diff --git a/examples/BasicDemo/BasicExample.cpp b/examples/BasicDemo/BasicExample.cpp
index d501b5109..775f6fbb6 100644
--- a/examples/BasicDemo/BasicExample.cpp
+++ b/examples/BasicDemo/BasicExample.cpp
@@ -52,7 +52,7 @@ void BasicExample::initPhysics()
 	m_guiHelper->setUpAxis(1);
 
 	createEmptyDynamicsWorld();
-	
+	//m_dynamicsWorld->setGravity(btVector3(0,0,0));
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 
 	if (m_dynamicsWorld->getDebugDrawer())
@@ -63,7 +63,7 @@ void BasicExample::initPhysics()
 	
 
 	//groundShape->initializePolyhedralFeatures();
-//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
 	
 	m_collisionShapes.push_back(groundShape);
 
diff --git a/examples/BasicDemo/main.cpp b/examples/BasicDemo/main.cpp
index fa576f451..eb5e6c958 100644
--- a/examples/BasicDemo/main.cpp
+++ b/examples/BasicDemo/main.cpp
@@ -18,38 +18,252 @@ subject to the following restrictions:
 
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
 
 
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btHashMap.h"
+
 #ifdef USE_GUI
+#include "../TinyRenderer/TinyRenderer.h"
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
 #include <stdio.h>
 #include "../ExampleBrowser/OpenGLGuiHelper.h"
 
+class SW_And_OpenGLGuiHelper : public OpenGLGuiHelper
+{
+    
+    btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
+	btHashMap<btHashInt,int> m_swInstances;
+	
+
+	int m_swWidth;
+    int m_swHeight;
+	TGAImage m_rgbColorBuffer;
+	
+	b3AlignedObjectArray<float> m_depthBuffer;
+	int m_textureHandle;
+	unsigned char*	m_image;
+	GLPrimitiveRenderer* m_primRenderer;
+    
+public:
+    SW_And_OpenGLGuiHelper (CommonGraphicsApp* glApp, bool useOpenGL2, int swWidth, int swHeight, GLPrimitiveRenderer* primRenderer)
+    :OpenGLGuiHelper(glApp,useOpenGL2),
+    m_swWidth(swWidth),
+    m_swHeight(swHeight),
+	m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB),
+	m_primRenderer(primRenderer)
+    {
+
+		m_depthBuffer.resize(swWidth*swHeight);
+		CommonRenderInterface* render = getRenderInterface();
+		m_image=new unsigned char[m_swWidth*m_swHeight*4];
+
+		m_textureHandle = render->registerTexture(m_image,m_swWidth,m_swHeight);
+    }
+	
+	void clearBuffers(TGAColor& clearColor)
+	{
+		for(int y=0;y<m_swHeight;++y)
+		{
+			for(int x=0;x<m_swWidth;++x)
+			{
+				m_rgbColorBuffer.set(x,y,clearColor);
+				m_depthBuffer[x+y*m_swWidth] = -1e30f;
+			}
+		}
+		
+	}
+    
+	const TGAImage& getFrameBuffer() const
+	{
+		return m_rgbColorBuffer;
+	}
+	
+    virtual ~SW_And_OpenGLGuiHelper()
+    {
+        for (int i=0;i<m_swRenderObjects.size();i++)
+        {
+            TinyRenderObjectData** d = m_swRenderObjects[i];
+            if (d && *d)
+            {
+                delete *d;
+            }
+        }
+    }
+    
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
+	{
+		OpenGLGuiHelper::createCollisionObjectGraphicsObject(obj,color);
+		int colIndex = obj->getUserIndex();
+		int shapeIndex = obj->getCollisionShape()->getUserIndex();
+		
+		if (colIndex>=0 && shapeIndex>=0)
+		{
+			m_swInstances.insert(colIndex,shapeIndex);
+		}
+		
+	}
+	
+   	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+   	{
+   	    int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
+   	    if (shapeIndex>=0)
+        {
+            TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
+            //swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
+			swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
+			
+            m_swRenderObjects.insert(shapeIndex,swObj);
+        }
+   	    return shapeIndex;
+   	}
+
+	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
+	{
+	    int instanceId = OpenGLGuiHelper::registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
+	    return instanceId ;
+	}
+
+	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
+	{
+	    OpenGLGuiHelper::createCollisionShapeGraphicsObject(collisionShape);
+	}
+
+	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
+	{
+	    OpenGLGuiHelper::syncPhysicsToGraphics(rbWorld);
+	}
+
+	virtual void render(const btDiscreteDynamicsWorld* rbWorld)
+	{
+	    OpenGLGuiHelper::render(rbWorld);
+		
+		//clear the color buffer
+		TGAColor clearColor;
+		clearColor.bgra[0] = 255;
+		clearColor.bgra[1] = 255;
+		clearColor.bgra[2] = 255;
+		clearColor.bgra[3] = 255;
+		
+		clearBuffers(clearColor);
+	
+		
+		ATTRIBUTE_ALIGNED16(float modelMat[16]);
+		ATTRIBUTE_ALIGNED16(float viewMat[16]);
+		CommonRenderInterface* render = getRenderInterface();
+		
+		render->getActiveCamera()->getCameraViewMatrix(viewMat);
+		
+		
+		for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
+		{
+			btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
+			int colObjIndex = colObj->getUserIndex();
+			int shapeIndex = colObj->getCollisionShape()->getUserIndex();
+			if (colObjIndex>=0 && shapeIndex>=0)
+			{
+				
+				TinyRenderObjectData* renderObj = 0;
+				
+				int* cptr = m_swInstances[colObjIndex];
+				if (cptr)
+				{
+					int c = *cptr;
+					TinyRenderObjectData** sptr = m_swRenderObjects[c];
+					if (sptr)
+					{
+						renderObj = *sptr;
+					}
+				}
+				//sync the object transform
+				const btTransform& tr = colObj->getWorldTransform();
+				tr.getOpenGLMatrix(modelMat);
+				
+				for (int i=0;i<4;i++)
+				{
+					for (int j=0;j<4;j++)
+					{
+						renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
+						renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
+					}
+				}
+				TinyRenderer::renderObject(*renderObj);
+			}
+		}
+		
+		for(int y=0;y<m_swHeight;++y)
+		{
+			unsigned char*	pi=m_image+(y)*m_swWidth*3;
+			for(int x=0;x<m_swWidth;++x)
+			{
+				
+				const TGAColor& color = getFrameBuffer().get(x,y);
+				pi[0] = color.bgra[2];
+				pi[1] = color.bgra[1];
+				pi[2] = color.bgra[0];
+				pi+=3;
+				
+			}
+		} 
+		render->activateTexture(m_textureHandle);
+		render->updateTexture(m_textureHandle,m_image);
+		
+		static int counter=0;
+		counter++;
+		if (counter>10)
+		{
+			counter=0;
+			getFrameBuffer().write_tga_file("/Users/erwincoumans/develop/bullet3/framebuf.tga",true);
+		}
+		float color[4] = {1,1,1,1};
+		m_primRenderer->drawTexturedRect(0,0,m_swWidth, m_swHeight,color,0,0,1,1,true);
+		
+		
+	}
+
+    virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
+    {
+        OpenGLGuiHelper::autogenerateGraphicsObjects(rbWorld);
+    }
+
+};
+
 int main(int argc, char* argv[])
 {
 
 	SimpleOpenGL3App* app = new SimpleOpenGL3App("BasicDemoGui",1024,768,true);
-	OpenGLGuiHelper gui(app,false);
-        CommonExampleOptions options(&gui);
-        CommonExampleInterface*    example = BasicExampleCreateFunc(options);
+	int textureWidth = 640;
+    int textureHeight = 480;
+	
+	
+	SW_And_OpenGLGuiHelper gui(app,false,textureWidth,textureHeight,app->m_primRenderer);
+    
+    CommonExampleOptions options(&gui);
+    CommonExampleInterface*    example = BasicExampleCreateFunc(options);
         
 	example->initPhysics();
 
-	int frameCount = 0;
 	do
 	{
 		app->m_instancingRenderer->init();
-                app->m_instancingRenderer->updateCamera();
-		example->stepSimulation(1./60.);
-        	example->renderScene();
-                app->drawGrid();
-                app->swapBuffer();
-        } while (!app->m_window->requestedExit());
+        app->m_instancingRenderer->updateCamera();
 
-        example->exitPhysics();
-        delete example;
+		example->stepSimulation(1./60.);
+		
+	  	
+		example->renderScene();
+ 	
+		app->drawGrid();
+		app->swapBuffer();
+	} while (!app->m_window->requestedExit());
+
+	example->exitPhysics();
+	delete example;
 	delete app;
-        return 0;
+	return 0;
 }
 
 
diff --git a/examples/BasicDemo/premake4.lua b/examples/BasicDemo/premake4.lua
index c55bc2525..8e9625e55 100644
--- a/examples/BasicDemo/premake4.lua
+++ b/examples/BasicDemo/premake4.lua
@@ -46,7 +46,13 @@ files {
         "**.cpp",
         "**.h",
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
-	"../ExampleBrowser/GL_ShapeDrawer.cpp"
+	"../ExampleBrowser/GL_ShapeDrawer.cpp",
+	"../TinyRenderer/geometry.cpp",
+	"../TinyRenderer/model.cpp",
+	"../TinyRenderer/tgaimage.cpp",
+	"../TinyRenderer/our_gl.cpp",
+	"../TinyRenderer/TinyRenderer.cpp",
+	"../Utils/b3ResourcePath.cpp"
 }
 
 if os.is("Linux") then initX11() end
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 19d392758..ec88c0c78 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -437,7 +437,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 
 	if (vertices.size() && indices.size())
 	{
-		int shapeId = m_data->m_glApp->m_renderer->registerShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size());
+		int shapeId = registerGraphicsShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size());
 		collisionShape->setUserIndex(shapeId);
 	}
 		
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index 9239b5924..f671d5a0d 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -46,6 +46,8 @@ project "App_BulletExampleBrowser"
                 files {"../LuaDemo/LuaPhysicsSetup.cpp"}
         end
 
+	defines {"INCLUDE_CLOTH_DEMOS"}
+
         files {
         "main.cpp",
         "ExampleEntries.cpp",
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 2bd7c92ad..e6304ad70 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -561,9 +561,9 @@ void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
 		{
 			for (int j = 0; j < h.m_height; j++)
 			{
-				flippedTexels[(i + j*h.m_width) * 3] = texels[(i + (h.m_height-1-j)*h.m_width) * 3];
-				flippedTexels[(i + j*h.m_width) * 3+1] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
-				flippedTexels[(i + j*h.m_width) * 3+2] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
+				flippedTexels[(i + j*h.m_width) * 3] =      texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
+				flippedTexels[(i + j*h.m_width) * 3+1] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
+				flippedTexels[(i + j*h.m_width) * 3+2] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
 			}
 		}
 
diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index bbc9bbf16..a78e9d6ac 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -3,12 +3,13 @@
 #include <vector>
 #include <limits>
 #include <iostream>
-#include "TinyRenderer/tgaimage.h"
-#include "TinyRenderer/model.h"
-#include "TinyRenderer/geometry.h"
-#include "TinyRenderer/our_gl.h"
+#include "tgaimage.h"
+#include "model.h"
+#include "geometry.h"
+#include "our_gl.h"
 #include "../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3MinMax.h"
+#include "../OpenGLWindow/ShapeData.h"
 
 Vec3f light_dir_world(1,1,1);
 
@@ -35,7 +36,11 @@ struct Shader : public IShader {
     }
     
     virtual Vec4f vertex(int iface, int nthvert) {
-        varying_uv.set_col(nthvert, m_model->uv(iface, nthvert));
+		
+		Vec2f uv = m_model->uv(iface, nthvert);
+		//printf("uv = %f,%f\n", uv.x,uv.y);
+        varying_uv.set_col(nthvert, uv);
+		
         varying_nrm.set_col(nthvert, proj<3>((m_projectionMatrix*m_modelView).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f)));
         Vec4f gl_Vertex = m_projectionMatrix*m_modelView*embed<4>(m_model->vert(iface, nthvert));
         varying_tri.set_col(nthvert, gl_Vertex);
@@ -64,49 +69,37 @@ struct Shader : public IShader {
 
         Vec3f n = (B*m_model->normal(uv)).normalize();
 
-        float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.6f),1.f);
+        //float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.3f),1.f);
+		float diff = b3Max(0.f, n*m_light_dir_local);
         color = m_model->diffuse(uv)*diff;
 
         return false;
     }
 };
 
-/*
-struct TinyRenderObjectData
-{
-    //Camera
-    Matrix m_viewMatrix;
-    Matrix m_projectionMatrix;
-    Matrix m_viewPortMatrix;
 
-    //Model (vertices, indices, textures, shader)
-    Matrix m_modelMatrix;    
-    class Model*  m_model;
-    class IShader* m_shader;
-    
-        
-    //Output
-    TGAImage m_rgbColorBuffer;
-    b3AlignedObjectArray<float> m_depthBuffer;
-};
-*/
-
-TinyRenderObjectData::TinyRenderObjectData(int width, int height, const char* fileName)
+TinyRenderObjectData::TinyRenderObjectData(int width, int height,TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>&depthBuffer)
 :m_width(width),
 m_height(height),
-m_rgbColorBuffer(width,height,TGAImage::RGB),
-m_model(0)
+m_rgbColorBuffer(rgbColorBuffer),
+m_depthBuffer(depthBuffer),
+m_model(0),
+m_userData(0),
+m_userIndex(-1)
 {
     Vec3f       eye(1,1,3);
     Vec3f    center(0,0,0);
     Vec3f        up(0,1,0);
     
+    m_modelMatrix = Matrix::identity();
     m_viewMatrix = lookat(eye, center, up);
     m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
     m_projectionMatrix = projection(-1.f/(eye-center).norm());
+ 
+}
 
-
-    m_depthBuffer.resize(width*height);
+void TinyRenderObjectData::loadModel(const char* fileName)
+{
  //todo(erwincoumans) move the file loading out of here
    char relativeFileName[1024];
     if (!b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
@@ -115,9 +108,73 @@ m_model(0)
     } else
     {
         m_model = new Model(relativeFileName);
+    }   
+}
+
+
+void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices)
+{
+	if (0==m_model)
+    {
+        m_model = new Model();
+		char relativeFileName[1024];
+		if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
+		{
+			m_model->loadDiffuseTexture(relativeFileName);
+		}
+		
+        for (int i=0;i<numVertices;i++)
+        {
+            m_model->addVertex(vertices[i*9],
+                         vertices[i*9+1],
+                         vertices[i*9+2],
+                         vertices[i*9+4],
+                         vertices[i*9+5],
+                         vertices[i*9+6],
+                         vertices[i*9+7],
+                         vertices[i*9+8]);
+        }
+        for (int i=0;i<numIndices;i+=3)
+        {
+            m_model->addTriangle(indices[i],indices[i],indices[i],
+                                 indices[i+1],indices[i+1],indices[i+1],
+                                 indices[i+2],indices[i+2],indices[i+2]);
+        }
+    }
+}
+void TinyRenderObjectData::createCube(float halfExtentsX,float halfExtentsY,float halfExtentsZ)
+{
+    m_model = new Model();
+    
+    char relativeFileName[1024];
+    if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
+    {
+        m_model->loadDiffuseTexture(relativeFileName);
     }
     
-    
+
+	int strideInBytes = 9*sizeof(float);
+	int numVertices = sizeof(cube_vertices_textured)/strideInBytes;
+	int numIndices = sizeof(cube_indices)/sizeof(int);
+
+	for (int i=0;i<numVertices;i++)
+	{
+		m_model->addVertex(halfExtentsX*cube_vertices_textured[i*9],
+                     halfExtentsY*cube_vertices_textured[i*9+1],
+                     halfExtentsY*cube_vertices_textured[i*9+2],
+                     cube_vertices_textured[i*9+4],
+                     cube_vertices_textured[i*9+5],
+                     cube_vertices_textured[i*9+6],
+                     cube_vertices_textured[i*9+7],
+                     cube_vertices_textured[i*9+8]);
+	}
+	for (int i=0;i<numIndices;i+=3)
+    {
+        m_model->addTriangle(cube_indices[i],cube_indices[i],cube_indices[i],
+                             cube_indices[i+1],cube_indices[i+1],cube_indices[i+1],
+                             cube_indices[i+2],cube_indices[i+2],cube_indices[i+2]);
+    }
+	
 }
 
 TinyRenderObjectData::~TinyRenderObjectData()
@@ -127,34 +184,20 @@ TinyRenderObjectData::~TinyRenderObjectData()
 
 void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
 {
-     const char* fileName = "obj/floor.obj";
-    
-  
-
-//new Model(relativeFileName);//argv[m]);
     Model* model = renderData.m_model;
     if (0==model)
         return;
     
-    const int width = renderData.m_width;
-    const int height = renderData.m_height;
     b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
     
-    //todo(erwincoumans) make this a separate call    
-    for (int i=width*height; i--; zbuffer[i] = -std::numeric_limits<float>::max());
-
     TGAImage& frame = renderData.m_rgbColorBuffer;
-    
-    //lookat(eye, center, up);
-    //viewport(width/8, height/8, width*3/4, height*3/4);
-    //projection(-1.f/(eye-center).norm());
-    
-    Vec3f light_dir_local = proj<3>((renderData.m_projectionMatrix*renderData.m_viewMatrix*embed<4>(light_dir_world, 0.f))).normalize();
+
+	Vec3f light_dir_local = proj<3>((renderData.m_projectionMatrix*renderData.m_viewMatrix*renderData.m_modelMatrix*embed<4>(light_dir_world, 0.f))).normalize();
 
     {
-    //for (int m=1; m<argc; m++) {
+        Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
         
-        Shader shader(model, light_dir_local, renderData.m_viewMatrix, renderData.m_projectionMatrix);
+        Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix);
         for (int i=0; i<model->nfaces(); i++) {
             for (int j=0; j<3; j++) {
                 shader.vertex(i, j);
@@ -163,9 +206,6 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
         }
         
     }
-    //frame.flip_vertically(); // to place the origin in the bottom left corner of the image
-    //frame.write_tga_file("framebuffer.tga");
-
         
 }
 
diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h
index 1bcd49b95..86514b545 100644
--- a/examples/TinyRenderer/TinyRenderer.h
+++ b/examples/TinyRenderer/TinyRenderer.h
@@ -1,10 +1,9 @@
 #ifndef TINY_RENDERER_H
 #define TINY_RENDERER_H
 
-//#include "TinyRenderer/our_gl.h"
-#include "TinyRenderer/geometry.h"
+#include "geometry.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
-#include "TinyRenderer/tgaimage.h"
+#include "tgaimage.h"
 
 struct TinyRenderObjectData
 {
@@ -14,19 +13,25 @@ struct TinyRenderObjectData
     Matrix m_viewportMatrix;
 
     //Model (vertices, indices, textures, shader)
-    Matrix m_modelMatrix;    
+    Matrix m_modelMatrix;
     class Model*  m_model;
     //class IShader* m_shader; todo(erwincoumans) expose the shader, for now we use a default shader
             
     //Output
     int m_width;
     int m_height;
-    TGAImage m_rgbColorBuffer;
-    b3AlignedObjectArray<float> m_depthBuffer;
+    TGAImage& m_rgbColorBuffer;
+    b3AlignedObjectArray<float>& m_depthBuffer;
     
-    TinyRenderObjectData(int width, int height, const char* objFileName);
+    TinyRenderObjectData(int width, int height,TGAImage& rgbColorBuffer,b3AlignedObjectArray<float>& depthBuffer);
     virtual ~TinyRenderObjectData();
     
+    void loadModel(const char* fileName);
+    void createCube(float HalfExtentsX,float HalfExtentsY,float HalfExtentsZ);
+    void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices);
+    
+    void* m_userData;
+    int m_userIndex;
 };
 
 
diff --git a/examples/TinyRenderer/main.cpp b/examples/TinyRenderer/main.cpp
index 65a3352f6..b6ca73126 100644
--- a/examples/TinyRenderer/main.cpp
+++ b/examples/TinyRenderer/main.cpp
@@ -1,6 +1,8 @@
 #include "OpenGLWindow/SimpleOpenGL3App.h"
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3CommandLineArgs.h"
+#include "Bullet3Common/b3Transform.h"
+
 #include "assert.h"
 #include <stdio.h>
 
@@ -81,8 +83,16 @@ int main(int argc, char* argv[])
     int textureWidth = gWidth;
     int textureHeight = gHeight;
     
-	TinyRenderObjectData renderData(textureWidth, textureHeight, "floor.obj");
-  
+	TGAImage rgbColorBuffer(textureWidth,textureHeight,TGAImage::RGB);
+	b3AlignedObjectArray<float> depthBuffer;
+	depthBuffer.resize(textureWidth*textureHeight);
+	
+	TinyRenderObjectData renderData(textureWidth, textureHeight,rgbColorBuffer,depthBuffer);//, "african_head/african_head.obj");//floor.obj");
+	
+	//renderData.loadModel("african_head/african_head.obj");
+	renderData.loadModel("floor.obj");
+	
+	//renderData.createCube(1,1,1);
     
     
     myArgs.GetCmdLineArgument("mp4_file",gVideoFileName);
@@ -123,19 +133,7 @@ int main(int argc, char* argv[])
        	app->m_instancingRenderer->init();
 		app->m_instancingRenderer->updateCamera();
 
-        float projMat[16];
-        app->m_instancingRenderer->getActiveCamera()->getCameraProjectionMatrix(projMat);
-        float viewMat[16];
-        app->m_instancingRenderer->getActiveCamera()->getCameraViewMatrix(viewMat);
-        for (int i=0;i<4;i++)
-        {
-            for (int j=0;j<4;j++)
-            {
-                renderData.m_viewMatrix[i][j] = viewMat[i+4*j];
-                //renderData.m_projectionMatrix[i][j] = projMat[i+4*j];
-            }
-        }
-        
+   ///clear the color and z (depth) buffer
         for(int y=0;y<textureHeight;++y)
         {
             unsigned char*	pi=image+(y)*textureWidth*3;
@@ -149,8 +147,35 @@ int main(int argc, char* argv[])
                 color.bgra[3] = 255;
                 
                 renderData.m_rgbColorBuffer.set(x,y,color);
+				renderData.m_depthBuffer[x+y*textureWidth] = -1e30f;
             }
         }
+        
+        float projMat[16];
+        app->m_instancingRenderer->getActiveCamera()->getCameraProjectionMatrix(projMat);
+        float viewMat[16];
+        app->m_instancingRenderer->getActiveCamera()->getCameraViewMatrix(viewMat);
+        B3_ATTRIBUTE_ALIGNED16(float modelMat[16]);
+        
+        //sync the object transform
+        b3Transform tr;
+        tr.setIdentity();
+        static float posUp = 0.f;
+       // posUp += 0.001;
+        b3Vector3 org = b3MakeVector3(0,posUp,0);
+        tr.setOrigin(org);
+        tr.getOpenGLMatrix(modelMat);
+        
+        for (int i=0;i<4;i++)
+        {
+            for (int j=0;j<4;j++)
+            {
+                renderData.m_viewMatrix[i][j] = viewMat[i+4*j];
+                renderData.m_modelMatrix[i][j] = modelMat[i+4*j];
+            }
+        }
+        
+        //render the object
         TinyRenderer::renderObject(renderData);
   
         #if 1
@@ -162,9 +187,10 @@ int main(int argc, char* argv[])
             {
                 
                 TGAColor color = renderData.m_rgbColorBuffer.get(x,y);
-                pi[0] = color.bgra[2];
-                pi[1] = color.bgra[1];
-                pi[2] = color.bgra[0];
+				pi[0] = color.bgra[2];
+				pi[1] = color.bgra[1];
+				pi[2] = color.bgra[0];
+				pi[3] = 255;
                 pi+=3;
             }
         }
@@ -177,10 +203,13 @@ int main(int argc, char* argv[])
             unsigned char*	pi=image+y*textureWidth*3;
             for(int x=0;x<textureWidth;++x)
             {
+				TGAColor color = renderData.m_rgbColorBuffer.get(x,y);
+
                 const int		s=x>>4;
                 const unsigned char	b=180;					
                 unsigned char			c=b+((s+(t&1))&1)*(255-b);
-                pi[0]=pi[1]=pi[2]=pi[3]=c;pi+=3;
+				pi[0]=pi[1]=pi[2]=pi[3]=c;
+				pi+=3;
             }
         }
         #endif 
diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp
index bc7983dd5..f52b01126 100644
--- a/examples/TinyRenderer/model.cpp
+++ b/examples/TinyRenderer/model.cpp
@@ -44,6 +44,34 @@ Model::Model(const char *filename) : verts_(), faces_(), norms_(), uv_(), diffus
     load_texture(filename, "_spec.tga",    specularmap_);
 }
 
+Model::Model():verts_(), faces_(), norms_(), uv_(), diffusemap_(), normalmap_(), specularmap_()
+{
+}
+
+void Model::loadDiffuseTexture(const char* relativeFileName)
+{
+    diffusemap_.read_tga_file(relativeFileName);
+}
+
+void Model::addVertex(float x,float y,float z, float normalX, float normalY, float normalZ, float u, float v)
+{
+    verts_.push_back(Vec3f(x,y,z));
+    norms_.push_back(Vec3f(normalX,normalY,normalZ));
+    uv_.push_back(Vec2f(u,v));
+    
+}
+void Model::addTriangle(int vertexposIndex0, int normalIndex0, int uvIndex0,
+                        int vertexposIndex1, int normalIndex1, int uvIndex1,
+                        int vertexposIndex2, int normalIndex2, int uvIndex2)
+{
+    std::vector<Vec3i> f;
+    f.push_back(Vec3i(vertexposIndex0, normalIndex0, uvIndex0));
+    f.push_back(Vec3i(vertexposIndex1, normalIndex1, uvIndex1));
+    f.push_back(Vec3i(vertexposIndex2, normalIndex2, uvIndex2));
+    faces_.push_back(f);
+}
+
+
 Model::~Model() {}
 
 int Model::nverts() {
diff --git a/examples/TinyRenderer/model.h b/examples/TinyRenderer/model.h
index 035cc119a..72f505f9a 100644
--- a/examples/TinyRenderer/model.h
+++ b/examples/TinyRenderer/model.h
@@ -17,6 +17,13 @@ private:
     void load_texture(std::string filename, const char *suffix, TGAImage &img);
 public:
     Model(const char *filename);
+    Model();
+    void loadDiffuseTexture(const char* relativeFileName);
+    void addVertex(float x,float y,float z, float normalX, float normalY, float normalZ, float u, float v);
+    void addTriangle(int vertexposIndex0, int normalIndex0, int uvIndex0,
+                        int vertexposIndex1, int normalIndex1, int uvIndex1,
+                        int vertexposIndex2, int normalIndex2, int uvIndex2);
+    
     ~Model();
     int nverts();
     int nfaces();
diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp
index 4c99c0685..867c2cdd3 100644
--- a/examples/TinyRenderer/our_gl.cpp
+++ b/examples/TinyRenderer/our_gl.cpp
@@ -61,23 +61,36 @@ Vec3f barycentric(Vec2f A, Vec2f B, Vec2f C, Vec2f P) {
 
 void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, const Matrix& viewPortMatrix) {
     mat<3,4,float> pts  = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points
-    mat<3,2,float> pts2;
+
+	
+	//we don't clip triangles that cross the near plane, just discard them instead of showing artifacts
+	if (pts[0][3]<0 || pts[1][3] <0 || pts[2][3] <0)
+		return;
+
+	
+	mat<3,2,float> pts2;
     for (int i=0; i<3; i++) pts2[i] = proj<2>(pts[i]/pts[i][3]);
 
     Vec2f bboxmin( std::numeric_limits<float>::max(),  std::numeric_limits<float>::max());
     Vec2f bboxmax(-std::numeric_limits<float>::max(), -std::numeric_limits<float>::max());
     Vec2f clamp(image.get_width()-1, image.get_height()-1);
+	
     for (int i=0; i<3; i++) {
         for (int j=0; j<2; j++) {
             bboxmin[j] = b3Max(0.f,      b3Min(bboxmin[j], pts2[i][j]));
             bboxmax[j] = b3Min(clamp[j], b3Max(bboxmax[j], pts2[i][j]));
         }
     }
-    Vec2i P;
+
+	
+	
+	Vec2i P;
     TGAColor color;
     for (P.x=bboxmin.x; P.x<=bboxmax.x; P.x++) {
         for (P.y=bboxmin.y; P.y<=bboxmax.y; P.y++) {
             Vec3f bc_screen  = barycentric(pts2[0], pts2[1], pts2[2], P);
+
+			
             Vec3f bc_clip    = Vec3f(bc_screen.x/pts[0][3], bc_screen.y/pts[1][3], bc_screen.z/pts[2][3]);
             bc_clip = bc_clip/(bc_clip.x+bc_clip.y+bc_clip.z);
             float frag_depth = clipc[2]*bc_clip;
diff --git a/examples/TinyRenderer/tgaimage.cpp b/examples/TinyRenderer/tgaimage.cpp
index 47e6ff833..b68fb32fc 100644
--- a/examples/TinyRenderer/tgaimage.cpp
+++ b/examples/TinyRenderer/tgaimage.cpp
@@ -141,7 +141,7 @@ bool TGAImage::load_rle_data(std::ifstream &in) {
     return true;
 }
 
-bool TGAImage::write_tga_file(const char *filename, bool rle) {
+bool TGAImage::write_tga_file(const char *filename, bool rle) const {
     unsigned char developer_area_ref[4] = {0, 0, 0, 0};
     unsigned char extension_area_ref[4] = {0, 0, 0, 0};
     unsigned char footer[18] = {'T','R','U','E','V','I','S','I','O','N','-','X','F','I','L','E','.','\0'};
@@ -202,7 +202,7 @@ bool TGAImage::write_tga_file(const char *filename, bool rle) {
 }
 
 // TODO: it is not necessary to break a raw chunk for two equal pixels (for the matter of the resulting size)
-bool TGAImage::unload_rle_data(std::ofstream &out) {
+bool TGAImage::unload_rle_data(std::ofstream &out) const {
     const unsigned char max_chunk_length = 128;
     unsigned long npixels = width*height;
     unsigned long curpix = 0;
@@ -244,9 +244,9 @@ bool TGAImage::unload_rle_data(std::ofstream &out) {
     return true;
 }
 
-TGAColor TGAImage::get(int x, int y) {
+TGAColor TGAImage::get(int x, int y) const {
     if (!data || x<0 || y<0 || x>=width || y>=height) {
-        return TGAColor();
+        return TGAColor(128.f,128.f,128.f,255.f);
     }
     return TGAColor(data+(x+y*width)*bytespp, bytespp);
 }
diff --git a/examples/TinyRenderer/tgaimage.h b/examples/TinyRenderer/tgaimage.h
index 63a944bca..7a4dbfae9 100644
--- a/examples/TinyRenderer/tgaimage.h
+++ b/examples/TinyRenderer/tgaimage.h
@@ -68,7 +68,7 @@ protected:
     int bytespp;
 
     bool   load_rle_data(std::ifstream &in);
-    bool unload_rle_data(std::ofstream &out);
+    bool unload_rle_data(std::ofstream &out) const;
 public:
     enum Format {
         GRAYSCALE=1, RGB=3, RGBA=4
@@ -78,11 +78,12 @@ public:
     TGAImage(int w, int h, int bpp);
     TGAImage(const TGAImage &img);
     bool read_tga_file(const char *filename);
-    bool write_tga_file(const char *filename, bool rle=true);
+    bool write_tga_file(const char *filename, bool rle=true) const;
     bool flip_horizontally();
     bool flip_vertically();
     bool scale(int w, int h);
-    TGAColor get(int x, int y);
+    TGAColor get(int x, int y) const;
+	
     bool set(int x, int y, TGAColor &c);
     bool set(int x, int y, const TGAColor &c);
     ~TGAImage();