node = pParent->FirstChildElement("m_unscaledPointsFloatPtr");
 		btAssert(node);
 		if (node)
 		{
@@ -268,7 +269,7 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
 	m_pointerLookup.insert(cast.m_ptr,convexHullData);
 }
 
-void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(XMLNode* pParent)
 {
 	MyLocalCaster cast;
 	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
@@ -276,10 +277,10 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
 	int numChildren = 0;
 	btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>;
 	{
-		TiXmlNode* transNode = pParent->FirstChild("m_transform");
+		XMLNode* transNode = pParent->FirstChildElement("m_transform");
-		TiXmlNode* colShapeNode = pParent->FirstChild("m_childShape");
+		XMLNode* colShapeNode = pParent->FirstChildElement("m_childShape");
-		TiXmlNode* marginNode = pParent->FirstChild("m_childMargin");
+		XMLNode* marginNode = pParent->FirstChildElement("m_childMargin");
-		TiXmlNode* childTypeNode = pParent->FirstChild("m_childShapeType");
+		XMLNode* childTypeNode = pParent->FirstChildElement("m_childShapeType");
 
 		int i=0;
 		while (transNode && colShapeNode && marginNode && childTypeNode)
@@ -305,10 +306,10 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
 				compoundChildArrayPtr->at(i).m_childMargin = (float)atof(marginNode->ToElement()->GetText());
 			}
 
-			transNode = transNode->NextSibling("m_transform");
+			transNode = transNode->NextSiblingElement("m_transform");
-			colShapeNode = colShapeNode->NextSibling("m_childShape");
+			colShapeNode = colShapeNode->NextSiblingElement("m_childShape");
-			marginNode = marginNode->NextSibling("m_childMargin");
+			marginNode = marginNode->NextSiblingElement("m_childMargin");
-			childTypeNode = childTypeNode->NextSibling("m_childShapeType");
+			childTypeNode = childTypeNode->NextSiblingElement("m_childShapeType");
 			i++;
 		}
 		
@@ -326,24 +327,24 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
 	
 }
 
-void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::deSerializeCompoundShapeData(XMLNode* pParent)
 {
 	MyLocalCaster cast;
 	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16); 
 
-	TiXmlNode* xmlColShape = pParent ->FirstChild("m_collisionShapeData");
+	XMLNode* xmlColShape = pParent ->FirstChildElement("m_collisionShapeData");
 	btAssert(xmlColShape);
 	deSerializeCollisionShapeData(xmlColShape,&compoundData->m_collisionShapeData);
 	
 	SET_INT_VALUE(pParent, compoundData,m_numChildShapes);
 
-	TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData");
+	XMLNode* xmlShapeData = pParent->FirstChildElement("m_collisionShapeData");
 	btAssert(xmlShapeData );
 
 	{
-		TiXmlNode* node = pParent->FirstChild("m_childShapePtr");\
+		XMLNode* node = pParent->FirstChildElement("m_childShapePtr");\
 		btAssert(node);
 		while (node)
 		{
@@ -351,7 +352,7 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 			MyLocalCaster cast;
 			cast.m_int = (int) atof(txt);
 			compoundData->m_childShapePtr = (btCompoundShapeChildData*) cast.m_ptr;
-			node = node->NextSibling("m_childShapePtr");
+			node = node->NextSiblingElement("m_childShapePtr");
 		}
 		//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
 		
@@ -363,14 +364,14 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 
 }
 
-void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(XMLNode* pParent)
 {
 	MyLocalCaster cast;
 	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16);
 
-	TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData");
+	XMLNode* xmlShapeData = pParent->FirstChildElement("m_collisionShapeData");
 	btAssert(xmlShapeData );
 	deSerializeCollisionShapeData(xmlShapeData,&planeData->m_collisionShapeData);
 
@@ -383,7 +384,7 @@ void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParen
 
 }
 
-void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(XMLNode* pParent)
 {
 	btContactSolverInfo solverInfo;
 	//btVector3 gravity(0,0,0);
@@ -393,7 +394,7 @@ void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent)
 	//gravity and world info
 }
 
-void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(XMLNode* pParent)
 {
 	MyLocalCaster cast;
 	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
@@ -402,7 +403,7 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pPa
 	btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16);
 	memset(convexShape,0,sizeof(btConvexInternalShapeData));
 
-	TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData");
+	XMLNode* xmlShapeData = pParent->FirstChildElement("m_collisionShapeData");
 	btAssert(xmlShapeData );
 
 	deSerializeCollisionShapeData(xmlShapeData,&convexShape->m_collisionShapeData);
@@ -433,7 +434,7 @@ enum btTypedConstraintType
 */
 
 
-void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(XMLNode* pParent)
 {
 	MyLocalCaster cast;
 	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
@@ -441,7 +442,7 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
 	btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16);
 
 	
-	TiXmlNode* n = pParent->FirstChild("m_typeConstraintData");
+	XMLNode* n = pParent->FirstChildElement("m_typeConstraintData");
 	if (n)
 	{
 		SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbA,btRigidBodyData*);
@@ -473,7 +474,7 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
 	m_pointerLookup.insert(cast.m_ptr,dof6Data);
 }
 
-void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(XMLNode* pParent)
 {
 	MyLocalCaster cast;
 	
@@ -485,7 +486,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
 	
 	btRigidBodyData* rbData = (btRigidBodyData*)btAlignedAlloc(sizeof(btRigidBodyData),16);
 	
-	TiXmlNode* n = pParent->FirstChild("m_collisionObjectData");
+	XMLNode* n = pParent->FirstChildElement("m_collisionObjectData");
 
 	if (n)
 	{
@@ -661,14 +662,14 @@ void	btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
 }
 
 
-void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pParent)
 {
 	int numChildren = 0;
 	btAssert(pParent);
 	if (pParent)
 	{
-		TiXmlNode*pChild; 
+		XMLNode*pChild; 
-		for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling(), numChildren++) 
+		for ( pChild = pParent->FirstChildElement(); pChild != 0; pChild = pChild->NextSibling(), numChildren++) 
 		{
 //			printf("child Name=%s\n", pChild->Value());
 			if (!strcmp(pChild->Value(),"btVector3FloatData"))
@@ -848,15 +849,15 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 	}
 }
 
-void btBulletXmlWorldImporter::auto_serialize(TiXmlNode* pParent)
+void btBulletXmlWorldImporter::auto_serialize(XMLNode* pParent)
 {
-//	TiXmlElement* root = pParent->FirstChildElement("bullet_physics");
+//	XMLElement* root = pParent->FirstChildElement("bullet_physics");
 	if (pParent)
 	{
-		TiXmlNode*pChild; 
+		XMLNode*pChild; 
-		for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling()) 
+		for ( pChild = pParent->FirstChildElement(); pChild != 0; pChild = pChild->NextSibling()) 
 		{
-			if (pChild->Type()==TiXmlNode::TINYXML_ELEMENT)
+			//if (pChild->Type()==XMLNode::TINYXML_ELEMENT)
 			{
 //				printf("root Name=%s\n", pChild->Value());
 				auto_serialize_root_level_children(pChild);
@@ -873,13 +874,12 @@ void btBulletXmlWorldImporter::auto_serialize(TiXmlNode* pParent)
 
 bool btBulletXmlWorldImporter::loadFile(const char* fileName)
 {
-	TiXmlDocument doc(fileName);
+	XMLDocument doc;
-
-	bool loadOkay = doc.LoadFile();
-	//dump_to_stdout(&doc,0);
 
 	
-	if (loadOkay)
+	XMLError loadOkay = doc.LoadFile(fileName);
+	
+	if (loadOkay==XML_SUCCESS)
 	{
 		if (get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"version", &m_fileVersion))
 		{

Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h

@@ -19,7 +19,12 @@ subject to the following restrictions:
 #include "LinearMath/btScalar.h"
 
 class btDynamicsWorld;
-class TiXmlNode;
+
+namespace tinyxml2
+{
+	class XMLNode;
+};
+
 struct btConvexInternalShapeData;
 struct btCollisionShapeData;
 #ifdef BT_USE_DOUBLE_PRECISION
@@ -40,6 +45,8 @@ struct btCompoundShapeChildData;
 #include "LinearMath/btAlignedObjectArray.h"
 #include "btWorldImporter.h"
 
+
+
 class btBulletXmlWorldImporter : public btWorldImporter
 {
 
@@ -52,28 +59,28 @@ protected:
 	int													m_fileVersion;
 	bool												m_fileOk;
 
-	void auto_serialize_root_level_children(TiXmlNode* pParent);
+	void auto_serialize_root_level_children(tinyxml2::XMLNode* pParent);
-	void auto_serialize(TiXmlNode* pParent);
+	void auto_serialize(tinyxml2::XMLNode* pParent);
 
-	void deSerializeVector3FloatData(TiXmlNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors);
+	void deSerializeVector3FloatData(tinyxml2::XMLNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors);
 
 	void	fixupCollisionDataPointers(btCollisionShapeData* shapeData);
 	void	fixupConstraintData(btTypedConstraintData2* tcd);
 
 	//collision shapes data
-	void deSerializeCollisionShapeData(TiXmlNode* pParent,btCollisionShapeData* colShapeData);
+	void deSerializeCollisionShapeData(tinyxml2::XMLNode* pParent,btCollisionShapeData* colShapeData);
-	void deSerializeConvexInternalShapeData(TiXmlNode* pParent);
+	void deSerializeConvexInternalShapeData(tinyxml2::XMLNode* pParent);
-	void deSerializeStaticPlaneShapeData(TiXmlNode* pParent);
+	void deSerializeStaticPlaneShapeData(tinyxml2::XMLNode* pParent);
-	void deSerializeCompoundShapeData(TiXmlNode* pParent);
+	void deSerializeCompoundShapeData(tinyxml2::XMLNode* pParent);
-	void deSerializeCompoundShapeChildData(TiXmlNode* pParent);
+	void deSerializeCompoundShapeChildData(tinyxml2::XMLNode* pParent);
-	void deSerializeConvexHullShapeData(TiXmlNode* pParent);
+	void deSerializeConvexHullShapeData(tinyxml2::XMLNode* pParent);
-	void deSerializeDynamicsWorldData(TiXmlNode* parent);
+	void deSerializeDynamicsWorldData(tinyxml2::XMLNode* parent);
 	
 	///bodies
-	void deSerializeRigidBodyFloatData(TiXmlNode* pParent);
+	void deSerializeRigidBodyFloatData(tinyxml2::XMLNode* pParent);
 
 	///constraints
-	void deSerializeGeneric6DofConstraintData(TiXmlNode* pParent);
+	void deSerializeGeneric6DofConstraintData(tinyxml2::XMLNode* pParent);
 
 	public:
 		btBulletXmlWorldImporter(btDynamicsWorld* world);

Extras/Serialize/BulletXmlWorldImporter/premake4.lua

@@ -1,14 +1,16 @@
 	project "BulletXmlWorldImporter"
 		
 	kind "StaticLib"
-	targetdir "../../lib"
+	--targetdir "../../lib"
 	includedirs {
 		"../BulletWorldImporter",
 		"../BulletFileLoader",
-		"../../../src"
+		"../../../src",
+		"../../../examples/ThirdPartyLibs/tinyxml2"
 	}
 	 
 	files {
 		"**.cpp",
-		"**.h"
+		"**.h",
+		"../../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
 	}

Extras/Serialize/BulletXmlWorldImporter/tinystr.cpp

@@ -1,111 +0,0 @@
-/*
-www.sourceforge.net/projects/tinyxml
-
-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 TIXML_USE_STL
-
-#include "tinystr.h"
-
-// Error value for find primitive
-const TiXmlString::size_type TiXmlString::npos = static_cast< TiXmlString::size_type >(-1);
-
-
-// Null rep.
-TiXmlString::Rep TiXmlString::nullrep_ = { 0, 0, { '\0' } };
-
-
-void TiXmlString::reserve (size_type cap)
-{
-	if (cap > capacity())
-	{
-		TiXmlString tmp;
-		tmp.init(length(), cap);
-		memcpy(tmp.start(), data(), length());
-		swap(tmp);
-	}
-}
-
-
-TiXmlString& TiXmlString::assign(const char* str, size_type len)
-{
-	size_type cap = capacity();
-	if (len > cap || cap > 3*(len + 8))
-	{
-		TiXmlString tmp;
-		tmp.init(len);
-		memcpy(tmp.start(), str, len);
-		swap(tmp);
-	}
-	else
-	{
-		memmove(start(), str, len);
-		set_size(len);
-	}
-	return *this;
-}
-
-
-TiXmlString& TiXmlString::append(const char* str, size_type len)
-{
-	size_type newsize = length() + len;
-	if (newsize > capacity())
-	{
-		reserve (newsize + capacity());
-	}
-	memmove(finish(), str, len);
-	set_size(newsize);
-	return *this;
-}
-
-
-TiXmlString operator + (const TiXmlString & a, const TiXmlString & b)
-{
-	TiXmlString tmp;
-	tmp.reserve(a.length() + b.length());
-	tmp += a;
-	tmp += b;
-	return tmp;
-}
-
-TiXmlString operator + (const TiXmlString & a, const char* b)
-{
-	TiXmlString tmp;
-	TiXmlString::size_type b_len = static_cast<TiXmlString::size_type>( strlen(b) );
-	tmp.reserve(a.length() + b_len);
-	tmp += a;
-	tmp.append(b, b_len);
-	return tmp;
-}
-
-TiXmlString operator + (const char* a, const TiXmlString & b)
-{
-	TiXmlString tmp;
-	TiXmlString::size_type a_len = static_cast<TiXmlString::size_type>( strlen(a) );
-	tmp.reserve(a_len + b.length());
-	tmp.append(a, a_len);
-	tmp += b;
-	return tmp;
-}
-
-
-#endif	// TIXML_USE_STL

Extras/Serialize/BulletXmlWorldImporter/tinystr.h

@@ -1,305 +0,0 @@
-/*
-www.sourceforge.net/projects/tinyxml
-
-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 TIXML_USE_STL
-
-#ifndef TIXML_STRING_INCLUDED
-#define TIXML_STRING_INCLUDED
-
-#include <assert.h>
-#include <string.h>
-
-/*	The support for explicit isn't that universal, and it isn't really
-	required - it is used to check that the TiXmlString class isn't incorrectly
-	used. Be nice to old compilers and macro it here:
-*/
-#if defined(_MSC_VER) && (_MSC_VER >= 1200 )
-	// Microsoft visual studio, version 6 and higher.
-	#define TIXML_EXPLICIT explicit
-#elif defined(__GNUC__) && (__GNUC__ >= 3 )
-	// GCC version 3 and higher.s
-	#define TIXML_EXPLICIT explicit
-#else
-	#define TIXML_EXPLICIT
-#endif
-
-
-/*
-   TiXmlString is an emulation of a subset of the std::string template.
-   Its purpose is to allow compiling TinyXML on compilers with no or poor STL support.
-   Only the member functions relevant to the TinyXML project have been implemented.
-   The buffer allocation is made by a simplistic power of 2 like mechanism : if we increase
-   a string and there's no more room, we allocate a buffer twice as big as we need.
-*/
-class TiXmlString
-{
-  public :
-	// The size type used
-  	typedef size_t size_type;
-
-	// Error value for find primitive
-	static const size_type npos; // = -1;
-
-
-	// TiXmlString empty constructor
-	TiXmlString () : rep_(&nullrep_)
-	{
-	}
-
-	// TiXmlString copy constructor
-	TiXmlString ( const TiXmlString & copy) : rep_(0)
-	{
-		init(copy.length());
-		memcpy(start(), copy.data(), length());
-	}
-
-	// TiXmlString constructor, based on a string
-	TIXML_EXPLICIT TiXmlString ( const char * copy) : rep_(0)
-	{
-		init( static_cast<size_type>( strlen(copy) ));
-		memcpy(start(), copy, length());
-	}
-
-	// TiXmlString constructor, based on a string
-	TIXML_EXPLICIT TiXmlString ( const char * str, size_type len) : rep_(0)
-	{
-		init(len);
-		memcpy(start(), str, len);
-	}
-
-	// TiXmlString destructor
-	~TiXmlString ()
-	{
-		quit();
-	}
-
-	TiXmlString& operator = (const char * copy)
-	{
-		return assign( copy, (size_type)strlen(copy));
-	}
-
-	TiXmlString& operator = (const TiXmlString & copy)
-	{
-		return assign(copy.start(), copy.length());
-	}
-
-
-	// += operator. Maps to append
-	TiXmlString& operator += (const char * suffix)
-	{
-		return append(suffix, static_cast<size_type>( strlen(suffix) ));
-	}
-
-	// += operator. Maps to append
-	TiXmlString& operator += (char single)
-	{
-		return append(&single, 1);
-	}
-
-	// += operator. Maps to append
-	TiXmlString& operator += (const TiXmlString & suffix)
-	{
-		return append(suffix.data(), suffix.length());
-	}
-
-
-	// Convert a TiXmlString into a null-terminated char *
-	const char * c_str () const { return rep_->str; }
-
-	// Convert a TiXmlString into a char * (need not be null terminated).
-	const char * data () const { return rep_->str; }
-
-	// Return the length of a TiXmlString
-	size_type length () const { return rep_->size; }
-
-	// Alias for length()
-	size_type size () const { return rep_->size; }
-
-	// Checks if a TiXmlString is empty
-	bool empty () const { return rep_->size == 0; }
-
-	// Return capacity of string
-	size_type capacity () const { return rep_->capacity; }
-
-
-	// single char extraction
-	const char& at (size_type index) const
-	{
-		assert( index < length() );
-		return rep_->str[ index ];
-	}
-
-	// [] operator
-	char& operator [] (size_type index) const
-	{
-		assert( index < length() );
-		return rep_->str[ index ];
-	}
-
-	// find a char in a string. Return TiXmlString::npos if not found
-	size_type find (char lookup) const
-	{
-		return find(lookup, 0);
-	}
-
-	// find a char in a string from an offset. Return TiXmlString::npos if not found
-	size_type find (char tofind, size_type offset) const
-	{
-		if (offset >= length()) return npos;
-
-		for (const char* p = c_str() + offset; *p != '\0'; ++p)
-		{
-		   if (*p == tofind) return static_cast< size_type >( p - c_str() );
-		}
-		return npos;
-	}
-
-	void clear ()
-	{
-		//Lee:
-		//The original was just too strange, though correct:
-		//	TiXmlString().swap(*this);
-		//Instead use the quit & re-init:
-		quit();
-		init(0,0);
-	}
-
-	/*	Function to reserve a big amount of data when we know we'll need it. Be aware that this
-		function DOES NOT clear the content of the TiXmlString if any exists.
-	*/
-	void reserve (size_type cap);
-
-	TiXmlString& assign (const char* str, size_type len);
-
-	TiXmlString& append (const char* str, size_type len);
-
-	void swap (TiXmlString& other)
-	{
-		Rep* r = rep_;
-		rep_ = other.rep_;
-		other.rep_ = r;
-	}
-
-  private:
-
-	void init(size_type sz) { init(sz, sz); }
-	void set_size(size_type sz) { rep_->str[ rep_->size = sz ] = '\0'; }
-	char* start() const { return rep_->str; }
-	char* finish() const { return rep_->str + rep_->size; }
-
-	struct Rep
-	{
-		size_type size, capacity;
-		char str[1];
-	};
-
-	void init(size_type sz, size_type cap)
-	{
-		if (cap)
-		{
-			// Lee: the original form:
-			//	rep_ = static_cast<Rep*>(operator new(sizeof(Rep) + cap));
-			// doesn't work in some cases of new being overloaded. Switching
-			// to the normal allocation, although use an 'int' for systems
-			// that are overly picky about structure alignment.
-			const size_type bytesNeeded = sizeof(Rep) + cap;
-			const size_type intsNeeded = ( bytesNeeded + sizeof(int) - 1 ) / sizeof( int ); 
-			rep_ = reinterpret_cast<Rep*>( new int[ intsNeeded ] );
-
-			rep_->str[ rep_->size = sz ] = '\0';
-			rep_->capacity = cap;
-		}
-		else
-		{
-			rep_ = &nullrep_;
-		}
-	}
-
-	void quit()
-	{
-		if (rep_ != &nullrep_)
-		{
-			// The rep_ is really an array of ints. (see the allocator, above).
-			// Cast it back before delete, so the compiler won't incorrectly call destructors.
-			delete [] ( reinterpret_cast<int*>( rep_ ) );
-		}
-	}
-
-	Rep * rep_;
-	static Rep nullrep_;
-
-} ;
-
-
-inline bool operator == (const TiXmlString & a, const TiXmlString & b)
-{
-	return    ( a.length() == b.length() )				// optimization on some platforms
-	       && ( strcmp(a.c_str(), b.c_str()) == 0 );	// actual compare
-}
-inline bool operator < (const TiXmlString & a, const TiXmlString & b)
-{
-	return strcmp(a.c_str(), b.c_str()) < 0;
-}
-
-inline bool operator != (const TiXmlString & a, const TiXmlString & b) { return !(a == b); }
-inline bool operator >  (const TiXmlString & a, const TiXmlString & b) { return b < a; }
-inline bool operator <= (const TiXmlString & a, const TiXmlString & b) { return !(b < a); }
-inline bool operator >= (const TiXmlString & a, const TiXmlString & b) { return !(a < b); }
-
-inline bool operator == (const TiXmlString & a, const char* b) { return strcmp(a.c_str(), b) == 0; }
-inline bool operator == (const char* a, const TiXmlString & b) { return b == a; }
-inline bool operator != (const TiXmlString & a, const char* b) { return !(a == b); }
-inline bool operator != (const char* a, const TiXmlString & b) { return !(b == a); }
-
-TiXmlString operator + (const TiXmlString & a, const TiXmlString & b);
-TiXmlString operator + (const TiXmlString & a, const char* b);
-TiXmlString operator + (const char* a, const TiXmlString & b);
-
-
-/*
-   TiXmlOutStream is an emulation of std::ostream. It is based on TiXmlString.
-   Only the operators that we need for TinyXML have been developped.
-*/
-class TiXmlOutStream : public TiXmlString
-{
-public :
-
-	// TiXmlOutStream << operator.
-	TiXmlOutStream & operator << (const TiXmlString & in)
-	{
-		*this += in;
-		return *this;
-	}
-
-	// TiXmlOutStream << operator.
-	TiXmlOutStream & operator << (const char * in)
-	{
-		*this += in;
-		return *this;
-	}
-
-} ;
-
-#endif	// TIXML_STRING_INCLUDED
-#endif	// TIXML_USE_STL

Extras/Serialize/BulletXmlWorldImporter/tinyxmlerror.cpp

@@ -1,52 +0,0 @@
-/*
-www.sourceforge.net/projects/tinyxml
-Original code (2.0 and earlier )copyright (c) 2000-2006 Lee Thomason (www.grinninglizard.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.
-*/
-
-#include "tinyxml.h"
-
-// The goal of the seperate error file is to make the first
-// step towards localization. tinyxml (currently) only supports
-// english error messages, but the could now be translated.
-//
-// It also cleans up the code a bit.
-//
-
-const char* TiXmlBase::errorString[ TiXmlBase::TIXML_ERROR_STRING_COUNT ] =
-{
-	"No error",
-	"Error",
-	"Failed to open file",
-	"Error parsing Element.",
-	"Failed to read Element name",
-	"Error reading Element value.",
-	"Error reading Attributes.",
-	"Error: empty tag.",
-	"Error reading end tag.",
-	"Error parsing Unknown.",
-	"Error parsing Comment.",
-	"Error parsing Declaration.",
-	"Error document empty.",
-	"Error null (0) or unexpected EOF found in input stream.",
-	"Error parsing CDATA.",
-	"Error when TiXmlDocument added to document, because TiXmlDocument can only be at the root.",
-};

Extras/Serialize/CMakeLists.txt

@@ -1,6 +1,6 @@
 
 IF (BUILD_BLEND_DEMO OR INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
-	SUBDIRS(BlenderSerialize )
+	#SUBDIRS(BlenderSerialize )
 ENDIF()
 
 

Extras/Serialize/HeaderGenerator/CMakeLists.txt

@@ -13,7 +13,7 @@ SET(includes
 
 
 LINK_LIBRARIES(
-	 BulletFileLoader BlenderSerialize LinearMath
+	 BulletFileLoader  LinearMath
 )
 
 INCLUDE_DIRECTORIES(${includes})

Extras/Serialize/makesdna/makesdna.cpp

@@ -86,10 +86,12 @@ typedef unsigned __int64 uint64_t;
 
 	/* Linux-i386, Linux-Alpha, Linux-ppc */
 #include <stdint.h>
+typedef intptr_t btintptr_t;
 
 #elif defined (__APPLE__)
 
 #include <inttypes.h>
+typedef intptr_t btintptr_t;
 
 #elif defined(FREE_WINDOWS)
 
@@ -132,6 +134,7 @@ typedef unsigned __int64 uint64_t;
 #include "BulletCollision/CollisionShapes/btConeShape.h"
 #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
 #include "BulletCollision/CollisionShapes/btTriangleInfoMap.h"
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "BulletCollision/Gimpact/btGImpactShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
@@ -149,6 +152,7 @@ typedef unsigned __int64 uint64_t;
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "BulletSoftBody/btSoftBodyData.h"
 #include "BulletDynamics/Featherstone/btMultiBody.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -180,6 +184,7 @@ char *includefiles[] = {
 	"../../../src/BulletCollision/CollisionShapes/btConeShape.h",
 	"../../../src/BulletCollision/CollisionShapes/btCapsuleShape.h",
 	"../../../src/BulletCollision/CollisionShapes/btTriangleInfoMap.h",
+	"../../../src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h",
 	"../../../src/BulletCollision/Gimpact/btGImpactShape.h",
 	"../../../src/BulletCollision/CollisionShapes/btConvexHullShape.h",
 	"../../../src/BulletCollision/CollisionDispatch/btCollisionObject.h",
@@ -198,6 +203,7 @@ char *includefiles[] = {
 	
 	"../../../src/BulletSoftBody/btSoftBodyData.h",
 	"../../../src/BulletDynamics/Featherstone/btMultiBody.h",
+	"../../../src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h",
 	// empty string to indicate end of includefiles
 	""
 };

Extras/VHACD/src/premake4.lua

@@ -1,6 +1,9 @@
 	project "vhacd"
 
 	kind "StaticLib"
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	includedirs {
 		"../inc","../public",
 	}

Extras/VHACD/test/src/main.cpp

@@ -38,6 +38,14 @@
 using namespace VHACD;
 using namespace std;
 
+bool replace(std::string& str, const std::string& from, const std::string& to) {
+    size_t start_pos = str.find(from);
+    if(start_pos == std::string::npos)
+        return false;
+    str.replace(start_pos, from.length(), to);
+    return true;
+}
+
 class MyCallback : public IVHACD::IUserCallback {
 public:
     MyCallback(void) {}
@@ -293,7 +301,16 @@ void ParseParameters(int argc, char* argv[], Parameters& params)
     for (int i = 1; i < argc; ++i) {
         if (!strcmp(argv[i], "--input")) {
             if (++i < argc)
+		{
                 params.m_fileNameIn = argv[i];
+		//come up with some default output name, if not provided
+		if (params.m_fileNameOut.length()==0)
+		{
+                	string tmp = argv[i];
+			replace(tmp,".obj",".vhacd.obj");
+			params.m_fileNameOut = tmp;
+		}
+		}
         }
         else if (!strcmp(argv[i], "--output")) {
             if (++i < argc)

Extras/obj2sdf/obj2sdf.cpp

@@ -13,6 +13,22 @@
 #include "Bullet3Common/b3FileUtils.h"
 #include "../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3CommandLineArgs.h"
+#include "Bullet3Common/b3HashMap.h"
+
+struct ShapeContainer
+{
+	std::string m_matName;
+	std::string m_shapeName;
+	tinyobj::material_t material;
+	std::vector<float>          positions;
+	std::vector<float>          normals;
+	std::vector<float>          texcoords;
+	std::vector<unsigned int>   indices;
+
+	b3AlignedObjectArray<int> m_shapeIndices;
+};
+
+b3HashMap<b3HashString, ShapeContainer> gMaterialNames;
 
 #define MAX_PATH_LEN 1024
 
@@ -53,6 +69,8 @@ int main(int argc, char* argv[])
 		printf("Please use --fileName=\"pathToObj\".");
 		exit(0);
 	}
+	bool mergeMaterials = args.CheckCmdLineFlag("mergeMaterials");
+	
 	char fileNameWithPath[MAX_PATH_LEN];
 	bool fileFound = (b3ResourcePath::findResourcePath(fileName,fileNameWithPath,MAX_PATH_LEN))>0;
 	char materialPrefixPath[MAX_PATH_LEN];
@@ -72,6 +90,220 @@ int main(int argc, char* argv[])
 
 	fprintf(sdfFile, "<sdf version='1.6'>\n\t<world name='default'>\n\t<gravity>0 0 -9.8</gravity>\n");
 
+	for (int s = 0; s < (int)shapes.size(); s++)
+	{
+		tinyobj::shape_t& shape = shapes[s];
+		tinyobj::material_t mat = shape.material;
+		
+		b3HashString key = mat.name.length() ? mat.name.c_str() : "";
+		if (!gMaterialNames.find(key))
+		{
+			ShapeContainer container;
+			container.m_matName = mat.name;
+			container.m_shapeName = shape.name;
+			container.material = mat;
+			gMaterialNames.insert(key, container);
+		}
+
+		ShapeContainer* shapeC = gMaterialNames.find(key);
+		if (shapeC)
+		{
+			shapeC->m_shapeIndices.push_back(s);
+		
+			int curPositions = shapeC->positions.size()/3;
+			int curNormals = shapeC->normals.size()/3;
+			int curTexcoords = shapeC->texcoords.size()/2;
+
+			int faceCount = shape.mesh.indices.size();
+			int vertexCount = shape.mesh.positions.size();
+			for (int v = 0; v < vertexCount; v++)
+			{
+				shapeC->positions.push_back(shape.mesh.positions[v]);
+			}
+			int numNormals = int(shape.mesh.normals.size());
+			for (int vn = 0; vn < numNormals; vn++)
+			{
+				shapeC->normals.push_back(shape.mesh.normals[vn]);
+			}
+			int numTexCoords = int(shape.mesh.texcoords.size());
+			for (int vt = 0; vt < numTexCoords; vt++)
+			{
+				shapeC->texcoords.push_back(shape.mesh.texcoords[vt]);
+			}
+
+			for (int face = 0; face < faceCount; face += 3)
+			{
+				if (face < 0 && face >= int(shape.mesh.indices.size()))
+				{
+					continue;
+				}
+
+				shapeC->indices.push_back(shape.mesh.indices[face] + curPositions);
+				shapeC->indices.push_back(shape.mesh.indices[face+1] + curPositions);
+				shapeC->indices.push_back(shape.mesh.indices[face + 2] + curPositions);
+			}
+		}
+	}
+	
+	printf("unique materials=%d\n", gMaterialNames.size());
+
+	
+	if (mergeMaterials)
+	{
+		for (int m = 0; m < gMaterialNames.size();m++)
+		{
+			if (gMaterialNames.getAtIndex(m)->m_shapeIndices.size() == 0)
+				continue;
+
+			ShapeContainer* shapeCon =gMaterialNames.getAtIndex(m);
+			
+			printf("object name = %s\n", shapeCon->m_shapeName.c_str());
+			
+			char objSdfPartFileName[MAX_PATH_LEN];
+			sprintf(objSdfPartFileName, "part%d.obj", m);
+
+			char objFileName[MAX_PATH_LEN];
+			if (strlen(materialPrefixPath) > 0)
+			{
+				sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, m);
+			}
+			else
+			{
+				sprintf(objFileName, "part%d.obj", m);
+			}
+
+
+			FILE* f = fopen(objFileName, "w");
+			if (f == 0)
+			{
+				printf("Fatal error: cannot create part obj file %s\n", objFileName);
+				exit(0);
+			}
+			fprintf(f, "# Exported using automatic converter by Erwin Coumans\n");
+			if (matLibName.length())
+			{
+				fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
+			}
+			else
+			{
+				fprintf(f, "mtllib bedroom.mtl\n");
+
+			}
+
+			int faceCount = shapeCon->indices.size();
+			int vertexCount = shapeCon->positions.size();
+			tinyobj::material_t mat = shapeCon->material;
+			if (shapeCon->m_matName.length())
+			{
+				const char* objName = shapeCon->m_matName.c_str();
+				printf("mat.name = %s\n", objName);
+				fprintf(f, "#object %s\n\n", objName);
+			}
+			for (int v = 0; v < vertexCount / 3; v++)
+			{
+				fprintf(f, "v %f %f %f\n", shapeCon->positions[v * 3 + 0], shapeCon->positions[v * 3 + 1], shapeCon->positions[v * 3 + 2]);
+			}
+
+			if (mat.name.length())
+			{
+				fprintf(f, "usemtl %s\n", mat.name.c_str());
+			}
+			else
+			{
+				fprintf(f, "usemtl wire_028089177\n");
+			}
+
+			fprintf(f, "\n");
+			int numNormals = int(shapeCon->normals.size());
+
+			for (int vn = 0; vn < numNormals / 3; vn++)
+			{
+				fprintf(f, "vn %f %f %f\n", shapeCon->normals[vn * 3 + 0], shapeCon->normals[vn * 3 + 1], shapeCon->normals[vn * 3 + 2]);
+			}
+
+			fprintf(f, "\n");
+			int numTexCoords = int(shapeCon->texcoords.size());
+			for (int vt = 0; vt < numTexCoords / 2; vt++)
+			{
+				fprintf(f, "vt %f %f\n", shapeCon->texcoords[vt * 2 + 0], shapeCon->texcoords[vt * 2 + 1]);
+			}
+
+			fprintf(f, "s off\n");
+
+			for (int face = 0; face < faceCount; face += 3)
+			{
+				if (face < 0 && face >= int(shapeCon->indices.size()))
+				{
+					continue;
+				}
+				fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n",
+					shapeCon->indices[face] + 1, shapeCon->indices[face] + 1, shapeCon->indices[face] + 1,
+					shapeCon->indices[face + 1] + 1, shapeCon->indices[face + 1] + 1, shapeCon->indices[face + 1] + 1,
+					shapeCon->indices[face + 2] + 1, shapeCon->indices[face + 2] + 1, shapeCon->indices[face + 2] + 1);
+			}
+			fclose(f);
+
+			float kdRed = mat.diffuse[0];
+			float kdGreen = mat.diffuse[1];
+			float kdBlue = mat.diffuse[2];
+			float transparency = mat.transparency;
+			
+			fprintf(sdfFile, "\t\t<model name='%s'>\n"
+				"\t\t\t<static>1</static>\n"
+				"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
+				"\t\t\t<link name='link_d%d'>\n"
+				"\t\t\t<inertial>\n"
+				"\t\t\t<mass>0</mass>\n"
+				"\t\t\t<inertia>\n"
+				"\t\t\t<ixx>0.166667</ixx>\n"
+				"\t\t\t<ixy>0</ixy>\n"
+				"\t\t\t<ixz>0</ixz>\n"
+				"\t\t\t<iyy>0.166667</iyy>\n"
+				"\t\t\t<iyz>0</iyz>\n"
+				"\t\t\t<izz>0.166667</izz>\n"
+				"\t\t\t</inertia>\n"
+				"\t\t\t</inertial>\n"
+				"\t\t\t<collision concave='yes' name='collision_%d'>\n"
+				"\t\t\t<geometry>\n"
+				"\t\t\t<mesh>\n"
+				"\t\t\t<scale>1 1 1</scale>\n"
+				"\t\t\t\t<uri>%s</uri>\n"
+				"\t\t\t</mesh>\n"
+				"\t\t\t</geometry>\n"
+				"\t\t\t  </collision>\n"
+				"\t\t\t<visual name='visual'>\n"
+				"\t\t\t\t<geometry>\n"
+				"\t\t\t\t<mesh>\n"
+				"\t\t\t\t\t<scale>1 1 1</scale>\n"
+				"\t\t\t\t\t<uri>%s</uri>\n"
+				"\t\t\t\t</mesh>\n"
+				"\t\t\t\t</geometry>\n"
+				"\t\t\t<material>\n"
+				"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
+				"\t\t\t\t<diffuse>%f %f %f %f</diffuse>\n"
+				"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
+				"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
+				"\t\t\t </material>\n"
+				"\t\t\t </visual>\n"
+				"\t\t\t </link>\n"
+				"\t\t\t</model>\n", objSdfPartFileName, m, m,
+				objSdfPartFileName, objSdfPartFileName,
+				kdRed, kdGreen, kdBlue, transparency);
+
+
+		}
+
+
+
+
+
+
+
+
+	}
+	else
+	{
+
 		for (int s = 0; s < (int)shapes.size(); s++)
 		{
 			tinyobj::shape_t& shape = shapes[s];
@@ -85,7 +317,8 @@ int main(int argc, char* argv[])
 			if (strlen(materialPrefixPath) > 0)
 			{
 				sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, s);
-		} else
+			}
+			else
 			{
 				sprintf(objFileName, "part%d.obj", s);
 			}
@@ -99,7 +332,8 @@ int main(int argc, char* argv[])
 			if (matLibName.length())
 			{
 				fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
-		} else
+			}
+			else
 			{
 				fprintf(f, "mtllib bedroom.mtl\n");
 
@@ -123,7 +357,8 @@ int main(int argc, char* argv[])
 			if (mat.name.length())
 			{
 				fprintf(f, "usemtl %s\n", mat.name.c_str());
-		} else
+			}
+			else
 			{
 				fprintf(f, "usemtl wire_028089177\n");
 			}
@@ -161,7 +396,7 @@ int main(int argc, char* argv[])
 			float kdRed = mat.diffuse[0];
 			float kdGreen = mat.diffuse[1];
 			float kdBlue = mat.diffuse[2];
-
+			float transparency = mat.transparency;
 			char objSdfPartFileName[MAX_PATH_LEN];
 			sprintf(objSdfPartFileName, "part%d.obj", s);
 			fprintf(sdfFile, "\t\t<model name='%s'>\n"
@@ -196,7 +431,7 @@ int main(int argc, char* argv[])
 				"\t\t\t\t</geometry>\n"
 				"\t\t\t<material>\n"
 				"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
-          "\t\t\t\t<diffuse>%f %f %f 1</diffuse>\n"
+				"\t\t\t\t<diffuse>%f %f %f %f</diffuse>\n"
 				"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
 				"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
 				"\t\t\t </material>\n"
@@ -204,10 +439,11 @@ int main(int argc, char* argv[])
 				"\t\t\t </link>\n"
 				"\t\t\t</model>\n", objSdfPartFileName, s, s,
 				objSdfPartFileName, objSdfPartFileName,
-			kdRed, kdGreen, kdBlue);
+				kdRed, kdGreen, kdBlue, transparency);
 
 
 		}
+	}
 	fprintf(sdfFile,"\t</world>\n</sdf>\n");
 
 	fclose(sdfFile);

MANIFEST.in

@@ -8,7 +8,7 @@ recursive-include src *.hpp
 recursive-include examples/pybullet/gym *.*
 include examples/ThirdPartyLibs/enet/unix.c
 include examples/OpenGLWindow/X11OpenGLWindow.cpp
-include examples/ThirdPartyLibs/Glew/glew.c
+recursive-include examples/ThirdPartyLibs/glad *.*
 include examples/ThirdPartyLibs/enet/win32.c
 include examples/OpenGLWindow/Win32Window.cpp
 include examples/OpenGLWindow/Win32OpenGLWindow.cpp

README.md

@@ -6,7 +6,7 @@
 
 This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
 
-New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR
+New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and see [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
 
 The Bullet 2 API will stay default and up-to-date while slowly moving to a new API.
 The steps towards a new API is in a nutshell:
@@ -80,9 +80,9 @@ Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the followin
 Using premake:
 ```
 	cd build3
-	./premake4_linux gmake --double
+	./premake4_linux --double gmake
-	./premake4_linux64 gmake --double
+	./premake4_linux64 --double gmake
-	./premake4_osx gmake --double --enable_pybullet
+	./premake4_osx --double --enable_pybullet gmake
 ```
 Then
 ```

VERSION

@@ -1 +1 @@
-2.87
+2.88

build3/cmake/FindPythonLibs.cmake

@@ -64,7 +64,7 @@ if(EXISTS "${PYTHON_INCLUDE_DIR}" AND EXISTS "${PYTHON_LIBRARY}")
 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)
+  set(_PYTHON3_VERSIONS 3.6 3.5 3.4 3.3 3.2 3.1 3.0)
 
   unset(_PYTHON_FIND_OTHER_VERSIONS)
   if(PythonLibs_FIND_VERSION)
@@ -124,7 +124,7 @@ else()
     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)
+    set(_PYTHON_NAMES ${PYTHON_EXECUTABLE} python)
 
     if (_CURRENT_VERSION MATCHES "^[0-9]+.*$")
       list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}")
@@ -144,7 +144,7 @@ else()
       if(_PYTHON_EXECUTABLE)
 
         EXECUTE_PROCESS(
-          COMMAND ${_PYTHON_EXECUTABLE} "${_FIND_LIB_PYTHON_PY}"
+          COMMAND "${_PYTHON_EXECUTABLE}" "${_FIND_LIB_PYTHON_PY}"
           OUTPUT_VARIABLE _PYTHON_CONFIG
           RESULT_VARIABLE _PYTHON_CONFIG_RESULT
           ERROR_QUIET)
@@ -172,16 +172,17 @@ else()
 
             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${_PYTHON_SHORT_VERSION_NO_DOT})
+              set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT} python${_PYTHON_SHORT_VERSION}m python${_PYTHON_SHORT_VERSION_NO_DOT}m)
               FIND_LIBRARY(PYTHON_LIBRARY
                 NAMES ${_PYTHON_LIBRARY_NAMES}
                 PATH_SUFFIXES
-                python${_PYTHON_SHORT_VERSION}/config
+                "python${_PYTHON_SHORT_VERSION}/config"
-                python${_PYTHON_SHORT_VERSION_NO_DOT}/config
+                "python${_PYTHON_SHORT_VERSION_NO_DOT}/config"
                 PATHS
                 ${_PYTHON_LIBRARY_DIR}
-                ${_PYTHON_PREFIX}/lib $
+                ${_PYTHON_PREFIX}/lib
-                {_PYTHON_PREFIX}/libs
+                ${_PYTHON_PREFIX}/libs
+                ${_PYTHON_LIBRARY_DIR}/x86_64-linux-gnu/
                 NO_DEFAULT_PATH)
 
               if(WIN32)
@@ -254,6 +255,10 @@ set(PYTHON_LIBRARY_DEBUG "${PYTHON_DEBUG_LIBRARY}")
 set(PYTHON_LIBRARY_RELEASE "${PYTHON_LIBRARY}")
 include(${CMAKE_CURRENT_LIST_DIR}/SelectLibraryConfigurations.cmake)
 SELECT_LIBRARY_CONFIGURATIONS(PYTHON)
+
+if(PYTHON_LIBRARY AND NOT PYTHON_LIBRARIES)
+  set(PYTHON_LIBRARIES "${PYTHON_LIBRARY}")
+endif()
 # 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.

build3/findOpenGLGlewGlut.lua

@@ -35,7 +35,7 @@
 			if  _OPTIONS["enable_system_opengl"] and (os.isdir("/usr/include") and os.isfile("/usr/include/GL/gl.h")) then
 				links {"GL"}
 			else
-				print("No GL/gl.h found, using dynamic loading of GL using glew")
+				print("No GL/gl.h found, using dynamic loading of GL using glad")
 				defines {"GLEW_INIT_OPENGL11_FUNCTIONS=1"}
 				links {"dl"}
 			end
@@ -50,25 +50,37 @@
 			configuration {"Windows"}
 			defines { "GLEW_STATIC"}
 			includedirs {
-					projectRootDir .. "examples/ThirdPartyLibs/Glew"
+					projectRootDir .. "examples/ThirdPartyLibs/glad"
 			}
-			files { projectRootDir .. "examples/ThirdPartyLibs/Glew/glew.c"}
+			files { projectRootDir .. "examples/ThirdPartyLibs/glad/glad.c"}
 		end
+		if os.is("MacOSX") then
+			 includedirs {
+                                        projectRootDir .. "examples/ThirdPartyLibs/glad"
+                                }
+                                files { projectRootDir .. "examples/ThirdPartyLibs/glad/glad.c"}
+		end
+
 		if os.is("Linux") then
 			configuration{"Linux"}
-			if  _OPTIONS["enable_system_opengl"] and (os.isdir("/usr/include") and os.isfile("/usr/include/GL/gl.h") and os.isfile("/usr/include/GL/glew.h"))  then
+				if  _OPTIONS["enable_system_glx"] then --# and (os.isdir("/usr/include") and os.isfile("/usr/include/GL/glx.h")) then
-				links {"GLEW"}
+                                	links{"X11","pthread"}
-				print ("linking against system GLEW")
+					print("Using system GL/glx.h")
                         	else
-				print("Using static glew and dynamic loading of glx functions")
+					print("Using glad_glx")
-			 	defines { "GLEW_STATIC","GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1"}
+				 	defines { "GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1"}	
-                        	includedirs {
+				 	files { 
-                                        projectRootDir .. "examples/ThirdPartyLibs/Glew"
+					projectRootDir .. "examples/ThirdPartyLibs/glad/glad_glx.c"}
-                        	}
-                        	files { projectRootDir .. "examples/ThirdPartyLibs/Glew/glew.c"}
-				links {"dl"}
 				end
 
+				print("Using glad and dynamic loading of GL functions")
+			 	defines { "GLEW_STATIC"}
+                        	includedirs {
+                                        projectRootDir .. "examples/ThirdPartyLibs/glad"
+                        	}
+                        	files { projectRootDir .. "examples/ThirdPartyLibs/glad/glad.c"}
+				links {"dl"}
+
 		end
 		configuration{}
 	end

build3/premake4.lua

@@ -28,6 +28,12 @@
 		description = "Enable iOS target (requires xcode4)"
 	}
 
+	newoption
+	{
+		trigger = "enable_system_glx",
+		description = "Try to link against system glx instead of using glad_glx (default)"
+	}
+
 	newoption
 	{
 		trigger = "enable_system_opengl",
@@ -45,6 +51,13 @@
 		description = "Try to link and use system X11 headers instead of dynamically loading X11 (dlopen is default)"
 	}
 
+	newoption
+	{
+		trigger = "enable_static_vr_plugin",
+		description = "Statically link vr plugin (in examples/SharedMemory/plugins/vrSyncPlugin)"
+	}
+
+
 	newoption
 	{
 		trigger = "noopengl3",
@@ -169,6 +182,14 @@ end
 		trigger = "audio",
 		description = "Enable audio"
 	}
+	newoption
+	{
+		trigger = "enable_multithreading",
+		description = "enable CPU multithreading for bullet2 libs"
+	}
+	if _OPTIONS["enable_multithreading"] then
+		defines {"BT_THREADSAFE=1"}
+	end
 	if _OPTIONS["double"] then
 		defines {"BT_USE_DOUBLE_PRECISION"}
 	end
@@ -238,6 +259,9 @@ end
 	targetdir( _OPTIONS["targetdir"] or "../bin" )
 	location("./" .. act .. postfix)
 
+	projectRootDir = os.getcwd() .. "/../"
+	print("Project root directory: " .. projectRootDir);
+	
 	if not _OPTIONS["python_include_dir"] then
 			_OPTIONS["python_include_dir"] = default_python_include_dir
 	end
@@ -246,21 +270,115 @@ end
 			_OPTIONS["python_lib_dir"] = default_python_lib_dir
 	end
 
+if os.is("Linux") then
+                default_glfw_include_dir = "usr/local/include/GLFW"
+                default_glfw_lib_dir = "/usr/local/lib/"
+		default_glfw_lib_name = "glfw3"
+end
 
-	projectRootDir = os.getcwd() .. "/../"
+if os.is("macosx") then
-	print("Project root directory: " .. projectRootDir);
+		default_glfw_include_dir = "/usr/local/Cellar/glfw/3.2.1/include"
+		default_glfw_lib_dir = "/usr/local/Cellar/glfw/3.2.1/lib"
+		default_glfw_lib_name = "glfw"
+end
 
-	dofile ("findOpenCL.lua")
+if os.is("Windows") then
-	dofile ("findDirectX11.lua")
+                default_glfw_include_dir = "c:/glfw/include"
+                default_glfw_lib_dir = "c:/glfw/lib"
+		default_glfw_lib_name = "glfw3"
+end
+
+	if not _OPTIONS["glfw_lib_dir"] then
+		_OPTIONS["glfw_lib_dir"] = default_glfw_lib_dir
+	end
+	if not _OPTIONS["glfw_include_dir"] then
+		_OPTIONS["glfw_include_dir"] = default_glfw_include_dir
+	end
+	if not _OPTIONS["glfw_lib_name"] then
+		_OPTIONS["glfw_lib_name"] = default_glfw_lib_name
+	end	
+
+	
+
+	newoption
+    {
+			trigger     = "glfw_include_dir",
+			value       = default_glfw_include_dir,
+			description = "GLFW 3.x include directory"
+    }
+   
+	 newoption
+    {
+                        trigger     = "glfw_lib_name",
+                        value       = default_glfw_lib_name,
+                        description = "GLFW 3.x library name (glfw, glfw3)"
+    }
+ 
+    newoption
+    {
+			trigger     = "glfw_lib_dir",
+			value       = default_glfw_lib_dir,
+			description = "(optional) GLFW 3.x library directory "
+    }
+    
+    newoption
+    {
+			trigger     = "enable_glfw",
+			value       = false,
+			description = "(optional) use GLFW 3.x library"
+    }
+    
+	if _OPTIONS["enable_glfw"] then
+		defines {"B3_USE_GLFW"}
+		
+			
+		
+		function initOpenGL()
+		includedirs {
+					projectRootDir .. "examples/ThirdPartyLibs/glad"
+			}
+		
+			includedirs {
+				_OPTIONS["glfw_include_dir"],
+			}
+			
+			libdirs {
+				_OPTIONS["glfw_lib_dir"]
+			}
+			links { _OPTIONS["glfw_lib_name"]}
+			files { projectRootDir .. "examples/ThirdPartyLibs/glad/glad.c" }
+		end
+		function findOpenGL3()
+			return true
+		end
+		function initGlew()
+		end
+		function initX11()
+		links {"X11", "dl","pthread"}
+
+		end
+		
+	else
 		dofile ("findOpenGLGlewGlut.lua")
-
 		if (not findOpenGL3()) then
 			defines {"NO_OPENGL3"}
 		end
+	end
+
+	
+
+	dofile ("findOpenCL.lua")
+	dofile ("findDirectX11.lua")
+	
+	
 	
 	language "C++"
 
 
+	
+	
+	
+
 	if _OPTIONS["audio"] then
 		include "../examples/TinyAudio"
 	end

build3/stringify.bat

@@ -56,7 +56,8 @@ premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/
 premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify
 premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify
 
-
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/projectiveTextureInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/projectiveTextureInstancingPS.h" --stringname="projectiveTextureInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/projectiveTextureInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/projectiveTextureInstancingVS.h" --stringname="projectiveTextureInstancingVertexShader" stringify
 
 
 premake4 --file=stringifyKernel.lua --kernelfile="../Demos3/GpuDemos/broadphase/pairsKernel.cl" --headerfile="../Demos3/GpuDemos/broadphase/pairsKernel.h" --stringname="pairsKernelsCL" stringify

build3/stringify.sh

@@ -62,6 +62,8 @@ eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWin
 
 eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify'
 eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.h" --stringname="projectiveTextureInstancingFragmentShader" stringify'
+eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.h" --stringname="projectiveTextureInstancingVertexShader" stringify'
 eval '$mypremake  --file=stringifyKernel.lua --kernelfile="../examples/OpenCL/broadphase/pairsKernel.cl" --headerfile="../examples/OpenCL/broadphase/pairsKernel.h" --stringname="pairsKernelsCL" stringify'
 
 

build3/stringifyShaders.bat

@@ -10,6 +10,8 @@ premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shade
 premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify
 premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify
 premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingPS.h" --stringname="projectiveTextureInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/projectiveTextureInstancingVS.h" --stringname="projectiveTextureInstancingVertexShader" stringify
 premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/linesVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/linesVS.h" --stringname="linesVertexShader" stringify
 premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/linesPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/linesPS.h" --stringname="linesFragmentShader" stringify
 

build_cmake_pybullet_double.sh

@@ -1,10 +1,15 @@
 #!/bin/sh
+
+if [ -e CMakeCache.txt ]; then
   rm CMakeCache.txt
-mkdir build_cmake
+fi
+mkdir -p build_cmake
 cd build_cmake
-cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
+cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release .. || exit 1
-make -j12
+make -j $(command nproc 2>/dev/null || echo 12) || exit 1
 cd examples
 cd pybullet
-ln -s pybullet.dylib pybullet.so
+if [ -e pybullet.dylib ]; then
-
+  ln -f -s pybullet.dylib pybullet.so
+fi
+echo "Completed build of Bullet."

build_visual_studio_vr_pybullet_double.bat

@@ -17,7 +17,8 @@ del tmp1234.txt
 
 cd build3
 
-premake4  --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+
+premake4  --double --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 
 #premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 

data/TwoJointRobot_w_fixedJoints.urdf

@@ -0,0 +1,182 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from TwoJointRobot.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_01_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_12_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_21_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_23_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
+    </inertial>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
+    </inertial>
+  </link>
+  <joint name="link_01" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_01_cyl"/>
+    <child link="link_1"/>
+  </joint>
+  <joint name="link_12" type="fixed">
+    <origin rpy="0 0 0" xyz="1.0 0 0"/>
+    <parent link="link_1"/>
+    <child link="link_12_cyl"/>
+  </joint>
+  <joint name="link_21" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_21_cyl"/>
+    <child link="link_2"/>
+  </joint>
+  <joint name="link_23" type="fixed">
+    <origin rpy="0 0 0" xyz="1.0 0 0"/>
+    <parent link="link_2"/>
+    <child link="link_23_cyl"/>
+  </joint>
+  <joint name="joint_1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10000" lower="-3" upper="+3" velocity="5"/>
+    <dynamics damping="0" friction="0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+    <parent link="base_link"/>
+    <child link="link_01_cyl"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10000" lower="-3" upper="+3" velocity="5"/>
+    <dynamics damping="0" friction="0"/>
+    <origin rpy="0 0 0" xyz="0.0 0. 0.05"/>
+    <parent link="link_12_cyl"/>
+    <child link="link_21_cyl"/>
+  </joint>
+</robot>
+

data/TwoJointRobot_wo_fixedJoints.urdf

@@ -0,0 +1,110 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from TwoJointRobot_woCyl.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.025"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_23_cyl">
+    <visual>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.05" radius="0.075"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.2"/>
+      <inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
+    </inertial>
+  </link>
+  <link name="link_1">
+    <visual>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
+    </inertial>
+  </link>
+  <link name="link_2">
+    <visual>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="1.0 0.1 0.05"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0.5 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
+    </inertial>
+  </link>
+  <joint name="joint_1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
+    <dynamics damping="0" friction="0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.075"/>
+    <parent link="base_link"/>
+    <child link="link_1"/>
+  </joint>
+  <joint name="joint_2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
+    <dynamics damping="0" friction="0"/>
+    <origin rpy="0 0 0" xyz="1.0 0. 0.05"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+  </joint>
+  <joint name="link_23" type="fixed">
+    <origin rpy="0 0 0" xyz="1.0 0 0"/>
+    <parent link="link_2"/>
+    <child link="link_23_cyl"/>
+  </joint>
+</robot>
+

data/cartpole.urdf

@@ -62,6 +62,12 @@
       <mass value="10"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
     </inertial>
+     <collision>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+    </collision>
   </link>
 
   <joint name="cart_to_pole" type="continuous">

data/cube_small.urdf

@@ -2,8 +2,8 @@
 <robot name="cube.urdf">
   <link name="baseLink">
     <contact>
+    	<friction_anchor/>
     	   <lateral_friction value="1.0"/>
-      <inertia_scaling value="3.0"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>

data/dinnerware/cup/Cup/cup_vhacd.mtl

@@ -0,0 +1,128 @@
+# Blender MTL File: 'None'
+# Material Count: 14
+
+newmtl Shape.014
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.664000 0.688000 0.616000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.015
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.120000 0.744000 0.280000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.016
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.688000 0.736000 0.392000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.017
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.168000 0.496000 0.216000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.018
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.720000 0.472000 0.504000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.019
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.576000 0.288000 0.088000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.020
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.544000 0.536000 0.232000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.021
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.656000 0.240000 0.496000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.022
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.184000 0.536000 0.280000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.023
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.232000 0.016000 0.176000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.024
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.464000 0.552000 0.536000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.025
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.744000 0.448000 0.088000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.026
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.336000 0.232000 0.584000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.027
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.168000 0.152000 0.672000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2

data/dinnerware/cup/Cup/textured-0008192.mtl

@@ -0,0 +1,4 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd textured-0008192-diffuse_map.jpg
+

data/dinnerware/cup/cup_small.urdf

@@ -0,0 +1,30 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <inertia_scaling value="3.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.02"/>
+       <mass value=".1"/>
+       <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="Cup/textured-0008192.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>
+	 	<mesh filename="Cup/cup_vhacd.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/kitchens/1.sdf

@@ -4135,123 +4135,7 @@
 			 </visual>
 			 </link>
 			</model>
-		<model name='part106.obj'>
+		
-			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
-			<link name='link_d106'>
-			<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_106'>
-			<geometry>
-			<mesh>
-			<scale>.1 .1 .1</scale>
-				<uri>fatihrmutfak/part106.obj</uri>
-			</mesh>
-			</geometry>
-			  </collision>
-			<visual name='visual'>
-				<geometry>
-				<mesh>
-					<scale>.1 .1 .1</scale>
-					<uri>fatihrmutfak/part106.obj</uri>
-				</mesh>
-				</geometry>
-			<material>
-				<ambient>1 0 0 1</ambient>
-				<diffuse>0.600000 0.894100 0.600000 1</diffuse>
-				<specular>0.1 0.1 0.1 1</specular>
-				<emissive>0 0 0 0</emissive>
-			 </material>
-			 </visual>
-			 </link>
-			</model>
-		<model name='part107.obj'>
-			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
-			<link name='link_d107'>
-			<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_107'>
-			<geometry>
-			<mesh>
-			<scale>.1 .1 .1</scale>
-				<uri>fatihrmutfak/part107.obj</uri>
-			</mesh>
-			</geometry>
-			  </collision>
-			<visual name='visual'>
-				<geometry>
-				<mesh>
-					<scale>.1 .1 .1</scale>
-					<uri>fatihrmutfak/part107.obj</uri>
-				</mesh>
-				</geometry>
-			<material>
-				<ambient>1 0 0 1</ambient>
-				<diffuse>0.690200 0.102000 0.102000 1</diffuse>
-				<specular>0.1 0.1 0.1 1</specular>
-				<emissive>0 0 0 0</emissive>
-			 </material>
-			 </visual>
-			 </link>
-			</model>
-		<model name='part108.obj'>
-			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
-			<link name='link_d108'>
-			<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_108'>
-			<geometry>
-			<mesh>
-			<scale>.1 .1 .1</scale>
-				<uri>fatihrmutfak/part108.obj</uri>
-			</mesh>
-			</geometry>
-			  </collision>
-			<visual name='visual'>
-				<geometry>
-				<mesh>
-					<scale>.1 .1 .1</scale>
-					<uri>fatihrmutfak/part108.obj</uri>
-				</mesh>
-				</geometry>
-			<material>
-				<ambient>1 0 0 1</ambient>
-				<diffuse>0.600000 0.894100 0.600000 1</diffuse>
-				<specular>0.1 0.1 0.1 1</specular>
-				<emissive>0 0 0 0</emissive>
-			 </material>
-			 </visual>
-			 </link>
-			</model>
 		<model name='part109.obj'>
 			<static>1</static>
 			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>

data/kitchens/fatihrmutfak/bedroom.mtl

@@ -10,6 +10,7 @@ newmtl wire_028089177
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.1098 0.3490 0.6941
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl wire_214229166
 	Ns 32
@@ -20,6 +21,7 @@ newmtl wire_214229166
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.8392 0.8980 0.6510
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl Rubi
 	Ns 10.0000
@@ -54,6 +56,7 @@ newmtl wire_115115115
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.4510 0.4510 0.4510
 	Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl wire_087224198
 	Ns 32
@@ -64,6 +67,7 @@ newmtl wire_087224198
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.3412 0.8784 0.7765
   Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl wire_086086086
 	Ns 32
@@ -74,6 +78,7 @@ newmtl wire_086086086
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.3373 0.3373 0.3373
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl wire_026177088
 	Ns 32
@@ -84,6 +89,7 @@ newmtl wire_026177088
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.1020 0.6941 0.3451
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl wire_000000000
 	Ns 32
@@ -94,6 +100,7 @@ newmtl wire_000000000
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.0000 0.0000 0.0000
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl wire_153228153
 	Ns 32
@@ -104,6 +111,7 @@ newmtl wire_153228153
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.6000 0.8941 0.6000
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl wire_176026026
 	Ns 32
@@ -114,6 +122,7 @@ newmtl wire_176026026
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.6902 0.1020 0.1020
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl wire_255255255
 	Ns 32
@@ -124,6 +133,18 @@ newmtl wire_255255255
 	Ka 0.0000 0.0000 0.0000
 	Kd 1.0000 1.0000 1.0000
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd WoodFine0010_M.jpg
+
+newmtl marble_255255255
+	Ns 32
+	d 1
+	Tr 1
+	Tf 1 1 1
+	illum 2
+	Ka 0.0000 0.0000 0.0000
+	Kd 1.0000 1.0000 1.0000
+	  Ks 0.3500 0.3500 0.3500
+  map_Kd Seamless_Aegean_Marble_Texture.jpg
 
 newmtl wire_165000082
 	Ns 32
@@ -145,6 +166,7 @@ newmtl wire_255223127
 	Ka 0.0000 0.0000 0.0000
 	Kd 1.0000 0.8745 0.4980
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl wire_165103082
 	Ns 32
@@ -155,6 +177,7 @@ newmtl wire_165103082
 	Ka 0.0000 0.0000 0.0000
 	Kd 0.6471 0.4039 0.3216
 	  Ks 0.3500 0.3500 0.3500
+  map_Kd Concrete.jpg
 
 newmtl 02___Default
 	Ns 32.0000

data/kitchens/fatihrmutfak/part122.obj

@@ -479,7 +479,7 @@ v 119.729897 158.723099 9.000000
 v 150.229904 158.723099 9.000000
 v 119.729897 158.723099 8.700000
 v 150.229904 158.723099 8.700000
-usemtl wire_255255255
+usemtl marble_255255255
 
 vn -1.000000 0.000000 0.000000
 vn -1.000000 0.000000 0.000000

data/kiva_shelf/model.sdf

@@ -1,5 +1,6 @@
 <?xml version="1.0" ?>
 <sdf version="1.4">
+<world name='default'>
   <model  name="Amazon Pod">
   	<static>1</static>
   	<pose>0 1 0 0 0 0</pose>
@@ -202,4 +203,5 @@
       </collision>
     </link>
   </model>
+  </world>
 </sdf>

data/kuka_iiwa/model_free_base.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>

data/marble_cube.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'marble_cube.blend'
+# 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 tiles.jpg

data/marble_cube.obj

@@ -0,0 +1,50 @@
+# Blender v2.68 (sub 0) OBJ File: 'marble_cube.blend'
+# www.blender.org
+mtllib marble_cube.mtl
+o Cube
+v -1.000000 -1.000000 1.000000
+v -1.000000 -1.000000 -1.000000
+v 1.000000 -1.000000 -1.000000
+v 1.000000 -1.000000 1.000000
+v -1.000000 1.000000 1.000000
+v -1.000000 1.000000 -1.000000
+v 1.000000 1.000000 -1.000000
+v 1.000000 1.000000 1.000000
+vt 0.900965 0.983117
+vt 0.607937 0.967373
+vt 0.920037 0.686085
+vt 0.327732 0.352741
+vt 0.031938 0.342703
+vt 0.332102 0.029274
+vt 0.618409 0.671643
+vt 0.324243 0.658970
+vt 0.630389 0.363047
+vt 0.919788 0.686473
+vt 0.618344 0.672098
+vt 0.939406 0.372060
+vt 0.039476 0.936128
+vt 0.319860 0.951754
+vt 0.036647 0.646397
+vt 0.642259 0.035851
+vt 0.630105 0.363646
+vt 0.332098 0.029351
+vt 0.617757 0.671237
+vt 0.027235 0.021626
+vt 0.327768 0.352473
+vt 0.630480 0.363422
+vt 0.325108 0.659325
+vt 0.327845 0.352523
+usemtl None
+s off
+f 5/1 6/2 1/3
+f 6/4 7/5 2/6
+f 7/7 8/8 3/9
+f 8/10 5/11 4/12
+f 1/13 2/14 4/15
+f 8/16 7/17 5/18
+f 6/2 2/19 1/3
+f 7/5 3/20 2/6
+f 8/8 4/21 3/9
+f 5/11 1/22 4/12
+f 2/14 3/23 4/15
+f 7/17 6/24 5/18

data/marble_cube.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <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="1.0"/>
+       <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="marble_cube.obj" scale=".5 .5 .5"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<box size="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/mjcf/sphere.xml

@@ -0,0 +1,11 @@
+ <!--
+ MuJoCo MJCF test file. See http://mujoco.org/book/index.html
+  -->
+<mujoco>
+   <worldbody>
+      <body pos="0 0 0">
+         <joint type="free"/>
+         <geom name="sphere_geom" size="0.05" type="sphere"/>
+      </body>
+   </worldbody>
+</mujoco>

data/plane100.urdf

@@ -18,7 +18,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-	 	<box size="10 10 0.001"/>
+	 	<box size="200 200 0.001"/>
       </geometry>
     </collision>
   </link>

data/planeMesh.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.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 0"/>
+      <geometry>
+	 	<mesh filename="plane.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/plane_implicit.urdf

@@ -0,0 +1,35 @@
+<?xml version="0.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+	<contact>
+      <!--<friction_anchor/>-->
+      <lateral_friction value="1."/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="10000"/>
+    </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="plane100.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 0"/>
+      <!--<origin rpy="0 0 0" xyz="0 0 -5"/>-->
+      <geometry>
+	      <plane normal="0 0 1"/>
+	 			<!--<box size="100 100 10"/>-->
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/plane_transparent.mtl

@@ -9,6 +9,6 @@ newmtl Material
   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
+  map_Kd checker_blue.png
   
   

data/plane_transparent.obj

@@ -7,9 +7,9 @@ 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 15.000000 0.000000
-vt 1.000000 1.000000
+vt 15.000000 15.000000
-vt 0.000000 1.000000
+vt 0.000000 15.000000
 vt 0.000000 0.000000
 
 usemtl Material

data/plane_transparent.urdf

@@ -15,7 +15,7 @@
 				<mesh filename="plane_transparent.obj" scale="1 1 1"/>
       </geometry>
        <material name="white">
-        <color rgba="1 1 1 0.4"/>
+        <color rgba="1 1 1 .7"/>
       </material>
     </visual>
     <collision>

data/pole.urdf

@@ -0,0 +1,140 @@
+<?xml version="1.0"?>
+<robot name="physics">
+
+    <link name="slideBar">
+    <visual>
+      <geometry>
+        <box size="30 0.05 0.05"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+      <material name="green">
+        <color rgba="0 0.8 .8 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="pole">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+     <collision>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+
+  <joint name="cart_to_pole" type="prismatic">
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.0 0.0 0.5"/>
+    <parent link="slideBar"/>
+    <child link="pole"/>
+    <limit effort="1000.0" lower="-5" upper="5" velocity="0.5"/>
+  </joint>
+  
+   <link name="pole2">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0.5"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+     <collision>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+    </collision>
+  </link>
+
+  <joint name="pole_to_pole2" type="continuous">
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.0 0.0 0.5"/>
+    <parent link="pole"/>
+    <child link="pole2"/>
+  </joint>
+  
+  <link name="pole3">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0.5"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+     <collision>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+    </collision>
+  </link>
+
+  <joint name="pole2_to_pole3" type="continuous">
+    <axis xyz="0 1 0"/>
+    <origin xyz="0.0 0.0 1"/>
+    <parent link="pole2"/>
+    <child link="pole3"/>
+  </joint>
+  
+   <link name="endeffector">
+    <visual>
+      <geometry>
+        <box size="0.06 0.06 .06"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <material name="red">
+        <color rgba="1 0 0 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+     <collision>
+      <geometry>
+        <box size="0.06 0.06 .06"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </collision>
+  </link>
+
+  <joint name="pole2_to_endeffector" type="fixed">
+    <origin xyz="0.0 0.0 1"/>
+    <parent link="pole3"/>
+    <child link="endeffector"/>
+  </joint>
+ 
+</robot>

data/pr2_gripper.urdf

@@ -24,7 +24,7 @@
 
   <joint name="left_gripper_joint" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <limit effort="1000.0" lower="-2.0" upper="2.548" velocity="0.5"/>
     <origin rpy="0 0 0" xyz="0.2 0.01 0"/>
     <parent link="gripper_pole"/>
     <child link="left_gripper"/>
@@ -83,7 +83,7 @@
 
   <joint name="right_gripper_joint" type="revolute">
     <axis xyz="0 0 -1"/>
-    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <limit effort="1000.0" lower="-2.0" upper="2." velocity="0.5"/>
     <origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
     <parent link="gripper_pole"/>
     <child link="right_gripper"/>

data/quadruped/license.txt

@@ -0,0 +1,27 @@
+LICENSE:                                                                 
+Copyright (c) 2017, Erwin Coumans                                        
+Google Inc.                                                              
+All rights reserved.                                                     
+                                                                         
+Redistribution and use in source and binary forms, with or without       
+modification, are permitted provided that the following conditions are   
+met:                                                                     
+                                                                         
+1. Redistributions or derived work must retain this 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.  
+                                                                         
+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.             

data/quadruped/minitaur_rainbow_dash.urdf

@@ -0,0 +1,914 @@
+<?xml version="1.0"?>
+<robot name="quadruped">
+	<link name="base_chassis_link">
+		<visual>
+			<geometry>
+				<box size=".3 .13 .087"/>
+			</geometry>
+			<material name="black">
+				<color rgba=".3 .3 .3 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz=".10 0 .08"/>
+			<geometry>
+				<box size=".08 .08 .08"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".3 .13 .087"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz=".10 0 .08"/>
+			<geometry>
+				<box size=".08 .08 .08"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz=".05 0 0"/>
+			<mass value="3.353"/>
+			<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
+		</inertial>
+	</link>
+	<link name="chassis_right">
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value="1.32"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_right_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_right"/>
+		<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="chassis_left">
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value="1.32"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_left_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_left"/>
+		<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_front_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_front_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_front_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_front_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_rightR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_back_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_rightL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_back_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_back_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".072"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_back_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightR_link"/>
+		<child link="upper_leg_front_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightR_link"/>
+		<child link="lower_leg_front_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightL_link"/>
+		<child link="upper_leg_front_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightL_link"/>
+		<child link="lower_leg_front_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_leftR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftR_link"/>
+		<child link="upper_leg_front_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftR_link"/>
+		<child link="lower_leg_front_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftL_link"/>
+		<child link="upper_leg_front_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftL_link"/>
+		<child link="lower_leg_front_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightR_link"/>
+		<child link="upper_leg_back_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightR_link"/>
+		<child link="lower_leg_back_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightL_link"/>
+		<child link="upper_leg_back_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightL_link"/>
+		<child link="lower_leg_back_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_leftR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftR_link"/>
+		<child link="upper_leg_back_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftR_link"/>
+		<child link="lower_leg_back_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftL_link"/>
+		<child link="upper_leg_back_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".3"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftL_link"/>
+		<child link="lower_leg_back_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+</robot>

data/quadruped/minitaur_rainbow_dash_v1.urdf

@@ -0,0 +1,980 @@
+<?xml version="1.0"?>
+<robot name="quadruped">
+	
+	<link name="base_chassis_link">
+		<visual>
+			<geometry>
+				<box size=".3 .13 .087"/>
+			</geometry>
+			<material name="black">
+				<color rgba=".3 .3 .3 1"/>
+			</material>
+		</visual>
+		
+		<collision>
+			<geometry>
+				<box size=".3 .13 .087"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz=".05 0 0"/>
+			<mass value="3.353"/>
+			<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
+		</inertial>
+	</link>
+	
+	
+	<link name="chassis_right">
+		
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="blue">
+				<color rgba="0 0 1 1"/>
+			</material>
+		</visual>
+		
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="yellow">
+				<color rgba="1 1 0 1"/>
+			</material>
+		</visual>
+		
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value="0.322"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_right_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_right"/>
+		<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="chassis_left">
+		<visual>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="green">
+				<color rgba="0 1 0 1"/>
+			</material>
+		</visual>
+		
+		<visual>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="green"/>
+		</visual>
+		
+		<collision>
+			<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+	
+		<collision>
+			<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<mass value="0.322"/>
+			<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
+		</inertial>
+	</link>
+	<joint name="chassis_left_center" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="chassis_left"/>
+		<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightR_bracket_link">
+	<visual>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 -0.03 0"/>
+			<mass value=".16"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightR_bracket_joint" type="prismatic">
+	  <axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="motor_front_rightR_bracket_link"/>
+		<origin rpy="0 0 0" xyz=".2375 -0.154 -.0185"/>
+		<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightR_bracket_link"/>
+		<child link="motor_front_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz="0 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_rightL_link">
+	
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_front_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_front_leftL_bracket_link">
+	<visual>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<mass value=".16"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftL_bracket_joint" type="prismatic">
+	  <axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="motor_front_leftL_bracket_link"/>
+		<origin rpy="0 0 0" xyz=".2375 0.154 -.0185"/>
+		<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_front_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftL_bracket_link"/>
+		<child link="motor_front_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_front_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_front_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_front_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_back_rightR_bracket_link">
+	<visual>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 -0.03 0"/>
+			<mass value=".16"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightR_bracket_joint" type="prismatic">
+	  <axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="motor_back_rightR_bracket_link"/>
+		<origin rpy="0 0 0" xyz="-.2375 -0.154 -.0185"/>
+		<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_back_rightR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white1">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightR_bracket_link"/>
+		<child link="motor_back_rightR_link"/>
+		<origin rpy="1.57075 0 0" xyz="0 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_rightL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_rightL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_right"/>
+		<child link="motor_back_rightL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	<link name="motor_back_leftL_bracket_link">
+	<visual>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<geometry>
+				<box size=".068 .032 .050"/>
+			</geometry>
+		</collision>
+		
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0.02 0"/>
+			<mass value=".16"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftL_bracket_joint" type="prismatic">
+	  <axis xyz="0 0 1"/>
+		<parent link="base_chassis_link"/>
+		<child link="motor_back_leftL_bracket_link"/>
+		<origin rpy="0 0 0" xyz="-.2375 0.154 -.0185"/>
+		<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	
+	
+	<link name="motor_back_leftL_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftL_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftL_bracket_link"/>
+		<child link="motor_back_leftL_link"/>
+		<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="motor_back_leftR_link">
+		<visual>
+			<geometry>
+				<mesh filename="tmotor3.obj" scale="1 1 1"/>
+			</geometry>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<cylinder length=".021" radius=".0425"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".241"/>
+			<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
+		</inertial>
+	</link>
+	<joint name="motor_back_leftR_joint" type="continuous">
+		<axis xyz="0 0 1"/>
+		<parent link="chassis_left"/>
+		<child link="motor_back_leftR_link"/>
+		<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightR_link"/>
+		<child link="upper_leg_front_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightR_link"/>
+		<child link="lower_leg_front_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_rightL_link"/>
+		<child link="upper_leg_front_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_rightL_link"/>
+		<child link="lower_leg_front_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_leftR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftR_link"/>
+		<child link="upper_leg_front_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftR_link"/>
+		<child link="lower_leg_front_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_front_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_front_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_front_leftL_link"/>
+		<child link="upper_leg_front_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_front_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_front_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_front_leftL_link"/>
+		<child link="lower_leg_front_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightR_link"/>
+		<child link="upper_leg_back_rightR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightR_link"/>
+		<child link="lower_leg_back_rightR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_rightL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_rightL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_rightL_link"/>
+		<child link="upper_leg_back_rightL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_rightL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_rightL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_rightL_link"/>
+		<child link="lower_leg_back_rightL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_leftR_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftR_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftR_link"/>
+		<child link="upper_leg_back_leftR_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftR_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .108"/>
+			<geometry>
+				<box size=".017 .009 .216"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .1"/>
+			<mass value=".072"/>
+			<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftR_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftR_link"/>
+		<child link="lower_leg_back_leftR_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="upper_leg_back_leftL_link">
+		<visual>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<geometry>
+				<box size=".039 .008 .129"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<mass value=".034"/>
+			<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
+		</inertial>
+	</link>
+	<joint name="hip_back_leftL_joint" type="fixed">
+		<axis xyz="0 0 1"/>
+		<parent link="motor_back_leftL_link"/>
+		<child link="upper_leg_back_leftL_link"/>
+		<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+	<link name="lower_leg_back_leftL_link">
+		<contact>
+			<friction_anchor/>
+			<stiffness value="3000.0"/>
+			<damping value="100.0"/>
+			<spinning_friction value=".05"/>
+			<lateral_friction value="1"/>
+		</contact>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+			<material name="grey">
+				<color rgba=".65 .65 .75 1"/>
+			</material>
+		</visual>
+		<collision>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<geometry>
+				<box size=".017 .009 .240"/>
+			</geometry>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 .120"/>
+			<mass value=".086"/>
+			<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
+		</inertial>
+	</link>
+	<joint name="knee_back_leftL_joint" type="continuous">
+		<axis xyz="0 1 0"/>
+		<parent link="upper_leg_back_leftL_link"/>
+		<child link="lower_leg_back_leftL_link"/>
+		<origin rpy="0 0 0" xyz="0 .0085 .056"/>
+		<limit effort="100" velocity="100"/>
+		<joint_properties damping=".0" friction=".0"/>
+	</joint>
+</robot>

data/quadruped/minitaur_single_motor.urdf

@@ -0,0 +1,203 @@
+<?xml version="0.0" ?>
+<!-- ======================================================================= -->
+<!--LICENSE:                                                                 -->
+<!--Copyright (c) 2017, Erwin Coumans                                        -->
+<!--Google Inc.                                                              -->
+<!--All rights reserved.                                                     -->
+<!--                                                                         -->
+<!--Redistribution and use in source and binary forms, with or without       -->
+<!--modification, are permitted provided that the following conditions are   -->
+<!--met:                                                                     -->
+<!--                                                                         -->
+<!--1. Redistributions or derived work must retain this 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.  -->
+<!--                                                                         -->
+<!--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.             -->
+
+<robot name="quadruped">
+  <link name="base_chassis_link">
+    <visual>
+      <geometry>
+        <box size=".33 0.10 .07"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+    <visual>
+			<origin rpy="0 0 0" xyz="0 0.10 0"/>
+      <geometry>
+        <box size=".17 0.10 .05"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+		<visual>
+			<origin rpy="0 0 0" xyz="0 -0.10 0"/>
+      <geometry>
+        <box size=".17 0.10 .05"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.3 0.3 0.3 1"/>
+      </material>
+    </visual>
+
+    <collision>
+      <geometry>
+       <box size=".33 0.10 .07"/>
+      </geometry>
+    </collision>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 0.10 0"/>
+      <geometry>
+       <box size=".17 0.10 .05"/>
+      </geometry>
+    </collision>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 -0.10 0"/>
+      <geometry>
+       <box size=".17 0.10 .05"/>
+      </geometry>
+    </collision>
+
+    <inertial>
+      <mass value="3"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="chassis_right">
+    <visual>
+			<origin rpy="0 0 0" xyz="0 0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+			<material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>    </visual>
+    <visual>
+			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+			<material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>    </visual>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+    </collision>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value=".1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="chassis_right_center" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="base_chassis_link"/>
+    <child link="chassis_right"/>
+    <origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="chassis_left">
+    <visual>
+			<origin rpy="0 0 0" xyz="0 0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+			<material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>    </visual>
+    <visual>
+			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+			<material name="grey">
+        <color rgba="0.65 0.65 0.75 1"/>
+      </material>    </visual>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+    </collision>
+    <collision>
+			<origin rpy="0 0 0" xyz="0 -0.035 0"/>
+      <geometry>
+       <box size=".34 0.01 .04"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value=".1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="chassis_left_center" type="fixed">
+    <axis xyz="0 0 1"/>
+    <parent link="base_chassis_link"/>
+    <child link="chassis_left"/>
+    <origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  
+  
+  <link name="motor_front_rightR_link">
+    <visual>
+      <geometry>
+        <mesh filename="tmotor3.obj" scale="1 1 1"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.026" radius="0.0434"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.25"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+  <joint name="motor_front_rightR_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis_right"/>
+    <child link="motor_front_rightR_link"/>
+    <origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+</robot>
+

data/sphere_small_zeroinertia.urdf

@@ -0,0 +1,30 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="base_link">
+    <contact>
+      <rolling_friction value="0.001"/>
+      <spinning_friction value="0.001"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <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="textured_sphere_smooth.obj" scale="0.03 0.03 0.03"/>      
+      </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="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/table/license.txt

@@ -0,0 +1,27 @@
+LICENSE:                                                                 
+Copyright (c) 2017, Erwin Coumans                                        
+Google Inc.                                                              
+All rights reserved.                                                     
+                                                                         
+Redistribution and use in source and binary forms, with or without       
+modification, are permitted provided that the following conditions are   
+met:                                                                     
+                                                                         
+1. Redistributions or derived work must retain this 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.  
+                                                                         
+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.             

data/table/table2.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'table1.blend'
+# 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 tabletop.jpg

data/table/table2.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <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="1.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="table2.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 0"/>
+      <geometry>
+	 	<cylinder length="0.01" radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/teddy_large.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <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="0.07 0.05 0.03"/>
+       <mass value=".1"/>
+       <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="teddy2_VHACD_CHs.obj" scale="3 3 3"/>
+      </geometry>
+       <material name="red">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<mesh filename="teddy2_VHACD_CHs.obj" scale="3 3 3"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/teddy_vhacd.urdf

@@ -29,4 +29,3 @@
     </collision>
   </link>
 </robot>
-

data/toys/cube.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'shape_sort.blend'
+# Material Count: 1
+
+newmtl Material.002
+Ns 96.078431
+Ka 0.000000 0.000000 0.000000
+Kd 0.017444 0.640000 0.032216
+Ks 0.034126 0.500000 0.031333
+Ni 1.000000
+d 1.000000
+illum 2

data/toys/cube.obj

@@ -0,0 +1,64 @@
+# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
+# www.blender.org
+mtllib cube.mtl
+o Cube.001_Cube.002
+v -0.231854 0.040516 -0.056463
+v -0.231854 0.040516 -0.121937
+v -0.144556 0.040516 -0.121937
+v -0.144556 0.040516 -0.056463
+v -0.231854 0.127815 -0.056463
+v -0.231854 0.127815 -0.121937
+v -0.144556 0.127815 -0.121937
+v -0.144556 0.127815 -0.056463
+v -0.231854 0.040516 -0.056463
+v -0.231854 0.040516 -0.121937
+v -0.144556 0.040516 -0.121937
+v -0.144556 0.040516 -0.056463
+v -0.231854 0.127815 -0.056463
+v -0.231854 0.127815 -0.121937
+v -0.144556 0.127815 -0.121937
+v -0.144556 0.127815 -0.056463
+vt 1.044600 0.042083
+vt 1.044600 -0.957917
+vt 0.044600 -0.957917
+vt 1.905897 0.042083
+vt 1.905897 -0.957917
+vt 0.905898 -0.957917
+vt -0.955400 0.042083
+vt -0.955400 -0.957917
+vt -0.094102 0.042083
+vt -0.094102 -0.957917
+vt 0.905898 1.044600
+vt 1.905897 1.044600
+vt 1.905897 0.044600
+vt -0.094102 1.044600
+vt -0.094102 0.044600
+vt 0.044600 0.042083
+vt 0.905898 0.042083
+vt 0.905898 0.044600
+usemtl Material.002
+s off
+f 6/1 2/2 1/3
+f 7/4 3/5 2/6
+f 8/7 4/8 3/3
+f 5/9 1/10 4/6
+f 2/11 3/12 4/13
+f 7/11 6/14 5/15
+f 14/1 10/2 9/3
+f 15/4 11/5 10/6
+f 16/7 12/8 11/3
+f 13/9 9/10 12/6
+f 10/11 11/12 12/13
+f 15/11 14/14 13/15
+f 5/16 6/1 1/3
+f 6/17 7/4 2/6
+f 7/16 8/7 3/3
+f 8/17 5/9 4/6
+f 1/18 2/11 4/13
+f 8/18 7/11 5/15
+f 13/16 14/1 9/3
+f 14/17 15/4 10/6
+f 15/16 16/7 11/3
+f 16/17 13/9 12/6
+f 9/18 10/11 12/13
+f 16/18 15/11 13/15