expose timeout in pybullet/shared memory API

add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
2017-02-24 15:34:11 -08:00
parent bb11884f89
commit a4f1e34899
34 changed files with 1654 additions and 62 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -211,6 +211,9 @@ OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)

 OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
 	
+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)

--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -253,6 +253,7 @@ end

 	if not _OPTIONS["no-demos"] then
 		include "../examples/ExampleBrowser"
+		include "../examples/RobotSimulator"
 		include "../examples/OpenGLWindow"
 		include "../examples/ThirdPartyLibs/Gwen"
 		include "../examples/HelloWorld"
--- a/build_visual_studio_vr_pybullet_double_cmake.bat
+++ b/build_visual_studio_vr_pybullet_double_cmake.bat
@@ -0,0 +1,4 @@
+mkdir build_cmake
+cd build_cmake
+cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib -G "Visual Studio 14 2015" ..
+start .
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,6 +1,6 @@
 SUBDIRS( HelloWorld BasicDemo )
 IF(BUILD_BULLET3)
-	SUBDIRS( ExampleBrowser SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow )
+	SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow )
 ENDIF()
 IF(BUILD_PYBULLET)
 	SUBDIRS(pybullet)
--- a/examples/RobotSimulator/CMakeLists.txt
+++ b/examples/RobotSimulator/CMakeLists.txt
@@ -0,0 +1,159 @@
+
+INCLUDE_DIRECTORIES( 
+		${BULLET_PHYSICS_SOURCE_DIR}/src
+		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+  )
+
+
+SET(RobotSimulator_SRCS
+		RobotSimulatorMain.cpp
+		b3RobotSimulatorClientAPI.cpp
+		b3RobotSimulatorClientAPI.h	
+		MinitaurSetup.cpp
+		MinitaurSetup.h
+		../../examples/SharedMemory/IKTrajectoryHelper.cpp
+		../../examples/SharedMemory/IKTrajectoryHelper.h
+		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
+		../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+		../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
+		../../examples/OpenGLWindow/SimpleCamera.cpp
+		../../examples/OpenGLWindow/SimpleCamera.h
+		../../examples/TinyRenderer/geometry.cpp
+		../../examples/TinyRenderer/model.cpp
+		../../examples/TinyRenderer/tgaimage.cpp
+		../../examples/TinyRenderer/our_gl.cpp
+		../../examples/TinyRenderer/TinyRenderer.cpp
+		../../examples/SharedMemory/InProcessMemory.cpp
+		../../examples/SharedMemory/PhysicsClient.cpp
+		../../examples/SharedMemory/PhysicsClient.h
+		../../examples/SharedMemory/PhysicsServer.cpp
+		../../examples/SharedMemory/PhysicsServer.h
+		../../examples/SharedMemory/PhysicsServerExample.cpp
+		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
+		../../examples/SharedMemory/PhysicsServerSharedMemory.h
+		../../examples/SharedMemory/PhysicsDirect.cpp
+		../../examples/SharedMemory/PhysicsDirect.h
+		../../examples/SharedMemory/PhysicsDirectC_API.cpp
+		../../examples/SharedMemory/PhysicsDirectC_API.h
+		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+		../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
+		../../examples/SharedMemory/PhysicsClientSharedMemory.h
+		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
+		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
+		../../examples/SharedMemory/PhysicsClientC_API.cpp
+		../../examples/SharedMemory/PhysicsClientC_API.h
+		../../examples/SharedMemory/Win32SharedMemory.cpp
+		../../examples/SharedMemory/Win32SharedMemory.h
+		../../examples/SharedMemory/PosixSharedMemory.cpp
+		../../examples/SharedMemory/PosixSharedMemory.h
+		../../examples/Utils/b3ResourcePath.cpp
+		../../examples/Utils/b3ResourcePath.h
+		../../examples/Utils/RobotLoggingUtil.cpp
+		../../examples/Utils/RobotLoggingUtil.h
+		../../examples/ThirdPartyLibs/tinyxml/tinystr.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
+		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
+		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+		../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+		../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+		../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+		../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+		../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
+		../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+		../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
+		../../examples/MultiThreading/b3PosixThreadSupport.cpp
+		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
+		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+		
+)
+
+IF(BUILD_CLSOCKET)
+ ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ENDIF(BUILD_CLSOCKET)
+
+IF(WIN32)
+	LINK_LIBRARIES(
+		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+	IF(BUILD_CLSOCKET)
+		ADD_DEFINITIONS(-DWIN32)
+	ENDIF(BUILD_CLSOCKET)
+
+ELSE(WIN32)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+
+	IF(BUILD_CLSOCKET)	
+		IF(APPLE)
+			ADD_DEFINITIONS(-D_DARWIN)
+		ELSE()
+			ADD_DEFINITIONS(-D_LINUX)
+		ENDIF()
+	ENDIF(BUILD_CLSOCKET)
+ENDIF(WIN32)
+
+
+IF(BUILD_ENET)
+	set(RobotSimulator_SRCS ${RobotSimulator_SRCS} 
+		../../examples/SharedMemory/PhysicsClientUDP.cpp
+		../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
+		../../examples/SharedMemory/PhysicsClientUDP.h		
+		../../examples/SharedMemory/PhysicsClientUDP_C_API.h
+		../../examples/ThirdPartyLibs/enet/win32.c
+		../../examples/ThirdPartyLibs/enet/unix.c
+		../../examples/ThirdPartyLibs/enet/callbacks.c
+		../../examples/ThirdPartyLibs/enet/compress.c
+		../../examples/ThirdPartyLibs/enet/host.c
+		../../examples/ThirdPartyLibs/enet/list.c
+		../../examples/ThirdPartyLibs/enet/packet.c
+		../../examples/ThirdPartyLibs/enet/peer.c
+		../../examples/ThirdPartyLibs/enet/protocol.c
+	)
+ENDIF(BUILD_ENET)
+
+IF(BUILD_CLSOCKET)
+	set(RobotSimulator_SRCS ${RobotSimulator_SRCS}
+		 ../../examples/SharedMemory/PhysicsClientTCP.cpp
+                 ../../examples/SharedMemory/PhysicsClientTCP.h
+                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
+                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
+		 ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
+		 ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
+		 ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
+	)
+ENDIF()
+
+ADD_EXECUTABLE(App_RobotSimulator  ${RobotSimulator_SRCS})
+
+
+SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES DEBUG_POSTFIX "_d")
+
+
+IF(WIN32)
+	IF(BUILD_ENET OR BUILD_CLSOCKET)
+		TARGET_LINK_LIBRARIES(App_RobotSimulator ws2_32 )
+	ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
+ENDIF(WIN32)
+
+
+
+
+TARGET_LINK_LIBRARIES(App_RobotSimulator BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
+
+
--- a/examples/RobotSimulator/MinitaurSetup.cpp
+++ b/examples/RobotSimulator/MinitaurSetup.cpp
@@ -0,0 +1,96 @@
+#include "MinitaurSetup.h"
+#include "b3RobotSimulatorClientAPI.h"
+
+#include "Bullet3Common/b3HashMap.h"
+
+struct MinitaurSetupInternalData
+{
+	int m_quadrupedUniqueId;
+
+	MinitaurSetupInternalData()
+		:m_quadrupedUniqueId(-1)
+	{
+	}
+
+	b3HashMap<b3HashString, int> m_jointNameToId;
+
+};
+
+
+MinitaurSetup::MinitaurSetup()
+{
+	m_data = new MinitaurSetupInternalData();
+}
+
+MinitaurSetup::~MinitaurSetup()
+{
+	delete m_data;
+}
+
+void MinitaurSetup::resetPose()
+{
+#if 0
+	 def resetPose(self):
+    #right front leg
+    self.disableAllMotors()
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],-2.2)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],-1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],2.2)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
+    self.setMotorAngleByName('motor_front_rightR_joint', 1.57)
+    self.setMotorAngleByName('motor_front_rightL_joint',-1.57)
+
+    #left front leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],-2.2)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],-1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],2.2)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
+    self.setMotorAngleByName('motor_front_leftR_joint', 1.57)
+    self.setMotorAngleByName('motor_front_leftL_joint',-1.57)
+
+    #right back leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],-2.2)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],-1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],2.2)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2])
+    self.setMotorAngleByName('motor_back_rightR_joint', 1.57)
+    self.setMotorAngleByName('motor_back_rightL_joint',-1.57)
+
+    #left back leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],-2.2)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],-1.57)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],2.2)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2])
+    self.setMotorAngleByName('motor_back_leftR_joint', 1.57)
+    self.setMotorAngleByName('motor_back_leftL_joint',-1.57)
+#endif
+}
+
+int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
+{
+	
+	b3RobotSimulatorLoadUrdfFileArgs args;
+	args.m_startPosition = startPos;
+	args.m_startOrientation = startOrn;
+
+	m_data->m_quadrupedUniqueId = sim->loadURDF("quadruped/quadruped.urdf",args);
+
+	int numJoints = sim->getNumJoints(m_data->m_quadrupedUniqueId);
+	for (int i=0;i<numJoints;i++)
+	{
+		b3JointInfo jointInfo;
+		sim->getJointInfo(m_data->m_quadrupedUniqueId,i,&jointInfo);
+		if (jointInfo.m_jointName)
+		{
+			m_data->m_jointNameToId.insert(jointInfo.m_jointName,i);
+		}
+	}
+
+	resetPose();
+
+	return m_data->m_quadrupedUniqueId;
+}
--- a/examples/RobotSimulator/MinitaurSetup.h
+++ b/examples/RobotSimulator/MinitaurSetup.h
@@ -0,0 +1,20 @@
+#ifndef MINITAUR_SIMULATION_SETUP_H
+#define MINITAUR_SIMULATION_SETUP_H
+
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3Quaternion.h"
+class MinitaurSetup
+{
+	struct MinitaurSetupInternalData* m_data;
+
+public:
+	MinitaurSetup();
+	virtual ~MinitaurSetup();
+
+	int setupMinitaur(class b3RobotSimulatorClientAPI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
+
+	void resetPose();
+
+};
+#endif //MINITAUR_SIMULATION_SETUP_H
+ 
--- a/examples/RobotSimulator/RobotSimulatorMain.cpp
+++ b/examples/RobotSimulator/RobotSimulatorMain.cpp
@@ -0,0 +1,66 @@
+
+#include "b3RobotSimulatorClientAPI.h"
+#include "../Utils/b3Clock.h"
+
+#include <string.h>
+#include <stdio.h>
+#include <assert.h>
+#define ASSERT_EQ(a,b) assert((a)==(b));
+#include "MinitaurSetup.h"
+int main(int argc, char* argv[])
+{
+	b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
+
+	sim->connect(eCONNECT_GUI);
+	//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
+	//sim->connect(eCONNECT_UDP, "localhost", 1234);
+	sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
+	sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
+
+	//syncBodies is only needed when connecting to an existing physics server that has already some bodies
+	sim->syncBodies();
+	
+	sim->setTimeStep(1./240.);
+
+	sim->setGravity(b3MakeVector3(0,0,-10));
+
+	sim->loadURDF("plane.urdf");
+
+	MinitaurSetup minitaur;
+	int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,1));
+
+	
+	b3RobotSimulatorLoadUrdfFileArgs args;
+	args.m_startPosition.setValue(2,0,1);
+	int r2d2 = sim->loadURDF("r2d2.urdf",args);
+
+	b3RobotSimulatorLoadFileResults sdfResults;
+	if (!sim->loadSDF("two_cubes.sdf",sdfResults))
+	{
+		b3Warning("Can't load SDF!\n");
+	}
+
+	b3Clock clock;
+	double startTime = clock.getTimeInSeconds();
+	double simWallClockSeconds = 20.;
+
+	while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
+	{
+		sim->stepSimulation();
+	}
+
+	sim->setRealTimeSimulation(true);
+	
+	startTime = clock.getTimeInSeconds();
+	while (clock.getTimeInSeconds()-startTime < simWallClockSeconds)
+	{
+		b3Clock::usleep(1000);
+	}
+
+	sim->disconnect();
+	delete sim;
+
+
+}
+
+
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -0,0 +1,776 @@
+#include "b3RobotSimulatorClientAPI.h"
+
+
+//#include "SharedMemoryCommands.h"
+
+#include "SharedMemory/PhysicsClientC_API.h"
+
+#ifdef BT_ENABLE_ENET
+#include "SharedMemory/PhysicsClientUDP_C_API.h"
+#endif//PHYSICS_UDP
+
+#ifdef BT_ENABLE_CLSOCKET
+#include "SharedMemory/PhysicsClientTCP_C_API.h"
+#endif//PHYSICS_TCP
+
+#include "SharedMemory/PhysicsDirectC_API.h"
+
+#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
+
+#include "SharedMemory/SharedMemoryPublic.h"
+#include "Bullet3Common/b3Logging.h"
+
+struct b3RobotSimulatorClientAPI_InternalData
+{
+	b3PhysicsClientHandle m_physicsClientHandle;
+
+	b3RobotSimulatorClientAPI_InternalData()
+		:m_physicsClientHandle(0)
+	{
+	}
+};
+
+b3RobotSimulatorClientAPI::b3RobotSimulatorClientAPI()
+{
+	m_data = new b3RobotSimulatorClientAPI_InternalData();
+}
+
+ b3RobotSimulatorClientAPI::~b3RobotSimulatorClientAPI()
+{
+	 delete m_data;
+}
+
+
+bool b3RobotSimulatorClientAPI::connect(int mode, const std::string& hostName, int portOrKey)
+{
+	if (m_data->m_physicsClientHandle)
+	{
+		b3Warning ("Already connected, disconnect first.");
+		return false;
+	}
+	b3PhysicsClientHandle sm = 0;
+
+	int udpPort = 1234;
+	int tcpPort = 6667;
+	int key = SHARED_MEMORY_KEY;
+	bool connected = false;
+	
+
+	switch (mode) 
+	{
+		case eCONNECT_GUI: 
+		{
+		int argc = 0;
+		char* argv[1] = {0};
+	#ifdef __APPLE__
+		sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
+	#else
+		sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
+	#endif
+		break;
+		}
+		case eCONNECT_DIRECT: {
+		sm = b3ConnectPhysicsDirect();
+		break;
+		}
+		case eCONNECT_SHARED_MEMORY: {
+			if (portOrKey>=0)
+			{
+				key = portOrKey;
+			}
+		sm = b3ConnectSharedMemory(key);
+		break;
+		}
+		case eCONNECT_UDP: 
+	{
+			if (portOrKey>=0)
+			{
+				udpPort = portOrKey;
+			}
+	#ifdef BT_ENABLE_ENET
+
+			sm = b3ConnectPhysicsUDP(hostName.c_str(), udpPort);
+	#else
+ 		b3Warning("UDP is not enabled in this build");
+	#endif //BT_ENABLE_ENET
+
+			break;
+	}
+	case eCONNECT_TCP:
+		{
+			if (portOrKey>=0)
+			{
+				tcpPort = portOrKey;
+			}
+	#ifdef BT_ENABLE_CLSOCKET
+            
+			sm = b3ConnectPhysicsTCP(hostName.c_str(), tcpPort);
+	#else
+			b3Warning("TCP is not enabled in this pybullet build");
+	#endif //BT_ENABLE_CLSOCKET
+			break;
+		}
+            
+            
+
+		default: {
+		b3Warning("connectPhysicsServer unexpected argument");
+		}
+	};
+
+  if (sm)
+  {
+	  m_data->m_physicsClientHandle = sm;
+	  if (!b3CanSubmitCommand(m_data->m_physicsClientHandle))
+	  {
+		  disconnect();
+		  return false;
+	  }
+	  return true;
+  }
+  return false;
+}
+
+bool b3RobotSimulatorClientAPI::isConnected() const
+{
+	return  (m_data->m_physicsClientHandle!=0);
+}
+
+
+void b3RobotSimulatorClientAPI::disconnect()
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
+	b3DisconnectSharedMemory(m_data->m_physicsClientHandle);
+	m_data->m_physicsClientHandle = 0;
+}
+
+void b3RobotSimulatorClientAPI::syncBodies()
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
+
+	b3SharedMemoryCommandHandle	command;
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+
+	command = b3InitSyncBodyInfoCommand(m_data->m_physicsClientHandle);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+	statusType = b3GetStatusType(statusHandle);
+
+}
+
+void b3RobotSimulatorClientAPI::resetSimulation()
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+    b3SharedMemoryStatusHandle statusHandle;
+    statusHandle = b3SubmitClientCommandAndWaitStatus(
+        m_data->m_physicsClientHandle, b3InitResetSimulationCommand(m_data->m_physicsClientHandle));
+}
+
+void b3RobotSimulatorClientAPI::stepSimulation()
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
+    if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
+    {
+        statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitStepSimulationCommand(m_data->m_physicsClientHandle));
+        statusType = b3GetStatusType(statusHandle);
+        b3Assert(statusType==CMD_STEP_FORWARD_SIMULATION_COMPLETED);
+    }
+}
+
+void b3RobotSimulatorClientAPI::setGravity(const b3Vector3& gravityAcceleration)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
+   b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
+    b3SharedMemoryStatusHandle statusHandle;
+	b3PhysicsParamSetGravity(command,  gravityAcceleration[0],gravityAcceleration[1],gravityAcceleration[2]);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+    b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
+}
+
+b3Quaternion b3RobotSimulatorClientAPI::getQuaternionFromEuler(const b3Vector3& rollPitchYaw)
+{
+    double phi, the, psi;
+    phi = rollPitchYaw[0] / 2.0;
+    the = rollPitchYaw[1] / 2.0;
+    psi = rollPitchYaw[2] / 2.0;
+    double quat[4] = {
+        sin(phi) * cos(the) * cos(psi) - cos(phi) * sin(the) * sin(psi),
+        cos(phi) * sin(the) * cos(psi) + sin(phi) * cos(the) * sin(psi),
+        cos(phi) * cos(the) * sin(psi) - sin(phi) * sin(the) * cos(psi),
+        cos(phi) * cos(the) * cos(psi) + sin(phi) * sin(the) * sin(psi)};
+
+    // normalize the quaternion
+    double len = sqrt(quat[0] * quat[0] + quat[1] * quat[1] +
+                    quat[2] * quat[2] + quat[3] * quat[3]);
+    quat[0] /= len;
+    quat[1] /= len;
+    quat[2] /= len;
+    quat[3] /= len;
+	b3Quaternion q(quat[0],quat[1],quat[2],quat[3]);
+	return q;
+}
+
+b3Vector3 b3RobotSimulatorClientAPI::getEulerFromQuaternion(const b3Quaternion& quat)
+{
+	 double squ;
+  double sqx;
+  double sqy;
+  double sqz;
+    double sarg;
+  
+    b3Vector3 rpy;
+    sqx = quat[0] * quat[0];
+    sqy = quat[1] * quat[1];
+    sqz = quat[2] * quat[2];
+    squ = quat[3] * quat[3];
+    rpy[0] = atan2(2 * (quat[1] * quat[2] + quat[3] * quat[0]),
+                   squ - sqx - sqy + sqz);
+    sarg = -2 * (quat[0] * quat[2] - quat[3] * quat[1]);
+    rpy[1] = sarg <= -1.0 ? -0.5 * 3.141592538
+                          : (sarg >= 1.0 ? 0.5 * 3.141592538 : asin(sarg));
+    rpy[2] = atan2(2 * (quat[0] * quat[1] + quat[3] * quat[2]),
+                   squ + sqx - sqy - sqz);
+	return rpy;
+}
+
+int b3RobotSimulatorClientAPI::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args)
+{
+	int robotUniqueId = -1;
+
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return robotUniqueId;
+	}
+
+	
+
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
+			
+	//setting the initial position, orientation and other arguments are optional
+            
+	b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
+													args.m_startPosition[1],
+													args.m_startPosition[2]);
+	b3LoadUrdfCommandSetStartOrientation(command,args.m_startOrientation[0]
+											,args.m_startOrientation[1]
+											,args.m_startOrientation[2]
+											,args.m_startOrientation[3]);
+	if (args.m_forceOverrideFixedBase)
+	{
+		b3LoadUrdfCommandSetUseFixedBase(command,true);
+	}
+	b3LoadUrdfCommandSetUseMultiBody(command, args.m_useMultiBody);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+	statusType = b3GetStatusType(statusHandle);
+
+	b3Assert(statusType==CMD_URDF_LOADING_COMPLETED);
+	if (statusType==CMD_URDF_LOADING_COMPLETED)
+	{
+		robotUniqueId = b3GetStatusBodyIndex(statusHandle);
+	}
+	return robotUniqueId;
+}
+
+bool b3RobotSimulatorClientAPI::loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	b3SharedMemoryCommandHandle command;
+
+	command = b3LoadMJCFCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType != CMD_MJCF_LOADING_COMPLETED)
+	{
+		b3Warning("Couldn't load .mjcf file.");
+		return false;
+	}
+	int numBodies = b3GetStatusBodyIndices(statusHandle, 0,0);
+	if (numBodies)
+	{
+		results.m_uniqueObjectIds.resize(numBodies);
+		int numBodies;
+		numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
+	}
+
+	return true;
+}
+
+bool b3RobotSimulatorClientAPI::loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results)
+{
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	b3SharedMemoryCommandHandle command;
+
+	command = b3LoadBulletCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType != CMD_BULLET_LOADING_COMPLETED)
+	{
+		return false;
+	}
+	int numBodies = b3GetStatusBodyIndices(statusHandle, 0,0);
+	if (numBodies)
+	{
+		results.m_uniqueObjectIds.resize(numBodies);
+		int numBodies;
+		numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
+	}
+
+	return true;
+}
+
+bool b3RobotSimulatorClientAPI::loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+
+	bool statusOk = false;
+
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
+    b3LoadSdfCommandSetUseMultiBody(command, args.m_useMultiBody);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+	statusType = b3GetStatusType(statusHandle);
+	b3Assert(statusType == CMD_SDF_LOADING_COMPLETED);
+	if (statusType == CMD_SDF_LOADING_COMPLETED)
+	{
+		int numBodies = b3GetStatusBodyIndices(statusHandle, 0,0);
+		if (numBodies)
+		{
+			results.m_uniqueObjectIds.resize(numBodies);
+			int numBodies;
+			numBodies = b3GetStatusBodyIndices(statusHandle, &results.m_uniqueObjectIds[0],results.m_uniqueObjectIds.size());
+
+		}
+		statusOk = true;
+	}
+
+	return statusOk;
+}
+
+
+bool b3RobotSimulatorClientAPI::getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const
+{
+	b3SharedMemoryCommandHandle cmd_handle =
+		b3RequestActualStateCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
+	b3SharedMemoryStatusHandle status_handle =
+		b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, cmd_handle);
+
+	const int status_type = b3GetStatusType(status_handle);
+	const double* actualStateQ;
+
+	if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED) {
+		return false;
+	}
+
+	b3GetStatusActualState(
+		status_handle, 0 /* body_unique_id */,
+		0 /* num_degree_of_freedom_q */, 0 /* num_degree_of_freedom_u */,
+		0 /*root_local_inertial_frame*/, &actualStateQ,
+		0 /* actual_state_q_dot */, 0 /* joint_reaction_forces */);
+
+	basePosition[0] = actualStateQ[0];
+	basePosition[1] = actualStateQ[1];
+	basePosition[2] = actualStateQ[2];
+
+	baseOrientation[0] = actualStateQ[3];
+	baseOrientation[1] = actualStateQ[4];
+	baseOrientation[2] = actualStateQ[5];
+	baseOrientation[3] = actualStateQ[6];
+	return true;
+}
+
+bool b3RobotSimulatorClientAPI::resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation)
+{
+	b3SharedMemoryCommandHandle commandHandle;
+
+	commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
+
+	b3CreatePoseCommandSetBasePosition(commandHandle, basePosition[0], basePosition[1], basePosition[2]);
+	b3CreatePoseCommandSetBaseOrientation(commandHandle, baseOrientation[0], baseOrientation[1],
+										baseOrientation[2], baseOrientation[3]);
+
+	b3SharedMemoryStatusHandle statusHandle;
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+  
+	return true;
+}
+
+
+void b3RobotSimulatorClientAPI::setRealTimeSimulation(bool enableRealTimeSimulation)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
+	b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
+	b3SharedMemoryStatusHandle statusHandle;
+
+	int ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
+
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+
+	b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
+}
+
+int b3RobotSimulatorClientAPI::getNumJoints(int bodyUniqueId) const
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+	return b3GetNumJoints(m_data->m_physicsClientHandle,bodyUniqueId);
+}
+
+
+bool b3RobotSimulatorClientAPI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+	return (b3GetJointInfo(m_data->m_physicsClientHandle,bodyUniqueId, jointIndex,jointInfo)!=0);
+}
+
+void b3RobotSimulatorClientAPI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+    b3SharedMemoryStatusHandle statusHandle;
+    b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
+    if (b3CanSubmitCommand(m_data->m_physicsClientHandle))
+    {
+        statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitCreateUserConstraintCommand(m_data->m_physicsClientHandle, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo));
+    }
+}
+
+bool b3RobotSimulatorClientAPI::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState *state)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+    b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClientHandle,bodyUniqueId);
+    b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+    int statusType = b3GetStatusType(statusHandle);
+	if (statusType != CMD_ACTUAL_STATE_UPDATE_COMPLETED) 
+	{
+	  if (b3GetJointState(m_data->m_physicsClientHandle, statusHandle, jointIndex, state))
+	  {
+		  return true;
+	  }
+	}
+    return false;
+}
+
+bool b3RobotSimulatorClientAPI::resetJointState(int bodyUniqueId, int jointIndex, int targetValue)
+{
+    b3SharedMemoryCommandHandle commandHandle;
+    b3SharedMemoryStatusHandle statusHandle;
+    int numJoints;
+
+    numJoints = b3GetNumJoints(m_data->m_physicsClientHandle, bodyUniqueId);
+    if ((jointIndex >= numJoints) || (jointIndex < 0)) {
+    return false;
+    }
+
+    commandHandle = b3CreatePoseCommandInit(m_data->m_physicsClientHandle, bodyUniqueId);
+
+    b3CreatePoseCommandSetJointPosition(m_data->m_physicsClientHandle, commandHandle, jointIndex,
+                                        targetValue);
+
+    statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+	return false;
+}
+
+
+void b3RobotSimulatorClientAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3RobotSimulatorJointMotorArgs& args)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+	b3SharedMemoryStatusHandle statusHandle;
+	switch (args.m_controlMode)
+	{
+		case CONTROL_MODE_VELOCITY:
+		{
+			b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_VELOCITY);
+			b3JointInfo jointInfo;
+			b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
+			int uIndex = jointInfo.m_uIndex;
+            b3JointControlSetKd(command,uIndex,args.m_kd);
+			b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
+			b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
+			statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+			break;
+		}
+		case CONTROL_MODE_POSITION_VELOCITY_PD:
+		{
+			b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_POSITION_VELOCITY_PD);
+			b3JointInfo jointInfo;
+			b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
+			int uIndex = jointInfo.m_uIndex;
+			int qIndex = jointInfo.m_qIndex;
+
+			b3JointControlSetDesiredPosition(command,qIndex,args.m_targetPosition);
+			b3JointControlSetKp(command,uIndex,args.m_kp);
+			b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
+			b3JointControlSetKd(command,uIndex,args.m_kd);
+			b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
+			statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+			break;
+		}
+		case CONTROL_MODE_TORQUE:
+		{
+			b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClientHandle, bodyUniqueId, CONTROL_MODE_TORQUE);
+			b3JointInfo jointInfo;
+			b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, &jointInfo);
+			int uIndex = jointInfo.m_uIndex;
+			b3JointControlSetDesiredForceTorque(command,uIndex,args.m_maxTorqueValue);
+			statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+			break;
+		}
+		default:
+		{
+			b3Error("Unknown control command in b3RobotSimulationClientAPI::setJointMotorControl");
+		}
+	}
+}
+
+
+void b3RobotSimulatorClientAPI::setNumSolverIterations(int numIterations)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+    b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
+    b3SharedMemoryStatusHandle statusHandle;
+    b3PhysicsParamSetNumSolverIterations(command, numIterations);
+    statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+    b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
+
+}
+
+void b3RobotSimulatorClientAPI::setTimeStep(double timeStepInSeconds)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
+	b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
+	b3SharedMemoryStatusHandle statusHandle;
+	int ret;
+	ret = b3PhysicsParamSetTimeStep(command, timeStepInSeconds);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+	
+}
+
+
+void b3RobotSimulatorClientAPI::setNumSimulationSubSteps(int numSubSteps)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+    b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
+    b3SharedMemoryStatusHandle statusHandle;
+    b3PhysicsParamSetNumSubSteps(command, numSubSteps);
+    statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+    b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
+}
+
+
+bool b3RobotSimulatorClientAPI::calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+	b3Assert(args.m_endEffectorLinkIndex>=0);
+	b3Assert(args.m_bodyUniqueId>=0);
+	
+
+	b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClientHandle,args.m_bodyUniqueId);
+	if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY))
+    {
+        b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, args.m_endEffectorTargetOrientation, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
+    } else if (args.m_flags & B3_HAS_IK_TARGET_ORIENTATION)
+	{
+		b3CalculateInverseKinematicsAddTargetPositionWithOrientation(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition,args.m_endEffectorTargetOrientation);
+	} else if (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY)
+    {
+        b3CalculateInverseKinematicsPosWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0], &args.m_restPoses[0]);
+    } else
+	{
+		b3CalculateInverseKinematicsAddTargetPurePosition(command,args.m_endEffectorLinkIndex,args.m_endEffectorTargetPosition);
+	}
+    
+    if (args.m_flags & B3_HAS_JOINT_DAMPING)
+    {
+        b3CalculateInverseKinematicsSetJointDamping(command, args.m_numDegreeOfFreedom, &args.m_jointDamping[0]);
+    }
+
+    b3SharedMemoryStatusHandle statusHandle;
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+
+	
+
+    int numPos=0;
+    
+	bool result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
+		&results.m_bodyUniqueId,
+		&numPos,
+		0)!=0;
+    if (result && numPos)
+    {
+        results.m_calculatedJointPositions.resize(numPos);
+        result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
+                                                                 &results.m_bodyUniqueId,
+                                                                 &numPos,
+                                &results.m_calculatedJointPositions[0])!=0;
+        
+    }
+	return result;
+}
+
+
+
+bool b3RobotSimulatorClientAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+    b3SharedMemoryCommandHandle command = b3CalculateJacobianCommandInit(m_data->m_physicsClientHandle, bodyUniqueId, linkIndex, localPosition, jointPositions, jointVelocities, jointAccelerations);
+    b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+    
+    if (b3GetStatusType(statusHandle) == CMD_CALCULATED_JACOBIAN_COMPLETED)
+    {
+        b3GetStatusJacobian(statusHandle, linearJacobian, angularJacobian);
+		return true;
+	}
+	return false;
+}
+
+bool b3RobotSimulatorClientAPI::getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return false;
+	}
+    b3SharedMemoryCommandHandle command = b3RequestActualStateCommandInit(m_data->m_physicsClientHandle,bodyUniqueId);
+    b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+    
+    if (b3GetStatusType(statusHandle) == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
+    {
+        b3GetLinkState(m_data->m_physicsClientHandle, statusHandle, linkIndex, linkState);
+		return true;
+    }
+	return false;
+}
+
+void b3RobotSimulatorClientAPI::configureDebugVisualizer(b3ConfigureDebugVisualizerEnum flag, int enable)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+	b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(m_data->m_physicsClientHandle);
+	b3ConfigureOpenGLVisualizerSetVisualizationFlags(commandHandle, flag, enable);
+	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+}
+
+int b3RobotSimulatorClientAPI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds)
+{
+	int loggingUniqueId = -1;
+	b3SharedMemoryCommandHandle commandHandle;
+	commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
+		
+	b3StateLoggingStart(commandHandle,loggingType,fileName.c_str());
+
+	for ( int i=0;i<objectUniqueIds.size();i++)
+	{
+		int objectUid = objectUniqueIds[i];
+		b3StateLoggingAddLoggingObjectUniqueId(commandHandle,objectUid);
+	}
+
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType==CMD_STATE_LOGGING_START_COMPLETED)
+	{
+		loggingUniqueId = b3GetStatusLoggingUniqueId(statusHandle);
+	}
+	return loggingUniqueId;
+}
+
+void b3RobotSimulatorClientAPI::stopStateLogging(int stateLoggerUniqueId)
+{
+	b3SharedMemoryCommandHandle commandHandle;
+	b3SharedMemoryStatusHandle statusHandle;
+	commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
+	b3StateLoggingStop(commandHandle, stateLoggerUniqueId);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+}
+
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
@@ -0,0 +1,191 @@
+#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
+#define B3_ROBOT_SIMULATOR_CLIENT_API_H
+
+#include "../SharedMemory/SharedMemoryPublic.h"
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3Transform.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+#include <string>
+
+
+
+
+
+struct b3RobotSimulatorLoadUrdfFileArgs
+{
+	b3Vector3 m_startPosition;
+	b3Quaternion m_startOrientation;
+	bool m_forceOverrideFixedBase;
+    bool m_useMultiBody;
+
+	b3RobotSimulatorLoadUrdfFileArgs()
+		:
+		m_startPosition(b3MakeVector3(0,0,0)),
+		m_startOrientation(b3Quaternion(0,0,0,1)),
+		m_forceOverrideFixedBase(false),
+        m_useMultiBody(true)
+	{
+	}
+};
+
+struct b3RobotSimulatorLoadSdfFileArgs
+{
+	bool m_forceOverrideFixedBase;
+    bool m_useMultiBody;
+
+	b3RobotSimulatorLoadSdfFileArgs()
+		:
+		m_forceOverrideFixedBase(false),
+        m_useMultiBody(true)
+	{
+	}
+};
+
+
+struct b3RobotSimulatorLoadFileResults
+{
+	b3AlignedObjectArray<int> m_uniqueObjectIds;
+	b3RobotSimulatorLoadFileResults()
+	{
+	}
+};
+
+struct b3RobotSimulatorJointMotorArgs
+{
+	int m_controlMode;
+	
+	double m_targetPosition;
+	double m_kp;
+
+	double m_targetVelocity;
+	double m_kd;
+
+	double m_maxTorqueValue;
+
+	b3RobotSimulatorJointMotorArgs(int controlMode)
+		:m_controlMode(controlMode),
+		m_targetPosition(0),
+		m_kp(0.1),
+		m_targetVelocity(0),
+		m_kd(0.9),
+		m_maxTorqueValue(1000)
+	{
+	}
+};
+
+enum b3RobotSimulatorInverseKinematicsFlags
+{
+	B3_HAS_IK_TARGET_ORIENTATION=1,
+    B3_HAS_NULL_SPACE_VELOCITY=2,
+    B3_HAS_JOINT_DAMPING=4,
+};
+
+struct b3RobotSimulatorInverseKinematicArgs
+{
+	int m_bodyUniqueId;
+//	double* m_currentJointPositions;
+//	int m_numPositions;
+	double m_endEffectorTargetPosition[3];
+	double m_endEffectorTargetOrientation[4];
+    int m_endEffectorLinkIndex;
+	int m_flags;
+    int m_numDegreeOfFreedom;
+    b3AlignedObjectArray<double> m_lowerLimits;
+    b3AlignedObjectArray<double> m_upperLimits;
+    b3AlignedObjectArray<double> m_jointRanges;
+    b3AlignedObjectArray<double> m_restPoses;
+    b3AlignedObjectArray<double> m_jointDamping;
+
+	b3RobotSimulatorInverseKinematicArgs()
+		:m_bodyUniqueId(-1),
+		m_endEffectorLinkIndex(-1),
+		m_flags(0)
+	{
+		m_endEffectorTargetPosition[0]=0;
+		m_endEffectorTargetPosition[1]=0;
+		m_endEffectorTargetPosition[2]=0;
+
+		m_endEffectorTargetOrientation[0]=0;
+		m_endEffectorTargetOrientation[1]=0;
+		m_endEffectorTargetOrientation[2]=0;
+		m_endEffectorTargetOrientation[3]=1;
+	}
+};
+
+struct b3RobotSimulatorInverseKinematicsResults
+{
+	int m_bodyUniqueId;
+	b3AlignedObjectArray<double> m_calculatedJointPositions;
+};
+
+
+///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
+///as documented in the pybullet Quickstart Guide
+///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
+class b3RobotSimulatorClientAPI
+{
+	struct b3RobotSimulatorClientAPI_InternalData* m_data;
+	
+public:
+	b3RobotSimulatorClientAPI();
+	virtual ~b3RobotSimulatorClientAPI();
+
+	bool connect(int mode, const std::string& hostName="localhost", int portOrKey=-1);
+	
+	void disconnect();
+
+	bool isConnected() const;
+
+	void syncBodies();
+
+	void resetSimulation();
+
+	b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
+	b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
+
+	int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args=b3RobotSimulatorLoadUrdfFileArgs());
+	bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args=b3RobotSimulatorLoadSdfFileArgs());
+	bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
+	bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
+
+	bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
+	bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
+
+	int getNumJoints(int bodyUniqueId) const;
+
+	bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
+    
+    void createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
+
+	bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState *state);
+    
+	bool resetJointState(int bodyUniqueId, int jointIndex, int targetValue);
+
+	void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
+
+	void stepSimulation();
+
+	void setRealTimeSimulation(bool enableRealTimeSimulation);
+
+	void setGravity(const b3Vector3& gravityAcceleration);
+    
+	void setTimeStep(double timeStepInSeconds);
+    void setNumSimulationSubSteps(int numSubSteps);
+	void setNumSolverIterations(int numIterations);
+
+	bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
+
+    bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
+    
+	bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
+
+	void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
+
+	int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds);
+	void stopStateLogging(int stateLoggerUniqueId);
+
+};
+
+#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H
--- a/examples/RobotSimulator/premake4.lua
+++ b/examples/RobotSimulator/premake4.lua
@@ -0,0 +1,158 @@
+project ("App_RobotSimulator")
+
+		language "C++"
+		kind "ConsoleApp"
+
+		includedirs {"../../src", "../../examples",
+		"../../examples/ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+
+	hasCL = findOpenCL("clew")
+
+	links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
+	initOpenGL()
+	initGlew()
+
+  	includedirs {
+                ".",
+                "../../src",
+                "../ThirdPartyLibs",
+                }
+
+
+	if os.is("MacOSX") then
+		links{"Cocoa.framework"}
+	end
+
+		if (hasCL) then
+			links {
+				"Bullet3OpenCL_clew",
+				"Bullet3Dynamics",
+				"Bullet3Collision",
+				"Bullet3Geometry",
+				"Bullet3Common",
+			}
+		end
+
+
+
+if not _OPTIONS["no-enet"] then
+
+		includedirs {"../../examples/ThirdPartyLibs/enet/include"}
+	
+		if os.is("Windows") then 
+--			targetextension {"dylib"}
+			defines { "WIN32" }
+			links {"Ws2_32","Winmm"}
+		end
+		if os.is("Linux") then
+		end
+		if os.is("MacOSX") then
+		end		
+		
+		links {"enet"}		
+
+		files {
+			"../../examples/SharedMemory/PhysicsClientUDP.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP.h",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
+		}	
+		defines {"BT_ENABLE_ENET"}
+	end
+
+	if not _OPTIONS["no-clsocket"] then
+
+                includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+
+		 if os.is("Windows") then
+                	defines { "WIN32" }
+                	links {"Ws2_32","Winmm"}
+       		 end
+        	if os.is("Linux") then
+                	defines {"_LINUX"}
+        	end
+        	if os.is("MacOSX") then
+                	defines {"_DARWIN"}
+        	end
+
+                links {"clsocket"}
+
+                files {
+                        "../../examples/SharedMemory/PhysicsClientTCP.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP.h",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
+                }
+                defines {"BT_ENABLE_CLSOCKET"}
+        end
+
+		files {
+			"RobotSimulatorMain.cpp",
+			"b3RobotSimulatorClientAPI.cpp",
+			"b3RobotSimulatorClientAPI.h",
+			"MinitaurSetup.cpp",
+			"MinitaurSetup.h",
+			"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
+			"../../examples/SharedMemory/IKTrajectoryHelper.h",
+			"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
+			"../../examples/SharedMemory/InProcessMemory.cpp",
+			"../../examples/SharedMemory/PhysicsClient.cpp",
+			"../../examples/SharedMemory/PhysicsClient.h",
+			"../../examples/SharedMemory/PhysicsServer.cpp",
+			"../../examples/SharedMemory/PhysicsServer.h",
+			"../../examples/SharedMemory/PhysicsServerExample.cpp",
+			"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
+			"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
+			"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
+			"../../examples/SharedMemory/PhysicsDirect.cpp",
+			"../../examples/SharedMemory/PhysicsDirect.h",
+			"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
+			"../../examples/SharedMemory/PhysicsDirectC_API.h",
+			"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
+			"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
+			"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
+			"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
+			"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
+			"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
+			"../../examples/SharedMemory/PhysicsClientC_API.cpp",
+			"../../examples/SharedMemory/PhysicsClientC_API.h",
+			"../../examples/SharedMemory/Win32SharedMemory.cpp",
+			"../../examples/SharedMemory/Win32SharedMemory.h",
+			"../../examples/SharedMemory/PosixSharedMemory.cpp",
+			"../../examples/SharedMemory/PosixSharedMemory.h",
+			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
+			"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
+			"../../examples/TinyRenderer/geometry.cpp",
+			"../../examples/TinyRenderer/model.cpp",
+			"../../examples/TinyRenderer/tgaimage.cpp",
+			"../../examples/TinyRenderer/our_gl.cpp",
+			"../../examples/TinyRenderer/TinyRenderer.cpp",
+			"../../examples/Utils/b3ResourcePath.cpp",
+			"../../examples/Utils/b3ResourcePath.h",
+			"../../examples/Utils/RobotLoggingUtil.cpp",
+			"../../examples/Utils/RobotLoggingUtil.h",
+			"../../examples/ThirdPartyLibs/tinyxml/tinystr.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",
+			"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+			"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
+			"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+			"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+			"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
+			"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
+			"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
+			"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
+			"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
+			"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
+			"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+			"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
+	}
+	if os.is("Linux") then
+       		initX11()
+	end
--- a/examples/SharedMemory/CMakeLists.txt
+++ b/examples/SharedMemory/CMakeLists.txt
@@ -94,7 +94,7 @@ LINK_LIBRARIES(
 )

 IF (WIN32)
-        ADD_EXECUTABLE(App_SharedMemoryPhysics
+        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
                ${SharedMemory_SRCS}
                main.cpp
                ../MultiThreading/b3Win32ThreadSupport.cpp
@@ -104,7 +104,7 @@ IF (WIN32)
 ELSE(WIN32)
 			 IF(APPLE)
 			        LINK_LIBRARIES(  pthread dl )
-			        ADD_EXECUTABLE(App_SharedMemoryPhysics
+			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
 			                ${SharedMemory_SRCS}
 			                ../MultiThreading/b3PosixThreadSupport.cpp
 	               			../MultiThreading/b3PosixThreadSupport.h
@@ -113,7 +113,7 @@ ELSE(WIN32)
 							
        ELSE(APPLE)
         			LINK_LIBRARIES(  pthread dl )
-			        ADD_EXECUTABLE(App_SharedMemoryPhysics
+			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
 			                ${SharedMemory_SRCS}
 			                ../MultiThreading/b3PosixThreadSupport.cpp
 	               			../MultiThreading/b3PosixThreadSupport.h
@@ -126,9 +126,9 @@ ENDIF(WIN32)


 IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
-                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES  DEBUG_POSTFIX "_Debug")
-                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
-                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory PROPERTIES  DEBUG_POSTFIX "_Debug")
+                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)


@@ -151,7 +151,7 @@ IF (WIN32)
 				ADD_DEFINITIONS(-DGLEW_STATIC)
 				LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
 	
-        ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
+        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
                ${SharedMemory_SRCS}
 								../StandaloneMain/main_opengl_single_example.cpp
 								../ExampleBrowser/OpenGLGuiHelper.cpp
@@ -168,7 +168,7 @@ ELSE(WIN32)
              MESSAGE(${COCOA})
              LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
                
-			        ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
+			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
 			                ${SharedMemory_SRCS}
 	               			../StandaloneMain/main_opengl_single_example.cpp
 											../ExampleBrowser/OpenGLGuiHelper.cpp
@@ -184,7 +184,7 @@ ELSE(WIN32)
              ADD_DEFINITIONS("-DGLEW_STATIC")
              ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
                
-			        ADD_EXECUTABLE(App_SharedMemoryPhysics_GUI
+			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
 			                ${SharedMemory_SRCS}
 	              			../StandaloneMain/main_opengl_single_example.cpp
 											../ExampleBrowser/OpenGLGuiHelper.cpp
@@ -200,9 +200,9 @@ ENDIF(WIN32)


 IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
-                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES  DEBUG_POSTFIX "_Debug")
-                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
-                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_GUI PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_GUI PROPERTIES  DEBUG_POSTFIX "_Debug")
+                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_GUI PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_GUI PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)


@@ -232,7 +232,7 @@ LINK_LIBRARIES(
 				ELSE(CMAKE_CL_64)
 					LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win32)
 				ENDIF(CMAKE_CL_64)			
-        ADD_EXECUTABLE(App_SharedMemoryPhysics_VR
+        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_VR
                ${SharedMemory_SRCS}
          ../StandaloneMain/hellovr_opengl_main.cpp
 					../ExampleBrowser/OpenGLGuiHelper.cpp
@@ -257,35 +257,35 @@ LINK_LIBRARIES(
 IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
 	IF (CMAKE_CL_64)
 		ADD_CUSTOM_COMMAND(
-			TARGET App_SharedMemoryPhysics_VR
+			TARGET App_PhysicsServer_SharedMemory_VR
 			POST_BUILD
 			COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/win64/openvr_api.dll  ${CMAKE_CURRENT_BINARY_DIR}/openvr_api.dll
 		)
 	ELSE(CMAKE_CL_64)
 		ADD_CUSTOM_COMMAND(
-			TARGET App_SharedMemoryPhysics_VR
+			TARGET App_PhysicsServer_SharedMemory_VR
 			POST_BUILD
 			COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/win32/openvr_api.dll  ${CMAKE_CURRENT_BINARY_DIR}/openvr_api.dll
 		)
 	ENDIF(CMAKE_CL_64)
 	
 	ADD_CUSTOM_COMMAND(
-                TARGET App_SharedMemoryPhysics_VR
+                TARGET App_PhysicsServer_SharedMemory_VR
                POST_BUILD
                COMMAND ${CMAKE_COMMAND} ARGS -E copy_directory ${BULLET_PHYSICS_SOURCE_DIR}/data ${PROJECT_BINARY_DIR}/data
        )
 ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)


-SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_VR PROPERTIES  COMPILE_DEFINITIONS BT_ENABLE_VR )
+SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  COMPILE_DEFINITIONS BT_ENABLE_VR )




 IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
-                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_VR PROPERTIES  DEBUG_POSTFIX "_Debug")
-                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_VR PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
-                        SET_TARGET_PROPERTIES(App_SharedMemoryPhysics_VR PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  DEBUG_POSTFIX "_Debug")
+                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

 ENDIF(WIN32)
--- a/examples/SharedMemory/PhysicsClient.h
+++ b/examples/SharedMemory/PhysicsClient.h
@@ -60,6 +60,9 @@ public:

 	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits) = 0;

+	virtual void setTimeOut(double timeOutInSeconds) = 0;
+	virtual double getTimeOut() const  = 0;
+
 };

 #endif  // BT_PHYSICS_CLIENT_API_H
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1040,13 +1040,17 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
 {
 	b3Clock clock;
 	double startTime = clock.getTimeInSeconds();
-	double timeOutInSeconds = 10;
+	

 	b3SharedMemoryStatusHandle statusHandle = 0;
 	b3Assert(commandHandle);
 	b3Assert(physClient);
 	if (physClient && commandHandle)
 	{
+		PhysicsClient* cl = (PhysicsClient* ) physClient;
+
+		double timeOutInSeconds = cl->getTimeOut();
+
 		b3SubmitClientCommand(physClient, commandHandle);

 		while ((statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
@@ -2604,3 +2608,24 @@ void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle comman
    }
 }

+void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	if (cl)
+	{
+		cl->setTimeOut(timeOutInSeconds);
+	}
+		
+}
+
+double b3GetTimeOut(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	if (cl)
+	{
+		return cl->getTimeOut();
+	}
+	return -1;
+}
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -355,6 +355,10 @@ int b3StateLoggingAddLoggingObjectUniqueId(b3SharedMemoryCommandHandle commandHa
 int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
 int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);

+void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds);
+double b3GetTimeOut(b3PhysicsClientHandle physClient);
+
+
 #ifdef __cplusplus
 }
 #endif
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -60,6 +60,7 @@ struct PhysicsClientSharedMemoryInternalData {
    bool m_hasLastServerStatus;
    int m_sharedMemoryKey;
    bool m_verboseOutput;
+	double m_timeOutInSeconds;

    PhysicsClientSharedMemoryInternalData()
        : m_sharedMemory(0),
@@ -72,7 +73,9 @@ struct PhysicsClientSharedMemoryInternalData {
          m_waitingForServer(false),
          m_hasLastServerStatus(false),
          m_sharedMemoryKey(SHARED_MEMORY_KEY),
-          m_verboseOutput(false) {}
+          m_verboseOutput(false),
+		  m_timeOutInSeconds(1e30)
+	{}

    void processServerStatus();

@@ -1208,3 +1211,11 @@ const float* PhysicsClientSharedMemory::getDebugLinesColor() const {
 }
 int PhysicsClientSharedMemory::getNumDebugLines() const { return m_data->m_debugLinesFrom.size(); }

+void PhysicsClientSharedMemory::setTimeOut(double timeOutInSeconds)
+{
+	m_data->m_timeOutInSeconds = timeOutInSeconds;
+}
+double PhysicsClientSharedMemory::getTimeOut() const
+{
+	return m_data->m_timeOutInSeconds;
+}
--- a/examples/SharedMemory/PhysicsClientSharedMemory.h
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.h
@@ -69,6 +69,9 @@ public:

 	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);

+	virtual void setTimeOut(double timeOutInSeconds);
+	virtual double getTimeOut() const;
+
 };

 #endif  // BT_PHYSICS_CLIENT_API_H
--- a/examples/SharedMemory/PhysicsClientTCP.cpp
+++ b/examples/SharedMemory/PhysicsClientTCP.cpp
@@ -47,11 +47,13 @@ struct	TcpNetworkedInternalData
 	int m_port;

 	b3AlignedObjectArray<unsigned char> m_tempBuffer;
+	double m_timeOutInSeconds;

 	TcpNetworkedInternalData()
 		:
 		m_isConnected(false),
-		m_hasCommand(false)
+		m_hasCommand(false),
+		m_timeOutInSeconds(60)
 	{

 	}
@@ -66,8 +68,8 @@ struct	TcpNetworkedInternalData
        m_isConnected = m_tcpSocket.Open(m_hostName.c_str(),m_port);
        if (m_isConnected)
 		{
-			m_tcpSocket.SetSendTimeout(5,0);
-			m_tcpSocket.SetReceiveTimeout(5,0);
+			m_tcpSocket.SetSendTimeout(m_timeOutInSeconds,0);
+			m_tcpSocket.SetReceiveTimeout(m_timeOutInSeconds,0);
 		}
 		int key = SHARED_MEMORY_MAGIC_NUMBER;
 		m_tcpSocket.Send((uint8*)&key,4);
@@ -257,7 +259,10 @@ void TcpNetworkedPhysicsProcessor::disconnect()
 }


-
+void TcpNetworkedPhysicsProcessor::setTimeOut(double timeOutInSeconds)
+{
+	m_data->m_timeOutInSeconds = timeOutInSeconds;
+}



--- a/examples/SharedMemory/PhysicsClientTCP.h
+++ b/examples/SharedMemory/PhysicsClientTCP.h
@@ -30,6 +30,8 @@ public:

 	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);

+	virtual void setTimeOut(double timeOutInSeconds);
+
 };


--- a/examples/SharedMemory/PhysicsClientUDP.cpp
+++ b/examples/SharedMemory/PhysicsClientUDP.cpp
@@ -80,6 +80,7 @@ struct	UdpNetworkedInternalData

 	std::string m_hostName;
 	int m_port;
+	double m_timeOutInSeconds;

 	UdpNetworkedInternalData()
 		:m_client(0),
@@ -87,7 +88,8 @@ struct	UdpNetworkedInternalData
 		m_isConnected(false),
 		m_threadSupport(0),
 		m_hasCommand(false),
-		m_hasStatus(false)
+		m_hasStatus(false),
+		m_timeOutInSeconds(60)
 	{

 	}
@@ -467,7 +469,7 @@ bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
 	
 	b3Clock clock;
 	double startTime = clock.getTimeInSeconds();
-	double timeOutInSeconds = 10;
+	double timeOutInSeconds = m_data->m_timeOutInSeconds;

 	m_data->m_cs->lock();
 	m_data->m_clientCmd = clientCmd;
@@ -486,7 +488,7 @@ bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma

 	b3Clock clock;
 	double startTime = clock.getTimeInSeconds();
-	double timeOutInSeconds = 10;
+	double timeOutInSeconds = m_data->m_timeOutInSeconds;

 	const SharedMemoryStatus* stat = 0;
 	while ((!hasStatus) && (clock.getTimeInSeconds() - startTime < timeOutInSeconds))
@@ -621,7 +623,7 @@ void UdpNetworkedPhysicsProcessor::disconnect()

 }

-
-
-
-
+void UdpNetworkedPhysicsProcessor::setTimeOut(double timeOutInSeconds)
+{
+	m_data->m_timeOutInSeconds = timeOutInSeconds;
+}
--- a/examples/SharedMemory/PhysicsClientUDP.h
+++ b/examples/SharedMemory/PhysicsClientUDP.h
@@ -30,6 +30,7 @@ public:

 	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);

+	virtual void setTimeOut(double timeOutInSeconds);
 };


--- a/examples/SharedMemory/PhysicsCommandProcessorInterface.h
+++ b/examples/SharedMemory/PhysicsCommandProcessorInterface.h
@@ -20,7 +20,7 @@ public:
 	virtual void renderScene() = 0;
 	virtual void   physicsDebugDraw(int debugDrawFlags) = 0;
 	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper) = 0;
-
+	virtual void setTimeOut(double timeOutInSeconds) = 0;

 };

--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -56,11 +56,13 @@ struct PhysicsDirectInternalData

 	PhysicsCommandProcessorInterface* m_commandProcessor;
 	bool m_ownsCommandProcessor;
+	double m_timeOutInSeconds;

 	PhysicsDirectInternalData()
 		:m_hasStatus(false),
 		m_verboseOutput(false),
-		m_ownsCommandProcessor(false)
+		m_ownsCommandProcessor(false),
+		m_timeOutInSeconds(1e30)
 	{
 	}
 };
@@ -230,7 +232,7 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma

 		b3Clock clock;
 		double startTime = clock.getTimeInSeconds();
-		double timeOutInSeconds = 10;
+		double timeOutInSeconds = m_data->m_timeOutInSeconds;

 		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
@@ -315,7 +317,7 @@ bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& org

 		b3Clock clock;
 		double startTime = clock.getTimeInSeconds();
-		double timeOutInSeconds = 10;
+		double timeOutInSeconds = m_data->m_timeOutInSeconds;

 		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
@@ -369,7 +371,7 @@ bool PhysicsDirect::processOverlappingObjects(const struct SharedMemoryCommand&

 		b3Clock clock;
 		double startTime = clock.getTimeInSeconds();
-		double timeOutInSeconds = 10;
+		double timeOutInSeconds = m_data->m_timeOutInSeconds;

 		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
@@ -427,7 +429,7 @@ bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& or
        
 		b3Clock clock;
 		double startTime = clock.getTimeInSeconds();
-		double timeOutInSeconds = 10;
+		double timeOutInSeconds = m_data->m_timeOutInSeconds;

 		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
@@ -491,7 +493,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
 		
 		b3Clock clock;
 		double startTime = clock.getTimeInSeconds();
-		double timeOutInSeconds = 10;
+		double timeOutInSeconds = m_data->m_timeOutInSeconds;

 		while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 		{
@@ -754,7 +756,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd

 			b3Clock clock;
 			double startTime = clock.getTimeInSeconds();
-			double timeOutInSeconds = 10;
+			double timeOutInSeconds = m_data->m_timeOutInSeconds;

 			while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 			{
@@ -781,7 +783,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd

 			b3Clock clock;
 			double startTime = clock.getTimeInSeconds();
-			double timeOutInSeconds = 10;
+			double timeOutInSeconds = m_data->m_timeOutInSeconds;

 			while ((!hasStatus) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
 			{
@@ -1034,3 +1036,13 @@ void PhysicsDirect::getCachedRaycastHits(struct b3RaycastInformation* raycastHit
 	raycastHits->m_numRayHits = m_data->m_raycastHits.size();
 	raycastHits->m_rayHits = raycastHits->m_numRayHits? &m_data->m_raycastHits[0] : 0;
 }
+
+void PhysicsDirect::setTimeOut(double timeOutInSeconds)
+{
+	m_data->m_timeOutInSeconds = timeOutInSeconds;
+}
+
+double PhysicsDirect::getTimeOut() const
+{
+	return m_data->m_timeOutInSeconds;
+}
--- a/examples/SharedMemory/PhysicsDirect.h
+++ b/examples/SharedMemory/PhysicsDirect.h
@@ -95,6 +95,8 @@ public:
 	virtual void renderScene();
 	virtual void debugDraw(int debugDrawMode);

+	virtual void setTimeOut(double timeOutInSeconds);
+	virtual double getTimeOut() const;
 };

 #endif //PHYSICS_DIRECT_H
--- a/examples/SharedMemory/PhysicsLoopBack.cpp
+++ b/examples/SharedMemory/PhysicsLoopBack.cpp
@@ -169,3 +169,13 @@ void PhysicsLoopBack::getCachedRaycastHits(struct b3RaycastInformation* raycastH
 {
 	return m_data->m_physicsClient->getCachedRaycastHits(raycastHits);
 }
+
+void PhysicsLoopBack::setTimeOut(double timeOutInSeconds)
+{
+	m_data->m_physicsClient->setTimeOut(timeOutInSeconds);
+}
+double PhysicsLoopBack::getTimeOut() const
+{
+	return m_data->m_physicsClient->getTimeOut();
+}
+
--- a/examples/SharedMemory/PhysicsLoopBack.h
+++ b/examples/SharedMemory/PhysicsLoopBack.h
@@ -74,6 +74,8 @@ public:

 	virtual void getCachedRaycastHits(struct b3RaycastInformation* raycastHits);

+	virtual void setTimeOut(double timeOutInSeconds);
+	virtual double getTimeOut() const;
 };

 #endif //PHYSICS_LOOP_BACK_H
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5713,3 +5713,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 			
 	}
 }
+
+void PhysicsServerCommandProcessor::setTimeOut(double /*timeOutInSeconds*/)
+{
+}
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -99,6 +99,8 @@ public:
 	void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrEvents, int numVREvents);
 	void enableRealTimeSimulation(bool enableRealTimeSim);
 	void applyJointDamping(int bodyUniqueId);
+
+	virtual void setTimeOut(double timeOutInSeconds);
 };

 #endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H
--- a/examples/SharedMemory/SharedMemoryCommandProcessor.cpp
+++ b/examples/SharedMemory/SharedMemoryCommandProcessor.cpp
@@ -212,4 +212,6 @@ void SharedMemoryCommandProcessor::setSharedMemoryKey(int key)
 	m_data->m_sharedMemoryKey = key; 
 }

-
+void SharedMemoryCommandProcessor::setTimeOut(double /*timeOutInSeconds*/)
+{
+}
--- a/examples/SharedMemory/SharedMemoryCommandProcessor.h
+++ b/examples/SharedMemory/SharedMemoryCommandProcessor.h
@@ -29,7 +29,7 @@ public:

 	void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
 	void setSharedMemoryKey(int key);
-
+	virtual void setTimeOut(double timeOutInSeconds);

 };

--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -310,7 +310,7 @@ enum
 	CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1,
 };

-enum 
+enum  b3StateLoggingType
 {
 	STATE_LOGGING_MINITAUR = 0,
 	STATE_LOGGING_GENERIC_ROBOT = 1,
@@ -403,10 +403,19 @@ enum EnumRenderer
    //ER_FIRE_RAYS=(1<<18),
 };

-enum EnumConfigureOpenGLVisualizer
+enum b3ConfigureDebugVisualizerEnum
 {
    COV_ENABLE_GUI=1,
    COV_ENABLE_SHADOWS,
    COV_ENABLE_WIREFRAME,
 };
+
+enum eCONNECT_METHOD {
+  eCONNECT_GUI = 1,
+  eCONNECT_DIRECT = 2,
+  eCONNECT_SHARED_MEMORY = 3,
+  eCONNECT_UDP = 4,
+  eCONNECT_TCP = 5,
+};
+
 #endif//SHARED_MEMORY_PUBLIC_H
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -1,5 +1,5 @@

-project "App_SharedMemoryPhysics"
+project "App_PhysicsServer_SharedMemory"

 if _OPTIONS["ios"] then
 	kind "WindowedApp"
@@ -141,7 +141,7 @@ files {
 	end


-project "App_SharedMemoryPhysics_GUI"
+project "App_PhysicsServer_SharedMemory_GUI"

 if _OPTIONS["ios"] then
        kind "WindowedApp"
@@ -240,8 +240,10 @@ if os.is("MacOSX") then
 	--defines {"__MACOSX_CORE__"}
 end

+
+
 if os.is("Windows") then 
-	project "App_SharedMemoryPhysics_VR"
+	project "App_PhysicsServer_SharedMemory_VR"
 	--for now, only enable VR under Windows, until compilation issues are resolved on Mac/Linux
 	defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
 	
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -153,7 +153,7 @@ SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
 IF(WIN32)
 	IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
 		TARGET_LINK_LIBRARIES(pybullet ws2_32 )
-	ENDIF(BUILD_PYBULLET_ENET)
+	ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)

 	SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
 ENDIF(WIN32)
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -24,13 +24,7 @@
 #define PyString_FromString PyBytes_FromString
 #endif

-enum eCONNECT_METHOD {
-  eCONNECT_GUI = 1,
-  eCONNECT_DIRECT = 2,
-  eCONNECT_SHARED_MEMORY = 3,
-  eCONNECT_UDP = 4,
-  eCONNECT_TCP = 5,
-};
+

 static PyObject* SpamError;

@@ -2680,7 +2674,6 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb

 static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
 	int loggingId=-1;
@@ -2712,7 +2705,30 @@ static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObj
 	return Py_None;
 }

+static PyObject* pybullet_setTimeOut(PyObject* self, PyObject* args, PyObject *keywds) 
+{
+	static char *kwlist[] = { "timeOutInSeconds", "physicsClientId", NULL };
+	double timeOutInSeconds = -1;
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = 0;

+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "d|i", kwlist,
+		&timeOutInSeconds, &physicsClientId))
+		return NULL;
+	if (timeOutInSeconds>=0)
+	{
+		sm = getPhysicsClient(physicsClientId);
+		if (sm == 0) 
+		{
+			PyErr_SetString(SpamError, "Not connected to physics server.");
+			return NULL;
+		}
+		b3SetTimeOut(sm,timeOutInSeconds);
+	}
+
+	Py_INCREF(Py_None);
+	return Py_None;
+}

 static PyObject* pybullet_rayTest(PyObject* self, PyObject* args, PyObject *keywds) 
 {
@@ -5136,8 +5152,9 @@ static PyMethodDef SpamMethods[] = {
 				"Cast a ray and return the first object hit, if any. "
 				"Takes two arguments (from position [x,y,z] and to position [x,y,z] in Cartesian world coordinates"
 	  },
-
-
+	  {	"setTimeOut", (PyCFunction)pybullet_setTimeOut, METH_VARARGS | METH_KEYWORDS,
+				"Set the timeOut in seconds, used for most of the API calls."
+	  },
    // todo(erwincoumans)
    // saveSnapshot
    // loadSnapshot