From a95f5e06dbc6d6f3e93da3bb3dcfd5512a1af662 Mon Sep 17 00:00:00 2001
From: David Carlier <devnexen@gmail.com>
Date: Mon, 17 Apr 2017 19:58:24 +0100
Subject: [PATCH 01/80] forgotten setup.py build part

---
 setup.py | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/setup.py b/setup.py
index 8842694b1..db7abbbd4 100644
--- a/setup.py
+++ b/setup.py
@@ -402,6 +402,18 @@ elif _platform == "darwin":
     sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
     +["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
     +["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
+else:
+    print("bsd!")
+    os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
+    CXX_FLAGS += '-D_BSD '
+    CXX_FLAGS += '-I/usr/X11R6/include '
+    CXX_FLAGS += '-DHAS_SOCKLEN_T '
+    CXX_FLAGS += '-fno-inline-functions-called-once'
+    sources = ["examples/ThirdPartyLibs/enet/unix.c"]\
+    +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
+    +["examples/ThirdPartyLibs/Glew/glew.c"]\
+    + sources
+
 
 setup(
 	name = 'pybullet',

From e8c1602232d0105be0cf1b321727c9f4beafd758 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 21 Apr 2017 10:28:20 -0700
Subject: [PATCH 02/80] add vrhand for vive tracker tweak 'saveWorld' feature a
 bit (mjcf, gui fallback if shared memory server is not available)

---
 .../PhysicsServerCommandProcessor.cpp         |  23 ++-
 .../pybullet/examples/vrhand_vive_tracker.py  | 149 ++++++++++++++++++
 2 files changed, 169 insertions(+), 3 deletions(-)
 create mode 100644 examples/pybullet/examples/vrhand_vive_tracker.py

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 11c58398c..625c99d33 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2792,10 +2792,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								fwrite(line,len,1,f);
 							}
 							{
-								sprintf(line,"p.connect(p.SHARED_MEMORY)\n");
+								sprintf(line,"cin = p.connect(p.SHARED_MEMORY)\n");
 								int len = strlen(line);
 								fwrite(line,len,1,f);
 							}
+							{
+								sprintf(line,"if (cin < 0):\n");
+								int len = strlen(line);
+								fwrite(line,len,1,f);
+							}
+							{
+								sprintf(line,"    cin = p.connect(p.GUI)\n");
+								int len = strlen(line);
+								fwrite(line,len,1,f);
+							}
+
 							//for each objects ...
 							for (int i=0;i<m_data->m_saveWorldBodyData.size();i++)
 							{
@@ -2830,15 +2841,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 													int len = strlen(line);
 													fwrite(line,len,1,f);
 												}
+												if (strstr(sd.m_fileName.c_str(),".xml") && i==0)
+												{
+													sprintf(line,"objects = p.loadMJCF(\"%s\")\n",sd.m_fileName.c_str());
+													int len = strlen(line);
+													fwrite(line,len,1,f);
+												}
 
-												if (strstr(sd.m_fileName.c_str(),".sdf") || ((strstr(sd.m_fileName.c_str(),".urdf")) && mb->getNumLinks()) )
+												if (strstr(sd.m_fileName.c_str(),".sdf") || strstr(sd.m_fileName.c_str(),".xml") || ((strstr(sd.m_fileName.c_str(),".urdf")) && mb->getNumLinks()) )
 												{
 													sprintf(line,"ob = objects[%d]\n",i);
 													int len = strlen(line);
 													fwrite(line,len,1,f);
 												}
 
-												if (strstr(sd.m_fileName.c_str(),".sdf"))
+												if (strstr(sd.m_fileName.c_str(),".sdf")||strstr(sd.m_fileName.c_str(),".xml"))
 												{
 													sprintf(line,"p.resetBasePositionAndOrientation(ob,[%f,%f,%f],[%f,%f,%f,%f])\n",
 														comTr.getOrigin()[0],comTr.getOrigin()[1],comTr.getOrigin()[2],
diff --git a/examples/pybullet/examples/vrhand_vive_tracker.py b/examples/pybullet/examples/vrhand_vive_tracker.py
new file mode 100644
index 000000000..1242829dd
--- /dev/null
+++ b/examples/pybullet/examples/vrhand_vive_tracker.py
@@ -0,0 +1,149 @@
+#script to control a simulated robot hand using a VR glove
+#see https://twitter.com/erwincoumans/status/821953216271106048
+#and https://www.youtube.com/watch?v=I6s37aBXbV8
+#vr glove was custom build using Spectra Symbolflex sensors (4.5")
+#inside a Under Armour Batting Glove, using DFRobot Bluno BLE/Beetle
+#with BLE Link to receive serial (for wireless bluetooth serial)
+
+import serial
+import time
+import pybullet as p
+
+#first try to connect to shared memory (VR), if it fails use local GUI
+c = p.connect(p.SHARED_MEMORY)
+if (c<0):
+	c = p.connect(p.GUI)
+	
+p.setInternalSimFlags(0)#don't load default robot assets etc
+p.resetSimulation()
+
+#p.resetSimulation()
+p.setGravity(0,0,-10)
+objects = [p.loadURDF("plane.urdf", 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,1.000000)]
+
+objects = [p.loadURDF("jenga/jenga.urdf", 1.300000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 1.200000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 1.100000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 1.000000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 0.900000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("jenga/jenga.urdf", 0.800000,-0.700000,0.750000,0.000000,0.707107,0.000000,0.707107)]
+objects = [p.loadURDF("table/table.urdf", 1.000000,-0.200000,0.000000,0.000000,0.000000,0.707107,0.707107)]
+objects = [p.loadURDF("cube_small.urdf", 0.950000,-0.100000,0.700000,0.000000,0.000000,0.707107,0.707107)]
+objects = [p.loadURDF("sphere_small.urdf", 0.850000,-0.400000,0.700000,0.000000,0.000000,0.707107,0.707107)]
+
+		
+#load the MuJoCo MJCF hand
+objects = p.loadMJCF("MPL/mpl2.xml")
+
+hand=objects[0]
+ho = p.getQuaternionFromEuler([3.14,-3.14/2,0])
+hand_cid = p.createConstraint(hand,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[-0.05,0,0.02],[0.500000,0.300006,0.700000],ho)
+print ("hand_cid")
+print (hand_cid)
+for i in range (p.getNumJoints(hand)):
+	p.setJointMotorControl2(hand,i,p.POSITION_CONTROL,0,0)
+
+
+#clamp in range 400-600
+#minV = 400
+#maxV = 600
+minV = 250
+maxV = 450
+
+
+POSITION=1
+ORIENTATION=2
+BUTTONS=6
+
+p.setRealTimeSimulation(1)
+
+def convertSensor(x):
+	v = minV
+	try:
+		v = float(x)
+	except ValueError:
+		v = minV    
+	if (v<minV):
+		v=minV
+	if (v>maxV):
+		v=maxV
+	b = (v-minV)/float(maxV-minV)
+	return (b)
+	
+controllerId = -1
+
+serialSteps = 0
+serialStepsUntilCheckVREvents = 3
+
+def getSerialOrNone(portname):
+    try:
+       return serial.Serial(port=portname,baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
+    except:
+       return None
+
+
+ser = None
+
+portindex = 10
+while (ser is None and portindex < 30):
+	portname = 'COM'+str(portindex)
+	print(portname)
+	ser = getSerialOrNone(portname)
+	if (ser is None):
+		portname = "/dev/cu.usbmodem14"+str(portindex)
+		print(portname)
+		ser = getSerialOrNone(portname)
+		if (ser is not None):
+			print("COnnected!")
+	portindex = portindex+1
+
+p.saveWorld("setupTrackerWorld.py")
+
+
+if (ser.isOpen()):
+	while True:
+
+		events = p.getVREvents(deviceTypeFilter=p.VR_DEVICE_GENERIC_TRACKER)
+		for e in (events):
+				p.changeConstraint(hand_cid,e[POSITION],e[ORIENTATION], maxForce=50)
+			
+		serialSteps = 0
+		while ser.inWaiting() > 0:
+			serialSteps=serialSteps+1
+			if (serialSteps>serialStepsUntilCheckVREvents):
+				ser.flushInput()
+				break
+			line = str(ser.readline())
+			words = line.split(",")
+			if (len(words)==6):
+				pink = convertSensor(words[1])
+				middle = convertSensor(words[2])
+				index = convertSensor(words[3])
+				thumb = convertSensor(words[4])+0.2
+
+				p.setJointMotorControl2(hand,5,p.POSITION_CONTROL,1.3)
+				p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,thumb)
+				p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb)
+				p.setJointMotorControl2(hand,11,p.POSITION_CONTROL,thumb)
+				
+				p.setJointMotorControl2(hand,15,p.POSITION_CONTROL,index)
+				p.setJointMotorControl2(hand,17,p.POSITION_CONTROL,index)
+				p.setJointMotorControl2(hand,19,p.POSITION_CONTROL,index)
+
+				p.setJointMotorControl2(hand,22,p.POSITION_CONTROL,middle)
+				p.setJointMotorControl2(hand,24,p.POSITION_CONTROL,middle)
+				p.setJointMotorControl2(hand,26,p.POSITION_CONTROL,middle)
+				
+				p.setJointMotorControl2(hand,38,p.POSITION_CONTROL,pink)
+				p.setJointMotorControl2(hand,40,p.POSITION_CONTROL,pink)
+				p.setJointMotorControl2(hand,42,p.POSITION_CONTROL,pink)
+
+				ringpos = 0.5*(pink+middle)
+				p.setJointMotorControl2(hand,30,p.POSITION_CONTROL,ringpos)
+				p.setJointMotorControl2(hand,32,p.POSITION_CONTROL,ringpos)
+				p.setJointMotorControl2(hand,34,p.POSITION_CONTROL,ringpos)
+								
+				#print(middle)
+				#print(pink)
+				#print(index)
+				#print(thumb)
\ No newline at end of file

From 4759e5a590acc6130f2bdbfdc9df87680e727333 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 23 Apr 2017 07:35:13 -0700
Subject: [PATCH 03/80] tinyrenderer: disable triangle backface culling
 (doesn't work well, cull triangles that should be visible)
 GLInstancingRenderer: allow to set the light position

---
 .../CommonParameterInterface.h                |  2 +-
 .../CommonInterfaces/CommonRenderInterface.h  |  2 +
 .../OpenGLWindow/GLInstancingRenderer.cpp     | 38 +++++----
 examples/OpenGLWindow/GLInstancingRenderer.h  |  4 +-
 .../Shaders/useShadowMapInstancingPS.glsl     |  4 +-
 .../Shaders/useShadowMapInstancingPS.h        |  3 +-
 .../OpenGLWindow/SimpleOpenGL2Renderer.cpp    |  8 ++
 examples/OpenGLWindow/SimpleOpenGL2Renderer.h |  4 +
 .../RenderingExamples/TinyRendererSetup.cpp   | 81 ++++++++++++-------
 examples/TinyRenderer/TinyRenderer.cpp        |  8 --
 10 files changed, 99 insertions(+), 55 deletions(-)

diff --git a/examples/CommonInterfaces/CommonParameterInterface.h b/examples/CommonInterfaces/CommonParameterInterface.h
index da5b35342..214c07cd9 100644
--- a/examples/CommonInterfaces/CommonParameterInterface.h
+++ b/examples/CommonInterfaces/CommonParameterInterface.h
@@ -26,7 +26,7 @@ struct SliderParams
 	m_callback(0),
 	m_paramValuePointer(targetValuePointer),
 	m_userPointer(0),
-	m_clampToNotches(true),
+	m_clampToNotches(false),
     m_clampToIntegers(false),
     m_showValues(true)
 	{
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index 0800b9b9d..69ee16117 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -28,6 +28,8 @@ struct CommonRenderInterface
 	virtual CommonCameraInterface* getActiveCamera()=0;
 	virtual void setActiveCamera(CommonCameraInterface* cam)=0;
 	
+	virtual void setLightPosition(const float lightPos[3]) = 0;
+	virtual void setLightPosition(const double lightPos[3]) = 0;
 
 	virtual void renderScene()=0;
 	virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE){};
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 31e30527f..8dfa8d9d5 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -79,7 +79,6 @@ float shadowMapWorldSize=10;
 static InternalDataRenderer* sData2;
 
 GLint lineWidthRange[2]={1,1};
-static b3Vector3 gLightPos=b3MakeVector3(-5,12,-4);
 
 struct b3GraphicsInstance
 {
@@ -156,6 +155,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	GLfloat m_projectionMatrix[16];
 	GLfloat m_viewMatrix[16];
 
+	b3Vector3 m_lightPos;
 
 	GLuint				m_defaultTexturehandle;
 	b3AlignedObjectArray<InternalTextureHandle>	m_textureHandles;
@@ -172,6 +172,8 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 		m_shadowTexture(0),
 		m_renderFrameBuffer(0)
 	{
+		m_lightPos=b3MakeVector3(-5,50,50);
+
 		//clear to zero to make it obvious if the matrix is used uninitialized
 		for (int i=0;i<16;i++)
 		{
@@ -996,23 +998,26 @@ void GLInstancingRenderer::setActiveCamera(CommonCameraInterface* cam)
 	m_data->m_activeCamera = cam;
 }
 
+void GLInstancingRenderer::setLightPosition(const float lightPos[3])
+{
+	m_data->m_lightPos[0] = lightPos[0];
+	m_data->m_lightPos[1] = lightPos[1];
+	m_data->m_lightPos[2] = lightPos[2];
+}
+
+void GLInstancingRenderer::setLightPosition(const double lightPos[3])
+{
+	m_data->m_lightPos[0] = lightPos[0];
+	m_data->m_lightPos[1] = lightPos[1];
+	m_data->m_lightPos[2] = lightPos[2];
+}
+
 
 void GLInstancingRenderer::updateCamera(int upAxis)
 {
 
     b3Assert(glGetError() ==GL_NO_ERROR);
 	m_upAxis = upAxis;
-	switch (upAxis)
-	{
-    case 1:
-    		gLightPos = b3MakeVector3(-50.f,100,30);
-    	break;
-    case 2:
-			gLightPos = b3MakeVector3(-50.f,30,100);
-			break;
-    default:
-    b3Assert(0);
-	};
 
 	m_data->m_activeCamera->setCameraUpAxis(upAxis);
 	m_data->m_activeCamera->setAspectRatio((float)m_screenWidth/(float)m_screenHeight);
@@ -1554,9 +1559,10 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 	//float upf[3];
 	//m_data->m_activeCamera->getCameraUpVector(upf);
 	b3Vector3 up, fwd;
-	b3PlaneSpace1(gLightPos,up,fwd);
+	b3Vector3 lightDir = m_data->m_lightPos.normalized();
+	b3PlaneSpace1(lightDir,up,fwd);
 //	b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
-	b3CreateLookAt(gLightPos,center,up,&depthViewMatrix[0][0]);
+	b3CreateLookAt(m_data->m_lightPos,center,up,&depthViewMatrix[0][0]);
 	//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);
 
 	GLfloat depthModelMatrix[4][4];
@@ -1726,7 +1732,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 							glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
 							glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
 							
-							b3Vector3 gLightDir = gLightPos;
+							b3Vector3 gLightDir = m_data->m_lightPos;
 							gLightDir.normalize();
 							glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);
 
@@ -1763,7 +1769,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 							float MVP[16];
 							b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP);
 							glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]);
-							b3Vector3 gLightDir = gLightPos;
+							b3Vector3 gLightDir = m_data->m_lightPos;
 							gLightDir.normalize();
 							glUniform3f(useShadow_lightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);
 							glUniformMatrix4fv(useShadow_DepthBiasModelViewMatrix, 1, false, &depthBiasMVP[0][0]);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 9fae49db5..d42512280 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -117,7 +117,9 @@ public:
 	virtual CommonCameraInterface* getActiveCamera();
 	virtual void setActiveCamera(CommonCameraInterface* cam);
 	
-	
+	virtual void setLightPosition(const float lightPos[3]);
+	virtual void setLightPosition(const double lightPos[3]);
+
 	virtual void	resize(int width, int height);
 	virtual int	getScreenWidth()
 	{
diff --git a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
index 094ae7640..1e469134c 100644
--- a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
+++ b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
@@ -39,7 +39,9 @@ void main(void)
 	
 
 	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));
-	
+	if (intensity<0.5)
+		visibility = 0;
+
 	intensity = 0.7*intensity  + 0.3*intensity*visibility;
 	
 	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;
diff --git a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
index f7f2a6a11..de316f9d7 100644
--- a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
+++ b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
@@ -32,7 +32,8 @@ static const char* useShadowMapInstancingFragmentShader= \
 "	\n"
 "	\n"
 "	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));\n"
-"	\n"
+"	if (intensity<0.5)\n"
+"		visibility = 0;\n"
 "	intensity = 0.7*intensity  + 0.3*intensity*visibility;\n"
 "	\n"
 "	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;\n"
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
index d93b09ed2..d39622e35 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -78,6 +78,14 @@ void SimpleOpenGL2Renderer::setActiveCamera(CommonCameraInterface* cam)
 	b3Assert(0);//not supported yet
 }
 
+void SimpleOpenGL2Renderer::setLightPosition(const float lightPos[3])
+{
+}
+void SimpleOpenGL2Renderer::setLightPosition(const double lightPos[3])
+{
+}
+
+
 void SimpleOpenGL2Renderer::updateCamera(int upAxis)
 {
     float projection[16];
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index 57c6d1a36..57798e35b 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -25,6 +25,10 @@ public:
 	virtual CommonCameraInterface* getActiveCamera();
 	virtual void setActiveCamera(CommonCameraInterface* cam);
 
+	virtual void setLightPosition(const float lightPos[3]);
+	virtual void setLightPosition(const double lightPos[3]);
+
+
 	virtual void	resize(int width, int height);
 
     virtual void removeAllInstances();
diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp
index f9fbae111..51c9119c1 100644
--- a/examples/RenderingExamples/TinyRendererSetup.cpp
+++ b/examples/RenderingExamples/TinyRendererSetup.cpp
@@ -18,6 +18,8 @@
 #include "../CommonInterfaces/CommonParameterInterface.h"
 
 
+
+
 struct TinyRendererSetupInternalData
 {
 	
@@ -42,6 +44,8 @@ struct TinyRendererSetupInternalData
 	int m_textureHandle;
 	int m_animateRenderer;
 
+	double m_lightPos[3];
+
 	TinyRendererSetupInternalData(int width, int height)
 		:
 		m_rgbColorBuffer(width,height,TGAImage::RGB),
@@ -53,6 +57,10 @@ struct TinyRendererSetupInternalData
 	m_textureHandle(0),
 		m_animateRenderer(0)
 	{
+		m_lightPos[0] = -3;
+		m_lightPos[1] = 3;
+		m_lightPos[2] = 3;
+
 		m_depthBuffer.resize(m_width*m_height);
         m_shadowBuffer.resize(m_width*m_height);
 //        m_segmentationMaskBuffer.resize(m_width*m_height);
@@ -115,9 +123,7 @@ struct TinyRendererSetup : public CommonExampleInterface
 
 	virtual bool	keyboardCallback(int key, int state);
 
-	virtual void	renderScene()
-	{
-	}
+	virtual void	renderScene();
    
     void animateRenderer(int animateRendererIndex)
     {
@@ -295,6 +301,28 @@ void TinyRendererSetup::initPhysics()
     m_guiHelper->getParameterInterface()->registerComboBox( comboParams);
     }
     
+	{
+        SliderParams slider("LightPosX",&m_internalData->m_lightPos[0]);
+        slider.m_minVal=-10;
+        slider.m_maxVal=10;
+		if (m_guiHelper->getParameterInterface())
+	        m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+	{
+        SliderParams slider("LightPosY",&m_internalData->m_lightPos[1]);
+        slider.m_minVal=-10;
+        slider.m_maxVal=10;
+		if (m_guiHelper->getParameterInterface())
+	        m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+	{
+        SliderParams slider("LightPosZ",&m_internalData->m_lightPos[2]);
+        slider.m_minVal=-10;
+        slider.m_maxVal=10;
+		if (m_guiHelper->getParameterInterface())
+	        m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+
 }
 
 
@@ -303,14 +331,33 @@ void TinyRendererSetup::exitPhysics()
 
 }
 
-
 void TinyRendererSetup::stepSimulation(float deltaTime)
+{
+    m_internalData->updateTransforms();
+}
+
+void	TinyRendererSetup::renderScene()
 {
     m_internalData->updateTransforms();
     
+	btVector4 from(m_internalData->m_lightPos[0],m_internalData->m_lightPos[1],m_internalData->m_lightPos[2],1);
+	btVector4 toX(m_internalData->m_lightPos[0]+0.1,m_internalData->m_lightPos[1],m_internalData->m_lightPos[2],1);
+	btVector4 toY(m_internalData->m_lightPos[0],m_internalData->m_lightPos[1]+0.1,m_internalData->m_lightPos[2],1);
+	btVector4 toZ(m_internalData->m_lightPos[0],m_internalData->m_lightPos[1],m_internalData->m_lightPos[2]+0.1,1);
+	btVector4 colorX(1,0,0,1);
+	btVector4 colorY(0,1,0,1);
+	btVector4 colorZ(0,0,1,1);
+	int width=2;
+	m_guiHelper->getRenderInterface()->drawLine( from,toX,colorX,width);
+	m_guiHelper->getRenderInterface()->drawLine( from,toY,colorY,width);
+	m_guiHelper->getRenderInterface()->drawLine( from,toZ,colorZ,width);
+
     if (!m_useSoftware)
     {
-        
+     
+		btVector3 lightPos(m_internalData->m_lightPos[0],m_internalData->m_lightPos[1],m_internalData->m_lightPos[2]);
+		m_guiHelper->getRenderInterface()->setLightPosition(lightPos);
+
         for (int i=0;i<m_internalData->m_transforms.size();i++)
         {
             m_guiHelper->getRenderInterface()->writeSingleInstanceTransformToCPU(m_internalData->m_transforms[i].getOrigin(),m_internalData->m_transforms[i].getRotation(),i);
@@ -358,17 +405,7 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
                     m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
                     m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i+4*j];
                     
-                    btVector3 lightDirWorld;
-                    switch (m_app->getUpAxis())
-                    {
-                        case 1:
-                            lightDirWorld = btVector3(-50.f,100,30);
-                            break;
-                        case 2:
-                            lightDirWorld = btVector3(-50.f,30,100);
-                            break;
-                        default:{}
-                    };
+                    btVector3 lightDirWorld = btVector3(m_internalData->m_lightPos[0],m_internalData->m_lightPos[1],m_internalData->m_lightPos[2]);
                     
                     m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
                     
@@ -399,17 +436,7 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
                     m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
                     m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i+4*j];
                     
-					btVector3 lightDirWorld;
-					switch (m_app->getUpAxis())
-					{
-					case 1:
-    						lightDirWorld = btVector3(-50.f,100,30);
-    					break;
-					case 2:
-							lightDirWorld = btVector3(-50.f,30,100);
-							break;
-					default:{}
-					};
+					btVector3 lightDirWorld = btVector3(m_internalData->m_lightPos[0],m_internalData->m_lightPos[1],m_internalData->m_lightPos[2]);
 					
 					m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
                     
diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index ed472a1f5..8d4aafb91 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -426,14 +426,6 @@ static bool clipTriangleAgainstNearplane(const mat<4,3,float>& triangleIn, b3Ali
 {
 
 
-	float orientation = (triangleIn[0][1] - triangleIn[0][0]) * (triangleIn[1][2] - triangleIn[1][0]) 
-	- (triangleIn[1][1] - triangleIn[1][0]) * (triangleIn[0][2] - triangleIn[0][0]);
-	
-	if (orientation < 0.0) 
-	{
-		return true;
-	}
-
 	//discard triangle if all vertices are behind near-plane
 	if (triangleIn[3][0]<0 && triangleIn[3][1] <0 && triangleIn[3][2] <0)
 	{

From 552c85617f80515b310ef28a08ab053fb3d281d9 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 23 Apr 2017 17:12:40 -0700
Subject: [PATCH 04/80] fix compile issue

---
 examples/OpenGLWindow/GLInstancingRenderer.cpp   | 2 +-
 examples/RenderingExamples/TinyRendererSetup.cpp | 8 +++-----
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 8dfa8d9d5..f50af23ff 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -172,7 +172,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 		m_shadowTexture(0),
 		m_renderFrameBuffer(0)
 	{
-		m_lightPos=b3MakeVector3(-5,50,50);
+		m_lightPos=b3MakeVector3(-50,30,100);
 
 		//clear to zero to make it obvious if the matrix is used uninitialized
 		for (int i=0;i<16;i++)
diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp
index 51c9119c1..0a3025a63 100644
--- a/examples/RenderingExamples/TinyRendererSetup.cpp
+++ b/examples/RenderingExamples/TinyRendererSetup.cpp
@@ -44,7 +44,7 @@ struct TinyRendererSetupInternalData
 	int m_textureHandle;
 	int m_animateRenderer;
 
-	double m_lightPos[3];
+	btVector3 m_lightPos;
 
 	TinyRendererSetupInternalData(int width, int height)
 		:
@@ -57,10 +57,8 @@ struct TinyRendererSetupInternalData
 	m_textureHandle(0),
 		m_animateRenderer(0)
 	{
-		m_lightPos[0] = -3;
-		m_lightPos[1] = 3;
-		m_lightPos[2] = 3;
-
+		m_lightPos.setValue(-3,15,15);
+		
 		m_depthBuffer.resize(m_width*m_height);
         m_shadowBuffer.resize(m_width*m_height);
 //        m_segmentationMaskBuffer.resize(m_width*m_height);

From d41a2fdfd481088392f20996ccf1594344b909e3 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 24 Apr 2017 09:56:27 -0700
Subject: [PATCH 05/80] change hand.ino/py to match hardware changes (use
 pullup resistor, connect to gnd, instead of 5V + pull down resistor)

---
 examples/pybullet/examples/hand.ino |  4 ++++
 examples/pybullet/examples/hand.py  | 15 ++++++++-------
 2 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/examples/pybullet/examples/hand.ino b/examples/pybullet/examples/hand.ino
index faf5b70bc..1e5f5df17 100644
--- a/examples/pybullet/examples/hand.ino
+++ b/examples/pybullet/examples/hand.ino
@@ -10,6 +10,10 @@ int sensorPin3 = A3;
 void setup() {
   // put your setup code here, to run once:
   Serial.begin(115200);
+  digitalWrite(A0, INPUT_PULLUP);
+  digitalWrite(A1, INPUT_PULLUP);
+  digitalWrite(A2, INPUT_PULLUP);
+  digitalWrite(A3, INPUT_PULLUP);
 }
 
 void loop() {
diff --git a/examples/pybullet/examples/hand.py b/examples/pybullet/examples/hand.py
index 10c9fbd89..2c16cfe88 100644
--- a/examples/pybullet/examples/hand.py
+++ b/examples/pybullet/examples/hand.py
@@ -23,7 +23,7 @@ hand=objects[0]
 #minV = 400
 #maxV = 600
 minV = 250
-maxV = 450
+maxV = 400
 
 p.setRealTimeSimulation(1)
 
@@ -44,7 +44,7 @@ def convertSensor(x):
 	if (v>maxV):
 		v=maxV
 	b = (v-minV)/float(maxV-minV)
-	return (1.0-b)
+	return (b)
 
 ser = None
 portindex = 0
@@ -62,6 +62,7 @@ while (ser is None and portindex < 30):
 
 if (ser is None):
 	ser = serial.Serial(port = "/dev/cu.usbmodem1421",baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
+pi=3.141592
 
 if (ser is not None and ser.isOpen()):
 	while True:
@@ -69,13 +70,13 @@ if (ser is not None and ser.isOpen()):
 			line = str(ser.readline())
 			words = line.split(",")
 			if (len(words)==6):
-				middle = convertSensor(words[1])
-				pink = convertSensor(words[2])
+				pink = convertSensor(words[1])
+				middle = convertSensor(words[2])
 				index = convertSensor(words[3])
 				thumb = convertSensor(words[4])
-
-				p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,thumb)
-				p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb)
+			
+				p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,pi/4.)	
+				p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb+pi/10)
 				p.setJointMotorControl2(hand,11,p.POSITION_CONTROL,thumb)
 				p.setJointMotorControl2(hand,13,p.POSITION_CONTROL,thumb)
 				

From 771b197131f11777fcae7531b12e1486b5746527 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 25 Apr 2017 09:40:18 -0700
Subject: [PATCH 06/80] add option to calibrate individual fingers for the vr
 glove

---
 examples/pybullet/examples/hand.py | 22 +++++++++++++++-------
 1 file changed, 15 insertions(+), 7 deletions(-)

diff --git a/examples/pybullet/examples/hand.py b/examples/pybullet/examples/hand.py
index 2c16cfe88..277e8ec79 100644
--- a/examples/pybullet/examples/hand.py
+++ b/examples/pybullet/examples/hand.py
@@ -22,8 +22,13 @@ hand=objects[0]
 #clamp in range 400-600
 #minV = 400
 #maxV = 600
-minV = 250
-maxV = 400
+minVarray = [275,280,350,290]
+maxVarray = [450,550,500,400]
+
+pinkId = 0
+middleId = 1
+indexId = 2
+thumbId = 3
 
 p.setRealTimeSimulation(1)
 
@@ -33,7 +38,10 @@ def getSerialOrNone(portname):
     except:
        return None
 
-def convertSensor(x):
+def convertSensor(x, fingerIndex):
+	minV = minVarray[fingerIndex]
+	maxV = maxVarray[fingerIndex]
+	
 	v = minV
 	try:
 		v = float(x)
@@ -70,10 +78,10 @@ if (ser is not None and ser.isOpen()):
 			line = str(ser.readline())
 			words = line.split(",")
 			if (len(words)==6):
-				pink = convertSensor(words[1])
-				middle = convertSensor(words[2])
-				index = convertSensor(words[3])
-				thumb = convertSensor(words[4])
+				pink = convertSensor(words[1],pinkId)
+				middle = convertSensor(words[2],middleId)
+				index = convertSensor(words[3],indexId)
+				thumb = convertSensor(words[4],thumbId)
 			
 				p.setJointMotorControl2(hand,7,p.POSITION_CONTROL,pi/4.)	
 				p.setJointMotorControl2(hand,9,p.POSITION_CONTROL,thumb+pi/10)

From 55414f5b20a66d80c0459f5c6f0201152bc78610 Mon Sep 17 00:00:00 2001
From: Benelot <be.ellenberger@gmail.com>
Date: Tue, 25 Apr 2017 23:58:30 +0200
Subject: [PATCH 07/80] Add link name to getJointInfo(...).

---
 examples/pybullet/pybullet.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 9662e9895..8485d357b 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -2083,7 +2083,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
 
 	int bodyUniqueId = -1;
 	int jointIndex = -1;
-	int jointInfoSize = 12;  // size of struct b3JointInfo
+	int jointInfoSize = 13;  // size of struct b3JointInfo
 	b3PhysicsClientHandle sm = 0;
 	int physicsClientId = 0;
 	static char* kwlist[] = {"bodyUniqueId", "jointIndex", "physicsClientId", NULL};
@@ -2135,6 +2135,8 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
 								PyFloat_FromDouble(info.m_jointMaxForce));
 				PyTuple_SetItem(pyListJointInfo, 11,
 								PyFloat_FromDouble(info.m_jointMaxVelocity));
+				PyTuple_SetItem(pyListJointInfo, 12,
+								PyString_FromString(info.m_linkName));
 
 				return pyListJointInfo;
 			}

From 56f9c382266b02ffab2504113ea0e702a8219d7c Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Tue, 25 Apr 2017 18:28:56 -0700
Subject: [PATCH 08/80] Use float when clipping the shadow map index, because
 the index before clipping can be out of the range for int.

---
 examples/TinyRenderer/TinyRenderer.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index 8d4aafb91..37134093c 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -130,9 +130,9 @@ struct Shader : public IShader {
         float depth = p[2];
         p = p/p[3];
         
-        int index_x = b3Max(0, b3Min(m_width-1, int(p[0])));
-        int index_y = b3Max(0, b3Min(m_height-1, int(p[1])));
-        int idx = index_x + index_y*m_width; // index in the shadowbuffer array
+		float index_x = b3Max(float(0.0), b3Min(float(m_width-1), p[0]));
+		float index_y = b3Max(float(0.0), b3Min(float(m_height-1), p[1]));
+		int idx = int(index_x) + int(index_y)*m_width; // index in the shadowbuffer array
         float shadow = 0.8+0.2*(m_shadowBuffer->at(idx)<-depth+0.05); // magic coeff to avoid z-fighting
         
         Vec3f bn = (varying_nrm*bar).normalize();

From e4ace90980ae5b5a17502225b6063313bbe5a373 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Tue, 25 Apr 2017 21:37:04 -0700
Subject: [PATCH 09/80] fix some potentially uninitialized variable

---
 .../ImportMJCFDemo/BulletMJCFImporter.cpp          |  5 +++++
 examples/Importers/ImportURDFDemo/UrdfParser.h     | 14 +++++++++++---
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index 891c3c291..b7ca1f3b7 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -1741,6 +1741,11 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 				}
 				break;
 			}
+			case URDF_GEOM_UNKNOWN:
+                        {
+				break;
+			}
+
 			} // switch geom
 
 			if (childShape)
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 680fbc1ca..3cdde368b 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -50,9 +50,9 @@ enum UrdfGeomTypes
 	URDF_GEOM_BOX,
 	URDF_GEOM_CYLINDER,
 	URDF_GEOM_MESH,
-    URDF_GEOM_PLANE,
-	URDF_GEOM_CAPSULE//non-standard URDF?
-    
+	URDF_GEOM_PLANE,
+	URDF_GEOM_CAPSULE, //non-standard URDF?
+	URDF_GEOM_UNKNOWN, 
 };
 
 
@@ -83,6 +83,14 @@ struct UrdfGeometry
 
 	UrdfMaterial m_localMaterial;
 	bool m_hasLocalMaterial;
+
+	UrdfGeometry()
+	:m_type(URDF_GEOM_UNKNOWN),
+	m_hasFromTo(false),
+	m_hasLocalMaterial(false)
+	{
+	}
+
 };
 
 bool findExistingMeshFile(const std::string& urdf_path, std::string fn,

From 943dd16e78ffc807f36440c4805182d47bfbccd3 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 26 Apr 2017 21:31:01 -0700
Subject: [PATCH 10/80] disable keyboard repeat on Windows add some TinyAudio
 classes to play wav, mostly from Stk (http://github.com/thestk/stk)

---
 examples/ExampleBrowser/ExampleEntries.cpp |  11 +-
 examples/ExampleBrowser/premake4.lua       |  24 ++
 examples/OpenGLWindow/Win32Window.cpp      |   2 +-
 examples/TinyAudio/TinyAudioExample.cpp    |  83 ++--
 examples/TinyAudio/b3ADSR.cpp              | 102 +++++
 examples/TinyAudio/b3ADSR.h                |  26 ++
 examples/TinyAudio/b3AudioListener.cpp     |  47 +-
 examples/TinyAudio/b3AudioListener.h       |   3 +-
 examples/TinyAudio/b3ReadWavFile.cpp       | 476 +++++++++++++++++++++
 examples/TinyAudio/b3ReadWavFile.h         |  57 +++
 examples/TinyAudio/b3SoundEngine.cpp       |  87 ++++
 examples/TinyAudio/b3SoundEngine.h         |  29 ++
 examples/TinyAudio/b3SoundSource.cpp       | 174 +++++++-
 examples/TinyAudio/b3SoundSource.h         |  12 +
 examples/TinyAudio/b3SwapUtils.h           |  59 +++
 examples/TinyAudio/b3WriteWavFile.cpp      | 276 ++++++++++++
 examples/TinyAudio/b3WriteWavFile.h        |  32 ++
 examples/TinyAudio/premake4.lua            |   9 +-
 18 files changed, 1452 insertions(+), 57 deletions(-)
 create mode 100644 examples/TinyAudio/b3ADSR.cpp
 create mode 100644 examples/TinyAudio/b3ADSR.h
 create mode 100644 examples/TinyAudio/b3ReadWavFile.cpp
 create mode 100644 examples/TinyAudio/b3ReadWavFile.h
 create mode 100644 examples/TinyAudio/b3SoundEngine.cpp
 create mode 100644 examples/TinyAudio/b3SoundEngine.h
 create mode 100644 examples/TinyAudio/b3SwapUtils.h
 create mode 100644 examples/TinyAudio/b3WriteWavFile.cpp
 create mode 100644 examples/TinyAudio/b3WriteWavFile.h

diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 1a72658c0..fb4128fcd 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -52,6 +52,10 @@
 #include "../RoboticsLearning/GripperGraspExample.h"
 #include "../InverseKinematics/InverseKinematicsExample.h"
 
+#ifdef B3_ENABLE_TINY_AUDIO
+#include "../TinyAudio/TinyAudioExample.h"
+#endif //B3_ENABLE_TINY_AUDIO
+
 #ifdef ENABLE_LUA
 #include "../LuaDemo/LuaPhysicsSetup.h"
 #endif
@@ -100,7 +104,6 @@ struct ExampleEntry
 
 static ExampleEntry gDefaultExamples[]=
 {
-
 	ExampleEntry(0,"API"),
 
 	ExampleEntry(1,"Basic Example","Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),
@@ -307,7 +310,11 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(1,"TinyRenderer", "Very small software renderer.", TinyRendererCreateFunc),
 	ExampleEntry(1,"Dynamic Texture", "Dynamic updated textured applied to a cube.", DynamicTexturedCubeDemoCreateFunc),
 
-		
+#ifdef B3_ENABLE_TINY_AUDIO
+	ExampleEntry(0,"Audio"),
+	ExampleEntry(1,"Simple Audio","Play some sound", TinyAudioExampleCreateFunc),
+#endif
+
 
 	//Extended Tutorials Added by Mobeen
 	ExampleEntry(0,"Extended Tutorials"),
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index f6a7df31f..9b794ce6d 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -35,6 +35,28 @@ project "App_BulletExampleBrowser"
                         }
                 end
 
+	if _OPTIONS["audio"] then
+			files {"../TinyAudio/*.cpp"}
+			defines {"B3_ENABLE_TINY_AUDIO"}
+			
+			if os.is("Windows") then
+				links {"winmm","Wsock32","dsound"}
+				defines {"WIN32","__WINDOWS_MM__","__WINDOWS_DS__"}
+			end
+			
+			if os.is("Linux") then initX11() 
+			                defines  {"__OS_LINUX__","__LINUX_ALSA__"}
+				links {"asound","pthread"}
+			end
+
+
+			if os.is("MacOSX") then
+				links{"Cocoa.framework"}
+				links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+				defines {"__OS_MACOSX__"}
+			end
+		end
+					
     if _OPTIONS["lua"] then
                 includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
                 links {"lua-5.2.3"}
@@ -184,6 +206,8 @@ project "BulletExampleBrowserLib"
 		files {"../LuaDemo/LuaPhysicsSetup.cpp"}
 	end
 
+	
+	
 			
 		initOpenGL()
 		initGlew()
diff --git a/examples/OpenGLWindow/Win32Window.cpp b/examples/OpenGLWindow/Win32Window.cpp
index 022d5c802..3b74808d4 100644
--- a/examples/OpenGLWindow/Win32Window.cpp
+++ b/examples/OpenGLWindow/Win32Window.cpp
@@ -258,7 +258,7 @@ LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
 					break;
 				};
 			}
-			if (keycode>=0 && sData && sData->m_keyboardCallback)// && ((HIWORD(lParam) & KF_REPEAT) == 0))
+			if (keycode>=0 && sData && sData->m_keyboardCallback  && ((HIWORD(lParam) & KF_REPEAT) == 0))
 			{
 				int state = 1;
 				(*sData->m_keyboardCallback)(keycode,state);
diff --git a/examples/TinyAudio/TinyAudioExample.cpp b/examples/TinyAudio/TinyAudioExample.cpp
index 5df1fb641..e8061bd84 100644
--- a/examples/TinyAudio/TinyAudioExample.cpp
+++ b/examples/TinyAudio/TinyAudioExample.cpp
@@ -2,21 +2,27 @@
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 
-#include "RtAudio.h"
-#include "b3AudioListener.h"
+
+
+#include "b3SoundEngine.h"
 #include "b3SoundSource.h"
 
+
+
+
 class TinyAudioExample : public CommonExampleInterface
 {
-	b3AudioListener m_listener;
-	b3SoundSource m_soundA;
-	RtAudio m_dac;
+	
 	GUIHelperInterface* m_guiHelper;
-	int m_soundIndexA;
 
+	
+	b3SoundEngine m_soundEngine;
+	b3SoundSource* m_soundSource;
+	
 public:
 	TinyAudioExample(struct GUIHelperInterface* helper)
-		:m_guiHelper(helper)
+		:m_guiHelper(helper),
+		m_soundSource(0)
 	{
 	}
 	
@@ -26,35 +32,21 @@ public:
 
 	virtual void initPhysics()
 	{
-		m_soundIndexA = m_listener.addSoundSource(&m_soundA);
-		RtAudioFormat format = ( sizeof(double) == 8 ) ? RTAUDIO_FLOAT64 : RTAUDIO_FLOAT32;
-		RtAudio::StreamParameters parameters;
-		parameters.deviceId = 1;// dac.getDefaultOutputDevice();
-		parameters.nChannels = 2;
+		m_soundEngine.init();
+		int sampleRate = m_soundEngine.getSampleRate();
 
-		// The default real-time audio input and output buffer size.  If
-		// clicks are occuring in the input and/or output sound stream, a
-		// larger buffer size may help.  Larger buffer sizes, however, produce
-		// more latency.
-		const unsigned int RT_BUFFER_SIZE = 512;
-
-		unsigned int bufferFrames = RT_BUFFER_SIZE;
-		int sampleRate = m_listener.getSampleRate();
-
-		m_dac.openStream( &parameters, NULL, format, (unsigned int)sampleRate, &bufferFrames, &b3AudioListener::tick,
-		(void *)m_listener.getTickData());
-
-		// Install an interrupt handler function.
-		//	(void) signal( SIGINT, finish );
-
-		m_dac.startStream();
+		m_soundSource = new b3SoundSource();
+		m_soundSource->setWavFile(1,"wav/xylophone.rosewood.ff.C5B5_1.wav", sampleRate);
+		m_soundSource->setWavFile(0,"wav/xylophone.rosewood.ff.C5B5_1.wav", sampleRate);
+		m_soundSource->setOscillatorAmplitude(0,1);
+		m_soundSource->setOscillatorAmplitude(1,1);
+		m_soundEngine.addSoundSource(m_soundSource);
 
 	}  
 	
 	virtual void exitPhysics()
 	{
-		m_dac.closeStream();
-		m_listener.removeSoundSource(m_soundIndexA);
+		m_soundEngine.exit();
 	}
 
 	virtual void renderScene()
@@ -78,6 +70,37 @@ public:
 	}
 	virtual bool	keyboardCallback(int key, int state)
 	{
+		if (key=='v' || key=='b')
+		{
+
+				if (state)
+				{
+					if (key=='b')
+					{
+						m_soundSource->setOscillatorFrequency(0, 442);
+						m_soundSource->setOscillatorFrequency(1, 442);
+					}
+					if (key=='v')
+					{
+						m_soundSource->setOscillatorFrequency(0, 2*442);
+						m_soundSource->setOscillatorFrequency(1, 2*442);
+					}
+				}
+
+
+				if (state==1)
+				{
+					m_soundSource->startSound();
+					
+
+				}
+				else
+				{
+					m_soundSource->stopSound();
+				}
+		}
+
+
 		return false;
 	}
 
diff --git a/examples/TinyAudio/b3ADSR.cpp b/examples/TinyAudio/b3ADSR.cpp
new file mode 100644
index 000000000..aefa5db30
--- /dev/null
+++ b/examples/TinyAudio/b3ADSR.cpp
@@ -0,0 +1,102 @@
+#include "b3ADSR.h"
+//ADSR mostly copied/reimplemented from Stk, see
+//http://github.com/thestk/stk
+
+//! ADSR envelope states.
+#include <stdio.h>
+
+enum
+{
+	ADSR_ATTACK,  /*!< Attack */
+	ADSR_DECAY,   /*!< Decay */
+	ADSR_SUSTAIN, /*!< Sustain */
+	ADSR_RELEASE, /*!< Release */
+	ADSR_IDLE     /*!< Before attack / after release */
+};
+
+b3ADSR::b3ADSR()
+{
+	m_target = 0.0;
+	m_value = 0.0;
+	m_attackRate = 0.001;
+	m_decayRate = 0.00001;
+	m_releaseRate = 0.005;
+	m_sustainLevel = 0.5;
+	m_state = ADSR_IDLE;
+}
+
+b3ADSR::~b3ADSR()
+{
+}
+
+double b3ADSR::tick()
+{
+	switch (m_state)
+	{
+		case ADSR_ATTACK:
+			m_value += m_attackRate;
+			if (m_value >= m_target)
+			{
+				m_value = m_target;
+				m_target = m_sustainLevel;
+				m_state = ADSR_DECAY;
+				printf("ADSR_ATTACK->ADSR_DECAY\n");
+			}
+			break;
+
+		case ADSR_DECAY:
+			if (m_value > m_sustainLevel)
+			{
+				m_value -= m_decayRate;
+				if (m_value <= m_sustainLevel)
+				{
+					m_value = m_sustainLevel;
+					m_state = ADSR_SUSTAIN;
+					printf("ADSR_DECAY->ADSR_SUSTAIN\n");
+				}
+			}
+			else
+			{
+				m_value += m_decayRate;  // attack target < sustain level
+				if (m_value >= m_sustainLevel)
+				{
+					m_value = m_sustainLevel;
+					m_state = ADSR_SUSTAIN;
+					printf("ADSR_DECAY->ADSR_SUSTAIN\n");
+				}
+			}
+			break;
+
+		case ADSR_RELEASE:
+			m_value -= m_releaseRate;
+			if (m_value <= 0.0)
+			{
+				m_value = 0.0;
+				m_state = ADSR_IDLE;
+				printf("ADSR_RELEASE->ADSR_IDLE\n");
+			}
+	}
+
+	return m_value;
+}
+
+bool b3ADSR::isIdle() const
+{
+	return true;
+}
+
+void b3ADSR::keyOn()
+{
+	if (m_target <= 0.0)
+		m_target = 1.0;
+	m_state = ADSR_ATTACK;
+	printf("keyOn::ADSR_ATTACK\n");
+}
+
+void b3ADSR::keyOff()
+{
+	m_target = 0.0;
+	m_state = ADSR_RELEASE;
+	printf("keyOff::ADSR_RELEASE\n");
+
+}
diff --git a/examples/TinyAudio/b3ADSR.h b/examples/TinyAudio/b3ADSR.h
new file mode 100644
index 000000000..374ec409c
--- /dev/null
+++ b/examples/TinyAudio/b3ADSR.h
@@ -0,0 +1,26 @@
+#ifndef B3_ADSR_H
+#define B3_ADSR_H
+
+class b3ADSR
+{
+	int m_state;
+	double m_value;
+	double m_target;
+	double m_attackRate;
+	double m_decayRate;
+	double m_releaseRate;
+	double m_releaseTime;
+	double m_sustainLevel;
+
+public:
+
+	b3ADSR();
+	virtual ~b3ADSR();
+
+	double tick();
+	bool isIdle() const;
+	void keyOn();
+	void keyOff();
+};
+
+#endif //B3_ADSR_H
\ No newline at end of file
diff --git a/examples/TinyAudio/b3AudioListener.cpp b/examples/TinyAudio/b3AudioListener.cpp
index cd2d4e569..e2c1377ee 100644
--- a/examples/TinyAudio/b3AudioListener.cpp
+++ b/examples/TinyAudio/b3AudioListener.cpp
@@ -1,5 +1,7 @@
 #include "b3AudioListener.h"
 #include "b3SoundSource.h"
+#include "Bullet3Common/b3Logging.h"
+#include "b3WriteWavFile.h"
 
 template <class T>
 inline const T& MyMin(const T& a, const T& b) 
@@ -7,6 +9,7 @@ inline const T& MyMin(const T& a, const T& b)
   return a < b ? a : b ;
 }
 #define MAX_SOUND_SOURCES 128
+#define B3_SAMPLE_RATE 48000
 
 struct b3AudioListenerInternalData
 {
@@ -15,10 +18,14 @@ struct b3AudioListenerInternalData
 
 	b3SoundSource* m_soundSources[MAX_SOUND_SOURCES];
 
+   
+	b3WriteWavFile m_wavOut2;
+
 	b3AudioListenerInternalData()
 		:m_numControlTicks(64),
-		m_sampleRate(48000)
+		m_sampleRate(B3_SAMPLE_RATE)
 	{
+
 		for (int i=0;i<MAX_SOUND_SOURCES;i++)
 		{
 			m_soundSources[i] = 0;
@@ -29,10 +36,14 @@ struct b3AudioListenerInternalData
 b3AudioListener::b3AudioListener()
 {
 	m_data = new b3AudioListenerInternalData();
+
+	m_data->m_wavOut2.setWavFile("bulletAudio2.wav",B3_SAMPLE_RATE,2,false);
 }
 
 b3AudioListener::~b3AudioListener()
 {
+	m_data->m_wavOut2.closeWavFile();
+
 	delete m_data;
 }
 
@@ -52,11 +63,14 @@ int b3AudioListener::addSoundSource(b3SoundSource* source)
 	return soundIndex;
 }
 
-void b3AudioListener::removeSoundSource(int soundSourceIndex)
+void b3AudioListener::removeSoundSource(b3SoundSource* source)
 {
-	if (soundSourceIndex >=0 && soundSourceIndex<MAX_SOUND_SOURCES)
+	for (int i=0;i<MAX_SOUND_SOURCES;i++)
 	{
-		m_data->m_soundSources[soundSourceIndex] = 0;
+		if (m_data->m_soundSources[i]==source)
+		{
+			m_data->m_soundSources[i] = 0;
+		}
 	}
 }
 
@@ -75,16 +89,24 @@ double b3AudioListener::getSampleRate() const
 	return m_data->m_sampleRate;
 }
 
+void b3AudioListener::setSampleRate(double sampleRate)
+{
+	m_data->m_sampleRate = sampleRate;
+}
 
 
 int b3AudioListener::tick(void *outputBuffer,void *inputBuffer1,unsigned int nBufferFrames,
 	double streamTime,unsigned int status,void *dataPointer)
 {
+	B3_PROFILE("b3AudioListener::tick");
+
 	b3AudioListenerInternalData *data = (b3AudioListenerInternalData *)dataPointer;
 	register double outs[2],*samples = (double *)outputBuffer;
 	register double tempOuts[2];
 	int counter,nTicks = (int)nBufferFrames;
 	bool done = false;
+	
+	int numSamples = 0;
 
 	while(nTicks > 0 && !done)
 	{
@@ -103,6 +125,9 @@ int b3AudioListener::tick(void *outputBuffer,void *inputBuffer1,unsigned int nBu
 					{
 						if (data->m_soundSources[i])
 						{
+							tempOuts[0] = 0;
+							tempOuts[1] = 0;
+
 							if (data->m_soundSources[i]->computeSamples(tempOuts,1, data->m_sampleRate))
 							{
 								numActiveSources++;
@@ -116,17 +141,25 @@ int b3AudioListener::tick(void *outputBuffer,void *inputBuffer1,unsigned int nBu
 					//simple mixer
 					if (numActiveSources)
 					{
-						outs[0] *= 1./numActiveSources;
-						outs[1] *= 1./numActiveSources;
+						outs[0] *= .3/numActiveSources;
+						outs[1] *= .3/numActiveSources;
 					}
-		
+
 				*samples++ = outs[0];
 				*samples++ = outs[1];
+				numSamples++;
+				
 			}
 			nTicks -= counter;
 		}
 		if(nTicks == 0) 
 			break;
 	}
+
+	//logging to wav file
+	if (numSamples)
+	{
+		data->m_wavOut2.tick( (double *)outputBuffer,numSamples);
+	}
 	return 0;
 }
diff --git a/examples/TinyAudio/b3AudioListener.h b/examples/TinyAudio/b3AudioListener.h
index 99a8493c8..d3378f4c4 100644
--- a/examples/TinyAudio/b3AudioListener.h
+++ b/examples/TinyAudio/b3AudioListener.h
@@ -16,12 +16,13 @@ public:
          double streamTime, unsigned int status, void *dataPointer);
 
 	int addSoundSource(b3SoundSource* source);
-	void removeSoundSource(int soundSourceIndex);
+	void removeSoundSource(b3SoundSource* source);
 
 	b3AudioListenerInternalData* getTickData();
 	const b3AudioListenerInternalData* getTickData() const;
 
 	double getSampleRate() const;
+	void setSampleRate(double sampleRate);
 
 };         	
 
diff --git a/examples/TinyAudio/b3ReadWavFile.cpp b/examples/TinyAudio/b3ReadWavFile.cpp
new file mode 100644
index 000000000..00dbafcbf
--- /dev/null
+++ b/examples/TinyAudio/b3ReadWavFile.cpp
@@ -0,0 +1,476 @@
+
+//b3ReadWavFile is implemented based on code from the STK toolkit
+//See https://github.com/thestk/stk
+//Some improvement: the ticking data (b3WavTicker) is separate from wav file, 
+//This makes it possoble to play a single wav multiple times at the same time
+
+#include "b3ReadWavFile.h"
+#include "b3SwapUtils.h"
+
+const unsigned long B3_SINT8 = 0x1;
+const unsigned long B3_SINT16 = 0x2;
+const unsigned long B3_SINT24 = 0x4;
+const unsigned long B3_SINT32 = 0x8;
+const unsigned long B3_FLOAT32 = 0x10;
+const unsigned long B3_FLOAT64 = 0x20;
+
+b3ReadWavFile::b3ReadWavFile()
+{
+	m_machineIsLittleEndian = b3MachineIsLittleEndian();
+}
+b3ReadWavFile::~b3ReadWavFile()
+{
+}
+		
+
+
+void b3ReadWavFile::normalize(double peak)
+{
+	int i;
+	double max = 0.0;
+
+	for (i = 0; i < m_frames.size(); i++)
+	{
+		if (fabs(m_frames[i]) > max)
+			max = (double)fabs((double)m_frames[i]);
+	}
+
+	if (max > 0.0)
+	{
+		max = 1.0 / max;
+		max *= peak;
+		for (i = 0; i < m_frames.size(); i++)
+			m_frames[i] *= max;
+	}
+}
+
+double b3ReadWavFile::interpolate(double frame, unsigned int channel) const
+{
+	int iIndex = (int)frame;                        // integer part of index
+	double output, alpha = frame - (double)iIndex;  // fractional part of index
+
+	iIndex = iIndex * channels_ + channel;
+	output = m_frames[iIndex];
+	if (alpha > 0.0)
+		output += (alpha * (m_frames[iIndex + channels_] - output));
+
+	return output;
+}
+
+double b3ReadWavFile::tick(unsigned int channel, b3WavTicker *ticker)
+{
+	if (ticker->finished_) return 0.0;
+
+	if (ticker->time_ < 0.0 || ticker->time_ > (double)(this->m_numFrames - 1.0))
+	{
+		for (int i = 0; i < ticker->lastFrame_.size(); i++) ticker->lastFrame_[i] = 0.0;
+		ticker->finished_ = true;
+		return 0.0;
+	}
+
+	double tyme = ticker->time_;
+
+	bool interpolate_ = true;  //for now
+
+	if (interpolate_)
+	{
+		for (int i = 0; i < ticker->lastFrame_.size(); i++)
+			ticker->lastFrame_[i] = interpolate(tyme, i);
+	}
+
+	// Increment time, which can be negative.
+	ticker->time_ += ticker->rate_;
+	return ticker->lastFrame_[channel];
+}
+
+void b3ReadWavFile::resize()
+{
+	m_frames.resize(channels_ * m_numFrames);
+}
+
+b3WavTicker b3ReadWavFile::createWavTicker(double sampleRate)
+{
+	b3WavTicker ticker;
+	ticker.lastFrame_.resize(this->channels_);
+	ticker.time_ = 0;
+	ticker.finished_ = false;
+	ticker.rate_ = fileDataRate_ / sampleRate;
+	return ticker;
+}
+
+bool b3ReadWavFile::getWavInfo(const char *fileName)
+{
+	fd_ = fopen(fileName, "rb");
+	if (fd_ == 0)
+		return false;
+
+	char header[12];
+	if (fread(&header, 4, 3, fd_) != 3) goto error;
+	bool res = false;
+
+	if (!strncmp(header, "RIFF", 4) &&
+		!strncmp(&header[8], "WAVE", 4))
+		res = true;
+	//getWavInfo( fileName );
+
+	// Find "format" chunk ... it must come before the "data" chunk.
+	char id[4];
+	int chunkSize;
+	if (fread(&id, 4, 1, fd_) != 1) goto error;
+	while (strncmp(id, "fmt ", 4))
+	{
+		if (fread(&chunkSize, 4, 1, fd_) != 1) goto error;
+		if (!m_machineIsLittleEndian)
+		{
+			b3Swap32((unsigned char *)&chunkSize);
+		}		
+		if (fseek(fd_, chunkSize, SEEK_CUR) == -1) goto error;
+		if (fread(&id, 4, 1, fd_) != 1) goto error;
+	}
+
+	// Check that the data is not compressed.
+	unsigned short format_tag;
+	if (fread(&chunkSize, 4, 1, fd_) != 1) goto error;  // Read fmt chunk size.
+	if (fread(&format_tag, 2, 1, fd_) != 1) goto error;
+	if (!m_machineIsLittleEndian)
+	{
+		b3Swap16((unsigned char *)&format_tag);
+		b3Swap32((unsigned char *)&chunkSize);
+	}
+	if (format_tag == 0xFFFE)
+	{  // WAVE_FORMAT_EXTENSIBLE
+		dataOffset_ = ftell(fd_);
+		if (fseek(fd_, 14, SEEK_CUR) == -1) goto error;
+		unsigned short extSize;
+		if (fread(&extSize, 2, 1, fd_) != 1) goto error;
+		if (!m_machineIsLittleEndian)
+		{
+			b3Swap16((unsigned char *)&extSize);
+		}
+		if (extSize == 0) goto error;
+		if (fseek(fd_, 6, SEEK_CUR) == -1) goto error;
+		if (fread(&format_tag, 2, 1, fd_) != 1) goto error;
+		if (!m_machineIsLittleEndian)
+		{
+			b3Swap16((unsigned char *)&format_tag);
+		}
+		if (fseek(fd_, dataOffset_, SEEK_SET) == -1) goto error;
+	}
+	if (format_tag != 1 && format_tag != 3)
+	{  // PCM = 1, FLOAT = 3
+		//  oStream_ << "FileRead: "<< fileName << " contains an unsupported data format type (" << format_tag << ").";
+		return false;
+	}
+
+	// Get number of channels from the header.
+	short int temp;
+	if (fread(&temp, 2, 1, fd_) != 1) goto error;
+	if (!m_machineIsLittleEndian)
+	{
+		b3Swap16((unsigned char *)&temp);
+	}
+	channels_ = (unsigned int)temp;
+
+	// Get file sample rate from the header.
+	int srate;
+	if (fread(&srate, 4, 1, fd_) != 1) goto error;
+	if (!m_machineIsLittleEndian)
+	{
+		b3Swap32((unsigned char *)&srate);
+	}
+	fileDataRate_ = (double)srate;
+
+	// Determine the data type.
+	dataType_ = 0;
+	if (fseek(fd_, 6, SEEK_CUR) == -1) goto error;  // Locate bits_per_sample info.
+	if (fread(&temp, 2, 1, fd_) != 1) goto error;
+	if (!m_machineIsLittleEndian)
+	{
+		b3Swap16((unsigned char *)&temp);
+	}
+	if (format_tag == 1)
+	{
+		if (temp == 8)
+			dataType_ = B3_SINT8;
+		else if (temp == 16)
+			dataType_ = B3_SINT16;
+		else if (temp == 24)
+			dataType_ = B3_SINT24;
+		else if (temp == 32)
+			dataType_ = B3_SINT32;
+	}
+	else if (format_tag == 3)
+	{
+		if (temp == 32)
+			dataType_ = B3_FLOAT32;
+		else if (temp == 64)
+			dataType_ = B3_FLOAT64;
+	}
+	if (dataType_ == 0)
+	{
+		//   oStream_ << "FileRead: " << temp << " bits per sample with data format " << format_tag << " are not supported (" << fileName << ").";
+		return false;
+	}
+
+	// Jump over any remaining part of the "fmt" chunk.
+	if (fseek(fd_, chunkSize - 16, SEEK_CUR) == -1) goto error;
+
+	// Find "data" chunk ... it must come after the "fmt" chunk.
+	if (fread(&id, 4, 1, fd_) != 1) goto error;
+
+	while (strncmp(id, "data", 4))
+	{
+		if (fread(&chunkSize, 4, 1, fd_) != 1) goto error;
+		if (!m_machineIsLittleEndian)
+		{
+			b3Swap32((unsigned char *)&chunkSize);
+		}
+		chunkSize += chunkSize % 2;  // chunk sizes must be even
+		if (fseek(fd_, chunkSize, SEEK_CUR) == -1) goto error;
+		if (fread(&id, 4, 1, fd_) != 1) goto error;
+	}
+
+	// Get length of data from the header.
+	int bytes;
+	if (fread(&bytes, 4, 1, fd_) != 1) goto error;
+	if (!m_machineIsLittleEndian)
+	{
+		b3Swap32((unsigned char *)&bytes);
+	}
+	m_numFrames = bytes / temp / channels_;  // sample frames
+	m_numFrames *= 8;                        // sample frames
+
+	dataOffset_ = ftell(fd_);
+	byteswap_ = false;
+	if (!m_machineIsLittleEndian)
+	{
+		byteswap_ = true;
+	}
+	wavFile_ = true;
+	return true;
+
+error:
+	if (fd_)
+		fclose(fd_);
+
+	//  oStream_ << "FileRead: error reading WAV file (" << fileName << ").";
+	return false;
+}
+
+
+bool b3ReadWavFile::read(unsigned long startFrame, bool doNormalize)
+{
+	// Make sure we have an open file.
+	if (fd_ == 0)
+	{
+		//    oStream_ << "FileRead::read: a file is not open!";
+		//    Stk::handleError( StkError::WARNING ); return;
+		return false;
+	}
+
+	// Check the m_frames size.
+	unsigned long nFrames = this->m_numFrames;  //m_frames.frames();
+	if (nFrames == 0)
+	{
+		//    oStream_ << "FileRead::read: StkFrames m_frames size is zero ... no data read!";
+		//    Stk::handleError( StkError::WARNING );
+		return false;
+	}
+
+	if (startFrame >= m_numFrames)
+	{
+		return false;
+		//oStream_ << "FileRead::read: startFrame argument is greater than or equal to the file size!";
+		//Stk::handleError( StkError::FUNCTION_ARGUMENT );
+	}
+
+	// Check for file end.
+	if (startFrame + nFrames > m_numFrames)
+		nFrames = m_numFrames - startFrame;
+
+	long i, nSamples = (long)(nFrames * channels_);
+	unsigned long offset = startFrame * channels_;
+
+	// Read samples into StkFrames data m_frames.
+	if (dataType_ == B3_SINT16)
+	{
+		signed short int *buf = (signed short int *)&m_frames[0];
+		if (fseek(fd_, dataOffset_ + (offset * 2), SEEK_SET) == -1)
+			return false;
+		if (fread(buf, nSamples * 2, 1, fd_) != 1)
+			return false;
+		if (byteswap_)
+		{
+			signed short int *ptr = buf;
+			for (i = nSamples - 1; i >= 0; i--)
+				b3Swap16((unsigned char *)ptr++);
+		}
+		if (doNormalize)
+		{
+			double gain = 1.0 / 32768.0;
+			for (i = nSamples - 1; i >= 0; i--)
+				m_frames[i] = buf[i] * gain;
+		}
+		else
+		{
+			for (i = nSamples - 1; i >= 0; i--)
+				m_frames[i] = buf[i];
+		}
+	}
+	else if (dataType_ == B3_SINT32)
+	{
+		int *buf = (int *)&m_frames[0];
+		if (fseek(fd_, dataOffset_ + (offset * 4), SEEK_SET) == -1)
+			return false;
+		if (fread(buf, nSamples * 4, 1, fd_) != 1)
+			return false;
+		if (byteswap_)
+		{
+			int *ptr = buf;
+			for (i = nSamples - 1; i >= 0; i--)
+				b3Swap32((unsigned char *)ptr++);
+		}
+		if (doNormalize)
+		{
+			double gain = 1.0 / 2147483648.0;
+			for (i = nSamples - 1; i >= 0; i--)
+				m_frames[i] = buf[i] * gain;
+		}
+		else
+		{
+			for (i = nSamples - 1; i >= 0; i--)
+				m_frames[i] = buf[i];
+		}
+	}
+	else if (dataType_ == B3_FLOAT32)
+	{
+		float *buf = (float *)&m_frames[0];
+		if (fseek(fd_, dataOffset_ + (offset * 4), SEEK_SET) == -1)
+			return false;
+		if (fread(buf, nSamples * 4, 1, fd_) != 1)
+			return false;
+		if (byteswap_)
+		{
+			float *ptr = buf;
+			for (i = nSamples - 1; i >= 0; i--)
+				b3Swap32((unsigned char *)ptr++);
+		}
+		for (i = nSamples - 1; i >= 0; i--)
+			m_frames[i] = buf[i];
+	}
+	else if (dataType_ == B3_FLOAT64)
+	{
+		double *buf = (double *)&m_frames[0];
+		if (fseek(fd_, dataOffset_ + (offset * 8), SEEK_SET) == -1)
+			return false;
+		if (fread(buf, nSamples * 8, 1, fd_) != 1)
+			return false;
+		if (byteswap_)
+		{
+			double *ptr = buf;
+			for (i = nSamples - 1; i >= 0; i--)
+				b3Swap64((unsigned char *)ptr++);
+		}
+		for (i = nSamples - 1; i >= 0; i--)
+			m_frames[i] = buf[i];
+	}
+	else if (dataType_ == B3_SINT8 && wavFile_)
+	{  // 8-bit WAV data is unsigned!
+		unsigned char *buf = (unsigned char *)&m_frames[0];
+		if (fseek(fd_, dataOffset_ + offset, SEEK_SET) == -1)
+			return false;
+		if (fread(buf, nSamples, 1, fd_) != 1)
+			return false;
+		if (doNormalize)
+		{
+			double gain = 1.0 / 128.0;
+			for (i = nSamples - 1; i >= 0; i--)
+				m_frames[i] = (buf[i] - 128) * gain;
+		}
+		else
+		{
+			for (i = nSamples - 1; i >= 0; i--)
+				m_frames[i] = buf[i] - 128.0;
+		}
+	}
+	else if (dataType_ == B3_SINT8)
+	{  // signed 8-bit data
+		char *buf = (char *)&m_frames[0];
+		if (fseek(fd_, dataOffset_ + offset, SEEK_SET) == -1)
+			return false;
+		if (fread(buf, nSamples, 1, fd_) != 1)
+			return false;
+		if (doNormalize)
+		{
+			double gain = 1.0 / 128.0;
+			for (i = nSamples - 1; i >= 0; i--)
+				m_frames[i] = buf[i] * gain;
+		}
+		else
+		{
+			for (i = nSamples - 1; i >= 0; i--)
+				m_frames[i] = buf[i];
+		}
+	}
+	else if (dataType_ == B3_SINT24)
+	{
+		// 24-bit values are harder to import efficiently since there is
+		// no native 24-bit type.  The following routine works but is much
+		// less efficient than that used for the other data types.
+		int temp;
+		unsigned char *ptr = (unsigned char *)&temp;
+		double gain = 1.0 / 2147483648.0;
+		if (fseek(fd_, dataOffset_ + (offset * 3), SEEK_SET) == -1)
+			return false;
+		for (i = 0; i < nSamples; i++)
+		{
+			if (m_machineIsLittleEndian)
+			{
+				if (byteswap_)
+				{
+					if (fread(ptr, 3, 1, fd_) != 1)
+						return false;
+					temp &= 0x00ffffff;
+					b3Swap32((unsigned char *)ptr);
+				}
+				else
+				{
+					if (fread(ptr + 1, 3, 1, fd_) != 1)
+						return false;
+					temp &= 0xffffff00;
+				}
+			}
+			else
+			{
+				if (byteswap_)
+				{
+					if (fread(ptr + 1, 3, 1, fd_) != 1)
+						return false;
+					temp &= 0xffffff00;
+					b3Swap32((unsigned char *)ptr);
+				}
+				else
+				{
+					if (fread(ptr, 3, 1, fd_) != 1)
+						return false;
+					temp &= 0x00ffffff;
+				}
+			}
+
+			if (doNormalize)
+			{
+				m_frames[i] = (double)temp * gain;  // "gain" also  includes 1 / 256 factor.
+			}
+			else
+				m_frames[i] = (double)temp / 256;  // right shift without affecting the sign bit
+		}
+	}
+
+	// m_frames.setDataRate( fileDataRate_ );
+
+	return true;
+
+	// error:
+	//  oStream_ << "FileRead: Error reading file data.";
+	//  handleError( StkError::FILE_ERROR);
+}
\ No newline at end of file
diff --git a/examples/TinyAudio/b3ReadWavFile.h b/examples/TinyAudio/b3ReadWavFile.h
new file mode 100644
index 000000000..a89656acf
--- /dev/null
+++ b/examples/TinyAudio/b3ReadWavFile.h
@@ -0,0 +1,57 @@
+#ifndef B3_READ_WAV_FILE_H
+#define B3_READ_WAV_FILE_H
+
+
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include <stdio.h>
+#include <string.h>
+
+struct b3WavTicker
+{
+	b3AlignedObjectArray<double> lastFrame_;
+	bool finished_;
+	double time_;
+	double rate_;
+};
+
+
+
+class b3ReadWavFile
+{
+	bool byteswap_;
+	bool wavFile_;
+	unsigned long m_numFrames;
+	unsigned long dataType_;
+	double fileDataRate_;
+	FILE *fd_ = 0;
+	unsigned long dataOffset_;
+	unsigned int channels_;
+	bool m_machineIsLittleEndian;
+public:
+
+	b3ReadWavFile();
+	virtual ~b3ReadWavFile();
+
+	b3AlignedObjectArray<double> m_frames;
+
+	bool getWavInfo(const char *fileName);
+
+	void normalize(double peak);
+
+	double interpolate(double frame, unsigned int channel) const;
+	double tick(unsigned int channel, b3WavTicker *ticker);
+
+	void resize();
+
+	b3WavTicker createWavTicker(double sampleRate);
+
+	bool read(unsigned long startFrame, bool doNormalize);
+
+	int getNumFrames() const 
+	{
+		return m_numFrames;
+	}
+};
+
+
+#endif  //B3_READ_WAV_FILE_H
diff --git a/examples/TinyAudio/b3SoundEngine.cpp b/examples/TinyAudio/b3SoundEngine.cpp
new file mode 100644
index 000000000..a72821bf3
--- /dev/null
+++ b/examples/TinyAudio/b3SoundEngine.cpp
@@ -0,0 +1,87 @@
+#include "b3SoundEngine.h"
+
+#include "RtAudio.h"
+
+#include "b3AudioListener.h"
+#include "b3SoundSource.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+// The default real-time audio input and output buffer size.  If
+// clicks are occuring in the input and/or output sound stream, a
+// larger buffer size may help.  Larger buffer sizes, however, produce
+// more latency.
+//const unsigned int RT_BUFFER_SIZE = 1024;
+const unsigned int RT_BUFFER_SIZE = 256;
+
+struct b3SoundEngineInternalData
+{
+	b3AudioListener m_listener;
+	RtAudio m_dac;
+
+	b3AlignedObjectArray<b3SoundSource*> m_soundSources;
+
+};
+
+b3SoundEngine::b3SoundEngine()
+{
+	m_data = new b3SoundEngineInternalData();
+}
+
+b3SoundEngine::~b3SoundEngine()
+{
+	exit();
+	delete m_data;
+}
+
+void b3SoundEngine::init()
+{
+
+	RtAudioFormat format = ( sizeof(double) == 8 ) ? RTAUDIO_FLOAT64 : RTAUDIO_FLOAT32;
+	RtAudio::StreamParameters parameters;
+	parameters.deviceId = m_data->m_dac.getDefaultOutputDevice();
+	parameters.nChannels = 2;
+
+	unsigned int bufferFrames = RT_BUFFER_SIZE;
+	double sampleRate = m_data->m_listener.getSampleRate();
+
+	m_data->m_dac.openStream( &parameters, NULL, format, (unsigned int)sampleRate, &bufferFrames, &b3AudioListener::tick,
+	(void *)m_data->m_listener.getTickData());
+
+	m_data->m_dac.startStream();
+}
+
+void b3SoundEngine::exit()
+{
+	m_data->m_dac.closeStream();
+
+	for (int i=0;i<m_data->m_soundSources.size();i++)
+	{
+		m_data->m_listener.removeSoundSource(m_data->m_soundSources[i]);
+		delete m_data->m_soundSources[i];
+	}
+	m_data->m_soundSources.clear();
+}
+
+
+void b3SoundEngine::addSoundSource(b3SoundSource* source)
+{
+	m_data->m_soundSources.push_back(source);
+	m_data->m_listener.addSoundSource(source);
+}
+
+void b3SoundEngine::removeSoundSource(b3SoundSource* source)
+{
+	m_data->m_soundSources.remove(source);
+}
+
+int b3SoundEngine::loadWavFile(const char* fileName)
+{
+	return 0;
+}
+
+double b3SoundEngine::getSampleRate() const
+{
+	return m_data->m_listener.getSampleRate();
+}
+
+	
\ No newline at end of file
diff --git a/examples/TinyAudio/b3SoundEngine.h b/examples/TinyAudio/b3SoundEngine.h
new file mode 100644
index 000000000..b83dadd9c
--- /dev/null
+++ b/examples/TinyAudio/b3SoundEngine.h
@@ -0,0 +1,29 @@
+#ifndef B3_SOUND_ENGINE_H
+#define B3_SOUND_ENGINE_H
+
+#include "Bullet3Common/b3Scalar.h"
+
+class b3SoundEngine
+{
+	struct b3SoundEngineInternalData* m_data;
+	
+	public:
+		
+	b3SoundEngine();
+	virtual ~b3SoundEngine();
+
+	void init();
+	void exit();
+
+	//int createListener();
+
+	void addSoundSource(class b3SoundSource* source);
+	void removeSoundSource(class b3SoundSource* source);
+
+	int loadWavFile(const char* fileName);
+
+	double getSampleRate() const;
+
+};
+
+#endif //B3_SOUND_ENGINE_H
diff --git a/examples/TinyAudio/b3SoundSource.cpp b/examples/TinyAudio/b3SoundSource.cpp
index 8810768d3..1db3129c7 100644
--- a/examples/TinyAudio/b3SoundSource.cpp
+++ b/examples/TinyAudio/b3SoundSource.cpp
@@ -3,37 +3,66 @@
 #define MY2PI (2.*3.14159265)
 #include <math.h>
 
+#include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include "b3ReadWavFile.h"
+#include "b3ADSR.h"
+
 struct b3SoundOscillator
 {
 	int m_type;
+	double m_frequency;
 	double m_amplitude;
 	double m_phase;
-	double m_frequency;
+	
+	b3WavTicker m_wavTicker;
 
-	double sampleWaveForm(double sampleRate)
+
+	double sampleSineWaveForm(double sampleRate)
 	{
 		while (m_phase >= MY2PI)
 			m_phase -= MY2PI;
 
-		double z = sinf(m_phase);
+		double z =  sinf(m_phase);
 		double sample = m_amplitude*z;
 
 		m_phase += MY2PI * (1./sampleRate) * m_frequency;
 		return sample;
 	}
 
-	b3SoundOscillator()
-		:m_phase(0),
-		m_amplitude(0.8),
-		m_frequency(442.)
+	double sampleSawWaveForm(double sampleRate)
 	{
+		while (m_phase >= MY2PI)
+			m_phase -= MY2PI;
 
+		double z =  2.*(m_phase)/MY2PI-1.;
+		double sample = m_amplitude*z;
+
+		m_phase += MY2PI * (1./sampleRate) * m_frequency;
+		return sample;
+	}
+
+	void reset()
+	{
+		m_phase = 0;
+	}
+
+	b3SoundOscillator()
+		:m_type(0),
+		m_frequency(442.),
+		m_amplitude(1),
+		m_phase(0)
+	{
+		
 	}
 };
+#define MAX_OSCILLATORS 2
 
 struct b3SoundSourceInternalData
 {
-	b3SoundOscillator m_oscillator;
+	b3SoundOscillator m_oscillators[MAX_OSCILLATORS];
+	b3ADSR m_envelope;
+	b3ReadWavFile m_wavFile;
 };
 
 b3SoundSource::b3SoundSource()
@@ -48,19 +77,138 @@ b3SoundSource::~b3SoundSource()
 
 bool b3SoundSource::computeSamples(double* sampleBuffer, int numSamples, double sampleRate)
 {
+	
 	double* outputSamples = sampleBuffer;
 
 	for (int i=0;i<numSamples;i++)
 	{
-		double sample = m_data->m_oscillator.sampleWaveForm(sampleRate);
-		double sampleLeft = sample;
-		double sampleRight = sample;
+		double samples[MAX_OSCILLATORS] ={0};
+
+		double env = m_data->m_envelope.tick();
+		if (env)
+		{
+		for (int osc=0;osc<MAX_OSCILLATORS;osc++)
+		{
+			if (m_data->m_oscillators[osc].m_type == 0)
+			{
+				samples[osc] +=  env * m_data->m_oscillators[osc].sampleSineWaveForm(sampleRate);
+			}
+
+			if (m_data->m_oscillators[osc].m_type == 1)
+			{
+				samples[osc] += env * m_data->m_oscillators[osc].sampleSawWaveForm(sampleRate);
+			}
+
+			if (m_data->m_oscillators[osc].m_type == 128)
+			{
+				int frame = 0;
+				double data = m_data->m_oscillators[osc].m_amplitude * m_data->m_wavFile.tick(frame,&m_data->m_oscillators[osc].m_wavTicker);
+				samples[osc] += data;
+			}
+	
+		}	
+		}
+		//sample *= 1./double(MAX_OSCILLATORS);
+
+		double sampleLeft = samples[0];
+		double sampleRight = samples[1];
 
-		*outputSamples++ = sampleLeft;
 		*outputSamples++ = sampleRight;
-
+		*outputSamples++ = sampleLeft ;
 	}
 
+/*	if (m_data->m_flags & looping)
+	{
+		for (int osc=0;osc<MAX_OSCILLATORS;osc++)
+		{
+			if (m_data->m_oscillators[osc].m_waveIn.isFinished())
+				m_data->m_oscillators[osc].m_waveIn.reset();
+		}
+	}
+	*/
 	return true;
 //	return false;
+}
+
+int b3SoundSource::getNumOscillators() const
+{
+	return MAX_OSCILLATORS;
+}
+void b3SoundSource::setOscillatorType(int oscillatorIndex, int type)
+{
+	m_data->m_oscillators[oscillatorIndex].m_type = type;
+}
+void b3SoundSource::setOscillatorFrequency(int oscillatorIndex, double frequency)
+{
+	m_data->m_oscillators[oscillatorIndex].m_frequency = frequency;
+}
+void b3SoundSource::setOscillatorAmplitude(int oscillatorIndex, double amplitude)
+{
+	m_data->m_oscillators[oscillatorIndex].m_amplitude = amplitude;
+}
+void b3SoundSource::setOscillatorPhase(int oscillatorIndex, double phase)
+{
+	m_data->m_oscillators[oscillatorIndex].m_phase = phase;
+}
+
+void b3SoundSource::startSound()
+{
+	if (m_data->m_envelope.isIdle())
+	{
+		for (int osc=0;osc<MAX_OSCILLATORS;osc++)
+		{
+			static int reset = 0;
+			printf("reset %d!\n",reset++);
+			if (m_data->m_oscillators[osc].m_wavTicker.finished_)
+			{
+				m_data->m_oscillators[osc].reset();
+				//test reverse playback of wav
+				m_data->m_oscillators[osc].m_wavTicker.rate_ *= -1;
+				if (m_data->m_oscillators[osc].m_wavTicker.rate_<0)
+				{
+					m_data->m_oscillators[osc].m_wavTicker.time_ = m_data->m_wavFile.getNumFrames()-1.;
+				} else
+				{
+					m_data->m_oscillators[osc].m_wavTicker.time_ = 0.f;
+				}
+
+				m_data->m_oscillators[osc].m_wavTicker.finished_ = false;
+
+			}
+		}
+	}
+	m_data->m_envelope.keyOn();
+}
+
+void b3SoundSource::stopSound()
+{
+	m_data->m_envelope.keyOff();
+}
+
+
+bool b3SoundSource::setWavFile(int oscillatorIndex, const char* fileName, int sampleRate)
+{
+	char resourcePath[1024];
+		
+	if (b3ResourcePath::findResourcePath(fileName,resourcePath,1024))
+	{
+
+		m_data->m_wavFile.getWavInfo(resourcePath);
+		m_data->m_wavFile.resize();
+		m_data->m_wavFile.read(0,true);
+		m_data->m_wavFile.normalize(1);
+		m_data->m_oscillators[oscillatorIndex].m_wavTicker = m_data->m_wavFile.createWavTicker(sampleRate);
+
+//		waveIn.openFile(resourcePath);
+		double rate = 1.0;
+	//	rate = waveIn.getFileRate() / stkSampleRate; 
+	//	waveIn.setRate( rate );
+	//	waveIn.ignoreSampleRateChange();
+		// Find out how many channels we have.
+	//	int channels = waveIn.channelsOut();
+	//	m_data->m_oscillators[oscillatorIndex].m_frames.resize( 1, channels );
+		m_data->m_oscillators[oscillatorIndex].m_type = 128;
+		return true;
+	}
+	return false;
 }
\ No newline at end of file
diff --git a/examples/TinyAudio/b3SoundSource.h b/examples/TinyAudio/b3SoundSource.h
index f07388089..08c90475c 100644
--- a/examples/TinyAudio/b3SoundSource.h
+++ b/examples/TinyAudio/b3SoundSource.h
@@ -11,6 +11,18 @@ public:
 	virtual ~b3SoundSource();
 	
 	virtual bool computeSamples(double *sampleBuffer, int numSamples, double sampleRate);
+
+	int getNumOscillators() const;
+	void setOscillatorType(int oscillatorIndex, int type);
+	void setOscillatorFrequency(int oscillatorIndex, double frequency);
+	void setOscillatorAmplitude(int oscillatorIndex, double amplitude);
+	void setOscillatorPhase(int oscillatorIndex, double phase);
+
+	bool setWavFile(int oscillatorIndex, const char* fileName, int sampleRate);
+
+	void startSound();
+	void stopSound();
+
 };
 
 #endif //B3_SOUND_SOURCE_H
diff --git a/examples/TinyAudio/b3SwapUtils.h b/examples/TinyAudio/b3SwapUtils.h
new file mode 100644
index 000000000..32fc1a28f
--- /dev/null
+++ b/examples/TinyAudio/b3SwapUtils.h
@@ -0,0 +1,59 @@
+#ifndef B3_SWAP_UTILS_H
+#define B3_SWAP_UTILS_H
+
+inline void b3Swap16(unsigned char *ptr)
+{
+  unsigned char val;
+
+  // Swap 1st and 2nd bytes
+  val = *(ptr);
+  *(ptr) = *(ptr+1);
+  *(ptr+1) = val;
+}
+
+inline void b3Swap32(unsigned char *ptr)
+{
+  unsigned char val;
+
+  // Swap 1st and 4th bytes
+  val = *(ptr);
+  *(ptr) = *(ptr+3);
+  *(ptr+3) = val;
+
+  //Swap 2nd and 3rd bytes
+  ptr += 1;
+  val = *(ptr);
+  *(ptr) = *(ptr+1);
+  *(ptr+1) = val;
+}
+
+
+inline void b3Swap64(unsigned char *ptr)
+{
+	unsigned char val;
+
+	// Swap 1st and 8th bytes
+	val = *(ptr);
+	*(ptr) = *(ptr + 7);
+	*(ptr + 7) = val;
+
+	// Swap 2nd and 7th bytes
+	ptr += 1;
+	val = *(ptr);
+	*(ptr) = *(ptr + 5);
+	*(ptr + 5) = val;
+
+	// Swap 3rd and 6th bytes
+	ptr += 1;
+	val = *(ptr);
+	*(ptr) = *(ptr + 3);
+	*(ptr + 3) = val;
+
+	// Swap 4th and 5th bytes
+	ptr += 1;
+	val = *(ptr);
+	*(ptr) = *(ptr + 1);
+	*(ptr + 1) = val;
+}
+
+#endif //B3_SWAP_UTILS_H
diff --git a/examples/TinyAudio/b3WriteWavFile.cpp b/examples/TinyAudio/b3WriteWavFile.cpp
new file mode 100644
index 000000000..2e16d56a9
--- /dev/null
+++ b/examples/TinyAudio/b3WriteWavFile.cpp
@@ -0,0 +1,276 @@
+// b3WriteWavFile is copied from Stk::FileWvOut/FileWrite
+// See also https://github.com/thestk/stk
+// by Perry R. Cook and Gary P. Scavone, 1995--2014.
+
+#include "b3WriteWavFile.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "b3SwapUtils.h"
+
+#define B3_FLOAT32 32
+#define B3_FLOAT64 64
+
+// WAV header structure. See
+// http://www-mmsp.ece.mcgill.ca/documents/audioformats/WAVE/Docs/rfc2361.txt
+// for information regarding format codes.
+struct b3WaveHeader
+{
+	char riff[4];   // "RIFF"
+	int fileSize;   // in bytes
+	char wave[4];   // "WAVE"
+	char fmt[4];    // "fmt "
+	int chunkSize;  // in bytes (16 for PCM)
+	union {
+		signed short formatCode;  // 1=PCM, 2=ADPCM, 3=IEEE float, 6=A-Law, 7=Mu-Law
+		unsigned short uformatCode;
+	};
+	signed short nChannels;  // 1=mono, 2=stereo
+	int sampleRate;
+	int bytesPerSecond;
+	signed short bytesPerSample;  // 2=16-bit mono, 4=16-bit stereo
+	signed short bitsPerSample;
+	signed short cbSize;     // size of extension
+	signed short validBits;  // valid bits per sample
+	int channelMask;         // speaker position mask
+	char subformat[16];      // format code and GUID
+	char fact[4];            // "fact"
+	int factSize;            // fact chunk size
+	int frames;              // sample frames
+};
+
+struct b3WriteWavFileInternalData
+{
+	FILE *m_file;
+	int m_numChannels;
+	int m_sampleRate;
+	int m_dataType;  // single precision 32bit float, 64bit double
+	bool m_byteswap;
+	int m_frameCounter;
+	int m_bufferIndex;
+	int m_bufferSize;
+	bool m_clipped;
+	bool m_isMachineLittleEndian;
+
+	b3AlignedObjectArray<float> m_floatBuffer;
+	b3AlignedObjectArray<double> m_doubleBuffer;
+
+	b3WriteWavFileInternalData()
+		: m_file(0),
+		  m_numChannels(0),
+		  m_dataType(B3_FLOAT32),
+		  m_byteswap(false),
+		  m_frameCounter(0),
+		  m_bufferIndex(0),
+		  m_bufferSize(1024),
+		  m_clipped(false)
+	{
+		m_floatBuffer.reserve(m_bufferSize);
+		m_doubleBuffer.reserve(m_bufferSize);
+		m_isMachineLittleEndian = b3MachineIsLittleEndian();
+	}
+};
+
+b3WriteWavFile::b3WriteWavFile()
+{
+	m_data = new b3WriteWavFileInternalData();
+}
+
+b3WriteWavFile::~b3WriteWavFile()
+{
+	closeWavFile();
+	delete m_data;
+}
+
+bool b3WriteWavFile::setWavFile(std::string fileName, int sampleRate, int numChannels, bool useDoublePrecision)
+{
+	m_data->m_numChannels = numChannels;
+	m_data->m_sampleRate = sampleRate;
+	if (useDoublePrecision)
+	{
+		m_data->m_dataType = B3_FLOAT64;
+	}
+	else
+	{
+		m_data->m_dataType = B3_FLOAT32;
+	}
+
+	if (fileName.find(".wav") == std::string::npos)
+		fileName += ".wav";
+
+	m_data->m_file = fopen(fileName.c_str(), "wb");
+	if (!m_data->m_file)
+	{
+		return false;
+	}
+
+	struct b3WaveHeader hdr = {{'R', 'I', 'F', 'F'}, 44, {'W', 'A', 'V', 'E'}, {'f', 'm', 't', ' '}, 16, 1, 1, sampleRate, 0, 2, 16, 0, 0, 0, {'\x01', '\x00', '\x00', '\x00', '\x00', '\x00', '\x10', '\x00', '\x80', '\x00', '\x00', '\xAA', '\x00', '\x38', '\x9B', '\x71'}, {'f', 'a', 'c', 't'}, 4, 0};
+	hdr.nChannels = (signed short)m_data->m_numChannels;
+
+	if (m_data->m_dataType == B3_FLOAT32)
+	{
+		hdr.formatCode = 3;
+		hdr.bitsPerSample = 32;
+	}
+	else if (m_data->m_dataType == B3_FLOAT64)
+	{
+		hdr.formatCode = 3;
+		hdr.bitsPerSample = 64;
+	}
+
+	hdr.bytesPerSample = (signed short)(m_data->m_numChannels * hdr.bitsPerSample / 8);
+	hdr.bytesPerSecond = (int)(hdr.sampleRate * hdr.bytesPerSample);
+
+	unsigned int bytesToWrite = 36;
+	if (m_data->m_numChannels > 2 || hdr.bitsPerSample > 16)
+	{  // use extensible format
+		bytesToWrite = 72;
+		hdr.chunkSize += 24;
+		hdr.uformatCode = 0xFFFE;
+		hdr.cbSize = 22;
+		hdr.validBits = hdr.bitsPerSample;
+		signed short *subFormat = (signed short *)&hdr.subformat[0];
+		if (m_data->m_dataType == B3_FLOAT32 || m_data->m_dataType == B3_FLOAT64)
+			*subFormat = 3;
+		else
+			*subFormat = 1;
+	}
+
+	m_data->m_byteswap = false;
+	if (!m_data->m_isMachineLittleEndian)
+	{
+		m_data->m_byteswap = true;
+		b3Swap32((unsigned char *)&hdr.chunkSize);
+		b3Swap16((unsigned char *)&hdr.formatCode);
+		b3Swap16((unsigned char *)&hdr.nChannels);
+		b3Swap32((unsigned char *)&hdr.sampleRate);
+		b3Swap32((unsigned char *)&hdr.bytesPerSecond);
+		b3Swap16((unsigned char *)&hdr.bytesPerSample);
+		b3Swap16((unsigned char *)&hdr.bitsPerSample);
+		b3Swap16((unsigned char *)&hdr.cbSize);
+		b3Swap16((unsigned char *)&hdr.validBits);
+		b3Swap16((unsigned char *)&hdr.subformat[0]);
+		b3Swap32((unsigned char *)&hdr.factSize);
+	}
+
+	char data[4] = {'d', 'a', 't', 'a'};
+	int dataSize = 0;
+	if (fwrite(&hdr, 1, bytesToWrite, m_data->m_file) != bytesToWrite) goto error;
+	if (fwrite(&data, 4, 1, m_data->m_file) != 1) goto error;
+	if (fwrite(&dataSize, 4, 1, m_data->m_file) != 1) goto error;
+
+	return true;
+
+error:
+	return false;
+}
+
+void b3WriteWavFile::closeWavFile()
+{
+	if (m_data->m_file == 0)
+		return;
+
+	flushData(1);
+
+	int bytesPerSample = 1;
+	if (m_data->m_dataType == B3_FLOAT32)
+		bytesPerSample = 4;
+	else if (m_data->m_dataType == B3_FLOAT64)
+		bytesPerSample = 8;
+
+	bool useExtensible = false;
+	int dataLocation = 40;
+	if (bytesPerSample > 2 || m_data->m_numChannels > 2)
+	{
+		useExtensible = true;
+		dataLocation = 76;
+	}
+
+	int bytes = (int)(m_data->m_frameCounter * m_data->m_numChannels * bytesPerSample);
+	if (bytes % 2)
+	{  // pad extra byte if odd
+		signed char sample = 0;
+		fwrite(&sample, 1, 1, m_data->m_file);
+	}
+#ifndef __LITTLE_ENDIAN__
+	b3Swap32((unsigned char *)&bytes);
+#endif
+	fseek(m_data->m_file, dataLocation, SEEK_SET);  // jump to data length
+	fwrite(&bytes, 4, 1, m_data->m_file);
+
+	bytes = (int)(m_data->m_frameCounter * m_data->m_numChannels * bytesPerSample + 44);
+	if (useExtensible) bytes += 36;
+#ifndef __LITTLE_ENDIAN__
+	b3Swap32((unsigned char *)&bytes);
+#endif
+	fseek(m_data->m_file, 4, SEEK_SET);  // jump to file size
+	fwrite(&bytes, 4, 1, m_data->m_file);
+
+	if (useExtensible)
+	{  // fill in the "fact" chunk frames value
+		bytes = (int)m_data->m_frameCounter;
+#ifndef __LITTLE_ENDIAN__
+		b3Swap32((unsigned char *)&bytes);
+#endif
+		fseek(m_data->m_file, 68, SEEK_SET);
+		fwrite(&bytes, 4, 1, m_data->m_file);
+	}
+
+	fclose(m_data->m_file);
+	m_data->m_file = 0;
+}
+
+void b3WriteWavFile::tick(double *frames, int numFrames)
+{
+	int iFrames = 0;
+	int j, nChannels = m_data->m_numChannels;
+
+	for (int i = 0; i < numFrames; i++)
+	{
+		for (j = 0; j < nChannels; j++)
+		{
+			double sample = frames[iFrames++];
+			if (sample < -1.)
+			{
+				sample = -1.;
+				m_data->m_clipped = true;
+			}
+			if (sample > 1)
+			{
+				sample = 1.;
+				m_data->m_clipped = true;
+			}
+
+			if (m_data->m_dataType == B3_FLOAT32)
+			{
+				m_data->m_floatBuffer.push_back((float)sample);
+			}
+			else
+			{
+				m_data->m_doubleBuffer.push_back(sample);
+			}
+
+			flushData(m_data->m_bufferSize);
+		}
+
+		m_data->m_frameCounter++;
+	}
+}
+
+void b3WriteWavFile::flushData(int bufferSize)
+{
+	if (m_data->m_dataType == B3_FLOAT32)
+	{
+		if (m_data->m_floatBuffer.size() >= bufferSize)
+		{
+			fwrite(&m_data->m_floatBuffer[0], sizeof(float), m_data->m_floatBuffer.size(), m_data->m_file);
+			m_data->m_floatBuffer.resize(0);
+		}
+	}
+	else
+	{
+		if (m_data->m_doubleBuffer.size() >= bufferSize)
+		{
+			fwrite(&m_data->m_doubleBuffer[0], sizeof(double), m_data->m_doubleBuffer.size(), m_data->m_file);
+			m_data->m_doubleBuffer.resize(0);
+		}
+	}
+}
\ No newline at end of file
diff --git a/examples/TinyAudio/b3WriteWavFile.h b/examples/TinyAudio/b3WriteWavFile.h
new file mode 100644
index 000000000..71462a315
--- /dev/null
+++ b/examples/TinyAudio/b3WriteWavFile.h
@@ -0,0 +1,32 @@
+#ifndef B3_WRITE_WAV_FILE_H
+#define B3_WRITE_WAV_FILE_H
+
+// b3WriteWavFile is copied from Stk::FileWvOut/FileWrite
+// See also https://github.com/thestk/stk
+// by Perry R. Cook and Gary P. Scavone, 1995--2014.
+#include <string>
+
+class b3WriteWavFile
+{
+	void incrementFrame( void );
+	void flush();
+
+	struct b3WriteWavFileInternalData* m_data;
+
+	void flushData(int bufferSize);
+
+public:
+
+	b3WriteWavFile();
+	virtual ~b3WriteWavFile();
+
+	bool setWavFile(std::string fileName, int sampleRate, int numChannels, bool useDoublePrecision=true);
+
+	void closeWavFile();
+
+	void tick( double* values, int numValues );
+	void tick( float* values, int numValues );
+
+};
+
+#endif  //B3_WRITE_WAV_FILE_H
\ No newline at end of file
diff --git a/examples/TinyAudio/premake4.lua b/examples/TinyAudio/premake4.lua
index 22e28e0e4..4953d01f3 100644
--- a/examples/TinyAudio/premake4.lua
+++ b/examples/TinyAudio/premake4.lua
@@ -15,16 +15,19 @@
 		"**.cpp",
 		"**.h",
 		"../StandaloneMain/main_console_single_example.cpp",
+		"../Utils/b3ResourcePath.cpp"
 		}
 
+		links {"Bullet3Common"}
+
 		if os.is("Windows") then
 			links {"winmm","Wsock32","dsound"}
-			defines {"WIN32","__WINDOWS_MM__","__LITTLE_ENDIAN__","__WINDOWS_DS__"}
+			defines {"WIN32","__WINDOWS_MM__","__WINDOWS_DS__"}
 		end
 
 		
 if os.is("Linux") then initX11() 
-                defines  {"__OS_LINUX__","__LINUX_ALSA__","__LITTLE_ENDIAN__"}
+                defines  {"__OS_LINUX__","__LINUX_ALSA__"}
 	links {"asound","pthread"}
 end
 
@@ -33,6 +36,6 @@ if os.is("MacOSX") then
 	links{"Cocoa.framework"}
 	links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
 
-	defines {"__OS_MACOSX__","__LITTLE_ENDIAN__"}
+	defines {"__OS_MACOSX__"}
 end
 

From 72d5366a925fd77c8a9e27d9add17c05976e5862 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Wed, 26 Apr 2017 21:34:43 -0700
Subject: [PATCH 11/80] Update b3WriteWavFile.h

---
 examples/TinyAudio/b3WriteWavFile.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/TinyAudio/b3WriteWavFile.h b/examples/TinyAudio/b3WriteWavFile.h
index 71462a315..143bcba26 100644
--- a/examples/TinyAudio/b3WriteWavFile.h
+++ b/examples/TinyAudio/b3WriteWavFile.h
@@ -25,8 +25,8 @@ public:
 	void closeWavFile();
 
 	void tick( double* values, int numValues );
-	void tick( float* values, int numValues );
+	
 
 };
 
-#endif  //B3_WRITE_WAV_FILE_H
\ No newline at end of file
+#endif  //B3_WRITE_WAV_FILE_H

From dfc180006504354afb7390ab6aecf237239bfc0f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 27 Apr 2017 08:39:57 -0700
Subject: [PATCH 12/80] remove the goto's from the source code (came from
 http://github.com/thestk/stk toolkit) add test wav file

---
 data/wav/xylophone.rosewood.ff.C5B5_1.wav | Bin 0 -> 588208 bytes
 examples/TinyAudio/TinyAudioExample.cpp   |   5 +-
 examples/TinyAudio/b3ReadWavFile.cpp      |  87 +++++++++++++---------
 examples/TinyAudio/b3SoundSource.cpp      |   1 +
 examples/TinyAudio/b3WriteWavFile.cpp     |  13 ++--
 5 files changed, 63 insertions(+), 43 deletions(-)
 create mode 100644 data/wav/xylophone.rosewood.ff.C5B5_1.wav

diff --git a/data/wav/xylophone.rosewood.ff.C5B5_1.wav b/data/wav/xylophone.rosewood.ff.C5B5_1.wav
new file mode 100644
index 0000000000000000000000000000000000000000..47437cd74c3a1bdd1b33d38d49752b6ce1ec5753
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zZ?wLLv*t{MM?jo)zsD1)tJ2R1SFY~SS#Xd8agn?Y+)5vTyoJ2Qyx=DHi#d620`qlV
z8GRu>gVV?##F3NN$CLh}a|AD&-~Qpn$2@fu>dws1e(W>2AIvFwjj}Euqx9ipF~aS$
zQD=e&aGHJLZy)9#nX~=d?+DN2NpkS~{?dq_I2pU&^--?K$^Cf@Sk{oy*(-YYp@F~m
z|1)sn8r*uU(>(E!=&cXD#98&bLcu)XG-fc;hjZWe!D|Wnz}f5`O&#ocAkRK`>QCPb
zHh9&2JIayz3;S-J;j-R2f@5C^|EQk4%6``>Qjg!gO4OgNk2=fG!l|p+H+5F~I?BPv
zEON!)J}NkVS1MCy0#Ex4w@<&Pmg!?dZp8b&v4U(JjXV=_BVK&D_ri95dp`V}i)SNJ
zPxCR49MC%t@it`7r#up$si(0&iM$oRN?q2u*NeRS(~tX-kk`jj5Bs-)zwaZmk8!_$
Q=YIIzwGn%7{xetp{~tImBLDyZ

literal 0
HcmV?d00001

diff --git a/examples/TinyAudio/TinyAudioExample.cpp b/examples/TinyAudio/TinyAudioExample.cpp
index e8061bd84..9a8b0dc98 100644
--- a/examples/TinyAudio/TinyAudioExample.cpp
+++ b/examples/TinyAudio/TinyAudioExample.cpp
@@ -41,11 +41,13 @@ public:
 		m_soundSource->setOscillatorAmplitude(0,1);
 		m_soundSource->setOscillatorAmplitude(1,1);
 		m_soundEngine.addSoundSource(m_soundSource);
-
+		m_soundSource->startSound();
+m_soundSource->stopSound();
 	}  
 	
 	virtual void exitPhysics()
 	{
+		
 		m_soundEngine.exit();
 	}
 
@@ -91,6 +93,7 @@ public:
 				if (state==1)
 				{
 					m_soundSource->startSound();
+
 					
 
 				}
diff --git a/examples/TinyAudio/b3ReadWavFile.cpp b/examples/TinyAudio/b3ReadWavFile.cpp
index 00dbafcbf..e07bc81cb 100644
--- a/examples/TinyAudio/b3ReadWavFile.cpp
+++ b/examples/TinyAudio/b3ReadWavFile.cpp
@@ -1,7 +1,7 @@
 
 //b3ReadWavFile is implemented based on code from the STK toolkit
 //See https://github.com/thestk/stk
-//Some improvement: the ticking data (b3WavTicker) is separate from wav file, 
+//Some improvement: the ticking data (b3WavTicker) is separate from wav file,
 //This makes it possoble to play a single wav multiple times at the same time
 
 #include "b3ReadWavFile.h"
@@ -20,9 +20,9 @@ b3ReadWavFile::b3ReadWavFile()
 }
 b3ReadWavFile::~b3ReadWavFile()
 {
+	if (fd_)
+		fclose(fd_);
 }
-		
-
 
 void b3ReadWavFile::normalize(double peak)
 {
@@ -100,12 +100,13 @@ b3WavTicker b3ReadWavFile::createWavTicker(double sampleRate)
 
 bool b3ReadWavFile::getWavInfo(const char *fileName)
 {
-	fd_ = fopen(fileName, "rb");
+	fd_ = fopen(fileName,"rb");
 	if (fd_ == 0)
 		return false;
 
 	char header[12];
-	if (fread(&header, 4, 3, fd_) != 3) goto error;
+	if (fread(&header, 4, 3, fd_) != 3)
+		return false;
 	bool res = false;
 
 	if (!strncmp(header, "RIFF", 4) &&
@@ -116,22 +117,28 @@ bool b3ReadWavFile::getWavInfo(const char *fileName)
 	// Find "format" chunk ... it must come before the "data" chunk.
 	char id[4];
 	int chunkSize;
-	if (fread(&id, 4, 1, fd_) != 1) goto error;
+	if (fread(&id, 4, 1, fd_) != 1)
+		return false;
 	while (strncmp(id, "fmt ", 4))
 	{
-		if (fread(&chunkSize, 4, 1, fd_) != 1) goto error;
+		if (fread(&chunkSize, 4, 1, fd_) != 1)
+			return false;
 		if (!m_machineIsLittleEndian)
 		{
 			b3Swap32((unsigned char *)&chunkSize);
-		}		
-		if (fseek(fd_, chunkSize, SEEK_CUR) == -1) goto error;
-		if (fread(&id, 4, 1, fd_) != 1) goto error;
+		}
+		if (fseek(fd_, chunkSize, SEEK_CUR) == -1)
+			return false;
+		if (fread(&id, 4, 1, fd_) != 1)
+			return false;
 	}
 
 	// Check that the data is not compressed.
 	unsigned short format_tag;
-	if (fread(&chunkSize, 4, 1, fd_) != 1) goto error;  // Read fmt chunk size.
-	if (fread(&format_tag, 2, 1, fd_) != 1) goto error;
+	if (fread(&chunkSize, 4, 1, fd_) != 1)
+		return false;  // Read fmt chunk size.
+	if (fread(&format_tag, 2, 1, fd_) != 1)
+		return false;
 	if (!m_machineIsLittleEndian)
 	{
 		b3Swap16((unsigned char *)&format_tag);
@@ -140,21 +147,27 @@ bool b3ReadWavFile::getWavInfo(const char *fileName)
 	if (format_tag == 0xFFFE)
 	{  // WAVE_FORMAT_EXTENSIBLE
 		dataOffset_ = ftell(fd_);
-		if (fseek(fd_, 14, SEEK_CUR) == -1) goto error;
+		if (fseek(fd_, 14, SEEK_CUR) == -1)
+			return false;
 		unsigned short extSize;
-		if (fread(&extSize, 2, 1, fd_) != 1) goto error;
+		if (fread(&extSize, 2, 1, fd_) != 1)
+			return false;
 		if (!m_machineIsLittleEndian)
 		{
 			b3Swap16((unsigned char *)&extSize);
 		}
-		if (extSize == 0) goto error;
-		if (fseek(fd_, 6, SEEK_CUR) == -1) goto error;
-		if (fread(&format_tag, 2, 1, fd_) != 1) goto error;
+		if (extSize == 0)
+			return false;
+		if (fseek(fd_, 6, SEEK_CUR) == -1)
+			return false;
+		if (fread(&format_tag, 2, 1, fd_) != 1)
+			return false;
 		if (!m_machineIsLittleEndian)
 		{
 			b3Swap16((unsigned char *)&format_tag);
 		}
-		if (fseek(fd_, dataOffset_, SEEK_SET) == -1) goto error;
+		if (fseek(fd_, dataOffset_, SEEK_SET) == -1)
+			return false;
 	}
 	if (format_tag != 1 && format_tag != 3)
 	{  // PCM = 1, FLOAT = 3
@@ -164,7 +177,8 @@ bool b3ReadWavFile::getWavInfo(const char *fileName)
 
 	// Get number of channels from the header.
 	short int temp;
-	if (fread(&temp, 2, 1, fd_) != 1) goto error;
+	if (fread(&temp, 2, 1, fd_) != 1)
+		return false;
 	if (!m_machineIsLittleEndian)
 	{
 		b3Swap16((unsigned char *)&temp);
@@ -173,7 +187,8 @@ bool b3ReadWavFile::getWavInfo(const char *fileName)
 
 	// Get file sample rate from the header.
 	int srate;
-	if (fread(&srate, 4, 1, fd_) != 1) goto error;
+	if (fread(&srate, 4, 1, fd_) != 1)
+		return false;
 	if (!m_machineIsLittleEndian)
 	{
 		b3Swap32((unsigned char *)&srate);
@@ -182,8 +197,10 @@ bool b3ReadWavFile::getWavInfo(const char *fileName)
 
 	// Determine the data type.
 	dataType_ = 0;
-	if (fseek(fd_, 6, SEEK_CUR) == -1) goto error;  // Locate bits_per_sample info.
-	if (fread(&temp, 2, 1, fd_) != 1) goto error;
+	if (fseek(fd_, 6, SEEK_CUR) == -1)
+		return false;  // Locate bits_per_sample info.
+	if (fread(&temp, 2, 1, fd_) != 1)
+		return false;
 	if (!m_machineIsLittleEndian)
 	{
 		b3Swap16((unsigned char *)&temp);
@@ -213,26 +230,32 @@ bool b3ReadWavFile::getWavInfo(const char *fileName)
 	}
 
 	// Jump over any remaining part of the "fmt" chunk.
-	if (fseek(fd_, chunkSize - 16, SEEK_CUR) == -1) goto error;
+	if (fseek(fd_, chunkSize - 16, SEEK_CUR) == -1)
+		return false;
 
 	// Find "data" chunk ... it must come after the "fmt" chunk.
-	if (fread(&id, 4, 1, fd_) != 1) goto error;
+	if (fread(&id, 4, 1, fd_) != 1)
+		return false;
 
 	while (strncmp(id, "data", 4))
 	{
-		if (fread(&chunkSize, 4, 1, fd_) != 1) goto error;
+		if (fread(&chunkSize, 4, 1, fd_) != 1)
+			return false;
 		if (!m_machineIsLittleEndian)
 		{
 			b3Swap32((unsigned char *)&chunkSize);
 		}
 		chunkSize += chunkSize % 2;  // chunk sizes must be even
-		if (fseek(fd_, chunkSize, SEEK_CUR) == -1) goto error;
-		if (fread(&id, 4, 1, fd_) != 1) goto error;
+		if (fseek(fd_, chunkSize, SEEK_CUR) == -1)
+			return false;
+		if (fread(&id, 4, 1, fd_) != 1)
+			return false;
 	}
 
 	// Get length of data from the header.
 	int bytes;
-	if (fread(&bytes, 4, 1, fd_) != 1) goto error;
+	if (fread(&bytes, 4, 1, fd_) != 1)
+		return false;
 	if (!m_machineIsLittleEndian)
 	{
 		b3Swap32((unsigned char *)&bytes);
@@ -248,16 +271,8 @@ bool b3ReadWavFile::getWavInfo(const char *fileName)
 	}
 	wavFile_ = true;
 	return true;
-
-error:
-	if (fd_)
-		fclose(fd_);
-
-	//  oStream_ << "FileRead: error reading WAV file (" << fileName << ").";
-	return false;
 }
 
-
 bool b3ReadWavFile::read(unsigned long startFrame, bool doNormalize)
 {
 	// Make sure we have an open file.
diff --git a/examples/TinyAudio/b3SoundSource.cpp b/examples/TinyAudio/b3SoundSource.cpp
index 1db3129c7..9d65cc451 100644
--- a/examples/TinyAudio/b3SoundSource.cpp
+++ b/examples/TinyAudio/b3SoundSource.cpp
@@ -103,6 +103,7 @@ bool b3SoundSource::computeSamples(double* sampleBuffer, int numSamples, double
 			{
 				int frame = 0;
 				double data = m_data->m_oscillators[osc].m_amplitude * m_data->m_wavFile.tick(frame,&m_data->m_oscillators[osc].m_wavTicker);
+				
 				samples[osc] += data;
 			}
 	
diff --git a/examples/TinyAudio/b3WriteWavFile.cpp b/examples/TinyAudio/b3WriteWavFile.cpp
index 2e16d56a9..e95a27d3b 100644
--- a/examples/TinyAudio/b3WriteWavFile.cpp
+++ b/examples/TinyAudio/b3WriteWavFile.cpp
@@ -153,14 +153,15 @@ bool b3WriteWavFile::setWavFile(std::string fileName, int sampleRate, int numCha
 
 	char data[4] = {'d', 'a', 't', 'a'};
 	int dataSize = 0;
-	if (fwrite(&hdr, 1, bytesToWrite, m_data->m_file) != bytesToWrite) goto error;
-	if (fwrite(&data, 4, 1, m_data->m_file) != 1) goto error;
-	if (fwrite(&dataSize, 4, 1, m_data->m_file) != 1) goto error;
-
+	if (fwrite(&hdr, 1, bytesToWrite, m_data->m_file) != bytesToWrite) 
+		return false;
+	if (fwrite(&data, 4, 1, m_data->m_file) != 1) 
+		return false;
+	if (fwrite(&dataSize, 4, 1, m_data->m_file) != 1) 
+		return false;
+	
 	return true;
 
-error:
-	return false;
 }
 
 void b3WriteWavFile::closeWavFile()

From c51b22d6f5c69117a699e0876b172251146b380a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 27 Apr 2017 08:42:28 -0700
Subject: [PATCH 13/80] remove verbose print's from ADSR code.

---
 examples/TinyAudio/TinyAudioExample.cpp | 3 +--
 examples/TinyAudio/b3ADSR.cpp           | 8 +-------
 2 files changed, 2 insertions(+), 9 deletions(-)

diff --git a/examples/TinyAudio/TinyAudioExample.cpp b/examples/TinyAudio/TinyAudioExample.cpp
index 9a8b0dc98..330339458 100644
--- a/examples/TinyAudio/TinyAudioExample.cpp
+++ b/examples/TinyAudio/TinyAudioExample.cpp
@@ -42,12 +42,11 @@ public:
 		m_soundSource->setOscillatorAmplitude(1,1);
 		m_soundEngine.addSoundSource(m_soundSource);
 		m_soundSource->startSound();
-m_soundSource->stopSound();
 	}  
 	
 	virtual void exitPhysics()
 	{
-		
+		m_soundSource->stopSound();		
 		m_soundEngine.exit();
 	}
 
diff --git a/examples/TinyAudio/b3ADSR.cpp b/examples/TinyAudio/b3ADSR.cpp
index aefa5db30..f2d743632 100644
--- a/examples/TinyAudio/b3ADSR.cpp
+++ b/examples/TinyAudio/b3ADSR.cpp
@@ -3,7 +3,7 @@
 //http://github.com/thestk/stk
 
 //! ADSR envelope states.
-#include <stdio.h>
+
 
 enum
 {
@@ -40,7 +40,6 @@ double b3ADSR::tick()
 				m_value = m_target;
 				m_target = m_sustainLevel;
 				m_state = ADSR_DECAY;
-				printf("ADSR_ATTACK->ADSR_DECAY\n");
 			}
 			break;
 
@@ -52,7 +51,6 @@ double b3ADSR::tick()
 				{
 					m_value = m_sustainLevel;
 					m_state = ADSR_SUSTAIN;
-					printf("ADSR_DECAY->ADSR_SUSTAIN\n");
 				}
 			}
 			else
@@ -62,7 +60,6 @@ double b3ADSR::tick()
 				{
 					m_value = m_sustainLevel;
 					m_state = ADSR_SUSTAIN;
-					printf("ADSR_DECAY->ADSR_SUSTAIN\n");
 				}
 			}
 			break;
@@ -73,7 +70,6 @@ double b3ADSR::tick()
 			{
 				m_value = 0.0;
 				m_state = ADSR_IDLE;
-				printf("ADSR_RELEASE->ADSR_IDLE\n");
 			}
 	}
 
@@ -90,13 +86,11 @@ void b3ADSR::keyOn()
 	if (m_target <= 0.0)
 		m_target = 1.0;
 	m_state = ADSR_ATTACK;
-	printf("keyOn::ADSR_ATTACK\n");
 }
 
 void b3ADSR::keyOff()
 {
 	m_target = 0.0;
 	m_state = ADSR_RELEASE;
-	printf("keyOff::ADSR_RELEASE\n");
 
 }

From e6759cfa4fad87fb8a7e006a32a3d7b57b8e16e7 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Thu, 27 Apr 2017 12:07:31 -0700
Subject: [PATCH 14/80] TinyAudio fixes for OSX etc.

---
 examples/ExampleBrowser/premake4.lua | 2 +-
 examples/TinyAudio/b3ReadWavFile.cpp | 3 ++-
 examples/TinyAudio/b3ReadWavFile.h   | 2 +-
 examples/TinyAudio/premake4.lua      | 2 +-
 4 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index 9b794ce6d..dc1a0b4d1 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -53,7 +53,7 @@ project "App_BulletExampleBrowser"
 			if os.is("MacOSX") then
 				links{"Cocoa.framework"}
 				links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
-				defines {"__OS_MACOSX__"}
+				defines {"__OS_MACOSX__","__MACOSX_CORE__"}
 			end
 		end
 					
diff --git a/examples/TinyAudio/b3ReadWavFile.cpp b/examples/TinyAudio/b3ReadWavFile.cpp
index e07bc81cb..c5e9ff14a 100644
--- a/examples/TinyAudio/b3ReadWavFile.cpp
+++ b/examples/TinyAudio/b3ReadWavFile.cpp
@@ -16,6 +16,7 @@ const unsigned long B3_FLOAT64 = 0x20;
 
 b3ReadWavFile::b3ReadWavFile()
 {
+	fd_ = 0;
 	m_machineIsLittleEndian = b3MachineIsLittleEndian();
 }
 b3ReadWavFile::~b3ReadWavFile()
@@ -488,4 +489,4 @@ bool b3ReadWavFile::read(unsigned long startFrame, bool doNormalize)
 	// error:
 	//  oStream_ << "FileRead: Error reading file data.";
 	//  handleError( StkError::FILE_ERROR);
-}
\ No newline at end of file
+}
diff --git a/examples/TinyAudio/b3ReadWavFile.h b/examples/TinyAudio/b3ReadWavFile.h
index a89656acf..fb77dafb9 100644
--- a/examples/TinyAudio/b3ReadWavFile.h
+++ b/examples/TinyAudio/b3ReadWavFile.h
@@ -23,7 +23,7 @@ class b3ReadWavFile
 	unsigned long m_numFrames;
 	unsigned long dataType_;
 	double fileDataRate_;
-	FILE *fd_ = 0;
+	FILE *fd_;
 	unsigned long dataOffset_;
 	unsigned int channels_;
 	bool m_machineIsLittleEndian;
diff --git a/examples/TinyAudio/premake4.lua b/examples/TinyAudio/premake4.lua
index 4953d01f3..7b2dc043c 100644
--- a/examples/TinyAudio/premake4.lua
+++ b/examples/TinyAudio/premake4.lua
@@ -36,6 +36,6 @@ if os.is("MacOSX") then
 	links{"Cocoa.framework"}
 	links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
 
-	defines {"__OS_MACOSX__"}
+	defines {"__OS_MACOSX__", "__MACOSX_CORE__"}
 end
 

From 37a16f7e6bb5ed68b6ad37506144c194a0cda234 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 28 Apr 2017 11:35:00 -0700
Subject: [PATCH 15/80] move work on TinyAudio.

---
 examples/TinyAudio/TinyAudioExample.cpp | 153 ++++++++++++++++++------
 examples/TinyAudio/b3ADSR.cpp           |   6 +-
 examples/TinyAudio/b3AudioListener.cpp  |   5 +-
 examples/TinyAudio/b3SoundEngine.cpp    | 111 ++++++++++++++---
 examples/TinyAudio/b3SoundEngine.h      |  23 +++-
 examples/TinyAudio/b3SoundSource.cpp    |  92 ++++++++------
 examples/TinyAudio/b3SoundSource.h      |   6 +-
 examples/TinyAudio/b3Sound_C_Api.h      |  31 +++++
 8 files changed, 325 insertions(+), 102 deletions(-)
 create mode 100644 examples/TinyAudio/b3Sound_C_Api.h

diff --git a/examples/TinyAudio/TinyAudioExample.cpp b/examples/TinyAudio/TinyAudioExample.cpp
index 330339458..9fb17970f 100644
--- a/examples/TinyAudio/TinyAudioExample.cpp
+++ b/examples/TinyAudio/TinyAudioExample.cpp
@@ -1,28 +1,76 @@
 #include "TinyAudioExample.h"
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
-
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3Common/b3HashMap.h"
 
 
 #include "b3SoundEngine.h"
 #include "b3SoundSource.h"
+#include <string>
+
+///very basic hashable string implementation, compatible with b3HashMap
+struct MyHashString
+{
+	std::string m_string;
+	unsigned int	m_hash;
+
+	B3_FORCE_INLINE	unsigned int getHash()const
+	{
+		return m_hash;
+	}
+
+	MyHashString(const char* name)
+		:m_string(name)
+	{
+		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
+		static const unsigned int  InitialFNV = 2166136261u;
+		static const unsigned int FNVMultiple = 16777619u;
+
+		/* Fowler / Noll / Vo (FNV) Hash */
+		unsigned int hash = InitialFNV;
+		
+		for(int i = 0; m_string[i]; i++)
+		{
+			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
+			hash = hash * FNVMultiple;  /* multiply by the magic number */
+		}
+		m_hash = hash;
+	}
+
+	bool equals(const MyHashString& other) const
+	{
+		return (m_string == other.m_string);
+	}
+
+};
 
 
+double base_frequency = 440.0;
+double base_pitch = 69.0;
+
+double MidiPitch2Frequency(double incoming_note) {
+  return base_frequency * pow (2.0, (incoming_note - base_pitch) / 12.0);
+}
+
+double FrequencytoMidiPitch(double incoming_frequency) {
+  return base_pitch + (12.0 * log(incoming_frequency / base_frequency) / log(2));
+}
 
 
 class TinyAudioExample : public CommonExampleInterface
 {
 	
 	GUIHelperInterface* m_guiHelper;
-
 	
 	b3SoundEngine m_soundEngine;
-	b3SoundSource* m_soundSource;
+	int m_wavId;
+
+	b3HashMap<MyHashString,int> m_keyToSoundSource;
 	
 public:
 	TinyAudioExample(struct GUIHelperInterface* helper)
-		:m_guiHelper(helper),
-		m_soundSource(0)
+		:m_guiHelper(helper)
 	{
 	}
 	
@@ -32,21 +80,18 @@ public:
 
 	virtual void initPhysics()
 	{
-		m_soundEngine.init();
-		int sampleRate = m_soundEngine.getSampleRate();
+		int numSoundSources = 8;
+		bool useRealTimeDac = true;
 
-		m_soundSource = new b3SoundSource();
-		m_soundSource->setWavFile(1,"wav/xylophone.rosewood.ff.C5B5_1.wav", sampleRate);
-		m_soundSource->setWavFile(0,"wav/xylophone.rosewood.ff.C5B5_1.wav", sampleRate);
-		m_soundSource->setOscillatorAmplitude(0,1);
-		m_soundSource->setOscillatorAmplitude(1,1);
-		m_soundEngine.addSoundSource(m_soundSource);
-		m_soundSource->startSound();
+		m_soundEngine.init(numSoundSources, useRealTimeDac);
+
+		m_wavId = m_soundEngine.loadWavFile("wav/xylophone.rosewood.ff.C5B5_1.wav");
+		int sampleRate = m_soundEngine.getSampleRate();
 	}  
 	
 	virtual void exitPhysics()
 	{
-		m_soundSource->stopSound();		
+		
 		m_soundEngine.exit();
 	}
 
@@ -69,37 +114,75 @@ public:
 	{
 		return false;
 	}
+
+	
+
 	virtual bool	keyboardCallback(int key, int state)
 	{
-		if (key=='v' || key=='b')
+		if (key>='a' && key<='z')
 		{
+			char keyStr[2];
+			keyStr[0] = (char)key;
+			keyStr[1] = 0;
+			MyHashString hs (keyStr);
 
-				if (state)
+			if (state)
+			{
+				int soundSourceIndex = m_soundEngine.getAvailableSoundSource();
+				if (soundSourceIndex>=0)
 				{
-					if (key=='b')
-					{
-						m_soundSource->setOscillatorFrequency(0, 442);
-						m_soundSource->setOscillatorFrequency(1, 442);
-					}
-					if (key=='v')
-					{
-						m_soundSource->setOscillatorFrequency(0, 2*442);
-						m_soundSource->setOscillatorFrequency(1, 2*442);
-					}
-				}
-
-
-				if (state==1)
-				{
-					m_soundSource->startSound();
 
+					int note = key-(97-58);
+					double freq = MidiPitch2Frequency(note);
 					
+					b3SoundMessage msg;
+					msg.m_type = B3_SOUND_SOURCE_SINE_OSCILLATOR;
+					msg.m_frequency = freq;
+					msg.m_amplitude = .25;
 
+					//msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
+					//msg.m_wavId = m_wavId;
+
+					m_soundEngine.startSound(soundSourceIndex, msg);
+					m_keyToSoundSource.insert(hs,soundSourceIndex);
+					//printf("soundSourceIndex:%d\n", soundSourceIndex);
+					
+					#if 0
+					b3SoundSource* soundSource = this->m_soundSourcesPool[soundSourceIndex];
+
+					soundSource->setOscillatorFrequency(0, freq );
+					soundSource->setOscillatorFrequency(1, freq );
+					soundSource->startSound();
+					
+					{
+						int* soundSourceIndexPtr = m_keyToSoundSource[hs];
+						if (soundSourceIndexPtr)
+						{
+							int newIndex = *soundSourceIndexPtr;
+							printf("just inserted: %d\n", newIndex);
+						}
+					}
+					#endif
 				}
-				else
+			} else
+			{
+				int* soundSourceIndexPtr = m_keyToSoundSource[hs];
+				if (soundSourceIndexPtr)
 				{
-					m_soundSource->stopSound();
+					int soundSourceIndex = *soundSourceIndexPtr;
+					//printf("releaseSound: %d\n", soundSourceIndex);
+					m_soundEngine.releaseSound(soundSourceIndex);
 				}
+				#if 0
+					if (soundSourceIndex>=0)
+					{
+						printf("releasing %d\n", soundSourceIndex);
+						b3SoundSource* soundSource = this->m_soundSourcesPool[soundSourceIndex];
+						soundSource->stopSound();
+					}
+				}
+				#endif
+			}
 		}
 
 
diff --git a/examples/TinyAudio/b3ADSR.cpp b/examples/TinyAudio/b3ADSR.cpp
index f2d743632..4f5b09b14 100644
--- a/examples/TinyAudio/b3ADSR.cpp
+++ b/examples/TinyAudio/b3ADSR.cpp
@@ -18,9 +18,9 @@ b3ADSR::b3ADSR()
 {
 	m_target = 0.0;
 	m_value = 0.0;
-	m_attackRate = 0.001;
+	m_attackRate = 0.0001;
 	m_decayRate = 0.00001;
-	m_releaseRate = 0.005;
+	m_releaseRate = 0.0005;
 	m_sustainLevel = 0.5;
 	m_state = ADSR_IDLE;
 }
@@ -78,7 +78,7 @@ double b3ADSR::tick()
 
 bool b3ADSR::isIdle() const
 {
-	return true;
+	return m_state == ADSR_IDLE;
 }
 
 void b3ADSR::keyOn()
diff --git a/examples/TinyAudio/b3AudioListener.cpp b/examples/TinyAudio/b3AudioListener.cpp
index e2c1377ee..dc78777c9 100644
--- a/examples/TinyAudio/b3AudioListener.cpp
+++ b/examples/TinyAudio/b3AudioListener.cpp
@@ -141,8 +141,9 @@ int b3AudioListener::tick(void *outputBuffer,void *inputBuffer1,unsigned int nBu
 					//simple mixer
 					if (numActiveSources)
 					{
-						outs[0] *= .3/numActiveSources;
-						outs[1] *= .3/numActiveSources;
+						
+						outs[0] *= 1./4.;
+						outs[1] *= 1./4.;
 					}
 
 				*samples++ = outs[0];
diff --git a/examples/TinyAudio/b3SoundEngine.cpp b/examples/TinyAudio/b3SoundEngine.cpp
index a72821bf3..851010a70 100644
--- a/examples/TinyAudio/b3SoundEngine.cpp
+++ b/examples/TinyAudio/b3SoundEngine.cpp
@@ -5,6 +5,9 @@
 #include "b3AudioListener.h"
 #include "b3SoundSource.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
+#include "b3ReadWavFile.h"
+#include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3HashMap.h"
 
 // The default real-time audio input and output buffer size.  If
 // clicks are occuring in the input and/or output sound stream, a
@@ -17,9 +20,17 @@ struct b3SoundEngineInternalData
 {
 	b3AudioListener m_listener;
 	RtAudio m_dac;
+	bool m_useRealTimeDac;
 
 	b3AlignedObjectArray<b3SoundSource*> m_soundSources;
+	b3HashMap<b3HashInt, b3ReadWavFile*> m_wavFiles;
+	int m_wavFileUidGenerator;
 
+	b3SoundEngineInternalData()
+		: m_useRealTimeDac(false),
+		  m_wavFileUidGenerator(123)
+	{
+	}
 };
 
 b3SoundEngine::b3SoundEngine()
@@ -33,49 +44,113 @@ b3SoundEngine::~b3SoundEngine()
 	delete m_data;
 }
 
-void b3SoundEngine::init()
+void b3SoundEngine::init(int maxNumSoundSources, bool useRealTimeDac)
 {
+	for (int i = 0; i < maxNumSoundSources; i++)
+	{
+		b3SoundSource* source = new b3SoundSource();
+		m_data->m_soundSources.push_back(source);
+		m_data->m_listener.addSoundSource(source);
+	}
 
-	RtAudioFormat format = ( sizeof(double) == 8 ) ? RTAUDIO_FLOAT64 : RTAUDIO_FLOAT32;
-	RtAudio::StreamParameters parameters;
-	parameters.deviceId = m_data->m_dac.getDefaultOutputDevice();
-	parameters.nChannels = 2;
+	this->m_data->m_useRealTimeDac = useRealTimeDac;
 
-	unsigned int bufferFrames = RT_BUFFER_SIZE;
-	double sampleRate = m_data->m_listener.getSampleRate();
+	if (useRealTimeDac)
+	{
+		RtAudioFormat format = (sizeof(double) == 8) ? RTAUDIO_FLOAT64 : RTAUDIO_FLOAT32;
+		RtAudio::StreamParameters parameters;
+		parameters.deviceId = m_data->m_dac.getDefaultOutputDevice();
+		parameters.nChannels = 2;
 
-	m_data->m_dac.openStream( &parameters, NULL, format, (unsigned int)sampleRate, &bufferFrames, &b3AudioListener::tick,
-	(void *)m_data->m_listener.getTickData());
+		unsigned int bufferFrames = RT_BUFFER_SIZE;
+		double sampleRate = m_data->m_listener.getSampleRate();
 
-	m_data->m_dac.startStream();
+		m_data->m_dac.openStream(&parameters, NULL, format, (unsigned int)sampleRate, &bufferFrames, &b3AudioListener::tick,
+								 (void*)m_data->m_listener.getTickData());
+
+		m_data->m_dac.startStream();
+	}
 }
 
 void b3SoundEngine::exit()
 {
 	m_data->m_dac.closeStream();
+	m_data->m_useRealTimeDac = false;
 
-	for (int i=0;i<m_data->m_soundSources.size();i++)
+	for (int i = 0; i < m_data->m_soundSources.size(); i++)
 	{
 		m_data->m_listener.removeSoundSource(m_data->m_soundSources[i]);
+		m_data->m_soundSources[i]->stopSound();
 		delete m_data->m_soundSources[i];
 	}
 	m_data->m_soundSources.clear();
 }
 
-
-void b3SoundEngine::addSoundSource(b3SoundSource* source)
+int b3SoundEngine::getAvailableSoundSource()
 {
-	m_data->m_soundSources.push_back(source);
-	m_data->m_listener.addSoundSource(source);
+	for (int i = 0; i < m_data->m_soundSources.size(); i++)
+	{
+		if (m_data->m_soundSources[i]->isAvailable())
+		{
+			return i;
+		}
+	}
+	return -1;
 }
 
-void b3SoundEngine::removeSoundSource(b3SoundSource* source)
+void b3SoundEngine::startSound(int soundSourceIndex, b3SoundMessage msg)
 {
-	m_data->m_soundSources.remove(source);
+	b3SoundSource* soundSource = m_data->m_soundSources[soundSourceIndex];
+	switch (msg.m_type)
+	{
+		case B3_SOUND_SOURCE_SINE_OSCILLATOR:
+		{
+			soundSource->setOscillatorFrequency(0, msg.m_frequency);
+			soundSource->setOscillatorFrequency(1, msg.m_frequency);
+			soundSource->setOscillatorAmplitude(0,msg.m_amplitude);
+			soundSource->setOscillatorAmplitude(1,msg.m_amplitude);
+			soundSource->startSound();
+			break;
+		}
+		case B3_SOUND_SOURCE_WAV_FILE:
+		{
+			b3ReadWavFile** wavFilePtr = m_data->m_wavFiles[msg.m_wavId];
+			if (wavFilePtr)
+			{
+				b3ReadWavFile* wavFile = *wavFilePtr;
+				soundSource->setWavFile(0,wavFile,getSampleRate());
+				soundSource->setWavFile(1,wavFile,getSampleRate());
+				soundSource->startSound();
+			}
+			break;
+		}
+		default:
+		{
+		}
+	}
+}
+
+void b3SoundEngine::releaseSound(int soundSourceIndex)
+{
+	b3SoundSource* soundSource = m_data->m_soundSources[soundSourceIndex];
+	soundSource->stopSound();
 }
 
 int b3SoundEngine::loadWavFile(const char* fileName)
 {
+	char resourcePath[1024];
+
+	if (b3ResourcePath::findResourcePath(fileName, resourcePath, 1024))
+	{
+		b3ReadWavFile* wavFile = new b3ReadWavFile();
+		wavFile->getWavInfo(resourcePath);
+		wavFile->resize();
+		wavFile->read(0, true);
+		wavFile->normalize(1);
+		int wavUID = m_data->m_wavFileUidGenerator++;
+		m_data->m_wavFiles.insert(wavUID, wavFile);
+		return wavUID;
+	}
 	return 0;
 }
 
@@ -83,5 +158,3 @@ double b3SoundEngine::getSampleRate() const
 {
 	return m_data->m_listener.getSampleRate();
 }
-
-	
\ No newline at end of file
diff --git a/examples/TinyAudio/b3SoundEngine.h b/examples/TinyAudio/b3SoundEngine.h
index b83dadd9c..850a74ca5 100644
--- a/examples/TinyAudio/b3SoundEngine.h
+++ b/examples/TinyAudio/b3SoundEngine.h
@@ -3,6 +3,20 @@
 
 #include "Bullet3Common/b3Scalar.h"
 
+struct b3SoundMessage
+{
+	int m_type;//B3_SOUND_SOURCE_TYPE
+	double m_amplitude;
+
+	double m_frequency;
+	int m_wavId;
+
+	double m_attack;
+	double m_decay;
+	double m_sustain;
+	double m_release;
+};
+
 class b3SoundEngine
 {
 	struct b3SoundEngineInternalData* m_data;
@@ -12,13 +26,12 @@ class b3SoundEngine
 	b3SoundEngine();
 	virtual ~b3SoundEngine();
 
-	void init();
+	void init(int maxNumSoundSources, bool useRealTimeDac);
 	void exit();
 
-	//int createListener();
-
-	void addSoundSource(class b3SoundSource* source);
-	void removeSoundSource(class b3SoundSource* source);
+	int getAvailableSoundSource();
+	void startSound(int soundSourceIndex, b3SoundMessage msg);
+	void releaseSound(int soundSourceIndex);
 
 	int loadWavFile(const char* fileName);
 
diff --git a/examples/TinyAudio/b3SoundSource.cpp b/examples/TinyAudio/b3SoundSource.cpp
index 9d65cc451..527f28137 100644
--- a/examples/TinyAudio/b3SoundSource.cpp
+++ b/examples/TinyAudio/b3SoundSource.cpp
@@ -3,10 +3,11 @@
 #define MY2PI (2.*3.14159265)
 #include <math.h>
 
-#include "../Utils/b3ResourcePath.h"
+
 #include "Bullet3Common/b3FileUtils.h"
 #include "b3ReadWavFile.h"
 #include "b3ADSR.h"
+#include "b3Sound_C_Api.h"
 
 struct b3SoundOscillator
 {
@@ -62,7 +63,11 @@ struct b3SoundSourceInternalData
 {
 	b3SoundOscillator m_oscillators[MAX_OSCILLATORS];
 	b3ADSR m_envelope;
-	b3ReadWavFile m_wavFile;
+	b3ReadWavFile* m_wavFilePtr;
+	b3SoundSourceInternalData()
+		:m_wavFilePtr(0)
+	{
+	}
 };
 
 b3SoundSource::b3SoundSource()
@@ -79,6 +84,7 @@ bool b3SoundSource::computeSamples(double* sampleBuffer, int numSamples, double
 {
 	
 	double* outputSamples = sampleBuffer;
+	int numActive = 0;
 
 	for (int i=0;i<numSamples;i++)
 	{
@@ -87,32 +93,45 @@ bool b3SoundSource::computeSamples(double* sampleBuffer, int numSamples, double
 		double env = m_data->m_envelope.tick();
 		if (env)
 		{
-		for (int osc=0;osc<MAX_OSCILLATORS;osc++)
+			for (int osc=0;osc<MAX_OSCILLATORS;osc++)
+			{
+				if (m_data->m_oscillators[osc].m_type == 0)
+				{
+					samples[osc] +=  env * m_data->m_oscillators[osc].sampleSineWaveForm(sampleRate);
+					numActive++;
+				}
+
+				if (m_data->m_oscillators[osc].m_type == 1)
+				{
+					samples[osc] += env * m_data->m_oscillators[osc].sampleSawWaveForm(sampleRate);
+					numActive++;
+				}
+
+				if (m_data->m_oscillators[osc].m_type == 128)
+				{
+					int frame = 0;
+					double data = m_data->m_oscillators[osc].m_amplitude * m_data->m_wavFilePtr->tick(frame,&m_data->m_oscillators[osc].m_wavTicker);
+					samples[osc] += data;
+					numActive++;
+				}
+			}	
+		} else
 		{
-			if (m_data->m_oscillators[osc].m_type == 0)
+			for (int osc=0;osc<MAX_OSCILLATORS;osc++)
 			{
-				samples[osc] +=  env * m_data->m_oscillators[osc].sampleSineWaveForm(sampleRate);
+				if (m_data->m_oscillators[osc].m_type == 128)
+				{
+					m_data->m_oscillators[osc].m_wavTicker.finished_ = true;
+				}
 			}
-
-			if (m_data->m_oscillators[osc].m_type == 1)
-			{
-				samples[osc] += env * m_data->m_oscillators[osc].sampleSawWaveForm(sampleRate);
-			}
-
-			if (m_data->m_oscillators[osc].m_type == 128)
-			{
-				int frame = 0;
-				double data = m_data->m_oscillators[osc].m_amplitude * m_data->m_wavFile.tick(frame,&m_data->m_oscillators[osc].m_wavTicker);
-				
-				samples[osc] += data;
-			}
-	
-		}	
 		}
 		//sample *= 1./double(MAX_OSCILLATORS);
 
 		double sampleLeft = samples[0];
 		double sampleRight = samples[1];
+		if (sampleLeft != sampleRight)
+		{
+		}
 
 		*outputSamples++ = sampleRight;
 		*outputSamples++ = sampleLeft ;
@@ -127,7 +146,7 @@ bool b3SoundSource::computeSamples(double* sampleBuffer, int numSamples, double
 		}
 	}
 	*/
-	return true;
+	return numActive>0;
 //	return false;
 }
 
@@ -152,22 +171,28 @@ void b3SoundSource::setOscillatorPhase(int oscillatorIndex, double phase)
 	m_data->m_oscillators[oscillatorIndex].m_phase = phase;
 }
 
+bool b3SoundSource::isAvailable() const
+{
+	//available if ADSR is idle and wavticker is finished
+	return m_data->m_envelope.isIdle();
+}
+
 void b3SoundSource::startSound()
 {
 	if (m_data->m_envelope.isIdle())
 	{
 		for (int osc=0;osc<MAX_OSCILLATORS;osc++)
 		{
-			static int reset = 0;
-			printf("reset %d!\n",reset++);
-			if (m_data->m_oscillators[osc].m_wavTicker.finished_)
+			m_data->m_oscillators[osc].reset();
+
+			if (m_data->m_oscillators[osc].m_type == B3_SOUND_SOURCE_WAV_FILE)//				.m_wavTicker.finished_)
 			{
-				m_data->m_oscillators[osc].reset();
+				
 				//test reverse playback of wav
-				m_data->m_oscillators[osc].m_wavTicker.rate_ *= -1;
+				//m_data->m_oscillators[osc].m_wavTicker.rate_ *= -1;
 				if (m_data->m_oscillators[osc].m_wavTicker.rate_<0)
 				{
-					m_data->m_oscillators[osc].m_wavTicker.time_ = m_data->m_wavFile.getNumFrames()-1.;
+					m_data->m_oscillators[osc].m_wavTicker.time_ = m_data->m_wavFilePtr->getNumFrames()-1.;
 				} else
 				{
 					m_data->m_oscillators[osc].m_wavTicker.time_ = 0.f;
@@ -187,18 +212,11 @@ void b3SoundSource::stopSound()
 }
 
 
-bool b3SoundSource::setWavFile(int oscillatorIndex, const char* fileName, int sampleRate)
+bool b3SoundSource::setWavFile(int oscillatorIndex, b3ReadWavFile* wavFilePtr, int sampleRate)
 {
-	char resourcePath[1024];
-		
-	if (b3ResourcePath::findResourcePath(fileName,resourcePath,1024))
 	{
-
-		m_data->m_wavFile.getWavInfo(resourcePath);
-		m_data->m_wavFile.resize();
-		m_data->m_wavFile.read(0,true);
-		m_data->m_wavFile.normalize(1);
-		m_data->m_oscillators[oscillatorIndex].m_wavTicker = m_data->m_wavFile.createWavTicker(sampleRate);
+		m_data->m_wavFilePtr = wavFilePtr;
+		m_data->m_oscillators[oscillatorIndex].m_wavTicker = m_data->m_wavFilePtr->createWavTicker(sampleRate);
 
 //		waveIn.openFile(resourcePath);
 		double rate = 1.0;
diff --git a/examples/TinyAudio/b3SoundSource.h b/examples/TinyAudio/b3SoundSource.h
index 08c90475c..fc6080ecc 100644
--- a/examples/TinyAudio/b3SoundSource.h
+++ b/examples/TinyAudio/b3SoundSource.h
@@ -1,6 +1,9 @@
 #ifndef B3_SOUND_SOURCE_H
 #define B3_SOUND_SOURCE_H
 
+#include "b3Sound_C_Api.h"
+
+
 class b3SoundSource
 {
 	struct b3SoundSourceInternalData* m_data;
@@ -18,11 +21,12 @@ public:
 	void setOscillatorAmplitude(int oscillatorIndex, double amplitude);
 	void setOscillatorPhase(int oscillatorIndex, double phase);
 
-	bool setWavFile(int oscillatorIndex, const char* fileName, int sampleRate);
+	bool setWavFile(int oscillatorIndex, class b3ReadWavFile* wavFilePtr, int sampleRate);
 
 	void startSound();
 	void stopSound();
 
+	bool isAvailable() const;
 };
 
 #endif //B3_SOUND_SOURCE_H
diff --git a/examples/TinyAudio/b3Sound_C_Api.h b/examples/TinyAudio/b3Sound_C_Api.h
new file mode 100644
index 000000000..15b1bfc0b
--- /dev/null
+++ b/examples/TinyAudio/b3Sound_C_Api.h
@@ -0,0 +1,31 @@
+#ifndef B3_SOUND_C_API_H
+#define B3_SOUND_C_API_H
+
+//todo: create a sound C-API
+
+//create sound engine
+//destroy sound engine
+//getSoundSource
+//startSound
+//releaseSound
+//etc
+
+enum B3_SOUND_SOURCE_TYPE
+{
+	B3_SOUND_SOURCE_SINE_OSCILLATOR=1,
+	B3_SOUND_SOURCE_SAW_OSCILLATOR,
+	B3_SOUND_SOURCE_WAV_FILE,
+};
+
+
+#ifdef __cplusplus
+extern "C" { 
+#endif
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif///B3_SOUND_C_API_H

From 821ad96549482629ea16b3acaa67dd2161fc0fbe Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 28 Apr 2017 12:05:19 -0700
Subject: [PATCH 16/80] update to latest revision of pybullet quickstart guide.
 Also see pybullet through pip install at
 https://pypi.python.org/pypi/pybullet

---
 docs/pybullet_quickstartguide.pdf | Bin 526030 -> 456765 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/docs/pybullet_quickstartguide.pdf b/docs/pybullet_quickstartguide.pdf
index 8d272c98832d4714a0581bb0e4aa7ef19d7161d5..1ab08643853779cfc9c4a234b02919d263e7df09 100644
GIT binary patch
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From c95a1c9c339b92c3201271e5d04242608e50d329 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 28 Apr 2017 12:39:51 -0700
Subject: [PATCH 17/80] add soft-clipping of mixed sounds using tanh expose
 ADSR to TinyAudio API enable envelope when playing wav files

---
 examples/TinyAudio/TinyAudioExample.cpp | 11 +++++++----
 examples/TinyAudio/b3ADSR.cpp           |  2 +-
 examples/TinyAudio/b3ADSR.h             |  9 +++++++++
 examples/TinyAudio/b3AudioListener.cpp  | 10 +++-------
 examples/TinyAudio/b3SoundEngine.cpp    |  8 ++++++--
 examples/TinyAudio/b3SoundEngine.h      | 21 +++++++++++++++++----
 examples/TinyAudio/b3SoundSource.cpp    |  8 +++++++-
 examples/TinyAudio/b3SoundSource.h      |  1 +
 8 files changed, 51 insertions(+), 19 deletions(-)

diff --git a/examples/TinyAudio/TinyAudioExample.cpp b/examples/TinyAudio/TinyAudioExample.cpp
index 9fb17970f..43796de37 100644
--- a/examples/TinyAudio/TinyAudioExample.cpp
+++ b/examples/TinyAudio/TinyAudioExample.cpp
@@ -80,7 +80,7 @@ public:
 
 	virtual void initPhysics()
 	{
-		int numSoundSources = 8;
+		int numSoundSources = 32;
 		bool useRealTimeDac = true;
 
 		m_soundEngine.init(numSoundSources, useRealTimeDac);
@@ -138,10 +138,13 @@ public:
 					b3SoundMessage msg;
 					msg.m_type = B3_SOUND_SOURCE_SINE_OSCILLATOR;
 					msg.m_frequency = freq;
-					msg.m_amplitude = .25;
+					msg.m_amplitude = 1;
 
-					//msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
-					//msg.m_wavId = m_wavId;
+					msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
+					msg.m_wavId = m_wavId;
+					msg.m_attackRate = 1;
+					msg.m_sustainLevel = 1;
+					msg.m_releaseRate = 0.001;
 
 					m_soundEngine.startSound(soundSourceIndex, msg);
 					m_keyToSoundSource.insert(hs,soundSourceIndex);
diff --git a/examples/TinyAudio/b3ADSR.cpp b/examples/TinyAudio/b3ADSR.cpp
index 4f5b09b14..c1d1c9600 100644
--- a/examples/TinyAudio/b3ADSR.cpp
+++ b/examples/TinyAudio/b3ADSR.cpp
@@ -18,7 +18,7 @@ b3ADSR::b3ADSR()
 {
 	m_target = 0.0;
 	m_value = 0.0;
-	m_attackRate = 0.0001;
+	m_attackRate = 0.001;
 	m_decayRate = 0.00001;
 	m_releaseRate = 0.0005;
 	m_sustainLevel = 0.5;
diff --git a/examples/TinyAudio/b3ADSR.h b/examples/TinyAudio/b3ADSR.h
index 374ec409c..3523a7e86 100644
--- a/examples/TinyAudio/b3ADSR.h
+++ b/examples/TinyAudio/b3ADSR.h
@@ -21,6 +21,15 @@ public:
 	bool isIdle() const;
 	void keyOn();
 	void keyOff();
+
+	void setValues(double attack,double decay,double sustain,double release)
+	{
+		m_attackRate = attack;
+		m_decayRate = decay;
+		m_sustainLevel = sustain;
+		m_releaseRate = release;
+	}
+
 };
 
 #endif //B3_ADSR_H
\ No newline at end of file
diff --git a/examples/TinyAudio/b3AudioListener.cpp b/examples/TinyAudio/b3AudioListener.cpp
index dc78777c9..206df87fa 100644
--- a/examples/TinyAudio/b3AudioListener.cpp
+++ b/examples/TinyAudio/b3AudioListener.cpp
@@ -138,13 +138,9 @@ int b3AudioListener::tick(void *outputBuffer,void *inputBuffer1,unsigned int nBu
 						}
 					}
 
-					//simple mixer
-					if (numActiveSources)
-					{
-						
-						outs[0] *= 1./4.;
-						outs[1] *= 1./4.;
-					}
+					//soft-clipping of sounds
+					outs[0] = tanh(outs[0]);
+					outs[1] = tanh(outs[1]);
 
 				*samples++ = outs[0];
 				*samples++ = outs[1];
diff --git a/examples/TinyAudio/b3SoundEngine.cpp b/examples/TinyAudio/b3SoundEngine.cpp
index 851010a70..47f0ef4d9 100644
--- a/examples/TinyAudio/b3SoundEngine.cpp
+++ b/examples/TinyAudio/b3SoundEngine.cpp
@@ -101,14 +101,18 @@ int b3SoundEngine::getAvailableSoundSource()
 void b3SoundEngine::startSound(int soundSourceIndex, b3SoundMessage msg)
 {
 	b3SoundSource* soundSource = m_data->m_soundSources[soundSourceIndex];
+	soundSource->setOscillatorAmplitude(0,msg.m_amplitude);
+	soundSource->setOscillatorAmplitude(1,msg.m_amplitude);
+
+	soundSource->setADSR(msg.m_attackRate,msg.m_decayRate,msg.m_sustainLevel,msg.m_releaseRate);
+
 	switch (msg.m_type)
 	{
 		case B3_SOUND_SOURCE_SINE_OSCILLATOR:
 		{
 			soundSource->setOscillatorFrequency(0, msg.m_frequency);
 			soundSource->setOscillatorFrequency(1, msg.m_frequency);
-			soundSource->setOscillatorAmplitude(0,msg.m_amplitude);
-			soundSource->setOscillatorAmplitude(1,msg.m_amplitude);
+			
 			soundSource->startSound();
 			break;
 		}
diff --git a/examples/TinyAudio/b3SoundEngine.h b/examples/TinyAudio/b3SoundEngine.h
index 850a74ca5..9fe08ec00 100644
--- a/examples/TinyAudio/b3SoundEngine.h
+++ b/examples/TinyAudio/b3SoundEngine.h
@@ -2,6 +2,7 @@
 #define B3_SOUND_ENGINE_H
 
 #include "Bullet3Common/b3Scalar.h"
+#include "b3Sound_C_Api.h"
 
 struct b3SoundMessage
 {
@@ -11,10 +12,22 @@ struct b3SoundMessage
 	double m_frequency;
 	int m_wavId;
 
-	double m_attack;
-	double m_decay;
-	double m_sustain;
-	double m_release;
+	double m_attackRate;
+	double m_decayRate;
+	double m_sustainLevel;
+	double m_releaseRate;
+
+	b3SoundMessage()
+		:m_type(B3_SOUND_SOURCE_SINE_OSCILLATOR),
+		m_amplitude(0.5),
+		m_frequency(440),
+		m_wavId(-1),
+		m_attackRate(0.001),
+		m_decayRate(0.00001),
+		m_sustainLevel(0.5),
+		m_releaseRate(0.0005)
+	{
+	}
 };
 
 class b3SoundEngine
diff --git a/examples/TinyAudio/b3SoundSource.cpp b/examples/TinyAudio/b3SoundSource.cpp
index 527f28137..d7a2b4913 100644
--- a/examples/TinyAudio/b3SoundSource.cpp
+++ b/examples/TinyAudio/b3SoundSource.cpp
@@ -80,6 +80,12 @@ b3SoundSource::~b3SoundSource()
 	delete m_data;
 }
 
+void b3SoundSource::setADSR( double attack, double decay, double sustain, double release)
+{
+	m_data->m_envelope.setValues(attack,decay,sustain,release);
+}
+
+
 bool b3SoundSource::computeSamples(double* sampleBuffer, int numSamples, double sampleRate)
 {
 	
@@ -110,7 +116,7 @@ bool b3SoundSource::computeSamples(double* sampleBuffer, int numSamples, double
 				if (m_data->m_oscillators[osc].m_type == 128)
 				{
 					int frame = 0;
-					double data = m_data->m_oscillators[osc].m_amplitude * m_data->m_wavFilePtr->tick(frame,&m_data->m_oscillators[osc].m_wavTicker);
+					double data = env * m_data->m_oscillators[osc].m_amplitude * m_data->m_wavFilePtr->tick(frame,&m_data->m_oscillators[osc].m_wavTicker);
 					samples[osc] += data;
 					numActive++;
 				}
diff --git a/examples/TinyAudio/b3SoundSource.h b/examples/TinyAudio/b3SoundSource.h
index fc6080ecc..a532eed37 100644
--- a/examples/TinyAudio/b3SoundSource.h
+++ b/examples/TinyAudio/b3SoundSource.h
@@ -20,6 +20,7 @@ public:
 	void setOscillatorFrequency(int oscillatorIndex, double frequency);
 	void setOscillatorAmplitude(int oscillatorIndex, double amplitude);
 	void setOscillatorPhase(int oscillatorIndex, double phase);
+	void setADSR( double attackRate, double decayRate, double sustainLevel, double releaseRate);
 
 	bool setWavFile(int oscillatorIndex, class b3ReadWavFile* wavFilePtr, int sampleRate);
 

From 948b2b00feca695159757ec954bcd275e7098fc0 Mon Sep 17 00:00:00 2001
From: Jie Tan <jietan@jietan0.mtv.corp.google.com>
Date: Fri, 28 Apr 2017 14:34:03 -0700
Subject: [PATCH 18/80] added a policy trained by DDPG

---
 examples/pybullet/gym/agents/__init__.py      |   0
 examples/pybullet/gym/agents/actor_net.py     |  21 +++
 examples/pybullet/gym/agents/simpleAgent.py   |  48 +++++
 .../gym/data/agent/tf_graph_data/checkpoint   |   2 +
 .../tf_graph_data.ckpt.data-00000-of-00001    | Bin 0 -> 2353229 bytes
 .../tf_graph_data/tf_graph_data.ckpt.index    | Bin 0 -> 2308 bytes
 .../tf_graph_data/tf_graph_data.ckpt.meta     | Bin 0 -> 857169 bytes
 .../gym/envs/bullet/minitaurGymEnv.py         | 109 ++++++++++++
 .../pybullet/gym/envs/bullet/minitaur_new.py  | 166 ++++++++++++++++++
 examples/pybullet/gym/minitaurGymEnvTest.py   |  85 +++++++++
 10 files changed, 431 insertions(+)
 create mode 100644 examples/pybullet/gym/agents/__init__.py
 create mode 100644 examples/pybullet/gym/agents/actor_net.py
 create mode 100644 examples/pybullet/gym/agents/simpleAgent.py
 create mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/checkpoint
 create mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.data-00000-of-00001
 create mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.index
 create mode 100644 examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.meta
 create mode 100644 examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
 create mode 100644 examples/pybullet/gym/envs/bullet/minitaur_new.py
 create mode 100644 examples/pybullet/gym/minitaurGymEnvTest.py

diff --git a/examples/pybullet/gym/agents/__init__.py b/examples/pybullet/gym/agents/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/examples/pybullet/gym/agents/actor_net.py b/examples/pybullet/gym/agents/actor_net.py
new file mode 100644
index 000000000..ac6aaff8a
--- /dev/null
+++ b/examples/pybullet/gym/agents/actor_net.py
@@ -0,0 +1,21 @@
+"""An actor network."""
+import tensorflow as tf
+import sonnet as snt
+
+class ActorNetwork(snt.AbstractModule):
+  """An actor network as a sonnet Module."""
+
+  def __init__(self, layer_sizes, action_size, name='target_actor'):
+    super(ActorNetwork, self).__init__(name=name)
+    self._layer_sizes = layer_sizes
+    self._action_size = action_size
+
+  def _build(self, inputs):
+    state = inputs
+    for output_size in self._layer_sizes:
+      state = snt.Linear(output_size)(state)
+      state = tf.nn.relu(state)
+
+    action = tf.tanh(
+        snt.Linear(self._action_size, name='action')(state))
+    return action
diff --git a/examples/pybullet/gym/agents/simpleAgent.py b/examples/pybullet/gym/agents/simpleAgent.py
new file mode 100644
index 000000000..78a5dfeb1
--- /dev/null
+++ b/examples/pybullet/gym/agents/simpleAgent.py
@@ -0,0 +1,48 @@
+"""Loads a DDPG agent without too much external dependencies
+"""
+from __future__ import absolute_import
+from __future__ import division
+from __future__ import print_function
+
+import os
+import collections
+import numpy as np
+import tensorflow as tf
+
+import sonnet as snt
+from agents import actor_net
+
+class SimpleAgent():
+  def __init__(
+      self,
+      session,
+      ckpt_path,
+      actor_layer_size,
+      observation_size=(31,),
+      action_size=8,
+  ):
+    self._ckpt_path = ckpt_path
+    self._actor_layer_size = actor_layer_size
+    self._observation_size = observation_size
+    self._action_size = action_size
+    self._session = session
+    self._build()
+
+  def _build(self):
+    self._agent_net = actor_net.ActorNetwork(self._actor_layer_size, self._action_size)
+    self._o_t = tf.placeholder(tf.float32, (31,))
+    with tf.name_scope('Act'):
+      batch_o_t = snt.nest.pack_iterable_as(
+          self._o_t,
+          snt.nest.map(
+              lambda x: tf.expand_dims(x, 0),
+              snt.nest.flatten_iterable(self._o_t)))
+      self._action = self._agent_net(batch_o_t)
+      saver = tf.train.Saver()
+      saver.restore(
+          sess=self._session,
+          save_path=self._ckpt_path)
+
+  def __call__(self, observation):
+    out_action = self._session.run(self._action, feed_dict={self._o_t: observation})
+    return out_action[0]
diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/checkpoint b/examples/pybullet/gym/data/agent/tf_graph_data/checkpoint
new file mode 100644
index 000000000..2b11c1281
--- /dev/null
+++ b/examples/pybullet/gym/data/agent/tf_graph_data/checkpoint
@@ -0,0 +1,2 @@
+model_checkpoint_path: "/cns/ij-d/home/jietan/persistent/minitaur/minitaur_vizier_3_153645653/Bullet/MinitaurSimEnv/28158/0003600000/agent/tf_graph_data/tf_graph_data.ckpt"
+all_model_checkpoint_paths: "/cns/ij-d/home/jietan/persistent/minitaur/minitaur_vizier_3_153645653/Bullet/MinitaurSimEnv/28158/0003600000/agent/tf_graph_data/tf_graph_data.ckpt"
diff --git a/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.data-00000-of-00001 b/examples/pybullet/gym/data/agent/tf_graph_data/tf_graph_data.ckpt.data-00000-of-00001
new file mode 100644
index 0000000000000000000000000000000000000000..b25aa2872cbc04f8360c408f0ed2fc41ab44e228
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diff --git a/examples/pybullet/gym/envs/bullet/minitaurGymEnv.py b/examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
new file mode 100644
index 000000000..c8ca5e536
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/minitaurGymEnv.py
@@ -0,0 +1,109 @@
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import pybullet as p
+import minitaur_new
+
+class MinitaurGymEnv(gym.Env):
+  metadata = {
+      'render.modes': ['human', 'rgb_array'],
+      'video.frames_per_second' : 50
+  }
+
+  def __init__(self,
+               urdfRoot="",
+               actionRepeat=1,
+               render=False):
+    self._timeStep = 0.01
+    self._urdfRoot = urdfRoot
+    self._actionRepeat = actionRepeat
+    self._observation = []
+    self._envStepCounter = 0
+    self._render = render
+    self._lastBasePosition = [0, 0, 0]
+    if self._render:
+      p.connect(p.GUI)
+    else:
+      p.connect(p.DIRECT)
+    self._seed()
+    self.reset()
+    observationDim = self._minitaur.getObservationDimension()
+    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
+    actionDim = 8
+    action_high = np.array([1] * actionDim)
+    self.action_space = spaces.Box(-action_high, action_high)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+    self.viewer = None
+
+  def _reset(self):
+    p.resetSimulation()
+    p.setPhysicsEngineParameter(numSolverIterations=300)
+    p.setTimeStep(self._timeStep)
+    p.loadURDF("%splane.urdf" % self._urdfRoot)
+    p.setGravity(0,0,-10)
+    self._minitaur = minitaur_new.Minitaur(self._urdfRoot)
+    self._envStepCounter = 0
+    self._lastBasePosition = [0, 0, 0]
+    for i in range(100):
+      p.stepSimulation()
+    self._observation = self._minitaur.getObservation()
+    return self._observation
+
+  def __del__(self):
+    p.disconnect()
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def _step(self, action):
+    if (self._render):
+      basePos = self._minitaur.getBasePosition()
+      p.resetDebugVisualizerCamera(1, 30, 40, basePos)
+
+    if len(action) != self._minitaur.getActionDimension():
+      raise ValueError("We expect {} continuous action not {}.".format(self._minitaur.getActionDimension(), len(action)))
+
+    for i in range(len(action)):
+      if not -1.01 <= action[i] <= 1.01:
+        raise ValueError("{}th action should be between -1 and 1 not {}.".format(i, action[i]))
+
+    realAction = self._minitaur.convertFromLegModel(action)
+    self._minitaur.applyAction(realAction)
+    for i in range(self._actionRepeat):
+      p.stepSimulation()
+      if self._render:
+        time.sleep(self._timeStep)
+      self._observation = self._minitaur.getObservation()
+      if self._termination():
+        break
+      self._envStepCounter += 1
+    reward = self._reward()
+    done = self._termination()
+    return np.array(self._observation), reward, done, {}
+
+  def _render(self, mode='human', close=False):
+      return
+
+  def is_fallen(self):
+    orientation = self._minitaur.getBaseOrientation()
+    rotMat = p.getMatrixFromQuaternion(orientation)
+    localUp = rotMat[6:]
+    return np.dot(np.asarray([0, 0, 1]), np.asarray(localUp)) < 0 or self._observation[-1] < 0.1
+
+  def _termination(self):
+    return self.is_fallen()
+
+  def _reward(self):
+    currentBasePosition = self._minitaur.getBasePosition()
+    forward_reward = currentBasePosition[0] - self._lastBasePosition[0]
+    self._lastBasePosition = currentBasePosition
+
+    energyWeight = 0.001
+    energy = np.abs(np.dot(self._minitaur.getMotorTorques(), self._minitaur.getMotorVelocities())) * self._timeStep
+    energy_reward = energyWeight * energy
+    reward = forward_reward - energy_reward
+    return reward
diff --git a/examples/pybullet/gym/envs/bullet/minitaur_new.py b/examples/pybullet/gym/envs/bullet/minitaur_new.py
new file mode 100644
index 000000000..252c12ed3
--- /dev/null
+++ b/examples/pybullet/gym/envs/bullet/minitaur_new.py
@@ -0,0 +1,166 @@
+import pybullet as p
+import numpy as np
+import copy
+import math
+
+class Minitaur:
+  def __init__(self, urdfRootPath=''):
+    self.urdfRootPath = urdfRootPath
+    self.reset()
+
+  def buildJointNameToIdDict(self):
+    nJoints = p.getNumJoints(self.quadruped)
+    self.jointNameToId = {}
+    for i in range(nJoints):
+      jointInfo = p.getJointInfo(self.quadruped, i)
+      self.jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
+    self.resetPose()
+
+  def buildMotorIdList(self):
+    self.motorIdList.append(self.jointNameToId['motor_front_leftL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_front_leftR_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_leftL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_leftR_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_front_rightL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_front_rightR_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_rightL_joint'])
+    self.motorIdList.append(self.jointNameToId['motor_back_rightR_joint'])
+
+  def reset(self):
+#    self.quadruped = p.loadURDF("%squadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2], flags=p.URDF_USE_SELF_COLLISION)
+    self.quadruped = p.loadURDF("%squadruped/minitaur.urdf" % self.urdfRootPath, [0,0,.2])
+    self.kp = 1
+    self.kd = 1
+    self.maxForce = 3.5
+    self.nMotors = 8
+    self.motorIdList = []
+    self.motorDir = [-1, -1, -1, -1, 1, 1, 1, 1]
+    self.buildJointNameToIdDict()
+    self.buildMotorIdList()
+
+
+  def setMotorAngleById(self, motorId, desiredAngle):
+    p.setJointMotorControl2(bodyIndex=self.quadruped, jointIndex=motorId, controlMode=p.POSITION_CONTROL, targetPosition=desiredAngle, positionGain=self.kp, velocityGain=self.kd, force=self.maxForce)
+
+  def setMotorAngleByName(self, motorName, desiredAngle):
+    self.setMotorAngleById(self.jointNameToId[motorName], desiredAngle)
+
+  def resetPose(self):
+    kneeFrictionForce = 0
+    halfpi = 1.57079632679
+    kneeangle = -2.1834 #halfpi - acos(upper_leg_length / lower_leg_length)
+
+    #left front leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftL_joint'],self.motorDir[0]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftL_link'],self.motorDir[0]*kneeangle)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_leftR_joint'],self.motorDir[1]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.motorDir[1]*kneeangle)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_leftR_link'],self.quadruped,self.jointNameToId['knee_front_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
+    self.setMotorAngleByName('motor_front_leftL_joint', self.motorDir[0]*halfpi)
+    self.setMotorAngleByName('motor_front_leftR_joint', self.motorDir[1]*halfpi)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+
+    #left back leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftL_joint'],self.motorDir[2]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftL_link'],self.motorDir[2]*kneeangle)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_leftR_joint'],self.motorDir[3]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.motorDir[3]*kneeangle)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_leftR_link'],self.quadruped,self.jointNameToId['knee_back_leftL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
+    self.setMotorAngleByName('motor_back_leftL_joint',self.motorDir[2]*halfpi)
+    self.setMotorAngleByName('motor_back_leftR_joint',self.motorDir[3]*halfpi)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_leftR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+ 
+    #right front leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightL_joint'],self.motorDir[4]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightL_link'],self.motorDir[4]*kneeangle)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_front_rightR_joint'],self.motorDir[5]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.motorDir[5]*kneeangle)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_front_rightR_link'],self.quadruped,self.jointNameToId['knee_front_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
+    self.setMotorAngleByName('motor_front_rightL_joint',self.motorDir[4]*halfpi)
+    self.setMotorAngleByName('motor_front_rightR_joint',self.motorDir[5]*halfpi)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_front_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+ 
+
+    #right back leg
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightL_joint'],self.motorDir[6]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightL_link'],self.motorDir[6]*kneeangle)
+    p.resetJointState(self.quadruped,self.jointNameToId['motor_back_rightR_joint'],self.motorDir[7]*halfpi)
+    p.resetJointState(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.motorDir[7]*kneeangle)
+    p.createConstraint(self.quadruped,self.jointNameToId['knee_back_rightR_link'],self.quadruped,self.jointNameToId['knee_back_rightL_link'],p.JOINT_POINT2POINT,[0,0,0],[0,0.005,0.2],[0,0.01,0.2])
+    self.setMotorAngleByName('motor_back_rightL_joint',self.motorDir[6]*halfpi)
+    self.setMotorAngleByName('motor_back_rightR_joint',self.motorDir[7]*halfpi)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightL_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+    p.setJointMotorControl2(bodyIndex=self.quadruped,jointIndex=self.jointNameToId['knee_back_rightR_link'],controlMode=p.VELOCITY_CONTROL,targetVelocity=0,force=kneeFrictionForce)
+
+
+  def getBasePosition(self):
+    position, orientation = p.getBasePositionAndOrientation(self.quadruped)
+    return position
+
+  def getBaseOrientation(self):
+    position, orientation = p.getBasePositionAndOrientation(self.quadruped)
+    return orientation
+
+  def getActionDimension(self):
+    return self.nMotors
+
+  def getObservationDimension(self):
+    return len(self.getObservation())
+
+  def getObservation(self):
+    observation = []
+    observation.extend(self.getMotorAngles().tolist())
+    observation.extend(self.getMotorVelocities().tolist())
+    observation.extend(self.getMotorTorques().tolist())
+    observation.extend(list(self.getBaseOrientation()))
+    observation.extend(list(self.getBasePosition()))
+    return observation
+
+
+  def applyAction(self, motorCommands):
+    motorCommandsWithDir = np.multiply(motorCommands, self.motorDir)
+#    print('action: {}'.format(motorCommands))
+#    print('motor: {}'.format(motorCommandsWithDir))
+    for i in range(self.nMotors):
+      self.setMotorAngleById(self.motorIdList[i], motorCommandsWithDir[i])
+
+  def getMotorAngles(self):
+    motorAngles = []
+    for i in range(self.nMotors):
+      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
+      motorAngles.append(jointState[0])
+    motorAngles = np.multiply(motorAngles, self.motorDir)
+    return motorAngles
+
+  def getMotorVelocities(self):
+    motorVelocities = []
+    for i in range(self.nMotors):
+      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
+      motorVelocities.append(jointState[1])
+    motorVelocities = np.multiply(motorVelocities, self.motorDir)
+    return motorVelocities
+
+  def getMotorTorques(self):
+    motorTorques = []
+    for i in range(self.nMotors):
+      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
+      motorTorques.append(jointState[3])
+    motorTorques = np.multiply(motorTorques, self.motorDir)
+    return motorTorques
+
+  def convertFromLegModel(self, actions):
+    motorAngle = copy.deepcopy(actions)
+    scaleForSingularity = 1
+    offsetForSingularity = 0.5
+    motorAngle[0] = math.pi + math.pi / 4 * actions[0] - scaleForSingularity * math.pi / 4 * (actions[4] + 1 + offsetForSingularity)
+    motorAngle[1] = math.pi - math.pi / 4 * actions[0] - scaleForSingularity * math.pi / 4 * (actions[4] + 1 + offsetForSingularity)
+    motorAngle[2] = math.pi + math.pi / 4 * actions[1] - scaleForSingularity * math.pi / 4 * (actions[5] + 1 + offsetForSingularity)
+    motorAngle[3] = math.pi - math.pi / 4 * actions[1] - scaleForSingularity * math.pi / 4 * (actions[5] + 1 + offsetForSingularity)
+    motorAngle[4] = math.pi - math.pi / 4 * actions[2] - scaleForSingularity * math.pi / 4 * (actions[6] + 1 + offsetForSingularity)
+    motorAngle[5] = math.pi + math.pi / 4 * actions[2] - scaleForSingularity * math.pi / 4 * (actions[6] + 1 + offsetForSingularity)
+    motorAngle[6] = math.pi - math.pi / 4 * actions[3] - scaleForSingularity * math.pi / 4 * (actions[7] + 1 + offsetForSingularity)
+    motorAngle[7] = math.pi + math.pi / 4 * actions[3] - scaleForSingularity * math.pi / 4 * (actions[7] + 1 + offsetForSingularity)
+    return motorAngle
diff --git a/examples/pybullet/gym/minitaurGymEnvTest.py b/examples/pybullet/gym/minitaurGymEnvTest.py
new file mode 100644
index 000000000..ff5db8500
--- /dev/null
+++ b/examples/pybullet/gym/minitaurGymEnvTest.py
@@ -0,0 +1,85 @@
+'''
+A test for minitaurGymEnv
+'''
+
+import gym
+import numpy as np
+import math
+
+import numpy as np
+import tensorflow as tf
+
+from envs.bullet.minitaurGymEnv import MinitaurGymEnv
+from agents import simpleAgent
+
+def testSinePolicy():
+  """Tests sine policy
+    """
+  np.random.seed(47)
+
+  environment = MinitaurGymEnv(render=True)
+  sum_reward = 0
+  steps = 1000
+  amplitude1Bound = 0.5
+  amplitude2Bound = 0.15
+  speed = 40
+
+  for stepCounter in range(steps):
+    t = float(stepCounter) * environment._timeStep
+
+    if (t < 1):
+      amplitude1 = 0
+      amplitude2 = 0
+    else:
+      amplitude1 = amplitude1Bound
+      amplitude2 = amplitude2Bound
+    a1 = math.sin(t*speed)*amplitude1
+    a2 = math.sin(t*speed+3.14)*amplitude1
+    a3 = math.sin(t*speed)*amplitude2
+    a4 = math.sin(t*speed+3.14)*amplitude2
+
+    action = [a1, a2, a2, a1, a3, a4, a4, a3]
+
+    state, reward, done, info = environment.step(action)
+    sum_reward += reward
+    if done:
+      environment.reset()
+      print("sum reward: ", sum_reward)
+
+
+def testDDPGPolicy():
+  """Tests sine policy
+    """
+  environment = MinitaurGymEnv(render=True)
+  sum_reward = 0
+  steps = 1000
+  ckpt_path = 'data/agent/tf_graph_data/tf_graph_data.ckpt'
+  observation_shape = (31,)
+  action_size = 8
+  actor_layer_sizes = (100, 181)
+  n_steps = 0
+  tf.reset_default_graph()
+  with tf.Session() as session:
+    agent = simpleAgent.SimpleAgent(session, ckpt_path,
+                                    actor_layer_sizes,
+                                    observation_size=observation_shape,
+                                    action_size=action_size)
+    state = environment.reset()
+    action = agent(state)
+    for _ in range(steps):
+      n_steps += 1
+      state, reward, done, info = environment.step(action)
+      action = agent(state)
+      sum_reward += reward
+      if done:
+        environment.reset()
+        n_steps += 1
+        print("total reward: ", sum_reward)
+        print("total steps:  ", n_steps)
+        sum_reward = 0
+        n_steps = 0
+        return
+
+
+testDDPGPolicy()
+#testSinePolicy()

From bf5915f44b1aa8c52aa2ace221904f99e7763a54 Mon Sep 17 00:00:00 2001
From: Jie Tan <jietan@jietan-macbookpro.roam.corp.google.com>
Date: Fri, 28 Apr 2017 15:24:53 -0700
Subject: [PATCH 19/80] add a simple DDPG agent and a policy

---
 examples/pybullet/gym/agents/simpleAgent.py | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/examples/pybullet/gym/agents/simpleAgent.py b/examples/pybullet/gym/agents/simpleAgent.py
index 78a5dfeb1..08a4cf1fa 100644
--- a/examples/pybullet/gym/agents/simpleAgent.py
+++ b/examples/pybullet/gym/agents/simpleAgent.py
@@ -30,19 +30,17 @@ class SimpleAgent():
 
   def _build(self):
     self._agent_net = actor_net.ActorNetwork(self._actor_layer_size, self._action_size)
-    self._o_t = tf.placeholder(tf.float32, (31,))
+    self._obs = tf.placeholder(tf.float32, (31,))
     with tf.name_scope('Act'):
-      batch_o_t = snt.nest.pack_iterable_as(
-          self._o_t,
-          snt.nest.map(
-              lambda x: tf.expand_dims(x, 0),
-              snt.nest.flatten_iterable(self._o_t)))
-      self._action = self._agent_net(batch_o_t)
+      batch_obs = snt.nest.pack_iterable_as(self._obs,
+                                            snt.nest.map(lambda x: tf.expand_dims(x, 0),
+                                                         snt.nest.flatten_iterable(self._obs)))
+      self._action = self._agent_net(batch_obs)
       saver = tf.train.Saver()
       saver.restore(
           sess=self._session,
           save_path=self._ckpt_path)
 
   def __call__(self, observation):
-    out_action = self._session.run(self._action, feed_dict={self._o_t: observation})
+    out_action = self._session.run(self._action, feed_dict={self._obs: observation})
     return out_action[0]

From 2a2c18e959d293ce2367947e6027121683d281b8 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 29 Apr 2017 10:32:30 -0700
Subject: [PATCH 20/80] add more tinyaudio preparation, some test wav files,
 play sound on collision events. Will expose this in the C-API to pick wav
 files and collision threshold levels etc. Use the premake --audio flag to try
 it out. The TinyAudio example in the ExampleBrowser works on Mac, Linux and
 Windows, you can play notes by pressing keys.

---
 build_visual_studio_vr_pybullet_double.bat    |   2 +-
 data/wav/cardboardbox0.wav                    | Bin 0 -> 36836 bytes
 data/wav/cardboardbox1.wav                    | Bin 0 -> 41876 bytes
 data/wav/cardboardbox2.wav                    | Bin 0 -> 38852 bytes
 .../RobotSimulator/RobotSimulatorMain.cpp     |  18 ++-
 examples/RobotSimulator/premake4.lua          |  29 +++++
 .../PhysicsServerCommandProcessor.cpp         | 120 ++++++++++++++++++
 .../PhysicsServerCommandProcessor.h           |   1 +
 examples/SharedMemory/premake4.lua            |  31 ++++-
 examples/TinyAudio/b3ADSR.cpp                 |   4 +
 10 files changed, 196 insertions(+), 9 deletions(-)
 create mode 100644 data/wav/cardboardbox0.wav
 create mode 100644 data/wav/cardboardbox1.wav
 create mode 100644 data/wav/cardboardbox2.wav

diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat
index 3fadb9253..db2765f42 100644
--- a/build_visual_studio_vr_pybullet_double.bat
+++ b/build_visual_studio_vr_pybullet_double.bat
@@ -17,6 +17,6 @@ del tmp1234.txt
 
 cd build3
 
-premake4   --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+premake4  --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 start vs2010
 
diff --git a/data/wav/cardboardbox0.wav b/data/wav/cardboardbox0.wav
new file mode 100644
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diff --git a/examples/RobotSimulator/RobotSimulatorMain.cpp b/examples/RobotSimulator/RobotSimulatorMain.cpp
index 558c5e9de..3fafac9e8 100644
--- a/examples/RobotSimulator/RobotSimulatorMain.cpp
+++ b/examples/RobotSimulator/RobotSimulatorMain.cpp
@@ -35,12 +35,16 @@ int main(int argc, char* argv[])
 
 	sim->loadURDF("plane.urdf");
 
-	MinitaurSetup minitaur;
-	int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,.3));
+	b3RobotSimulatorLoadUrdfFileArgs args;
+	args.m_startPosition.setValue(0,0,2);
+	for (int i=0;i<10;i++)
+	{
+		args.m_startPosition[0] = 0.5*i;
+		args.m_startPosition[1] = 0.5*i;
+		args.m_startPosition[2] = 2+i*2;
+		int r2d2 = sim->loadURDF("cube.urdf",args);
+	}
 
-	
-	//b3RobotSimulatorLoadUrdfFileArgs args;
-	//args.m_startPosition.setValue(2,0,1);
 	//int r2d2 = sim->loadURDF("r2d2.urdf",args);
 
 	//b3RobotSimulatorLoadFileResults sdfResults;
@@ -123,8 +127,8 @@ int main(int argc, char* argv[])
 			yaw+=0.1;
 			b3Vector3 basePos;
 			b3Quaternion baseOrn;
-			sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
-			sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
+//			sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
+		//	sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
 		}
 		b3Clock::usleep(1000.*1000.*fixedTimeStep);
 	}
diff --git a/examples/RobotSimulator/premake4.lua b/examples/RobotSimulator/premake4.lua
index 7eb0e1b55..0d73ffd05 100644
--- a/examples/RobotSimulator/premake4.lua
+++ b/examples/RobotSimulator/premake4.lua
@@ -87,6 +87,35 @@ if not _OPTIONS["no-enet"] then
                 defines {"BT_ENABLE_CLSOCKET"}
         end
 
+		if _OPTIONS["audio"] then
+			files {
+				"../TinyAudio/b3ADSR.cpp",
+				"../TinyAudio/b3AudioListener.cpp",
+				"../TinyAudio/b3ReadWavFile.cpp",
+				"../TinyAudio/b3SoundEngine.cpp",
+				"../TinyAudio/b3SoundSource.cpp",
+				"../TinyAudio/b3WriteWavFile.cpp",
+				"../TinyAudio/RtAudio.cpp",
+			}
+			defines {"B3_ENABLE_TINY_AUDIO"}
+			
+			if os.is("Windows") then
+				links {"winmm","Wsock32","dsound"}
+				defines {"WIN32","__WINDOWS_MM__","__WINDOWS_DS__"}
+			end
+			
+			if os.is("Linux") then initX11() 
+			                defines  {"__OS_LINUX__","__LINUX_ALSA__"}
+				links {"asound","pthread"}
+			end
+
+
+			if os.is("MacOSX") then
+				links{"Cocoa.framework"}
+				links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+				defines {"__OS_MACOSX__","__MACOSX_CORE__"}
+			end
+		end
 		files {
 			"RobotSimulatorMain.cpp",
 			"b3RobotSimulatorClientAPI.cpp",
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 625c99d33..2d58ccb1e 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -26,6 +26,10 @@
 #include "Bullet3Common/b3Logging.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "SharedMemoryCommands.h"
+#include "LinearMath/btRandom.h"
+#ifdef B3_ENABLE_TINY_AUDIO
+#include "../TinyAudio/b3SoundEngine.h"
+#endif
 
 #ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 #include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
@@ -1297,6 +1301,10 @@ struct PhysicsServerCommandProcessorInternalData
 	btScalar m_oldPickingDist;
 	bool m_prevCanSleep;
 	TinyRendererVisualShapeConverter  m_visualConverter;
+#ifdef B3_ENABLE_TINY_AUDIO
+	b3SoundEngine m_soundEngine;
+	int m_wavIds[3];
+#endif
 
 	PhysicsServerCommandProcessorInternalData()
 		:
@@ -1456,11 +1464,101 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
 
 void logCallback(btDynamicsWorld *world, btScalar timeStep)
 {
+	//handle the logging and playing sounds
 	PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
+	proc->processCollisionForces(timeStep);
+	
 	proc->logObjectStates(timeStep);
 
 }
 
+bool MyContactAddedCallback(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
+{
+	return true;
+}
+
+
+
+
+bool MyContactDestroyedCallback(void* userPersistentData)
+{
+	//printf("destroyed\n");
+	return false;
+}
+
+bool MyContactProcessedCallback(btManifoldPoint& cp,void* body0,void* body1)
+{
+	//printf("processed\n");
+	return false;
+
+}
+void MyContactStartedCallback(btPersistentManifold* const &manifold)
+{
+	//printf("started\n");
+}
+void MyContactEndedCallback(btPersistentManifold* const &manifold)
+{
+//	printf("ended\n");
+}
+
+
+
+void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
+{
+#ifdef B3_ENABLE_TINY_AUDIO
+	//this is experimental at the moment: impulse thresholds, sound parameters will be exposed in C-API/pybullet.
+	//audio will go into a wav file, as well as real-time output to speakers/headphones using RtAudio/DAC.
+
+	int numContactManifolds =  m_data->m_dynamicsWorld->getDispatcher()->getNumManifolds();
+	for (int i = 0; i < numContactManifolds; i++)
+	{
+		const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
+		for (int p=0;p<manifold->getNumContacts();p++)
+		{
+			double imp = manifold->getContactPoint(p).getAppliedImpulse();
+				//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);
+
+			if (imp>0.4 && manifold->getContactPoint(p).getLifeTime()==1)
+			{
+				int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
+				if (soundSourceIndex>=0)
+				{
+					b3SoundMessage msg;
+					msg.m_releaseRate = 0.0001;
+					msg.m_attackRate = 1.;
+					msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
+					
+					int cardboardIndex = float(rand())/float(RAND_MAX)*2.9;
+
+					msg.m_wavId = m_data->m_wavIds[cardboardIndex];
+
+					float rnd = rand()% 2;
+					
+					msg.m_frequency = 100+rnd*10.;
+
+					m_data->m_soundEngine.startSound(soundSourceIndex,msg);
+					m_data->m_soundEngine.releaseSound(soundSourceIndex);
+
+				}
+			}
+		}
+		int linkIndexA = -1;
+		int linkIndexB = -1;
+				
+		int objectIndexB = -1;
+				
+		const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
+		if (bodyB)
+		{
+			objectIndexB = bodyB->getUserIndex2();
+		}
+		const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
+		if (mblB && mblB->m_multiBody)
+		{
+		}
+	}
+#endif//B3_ENABLE_TINY_AUDIO
+}
 
 void PhysicsServerCommandProcessor::logObjectStates(btScalar timeStep)
 {
@@ -1522,6 +1620,20 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 		m_data->m_guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld);
 	}
 	m_data->m_dynamicsWorld->setInternalTickCallback(logCallback,this);
+
+#ifdef B3_ENABLE_TINY_AUDIO
+	m_data->m_soundEngine.init(16,true);
+	m_data->m_wavIds[0] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox0.wav");
+	m_data->m_wavIds[1] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox1.wav");
+	m_data->m_wavIds[2] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox2.wav");
+
+//we don't use those callbacks (yet), experimental
+//	gContactAddedCallback = MyContactAddedCallback;
+//	gContactDestroyedCallback = MyContactDestroyedCallback;
+//	gContactProcessedCallback = MyContactProcessedCallback;
+//	gContactStartedCallback = MyContactStartedCallback;
+//	gContactEndedCallback = MyContactEndedCallback;
+#endif
 }
 
 void PhysicsServerCommandProcessor::deleteStateLoggers()
@@ -1565,6 +1677,14 @@ void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
 
 void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 {
+#ifdef B3_ENABLE_TINY_AUDIO
+	m_data->m_soundEngine.exit();
+	//gContactDestroyedCallback = 0;
+	//gContactProcessedCallback = 0;
+	//gContactStartedCallback = 0;
+	//gContactEndedCallback = 0;
+#endif
+	
 	deleteCachedInverseDynamicsBodies();
 	deleteCachedInverseKinematicsBodies();
 	deleteStateLoggers();
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index 180db5c58..5dc0d0e64 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -95,6 +95,7 @@ public:
 
 	//logging of object states (position etc)
 	void logObjectStates(btScalar timeStep);
+	void processCollisionForces(btScalar timeStep);
 
 	void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
 	void enableRealTimeSimulation(bool enableRealTimeSim);
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index e410dbf9c..20d97c36b 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -282,7 +282,36 @@ if os.is("Windows") then
 			end
 		
 	end
-		
+	if _OPTIONS["audio"] then
+			files {
+				"../TinyAudio/b3ADSR.cpp",
+				"../TinyAudio/b3AudioListener.cpp",
+				"../TinyAudio/b3ReadWavFile.cpp",
+				"../TinyAudio/b3SoundEngine.cpp",
+				"../TinyAudio/b3SoundSource.cpp",
+				"../TinyAudio/b3WriteWavFile.cpp",
+				"../TinyAudio/RtAudio.cpp",
+			}
+			
+			defines {"B3_ENABLE_TINY_AUDIO"}
+			
+			if os.is("Windows") then
+				links {"winmm","Wsock32","dsound"}
+				defines {"WIN32","__WINDOWS_MM__","__WINDOWS_DS__"}
+			end
+			
+			if os.is("Linux") then initX11() 
+			                defines  {"__OS_LINUX__","__LINUX_ALSA__"}
+				links {"asound","pthread"}
+			end
+
+
+			if os.is("MacOSX") then
+				links{"Cocoa.framework"}
+				links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+				defines {"__OS_MACOSX__","__MACOSX_CORE__"}
+			end
+		end
 	includedirs {
 			".","../../src", "../ThirdPartyLibs",
 			"../ThirdPartyLibs/openvr/headers",
diff --git a/examples/TinyAudio/b3ADSR.cpp b/examples/TinyAudio/b3ADSR.cpp
index c1d1c9600..2a526a4c8 100644
--- a/examples/TinyAudio/b3ADSR.cpp
+++ b/examples/TinyAudio/b3ADSR.cpp
@@ -85,6 +85,10 @@ void b3ADSR::keyOn()
 {
 	if (m_target <= 0.0)
 		m_target = 1.0;
+	if (m_attackRate==1)
+	{
+		m_value = 1.0;
+	}
 	m_state = ADSR_ATTACK;
 }
 

From 3a330c42800bc7cf3cdf247a8c78a5194b9e745c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 29 Apr 2017 11:23:45 -0700
Subject: [PATCH 21/80] premake: don't enable --audio by default (yet)

---
 build_visual_studio_vr_pybullet_double.bat | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat
index db2765f42..3102fe65c 100644
--- a/build_visual_studio_vr_pybullet_double.bat
+++ b/build_visual_studio_vr_pybullet_double.bat
@@ -17,6 +17,6 @@ del tmp1234.txt
 
 cd build3
 
-premake4  --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+premake4  --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 start vs2010
 

From af6bf8ddc82559be87299813d827685590a22513 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 1 May 2017 11:14:09 -0700
Subject: [PATCH 22/80] plumb URDF/SDF audio_source into
 PhysicsServerCommandProcessor, allow to play sounds on collision ! See also
 https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to
 add sounds:
 https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
 Add the --audio flag to enable sound in pybullet/Bullet-C-API

---
 data/plane_with_collision_audio.urdf          |  37 +++++
 .../ExampleBrowser/OpenGLExampleBrowser.cpp   |   2 +-
 .../ImportURDFDemo/BulletUrdfImporter.cpp     |  20 ++-
 .../ImportURDFDemo/BulletUrdfImporter.h       |   4 +-
 .../ImportURDFDemo/MyMultiBodyCreator.h       |   2 +-
 .../Importers/ImportURDFDemo/SDFAudioTypes.h  |  46 +++++++
 .../ImportURDFDemo/URDFImporterInterface.h    |   4 +-
 .../Importers/ImportURDFDemo/UrdfParser.cpp   |  76 +++++++++++
 .../Importers/ImportURDFDemo/UrdfParser.h     |   3 +
 examples/RobotSimulator/MinitaurSetup.cpp     |   1 +
 .../RobotSimulator/RobotSimulatorMain.cpp     |   4 +-
 .../PhysicsServerCommandProcessor.cpp         | 126 ++++++++++++------
 examples/TinyAudio/b3ADSR.cpp                 |  14 +-
 examples/TinyAudio/b3ADSR.h                   |   4 +-
 examples/TinyAudio/b3SoundEngine.cpp          |  27 +++-
 examples/TinyAudio/b3SoundEngine.h            |   4 +-
 examples/TinyAudio/b3SoundSource.cpp          |   4 +-
 examples/TinyAudio/b3SoundSource.h            |   2 +-
 examples/Utils/b3HashString.h                 |  59 ++++++++
 src/Bullet3Common/b3HashMap.h                 |  52 --------
 .../CollisionDispatch/btCollisionObject.h     |   1 +
 src/LinearMath/btHashMap.h                    |   5 +
 22 files changed, 389 insertions(+), 108 deletions(-)
 create mode 100644 data/plane_with_collision_audio.urdf
 create mode 100644 examples/Importers/ImportURDFDemo/SDFAudioTypes.h
 create mode 100644 examples/Utils/b3HashString.h

diff --git a/data/plane_with_collision_audio.urdf b/data/plane_with_collision_audio.urdf
new file mode 100644
index 000000000..b3a189628
--- /dev/null
+++ b/data/plane_with_collision_audio.urdf
@@ -0,0 +1,37 @@
+<?xml version="0.0" ?>
+<robot name="plane">
+  <link name="planeLink">
+  	<audio_source filename="wav/cardboardbox0.wav">
+  		<collision_force_threshold>0.4</collision_force_threshold>
+			<attack_rate>0.01</attack_rate>
+			<decay_rate>0.0001</decay_rate>
+			<sustain_level>0.5</sustain_level>
+			<release_rate>0.005</release_rate>
+			<gain>.5</gain>
+  	</audio_source>
+	  <contact>
+	      <lateral_friction value="1"/>
+	  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 -5"/>
+      <geometry>
+	 	<box size="30 30 10"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index ab6bf5c6b..4751c7be4 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -48,7 +48,7 @@
 //quick test for file import, @todo(erwincoumans) make it more general and add other file formats
 #include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
 #include "../Importers/ImportBullet/SerializeSetup.h"
-
+#include "../Utils/b3HashString.h"
 #include "Bullet3Common/b3HashMap.h"
 
 struct GL3TexLoader : public MyTextureLoader
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 6dd01345d..9080f8954 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -1134,9 +1134,9 @@ bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
 	return false;
 }
 
-bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const
+bool BulletURDFImporter::getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const
 {
-	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
+	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdflinkIndex);
 	if (linkPtr)
 	{
 		const UrdfLink* link = *linkPtr;
@@ -1146,6 +1146,22 @@ bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo&
 	return false;
 }
 
+bool BulletURDFImporter::getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const
+{
+	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
+	if (linkPtr)
+	{
+		const UrdfLink* link = *linkPtr;
+		if (link->m_audioSource.m_flags & SDFAudioSource::SDFAudioSourceValid)
+		{
+			audioSource = link->m_audioSource;
+			return true;
+		}
+	}
+	return false;
+}
+
+
 void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const
 {
   	if (m_data->m_customVisualShapesConverter)
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 76d34c7c7..60ce11847 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -41,8 +41,10 @@ public:
 
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
 
-	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
+	virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
 	
+	virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;
+
     virtual std::string getJointName(int linkIndex) const;
     
     virtual void  getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
index 453f97311..93ffdfa5c 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
@@ -4,6 +4,7 @@
 
 #include "MultiBodyCreationInterface.h"
 #include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btHashMap.h"
 
 struct GUIHelperInterface;
 class btMultiBody;
@@ -28,7 +29,6 @@ protected:
     
 	struct GUIHelperInterface* m_guiHelper;
 
-	
 	btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_6DofConstraints;
 
 public:
diff --git a/examples/Importers/ImportURDFDemo/SDFAudioTypes.h b/examples/Importers/ImportURDFDemo/SDFAudioTypes.h
new file mode 100644
index 000000000..5dd7b827c
--- /dev/null
+++ b/examples/Importers/ImportURDFDemo/SDFAudioTypes.h
@@ -0,0 +1,46 @@
+#ifndef SDF_AUDIO_TYPES_H
+#define SDF_AUDIO_TYPES_H
+
+#include <string>
+
+
+
+///See audio_source element in http://sdformat.org/spec?ver=1.6&elem=link
+struct SDFAudioSource
+{
+	enum
+	{
+		SDFAudioSourceValid=1,
+		SDFAudioSourceLooping=2,
+	};
+
+	int m_flags;	//repeat mode (0 = no repeat, 1 = loop forever)
+
+	std::string	m_uri;	//media filename of the sound, .wav file
+	double m_pitch;	//1 = regular rate, -1 play in reverse
+	double m_gain;	//normalized volume in range [0..1] where 0 is silent, 1 is most loud
+
+	double m_attackRate;
+	double m_decayRate;
+	double m_sustainLevel;
+	double m_releaseRate;
+
+	double m_collisionForceThreshold;	//force that will trigger the audio, in Newton. If < 0, audio source is invalid
+	
+	int m_userIndex;
+
+	SDFAudioSource()
+	:	m_flags(0),
+		m_pitch(1),
+		m_gain(1),
+		m_attackRate(0.0001),
+		m_decayRate(0.00001),
+		m_sustainLevel(0.5),
+		m_releaseRate(0.0005),
+		m_collisionForceThreshold(0.5),
+		m_userIndex(-1)
+		{
+		}
+};
+
+#endif //SDF_AUDIO_TYPES_H
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
index 220c4e588..00071c867 100644
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -5,7 +5,7 @@
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btTransform.h"
 #include "URDFJointTypes.h"
-
+#include "SDFAudioTypes.h"
 
 class URDFImporterInterface
 {
@@ -40,6 +40,8 @@ public:
 	///this API will likely change, don't override it!
 	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const  { return false;}
     
+	virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const { return false;}
+
     virtual std::string getJointName(int linkIndex) const = 0;
 
     //fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index cf5b9c626..f5462ceff 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -663,6 +663,82 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
         }
     }
 
+	{
+		//optional 'audio_source' parameters
+		//modified version of SDF audio_source specification in //http://sdformat.org/spec?ver=1.6&elem=link
+		#if 0
+		<audio_source>
+          <uri>file://media/audio/cheer.mp3</uri>
+          <pitch>2.0</pitch>
+          <gain>1.0</gain>
+          <loop>false</loop>
+          <contact>
+            <collision>collision</collision>
+          </contact>
+        </audio_source>
+		#endif
+		TiXmlElement* ci = config->FirstChildElement("audio_source");
+		if (ci)
+		{
+			link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceValid;
+			
+			const char* fn = ci->Attribute("filename");
+			if (fn)
+			{
+				link.m_audioSource.m_uri = fn;
+			} else
+			{
+				if (TiXmlElement* filename_xml = ci->FirstChildElement("uri"))
+				{
+					link.m_audioSource.m_uri = filename_xml->GetText();
+				}
+			}
+			if (TiXmlElement* pitch_xml = ci->FirstChildElement("pitch"))
+			{
+				link.m_audioSource.m_pitch = urdfLexicalCast<double>(pitch_xml->GetText());
+			}
+			if (TiXmlElement* gain_xml = ci->FirstChildElement("gain"))
+			{
+				link.m_audioSource.m_gain = urdfLexicalCast<double>(gain_xml->GetText());
+			}
+
+			if (TiXmlElement* attack_rate_xml = ci->FirstChildElement("attack_rate"))
+			{
+				link.m_audioSource.m_attackRate = urdfLexicalCast<double>(attack_rate_xml->GetText());
+			}
+
+			if (TiXmlElement* decay_rate_xml = ci->FirstChildElement("decay_rate"))
+			{
+				link.m_audioSource.m_decayRate = urdfLexicalCast<double>(decay_rate_xml->GetText());
+			}
+
+			if (TiXmlElement* sustain_level_xml = ci->FirstChildElement("sustain_level"))
+			{
+				link.m_audioSource.m_sustainLevel = urdfLexicalCast<double>(sustain_level_xml->GetText());
+			}
+
+			if (TiXmlElement* release_rate_xml = ci->FirstChildElement("release_rate"))
+			{
+				link.m_audioSource.m_releaseRate = urdfLexicalCast<double>(release_rate_xml->GetText());
+			}
+
+			if (TiXmlElement* loop_xml = ci->FirstChildElement("loop"))
+			{
+				std::string looptxt = loop_xml->GetText();
+				if (looptxt == "true")
+				{
+					link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceLooping;
+				}
+			}
+			if (TiXmlElement* forceThreshold_xml = ci->FirstChildElement("collision_force_threshold"))
+			{
+				link.m_audioSource.m_collisionForceThreshold= urdfLexicalCast<double>(forceThreshold_xml->GetText());
+			}
+			//todo: see other audio_source children
+			//pitch, gain, loop, contact
+			
+		}
+	}
 	{
 		//optional 'contact' parameters
 	 TiXmlElement* ci = config->FirstChildElement("contact");
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 3cdde368b..c22745b39 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -5,6 +5,7 @@
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btHashMap.h"
 #include "URDFJointTypes.h"
+#include "SDFAudioTypes.h"
 
 #define btArray btAlignedObjectArray
 #include <string>
@@ -140,6 +141,8 @@ struct UrdfLink
 	
 	URDFLinkContactInfo m_contactInfo;
 
+	SDFAudioSource m_audioSource;
+
 	UrdfLink()
 		:m_parentLink(0),
 		m_parentJoint(0)
diff --git a/examples/RobotSimulator/MinitaurSetup.cpp b/examples/RobotSimulator/MinitaurSetup.cpp
index e867d0583..9f78c0283 100644
--- a/examples/RobotSimulator/MinitaurSetup.cpp
+++ b/examples/RobotSimulator/MinitaurSetup.cpp
@@ -2,6 +2,7 @@
 #include "b3RobotSimulatorClientAPI.h"
 
 #include "Bullet3Common/b3HashMap.h"
+#include "../Utils/b3HashString.h"
 
 struct MinitaurSetupInternalData
 {
diff --git a/examples/RobotSimulator/RobotSimulatorMain.cpp b/examples/RobotSimulator/RobotSimulatorMain.cpp
index 3fafac9e8..fb1072fd0 100644
--- a/examples/RobotSimulator/RobotSimulatorMain.cpp
+++ b/examples/RobotSimulator/RobotSimulatorMain.cpp
@@ -16,7 +16,7 @@ int main(int argc, char* argv[])
 	//sim->connect(eCONNECT_UDP, "localhost", 1234);
 	sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
 //	sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
-	sim->setTimeOut(10);
+	sim->setTimeOut(12345);
 	//syncBodies is only needed when connecting to an existing physics server that has already some bodies
 	sim->syncBodies();
 	b3Scalar fixedTimeStep = 1./240.;
@@ -33,7 +33,7 @@ int main(int argc, char* argv[])
 	//b3BodyInfo bodyInfo;
 	//sim->getBodyInfo(blockId,&bodyInfo);
 
-	sim->loadURDF("plane.urdf");
+	sim->loadURDF("plane_with_collision_audio.urdf");
 
 	b3RobotSimulatorLoadUrdfFileArgs args;
 	args.m_startPosition.setValue(0,0,2);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 2d58ccb1e..1fcba6111 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -119,6 +119,7 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
 };
 
 
+
 struct InteralBodyData
 {
 	btMultiBody* m_multiBody;
@@ -128,6 +129,9 @@ struct InteralBodyData
 
 	btTransform m_rootLocalInertialFrame;
 	btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
+#ifdef B3_ENABLE_TINY_AUDIO
+	btHashMap<btHashInt, SDFAudioSource> m_audioSources;
+#endif //B3_ENABLE_TINY_AUDIO
 
 	InteralBodyData()
 		:m_multiBody(0),
@@ -1303,7 +1307,6 @@ struct PhysicsServerCommandProcessorInternalData
 	TinyRendererVisualShapeConverter  m_visualConverter;
 #ifdef B3_ENABLE_TINY_AUDIO
 	b3SoundEngine m_soundEngine;
-	int m_wavIds[3];
 #endif
 
 	PhysicsServerCommandProcessorInternalData()
@@ -1513,49 +1516,66 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
 	for (int i = 0; i < numContactManifolds; i++)
 	{
 		const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
-		for (int p=0;p<manifold->getNumContacts();p++)
+
+		bool objHasSound[2];
+		objHasSound[0] = (0!=(manifold->getBody0()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
+		objHasSound[1] = (0!=(manifold->getBody1()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
+		const btCollisionObject* colObjs[2] = {manifold->getBody0(),manifold->getBody1()};
+
+		for (int ob = 0;ob<2;ob++)
 		{
-			double imp = manifold->getContactPoint(p).getAppliedImpulse();
-				//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);
-
-			if (imp>0.4 && manifold->getContactPoint(p).getLifeTime()==1)
+			if (objHasSound[ob])
 			{
-				int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
-				if (soundSourceIndex>=0)
+				int uid0 = -1;
+				int linkIndex = -2;
+
+				const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(colObjs[ob]);
+				if (mblB && mblB->m_multiBody)
 				{
-					b3SoundMessage msg;
-					msg.m_releaseRate = 0.0001;
-					msg.m_attackRate = 1.;
-					msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
-					
-					int cardboardIndex = float(rand())/float(RAND_MAX)*2.9;
+					linkIndex = mblB->m_link;
+					uid0 = mblB->m_multiBody->getUserIndex2();
+				}
+				const btRigidBody* bodyB = btRigidBody::upcast(colObjs[ob]);
+				if (bodyB)
+				{
+					uid0 = bodyB->getUserIndex2();
+					linkIndex = -1;
+				}
 
-					msg.m_wavId = m_data->m_wavIds[cardboardIndex];
+				if ((uid0<0)||(linkIndex<-1))
+					continue;
 
-					float rnd = rand()% 2;
-					
-					msg.m_frequency = 100+rnd*10.;
+				InternalBodyHandle* bodyHandle0 = m_data->getHandle(uid0);
+				SDFAudioSource* audioSrc = bodyHandle0->m_audioSources[linkIndex];
+				if (audioSrc==0)
+					continue;
 
-					m_data->m_soundEngine.startSound(soundSourceIndex,msg);
-					m_data->m_soundEngine.releaseSound(soundSourceIndex);
+				for (int p=0;p<manifold->getNumContacts();p++)
+				{
+					double imp = manifold->getContactPoint(p).getAppliedImpulse();
+						//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);
 
+					if (imp>audioSrc->m_collisionForceThreshold && manifold->getContactPoint(p).getLifeTime()==1)
+					{
+						int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
+						if (soundSourceIndex>=0)
+						{
+							b3SoundMessage msg;
+							msg.m_attackRate = audioSrc->m_attackRate;
+							msg.m_decayRate = audioSrc->m_decayRate;
+							msg.m_sustainLevel = audioSrc->m_sustainLevel;
+							msg.m_releaseRate = audioSrc->m_releaseRate;
+							msg.m_amplitude = audioSrc->m_gain;
+							msg.m_frequency = audioSrc->m_pitch;
+							msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
+							msg.m_wavId = audioSrc->m_userIndex;
+							msg.m_autoKeyOff = true;
+							m_data->m_soundEngine.startSound(soundSourceIndex,msg);
+						}
+					}
 				}
 			}
 		}
-		int linkIndexA = -1;
-		int linkIndexB = -1;
-				
-		int objectIndexB = -1;
-				
-		const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
-		if (bodyB)
-		{
-			objectIndexB = bodyB->getUserIndex2();
-		}
-		const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
-		if (mblB && mblB->m_multiBody)
-		{
-		}
 	}
 #endif//B3_ENABLE_TINY_AUDIO
 }
@@ -1623,9 +1643,6 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 
 #ifdef B3_ENABLE_TINY_AUDIO
 	m_data->m_soundEngine.init(16,true);
-	m_data->m_wavIds[0] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox0.wav");
-	m_data->m_wavIds[1] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox1.wav");
-	m_data->m_wavIds[2] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox2.wav");
 
 //we don't use those callbacks (yet), experimental
 //	gContactAddedCallback = MyContactAddedCallback;
@@ -2039,7 +2056,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 
     BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
 
-
     bool loadOk =  u2b.loadURDF(fileName, useFixedBase);
 
 
@@ -2111,6 +2127,22 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 				}
 				createJointMotors(mb);
 
+#ifdef B3_ENABLE_TINY_AUDIO
+				{
+					SDFAudioSource audioSource;
+					int urdfRootLink = u2b.getRootLinkIndex();//LinkIndex = creation.m_mb2urdfLink[-1];
+					if (u2b.getLinkAudioSource(urdfRootLink,audioSource))
+					{
+						int flags = mb->getBaseCollider()->getCollisionFlags();
+						mb->getBaseCollider()->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
+						audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
+						if (audioSource.m_userIndex>=0)
+						{
+							bodyHandle->m_audioSources.insert(-1, audioSource);
+						}
+					}
+				}
+#endif
 
 				//serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire
 			    UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
@@ -2130,6 +2162,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
                 bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
 			    for (int i=0;i<mb->getNumLinks();i++)
                 {
+					int link=i;
 					//disable serialization of the collision objects
                    util->m_memSerializer->m_skipPointers.insert(mb->getLink(i).m_collider,0);
 				   int urdfLinkIndex = creation.m_mb2urdfLink[i];
@@ -2148,8 +2181,23 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 				   m_data->m_strings.push_back(jointName);
 				   util->m_memSerializer->registerNameForPointer(jointName->c_str(),jointName->c_str());
 				   mb->getLink(i).m_jointName = jointName->c_str();
+#ifdef B3_ENABLE_TINY_AUDIO
+				   {
+						SDFAudioSource audioSource;
+						int urdfLinkIndex = creation.m_mb2urdfLink[link];
+						if (u2b.getLinkAudioSource(urdfLinkIndex,audioSource))
+						{
+							int flags = mb->getLink(link).m_collider->getCollisionFlags();
+							mb->getLink(i).m_collider->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
+							audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
+							if (audioSource.m_userIndex>=0)
+							{
+								bodyHandle->m_audioSources.insert(link, audioSource);
+							}
+						}
+					}
                 }
-
+#endif
 				std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
 				m_data->m_strings.push_back(baseName);
 
diff --git a/examples/TinyAudio/b3ADSR.cpp b/examples/TinyAudio/b3ADSR.cpp
index 2a526a4c8..a96354245 100644
--- a/examples/TinyAudio/b3ADSR.cpp
+++ b/examples/TinyAudio/b3ADSR.cpp
@@ -23,6 +23,7 @@ b3ADSR::b3ADSR()
 	m_releaseRate = 0.0005;
 	m_sustainLevel = 0.5;
 	m_state = ADSR_IDLE;
+	m_autoKeyOff = false;
 }
 
 b3ADSR::~b3ADSR()
@@ -51,6 +52,10 @@ double b3ADSR::tick()
 				{
 					m_value = m_sustainLevel;
 					m_state = ADSR_SUSTAIN;
+					if (m_autoKeyOff)
+					{
+						keyOff();
+					}
 				}
 			}
 			else
@@ -60,6 +65,11 @@ double b3ADSR::tick()
 				{
 					m_value = m_sustainLevel;
 					m_state = ADSR_SUSTAIN;
+					if (m_autoKeyOff)
+					{
+						keyOff();
+					}
+
 				}
 			}
 			break;
@@ -81,8 +91,9 @@ bool b3ADSR::isIdle() const
 	return m_state == ADSR_IDLE;
 }
 
-void b3ADSR::keyOn()
+void b3ADSR::keyOn(bool autoKeyOff)
 {
+	m_autoKeyOff = autoKeyOff;
 	if (m_target <= 0.0)
 		m_target = 1.0;
 	if (m_attackRate==1)
@@ -94,6 +105,7 @@ void b3ADSR::keyOn()
 
 void b3ADSR::keyOff()
 {
+	m_autoKeyOff = false;
 	m_target = 0.0;
 	m_state = ADSR_RELEASE;
 
diff --git a/examples/TinyAudio/b3ADSR.h b/examples/TinyAudio/b3ADSR.h
index 3523a7e86..db3b088be 100644
--- a/examples/TinyAudio/b3ADSR.h
+++ b/examples/TinyAudio/b3ADSR.h
@@ -11,7 +11,7 @@ class b3ADSR
 	double m_releaseRate;
 	double m_releaseTime;
 	double m_sustainLevel;
-
+	bool m_autoKeyOff;
 public:
 
 	b3ADSR();
@@ -19,7 +19,7 @@ public:
 
 	double tick();
 	bool isIdle() const;
-	void keyOn();
+	void keyOn(bool autoKeyOff);
 	void keyOff();
 
 	void setValues(double attack,double decay,double sustain,double release)
diff --git a/examples/TinyAudio/b3SoundEngine.cpp b/examples/TinyAudio/b3SoundEngine.cpp
index 47f0ef4d9..478e0efc8 100644
--- a/examples/TinyAudio/b3SoundEngine.cpp
+++ b/examples/TinyAudio/b3SoundEngine.cpp
@@ -7,6 +7,8 @@
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "b3ReadWavFile.h"
 #include "../Utils/b3ResourcePath.h"
+#include "../Utils/b3HashString.h"
+
 #include "Bullet3Common/b3HashMap.h"
 
 // The default real-time audio input and output buffer size.  If
@@ -24,6 +26,8 @@ struct b3SoundEngineInternalData
 
 	b3AlignedObjectArray<b3SoundSource*> m_soundSources;
 	b3HashMap<b3HashInt, b3ReadWavFile*> m_wavFiles;
+	b3HashMap<b3HashString, int> m_name2wav;
+
 	int m_wavFileUidGenerator;
 
 	b3SoundEngineInternalData()
@@ -84,6 +88,19 @@ void b3SoundEngine::exit()
 		delete m_data->m_soundSources[i];
 	}
 	m_data->m_soundSources.clear();
+
+	for (int i=0;i<m_data->m_wavFiles.size();i++)
+	{
+		b3ReadWavFile** wavPtr = m_data->m_wavFiles.getAtIndex(i);
+		if (wavPtr && *wavPtr)
+		{
+			b3ReadWavFile* wav = *wavPtr;
+			delete wav;
+		}
+	}
+	m_data->m_wavFiles.clear();
+	m_data->m_name2wav.clear();
+
 }
 
 int b3SoundEngine::getAvailableSoundSource()
@@ -113,7 +130,7 @@ void b3SoundEngine::startSound(int soundSourceIndex, b3SoundMessage msg)
 			soundSource->setOscillatorFrequency(0, msg.m_frequency);
 			soundSource->setOscillatorFrequency(1, msg.m_frequency);
 			
-			soundSource->startSound();
+			soundSource->startSound(msg.m_autoKeyOff);
 			break;
 		}
 		case B3_SOUND_SOURCE_WAV_FILE:
@@ -124,7 +141,7 @@ void b3SoundEngine::startSound(int soundSourceIndex, b3SoundMessage msg)
 				b3ReadWavFile* wavFile = *wavFilePtr;
 				soundSource->setWavFile(0,wavFile,getSampleRate());
 				soundSource->setWavFile(1,wavFile,getSampleRate());
-				soundSource->startSound();
+				soundSource->startSound(msg.m_autoKeyOff);
 			}
 			break;
 		}
@@ -142,6 +159,11 @@ void b3SoundEngine::releaseSound(int soundSourceIndex)
 
 int b3SoundEngine::loadWavFile(const char* fileName)
 {
+	int* wavUidPtr = m_data->m_name2wav[fileName];
+	if (wavUidPtr)
+	{
+		return *wavUidPtr;
+	}
 	char resourcePath[1024];
 
 	if (b3ResourcePath::findResourcePath(fileName, resourcePath, 1024))
@@ -153,6 +175,7 @@ int b3SoundEngine::loadWavFile(const char* fileName)
 		wavFile->normalize(1);
 		int wavUID = m_data->m_wavFileUidGenerator++;
 		m_data->m_wavFiles.insert(wavUID, wavFile);
+		m_data->m_name2wav.insert(fileName,wavUID);
 		return wavUID;
 	}
 	return 0;
diff --git a/examples/TinyAudio/b3SoundEngine.h b/examples/TinyAudio/b3SoundEngine.h
index 9fe08ec00..daf2df6b3 100644
--- a/examples/TinyAudio/b3SoundEngine.h
+++ b/examples/TinyAudio/b3SoundEngine.h
@@ -16,6 +16,7 @@ struct b3SoundMessage
 	double m_decayRate;
 	double m_sustainLevel;
 	double m_releaseRate;
+	bool m_autoKeyOff;
 
 	b3SoundMessage()
 		:m_type(B3_SOUND_SOURCE_SINE_OSCILLATOR),
@@ -25,7 +26,8 @@ struct b3SoundMessage
 		m_attackRate(0.001),
 		m_decayRate(0.00001),
 		m_sustainLevel(0.5),
-		m_releaseRate(0.0005)
+		m_releaseRate(0.0005),
+		m_autoKeyOff(false)
 	{
 	}
 };
diff --git a/examples/TinyAudio/b3SoundSource.cpp b/examples/TinyAudio/b3SoundSource.cpp
index d7a2b4913..860692894 100644
--- a/examples/TinyAudio/b3SoundSource.cpp
+++ b/examples/TinyAudio/b3SoundSource.cpp
@@ -183,7 +183,7 @@ bool b3SoundSource::isAvailable() const
 	return m_data->m_envelope.isIdle();
 }
 
-void b3SoundSource::startSound()
+void b3SoundSource::startSound(bool autoKeyOff)
 {
 	if (m_data->m_envelope.isIdle())
 	{
@@ -209,7 +209,7 @@ void b3SoundSource::startSound()
 			}
 		}
 	}
-	m_data->m_envelope.keyOn();
+	m_data->m_envelope.keyOn(autoKeyOff);
 }
 
 void b3SoundSource::stopSound()
diff --git a/examples/TinyAudio/b3SoundSource.h b/examples/TinyAudio/b3SoundSource.h
index a532eed37..af38a2183 100644
--- a/examples/TinyAudio/b3SoundSource.h
+++ b/examples/TinyAudio/b3SoundSource.h
@@ -24,7 +24,7 @@ public:
 
 	bool setWavFile(int oscillatorIndex, class b3ReadWavFile* wavFilePtr, int sampleRate);
 
-	void startSound();
+	void startSound(bool autoKeyOff);
 	void stopSound();
 
 	bool isAvailable() const;
diff --git a/examples/Utils/b3HashString.h b/examples/Utils/b3HashString.h
new file mode 100644
index 000000000..9cae98c6d
--- /dev/null
+++ b/examples/Utils/b3HashString.h
@@ -0,0 +1,59 @@
+#ifndef B3_HASH_STRING_H
+#define B3_HASH_STRING_H
+
+#include <string>
+
+///very basic hashable string implementation, compatible with b3HashMap
+struct b3HashString
+{
+	std::string m_string;
+	unsigned int	m_hash;
+
+	B3_FORCE_INLINE	unsigned int getHash()const
+	{
+		return m_hash;
+	}
+
+
+	b3HashString(const char* name)
+		:m_string(name)
+	{
+
+		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
+		static const unsigned int  InitialFNV = 2166136261u;
+		static const unsigned int FNVMultiple = 16777619u;
+
+		/* Fowler / Noll / Vo (FNV) Hash */
+		unsigned int hash = InitialFNV;
+		
+		for(int i = 0; m_string[i]; i++)
+		{
+			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
+			hash = hash * FNVMultiple;  /* multiply by the magic number */
+		}
+		m_hash = hash;
+	}
+
+	int portableStringCompare(const char* src,	const char* dst) const
+	{
+			int ret = 0 ;
+
+			while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
+					++src, ++dst;
+
+			if ( ret < 0 )
+					ret = -1 ;
+			else if ( ret > 0 )
+					ret = 1 ;
+
+			return( ret );
+	}
+
+	bool equals(const b3HashString& other) const
+	{
+		return (m_string == other.m_string);
+	}
+
+};
+
+#endif //B3_HASH_STRING_H
diff --git a/src/Bullet3Common/b3HashMap.h b/src/Bullet3Common/b3HashMap.h
index 3569503fb..15281ed90 100644
--- a/src/Bullet3Common/b3HashMap.h
+++ b/src/Bullet3Common/b3HashMap.h
@@ -19,58 +19,6 @@ subject to the following restrictions:
 
 #include "b3AlignedObjectArray.h"
 
-///very basic hashable string implementation, compatible with b3HashMap
-struct b3HashString
-{
-	const char* m_string;
-	unsigned int	m_hash;
-
-	B3_FORCE_INLINE	unsigned int getHash()const
-	{
-		return m_hash;
-	}
-
-	b3HashString(const char* name)
-		:m_string(name)
-	{
-		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
-		static const unsigned int  InitialFNV = 2166136261u;
-		static const unsigned int FNVMultiple = 16777619u;
-
-		/* Fowler / Noll / Vo (FNV) Hash */
-		unsigned int hash = InitialFNV;
-		
-		for(int i = 0; m_string[i]; i++)
-		{
-			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
-			hash = hash * FNVMultiple;  /* multiply by the magic number */
-		}
-		m_hash = hash;
-	}
-
-	int portableStringCompare(const char* src,	const char* dst) const
-	{
-			int ret = 0 ;
-
-			while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
-					++src, ++dst;
-
-			if ( ret < 0 )
-					ret = -1 ;
-			else if ( ret > 0 )
-					ret = 1 ;
-
-			return( ret );
-	}
-
-	bool equals(const b3HashString& other) const
-	{
-		return (m_string == other.m_string) ||
-			(0==portableStringCompare(m_string,other.m_string));
-
-	}
-
-};
 
 const int B3_HASH_NULL=0xffffffff;
 
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
index 598ad2229..fec831bff 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -140,6 +140,7 @@ public:
 		CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
 		CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
 		CF_HAS_FRICTION_ANCHOR = 512,
+		CF_HAS_COLLISION_SOUND_TRIGGER = 1024
 	};
 
 	enum	CollisionObjectTypes
diff --git a/src/LinearMath/btHashMap.h b/src/LinearMath/btHashMap.h
index ca6f326b4..8f723a646 100644
--- a/src/LinearMath/btHashMap.h
+++ b/src/LinearMath/btHashMap.h
@@ -79,6 +79,11 @@ class btHashInt
 {
 	int	m_uid;
 public:
+
+	btHashInt()
+	{
+	}
+
 	btHashInt(int uid)	:m_uid(uid)
 	{
 	}

From 305725e52e07fca2dfa4d6c39786349b1a9cfcc1 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 1 May 2017 15:04:00 -0700
Subject: [PATCH 23/80] add --serial option in premake, added serial library to
 test vr glove in C++ (pybullet works already fine)

---
 build3/premake4.lua                           |   10 +
 .../b3RobotSimulatorClientAPI.cpp             |   16 +
 .../b3RobotSimulatorClientAPI.h               |   11 +
 examples/RobotSimulator/premake4.lua          |    6 +
 examples/ThirdPartyLibs/serial/README.md      |   78 ++
 .../serial/include/serial/impl/unix.h         |  221 ++++
 .../serial/include/serial/impl/win.h          |  207 ++++
 .../serial/include/serial/serial.h            |  775 ++++++++++++
 .../serial/include/serial/v8stdint.h          |   57 +
 examples/ThirdPartyLibs/serial/premake4.lua   |   31 +
 .../src/impl/list_ports/list_ports_linux.cc   |  335 ++++++
 .../src/impl/list_ports/list_ports_osx.cc     |  286 +++++
 .../src/impl/list_ports/list_ports_win.cc     |  152 +++
 .../ThirdPartyLibs/serial/src/impl/unix.cc    | 1063 +++++++++++++++++
 .../ThirdPartyLibs/serial/src/impl/win.cc     |  640 ++++++++++
 examples/ThirdPartyLibs/serial/src/serial.cc  |  414 +++++++
 16 files changed, 4302 insertions(+)
 create mode 100644 examples/ThirdPartyLibs/serial/README.md
 create mode 100644 examples/ThirdPartyLibs/serial/include/serial/impl/unix.h
 create mode 100644 examples/ThirdPartyLibs/serial/include/serial/impl/win.h
 create mode 100644 examples/ThirdPartyLibs/serial/include/serial/serial.h
 create mode 100644 examples/ThirdPartyLibs/serial/include/serial/v8stdint.h
 create mode 100644 examples/ThirdPartyLibs/serial/premake4.lua
 create mode 100644 examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_linux.cc
 create mode 100644 examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_osx.cc
 create mode 100644 examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_win.cc
 create mode 100644 examples/ThirdPartyLibs/serial/src/impl/unix.cc
 create mode 100644 examples/ThirdPartyLibs/serial/src/impl/win.cc
 create mode 100644 examples/ThirdPartyLibs/serial/src/serial.cc

diff --git a/build3/premake4.lua b/build3/premake4.lua
index c630b0d7d..c2742cd63 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -158,6 +158,12 @@ end
 		description = "Double precision version of Bullet"
 	}
 	
+	newoption
+	{
+		trigger = "serial",
+		description = "Enable serial, for testing the VR glove in C++"
+	}
+	
 	newoption
 	{
 		trigger = "audio",
@@ -259,6 +265,10 @@ end
 		include "../examples/TinyAudio"
 	end
 
+	if _OPTIONS["serial"] then
+		include "../examples/ThirdPartyLibs/serial"
+	end
+
 	if not _OPTIONS["no-demos"] then
 		include "../examples/ExampleBrowser"
 		include "../examples/RobotSimulator"
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
index d29b7407f..ebf515e92 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -506,6 +506,22 @@ bool b3RobotSimulatorClientAPI::resetBaseVelocity(int bodyUniqueId, const b3Vect
 	return true;
 }
 
+void b3RobotSimulatorClientAPI::setInternalSimFlags(int flags)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+	{
+		b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
+		b3SharedMemoryStatusHandle statusHandle;
+		b3PhysicsParamSetInternalSimFlags(command, flags);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+	}
+}
+
+
 void b3RobotSimulatorClientAPI::setRealTimeSimulation(bool enableRealTimeSimulation)
 {
 	if (!isConnected())
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
index b7d9991e5..876c7048b 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
@@ -17,6 +17,15 @@ struct b3RobotSimulatorLoadUrdfFileArgs
 	bool m_useMultiBody;
 	int m_flags;
 
+	b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
+		: m_startPosition(startPos),
+		  m_startOrientation(startOrn),
+		  m_forceOverrideFixedBase(false),
+		  m_useMultiBody(true),
+		  m_flags(0)
+	{
+	}
+
 	b3RobotSimulatorLoadUrdfFileArgs()
 		: m_startPosition(b3MakeVector3(0, 0, 0)),
 		  m_startOrientation(b3Quaternion(0, 0, 0, 1)),
@@ -172,6 +181,8 @@ public:
 
 	void setRealTimeSimulation(bool enableRealTimeSimulation);
 
+	void setInternalSimFlags(int flags);
+
 	void setGravity(const b3Vector3& gravityAcceleration);
 
 	void setTimeStep(double timeStepInSeconds);
diff --git a/examples/RobotSimulator/premake4.lua b/examples/RobotSimulator/premake4.lua
index 0d73ffd05..88acdeaef 100644
--- a/examples/RobotSimulator/premake4.lua
+++ b/examples/RobotSimulator/premake4.lua
@@ -98,6 +98,12 @@ if not _OPTIONS["no-enet"] then
 				"../TinyAudio/RtAudio.cpp",
 			}
 			defines {"B3_ENABLE_TINY_AUDIO"}
+
+			if _OPTIONS["serial"] then
+				defines{"B3_ENABLE_SERIAL"}
+				includedirs {"../../examples/ThirdPartyLibs/serial/include"}
+				links {"serial"}
+			end
 			
 			if os.is("Windows") then
 				links {"winmm","Wsock32","dsound"}
diff --git a/examples/ThirdPartyLibs/serial/README.md b/examples/ThirdPartyLibs/serial/README.md
new file mode 100644
index 000000000..beeb7f596
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/README.md
@@ -0,0 +1,78 @@
+# Serial Communication Library
+
+[![Build Status](https://travis-ci.org/wjwwood/serial.svg?branch=master)](https://travis-ci.org/wjwwood/serial)*(Linux and OS X)* [![Build Status](https://ci.appveyor.com/api/projects/status/github/wjwwood/serial)](https://ci.appveyor.com/project/wjwwood/serial)*(Windows)*
+
+This is a cross-platform library for interfacing with rs-232 serial like ports written in C++. It provides a modern C++ interface with a workflow designed to look and feel like PySerial, but with the speed and control provided by C++. 
+
+This library is in use in several robotics related projects and can be built and installed to the OS like most unix libraries with make and then sudo make install, but because it is a catkin project it can also be built along side other catkin projects in a catkin workspace.
+
+Serial is a class that provides the basic interface common to serial libraries (open, close, read, write, etc..) and requires no extra dependencies. It also provides tight control over timeouts and control over handshaking lines. 
+
+### Documentation
+
+Website: http://wjwwood.github.com/serial/
+
+API Documentation: http://wjwwood.github.com/serial/doc/1.1.0/index.html
+
+### Dependencies
+
+Required:
+* [catkin](http://www.ros.org/wiki/catkin) - cmake and Python based buildsystem
+* [cmake](http://www.cmake.org) - buildsystem
+* [Python](http://www.python.org) - scripting language
+  * [empy](http://www.alcyone.com/pyos/empy/) - Python templating library
+  * [catkin_pkg](http://pypi.python.org/pypi/catkin_pkg/) - Runtime Python library for catkin
+
+Optional (for tests): 
+* [Boost](http://www.boost.org/) - Boost C++ librairies
+
+Optional (for documentation):
+* [Doxygen](http://www.doxygen.org/) - Documentation generation tool
+* [graphviz](http://www.graphviz.org/) - Graph visualization software
+
+### Install
+
+Get the code:
+
+    git clone https://github.com/wjwwood/serial.git
+
+Build:
+
+    make
+
+Build and run the tests:
+
+    make test
+
+Build the documentation:
+
+    make doc
+
+Install:
+
+    make install
+
+Uninstall:
+
+    make uninstall
+
+### License
+
+The MIT License
+
+Copyright (c) 2012 William Woodall, John Harrison
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+### Authors
+
+William Woodall <wjwwood@gmail.com>
+John Harrison <ash.gti@gmail.com>
+
+### Contact
+
+William Woodall <william@osrfoundation.org>
diff --git a/examples/ThirdPartyLibs/serial/include/serial/impl/unix.h b/examples/ThirdPartyLibs/serial/include/serial/impl/unix.h
new file mode 100644
index 000000000..0fb38f244
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/include/serial/impl/unix.h
@@ -0,0 +1,221 @@
+/*!
+ * \file serial/impl/unix.h
+ * \author  William Woodall <wjwwood@gmail.com>
+ * \author  John Harrison <ash@greaterthaninfinity.com>
+ * \version 0.1
+ *
+ * \section LICENSE
+ *
+ * The MIT License
+ *
+ * Copyright (c) 2012 William Woodall, John Harrison
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ *
+ * \section DESCRIPTION
+ *
+ * This provides a unix based pimpl for the Serial class. This implementation is
+ * based off termios.h and uses select for multiplexing the IO ports.
+ *
+ */
+
+#if !defined(_WIN32)
+
+#ifndef SERIAL_IMPL_UNIX_H
+#define SERIAL_IMPL_UNIX_H
+
+#include "serial/serial.h"
+
+#include <pthread.h>
+
+namespace serial {
+
+using std::size_t;
+using std::string;
+using std::invalid_argument;
+
+using serial::SerialException;
+using serial::IOException;
+
+class MillisecondTimer {
+public:
+  MillisecondTimer(const uint32_t millis);         
+  int64_t remaining();
+
+private:
+  static timespec timespec_now();
+  timespec expiry;
+};
+
+class serial::Serial::SerialImpl {
+public:
+  SerialImpl (const string &port,
+              unsigned long baudrate,
+              bytesize_t bytesize,
+              parity_t parity,
+              stopbits_t stopbits,
+              flowcontrol_t flowcontrol);
+
+  virtual ~SerialImpl ();
+
+  void
+  open ();
+
+  void
+  close ();
+
+  bool
+  isOpen () const;
+
+  size_t
+  available ();
+
+  bool
+  waitReadable (uint32_t timeout);
+
+  void
+  waitByteTimes (size_t count);
+
+  size_t
+  read (uint8_t *buf, size_t size = 1);
+
+  size_t
+  write (const uint8_t *data, size_t length);
+
+  void
+  flush ();
+
+  void
+  flushInput ();
+
+  void
+  flushOutput ();
+
+  void
+  sendBreak (int duration);
+
+  void
+  setBreak (bool level);
+
+  void
+  setRTS (bool level);
+
+  void
+  setDTR (bool level);
+
+  bool
+  waitForChange ();
+
+  bool
+  getCTS ();
+
+  bool
+  getDSR ();
+
+  bool
+  getRI ();
+
+  bool
+  getCD ();
+
+  void
+  setPort (const string &port);
+
+  string
+  getPort () const;
+
+  void
+  setTimeout (Timeout &timeout);
+
+  Timeout
+  getTimeout () const;
+
+  void
+  setBaudrate (unsigned long baudrate);
+
+  unsigned long
+  getBaudrate () const;
+
+  void
+  setBytesize (bytesize_t bytesize);
+
+  bytesize_t
+  getBytesize () const;
+
+  void
+  setParity (parity_t parity);
+
+  parity_t
+  getParity () const;
+
+  void
+  setStopbits (stopbits_t stopbits);
+
+  stopbits_t
+  getStopbits () const;
+
+  void
+  setFlowcontrol (flowcontrol_t flowcontrol);
+
+  flowcontrol_t
+  getFlowcontrol () const;
+
+  void
+  readLock ();
+
+  void
+  readUnlock ();
+
+  void
+  writeLock ();
+
+  void
+  writeUnlock ();
+
+protected:
+  void reconfigurePort ();
+
+private:
+  string port_;               // Path to the file descriptor
+  int fd_;                    // The current file descriptor
+
+  bool is_open_;
+  bool xonxoff_;
+  bool rtscts_;
+
+  Timeout timeout_;           // Timeout for read operations
+  unsigned long baudrate_;    // Baudrate
+  uint32_t byte_time_ns_;     // Nanoseconds to transmit/receive a single byte
+
+  parity_t parity_;           // Parity
+  bytesize_t bytesize_;       // Size of the bytes
+  stopbits_t stopbits_;       // Stop Bits
+  flowcontrol_t flowcontrol_; // Flow Control
+
+  // Mutex used to lock the read functions
+  pthread_mutex_t read_mutex;
+  // Mutex used to lock the write functions
+  pthread_mutex_t write_mutex;
+};
+
+}
+
+#endif // SERIAL_IMPL_UNIX_H
+
+#endif // !defined(_WIN32)
diff --git a/examples/ThirdPartyLibs/serial/include/serial/impl/win.h b/examples/ThirdPartyLibs/serial/include/serial/impl/win.h
new file mode 100644
index 000000000..2c0c6cde1
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/include/serial/impl/win.h
@@ -0,0 +1,207 @@
+/*!
+ * \file serial/impl/windows.h
+ * \author  William Woodall <wjwwood@gmail.com>
+ * \author  John Harrison <ash@greaterthaninfinity.com>
+ * \version 0.1
+ *
+ * \section LICENSE
+ *
+ * The MIT License
+ *
+ * Copyright (c) 2012 William Woodall, John Harrison
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ *
+ * \section DESCRIPTION
+ *
+ * This provides a windows implementation of the Serial class interface.
+ *
+ */
+
+#if defined(_WIN32)
+
+#ifndef SERIAL_IMPL_WINDOWS_H
+#define SERIAL_IMPL_WINDOWS_H
+
+#include "serial/serial.h"
+
+#include "windows.h"
+
+namespace serial {
+
+using std::string;
+using std::wstring;
+using std::invalid_argument;
+
+using serial::SerialException;
+using serial::IOException;
+
+class serial::Serial::SerialImpl {
+public:
+  SerialImpl (const string &port,
+              unsigned long baudrate,
+              bytesize_t bytesize,
+              parity_t parity,
+              stopbits_t stopbits,
+              flowcontrol_t flowcontrol);
+
+  virtual ~SerialImpl ();
+
+  void
+  open ();
+
+  void
+  close ();
+
+  bool
+  isOpen () const;
+
+  size_t
+  available ();
+  
+  bool
+  waitReadable (uint32_t timeout);
+
+  void
+  waitByteTimes (size_t count);
+
+  size_t
+  read (uint8_t *buf, size_t size = 1);
+
+  size_t
+  write (const uint8_t *data, size_t length);
+
+  void
+  flush ();
+
+  void
+  flushInput ();
+
+  void
+  flushOutput ();
+
+  void
+  sendBreak (int duration);
+
+  void
+  setBreak (bool level);
+
+  void
+  setRTS (bool level);
+
+  void
+  setDTR (bool level);
+
+  bool
+  waitForChange ();
+
+  bool
+  getCTS ();
+
+  bool
+  getDSR ();
+
+  bool
+  getRI ();
+
+  bool
+  getCD ();
+
+  void
+  setPort (const string &port);
+
+  string
+  getPort () const;
+
+  void
+  setTimeout (Timeout &timeout);
+
+  Timeout
+  getTimeout () const;
+
+  void
+  setBaudrate (unsigned long baudrate);
+
+  unsigned long
+  getBaudrate () const;
+
+  void
+  setBytesize (bytesize_t bytesize);
+
+  bytesize_t
+  getBytesize () const;
+
+  void
+  setParity (parity_t parity);
+
+  parity_t
+  getParity () const;
+
+  void
+  setStopbits (stopbits_t stopbits);
+
+  stopbits_t
+  getStopbits () const;
+
+  void
+  setFlowcontrol (flowcontrol_t flowcontrol);
+
+  flowcontrol_t
+  getFlowcontrol () const;
+
+  void
+  readLock ();
+
+  void
+  readUnlock ();
+
+  void
+  writeLock ();
+
+  void
+  writeUnlock ();
+
+protected:
+  void reconfigurePort ();
+
+private:
+  wstring port_;               // Path to the file descriptor
+  HANDLE fd_;
+
+  bool is_open_;
+
+  Timeout timeout_;           // Timeout for read operations
+  unsigned long baudrate_;    // Baudrate
+
+  parity_t parity_;           // Parity
+  bytesize_t bytesize_;       // Size of the bytes
+  stopbits_t stopbits_;       // Stop Bits
+  flowcontrol_t flowcontrol_; // Flow Control
+
+  // Mutex used to lock the read functions
+  HANDLE read_mutex;
+  // Mutex used to lock the write functions
+  HANDLE write_mutex;
+};
+
+}
+
+#endif // SERIAL_IMPL_WINDOWS_H
+
+#endif // if defined(_WIN32)
diff --git a/examples/ThirdPartyLibs/serial/include/serial/serial.h b/examples/ThirdPartyLibs/serial/include/serial/serial.h
new file mode 100644
index 000000000..138565952
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/include/serial/serial.h
@@ -0,0 +1,775 @@
+/*!
+ * \file serial/serial.h
+ * \author  William Woodall <wjwwood@gmail.com>
+ * \author  John Harrison   <ash.gti@gmail.com>
+ * \version 0.1
+ *
+ * \section LICENSE
+ *
+ * The MIT License
+ *
+ * Copyright (c) 2012 William Woodall
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ *
+ * \section DESCRIPTION
+ *
+ * This provides a cross platform interface for interacting with Serial Ports.
+ */
+
+#ifndef SERIAL_H
+#define SERIAL_H
+
+#include <limits>
+#include <vector>
+#include <string>
+#include <cstring>
+#include <sstream>
+#include <exception>
+#include <stdexcept>
+#include <serial/v8stdint.h>
+
+#define THROW(exceptionClass, message) throw exceptionClass(__FILE__, \
+__LINE__, (message) )
+
+namespace serial {
+
+/*!
+ * Enumeration defines the possible bytesizes for the serial port.
+ */
+typedef enum {
+  fivebits = 5,
+  sixbits = 6,
+  sevenbits = 7,
+  eightbits = 8
+} bytesize_t;
+
+/*!
+ * Enumeration defines the possible parity types for the serial port.
+ */
+typedef enum {
+  parity_none = 0,
+  parity_odd = 1,
+  parity_even = 2,
+  parity_mark = 3,
+  parity_space = 4
+} parity_t;
+
+/*!
+ * Enumeration defines the possible stopbit types for the serial port.
+ */
+typedef enum {
+  stopbits_one = 1,
+  stopbits_two = 2,
+  stopbits_one_point_five
+} stopbits_t;
+
+/*!
+ * Enumeration defines the possible flowcontrol types for the serial port.
+ */
+typedef enum {
+  flowcontrol_none = 0,
+  flowcontrol_software,
+  flowcontrol_hardware
+} flowcontrol_t;
+
+/*!
+ * Structure for setting the timeout of the serial port, times are
+ * in milliseconds.
+ *
+ * In order to disable the interbyte timeout, set it to Timeout::max().
+ */
+struct Timeout {
+#ifdef max
+# undef max
+#endif
+  static uint32_t max() {return std::numeric_limits<uint32_t>::max();}
+  /*!
+   * Convenience function to generate Timeout structs using a
+   * single absolute timeout.
+   *
+   * \param timeout A long that defines the time in milliseconds until a
+   * timeout occurs after a call to read or write is made.
+   *
+   * \return Timeout struct that represents this simple timeout provided.
+   */
+  static Timeout simpleTimeout(uint32_t timeout) {
+    return Timeout(max(), timeout, 0, timeout, 0);
+  }
+
+  /*! Number of milliseconds between bytes received to timeout on. */
+  uint32_t inter_byte_timeout;
+  /*! A constant number of milliseconds to wait after calling read. */
+  uint32_t read_timeout_constant;
+  /*! A multiplier against the number of requested bytes to wait after
+   *  calling read.
+   */
+  uint32_t read_timeout_multiplier;
+  /*! A constant number of milliseconds to wait after calling write. */
+  uint32_t write_timeout_constant;
+  /*! A multiplier against the number of requested bytes to wait after
+   *  calling write.
+   */
+  uint32_t write_timeout_multiplier;
+
+  explicit Timeout (uint32_t inter_byte_timeout_=0,
+                    uint32_t read_timeout_constant_=0,
+                    uint32_t read_timeout_multiplier_=0,
+                    uint32_t write_timeout_constant_=0,
+                    uint32_t write_timeout_multiplier_=0)
+  : inter_byte_timeout(inter_byte_timeout_),
+    read_timeout_constant(read_timeout_constant_),
+    read_timeout_multiplier(read_timeout_multiplier_),
+    write_timeout_constant(write_timeout_constant_),
+    write_timeout_multiplier(write_timeout_multiplier_)
+  {}
+};
+
+/*!
+ * Class that provides a portable serial port interface.
+ */
+class Serial {
+public:
+  /*!
+   * Creates a Serial object and opens the port if a port is specified,
+   * otherwise it remains closed until serial::Serial::open is called.
+   *
+   * \param port A std::string containing the address of the serial port,
+   *        which would be something like 'COM1' on Windows and '/dev/ttyS0'
+   *        on Linux.
+   *
+   * \param baudrate An unsigned 32-bit integer that represents the baudrate
+   *
+   * \param timeout A serial::Timeout struct that defines the timeout
+   * conditions for the serial port. \see serial::Timeout
+   *
+   * \param bytesize Size of each byte in the serial transmission of data,
+   * default is eightbits, possible values are: fivebits, sixbits, sevenbits,
+   * eightbits
+   *
+   * \param parity Method of parity, default is parity_none, possible values
+   * are: parity_none, parity_odd, parity_even
+   *
+   * \param stopbits Number of stop bits used, default is stopbits_one,
+   * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two
+   *
+   * \param flowcontrol Type of flowcontrol used, default is
+   * flowcontrol_none, possible values are: flowcontrol_none,
+   * flowcontrol_software, flowcontrol_hardware
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::IOException
+   * \throw std::invalid_argument
+   */
+  Serial (const std::string &port = "",
+          uint32_t baudrate = 9600,
+          Timeout timeout = Timeout(),
+          bytesize_t bytesize = eightbits,
+          parity_t parity = parity_none,
+          stopbits_t stopbits = stopbits_one,
+          flowcontrol_t flowcontrol = flowcontrol_none);
+
+  /*! Destructor */
+  virtual ~Serial ();
+
+  /*!
+   * Opens the serial port as long as the port is set and the port isn't
+   * already open.
+   *
+   * If the port is provided to the constructor then an explicit call to open
+   * is not needed.
+   *
+   * \see Serial::Serial
+   *
+   * \throw std::invalid_argument
+   * \throw serial::SerialException
+   * \throw serial::IOException
+   */
+  void
+  open ();
+
+  /*! Gets the open status of the serial port.
+   *
+   * \return Returns true if the port is open, false otherwise.
+   */
+  bool
+  isOpen () const;
+
+  /*! Closes the serial port. */
+  void
+  close ();
+
+  /*! Return the number of characters in the buffer. */
+  size_t
+  available ();
+
+  /*! Block until there is serial data to read or read_timeout_constant
+   * number of milliseconds have elapsed. The return value is true when
+   * the function exits with the port in a readable state, false otherwise
+   * (due to timeout or select interruption). */
+  bool
+  waitReadable ();
+
+  /*! Block for a period of time corresponding to the transmission time of
+   * count characters at present serial settings. This may be used in con-
+   * junction with waitReadable to read larger blocks of data from the
+   * port. */
+  void
+  waitByteTimes (size_t count);
+
+  /*! Read a given amount of bytes from the serial port into a given buffer.
+   *
+   * The read function will return in one of three cases:
+   *  * The number of requested bytes was read.
+   *    * In this case the number of bytes requested will match the size_t
+   *      returned by read.
+   *  * A timeout occurred, in this case the number of bytes read will not
+   *    match the amount requested, but no exception will be thrown.  One of
+   *    two possible timeouts occurred:
+   *    * The inter byte timeout expired, this means that number of
+   *      milliseconds elapsed between receiving bytes from the serial port
+   *      exceeded the inter byte timeout.
+   *    * The total timeout expired, which is calculated by multiplying the
+   *      read timeout multiplier by the number of requested bytes and then
+   *      added to the read timeout constant.  If that total number of
+   *      milliseconds elapses after the initial call to read a timeout will
+   *      occur.
+   *  * An exception occurred, in this case an actual exception will be thrown.
+   *
+   * \param buffer An uint8_t array of at least the requested size.
+   * \param size A size_t defining how many bytes to be read.
+   *
+   * \return A size_t representing the number of bytes read as a result of the
+   *         call to read.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  size_t
+  read (uint8_t *buffer, size_t size);
+
+  /*! Read a given amount of bytes from the serial port into a give buffer.
+   *
+   * \param buffer A reference to a std::vector of uint8_t.
+   * \param size A size_t defining how many bytes to be read.
+   *
+   * \return A size_t representing the number of bytes read as a result of the
+   *         call to read.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  size_t
+  read (std::vector<uint8_t> &buffer, size_t size = 1);
+
+  /*! Read a given amount of bytes from the serial port into a give buffer.
+   *
+   * \param buffer A reference to a std::string.
+   * \param size A size_t defining how many bytes to be read.
+   *
+   * \return A size_t representing the number of bytes read as a result of the
+   *         call to read.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  size_t
+  read (std::string &buffer, size_t size = 1);
+
+  /*! Read a given amount of bytes from the serial port and return a string
+   *  containing the data.
+   *
+   * \param size A size_t defining how many bytes to be read.
+   *
+   * \return A std::string containing the data read from the port.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  std::string
+  read (size_t size = 1);
+
+  /*! Reads in a line or until a given delimiter has been processed.
+   *
+   * Reads from the serial port until a single line has been read.
+   *
+   * \param buffer A std::string reference used to store the data.
+   * \param size A maximum length of a line, defaults to 65536 (2^16)
+   * \param eol A string to match against for the EOL.
+   *
+   * \return A size_t representing the number of bytes read.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  size_t
+  readline (std::string &buffer, size_t size = 65536, std::string eol = "\n");
+
+  /*! Reads in a line or until a given delimiter has been processed.
+   *
+   * Reads from the serial port until a single line has been read.
+   *
+   * \param size A maximum length of a line, defaults to 65536 (2^16)
+   * \param eol A string to match against for the EOL.
+   *
+   * \return A std::string containing the line.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  std::string
+  readline (size_t size = 65536, std::string eol = "\n");
+
+  /*! Reads in multiple lines until the serial port times out.
+   *
+   * This requires a timeout > 0 before it can be run. It will read until a
+   * timeout occurs and return a list of strings.
+   *
+   * \param size A maximum length of combined lines, defaults to 65536 (2^16)
+   *
+   * \param eol A string to match against for the EOL.
+   *
+   * \return A vector<string> containing the lines.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   */
+  std::vector<std::string>
+  readlines (size_t size = 65536, std::string eol = "\n");
+
+  /*! Write a string to the serial port.
+   *
+   * \param data A const reference containing the data to be written
+   * to the serial port.
+   *
+   * \param size A size_t that indicates how many bytes should be written from
+   * the given data buffer.
+   *
+   * \return A size_t representing the number of bytes actually written to
+   * the serial port.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   * \throw serial::IOException
+   */
+  size_t
+  write (const uint8_t *data, size_t size);
+
+  /*! Write a string to the serial port.
+   *
+   * \param data A const reference containing the data to be written
+   * to the serial port.
+   *
+   * \return A size_t representing the number of bytes actually written to
+   * the serial port.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   * \throw serial::IOException
+   */
+  size_t
+  write (const std::vector<uint8_t> &data);
+
+  /*! Write a string to the serial port.
+   *
+   * \param data A const reference containing the data to be written
+   * to the serial port.
+   *
+   * \return A size_t representing the number of bytes actually written to
+   * the serial port.
+   *
+   * \throw serial::PortNotOpenedException
+   * \throw serial::SerialException
+   * \throw serial::IOException
+   */
+  size_t
+  write (const std::string &data);
+
+  /*! Sets the serial port identifier.
+   *
+   * \param port A const std::string reference containing the address of the
+   * serial port, which would be something like 'COM1' on Windows and
+   * '/dev/ttyS0' on Linux.
+   *
+   * \throw std::invalid_argument
+   */
+  void
+  setPort (const std::string &port);
+
+  /*! Gets the serial port identifier.
+   *
+   * \see Serial::setPort
+   *
+   * \throw std::invalid_argument
+   */
+  std::string
+  getPort () const;
+
+  /*! Sets the timeout for reads and writes using the Timeout struct.
+   *
+   * There are two timeout conditions described here:
+   *  * The inter byte timeout:
+   *    * The inter_byte_timeout component of serial::Timeout defines the
+   *      maximum amount of time, in milliseconds, between receiving bytes on
+   *      the serial port that can pass before a timeout occurs.  Setting this
+   *      to zero will prevent inter byte timeouts from occurring.
+   *  * Total time timeout:
+   *    * The constant and multiplier component of this timeout condition,
+   *      for both read and write, are defined in serial::Timeout.  This
+   *      timeout occurs if the total time since the read or write call was
+   *      made exceeds the specified time in milliseconds.
+   *    * The limit is defined by multiplying the multiplier component by the
+   *      number of requested bytes and adding that product to the constant
+   *      component.  In this way if you want a read call, for example, to
+   *      timeout after exactly one second regardless of the number of bytes
+   *      you asked for then set the read_timeout_constant component of
+   *      serial::Timeout to 1000 and the read_timeout_multiplier to zero.
+   *      This timeout condition can be used in conjunction with the inter
+   *      byte timeout condition with out any problems, timeout will simply
+   *      occur when one of the two timeout conditions is met.  This allows
+   *      users to have maximum control over the trade-off between
+   *      responsiveness and efficiency.
+   *
+   * Read and write functions will return in one of three cases.  When the
+   * reading or writing is complete, when a timeout occurs, or when an
+   * exception occurs.
+   *
+   * A timeout of 0 enables non-blocking mode.
+   *
+   * \param timeout A serial::Timeout struct containing the inter byte
+   * timeout, and the read and write timeout constants and multipliers.
+   *
+   * \see serial::Timeout
+   */
+  void
+  setTimeout (Timeout &timeout);
+
+  /*! Sets the timeout for reads and writes. */
+  void
+  setTimeout (uint32_t inter_byte_timeout, uint32_t read_timeout_constant,
+              uint32_t read_timeout_multiplier, uint32_t write_timeout_constant,
+              uint32_t write_timeout_multiplier)
+  {
+    Timeout timeout(inter_byte_timeout, read_timeout_constant,
+                    read_timeout_multiplier, write_timeout_constant,
+                    write_timeout_multiplier);
+    return setTimeout(timeout);
+  }
+
+  /*! Gets the timeout for reads in seconds.
+   *
+   * \return A Timeout struct containing the inter_byte_timeout, and read
+   * and write timeout constants and multipliers.
+   *
+   * \see Serial::setTimeout
+   */
+  Timeout
+  getTimeout () const;
+
+  /*! Sets the baudrate for the serial port.
+   *
+   * Possible baudrates depends on the system but some safe baudrates include:
+   * 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 28800, 38400, 56000,
+   * 57600, 115200
+   * Some other baudrates that are supported by some comports:
+   * 128000, 153600, 230400, 256000, 460800, 921600
+   *
+   * \param baudrate An integer that sets the baud rate for the serial port.
+   *
+   * \throw std::invalid_argument
+   */
+  void
+  setBaudrate (uint32_t baudrate);
+
+  /*! Gets the baudrate for the serial port.
+   *
+   * \return An integer that sets the baud rate for the serial port.
+   *
+   * \see Serial::setBaudrate
+   *
+   * \throw std::invalid_argument
+   */
+  uint32_t
+  getBaudrate () const;
+
+  /*! Sets the bytesize for the serial port.
+   *
+   * \param bytesize Size of each byte in the serial transmission of data,
+   * default is eightbits, possible values are: fivebits, sixbits, sevenbits,
+   * eightbits
+   *
+   * \throw std::invalid_argument
+   */
+  void
+  setBytesize (bytesize_t bytesize);
+
+  /*! Gets the bytesize for the serial port.
+   *
+   * \see Serial::setBytesize
+   *
+   * \throw std::invalid_argument
+   */
+  bytesize_t
+  getBytesize () const;
+
+  /*! Sets the parity for the serial port.
+   *
+   * \param parity Method of parity, default is parity_none, possible values
+   * are: parity_none, parity_odd, parity_even
+   *
+   * \throw std::invalid_argument
+   */
+  void
+  setParity (parity_t parity);
+
+  /*! Gets the parity for the serial port.
+   *
+   * \see Serial::setParity
+   *
+   * \throw std::invalid_argument
+   */
+  parity_t
+  getParity () const;
+
+  /*! Sets the stopbits for the serial port.
+   *
+   * \param stopbits Number of stop bits used, default is stopbits_one,
+   * possible values are: stopbits_one, stopbits_one_point_five, stopbits_two
+   *
+   * \throw std::invalid_argument
+   */
+  void
+  setStopbits (stopbits_t stopbits);
+
+  /*! Gets the stopbits for the serial port.
+   *
+   * \see Serial::setStopbits
+   *
+   * \throw std::invalid_argument
+   */
+  stopbits_t
+  getStopbits () const;
+
+  /*! Sets the flow control for the serial port.
+   *
+   * \param flowcontrol Type of flowcontrol used, default is flowcontrol_none,
+   * possible values are: flowcontrol_none, flowcontrol_software,
+   * flowcontrol_hardware
+   *
+   * \throw std::invalid_argument
+   */
+  void
+  setFlowcontrol (flowcontrol_t flowcontrol);
+
+  /*! Gets the flow control for the serial port.
+   *
+   * \see Serial::setFlowcontrol
+   *
+   * \throw std::invalid_argument
+   */
+  flowcontrol_t
+  getFlowcontrol () const;
+
+  /*! Flush the input and output buffers */
+  void
+  flush ();
+
+  /*! Flush only the input buffer */
+  void
+  flushInput ();
+
+  /*! Flush only the output buffer */
+  void
+  flushOutput ();
+
+  /*! Sends the RS-232 break signal.  See tcsendbreak(3). */
+  void
+  sendBreak (int duration);
+
+  /*! Set the break condition to a given level.  Defaults to true. */
+  void
+  setBreak (bool level = true);
+
+  /*! Set the RTS handshaking line to the given level.  Defaults to true. */
+  void
+  setRTS (bool level = true);
+
+  /*! Set the DTR handshaking line to the given level.  Defaults to true. */
+  void
+  setDTR (bool level = true);
+
+  /*!
+   * Blocks until CTS, DSR, RI, CD changes or something interrupts it.
+   *
+   * Can throw an exception if an error occurs while waiting.
+   * You can check the status of CTS, DSR, RI, and CD once this returns.
+   * Uses TIOCMIWAIT via ioctl if available (mostly only on Linux) with a
+   * resolution of less than +-1ms and as good as +-0.2ms.  Otherwise a
+   * polling method is used which can give +-2ms.
+   *
+   * \return Returns true if one of the lines changed, false if something else
+   * occurred.
+   *
+   * \throw SerialException
+   */
+  bool
+  waitForChange ();
+
+  /*! Returns the current status of the CTS line. */
+  bool
+  getCTS ();
+
+  /*! Returns the current status of the DSR line. */
+  bool
+  getDSR ();
+
+  /*! Returns the current status of the RI line. */
+  bool
+  getRI ();
+
+  /*! Returns the current status of the CD line. */
+  bool
+  getCD ();
+
+private:
+  // Disable copy constructors
+  Serial(const Serial&);
+  Serial& operator=(const Serial&);
+
+  // Pimpl idiom, d_pointer
+  class SerialImpl;
+  SerialImpl *pimpl_;
+
+  // Scoped Lock Classes
+  class ScopedReadLock;
+  class ScopedWriteLock;
+
+  // Read common function
+  size_t
+  read_ (uint8_t *buffer, size_t size);
+  // Write common function
+  size_t
+  write_ (const uint8_t *data, size_t length);
+
+};
+
+class SerialException : public std::exception
+{
+  // Disable copy constructors
+  SerialException& operator=(const SerialException&);
+  std::string e_what_;
+public:
+  SerialException (const char *description) {
+      std::stringstream ss;
+      ss << "SerialException " << description << " failed.";
+      e_what_ = ss.str();
+  }
+  SerialException (const SerialException& other) : e_what_(other.e_what_) {}
+  virtual ~SerialException() throw() {}
+  virtual const char* what () const throw () {
+    return e_what_.c_str();
+  }
+};
+
+class IOException : public std::exception
+{
+  // Disable copy constructors
+  IOException& operator=(const IOException&);
+  std::string file_;
+  int line_;
+  std::string e_what_;
+  int errno_;
+public:
+  explicit IOException (std::string file, int line, int errnum)
+    : file_(file), line_(line), errno_(errnum) {
+      std::stringstream ss;
+#if defined(_WIN32) && !defined(__MINGW32__)
+      char error_str [1024];
+      strerror_s(error_str, 1024, errnum);
+#else
+      char * error_str = strerror(errnum);
+#endif
+      ss << "IO Exception (" << errno_ << "): " << error_str;
+      ss << ", file " << file_ << ", line " << line_ << ".";
+      e_what_ = ss.str();
+  }
+  explicit IOException (std::string file, int line, const char * description)
+    : file_(file), line_(line), errno_(0) {
+      std::stringstream ss;
+      ss << "IO Exception: " << description;
+      ss << ", file " << file_ << ", line " << line_ << ".";
+      e_what_ = ss.str();
+  }
+  virtual ~IOException() throw() {}
+  IOException (const IOException& other) : line_(other.line_), e_what_(other.e_what_), errno_(other.errno_) {}
+
+  int getErrorNumber () const { return errno_; }
+
+  virtual const char* what () const throw () {
+    return e_what_.c_str();
+  }
+};
+
+class PortNotOpenedException : public std::exception
+{
+  // Disable copy constructors
+  const PortNotOpenedException& operator=(PortNotOpenedException);
+  std::string e_what_;
+public:
+  PortNotOpenedException (const char * description)  {
+      std::stringstream ss;
+      ss << "PortNotOpenedException " << description << " failed.";
+      e_what_ = ss.str();
+  }
+  PortNotOpenedException (const PortNotOpenedException& other) : e_what_(other.e_what_) {}
+  virtual ~PortNotOpenedException() throw() {}
+  virtual const char* what () const throw () {
+    return e_what_.c_str();
+  }
+};
+
+/*!
+ * Structure that describes a serial device.
+ */
+struct PortInfo {
+
+  /*! Address of the serial port (this can be passed to the constructor of Serial). */
+  std::string port;
+
+  /*! Human readable description of serial device if available. */
+  std::string description;
+
+  /*! Hardware ID (e.g. VID:PID of USB serial devices) or "n/a" if not available. */
+  std::string hardware_id;
+
+};
+
+/* Lists the serial ports available on the system
+ *
+ * Returns a vector of available serial ports, each represented
+ * by a serial::PortInfo data structure:
+ *
+ * \return vector of serial::PortInfo.
+ */
+std::vector<PortInfo>
+list_ports();
+
+} // namespace serial
+
+#endif
diff --git a/examples/ThirdPartyLibs/serial/include/serial/v8stdint.h b/examples/ThirdPartyLibs/serial/include/serial/v8stdint.h
new file mode 100644
index 000000000..f3be96b1c
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/include/serial/v8stdint.h
@@ -0,0 +1,57 @@
+// This header is from the v8 google project:
+// http://code.google.com/p/v8/source/browse/trunk/include/v8stdint.h
+
+// Copyright 2012 the V8 project authors. All rights reserved.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+//     * Redistributions of source code must retain the above copyright
+//       notice, this list of conditions and the following disclaimer.
+//     * Redistributions in binary form must reproduce the above
+//       copyright notice, this list of conditions and the following
+//       disclaimer in the documentation and/or other materials provided
+//       with the distribution.
+//     * Neither the name of Google Inc. nor the names of its
+//       contributors may be used to endorse or promote products derived
+//       from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+// Load definitions of standard types.
+
+#ifndef V8STDINT_H_
+#define V8STDINT_H_
+
+#include <stddef.h>
+#include <stdio.h>
+
+#if defined(_WIN32) && !defined(__MINGW32__)
+
+typedef signed char int8_t;
+typedef unsigned char uint8_t;
+typedef short int16_t;  // NOLINT
+typedef unsigned short uint16_t;  // NOLINT
+typedef int int32_t;
+typedef unsigned int uint32_t;
+typedef __int64 int64_t;
+typedef unsigned __int64 uint64_t;
+// intptr_t and friends are defined in crtdefs.h through stdio.h.
+
+#else
+
+#include <stdint.h>
+
+#endif
+
+#endif  // V8STDINT_H_
diff --git a/examples/ThirdPartyLibs/serial/premake4.lua b/examples/ThirdPartyLibs/serial/premake4.lua
new file mode 100644
index 000000000..f57a6618f
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/premake4.lua
@@ -0,0 +1,31 @@
+	project "serial"
+
+	kind "StaticLib"
+	
+	includedirs {"include"}
+	
+	if os.is("Windows") then 
+		files{
+			 "src/impl/win.cc",
+			 "src/impl/list_ports/list_ports_win.cc"
+		 }
+	end
+
+	if os.is("Linux") then
+	files{
+			 "src/impl/unix.cc",
+			 "src/impl/list_ports/list_ports_linux.cc"
+		 }
+	end
+
+	if os.is("MacOSX") then
+		files{
+				 "src/impl/unix.cc",
+				 "src/impl/list_ports/list_ports_osx.cc"
+			 }
+	end
+	
+	files {
+		"src/serial.cc",
+		"**.h"
+	}
\ No newline at end of file
diff --git a/examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_linux.cc b/examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_linux.cc
new file mode 100644
index 000000000..9779d5eb5
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_linux.cc
@@ -0,0 +1,335 @@
+#if defined(__linux__)
+
+/*
+ * Copyright (c) 2014 Craig Lilley <cralilley@gmail.com>
+ * This software is made available under the terms of the MIT licence.
+ * A copy of the licence can be obtained from:
+ * http://opensource.org/licenses/MIT
+ */
+
+#include <vector>
+#include <string>
+#include <sstream>
+#include <stdexcept>
+#include <iostream>
+#include <fstream>
+#include <cstdio>
+#include <cstdarg>
+#include <cstdlib>
+
+#include <glob.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include "serial/serial.h"
+
+using serial::PortInfo;
+using std::istringstream;
+using std::ifstream;
+using std::getline;
+using std::vector;
+using std::string;
+using std::cout;
+using std::endl;
+
+static vector<string> glob(const vector<string>& patterns);
+static string basename(const string& path);
+static string dirname(const string& path);
+static bool path_exists(const string& path);
+static string realpath(const string& path);
+static string usb_sysfs_friendly_name(const string& sys_usb_path);
+static vector<string> get_sysfs_info(const string& device_path);
+static string read_line(const string& file);
+static string usb_sysfs_hw_string(const string& sysfs_path);
+static string format(const char* format, ...);
+
+vector<string>
+glob(const vector<string>& patterns)
+{
+    vector<string> paths_found;
+
+	if(patterns.size() == 0)
+	    return paths_found;
+
+    glob_t glob_results;
+
+    int glob_retval = glob(patterns[0].c_str(), 0, NULL, &glob_results);
+
+    vector<string>::const_iterator iter = patterns.begin();
+
+    while(++iter != patterns.end())
+    {
+        glob_retval = glob(iter->c_str(), GLOB_APPEND, NULL, &glob_results);
+    }
+
+    for(int path_index = 0; path_index < glob_results.gl_pathc; path_index++)
+    {
+        paths_found.push_back(glob_results.gl_pathv[path_index]);
+    }
+
+    globfree(&glob_results);
+
+    return paths_found;
+}
+
+string
+basename(const string& path)
+{
+    size_t pos = path.rfind("/");
+
+    if(pos == std::string::npos)
+        return path;
+
+    return string(path, pos+1, string::npos);
+}
+
+string
+dirname(const string& path)
+{
+    size_t pos = path.rfind("/");
+
+    if(pos == std::string::npos)
+        return path;
+    else if(pos == 0)
+        return "/";
+
+    return string(path, 0, pos);
+}
+
+bool
+path_exists(const string& path)
+{
+    struct stat sb;
+
+    if( stat(path.c_str(), &sb ) == 0 )
+        return true;
+
+    return false;
+}
+
+string
+realpath(const string& path)
+{
+    char* real_path = realpath(path.c_str(), NULL);
+
+    string result;
+
+    if(real_path != NULL)
+    {
+        result = real_path;
+
+        free(real_path);
+    }
+
+    return result;
+}
+
+string
+usb_sysfs_friendly_name(const string& sys_usb_path)
+{
+    unsigned int device_number = 0;
+
+    istringstream( read_line(sys_usb_path + "/devnum") ) >> device_number;
+
+    string manufacturer = read_line( sys_usb_path + "/manufacturer" );
+
+    string product = read_line( sys_usb_path + "/product" );
+
+    string serial = read_line( sys_usb_path + "/serial" );
+
+    if( manufacturer.empty() && product.empty() && serial.empty() )
+        return "";
+
+    return format("%s %s %s", manufacturer.c_str(), product.c_str(), serial.c_str() );
+}
+
+vector<string>
+get_sysfs_info(const string& device_path)
+{
+    string device_name = basename( device_path );
+
+    string friendly_name;
+
+    string hardware_id;
+
+    string sys_device_path = format( "/sys/class/tty/%s/device", device_name.c_str() );
+
+    if( device_name.compare(0,6,"ttyUSB") == 0 )
+    {
+        sys_device_path = dirname( dirname( realpath( sys_device_path ) ) );
+
+        if( path_exists( sys_device_path ) )
+        {
+            friendly_name = usb_sysfs_friendly_name( sys_device_path );
+
+            hardware_id = usb_sysfs_hw_string( sys_device_path );
+        }
+    }
+    else if( device_name.compare(0,6,"ttyACM") == 0 )
+    {
+        sys_device_path = dirname( realpath( sys_device_path ) );
+
+        if( path_exists( sys_device_path ) )
+        {
+            friendly_name = usb_sysfs_friendly_name( sys_device_path );
+
+            hardware_id = usb_sysfs_hw_string( sys_device_path );
+        }
+    }
+    else
+    {
+        // Try to read ID string of PCI device
+
+        string sys_id_path = sys_device_path + "/id";
+
+        if( path_exists( sys_id_path ) )
+            hardware_id = read_line( sys_id_path );
+    }
+
+    if( friendly_name.empty() )
+        friendly_name = device_name;
+
+    if( hardware_id.empty() )
+        hardware_id = "n/a";
+
+    vector<string> result;
+    result.push_back(friendly_name);
+    result.push_back(hardware_id);
+
+    return result;
+}
+
+string
+read_line(const string& file)
+{
+    ifstream ifs(file.c_str(), ifstream::in);
+
+    string line;
+
+    if(ifs)
+    {
+        getline(ifs, line);
+    }
+
+    return line;
+}
+
+string
+format(const char* format, ...)
+{
+    va_list ap;
+
+    size_t buffer_size_bytes = 256;
+
+    string result;
+
+    char* buffer = (char*)malloc(buffer_size_bytes);
+
+    if( buffer == NULL )
+        return result;
+
+    bool done = false;
+
+    unsigned int loop_count = 0;
+
+    while(!done)
+    {
+        va_start(ap, format);
+
+        int return_value = vsnprintf(buffer, buffer_size_bytes, format, ap);
+
+        if( return_value < 0 )
+        {
+            done = true;
+        }
+        else if( return_value >= buffer_size_bytes )
+        {
+            // Realloc and try again.
+
+            buffer_size_bytes = return_value + 1;
+
+            char* new_buffer_ptr = (char*)realloc(buffer, buffer_size_bytes);
+
+            if( new_buffer_ptr == NULL )
+            {
+                done = true;
+            }
+            else
+            {
+                buffer = new_buffer_ptr;
+            }
+        }
+        else
+        {
+            result = buffer;
+            done = true;
+        }
+
+        va_end(ap);
+
+        if( ++loop_count > 5 )
+            done = true;
+    }
+
+    free(buffer);
+
+    return result;
+}
+
+string
+usb_sysfs_hw_string(const string& sysfs_path)
+{
+    string serial_number = read_line( sysfs_path + "/serial" );
+
+    if( serial_number.length() > 0 )
+    {
+        serial_number = format( "SNR=%s", serial_number.c_str() );
+    }
+
+    string vid = read_line( sysfs_path + "/idVendor" );
+
+    string pid = read_line( sysfs_path + "/idProduct" );
+
+    return format("USB VID:PID=%s:%s %s", vid.c_str(), pid.c_str(), serial_number.c_str() );
+}
+
+vector<PortInfo>
+serial::list_ports()
+{
+    vector<PortInfo> results;
+
+    vector<string> search_globs;
+    search_globs.push_back("/dev/ttyACM*");
+    search_globs.push_back("/dev/ttyS*");
+    search_globs.push_back("/dev/ttyUSB*");
+    search_globs.push_back("/dev/tty.*");
+    search_globs.push_back("/dev/cu.*");
+
+    vector<string> devices_found = glob( search_globs );
+
+    vector<string>::iterator iter = devices_found.begin();
+
+    while( iter != devices_found.end() )
+    {
+        string device = *iter++;
+
+        vector<string> sysfs_info = get_sysfs_info( device );
+
+        string friendly_name = sysfs_info[0];
+
+        string hardware_id = sysfs_info[1];
+
+        PortInfo device_entry;
+        device_entry.port = device;
+        device_entry.description = friendly_name;
+        device_entry.hardware_id = hardware_id;
+
+        results.push_back( device_entry );
+
+    }
+
+    return results;
+}
+
+#endif // defined(__linux__)
diff --git a/examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_osx.cc b/examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_osx.cc
new file mode 100644
index 000000000..333c55c27
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_osx.cc
@@ -0,0 +1,286 @@
+#if defined(__APPLE__)
+
+#include <sys/param.h>
+#include <stdint.h>
+
+#include <CoreFoundation/CoreFoundation.h>
+#include <IOKit/IOKitLib.h>
+#include <IOKit/serial/IOSerialKeys.h>
+#include <IOKit/IOBSD.h>
+
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include "serial/serial.h"
+
+using serial::PortInfo;
+using std::string;
+using std::vector;
+
+#define HARDWARE_ID_STRING_LENGTH 128
+
+string cfstring_to_string( CFStringRef cfstring );
+string get_device_path( io_object_t& serial_port );
+string get_class_name( io_object_t& obj );
+io_registry_entry_t get_parent_iousb_device( io_object_t& serial_port );
+string get_string_property( io_object_t& device, const char* property );
+uint16_t get_int_property( io_object_t& device, const char* property );
+string rtrim(const string& str);
+
+string
+cfstring_to_string( CFStringRef cfstring )
+{
+    char cstring[MAXPATHLEN];
+    string result;
+
+    if( cfstring )
+    {
+        Boolean success = CFStringGetCString( cfstring,
+            cstring,
+            sizeof(cstring),
+            kCFStringEncodingASCII );
+
+        if( success )
+            result = cstring;
+    }
+
+    return result;
+}
+
+string
+get_device_path( io_object_t& serial_port )
+{
+    CFTypeRef callout_path;
+    string device_path;
+
+    callout_path = IORegistryEntryCreateCFProperty( serial_port,
+        CFSTR(kIOCalloutDeviceKey),
+        kCFAllocatorDefault,
+        0 );
+
+    if (callout_path)
+    {
+        if( CFGetTypeID(callout_path) == CFStringGetTypeID() )
+            device_path = cfstring_to_string( static_cast<CFStringRef>(callout_path) );
+
+        CFRelease(callout_path);
+    }
+
+    return device_path;
+}
+
+string
+get_class_name( io_object_t& obj )
+{
+    string result;
+    io_name_t class_name;
+    kern_return_t kern_result;
+
+    kern_result = IOObjectGetClass( obj, class_name );
+
+    if( kern_result == KERN_SUCCESS )
+        result = class_name;
+
+    return result;
+}
+
+io_registry_entry_t
+get_parent_iousb_device( io_object_t& serial_port )
+{
+    io_object_t device = serial_port;
+    io_registry_entry_t parent = 0;
+    io_registry_entry_t result = 0;
+    kern_return_t kern_result = KERN_FAILURE;
+    string name = get_class_name(device);
+
+    // Walk the IO Registry tree looking for this devices parent IOUSBDevice.
+    while( name != "IOUSBDevice" )
+    {
+        kern_result = IORegistryEntryGetParentEntry( device,
+        kIOServicePlane,
+        &parent );
+
+        if(kern_result != KERN_SUCCESS)
+        {
+            result = 0;
+            break;
+        }
+
+        device = parent;
+
+        name = get_class_name(device);
+    }
+
+    if(kern_result == KERN_SUCCESS)
+        result = device;
+
+    return result;
+}
+
+string
+get_string_property( io_object_t& device, const char* property )
+{
+    string property_name;
+
+    if( device )
+    {
+        CFStringRef property_as_cfstring = CFStringCreateWithCString (
+            kCFAllocatorDefault,
+            property,
+            kCFStringEncodingASCII );
+
+        CFTypeRef name_as_cfstring = IORegistryEntryCreateCFProperty(
+            device,
+            property_as_cfstring,
+            kCFAllocatorDefault,
+            0 );
+
+        if( name_as_cfstring )
+        {
+            if( CFGetTypeID(name_as_cfstring) == CFStringGetTypeID() )
+                property_name = cfstring_to_string( static_cast<CFStringRef>(name_as_cfstring) );
+
+            CFRelease(name_as_cfstring);
+        }
+
+        if(property_as_cfstring)
+            CFRelease(property_as_cfstring);
+    }
+
+    return property_name;
+}
+
+uint16_t
+get_int_property( io_object_t& device, const char* property )
+{
+    uint16_t result = 0;
+
+    if( device )
+    {
+        CFStringRef property_as_cfstring = CFStringCreateWithCString (
+            kCFAllocatorDefault,
+            property,
+            kCFStringEncodingASCII );
+
+        CFTypeRef number = IORegistryEntryCreateCFProperty( device,
+            property_as_cfstring,
+            kCFAllocatorDefault,
+            0 );
+
+        if(property_as_cfstring)
+            CFRelease(property_as_cfstring);
+
+        if( number )
+        {
+            if( CFGetTypeID(number) == CFNumberGetTypeID() )
+            {
+                bool success = CFNumberGetValue( static_cast<CFNumberRef>(number),
+                    kCFNumberSInt16Type,
+                    &result );
+
+                if( !success )
+                    result = 0;
+            }
+
+            CFRelease(number);
+        }
+
+    }
+
+    return result;
+}
+
+string rtrim(const string& str)
+{
+    string result = str;
+
+    string whitespace = " \t\f\v\n\r";
+
+    std::size_t found = result.find_last_not_of(whitespace);
+
+    if (found != std::string::npos)
+        result.erase(found+1);
+    else
+        result.clear();
+
+    return result;
+}
+
+vector<PortInfo>
+serial::list_ports(void)
+{
+    vector<PortInfo> devices_found;
+    CFMutableDictionaryRef classes_to_match;
+    io_iterator_t serial_port_iterator;
+    io_object_t serial_port;
+    mach_port_t master_port;
+    kern_return_t kern_result;
+
+    kern_result = IOMasterPort(MACH_PORT_NULL, &master_port);
+
+    if(kern_result != KERN_SUCCESS)
+        return devices_found;
+
+    classes_to_match = IOServiceMatching(kIOSerialBSDServiceValue);
+
+    if (classes_to_match == NULL)
+        return devices_found;
+
+    CFDictionarySetValue( classes_to_match,
+        CFSTR(kIOSerialBSDTypeKey),
+        CFSTR(kIOSerialBSDAllTypes) );
+
+    kern_result = IOServiceGetMatchingServices(master_port, classes_to_match, &serial_port_iterator);
+
+    if (KERN_SUCCESS != kern_result)
+        return devices_found;
+
+    while ( (serial_port = IOIteratorNext(serial_port_iterator)) )
+    {
+        string device_path = get_device_path( serial_port );
+        io_registry_entry_t parent = get_parent_iousb_device( serial_port );
+        IOObjectRelease(serial_port);
+
+        if( device_path.empty() )
+            continue;
+
+        PortInfo port_info;
+        port_info.port = device_path;
+        port_info.description = "n/a";
+        port_info.hardware_id = "n/a";
+
+        string device_name = rtrim( get_string_property( parent, "USB Product Name" ) );
+        string vendor_name = rtrim( get_string_property( parent, "USB Vendor Name") );
+        string description = rtrim( vendor_name + " " + device_name );
+        if( !description.empty() )
+            port_info.description = description;
+
+        string serial_number = rtrim(get_string_property( parent, "USB Serial Number" ) );
+        uint16_t vendor_id = get_int_property( parent, "idVendor" );
+        uint16_t product_id = get_int_property( parent, "idProduct" );
+
+        if( vendor_id && product_id )
+        {
+            char cstring[HARDWARE_ID_STRING_LENGTH];
+
+            if(serial_number.empty())
+                serial_number = "None";
+
+            int ret = snprintf( cstring, HARDWARE_ID_STRING_LENGTH, "USB VID:PID=%04x:%04x SNR=%s",
+                vendor_id,
+                product_id,
+                serial_number.c_str() );
+
+            if( (ret >= 0) && (ret < HARDWARE_ID_STRING_LENGTH) )
+                port_info.hardware_id = cstring;
+        }
+
+        devices_found.push_back(port_info);
+    }
+
+    IOObjectRelease(serial_port_iterator);
+    return devices_found;
+}
+
+#endif // defined(__APPLE__)
diff --git a/examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_win.cc b/examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_win.cc
new file mode 100644
index 000000000..7da40c440
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/src/impl/list_ports/list_ports_win.cc
@@ -0,0 +1,152 @@
+#if defined(_WIN32)
+
+/*
+ * Copyright (c) 2014 Craig Lilley <cralilley@gmail.com>
+ * This software is made available under the terms of the MIT licence.
+ * A copy of the licence can be obtained from:
+ * http://opensource.org/licenses/MIT
+ */
+
+#include "serial/serial.h"
+#include <tchar.h>
+#include <windows.h>
+#include <setupapi.h>
+#include <initguid.h>
+#include <devguid.h>
+#include <cstring>
+
+using serial::PortInfo;
+using std::vector;
+using std::string;
+
+static const DWORD port_name_max_length = 256;
+static const DWORD friendly_name_max_length = 256;
+static const DWORD hardware_id_max_length = 256;
+
+// Convert a wide Unicode string to an UTF8 string
+std::string utf8_encode(const std::wstring &wstr)
+{
+	int size_needed = WideCharToMultiByte(CP_UTF8, 0, &wstr[0], (int)wstr.size(), NULL, 0, NULL, NULL);
+	std::string strTo( size_needed, 0 );
+	WideCharToMultiByte                  (CP_UTF8, 0, &wstr[0], (int)wstr.size(), &strTo[0], size_needed, NULL, NULL);
+	return strTo;
+}
+
+vector<PortInfo>
+serial::list_ports()
+{
+	vector<PortInfo> devices_found;
+
+	HDEVINFO device_info_set = SetupDiGetClassDevs(
+		(const GUID *) &GUID_DEVCLASS_PORTS,
+		NULL,
+		NULL,
+		DIGCF_PRESENT);
+
+	unsigned int device_info_set_index = 0;
+	SP_DEVINFO_DATA device_info_data;
+
+	device_info_data.cbSize = sizeof(SP_DEVINFO_DATA);
+
+	while(SetupDiEnumDeviceInfo(device_info_set, device_info_set_index, &device_info_data))
+	{
+		device_info_set_index++;
+
+		// Get port name
+
+		HKEY hkey = SetupDiOpenDevRegKey(
+			device_info_set,
+			&device_info_data,
+			DICS_FLAG_GLOBAL,
+			0,
+			DIREG_DEV,
+			KEY_READ);
+
+		TCHAR port_name[port_name_max_length];
+		DWORD port_name_length = port_name_max_length;
+
+		LONG return_code = RegQueryValueEx(
+					hkey,
+					_T("PortName"),
+					NULL,
+					NULL,
+					(LPBYTE)port_name,
+					&port_name_length);
+
+		RegCloseKey(hkey);
+
+		if(return_code != EXIT_SUCCESS)
+			continue;
+
+		if(port_name_length > 0 && port_name_length <= port_name_max_length)
+			port_name[port_name_length-1] = '\0';
+		else
+			port_name[0] = '\0';
+
+		// Ignore parallel ports
+
+		if(_tcsstr(port_name, _T("LPT")) != NULL)
+			continue;
+
+		// Get port friendly name
+
+		TCHAR friendly_name[friendly_name_max_length];
+		DWORD friendly_name_actual_length = 0;
+
+		BOOL got_friendly_name = SetupDiGetDeviceRegistryProperty(
+					device_info_set,
+					&device_info_data,
+					SPDRP_FRIENDLYNAME,
+					NULL,
+					(PBYTE)friendly_name,
+					friendly_name_max_length,
+					&friendly_name_actual_length);
+
+		if(got_friendly_name == TRUE && friendly_name_actual_length > 0)
+			friendly_name[friendly_name_actual_length-1] = '\0';
+		else
+			friendly_name[0] = '\0';
+
+		// Get hardware ID
+
+		TCHAR hardware_id[hardware_id_max_length];
+		DWORD hardware_id_actual_length = 0;
+
+		BOOL got_hardware_id = SetupDiGetDeviceRegistryProperty(
+					device_info_set,
+					&device_info_data,
+					SPDRP_HARDWAREID,
+					NULL,
+					(PBYTE)hardware_id,
+					hardware_id_max_length,
+					&hardware_id_actual_length);
+
+		if(got_hardware_id == TRUE && hardware_id_actual_length > 0)
+			hardware_id[hardware_id_actual_length-1] = '\0';
+		else
+			hardware_id[0] = '\0';
+
+		#ifdef UNICODE
+			std::string portName = utf8_encode(port_name);
+			std::string friendlyName = utf8_encode(friendly_name);
+			std::string hardwareId = utf8_encode(hardware_id);
+		#else
+			std::string portName = port_name;
+			std::string friendlyName = friendly_name;
+			std::string hardwareId = hardware_id;
+		#endif
+
+		PortInfo port_entry;
+		port_entry.port = portName;
+		port_entry.description = friendlyName;
+		port_entry.hardware_id = hardwareId;
+
+		devices_found.push_back(port_entry);
+	}
+
+	SetupDiDestroyDeviceInfoList(device_info_set);
+
+	return devices_found;
+}
+
+#endif // #if defined(_WIN32)
diff --git a/examples/ThirdPartyLibs/serial/src/impl/unix.cc b/examples/ThirdPartyLibs/serial/src/impl/unix.cc
new file mode 100644
index 000000000..4ef6b32e1
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/src/impl/unix.cc
@@ -0,0 +1,1063 @@
+/* Copyright 2012 William Woodall and John Harrison
+ *
+ * Additional Contributors: Christopher Baker @bakercp
+ */
+
+#if !defined(_WIN32)
+
+#include <stdio.h>
+#include <string.h>
+#include <sstream>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <sys/signal.h>
+#include <errno.h>
+#include <paths.h>
+#include <sysexits.h>
+#include <termios.h>
+#include <sys/param.h>
+#include <pthread.h>
+
+#if defined(__linux__)
+# include <linux/serial.h>
+#endif
+
+#include <sys/select.h>
+#include <sys/time.h>
+#include <time.h>
+#ifdef __MACH__
+#include <AvailabilityMacros.h>
+#include <mach/clock.h>
+#include <mach/mach.h>
+#endif
+
+#include "serial/impl/unix.h"
+
+#ifndef TIOCINQ
+#ifdef FIONREAD
+#define TIOCINQ FIONREAD
+#else
+#define TIOCINQ 0x541B
+#endif
+#endif
+
+#if defined(MAC_OS_X_VERSION_10_3) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_3)
+#include <IOKit/serial/ioss.h>
+#endif
+
+using std::string;
+using std::stringstream;
+using std::invalid_argument;
+using serial::MillisecondTimer;
+using serial::Serial;
+using serial::SerialException;
+using serial::PortNotOpenedException;
+using serial::IOException;
+
+
+MillisecondTimer::MillisecondTimer (const uint32_t millis)
+  : expiry(timespec_now())
+{
+  int64_t tv_nsec = expiry.tv_nsec + (millis * 1e6);
+  if (tv_nsec >= 1e9) {
+    int64_t sec_diff = tv_nsec / static_cast<int> (1e9);
+    expiry.tv_nsec = tv_nsec % static_cast<int>(1e9);
+    expiry.tv_sec += sec_diff;
+  } else {
+    expiry.tv_nsec = tv_nsec;
+  }
+}
+
+int64_t
+MillisecondTimer::remaining ()
+{
+  timespec now(timespec_now());
+  int64_t millis = (expiry.tv_sec - now.tv_sec) * 1e3;
+  millis += (expiry.tv_nsec - now.tv_nsec) / 1e6;
+  return millis;
+}
+
+timespec
+MillisecondTimer::timespec_now ()
+{
+  timespec time;
+# ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time
+  clock_serv_t cclock;
+  mach_timespec_t mts;
+  host_get_clock_service(mach_host_self(), SYSTEM_CLOCK, &cclock);
+  clock_get_time(cclock, &mts);
+  mach_port_deallocate(mach_task_self(), cclock);
+  time.tv_sec = mts.tv_sec;
+  time.tv_nsec = mts.tv_nsec;
+# else
+  clock_gettime(CLOCK_MONOTONIC, &time);
+# endif
+  return time;
+}
+
+timespec
+timespec_from_ms (const uint32_t millis)
+{
+  timespec time;
+  time.tv_sec = millis / 1e3;
+  time.tv_nsec = (millis - (time.tv_sec * 1e3)) * 1e6;
+  return time;
+}
+
+Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
+                                bytesize_t bytesize,
+                                parity_t parity, stopbits_t stopbits,
+                                flowcontrol_t flowcontrol)
+  : port_ (port), fd_ (-1), is_open_ (false), xonxoff_ (false), rtscts_ (false),
+    baudrate_ (baudrate), parity_ (parity),
+    bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol)
+{
+  pthread_mutex_init(&this->read_mutex, NULL);
+  pthread_mutex_init(&this->write_mutex, NULL);
+  if (port_.empty () == false)
+    open ();
+}
+
+Serial::SerialImpl::~SerialImpl ()
+{
+  close();
+  pthread_mutex_destroy(&this->read_mutex);
+  pthread_mutex_destroy(&this->write_mutex);
+}
+
+void
+Serial::SerialImpl::open ()
+{
+  if (port_.empty ()) {
+    throw invalid_argument ("Empty port is invalid.");
+  }
+  if (is_open_ == true) {
+    throw SerialException ("Serial port already open.");
+  }
+
+  fd_ = ::open (port_.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
+
+  if (fd_ == -1) {
+    switch (errno) {
+    case EINTR:
+      // Recurse because this is a recoverable error.
+      open ();
+      return;
+    case ENFILE:
+    case EMFILE:
+      THROW (IOException, "Too many file handles open.");
+    default:
+      THROW (IOException, errno);
+    }
+  }
+
+  reconfigurePort();
+  is_open_ = true;
+}
+
+void
+Serial::SerialImpl::reconfigurePort ()
+{
+  if (fd_ == -1) {
+    // Can only operate on a valid file descriptor
+    THROW (IOException, "Invalid file descriptor, is the serial port open?");
+  }
+
+  struct termios options; // The options for the file descriptor
+
+  if (tcgetattr(fd_, &options) == -1) {
+    THROW (IOException, "::tcgetattr");
+  }
+
+  // set up raw mode / no echo / binary
+  options.c_cflag |= (tcflag_t)  (CLOCAL | CREAD);
+  options.c_lflag &= (tcflag_t) ~(ICANON | ECHO | ECHOE | ECHOK | ECHONL |
+                                       ISIG | IEXTEN); //|ECHOPRT
+
+  options.c_oflag &= (tcflag_t) ~(OPOST);
+  options.c_iflag &= (tcflag_t) ~(INLCR | IGNCR | ICRNL | IGNBRK);
+#ifdef IUCLC
+  options.c_iflag &= (tcflag_t) ~IUCLC;
+#endif
+#ifdef PARMRK
+  options.c_iflag &= (tcflag_t) ~PARMRK;
+#endif
+
+  // setup baud rate
+  bool custom_baud = false;
+  speed_t baud;
+  switch (baudrate_) {
+#ifdef B0
+  case 0: baud = B0; break;
+#endif
+#ifdef B50
+  case 50: baud = B50; break;
+#endif
+#ifdef B75
+  case 75: baud = B75; break;
+#endif
+#ifdef B110
+  case 110: baud = B110; break;
+#endif
+#ifdef B134
+  case 134: baud = B134; break;
+#endif
+#ifdef B150
+  case 150: baud = B150; break;
+#endif
+#ifdef B200
+  case 200: baud = B200; break;
+#endif
+#ifdef B300
+  case 300: baud = B300; break;
+#endif
+#ifdef B600
+  case 600: baud = B600; break;
+#endif
+#ifdef B1200
+  case 1200: baud = B1200; break;
+#endif
+#ifdef B1800
+  case 1800: baud = B1800; break;
+#endif
+#ifdef B2400
+  case 2400: baud = B2400; break;
+#endif
+#ifdef B4800
+  case 4800: baud = B4800; break;
+#endif
+#ifdef B7200
+  case 7200: baud = B7200; break;
+#endif
+#ifdef B9600
+  case 9600: baud = B9600; break;
+#endif
+#ifdef B14400
+  case 14400: baud = B14400; break;
+#endif
+#ifdef B19200
+  case 19200: baud = B19200; break;
+#endif
+#ifdef B28800
+  case 28800: baud = B28800; break;
+#endif
+#ifdef B57600
+  case 57600: baud = B57600; break;
+#endif
+#ifdef B76800
+  case 76800: baud = B76800; break;
+#endif
+#ifdef B38400
+  case 38400: baud = B38400; break;
+#endif
+#ifdef B115200
+  case 115200: baud = B115200; break;
+#endif
+#ifdef B128000
+  case 128000: baud = B128000; break;
+#endif
+#ifdef B153600
+  case 153600: baud = B153600; break;
+#endif
+#ifdef B230400
+  case 230400: baud = B230400; break;
+#endif
+#ifdef B256000
+  case 256000: baud = B256000; break;
+#endif
+#ifdef B460800
+  case 460800: baud = B460800; break;
+#endif
+#ifdef B576000
+  case 576000: baud = B576000; break;
+#endif
+#ifdef B921600
+  case 921600: baud = B921600; break;
+#endif
+#ifdef B1000000
+  case 1000000: baud = B1000000; break;
+#endif
+#ifdef B1152000
+  case 1152000: baud = B1152000; break;
+#endif
+#ifdef B1500000
+  case 1500000: baud = B1500000; break;
+#endif
+#ifdef B2000000
+  case 2000000: baud = B2000000; break;
+#endif
+#ifdef B2500000
+  case 2500000: baud = B2500000; break;
+#endif
+#ifdef B3000000
+  case 3000000: baud = B3000000; break;
+#endif
+#ifdef B3500000
+  case 3500000: baud = B3500000; break;
+#endif
+#ifdef B4000000
+  case 4000000: baud = B4000000; break;
+#endif
+  default:
+    custom_baud = true;
+    // OS X support
+#if defined(MAC_OS_X_VERSION_10_4) && (MAC_OS_X_VERSION_MIN_REQUIRED >= MAC_OS_X_VERSION_10_4)
+    // Starting with Tiger, the IOSSIOSPEED ioctl can be used to set arbitrary baud rates
+    // other than those specified by POSIX. The driver for the underlying serial hardware
+    // ultimately determines which baud rates can be used. This ioctl sets both the input
+    // and output speed.
+    speed_t new_baud = static_cast<speed_t> (baudrate_);
+    if (-1 == ioctl (fd_, IOSSIOSPEED, &new_baud, 1)) {
+      THROW (IOException, errno);
+    }
+    // Linux Support
+#elif defined(__linux__) && defined (TIOCSSERIAL)
+    struct serial_struct ser;
+
+    if (-1 == ioctl (fd_, TIOCGSERIAL, &ser)) {
+      THROW (IOException, errno);
+    }
+
+    // set custom divisor
+    ser.custom_divisor = ser.baud_base / static_cast<int> (baudrate_);
+    // update flags
+    ser.flags &= ~ASYNC_SPD_MASK;
+    ser.flags |= ASYNC_SPD_CUST;
+
+    if (-1 == ioctl (fd_, TIOCSSERIAL, &ser)) {
+      THROW (IOException, errno);
+    }
+#else
+    throw invalid_argument ("OS does not currently support custom bauds");
+#endif
+  }
+  if (custom_baud == false) {
+#ifdef _BSD_SOURCE
+    ::cfsetspeed(&options, baud);
+#else
+    ::cfsetispeed(&options, baud);
+    ::cfsetospeed(&options, baud);
+#endif
+  }
+
+  // setup char len
+  options.c_cflag &= (tcflag_t) ~CSIZE;
+  if (bytesize_ == eightbits)
+    options.c_cflag |= CS8;
+  else if (bytesize_ == sevenbits)
+    options.c_cflag |= CS7;
+  else if (bytesize_ == sixbits)
+    options.c_cflag |= CS6;
+  else if (bytesize_ == fivebits)
+    options.c_cflag |= CS5;
+  else
+    throw invalid_argument ("invalid char len");
+  // setup stopbits
+  if (stopbits_ == stopbits_one)
+    options.c_cflag &= (tcflag_t) ~(CSTOPB);
+  else if (stopbits_ == stopbits_one_point_five)
+    // ONE POINT FIVE same as TWO.. there is no POSIX support for 1.5
+    options.c_cflag |=  (CSTOPB);
+  else if (stopbits_ == stopbits_two)
+    options.c_cflag |=  (CSTOPB);
+  else
+    throw invalid_argument ("invalid stop bit");
+  // setup parity
+  options.c_iflag &= (tcflag_t) ~(INPCK | ISTRIP);
+  if (parity_ == parity_none) {
+    options.c_cflag &= (tcflag_t) ~(PARENB | PARODD);
+  } else if (parity_ == parity_even) {
+    options.c_cflag &= (tcflag_t) ~(PARODD);
+    options.c_cflag |=  (PARENB);
+  } else if (parity_ == parity_odd) {
+    options.c_cflag |=  (PARENB | PARODD);
+  }
+#ifdef CMSPAR
+  else if (parity_ == parity_mark) {
+    options.c_cflag |=  (PARENB | CMSPAR | PARODD);
+  }
+  else if (parity_ == parity_space) {
+    options.c_cflag |=  (PARENB | CMSPAR);
+    options.c_cflag &= (tcflag_t) ~(PARODD);
+  }
+#else
+  // CMSPAR is not defined on OSX. So do not support mark or space parity.
+  else if (parity_ == parity_mark || parity_ == parity_space) {
+    throw invalid_argument ("OS does not support mark or space parity");
+  }
+#endif  // ifdef CMSPAR
+  else {
+    throw invalid_argument ("invalid parity");
+  }
+  // setup flow control
+  if (flowcontrol_ == flowcontrol_none) {
+    xonxoff_ = false;
+    rtscts_ = false;
+  }
+  if (flowcontrol_ == flowcontrol_software) {
+    xonxoff_ = true;
+    rtscts_ = false;
+  }
+  if (flowcontrol_ == flowcontrol_hardware) {
+    xonxoff_ = false;
+    rtscts_ = true;
+  }
+  // xonxoff
+#ifdef IXANY
+  if (xonxoff_)
+    options.c_iflag |=  (IXON | IXOFF); //|IXANY)
+  else
+    options.c_iflag &= (tcflag_t) ~(IXON | IXOFF | IXANY);
+#else
+  if (xonxoff_)
+    options.c_iflag |=  (IXON | IXOFF);
+  else
+    options.c_iflag &= (tcflag_t) ~(IXON | IXOFF);
+#endif
+  // rtscts
+#ifdef CRTSCTS
+  if (rtscts_)
+    options.c_cflag |=  (CRTSCTS);
+  else
+    options.c_cflag &= (unsigned long) ~(CRTSCTS);
+#elif defined CNEW_RTSCTS
+  if (rtscts_)
+    options.c_cflag |=  (CNEW_RTSCTS);
+  else
+    options.c_cflag &= (unsigned long) ~(CNEW_RTSCTS);
+#else
+#error "OS Support seems wrong."
+#endif
+
+  // http://www.unixwiz.net/techtips/termios-vmin-vtime.html
+  // this basically sets the read call up to be a polling read,
+  // but we are using select to ensure there is data available
+  // to read before each call, so we should never needlessly poll
+  options.c_cc[VMIN] = 0;
+  options.c_cc[VTIME] = 0;
+
+  // activate settings
+  ::tcsetattr (fd_, TCSANOW, &options);
+
+  // Update byte_time_ based on the new settings.
+  uint32_t bit_time_ns = 1e9 / baudrate_;
+  byte_time_ns_ = bit_time_ns * (1 + bytesize_ + parity_ + stopbits_);
+
+  // Compensate for the stopbits_one_point_five enum being equal to int 3,
+  // and not 1.5.
+  if (stopbits_ == stopbits_one_point_five) {
+    byte_time_ns_ += ((1.5 - stopbits_one_point_five) * bit_time_ns);
+  }
+}
+
+void
+Serial::SerialImpl::close ()
+{
+  if (is_open_ == true) {
+    if (fd_ != -1) {
+      int ret;
+      ret = ::close (fd_);
+      if (ret == 0) {
+        fd_ = -1;
+      } else {
+        THROW (IOException, errno);
+      }
+    }
+    is_open_ = false;
+  }
+}
+
+bool
+Serial::SerialImpl::isOpen () const
+{
+  return is_open_;
+}
+
+size_t
+Serial::SerialImpl::available ()
+{
+  if (!is_open_) {
+    return 0;
+  }
+  int count = 0;
+  if (-1 == ioctl (fd_, TIOCINQ, &count)) {
+      THROW (IOException, errno);
+  } else {
+      return static_cast<size_t> (count);
+  }
+}
+
+bool
+Serial::SerialImpl::waitReadable (uint32_t timeout)
+{
+  // Setup a select call to block for serial data or a timeout
+  fd_set readfds;
+  FD_ZERO (&readfds);
+  FD_SET (fd_, &readfds);
+  timespec timeout_ts (timespec_from_ms (timeout));
+  int r = pselect (fd_ + 1, &readfds, NULL, NULL, &timeout_ts, NULL);
+
+  if (r < 0) {
+    // Select was interrupted
+    if (errno == EINTR) {
+      return false;
+    }
+    // Otherwise there was some error
+    THROW (IOException, errno);
+  }
+  // Timeout occurred
+  if (r == 0) {
+    return false;
+  }
+  // This shouldn't happen, if r > 0 our fd has to be in the list!
+  if (!FD_ISSET (fd_, &readfds)) {
+    THROW (IOException, "select reports ready to read, but our fd isn't"
+           " in the list, this shouldn't happen!");
+  }
+  // Data available to read.
+  return true;
+}
+
+void
+Serial::SerialImpl::waitByteTimes (size_t count)
+{
+  timespec wait_time = { 0, static_cast<long>(byte_time_ns_ * count)};
+  pselect (0, NULL, NULL, NULL, &wait_time, NULL);
+}
+
+size_t
+Serial::SerialImpl::read (uint8_t *buf, size_t size)
+{
+  // If the port is not open, throw
+  if (!is_open_) {
+    throw PortNotOpenedException ("Serial::read");
+  }
+  size_t bytes_read = 0;
+
+  // Calculate total timeout in milliseconds t_c + (t_m * N)
+  long total_timeout_ms = timeout_.read_timeout_constant;
+  total_timeout_ms += timeout_.read_timeout_multiplier * static_cast<long> (size);
+  MillisecondTimer total_timeout(total_timeout_ms);
+
+  // Pre-fill buffer with available bytes
+  {
+    ssize_t bytes_read_now = ::read (fd_, buf, size);
+    if (bytes_read_now > 0) {
+      bytes_read = bytes_read_now;
+    }
+  }
+
+  while (bytes_read < size) {
+    int64_t timeout_remaining_ms = total_timeout.remaining();
+    if (timeout_remaining_ms <= 0) {
+      // Timed out
+      break;
+    }
+    // Timeout for the next select is whichever is less of the remaining
+    // total read timeout and the inter-byte timeout.
+    uint32_t timeout = std::min(static_cast<uint32_t> (timeout_remaining_ms),
+                                timeout_.inter_byte_timeout);
+    // Wait for the device to be readable, and then attempt to read.
+    if (waitReadable(timeout)) {
+      // If it's a fixed-length multi-byte read, insert a wait here so that
+      // we can attempt to grab the whole thing in a single IO call. Skip
+      // this wait if a non-max inter_byte_timeout is specified.
+      if (size > 1 && timeout_.inter_byte_timeout == Timeout::max()) {
+        size_t bytes_available = available();
+        if (bytes_available + bytes_read < size) {
+          waitByteTimes(size - (bytes_available + bytes_read));
+        }
+      }
+      // This should be non-blocking returning only what is available now
+      //  Then returning so that select can block again.
+      ssize_t bytes_read_now =
+        ::read (fd_, buf + bytes_read, size - bytes_read);
+      // read should always return some data as select reported it was
+      // ready to read when we get to this point.
+      if (bytes_read_now < 1) {
+        // Disconnected devices, at least on Linux, show the
+        // behavior that they are always ready to read immediately
+        // but reading returns nothing.
+        throw SerialException ("device reports readiness to read but "
+                               "returned no data (device disconnected?)");
+      }
+      // Update bytes_read
+      bytes_read += static_cast<size_t> (bytes_read_now);
+      // If bytes_read == size then we have read everything we need
+      if (bytes_read == size) {
+        break;
+      }
+      // If bytes_read < size then we have more to read
+      if (bytes_read < size) {
+        continue;
+      }
+      // If bytes_read > size then we have over read, which shouldn't happen
+      if (bytes_read > size) {
+        throw SerialException ("read over read, too many bytes where "
+                               "read, this shouldn't happen, might be "
+                               "a logical error!");
+      }
+    }
+  }
+  return bytes_read;
+}
+
+size_t
+Serial::SerialImpl::write (const uint8_t *data, size_t length)
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::write");
+  }
+  fd_set writefds;
+  size_t bytes_written = 0;
+
+  // Calculate total timeout in milliseconds t_c + (t_m * N)
+  long total_timeout_ms = timeout_.write_timeout_constant;
+  total_timeout_ms += timeout_.write_timeout_multiplier * static_cast<long> (length);
+  MillisecondTimer total_timeout(total_timeout_ms);
+
+  bool first_iteration = true;
+  while (bytes_written < length) {
+    int64_t timeout_remaining_ms = total_timeout.remaining();
+    // Only consider the timeout if it's not the first iteration of the loop
+    // otherwise a timeout of 0 won't be allowed through
+    if (!first_iteration && (timeout_remaining_ms <= 0)) {
+      // Timed out
+      break;
+    }
+    first_iteration = false;
+
+    timespec timeout(timespec_from_ms(timeout_remaining_ms));
+
+    FD_ZERO (&writefds);
+    FD_SET (fd_, &writefds);
+
+    // Do the select
+    int r = pselect (fd_ + 1, NULL, &writefds, NULL, &timeout, NULL);
+
+    // Figure out what happened by looking at select's response 'r'
+    /** Error **/
+    if (r < 0) {
+      // Select was interrupted, try again
+      if (errno == EINTR) {
+        continue;
+      }
+      // Otherwise there was some error
+      THROW (IOException, errno);
+    }
+    /** Timeout **/
+    if (r == 0) {
+      break;
+    }
+    /** Port ready to write **/
+    if (r > 0) {
+      // Make sure our file descriptor is in the ready to write list
+      if (FD_ISSET (fd_, &writefds)) {
+        // This will write some
+        ssize_t bytes_written_now =
+          ::write (fd_, data + bytes_written, length - bytes_written);
+        // write should always return some data as select reported it was
+        // ready to write when we get to this point.
+        if (bytes_written_now < 1) {
+          // Disconnected devices, at least on Linux, show the
+          // behavior that they are always ready to write immediately
+          // but writing returns nothing.
+          throw SerialException ("device reports readiness to write but "
+                                 "returned no data (device disconnected?)");
+        }
+        // Update bytes_written
+        bytes_written += static_cast<size_t> (bytes_written_now);
+        // If bytes_written == size then we have written everything we need to
+        if (bytes_written == length) {
+          break;
+        }
+        // If bytes_written < size then we have more to write
+        if (bytes_written < length) {
+          continue;
+        }
+        // If bytes_written > size then we have over written, which shouldn't happen
+        if (bytes_written > length) {
+          throw SerialException ("write over wrote, too many bytes where "
+                                 "written, this shouldn't happen, might be "
+                                 "a logical error!");
+        }
+      }
+      // This shouldn't happen, if r > 0 our fd has to be in the list!
+      THROW (IOException, "select reports ready to write, but our fd isn't"
+                          " in the list, this shouldn't happen!");
+    }
+  }
+  return bytes_written;
+}
+
+void
+Serial::SerialImpl::setPort (const string &port)
+{
+  port_ = port;
+}
+
+string
+Serial::SerialImpl::getPort () const
+{
+  return port_;
+}
+
+void
+Serial::SerialImpl::setTimeout (serial::Timeout &timeout)
+{
+  timeout_ = timeout;
+}
+
+serial::Timeout
+Serial::SerialImpl::getTimeout () const
+{
+  return timeout_;
+}
+
+void
+Serial::SerialImpl::setBaudrate (unsigned long baudrate)
+{
+  baudrate_ = baudrate;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+unsigned long
+Serial::SerialImpl::getBaudrate () const
+{
+  return baudrate_;
+}
+
+void
+Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize)
+{
+  bytesize_ = bytesize;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+serial::bytesize_t
+Serial::SerialImpl::getBytesize () const
+{
+  return bytesize_;
+}
+
+void
+Serial::SerialImpl::setParity (serial::parity_t parity)
+{
+  parity_ = parity;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+serial::parity_t
+Serial::SerialImpl::getParity () const
+{
+  return parity_;
+}
+
+void
+Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits)
+{
+  stopbits_ = stopbits;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+serial::stopbits_t
+Serial::SerialImpl::getStopbits () const
+{
+  return stopbits_;
+}
+
+void
+Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol)
+{
+  flowcontrol_ = flowcontrol;
+  if (is_open_)
+    reconfigurePort ();
+}
+
+serial::flowcontrol_t
+Serial::SerialImpl::getFlowcontrol () const
+{
+  return flowcontrol_;
+}
+
+void
+Serial::SerialImpl::flush ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::flush");
+  }
+  tcdrain (fd_);
+}
+
+void
+Serial::SerialImpl::flushInput ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::flushInput");
+  }
+  tcflush (fd_, TCIFLUSH);
+}
+
+void
+Serial::SerialImpl::flushOutput ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::flushOutput");
+  }
+  tcflush (fd_, TCOFLUSH);
+}
+
+void
+Serial::SerialImpl::sendBreak (int duration)
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::sendBreak");
+  }
+  tcsendbreak (fd_, static_cast<int> (duration / 4));
+}
+
+void
+Serial::SerialImpl::setBreak (bool level)
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::setBreak");
+  }
+
+  if (level) {
+    if (-1 == ioctl (fd_, TIOCSBRK))
+    {
+        stringstream ss;
+        ss << "setBreak failed on a call to ioctl(TIOCSBRK): " << errno << " " << strerror(errno);
+        throw(SerialException(ss.str().c_str()));
+    }
+  } else {
+    if (-1 == ioctl (fd_, TIOCCBRK))
+    {
+        stringstream ss;
+        ss << "setBreak failed on a call to ioctl(TIOCCBRK): " << errno << " " << strerror(errno);
+        throw(SerialException(ss.str().c_str()));
+    }
+  }
+}
+
+void
+Serial::SerialImpl::setRTS (bool level)
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::setRTS");
+  }
+
+  int command = TIOCM_RTS;
+
+  if (level) {
+    if (-1 == ioctl (fd_, TIOCMBIS, &command))
+    {
+      stringstream ss;
+      ss << "setRTS failed on a call to ioctl(TIOCMBIS): " << errno << " " << strerror(errno);
+      throw(SerialException(ss.str().c_str()));
+    }
+  } else {
+    if (-1 == ioctl (fd_, TIOCMBIC, &command))
+    {
+      stringstream ss;
+      ss << "setRTS failed on a call to ioctl(TIOCMBIC): " << errno << " " << strerror(errno);
+      throw(SerialException(ss.str().c_str()));
+    }
+  }
+}
+
+void
+Serial::SerialImpl::setDTR (bool level)
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::setDTR");
+  }
+
+  int command = TIOCM_DTR;
+
+  if (level) {
+    if (-1 == ioctl (fd_, TIOCMBIS, &command))
+    {
+      stringstream ss;
+      ss << "setDTR failed on a call to ioctl(TIOCMBIS): " << errno << " " << strerror(errno);
+      throw(SerialException(ss.str().c_str()));
+    }
+  } else {
+    if (-1 == ioctl (fd_, TIOCMBIC, &command))
+    {
+      stringstream ss;
+      ss << "setDTR failed on a call to ioctl(TIOCMBIC): " << errno << " " << strerror(errno);
+      throw(SerialException(ss.str().c_str()));
+    }
+  }
+}
+
+bool
+Serial::SerialImpl::waitForChange ()
+{
+#ifndef TIOCMIWAIT
+
+while (is_open_ == true) {
+
+    int status;
+
+    if (-1 == ioctl (fd_, TIOCMGET, &status))
+    {
+        stringstream ss;
+        ss << "waitForChange failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno);
+        throw(SerialException(ss.str().c_str()));
+    }
+    else
+    {
+        if (0 != (status & TIOCM_CTS)
+         || 0 != (status & TIOCM_DSR)
+         || 0 != (status & TIOCM_RI)
+         || 0 != (status & TIOCM_CD))
+        {
+          return true;
+        }
+    }
+
+    usleep(1000);
+  }
+
+  return false;
+#else
+  int command = (TIOCM_CD|TIOCM_DSR|TIOCM_RI|TIOCM_CTS);
+
+  if (-1 == ioctl (fd_, TIOCMIWAIT, &command)) {
+    stringstream ss;
+    ss << "waitForDSR failed on a call to ioctl(TIOCMIWAIT): "
+       << errno << " " << strerror(errno);
+    throw(SerialException(ss.str().c_str()));
+  }
+  return true;
+#endif
+}
+
+bool
+Serial::SerialImpl::getCTS ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::getCTS");
+  }
+
+  int status;
+
+  if (-1 == ioctl (fd_, TIOCMGET, &status))
+  {
+    stringstream ss;
+    ss << "getCTS failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno);
+    throw(SerialException(ss.str().c_str()));
+  }
+  else
+  {
+    return 0 != (status & TIOCM_CTS);
+  }
+}
+
+bool
+Serial::SerialImpl::getDSR ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::getDSR");
+  }
+
+  int status;
+
+  if (-1 == ioctl (fd_, TIOCMGET, &status))
+  {
+      stringstream ss;
+      ss << "getDSR failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno);
+      throw(SerialException(ss.str().c_str()));
+  }
+  else
+  {
+      return 0 != (status & TIOCM_DSR);
+  }
+}
+
+bool
+Serial::SerialImpl::getRI ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::getRI");
+  }
+
+  int status;
+
+  if (-1 == ioctl (fd_, TIOCMGET, &status))
+  {
+    stringstream ss;
+    ss << "getRI failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno);
+    throw(SerialException(ss.str().c_str()));
+  }
+  else
+  {
+    return 0 != (status & TIOCM_RI);
+  }
+}
+
+bool
+Serial::SerialImpl::getCD ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::getCD");
+  }
+
+  int status;
+
+  if (-1 == ioctl (fd_, TIOCMGET, &status))
+  {
+    stringstream ss;
+    ss << "getCD failed on a call to ioctl(TIOCMGET): " << errno << " " << strerror(errno);
+    throw(SerialException(ss.str().c_str()));
+  }
+  else
+  {
+    return 0 != (status & TIOCM_CD);
+  }
+}
+
+void
+Serial::SerialImpl::readLock ()
+{
+  int result = pthread_mutex_lock(&this->read_mutex);
+  if (result) {
+    THROW (IOException, result);
+  }
+}
+
+void
+Serial::SerialImpl::readUnlock ()
+{
+  int result = pthread_mutex_unlock(&this->read_mutex);
+  if (result) {
+    THROW (IOException, result);
+  }
+}
+
+void
+Serial::SerialImpl::writeLock ()
+{
+  int result = pthread_mutex_lock(&this->write_mutex);
+  if (result) {
+    THROW (IOException, result);
+  }
+}
+
+void
+Serial::SerialImpl::writeUnlock ()
+{
+  int result = pthread_mutex_unlock(&this->write_mutex);
+  if (result) {
+    THROW (IOException, result);
+  }
+}
+
+#endif // !defined(_WIN32)
diff --git a/examples/ThirdPartyLibs/serial/src/impl/win.cc b/examples/ThirdPartyLibs/serial/src/impl/win.cc
new file mode 100644
index 000000000..3446160fa
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/src/impl/win.cc
@@ -0,0 +1,640 @@
+#if defined(_WIN32)
+
+/* Copyright 2012 William Woodall and John Harrison */
+
+#include <sstream>
+
+#include "serial/impl/win.h"
+
+using std::string;
+using std::wstring;
+using std::stringstream;
+using std::invalid_argument;
+using serial::Serial;
+using serial::Timeout;
+using serial::bytesize_t;
+using serial::parity_t;
+using serial::stopbits_t;
+using serial::flowcontrol_t;
+using serial::SerialException;
+using serial::PortNotOpenedException;
+using serial::IOException;
+
+inline wstring
+_prefix_port_if_needed(const wstring &input)
+{
+  static wstring windows_com_port_prefix = L"\\\\.\\";
+  if (input.compare(windows_com_port_prefix) != 0)
+  {
+    return windows_com_port_prefix + input;
+  }
+  return input;
+}
+
+Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate,
+                                bytesize_t bytesize,
+                                parity_t parity, stopbits_t stopbits,
+                                flowcontrol_t flowcontrol)
+  : port_ (port.begin(), port.end()), fd_ (INVALID_HANDLE_VALUE), is_open_ (false),
+    baudrate_ (baudrate), parity_ (parity),
+    bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol)
+{
+  if (port_.empty () == false)
+    open ();
+  read_mutex = CreateMutex(NULL, false, NULL);
+  write_mutex = CreateMutex(NULL, false, NULL);
+}
+
+Serial::SerialImpl::~SerialImpl ()
+{
+  this->close();
+  CloseHandle(read_mutex);
+  CloseHandle(write_mutex);
+}
+
+void
+Serial::SerialImpl::open ()
+{
+  if (port_.empty ()) {
+    throw invalid_argument ("Empty port is invalid.");
+  }
+  if (is_open_ == true) {
+    throw SerialException ("Serial port already open.");
+  }
+
+  // See: https://github.com/wjwwood/serial/issues/84
+  wstring port_with_prefix = _prefix_port_if_needed(port_);
+  LPCWSTR lp_port = port_with_prefix.c_str();
+  fd_ = CreateFileW(lp_port,
+                    GENERIC_READ | GENERIC_WRITE,
+                    0,
+                    0,
+                    OPEN_EXISTING,
+                    FILE_ATTRIBUTE_NORMAL,
+                    0);
+
+  if (fd_ == INVALID_HANDLE_VALUE) {
+    DWORD errno_ = GetLastError();
+	stringstream ss;
+    switch (errno_) {
+    case ERROR_FILE_NOT_FOUND:
+      // Use this->getPort to convert to a std::string
+      ss << "Specified port, " << this->getPort() << ", does not exist.";
+      THROW (IOException, ss.str().c_str());
+    default:
+      ss << "Unknown error opening the serial port: " << errno;
+      THROW (IOException, ss.str().c_str());
+    }
+  }
+
+  reconfigurePort();
+  is_open_ = true;
+}
+
+void
+Serial::SerialImpl::reconfigurePort ()
+{
+  if (fd_ == INVALID_HANDLE_VALUE) {
+    // Can only operate on a valid file descriptor
+    THROW (IOException, "Invalid file descriptor, is the serial port open?");
+  }
+
+  DCB dcbSerialParams = {0};
+
+  dcbSerialParams.DCBlength=sizeof(dcbSerialParams);
+
+  if (!GetCommState(fd_, &dcbSerialParams)) {
+    //error getting state
+    THROW (IOException, "Error getting the serial port state.");
+  }
+
+  // setup baud rate
+  switch (baudrate_) {
+#ifdef CBR_0
+  case 0: dcbSerialParams.BaudRate = CBR_0; break;
+#endif
+#ifdef CBR_50
+  case 50: dcbSerialParams.BaudRate = CBR_50; break;
+#endif
+#ifdef CBR_75
+  case 75: dcbSerialParams.BaudRate = CBR_75; break;
+#endif
+#ifdef CBR_110
+  case 110: dcbSerialParams.BaudRate = CBR_110; break;
+#endif
+#ifdef CBR_134
+  case 134: dcbSerialParams.BaudRate = CBR_134; break;
+#endif
+#ifdef CBR_150
+  case 150: dcbSerialParams.BaudRate = CBR_150; break;
+#endif
+#ifdef CBR_200
+  case 200: dcbSerialParams.BaudRate = CBR_200; break;
+#endif
+#ifdef CBR_300
+  case 300: dcbSerialParams.BaudRate = CBR_300; break;
+#endif
+#ifdef CBR_600
+  case 600: dcbSerialParams.BaudRate = CBR_600; break;
+#endif
+#ifdef CBR_1200
+  case 1200: dcbSerialParams.BaudRate = CBR_1200; break;
+#endif
+#ifdef CBR_1800
+  case 1800: dcbSerialParams.BaudRate = CBR_1800; break;
+#endif
+#ifdef CBR_2400
+  case 2400: dcbSerialParams.BaudRate = CBR_2400; break;
+#endif
+#ifdef CBR_4800
+  case 4800: dcbSerialParams.BaudRate = CBR_4800; break;
+#endif
+#ifdef CBR_7200
+  case 7200: dcbSerialParams.BaudRate = CBR_7200; break;
+#endif
+#ifdef CBR_9600
+  case 9600: dcbSerialParams.BaudRate = CBR_9600; break;
+#endif
+#ifdef CBR_14400
+  case 14400: dcbSerialParams.BaudRate = CBR_14400; break;
+#endif
+#ifdef CBR_19200
+  case 19200: dcbSerialParams.BaudRate = CBR_19200; break;
+#endif
+#ifdef CBR_28800
+  case 28800: dcbSerialParams.BaudRate = CBR_28800; break;
+#endif
+#ifdef CBR_57600
+  case 57600: dcbSerialParams.BaudRate = CBR_57600; break;
+#endif
+#ifdef CBR_76800
+  case 76800: dcbSerialParams.BaudRate = CBR_76800; break;
+#endif
+#ifdef CBR_38400
+  case 38400: dcbSerialParams.BaudRate = CBR_38400; break;
+#endif
+#ifdef CBR_115200
+  case 115200: dcbSerialParams.BaudRate = CBR_115200; break;
+#endif
+#ifdef CBR_128000
+  case 128000: dcbSerialParams.BaudRate = CBR_128000; break;
+#endif
+#ifdef CBR_153600
+  case 153600: dcbSerialParams.BaudRate = CBR_153600; break;
+#endif
+#ifdef CBR_230400
+  case 230400: dcbSerialParams.BaudRate = CBR_230400; break;
+#endif
+#ifdef CBR_256000
+  case 256000: dcbSerialParams.BaudRate = CBR_256000; break;
+#endif
+#ifdef CBR_460800
+  case 460800: dcbSerialParams.BaudRate = CBR_460800; break;
+#endif
+#ifdef CBR_921600
+  case 921600: dcbSerialParams.BaudRate = CBR_921600; break;
+#endif
+  default:
+    // Try to blindly assign it
+    dcbSerialParams.BaudRate = baudrate_;
+  }
+
+  // setup char len
+  if (bytesize_ == eightbits)
+    dcbSerialParams.ByteSize = 8;
+  else if (bytesize_ == sevenbits)
+    dcbSerialParams.ByteSize = 7;
+  else if (bytesize_ == sixbits)
+    dcbSerialParams.ByteSize = 6;
+  else if (bytesize_ == fivebits)
+    dcbSerialParams.ByteSize = 5;
+  else
+    throw invalid_argument ("invalid char len");
+
+  // setup stopbits
+  if (stopbits_ == stopbits_one)
+    dcbSerialParams.StopBits = ONESTOPBIT;
+  else if (stopbits_ == stopbits_one_point_five)
+    dcbSerialParams.StopBits = ONE5STOPBITS;
+  else if (stopbits_ == stopbits_two)
+    dcbSerialParams.StopBits = TWOSTOPBITS;
+  else
+    throw invalid_argument ("invalid stop bit");
+
+  // setup parity
+  if (parity_ == parity_none) {
+    dcbSerialParams.Parity = NOPARITY;
+  } else if (parity_ == parity_even) {
+    dcbSerialParams.Parity = EVENPARITY;
+  } else if (parity_ == parity_odd) {
+    dcbSerialParams.Parity = ODDPARITY;
+  } else if (parity_ == parity_mark) {
+    dcbSerialParams.Parity = MARKPARITY;
+  } else if (parity_ == parity_space) {
+    dcbSerialParams.Parity = SPACEPARITY;
+  } else {
+    throw invalid_argument ("invalid parity");
+  }
+
+  // setup flowcontrol
+  if (flowcontrol_ == flowcontrol_none) {
+    dcbSerialParams.fOutxCtsFlow = false;
+    dcbSerialParams.fRtsControl = 0x00;
+    dcbSerialParams.fOutX = false;
+    dcbSerialParams.fInX = false;
+  }
+  if (flowcontrol_ == flowcontrol_software) {
+    dcbSerialParams.fOutxCtsFlow = false;
+    dcbSerialParams.fRtsControl = 0x00;
+    dcbSerialParams.fOutX = true;
+    dcbSerialParams.fInX = true;
+  }
+  if (flowcontrol_ == flowcontrol_hardware) {
+    dcbSerialParams.fOutxCtsFlow = true;
+    dcbSerialParams.fRtsControl = 0x03;
+    dcbSerialParams.fOutX = false;
+    dcbSerialParams.fInX = false;
+  }
+
+  // activate settings
+  if (!SetCommState(fd_, &dcbSerialParams)){
+    CloseHandle(fd_);
+    THROW (IOException, "Error setting serial port settings.");
+  }
+
+  // Setup timeouts
+  COMMTIMEOUTS timeouts = {0};
+  timeouts.ReadIntervalTimeout = timeout_.inter_byte_timeout;
+  timeouts.ReadTotalTimeoutConstant = timeout_.read_timeout_constant;
+  timeouts.ReadTotalTimeoutMultiplier = timeout_.read_timeout_multiplier;
+  timeouts.WriteTotalTimeoutConstant = timeout_.write_timeout_constant;
+  timeouts.WriteTotalTimeoutMultiplier = timeout_.write_timeout_multiplier;
+  if (!SetCommTimeouts(fd_, &timeouts)) {
+    THROW (IOException, "Error setting timeouts.");
+  }
+}
+
+void
+Serial::SerialImpl::close ()
+{
+  if (is_open_ == true) {
+    if (fd_ != INVALID_HANDLE_VALUE) {
+      int ret;
+      ret = CloseHandle(fd_);
+      if (ret == 0) {
+        stringstream ss;
+        ss << "Error while closing serial port: " << GetLastError();
+        THROW (IOException, ss.str().c_str());
+      } else {
+        fd_ = INVALID_HANDLE_VALUE;
+      }
+    }
+    is_open_ = false;
+  }
+}
+
+bool
+Serial::SerialImpl::isOpen () const
+{
+  return is_open_;
+}
+
+size_t
+Serial::SerialImpl::available ()
+{
+  if (!is_open_) {
+    return 0;
+  }
+  COMSTAT cs;
+  if (!ClearCommError(fd_, NULL, &cs)) {
+    stringstream ss;
+    ss << "Error while checking status of the serial port: " << GetLastError();
+    THROW (IOException, ss.str().c_str());
+  }
+  return static_cast<size_t>(cs.cbInQue);
+}
+
+bool
+Serial::SerialImpl::waitReadable (uint32_t /*timeout*/)
+{
+  THROW (IOException, "waitReadable is not implemented on Windows.");
+  return false;
+}
+
+void
+Serial::SerialImpl::waitByteTimes (size_t /*count*/)
+{
+  THROW (IOException, "waitByteTimes is not implemented on Windows.");
+}
+
+size_t
+Serial::SerialImpl::read (uint8_t *buf, size_t size)
+{
+  if (!is_open_) {
+    throw PortNotOpenedException ("Serial::read");
+  }
+  DWORD bytes_read;
+  if (!ReadFile(fd_, buf, static_cast<DWORD>(size), &bytes_read, NULL)) {
+    stringstream ss;
+    ss << "Error while reading from the serial port: " << GetLastError();
+    THROW (IOException, ss.str().c_str());
+  }
+  return (size_t) (bytes_read);
+}
+
+size_t
+Serial::SerialImpl::write (const uint8_t *data, size_t length)
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::write");
+  }
+  DWORD bytes_written;
+  if (!WriteFile(fd_, data, static_cast<DWORD>(length), &bytes_written, NULL)) {
+    stringstream ss;
+    ss << "Error while writing to the serial port: " << GetLastError();
+    THROW (IOException, ss.str().c_str());
+  }
+  return (size_t) (bytes_written);
+}
+
+void
+Serial::SerialImpl::setPort (const string &port)
+{
+  port_ = wstring(port.begin(), port.end());
+}
+
+string
+Serial::SerialImpl::getPort () const
+{
+  return string(port_.begin(), port_.end());
+}
+
+void
+Serial::SerialImpl::setTimeout (serial::Timeout &timeout)
+{
+  timeout_ = timeout;
+  if (is_open_) {
+    reconfigurePort ();
+  }
+}
+
+serial::Timeout
+Serial::SerialImpl::getTimeout () const
+{
+  return timeout_;
+}
+
+void
+Serial::SerialImpl::setBaudrate (unsigned long baudrate)
+{
+  baudrate_ = baudrate;
+  if (is_open_) {
+    reconfigurePort ();
+  }
+}
+
+unsigned long
+Serial::SerialImpl::getBaudrate () const
+{
+  return baudrate_;
+}
+
+void
+Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize)
+{
+  bytesize_ = bytesize;
+  if (is_open_) {
+    reconfigurePort ();
+  }
+}
+
+serial::bytesize_t
+Serial::SerialImpl::getBytesize () const
+{
+  return bytesize_;
+}
+
+void
+Serial::SerialImpl::setParity (serial::parity_t parity)
+{
+  parity_ = parity;
+  if (is_open_) {
+    reconfigurePort ();
+  }
+}
+
+serial::parity_t
+Serial::SerialImpl::getParity () const
+{
+  return parity_;
+}
+
+void
+Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits)
+{
+  stopbits_ = stopbits;
+  if (is_open_) {
+    reconfigurePort ();
+  }
+}
+
+serial::stopbits_t
+Serial::SerialImpl::getStopbits () const
+{
+  return stopbits_;
+}
+
+void
+Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol)
+{
+  flowcontrol_ = flowcontrol;
+  if (is_open_) {
+    reconfigurePort ();
+  }
+}
+
+serial::flowcontrol_t
+Serial::SerialImpl::getFlowcontrol () const
+{
+  return flowcontrol_;
+}
+
+void
+Serial::SerialImpl::flush ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::flush");
+  }
+  FlushFileBuffers (fd_);
+}
+
+void
+Serial::SerialImpl::flushInput ()
+{
+  THROW (IOException, "flushInput is not supported on Windows.");
+}
+
+void
+Serial::SerialImpl::flushOutput ()
+{
+  THROW (IOException, "flushOutput is not supported on Windows.");
+}
+
+void
+Serial::SerialImpl::sendBreak (int /*duration*/)
+{
+  THROW (IOException, "sendBreak is not supported on Windows.");
+}
+
+void
+Serial::SerialImpl::setBreak (bool level)
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::setBreak");
+  }
+  if (level) {
+    EscapeCommFunction (fd_, SETBREAK);
+  } else {
+    EscapeCommFunction (fd_, CLRBREAK);
+  }
+}
+
+void
+Serial::SerialImpl::setRTS (bool level)
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::setRTS");
+  }
+  if (level) {
+    EscapeCommFunction (fd_, SETRTS);
+  } else {
+    EscapeCommFunction (fd_, CLRRTS);
+  }
+}
+
+void
+Serial::SerialImpl::setDTR (bool level)
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::setDTR");
+  }
+  if (level) {
+    EscapeCommFunction (fd_, SETDTR);
+  } else {
+    EscapeCommFunction (fd_, CLRDTR);
+  }
+}
+
+bool
+Serial::SerialImpl::waitForChange ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::waitForChange");
+  }
+  DWORD dwCommEvent;
+
+  if (!SetCommMask(fd_, EV_CTS | EV_DSR | EV_RING | EV_RLSD)) {
+    // Error setting communications mask
+    return false;
+  }
+
+  if (!WaitCommEvent(fd_, &dwCommEvent, NULL)) {
+    // An error occurred waiting for the event.
+    return false;
+  } else {
+    // Event has occurred.
+    return true;
+  }
+}
+
+bool
+Serial::SerialImpl::getCTS ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::getCTS");
+  }
+  DWORD dwModemStatus;
+  if (!GetCommModemStatus(fd_, &dwModemStatus)) {
+    THROW (IOException, "Error getting the status of the CTS line.");
+  }
+
+  return (MS_CTS_ON & dwModemStatus) != 0;
+}
+
+bool
+Serial::SerialImpl::getDSR ()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::getDSR");
+  }
+  DWORD dwModemStatus;
+  if (!GetCommModemStatus(fd_, &dwModemStatus)) {
+    THROW (IOException, "Error getting the status of the DSR line.");
+  }
+
+  return (MS_DSR_ON & dwModemStatus) != 0;
+}
+
+bool
+Serial::SerialImpl::getRI()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::getRI");
+  }
+  DWORD dwModemStatus;
+  if (!GetCommModemStatus(fd_, &dwModemStatus)) {
+    THROW (IOException, "Error getting the status of the RI line.");
+  }
+
+  return (MS_RING_ON & dwModemStatus) != 0;
+}
+
+bool
+Serial::SerialImpl::getCD()
+{
+  if (is_open_ == false) {
+    throw PortNotOpenedException ("Serial::getCD");
+  }
+  DWORD dwModemStatus;
+  if (!GetCommModemStatus(fd_, &dwModemStatus)) {
+    // Error in GetCommModemStatus;
+    THROW (IOException, "Error getting the status of the CD line.");
+  }
+
+  return (MS_RLSD_ON & dwModemStatus) != 0;
+}
+
+void
+Serial::SerialImpl::readLock()
+{
+  if (WaitForSingleObject(read_mutex, INFINITE) != WAIT_OBJECT_0) {
+    THROW (IOException, "Error claiming read mutex.");
+  }
+}
+
+void
+Serial::SerialImpl::readUnlock()
+{
+  if (!ReleaseMutex(read_mutex)) {
+    THROW (IOException, "Error releasing read mutex.");
+  }
+}
+
+void
+Serial::SerialImpl::writeLock()
+{
+  if (WaitForSingleObject(write_mutex, INFINITE) != WAIT_OBJECT_0) {
+    THROW (IOException, "Error claiming write mutex.");
+  }
+}
+
+void
+Serial::SerialImpl::writeUnlock()
+{
+  if (!ReleaseMutex(write_mutex)) {
+    THROW (IOException, "Error releasing write mutex.");
+  }
+}
+
+#endif // #if defined(_WIN32)
+
diff --git a/examples/ThirdPartyLibs/serial/src/serial.cc b/examples/ThirdPartyLibs/serial/src/serial.cc
new file mode 100644
index 000000000..aab4caa7f
--- /dev/null
+++ b/examples/ThirdPartyLibs/serial/src/serial.cc
@@ -0,0 +1,414 @@
+/* Copyright 2012 William Woodall and John Harrison */
+#include <algorithm>
+
+#if !defined(_WIN32) && !defined(__OpenBSD__) && !defined(__FreeBSD__)
+# include <alloca.h>
+#endif
+
+#if defined (__MINGW32__)
+# define alloca __builtin_alloca
+#endif
+
+#include "serial/serial.h"
+
+#ifdef _WIN32
+#include "serial/impl/win.h"
+#else
+#include "serial/impl/unix.h"
+#endif
+
+using std::invalid_argument;
+using std::min;
+using std::numeric_limits;
+using std::vector;
+using std::size_t;
+using std::string;
+
+using serial::Serial;
+using serial::SerialException;
+using serial::IOException;
+using serial::bytesize_t;
+using serial::parity_t;
+using serial::stopbits_t;
+using serial::flowcontrol_t;
+
+class Serial::ScopedReadLock {
+public:
+  ScopedReadLock(SerialImpl *pimpl) : pimpl_(pimpl) {
+    this->pimpl_->readLock();
+  }
+  ~ScopedReadLock() {
+    this->pimpl_->readUnlock();
+  }
+private:
+  // Disable copy constructors
+  ScopedReadLock(const ScopedReadLock&);
+  const ScopedReadLock& operator=(ScopedReadLock);
+
+  SerialImpl *pimpl_;
+};
+
+class Serial::ScopedWriteLock {
+public:
+  ScopedWriteLock(SerialImpl *pimpl) : pimpl_(pimpl) {
+    this->pimpl_->writeLock();
+  }
+  ~ScopedWriteLock() {
+    this->pimpl_->writeUnlock();
+  }
+private:
+  // Disable copy constructors
+  ScopedWriteLock(const ScopedWriteLock&);
+  const ScopedWriteLock& operator=(ScopedWriteLock);
+  SerialImpl *pimpl_;
+};
+
+Serial::Serial (const string &port, uint32_t baudrate, serial::Timeout timeout,
+                bytesize_t bytesize, parity_t parity, stopbits_t stopbits,
+                flowcontrol_t flowcontrol)
+ : pimpl_(new SerialImpl (port, baudrate, bytesize, parity,
+                                           stopbits, flowcontrol))
+{
+  pimpl_->setTimeout(timeout);
+}
+
+Serial::~Serial ()
+{
+  delete pimpl_;
+}
+
+void
+Serial::open ()
+{
+  pimpl_->open ();
+}
+
+void
+Serial::close ()
+{
+  pimpl_->close ();
+}
+
+bool
+Serial::isOpen () const
+{
+  return pimpl_->isOpen ();
+}
+
+size_t
+Serial::available ()
+{
+  return pimpl_->available ();
+}
+
+bool
+Serial::waitReadable ()
+{
+  serial::Timeout timeout(pimpl_->getTimeout ());
+  return pimpl_->waitReadable(timeout.read_timeout_constant);
+}
+
+void
+Serial::waitByteTimes (size_t count)
+{
+  pimpl_->waitByteTimes(count);
+}
+
+size_t
+Serial::read_ (uint8_t *buffer, size_t size)
+{
+  return this->pimpl_->read (buffer, size);
+}
+
+size_t
+Serial::read (uint8_t *buffer, size_t size)
+{
+  ScopedReadLock lock(this->pimpl_);
+  return this->pimpl_->read (buffer, size);
+}
+
+size_t
+Serial::read (std::vector<uint8_t> &buffer, size_t size)
+{
+  ScopedReadLock lock(this->pimpl_);
+  uint8_t *buffer_ = new uint8_t[size];
+  size_t bytes_read = this->pimpl_->read (buffer_, size);
+  buffer.insert (buffer.end (), buffer_, buffer_+bytes_read);
+  delete[] buffer_;
+  return bytes_read;
+}
+
+size_t
+Serial::read (std::string &buffer, size_t size)
+{
+  ScopedReadLock lock(this->pimpl_);
+  uint8_t *buffer_ = new uint8_t[size];
+  size_t bytes_read = this->pimpl_->read (buffer_, size);
+  buffer.append (reinterpret_cast<const char*>(buffer_), bytes_read);
+  delete[] buffer_;
+  return bytes_read;
+}
+
+string
+Serial::read (size_t size)
+{
+  std::string buffer;
+  this->read (buffer, size);
+  return buffer;
+}
+
+size_t
+Serial::readline (string &buffer, size_t size, string eol)
+{
+  ScopedReadLock lock(this->pimpl_);
+  size_t eol_len = eol.length ();
+  uint8_t *buffer_ = static_cast<uint8_t*>
+                              (alloca (size * sizeof (uint8_t)));
+  size_t read_so_far = 0;
+  while (true)
+  {
+    size_t bytes_read = this->read_ (buffer_ + read_so_far, 1);
+    read_so_far += bytes_read;
+    if (bytes_read == 0) {
+      break; // Timeout occured on reading 1 byte
+    }
+    if (string (reinterpret_cast<const char*>
+         (buffer_ + read_so_far - eol_len), eol_len) == eol) {
+      break; // EOL found
+    }
+    if (read_so_far == size) {
+      break; // Reached the maximum read length
+    }
+  }
+  buffer.append(reinterpret_cast<const char*> (buffer_), read_so_far);
+  return read_so_far;
+}
+
+string
+Serial::readline (size_t size, string eol)
+{
+  std::string buffer;
+  this->readline (buffer, size, eol);
+  return buffer;
+}
+
+vector<string>
+Serial::readlines (size_t size, string eol)
+{
+  ScopedReadLock lock(this->pimpl_);
+  std::vector<std::string> lines;
+  size_t eol_len = eol.length ();
+  uint8_t *buffer_ = static_cast<uint8_t*>
+    (alloca (size * sizeof (uint8_t)));
+  size_t read_so_far = 0;
+  size_t start_of_line = 0;
+  while (read_so_far < size) {
+    size_t bytes_read = this->read_ (buffer_+read_so_far, 1);
+    read_so_far += bytes_read;
+    if (bytes_read == 0) {
+      if (start_of_line != read_so_far) {
+        lines.push_back (
+          string (reinterpret_cast<const char*> (buffer_ + start_of_line),
+            read_so_far - start_of_line));
+      }
+      break; // Timeout occured on reading 1 byte
+    }
+    if (string (reinterpret_cast<const char*>
+         (buffer_ + read_so_far - eol_len), eol_len) == eol) {
+      // EOL found
+      lines.push_back(
+        string(reinterpret_cast<const char*> (buffer_ + start_of_line),
+          read_so_far - start_of_line));
+      start_of_line = read_so_far;
+    }
+    if (read_so_far == size) {
+      if (start_of_line != read_so_far) {
+        lines.push_back(
+          string(reinterpret_cast<const char*> (buffer_ + start_of_line),
+            read_so_far - start_of_line));
+      }
+      break; // Reached the maximum read length
+    }
+  }
+  return lines;
+}
+
+size_t
+Serial::write (const string &data)
+{
+  ScopedWriteLock lock(this->pimpl_);
+  return this->write_ (reinterpret_cast<const uint8_t*>(data.c_str()),
+                       data.length());
+}
+
+size_t
+Serial::write (const std::vector<uint8_t> &data)
+{
+  ScopedWriteLock lock(this->pimpl_);
+  return this->write_ (&data[0], data.size());
+}
+
+size_t
+Serial::write (const uint8_t *data, size_t size)
+{
+  ScopedWriteLock lock(this->pimpl_);
+  return this->write_(data, size);
+}
+
+size_t
+Serial::write_ (const uint8_t *data, size_t length)
+{
+  return pimpl_->write (data, length);
+}
+
+void
+Serial::setPort (const string &port)
+{
+  ScopedReadLock rlock(this->pimpl_);
+  ScopedWriteLock wlock(this->pimpl_);
+  bool was_open = pimpl_->isOpen ();
+  if (was_open) close();
+  pimpl_->setPort (port);
+  if (was_open) open ();
+}
+
+string
+Serial::getPort () const
+{
+  return pimpl_->getPort ();
+}
+
+void
+Serial::setTimeout (serial::Timeout &timeout)
+{
+  pimpl_->setTimeout (timeout);
+}
+
+serial::Timeout
+Serial::getTimeout () const {
+  return pimpl_->getTimeout ();
+}
+
+void
+Serial::setBaudrate (uint32_t baudrate)
+{
+  pimpl_->setBaudrate (baudrate);
+}
+
+uint32_t
+Serial::getBaudrate () const
+{
+  return uint32_t(pimpl_->getBaudrate ());
+}
+
+void
+Serial::setBytesize (bytesize_t bytesize)
+{
+  pimpl_->setBytesize (bytesize);
+}
+
+bytesize_t
+Serial::getBytesize () const
+{
+  return pimpl_->getBytesize ();
+}
+
+void
+Serial::setParity (parity_t parity)
+{
+  pimpl_->setParity (parity);
+}
+
+parity_t
+Serial::getParity () const
+{
+  return pimpl_->getParity ();
+}
+
+void
+Serial::setStopbits (stopbits_t stopbits)
+{
+  pimpl_->setStopbits (stopbits);
+}
+
+stopbits_t
+Serial::getStopbits () const
+{
+  return pimpl_->getStopbits ();
+}
+
+void
+Serial::setFlowcontrol (flowcontrol_t flowcontrol)
+{
+  pimpl_->setFlowcontrol (flowcontrol);
+}
+
+flowcontrol_t
+Serial::getFlowcontrol () const
+{
+  return pimpl_->getFlowcontrol ();
+}
+
+void Serial::flush ()
+{
+  ScopedReadLock rlock(this->pimpl_);
+  ScopedWriteLock wlock(this->pimpl_);
+  pimpl_->flush ();
+}
+
+void Serial::flushInput ()
+{
+  ScopedReadLock lock(this->pimpl_);
+  pimpl_->flushInput ();
+}
+
+void Serial::flushOutput ()
+{
+  ScopedWriteLock lock(this->pimpl_);
+  pimpl_->flushOutput ();
+}
+
+void Serial::sendBreak (int duration)
+{
+  pimpl_->sendBreak (duration);
+}
+
+void Serial::setBreak (bool level)
+{
+  pimpl_->setBreak (level);
+}
+
+void Serial::setRTS (bool level)
+{
+  pimpl_->setRTS (level);
+}
+
+void Serial::setDTR (bool level)
+{
+  pimpl_->setDTR (level);
+}
+
+bool Serial::waitForChange()
+{
+  return pimpl_->waitForChange();
+}
+
+bool Serial::getCTS ()
+{
+  return pimpl_->getCTS ();
+}
+
+bool Serial::getDSR ()
+{
+  return pimpl_->getDSR ();
+}
+
+bool Serial::getRI ()
+{
+  return pimpl_->getRI ();
+}
+
+bool Serial::getCD ()
+{
+  return pimpl_->getCD ();
+}

From 4da2c076a705c25a911db8991fdc477132203e2c Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Mon, 1 May 2017 22:18:54 -0700
Subject: [PATCH 24/80] Add API to reset mass.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 22 ++++++++++
 examples/SharedMemory/PhysicsClientC_API.h    |  6 +++
 .../PhysicsServerCommandProcessor.cpp         | 33 +++++++++++++++
 examples/SharedMemory/SharedMemoryCommands.h  | 15 +++++++
 examples/SharedMemory/SharedMemoryPublic.h    |  7 ++++
 examples/pybullet/pybullet.c                  | 40 +++++++++++++++++++
 6 files changed, 123 insertions(+)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 94bbedc36..4d819a6b5 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1208,7 +1208,29 @@ int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
 	return cl->getJointInfo(bodyIndex, jointIndex, *info);
 }
 
+b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+	command->m_type = CMD_RESET_DYNAMIC_INFO;
+	command->m_updateFlags = 0;
+	
+	return (b3SharedMemoryCommandHandle) command;
+}
 
+int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
+	command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
+	command->m_resetDynamicInfoArgs.m_mass = mass;
+	command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_MASS;
+	return 0;
+}
 
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index dcc210760..339ed2a2d 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -74,6 +74,12 @@ int	b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
 
 ///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
 int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
+
+///given a body unique id and link index, return the dynamic information. See b3DynamicInfo in SharedMemoryPublic.h
+int b3GetDynamicInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, struct b3DynamicInfo* info);
+	
+b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient);
+int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
     
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 625c99d33..9ef821567 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3732,6 +3732,39 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 					break;
 				};
+				case CMD_RESET_DYNAMIC_INFO:
+				{
+					BT_PROFILE("CMD_RESET_DYNAMIC_INFO");
+					
+					if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_MASS)
+					{
+						int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId;
+						int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex;
+						double mass = clientCmd.m_resetDynamicInfoArgs.m_mass;
+						btAssert(bodyUniqueId >= 0);
+						btAssert(linkIndex >= -1);
+						
+						InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+						if (body && body->m_multiBody)
+						{
+							btMultiBody* mb = body->m_multiBody;
+							if (linkIndex == -1)
+							{
+								mb->setBaseMass(mass);
+							}
+							else
+							{
+								mb->getLink(linkIndex).m_mass = mass;
+							}
+						}
+					}
+					
+					SharedMemoryStatus& serverCmd =serverStatusOut;
+					serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
+					hasStatus = true;
+					
+					break;
+				};
 				case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
 				{
 					BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index f85a62d80..f7c2b91a0 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -106,6 +106,20 @@ struct BulletDataStreamArgs
 	char m_bodyName[MAX_FILENAME_LENGTH];
 };
 
+enum EnumResetDynamicInfoFlags
+{
+	RESET_DYNAMIC_INFO_SET_MASS=1,
+	RESET_DYNAMIC_INFO_SET_COM=2,
+};
+
+struct ResetDynamicInfoArgs
+{
+	int m_bodyUniqueId;
+	int m_linkIndex;
+	double m_mass;
+	double m_COM[3];
+};
+
 struct SetJointFeedbackArgs
 {
 	int m_bodyUniqueId;
@@ -702,6 +716,7 @@ struct SharedMemoryCommand
 		struct MjcfArgs	m_mjcfArguments;
 		struct FileArgs m_fileArguments;
 		struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
+		struct ResetDynamicInfoArgs m_resetDynamicInfoArgs;
 		struct InitPoseArgs m_initPoseArgs;
 		struct SendPhysicsSimulationParameters m_physSimParamArgs;
 		struct BulletDataStreamArgs	m_dataStreamArguments;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 466f3dcb3..25f5a2816 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -55,6 +55,7 @@ enum EnumSharedMemoryClientCommand
     CMD_CONFIGURE_OPENGL_VISUALIZER,
 	CMD_REQUEST_KEYBOARD_EVENTS_DATA,
 	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
+	CMD_RESET_DYNAMIC_INFO,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -207,6 +208,12 @@ struct b3BodyInfo
 	const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
 };
 
+struct b3DynamicInfo
+{
+	double m_mass;
+	double m_localInertialPosition[3];
+	double m_localInertialOrientation[4];
+};
 
 // copied from btMultiBodyLink.h
 enum SensorType {
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 8485d357b..5211c8a85 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -604,6 +604,43 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	return pylist;
 }
 
+static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int bodyUniqueId = -1;
+	int linkIndex = -2;
+	double mass = -1;
+	b3PhysicsClientHandle sm = 0;
+	
+	int physicsClientId = 0;
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|di", kwlist, &bodyUniqueId, &linkIndex,&mass, &physicsClientId))
+	{
+		return NULL;
+	}
+	
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+	
+	{
+		b3SharedMemoryCommandHandle command = b3InitResetDynamicInfo(sm);
+		b3SharedMemoryStatusHandle statusHandle;
+		
+		if (mass >= 0)
+		{
+			b3ResetDynamicInfoSetMass(command, bodyUniqueId, linkIndex, mass);
+		}
+		
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+	}
+	
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
 static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	double fixedTimeStep = -1;
@@ -5435,6 +5472,9 @@ static PyMethodDef SpamMethods[] = {
 	{"resetJointState", (PyCFunction)pybullet_resetJointState, METH_VARARGS | METH_KEYWORDS,
 	 "Reset the state (position, velocity etc) for a joint on a body "
 	 "instantaneously, not through physics simulation."},
+	
+	{"resetDynamicInfo", (PyCFunction)pybullet_resetDynamicInfo, METH_VARARGS | METH_KEYWORDS,
+	 "Reset dynamic information such as mass, COM."},
 
 	{"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS,
 	 "This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead."

From 9fef6c1d6612ec4f593d28ea68c4c04253413d23 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 1 May 2017 22:35:33 -0700
Subject: [PATCH 25/80] Add C++ version VRGloveSimulatorMain example, using the
 serial library. First run the App_PhysicsServer_SharedMemory_VR_vs2010.exe to
 run the VR server, then run App_VRGloveHandSimulator. You likely need to tune
 the minV/maxV for each finger (check values using Arduino IDE Serial Monitor)

---
 .../ExampleBrowser/OpenGLExampleBrowser.cpp   |   1 -
 examples/RobotSimulator/MinitaurSetup.cpp     |   1 -
 .../RobotSimulator/RobotSimulatorMain.cpp     |  23 +-
 .../RobotSimulator/VRGloveSimulatorMain.cpp   | 295 ++++++++++++++++++
 .../b3RobotSimulatorClientAPI.cpp             |  71 ++++-
 .../b3RobotSimulatorClientAPI.h               |  11 +-
 examples/RobotSimulator/premake4.lua          | 209 +++++++++----
 .../PhysicsServerCommandProcessor.cpp         |   5 +-
 examples/SharedMemory/SharedMemoryPublic.h    |  14 +-
 examples/TinyAudio/b3AudioListener.cpp        |  17 +-
 examples/TinyAudio/b3SoundEngine.cpp          |   1 -
 examples/Utils/b3HashString.h                 |  59 ----
 src/Bullet3Common/b3HashMap.h                 |  56 ++++
 13 files changed, 610 insertions(+), 153 deletions(-)
 create mode 100644 examples/RobotSimulator/VRGloveSimulatorMain.cpp
 delete mode 100644 examples/Utils/b3HashString.h

diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 4751c7be4..9bbcafb64 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -48,7 +48,6 @@
 //quick test for file import, @todo(erwincoumans) make it more general and add other file formats
 #include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
 #include "../Importers/ImportBullet/SerializeSetup.h"
-#include "../Utils/b3HashString.h"
 #include "Bullet3Common/b3HashMap.h"
 
 struct GL3TexLoader : public MyTextureLoader
diff --git a/examples/RobotSimulator/MinitaurSetup.cpp b/examples/RobotSimulator/MinitaurSetup.cpp
index 9f78c0283..e867d0583 100644
--- a/examples/RobotSimulator/MinitaurSetup.cpp
+++ b/examples/RobotSimulator/MinitaurSetup.cpp
@@ -2,7 +2,6 @@
 #include "b3RobotSimulatorClientAPI.h"
 
 #include "Bullet3Common/b3HashMap.h"
-#include "../Utils/b3HashString.h"
 
 struct MinitaurSetupInternalData
 {
diff --git a/examples/RobotSimulator/RobotSimulatorMain.cpp b/examples/RobotSimulator/RobotSimulatorMain.cpp
index fb1072fd0..b84cb60a6 100644
--- a/examples/RobotSimulator/RobotSimulatorMain.cpp
+++ b/examples/RobotSimulator/RobotSimulatorMain.cpp
@@ -16,7 +16,7 @@ int main(int argc, char* argv[])
 	//sim->connect(eCONNECT_UDP, "localhost", 1234);
 	sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
 //	sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
-	sim->setTimeOut(12345);
+	sim->setTimeOut(10);
 	//syncBodies is only needed when connecting to an existing physics server that has already some bodies
 	sim->syncBodies();
 	b3Scalar fixedTimeStep = 1./240.;
@@ -33,18 +33,14 @@ int main(int argc, char* argv[])
 	//b3BodyInfo bodyInfo;
 	//sim->getBodyInfo(blockId,&bodyInfo);
 
-	sim->loadURDF("plane_with_collision_audio.urdf");
+	sim->loadURDF("plane.urdf");
 
-	b3RobotSimulatorLoadUrdfFileArgs args;
-	args.m_startPosition.setValue(0,0,2);
-	for (int i=0;i<10;i++)
-	{
-		args.m_startPosition[0] = 0.5*i;
-		args.m_startPosition[1] = 0.5*i;
-		args.m_startPosition[2] = 2+i*2;
-		int r2d2 = sim->loadURDF("cube.urdf",args);
-	}
+	MinitaurSetup minitaur;
+	int minitaurUid = minitaur.setupMinitaur(sim, b3MakeVector3(0,0,.3));
 
+	
+	//b3RobotSimulatorLoadUrdfFileArgs args;
+	//args.m_startPosition.setValue(2,0,1);
 	//int r2d2 = sim->loadURDF("r2d2.urdf",args);
 
 	//b3RobotSimulatorLoadFileResults sdfResults;
@@ -127,8 +123,8 @@ int main(int argc, char* argv[])
 			yaw+=0.1;
 			b3Vector3 basePos;
 			b3Quaternion baseOrn;
-//			sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
-		//	sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
+			sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
+			sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
 		}
 		b3Clock::usleep(1000.*1000.*fixedTimeStep);
 	}
@@ -144,4 +140,3 @@ int main(int argc, char* argv[])
 
 }
 
-
diff --git a/examples/RobotSimulator/VRGloveSimulatorMain.cpp b/examples/RobotSimulator/VRGloveSimulatorMain.cpp
new file mode 100644
index 000000000..00c3a26d2
--- /dev/null
+++ b/examples/RobotSimulator/VRGloveSimulatorMain.cpp
@@ -0,0 +1,295 @@
+//VR Glove hand simulator is a C++ conversion from the Python pybullet vrhand_vive_tracker.py
+//For more details about the VR glove, see also https://docs.google.com/document/d/1_qwXJRBTGKmhktdBtVQ6zdOdxwud1K30jt0G5dkAr10/edit
+
+#include "b3RobotSimulatorClientAPI.h"
+#include "../Utils/b3Clock.h"
+#include "Bullet3Common/b3CommandLineArgs.h"
+#include <string.h>
+#include <stdio.h>
+#include <assert.h>
+#include "serial/serial.h"
+#include "../Importers/ImportURDFDemo/urdfStringSplit.h"
+
+double convertSensor(int inputV, int minV, int maxV)
+{
+	b3Clamp(inputV,minV,maxV);
+	double outVal =(double)inputV;
+	double b = (outVal-(double)minV)/float(maxV-minV);
+	return (b);
+}
+
+void setJointMotorPositionControl(b3RobotSimulatorClientAPI* sim, int obUid, int linkIndex, double targetPosition)
+{
+	b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
+	controlArgs.m_maxTorqueValue = 50.;
+	controlArgs.m_targetPosition = targetPosition;
+	controlArgs.m_targetVelocity = 0;
+	sim->setJointMotorControl(obUid,linkIndex,controlArgs);
+}
+
+int main(int argc, char* argv[])
+{
+	b3CommandLineArgs args(argc,argv);
+	std::string port="COM10";
+	args.GetCmdLineArgument("port",port);
+	int baud = 115200;
+	args.GetCmdLineArgument("speed",baud);
+	std::string mode = "SHARED_MEMORY";
+	args.GetCmdLineArgument("mode",mode);
+	int disableGui = 0;
+	args.GetCmdLineArgument("disableGui",disableGui);
+	int disableShadows = 0;
+	args.GetCmdLineArgument("disableShadows",disableShadows);
+	
+	printf("port=%s, speed=%d, connection mode=%s\n", port.c_str(), baud,mode.c_str());	
+	
+	// port, baudrate, timeout in milliseconds
+	serial::Serial my_serial(port, baud, serial::Timeout::simpleTimeout(1));
+	if (!my_serial.isOpen())
+	{
+		printf("Cannot open serial port\n");
+		return -1;
+	}
+
+	b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
+
+	//Can also use eCONNECT_UDP,eCONNECT_TCP, for example: sim->connect(eCONNECT_UDP, "localhost", 1234);
+	if (mode=="GUI")
+	{
+		sim->connect(eCONNECT_GUI);
+	} else
+	{
+		if (mode=="DIRECT")
+		{
+			sim->connect(eCONNECT_DIRECT);
+		} else
+		{
+			sim->connect(eCONNECT_SHARED_MEMORY);
+		}
+	}
+
+	sim->setRealTimeSimulation(true);
+	sim->setInternalSimFlags(0);
+	sim->resetSimulation();
+
+	if (disableGui)
+	{
+		sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
+	}
+
+	if (disableShadows)
+	{
+		sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);
+	}
+
+	sim->setTimeOut(12345);
+	//syncBodies is only needed when connecting to an existing physics server that has already some bodies
+	sim->syncBodies();
+	b3Scalar fixedTimeStep = 1./240.;
+
+	sim->setTimeStep(fixedTimeStep);
+
+	b3Quaternion q = sim->getQuaternionFromEuler(b3MakeVector3(0.1,0.2,0.3));
+	b3Vector3 rpy;
+	rpy = sim->getEulerFromQuaternion(q);
+
+	sim->setGravity(b3MakeVector3(0,0,-9.8));
+	sim->setContactBreakingThreshold(0.001);
+
+	sim->loadURDF("plane_with_collision_audio.urdf");
+
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.300000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.200000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.100000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.000000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.900000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.800000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.700000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.600000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("table/table.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.000000,-0.200000,0.000000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
+	sim->loadURDF("cube_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3( 0.950000,-0.100000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
+	sim->loadURDF("sphere_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.850000,-0.400000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
+
+	int handUid = -1;
+
+	b3RobotSimulatorLoadFileResults mjcfResults;
+	const char* mjcfFileName = "MPL/mpl2.xml";
+	if (sim->loadMJCF(mjcfFileName,mjcfResults))
+	{
+		printf("mjcfResults = %d\n", mjcfResults.m_uniqueObjectIds.size());
+		if (mjcfResults.m_uniqueObjectIds.size()==1)
+		{
+			handUid = mjcfResults.m_uniqueObjectIds[0];
+		}
+	}
+	if (handUid<0)
+	{
+		printf("Cannot load MJCF file %s\n", mjcfFileName);
+	}
+
+	b3Quaternion handOrn = sim->getQuaternionFromEuler(b3MakeVector3(3.14,-3.14/2,0));
+	b3Vector3 handPos = b3MakeVector3(-0.05,0,0.02);
+	
+	b3JointInfo jointInfo;
+	jointInfo.m_jointType = eFixedType;
+	b3Vector3 handStartPosWorld = b3MakeVector3(0.500000,0.300006,0.900000);
+	b3Quaternion handStartOrnWorld = b3Quaternion ::getIdentity();
+
+	jointInfo.m_childFrame[0] = handStartPosWorld[0];
+	jointInfo.m_childFrame[1] = handStartPosWorld[1];
+	jointInfo.m_childFrame[2] = handStartPosWorld[2];
+	jointInfo.m_childFrame[3] = handStartOrnWorld[0];
+	jointInfo.m_childFrame[4] = handStartOrnWorld[1];
+	jointInfo.m_childFrame[5] = handStartOrnWorld[2];
+	jointInfo.m_childFrame[6] = handStartOrnWorld[3];
+
+	jointInfo.m_parentFrame[0] = handPos[0];
+	jointInfo.m_parentFrame[1] = handPos[1];
+	jointInfo.m_parentFrame[2] = handPos[2];
+	jointInfo.m_parentFrame[3] = handOrn[0];
+	jointInfo.m_parentFrame[4] = handOrn[1];
+	jointInfo.m_parentFrame[5] = handOrn[2];
+	jointInfo.m_parentFrame[6] = handOrn[3];
+
+	int handConstraintId = sim->createConstraint(handUid,-1,-1,-1,&jointInfo);
+	double maxFingerForce = 50;
+
+	for (int j=0; j<sim->getNumJoints(handUid);j++)
+	{
+		b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
+		controlArgs.m_maxTorqueValue = maxFingerForce ;
+		controlArgs.m_targetPosition = 0;
+		controlArgs.m_targetVelocity = 0;
+		sim->setJointMotorControl(handUid,j,controlArgs);
+	}
+
+	b3Clock clock;
+	double startTime = clock.getTimeInSeconds();
+	double simWallClockSeconds = 20.;
+
+	int vidLogId = -1;
+	int minitaurLogId = -1;
+	int rotateCamera = 0;
+
+	while (sim->canSubmitCommand())
+	{
+		b3VREventsData vrEvents;
+		int deviceTypeFilter =	VR_DEVICE_GENERIC_TRACKER;
+
+		sim->getVREvents(&vrEvents, deviceTypeFilter);
+		//instead of iterating over all vr events, we just take the most up-to-date one
+		if (vrEvents.m_numControllerEvents)
+		{
+			int i = vrEvents.m_numControllerEvents - 1;
+			b3VRControllerEvent& e = vrEvents.m_controllerEvents[i];
+//			printf("e.pos=%f,%f,%f\n",e.m_pos[0],e.m_pos[1],e.m_pos[2]);
+			b3JointInfo changeConstraintInfo;
+			changeConstraintInfo.m_flags = 0;
+			changeConstraintInfo.m_jointMaxForce = 50;
+			changeConstraintInfo.m_flags |= eJointChangeMaxForce;
+
+			changeConstraintInfo.m_childFrame[0] = e.m_pos[0];
+			changeConstraintInfo.m_childFrame[1] = e.m_pos[1];
+			changeConstraintInfo.m_childFrame[2] = e.m_pos[2];
+			changeConstraintInfo.m_flags |= eJointChangeChildFramePosition;
+
+			changeConstraintInfo.m_childFrame[3] = e.m_orn[0];
+			changeConstraintInfo.m_childFrame[4] = e.m_orn[1];
+			changeConstraintInfo.m_childFrame[5] = e.m_orn[2];
+			changeConstraintInfo.m_childFrame[6] = e.m_orn[3];
+			changeConstraintInfo.m_flags |= eJointChangeChildFrameOrientation;
+
+			sim->changeConstraint(handConstraintId, &changeConstraintInfo);
+		}
+
+		//read the serial output from the hand, extract into parts
+		std::string result = my_serial.readline();
+		//my_serial.flush();
+		if (result.length())
+		{
+			int res = result.find("\n");
+			while (res<0)
+			{
+				result += my_serial.readline();
+				res = result.find("\n");
+			}
+			btAlignedObjectArray<std::string> pieces;
+			btAlignedObjectArray<std::string> separators;
+			separators.push_back(",");
+			urdfStringSplit( pieces, result, separators);
+			
+			//printf("serial: %s\n", result.c_str());
+			if (pieces.size()==6)
+			{
+				double pinkTarget = 0;
+				double middleTarget = 0;
+				double indexTarget = 0;
+				double thumbTarget  = 0;
+				{
+					int pink = atoi(pieces[1].c_str());
+					int middle = atoi(pieces[2].c_str());
+					int index = atoi(pieces[3].c_str());
+					int thumb = atoi(pieces[4].c_str());
+
+					pinkTarget = convertSensor(pink,250,400);
+					middleTarget = convertSensor(middle,250,400);
+					indexTarget = convertSensor(index,250,400);
+					thumbTarget = convertSensor(thumb,250,400);
+				}
+
+				//printf("pink = %d, middle=%d, index=%d, thumb=%d\n", pink,middle,index,thumb);
+
+				setJointMotorPositionControl(sim,handUid,5,1.3);
+				setJointMotorPositionControl(sim,handUid,7,thumbTarget);
+				setJointMotorPositionControl(sim,handUid,9,thumbTarget);
+				setJointMotorPositionControl(sim,handUid,11,thumbTarget);
+
+				setJointMotorPositionControl(sim,handUid,15,indexTarget);
+				setJointMotorPositionControl(sim,handUid,17,indexTarget);
+				setJointMotorPositionControl(sim,handUid,19,indexTarget);
+
+				setJointMotorPositionControl(sim,handUid,22,middleTarget);
+				setJointMotorPositionControl(sim,handUid,24,middleTarget);
+				setJointMotorPositionControl(sim,handUid,27,middleTarget);
+
+				double ringTarget = 0.5f*(pinkTarget+middleTarget);
+				setJointMotorPositionControl(sim,handUid,30,ringTarget);
+				setJointMotorPositionControl(sim,handUid,32,ringTarget);
+				setJointMotorPositionControl(sim,handUid,34,ringTarget);
+
+				setJointMotorPositionControl(sim,handUid,38,pinkTarget);
+				setJointMotorPositionControl(sim,handUid,40,pinkTarget);
+				setJointMotorPositionControl(sim,handUid,42,pinkTarget);
+			}
+		}
+
+		b3KeyboardEventsData keyEvents;
+		sim->getKeyboardEvents(&keyEvents);
+		
+		//sim->stepSimulation();
+
+		if (rotateCamera)
+		{
+			static double yaw=0;
+			double distance = 1;
+			yaw+=0.1;
+			b3Vector3 basePos;
+			b3Quaternion baseOrn;
+//			sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
+//			sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
+		}
+		//b3Clock::usleep(1000.*1000.*fixedTimeStep);
+	}
+
+	printf("serial.close()\n");
+	my_serial.close();
+
+	printf("sim->disconnect\n");
+	sim->disconnect();
+	
+	printf("delete sim\n");
+	delete sim;
+
+	printf("exit\n");
+
+}
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
index ebf515e92..17a4806cc 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -560,21 +560,70 @@ bool b3RobotSimulatorClientAPI::getJointInfo(int bodyUniqueId, int jointIndex, b
 	return (b3GetJointInfo(m_data->m_physicsClientHandle, bodyUniqueId, jointIndex, jointInfo) != 0);
 }
 
-void b3RobotSimulatorClientAPI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
+int b3RobotSimulatorClientAPI::createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo)
 {
 	if (!isConnected())
 	{
 		b3Warning("Not connected");
-		return;
+		return -1;
 	}
 	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));
+		int statusType = b3GetStatusType(statusHandle);
+		if (statusType == CMD_USER_CONSTRAINT_COMPLETED)
+		{
+			int userConstraintUid = b3GetStatusUserConstraintUniqueId(statusHandle);
+			return userConstraintUid;
+		}
 	}
+	return -1;
 }
 
+int b3RobotSimulatorClientAPI::changeConstraint(int constraintId, b3JointInfo* jointInfo)
+{
+
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return -1;
+	}
+	b3SharedMemoryCommandHandle commandHandle = b3InitChangeUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
+
+	if (jointInfo->m_flags & eJointChangeMaxForce)
+	{
+		b3InitChangeUserConstraintSetMaxForce(commandHandle, jointInfo->m_jointMaxForce);
+	}
+
+	if (jointInfo->m_flags & eJointChangeChildFramePosition)
+	{
+		b3InitChangeUserConstraintSetPivotInB(commandHandle, &jointInfo->m_childFrame[0]);
+	}
+	if (jointInfo->m_flags & eJointChangeChildFrameOrientation)
+	{
+		b3InitChangeUserConstraintSetFrameInB(commandHandle, &jointInfo->m_childFrame[3]);
+	}
+
+	b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+	int statusType = b3GetStatusType(statusHandle);
+	return statusType;
+}
+
+void b3RobotSimulatorClientAPI::removeConstraint(int constraintId)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+	b3SharedMemoryCommandHandle commandHandle = b3InitRemoveUserConstraintCommand(m_data->m_physicsClientHandle, constraintId);
+	b3SharedMemoryStatusHandle statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+	int statusType = b3GetStatusType(statusHandle);
+}
+
+
 bool b3RobotSimulatorClientAPI::getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state)
 {
 	if (!isConnected())
@@ -685,6 +734,21 @@ void b3RobotSimulatorClientAPI::setNumSolverIterations(int numIterations)
 	b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
 }
 
+void b3RobotSimulatorClientAPI::setContactBreakingThreshold(double threshold)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+	b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
+	b3SharedMemoryStatusHandle statusHandle;
+	b3PhysicsParamSetContactBreakingThreshold(command,threshold);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
+	b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
+}
+
+
 void b3RobotSimulatorClientAPI::setTimeStep(double timeStepInSeconds)
 {
 	if (!isConnected())
@@ -815,7 +879,7 @@ void b3RobotSimulatorClientAPI::configureDebugVisualizer(b3ConfigureDebugVisuali
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
 }
 
-void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData)
+void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData,int deviceTypeFilter)
 {
 	vrEventsData->m_numControllerEvents = 0;
 	vrEventsData->m_controllerEvents = 0;
@@ -826,6 +890,7 @@ void b3RobotSimulatorClientAPI::getVREvents(b3VREventsData* vrEventsData)
 	}
 
 	b3SharedMemoryCommandHandle commandHandle = b3RequestVREventsCommandInit(m_data->m_physicsClientHandle);
+	b3VREventsSetDeviceTypeFilter(commandHandle, deviceTypeFilter);
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
 	b3GetVREventsData(m_data->m_physicsClientHandle, vrEventsData);
 }
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
index 876c7048b..f92fd6497 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
@@ -132,6 +132,8 @@ class b3RobotSimulatorClientAPI
 	struct b3RobotSimulatorClientAPI_InternalData* m_data;
 
 public:
+
+
 	b3RobotSimulatorClientAPI();
 	virtual ~b3RobotSimulatorClientAPI();
 
@@ -167,7 +169,11 @@ public:
 
 	bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
 
-	void createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
+	int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
+
+	int changeConstraint(int constraintId, b3JointInfo* jointInfo);
+
+	void removeConstraint(int constraintId);
 
 	bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
 
@@ -188,6 +194,7 @@ public:
 	void setTimeStep(double timeStepInSeconds);
 	void setNumSimulationSubSteps(int numSubSteps);
 	void setNumSolverIterations(int numIterations);
+	void setContactBreakingThreshold(double threshold);
 
 	bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
 
@@ -201,7 +208,7 @@ public:
 	int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
 	void stopStateLogging(int stateLoggerUniqueId);
 
-	void getVREvents(b3VREventsData* vrEventsData);
+	void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
 	void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
 };
 
diff --git a/examples/RobotSimulator/premake4.lua b/examples/RobotSimulator/premake4.lua
index 88acdeaef..df4cf88a5 100644
--- a/examples/RobotSimulator/premake4.lua
+++ b/examples/RobotSimulator/premake4.lua
@@ -1,3 +1,67 @@
+
+myfiles = 
+{
+			"../../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",
+}
+
 project ("App_RobotSimulator")
 
 		language "C++"
@@ -128,66 +192,91 @@ if not _OPTIONS["no-enet"] then
 			"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",
-	}
+			myfiles
+		}
+	if os.is("Linux") then
+       		initX11()
+	end
+
+
+
+project ("App_VRGloveHandSimulator")
+
+		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 _OPTIONS["audio"] then
+			files {
+				"../TinyAudio/b3ADSR.cpp",
+				"../TinyAudio/b3AudioListener.cpp",
+				"../TinyAudio/b3ReadWavFile.cpp",
+				"../TinyAudio/b3SoundEngine.cpp",
+				"../TinyAudio/b3SoundSource.cpp",
+				"../TinyAudio/b3WriteWavFile.cpp",
+				"../TinyAudio/RtAudio.cpp",
+			}
+			defines {"B3_ENABLE_TINY_AUDIO"}
+
+			if _OPTIONS["serial"] then
+				defines{"B3_ENABLE_SERIAL"}
+				includedirs {"../../examples/ThirdPartyLibs/serial/include"}
+				links {"serial"}
+			end
+			
+			if os.is("Windows") then
+				links {"winmm","Wsock32","dsound"}
+				defines {"WIN32","__WINDOWS_MM__","__WINDOWS_DS__"}
+			end
+			
+			if os.is("Linux") then initX11() 
+			                defines  {"__OS_LINUX__","__LINUX_ALSA__"}
+				links {"asound","pthread"}
+			end
+
+
+			if os.is("MacOSX") then
+				links{"Cocoa.framework"}
+				links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+				defines {"__OS_MACOSX__","__MACOSX_CORE__"}
+			end
+		end
+		files {
+			"VRGloveSimulatorMain.cpp",
+			"b3RobotSimulatorClientAPI.cpp",
+			"b3RobotSimulatorClientAPI.h",
+			myfiles
+		}
 	if os.is("Linux") then
        		initX11()
 	end
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 1fcba6111..762491389 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2196,9 +2196,10 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 							}
 						}
 					}
-                }
 #endif
-				std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
+				}
+
+			   std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
 				m_data->m_strings.push_back(baseName);
 
 				mb->setBaseName(baseName->c_str());
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 466f3dcb3..f54aef52c 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -167,6 +167,14 @@ enum JointType {
 	ePoint2PointType = 5,
 };
 
+
+enum b3JointInfoFlags
+{
+	eJointChangeMaxForce = 1,
+	eJointChangeChildFramePosition = 2,
+	eJointChangeChildFrameOrientation = 4,
+};
+
 struct b3JointInfo
 {
         char* m_linkName;
@@ -317,11 +325,7 @@ struct b3VREventsData
 {
 	int m_numControllerEvents;
 	struct b3VRControllerEvent* m_controllerEvents;
-	int m_numHmdEvents;
-	struct b3VRMoveEvent* m_hmdEvents;
-
-	int  m_numGenericTrackerEvents;
-	struct b3VRMoveEvent* m_genericTrackerEvents;
+	
 };
 
 
diff --git a/examples/TinyAudio/b3AudioListener.cpp b/examples/TinyAudio/b3AudioListener.cpp
index 206df87fa..7c4238595 100644
--- a/examples/TinyAudio/b3AudioListener.cpp
+++ b/examples/TinyAudio/b3AudioListener.cpp
@@ -20,10 +20,12 @@ struct b3AudioListenerInternalData
 
    
 	b3WriteWavFile m_wavOut2;
+	bool m_writeWavOut;
 
 	b3AudioListenerInternalData()
 		:m_numControlTicks(64),
-		m_sampleRate(B3_SAMPLE_RATE)
+		m_sampleRate(B3_SAMPLE_RATE),
+		m_writeWavOut(false)
 	{
 
 		for (int i=0;i<MAX_SOUND_SOURCES;i++)
@@ -36,13 +38,18 @@ struct b3AudioListenerInternalData
 b3AudioListener::b3AudioListener()
 {
 	m_data = new b3AudioListenerInternalData();
-
-	m_data->m_wavOut2.setWavFile("bulletAudio2.wav",B3_SAMPLE_RATE,2,false);
+	if (m_data->m_writeWavOut)
+	{
+		m_data->m_wavOut2.setWavFile("bulletAudio2.wav",B3_SAMPLE_RATE,2,false);
+	}
 }
 
 b3AudioListener::~b3AudioListener()
 {
-	m_data->m_wavOut2.closeWavFile();
+	if (m_data->m_writeWavOut)
+	{
+		m_data->m_wavOut2.closeWavFile();
+	}
 
 	delete m_data;
 }
@@ -154,7 +161,7 @@ int b3AudioListener::tick(void *outputBuffer,void *inputBuffer1,unsigned int nBu
 	}
 
 	//logging to wav file
-	if (numSamples)
+	if (data->m_writeWavOut && numSamples)
 	{
 		data->m_wavOut2.tick( (double *)outputBuffer,numSamples);
 	}
diff --git a/examples/TinyAudio/b3SoundEngine.cpp b/examples/TinyAudio/b3SoundEngine.cpp
index 478e0efc8..34f92b876 100644
--- a/examples/TinyAudio/b3SoundEngine.cpp
+++ b/examples/TinyAudio/b3SoundEngine.cpp
@@ -7,7 +7,6 @@
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "b3ReadWavFile.h"
 #include "../Utils/b3ResourcePath.h"
-#include "../Utils/b3HashString.h"
 
 #include "Bullet3Common/b3HashMap.h"
 
diff --git a/examples/Utils/b3HashString.h b/examples/Utils/b3HashString.h
deleted file mode 100644
index 9cae98c6d..000000000
--- a/examples/Utils/b3HashString.h
+++ /dev/null
@@ -1,59 +0,0 @@
-#ifndef B3_HASH_STRING_H
-#define B3_HASH_STRING_H
-
-#include <string>
-
-///very basic hashable string implementation, compatible with b3HashMap
-struct b3HashString
-{
-	std::string m_string;
-	unsigned int	m_hash;
-
-	B3_FORCE_INLINE	unsigned int getHash()const
-	{
-		return m_hash;
-	}
-
-
-	b3HashString(const char* name)
-		:m_string(name)
-	{
-
-		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
-		static const unsigned int  InitialFNV = 2166136261u;
-		static const unsigned int FNVMultiple = 16777619u;
-
-		/* Fowler / Noll / Vo (FNV) Hash */
-		unsigned int hash = InitialFNV;
-		
-		for(int i = 0; m_string[i]; i++)
-		{
-			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
-			hash = hash * FNVMultiple;  /* multiply by the magic number */
-		}
-		m_hash = hash;
-	}
-
-	int portableStringCompare(const char* src,	const char* dst) const
-	{
-			int ret = 0 ;
-
-			while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
-					++src, ++dst;
-
-			if ( ret < 0 )
-					ret = -1 ;
-			else if ( ret > 0 )
-					ret = 1 ;
-
-			return( ret );
-	}
-
-	bool equals(const b3HashString& other) const
-	{
-		return (m_string == other.m_string);
-	}
-
-};
-
-#endif //B3_HASH_STRING_H
diff --git a/src/Bullet3Common/b3HashMap.h b/src/Bullet3Common/b3HashMap.h
index 15281ed90..dc3579117 100644
--- a/src/Bullet3Common/b3HashMap.h
+++ b/src/Bullet3Common/b3HashMap.h
@@ -20,6 +20,62 @@ subject to the following restrictions:
 #include "b3AlignedObjectArray.h"
 
 
+#include <string>
+
+///very basic hashable string implementation, compatible with b3HashMap
+struct b3HashString
+{
+	std::string m_string;
+	unsigned int	m_hash;
+
+	B3_FORCE_INLINE	unsigned int getHash()const
+	{
+		return m_hash;
+	}
+
+
+	b3HashString(const char* name)
+		:m_string(name)
+	{
+
+		/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
+		static const unsigned int  InitialFNV = 2166136261u;
+		static const unsigned int FNVMultiple = 16777619u;
+
+		/* Fowler / Noll / Vo (FNV) Hash */
+		unsigned int hash = InitialFNV;
+		
+		for(int i = 0; m_string[i]; i++)
+		{
+			hash = hash ^ (m_string[i]);       /* xor  the low 8 bits */
+			hash = hash * FNVMultiple;  /* multiply by the magic number */
+		}
+		m_hash = hash;
+	}
+
+	int portableStringCompare(const char* src,	const char* dst) const
+	{
+			int ret = 0 ;
+
+			while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
+					++src, ++dst;
+
+			if ( ret < 0 )
+					ret = -1 ;
+			else if ( ret > 0 )
+					ret = 1 ;
+
+			return( ret );
+	}
+
+	bool equals(const b3HashString& other) const
+	{
+		return (m_string == other.m_string);
+	}
+
+};
+
+
 const int B3_HASH_NULL=0xffffffff;
 
 

From 74ce6af26cd0ff736f567334363473fdb8b3c9ad Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 1 May 2017 22:37:45 -0700
Subject: [PATCH 26/80] add commented-out example to enable premake
 serial/audio

---
 build_visual_studio_vr_pybullet_double.bat | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat
index 3102fe65c..9dee15a2e 100644
--- a/build_visual_studio_vr_pybullet_double.bat
+++ b/build_visual_studio_vr_pybullet_double.bat
@@ -18,5 +18,8 @@ del tmp1234.txt
 cd build3
 
 premake4  --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+
+#premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+
 start vs2010
 

From 07992fe61d26b0063c29a899a39741c522781ddf Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 2 May 2017 18:05:36 -0700
Subject: [PATCH 27/80] Improve MJCF import, to allow reading of friction
 parameters, including spinning and rolling friction, with some rudimentary
 'default class' support. Tweak VRGloveSimulatorMain to work better with
 MPL/mpl2.xml hand.

---
 data/MPL/mpl2.xml                             |   4 +-
 .../ImportMJCFDemo/BulletMJCFImporter.cpp     | 226 +++++++++++++++---
 .../RobotSimulator/VRGloveSimulatorMain.cpp   | 112 ++++++---
 3 files changed, 272 insertions(+), 70 deletions(-)

diff --git a/data/MPL/mpl2.xml b/data/MPL/mpl2.xml
index 327e72778..8bc2ad465 100644
--- a/data/MPL/mpl2.xml
+++ b/data/MPL/mpl2.xml
@@ -25,7 +25,7 @@
 
     <default>
 		<default class="MPL"> 
-			<geom material="MatMesh" contype="1" conaffinity="1" condim="4" margin="0.001"/>
+			<geom material="MatMesh" contype="1" conaffinity="1" condim="4" friction="1 .5 0.5" margin="0.001"/>
         	<joint limited="true" damping="0.2" armature=".01"/>
         	<site material="MatTouch" type="ellipsoid" group="3"/>
             <position ctrllimited="true" kp="10"/>
@@ -104,7 +104,7 @@
 
       
 		<!-- ======= ROBOT ======= -->
-          <body name="wristy" pos="0 0 0">
+          <body  childclass="MPL" name="wristy" pos="0 0 0">
               <inertial pos="-7.08369e-005 -0.0217787 -0.000286168" quat="0.707488 0.00581744 -0.0107421 0.70662" mass="0.0272932" diaginertia="2.46813e-005 1.77029e-005 1.71079e-005" />
               <geom type="mesh" mesh="wristy"/>
               <joint type="free"/>
diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index b7ca1f3b7..3c5329809 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -1,6 +1,8 @@
 #include "BulletMJCFImporter.h"
 #include "../../ThirdPartyLibs/tinyxml/tinyxml.h"
 #include "Bullet3Common/b3FileUtils.h"
+#include "Bullet3Common/b3HashMap.h"
+
 #include <string>
 #include "../../Utils/b3ResourcePath.h"
 #include <iostream>
@@ -129,6 +131,35 @@ struct MyMJCFAsset
 	std::string  m_fileName;
 };
 
+struct MyMJCFDefaults
+{
+	int m_defaultCollisionGroup;
+	int m_defaultCollisionMask;
+	btScalar m_defaultCollisionMargin;
+
+	// joint defaults
+	std::string m_defaultJointLimited;
+
+	// geom defaults
+	std::string m_defaultGeomRgba;
+	int m_defaultConDim;
+	double m_defaultLateralFriction;
+	double m_defaultSpinningFriction;
+	double m_defaultRollingFriction;
+
+	MyMJCFDefaults()
+		:m_defaultCollisionGroup(1),
+		m_defaultCollisionMask(1),
+		m_defaultCollisionMargin(0.001),//assume unit meters, margin is 1mm
+		m_defaultConDim(3),
+		m_defaultLateralFriction(0.5),
+		m_defaultSpinningFriction(0),
+		m_defaultRollingFriction(0)
+	{
+	}
+
+};
+
 struct BulletMJCFImporterInternalData
 {
 	GUIHelperInterface* m_guiHelper;
@@ -149,26 +180,17 @@ struct BulletMJCFImporterInternalData
 
 	int m_activeModel;
 	int m_activeBodyUniqueId;
-	//todo: for full MJCF compatibility, we would need a stack of default values
-	int m_defaultCollisionGroup;
-	int m_defaultCollisionMask;
-	btScalar m_defaultCollisionMargin;
 
-	// joint defaults
-	std::string m_defaultJointLimited;
-
-	// geom defaults
-	std::string m_defaultGeomRgba;
+	//todo: for better MJCF compatibility, we would need a stack of default values
+	MyMJCFDefaults m_globalDefaults;
+	b3HashMap<b3HashString, MyMJCFDefaults> m_classDefaults;
 
 	//those collision shapes are deleted by caller (todo: make sure this happens!)
 	btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
 
 	BulletMJCFImporterInternalData()
 		:m_activeModel(-1),
-		m_activeBodyUniqueId(-1),
-		m_defaultCollisionGroup(1),
-		m_defaultCollisionMask(1),
-		m_defaultCollisionMargin(0.001)//assume unit meters, margin is 1mm
+		m_activeBodyUniqueId(-1)
 	{
 		m_pathPrefix[0] = 0;
 	}
@@ -246,7 +268,9 @@ struct BulletMJCFImporterInternalData
 			
 		}
 	}
-	bool parseDefaults(TiXmlElement* root_xml, MJCFErrorLogger* logger)
+	
+	
+	bool parseDefaults(MyMJCFDefaults& defaults, TiXmlElement* root_xml, MJCFErrorLogger* logger)
 	{
 		bool handled= false;
 		//rudimentary 'default' support, would need more work for better feature coverage
@@ -254,6 +278,27 @@ struct BulletMJCFImporterInternalData
 		{
 			std::string n = child_xml->Value();
 		
+			if (n.find("default")!=std::string::npos)
+			{
+				const char* className = child_xml->Attribute("class");
+
+				if (className)
+				{
+					MyMJCFDefaults* curDefaultsPtr = m_classDefaults[className];
+					if (!curDefaultsPtr)
+					{
+						MyMJCFDefaults def;
+						m_classDefaults.insert(className,def);
+						curDefaultsPtr = m_classDefaults[className];
+					}
+					if (curDefaultsPtr)
+					{
+						MyMJCFDefaults& curDefaults = *curDefaultsPtr; 
+						parseDefaults(curDefaults, child_xml, logger);
+					}
+				}
+			}
+
 			if (n=="inertial")
 			{
 			}
@@ -269,7 +314,7 @@ struct BulletMJCFImporterInternalData
 				// limited="true"
 				if (const char* conTypeStr = child_xml->Attribute("limited"))
 				{
-					m_defaultJointLimited = child_xml->Attribute("limited");
+					defaults.m_defaultJointLimited = child_xml->Attribute("limited");
 				}
 			}
 			if (n=="geom")
@@ -278,24 +323,60 @@ struct BulletMJCFImporterInternalData
 				const char* conTypeStr = child_xml->Attribute("contype");
 				if (conTypeStr)
 				{
-					m_defaultCollisionGroup = urdfLexicalCast<int>(conTypeStr);
+					defaults.m_defaultCollisionGroup = urdfLexicalCast<int>(conTypeStr);
 				}
 				const char* conAffinityStr = child_xml->Attribute("conaffinity");
 				if (conAffinityStr)
 				{
-					m_defaultCollisionMask = urdfLexicalCast<int>(conAffinityStr);
+					defaults.m_defaultCollisionMask = urdfLexicalCast<int>(conAffinityStr);
 				}
 				const char* rgba = child_xml->Attribute("rgba");
 				if (rgba)
 				{
-					m_defaultGeomRgba = rgba;
+					defaults.m_defaultGeomRgba = rgba;
+				}
+
+				const char* conDimS = child_xml->Attribute("condim");
+				if (conDimS)
+				{
+					defaults.m_defaultConDim=urdfLexicalCast<int>(conDimS);
+				}
+				int conDim = defaults.m_defaultConDim;
+
+				const char* frictionS = child_xml->Attribute("friction");
+				if (frictionS)
+				{
+					btArray<std::string> pieces;
+					btArray<float> frictions;
+					btAlignedObjectArray<std::string> strArray;
+					urdfIsAnyOf(" ", strArray);
+					urdfStringSplit(pieces, frictionS, strArray);
+					for (int i = 0; i < pieces.size(); ++i)
+					{
+						if (!pieces[i].empty())
+						{
+							frictions.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
+						}
+					}
+					if (frictions.size()>0)
+					{
+						defaults.m_defaultLateralFriction = frictions[0];
+					}
+					if (frictions.size()>1)
+					{
+						defaults.m_defaultSpinningFriction = frictions[1];
+					}
+					if (frictions.size()>2)
+					{
+						defaults.m_defaultRollingFriction = frictions[2];
+					}
 				}
 			}
 		}
 		handled=true;
 		return handled;
 	}
-	bool parseRootLevel(TiXmlElement* root_xml,MJCFErrorLogger* logger)
+	bool parseRootLevel(MyMJCFDefaults& defaults,  TiXmlElement* root_xml,MJCFErrorLogger* logger)
 	{
 		for (TiXmlElement* rootxml = root_xml->FirstChildElement() ; rootxml ; rootxml = rootxml->NextSiblingElement())
 		{
@@ -308,7 +389,7 @@ struct BulletMJCFImporterInternalData
 				int modelIndex = m_models.size();
 				UrdfModel* model = new UrdfModel();
 				m_models.push_back(model);
-				parseBody(rootxml,modelIndex, INVALID_LINK_INDEX,logger);
+				parseBody(defaults, rootxml,modelIndex, INVALID_LINK_INDEX,logger);
 				initTreeAndRoot(*model,logger);
 				handled = true;
 			}
@@ -336,7 +417,7 @@ struct BulletMJCFImporterInternalData
 //				modelPtr->m_rootLinks.push_back(linkPtr);
 
 				btVector3 inertialShift(0,0,0);
-				parseGeom(rootxml,modelIndex, linkIndex,logger,inertialShift);
+				parseGeom(defaults, rootxml,modelIndex, linkIndex,logger,inertialShift);
 				initTreeAndRoot(*modelPtr,logger);
 
 				handled = true;
@@ -355,7 +436,7 @@ struct BulletMJCFImporterInternalData
 		return true;
 	}
 
-	bool parseJoint(TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
+	bool parseJoint(MyMJCFDefaults& defaults, TiXmlElement* link_xml, int modelIndex, int parentLinkIndex, int linkIndex, MJCFErrorLogger* logger, const btTransform& parentToLinkTrans, btTransform& jointTransOut)
 	{
 		bool jointHandled = false;
 		const char* jType = link_xml->Attribute("type");
@@ -399,7 +480,7 @@ struct BulletMJCFImporterInternalData
 		}
 
 		double range[2] = {1,0};
-		std::string lim = m_defaultJointLimited;
+		std::string lim = m_globalDefaults.m_defaultJointLimited;
 		if (limitedStr)
 		{
 			lim = limitedStr;
@@ -531,7 +612,7 @@ struct BulletMJCFImporterInternalData
 		*/
 		return false;
 	}
-	bool parseGeom(TiXmlElement* link_xml, int modelIndex, int linkIndex, MJCFErrorLogger* logger, btVector3& inertialShift)
+	bool parseGeom(MyMJCFDefaults& defaults, TiXmlElement* link_xml, int modelIndex, int linkIndex, MJCFErrorLogger* logger, btVector3& inertialShift)
 	{
 		UrdfLink** linkPtrPtr = m_models[modelIndex]->m_links.getAtIndex(linkIndex);
 		if (linkPtrPtr==0)
@@ -554,8 +635,66 @@ struct BulletMJCFImporterInternalData
 		const char* gType = link_xml->Attribute("type");
 		const char* sz = link_xml->Attribute("size");
 		const char* posS = link_xml->Attribute("pos");
+		int conDim = defaults.m_defaultConDim;
 
-		std::string rgba = m_defaultGeomRgba;
+		const char* conDimS = link_xml->Attribute("condim");
+		{
+			if (conDimS)
+			{
+				conDim = urdfLexicalCast<int>(conDimS);
+			} 
+		}
+
+		double lateralFriction = defaults.m_defaultLateralFriction;
+		double spinningFriction = defaults.m_defaultSpinningFriction;
+		double rollingFriction = defaults.m_defaultRollingFriction;
+
+		const char* frictionS = link_xml->Attribute("friction");
+		if (frictionS)
+		{
+			btArray<std::string> pieces;
+			btArray<float> frictions;
+			btAlignedObjectArray<std::string> strArray;
+			urdfIsAnyOf(" ", strArray);
+			urdfStringSplit(pieces, sz, strArray);
+			for (int i = 0; i < pieces.size(); ++i)
+			{
+				if (!pieces[i].empty())
+				{
+					frictions.push_back(urdfLexicalCast<double>(pieces[i].c_str()));
+				}
+			}
+			if (frictions.size()>0)
+			{
+				lateralFriction = frictions[0];
+			}
+			if (frictions.size()>1 && conDim>3)
+			{
+				spinningFriction = frictions[1];
+			}
+			if (frictions.size()>2 && conDim>4)
+			{
+				rollingFriction = frictions[2];
+			}
+
+		}
+
+		linkPtr->m_contactInfo.m_lateralFriction=lateralFriction;
+		linkPtr->m_contactInfo.m_spinningFriction=spinningFriction;
+		linkPtr->m_contactInfo.m_rollingFriction=rollingFriction;
+
+		if (conDim>3)
+		{
+			linkPtr->m_contactInfo.m_spinningFriction=defaults.m_defaultSpinningFriction;
+			linkPtr->m_contactInfo.m_flags |= URDF_CONTACT_HAS_SPINNING_FRICTION;
+		}
+		if (conDim>4)
+		{
+			linkPtr->m_contactInfo.m_rollingFriction=defaults.m_defaultRollingFriction;
+			linkPtr->m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
+		}
+
+		std::string rgba = defaults.m_defaultGeomRgba;
 		if (const char* rgbattr = link_xml->Attribute("rgba"))
 		{
 			rgba = rgbattr;
@@ -717,10 +856,10 @@ struct BulletMJCFImporterInternalData
 						
 				UrdfCollision col;
 				col.m_flags |= URDF_HAS_COLLISION_GROUP;
-				col.m_collisionGroup = m_defaultCollisionGroup;
+				col.m_collisionGroup = defaults.m_defaultCollisionGroup;
 				
 				col.m_flags |= URDF_HAS_COLLISION_MASK;
-				col.m_collisionMask = m_defaultCollisionMask;
+				col.m_collisionMask = defaults.m_defaultCollisionMask;
 				
 				//contype, conaffinity 
 				const char* conTypeStr = link_xml->Attribute("contype");
@@ -891,10 +1030,21 @@ struct BulletMJCFImporterInternalData
 		return orgChildLinkIndex;
 	}
 
-	bool parseBody(TiXmlElement* link_xml, int modelIndex, int orgParentLinkIndex, MJCFErrorLogger* logger)
+	bool parseBody(MyMJCFDefaults& defaults, TiXmlElement* link_xml, int modelIndex, int orgParentLinkIndex, MJCFErrorLogger* logger)
 	{
+		MyMJCFDefaults curDefaults = defaults;
+
 		int newParentLinkIndex = orgParentLinkIndex;
 
+		const char* childClassName = link_xml->Attribute("childclass");
+		if (childClassName)
+		{
+			MyMJCFDefaults* classDefaults = m_classDefaults[childClassName];
+			if (classDefaults)
+			{
+				curDefaults = *classDefaults;
+			}
+		}
 		const char* bodyName = link_xml->Attribute("name");
 		int orgChildLinkIndex = createBody(modelIndex,bodyName);
 		btTransform localInertialFrame;
@@ -998,7 +1148,7 @@ struct BulletMJCFImporterInternalData
 						}
 
 						int newLinkIndex = createBody(modelIndex,0);
-						parseJoint(xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,linkTransform,jointTrans);
+						parseJoint(curDefaults,xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,linkTransform,jointTrans);
 						
 						//getLink(modelIndex,newLinkIndex)->m_linkTransformInWorld = jointTrans*linkTransform;
 						
@@ -1013,7 +1163,7 @@ struct BulletMJCFImporterInternalData
 					int newLinkIndex = createBody(modelIndex,0);
 					btTransform joint2nextjoint =  jointTrans.inverse();
 					btTransform unused;
-					parseJoint(xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,joint2nextjoint,unused);
+					parseJoint(curDefaults, xml,modelIndex,newParentLinkIndex, newLinkIndex,logger,joint2nextjoint,unused);
 					newParentLinkIndex = newLinkIndex;
 					//todo: compute relative joint transforms (if any) and append to linkTransform
 					hasJoint = true;
@@ -1024,7 +1174,7 @@ struct BulletMJCFImporterInternalData
 			if (n == "geom")
 			{
 				btVector3 inertialShift(0,0,0);
-				parseGeom(xml,modelIndex, orgChildLinkIndex , logger,inertialShift);
+				parseGeom(curDefaults, xml,modelIndex, orgChildLinkIndex , logger,inertialShift);
 				if (!massDefined)
 				{
 					localInertialFrame.setOrigin(inertialShift);
@@ -1035,7 +1185,7 @@ struct BulletMJCFImporterInternalData
 			//recursive
 			if (n=="body")
 			{
-				parseBody(xml,modelIndex,orgChildLinkIndex,logger);
+				parseBody(curDefaults, xml,modelIndex,orgChildLinkIndex,logger);
 				handled = true;
 			}
 
@@ -1288,7 +1438,7 @@ bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* l
 
 	for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("default"); link_xml; link_xml = link_xml->NextSiblingElement("default"))
 	{
-		m_data->parseDefaults(link_xml,logger);
+		m_data->parseDefaults(m_data->m_globalDefaults,link_xml,logger);
 	}
 
 	for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("compiler"); link_xml; link_xml = link_xml->NextSiblingElement("compiler"))
@@ -1304,12 +1454,12 @@ bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* l
 	
 	for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("body"); link_xml; link_xml = link_xml->NextSiblingElement("body"))
 	{
-		m_data->parseRootLevel(link_xml,logger);
+		m_data->parseRootLevel(m_data->m_globalDefaults, link_xml,logger);
 	}
 
 	for (TiXmlElement* link_xml = mujoco_xml->FirstChildElement("worldbody"); link_xml; link_xml = link_xml->NextSiblingElement("worldbody"))
 	{
-		m_data->parseRootLevel(link_xml,logger);
+		m_data->parseRootLevel(m_data->m_globalDefaults, link_xml,logger);
 	}
 
 
@@ -1570,7 +1720,7 @@ static btCollisionShape* MjcfCreateConvexHullFromShapes(std::vector<tinyobj::sha
 }
 
     
-class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
+class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes( int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
 {
 	btCompoundShape* compound = new btCompoundShape();
 	m_data->m_allocatedCollisionShapes.push_back(compound);
@@ -1655,7 +1805,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 							std::string err = tinyobj::LoadObj(shapes, col->m_geometry.m_meshFileName.c_str());
 							//create a convex hull for each shape, and store it in a btCompoundShape
 
-							childShape = MjcfCreateConvexHullFromShapes(shapes, col->m_geometry.m_meshScale, m_data->m_defaultCollisionMargin);
+							childShape = MjcfCreateConvexHullFromShapes( shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);
 
 						}
 						break;
@@ -1713,7 +1863,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 						btConvexHullShape* convexHull = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
 						convexHull->optimizeConvexHull();
 						//convexHull->initializePolyhedralFeatures();
-						convexHull->setMargin(m_data->m_defaultCollisionMargin);
+						convexHull->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
 						childShape = convexHull;
 					}
 				}
diff --git a/examples/RobotSimulator/VRGloveSimulatorMain.cpp b/examples/RobotSimulator/VRGloveSimulatorMain.cpp
index 00c3a26d2..11a8b13b3 100644
--- a/examples/RobotSimulator/VRGloveSimulatorMain.cpp
+++ b/examples/RobotSimulator/VRGloveSimulatorMain.cpp
@@ -30,7 +30,7 @@ void setJointMotorPositionControl(b3RobotSimulatorClientAPI* sim, int obUid, int
 int main(int argc, char* argv[])
 {
 	b3CommandLineArgs args(argc,argv);
-	std::string port="COM10";
+	std::string port="COM9";
 	args.GetCmdLineArgument("port",port);
 	int baud = 115200;
 	args.GetCmdLineArgument("speed",baud);
@@ -41,15 +41,15 @@ int main(int argc, char* argv[])
 	int disableShadows = 0;
 	args.GetCmdLineArgument("disableShadows",disableShadows);
 	
+	int deviceTypeFilter =	VR_DEVICE_GENERIC_TRACKER;
+	args.GetCmdLineArgument("deviceTypeFilter",deviceTypeFilter);
+
+	int wireFrame = 0;
+	args.GetCmdLineArgument("wireFrame",wireFrame);
+
 	printf("port=%s, speed=%d, connection mode=%s\n", port.c_str(), baud,mode.c_str());	
 	
-	// port, baudrate, timeout in milliseconds
-	serial::Serial my_serial(port, baud, serial::Timeout::simpleTimeout(1));
-	if (!my_serial.isOpen())
-	{
-		printf("Cannot open serial port\n");
-		return -1;
-	}
+	
 
 	b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
 
@@ -82,6 +82,12 @@ int main(int argc, char* argv[])
 		sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);
 	}
 
+	if (wireFrame)
+	{
+		sim->configureDebugVisualizer( COV_ENABLE_WIREFRAME, 1);
+	}
+	
+
 	sim->setTimeOut(12345);
 	//syncBodies is only needed when connecting to an existing physics server that has already some bodies
 	sim->syncBodies();
@@ -98,18 +104,7 @@ int main(int argc, char* argv[])
 
 	sim->loadURDF("plane_with_collision_audio.urdf");
 
-	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.300000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
-	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.200000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
-	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.100000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
-	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.000000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
-	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.900000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
-	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.800000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
-	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.700000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
-	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.600000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
-	sim->loadURDF("table/table.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.000000,-0.200000,0.000000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
-	sim->loadURDF("cube_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3( 0.950000,-0.100000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
-	sim->loadURDF("sphere_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.850000,-0.400000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
-
+	
 	int handUid = -1;
 
 	b3RobotSimulatorLoadFileResults mjcfResults;
@@ -127,14 +122,24 @@ int main(int argc, char* argv[])
 		printf("Cannot load MJCF file %s\n", mjcfFileName);
 	}
 
-	b3Quaternion handOrn = sim->getQuaternionFromEuler(b3MakeVector3(3.14,-3.14/2,0));
-	b3Vector3 handPos = b3MakeVector3(-0.05,0,0.02);
+
+#ifdef TOUCH
+		b3Vector3 handPos = b3MakeVector3(-0.10,-0.03,0.02);
+		b3Vector3 rollPitchYaw = b3MakeVector3(0.5*B3_PI,0,1.25*B3_PI);//-B3_PI/2,0,B3_PI/2);
+		handOrn = sim->getQuaternionFromEuler(rollPitchYaw);
+
+#else
+		b3Quaternion handOrn = sim->getQuaternionFromEuler(b3MakeVector3(3.14,-3.14/2,0));
+		b3Vector3 handPos = b3MakeVector3(-0.05,0,0.02);
+#endif
 	
-	b3JointInfo jointInfo;
-	jointInfo.m_jointType = eFixedType;
 	b3Vector3 handStartPosWorld = b3MakeVector3(0.500000,0.300006,0.900000);
 	b3Quaternion handStartOrnWorld = b3Quaternion ::getIdentity();
 
+	b3JointInfo jointInfo;
+	jointInfo.m_jointType = eFixedType;
+
+	printf("handStartOrnWorld=%f,%f,%f,%f\n",handStartOrnWorld[0],handStartOrnWorld[1],handStartOrnWorld[2],handStartOrnWorld[3]);
 	jointInfo.m_childFrame[0] = handStartPosWorld[0];
 	jointInfo.m_childFrame[1] = handStartPosWorld[1];
 	jointInfo.m_childFrame[2] = handStartPosWorld[2];
@@ -152,17 +157,32 @@ int main(int argc, char* argv[])
 	jointInfo.m_parentFrame[6] = handOrn[3];
 
 	int handConstraintId = sim->createConstraint(handUid,-1,-1,-1,&jointInfo);
-	double maxFingerForce = 50;
-
+	double maxFingerForce = 10;
+	double maxArmForce  = 1000;
 	for (int j=0; j<sim->getNumJoints(handUid);j++)
 	{
 		b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
 		controlArgs.m_maxTorqueValue = maxFingerForce ;
+		controlArgs.m_kp = 0.1;
+		controlArgs.m_kd = 1;
 		controlArgs.m_targetPosition = 0;
 		controlArgs.m_targetVelocity = 0;
 		sim->setJointMotorControl(handUid,j,controlArgs);
 	}
 
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.300000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.200000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.100000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.000000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.900000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.800000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.700000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("jenga/jenga.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.600000,-0.700000,0.750000),b3Quaternion(0.000000,0.707107,0.000000,0.707107)));
+	sim->loadURDF("table/table.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(1.000000,-0.200000,0.000000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
+	sim->loadURDF("cube_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3( 0.950000,-0.100000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
+	sim->loadURDF("sphere_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.850000,-0.400000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
+
+
 	b3Clock clock;
 	double startTime = clock.getTimeInSeconds();
 	double simWallClockSeconds = 20.;
@@ -170,11 +190,36 @@ int main(int argc, char* argv[])
 	int vidLogId = -1;
 	int minitaurLogId = -1;
 	int rotateCamera = 0;
+	serial::Serial my_serial;
 
+	try
+	{
+		// port, baudrate, timeout in milliseconds
+		my_serial.setBaudrate(baud);
+		my_serial.setPort(port);
+		my_serial.setBytesize(serial::sevenbits);
+		my_serial.setParity(serial::parity_odd);
+		my_serial.setStopbits(serial::stopbits_two);
+		my_serial.setTimeout(serial::Timeout::simpleTimeout(10));
+		my_serial.open();
+	} catch(...)
+	{
+		printf("Cannot open port, use --port=PORTNAME\n");
+		exit(0);
+	}
+
+	if (!my_serial.isOpen())
+	{
+		printf("Cannot open serial port\n");
+		return -1;
+	}
+
+
+	my_serial.flush();
 	while (sim->canSubmitCommand())
 	{
 		b3VREventsData vrEvents;
-		int deviceTypeFilter =	VR_DEVICE_GENERIC_TRACKER;
+	
 
 		sim->getVREvents(&vrEvents, deviceTypeFilter);
 		//instead of iterating over all vr events, we just take the most up-to-date one
@@ -185,7 +230,7 @@ int main(int argc, char* argv[])
 //			printf("e.pos=%f,%f,%f\n",e.m_pos[0],e.m_pos[1],e.m_pos[2]);
 			b3JointInfo changeConstraintInfo;
 			changeConstraintInfo.m_flags = 0;
-			changeConstraintInfo.m_jointMaxForce = 50;
+			changeConstraintInfo.m_jointMaxForce = maxArmForce ;
 			changeConstraintInfo.m_flags |= eJointChangeMaxForce;
 
 			changeConstraintInfo.m_childFrame[0] = e.m_pos[0];
@@ -203,10 +248,17 @@ int main(int argc, char* argv[])
 		}
 
 		//read the serial output from the hand, extract into parts
-		std::string result = my_serial.readline();
-		//my_serial.flush();
+		std::string result;
+		try
+		{
+			result = my_serial.readline();
+		} catch(...)
+		{
+
+		}
 		if (result.length())
 		{
+			//my_serial.flush();
 			int res = result.find("\n");
 			while (res<0)
 			{

From eb7cf3829326cc57531012b3c43e292cee99d26a Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 2 May 2017 22:33:42 -0700
Subject: [PATCH 28/80] Add option to --useKitchen=1 to VRGloveSimulatorMain

---
 data/plane_with_collision_audio.urdf          |  2 +-
 .../RobotSimulator/VRGloveSimulatorMain.cpp   | 32 +++++++++++--------
 2 files changed, 19 insertions(+), 15 deletions(-)

diff --git a/data/plane_with_collision_audio.urdf b/data/plane_with_collision_audio.urdf
index b3a189628..732361eb5 100644
--- a/data/plane_with_collision_audio.urdf
+++ b/data/plane_with_collision_audio.urdf
@@ -2,7 +2,7 @@
 <robot name="plane">
   <link name="planeLink">
   	<audio_source filename="wav/cardboardbox0.wav">
-  		<collision_force_threshold>0.4</collision_force_threshold>
+  		<collision_force_threshold>0.04</collision_force_threshold>
 			<attack_rate>0.01</attack_rate>
 			<decay_rate>0.0001</decay_rate>
 			<sustain_level>0.5</sustain_level>
diff --git a/examples/RobotSimulator/VRGloveSimulatorMain.cpp b/examples/RobotSimulator/VRGloveSimulatorMain.cpp
index 11a8b13b3..6e89f2d0d 100644
--- a/examples/RobotSimulator/VRGloveSimulatorMain.cpp
+++ b/examples/RobotSimulator/VRGloveSimulatorMain.cpp
@@ -40,13 +40,12 @@ int main(int argc, char* argv[])
 	args.GetCmdLineArgument("disableGui",disableGui);
 	int disableShadows = 0;
 	args.GetCmdLineArgument("disableShadows",disableShadows);
+	int useKitchen = 0;
+	args.GetCmdLineArgument("useKitchen",useKitchen);
 	
 	int deviceTypeFilter =	VR_DEVICE_GENERIC_TRACKER;
 	args.GetCmdLineArgument("deviceTypeFilter",deviceTypeFilter);
 
-	int wireFrame = 0;
-	args.GetCmdLineArgument("wireFrame",wireFrame);
-
 	printf("port=%s, speed=%d, connection mode=%s\n", port.c_str(), baud,mode.c_str());	
 	
 	
@@ -82,11 +81,6 @@ int main(int argc, char* argv[])
 		sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);
 	}
 
-	if (wireFrame)
-	{
-		sim->configureDebugVisualizer( COV_ENABLE_WIREFRAME, 1);
-	}
-	
 
 	sim->setTimeOut(12345);
 	//syncBodies is only needed when connecting to an existing physics server that has already some bodies
@@ -102,8 +96,14 @@ int main(int argc, char* argv[])
 	sim->setGravity(b3MakeVector3(0,0,-9.8));
 	sim->setContactBreakingThreshold(0.001);
 
-	sim->loadURDF("plane_with_collision_audio.urdf");
-
+	if (useKitchen)
+	{
+		b3RobotSimulatorLoadFileResults res;
+		sim->loadSDF("kitchens/1.sdf",res);
+	} else
+	{
+		sim->loadURDF("plane_with_collision_audio.urdf");
+	}
 	
 	int handUid = -1;
 
@@ -156,6 +156,7 @@ int main(int argc, char* argv[])
 	jointInfo.m_parentFrame[5] = handOrn[2];
 	jointInfo.m_parentFrame[6] = handOrn[3];
 
+	sim->resetBasePositionAndOrientation(handUid,handStartPosWorld,handStartOrnWorld);
 	int handConstraintId = sim->createConstraint(handUid,-1,-1,-1,&jointInfo);
 	double maxFingerForce = 10;
 	double maxArmForce  = 1000;
@@ -182,7 +183,7 @@ int main(int argc, char* argv[])
 	sim->loadURDF("cube_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3( 0.950000,-0.100000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
 	sim->loadURDF("sphere_small.urdf",b3RobotSimulatorLoadUrdfFileArgs(b3MakeVector3(0.850000,-0.400000,0.700000),b3Quaternion(0.000000,0.000000,0.707107,0.707107)));
 
-
+	
 	b3Clock clock;
 	double startTime = clock.getTimeInSeconds();
 	double simWallClockSeconds = 20.;
@@ -200,7 +201,7 @@ int main(int argc, char* argv[])
 		my_serial.setBytesize(serial::sevenbits);
 		my_serial.setParity(serial::parity_odd);
 		my_serial.setStopbits(serial::stopbits_two);
-		my_serial.setTimeout(serial::Timeout::simpleTimeout(10));
+		my_serial.setTimeout(serial::Timeout::simpleTimeout(0.01));
 		my_serial.open();
 	} catch(...)
 	{
@@ -216,10 +217,13 @@ int main(int argc, char* argv[])
 
 
 	my_serial.flush();
+
+	
 	while (sim->canSubmitCommand())
 	{
+		clock.usleep(1);
+
 		b3VREventsData vrEvents;
-	
 
 		sim->getVREvents(&vrEvents, deviceTypeFilter);
 		//instead of iterating over all vr events, we just take the most up-to-date one
@@ -258,7 +262,7 @@ int main(int argc, char* argv[])
 		}
 		if (result.length())
 		{
-			//my_serial.flush();
+			my_serial.flush();
 			int res = result.find("\n");
 			while (res<0)
 			{

From 1bb133a01fc448557a0586d00c379d5e042dc363 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 3 May 2017 08:40:29 -0700
Subject: [PATCH 29/80] update to OpenVR 1.07 from
 https://github.com/ValveSoftware/openvr

---
 examples/BasicDemo/premake4.lua               |    1 +
 examples/SharedMemory/premake4.lua            |    1 +
 .../openvr/bin/linux32/libopenvr_api.so       |  Bin 0 -> 287376 bytes
 .../openvr/bin/linux64/libopenvr_api.so       |  Bin 394088 -> 284827 bytes
 .../openvr/bin/osx32/libopenvr_api.dylib      |  Bin 308788 -> 296772 bytes
 .../openvr/bin/win32/openvr_api.dll           |  Bin 267040 -> 257312 bytes
 .../openvr/bin/win64/openvr_api.dll           |  Bin 314656 -> 302880 bytes
 .../ThirdPartyLibs/openvr/headers/openvr.h    |  360 ++++--
 .../openvr/headers/openvr_api.cs              |  358 +++++-
 .../openvr/headers/openvr_api.json            |  146 ++-
 .../openvr/headers/openvr_capi.h              |   95 +-
 .../openvr/headers/openvr_driver.h            | 1113 +++++++++++++----
 .../openvr/lib/linux32/libopenvr_api.so       |  Bin 0 -> 1963478 bytes
 .../openvr/lib/linux64/libopenvr_api.so       |  Bin 3159591 -> 2447145 bytes
 .../openvr/lib/win32/openvr_api.lib           |  Bin 5750 -> 5964 bytes
 .../openvr/lib/win64/openvr_api.lib           |  Bin 5668 -> 5876 bytes
 .../openvr/samples/shared/compat.h            |    3 +-
 .../openvr/samples/shared/pathtools.cpp       |  415 ++++--
 .../openvr/samples/shared/pathtools.h         |   39 +-
 .../openvr/samples/shared/strtools.cpp        |  437 +++++++
 .../openvr/samples/shared/strtools.h          |  130 ++
 21 files changed, 2602 insertions(+), 496 deletions(-)
 create mode 100644 examples/ThirdPartyLibs/openvr/bin/linux32/libopenvr_api.so
 create mode 100644 examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so
 create mode 100644 examples/ThirdPartyLibs/openvr/samples/shared/strtools.cpp
 create mode 100644 examples/ThirdPartyLibs/openvr/samples/shared/strtools.h

diff --git a/examples/BasicDemo/premake4.lua b/examples/BasicDemo/premake4.lua
index a480b82c9..cb16d4b79 100644
--- a/examples/BasicDemo/premake4.lua
+++ b/examples/BasicDemo/premake4.lua
@@ -187,6 +187,7 @@ files {
 				"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
 				"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
 				"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
+				"../ThirdPartyLibs/openvr/samples/shared/strtools.cpp",
 				"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
 				"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
 				"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index 20d97c36b..ff2ab709f 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -344,6 +344,7 @@ if os.is("Windows") then
 					"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
 					"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
 					"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
+					"../ThirdPartyLibs/openvr/samples/shared/strtools.cpp",
 					"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
 					"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
 					"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
diff --git a/examples/ThirdPartyLibs/openvr/bin/linux32/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/bin/linux32/libopenvr_api.so
new file mode 100644
index 0000000000000000000000000000000000000000..00825b9823ddde88ab81753d93547779183489e2
GIT binary patch
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diff --git a/examples/ThirdPartyLibs/openvr/bin/linux64/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/bin/linux64/libopenvr_api.so
index 7b6f2d2de55e52427b52bbc63a69a4f479a04c1b..8d30531dc636b7b9cd56a450dc2d7579a764062c 100644
GIT binary patch
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diff --git a/examples/ThirdPartyLibs/openvr/bin/osx32/libopenvr_api.dylib b/examples/ThirdPartyLibs/openvr/bin/osx32/libopenvr_api.dylib
index 647ec3fa98939979835fc554c1777df862ee1297..5a20f3aae81087457eed30a915aedb44e47aab1b 100644
GIT binary patch
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diff --git a/examples/ThirdPartyLibs/openvr/bin/win32/openvr_api.dll b/examples/ThirdPartyLibs/openvr/bin/win32/openvr_api.dll
index 7aa2b993ab532853bb02e14b330bfd7bbd22b2cc..aafef728c7eb2a1209ffc676cc9ec66aca7ff2d3 100644
GIT binary patch
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diff --git a/examples/ThirdPartyLibs/openvr/bin/win64/openvr_api.dll b/examples/ThirdPartyLibs/openvr/bin/win64/openvr_api.dll
index bbcccde558f0856ecec4339c8e7d2a16e52a4266..ddda8970094dad86f85a063426044dcd259e049b 100644
GIT binary patch
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diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr.h b/examples/ThirdPartyLibs/openvr/headers/openvr.h
index 6617b4d34..2020e9d3a 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr.h
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr.h
@@ -21,19 +21,13 @@ struct VkPhysicalDevice_T;
 struct VkInstance_T;
 struct VkQueue_T;
 
+// Forward declarations to avoid requiring d3d12.h
+struct ID3D12Resource;
+struct ID3D12CommandQueue;
+
 namespace vr
 {
-
-#if defined(__linux__) || defined(__APPLE__) 
-	// The 32-bit version of gcc has the alignment requirement for uint64 and double set to
-	// 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned.
-	// The 64-bit version of gcc has the alignment requirement for these types set to
-	// 8 meaning that unless we use #pragma pack(4) our structures will get bigger.
-	// The 64-bit structure packing has to match the 32-bit structure packing for each platform.
-	#pragma pack( push, 4 )
-#else
-	#pragma pack( push, 8 )
-#endif
+#pragma pack( push, 8 )
 
 typedef void* glSharedTextureHandle_t;
 typedef int32_t glInt_t;
@@ -116,6 +110,8 @@ enum ETextureType
 	TextureType_DirectX = 0, // Handle is an ID3D11Texture
 	TextureType_OpenGL = 1,  // Handle is an OpenGL texture name or an OpenGL render buffer name, depending on submit flags
 	TextureType_Vulkan = 2, // Handle is a pointer to a VRVulkanTextureData_t structure
+	TextureType_IOSurface = 3, // Handle is a macOS cross-process-sharable IOSurfaceRef
+	TextureType_DirectX12 = 4, // Handle is a pointer to a D3D12TextureData_t structure
 };
 
 enum EColorSpace
@@ -164,6 +160,7 @@ enum ETrackedDeviceClass
 	TrackedDeviceClass_Controller = 2,			// Tracked controllers
 	TrackedDeviceClass_GenericTracker = 3,		// Generic trackers, similar to controllers
 	TrackedDeviceClass_TrackingReference = 4,	// Camera and base stations that serve as tracking reference points
+	TrackedDeviceClass_DisplayRedirect = 5,		// Accessories that aren't necessarily tracked themselves, but may redirect video output from other tracked devices
 };
 
 
@@ -199,6 +196,30 @@ enum ETrackingUniverseOrigin
 	TrackingUniverseRawAndUncalibrated = 2,	// Poses are provided in the coordinate system defined by the driver.  It has Y up and is unified for devices of the same driver. You usually don't want this one.
 };
 
+// Refers to a single container of properties
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+static const PropertyContainerHandle_t k_ulInvalidPropertyContainer = 0;
+static const PropertyTypeTag_t k_unInvalidPropertyTag = 0;
+
+// Use these tags to set/get common types as struct properties
+static const PropertyTypeTag_t k_unFloatPropertyTag = 1;
+static const PropertyTypeTag_t k_unInt32PropertyTag = 2;
+static const PropertyTypeTag_t k_unUint64PropertyTag = 3;
+static const PropertyTypeTag_t k_unBoolPropertyTag = 4;
+static const PropertyTypeTag_t k_unStringPropertyTag = 5;
+
+static const PropertyTypeTag_t k_unHmdMatrix34PropertyTag = 20;
+static const PropertyTypeTag_t k_unHmdMatrix44PropertyTag = 21;
+static const PropertyTypeTag_t k_unHmdVector3PropertyTag = 22;
+static const PropertyTypeTag_t k_unHmdVector4PropertyTag = 23;
+
+static const PropertyTypeTag_t k_unHiddenAreaPropertyTag = 30;
+
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_Start = 1000;
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_End = 10000;
+
 
 /** Each entry in this enum represents a property that can be retrieved about a
 * tracked device. Many fields are only valid for one ETrackedDeviceClass. */
@@ -241,6 +262,8 @@ enum ETrackedDeviceProperty
 	Prop_DriverVersion_String                   = 1031,
 	Prop_Firmware_ForceUpdateRequired_Bool      = 1032,
 	Prop_ViveSystemButtonFixRequired_Bool		= 1033,
+	Prop_ParentDriver_Uint64					= 1034,
+	Prop_ResourceRoot_String					= 1035,
 
 	// Properties that are unique to TrackedDeviceClass_HMD
 	Prop_ReportsTimeSinceVSync_Bool				= 2000,
@@ -281,6 +304,11 @@ enum ETrackedDeviceProperty
 	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
 	Prop_DisplaySuppressed_Bool					= 2036,
 	Prop_DisplayAllowNightMode_Bool				= 2037,
+	Prop_DisplayMCImageWidth_Int32				= 2038,
+	Prop_DisplayMCImageHeight_Int32				= 2039,
+	Prop_DisplayMCImageNumChannels_Int32		= 2040,
+	Prop_DisplayMCImageData_Binary				= 2041,
+	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
 
 	// Properties that are unique to TrackedDeviceClass_Controller
 	Prop_AttachedDeviceId_String				= 3000,
@@ -312,6 +340,19 @@ enum ETrackedDeviceProperty
 	Prop_NamedIconPathDeviceStandby_String			= 5007, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
 	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
 
+	// Properties that are used by helpers, but are opaque to applications
+	Prop_DisplayHiddenArea_Binary_Start				= 5100,
+	Prop_DisplayHiddenArea_Binary_End				= 5150,
+
+	// Properties that are unique to drivers
+	Prop_UserConfigPath_String					= 6000,
+	Prop_InstallPath_String						= 6001,
+	Prop_HasDisplayComponent_Bool				= 6002,
+	Prop_HasControllerComponent_Bool			= 6003,
+	Prop_HasCameraComponent_Bool				= 6004,
+	Prop_HasDriverDirectModeComponent_Bool		= 6005,
+	Prop_HasVirtualDisplayComponent_Bool		= 6006,
+
 	// Vendors are free to expose private debug data in this reserved region
 	Prop_VendorSpecific_Reserved_Start			= 10000,
 	Prop_VendorSpecific_Reserved_End			= 10999,
@@ -327,13 +368,14 @@ enum ETrackedPropertyError
 	TrackedProp_WrongDataType				= 1,
 	TrackedProp_WrongDeviceClass			= 2,
 	TrackedProp_BufferTooSmall				= 3,
-	TrackedProp_UnknownProperty				= 4,
+	TrackedProp_UnknownProperty				= 4, // Driver has not set the property (and may not ever).
 	TrackedProp_InvalidDevice				= 5,
 	TrackedProp_CouldNotContactServer		= 6,
 	TrackedProp_ValueNotProvidedByDevice	= 7,
 	TrackedProp_StringExceedsMaximumLength	= 8,
 	TrackedProp_NotYetAvailable				= 9, // The property value isn't known yet, but is expected soon. Call again later.
 	TrackedProp_PermissionDenied			= 10,
+	TrackedProp_InvalidOperation			= 11,
 };
 
 /** Allows the application to control what part of the provided texture will be used in the
@@ -376,6 +418,14 @@ struct VRVulkanTextureData_t
 	uint32_t m_nWidth, m_nHeight, m_nFormat, m_nSampleCount;
 };
 
+/** Data required for passing D3D12 textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct D3D12TextureData_t
+{
+	ID3D12Resource *m_pResource;
+	ID3D12CommandQueue *m_pCommandQueue;
+	uint32_t m_nNodeMask;
+};
 
 /** Status of the overall system or tracked objects */
 enum EVRState
@@ -399,7 +449,7 @@ enum EVREventType
 	VREvent_TrackedDeviceActivated		= 100,
 	VREvent_TrackedDeviceDeactivated	= 101,
 	VREvent_TrackedDeviceUpdated		= 102,
-	VREvent_TrackedDeviceUserInteractionStarted		= 103,
+	VREvent_TrackedDeviceUserInteractionStarted	= 103,
 	VREvent_TrackedDeviceUserInteractionEnded	= 104,
 	VREvent_IpdChanged					= 105,
 	VREvent_EnterStandbyMode			= 106,
@@ -407,6 +457,7 @@ enum EVREventType
 	VREvent_TrackedDeviceRoleChanged	= 108,
 	VREvent_WatchdogWakeUpRequested		= 109,
 	VREvent_LensDistortionChanged		= 110,
+	VREvent_PropertyChanged				= 111,
 
 	VREvent_ButtonPress					= 200, // data is controller
 	VREvent_ButtonUnpress				= 201, // data is controller
@@ -436,78 +487,83 @@ enum EVREventType
 
 	VREvent_OverlayShown				= 500,
 	VREvent_OverlayHidden				= 501,
-	VREvent_DashboardActivated		= 502,
-	VREvent_DashboardDeactivated	= 503,
-	VREvent_DashboardThumbSelected	= 504, // Sent to the overlay manager - data is overlay
-	VREvent_DashboardRequested		= 505, // Sent to the overlay manager - data is overlay
-	VREvent_ResetDashboard			= 506, // Send to the overlay manager
-	VREvent_RenderToast				= 507, // Send to the dashboard to render a toast - data is the notification ID
-	VREvent_ImageLoaded				= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
-	VREvent_ShowKeyboard = 509, // Sent to keyboard renderer in the dashboard to invoke it
-	VREvent_HideKeyboard = 510, // Sent to keyboard renderer in the dashboard to hide it
-	VREvent_OverlayGamepadFocusGained		= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
-	VREvent_OverlayGamepadFocusLost = 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
+	VREvent_DashboardActivated			= 502,
+	VREvent_DashboardDeactivated		= 503,
+	VREvent_DashboardThumbSelected		= 504, // Sent to the overlay manager - data is overlay
+	VREvent_DashboardRequested			= 505, // Sent to the overlay manager - data is overlay
+	VREvent_ResetDashboard				= 506, // Send to the overlay manager
+	VREvent_RenderToast					= 507, // Send to the dashboard to render a toast - data is the notification ID
+	VREvent_ImageLoaded					= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
+	VREvent_ShowKeyboard				= 509, // Sent to keyboard renderer in the dashboard to invoke it
+	VREvent_HideKeyboard				= 510, // Sent to keyboard renderer in the dashboard to hide it
+	VREvent_OverlayGamepadFocusGained	= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
+	VREvent_OverlayGamepadFocusLost		= 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
 	VREvent_OverlaySharedTextureChanged = 513,
-	VREvent_DashboardGuideButtonDown = 514,
-	VREvent_DashboardGuideButtonUp = 515,
-	VREvent_ScreenshotTriggered	= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
-	VREvent_ImageFailed				= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
-	VREvent_DashboardOverlayCreated = 518,
+	VREvent_DashboardGuideButtonDown	= 514,
+	VREvent_DashboardGuideButtonUp		= 515,
+	VREvent_ScreenshotTriggered			= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
+	VREvent_ImageFailed					= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
+	VREvent_DashboardOverlayCreated		= 518,
 
 	// Screenshot API
-	VREvent_RequestScreenshot = 520, // Sent by vrclient application to compositor to take a screenshot
-	VREvent_ScreenshotTaken = 521, // Sent by compositor to the application that the screenshot has been taken
-	VREvent_ScreenshotFailed = 522, // Sent by compositor to the application that the screenshot failed to be taken
-	VREvent_SubmitScreenshotToDashboard = 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
-	VREvent_ScreenshotProgressToDashboard = 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_RequestScreenshot				= 520, // Sent by vrclient application to compositor to take a screenshot
+	VREvent_ScreenshotTaken					= 521, // Sent by compositor to the application that the screenshot has been taken
+	VREvent_ScreenshotFailed				= 522, // Sent by compositor to the application that the screenshot failed to be taken
+	VREvent_SubmitScreenshotToDashboard		= 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_ScreenshotProgressToDashboard	= 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+
+	VREvent_PrimaryDashboardDeviceChanged	= 525,
 
 	VREvent_Notification_Shown				= 600,
 	VREvent_Notification_Hidden				= 601,
 	VREvent_Notification_BeginInteraction	= 602,
 	VREvent_Notification_Destroyed			= 603,
 
-	VREvent_Quit						= 700, // data is process
-	VREvent_ProcessQuit					= 701, // data is process
-	VREvent_QuitAborted_UserPrompt		= 702, // data is process
-	VREvent_QuitAcknowledged			= 703, // data is process
-	VREvent_DriverRequestedQuit			= 704, // The driver has requested that SteamVR shut down
+	VREvent_Quit							= 700, // data is process
+	VREvent_ProcessQuit						= 701, // data is process
+	VREvent_QuitAborted_UserPrompt			= 702, // data is process
+	VREvent_QuitAcknowledged				= 703, // data is process
+	VREvent_DriverRequestedQuit				= 704, // The driver has requested that SteamVR shut down
 
-	VREvent_ChaperoneDataHasChanged		= 800,
-	VREvent_ChaperoneUniverseHasChanged	= 801,
-	VREvent_ChaperoneTempDataHasChanged = 802,
-	VREvent_ChaperoneSettingsHaveChanged = 803,
-	VREvent_SeatedZeroPoseReset			= 804,
+	VREvent_ChaperoneDataHasChanged			= 800,
+	VREvent_ChaperoneUniverseHasChanged		= 801,
+	VREvent_ChaperoneTempDataHasChanged		= 802,
+	VREvent_ChaperoneSettingsHaveChanged	= 803,
+	VREvent_SeatedZeroPoseReset				= 804,
 
-	VREvent_AudioSettingsHaveChanged	= 820,
+	VREvent_AudioSettingsHaveChanged		= 820,
 
-	VREvent_BackgroundSettingHasChanged	= 850,
-	VREvent_CameraSettingsHaveChanged	= 851,
-	VREvent_ReprojectionSettingHasChanged = 852,
-	VREvent_ModelSkinSettingsHaveChanged = 853,
-	VREvent_EnvironmentSettingsHaveChanged = 854,
-	VREvent_PowerSettingsHaveChanged = 855,
+	VREvent_BackgroundSettingHasChanged		= 850,
+	VREvent_CameraSettingsHaveChanged		= 851,
+	VREvent_ReprojectionSettingHasChanged	= 852,
+	VREvent_ModelSkinSettingsHaveChanged	= 853,
+	VREvent_EnvironmentSettingsHaveChanged	= 854,
+	VREvent_PowerSettingsHaveChanged		= 855,
 
-	VREvent_StatusUpdate				= 900,
+	VREvent_StatusUpdate					= 900,
 
-	VREvent_MCImageUpdated				= 1000,
+	VREvent_MCImageUpdated					= 1000,
 
-	VREvent_FirmwareUpdateStarted	= 1100,
-	VREvent_FirmwareUpdateFinished	= 1101,
+	VREvent_FirmwareUpdateStarted			= 1100,
+	VREvent_FirmwareUpdateFinished			= 1101,
 
-	VREvent_KeyboardClosed				= 1200,
-	VREvent_KeyboardCharInput			= 1201,
-	VREvent_KeyboardDone				= 1202, // Sent when DONE button clicked on keyboard
+	VREvent_KeyboardClosed					= 1200,
+	VREvent_KeyboardCharInput				= 1201,
+	VREvent_KeyboardDone					= 1202, // Sent when DONE button clicked on keyboard
 
-	VREvent_ApplicationTransitionStarted	= 1300,
-	VREvent_ApplicationTransitionAborted	= 1301,
-	VREvent_ApplicationTransitionNewAppStarted = 1302,
-	VREvent_ApplicationListUpdated			= 1303,
-	VREvent_ApplicationMimeTypeLoad			= 1304,
+	VREvent_ApplicationTransitionStarted		= 1300,
+	VREvent_ApplicationTransitionAborted		= 1301,
+	VREvent_ApplicationTransitionNewAppStarted	= 1302,
+	VREvent_ApplicationListUpdated				= 1303,
+	VREvent_ApplicationMimeTypeLoad				= 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected					= 1306,
+	VREvent_ProcessDisconnected					= 1307,
 
-	VREvent_Compositor_MirrorWindowShown	= 1400,
-	VREvent_Compositor_MirrorWindowHidden	= 1401,
-	VREvent_Compositor_ChaperoneBoundsShown = 1410,
-	VREvent_Compositor_ChaperoneBoundsHidden = 1411,
+	VREvent_Compositor_MirrorWindowShown		= 1400,
+	VREvent_Compositor_MirrorWindowHidden		= 1401,
+	VREvent_Compositor_ChaperoneBoundsShown		= 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden	= 1411,
 
 	VREvent_TrackedCamera_StartVideoStream  = 1500,
 	VREvent_TrackedCamera_StopVideoStream   = 1501,
@@ -515,26 +571,30 @@ enum EVREventType
 	VREvent_TrackedCamera_ResumeVideoStream = 1503,
 	VREvent_TrackedCamera_EditingSurface    = 1550,
 
-	VREvent_PerformanceTest_EnableCapture = 1600,
-	VREvent_PerformanceTest_DisableCapture = 1601,
-	VREvent_PerformanceTest_FidelityLevel = 1602,
+	VREvent_PerformanceTest_EnableCapture	= 1600,
+	VREvent_PerformanceTest_DisableCapture	= 1601,
+	VREvent_PerformanceTest_FidelityLevel	= 1602,
 
-	VREvent_MessageOverlay_Closed = 1650,
+	VREvent_MessageOverlay_Closed			= 1650,
 	
 	// Vendors are free to expose private events in this reserved region
-	VREvent_VendorSpecific_Reserved_Start = 10000,
-	VREvent_VendorSpecific_Reserved_End = 19999,
+	VREvent_VendorSpecific_Reserved_Start	= 10000,
+	VREvent_VendorSpecific_Reserved_End		= 19999,
 };
 
 
 /** Level of Hmd activity */
+// UserInteraction_Timeout means the device is in the process of timing out.
+// InUse = ( k_EDeviceActivityLevel_UserInteraction || k_EDeviceActivityLevel_UserInteraction_Timeout )
+// VREvent_TrackedDeviceUserInteractionStarted fires when the devices transitions from Standby -> UserInteraction or Idle -> UserInteraction.
+// VREvent_TrackedDeviceUserInteractionEnded fires when the devices transitions from UserInteraction_Timeout -> Idle
 enum EDeviceActivityLevel
-{
-	k_EDeviceActivityLevel_Unknown = -1,
-	k_EDeviceActivityLevel_Idle = 0,
-	k_EDeviceActivityLevel_UserInteraction = 1,
-	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,
-	k_EDeviceActivityLevel_Standby = 3,
+{	
+	k_EDeviceActivityLevel_Unknown = -1,									
+	k_EDeviceActivityLevel_Idle = 0,						// No activity for the last 10 seconds
+	k_EDeviceActivityLevel_UserInteraction = 1,				// Activity (movement or prox sensor) is happening now	
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,		// No activity for the last 0.5 seconds
+	k_EDeviceActivityLevel_Standby = 3,						// Idle for at least 5 seconds (configurable in Settings -> Power Management)
 };
 
 
@@ -711,6 +771,12 @@ struct VREvent_MessageOverlay_t
 	uint32_t unVRMessageOverlayResponse; // vr::VRMessageOverlayResponse enum
 };
 
+struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	ETrackedDeviceProperty prop;
+};
+
 /** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py */
 typedef union
 {
@@ -733,8 +799,16 @@ typedef union
 	VREvent_ApplicationLaunch_t applicationLaunch;
 	VREvent_EditingCameraSurface_t cameraSurface;
 	VREvent_MessageOverlay_t messageOverlay;
+	VREvent_Property_t property;
 } VREvent_Data_t;
 
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
 /** An event posted by the server to all running applications */
 struct VREvent_t
 {
@@ -745,6 +819,9 @@ struct VREvent_t
 	VREvent_Data_t data;
 };
 
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
 
 /** The mesh to draw into the stencil (or depth) buffer to perform 
 * early stencil (or depth) kills of pixels that will never appear on the HMD.
@@ -764,6 +841,8 @@ enum EHiddenAreaMeshType
 	k_eHiddenAreaMesh_Standard = 0,
 	k_eHiddenAreaMesh_Inverse = 1,
 	k_eHiddenAreaMesh_LineLoop = 2,
+
+	k_eHiddenAreaMesh_Max = 3,
 };
 
 
@@ -791,6 +870,12 @@ struct VRControllerAxis_t
 static const uint32_t k_unControllerStateAxisCount = 5;
 
 
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
 /** Holds all the state of a controller at one moment in time. */
 struct VRControllerState001_t
 {
@@ -805,6 +890,9 @@ struct VRControllerState001_t
 	// Axis data for the controller's analog inputs
 	VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ];
 };
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
 
 
 typedef VRControllerState001_t VRControllerState_t;
@@ -887,6 +975,7 @@ enum EVRApplicationType
 									// interfaces (like IVRSettings and IVRApplications) but not hardware.
 	VRApplication_VRMonitor = 5,	// Reserved for vrmonitor
 	VRApplication_SteamWatchdog = 6,// Reserved for Steam
+	VRApplication_Bootstrapper = 7, // Start up SteamVR
 
 	VRApplication_Max
 };
@@ -1173,9 +1262,7 @@ public:
 
 	/** [D3D10/11 Only]
 	* Returns the adapter index that the user should pass into EnumAdapters to create the device 
-	* and swap chain in DX10 and DX11. If an error occurs the index will be set to -1. The index will 
-	* also be -1 if the headset is in direct mode on the driver side instead of using the compositor's
-	* builtin direct mode support.
+	* and swap chain in DX10 and DX11. If an error occurs the index will be set to -1.
 	*/
 	virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex ) = 0;
 
@@ -1453,6 +1540,7 @@ namespace vr
 		VRApplicationProperty_IsDashboardOverlay_Bool	= 60,
 		VRApplicationProperty_IsTemplate_Bool			= 61,
 		VRApplicationProperty_IsInstanced_Bool			= 62,
+		VRApplicationProperty_IsInternal_Bool			= 63,
 
 		VRApplicationProperty_LastLaunchTime_Uint64		= 70,
 	};
@@ -1600,6 +1688,11 @@ namespace vr
 		* If working directory is NULL or "" the directory portion of the binary path will be 
 		* the working directory. */
 		virtual EVRApplicationError LaunchInternalProcess( const char *pchBinaryPath, const char *pchArguments, const char *pchWorkingDirectory ) = 0;
+
+		/** Returns the current scene process ID according to the application system. A scene process will get scene
+		* focus once it starts rendering, but it will appear here once it calls VR_Init with the Scene application
+		* type. */
+		virtual uint32_t GetCurrentSceneProcessId() = 0;
 	};
 
 	static const char * const IVRApplications_Version = "IVRApplications_006";
@@ -1657,7 +1750,6 @@ namespace vr
 	static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
 	static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
 	static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
-	static const char * const k_pch_SteamVR_EnableDistortion_Bool = "enableDistortion";
 	static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
 	static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
 	static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps";
@@ -1708,7 +1800,6 @@ namespace vr
 	//-----------------------------------------------------------------------------
 	// null keys
 	static const char * const k_pch_Null_Section = "driver_null";
-	static const char * const k_pch_Null_EnableNullDriver_Bool = "enable";
 	static const char * const k_pch_Null_SerialNumber_String = "serialNumber";
 	static const char * const k_pch_Null_ModelNumber_String = "modelNumber";
 	static const char * const k_pch_Null_WindowX_Int32 = "windowX";
@@ -1809,22 +1900,17 @@ namespace vr
 	// model skin keys
 	static const char * const k_pch_modelskin_Section = "modelskins";
 
+	//-----------------------------------------------------------------------------
+	// driver keys - These could be checked in any driver_<name> section
+	static const char * const k_pch_Driver_Enable_Bool = "enable";
+
 } // namespace vr
 
 // ivrchaperone.h
 namespace vr
 {
 
-#if defined(__linux__) || defined(__APPLE__) 
-	// The 32-bit version of gcc has the alignment requirement for uint64 and double set to
-	// 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned.
-	// The 64-bit version of gcc has the alignment requirement for these types set to
-	// 8 meaning that unless we use #pragma pack(4) our structures will get bigger.
-	// The 64-bit structure packing has to match the 32-bit structure packing for each platform.
-	#pragma pack( push, 4 )
-#else
-	#pragma pack( push, 8 )
-#endif
+#pragma pack( push, 8 )
 
 enum ChaperoneCalibrationState
 {
@@ -1985,16 +2071,7 @@ static const char * const IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
 namespace vr
 {
 
-#if defined(__linux__) || defined(__APPLE__) 
-	// The 32-bit version of gcc has the alignment requirement for uint64 and double set to
-	// 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned.
-	// The 64-bit version of gcc has the alignment requirement for these types set to
-	// 8 meaning that unless we use #pragma pack(4) our structures will get bigger.
-	// The 64-bit structure packing has to match the 32-bit structure packing for each platform.
-	#pragma pack( push, 4 )
-#else
-	#pragma pack( push, 8 )
-#endif
+#pragma pack( push, 8 )
 
 /** Errors that can occur with the VR compositor */
 enum EVRCompositorError
@@ -2237,8 +2314,10 @@ public:
 	/** Temporarily suspends rendering (useful for finer control over scene transitions). */
 	virtual void SuspendRendering( bool bSuspend ) = 0;
 
-	/** Opens a shared D3D11 texture with the undistorted composited image for each eye. */
+	/** Opens a shared D3D11 texture with the undistorted composited image for each eye.  Use ReleaseMirrorTextureD3D11 when finished
+	* instead of calling Release on the resource itself. */
 	virtual vr::EVRCompositorError GetMirrorTextureD3D11( vr::EVREye eEye, void *pD3D11DeviceOrResource, void **ppD3D11ShaderResourceView ) = 0;
+	virtual void ReleaseMirrorTextureD3D11( void *pD3D11ShaderResourceView ) = 0;
 
 	/** Access to mirror textures from OpenGL. */
 	virtual vr::EVRCompositorError GetMirrorTextureGL( vr::EVREye eEye, vr::glUInt_t *pglTextureId, vr::glSharedTextureHandle_t *pglSharedTextureHandle ) = 0;
@@ -2258,7 +2337,7 @@ public:
 
 };
 
-static const char * const IVRCompositor_Version = "IVRCompositor_019";
+static const char * const IVRCompositor_Version = "IVRCompositor_020";
 
 } // namespace vr
 
@@ -2268,16 +2347,7 @@ static const char * const IVRCompositor_Version = "IVRCompositor_019";
 namespace vr
 {
 
-#if defined(__linux__) || defined(__APPLE__) 
-	// The 32-bit version of gcc has the alignment requirement for uint64 and double set to
-	// 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned.
-	// The 64-bit version of gcc has the alignment requirement for these types set to
-	// 8 meaning that unless we use #pragma pack(4) our structures will get bigger.
-	// The 64-bit structure packing has to match the 32-bit structure packing for each platform.
-	#pragma pack( push, 4 )
-#else
-	#pragma pack( push, 8 )
-#endif
+#pragma pack( push, 8 )
 
 // Used for passing graphic data
 struct NotificationBitmap_t
@@ -2537,7 +2607,7 @@ namespace vr
 		virtual EVROverlayError FindOverlay( const char *pchOverlayKey, VROverlayHandle_t * pOverlayHandle ) = 0;
 
 		/** Creates a new named overlay. All overlays start hidden and with default settings. */
-		virtual EVROverlayError CreateOverlay( const char *pchOverlayKey, const char *pchOverlayFriendlyName, VROverlayHandle_t * pOverlayHandle ) = 0;
+		virtual EVROverlayError CreateOverlay( const char *pchOverlayKey, const char *pchOverlayName, VROverlayHandle_t * pOverlayHandle ) = 0;
 
 		/** Destroys the specified overlay. When an application calls VR_Shutdown all overlays created by that app are
 		* automatically destroyed. */
@@ -2562,6 +2632,9 @@ namespace vr
 		* the terminating null character. k_unVROverlayMaxNameLength will be enough bytes to fit the string. */
 		virtual uint32_t GetOverlayName( VROverlayHandle_t ulOverlayHandle, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, EVROverlayError *pError = 0L ) = 0;
 
+		/** set the name to use for this overlay */
+		virtual EVROverlayError SetOverlayName( VROverlayHandle_t ulOverlayHandle, const char *pchName ) = 0;
+
 		/** Gets the raw image data from an overlay. Overlay image data is always returned as RGBA data, 4 bytes per pixel. If the buffer is not large enough, width and height 
 		* will be set and VROverlayError_ArrayTooSmall is returned. */
 		virtual EVROverlayError GetOverlayImageData( VROverlayHandle_t ulOverlayHandle, void *pvBuffer, uint32_t unBufferSize, uint32_t *punWidth, uint32_t *punHeight ) = 0;
@@ -2570,7 +2643,6 @@ namespace vr
 		* of the error enum value for all valid error codes */
 		virtual const char *GetOverlayErrorNameFromEnum( EVROverlayError error ) = 0;
 
-
 		// ---------------------------------------------
 		// Overlay rendering methods
 		// ---------------------------------------------
@@ -2647,6 +2719,13 @@ namespace vr
 		/** Gets the part of the texture to use for the overlay. UV Min is the upper left corner and UV Max is the lower right corner. */
 		virtual EVROverlayError GetOverlayTextureBounds( VROverlayHandle_t ulOverlayHandle, VRTextureBounds_t *pOverlayTextureBounds ) = 0;
 
+		/** Gets render model to draw behind this overlay */
+		virtual uint32_t GetOverlayRenderModel( vr::VROverlayHandle_t ulOverlayHandle, char *pchValue, uint32_t unBufferSize, HmdColor_t *pColor, vr::EVROverlayError *pError ) = 0;
+
+		/** Sets render model to draw behind this overlay and the vertex color to use, pass null for pColor to match the overlays vertex color. 
+			The model is scaled by the same amount as the overlay, with a default of 1m. */
+		virtual vr::EVROverlayError SetOverlayRenderModel( vr::VROverlayHandle_t ulOverlayHandle, const char *pchRenderModel, const HmdColor_t *pColor ) = 0;
+
 		/** Returns the transform type of this overlay. */
 		virtual EVROverlayError GetOverlayTransformType( VROverlayHandle_t ulOverlayHandle, VROverlayTransformType *peTransformType ) = 0;
 
@@ -2669,6 +2748,12 @@ namespace vr
 		/** Gets the transform information when the overlay is rendering on a component. */
 		virtual EVROverlayError GetOverlayTransformTrackedDeviceComponent( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t *punDeviceIndex, char *pchComponentName, uint32_t unComponentNameSize ) = 0;
 
+		/** Gets the transform if it is relative to another overlay. Returns an error if the transform is some other type. */
+		virtual vr::EVROverlayError GetOverlayTransformOverlayRelative( VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t *ulOverlayHandleParent, HmdMatrix34_t *pmatParentOverlayToOverlayTransform ) = 0;
+		
+		/** Sets the transform to relative to the transform of the specified overlay. This overlays visibility will also track the parents visibility */
+		virtual vr::EVROverlayError SetOverlayTransformOverlayRelative( VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t ulOverlayHandleParent, const HmdMatrix34_t *pmatParentOverlayToOverlayTransform ) = 0;
+
 		/** Shows the VR overlay.  For dashboard overlays, only the Dashboard Manager is allowed to call this. */
 		virtual EVROverlayError ShowOverlay( VROverlayHandle_t ulOverlayHandle ) = 0;
 
@@ -2839,7 +2924,7 @@ namespace vr
 		virtual VRMessageOverlayResponse ShowMessageOverlay( const char* pchText, const char* pchCaption, const char* pchButton0Text, const char* pchButton1Text = nullptr, const char* pchButton2Text = nullptr, const char* pchButton3Text = nullptr ) = 0;
 	};
 
-	static const char * const IVROverlay_Version = "IVROverlay_014";
+	static const char * const IVROverlay_Version = "IVROverlay_016";
 
 } // namespace vr
 
@@ -2853,16 +2938,7 @@ static const char * const k_pch_Controller_Component_Tip = "tip";           // F
 static const char * const k_pch_Controller_Component_HandGrip = "handgrip"; // Neutral, ambidextrous hand-pose when holding controller. On plane between neutrally posed index finger and thumb
 static const char * const k_pch_Controller_Component_Status = "status";		// 1:1 aspect ratio status area, with canonical [0,1] uv mapping
 
-#if defined(__linux__) || defined(__APPLE__) 
-// The 32-bit version of gcc has the alignment requirement for uint64 and double set to
-// 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned.
-// The 64-bit version of gcc has the alignment requirement for these types set to
-// 8 meaning that unless we use #pragma pack(4) our structures will get bigger.
-// The 64-bit structure packing has to match the 32-bit structure packing for each platform.
-#pragma pack( push, 4 )
-#else
 #pragma pack( push, 8 )
-#endif
 
 /** Errors that can occur with the VR compositor */
 enum EVRRenderModelError
@@ -2911,11 +2987,20 @@ struct RenderModel_Vertex_t
 };
 
 /** A texture map for use on a render model */
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
 struct RenderModel_TextureMap_t
 {
 	uint16_t unWidth, unHeight; // width and height of the texture map in pixels
 	const uint8_t *rubTextureMapData;	// Map texture data. All textures are RGBA with 8 bits per channel per pixel. Data size is width * height * 4ub
 };
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
 
 /**  Session unique texture identifier. Rendermodels which share the same texture will have the same id.
 IDs <0 denote the texture is not present */
@@ -2924,6 +3009,12 @@ typedef int32_t TextureID_t;
 
 const TextureID_t INVALID_TEXTURE_ID = -1;
 
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
 struct RenderModel_t
 {
 	const RenderModel_Vertex_t *rVertexData;	// Vertex data for the mesh
@@ -2932,6 +3023,10 @@ struct RenderModel_t
 	uint32_t unTriangleCount;					// Number of triangles in the mesh. Index count is 3 * TriangleCount
 	TextureID_t diffuseTextureId;				// Session unique texture identifier. Rendermodels which share the same texture will have the same id. <0 == texture not present
 };
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
+
 
 struct RenderModel_ControllerMode_State_t
 {
@@ -3168,7 +3263,7 @@ public:
 	 *  once SubmitScreenshot() is called.
 	 *  If Steam is not running, the paths will be in the user's
 	 *  documents folder under Documents\SteamVR\Screenshots.
-	 *  Other VR applications can call this to initate a
+	 *  Other VR applications can call this to initiate a
 	 *  screenshot outside of user control.
 	 *  The destination file names do not need an extension,
 	 *  will be replaced with the correct one for the format
@@ -3206,7 +3301,7 @@ public:
 	 *  submitted scene textures of the running application and
 	 *  write them into the preview image and a side-by-side file
 	 *  for the VR image.
-	 *  This is similiar to request screenshot, but doesn't ever
+	 *  This is similar to request screenshot, but doesn't ever
 	 *  talk to the application, just takes the shot and submits. */
 	virtual vr::EVRScreenshotError TakeStereoScreenshot( vr::ScreenshotHandle_t *pOutScreenshotHandle, const char *pchPreviewFilename, const char *pchVRFilename ) = 0;
 
@@ -3217,8 +3312,7 @@ public:
 	 *  function will display a notification to the user that the
 	 *  screenshot was taken. The paths should be full paths with
 	 *  extensions.
-	 *  File paths should be absolute including
-	 *  exntensions.
+	 *  File paths should be absolute including extensions.
 	 *  screenshotHandle can be k_unScreenshotHandleInvalid if this
 	 *  was a new shot taking by the app to be saved and not
 	 *  initiated by a user (achievement earned or something) */
@@ -3291,7 +3385,7 @@ namespace vr
 	/** Returns the name of the enum value for an EVRInitError. This function may be called outside of VR_Init()/VR_Shutdown(). */
 	VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsSymbol( EVRInitError error );
 
-	/** Returns an english string for an EVRInitError. Applications should call VR_GetVRInitErrorAsSymbol instead and
+	/** Returns an English string for an EVRInitError. Applications should call VR_GetVRInitErrorAsSymbol instead and
 	* use that as a key to look up their own localized error message. This function may be called outside of VR_Init()/VR_Shutdown(). */
 	VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsEnglishDescription( EVRInitError error );
 
diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs b/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs
index 98e09ef0b..377d91a65 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs
@@ -475,6 +475,11 @@ public struct IVRApplications
 	[MarshalAs(UnmanagedType.FunctionPtr)]
 	internal _LaunchInternalProcess LaunchInternalProcess;
 
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetCurrentSceneProcessId();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetCurrentSceneProcessId GetCurrentSceneProcessId;
+
 }
 
 [StructLayout(LayoutKind.Sequential)]
@@ -800,6 +805,11 @@ public struct IVRCompositor
 	[MarshalAs(UnmanagedType.FunctionPtr)]
 	internal _GetMirrorTextureD3D11 GetMirrorTextureD3D11;
 
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _ReleaseMirrorTextureD3D11(IntPtr pD3D11ShaderResourceView);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _ReleaseMirrorTextureD3D11 ReleaseMirrorTextureD3D11;
+
 	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
 	internal delegate EVRCompositorError _GetMirrorTextureGL(EVREye eEye, ref uint pglTextureId, IntPtr pglSharedTextureHandle);
 	[MarshalAs(UnmanagedType.FunctionPtr)]
@@ -841,7 +851,7 @@ public struct IVROverlay
 	internal _FindOverlay FindOverlay;
 
 	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
-	internal delegate EVROverlayError _CreateOverlay(string pchOverlayKey, string pchOverlayFriendlyName, ref ulong pOverlayHandle);
+	internal delegate EVROverlayError _CreateOverlay(string pchOverlayKey, string pchOverlayName, ref ulong pOverlayHandle);
 	[MarshalAs(UnmanagedType.FunctionPtr)]
 	internal _CreateOverlay CreateOverlay;
 
@@ -870,6 +880,11 @@ public struct IVROverlay
 	[MarshalAs(UnmanagedType.FunctionPtr)]
 	internal _GetOverlayName GetOverlayName;
 
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayName(ulong ulOverlayHandle, string pchName);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayName SetOverlayName;
+
 	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
 	internal delegate EVROverlayError _GetOverlayImageData(ulong ulOverlayHandle, IntPtr pvBuffer, uint unBufferSize, ref uint punWidth, ref uint punHeight);
 	[MarshalAs(UnmanagedType.FunctionPtr)]
@@ -980,6 +995,16 @@ public struct IVROverlay
 	[MarshalAs(UnmanagedType.FunctionPtr)]
 	internal _GetOverlayTextureBounds GetOverlayTextureBounds;
 
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetOverlayRenderModel(ulong ulOverlayHandle, string pchValue, uint unBufferSize, ref HmdColor_t pColor, ref EVROverlayError pError);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayRenderModel GetOverlayRenderModel;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayRenderModel(ulong ulOverlayHandle, string pchRenderModel, ref HmdColor_t pColor);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayRenderModel SetOverlayRenderModel;
+
 	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
 	internal delegate EVROverlayError _GetOverlayTransformType(ulong ulOverlayHandle, ref VROverlayTransformType peTransformType);
 	[MarshalAs(UnmanagedType.FunctionPtr)]
@@ -1015,6 +1040,16 @@ public struct IVROverlay
 	[MarshalAs(UnmanagedType.FunctionPtr)]
 	internal _GetOverlayTransformTrackedDeviceComponent GetOverlayTransformTrackedDeviceComponent;
 
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _GetOverlayTransformOverlayRelative(ulong ulOverlayHandle, ref ulong ulOverlayHandleParent, ref HmdMatrix34_t pmatParentOverlayToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOverlayTransformOverlayRelative GetOverlayTransformOverlayRelative;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate EVROverlayError _SetOverlayTransformOverlayRelative(ulong ulOverlayHandle, ulong ulOverlayHandleParent, ref HmdMatrix34_t pmatParentOverlayToOverlayTransform);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _SetOverlayTransformOverlayRelative SetOverlayTransformOverlayRelative;
+
 	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
 	internal delegate EVROverlayError _ShowOverlay(ulong ulOverlayHandle);
 	[MarshalAs(UnmanagedType.FunctionPtr)]
@@ -1593,8 +1628,32 @@ public class CVRSystem
 		IntPtr result = FnTable.GetPropErrorNameFromEnum(error);
 		return Marshal.PtrToStringAnsi(result);
 	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextEventPacked(ref VREvent_t_Packed pEvent,uint uncbVREvent);
+	[StructLayout(LayoutKind.Explicit)]
+	struct PollNextEventUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._PollNextEvent pPollNextEvent;
+		[FieldOffset(0)]
+		public _PollNextEventPacked pPollNextEventPacked;
+	}
 	public bool PollNextEvent(ref VREvent_t pEvent,uint uncbVREvent)
 	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			PollNextEventUnion u;
+			VREvent_t_Packed event_packed = new VREvent_t_Packed();
+			u.pPollNextEventPacked = null;
+			u.pPollNextEvent = FnTable.PollNextEvent;
+			bool packed_result = u.pPollNextEventPacked(ref event_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VREvent_t_Packed)));
+
+			event_packed.Unpack(ref pEvent);
+			return packed_result;
+		}
 		bool result = FnTable.PollNextEvent(ref pEvent,uncbVREvent);
 		return result;
 	}
@@ -1613,13 +1672,61 @@ public class CVRSystem
 		HiddenAreaMesh_t result = FnTable.GetHiddenAreaMesh(eEye,type);
 		return result;
 	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStatePacked(uint unControllerDeviceIndex,ref VRControllerState_t_Packed pControllerState,uint unControllerStateSize);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetControllerStateUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._GetControllerState pGetControllerState;
+		[FieldOffset(0)]
+		public _GetControllerStatePacked pGetControllerStatePacked;
+	}
 	public bool GetControllerState(uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize)
 	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetControllerStateUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetControllerStatePacked = null;
+			u.pGetControllerState = FnTable.GetControllerState;
+			bool packed_result = u.pGetControllerStatePacked(unControllerDeviceIndex,ref state_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t_Packed)));
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
 		bool result = FnTable.GetControllerState(unControllerDeviceIndex,ref pControllerState,unControllerStateSize);
 		return result;
 	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetControllerStateWithPosePacked(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t_Packed pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetControllerStateWithPoseUnion
+	{
+		[FieldOffset(0)]
+		public IVRSystem._GetControllerStateWithPose pGetControllerStateWithPose;
+		[FieldOffset(0)]
+		public _GetControllerStateWithPosePacked pGetControllerStateWithPosePacked;
+	}
 	public bool GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose)
 	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetControllerStateWithPoseUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetControllerStateWithPosePacked = null;
+			u.pGetControllerStateWithPose = FnTable.GetControllerStateWithPose;
+			bool packed_result = u.pGetControllerStateWithPosePacked(eOrigin,unControllerDeviceIndex,ref state_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t_Packed)),ref pTrackedDevicePose);
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
 		bool result = FnTable.GetControllerStateWithPose(eOrigin,unControllerDeviceIndex,ref pControllerState,unControllerStateSize,ref pTrackedDevicePose);
 		return result;
 	}
@@ -1939,6 +2046,11 @@ public class CVRApplications
 		EVRApplicationError result = FnTable.LaunchInternalProcess(pchBinaryPath,pchArguments,pchWorkingDirectory);
 		return result;
 	}
+	public uint GetCurrentSceneProcessId()
+	{
+		uint result = FnTable.GetCurrentSceneProcessId();
+		return result;
+	}
 }
 
 
@@ -2269,6 +2381,10 @@ public class CVRCompositor
 		EVRCompositorError result = FnTable.GetMirrorTextureD3D11(eEye,pD3D11DeviceOrResource,ref ppD3D11ShaderResourceView);
 		return result;
 	}
+	public void ReleaseMirrorTextureD3D11(IntPtr pD3D11ShaderResourceView)
+	{
+		FnTable.ReleaseMirrorTextureD3D11(pD3D11ShaderResourceView);
+	}
 	public EVRCompositorError GetMirrorTextureGL(EVREye eEye,ref uint pglTextureId,IntPtr pglSharedTextureHandle)
 	{
 		pglTextureId = 0;
@@ -2314,10 +2430,10 @@ public class CVROverlay
 		EVROverlayError result = FnTable.FindOverlay(pchOverlayKey,ref pOverlayHandle);
 		return result;
 	}
-	public EVROverlayError CreateOverlay(string pchOverlayKey,string pchOverlayFriendlyName,ref ulong pOverlayHandle)
+	public EVROverlayError CreateOverlay(string pchOverlayKey,string pchOverlayName,ref ulong pOverlayHandle)
 	{
 		pOverlayHandle = 0;
-		EVROverlayError result = FnTable.CreateOverlay(pchOverlayKey,pchOverlayFriendlyName,ref pOverlayHandle);
+		EVROverlayError result = FnTable.CreateOverlay(pchOverlayKey,pchOverlayName,ref pOverlayHandle);
 		return result;
 	}
 	public EVROverlayError DestroyOverlay(ulong ulOverlayHandle)
@@ -2345,6 +2461,11 @@ public class CVROverlay
 		uint result = FnTable.GetOverlayName(ulOverlayHandle,pchValue,unBufferSize,ref pError);
 		return result;
 	}
+	public EVROverlayError SetOverlayName(ulong ulOverlayHandle,string pchName)
+	{
+		EVROverlayError result = FnTable.SetOverlayName(ulOverlayHandle,pchName);
+		return result;
+	}
 	public EVROverlayError GetOverlayImageData(ulong ulOverlayHandle,IntPtr pvBuffer,uint unBufferSize,ref uint punWidth,ref uint punHeight)
 	{
 		punWidth = 0;
@@ -2467,6 +2588,16 @@ public class CVROverlay
 		EVROverlayError result = FnTable.GetOverlayTextureBounds(ulOverlayHandle,ref pOverlayTextureBounds);
 		return result;
 	}
+	public uint GetOverlayRenderModel(ulong ulOverlayHandle,string pchValue,uint unBufferSize,ref HmdColor_t pColor,ref EVROverlayError pError)
+	{
+		uint result = FnTable.GetOverlayRenderModel(ulOverlayHandle,pchValue,unBufferSize,ref pColor,ref pError);
+		return result;
+	}
+	public EVROverlayError SetOverlayRenderModel(ulong ulOverlayHandle,string pchRenderModel,ref HmdColor_t pColor)
+	{
+		EVROverlayError result = FnTable.SetOverlayRenderModel(ulOverlayHandle,pchRenderModel,ref pColor);
+		return result;
+	}
 	public EVROverlayError GetOverlayTransformType(ulong ulOverlayHandle,ref VROverlayTransformType peTransformType)
 	{
 		EVROverlayError result = FnTable.GetOverlayTransformType(ulOverlayHandle,ref peTransformType);
@@ -2504,6 +2635,17 @@ public class CVROverlay
 		EVROverlayError result = FnTable.GetOverlayTransformTrackedDeviceComponent(ulOverlayHandle,ref punDeviceIndex,pchComponentName,unComponentNameSize);
 		return result;
 	}
+	public EVROverlayError GetOverlayTransformOverlayRelative(ulong ulOverlayHandle,ref ulong ulOverlayHandleParent,ref HmdMatrix34_t pmatParentOverlayToOverlayTransform)
+	{
+		ulOverlayHandleParent = 0;
+		EVROverlayError result = FnTable.GetOverlayTransformOverlayRelative(ulOverlayHandle,ref ulOverlayHandleParent,ref pmatParentOverlayToOverlayTransform);
+		return result;
+	}
+	public EVROverlayError SetOverlayTransformOverlayRelative(ulong ulOverlayHandle,ulong ulOverlayHandleParent,ref HmdMatrix34_t pmatParentOverlayToOverlayTransform)
+	{
+		EVROverlayError result = FnTable.SetOverlayTransformOverlayRelative(ulOverlayHandle,ulOverlayHandleParent,ref pmatParentOverlayToOverlayTransform);
+		return result;
+	}
 	public EVROverlayError ShowOverlay(ulong ulOverlayHandle)
 	{
 		EVROverlayError result = FnTable.ShowOverlay(ulOverlayHandle);
@@ -2524,8 +2666,32 @@ public class CVROverlay
 		EVROverlayError result = FnTable.GetTransformForOverlayCoordinates(ulOverlayHandle,eTrackingOrigin,coordinatesInOverlay,ref pmatTransform);
 		return result;
 	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _PollNextOverlayEventPacked(ulong ulOverlayHandle,ref VREvent_t_Packed pEvent,uint uncbVREvent);
+	[StructLayout(LayoutKind.Explicit)]
+	struct PollNextOverlayEventUnion
+	{
+		[FieldOffset(0)]
+		public IVROverlay._PollNextOverlayEvent pPollNextOverlayEvent;
+		[FieldOffset(0)]
+		public _PollNextOverlayEventPacked pPollNextOverlayEventPacked;
+	}
 	public bool PollNextOverlayEvent(ulong ulOverlayHandle,ref VREvent_t pEvent,uint uncbVREvent)
 	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			PollNextOverlayEventUnion u;
+			VREvent_t_Packed event_packed = new VREvent_t_Packed();
+			u.pPollNextOverlayEventPacked = null;
+			u.pPollNextOverlayEvent = FnTable.PollNextOverlayEvent;
+			bool packed_result = u.pPollNextOverlayEventPacked(ulOverlayHandle,ref event_packed,(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VREvent_t_Packed)));
+
+			event_packed.Unpack(ref pEvent);
+			return packed_result;
+		}
 		bool result = FnTable.PollNextOverlayEvent(ulOverlayHandle,ref pEvent,uncbVREvent);
 		return result;
 	}
@@ -2776,8 +2942,32 @@ public class CVRRenderModels
 		uint result = FnTable.GetComponentRenderModelName(pchRenderModelName,pchComponentName,pchComponentRenderModelName,unComponentRenderModelNameLen);
 		return result;
 	}
+// This is a terrible hack to workaround the fact that VRControllerState_t and VREvent_t were
+// originally mis-compiled with the wrong packing for Linux and OSX.
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate bool _GetComponentStatePacked(string pchRenderModelName,string pchComponentName,ref VRControllerState_t_Packed pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState);
+	[StructLayout(LayoutKind.Explicit)]
+	struct GetComponentStateUnion
+	{
+		[FieldOffset(0)]
+		public IVRRenderModels._GetComponentState pGetComponentState;
+		[FieldOffset(0)]
+		public _GetComponentStatePacked pGetComponentStatePacked;
+	}
 	public bool GetComponentState(string pchRenderModelName,string pchComponentName,ref VRControllerState_t pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState)
 	{
+		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
+				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
+		{
+			GetComponentStateUnion u;
+			VRControllerState_t_Packed state_packed = new VRControllerState_t_Packed(pControllerState);
+			u.pGetComponentStatePacked = null;
+			u.pGetComponentState = FnTable.GetComponentState;
+			bool packed_result = u.pGetComponentStatePacked(pchRenderModelName,pchComponentName,ref state_packed,ref pState,ref pComponentState);
+
+			state_packed.Unpack(ref pControllerState);
+			return packed_result;
+		}
 		bool result = FnTable.GetComponentState(pchRenderModelName,pchComponentName,ref pControllerState,ref pState,ref pComponentState);
 		return result;
 	}
@@ -2986,6 +3176,8 @@ public enum ETextureType
 	DirectX = 0,
 	OpenGL = 1,
 	Vulkan = 2,
+	IOSurface = 3,
+	DirectX12 = 4,
 }
 public enum EColorSpace
 {
@@ -3008,6 +3200,7 @@ public enum ETrackedDeviceClass
 	Controller = 2,
 	GenericTracker = 3,
 	TrackingReference = 4,
+	DisplayRedirect = 5,
 }
 public enum ETrackedControllerRole
 {
@@ -3058,6 +3251,8 @@ public enum ETrackedDeviceProperty
 	Prop_DriverVersion_String = 1031,
 	Prop_Firmware_ForceUpdateRequired_Bool = 1032,
 	Prop_ViveSystemButtonFixRequired_Bool = 1033,
+	Prop_ParentDriver_Uint64 = 1034,
+	Prop_ResourceRoot_String = 1035,
 	Prop_ReportsTimeSinceVSync_Bool = 2000,
 	Prop_SecondsFromVsyncToPhotons_Float = 2001,
 	Prop_DisplayFrequency_Float = 2002,
@@ -3096,6 +3291,11 @@ public enum ETrackedDeviceProperty
 	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
 	Prop_DisplaySuppressed_Bool = 2036,
 	Prop_DisplayAllowNightMode_Bool = 2037,
+	Prop_DisplayMCImageWidth_Int32 = 2038,
+	Prop_DisplayMCImageHeight_Int32 = 2039,
+	Prop_DisplayMCImageNumChannels_Int32 = 2040,
+	Prop_DisplayMCImageData_Binary = 2041,
+	Prop_SecondsFromPhotonsToVblank_Float = 2042,
 	Prop_AttachedDeviceId_String = 3000,
 	Prop_SupportedButtons_Uint64 = 3001,
 	Prop_Axis0Type_Int32 = 3002,
@@ -3120,6 +3320,15 @@ public enum ETrackedDeviceProperty
 	Prop_NamedIconPathDeviceNotReady_String = 5006,
 	Prop_NamedIconPathDeviceStandby_String = 5007,
 	Prop_NamedIconPathDeviceAlertLow_String = 5008,
+	Prop_DisplayHiddenArea_Binary_Start = 5100,
+	Prop_DisplayHiddenArea_Binary_End = 5150,
+	Prop_UserConfigPath_String = 6000,
+	Prop_InstallPath_String = 6001,
+	Prop_HasDisplayComponent_Bool = 6002,
+	Prop_HasControllerComponent_Bool = 6003,
+	Prop_HasCameraComponent_Bool = 6004,
+	Prop_HasDriverDirectModeComponent_Bool = 6005,
+	Prop_HasVirtualDisplayComponent_Bool = 6006,
 	Prop_VendorSpecific_Reserved_Start = 10000,
 	Prop_VendorSpecific_Reserved_End = 10999,
 }
@@ -3136,6 +3345,7 @@ public enum ETrackedPropertyError
 	TrackedProp_StringExceedsMaximumLength = 8,
 	TrackedProp_NotYetAvailable = 9,
 	TrackedProp_PermissionDenied = 10,
+	TrackedProp_InvalidOperation = 11,
 }
 public enum EVRSubmitFlags
 {
@@ -3170,6 +3380,7 @@ public enum EVREventType
 	VREvent_TrackedDeviceRoleChanged = 108,
 	VREvent_WatchdogWakeUpRequested = 109,
 	VREvent_LensDistortionChanged = 110,
+	VREvent_PropertyChanged = 111,
 	VREvent_ButtonPress = 200,
 	VREvent_ButtonUnpress = 201,
 	VREvent_ButtonTouch = 202,
@@ -3216,6 +3427,7 @@ public enum EVREventType
 	VREvent_ScreenshotFailed = 522,
 	VREvent_SubmitScreenshotToDashboard = 523,
 	VREvent_ScreenshotProgressToDashboard = 524,
+	VREvent_PrimaryDashboardDeviceChanged = 525,
 	VREvent_Notification_Shown = 600,
 	VREvent_Notification_Hidden = 601,
 	VREvent_Notification_BeginInteraction = 602,
@@ -3249,6 +3461,9 @@ public enum EVREventType
 	VREvent_ApplicationTransitionNewAppStarted = 1302,
 	VREvent_ApplicationListUpdated = 1303,
 	VREvent_ApplicationMimeTypeLoad = 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected = 1306,
+	VREvent_ProcessDisconnected = 1307,
 	VREvent_Compositor_MirrorWindowShown = 1400,
 	VREvent_Compositor_MirrorWindowHidden = 1401,
 	VREvent_Compositor_ChaperoneBoundsShown = 1410,
@@ -3305,6 +3520,7 @@ public enum EHiddenAreaMeshType
 	k_eHiddenAreaMesh_Standard = 0,
 	k_eHiddenAreaMesh_Inverse = 1,
 	k_eHiddenAreaMesh_LineLoop = 2,
+	k_eHiddenAreaMesh_Max = 3,
 }
 public enum EVRControllerAxisType
 {
@@ -3360,7 +3576,8 @@ public enum EVRApplicationType
 	VRApplication_Utility = 4,
 	VRApplication_VRMonitor = 5,
 	VRApplication_SteamWatchdog = 6,
-	VRApplication_Max = 7,
+	VRApplication_Bootstrapper = 7,
+	VRApplication_Max = 8,
 }
 public enum EVRFirmwareError
 {
@@ -3536,6 +3753,7 @@ public enum EVRApplicationProperty
 	IsDashboardOverlay_Bool = 60,
 	IsTemplate_Bool = 61,
 	IsInstanced_Bool = 62,
+	IsInternal_Bool = 63,
 	LastLaunchTime_Uint64 = 70,
 }
 public enum EVRApplicationTransitionState
@@ -3863,6 +4081,12 @@ public enum EVRScreenshotError
 	public uint m_nFormat;
 	public uint m_nSampleCount;
 }
+[StructLayout(LayoutKind.Sequential)] public struct D3D12TextureData_t
+{
+	public IntPtr m_pResource; // struct ID3D12Resource *
+	public IntPtr m_pCommandQueue; // struct ID3D12CommandQueue *
+	public uint m_nNodeMask;
+}
 [StructLayout(LayoutKind.Sequential)] public struct VREvent_Controller_t
 {
 	public uint button;
@@ -3960,6 +4184,11 @@ public enum EVRScreenshotError
 {
 	public uint unVRMessageOverlayResponse;
 }
+[StructLayout(LayoutKind.Sequential)] public struct VREvent_Property_t
+{
+	public ulong container;
+	public ETrackedDeviceProperty prop;
+}
 [StructLayout(LayoutKind.Sequential)] public struct VREvent_t
 {
 	public uint eventType;
@@ -3967,6 +4196,28 @@ public enum EVRScreenshotError
 	public float eventAgeSeconds;
 	public VREvent_Data_t data;
 }
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct VREvent_t_Packed
+{
+	public uint eventType;
+	public uint trackedDeviceIndex;
+	public float eventAgeSeconds;
+	public VREvent_Data_t data;
+	public VREvent_t_Packed(VREvent_t unpacked)
+	{
+		this.eventType = unpacked.eventType;
+		this.trackedDeviceIndex = unpacked.trackedDeviceIndex;
+		this.eventAgeSeconds = unpacked.eventAgeSeconds;
+		this.data = unpacked.data;
+	}
+	public void Unpack(ref VREvent_t unpacked)
+	{
+		unpacked.eventType = this.eventType;
+		unpacked.trackedDeviceIndex = this.trackedDeviceIndex;
+		unpacked.eventAgeSeconds = this.eventAgeSeconds;
+		unpacked.data = this.data;
+	}
+}
 [StructLayout(LayoutKind.Sequential)] public struct HiddenAreaMesh_t
 {
 	public IntPtr pVertexData; // const struct vr::HmdVector2_t *
@@ -3988,6 +4239,40 @@ public enum EVRScreenshotError
 	public VRControllerAxis_t rAxis3;
 	public VRControllerAxis_t rAxis4;
 }
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct VRControllerState_t_Packed
+{
+	public uint unPacketNum;
+	public ulong ulButtonPressed;
+	public ulong ulButtonTouched;
+	public VRControllerAxis_t rAxis0; //VRControllerAxis_t[5]
+	public VRControllerAxis_t rAxis1;
+	public VRControllerAxis_t rAxis2;
+	public VRControllerAxis_t rAxis3;
+	public VRControllerAxis_t rAxis4;
+	public VRControllerState_t_Packed(VRControllerState_t unpacked)
+	{
+		this.unPacketNum = unpacked.unPacketNum;
+		this.ulButtonPressed = unpacked.ulButtonPressed;
+		this.ulButtonTouched = unpacked.ulButtonTouched;
+		this.rAxis0 = unpacked.rAxis0;
+		this.rAxis1 = unpacked.rAxis1;
+		this.rAxis2 = unpacked.rAxis2;
+		this.rAxis3 = unpacked.rAxis3;
+		this.rAxis4 = unpacked.rAxis4;
+	}
+	public void Unpack(ref VRControllerState_t unpacked)
+	{
+		unpacked.unPacketNum = this.unPacketNum;
+		unpacked.ulButtonPressed = this.ulButtonPressed;
+		unpacked.ulButtonTouched = this.ulButtonTouched;
+		unpacked.rAxis0 = this.rAxis0;
+		unpacked.rAxis1 = this.rAxis1;
+		unpacked.rAxis2 = this.rAxis2;
+		unpacked.rAxis3 = this.rAxis3;
+		unpacked.rAxis4 = this.rAxis4;
+	}
+}
 [StructLayout(LayoutKind.Sequential)] public struct Compositor_OverlaySettings
 {
 	public uint size;
@@ -4116,6 +4401,25 @@ public enum EVRScreenshotError
 	public char unHeight;
 	public IntPtr rubTextureMapData; // const uint8_t *
 }
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct RenderModel_TextureMap_t_Packed
+{
+	public char unWidth;
+	public char unHeight;
+	public IntPtr rubTextureMapData; // const uint8_t *
+	public RenderModel_TextureMap_t_Packed(RenderModel_TextureMap_t unpacked)
+	{
+		this.unWidth = unpacked.unWidth;
+		this.unHeight = unpacked.unHeight;
+		this.rubTextureMapData = unpacked.rubTextureMapData;
+	}
+	public void Unpack(ref RenderModel_TextureMap_t unpacked)
+	{
+		unpacked.unWidth = this.unWidth;
+		unpacked.unHeight = this.unHeight;
+		unpacked.rubTextureMapData = this.rubTextureMapData;
+	}
+}
 [StructLayout(LayoutKind.Sequential)] public struct RenderModel_t
 {
 	public IntPtr rVertexData; // const struct vr::RenderModel_Vertex_t *
@@ -4124,6 +4428,31 @@ public enum EVRScreenshotError
 	public uint unTriangleCount;
 	public int diffuseTextureId;
 }
+// This structure is for backwards binary compatibility on Linux and OSX only
+[StructLayout(LayoutKind.Sequential, Pack = 4)] public struct RenderModel_t_Packed
+{
+	public IntPtr rVertexData; // const struct vr::RenderModel_Vertex_t *
+	public uint unVertexCount;
+	public IntPtr rIndexData; // const uint16_t *
+	public uint unTriangleCount;
+	public int diffuseTextureId;
+	public RenderModel_t_Packed(RenderModel_t unpacked)
+	{
+		this.rVertexData = unpacked.rVertexData;
+		this.unVertexCount = unpacked.unVertexCount;
+		this.rIndexData = unpacked.rIndexData;
+		this.unTriangleCount = unpacked.unTriangleCount;
+		this.diffuseTextureId = unpacked.diffuseTextureId;
+	}
+	public void Unpack(ref RenderModel_t unpacked)
+	{
+		unpacked.rVertexData = this.rVertexData;
+		unpacked.unVertexCount = this.unVertexCount;
+		unpacked.rIndexData = this.rIndexData;
+		unpacked.unTriangleCount = this.unTriangleCount;
+		unpacked.diffuseTextureId = this.diffuseTextureId;
+	}
+}
 [StructLayout(LayoutKind.Sequential)] public struct RenderModel_ControllerMode_State_t
 {
 	[MarshalAs(UnmanagedType.I1)]
@@ -4200,6 +4529,20 @@ public class OpenVR
 	public const uint k_unMaxTrackedDeviceCount = 16;
 	public const uint k_unTrackedDeviceIndexOther = 4294967294;
 	public const uint k_unTrackedDeviceIndexInvalid = 4294967295;
+	public const ulong k_ulInvalidPropertyContainer = 0;
+	public const uint k_unInvalidPropertyTag = 0;
+	public const uint k_unFloatPropertyTag = 1;
+	public const uint k_unInt32PropertyTag = 2;
+	public const uint k_unUint64PropertyTag = 3;
+	public const uint k_unBoolPropertyTag = 4;
+	public const uint k_unStringPropertyTag = 5;
+	public const uint k_unHmdMatrix34PropertyTag = 20;
+	public const uint k_unHmdMatrix44PropertyTag = 21;
+	public const uint k_unHmdVector3PropertyTag = 22;
+	public const uint k_unHmdVector4PropertyTag = 23;
+	public const uint k_unHiddenAreaPropertyTag = 30;
+	public const uint k_unOpenVRInternalReserved_Start = 1000;
+	public const uint k_unOpenVRInternalReserved_End = 10000;
 	public const uint k_unMaxPropertyStringSize = 32768;
 	public const uint k_unControllerStateAxisCount = 5;
 	public const ulong k_ulOverlayHandleInvalid = 0;
@@ -4213,12 +4556,12 @@ public class OpenVR
 	public const string IVRApplications_Version = "IVRApplications_006";
 	public const string IVRChaperone_Version = "IVRChaperone_003";
 	public const string IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
-	public const string IVRCompositor_Version = "IVRCompositor_019";
+	public const string IVRCompositor_Version = "IVRCompositor_020";
 	public const uint k_unVROverlayMaxKeyLength = 128;
 	public const uint k_unVROverlayMaxNameLength = 128;
 	public const uint k_unMaxOverlayCount = 64;
 	public const uint k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
-	public const string IVROverlay_Version = "IVROverlay_014";
+	public const string IVROverlay_Version = "IVROverlay_016";
 	public const string k_pch_Controller_Component_GDC2015 = "gdc2015";
 	public const string k_pch_Controller_Component_Base = "base";
 	public const string k_pch_Controller_Component_Tip = "tip";
@@ -4235,7 +4578,6 @@ public class OpenVR
 	public const string k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
 	public const string k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
 	public const string k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
-	public const string k_pch_SteamVR_EnableDistortion_Bool = "enableDistortion";
 	public const string k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
 	public const string k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
 	public const string k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps";
@@ -4280,7 +4622,6 @@ public class OpenVR
 	public const string k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
 	public const string k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
 	public const string k_pch_Null_Section = "driver_null";
-	public const string k_pch_Null_EnableNullDriver_Bool = "enable";
 	public const string k_pch_Null_SerialNumber_String = "serialNumber";
 	public const string k_pch_Null_ModelNumber_String = "modelNumber";
 	public const string k_pch_Null_WindowX_Int32 = "windowX";
@@ -4350,6 +4691,7 @@ public class OpenVR
 	public const string k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
 	public const string k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
 	public const string k_pch_modelskin_Section = "modelskins";
+	public const string k_pch_Driver_Enable_Bool = "enable";
 	public const string IVRScreenshots_Version = "IVRScreenshots_001";
 	public const string IVRResources_Version = "IVRResources_001";
 
diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_api.json b/examples/ThirdPartyLibs/openvr/headers/openvr_api.json
index 24509ee00..43c3bf958 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr_api.json
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr_api.json
@@ -3,6 +3,8 @@
 ,{"typedef": "vr::glUInt_t","type": "uint32_t"}
 ,{"typedef": "vr::SharedTextureHandle_t","type": "uint64_t"}
 ,{"typedef": "vr::TrackedDeviceIndex_t","type": "uint32_t"}
+,{"typedef": "vr::PropertyContainerHandle_t","type": "uint64_t"}
+,{"typedef": "vr::PropertyTypeTag_t","type": "uint32_t"}
 ,{"typedef": "vr::VREvent_Data_t","type": "union VREvent_Data_t"}
 ,{"typedef": "vr::VRControllerState_t","type": "struct vr::VRControllerState001_t"}
 ,{"typedef": "vr::VROverlayHandle_t","type": "uint64_t"}
@@ -37,6 +39,8 @@
 	{"name": "TextureType_DirectX","value": "0"}
 	,{"name": "TextureType_OpenGL","value": "1"}
 	,{"name": "TextureType_Vulkan","value": "2"}
+	,{"name": "TextureType_IOSurface","value": "3"}
+	,{"name": "TextureType_DirectX12","value": "4"}
 ]}
 ,	{"enumname": "vr::EColorSpace","values": [ 
 	{"name": "ColorSpace_Auto","value": "0"}
@@ -56,6 +60,7 @@
 	,{"name": "TrackedDeviceClass_Controller","value": "2"}
 	,{"name": "TrackedDeviceClass_GenericTracker","value": "3"}
 	,{"name": "TrackedDeviceClass_TrackingReference","value": "4"}
+	,{"name": "TrackedDeviceClass_DisplayRedirect","value": "5"}
 ]}
 ,	{"enumname": "vr::ETrackedControllerRole","values": [ 
 	{"name": "TrackedControllerRole_Invalid","value": "0"}
@@ -103,6 +108,8 @@
 	,{"name": "Prop_DriverVersion_String","value": "1031"}
 	,{"name": "Prop_Firmware_ForceUpdateRequired_Bool","value": "1032"}
 	,{"name": "Prop_ViveSystemButtonFixRequired_Bool","value": "1033"}
+	,{"name": "Prop_ParentDriver_Uint64","value": "1034"}
+	,{"name": "Prop_ResourceRoot_String","value": "1035"}
 	,{"name": "Prop_ReportsTimeSinceVSync_Bool","value": "2000"}
 	,{"name": "Prop_SecondsFromVsyncToPhotons_Float","value": "2001"}
 	,{"name": "Prop_DisplayFrequency_Float","value": "2002"}
@@ -141,6 +148,11 @@
 	,{"name": "Prop_ScreenshotVerticalFieldOfViewDegrees_Float","value": "2035"}
 	,{"name": "Prop_DisplaySuppressed_Bool","value": "2036"}
 	,{"name": "Prop_DisplayAllowNightMode_Bool","value": "2037"}
+	,{"name": "Prop_DisplayMCImageWidth_Int32","value": "2038"}
+	,{"name": "Prop_DisplayMCImageHeight_Int32","value": "2039"}
+	,{"name": "Prop_DisplayMCImageNumChannels_Int32","value": "2040"}
+	,{"name": "Prop_DisplayMCImageData_Binary","value": "2041"}
+	,{"name": "Prop_SecondsFromPhotonsToVblank_Float","value": "2042"}
 	,{"name": "Prop_AttachedDeviceId_String","value": "3000"}
 	,{"name": "Prop_SupportedButtons_Uint64","value": "3001"}
 	,{"name": "Prop_Axis0Type_Int32","value": "3002"}
@@ -165,6 +177,15 @@
 	,{"name": "Prop_NamedIconPathDeviceNotReady_String","value": "5006"}
 	,{"name": "Prop_NamedIconPathDeviceStandby_String","value": "5007"}
 	,{"name": "Prop_NamedIconPathDeviceAlertLow_String","value": "5008"}
+	,{"name": "Prop_DisplayHiddenArea_Binary_Start","value": "5100"}
+	,{"name": "Prop_DisplayHiddenArea_Binary_End","value": "5150"}
+	,{"name": "Prop_UserConfigPath_String","value": "6000"}
+	,{"name": "Prop_InstallPath_String","value": "6001"}
+	,{"name": "Prop_HasDisplayComponent_Bool","value": "6002"}
+	,{"name": "Prop_HasControllerComponent_Bool","value": "6003"}
+	,{"name": "Prop_HasCameraComponent_Bool","value": "6004"}
+	,{"name": "Prop_HasDriverDirectModeComponent_Bool","value": "6005"}
+	,{"name": "Prop_HasVirtualDisplayComponent_Bool","value": "6006"}
 	,{"name": "Prop_VendorSpecific_Reserved_Start","value": "10000"}
 	,{"name": "Prop_VendorSpecific_Reserved_End","value": "10999"}
 ]}
@@ -180,6 +201,7 @@
 	,{"name": "TrackedProp_StringExceedsMaximumLength","value": "8"}
 	,{"name": "TrackedProp_NotYetAvailable","value": "9"}
 	,{"name": "TrackedProp_PermissionDenied","value": "10"}
+	,{"name": "TrackedProp_InvalidOperation","value": "11"}
 ]}
 ,	{"enumname": "vr::EVRSubmitFlags","values": [ 
 	{"name": "Submit_Default","value": "0"}
@@ -211,6 +233,7 @@
 	,{"name": "VREvent_TrackedDeviceRoleChanged","value": "108"}
 	,{"name": "VREvent_WatchdogWakeUpRequested","value": "109"}
 	,{"name": "VREvent_LensDistortionChanged","value": "110"}
+	,{"name": "VREvent_PropertyChanged","value": "111"}
 	,{"name": "VREvent_ButtonPress","value": "200"}
 	,{"name": "VREvent_ButtonUnpress","value": "201"}
 	,{"name": "VREvent_ButtonTouch","value": "202"}
@@ -257,6 +280,7 @@
 	,{"name": "VREvent_ScreenshotFailed","value": "522"}
 	,{"name": "VREvent_SubmitScreenshotToDashboard","value": "523"}
 	,{"name": "VREvent_ScreenshotProgressToDashboard","value": "524"}
+	,{"name": "VREvent_PrimaryDashboardDeviceChanged","value": "525"}
 	,{"name": "VREvent_Notification_Shown","value": "600"}
 	,{"name": "VREvent_Notification_Hidden","value": "601"}
 	,{"name": "VREvent_Notification_BeginInteraction","value": "602"}
@@ -290,6 +314,9 @@
 	,{"name": "VREvent_ApplicationTransitionNewAppStarted","value": "1302"}
 	,{"name": "VREvent_ApplicationListUpdated","value": "1303"}
 	,{"name": "VREvent_ApplicationMimeTypeLoad","value": "1304"}
+	,{"name": "VREvent_ApplicationTransitionNewAppLaunchComplete","value": "1305"}
+	,{"name": "VREvent_ProcessConnected","value": "1306"}
+	,{"name": "VREvent_ProcessDisconnected","value": "1307"}
 	,{"name": "VREvent_Compositor_MirrorWindowShown","value": "1400"}
 	,{"name": "VREvent_Compositor_MirrorWindowHidden","value": "1401"}
 	,{"name": "VREvent_Compositor_ChaperoneBoundsShown","value": "1410"}
@@ -342,6 +369,7 @@
 	{"name": "k_eHiddenAreaMesh_Standard","value": "0"}
 	,{"name": "k_eHiddenAreaMesh_Inverse","value": "1"}
 	,{"name": "k_eHiddenAreaMesh_LineLoop","value": "2"}
+	,{"name": "k_eHiddenAreaMesh_Max","value": "3"}
 ]}
 ,	{"enumname": "vr::EVRControllerAxisType","values": [ 
 	{"name": "k_eControllerAxis_None","value": "0"}
@@ -392,7 +420,8 @@
 	,{"name": "VRApplication_Utility","value": "4"}
 	,{"name": "VRApplication_VRMonitor","value": "5"}
 	,{"name": "VRApplication_SteamWatchdog","value": "6"}
-	,{"name": "VRApplication_Max","value": "7"}
+	,{"name": "VRApplication_Bootstrapper","value": "7"}
+	,{"name": "VRApplication_Max","value": "8"}
 ]}
 ,	{"enumname": "vr::EVRFirmwareError","values": [ 
 	{"name": "VRFirmwareError_None","value": "0"}
@@ -559,6 +588,7 @@
 	,{"name": "VRApplicationProperty_IsDashboardOverlay_Bool","value": "60"}
 	,{"name": "VRApplicationProperty_IsTemplate_Bool","value": "61"}
 	,{"name": "VRApplicationProperty_IsInstanced_Bool","value": "62"}
+	,{"name": "VRApplicationProperty_IsInternal_Bool","value": "63"}
 	,{"name": "VRApplicationProperty_LastLaunchTime_Uint64","value": "70"}
 ]}
 ,	{"enumname": "vr::EVRApplicationTransitionState","values": [ 
@@ -717,6 +747,34 @@
 	"constname": "k_unTrackedDeviceIndexOther","consttype": "const uint32_t", "constval": "4294967294"}
 ,{
 	"constname": "k_unTrackedDeviceIndexInvalid","consttype": "const uint32_t", "constval": "4294967295"}
+,{
+	"constname": "k_ulInvalidPropertyContainer","consttype": "const PropertyContainerHandle_t", "constval": "0"}
+,{
+	"constname": "k_unInvalidPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "0"}
+,{
+	"constname": "k_unFloatPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "1"}
+,{
+	"constname": "k_unInt32PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "2"}
+,{
+	"constname": "k_unUint64PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "3"}
+,{
+	"constname": "k_unBoolPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "4"}
+,{
+	"constname": "k_unStringPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "5"}
+,{
+	"constname": "k_unHmdMatrix34PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "20"}
+,{
+	"constname": "k_unHmdMatrix44PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "21"}
+,{
+	"constname": "k_unHmdVector3PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "22"}
+,{
+	"constname": "k_unHmdVector4PropertyTag","consttype": "const PropertyTypeTag_t", "constval": "23"}
+,{
+	"constname": "k_unHiddenAreaPropertyTag","consttype": "const PropertyTypeTag_t", "constval": "30"}
+,{
+	"constname": "k_unOpenVRInternalReserved_Start","consttype": "const PropertyTypeTag_t", "constval": "1000"}
+,{
+	"constname": "k_unOpenVRInternalReserved_End","consttype": "const PropertyTypeTag_t", "constval": "10000"}
 ,{
 	"constname": "k_unMaxPropertyStringSize","consttype": "const uint32_t", "constval": "32768"}
 ,{
@@ -744,7 +802,7 @@
 ,{
 	"constname": "IVRChaperoneSetup_Version","consttype": "const char *const", "constval": "IVRChaperoneSetup_005"}
 ,{
-	"constname": "IVRCompositor_Version","consttype": "const char *const", "constval": "IVRCompositor_019"}
+	"constname": "IVRCompositor_Version","consttype": "const char *const", "constval": "IVRCompositor_020"}
 ,{
 	"constname": "k_unVROverlayMaxKeyLength","consttype": "const uint32_t", "constval": "128"}
 ,{
@@ -754,7 +812,7 @@
 ,{
 	"constname": "k_unMaxOverlayIntersectionMaskPrimitivesCount","consttype": "const uint32_t", "constval": "32"}
 ,{
-	"constname": "IVROverlay_Version","consttype": "const char *const", "constval": "IVROverlay_014"}
+	"constname": "IVROverlay_Version","consttype": "const char *const", "constval": "IVROverlay_016"}
 ,{
 	"constname": "k_pch_Controller_Component_GDC2015","consttype": "const char *const", "constval": "gdc2015"}
 ,{
@@ -787,8 +845,6 @@
 	"constname": "k_pch_SteamVR_DisplayDebug_Bool","consttype": "const char *const", "constval": "displayDebug"}
 ,{
 	"constname": "k_pch_SteamVR_DebugProcessPipe_String","consttype": "const char *const", "constval": "debugProcessPipe"}
-,{
-	"constname": "k_pch_SteamVR_EnableDistortion_Bool","consttype": "const char *const", "constval": "enableDistortion"}
 ,{
 	"constname": "k_pch_SteamVR_DisplayDebugX_Int32","consttype": "const char *const", "constval": "displayDebugX"}
 ,{
@@ -877,8 +933,6 @@
 	"constname": "k_pch_Lighthouse_DBHistory_Bool","consttype": "const char *const", "constval": "dbhistory"}
 ,{
 	"constname": "k_pch_Null_Section","consttype": "const char *const", "constval": "driver_null"}
-,{
-	"constname": "k_pch_Null_EnableNullDriver_Bool","consttype": "const char *const", "constval": "enable"}
 ,{
 	"constname": "k_pch_Null_SerialNumber_String","consttype": "const char *const", "constval": "serialNumber"}
 ,{
@@ -1017,6 +1071,8 @@
 	"constname": "k_pch_Dashboard_ArcadeMode_Bool","consttype": "const char *const", "constval": "arcadeMode"}
 ,{
 	"constname": "k_pch_modelskin_Section","consttype": "const char *const", "constval": "modelskins"}
+,{
+	"constname": "k_pch_Driver_Enable_Bool","consttype": "const char *const", "constval": "enable"}
 ,{
 	"constname": "IVRScreenshots_Version","consttype": "const char *const", "constval": "IVRScreenshots_001"}
 ,{
@@ -1080,6 +1136,10 @@
 { "fieldname": "m_nHeight", "fieldtype": "uint32_t"},
 { "fieldname": "m_nFormat", "fieldtype": "uint32_t"},
 { "fieldname": "m_nSampleCount", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::D3D12TextureData_t","fields": [
+{ "fieldname": "m_pResource", "fieldtype": "struct ID3D12Resource *"},
+{ "fieldname": "m_pCommandQueue", "fieldtype": "struct ID3D12CommandQueue *"},
+{ "fieldname": "m_nNodeMask", "fieldtype": "uint32_t"}]}
 ,{"struct": "vr::VREvent_Controller_t","fields": [
 { "fieldname": "button", "fieldtype": "uint32_t"}]}
 ,{"struct": "vr::VREvent_Mouse_t","fields": [
@@ -1136,6 +1196,9 @@
 { "fieldname": "nVisualMode", "fieldtype": "uint32_t"}]}
 ,{"struct": "vr::VREvent_MessageOverlay_t","fields": [
 { "fieldname": "unVRMessageOverlayResponse", "fieldtype": "uint32_t"}]}
+,{"struct": "vr::VREvent_Property_t","fields": [
+{ "fieldname": "container", "fieldtype": "PropertyContainerHandle_t"},
+{ "fieldname": "prop", "fieldtype": "enum vr::ETrackedDeviceProperty"}]}
 ,{"struct": "vr::(anonymous)","fields": [
 { "fieldname": "reserved", "fieldtype": "struct vr::VREvent_Reserved_t"},
 { "fieldname": "controller", "fieldtype": "struct vr::VREvent_Controller_t"},
@@ -1155,7 +1218,8 @@
 { "fieldname": "screenshotProgress", "fieldtype": "struct vr::VREvent_ScreenshotProgress_t"},
 { "fieldname": "applicationLaunch", "fieldtype": "struct vr::VREvent_ApplicationLaunch_t"},
 { "fieldname": "cameraSurface", "fieldtype": "struct vr::VREvent_EditingCameraSurface_t"},
-{ "fieldname": "messageOverlay", "fieldtype": "struct vr::VREvent_MessageOverlay_t"}]}
+{ "fieldname": "messageOverlay", "fieldtype": "struct vr::VREvent_MessageOverlay_t"},
+{ "fieldname": "property", "fieldtype": "struct vr::VREvent_Property_t"}]}
 ,{"struct": "vr::VREvent_t","fields": [
 { "fieldname": "eventType", "fieldtype": "uint32_t"},
 { "fieldname": "trackedDeviceIndex", "fieldtype": "TrackedDeviceIndex_t"},
@@ -2094,6 +2158,11 @@
 {	"paramname": "pchWorkingDirectory" ,"paramtype": "const char *"}
 	 ]
 }
+,{
+	"classname": "vr::IVRApplications",
+	"methodname": "GetCurrentSceneProcessId",
+	"returntype": "uint32_t"
+}
 ,{
 	"classname": "vr::IVRChaperone",
 	"methodname": "GetCalibrationState",
@@ -2559,6 +2628,14 @@
 {	"paramname": "ppD3D11ShaderResourceView" ,"paramtype": "void **"}
 	 ]
 }
+,{
+	"classname": "vr::IVRCompositor",
+	"methodname": "ReleaseMirrorTextureD3D11",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pD3D11ShaderResourceView" ,"paramtype": "void *"}
+	 ]
+}
 ,{
 	"classname": "vr::IVRCompositor",
 	"methodname": "GetMirrorTextureGL",
@@ -2628,7 +2705,7 @@
 	"returntype": "vr::EVROverlayError",
 	"params": [ 
 {	"paramname": "pchOverlayKey" ,"paramtype": "const char *"},
-{	"paramname": "pchOverlayFriendlyName" ,"paramtype": "const char *"},
+{	"paramname": "pchOverlayName" ,"paramtype": "const char *"},
 {	"paramname": "pOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t *"}
 	 ]
 }
@@ -2675,6 +2752,15 @@
 {	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
 	 ]
 }
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayName",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchName" ,"paramtype": "const char *"}
+	 ]
+}
 ,{
 	"classname": "vr::IVROverlay",
 	"methodname": "GetOverlayImageData",
@@ -2882,6 +2968,28 @@
 {	"paramname": "pOverlayTextureBounds" ,"paramtype": "struct vr::VRTextureBounds_t *"}
 	 ]
 }
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayRenderModel",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchValue" ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"},
+{	"paramname": "pColor" ,"paramtype": "struct vr::HmdColor_t *"},
+{	"paramname": "pError" ,"paramtype": "vr::EVROverlayError *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayRenderModel",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pchRenderModel" ,"paramtype": "const char *"},
+{	"paramname": "pColor" ,"paramtype": "const struct vr::HmdColor_t *"}
+	 ]
+}
 ,{
 	"classname": "vr::IVROverlay",
 	"methodname": "GetOverlayTransformType",
@@ -2952,6 +3060,26 @@
 {	"paramname": "unComponentNameSize" ,"paramtype": "uint32_t"}
 	 ]
 }
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "GetOverlayTransformOverlayRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulOverlayHandleParent" ,"paramtype": "vr::VROverlayHandle_t *"},
+{	"paramname": "pmatParentOverlayToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"}
+	 ]
+}
+,{
+	"classname": "vr::IVROverlay",
+	"methodname": "SetOverlayTransformOverlayRelative",
+	"returntype": "vr::EVROverlayError",
+	"params": [ 
+{	"paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "ulOverlayHandleParent" ,"paramtype": "vr::VROverlayHandle_t"},
+{	"paramname": "pmatParentOverlayToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"}
+	 ]
+}
 ,{
 	"classname": "vr::IVROverlay",
 	"methodname": "ShowOverlay",
diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h b/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h
index daffdfb22..f89566817 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h
@@ -17,7 +17,11 @@
 #define EXTERN_C
 #endif
 
+#if defined( _WIN32 )
 #define OPENVR_FNTABLE_CALLTYPE __stdcall
+#else
+#define OPENVR_FNTABLE_CALLTYPE 
+#endif
 
 // OPENVR API export macro
 #if defined( _WIN32 ) && !defined( _X360 )
@@ -50,6 +54,9 @@ typedef char bool;
 #include <stdbool.h>
 #endif
 
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
 
 // OpenVR Constants
 
@@ -58,6 +65,20 @@ static const unsigned int k_unTrackedDeviceIndex_Hmd = 0;
 static const unsigned int k_unMaxTrackedDeviceCount = 16;
 static const unsigned int k_unTrackedDeviceIndexOther = 4294967294;
 static const unsigned int k_unTrackedDeviceIndexInvalid = 4294967295;
+static const unsigned long k_ulInvalidPropertyContainer = 0;
+static const unsigned int k_unInvalidPropertyTag = 0;
+static const unsigned int k_unFloatPropertyTag = 1;
+static const unsigned int k_unInt32PropertyTag = 2;
+static const unsigned int k_unUint64PropertyTag = 3;
+static const unsigned int k_unBoolPropertyTag = 4;
+static const unsigned int k_unStringPropertyTag = 5;
+static const unsigned int k_unHmdMatrix34PropertyTag = 20;
+static const unsigned int k_unHmdMatrix44PropertyTag = 21;
+static const unsigned int k_unHmdVector3PropertyTag = 22;
+static const unsigned int k_unHmdVector4PropertyTag = 23;
+static const unsigned int k_unHiddenAreaPropertyTag = 30;
+static const unsigned int k_unOpenVRInternalReserved_Start = 1000;
+static const unsigned int k_unOpenVRInternalReserved_End = 10000;
 static const unsigned int k_unMaxPropertyStringSize = 32768;
 static const unsigned int k_unControllerStateAxisCount = 5;
 static const unsigned long k_ulOverlayHandleInvalid = 0;
@@ -71,12 +92,12 @@ static const char * k_pch_MimeType_GameTheater = "vr/game_theater";
 static const char * IVRApplications_Version = "IVRApplications_006";
 static const char * IVRChaperone_Version = "IVRChaperone_003";
 static const char * IVRChaperoneSetup_Version = "IVRChaperoneSetup_005";
-static const char * IVRCompositor_Version = "IVRCompositor_019";
+static const char * IVRCompositor_Version = "IVRCompositor_020";
 static const unsigned int k_unVROverlayMaxKeyLength = 128;
 static const unsigned int k_unVROverlayMaxNameLength = 128;
 static const unsigned int k_unMaxOverlayCount = 64;
 static const unsigned int k_unMaxOverlayIntersectionMaskPrimitivesCount = 32;
-static const char * IVROverlay_Version = "IVROverlay_014";
+static const char * IVROverlay_Version = "IVROverlay_016";
 static const char * k_pch_Controller_Component_GDC2015 = "gdc2015";
 static const char * k_pch_Controller_Component_Base = "base";
 static const char * k_pch_Controller_Component_Tip = "tip";
@@ -93,7 +114,6 @@ static const char * k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver";
 static const char * k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
 static const char * k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
 static const char * k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
-static const char * k_pch_SteamVR_EnableDistortion_Bool = "enableDistortion";
 static const char * k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
 static const char * k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
 static const char * k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps";
@@ -138,7 +158,6 @@ static const char * k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguation
 static const char * k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation";
 static const char * k_pch_Lighthouse_DBHistory_Bool = "dbhistory";
 static const char * k_pch_Null_Section = "driver_null";
-static const char * k_pch_Null_EnableNullDriver_Bool = "enable";
 static const char * k_pch_Null_SerialNumber_String = "serialNumber";
 static const char * k_pch_Null_ModelNumber_String = "modelNumber";
 static const char * k_pch_Null_WindowX_Int32 = "windowX";
@@ -208,6 +227,7 @@ static const char * k_pch_Dashboard_Section = "dashboard";
 static const char * k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
 static const char * k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
 static const char * k_pch_modelskin_Section = "modelskins";
+static const char * k_pch_Driver_Enable_Bool = "enable";
 static const char * IVRScreenshots_Version = "IVRScreenshots_001";
 static const char * IVRResources_Version = "IVRResources_001";
 
@@ -224,6 +244,8 @@ typedef enum ETextureType
 	ETextureType_TextureType_DirectX = 0,
 	ETextureType_TextureType_OpenGL = 1,
 	ETextureType_TextureType_Vulkan = 2,
+	ETextureType_TextureType_IOSurface = 3,
+	ETextureType_TextureType_DirectX12 = 4,
 } ETextureType;
 
 typedef enum EColorSpace
@@ -249,6 +271,7 @@ typedef enum ETrackedDeviceClass
 	ETrackedDeviceClass_TrackedDeviceClass_Controller = 2,
 	ETrackedDeviceClass_TrackedDeviceClass_GenericTracker = 3,
 	ETrackedDeviceClass_TrackedDeviceClass_TrackingReference = 4,
+	ETrackedDeviceClass_TrackedDeviceClass_DisplayRedirect = 5,
 } ETrackedDeviceClass;
 
 typedef enum ETrackedControllerRole
@@ -302,6 +325,8 @@ typedef enum ETrackedDeviceProperty
 	ETrackedDeviceProperty_Prop_DriverVersion_String = 1031,
 	ETrackedDeviceProperty_Prop_Firmware_ForceUpdateRequired_Bool = 1032,
 	ETrackedDeviceProperty_Prop_ViveSystemButtonFixRequired_Bool = 1033,
+	ETrackedDeviceProperty_Prop_ParentDriver_Uint64 = 1034,
+	ETrackedDeviceProperty_Prop_ResourceRoot_String = 1035,
 	ETrackedDeviceProperty_Prop_ReportsTimeSinceVSync_Bool = 2000,
 	ETrackedDeviceProperty_Prop_SecondsFromVsyncToPhotons_Float = 2001,
 	ETrackedDeviceProperty_Prop_DisplayFrequency_Float = 2002,
@@ -340,6 +365,11 @@ typedef enum ETrackedDeviceProperty
 	ETrackedDeviceProperty_Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
 	ETrackedDeviceProperty_Prop_DisplaySuppressed_Bool = 2036,
 	ETrackedDeviceProperty_Prop_DisplayAllowNightMode_Bool = 2037,
+	ETrackedDeviceProperty_Prop_DisplayMCImageWidth_Int32 = 2038,
+	ETrackedDeviceProperty_Prop_DisplayMCImageHeight_Int32 = 2039,
+	ETrackedDeviceProperty_Prop_DisplayMCImageNumChannels_Int32 = 2040,
+	ETrackedDeviceProperty_Prop_DisplayMCImageData_Binary = 2041,
+	ETrackedDeviceProperty_Prop_SecondsFromPhotonsToVblank_Float = 2042,
 	ETrackedDeviceProperty_Prop_AttachedDeviceId_String = 3000,
 	ETrackedDeviceProperty_Prop_SupportedButtons_Uint64 = 3001,
 	ETrackedDeviceProperty_Prop_Axis0Type_Int32 = 3002,
@@ -364,6 +394,15 @@ typedef enum ETrackedDeviceProperty
 	ETrackedDeviceProperty_Prop_NamedIconPathDeviceNotReady_String = 5006,
 	ETrackedDeviceProperty_Prop_NamedIconPathDeviceStandby_String = 5007,
 	ETrackedDeviceProperty_Prop_NamedIconPathDeviceAlertLow_String = 5008,
+	ETrackedDeviceProperty_Prop_DisplayHiddenArea_Binary_Start = 5100,
+	ETrackedDeviceProperty_Prop_DisplayHiddenArea_Binary_End = 5150,
+	ETrackedDeviceProperty_Prop_UserConfigPath_String = 6000,
+	ETrackedDeviceProperty_Prop_InstallPath_String = 6001,
+	ETrackedDeviceProperty_Prop_HasDisplayComponent_Bool = 6002,
+	ETrackedDeviceProperty_Prop_HasControllerComponent_Bool = 6003,
+	ETrackedDeviceProperty_Prop_HasCameraComponent_Bool = 6004,
+	ETrackedDeviceProperty_Prop_HasDriverDirectModeComponent_Bool = 6005,
+	ETrackedDeviceProperty_Prop_HasVirtualDisplayComponent_Bool = 6006,
 	ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_Start = 10000,
 	ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_End = 10999,
 } ETrackedDeviceProperty;
@@ -381,6 +420,7 @@ typedef enum ETrackedPropertyError
 	ETrackedPropertyError_TrackedProp_StringExceedsMaximumLength = 8,
 	ETrackedPropertyError_TrackedProp_NotYetAvailable = 9,
 	ETrackedPropertyError_TrackedProp_PermissionDenied = 10,
+	ETrackedPropertyError_TrackedProp_InvalidOperation = 11,
 } ETrackedPropertyError;
 
 typedef enum EVRSubmitFlags
@@ -418,6 +458,7 @@ typedef enum EVREventType
 	EVREventType_VREvent_TrackedDeviceRoleChanged = 108,
 	EVREventType_VREvent_WatchdogWakeUpRequested = 109,
 	EVREventType_VREvent_LensDistortionChanged = 110,
+	EVREventType_VREvent_PropertyChanged = 111,
 	EVREventType_VREvent_ButtonPress = 200,
 	EVREventType_VREvent_ButtonUnpress = 201,
 	EVREventType_VREvent_ButtonTouch = 202,
@@ -464,6 +505,7 @@ typedef enum EVREventType
 	EVREventType_VREvent_ScreenshotFailed = 522,
 	EVREventType_VREvent_SubmitScreenshotToDashboard = 523,
 	EVREventType_VREvent_ScreenshotProgressToDashboard = 524,
+	EVREventType_VREvent_PrimaryDashboardDeviceChanged = 525,
 	EVREventType_VREvent_Notification_Shown = 600,
 	EVREventType_VREvent_Notification_Hidden = 601,
 	EVREventType_VREvent_Notification_BeginInteraction = 602,
@@ -497,6 +539,9 @@ typedef enum EVREventType
 	EVREventType_VREvent_ApplicationTransitionNewAppStarted = 1302,
 	EVREventType_VREvent_ApplicationListUpdated = 1303,
 	EVREventType_VREvent_ApplicationMimeTypeLoad = 1304,
+	EVREventType_VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	EVREventType_VREvent_ProcessConnected = 1306,
+	EVREventType_VREvent_ProcessDisconnected = 1307,
 	EVREventType_VREvent_Compositor_MirrorWindowShown = 1400,
 	EVREventType_VREvent_Compositor_MirrorWindowHidden = 1401,
 	EVREventType_VREvent_Compositor_ChaperoneBoundsShown = 1410,
@@ -557,6 +602,7 @@ typedef enum EHiddenAreaMeshType
 	EHiddenAreaMeshType_k_eHiddenAreaMesh_Standard = 0,
 	EHiddenAreaMeshType_k_eHiddenAreaMesh_Inverse = 1,
 	EHiddenAreaMeshType_k_eHiddenAreaMesh_LineLoop = 2,
+	EHiddenAreaMeshType_k_eHiddenAreaMesh_Max = 3,
 } EHiddenAreaMeshType;
 
 typedef enum EVRControllerAxisType
@@ -617,7 +663,8 @@ typedef enum EVRApplicationType
 	EVRApplicationType_VRApplication_Utility = 4,
 	EVRApplicationType_VRApplication_VRMonitor = 5,
 	EVRApplicationType_VRApplication_SteamWatchdog = 6,
-	EVRApplicationType_VRApplication_Max = 7,
+	EVRApplicationType_VRApplication_Bootstrapper = 7,
+	EVRApplicationType_VRApplication_Max = 8,
 } EVRApplicationType;
 
 typedef enum EVRFirmwareError
@@ -802,6 +849,7 @@ typedef enum EVRApplicationProperty
 	EVRApplicationProperty_VRApplicationProperty_IsDashboardOverlay_Bool = 60,
 	EVRApplicationProperty_VRApplicationProperty_IsTemplate_Bool = 61,
 	EVRApplicationProperty_VRApplicationProperty_IsInstanced_Bool = 62,
+	EVRApplicationProperty_VRApplicationProperty_IsInternal_Bool = 63,
 	EVRApplicationProperty_VRApplicationProperty_LastLaunchTime_Uint64 = 70,
 } EVRApplicationProperty;
 
@@ -994,11 +1042,14 @@ typedef enum EVRScreenshotError
 typedef uint32_t TrackedDeviceIndex_t;
 typedef uint32_t VRNotificationId;
 typedef uint64_t VROverlayHandle_t;
+
 typedef void * glSharedTextureHandle_t;
 typedef int32_t glInt_t;
 typedef uint32_t glUInt_t;
 typedef uint64_t SharedTextureHandle_t;
 typedef uint32_t TrackedDeviceIndex_t;
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
 typedef uint64_t VROverlayHandle_t;
 typedef uint64_t TrackedCameraHandle_t;
 typedef uint32_t ScreenshotHandle_t;
@@ -1126,6 +1177,13 @@ typedef struct VRVulkanTextureData_t
 	uint32_t m_nSampleCount;
 } VRVulkanTextureData_t;
 
+typedef struct D3D12TextureData_t
+{
+	struct ID3D12Resource * m_pResource; // struct ID3D12Resource *
+	struct ID3D12CommandQueue * m_pCommandQueue; // struct ID3D12CommandQueue *
+	uint32_t m_nNodeMask;
+} D3D12TextureData_t;
+
 typedef struct VREvent_Controller_t
 {
 	uint32_t button;
@@ -1239,6 +1297,12 @@ typedef struct VREvent_MessageOverlay_t
 	uint32_t unVRMessageOverlayResponse;
 } VREvent_MessageOverlay_t;
 
+typedef struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	enum ETrackedDeviceProperty prop;
+} VREvent_Property_t;
+
 typedef struct HiddenAreaMesh_t
 {
 	struct HmdVector2_t * pVertexData; // const struct vr::HmdVector2_t *
@@ -1384,6 +1448,9 @@ typedef struct RenderModel_Vertex_t
 	float rfTextureCoord[2]; //float[2]
 } RenderModel_Vertex_t;
 
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( push, 4 )
+#endif
 typedef struct RenderModel_TextureMap_t
 {
 	uint16_t unWidth;
@@ -1391,6 +1458,12 @@ typedef struct RenderModel_TextureMap_t
 	uint8_t * rubTextureMapData; // const uint8_t *
 } RenderModel_TextureMap_t;
 
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( pop )
+#endif
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( push, 4 )
+#endif
 typedef struct RenderModel_t
 {
 	struct RenderModel_Vertex_t * rVertexData; // const struct vr::RenderModel_Vertex_t *
@@ -1400,6 +1473,9 @@ typedef struct RenderModel_t
 	TextureID_t diffuseTextureId;
 } RenderModel_t;
 
+#if defined(__linux__) || defined(__APPLE__)
+#pragma pack( pop )
+#endif
 typedef struct RenderModel_ControllerMode_State_t
 {
 	bool bScrollWheelVisible;
@@ -1577,6 +1653,7 @@ struct VR_IVRApplications_FnTable
 	char * (OPENVR_FNTABLE_CALLTYPE *GetApplicationsTransitionStateNameFromEnum)(EVRApplicationTransitionState state);
 	bool (OPENVR_FNTABLE_CALLTYPE *IsQuitUserPromptRequested)();
 	EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchInternalProcess)(char * pchBinaryPath, char * pchArguments, char * pchWorkingDirectory);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentSceneProcessId)();
 };
 
 struct VR_IVRChaperone_FnTable
@@ -1651,6 +1728,7 @@ struct VR_IVRCompositor_FnTable
 	void (OPENVR_FNTABLE_CALLTYPE *ForceReconnectProcess)();
 	void (OPENVR_FNTABLE_CALLTYPE *SuspendRendering)(bool bSuspend);
 	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureD3D11)(EVREye eEye, void * pD3D11DeviceOrResource, void ** ppD3D11ShaderResourceView);
+	void (OPENVR_FNTABLE_CALLTYPE *ReleaseMirrorTextureD3D11)(void * pD3D11ShaderResourceView);
 	EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureGL)(EVREye eEye, glUInt_t * pglTextureId, glSharedTextureHandle_t * pglSharedTextureHandle);
 	bool (OPENVR_FNTABLE_CALLTYPE *ReleaseSharedGLTexture)(glUInt_t glTextureId, glSharedTextureHandle_t glSharedTextureHandle);
 	void (OPENVR_FNTABLE_CALLTYPE *LockGLSharedTextureForAccess)(glSharedTextureHandle_t glSharedTextureHandle);
@@ -1662,12 +1740,13 @@ struct VR_IVRCompositor_FnTable
 struct VR_IVROverlay_FnTable
 {
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *FindOverlay)(char * pchOverlayKey, VROverlayHandle_t * pOverlayHandle);
-	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateOverlay)(char * pchOverlayKey, char * pchOverlayFriendlyName, VROverlayHandle_t * pOverlayHandle);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateOverlay)(char * pchOverlayKey, char * pchOverlayName, VROverlayHandle_t * pOverlayHandle);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *DestroyOverlay)(VROverlayHandle_t ulOverlayHandle);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetHighQualityOverlay)(VROverlayHandle_t ulOverlayHandle);
 	VROverlayHandle_t (OPENVR_FNTABLE_CALLTYPE *GetHighQualityOverlay)();
 	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayKey)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError);
 	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayName)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayName)(VROverlayHandle_t ulOverlayHandle, char * pchName);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayImageData)(VROverlayHandle_t ulOverlayHandle, void * pvBuffer, uint32_t unBufferSize, uint32_t * punWidth, uint32_t * punHeight);
 	char * (OPENVR_FNTABLE_CALLTYPE *GetOverlayErrorNameFromEnum)(EVROverlayError error);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRenderingPid)(VROverlayHandle_t ulOverlayHandle, uint32_t unPID);
@@ -1690,6 +1769,8 @@ struct VR_IVROverlay_FnTable
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureColorSpace)(VROverlayHandle_t ulOverlayHandle, EColorSpace * peTextureColorSpace);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds);
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayRenderModel)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, struct HmdColor_t * pColor, EVROverlayError * pError);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRenderModel)(VROverlayHandle_t ulOverlayHandle, char * pchRenderModel, struct HmdColor_t * pColor);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformType)(VROverlayHandle_t ulOverlayHandle, VROverlayTransformType * peTransformType);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin * peTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform);
@@ -1697,6 +1778,8 @@ struct VR_IVROverlay_FnTable
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceRelative)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punTrackedDevice, struct HmdMatrix34_t * pmatTrackedDeviceToOverlayTransform);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unDeviceIndex, char * pchComponentName);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punDeviceIndex, char * pchComponentName, uint32_t unComponentNameSize);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformOverlayRelative)(VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t * ulOverlayHandleParent, struct HmdMatrix34_t * pmatParentOverlayToOverlayTransform);
+	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformOverlayRelative)(VROverlayHandle_t ulOverlayHandle, VROverlayHandle_t ulOverlayHandleParent, struct HmdMatrix34_t * pmatParentOverlayToOverlayTransform);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowOverlay)(VROverlayHandle_t ulOverlayHandle);
 	EVROverlayError (OPENVR_FNTABLE_CALLTYPE *HideOverlay)(VROverlayHandle_t ulOverlayHandle);
 	bool (OPENVR_FNTABLE_CALLTYPE *IsOverlayVisible)(VROverlayHandle_t ulOverlayHandle);
diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h b/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h
index c2d550eba..e0732a0f5 100644
--- a/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h
+++ b/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h
@@ -21,19 +21,13 @@ struct VkPhysicalDevice_T;
 struct VkInstance_T;
 struct VkQueue_T;
 
+// Forward declarations to avoid requiring d3d12.h
+struct ID3D12Resource;
+struct ID3D12CommandQueue;
+
 namespace vr
 {
-
-#if defined(__linux__) || defined(__APPLE__) 
-	// The 32-bit version of gcc has the alignment requirement for uint64 and double set to
-	// 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned.
-	// The 64-bit version of gcc has the alignment requirement for these types set to
-	// 8 meaning that unless we use #pragma pack(4) our structures will get bigger.
-	// The 64-bit structure packing has to match the 32-bit structure packing for each platform.
-	#pragma pack( push, 4 )
-#else
-	#pragma pack( push, 8 )
-#endif
+#pragma pack( push, 8 )
 
 typedef void* glSharedTextureHandle_t;
 typedef int32_t glInt_t;
@@ -116,6 +110,8 @@ enum ETextureType
 	TextureType_DirectX = 0, // Handle is an ID3D11Texture
 	TextureType_OpenGL = 1,  // Handle is an OpenGL texture name or an OpenGL render buffer name, depending on submit flags
 	TextureType_Vulkan = 2, // Handle is a pointer to a VRVulkanTextureData_t structure
+	TextureType_IOSurface = 3, // Handle is a macOS cross-process-sharable IOSurfaceRef
+	TextureType_DirectX12 = 4, // Handle is a pointer to a D3D12TextureData_t structure
 };
 
 enum EColorSpace
@@ -164,6 +160,7 @@ enum ETrackedDeviceClass
 	TrackedDeviceClass_Controller = 2,			// Tracked controllers
 	TrackedDeviceClass_GenericTracker = 3,		// Generic trackers, similar to controllers
 	TrackedDeviceClass_TrackingReference = 4,	// Camera and base stations that serve as tracking reference points
+	TrackedDeviceClass_DisplayRedirect = 5,		// Accessories that aren't necessarily tracked themselves, but may redirect video output from other tracked devices
 };
 
 
@@ -199,6 +196,30 @@ enum ETrackingUniverseOrigin
 	TrackingUniverseRawAndUncalibrated = 2,	// Poses are provided in the coordinate system defined by the driver.  It has Y up and is unified for devices of the same driver. You usually don't want this one.
 };
 
+// Refers to a single container of properties
+typedef uint64_t PropertyContainerHandle_t;
+typedef uint32_t PropertyTypeTag_t;
+
+static const PropertyContainerHandle_t k_ulInvalidPropertyContainer = 0;
+static const PropertyTypeTag_t k_unInvalidPropertyTag = 0;
+
+// Use these tags to set/get common types as struct properties
+static const PropertyTypeTag_t k_unFloatPropertyTag = 1;
+static const PropertyTypeTag_t k_unInt32PropertyTag = 2;
+static const PropertyTypeTag_t k_unUint64PropertyTag = 3;
+static const PropertyTypeTag_t k_unBoolPropertyTag = 4;
+static const PropertyTypeTag_t k_unStringPropertyTag = 5;
+
+static const PropertyTypeTag_t k_unHmdMatrix34PropertyTag = 20;
+static const PropertyTypeTag_t k_unHmdMatrix44PropertyTag = 21;
+static const PropertyTypeTag_t k_unHmdVector3PropertyTag = 22;
+static const PropertyTypeTag_t k_unHmdVector4PropertyTag = 23;
+
+static const PropertyTypeTag_t k_unHiddenAreaPropertyTag = 30;
+
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_Start = 1000;
+static const PropertyTypeTag_t k_unOpenVRInternalReserved_End = 10000;
+
 
 /** Each entry in this enum represents a property that can be retrieved about a
 * tracked device. Many fields are only valid for one ETrackedDeviceClass. */
@@ -241,6 +262,8 @@ enum ETrackedDeviceProperty
 	Prop_DriverVersion_String                   = 1031,
 	Prop_Firmware_ForceUpdateRequired_Bool      = 1032,
 	Prop_ViveSystemButtonFixRequired_Bool		= 1033,
+	Prop_ParentDriver_Uint64					= 1034,
+	Prop_ResourceRoot_String					= 1035,
 
 	// Properties that are unique to TrackedDeviceClass_HMD
 	Prop_ReportsTimeSinceVSync_Bool				= 2000,
@@ -281,6 +304,11 @@ enum ETrackedDeviceProperty
 	Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035,
 	Prop_DisplaySuppressed_Bool					= 2036,
 	Prop_DisplayAllowNightMode_Bool				= 2037,
+	Prop_DisplayMCImageWidth_Int32				= 2038,
+	Prop_DisplayMCImageHeight_Int32				= 2039,
+	Prop_DisplayMCImageNumChannels_Int32		= 2040,
+	Prop_DisplayMCImageData_Binary				= 2041,
+	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
 
 	// Properties that are unique to TrackedDeviceClass_Controller
 	Prop_AttachedDeviceId_String				= 3000,
@@ -312,6 +340,19 @@ enum ETrackedDeviceProperty
 	Prop_NamedIconPathDeviceStandby_String			= 5007, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
 	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
 
+	// Properties that are used by helpers, but are opaque to applications
+	Prop_DisplayHiddenArea_Binary_Start				= 5100,
+	Prop_DisplayHiddenArea_Binary_End				= 5150,
+
+	// Properties that are unique to drivers
+	Prop_UserConfigPath_String					= 6000,
+	Prop_InstallPath_String						= 6001,
+	Prop_HasDisplayComponent_Bool				= 6002,
+	Prop_HasControllerComponent_Bool			= 6003,
+	Prop_HasCameraComponent_Bool				= 6004,
+	Prop_HasDriverDirectModeComponent_Bool		= 6005,
+	Prop_HasVirtualDisplayComponent_Bool		= 6006,
+
 	// Vendors are free to expose private debug data in this reserved region
 	Prop_VendorSpecific_Reserved_Start			= 10000,
 	Prop_VendorSpecific_Reserved_End			= 10999,
@@ -327,13 +368,14 @@ enum ETrackedPropertyError
 	TrackedProp_WrongDataType				= 1,
 	TrackedProp_WrongDeviceClass			= 2,
 	TrackedProp_BufferTooSmall				= 3,
-	TrackedProp_UnknownProperty				= 4,
+	TrackedProp_UnknownProperty				= 4, // Driver has not set the property (and may not ever).
 	TrackedProp_InvalidDevice				= 5,
 	TrackedProp_CouldNotContactServer		= 6,
 	TrackedProp_ValueNotProvidedByDevice	= 7,
 	TrackedProp_StringExceedsMaximumLength	= 8,
 	TrackedProp_NotYetAvailable				= 9, // The property value isn't known yet, but is expected soon. Call again later.
 	TrackedProp_PermissionDenied			= 10,
+	TrackedProp_InvalidOperation			= 11,
 };
 
 /** Allows the application to control what part of the provided texture will be used in the
@@ -376,6 +418,14 @@ struct VRVulkanTextureData_t
 	uint32_t m_nWidth, m_nHeight, m_nFormat, m_nSampleCount;
 };
 
+/** Data required for passing D3D12 textures to IVRCompositor::Submit.
+* Be sure to call OpenVR_Shutdown before destroying these resources. */
+struct D3D12TextureData_t
+{
+	ID3D12Resource *m_pResource;
+	ID3D12CommandQueue *m_pCommandQueue;
+	uint32_t m_nNodeMask;
+};
 
 /** Status of the overall system or tracked objects */
 enum EVRState
@@ -399,7 +449,7 @@ enum EVREventType
 	VREvent_TrackedDeviceActivated		= 100,
 	VREvent_TrackedDeviceDeactivated	= 101,
 	VREvent_TrackedDeviceUpdated		= 102,
-	VREvent_TrackedDeviceUserInteractionStarted		= 103,
+	VREvent_TrackedDeviceUserInteractionStarted	= 103,
 	VREvent_TrackedDeviceUserInteractionEnded	= 104,
 	VREvent_IpdChanged					= 105,
 	VREvent_EnterStandbyMode			= 106,
@@ -407,6 +457,7 @@ enum EVREventType
 	VREvent_TrackedDeviceRoleChanged	= 108,
 	VREvent_WatchdogWakeUpRequested		= 109,
 	VREvent_LensDistortionChanged		= 110,
+	VREvent_PropertyChanged				= 111,
 
 	VREvent_ButtonPress					= 200, // data is controller
 	VREvent_ButtonUnpress				= 201, // data is controller
@@ -436,78 +487,83 @@ enum EVREventType
 
 	VREvent_OverlayShown				= 500,
 	VREvent_OverlayHidden				= 501,
-	VREvent_DashboardActivated		= 502,
-	VREvent_DashboardDeactivated	= 503,
-	VREvent_DashboardThumbSelected	= 504, // Sent to the overlay manager - data is overlay
-	VREvent_DashboardRequested		= 505, // Sent to the overlay manager - data is overlay
-	VREvent_ResetDashboard			= 506, // Send to the overlay manager
-	VREvent_RenderToast				= 507, // Send to the dashboard to render a toast - data is the notification ID
-	VREvent_ImageLoaded				= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
-	VREvent_ShowKeyboard = 509, // Sent to keyboard renderer in the dashboard to invoke it
-	VREvent_HideKeyboard = 510, // Sent to keyboard renderer in the dashboard to hide it
-	VREvent_OverlayGamepadFocusGained		= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
-	VREvent_OverlayGamepadFocusLost = 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
+	VREvent_DashboardActivated			= 502,
+	VREvent_DashboardDeactivated		= 503,
+	VREvent_DashboardThumbSelected		= 504, // Sent to the overlay manager - data is overlay
+	VREvent_DashboardRequested			= 505, // Sent to the overlay manager - data is overlay
+	VREvent_ResetDashboard				= 506, // Send to the overlay manager
+	VREvent_RenderToast					= 507, // Send to the dashboard to render a toast - data is the notification ID
+	VREvent_ImageLoaded					= 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading
+	VREvent_ShowKeyboard				= 509, // Sent to keyboard renderer in the dashboard to invoke it
+	VREvent_HideKeyboard				= 510, // Sent to keyboard renderer in the dashboard to hide it
+	VREvent_OverlayGamepadFocusGained	= 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it
+	VREvent_OverlayGamepadFocusLost		= 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else
 	VREvent_OverlaySharedTextureChanged = 513,
-	VREvent_DashboardGuideButtonDown = 514,
-	VREvent_DashboardGuideButtonUp = 515,
-	VREvent_ScreenshotTriggered	= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
-	VREvent_ImageFailed				= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
-	VREvent_DashboardOverlayCreated = 518,
+	VREvent_DashboardGuideButtonDown	= 514,
+	VREvent_DashboardGuideButtonUp		= 515,
+	VREvent_ScreenshotTriggered			= 516, // Screenshot button combo was pressed, Dashboard should request a screenshot
+	VREvent_ImageFailed					= 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load
+	VREvent_DashboardOverlayCreated		= 518,
 
 	// Screenshot API
-	VREvent_RequestScreenshot = 520, // Sent by vrclient application to compositor to take a screenshot
-	VREvent_ScreenshotTaken = 521, // Sent by compositor to the application that the screenshot has been taken
-	VREvent_ScreenshotFailed = 522, // Sent by compositor to the application that the screenshot failed to be taken
-	VREvent_SubmitScreenshotToDashboard = 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
-	VREvent_ScreenshotProgressToDashboard = 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_RequestScreenshot				= 520, // Sent by vrclient application to compositor to take a screenshot
+	VREvent_ScreenshotTaken					= 521, // Sent by compositor to the application that the screenshot has been taken
+	VREvent_ScreenshotFailed				= 522, // Sent by compositor to the application that the screenshot failed to be taken
+	VREvent_SubmitScreenshotToDashboard		= 523, // Sent by compositor to the dashboard that a completed screenshot was submitted
+	VREvent_ScreenshotProgressToDashboard	= 524, // Sent by compositor to the dashboard that a completed screenshot was submitted
+
+	VREvent_PrimaryDashboardDeviceChanged	= 525,
 
 	VREvent_Notification_Shown				= 600,
 	VREvent_Notification_Hidden				= 601,
 	VREvent_Notification_BeginInteraction	= 602,
 	VREvent_Notification_Destroyed			= 603,
 
-	VREvent_Quit						= 700, // data is process
-	VREvent_ProcessQuit					= 701, // data is process
-	VREvent_QuitAborted_UserPrompt		= 702, // data is process
-	VREvent_QuitAcknowledged			= 703, // data is process
-	VREvent_DriverRequestedQuit			= 704, // The driver has requested that SteamVR shut down
+	VREvent_Quit							= 700, // data is process
+	VREvent_ProcessQuit						= 701, // data is process
+	VREvent_QuitAborted_UserPrompt			= 702, // data is process
+	VREvent_QuitAcknowledged				= 703, // data is process
+	VREvent_DriverRequestedQuit				= 704, // The driver has requested that SteamVR shut down
 
-	VREvent_ChaperoneDataHasChanged		= 800,
-	VREvent_ChaperoneUniverseHasChanged	= 801,
-	VREvent_ChaperoneTempDataHasChanged = 802,
-	VREvent_ChaperoneSettingsHaveChanged = 803,
-	VREvent_SeatedZeroPoseReset			= 804,
+	VREvent_ChaperoneDataHasChanged			= 800,
+	VREvent_ChaperoneUniverseHasChanged		= 801,
+	VREvent_ChaperoneTempDataHasChanged		= 802,
+	VREvent_ChaperoneSettingsHaveChanged	= 803,
+	VREvent_SeatedZeroPoseReset				= 804,
 
-	VREvent_AudioSettingsHaveChanged	= 820,
+	VREvent_AudioSettingsHaveChanged		= 820,
 
-	VREvent_BackgroundSettingHasChanged	= 850,
-	VREvent_CameraSettingsHaveChanged	= 851,
-	VREvent_ReprojectionSettingHasChanged = 852,
-	VREvent_ModelSkinSettingsHaveChanged = 853,
-	VREvent_EnvironmentSettingsHaveChanged = 854,
-	VREvent_PowerSettingsHaveChanged = 855,
+	VREvent_BackgroundSettingHasChanged		= 850,
+	VREvent_CameraSettingsHaveChanged		= 851,
+	VREvent_ReprojectionSettingHasChanged	= 852,
+	VREvent_ModelSkinSettingsHaveChanged	= 853,
+	VREvent_EnvironmentSettingsHaveChanged	= 854,
+	VREvent_PowerSettingsHaveChanged		= 855,
 
-	VREvent_StatusUpdate				= 900,
+	VREvent_StatusUpdate					= 900,
 
-	VREvent_MCImageUpdated				= 1000,
+	VREvent_MCImageUpdated					= 1000,
 
-	VREvent_FirmwareUpdateStarted	= 1100,
-	VREvent_FirmwareUpdateFinished	= 1101,
+	VREvent_FirmwareUpdateStarted			= 1100,
+	VREvent_FirmwareUpdateFinished			= 1101,
 
-	VREvent_KeyboardClosed				= 1200,
-	VREvent_KeyboardCharInput			= 1201,
-	VREvent_KeyboardDone				= 1202, // Sent when DONE button clicked on keyboard
+	VREvent_KeyboardClosed					= 1200,
+	VREvent_KeyboardCharInput				= 1201,
+	VREvent_KeyboardDone					= 1202, // Sent when DONE button clicked on keyboard
 
-	VREvent_ApplicationTransitionStarted	= 1300,
-	VREvent_ApplicationTransitionAborted	= 1301,
-	VREvent_ApplicationTransitionNewAppStarted = 1302,
-	VREvent_ApplicationListUpdated			= 1303,
-	VREvent_ApplicationMimeTypeLoad			= 1304,
+	VREvent_ApplicationTransitionStarted		= 1300,
+	VREvent_ApplicationTransitionAborted		= 1301,
+	VREvent_ApplicationTransitionNewAppStarted	= 1302,
+	VREvent_ApplicationListUpdated				= 1303,
+	VREvent_ApplicationMimeTypeLoad				= 1304,
+	VREvent_ApplicationTransitionNewAppLaunchComplete = 1305,
+	VREvent_ProcessConnected					= 1306,
+	VREvent_ProcessDisconnected					= 1307,
 
-	VREvent_Compositor_MirrorWindowShown	= 1400,
-	VREvent_Compositor_MirrorWindowHidden	= 1401,
-	VREvent_Compositor_ChaperoneBoundsShown = 1410,
-	VREvent_Compositor_ChaperoneBoundsHidden = 1411,
+	VREvent_Compositor_MirrorWindowShown		= 1400,
+	VREvent_Compositor_MirrorWindowHidden		= 1401,
+	VREvent_Compositor_ChaperoneBoundsShown		= 1410,
+	VREvent_Compositor_ChaperoneBoundsHidden	= 1411,
 
 	VREvent_TrackedCamera_StartVideoStream  = 1500,
 	VREvent_TrackedCamera_StopVideoStream   = 1501,
@@ -515,26 +571,30 @@ enum EVREventType
 	VREvent_TrackedCamera_ResumeVideoStream = 1503,
 	VREvent_TrackedCamera_EditingSurface    = 1550,
 
-	VREvent_PerformanceTest_EnableCapture = 1600,
-	VREvent_PerformanceTest_DisableCapture = 1601,
-	VREvent_PerformanceTest_FidelityLevel = 1602,
+	VREvent_PerformanceTest_EnableCapture	= 1600,
+	VREvent_PerformanceTest_DisableCapture	= 1601,
+	VREvent_PerformanceTest_FidelityLevel	= 1602,
 
-	VREvent_MessageOverlay_Closed = 1650,
+	VREvent_MessageOverlay_Closed			= 1650,
 	
 	// Vendors are free to expose private events in this reserved region
-	VREvent_VendorSpecific_Reserved_Start = 10000,
-	VREvent_VendorSpecific_Reserved_End = 19999,
+	VREvent_VendorSpecific_Reserved_Start	= 10000,
+	VREvent_VendorSpecific_Reserved_End		= 19999,
 };
 
 
 /** Level of Hmd activity */
+// UserInteraction_Timeout means the device is in the process of timing out.
+// InUse = ( k_EDeviceActivityLevel_UserInteraction || k_EDeviceActivityLevel_UserInteraction_Timeout )
+// VREvent_TrackedDeviceUserInteractionStarted fires when the devices transitions from Standby -> UserInteraction or Idle -> UserInteraction.
+// VREvent_TrackedDeviceUserInteractionEnded fires when the devices transitions from UserInteraction_Timeout -> Idle
 enum EDeviceActivityLevel
-{
-	k_EDeviceActivityLevel_Unknown = -1,
-	k_EDeviceActivityLevel_Idle = 0,
-	k_EDeviceActivityLevel_UserInteraction = 1,
-	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,
-	k_EDeviceActivityLevel_Standby = 3,
+{	
+	k_EDeviceActivityLevel_Unknown = -1,									
+	k_EDeviceActivityLevel_Idle = 0,						// No activity for the last 10 seconds
+	k_EDeviceActivityLevel_UserInteraction = 1,				// Activity (movement or prox sensor) is happening now	
+	k_EDeviceActivityLevel_UserInteraction_Timeout = 2,		// No activity for the last 0.5 seconds
+	k_EDeviceActivityLevel_Standby = 3,						// Idle for at least 5 seconds (configurable in Settings -> Power Management)
 };
 
 
@@ -711,6 +771,12 @@ struct VREvent_MessageOverlay_t
 	uint32_t unVRMessageOverlayResponse; // vr::VRMessageOverlayResponse enum
 };
 
+struct VREvent_Property_t
+{
+	PropertyContainerHandle_t container;
+	ETrackedDeviceProperty prop;
+};
+
 /** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py */
 typedef union
 {
@@ -733,8 +799,16 @@ typedef union
 	VREvent_ApplicationLaunch_t applicationLaunch;
 	VREvent_EditingCameraSurface_t cameraSurface;
 	VREvent_MessageOverlay_t messageOverlay;
+	VREvent_Property_t property;
 } VREvent_Data_t;
 
+
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
 /** An event posted by the server to all running applications */
 struct VREvent_t
 {
@@ -745,6 +819,9 @@ struct VREvent_t
 	VREvent_Data_t data;
 };
 
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
 
 /** The mesh to draw into the stencil (or depth) buffer to perform 
 * early stencil (or depth) kills of pixels that will never appear on the HMD.
@@ -764,6 +841,8 @@ enum EHiddenAreaMeshType
 	k_eHiddenAreaMesh_Standard = 0,
 	k_eHiddenAreaMesh_Inverse = 1,
 	k_eHiddenAreaMesh_LineLoop = 2,
+
+	k_eHiddenAreaMesh_Max = 3,
 };
 
 
@@ -791,6 +870,12 @@ struct VRControllerAxis_t
 static const uint32_t k_unControllerStateAxisCount = 5;
 
 
+#if defined(__linux__) || defined(__APPLE__) 
+// This structure was originally defined mis-packed on Linux, preserved for 
+// compatibility. 
+#pragma pack( push, 4 )
+#endif
+
 /** Holds all the state of a controller at one moment in time. */
 struct VRControllerState001_t
 {
@@ -805,6 +890,9 @@ struct VRControllerState001_t
 	// Axis data for the controller's analog inputs
 	VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ];
 };
+#if defined(__linux__) || defined(__APPLE__) 
+#pragma pack( pop )
+#endif
 
 
 typedef VRControllerState001_t VRControllerState_t;
@@ -887,6 +975,7 @@ enum EVRApplicationType
 									// interfaces (like IVRSettings and IVRApplications) but not hardware.
 	VRApplication_VRMonitor = 5,	// Reserved for vrmonitor
 	VRApplication_SteamWatchdog = 6,// Reserved for Steam
+	VRApplication_Bootstrapper = 7, // Start up SteamVR
 
 	VRApplication_Max
 };
@@ -1132,16 +1221,7 @@ static const uint32_t k_unScreenshotHandleInvalid = 0;
 namespace vr
 {
 
-#if defined(__linux__) || defined(__APPLE__) 
-	// The 32-bit version of gcc has the alignment requirement for uint64 and double set to
-	// 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned.
-	// The 64-bit version of gcc has the alignment requirement for these types set to
-	// 8 meaning that unless we use #pragma pack(4) our structures will get bigger.
-	// The 64-bit structure packing has to match the 32-bit structure packing for each platform.
-	#pragma pack( push, 4 )
-#else
-	#pragma pack( push, 8 )
-#endif
+#pragma pack( push, 8 )
 
 enum ECameraVideoStreamFormat
 {
@@ -1274,7 +1354,6 @@ namespace vr
 	static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd";
 	static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug";
 	static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe";
-	static const char * const k_pch_SteamVR_EnableDistortion_Bool = "enableDistortion";
 	static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX";
 	static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY";
 	static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps";
@@ -1325,7 +1404,6 @@ namespace vr
 	//-----------------------------------------------------------------------------
 	// null keys
 	static const char * const k_pch_Null_Section = "driver_null";
-	static const char * const k_pch_Null_EnableNullDriver_Bool = "enable";
 	static const char * const k_pch_Null_SerialNumber_String = "serialNumber";
 	static const char * const k_pch_Null_ModelNumber_String = "modelNumber";
 	static const char * const k_pch_Null_WindowX_Int32 = "windowX";
@@ -1426,6 +1504,10 @@ namespace vr
 	// model skin keys
 	static const char * const k_pch_modelskin_Section = "modelskins";
 
+	//-----------------------------------------------------------------------------
+	// driver keys - These could be checked in any driver_<name> section
+	static const char * const k_pch_Driver_Enable_Bool = "enable";
+
 } // namespace vr
 
 // iservertrackeddevicedriver.h
@@ -1543,37 +1625,11 @@ public:
 	// Tracking Methods
 	// ------------------------------------
 	virtual DriverPose_t GetPose() = 0;
-
-	// ------------------------------------
-	// Property Methods
-	// ------------------------------------
-
-	/** Returns a bool property. If the property is not available this function will return false. */
-	virtual bool GetBoolTrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0;
-
-	/** Returns a float property. If the property is not available this function will return 0. */
-	virtual float GetFloatTrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0;
-
-	/** Returns an int property. If the property is not available this function will return 0. */
-	virtual int32_t GetInt32TrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0;
-
-	/** Returns a uint64 property. If the property is not available this function will return 0. */
-	virtual uint64_t GetUint64TrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0;
-
-	/** Returns a matrix property. If the device index is not valid or the property is not a matrix type, this function will return identity. */
-	virtual HmdMatrix34_t GetMatrix34TrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0;
-
-	/** Returns a string property. If the property is not available this function will return 0 and pError will be 
-	* set to an error. Otherwise it returns the length of the number of bytes necessary to hold this string including 
-	* the trailing null. If the buffer is too small the error will be TrackedProp_BufferTooSmall.  Drivers may not 
-	* return strings longer than k_unMaxPropertyStringSize. */
-	virtual uint32_t GetStringTrackedDeviceProperty( ETrackedDeviceProperty prop, char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError ) = 0;
-
 };
 
 
 
-static const char *ITrackedDeviceServerDriver_Version = "ITrackedDeviceServerDriver_004";
+static const char *ITrackedDeviceServerDriver_Version = "ITrackedDeviceServerDriver_005";
 
 }
 // ivrdisplaycomponent.h
@@ -1745,73 +1801,21 @@ namespace vr
 class ITrackedDeviceServerDriver;
 struct TrackedDeviceDriverInfo_t;
 struct DriverPose_t;
-
-class IDriverLog
-{
-public:
-	/** Writes a log message to the log file prefixed with the driver name */
-	virtual void Log( const char *pchLogMessage ) = 0;
-};
+typedef PropertyContainerHandle_t DriverHandle_t;
 
 /** This interface is provided by vrserver to allow the driver to notify 
 * the system when something changes about a device. These changes must
 * not change the serial number or class of the device because those values
 * are permanently associated with the device's index. */
-class IServerDriverHost
+class IVRDriverContext
 {
 public:
-	/** Notifies the server that a tracked device has been added. If this function returns true
-	* the server will call Activate on the device. If it returns false some kind of error
-	* has occurred and the device will not be activated. */
-	virtual bool TrackedDeviceAdded( const char *pchDeviceSerialNumber ) = 0;
+	/** Returns the requested interface. If the interface was not available it will return NULL and fill
+	* out the error. */
+	virtual void *GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError = nullptr ) = 0;
 
-	/** Notifies the server that a tracked device's pose has been updated */
-	virtual void TrackedDevicePoseUpdated( uint32_t unWhichDevice, const DriverPose_t & newPose ) = 0;
-
-	/** Notifies the server that the property cache for the specified device should be invalidated */
-	virtual void TrackedDevicePropertiesChanged( uint32_t unWhichDevice ) = 0;
-
-	/** Notifies the server that vsync has occurred on the the display attached to the device. This is
-	* only permitted on devices of the HMD class. */
-	virtual void VsyncEvent( double vsyncTimeOffsetSeconds ) = 0;
-
-	/** notifies the server that the button was pressed */
-	virtual void TrackedDeviceButtonPressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
-
-	/** notifies the server that the button was unpressed */
-	virtual void TrackedDeviceButtonUnpressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
-
-	/** notifies the server that the button was pressed */
-	virtual void TrackedDeviceButtonTouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
-
-	/** notifies the server that the button was unpressed */
-	virtual void TrackedDeviceButtonUntouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
-
-	/** notifies the server than a controller axis changed */
-	virtual void TrackedDeviceAxisUpdated( uint32_t unWhichDevice, uint32_t unWhichAxis, const VRControllerAxis_t & axisState ) = 0;
-
-	/** Notifies the server that the MC image has been updated for the display attached to the device. This is
-	* only permitted on devices of the HMD class. */
-	virtual void MCImageUpdated() = 0;
-	
-	/** always returns a pointer to a valid interface pointer of IVRSettings */
-	virtual IVRSettings *GetSettings( const char *pchInterfaceVersion ) = 0;
-
-	/** Notifies the server that the physical IPD adjustment has been moved on the HMD */
-	virtual void PhysicalIpdSet( uint32_t unWhichDevice, float fPhysicalIpdMeters ) = 0;
-
-	/** Notifies the server that the proximity sensor on the specified device  */
-	virtual void ProximitySensorState( uint32_t unWhichDevice, bool bProximitySensorTriggered ) = 0;
-
-	/** Sends a vendor specific event (VREvent_VendorSpecific_Reserved_Start..VREvent_VendorSpecific_Reserved_End */
-	virtual void VendorSpecificEvent( uint32_t unWhichDevice, vr::EVREventType eventType, const VREvent_Data_t & eventData, double eventTimeOffset ) = 0;
-
-	/** Returns true if SteamVR is exiting */
-	virtual bool IsExiting() = 0;
-
-	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
-	* this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
-	virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+	/** Returns the property container handle for this driver */
+	virtual DriverHandle_t GetDriverHandle() = 0;
 };
 
 
@@ -1828,7 +1832,7 @@ public:
 	*	config files.
 	* pchDriverInstallDir - The absolute path of the root directory for the driver.
 	*/
-	virtual EVRInitError Init( IDriverLog *pDriverLog, vr::IServerDriverHost *pDriverHost, const char *pchUserDriverConfigDir, const char *pchDriverInstallDir ) = 0;
+	virtual EVRInitError Init( IVRDriverContext *pDriverContext ) = 0;
 
 	/** cleans up the driver right before it is unloaded */
 	virtual void Cleanup() = 0;
@@ -1836,15 +1840,6 @@ public:
 	/** Returns the version of the ITrackedDeviceServerDriver interface used by this driver */
 	virtual const char * const *GetInterfaceVersions() = 0;
 
-	/** returns the number of HMDs that this driver manages that are physically connected. */
-	virtual uint32_t GetTrackedDeviceCount() = 0;
-
-	/** returns a single HMD */
-	virtual ITrackedDeviceServerDriver *GetTrackedDeviceDriver( uint32_t unWhich ) = 0;
-
-	/** returns a single HMD by ID */
-	virtual ITrackedDeviceServerDriver* FindTrackedDeviceDriver( const char *pchId ) = 0;
-
 	/** Allows the driver do to some work in the main loop of the server. */
 	virtual void RunFrame() = 0;
 
@@ -1865,108 +1860,535 @@ public:
 };
 
 
-static const char *IServerTrackedDeviceProvider_Version = "IServerTrackedDeviceProvider_003";
+static const char *IServerTrackedDeviceProvider_Version = "IServerTrackedDeviceProvider_004";
 
 
-/** This interface is provided by vrclient to allow the driver call back and query various information */
-class IClientDriverHost
+
+
+/** This interface must be implemented in each driver. It will be loaded in vrclient.dll */
+class IVRWatchdogProvider
 {
 public:
-	/** Returns the device class of a tracked device. If there has not been a device connected in this slot
-	* since the application started this function will return TrackedDevice_Invalid. For previous detected
-	* devices the function will return the previously observed device class. 
-	*
-	* To determine which devices exist on the system, just loop from 0 to k_unMaxTrackedDeviceCount and check
-	* the device class. Every device with something other than TrackedDevice_Invalid is associated with an 
-	* actual tracked device. */
-	virtual ETrackedDeviceClass GetTrackedDeviceClass( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+	/** initializes the driver in watchdog mode. */
+	virtual EVRInitError Init( IVRDriverContext *pDriverContext ) = 0;
 
-	/** Returns true if there is a device connected in this slot. */
-	virtual bool IsTrackedDeviceConnected( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0;
+	/** cleans up the driver right before it is unloaded */
+	virtual void Cleanup() = 0;
+};
 
-	/** Returns a bool property. If the device index is not valid or the property is not a bool type this function will return false. */
-	virtual bool GetBoolTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+static const char *IVRWatchdogProvider_Version = "IVRWatchdogProvider_001";
 
-	/** Returns a float property. If the device index is not valid or the property is not a float type this function will return 0. */
-	virtual float GetFloatTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+}
+// ivrproperties.h
+#include <string>
 
-	/** Returns an int property. If the device index is not valid or the property is not a int type this function will return 0. */
-	virtual int32_t GetInt32TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+namespace vr
+{
 
-	/** Returns a uint64 property. If the device index is not valid or the property is not a uint64 type this function will return 0. */
-	virtual uint64_t GetUint64TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0;
+	enum EPropertyWriteType
+	{
+		PropertyWrite_Set = 0,
+		PropertyWrite_Erase = 1,
+		PropertyWrite_SetError = 2
+	};
 
-	/** Returns a string property. If the device index is not valid or the property is not a float type this function will 
+	struct PropertyWrite_t
+	{
+		ETrackedDeviceProperty prop;
+		EPropertyWriteType writeType;
+		ETrackedPropertyError eSetError;
+		void *pvBuffer;
+		uint32_t unBufferSize;
+		PropertyTypeTag_t unTag;
+		ETrackedPropertyError eError;
+	};
+
+	struct PropertyRead_t
+	{
+		ETrackedDeviceProperty prop;
+		void *pvBuffer;
+		uint32_t unBufferSize;
+		PropertyTypeTag_t unTag;
+		uint32_t unRequiredBufferSize;
+		ETrackedPropertyError eError;
+	};
+
+
+class IVRProperties
+{
+public:
+
+	/** Reads a set of properties atomically. See the PropertyReadBatch_t struct for more information. */
+	virtual ETrackedPropertyError ReadPropertyBatch( PropertyContainerHandle_t ulContainerHandle, PropertyRead_t *pBatch, uint32_t unBatchEntryCount ) = 0;
+
+	/** Writes a set of properties atomically. See the PropertyWriteBatch_t struct for more information. */
+	virtual ETrackedPropertyError WritePropertyBatch( PropertyContainerHandle_t ulContainerHandle, PropertyWrite_t *pBatch, uint32_t unBatchEntryCount ) = 0;
+
+	/** returns a string that corresponds with the specified property error. The string will be the name
+	* of the error enum value for all valid error codes */
+	virtual const char *GetPropErrorNameFromEnum( ETrackedPropertyError error ) = 0;
+
+	/** Returns a container handle given a tracked device index */
+	virtual PropertyContainerHandle_t TrackedDeviceToPropertyContainer( TrackedDeviceIndex_t nDevice ) = 0;
+
+};
+
+static const char * const IVRProperties_Version = "IVRProperties_001";
+
+class CVRPropertyHelpers
+{
+public:
+	CVRPropertyHelpers( IVRProperties * pProperties ) : m_pProperties( pProperties ) {}
+
+	/** Returns a scaler property. If the device index is not valid or the property value type does not match,
+	* this function will return false. */
+	bool GetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	float GetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	int32_t GetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+	uint64_t GetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L );
+
+	/** Returns a single typed property. If the device index is not valid or the property is not a string type this function will
 	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
-	* null. Strings will generally fit in buffers of k_unTrackingStringSize characters. */
-	virtual uint32_t GetStringTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L ) = 0;
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	uint32_t GetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() void *pvBuffer, uint32_t unBufferSize, PropertyTypeTag_t *punTag, ETrackedPropertyError *pError = 0L );
 
-	/** always returns a pointer to a valid interface pointer of IVRSettings */
-	virtual void *GetGenericInterface( const char *pchInterfaceVersion ) = 0; 
 
+	/** Returns a string property. If the device index is not valid or the property is not a string type this function will
+	* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+	* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+	uint32_t GetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L );
+
+	/** Returns a string property as a std::string. If the device index is not valid or the property is not a string type this function will
+	* return an empty string. */
+	std::string GetStringProperty( vr::PropertyContainerHandle_t ulContainer, vr::ETrackedDeviceProperty prop, vr::ETrackedPropertyError *peError = nullptr );
+
+	/** Sets a scaler property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, bool bNewValue );
+	ETrackedPropertyError SetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, float fNewValue );
+	ETrackedPropertyError SetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, int32_t nNewValue );
+	ETrackedPropertyError SetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, uint64_t ulNewValue );
+
+	/** Sets a string property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, const char *pchNewValue );
+
+	/** Sets a single typed property. The new value will be returned on any subsequent call to get this property in any process. */
+	ETrackedPropertyError SetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, void *pvNewValue, uint32_t unNewValueSize, PropertyTypeTag_t unTag );
+
+	/** Sets the error return value for a property. This value will be returned on all subsequent requests to get the property */
+	ETrackedPropertyError SetPropertyError( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError eError );
+
+	/** Clears any value or error set for the property. */
+	ETrackedPropertyError EraseProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop );
+
+	/* Turns a device index into a property container handle. */
+	PropertyContainerHandle_t TrackedDeviceToPropertyContainer( TrackedDeviceIndex_t nDevice ) { return m_pProperties->TrackedDeviceToPropertyContainer( nDevice );  }
+
+private:
+	template<typename T>
+	T GetPropertyHelper( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError, T bDefault, PropertyTypeTag_t unTypeTag );
+
+	IVRProperties *m_pProperties;
+};
+
+
+inline uint32_t CVRPropertyHelpers::GetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() void *pvBuffer, uint32_t unBufferSize, PropertyTypeTag_t *punTag, ETrackedPropertyError *pError )
+{
+	PropertyRead_t batch;
+	batch.prop = prop;
+	batch.pvBuffer = pvBuffer;
+	batch.unBufferSize = unBufferSize;
+
+	m_pProperties->ReadPropertyBatch( ulContainerHandle, &batch, 1 );
+
+	if ( pError )
+	{
+		*pError = batch.eError;
+	}
+
+	if ( punTag )
+	{
+		*punTag = batch.unTag;
+	}
+
+	return batch.unRequiredBufferSize;
+}
+
+
+/** Sets a single typed property. The new value will be returned on any subsequent call to get this property in any process. */
+inline ETrackedPropertyError CVRPropertyHelpers::SetProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, void *pvNewValue, uint32_t unNewValueSize, PropertyTypeTag_t unTag )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_Set;
+	batch.prop = prop;
+	batch.pvBuffer = pvNewValue;
+	batch.unBufferSize = unNewValueSize;
+	batch.unTag = unTag;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+}
+
+
+/** Returns a string property. If the device index is not valid or the property is not a string type this function will
+* return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing
+* null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */
+inline uint32_t CVRPropertyHelpers::GetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError )
+{
+	PropertyTypeTag_t unTag;
+	ETrackedPropertyError error;
+	uint32_t unRequiredSize = GetProperty( ulContainerHandle, prop, pchValue, unBufferSize, &unTag, &error );
+	if ( unTag != k_unStringPropertyTag && error == TrackedProp_Success )
+	{
+		error = TrackedProp_WrongDataType;
+	}
+
+	if ( pError )
+	{
+		*pError = error;
+	}
+
+	if ( error != TrackedProp_Success )
+	{
+		if ( pchValue && unBufferSize )
+		{
+			*pchValue = '\0';
+		}
+	}
+
+	return unRequiredSize;
+}
+
+
+/** Returns a string property as a std::string. If the device index is not valid or the property is not a string type this function will
+* return an empty string. */
+inline std::string CVRPropertyHelpers::GetStringProperty( vr::PropertyContainerHandle_t ulContainer, vr::ETrackedDeviceProperty prop, vr::ETrackedPropertyError *peError )
+{
+	char buf[1024];
+	vr::ETrackedPropertyError err;
+	uint32_t unRequiredBufferLen = GetStringProperty( ulContainer, prop, buf, sizeof(buf), &err );
+
+	std::string sResult;
+
+	if ( err == TrackedProp_Success )
+	{
+		sResult = buf;
+	}
+	else if ( err == TrackedProp_BufferTooSmall )
+	{
+		char *pchBuffer = new char[unRequiredBufferLen];
+		unRequiredBufferLen = GetStringProperty( ulContainer, prop, pchBuffer, unRequiredBufferLen, &err );
+		sResult = pchBuffer;
+		delete[] pchBuffer;
+	}
+
+	if ( peError )
+	{
+		*peError = err;
+	}
+
+	return sResult;
+}
+
+
+/** Sets a string property. The new value will be returned on any subsequent call to get this property in any process. */
+inline ETrackedPropertyError CVRPropertyHelpers::SetStringProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, const char *pchNewValue )
+{
+	if ( !pchNewValue )
+		return TrackedProp_InvalidOperation;
+
+	// this is strlen without the dependency on string.h
+	const char *pchCurr = pchNewValue;
+	while ( *pchCurr )
+	{
+		pchCurr++;
+	}
+
+	return SetProperty( ulContainerHandle, prop, (void *)pchNewValue, (uint32_t)(pchCurr - pchNewValue) + 1, k_unStringPropertyTag );
+}
+
+
+template<typename T>
+inline T CVRPropertyHelpers::GetPropertyHelper( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError, T bDefault, PropertyTypeTag_t unTypeTag )
+{
+	T bValue;
+	ETrackedPropertyError eError;
+	PropertyTypeTag_t unReadTag;
+	GetProperty( ulContainerHandle, prop, &bValue, sizeof( bValue ), &unReadTag, &eError );
+	if ( unReadTag != unTypeTag && eError == TrackedProp_Success )
+	{
+		eError = TrackedProp_WrongDataType;
+	};
+
+	if ( pError )
+		*pError = eError;
+	if ( eError != TrackedProp_Success )
+	{
+		return bDefault;
+	}
+	else
+	{
+		return bValue;
+	}
+}
+
+
+inline bool CVRPropertyHelpers::GetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<bool>( ulContainerHandle, prop, pError, false, k_unBoolPropertyTag );
+}
+
+
+inline float CVRPropertyHelpers::GetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<float>( ulContainerHandle, prop, pError, 0.f, k_unFloatPropertyTag );
+}
+
+inline int32_t CVRPropertyHelpers::GetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<int32_t>( ulContainerHandle, prop, pError, 0, k_unInt32PropertyTag );
+}
+
+inline uint64_t CVRPropertyHelpers::GetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError *pError )
+{
+	return GetPropertyHelper<uint64_t>( ulContainerHandle, prop, pError, 0, k_unUint64PropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetBoolProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, bool bNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &bNewValue, sizeof( bNewValue ), k_unBoolPropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetFloatProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, float fNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &fNewValue, sizeof( fNewValue ), k_unFloatPropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetInt32Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, int32_t nNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &nNewValue, sizeof( nNewValue ), k_unInt32PropertyTag );
+}
+
+inline ETrackedPropertyError CVRPropertyHelpers::SetUint64Property( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, uint64_t ulNewValue )
+{
+	return SetProperty( ulContainerHandle, prop, &ulNewValue, sizeof( ulNewValue ), k_unUint64PropertyTag );
+}
+
+/** Sets the error return value for a property. This value will be returned on all subsequent requests to get the property */
+inline ETrackedPropertyError CVRPropertyHelpers::SetPropertyError( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop, ETrackedPropertyError eError )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_SetError;
+	batch.prop = prop;
+	batch.eSetError = eError;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+}
+
+/** Clears any value or error set for the property. */
+inline ETrackedPropertyError CVRPropertyHelpers::EraseProperty( PropertyContainerHandle_t ulContainerHandle, ETrackedDeviceProperty prop )
+{
+	PropertyWrite_t batch;
+	batch.writeType = PropertyWrite_Erase;
+	batch.prop = prop;
+
+	m_pProperties->WritePropertyBatch( ulContainerHandle, &batch, 1 );
+
+	return batch.eError;
+
+}
+
+}
+
+
+// ivrdriverlog.h
+namespace vr
+{
+
+class IVRDriverLog
+{
+public:
+	/** Writes a log message to the log file prefixed with the driver name */
+	virtual void Log( const char *pchLogMessage ) = 0;
+};
+
+
+static const char *IVRDriverLog_Version = "IVRDriverLog_001";
+
+}
+// ivrserverdriverhost.h
+namespace vr
+{
+
+class ITrackedDeviceServerDriver;
+struct TrackedDeviceDriverInfo_t;
+struct DriverPose_t;
+
+/** This interface is provided by vrserver to allow the driver to notify 
+* the system when something changes about a device. These changes must
+* not change the serial number or class of the device because those values
+* are permanently associated with the device's index. */
+class IVRServerDriverHost
+{
+public:
+	/** Notifies the server that a tracked device has been added. If this function returns true
+	* the server will call Activate on the device. If it returns false some kind of error
+	* has occurred and the device will not be activated. */
+	virtual bool TrackedDeviceAdded( const char *pchDeviceSerialNumber, ETrackedDeviceClass eDeviceClass, ITrackedDeviceServerDriver *pDriver ) = 0;
+
+	/** Notifies the server that a tracked device's pose has been updated */
+	virtual void TrackedDevicePoseUpdated( uint32_t unWhichDevice, const DriverPose_t & newPose, uint32_t unPoseStructSize ) = 0;
+
+	/** Notifies the server that vsync has occurred on the the display attached to the device. This is
+	* only permitted on devices of the HMD class. */
+	virtual void VsyncEvent( double vsyncTimeOffsetSeconds ) = 0;
+
+	/** notifies the server that the button was pressed */
+	virtual void TrackedDeviceButtonPressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was unpressed */
+	virtual void TrackedDeviceButtonUnpressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was pressed */
+	virtual void TrackedDeviceButtonTouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server that the button was unpressed */
+	virtual void TrackedDeviceButtonUntouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0;
+
+	/** notifies the server than a controller axis changed */
+	virtual void TrackedDeviceAxisUpdated( uint32_t unWhichDevice, uint32_t unWhichAxis, const VRControllerAxis_t & axisState ) = 0;
+
+	/** Notifies the server that the proximity sensor on the specified device  */
+	virtual void ProximitySensorState( uint32_t unWhichDevice, bool bProximitySensorTriggered ) = 0;
+
+	/** Sends a vendor specific event (VREvent_VendorSpecific_Reserved_Start..VREvent_VendorSpecific_Reserved_End */
+	virtual void VendorSpecificEvent( uint32_t unWhichDevice, vr::EVREventType eventType, const VREvent_Data_t & eventData, double eventTimeOffset ) = 0;
+
+	/** Returns true if SteamVR is exiting */
+	virtual bool IsExiting() = 0;
+
+	/** Returns true and fills the event with the next event on the queue if there is one. If there are no events
+	* this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */
+	virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0;
+
+	/** Provides access to device poses for drivers.  Poses are in their "raw" tracking space which is uniquely
+	* defined by each driver providing poses for its devices.  It is up to clients of this function to correlate
+	* poses across different drivers.  Poses are indexed by their device id, and their associated driver and
+	* other properties can be looked up via IVRProperties. */
+	virtual void GetRawTrackedDevicePoses( float fPredictedSecondsFromNow, TrackedDevicePose_t *pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount ) = 0;
+};
+
+static const char *IVRServerDriverHost_Version = "IVRServerDriverHost_004";
+
+}
+
+// ivrhiddenarea.h
+namespace vr
+{
+
+class CVRHiddenAreaHelpers
+{
+public:
+	CVRHiddenAreaHelpers( IVRProperties *pProperties ) : m_pProperties( pProperties ) {}
+
+	/** Stores a hidden area mesh in a property */
+	ETrackedPropertyError SetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount );
+
+	/** retrieves a hidden area mesh from a property. Returns the vert count read out of the property.  */
+	uint32_t GetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount, ETrackedPropertyError *peError );
+
+private:
+	ETrackedDeviceProperty GetPropertyEnum( EVREye eEye, EHiddenAreaMeshType type )
+	{
+		return (ETrackedDeviceProperty)(Prop_DisplayHiddenArea_Binary_Start + ((int)type * 2) + (int)eEye);
+	}
+
+	IVRProperties *m_pProperties;
+};
+
+
+inline ETrackedPropertyError CVRHiddenAreaHelpers::SetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount )
+{
+	ETrackedDeviceProperty prop = GetPropertyEnum( eEye, type );
+	CVRPropertyHelpers propHelpers( m_pProperties );
+	return propHelpers.SetProperty( propHelpers.TrackedDeviceToPropertyContainer( k_unTrackedDeviceIndex_Hmd ), prop, pVerts, sizeof( HmdVector2_t ) * unVertCount, k_unHiddenAreaPropertyTag );
+}
+
+
+inline uint32_t CVRHiddenAreaHelpers::GetHiddenArea( EVREye eEye, EHiddenAreaMeshType type, HmdVector2_t *pVerts, uint32_t unVertCount, ETrackedPropertyError *peError )
+{
+	ETrackedDeviceProperty prop = GetPropertyEnum( eEye, type );
+	CVRPropertyHelpers propHelpers( m_pProperties );
+	ETrackedPropertyError propError;
+	PropertyTypeTag_t unTag;
+	uint32_t unBytesNeeded = propHelpers.GetProperty( propHelpers.TrackedDeviceToPropertyContainer( k_unTrackedDeviceIndex_Hmd ), prop, pVerts, sizeof( HmdVector2_t )*unVertCount, &unTag, &propError );
+	if ( propError == TrackedProp_Success && unTag != k_unHiddenAreaPropertyTag )
+	{
+		propError = TrackedProp_WrongDataType;
+		unBytesNeeded = 0;
+	}
+
+	if ( peError )
+	{
+		*peError = propError;
+	}
+
+	return unBytesNeeded / sizeof( HmdVector2_t );
+}
+
+}
+// ivrwatchdoghost.h
+namespace vr
+{
+
+/** This interface is provided by vrclient to allow the driver to make everything wake up */
+class IVRWatchdogHost
+{
+public:
 	/** Client drivers in watchdog mode should call this when they have received a signal from hardware that should
 	* cause SteamVR to start */
 	virtual void WatchdogWakeUp() = 0;
 };
 
+static const char *IVRWatchdogHost_Version = "IVRWatchdogHost_001";
 
-/** Defines the mode that the client driver should start in. */
-enum EClientDriverMode
-{
-	ClientDriverMode_Normal = 0,
-	ClientDriverMode_Watchdog = 1, // client should return VRInitError_Init_LowPowerWatchdogNotSupported if it can't support this mode
 };
 
 
-/** This interface must be implemented in each driver. It will be loaded in vrclient.dll */
-class IClientTrackedDeviceProvider
+
+// ivrvirtualdisplay.h
+namespace vr
 {
-public:
-	/** initializes the driver. This will be called before any other methods are called,
-	* except BIsHmdPresent(). BIsHmdPresent is called outside of the Init/Cleanup pair.
-	* If Init returns anything other than VRInitError_None the driver DLL will be unloaded.
-	*
-	* pDriverHost will never be NULL, and will always be a pointer to a IClientDriverHost interface
-	*
-	* pchUserDriverConfigDir - The absolute path of the directory where the driver should store user
-	*	config files.
-	* pchDriverInstallDir - The absolute path of the root directory for the driver.
-	*/
-	virtual EVRInitError Init( EClientDriverMode eDriverMode, IDriverLog *pDriverLog, vr::IClientDriverHost *pDriverHost, const char *pchUserDriverConfigDir, const char *pchDriverInstallDir ) = 0;
+	// ----------------------------------------------------------------------------------------------
+	// Purpose: This component is used for drivers that implement a virtual display (e.g. wireless).
+	// ----------------------------------------------------------------------------------------------
+	class IVRVirtualDisplay
+	{
+	public:
 
-	/** cleans up the driver right before it is unloaded */
-	virtual void Cleanup() = 0;
+		/** Submits final backbuffer for display. */
+		virtual void Present( vr::SharedTextureHandle_t backbufferTextureHandle ) = 0;
 
-	/** Called when the client needs to inform an application if an HMD is attached that uses
-	* this driver. This method should be as lightweight as possible and should have no side effects
-	* such as hooking process functions or leaving resources loaded. Init will not be called before 
-	* this method and Cleanup will not be called after it.
-	*/
-	virtual bool BIsHmdPresent( const char *pchUserConfigDir ) = 0;
+		/** Block until the last presented buffer start scanning out. */
+		virtual void WaitForPresent() = 0;
 
-	/** called when the client inits an HMD to let the client driver know which one is in use */
-	virtual EVRInitError SetDisplayId( const char *pchDisplayId ) = 0;
+		/** Provides timing data for synchronizing with display. */
+		virtual bool GetTimeSinceLastVsync( float *pfSecondsSinceLastVsync, uint64_t *pulFrameCounter ) = 0;
+	};
 
-	/** Returns the stencil mesh information for the current HMD. If this HMD does not have a stencil mesh the vertex data and count will be
-	* NULL and 0 respectively. This mesh is meant to be rendered into the stencil buffer (or into the depth buffer setting nearz) before rendering
-	* each eye's view. The pixels covered by this mesh will never be seen by the user after the lens distortion is applied and based on visibility to the panels.
-	* This will improve perf by letting the GPU early-reject pixels the user will never see before running the pixel shader.
-	* NOTE: Render this mesh with backface culling disabled since the winding order of the vertices can be different per-HMD or per-eye.
-	*/
-	virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye, EHiddenAreaMeshType type ) = 0;
-
-	/** Get the MC image for the current HMD.
-	* Returns the size in bytes of the buffer required to hold the specified resource. */
-	virtual uint32_t GetMCImage( uint32_t *pImgWidth, uint32_t *pImgHeight, uint32_t *pChannels, void *pDataBuffer, uint32_t unBufferLen ) = 0;
-};
-
-static const char *IClientTrackedDeviceProvider_Version = "IClientTrackedDeviceProvider_005";
+	static const char *IVRVirtualDisplay_Version = "IVRVirtualDisplay_001";
 
+	/** Returns the current IVRVirtualDisplay pointer or NULL the interface could not be found. */
+	VR_INTERFACE vr::IVRVirtualDisplay *VR_CALLTYPE VRVirtualDisplay();
 }
 
 
 
 
+
+
 namespace vr
 {
 	static const char * const k_InterfaceVersions[] =
@@ -1978,9 +2400,186 @@ namespace vr
 		IVRControllerComponent_Version,
 		IVRCameraComponent_Version,
 		IServerTrackedDeviceProvider_Version,
-		IClientTrackedDeviceProvider_Version,
+		IVRWatchdogProvider_Version,
+		IVRVirtualDisplay_Version,
 		nullptr
 	};
+
+	inline IVRDriverContext *&VRDriverContext()
+	{
+		static IVRDriverContext *pHost;
+		return pHost;
+	}
+
+	class COpenVRDriverContext
+	{
+	public:
+		COpenVRDriverContext() : m_propertyHelpers(nullptr), m_hiddenAreaHelpers(nullptr) { Clear(); }
+		void Clear();
+
+		EVRInitError InitServer();
+		EVRInitError InitWatchdog();
+
+		IVRSettings *VRSettings()
+		{
+			if ( m_pVRSettings == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRSettings = (IVRSettings *)VRDriverContext()->GetGenericInterface( IVRSettings_Version, &eError );
+			}
+			return m_pVRSettings;
+		}
+
+		IVRProperties *VRPropertiesRaw()
+		{
+			if ( m_pVRProperties == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRProperties = (IVRProperties *)VRDriverContext()->GetGenericInterface( IVRProperties_Version, &eError );
+				m_propertyHelpers = CVRPropertyHelpers( m_pVRProperties );
+				m_hiddenAreaHelpers = CVRHiddenAreaHelpers( m_pVRProperties );
+			}
+			return m_pVRProperties;
+		}
+
+		CVRPropertyHelpers *VRProperties()
+		{
+			VRPropertiesRaw();
+			return &m_propertyHelpers;
+		}
+
+		CVRHiddenAreaHelpers *VRHiddenArea()
+		{
+			VRPropertiesRaw();
+			return &m_hiddenAreaHelpers;
+		}
+
+		IVRServerDriverHost *VRServerDriverHost()
+		{
+			if ( m_pVRServerDriverHost == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRServerDriverHost = (IVRServerDriverHost *)VRDriverContext()->GetGenericInterface( IVRServerDriverHost_Version, &eError );
+			}
+			return m_pVRServerDriverHost;
+		}
+
+		IVRWatchdogHost *VRWatchdogHost()
+		{
+			if ( m_pVRWatchdogHost == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRWatchdogHost = (IVRWatchdogHost *)VRDriverContext()->GetGenericInterface( IVRWatchdogHost_Version, &eError );
+			}
+			return m_pVRWatchdogHost;
+		}
+
+		IVRDriverLog *VRDriverLog()
+		{
+			if ( m_pVRDriverLog == nullptr )
+			{
+				EVRInitError eError;
+				m_pVRDriverLog = (IVRDriverLog *)VRDriverContext()->GetGenericInterface( IVRDriverLog_Version, &eError );
+			}
+			return m_pVRDriverLog;
+		}
+
+		DriverHandle_t VR_CALLTYPE VRDriverHandle()
+		{
+			return VRDriverContext()->GetDriverHandle();
+		}
+
+	private:
+		IVRSettings			*m_pVRSettings;
+		IVRProperties		*m_pVRProperties;
+		CVRPropertyHelpers	m_propertyHelpers;
+		CVRHiddenAreaHelpers	m_hiddenAreaHelpers;
+		IVRServerDriverHost	*m_pVRServerDriverHost;
+		IVRWatchdogHost		*m_pVRWatchdogHost;
+		IVRDriverLog		*m_pVRDriverLog;
+	};
+
+	inline COpenVRDriverContext &OpenVRInternal_ModuleServerDriverContext()
+	{
+		static void *ctx[sizeof( COpenVRDriverContext ) / sizeof( void * )];
+		return *(COpenVRDriverContext *)ctx; // bypass zero-init constructor
+	}
+
+	inline IVRSettings *VR_CALLTYPE VRSettings() { return OpenVRInternal_ModuleServerDriverContext().VRSettings(); }
+	inline IVRProperties *VR_CALLTYPE VRPropertiesRaw() { return OpenVRInternal_ModuleServerDriverContext().VRPropertiesRaw(); }
+	inline CVRPropertyHelpers *VR_CALLTYPE VRProperties() { return OpenVRInternal_ModuleServerDriverContext().VRProperties(); }
+	inline CVRHiddenAreaHelpers *VR_CALLTYPE VRHiddenArea() { return OpenVRInternal_ModuleServerDriverContext().VRHiddenArea(); }
+	inline IVRDriverLog *VR_CALLTYPE VRDriverLog() { return OpenVRInternal_ModuleServerDriverContext().VRDriverLog(); }
+	inline IVRServerDriverHost *VR_CALLTYPE VRServerDriverHost() { return OpenVRInternal_ModuleServerDriverContext().VRServerDriverHost(); }
+	inline IVRWatchdogHost *VR_CALLTYPE VRWatchdogHost() { return OpenVRInternal_ModuleServerDriverContext().VRWatchdogHost(); }
+	inline DriverHandle_t VR_CALLTYPE VRDriverHandle() { return OpenVRInternal_ModuleServerDriverContext().VRDriverHandle(); }
+	inline void COpenVRDriverContext::Clear()
+	{
+		m_pVRSettings = nullptr;
+		m_pVRProperties = nullptr;
+		m_pVRServerDriverHost = nullptr;
+		m_pVRDriverLog = nullptr;
+		m_pVRWatchdogHost = nullptr;
+	}
+
+	inline EVRInitError COpenVRDriverContext::InitServer()
+	{
+		Clear();
+		if ( !VRServerDriverHost()
+			|| !VRSettings()
+			|| !VRProperties()
+			|| !VRDriverLog() )
+			return VRInitError_Init_InterfaceNotFound;
+		return VRInitError_None;
+	}
+
+	inline EVRInitError COpenVRDriverContext::InitWatchdog()
+	{
+		Clear();
+		if ( !VRWatchdogHost()
+			|| !VRSettings()
+			|| !VRDriverLog() )
+			return VRInitError_Init_InterfaceNotFound;
+		return VRInitError_None;
+	}
+
+	inline EVRInitError InitServerDriverContext( IVRDriverContext *pContext )
+	{
+		VRDriverContext() = pContext;
+		return OpenVRInternal_ModuleServerDriverContext().InitServer();
+	}
+
+	inline EVRInitError InitWatchdogDriverContext( IVRDriverContext *pContext )
+	{
+		VRDriverContext() = pContext;
+		return OpenVRInternal_ModuleServerDriverContext().InitWatchdog();
+	}
+
+	inline void CleanupDriverContext()
+	{
+		VRDriverContext() = nullptr;
+		OpenVRInternal_ModuleServerDriverContext().Clear();
+	}
+
+	#define VR_INIT_SERVER_DRIVER_CONTEXT( pContext ) \
+			{ \
+			vr::EVRInitError eError = vr::InitServerDriverContext( pContext ); \
+			if( eError != vr::VRInitError_None ) \
+				return eError; \
+			}
+
+	#define VR_CLEANUP_SERVER_DRIVER_CONTEXT() \
+		vr::CleanupDriverContext();
+
+	#define VR_INIT_WATCHDOG_DRIVER_CONTEXT( pContext ) \
+			{ \
+			vr::EVRInitError eError = vr::InitWatchdogDriverContext( pContext ); \
+			if( eError != vr::VRInitError_None ) \
+				return eError; \
+			}
+
+	#define VR_CLEANUP_WATCHDOG_DRIVER_CONTEXT() \
+		vr::CleanupDriverContext();
 }
 // End
 
diff --git a/examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so
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diff --git a/examples/ThirdPartyLibs/openvr/lib/linux64/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/lib/linux64/libopenvr_api.so
index 46470254e81bb1cfaf9c8e99d1c9a71d4fb90f13..d83a610fc5cb773213d500586b55b28ad4dd5edc 100644
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diff --git a/examples/ThirdPartyLibs/openvr/lib/win32/openvr_api.lib b/examples/ThirdPartyLibs/openvr/lib/win32/openvr_api.lib
index 1521479a97ffe119eb2477991842d26831a89713..130bad031c00db9e97245777099c4a2282b69d5b 100644
GIT binary patch
delta 1205
zcmZuvOHb5L7(Hb=rDdk?2Mi*DC@2~v5FVq!MAWb$0bj)3Kx6?4M&g6S1#uF80GcmB
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E13<$UKL7v#

delta 1080
zcmZ`%ziSh56#v|%N$!%%{l1Gek)~B_NmUX}(-V;nLM_&6#6`C(uBHA36&zeL#J<Tz
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V(XE!9XtE<rTVk>Ysz+zb#!p5?;qU+e

diff --git a/examples/ThirdPartyLibs/openvr/lib/win64/openvr_api.lib b/examples/ThirdPartyLibs/openvr/lib/win64/openvr_api.lib
index 9fdab5635c514f13a1f909e32973e40b61459f0c..e8d9abf0eab0615897153cfca237cb4ff03e3311 100644
GIT binary patch
delta 1228
zcmZuw&r1|x7=C8mU$ZmL@7Wzh+HFlusZ3={D{+<nf`TOsQKQR(f|MRQwI`v2{ouU{
zR)lA9kC|R=p>uRg@X)PG2!>|wHzV!L+Q7qn^FGh}e((3Z-+Z|8>+0){^ytvdq0;bZ
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g%C(-uAE0030*g#~<wmYdj`rQat1hN3I&pjd0y~cuF#rGn

delta 1050
zcmZ{i%WD%+6vn^Fb0(RYJI_qph4q=zV4$f6qf*3xMG#zcAtE8|+J%q&16|uLsvPL5
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z$6W<#xt>f?<s>=Uaqmsa1J{!qU8HSyjy`6x(-|h)&}qk;Y9rpIL8D1oZeP|faeb4X
v`nTfs1M2zFo-VO0cu$`a!E^_5^)km9Hd(Y@n7H78-W8%fU0~U!USZ)6F^TGS

diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/compat.h b/examples/ThirdPartyLibs/openvr/samples/shared/compat.h
index 0163b08f2..154f8b072 100644
--- a/examples/ThirdPartyLibs/openvr/samples/shared/compat.h
+++ b/examples/ThirdPartyLibs/openvr/samples/shared/compat.h
@@ -15,6 +15,7 @@
 #define vsprintf_s  sprintf
 #define _stricmp    strcmp
 #define stricmp     strcmp
+#define strnicmp    strncasecmp
 #define strcpy_s(dst, n, src)   int(strncpy(dst, src, n) != nullptr)
 #define fopen_s(fd, path, mode) int((*fd = fopen(path, mode)) != nullptr)
 #define _vsnprintf_s(buffer, size, fmt, ap)  vsnprintf(buffer, size, fmt, ap)
@@ -24,4 +25,4 @@ typedef int errno_t;
 
 #endif  // _WIN32
 
-#endif  // OPENVR_SAMPLES_SHARED_COMPAT_H_
\ No newline at end of file
+#endif  // OPENVR_SAMPLES_SHARED_COMPAT_H_
diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
index d148a5d84..2ea352406 100644
--- a/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
+++ b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
@@ -1,22 +1,27 @@
 //========= Copyright Valve Corporation ============//
+#include "compat.h"
+#include "strtools.h"
 #include "pathtools.h"
-//#include "hmdplatform_private.h"
-//#include "vrcommon/strtools.h"
 
 #if defined( _WIN32)
 #include <Windows.h>
 #include <direct.h>
 #include <Shobjidl.h>
 #include <KnownFolders.h>
-#elif defined OSX
-#include <mach-o/dyld.h>
-#include <dlfcn.h>
-#include "osxfilebridge.h"
-#define _S_IFDIR S_IFDIR     // really from tier0/platform.h which we dont have yet
-#define _MAX_PATH MAX_PATH   // yet another form of _PATH define we use
-#elif defined(LINUX)
+#include <Shlobj.h>
+
+#undef GetEnvironmentVariable
+#else
 #include <dlfcn.h>
 #include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#endif
+#if defined OSX
+#include <Foundation/Foundation.h>
+#include <AppKit/AppKit.h>
+#include <mach-o/dyld.h>
+#define _S_IFDIR S_IFDIR     // really from tier0/platform.h which we dont have yet
 #endif
 
 #include <sys/stat.h>
@@ -26,44 +31,54 @@
 /** Returns the path (including filename) to the current executable */
 std::string Path_GetExecutablePath()
 {
-	bool bSuccess = false;
-	char rchPath[ 1024 ];
-	size_t nBuff = sizeof(rchPath);
 #if defined( _WIN32 )
-	bSuccess = ::GetModuleFileNameA(NULL, rchPath, (DWORD)nBuff) > 0;
-#elif defined OSX
-	uint32_t _nBuff = nBuff; 
-	bSuccess = _NSGetExecutablePath(rchPath, &_nBuff) == 0;
-	rchPath[nBuff-1] = '\0';
-#elif defined LINUX
-	ssize_t nRead = readlink("/proc/self/exe", rchPath, nBuff-1 );
-	if ( nRead != -1 )
-	{
-		rchPath[ nRead ] = 0;
-		bSuccess = true;
-	}
-	else
-	{
-		rchPath[ 0 ] = '\0';
-	}
-#else
-	AssertMsg( false, "Implement Plat_GetExecutablePath" );
-#endif
+	wchar_t *pwchPath = new wchar_t[MAX_UNICODE_PATH];
+	char *pchPath = new char[MAX_UNICODE_PATH_IN_UTF8];
+	::GetModuleFileNameW( NULL, pwchPath, MAX_UNICODE_PATH );
+	WideCharToMultiByte( CP_UTF8, 0, pwchPath, -1, pchPath, MAX_UNICODE_PATH_IN_UTF8, NULL, NULL );
+	delete[] pwchPath;
 
+	std::string sPath = pchPath;
+	delete[] pchPath;
+	return sPath;
+#elif defined( OSX )
+	char rchPath[1024];
+	uint32_t nBuff = sizeof( rchPath );
+	bool bSuccess = _NSGetExecutablePath(rchPath, &nBuff) == 0;
+	rchPath[nBuff-1] = '\0';
 	if( bSuccess )
 		return rchPath;
 	else
 		return "";
+#elif defined LINUX
+	char rchPath[1024];
+	size_t nBuff = sizeof( rchPath );
+	ssize_t nRead = readlink("/proc/self/exe", rchPath, nBuff-1 );
+	if ( nRead != -1 )
+	{
+		rchPath[ nRead ] = 0;
+		return rchPath;
+	}
+	else
+	{
+		return "";
+	}
+#else
+	AssertMsg( false, "Implement Plat_GetExecutablePath" );
+	return "";
+#endif
+
 }
 
 /** Returns the path of the current working directory */
 std::string Path_GetWorkingDirectory()
 {
 	std::string sPath;
-	char buf[ 1024 ];
 #if defined( _WIN32 )
-	sPath = _getcwd( buf, sizeof( buf ) );
+	wchar_t buf[MAX_UNICODE_PATH];
+	sPath = UTF16to8( _wgetcwd( buf, MAX_UNICODE_PATH ) );
 #else
+	char buf[ 1024 ];
 	sPath = getcwd( buf, sizeof( buf ) );
 #endif
 	return sPath;
@@ -74,37 +89,14 @@ bool Path_SetWorkingDirectory( const std::string & sPath )
 {
 	bool bSuccess;
 #if defined( _WIN32 )
-	bSuccess = 0 == _chdir( sPath.c_str() );
+	std::wstring wsPath = UTF8to16( sPath.c_str() );
+	bSuccess = 0 == _wchdir( wsPath.c_str() );
 #else
 	bSuccess = 0 == chdir( sPath.c_str() );
 #endif
 	return bSuccess;
 }
 
-std::string Path_GetModulePath()
-{
-#if defined( _WIN32 )
-	char path[32768];
-	HMODULE hm = NULL;
-
-	if (!GetModuleHandleExA(GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS,
-		(LPCSTR) &Path_GetModulePath, 
-		&hm))
-	{
-		int ret = GetLastError();
-		fprintf(stderr, "GetModuleHandle returned %d\n", ret);
-		return "";
-	}
-	GetModuleFileNameA(hm, path, sizeof(path));
-	FreeLibrary( hm );
-	return path;
-#else
-	Dl_info dl_info;
-	dladdr((void *)Path_GetModulePath, &dl_info);
-	return dl_info.dli_fname;
-#endif
-}
-
 /** Returns the specified path without its filename */
 std::string Path_StripFilename( const std::string & sPath, char slash )
 {
@@ -151,17 +143,45 @@ std::string Path_StripExtension( const std::string & sPath )
 	return sPath;
 }
 
+/** returns just extension of the provided filename (if any). */
+std::string Path_GetExtension( const std::string & sPath )
+{
+	for ( std::string::const_reverse_iterator i = sPath.rbegin(); i != sPath.rend(); i++ )
+	{
+		if ( *i == '.' )
+		{
+			return std::string( i.base(), sPath.end() );
+		}
+
+		// if we find a slash there is no extension
+		if ( *i == '\\' || *i == '/' )
+			break;
+	}
+
+	// we didn't find an extension
+	return "";
+}
 
 bool Path_IsAbsolute( const std::string & sPath )
 {
 	if( sPath.empty() )
 		return false;
 
-	if( sPath.find( ':' ) != std::string::npos )
-		return true;
+#if defined( WIN32 )
+	if ( sPath.size() < 3 ) // must be c:\x or \\x at least
+		return false;
 
-	if( sPath[0] == '\\' || sPath[0] == '/' )
+	if ( sPath[1] == ':' ) // drive letter plus slash, but must test both slash cases
+	{
+		if ( sPath[2] == '\\' || sPath[2] == '/' )
+			return true;
+	}
+	else if ( sPath[0] == '\\' && sPath[1] == '\\' ) // UNC path
 		return true;
+#else
+	if( sPath[0] == '\\' || sPath[0] == '/' ) // any leading slash
+		return true;
+#endif
 
 	return false;
 }
@@ -223,6 +243,8 @@ std::string Path_Join( const std::string & first, const std::string & second, ch
 
 	// only insert a slash if we don't already have one
 	std::string::size_type nLen = first.length();
+	if( !nLen )
+		return second;
 #if defined(_WIN32)
 	if( first.back() == '\\' || first.back() == '/' )
 	    nLen--;
@@ -257,6 +279,41 @@ std::string Path_Join(
 	return Path_Join( Path_Join( Path_Join( Path_Join( first, second, slash ), third, slash ), fourth, slash ), fifth, slash );
 }
 
+
+std::string Path_RemoveTrailingSlash( const std::string & sRawPath, char slash )
+{
+	if ( slash == 0 )
+		slash = Path_GetSlash();
+
+	std::string sPath = sRawPath;
+	std::string::size_type nCurrent = sRawPath.length();
+	if ( nCurrent == 0 )
+		return sPath;
+
+	int nLastFound = -1;
+	nCurrent--;
+	while( nCurrent != 0 )
+	{
+		if ( sRawPath[ nCurrent ] == slash )
+		{
+			nLastFound = (int)nCurrent;
+			nCurrent--;
+		}
+		else
+		{
+			break;
+		}
+	}
+		
+	if ( nLastFound >= 0 )
+	{
+		sPath.erase( nLastFound, std::string::npos );
+	}
+	
+	return sPath;
+}
+
+
 /** Removes redundant <dir>/.. elements in the path. Returns an empty path if the 
 * specified path has a broken number of directories for its number of ..s */
 std::string Path_Compact( const std::string & sRawPath, char slash )
@@ -336,17 +393,15 @@ std::string Path_Compact( const std::string & sRawPath, char slash )
 	return sPath;
 }
 
-#define MAX_UNICODE_PATH			32768
-#define MAX_UNICODE_PATH_IN_UTF8	( MAX_UNICODE_PATH * 4 )
 
 /** Returns the path to the current DLL or exe */
-std::string GetThisModulePath()
+std::string Path_GetThisModulePath()
 {
 	// gets the path of vrclient.dll itself
 #ifdef WIN32
 	HMODULE hmodule = NULL;
 
-	::GetModuleHandleEx(GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS | GET_MODULE_HANDLE_EX_FLAG_UNCHANGED_REFCOUNT, reinterpret_cast<LPCTSTR>(GetThisModulePath), &hmodule);
+	::GetModuleHandleEx( GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS | GET_MODULE_HANDLE_EX_FLAG_UNCHANGED_REFCOUNT, reinterpret_cast<LPCTSTR>(Path_GetThisModulePath), &hmodule );
 
 	wchar_t *pwchPath = new wchar_t[MAX_UNICODE_PATH];
 	char *pchPath = new char[ MAX_UNICODE_PATH_IN_UTF8 ];
@@ -361,7 +416,7 @@ std::string GetThisModulePath()
 #elif defined( OSX ) || defined( LINUX )
 	// get the addr of a function in vrclient.so and then ask the dlopen system about it
 	Dl_info info;
-	dladdr( (void *)GetThisModulePath, &info );
+	dladdr( (void *)Path_GetThisModulePath, &info );
 	return info.dli_fname;
 #endif
 
@@ -379,19 +434,44 @@ bool Path_IsDirectory( const std::string & sPath )
 		sFixedPath.erase( sFixedPath.end() - 1, sFixedPath.end() );
 
 	// see if the specified path actually exists.
+
+#if defined(POSIX)
 	struct	stat	buf;
-	if ( stat ( sFixedPath.c_str(), &buf ) == -1)
+	if ( stat( sFixedPath.c_str(), &buf ) == -1 )
 	{
 		return false;
 	}
 
-#if defined(LINUX)
+#if defined( LINUX ) || defined( OSX )
 	return S_ISDIR( buf.st_mode );
 #else
-	return ( buf.st_mode & _S_IFDIR ) != 0;
+	return (buf.st_mode & _S_IFDIR) != 0;
+#endif
+
+#else
+	struct	_stat	buf;
+	std::wstring wsFixedPath = UTF8to16( sFixedPath.c_str() );
+	if ( _wstat( wsFixedPath.c_str(), &buf ) == -1 )
+	{
+		return false;
+	}
+
+	return (buf.st_mode & _S_IFDIR) != 0;
 #endif
 }
 
+/** returns true if the specified path represents an app bundle */
+bool Path_IsAppBundle( const std::string & sPath )
+{
+#if defined(OSX)
+	NSBundle *bundle = [ NSBundle bundleWithPath: [ NSString stringWithUTF8String:sPath.c_str() ] ];
+	bool bisAppBundle = ( nullptr != bundle );
+	[ bundle release ];
+	return bisAppBundle;
+#else
+	return false;
+#endif
+}
 
 //-----------------------------------------------------------------------------
 // Purpose: returns true if the the path exists
@@ -402,11 +482,20 @@ bool Path_Exists( const std::string & sPath )
 	if( sFixedPath.empty() )
 		return false;
 
+#if defined( WIN32 )
+	struct	_stat	buf;
+	std::wstring wsFixedPath = UTF8to16( sFixedPath.c_str() );
+	if ( _wstat( wsFixedPath.c_str(), &buf ) == -1 )
+	{
+		return false;
+	}
+#else
 	struct stat buf;
 	if ( stat ( sFixedPath.c_str(), &buf ) == -1)
 	{
 		return false;
 	}
+#endif
 
 	return true;
 }
@@ -475,11 +564,9 @@ unsigned char * Path_ReadBinaryFile( const std::string &strFilename, int *pSize
 #if defined( POSIX )
 	f = fopen( strFilename.c_str(), "rb" );
 #else
-	errno_t err = fopen_s(&f, strFilename.c_str(), "rb");
-	if ( err != 0 )
-	{
-		f = NULL;
-	}
+	std::wstring wstrFilename = UTF8to16( strFilename.c_str() );
+	// the open operation needs to be sharable, therefore use of _wfsopen instead of _wfopen_s
+	f = _wfsopen( wstrFilename.c_str(), L"rb", _SH_DENYNO );
 #endif
 	
 	unsigned char* buf = NULL;
@@ -508,6 +595,68 @@ unsigned char * Path_ReadBinaryFile( const std::string &strFilename, int *pSize
 	return buf;
 }
 
+uint32_t  Path_ReadBinaryFile( const std::string &strFilename, unsigned char *pBuffer, uint32_t unSize )
+{
+	FILE *f;
+#if defined( POSIX )
+	f = fopen( strFilename.c_str(), "rb" );
+#else
+	std::wstring wstrFilename = UTF8to16( strFilename.c_str() );
+	errno_t err = _wfopen_s( &f, wstrFilename.c_str(), L"rb" );
+	if ( err != 0 )
+	{
+		f = NULL;
+	}
+#endif
+
+	uint32_t unSizeToReturn = 0;
+
+	if ( f != NULL )
+	{
+		fseek( f, 0, SEEK_END );
+		uint32_t size = (uint32_t)ftell( f );
+		fseek( f, 0, SEEK_SET );
+
+		if ( size > unSize || !pBuffer )
+		{
+			unSizeToReturn = (uint32_t)size;
+		}
+		else
+		{
+			if ( fread( pBuffer, size, 1, f ) == 1 )
+			{
+				unSizeToReturn = (uint32_t)size;
+			}
+		}
+
+		fclose( f );
+	}
+
+	return unSizeToReturn;
+}
+
+bool Path_WriteBinaryFile(const std::string &strFilename, unsigned char *pData, unsigned nSize)
+{
+	FILE *f;
+#if defined( POSIX )
+	f = fopen(strFilename.c_str(), "wb");
+#else
+	std::wstring wstrFilename = UTF8to16( strFilename.c_str() );
+	errno_t err = _wfopen_s( &f, wstrFilename.c_str(), L"wb" );
+	if (err != 0)
+	{
+		f = NULL;
+	}
+#endif
+
+	size_t written = 0;
+	if (f != NULL) {
+		written = fwrite(pData, sizeof(unsigned char), nSize, f);
+		fclose(f);
+	}
+
+	return written = nSize ? true : false;
+}
 
 std::string Path_ReadTextFile( const std::string &strFilename )
 {
@@ -520,7 +669,7 @@ std::string Path_ReadTextFile( const std::string &strFilename )
 		return "";
 
 	// convert CRLF -> LF
-	int outsize = 1;
+	size_t outsize = 1;
 	for (int i=1; i < size; i++)
 	{
 		if (buf[i] == '\n' && buf[i-1] == '\r') // CRLF
@@ -529,7 +678,7 @@ std::string Path_ReadTextFile( const std::string &strFilename )
 			buf[outsize++] = buf[i]; // just copy
 	}
 
-	std::string ret((char *)buf, (char *)(buf + outsize));
+	std::string ret((char *)buf, outsize);
 	delete[] buf;
 	return ret;
 }
@@ -541,7 +690,8 @@ bool Path_WriteStringToTextFile( const std::string &strFilename, const char *pch
 #if defined( POSIX )
 	f = fopen( strFilename.c_str(), "w" );
 #else
-	errno_t err = fopen_s(&f, strFilename.c_str(), "w");
+	std::wstring wstrFilename = UTF8to16( strFilename.c_str() );
+	errno_t err = _wfopen_s( &f, wstrFilename.c_str(), L"w" );
 	if ( err != 0 )
 	{
 		f = NULL;
@@ -557,4 +707,113 @@ bool Path_WriteStringToTextFile( const std::string &strFilename, const char *pch
 	}
 
 	return ok;
-}
\ No newline at end of file
+}
+
+bool Path_WriteStringToTextFileAtomic( const std::string &strFilename, const char *pchData )
+{
+	std::string strTmpFilename = strFilename + ".tmp";
+
+	if ( !Path_WriteStringToTextFile( strTmpFilename, pchData ) )
+		return false;
+
+	// Platform specific atomic file replacement
+#if defined( _WIN32 )
+	std::wstring wsFilename = UTF8to16( strFilename.c_str() );
+	std::wstring wsTmpFilename = UTF8to16( strTmpFilename.c_str() );
+	if ( !::ReplaceFileW( wsFilename.c_str(), wsTmpFilename.c_str(), nullptr, 0, 0, 0 ) )
+	{
+		// if we couldn't ReplaceFile, try a non-atomic write as a fallback
+		if ( !Path_WriteStringToTextFile( strFilename, pchData ) )
+			return false;
+	}
+#elif defined( POSIX )
+	if ( rename( strTmpFilename.c_str(), strFilename.c_str() ) == -1 )
+		return false;
+#else
+#error Do not know how to write atomic file
+#endif
+
+	return true;
+}
+
+
+#if defined(WIN32)
+#define FILE_URL_PREFIX "file:///"
+#else
+#define FILE_URL_PREFIX "file://"
+#endif
+
+// ----------------------------------------------------------------------------------------------------------------------------
+// Purpose: Turns a path to a file on disk into a URL (or just returns the value if it's already a URL)
+// ----------------------------------------------------------------------------------------------------------------------------
+std::string Path_FilePathToUrl( const std::string & sRelativePath, const std::string & sBasePath )
+{
+	if ( !strnicmp( sRelativePath.c_str(), "http://", 7 )
+		|| !strnicmp( sRelativePath.c_str(), "https://", 8 )
+		|| !strnicmp( sRelativePath.c_str(), "file://", 7 ) )
+	{
+		return sRelativePath;
+	}
+	else
+	{
+		std::string sAbsolute = Path_MakeAbsolute( sRelativePath, sBasePath );
+		if ( sAbsolute.empty() )
+			return sAbsolute;
+		return std::string( FILE_URL_PREFIX ) + sAbsolute;
+	}
+}
+
+// -----------------------------------------------------------------------------------------------------
+// Purpose: Strips off file:// off a URL and returns the path. For other kinds of URLs an empty string is returned
+// -----------------------------------------------------------------------------------------------------
+std::string Path_UrlToFilePath( const std::string & sFileUrl )
+{
+	if ( !strnicmp( sFileUrl.c_str(), FILE_URL_PREFIX, strlen( FILE_URL_PREFIX ) ) )
+	{
+		return sFileUrl.c_str() + strlen( FILE_URL_PREFIX );
+	}
+	else
+	{
+		return "";
+	}
+}
+
+
+// -----------------------------------------------------------------------------------------------------
+// Purpose: Returns the root of the directory the system wants us to store user documents in
+// -----------------------------------------------------------------------------------------------------
+std::string GetUserDocumentsPath()
+{
+#if defined( WIN32 )
+	WCHAR rwchPath[MAX_PATH];
+
+	if ( !SUCCEEDED( SHGetFolderPathW( NULL, CSIDL_MYDOCUMENTS | CSIDL_FLAG_CREATE, NULL, 0, rwchPath ) ) )
+	{
+		return "";
+	}
+
+	// Convert the path to UTF-8 and store in the output
+	std::string sUserPath = UTF16to8( rwchPath );
+
+	return sUserPath;
+#elif defined( OSX )
+	@autoreleasepool {
+		NSArray *paths = NSSearchPathForDirectoriesInDomains( NSDocumentDirectory, NSUserDomainMask, YES );
+		if ( [paths count] == 0 )
+		{
+			return "";
+		}
+		
+		return [[paths objectAtIndex:0] UTF8String];
+	}
+#elif defined( LINUX )
+	// @todo: not solved/changed as part of OSX - still not real - just removed old class based steam cut and paste
+	const char *pchHome = getenv( "HOME" );
+	if ( pchHome == NULL )
+	{
+		return "";
+	}
+	return pchHome;
+#endif
+}
+
diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.h b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.h
index c38ec5612..7c34a7175 100644
--- a/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.h
+++ b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.h
@@ -2,6 +2,7 @@
 #pragma once
 
 #include <string>
+#include <stdint.h>
 
 /** Returns the path (including filename) to the current executable */
 std::string Path_GetExecutablePath();
@@ -13,7 +14,7 @@ std::string Path_GetWorkingDirectory();
 bool Path_SetWorkingDirectory( const std::string & sPath );
 
 /** returns the path (including filename) of the current shared lib or DLL */
-std::string Path_GetModulePath();
+std::string Path_GetThisModulePath();
 
 /** Returns the specified path without its filename.
 * If slash is unspecified the native path separator of the current platform
@@ -27,6 +28,9 @@ std::string Path_StripDirectory( const std::string & sPath, char slash = 0 );
 * If there is a path the path is left intact. */
 std::string Path_StripExtension( const std::string & sPath );
 
+/** returns just extension of the provided filename (if any). */
+std::string Path_GetExtension( const std::string & sPath );
+
 /** Returns true if the path is absolute */
 bool Path_IsAbsolute( const std::string & sPath );
 
@@ -60,11 +64,14 @@ std::string Path_Join(
 * will be used. */
 std::string Path_Compact( const std::string & sRawPath, char slash = 0 );
 
+//** Removed trailing slashes */
+std::string Path_RemoveTrailingSlash( const std::string & sRawPath, char slash = 0 );
+
 /** returns true if the specified path exists and is a directory */
 bool Path_IsDirectory( const std::string & sPath );
 
-/** Returns the path to the current DLL or exe */
-std::string GetThisModulePath();
+/** returns true if the specified path represents an app bundle */
+bool Path_IsAppBundle( const std::string & sPath );
 
 /** returns true if the the path exists */
 bool Path_Exists( const std::string & sPath );
@@ -75,11 +82,31 @@ std::string Path_FindParentSubDirectoryRecursively( const std::string &strStartD
 
 /** Path operations to read or write text/binary files */
 unsigned char * Path_ReadBinaryFile( const std::string &strFilename, int *pSize );
+uint32_t  Path_ReadBinaryFile( const std::string &strFilename, unsigned char *pBuffer, uint32_t unSize );
+bool Path_WriteBinaryFile( const std::string &strFilename, unsigned char *pData, unsigned nSize );
 std::string Path_ReadTextFile( const std::string &strFilename );
 bool Path_WriteStringToTextFile( const std::string &strFilename, const char *pchData );
+bool Path_WriteStringToTextFileAtomic( const std::string &strFilename, const char *pchData );
+
+/** Returns a file:// url for paths, or an http or https url if that's what was provided */
+std::string Path_FilePathToUrl( const std::string & sRelativePath, const std::string & sBasePath );
+
+/** Strips off file:// off a URL and returns the path. For other kinds of URLs an empty string is returned */
+std::string Path_UrlToFilePath( const std::string & sFileUrl );
+
+/** Returns the root of the directory the system wants us to store user documents in */
+std::string GetUserDocumentsPath();
+
+#ifndef MAX_UNICODE_PATH
+	#define MAX_UNICODE_PATH 32767
+#endif
+
+#ifndef MAX_UNICODE_PATH_IN_UTF8
+	#define MAX_UNICODE_PATH_IN_UTF8 (MAX_UNICODE_PATH * 4)
+#endif
 
 //-----------------------------------------------------------------------------
-#if defined(_WIN32)
+#if defined(WIN32)
 #define DYNAMIC_LIB_EXT	".dll"
 #ifdef _WIN64
 #define PLATSUBDIR	"win64"
@@ -91,8 +118,12 @@ bool Path_WriteStringToTextFile( const std::string &strFilename, const char *pch
 #define PLATSUBDIR	"osx32"
 #elif defined(LINUX)
 #define DYNAMIC_LIB_EXT	".so"
+#if defined( LINUX32 )
 #define PLATSUBDIR	"linux32"
 #else
+#define PLATSUBDIR	"linux64"
+#endif
+#else
 #warning "Unknown platform for PLATSUBDIR"
 #define PLATSUBDIR	"unknown_platform"
 #endif
diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/strtools.cpp b/examples/ThirdPartyLibs/openvr/samples/shared/strtools.cpp
new file mode 100644
index 000000000..6166db483
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/samples/shared/strtools.cpp
@@ -0,0 +1,437 @@
+//========= Copyright Valve Corporation ============//
+#include "strtools.h"
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+//-----------------------------------------------------------------------------
+// Purpose:
+//-----------------------------------------------------------------------------
+bool StringHasPrefix( const std::string & sString, const std::string & sPrefix )
+{
+	return 0 == strnicmp( sString.c_str(), sPrefix.c_str(), sPrefix.length() );
+}
+
+bool StringHasPrefixCaseSensitive( const std::string & sString, const std::string & sPrefix )
+{
+	return 0 == strncmp( sString.c_str(), sPrefix.c_str(), sPrefix.length() );
+}
+
+
+bool StringHasSuffix( const std::string &sString, const std::string &sSuffix )
+{
+	size_t cStrLen = sString.length();
+	size_t cSuffixLen = sSuffix.length();
+
+	if ( cSuffixLen > cStrLen )
+		return false;
+
+	std::string sStringSuffix = sString.substr( cStrLen - cSuffixLen, cSuffixLen );
+
+	return 0 == stricmp( sStringSuffix.c_str(), sSuffix.c_str() );
+}
+
+bool StringHasSuffixCaseSensitive( const std::string &sString, const std::string &sSuffix )
+{
+	size_t cStrLen = sString.length();
+	size_t cSuffixLen = sSuffix.length();
+
+	if ( cSuffixLen > cStrLen )
+		return false;
+
+	std::string sStringSuffix = sString.substr( cStrLen - cSuffixLen, cSuffixLen );
+
+	return 0 == strncmp( sStringSuffix.c_str(), sSuffix.c_str(),cSuffixLen );
+}
+
+//-----------------------------------------------------------------------------
+// Purpose:
+//-----------------------------------------------------------------------------
+std::string UTF16to8(const wchar_t * in)
+{
+	std::string out;
+	unsigned int codepoint = 0;
+	for ( ; in && *in != 0; ++in )
+	{
+		if (*in >= 0xd800 && *in <= 0xdbff)
+			codepoint = ((*in - 0xd800) << 10) + 0x10000;
+		else
+		{
+			if (*in >= 0xdc00 && *in <= 0xdfff)
+				codepoint |= *in - 0xdc00;
+			else
+				codepoint = *in;
+
+			if (codepoint <= 0x7f)
+				out.append(1, static_cast<char>(codepoint));
+			else if (codepoint <= 0x7ff)
+			{
+				out.append(1, static_cast<char>(0xc0 | ((codepoint >> 6) & 0x1f)));
+				out.append(1, static_cast<char>(0x80 | (codepoint & 0x3f)));
+			}
+			else if (codepoint <= 0xffff)
+			{
+				out.append(1, static_cast<char>(0xe0 | ((codepoint >> 12) & 0x0f)));
+				out.append(1, static_cast<char>(0x80 | ((codepoint >> 6) & 0x3f)));
+				out.append(1, static_cast<char>(0x80 | (codepoint & 0x3f)));
+			}
+			else
+			{
+				out.append(1, static_cast<char>(0xf0 | ((codepoint >> 18) & 0x07)));
+				out.append(1, static_cast<char>(0x80 | ((codepoint >> 12) & 0x3f)));
+				out.append(1, static_cast<char>(0x80 | ((codepoint >> 6) & 0x3f)));
+				out.append(1, static_cast<char>(0x80 | (codepoint & 0x3f)));
+			}
+			codepoint = 0;
+		}
+	}
+	return out;
+}
+
+std::wstring UTF8to16(const char * in)
+{
+	std::wstring out;
+	unsigned int codepoint = 0;
+	int following = 0;
+	for ( ; in && *in != 0; ++in )
+	{
+		unsigned char ch = *in;
+		if (ch <= 0x7f)
+		{
+			codepoint = ch;
+			following = 0;
+		}
+		else if (ch <= 0xbf)
+		{
+			if (following > 0)
+			{
+				codepoint = (codepoint << 6) | (ch & 0x3f);
+				--following;
+			}
+		}
+		else if (ch <= 0xdf)
+		{
+			codepoint = ch & 0x1f;
+			following = 1;
+		}
+		else if (ch <= 0xef)
+		{
+			codepoint = ch & 0x0f;
+			following = 2;
+		}
+		else
+		{
+			codepoint = ch & 0x07;
+			following = 3;
+		}
+		if (following == 0)
+		{
+			if (codepoint > 0xffff)
+			{
+				out.append(1, static_cast<wchar_t>(0xd800 + (codepoint >> 10)));
+				out.append(1, static_cast<wchar_t>(0xdc00 + (codepoint & 0x03ff)));
+			}
+			else
+				out.append(1, static_cast<wchar_t>(codepoint));
+			codepoint = 0;
+		}
+	}
+	return out;
+}
+
+
+void strcpy_safe( char *pchBuffer, size_t unBufferSizeBytes, const char *pchSource )
+{
+	pchBuffer[ unBufferSizeBytes - 1 ] = '\0';
+	strncpy( pchBuffer, pchSource, unBufferSizeBytes - 1 );
+}
+
+
+// --------------------------------------------------------------------
+// Purpose: converts a string to upper case
+// --------------------------------------------------------------------
+std::string StringToUpper( const std::string & sString )
+{
+	std::string sOut;
+	sOut.reserve( sString.size() + 1 );
+	for( std::string::const_iterator i = sString.begin(); i != sString.end(); i++ )
+	{
+		sOut.push_back( (char)toupper( *i ) );
+	}
+
+	return sOut;
+}
+
+
+// --------------------------------------------------------------------
+// Purpose: converts a string to lower case
+// --------------------------------------------------------------------
+std::string StringToLower( const std::string & sString )
+{
+	std::string sOut;
+	sOut.reserve( sString.size() + 1 );
+	for( std::string::const_iterator i = sString.begin(); i != sString.end(); i++ )
+	{
+		sOut.push_back( (char)tolower( *i ) );
+	}
+
+	return sOut;
+}
+
+
+uint32_t ReturnStdString( const std::string & sValue, char *pchBuffer, uint32_t unBufferLen )
+{
+	uint32_t unLen = (uint32_t)sValue.length() + 1;
+	if( !pchBuffer || !unBufferLen )
+		return unLen;
+
+	if( unBufferLen < unLen )
+	{
+		pchBuffer[0] = '\0';
+	}
+	else
+	{
+		memcpy( pchBuffer, sValue.c_str(), unLen );
+	}
+
+	return unLen;
+}
+
+void BufferToStdString( std::string & sDest, const char *pchBuffer, uint32_t unBufferLen )
+{
+	sDest.resize( unBufferLen + 1 );
+	memcpy( const_cast< char* >( sDest.c_str() ), pchBuffer, unBufferLen );
+	const_cast< char* >( sDest.c_str() )[ unBufferLen ] = '\0';
+}
+
+/** Returns a std::string from a uint64_t */
+std::string Uint64ToString( uint64_t ulValue )
+{
+	char buf[ 22 ];
+#if defined( _WIN32 )
+	sprintf_s( buf, "%llu", ulValue );
+#else
+    snprintf( buf, sizeof( buf ), "%llu", (long long unsigned int ) ulValue );
+#endif
+	return buf;
+}
+
+
+/** returns a uint64_t from a string */
+uint64_t StringToUint64( const std::string & sValue )
+{
+	return strtoull( sValue.c_str(), NULL, 0 );
+}
+
+//-----------------------------------------------------------------------------
+// Purpose: Helper for converting a numeric value to a hex digit, value should be 0-15.
+//-----------------------------------------------------------------------------
+char cIntToHexDigit( int nValue )
+{
+	//Assert( nValue >= 0 && nValue <= 15 );
+	return "0123456789ABCDEF"[ nValue & 15 ];
+}
+
+//-----------------------------------------------------------------------------
+// Purpose: Helper for converting a hex char value to numeric, return -1 if the char
+//          is not a valid hex digit.
+//-----------------------------------------------------------------------------
+int iHexCharToInt( char cValue )
+{
+	int32_t iValue = cValue;
+	if ( (uint32_t)( iValue - '0' ) < 10 )
+		return iValue - '0';
+
+	iValue |= 0x20;
+	if ( (uint32_t)( iValue - 'a' ) < 6 )
+		return iValue - 'a' + 10;
+
+	return -1;
+}
+
+//-----------------------------------------------------------------------------
+// Purpose: Internal implementation of encode, works in the strict RFC manner, or
+//          with spaces turned to + like HTML form encoding.
+//-----------------------------------------------------------------------------
+void V_URLEncodeInternal( char *pchDest, int nDestLen, const char *pchSource, int nSourceLen, bool bUsePlusForSpace )
+{
+	//AssertMsg( nDestLen > 3*nSourceLen, "Target buffer for V_URLEncode should be 3x source length, plus one for terminating null\n" );
+	
+	int iDestPos = 0;
+	for ( int i=0; i < nSourceLen; ++i )
+	{
+		// worst case we need 3 additional chars
+		if( (iDestPos+3) > nDestLen  )
+		{
+			pchDest[0] = '\0';
+//			AssertMsg( false, "Target buffer too short\n" );
+			return;
+		}
+
+		// We allow only a-z, A-Z, 0-9, period, underscore, and hyphen to pass through unescaped.
+		// These are the characters allowed by both the original RFC 1738 and the latest RFC 3986.
+		// Current specs also allow '~', but that is forbidden under original RFC 1738.
+		if ( !( pchSource[i] >= 'a' && pchSource[i] <= 'z' ) && !( pchSource[i] >= 'A' && pchSource[i] <= 'Z' ) && !(pchSource[i] >= '0' && pchSource[i] <= '9' )
+			 && pchSource[i] != '-' && pchSource[i] != '_' && pchSource[i] != '.'	
+		)
+		{
+			if ( bUsePlusForSpace && pchSource[i] == ' ' )
+			{
+				pchDest[iDestPos++] = '+';
+			}
+			else
+			{
+				pchDest[iDestPos++] = '%';
+				uint8_t iValue = pchSource[i];
+				if ( iValue == 0 )
+				{
+					pchDest[iDestPos++] = '0';
+					pchDest[iDestPos++] = '0';
+				}
+				else
+				{
+					char cHexDigit1 = cIntToHexDigit( iValue % 16 );
+					iValue /= 16;
+					char cHexDigit2 = cIntToHexDigit( iValue );
+					pchDest[iDestPos++] = cHexDigit2;
+					pchDest[iDestPos++] = cHexDigit1;
+				}
+			}
+		}
+		else
+		{
+			pchDest[iDestPos++] = pchSource[i];
+		}
+	}
+
+	if( (iDestPos+1) > nDestLen )
+	{
+		pchDest[0] = '\0';
+		//AssertMsg( false, "Target buffer too short to terminate\n" );
+		return;
+	}
+
+	// Null terminate
+	pchDest[iDestPos++] = 0;
+}
+
+
+//-----------------------------------------------------------------------------
+// Purpose: Internal implementation of decode, works in the strict RFC manner, or
+//          with spaces turned to + like HTML form encoding.
+//
+//			Returns the amount of space used in the output buffer.
+//-----------------------------------------------------------------------------
+size_t V_URLDecodeInternal( char *pchDecodeDest, int nDecodeDestLen, const char *pchEncodedSource, int nEncodedSourceLen, bool bUsePlusForSpace )
+{
+	if ( nDecodeDestLen < nEncodedSourceLen )
+	{
+		//AssertMsg( false, "V_URLDecode needs a dest buffer at least as large as the source" );
+		return 0;
+	}
+
+	int iDestPos = 0;
+	for( int i=0; i < nEncodedSourceLen; ++i )
+	{
+		if ( bUsePlusForSpace && pchEncodedSource[i] == '+' )
+		{
+			pchDecodeDest[ iDestPos++ ] = ' ';
+		}
+		else if ( pchEncodedSource[i] == '%' )
+		{
+			// Percent signifies an encoded value, look ahead for the hex code, convert to numeric, and use that
+
+			// First make sure we have 2 more chars
+			if ( i < nEncodedSourceLen - 2 )
+			{
+				char cHexDigit1 = pchEncodedSource[i+1];
+				char cHexDigit2 = pchEncodedSource[i+2];
+
+				// Turn the chars into a hex value, if they are not valid, then we'll
+				// just place the % and the following two chars direct into the string,
+				// even though this really shouldn't happen, who knows what bad clients
+				// may do with encoding.
+				bool bValid = false;
+				int iValue = iHexCharToInt( cHexDigit1 );
+				if ( iValue != -1 )
+				{
+					iValue *= 16;
+					int iValue2 = iHexCharToInt( cHexDigit2 );
+					if ( iValue2 != -1 )
+					{
+						iValue += iValue2;
+						pchDecodeDest[ iDestPos++ ] = (char)iValue;
+						bValid = true;
+					}
+				}
+
+				if ( !bValid )
+				{
+					pchDecodeDest[ iDestPos++ ] = '%';
+					pchDecodeDest[ iDestPos++ ] = cHexDigit1;
+					pchDecodeDest[ iDestPos++ ] = cHexDigit2;
+				}
+			}
+
+			// Skip ahead
+			i += 2;
+		}
+		else
+		{
+			pchDecodeDest[ iDestPos++ ] = pchEncodedSource[i];
+		}
+	}
+
+	// We may not have extra room to NULL terminate, since this can be used on raw data, but if we do
+	// go ahead and do it as this can avoid bugs.
+	if ( iDestPos < nDecodeDestLen )
+	{
+		pchDecodeDest[iDestPos] = 0;
+	}
+
+	return (size_t)iDestPos;
+}
+
+//-----------------------------------------------------------------------------
+// Purpose: Encodes a string (or binary data) from URL encoding format, see rfc1738 section 2.2.  
+//          This version of the call isn't a strict RFC implementation, but uses + for space as is
+//          the standard in HTML form encoding, despite it not being part of the RFC.
+//
+//          Dest buffer should be at least as large as source buffer to guarantee room for decode.
+//-----------------------------------------------------------------------------
+void V_URLEncode( char *pchDest, int nDestLen, const char *pchSource, int nSourceLen )
+{
+	return V_URLEncodeInternal( pchDest, nDestLen, pchSource, nSourceLen, true );
+}
+
+
+//-----------------------------------------------------------------------------
+// Purpose: Decodes a string (or binary data) from URL encoding format, see rfc1738 section 2.2.  
+//          This version of the call isn't a strict RFC implementation, but uses + for space as is
+//          the standard in HTML form encoding, despite it not being part of the RFC.
+//
+//          Dest buffer should be at least as large as source buffer to guarantee room for decode.
+//			Dest buffer being the same as the source buffer (decode in-place) is explicitly allowed.
+//-----------------------------------------------------------------------------
+size_t V_URLDecode( char *pchDecodeDest, int nDecodeDestLen, const char *pchEncodedSource, int nEncodedSourceLen )
+{
+	return V_URLDecodeInternal( pchDecodeDest, nDecodeDestLen, pchEncodedSource, nEncodedSourceLen, true );
+}
+
+//-----------------------------------------------------------------------------
+void V_StripExtension( std::string &in )
+{
+	// Find the last dot. If it's followed by a dot or a slash, then it's part of a 
+	// directory specifier like ../../somedir/./blah.
+	std::string::size_type test = in.rfind( '.' );
+	if ( test != std::string::npos )
+	{
+		// This handles things like ".\blah" or "c:\my@email.com\abc\def\geh"
+		// Which would otherwise wind up with "" and "c:\my@email", respectively.
+		if ( in.rfind( '\\' ) < test && in.rfind( '/' ) < test )
+		{
+			in.resize( test );
+		}
+	}
+}
+
diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/strtools.h b/examples/ThirdPartyLibs/openvr/samples/shared/strtools.h
new file mode 100644
index 000000000..b69ef15dc
--- /dev/null
+++ b/examples/ThirdPartyLibs/openvr/samples/shared/strtools.h
@@ -0,0 +1,130 @@
+//========= Copyright Valve Corporation ============//
+#pragma once
+
+#include <string>
+#include <stdint.h>
+#include <sys/types.h>
+
+/** returns true if the string has the prefix */
+bool StringHasPrefix( const std::string & sString, const std::string & sPrefix );
+bool StringHasPrefixCaseSensitive( const std::string & sString, const std::string & sPrefix );
+
+/** returns if the string has the suffix */
+bool StringHasSuffix( const std::string &sString, const std::string &sSuffix );
+bool StringHasSuffixCaseSensitive( const std::string &sString, const std::string &sSuffix );
+
+/** converts a UTF-16 string to a UTF-8 string */
+std::string UTF16to8(const wchar_t * in);
+
+/** converts a UTF-8 string to a UTF-16 string */
+std::wstring UTF8to16(const char * in);
+#define Utf16FromUtf8 UTF8to16
+
+/** safely copy a string into a buffer */
+void strcpy_safe( char *pchBuffer, size_t unBufferSizeBytes, const char *pchSource );
+template< size_t bufferSize >
+void strcpy_safe( char (& buffer) [ bufferSize ], const char *pchSource ) 
+{
+	strcpy_safe( buffer, bufferSize, pchSource );
+}
+
+
+/** converts a string to upper case */
+std::string StringToUpper( const std::string & sString );
+
+/** converts a string to lower case */
+std::string StringToLower( const std::string & sString );
+
+// we stricmp (from WIN) but it isn't POSIX - OSX/LINUX have strcasecmp so just inline bridge to it
+#if defined( OSX ) || defined( LINUX )
+#include <strings.h>
+inline int stricmp(const char *pStr1, const char *pStr2) { return strcasecmp(pStr1,pStr2); }
+#ifndef _stricmp
+#define _stricmp stricmp
+#endif
+inline int strnicmp( const char *pStr1, const char *pStr2, size_t unBufferLen ) { return strncasecmp( pStr1,pStr2, unBufferLen ); }
+#define _strnicmp strnicmp
+
+#ifndef _vsnprintf_s
+#define _vsnprintf_s vsnprintf
+#endif
+
+#define _TRUNCATE ((size_t)-1)
+
+#endif
+
+#if defined( OSX )
+// behaviors ensure NULL-termination at least as well as _TRUNCATE does, but
+// wcsncpy_s/strncpy_s can non-NULL-terminate, wcslcpy/strlcpy can not.
+inline errno_t wcsncpy_s(wchar_t *strDest, size_t numberOfElements, const wchar_t *strSource, size_t count)
+{
+	return wcslcpy(strDest, strSource, numberOfElements);
+}
+
+inline errno_t strncpy_s(char *strDest, size_t numberOfElements, const char *strSource, size_t count)
+{
+	return strlcpy(strDest, strSource, numberOfElements);
+}
+
+#endif
+
+#if defined( LINUX )
+// this implementation does not return whether or not the destination was 
+// truncated, but that is straightforward to fix if anybody actually needs the
+// return code. 
+#include "string.h"
+inline void wcsncpy_s(wchar_t *strDest, size_t numberOfElements, const wchar_t *strSource, size_t count)
+{
+	wcsncpy(strDest, strSource, numberOfElements);
+	strDest[numberOfElements-1] = '\0';
+}
+
+inline void strncpy_s(char *strDest, size_t numberOfElements, const char *strSource, size_t count)
+{
+	strncpy(strDest, strSource, numberOfElements);
+	strDest[numberOfElements-1] = '\0';
+}
+
+#endif
+
+#if defined( _WIN32 ) && _MSC_VER < 1800
+inline uint64_t strtoull(const char *str, char **endptr, int base) { return _strtoui64( str, endptr, base ); }
+#endif
+
+/* Handles copying a std::string into a buffer as would be provided in an API */
+uint32_t ReturnStdString( const std::string & sValue, char *pchBuffer, uint32_t unBufferLen );
+
+/* Handles copying a buffer into an std::string and auto adds null terminator */
+void BufferToStdString( std::string & sDest, const char *pchBuffer, uint32_t unBufferLen );
+
+/** Returns a std::string from a uint64_t */
+std::string Uint64ToString( uint64_t ulValue );
+
+/** returns a uint64_t from a string */
+uint64_t StringToUint64( const std::string & sValue );
+
+//-----------------------------------------------------------------------------
+// Purpose: Encodes a string (or binary data) from URL encoding format, see rfc1738 section 2.2.  
+//          This version of the call isn't a strict RFC implementation, but uses + for space as is
+//          the standard in HTML form encoding, despite it not being part of the RFC.
+//
+//          Dest buffer should be at least as large as source buffer to guarantee room for decode.
+//-----------------------------------------------------------------------------
+void V_URLEncode( char *pchDest, int nDestLen, const char *pchSource, int nSourceLen );
+
+//-----------------------------------------------------------------------------
+// Purpose: Decodes a string (or binary data) from URL encoding format, see rfc1738 section 2.2.  
+//          This version of the call isn't a strict RFC implementation, but uses + for space as is
+//          the standard in HTML form encoding, despite it not being part of the RFC.
+//
+//          Dest buffer should be at least as large as source buffer to guarantee room for decode.
+//			Dest buffer being the same as the source buffer (decode in-place) is explicitly allowed.
+//-----------------------------------------------------------------------------
+size_t V_URLDecode( char *pchDecodeDest, int nDecodeDestLen, const char *pchEncodedSource, int nEncodedSourceLen );
+
+//-----------------------------------------------------------------------------
+// Purpose: strip extension from a path
+//-----------------------------------------------------------------------------
+void V_StripExtension( std::string &in );
+
+

From 2c8f65a2d069a185865b5e54358392199e009d91 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 3 May 2017 10:49:04 -0700
Subject: [PATCH 30/80] move body handles in its own template class, for
 re-use.

---
 .../PhysicsServerCommandProcessor.cpp         | 227 +++++-------------
 src/Bullet3Common/b3ResizablePool.h           | 130 ++++++++++
 2 files changed, 190 insertions(+), 167 deletions(-)
 create mode 100644 src/Bullet3Common/b3ResizablePool.h

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 762491389..a120731b0 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -27,6 +27,8 @@
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "SharedMemoryCommands.h"
 #include "LinearMath/btRandom.h"
+#include "Bullet3Common/b3ResizablePool.h"
+
 #ifdef B3_ENABLE_TINY_AUDIO
 #include "../TinyAudio/b3SoundEngine.h"
 #endif
@@ -156,21 +158,8 @@ struct InteralUserConstraintData
 	}
 };
 
-///todo: templatize this
-struct InternalBodyHandle : public InteralBodyData
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
+typedef b3PoolBodyHandle<InteralBodyData> InternalBodyHandle;
 
-	int m_nextFreeHandle;
-	void SetNextFree(int next)
-	{
-		m_nextFreeHandle = next;
-	}
-	int	GetNextFree() const
-	{
-		return m_nextFreeHandle;
-	}
-};
 
 class btCommandChunk
 {
@@ -1131,95 +1120,8 @@ struct ContactPointsStateLogger : public InternalStateLogger
 struct PhysicsServerCommandProcessorInternalData
 {
 	///handle management
-	btAlignedObjectArray<InternalBodyHandle>	m_bodyHandles;
-	int m_numUsedHandles;						// number of active handles
-	int	m_firstFreeHandle;		// free handles list
+	b3ResizablePool< InternalBodyHandle > m_bodyHandles;
 
-	int getNumHandles() const
-	{
-		return m_bodyHandles.size();
-	}
-
-	InternalBodyHandle* getHandle(int handle)
-	{
-		btAssert(handle>=0);
-		btAssert(handle<m_bodyHandles.size());
-		if ((handle<0) || (handle>=m_bodyHandles.size()))
-		{
-			return 0;
-		}
-		return &m_bodyHandles[handle];
-	}
-	const InternalBodyHandle* getHandle(int handle) const
-	{
-		return &m_bodyHandles[handle];
-	}
-
-	void increaseHandleCapacity(int extraCapacity)
-	{
-		int curCapacity = m_bodyHandles.size();
-		btAssert(curCapacity == m_numUsedHandles);
-		int newCapacity = curCapacity + extraCapacity;
-		m_bodyHandles.resize(newCapacity);
-
-		{
-			for (int i = curCapacity; i < newCapacity; i++)
-				m_bodyHandles[i].SetNextFree(i + 1);
-
-
-			m_bodyHandles[newCapacity - 1].SetNextFree(-1);
-		}
-		m_firstFreeHandle = curCapacity;
-	}
-	void initHandles()
-	{
-		m_numUsedHandles = 0;
-		m_firstFreeHandle = -1;
-
-		increaseHandleCapacity(1);
-	}
-
-	void exitHandles()
-	{
-		m_bodyHandles.resize(0);
-		m_firstFreeHandle = -1;
-		m_numUsedHandles = 0;
-	}
-
-	int allocHandle()
-	{
-		btAssert(m_firstFreeHandle>=0);
-
-		int handle = m_firstFreeHandle;
-		m_firstFreeHandle = getHandle(handle)->GetNextFree();
-		m_numUsedHandles++;
-
-		if (m_firstFreeHandle<0)
-		{
-			//int curCapacity = m_bodyHandles.size();
-			int additionalCapacity= m_bodyHandles.size();
-			increaseHandleCapacity(additionalCapacity);
-
-
-			getHandle(handle)->SetNextFree(m_firstFreeHandle);
-		}
-
-
-		return handle;
-	}
-
-
-	void freeHandle(int handle)
-	{
-		btAssert(handle >= 0);
-
-		getHandle(handle)->SetNextFree(m_firstFreeHandle);
-		m_firstFreeHandle = handle;
-
-		m_numUsedHandles--;
-	}
-
-	///end handle management
 
 	bool m_allowRealTimeSimulation;
 	bool m_hasGround;
@@ -1346,7 +1248,7 @@ struct PhysicsServerCommandProcessorInternalData
 	{
 		m_vrControllerEvents.init();
 
-		initHandles();
+		m_bodyHandles.initHandles();
 #if 0
 		btAlignedObjectArray<int> bla;
 
@@ -1545,7 +1447,7 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
 				if ((uid0<0)||(linkIndex<-1))
 					continue;
 
-				InternalBodyHandle* bodyHandle0 = m_data->getHandle(uid0);
+				InternalBodyHandle* bodyHandle0 = m_data->m_bodyHandles.getHandle(uid0);
 				SDFAudioSource* audioSrc = bodyHandle0->m_audioSources[linkIndex];
 				if (audioSrc==0)
 					continue;
@@ -1882,9 +1784,9 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
         btRigidBody* rb = 0;
 
         //get a body index
-        int bodyUniqueId = m_data->allocHandle();
+        int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
 
-        InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
+        InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 			
 		sd.m_bodyUniqueIds.push_back(bodyUniqueId);
 
@@ -2062,7 +1964,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
     if (loadOk)
     {
 		//get a body index
-		int bodyUniqueId = m_data->allocHandle();
+		int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
 		if (bodyUniqueIdPtr)
 			*bodyUniqueIdPtr= bodyUniqueId;
 
@@ -2075,7 +1977,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 		}
 
         u2b.setBodyUniqueId(bodyUniqueId);
-		InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
+		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 		
 
 
@@ -2258,7 +2160,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
     int streamSizeInBytes = 0;
     //serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire
 
-    InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
+    InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
     btMultiBody* mb = bodyHandle->m_multiBody;
     if (mb)
     {
@@ -2390,7 +2292,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID)&& (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds>0))
 							{
 								int bodyUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[0];
-								InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+								InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 								if (body)
 								{
 									if (body->m_multiBody)
@@ -2891,11 +2793,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				{
 					BT_PROFILE("CMD_SYNC_BODY_INFO");
 
-					int numHandles = m_data->getNumHandles();
+					int numHandles = m_data->m_bodyHandles.getNumHandles();
 					int actualNumBodies = 0;
 					for (int i=0;i<numHandles;i++)
 					{
-						InteralBodyData* body = m_data->getHandle(i);
+						InteralBodyData* body = m_data->m_bodyHandles.getHandle(i);
 						if (body && (body->m_multiBody || body->m_rigidBody))
 						{
 							serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = i;
@@ -2929,7 +2831,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                         serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
                         serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
 						
-						InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
+						InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
 						if (bodyHandle)
 						{
 							strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName,bodyHandle->m_bodyName.c_str());
@@ -2985,7 +2887,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									{
 										int bodyUniqueId = sd.m_bodyUniqueIds[i];
-										InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+										InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 										if (body)
 										{
 											 if (body->m_multiBody)
@@ -3279,7 +3181,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
 						}
 						serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
-						InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+						InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 						strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
 						hasStatus = true;
 
@@ -3348,7 +3250,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						b3Printf("Processed CMD_CREATE_SENSOR");
 					}
 					int bodyUniqueId = clientCmd.m_createSensorArguments.m_bodyUniqueId;
-					InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
                     if (body && body->m_multiBody)
                     {
                         btMultiBody* mb = body->m_multiBody;
@@ -3418,7 +3320,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 
 							int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId;
-							InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+							InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 
                             if (body && body->m_multiBody)
                             {
@@ -3610,7 +3512,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							b3Printf("Sending the actual state (Q,U)");
 						}
 						int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId;
-						InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+						InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 
 						if (body && body->m_multiBody)
 						{
@@ -3852,13 +3754,19 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
 					}
                     ///todo(erwincoumans) move this damping inside Bullet
-                    for (int i=0;i<m_data->m_bodyHandles.size();i++)
-                    {
-                        applyJointDamping(i);
-                    }
-					
-					
-					
+                    for (int i=0;i<m_data->m_dynamicsWorld->getNumMultibodies();i++)
+					{
+						btMultiBody* mb = m_data->m_dynamicsWorld->getMultiBody(i);
+						for (int l=0;l<mb->getNumLinks();l++) 
+						{
+							for (int d=0;d<mb->getLink(l).m_dofCount;d++) 
+							{
+								double damping_coefficient = mb->getLink(l).m_jointDamping;
+								double damping = -damping_coefficient*mb->getJointVelMultiDof(l)[d];
+								mb->addJointTorqueMultiDof(l, d, damping);
+							}
+						}
+					}
 
 					btScalar deltaTimeScaled = m_data->m_physicsDeltaTime*simTimeScalingFactor;
 
@@ -3987,7 +3895,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						b3Printf("Server Init Pose not implemented yet");
 					}
 					int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId;
-					InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 
 					btVector3 baseLinVel(0, 0, 0);
 					btVector3 baseAngVel(0, 0, 0);
@@ -4267,8 +4175,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						serverCmd.m_type = CMD_RIGID_BODY_CREATION_COMPLETED;
 
 
-						int bodyUniqueId = m_data->allocHandle();
-						InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
+						int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
+						InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 						serverCmd.m_rigidBodyCreateArgs.m_bodyUniqueId = bodyUniqueId;
 						rb->setUserIndex2(bodyUniqueId);
 						bodyHandle->m_rootLocalInertialFrame.setIdentity();
@@ -4557,7 +4465,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								
 								if (bodyUniqueIdA >= 0)
 								{
-									InteralBodyData* bodyA = m_data->getHandle(bodyUniqueIdA);
+									InteralBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA);
 									if (bodyA)
 									{
 										if (bodyA->m_multiBody)
@@ -4591,7 +4499,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								}
 								if (bodyUniqueIdB>=0)
 								{
-									InteralBodyData* bodyB = m_data->getHandle(bodyUniqueIdB);
+									InteralBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB);
 									if (bodyB)
 									{
 										if (bodyB->m_multiBody)
@@ -4745,7 +4653,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				{
 					BT_PROFILE("CMD_CALCULATE_INVERSE_DYNAMICS");
 					SharedMemoryStatus& serverCmd = serverStatusOut;
-					InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
+					InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
 					if (bodyHandle && bodyHandle->m_multiBody)
 					{
                         serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
@@ -4797,7 +4705,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					BT_PROFILE("CMD_CALCULATE_JACOBIAN");
 
                     SharedMemoryStatus& serverCmd = serverStatusOut;
-                    InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
+                    InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
                     if (bodyHandle && bodyHandle->m_multiBody)
                     {
                         serverCmd.m_type = CMD_CALCULATED_JACOBIAN_FAILED;
@@ -4860,7 +4768,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     }
                     for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
                     {
-                        InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
+                        InteralBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
 						bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME) != 0);
 
                         if (body && body->m_multiBody)
@@ -4971,12 +4879,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_CONSTRAINT)
 					{
 						btScalar defaultMaxForce = 500.0;
-						InteralBodyData* parentBody = m_data->getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
+						InteralBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
 						if (parentBody && parentBody->m_multiBody)
 						{
 							if ((clientCmd.m_userConstraintArguments.m_parentJointIndex>=-1) && clientCmd.m_userConstraintArguments.m_parentJointIndex < parentBody->m_multiBody->getNumLinks())
 							{
-								InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
+								InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
 								//also create a constraint with just a single multibody/rigid body without child
 								//if (childBody)
 								{
@@ -5189,7 +5097,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						SharedMemoryStatus& serverCmd = serverStatusOut;
 						serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED;
 
-						InternalBodyHandle* bodyHandle = m_data->getHandle(clientCmd.m_calculateInverseKinematicsArguments.m_bodyUniqueId);
+						InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateInverseKinematicsArguments.m_bodyUniqueId);
 						if (bodyHandle && bodyHandle->m_multiBody)
 						{
 							IKTrajectoryHelper** ikHelperPtrPtr = m_data->m_inverseKinematicsHelpers.find(bodyHandle->m_multiBody);
@@ -5462,8 +5370,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									btRigidBody* rb = btRigidBody::upcast(colObj);
 									if (rb)
 									{
-										int bodyUniqueId = m_data->allocHandle();
-										InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
+										int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
+										InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 										colObj->setUserIndex2(bodyUniqueId);
 										bodyHandle->m_rigidBody = rb;
 
@@ -5573,7 +5481,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						if ((clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR))
 						{
 							int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId;
-							InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+							InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 							if (body)
 							{
 								btCollisionObject* destColObj = 0;
@@ -5957,7 +5865,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,	const
 		
 		if (gVRTrackingObjectUniqueId >= 0)
 		{
-			InternalBodyHandle* bodyHandle = m_data->getHandle(gVRTrackingObjectUniqueId);
+			InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(gVRTrackingObjectUniqueId);
 			if (bodyHandle && bodyHandle->m_multiBody)
 			{
 				gVRTrackingObjectTr  = bodyHandle->m_multiBody->getBaseWorldTransform();
@@ -5976,22 +5884,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,	const
 	}
 }
 
-void PhysicsServerCommandProcessor::applyJointDamping(int bodyUniqueId)
-{
-    InteralBodyData* body = m_data->getHandle(bodyUniqueId);
-    if (body) {
-        btMultiBody* mb = body->m_multiBody;
-        if (mb) {
-            for (int l=0;l<mb->getNumLinks();l++) {
-                for (int d=0;d<mb->getLink(l).m_dofCount;d++) {
-                    double damping_coefficient = mb->getLink(l).m_jointDamping;
-                    double damping = -damping_coefficient*mb->getJointVelMultiDof(l)[d];
-                    mb->addJointTorqueMultiDof(l, d, damping);
-                }
-            }
-        }
-    }
-}
+
 
 void PhysicsServerCommandProcessor::resetSimulation()
 {
@@ -6012,8 +5905,8 @@ void PhysicsServerCommandProcessor::resetSimulation()
 	deleteDynamicsWorld();
 	createEmptyDynamicsWorld();
 
-	m_data->exitHandles();
-	m_data->initHandles();
+	m_data->m_bodyHandles.exitHandles();
+	m_data->m_bodyHandles.initHandles();
 
 	m_data->m_hasGround = false;
 	m_data->m_gripperRigidbodyFixed = 0;
@@ -6038,7 +5931,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size(),0);
 		//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		m_data->m_sphereId = bodyId;
-		InteralBodyData* parentBody = m_data->getHandle(bodyId);
+		InteralBodyData* parentBody = m_data->m_bodyHandles.getHandle(bodyId);
 		if (parentBody->m_multiBody)
 		{
 			parentBody->m_multiBody->setBaseVel(spawnDir * 5);
@@ -6059,7 +5952,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 
 			if (loadUrdf("pr2_gripper.urdf", btVector3(-0.2, 0.15, 0.9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()))
 			{
-				InteralBodyData* parentBody = m_data->getHandle(bodyId);
+				InteralBodyData* parentBody = m_data->m_bodyHandles.getHandle(bodyId);
 				if (parentBody->m_multiBody)
 				{
 					parentBody->m_multiBody->setHasSelfCollision(0);
@@ -6089,7 +5982,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		m_data->m_KukaId = bodyId;
 		if (m_data->m_KukaId>=0)
 		{
-			InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
+			InteralBodyData* kukaBody = m_data->m_bodyHandles.getHandle(m_data->m_KukaId);
 			if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs() == 7)
 			{
 				btScalar q[7];
@@ -6127,7 +6020,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true,CUF_USE_SDF);
 		m_data->m_gripperId = bodyId + 1;
 		{
-		InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
+		InteralBodyData* gripperBody = m_data->m_bodyHandles.getHandle(m_data->m_gripperId);
 
 		// Reset the default gripper motor maximum torque for damping to 0
 		for (int i = 0; i < gripperBody->m_multiBody->getNumLinks(); i++)
@@ -6165,7 +6058,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 
 		if (m_data->m_gripperId>=0)
 		{
-		InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
+		InteralBodyData* gripperBody = m_data->m_bodyHandles.getHandle(m_data->m_gripperId);
 		m_data->m_kukaGripperRevolute1 = new btMultiBodyPoint2Point(gripperBody->m_multiBody, 2, gripperBody->m_multiBody, 4, pivotInParent1, pivotInChild1);
 		m_data->m_kukaGripperRevolute1->setMaxAppliedImpulse(5.0);
 		m_data->m_kukaGripperRevolute2 = new btMultiBodyPoint2Point(gripperBody->m_multiBody, 3, gripperBody->m_multiBody, 6, pivotInParent2, pivotInChild2);
@@ -6178,12 +6071,12 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 
 		if (m_data->m_KukaId>=0)
 		{
-		InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
+		InteralBodyData* kukaBody = m_data->m_bodyHandles.getHandle(m_data->m_KukaId);
 		if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs()==7)
 		{
 			if (m_data->m_gripperId>=0)
 			{
-			InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
+			InteralBodyData* gripperBody = m_data->m_bodyHandles.getHandle(m_data->m_gripperId);
 
 			gripperBody->m_multiBody->setHasSelfCollision(0);
 			btVector3 pivotInParent(0, 0, 0.05);
@@ -6274,7 +6167,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 
 	if (m_data->m_kukaGripperFixed && m_data->m_kukaGripperMultiBody)
 	{
-		InteralBodyData* childBody = m_data->getHandle(m_data->m_gripperId);
+		InteralBodyData* childBody = m_data->m_bodyHandles.getHandle(m_data->m_gripperId);
 		// Add gripper controller
 		btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)childBody->m_multiBody->getLink(1).m_userPtr;
 		if (motor)
@@ -6342,7 +6235,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 	// Inverse kinematics for KUKA
 	if (m_data->m_KukaId>=0)
 	{
-		InternalBodyHandle* bodyHandle = m_data->getHandle(m_data->m_KukaId);
+		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(m_data->m_KukaId);
 		if (bodyHandle && bodyHandle->m_multiBody && bodyHandle->m_multiBody->getNumDofs()==7)
 		{
 			btMultiBody* mb = bodyHandle->m_multiBody;				
diff --git a/src/Bullet3Common/b3ResizablePool.h b/src/Bullet3Common/b3ResizablePool.h
new file mode 100644
index 000000000..4df56edde
--- /dev/null
+++ b/src/Bullet3Common/b3ResizablePool.h
@@ -0,0 +1,130 @@
+
+#ifndef B3_RESIZABLE_POOL_H
+#define B3_RESIZABLE_POOL_H
+
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+template <typename U>
+struct b3PoolBodyHandle : public U
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	int m_nextFreeHandle;
+	void SetNextFree(int next)
+	{
+		m_nextFreeHandle = next;
+	}
+	int	GetNextFree() const
+	{
+		return m_nextFreeHandle;
+	}
+};
+
+template <typename T> 
+class b3ResizablePool
+{
+
+protected:
+	b3AlignedObjectArray<T>	m_bodyHandles;
+	int m_numUsedHandles;						// number of active handles
+	int	m_firstFreeHandle;		// free handles list
+
+public:
+	
+	b3ResizablePool()
+	{
+	}
+	
+	virtual ~b3ResizablePool()
+	{
+	}
+///handle management
+
+	int getNumHandles() const
+	{
+		return m_bodyHandles.size();
+	}
+
+	T* getHandle(int handle)
+	{
+		btAssert(handle>=0);
+		btAssert(handle<m_bodyHandles.size());
+		if ((handle<0) || (handle>=m_bodyHandles.size()))
+		{
+			return 0;
+		}
+		return &m_bodyHandles[handle];
+	}
+	const T* getHandle(int handle) const
+	{
+		return &m_bodyHandles[handle];
+	}
+
+	void increaseHandleCapacity(int extraCapacity)
+	{
+		int curCapacity = m_bodyHandles.size();
+		btAssert(curCapacity == m_numUsedHandles);
+		int newCapacity = curCapacity + extraCapacity;
+		m_bodyHandles.resize(newCapacity);
+
+		{
+			for (int i = curCapacity; i < newCapacity; i++)
+				m_bodyHandles[i].SetNextFree(i + 1);
+
+
+			m_bodyHandles[newCapacity - 1].SetNextFree(-1);
+		}
+		m_firstFreeHandle = curCapacity;
+	}
+	void initHandles()
+	{
+		m_numUsedHandles = 0;
+		m_firstFreeHandle = -1;
+
+		increaseHandleCapacity(1);
+	}
+
+	void exitHandles()
+	{
+		m_bodyHandles.resize(0);
+		m_firstFreeHandle = -1;
+		m_numUsedHandles = 0;
+	}
+
+	int allocHandle()
+	{
+		btAssert(m_firstFreeHandle>=0);
+
+		int handle = m_firstFreeHandle;
+		m_firstFreeHandle = getHandle(handle)->GetNextFree();
+		m_numUsedHandles++;
+
+		if (m_firstFreeHandle<0)
+		{
+			//int curCapacity = m_bodyHandles.size();
+			int additionalCapacity= m_bodyHandles.size();
+			increaseHandleCapacity(additionalCapacity);
+
+
+			getHandle(handle)->SetNextFree(m_firstFreeHandle);
+		}
+
+
+		return handle;
+	}
+
+
+	void freeHandle(int handle)
+	{
+		btAssert(handle >= 0);
+
+		getHandle(handle)->SetNextFree(m_firstFreeHandle);
+		m_firstFreeHandle = handle;
+
+		m_numUsedHandles--;
+	}
+};
+	///end handle management
+	
+	#endif //B3_RESIZABLE_POOL_H
+	
\ No newline at end of file

From 6f7601966dfc2ae73eeb0e2a32a98c7c24d46261 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 3 May 2017 11:23:01 -0700
Subject: [PATCH 31/80] fix issue ,don't iterate over [0..numBodyHandles],
 would fail once we allow 'removeBody'...

---
 .../PhysicsServerCommandProcessor.cpp         |  7 ++++---
 src/Bullet3Common/b3ResizablePool.h           | 20 ++++++++++++++++++-
 2 files changed, 23 insertions(+), 4 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index a120731b0..bef003805 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2793,11 +2793,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				{
 					BT_PROFILE("CMD_SYNC_BODY_INFO");
 
-					int numHandles = m_data->m_bodyHandles.getNumHandles();
+					b3AlignedObjectArray<int> usedHandles;
+					m_data->m_bodyHandles.getUsedHandles(usedHandles);
 					int actualNumBodies = 0;
-					for (int i=0;i<numHandles;i++)
+					for (int i=0;i<usedHandles.size();i++)
 					{
-						InteralBodyData* body = m_data->m_bodyHandles.getHandle(i);
+						InteralBodyData* body = m_data->m_bodyHandles.getHandle(usedHandles[i]);
 						if (body && (body->m_multiBody || body->m_rigidBody))
 						{
 							serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = i;
diff --git a/src/Bullet3Common/b3ResizablePool.h b/src/Bullet3Common/b3ResizablePool.h
index 4df56edde..ec5495948 100644
--- a/src/Bullet3Common/b3ResizablePool.h
+++ b/src/Bullet3Common/b3ResizablePool.h
@@ -4,6 +4,12 @@
 
 #include "Bullet3Common/b3AlignedObjectArray.h"
 
+enum 
+{
+	B3_POOL_HANDLE_TERMINAL_FREE=-1,
+	B3_POOL_HANDLE_TERMINAL_USED =-2
+};
+
 template <typename U>
 struct b3PoolBodyHandle : public U
 {
@@ -45,6 +51,18 @@ public:
 		return m_bodyHandles.size();
 	}
 
+	void getUsedHandles(b3AlignedObjectArray<int>& usedHandles) const
+	{
+
+		for (int i=0;i<m_bodyHandles.size();i++)
+		{
+			if (m_bodyHandles[i].GetNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+			{
+				usedHandles.push_back(i);
+			}
+		}
+	}
+
 	T* getHandle(int handle)
 	{
 		btAssert(handle>=0);
@@ -108,7 +126,7 @@ public:
 
 			getHandle(handle)->SetNextFree(m_firstFreeHandle);
 		}
-
+		getHandle(handle)->SetNextFree(B3_POOL_HANDLE_TERMINAL_USED);
 
 		return handle;
 	}

From 03742208f1a61ed8da0f3f922ed976c4446c19be Mon Sep 17 00:00:00 2001
From: Gregery Barton <gregeryb@users.noreply.github.com>
Date: Thu, 4 May 2017 05:22:00 +1000
Subject: [PATCH 32/80] Collider object not necessary

Collider object not necessary without DBVT_BP_ACCURATESLEEPING defined
---
 src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
index 9e4933f79..4d12b1c9c 100644
--- a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
@@ -544,7 +544,9 @@ void							btDbvtBroadphase::collide(btDispatcher* dispatcher)
 	btDbvtProxy*	current=m_stageRoots[m_stageCurrent];
 	if(current)
 	{
+#if DBVT_BP_ACCURATESLEEPING
 		btDbvtTreeCollider	collider(this);
+#endif
 		do	{
 			btDbvtProxy*	next=current->links[1];
 			listremove(current,m_stageRoots[current->stage]);

From 152e3da3e4cad74b4519e48cd26b694ca11f8dba Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 3 May 2017 17:05:05 -0700
Subject: [PATCH 33/80] Implementation of virtual void
 CommonRenderInterface::removeGraphicsInstance(int instanceUid) for
 GLInstancingRenderer (OpenGL3+) and SimpleOpenGL2Renderer (OpenGL2)
 Refactored the add/remove object pool in Bullet3Common/b3ResizablePool.h
 Added CommonRigidBodyBase::deleteRigidBody, also removing its graphics
 instance.

---
 .../CommonGUIHelperInterface.h                |   6 +-
 .../CommonInterfaces/CommonRenderInterface.h  |   3 +-
 .../CommonInterfaces/CommonRigidBodyBase.h    |  12 ++
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |   8 +-
 examples/ExampleBrowser/OpenGLGuiHelper.h     |   3 +-
 .../OpenGLWindow/GLInstancingRenderer.cpp     | 202 ++++++++++++++++--
 examples/OpenGLWindow/GLInstancingRenderer.h  |   8 +-
 .../OpenGLWindow/SimpleOpenGL2Renderer.cpp    |  80 ++++---
 examples/OpenGLWindow/SimpleOpenGL2Renderer.h |   2 +-
 examples/RoboticsLearning/b3RobotSimAPI.cpp   |  20 ++
 .../SharedMemory/PhysicsServerExample.cpp     |  20 +-
 src/Bullet3Common/b3ResizablePool.h           |  14 +-
 12 files changed, 316 insertions(+), 62 deletions(-)

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index fd34803d1..6e9fd7aeb 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -37,7 +37,8 @@ struct GUIHelperInterface
 	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
     virtual void removeAllGraphicsInstances()=0;
-	
+	virtual void removeGraphicsInstance(int graphicsUid)=0;
+
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
 	
 	virtual CommonParameterInterface* getParameterInterface()=0;
@@ -123,7 +124,8 @@ struct DummyGUIHelper : public GUIHelperInterface
 	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId){return -1;}
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
     virtual void removeAllGraphicsInstances(){}
-	
+	virtual void removeGraphicsInstance(int graphicsUid){}
+
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
 		return 0;
diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h
index 69ee16117..bbc20c6f9 100644
--- a/examples/CommonInterfaces/CommonRenderInterface.h
+++ b/examples/CommonInterfaces/CommonRenderInterface.h
@@ -23,7 +23,8 @@ struct CommonRenderInterface
 	virtual void init()=0;
 	virtual void updateCamera(int upAxis)=0;
 	virtual void removeAllInstances() = 0;
-	
+	virtual void removeGraphicsInstance(int instanceUid) = 0;
+
 	virtual const CommonCameraInterface* getActiveCamera() const =0;
 	virtual CommonCameraInterface* getActiveCamera()=0;
 	virtual void setActiveCamera(CommonCameraInterface* cam)=0;
diff --git a/examples/CommonInterfaces/CommonRigidBodyBase.h b/examples/CommonInterfaces/CommonRigidBodyBase.h
index 07175ca25..8bab88a9d 100644
--- a/examples/CommonInterfaces/CommonRigidBodyBase.h
+++ b/examples/CommonInterfaces/CommonRigidBodyBase.h
@@ -410,6 +410,18 @@ struct CommonRigidBodyBase : public CommonExampleInterface
 		return box;
 	}
 
+	void deleteRigidBody(btRigidBody* body)
+	{
+		int graphicsUid = body->getUserIndex();
+		m_guiHelper->removeGraphicsInstance(graphicsUid);
+
+		m_dynamicsWorld->removeRigidBody(body);
+		btMotionState* ms = body->getMotionState();
+		delete body;
+		delete ms;
+
+	}
+
 	btRigidBody*	createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape,  const btVector4& color = btVector4(1, 0, 0, 1))
 	{
 		btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 2d9f8499f..b26dfbf59 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -241,6 +241,12 @@ void OpenGLGuiHelper::removeAllGraphicsInstances()
     m_data->m_glApp->m_renderer->removeAllInstances();
 }
 
+void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
+{
+	m_data->m_glApp->m_renderer->removeGraphicsInstance(graphicsUid);
+}
+
+
 void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 {
 	//already has a graphics object?
@@ -587,7 +593,7 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
 		btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
 		sortedObjects.push_back(colObj);
 	}
-	sortedObjects.quickSort(shapePointerCompareFunc);
+	//sortedObjects.quickSort(shapePointerCompareFunc);
 	for (int i=0;i<sortedObjects.size();i++)
 	{
 		btCollisionObject* colObj = sortedObjects[i];
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 22adc39c1..93bc5f3fe 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -25,7 +25,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
 	virtual void removeAllGraphicsInstances();
-	
+	virtual void removeGraphicsInstance(int graphicsUid);
+
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index f50af23ff..523ec7471 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -53,6 +53,8 @@ float shadowMapWorldSize=10;
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3Matrix3x3.h"
+#include "Bullet3Common/b3ResizablePool.h"
+
 #include "LoadShader.h"
 
 #include "GLInstanceRendererInternalData.h"
@@ -90,7 +92,7 @@ struct b3GraphicsInstance
 	int m_numVertices;
 
 	int m_numGraphicsInstances;
-
+	b3AlignedObjectArray<int> m_tempObjectUids;
 	int m_instanceOffset;
 	int m_vertexArrayOffset;
 	int	m_primitiveType;
@@ -144,7 +146,18 @@ struct InternalTextureHandle
     int m_height;
 };
 
+struct b3PublicGraphicsInstanceData
+{
+	int m_shapeIndex;
+	int m_internalInstanceIndex;
+	GLfloat m_position[4];
+	GLfloat m_orientation[4];
+	GLfloat m_color[4];
+	GLfloat m_scale[4];
 
+};
+
+typedef b3PoolBodyHandle<b3PublicGraphicsInstanceData> b3PublicGraphicsInstance;
 
 struct InternalDataRenderer : public GLInstanceRendererInternalData
 {
@@ -165,7 +178,10 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	
 	GLuint				m_renderFrameBuffer;
 	
-	
+
+
+	b3ResizablePool< b3PublicGraphicsInstance> m_publicGraphicsInstances;
+
 	InternalDataRenderer() :
 	m_activeCamera(&m_defaultCamera1),
 		m_shadowMap(0),
@@ -284,6 +300,8 @@ void GLInstancingRenderer::removeAllInstances()
 		delete m_graphicsInstances[i];
 	}
 	m_graphicsInstances.clear();
+	m_data->m_publicGraphicsInstances.exitHandles();
+	m_data->m_publicGraphicsInstances.initHandles();
 }
 
 
@@ -313,8 +331,13 @@ GLInstancingRenderer::~GLInstancingRenderer()
 
 
 
-void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)
+void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int bodyUniqueId)
 {
+
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3Assert(pg);
+	int srcIndex = pg->m_internalInstanceIndex;
+
 	b3Assert(srcIndex<m_data->m_totalNumInstances);
 	b3Assert(srcIndex>=0);
 	m_data->m_instance_positions_ptr[srcIndex*4+0]=position[0];
@@ -327,16 +350,16 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
 	m_data->m_instance_quaternion_ptr[srcIndex*4+2]=orientation[2];
 	m_data->m_instance_quaternion_ptr[srcIndex*4+3]=orientation[3];
 
-/*	m_data->m_instance_colors_ptr[srcIndex*4+0]=color[0];
-	m_data->m_instance_colors_ptr[srcIndex*4+1]=color[1];
-	m_data->m_instance_colors_ptr[srcIndex*4+2]=color[2];
-	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
-	*/
 }
 
 
-void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex, float* position, float* orientation)
+void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int bodyUniqueId, float* position, float* orientation)
 {
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3Assert(pg);
+	int srcIndex = pg->m_internalInstanceIndex;
+
+
 	b3Assert(srcIndex<m_data->m_totalNumInstances);
 	b3Assert(srcIndex>=0);
 	position[0] = m_data->m_instance_positions_ptr[srcIndex*4+0];
@@ -348,16 +371,23 @@ void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex, floa
 	orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
 	orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
 }
-void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
+void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int bodyUniqueId)
 {
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3Assert(pg);
+	int srcIndex = pg->m_internalInstanceIndex;
+
 	m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);
 	m_data->m_instance_colors_ptr[srcIndex*4+1]=float(color[1]);
 	m_data->m_instance_colors_ptr[srcIndex*4+2]=float(color[2]);
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=float(color[3]);
 }
 
-void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int srcIndex)
+void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int bodyUniqueId)
 {
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3Assert(pg);
+	int srcIndex = pg->m_internalInstanceIndex;
 
 	m_data->m_instance_colors_ptr[srcIndex*4+0]=color[0];
 	m_data->m_instance_colors_ptr[srcIndex*4+1]=color[1];
@@ -365,25 +395,37 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int srcIn
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
 }
 
-void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int bodyUniqueId)
 {
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3Assert(pg);
+	int srcIndex = pg->m_internalInstanceIndex;
+
 	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
 	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
 	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
 }
 
-void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int bodyUniqueId)
 {
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3Assert(pg);
+	int srcIndex = pg->m_internalInstanceIndex;
+
 	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
 	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
 	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
 }
 
-void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectIndex)
+void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectUniqueId)
 {
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
 	//glFlush();
 
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(objectUniqueId);
+	b3Assert(pg);
+	int objectIndex = pg->m_internalInstanceIndex;
+
 	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
 	//b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
 	int totalNumInstances= 0;
@@ -574,15 +616,92 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const double*
     return registerGraphicsInstance(shapeIndex,pos,orn,color,scaling);
 }
 
-
-int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
+void GLInstancingRenderer::rebuildGraphicsInstances()
 {
-	b3Assert(shapeIndex == (m_graphicsInstances.size()-1));
-	b3Assert(m_graphicsInstances.size()<m_data->m_maxNumObjectCapacity-1);
+	m_data->m_totalNumInstances = 0;
+
+	b3AlignedObjectArray<int> usedObjects;
+	m_data->m_publicGraphicsInstances.getUsedHandles(usedObjects);
+
+	for (int i=0;i<usedObjects.size();i++)
+	{
+		int bodyUniqueId = usedObjects[i];
+		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+		b3Assert(pg);
+		int srcIndex = pg->m_internalInstanceIndex;
+
+		pg->m_position[0] = m_data->m_instance_positions_ptr[srcIndex*4+0];
+		pg->m_position[1] = m_data->m_instance_positions_ptr[srcIndex*4+1];
+		pg->m_position[2] = m_data->m_instance_positions_ptr[srcIndex*4+2];
+		pg->m_orientation[0] = m_data->m_instance_quaternion_ptr[srcIndex*4+0];
+		pg->m_orientation[1] = m_data->m_instance_quaternion_ptr[srcIndex*4+1];
+		pg->m_orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
+		pg->m_orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
+		pg->m_color[0] = m_data->m_instance_colors_ptr[srcIndex*4+0];
+		pg->m_color[1] = m_data->m_instance_colors_ptr[srcIndex*4+1];
+		pg->m_color[2] = m_data->m_instance_colors_ptr[srcIndex*4+2];
+		pg->m_color[3] = m_data->m_instance_colors_ptr[srcIndex*4+3];
+		pg->m_scale[0] = m_data->m_instance_scale_ptr[srcIndex*3+0];
+		pg->m_scale[1] = m_data->m_instance_scale_ptr[srcIndex*3+1];
+		pg->m_scale[2] = m_data->m_instance_scale_ptr[srcIndex*3+2];
+	}
+	for (int i=0;i<m_graphicsInstances.size();i++)
+	{
+		m_graphicsInstances[i]->m_numGraphicsInstances = 0;
+		m_graphicsInstances[i]->m_instanceOffset = 0;
+		m_graphicsInstances[i]->m_tempObjectUids.clear();
+	}
+	for (int i=0;i<usedObjects.size();i++)
+	{
+		int bodyUniqueId = usedObjects[i];
+		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+		m_graphicsInstances[pg->m_shapeIndex]->m_tempObjectUids.push_back(bodyUniqueId);
+	}
+
+	int curOffset = 0;
+	m_data->m_totalNumInstances = 0;
+
+	for (int i=0;i<m_graphicsInstances.size();i++)
+	{
+		m_graphicsInstances[i]->m_instanceOffset = curOffset;
+		m_graphicsInstances[i]->m_numGraphicsInstances = 0;
+
+		for (int g=0;g<m_graphicsInstances[i]->m_tempObjectUids.size();g++)
+		{
+			curOffset++;
+			int objectUniqueId = m_graphicsInstances[i]->m_tempObjectUids[g];
+			b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(objectUniqueId);
+			
+			registerGraphicsInstanceInternal(objectUniqueId,pg->m_position,pg->m_orientation,pg->m_color,pg->m_scale);
+		}
+	}
+
+}
+
+void GLInstancingRenderer::removeGraphicsInstance(int instanceUid)
+{
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(instanceUid);
+	b3Assert(pg);
+	if (pg)
+	{
+		m_data->m_publicGraphicsInstances.freeHandle(instanceUid);
+		rebuildGraphicsInstances();
+	}
+}
+
+
+int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const float* position, const float* quaternion, const float* color, const float* scaling)
+{
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(newUid);
+	int shapeIndex = pg->m_shapeIndex;
+//	b3Assert(pg);
+//	int objectIndex = pg->m_internalInstanceIndex;
+
+	
 
 	b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
-
 	int index = gfxObj->m_numGraphicsInstances + gfxObj->m_instanceOffset;
+	pg->m_internalInstanceIndex = index;
 
 	int maxElements = m_data->m_instance_positions_ptr.size();
 	if (index*4<maxElements)
@@ -613,7 +732,50 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
 		b3Error("registerGraphicsInstance out of range, %d\n", maxElements);
 		return -1;
 	}
-	return index;//gfxObj->m_numGraphicsInstances;
+	return newUid;//gfxObj->m_numGraphicsInstances;
+}
+
+int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
+{
+	int newUid = m_data->m_publicGraphicsInstances.allocHandle();
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(newUid);
+	pg->m_shapeIndex = shapeIndex;
+
+	//b3Assert(shapeIndex == (m_graphicsInstances.size()-1));
+	b3Assert(m_graphicsInstances.size()<m_data->m_maxNumObjectCapacity-1);
+	if (shapeIndex == (m_graphicsInstances.size()-1))
+	{
+		registerGraphicsInstanceInternal(newUid, position,quaternion,color,scaling);
+	} else
+	{
+
+		int srcIndex = m_data->m_totalNumInstances++;
+		pg->m_internalInstanceIndex = srcIndex;
+
+		m_data->m_instance_positions_ptr[srcIndex*4+0] = position[0];
+		m_data->m_instance_positions_ptr[srcIndex*4+1] = position[1];
+		m_data->m_instance_positions_ptr[srcIndex*4+2] = position[2];
+		m_data->m_instance_positions_ptr[srcIndex*4+3] = 1.;
+
+		m_data->m_instance_quaternion_ptr[srcIndex*4+0] = quaternion[0];
+		m_data->m_instance_quaternion_ptr[srcIndex*4+1] = quaternion[1];
+		m_data->m_instance_quaternion_ptr[srcIndex*4+2] = quaternion[2];
+		m_data->m_instance_quaternion_ptr[srcIndex*4+3] = quaternion[3];
+
+		m_data->m_instance_colors_ptr[srcIndex*4+0] = color[0];
+		m_data->m_instance_colors_ptr[srcIndex*4+1] = color[1];
+		m_data->m_instance_colors_ptr[srcIndex*4+2] = color[2];
+		m_data->m_instance_colors_ptr[srcIndex*4+3] = color[3];
+
+		m_data->m_instance_scale_ptr[srcIndex*3+0] = scaling[0];
+		m_data->m_instance_scale_ptr[srcIndex*3+1] = scaling[1];
+		m_data->m_instance_scale_ptr[srcIndex*3+2] = scaling[2];
+
+
+		rebuildGraphicsInstances();
+	}
+
+	return newUid;
 }
 
 
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index d42512280..b49cf2107 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -41,10 +41,10 @@ class GLInstancingRenderer : public CommonRenderInterface
 	int m_upAxis;
     bool m_enableBlend;
     
-	
+	int registerGraphicsInstanceInternal(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
+	void rebuildGraphicsInstances();
 
 	
-	
 public:
 	GLInstancingRenderer(int m_maxObjectCapacity, int maxShapeCapacityInBytes = 56*1024*1024);
 	virtual ~GLInstancingRenderer();
@@ -57,7 +57,8 @@ public:
 	void InitShaders();
 	void CleanupShaders();
 	virtual void removeAllInstances();
-	
+	virtual void removeGraphicsInstance(int instanceUid);
+
 	virtual void updateShape(int shapeIndex, const float* vertices);
 
 	///vertices must be in the format x,y,z, nx,ny,nz, u,v
@@ -72,6 +73,7 @@ public:
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
 	virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);
 
+
 	void writeTransforms();
 
 	
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
index d39622e35..939587caf 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -6,6 +6,7 @@
 #include "GLInstanceGraphicsShape.h"
 #include "Bullet3Common/b3Quaternion.h"
 #include "Bullet3Common/b3Transform.h"
+#include "Bullet3Common/b3ResizablePool.h"
 
 B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Shape
 {
@@ -38,13 +39,18 @@ struct InternalTextureHandle2
     int m_height;
 };
 
+typedef b3PoolBodyHandle<SimpleGL2Instance> SimpleGL2InstanceHandle;
+
 struct SimpleOpenGL2RendererInternalData
 {
 	int m_width;
     int m_height;
     SimpleCamera	m_camera;
 	b3AlignedObjectArray<SimpleGL2Shape*> m_shapes;
-	b3AlignedObjectArray<SimpleGL2Instance> m_graphicsInstances;
+	//b3AlignedObjectArray<SimpleGL2Instance> m_graphicsInstances1;
+
+	b3ResizablePool<SimpleGL2InstanceHandle> m_graphicsInstancesPool;
+
 	b3AlignedObjectArray<InternalTextureHandle2>	m_textureHandles;
 
 };
@@ -118,11 +124,17 @@ void SimpleOpenGL2Renderer::removeAllInstances()
 		delete m_data->m_shapes[i];
 	}
 	m_data->m_shapes.clear();
-	m_data->m_graphicsInstances.clear();
+	m_data->m_graphicsInstancesPool.exitHandles();
+	m_data->m_graphicsInstancesPool.initHandles();
+	
 	//also destroy textures?
 	m_data->m_textureHandles.clear();
 }
 
+void SimpleOpenGL2Renderer::removeGraphicsInstance(int instanceUid)
+{
+	m_data->m_graphicsInstancesPool.freeHandle(instanceUid);
+}
 
 void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(float* color, int srcIndex)
 {
@@ -142,7 +154,7 @@ void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int src
 
 int SimpleOpenGL2Renderer::getTotalNumInstances() const
 {
-    return m_data->m_graphicsInstances.size();
+    return m_data->m_graphicsInstancesPool.getNumHandles();
 }
 
 void	SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
@@ -158,7 +170,13 @@ void	SimpleOpenGL2Renderer::getCameraProjectionMatrix(float projMat[16]) const
 
 void SimpleOpenGL2Renderer::drawOpenGL(int instanceIndex)
 {
-	const SimpleGL2Instance& inst = m_data->m_graphicsInstances[instanceIndex];
+	const SimpleGL2Instance* instPtr = m_data->m_graphicsInstancesPool.getHandle(instanceIndex);
+	if (0==instPtr)
+	{
+		b3Assert(0);
+		return;
+	}
+	const SimpleGL2Instance& inst = *instPtr;
 	const SimpleGL2Shape* shape = m_data->m_shapes[inst.m_shapeIndex];
 
 
@@ -244,9 +262,11 @@ void SimpleOpenGL2Renderer::drawOpenGL(int instanceIndex)
 
 void SimpleOpenGL2Renderer::drawSceneInternal(int pass, int cameraUpAxis)
 {
-	for (int i=0;i<m_data->m_graphicsInstances.size();i++)
+	b3AlignedObjectArray<int> usedHandles;
+	m_data->m_graphicsInstancesPool.getUsedHandles(usedHandles);
+	for (int i=0;i<usedHandles.size();i++)
 	{
-		drawOpenGL(i);
+		drawOpenGL(usedHandles[i]);
 	}
 
 	#if 0
@@ -435,8 +455,12 @@ void SimpleOpenGL2Renderer::activateTexture(int textureIndex)
 
 int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling)
 {
-	int sz = m_data->m_graphicsInstances.size();
-	SimpleGL2Instance& instance = m_data->m_graphicsInstances.expand();
+	int newHandle = m_data->m_graphicsInstancesPool.allocHandle();
+
+	
+//	int sz = m_data->m_graphicsInstances.size();
+
+	SimpleGL2Instance& instance = *m_data->m_graphicsInstancesPool.getHandle(newHandle);
 	instance.m_shapeIndex = shapeIndex;
 	instance.m_position[0] = position[0];
 	instance.m_position[1] = position[1];
@@ -451,13 +475,13 @@ int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const double
 	instance.m_scaling[0] = scaling[0];
 	instance.m_scaling[1] = scaling[1];
 	instance.m_scaling[2] = scaling[2];
-	return sz;
+	return newHandle;
 }
 
 int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
 {
-	int sz = m_data->m_graphicsInstances.size();
-	SimpleGL2Instance& instance = m_data->m_graphicsInstances.expand();
+	int newHandle = m_data->m_graphicsInstancesPool.allocHandle();
+	SimpleGL2Instance& instance = *m_data->m_graphicsInstancesPool.getHandle(newHandle);
 	instance.m_shapeIndex = shapeIndex;
 	instance.m_position[0] = position[0];
 	instance.m_position[1] = position[1];
@@ -472,7 +496,7 @@ int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const float*
 	instance.m_scaling[0] = scaling[0];
 	instance.m_scaling[1] = scaling[1];
 	instance.m_scaling[2] = scaling[2];
-	return sz;
+	return newHandle;
 }
 
 void SimpleOpenGL2Renderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize)
@@ -545,26 +569,30 @@ int SimpleOpenGL2Renderer::registerShape(const float* vertices, int numvertices,
 
 void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)
 {
-	m_data->m_graphicsInstances[srcIndex].m_position[0] = position[0];
-	m_data->m_graphicsInstances[srcIndex].m_position[1] = position[1];
-	m_data->m_graphicsInstances[srcIndex].m_position[2] = position[2];
+	SimpleGL2Instance& graphicsInstance = *m_data->m_graphicsInstancesPool.getHandle(srcIndex);
+	
+	graphicsInstance.m_position[0] = position[0];
+	graphicsInstance.m_position[1] = position[1];
+	graphicsInstance.m_position[2] = position[2];
 
-	m_data->m_graphicsInstances[srcIndex].orn[0] = orientation[0];
-	m_data->m_graphicsInstances[srcIndex].orn[1] = orientation[1];
-	m_data->m_graphicsInstances[srcIndex].orn[2] = orientation[2];
-	m_data->m_graphicsInstances[srcIndex].orn[3] = orientation[3];
+	graphicsInstance.orn[0] = orientation[0];
+	graphicsInstance.orn[1] = orientation[1];
+	graphicsInstance.orn[2] = orientation[2];
+	graphicsInstance.orn[3] = orientation[3];
 
 }
 void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)
 {
-	m_data->m_graphicsInstances[srcIndex].m_position[0] = position[0];
-	m_data->m_graphicsInstances[srcIndex].m_position[1] = position[1];
-	m_data->m_graphicsInstances[srcIndex].m_position[2] = position[2];
+	SimpleGL2Instance& graphicsInstance = *m_data->m_graphicsInstancesPool.getHandle(srcIndex);
+	
+	graphicsInstance.m_position[0] = position[0];
+	graphicsInstance.m_position[1] = position[1];
+	graphicsInstance.m_position[2] = position[2];
 
-	m_data->m_graphicsInstances[srcIndex].orn[0] = orientation[0];
-	m_data->m_graphicsInstances[srcIndex].orn[1] = orientation[1];
-	m_data->m_graphicsInstances[srcIndex].orn[2] = orientation[2];
-	m_data->m_graphicsInstances[srcIndex].orn[3] = orientation[3];
+	graphicsInstance.orn[0] = orientation[0];
+	graphicsInstance.orn[1] = orientation[1];
+	graphicsInstance.orn[2] = orientation[2];
+	graphicsInstance.orn[3] = orientation[3];
 }
 void SimpleOpenGL2Renderer::writeTransforms()
 {
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
index 57798e35b..3a94a3783 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.h
@@ -32,7 +32,7 @@ public:
 	virtual void	resize(int width, int height);
 
     virtual void removeAllInstances();
-    
+    virtual void removeGraphicsInstance(int instanceUid);
     
     virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
     virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
diff --git a/examples/RoboticsLearning/b3RobotSimAPI.cpp b/examples/RoboticsLearning/b3RobotSimAPI.cpp
index 3b8948761..f0e4224ac 100644
--- a/examples/RoboticsLearning/b3RobotSimAPI.cpp
+++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp
@@ -50,6 +50,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eRobotSimGUIHelperCreateCollisionObjectGraphicsObject,
 	eRobotSimGUIHelperRemoveAllGraphicsInstances,
 	eRobotSimGUIHelperCopyCameraImageData,
+	eRobotSimGUIHelperRemoveGraphicsInstance,
 };
 
 #include <stdio.h>
@@ -320,6 +321,17 @@ public:
 		{
 		}
     }
+	int m_graphicsInstanceRemove;
+	 virtual void removeGraphicsInstance(int instanceUid)
+    {
+        m_cs->lock();
+		m_cs->setSharedParam(1,eRobotSimGUIHelperRemoveGraphicsInstance);
+		m_graphicsInstanceRemove = instanceUid;
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
+		{
+		}
+    }
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
@@ -639,6 +651,14 @@ void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
             m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
             break;
         }
+	case eRobotSimGUIHelperRemoveGraphicsInstance:
+	{
+		m_data->m_multiThreadedHelper->m_childGuiHelper->removeGraphicsInstance(m_data->m_multiThreadedHelper->m_graphicsInstanceRemove);
+        m_data->m_multiThreadedHelper->getCriticalSection()->lock();
+        m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
+        m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
     case eRobotSimGUIHelperCopyCameraImageData:
         {
             m_data->m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_data->m_multiThreadedHelper->m_viewMatrix,
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 05a38169a..9d59ba106 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -179,6 +179,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIUserDebugRemoveItem,
 	eGUIUserDebugRemoveAllItems,
 	eGUIDumpFramesToVideo,
+	eGUIHelperRemoveGraphicsInstance,
 };
 
 
@@ -778,6 +779,15 @@ public:
 		workerThreadWait();
     }
 
+	int m_graphicsInstanceRemove;
+	virtual void removeGraphicsInstance(int graphicsUid)
+	{
+		m_graphicsInstanceRemove = graphicsUid;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRemoveGraphicsInstance);
+		workerThreadWait();    
+	}
+
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
 		return 0;
@@ -1551,7 +1561,15 @@ void	PhysicsServerExample::updateGraphics()
 
             break;
         }
-        
+	case eGUIHelperRemoveGraphicsInstance:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->removeGraphicsInstance(m_multiThreadedHelper->m_graphicsInstanceRemove);
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+	}
+       
+	
+
     case eGUIHelperCopyCameraImageData:
         {
              m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_multiThreadedHelper->m_viewMatrix,
diff --git a/src/Bullet3Common/b3ResizablePool.h b/src/Bullet3Common/b3ResizablePool.h
index ec5495948..d5402517e 100644
--- a/src/Bullet3Common/b3ResizablePool.h
+++ b/src/Bullet3Common/b3ResizablePool.h
@@ -13,7 +13,7 @@ enum
 template <typename U>
 struct b3PoolBodyHandle : public U
 {
-	BT_DECLARE_ALIGNED_ALLOCATOR();
+	B3_DECLARE_ALIGNED_ALLOCATOR();
 
 	int m_nextFreeHandle;
 	void SetNextFree(int next)
@@ -39,10 +39,12 @@ public:
 	
 	b3ResizablePool()
 	{
+		initHandles();
 	}
 	
 	virtual ~b3ResizablePool()
 	{
+		exitHandles();
 	}
 ///handle management
 
@@ -65,8 +67,8 @@ public:
 
 	T* getHandle(int handle)
 	{
-		btAssert(handle>=0);
-		btAssert(handle<m_bodyHandles.size());
+		b3Assert(handle>=0);
+		b3Assert(handle<m_bodyHandles.size());
 		if ((handle<0) || (handle>=m_bodyHandles.size()))
 		{
 			return 0;
@@ -81,7 +83,7 @@ public:
 	void increaseHandleCapacity(int extraCapacity)
 	{
 		int curCapacity = m_bodyHandles.size();
-		btAssert(curCapacity == m_numUsedHandles);
+		//b3Assert(curCapacity == m_numUsedHandles);
 		int newCapacity = curCapacity + extraCapacity;
 		m_bodyHandles.resize(newCapacity);
 
@@ -111,7 +113,7 @@ public:
 
 	int allocHandle()
 	{
-		btAssert(m_firstFreeHandle>=0);
+		b3Assert(m_firstFreeHandle>=0);
 
 		int handle = m_firstFreeHandle;
 		m_firstFreeHandle = getHandle(handle)->GetNextFree();
@@ -134,7 +136,7 @@ public:
 
 	void freeHandle(int handle)
 	{
-		btAssert(handle >= 0);
+		b3Assert(handle >= 0);
 
 		getHandle(handle)->SetNextFree(m_firstFreeHandle);
 		m_firstFreeHandle = handle;

From c7e9a3189862ad68ae8bc79688cfeebf05d45a7e Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Wed, 3 May 2017 18:25:25 -0700
Subject: [PATCH 34/80] Add API to get user constraint id.

---
 examples/SharedMemory/PhysicsClient.h         |  2 ++
 examples/SharedMemory/PhysicsClientC_API.cpp  |  7 ++++
 examples/SharedMemory/PhysicsClientC_API.h    |  2 ++
 .../PhysicsClientSharedMemory.cpp             |  9 ++++++
 .../SharedMemory/PhysicsClientSharedMemory.h  |  2 ++
 examples/SharedMemory/PhysicsDirect.cpp       |  9 +++++-
 examples/SharedMemory/PhysicsDirect.h         |  2 ++
 examples/SharedMemory/PhysicsLoopBack.cpp     |  5 +++
 examples/SharedMemory/PhysicsLoopBack.h       |  2 ++
 examples/pybullet/examples/constraint.py      |  4 ++-
 examples/pybullet/pybullet.c                  | 32 ++++++++++++++++++-
 11 files changed, 73 insertions(+), 3 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClient.h b/examples/SharedMemory/PhysicsClient.h
index 797aa86ea..2ce391c60 100644
--- a/examples/SharedMemory/PhysicsClient.h
+++ b/examples/SharedMemory/PhysicsClient.h
@@ -37,6 +37,8 @@ public:
     virtual int getNumUserConstraints() const = 0;
     
     virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const = 0;
+	
+	virtual int getUserConstraintId(int serialIndex) const = 0;
     
     virtual void setSharedMemoryKey(int key) = 0;
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 4d819a6b5..abf228607 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1179,6 +1179,13 @@ int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniq
     return 0;
 }
 
+/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
+int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex)
+{
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+	return cl->getUserConstraintId(serialIndex);
+}
+
 /// return the body unique id, given the index in range [0 , b3GetNumBodies() )
 int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serialIndex)
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 339ed2a2d..ae534017d 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -96,6 +96,8 @@ b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHa
 
 int b3GetNumUserConstraints(b3PhysicsClientHandle physClient);
 int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniqueId, struct b3UserConstraint* info);
+/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
+int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex);
     
 ///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
 ///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index fdd48a1b3..dcac6541b 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -163,6 +163,15 @@ int PhysicsClientSharedMemory::getUserConstraintInfo(int constraintUniqueId, str
     return 0;
 }
 
+int PhysicsClientSharedMemory::getUserConstraintId(int serialIndex) const
+{
+	if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
+	{
+		return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
+	}
+	return -1;
+}
+
 PhysicsClientSharedMemory::PhysicsClientSharedMemory()
 
 {
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h
index 10fc7363d..163ea55fb 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.h
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.h
@@ -47,6 +47,8 @@ public:
     virtual int getNumUserConstraints() const;
     
     virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
+	
+	virtual int getUserConstraintId(int serialIndex) const;
     
     virtual void setSharedMemoryKey(int key);
 
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index 92f53e648..ef1d70aba 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -925,7 +925,14 @@ int PhysicsDirect::getUserConstraintInfo(int constraintUniqueId, struct b3UserCo
     return 0;
 }
 
-
+int PhysicsDirect::getUserConstraintId(int serialIndex) const
+{
+	if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
+	{
+		return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
+	}
+	return -1;
+}
 
 int PhysicsDirect::getBodyUniqueId(int serialIndex) const
 {
diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h
index 8a9905de4..18e08477d 100644
--- a/examples/SharedMemory/PhysicsDirect.h
+++ b/examples/SharedMemory/PhysicsDirect.h
@@ -66,6 +66,8 @@ public:
     virtual int getNumUserConstraints() const;
     
     virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
+	
+	virtual int getUserConstraintId(int serialIndex) const;
     
 	///todo: move this out of the
     virtual void setSharedMemoryKey(int key);
diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp
index 69236d71f..bf33bea2e 100644
--- a/examples/SharedMemory/PhysicsLoopBack.cpp
+++ b/examples/SharedMemory/PhysicsLoopBack.cpp
@@ -108,6 +108,11 @@ int PhysicsLoopBack::getUserConstraintInfo(int constraintUniqueId, struct b3User
     return m_data->m_physicsClient->getUserConstraintInfo( constraintUniqueId, info);
 }
 
+int PhysicsLoopBack::getUserConstraintId(int serialIndex) const
+{
+	return m_data->m_physicsClient->getUserConstraintId(serialIndex);
+}
+
 ///todo: move this out of the interface
 void PhysicsLoopBack::setSharedMemoryKey(int key)
 {
diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h
index 790571170..cd05027f1 100644
--- a/examples/SharedMemory/PhysicsLoopBack.h
+++ b/examples/SharedMemory/PhysicsLoopBack.h
@@ -51,6 +51,8 @@ public:
     virtual int getNumUserConstraints() const;
     
     virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint&info) const;
+	
+	virtual int getUserConstraintId(int serialIndex) const;
     
 	///todo: move this out of the
     virtual void setSharedMemoryKey(int key);
diff --git a/examples/pybullet/examples/constraint.py b/examples/pybullet/examples/constraint.py
index 040708664..51ac0750a 100644
--- a/examples/pybullet/examples/constraint.py
+++ b/examples/pybullet/examples/constraint.py
@@ -9,6 +9,8 @@ cubeId = p.loadURDF("cube_small.urdf",0,0,1)
 p.setGravity(0,0,-10)
 p.setRealTimeSimulation(1)
 cid = p.createConstraint(cubeId,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,1])
+print cid
+print p.getConstraintUniqueId(0)
 prev=[0,0,1]
 a=-math.pi
 while 1:
@@ -21,4 +23,4 @@ while 1:
 	orn = p.getQuaternionFromEuler([a,0,0])
 	p.changeConstraint(cid,pivot,jointChildFrameOrientation=orn, maxForce=50)
 
-p.removeConstraint(cid)
\ No newline at end of file
+p.removeConstraint(cid)
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 5211c8a85..2154d7414 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1846,6 +1846,36 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
 	return NULL;
 }
 
+static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	int serialIndex = -1;
+	b3PhysicsClientHandle sm = 0;
+	
+	static char* kwlist[] = {"serialIndex", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &serialIndex, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+	
+	{
+		int userConstraintId = -1;
+		userConstraintId = b3GetUserConstraintId(sm, serialIndex);
+		
+#if PY_MAJOR_VERSION >= 3
+		return PyLong_FromLong(userConstraintId);
+#else
+		return PyInt_FromLong(userConstraintId);
+#endif
+	}
+}
+
 static PyObject* pybullet_getNumConstraints(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int numConstraints = 0;
@@ -5430,7 +5460,7 @@ static PyMethodDef SpamMethods[] = {
 	{"getConstraintInfo", (PyCFunction)pybullet_getConstraintInfo, METH_VARARGS | METH_KEYWORDS,
 	 "Get the user-created constraint info, given a constraint unique id."},
 
-	{"getConstraintUniqueId", (PyCFunction)pybullet_getBodyUniqueId, METH_VARARGS | METH_KEYWORDS,
+	{"getConstraintUniqueId", (PyCFunction)pybullet_getConstraintUniqueId, METH_VARARGS | METH_KEYWORDS,
 	 "Get the unique id of the constraint, given a integer index in range [0.. number of constraints)."},
 
 	{"getBasePositionAndOrientation", (PyCFunction)pybullet_getBasePositionAndOrientation,

From 1841a41f2af98121b263b18d9e1bd8140850cd8c Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Wed, 3 May 2017 21:30:42 -0700
Subject: [PATCH 35/80] Add pybullet example for resetting dynamics.

---
 examples/SharedMemory/PhysicsClientC_API.cpp   |  1 +
 .../pybullet/examples/reset_dynamic_info.py    | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+)
 create mode 100644 examples/pybullet/examples/reset_dynamic_info.py

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index abf228607..33ca652e1 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1232,6 +1232,7 @@ int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bod
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
 	b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
+	b3Assert(mass > 0);
 	command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
 	command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
 	command->m_resetDynamicInfoArgs.m_mass = mass;
diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pybullet/examples/reset_dynamic_info.py
new file mode 100644
index 000000000..fc0f3cea1
--- /dev/null
+++ b/examples/pybullet/examples/reset_dynamic_info.py
@@ -0,0 +1,18 @@
+import pybullet as p
+import time
+import math
+
+p.connect(p.GUI)
+
+p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
+p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
+p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
+p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
+#p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(0)
+t=0
+while 1:
+	t=t+1
+	time.sleep(.01)
+	p.stepSimulation()

From 939d6ead327848771681a35fb2427e2c798325ae Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Wed, 3 May 2017 21:47:53 -0700
Subject: [PATCH 36/80] Add API to reset lateral friction coefficient.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 11 +++++++++
 examples/SharedMemory/PhysicsClientC_API.h    |  1 +
 .../PhysicsServerCommandProcessor.cpp         | 24 +++++++++++++++++++
 examples/SharedMemory/SharedMemoryCommands.h  |  2 ++
 examples/SharedMemory/SharedMemoryPublic.h    |  1 -
 .../pybullet/examples/reset_dynamic_info.py   |  2 ++
 examples/pybullet/pybullet.c                  | 12 +++++++---
 src/BulletDynamics/Featherstone/btMultiBody.h |  5 ++++
 8 files changed, 54 insertions(+), 4 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 33ca652e1..61e3a69d6 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1240,6 +1240,17 @@ int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bod
 	return 0;
 }
 
+int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
+	command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
+	command->m_resetDynamicInfoArgs.m_lateralFriction = lateralFriction;
+	command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION;
+	return 0;
+}
+
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index ae534017d..f57ffdcee 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -80,6 +80,7 @@ int b3GetDynamicInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int lin
 	
 b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient);
 int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
+int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
     
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9ef821567..873c8670b 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3759,6 +3759,30 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 					}
 					
+					if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION)
+					{
+						int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId;
+						int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex;
+						double lateralFriction = clientCmd.m_resetDynamicInfoArgs.m_lateralFriction;
+						btAssert(bodyUniqueId >= 0);
+						btAssert(linkIndex >= -1);
+						
+						InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+						if (body && body->m_multiBody)
+						{
+							btMultiBody* mb = body->m_multiBody;
+							if (linkIndex == -1)
+							{
+								mb->getBaseCollider()->setFriction(lateralFriction);
+							}
+							else
+							{
+								mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
+							}
+						}
+					}
+
+					
 					SharedMemoryStatus& serverCmd =serverStatusOut;
 					serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
 					hasStatus = true;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index f7c2b91a0..1c141e97d 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -110,6 +110,7 @@ enum EnumResetDynamicInfoFlags
 {
 	RESET_DYNAMIC_INFO_SET_MASS=1,
 	RESET_DYNAMIC_INFO_SET_COM=2,
+	RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION=4,
 };
 
 struct ResetDynamicInfoArgs
@@ -118,6 +119,7 @@ struct ResetDynamicInfoArgs
 	int m_linkIndex;
 	double m_mass;
 	double m_COM[3];
+	double m_lateralFriction;
 };
 
 struct SetJointFeedbackArgs
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 25f5a2816..e658508a2 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -212,7 +212,6 @@ struct b3DynamicInfo
 {
 	double m_mass;
 	double m_localInertialPosition[3];
-	double m_localInertialOrientation[4];
 };
 
 // copied from btMultiBodyLink.h
diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pybullet/examples/reset_dynamic_info.py
index fc0f3cea1..126312b07 100644
--- a/examples/pybullet/examples/reset_dynamic_info.py
+++ b/examples/pybullet/examples/reset_dynamic_info.py
@@ -14,5 +14,7 @@ p.setRealTimeSimulation(0)
 t=0
 while 1:
 	t=t+1
+	if t > 400:
+		p.resetDynamicInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
 	time.sleep(.01)
 	p.stepSimulation()
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 2154d7414..3fb92f323 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -609,11 +609,12 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
 	int bodyUniqueId = -1;
 	int linkIndex = -2;
 	double mass = -1;
+	double lateralFriction = -1;
 	b3PhysicsClientHandle sm = 0;
 	
 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|di", kwlist, &bodyUniqueId, &linkIndex,&mass, &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -634,6 +635,11 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
 			b3ResetDynamicInfoSetMass(command, bodyUniqueId, linkIndex, mass);
 		}
 		
+		if (lateralFriction >= 0)
+		{
+			b3ResetDynamicInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
+		}
+		
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	}
 	
@@ -5504,7 +5510,7 @@ static PyMethodDef SpamMethods[] = {
 	 "instantaneously, not through physics simulation."},
 	
 	{"resetDynamicInfo", (PyCFunction)pybullet_resetDynamicInfo, METH_VARARGS | METH_KEYWORDS,
-	 "Reset dynamic information such as mass, COM."},
+	 "Reset dynamic information such as mass, lateral friction coefficient."},
 
 	{"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS,
 	 "This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead."
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index ea5e90521..8d89cac7d 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -140,6 +140,11 @@ public:
 		return m_baseCollider;
 	}
 
+	btMultiBodyLinkCollider* getLinkCollider(int index)
+	{
+		return m_colliders[index];
+	}
+
     //
     // get parent
     // input: link num from 0 to num_links-1

From a86f5848241e981e7a672ea09bd516ac85a99045 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 3 May 2017 21:53:29 -0700
Subject: [PATCH 37/80] more work towards removeBody for C-API/pybullet,
 work-in-progress.

---
 .../OpenGLWindow/GLInstancingRenderer.cpp     |  4 +
 .../OpenGLWindow/SimpleOpenGL2Renderer.cpp    |  3 +
 examples/SharedMemory/PhysicsClientC_API.cpp  | 18 +++++
 examples/SharedMemory/PhysicsClientC_API.h    |  2 +
 .../PhysicsClientSharedMemory.cpp             | 43 ++++++++++-
 .../SharedMemory/PhysicsClientSharedMemory.h  |  1 +
 examples/SharedMemory/PhysicsDirect.cpp       | 36 +++++++++
 examples/SharedMemory/PhysicsDirect.h         |  3 +
 .../PhysicsServerCommandProcessor.cpp         | 76 +++++++++++++++++--
 examples/SharedMemory/SharedMemoryCommands.h  | 15 ++++
 examples/SharedMemory/SharedMemoryPublic.h    |  3 +
 examples/pybullet/pybullet.c                  | 43 ++++++++++-
 src/Bullet3Common/b3ResizablePool.h           | 54 ++++++++++---
 13 files changed, 278 insertions(+), 23 deletions(-)

diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 523ec7471..5deb8d91c 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -155,6 +155,10 @@ struct b3PublicGraphicsInstanceData
 	GLfloat m_color[4];
 	GLfloat m_scale[4];
 
+	void clear()
+	{
+	}
+
 };
 
 typedef b3PoolBodyHandle<b3PublicGraphicsInstanceData> b3PublicGraphicsInstance;
diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
index 939587caf..564212f9d 100644
--- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
@@ -28,6 +28,9 @@ B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Instance
 	b3Quaternion orn;
 	b3Vector3 m_rgbColor;
 	b3Vector3 m_scaling;
+	void clear()
+	{
+	}
 };
 
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 94bbedc36..577e70e56 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1308,6 +1308,24 @@ b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHa
 	command->m_userConstraintArguments.m_userConstraintUniqueId = userConstraintUniqueId;
 	return (b3SharedMemoryCommandHandle)command;
 }
+
+b3SharedMemoryCommandHandle b3InitRemoveBodyCommand(b3PhysicsClientHandle physClient, int bodyUniqueId)
+{
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+    b3Assert(command);
+    
+    command->m_type = CMD_REMOVE_BODY;
+	command->m_updateFlags = BODY_DELETE_FLAG;
+	command->m_removeObjectArgs.m_numBodies = 1;
+	command->m_removeObjectArgs.m_bodyUniqueIds[0] = bodyUniqueId;
+	command->m_removeObjectArgs.m_numUserConstraints = 0;
+	
+	return (b3SharedMemoryCommandHandle)command;
+}
+
 int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle)
 {
 	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index dcc210760..49f26d11a 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -60,6 +60,8 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle,
 ///If you re-connected to an existing server, or server changed otherwise, sync the body info and user constraints etc.
 b3SharedMemoryCommandHandle b3InitSyncBodyInfoCommand(b3PhysicsClientHandle physClient);
 
+b3SharedMemoryCommandHandle b3InitRemoveBodyCommand(b3PhysicsClientHandle physClient, int bodyUniqueId);
+
 ///return the total number of bodies in the simulation
 int	b3GetNumBodies(b3PhysicsClientHandle physClient);
 
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index fdd48a1b3..c64eb338e 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -190,6 +190,28 @@ PhysicsClientSharedMemory::~PhysicsClientSharedMemory() {
     delete m_data;
 }
 
+void PhysicsClientSharedMemory::removeCachedBody(int bodyUniqueId)
+{
+	BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
+	if (bodyJointsPtr && *bodyJointsPtr)
+	{
+
+		BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
+		for (int j=0;j<bodyJoints->m_jointInfo.size();j++) 
+		{
+			if (bodyJoints->m_jointInfo[j].m_jointName)
+			{
+				free(bodyJoints->m_jointInfo[j].m_jointName);
+			}
+			if (bodyJoints->m_jointInfo[j].m_linkName)
+			{
+				free(bodyJoints->m_jointInfo[j].m_linkName);
+			}
+		}
+		delete (*bodyJointsPtr);
+		m_data->m_bodyJointMap.remove(bodyUniqueId);
+	}
+}
 void PhysicsClientSharedMemory::resetData()
 {
 	m_data->m_debugLinesFrom.clear();
@@ -999,7 +1021,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 			{
 				break;
 			}
-
+			case CMD_REMOVE_BODY_COMPLETED:
+			{
+				break;
+			}
+			case CMD_REMOVE_BODY_FAILED:
+			{
+				b3Warning("Removing body failed");
+				break;
+			}
             default: {
                 b3Error("Unknown server status %d\n", serverCmd.m_type);
                 btAssert(0);
@@ -1050,7 +1080,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                 return 0;    
             }
         }
-        
+
+		if (serverCmd.m_type == CMD_REMOVE_BODY_COMPLETED)
+		{
+			for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)
+			{
+				int bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
+				removeCachedBody(bodyUniqueId);
+			}
+		}
+
 		if (serverCmd.m_type == CMD_USER_CONSTRAINT_INFO_COMPLETED)
 		{
 			B3_PROFILE("CMD_USER_CONSTRAINT_INFO_COMPLETED");
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h
index 10fc7363d..c74ca9182 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.h
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.h
@@ -13,6 +13,7 @@ protected:
 	virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
     void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd);
     void resetData();
+	void removeCachedBody(int bodyUniqueId);
 
 public:
     PhysicsClientSharedMemory();
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index 92f53e648..234b7ff77 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -724,6 +724,20 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
         m_data->m_userConstraintInfoMap.remove(cid);
         break;
     }
+	case CMD_REMOVE_BODY_FAILED:
+	{
+		b3Warning("Remove body failed\n");
+		break;
+	}
+	case CMD_REMOVE_BODY_COMPLETED:
+	{
+		for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)
+		{
+			int bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
+			removeCachedBody(bodyUniqueId);
+		}
+		break;
+	}
 	case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
 	{
         int cid = serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId;
@@ -909,6 +923,28 @@ int PhysicsDirect::getNumBodies() const
 	return m_data->m_bodyJointMap.size();
 }
 
+void PhysicsDirect::removeCachedBody(int bodyUniqueId)
+{
+	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
+	if (bodyJointsPtr && *bodyJointsPtr)
+	{
+		BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
+		for (int j=0;j<bodyJoints->m_jointInfo.size();j++) {
+			if (bodyJoints->m_jointInfo[j].m_jointName)
+			{
+				free(bodyJoints->m_jointInfo[j].m_jointName);
+			}
+			if (bodyJoints->m_jointInfo[j].m_linkName)
+			{
+				free(bodyJoints->m_jointInfo[j].m_linkName);
+			}
+		}
+		delete (*bodyJointsPtr);
+		m_data->m_bodyJointMap.remove(bodyUniqueId);
+	}
+}
+
+
 int PhysicsDirect::getNumUserConstraints() const
 {
     return m_data->m_userConstraintInfoMap.size();
diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h
index 8a9905de4..d3f71168a 100644
--- a/examples/SharedMemory/PhysicsDirect.h
+++ b/examples/SharedMemory/PhysicsDirect.h
@@ -29,6 +29,9 @@ protected:
 	void postProcessStatus(const struct SharedMemoryStatus& serverCmd);
 
 	void resetData();
+
+	void removeCachedBody(int bodyUniqueId);
+
 public:
 
 	PhysicsDirect(class PhysicsCommandProcessorInterface* physSdk, bool passSdkOwnership);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index bef003805..36ce76be3 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -135,13 +135,21 @@ struct InteralBodyData
 	btHashMap<btHashInt, SDFAudioSource> m_audioSources;
 #endif //B3_ENABLE_TINY_AUDIO
 
-	InteralBodyData()
-		:m_multiBody(0),
-		m_rigidBody(0),
-		m_testData(0)
+	InteralBodyData()		
 	{
-		m_rootLocalInertialFrame.setIdentity();
+		clear();
 	}
+
+	void clear()
+	{
+		m_multiBody=0;
+		m_rigidBody=0;
+		m_testData=0;
+		m_bodyName="";
+		m_rootLocalInertialFrame.setIdentity();
+		m_linkLocalInertialFrames.clear();
+	}
+
 };
 
 struct InteralUserConstraintData
@@ -1248,6 +1256,7 @@ struct PhysicsServerCommandProcessorInternalData
 	{
 		m_vrControllerEvents.init();
 
+		m_bodyHandles.exitHandles();
 		m_bodyHandles.initHandles();
 #if 0
 		btAlignedObjectArray<int> bla;
@@ -2849,7 +2858,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 					///this is a very rudimentary way to save the state of the world, for scene authoring
 					///many todo's, for example save the state of motor controllers etc.
-
 					
 					{
 						//saveWorld(clientCmd.m_sdfArguments.m_sdfFileName);
@@ -4860,6 +4868,62 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     hasStatus = true;
                     break;
                 }
+				case CMD_REMOVE_BODY:
+				{
+					SharedMemoryStatus& serverCmd =serverStatusOut;
+                    serverCmd.m_type = CMD_REMOVE_BODY_FAILED;
+					serverCmd.m_removeObjectArgs.m_numBodies = 0;
+					serverCmd.m_removeObjectArgs.m_numUserConstraints = 0;
+
+					for (int i=0;i<clientCmd.m_removeObjectArgs.m_numBodies;i++)
+					{
+						int bodyUniqueId = clientCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
+						InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+						if (bodyHandle)
+						{
+							if (bodyHandle->m_multiBody)
+							{
+								serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
+								if (bodyHandle->m_multiBody->getBaseCollider())
+								{
+									int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
+									m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
+									m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
+								}
+								for (int link=0;link<bodyHandle->m_multiBody->getNumLinks();link++)
+								{
+									if (bodyHandle->m_multiBody->getLink(link).m_collider)
+									{
+										int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex();
+										m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
+										m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider);
+									}
+								}
+								int numCollisionObjects = m_data->m_dynamicsWorld->getNumCollisionObjects();
+								m_data->m_dynamicsWorld->removeMultiBody(bodyHandle->m_multiBody);
+								numCollisionObjects =  m_data->m_dynamicsWorld->getNumCollisionObjects();
+								//todo: clear all other remaining data, release memory etc
+
+								serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
+							}
+							if (bodyHandle->m_rigidBody)
+							{
+								serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
+								//todo: clear all other remaining data...
+								m_data->m_dynamicsWorld->removeRigidBody(bodyHandle->m_rigidBody);
+								int graphicsInstance = bodyHandle->m_rigidBody->getUserIndex2();
+								m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance);
+								serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
+							}
+						}
+
+						m_data->m_bodyHandles.freeHandle(bodyUniqueId);
+					}
+					
+
+                    hasStatus = true;
+					break;
+				}
                 case CMD_USER_CONSTRAINT:
                 {
 					BT_PROFILE("CMD_USER_CONSTRAINT");
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index f85a62d80..ecc302ac2 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -435,6 +435,14 @@ struct CreateBoxShapeArgs
 	double m_colorRGBA[4];
 };
 
+struct b3ObjectArgs
+{
+    int m_numBodies;
+    int m_bodyUniqueIds[MAX_SDF_BODIES];
+	int m_numUserConstraints;
+	int m_userConstraintUniqueIds[MAX_SDF_BODIES];
+};
+
 struct SdfLoadedArgs
 {
     int m_numBodies;
@@ -556,6 +564,10 @@ enum EnumUserConstraintFlags
 	
 };
 
+enum EnumBodyChangeFlags
+{
+	BODY_DELETE_FLAG=1,
+};
 
 
 
@@ -728,6 +740,8 @@ struct SharedMemoryCommand
 		struct VRCameraState m_vrCameraStateArguments;
 		struct StateLoggingRequest m_stateLoggingArguments;
         struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
+		struct b3ObjectArgs m_removeObjectArgs;
+
     };
 };
 
@@ -791,6 +805,7 @@ struct SharedMemoryStatus
 		struct SendRaycastHits m_raycastHits;
 		struct StateLoggingResultArgs m_stateLoggingResultArgs;
 		struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
+		struct b3ObjectArgs m_removeObjectArgs;
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index f54aef52c..5cb71729a 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -55,6 +55,7 @@ enum EnumSharedMemoryClientCommand
     CMD_CONFIGURE_OPENGL_VISUALIZER,
 	CMD_REQUEST_KEYBOARD_EVENTS_DATA,
 	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
+	CMD_REMOVE_BODY,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -136,6 +137,8 @@ enum EnumSharedMemoryServerStatus
 		CMD_REQUEST_KEYBOARD_EVENTS_DATA_FAILED,
 		CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED,
 		CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
+		CMD_REMOVE_BODY_COMPLETED,
+		CMD_REMOVE_BODY_FAILED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 8485d357b..6b1c0b884 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -714,7 +714,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 	double startOrnY = 0.0;
 	double startOrnZ = 0.0;
 	double startOrnW = 1.0;
-	int useMaximalCoordinates = 0;
+	int useMaximalCoordinates = -1;
 	int useFixedBase = 0;
 
 	int backwardsCompatibilityArgs = 0;
@@ -802,9 +802,9 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 		b3LoadUrdfCommandSetStartPosition(command, startPosX, startPosY, startPosZ);
 		b3LoadUrdfCommandSetStartOrientation(command, startOrnX, startOrnY,
 											 startOrnZ, startOrnW);
-		if (useMaximalCoordinates)
+		if (useMaximalCoordinates>=0)
 		{
-			b3LoadUrdfCommandSetUseMultiBody(command, 0);
+			b3LoadUrdfCommandSetUseMultiBody(command, useMaximalCoordinates);
 		}
 		if (useFixedBase)
 		{
@@ -1695,6 +1695,40 @@ static PyObject* pybullet_getBodyUniqueId(PyObject* self, PyObject* args, PyObje
 	}
 }
 
+static PyObject* pybullet_removeBody(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	{
+		int bodyUniqueId = -1;
+		b3PhysicsClientHandle sm = 0;
+
+		int physicsClientId = 0;
+		static char* kwlist[] = {"bodyUniqueId", "physicsClientId", NULL};
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &bodyUniqueId, &physicsClientId))
+		{
+			return NULL;
+		}
+		sm = getPhysicsClient(physicsClientId);
+		if (sm == 0)
+		{
+			PyErr_SetString(SpamError, "Not connected to physics server.");
+			return NULL;
+		}
+		if (bodyUniqueId>=0)
+		{
+			b3SharedMemoryStatusHandle statusHandle;
+			int statusType;
+			if (b3CanSubmitCommand(sm))
+			{
+				statusHandle = b3SubmitClientCommandAndWaitStatus( sm, b3InitRemoveBodyCommand(sm,bodyUniqueId));
+				statusType = b3GetStatusType(statusHandle);
+			}
+		}
+	}
+
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
 static PyObject* pybullet_getBodyInfo(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	{
@@ -5387,6 +5421,9 @@ static PyMethodDef SpamMethods[] = {
 	{"getBodyInfo", (PyCFunction)pybullet_getBodyInfo, METH_VARARGS | METH_KEYWORDS,
 	 "Get the body info, given a body unique id."},
 
+	{"removeBody", (PyCFunction)pybullet_removeBody, METH_VARARGS | METH_KEYWORDS,
+	 "Remove a body by its body unique id."},
+
 	{"getNumConstraints", (PyCFunction)pybullet_getNumConstraints, METH_VARARGS | METH_KEYWORDS,
 	 "Get the number of user-created constraints in the simulation."},
 
diff --git a/src/Bullet3Common/b3ResizablePool.h b/src/Bullet3Common/b3ResizablePool.h
index d5402517e..ff28c2218 100644
--- a/src/Bullet3Common/b3ResizablePool.h
+++ b/src/Bullet3Common/b3ResizablePool.h
@@ -16,11 +16,11 @@ struct b3PoolBodyHandle : public U
 	B3_DECLARE_ALIGNED_ALLOCATOR();
 
 	int m_nextFreeHandle;
-	void SetNextFree(int next)
+	void setNextFree(int next)
 	{
 		m_nextFreeHandle = next;
 	}
-	int	GetNextFree() const
+	int	getNextFree() const
 	{
 		return m_nextFreeHandle;
 	}
@@ -35,6 +35,16 @@ protected:
 	int m_numUsedHandles;						// number of active handles
 	int	m_firstFreeHandle;		// free handles list
 
+	T* getHandleInternal(int handle)
+	{
+		return &m_bodyHandles[handle];
+
+	}
+	const T* getHandleInternal(int handle) const
+	{
+		return &m_bodyHandles[handle];
+	}
+
 public:
 	
 	b3ResizablePool()
@@ -58,13 +68,15 @@ public:
 
 		for (int i=0;i<m_bodyHandles.size();i++)
 		{
-			if (m_bodyHandles[i].GetNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+			if (m_bodyHandles[i].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
 			{
 				usedHandles.push_back(i);
 			}
 		}
 	}
 
+	
+
 	T* getHandle(int handle)
 	{
 		b3Assert(handle>=0);
@@ -73,11 +85,28 @@ public:
 		{
 			return 0;
 		}
-		return &m_bodyHandles[handle];
+
+		if (m_bodyHandles[handle].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+		{
+			return &m_bodyHandles[handle];
+		}
+		return 0;
+
 	}
 	const T* getHandle(int handle) const
 	{
-		return &m_bodyHandles[handle];
+		b3Assert(handle>=0);
+		b3Assert(handle<m_bodyHandles.size());
+		if ((handle<0) || (handle>=m_bodyHandles.size()))
+		{
+			return 0;
+		}
+
+		if (m_bodyHandles[handle].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+		{
+			return &m_bodyHandles[handle];
+		}
+		return 0;
 	}
 
 	void increaseHandleCapacity(int extraCapacity)
@@ -89,10 +118,10 @@ public:
 
 		{
 			for (int i = curCapacity; i < newCapacity; i++)
-				m_bodyHandles[i].SetNextFree(i + 1);
+				m_bodyHandles[i].setNextFree(i + 1);
 
 
-			m_bodyHandles[newCapacity - 1].SetNextFree(-1);
+			m_bodyHandles[newCapacity - 1].setNextFree(-1);
 		}
 		m_firstFreeHandle = curCapacity;
 	}
@@ -116,7 +145,7 @@ public:
 		b3Assert(m_firstFreeHandle>=0);
 
 		int handle = m_firstFreeHandle;
-		m_firstFreeHandle = getHandle(handle)->GetNextFree();
+		m_firstFreeHandle = getHandleInternal(handle)->getNextFree();
 		m_numUsedHandles++;
 
 		if (m_firstFreeHandle<0)
@@ -126,10 +155,10 @@ public:
 			increaseHandleCapacity(additionalCapacity);
 
 
-			getHandle(handle)->SetNextFree(m_firstFreeHandle);
+			getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
 		}
-		getHandle(handle)->SetNextFree(B3_POOL_HANDLE_TERMINAL_USED);
-
+		getHandleInternal(handle)->setNextFree(B3_POOL_HANDLE_TERMINAL_USED);
+		getHandleInternal(handle)->clear();
 		return handle;
 	}
 
@@ -138,7 +167,8 @@ public:
 	{
 		b3Assert(handle >= 0);
 
-		getHandle(handle)->SetNextFree(m_firstFreeHandle);
+		getHandleInternal(handle)->clear();
+		getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
 		m_firstFreeHandle = handle;
 
 		m_numUsedHandles--;

From 4602fbba34c4c73fa576eb5ccf2006543454a28f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 4 May 2017 08:37:46 -0700
Subject: [PATCH 38/80] add missing openvr files to CMakeLists.txt, rename
 64bit openvr_api.dll to openvr64pi.dll to avoid name conflicts when using 32
 AND 64 bit versions of this dll.

---
 examples/SharedMemory/CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/examples/SharedMemory/CMakeLists.txt b/examples/SharedMemory/CMakeLists.txt
index dc848abec..1bd626572 100644
--- a/examples/SharedMemory/CMakeLists.txt
+++ b/examples/SharedMemory/CMakeLists.txt
@@ -249,6 +249,8 @@ LINK_LIBRARIES(
 					../ThirdPartyLibs/openvr/samples/shared/Matrices.h
 					../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
 					../ThirdPartyLibs/openvr/samples/shared/pathtools.h
+					../ThirdPartyLibs/openvr/samples/shared/strtools.cpp
+					../ThirdPartyLibs/openvr/samples/shared/strtools.h					
 					../ThirdPartyLibs/openvr/samples/shared/Vectors.h
 						../MultiThreading/b3Win32ThreadSupport.cpp
 						../MultiThreading/b3Win32ThreadSupport.h
@@ -261,7 +263,7 @@ IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
 		ADD_CUSTOM_COMMAND(
 			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
+			COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/win64/openvr_api.dll  ${CMAKE_CURRENT_BINARY_DIR}/openvr64pi.dll
 		)
 	ELSE(CMAKE_CL_64)
 		ADD_CUSTOM_COMMAND(

From fac3d6e3ca66a5f6ad6d18cc31c73c937d1fe330 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 4 May 2017 11:08:59 -0700
Subject: [PATCH 39/80] fix some compile errors after merge

---
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 6cd45271d..6f43c99ec 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3830,7 +3830,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						btAssert(bodyUniqueId >= 0);
 						btAssert(linkIndex >= -1);
 						
-						InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+						InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 						if (body && body->m_multiBody)
 						{
 							btMultiBody* mb = body->m_multiBody;
@@ -3853,7 +3853,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						btAssert(bodyUniqueId >= 0);
 						btAssert(linkIndex >= -1);
 						
-						InteralBodyData* body = m_data->getHandle(bodyUniqueId);
+						InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 						if (body && body->m_multiBody)
 						{
 							btMultiBody* mb = body->m_multiBody;

From 61999ef78978607449748c23b1b85f98b8f6b506 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 4 May 2017 13:14:24 -0700
Subject: [PATCH 40/80] b3ResizablePool: only remove a handle, if it is
 currently in-use also remove user constraints, if removing a body

---
 data/multibody.bullet                         | Bin 14712 -> 16660 bytes
 .../PhysicsClientSharedMemory.cpp             |   5 +++
 examples/SharedMemory/PhysicsDirect.cpp       |   6 +++
 .../PhysicsServerCommandProcessor.cpp         |  37 +++++++++++++++++-
 src/Bullet3Common/b3ResizablePool.h           |  12 +++---
 5 files changed, 53 insertions(+), 7 deletions(-)

diff --git a/data/multibody.bullet b/data/multibody.bullet
index 4cb146f2f271443a0a269fc243ee2c4cd8ad23ee..f71d00473ae14b544e4cabd209769298abea4307 100644
GIT binary patch
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diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 29df1e06e..27262685f 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -1097,6 +1097,11 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				int bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
 				removeCachedBody(bodyUniqueId);
 			}
+			for (int i=0;i<serverCmd.m_removeObjectArgs.m_numUserConstraints;i++)
+			{
+				int key = serverCmd.m_removeObjectArgs.m_userConstraintUniqueIds[i];
+				m_data->m_userConstraintInfoMap.remove(key);
+			}
 		}
 
 		if (serverCmd.m_type == CMD_USER_CONSTRAINT_INFO_COMPLETED)
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index e3384d871..8a5ec6c8d 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -736,6 +736,12 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 			int bodyUniqueId = serverCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
 			removeCachedBody(bodyUniqueId);
 		}
+		for (int i=0;i<serverCmd.m_removeObjectArgs.m_numUserConstraints;i++)
+		{
+			int key = serverCmd.m_removeObjectArgs.m_userConstraintUniqueIds[i];
+			m_data->m_userConstraintInfoMap.remove(key);
+		}
+
 		break;
 	}
 	case CMD_CHANGE_USER_CONSTRAINT_COMPLETED:
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 6f43c99ec..96ab8fd29 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4941,19 +4941,48 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							if (bodyHandle->m_multiBody)
 							{
 								serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
+
+								//also remove user constraints...
+								for (int i=m_data->m_dynamicsWorld->getNumMultiBodyConstraints()-1;i>=0;i--)
+								{
+									btMultiBodyConstraint* mbc = m_data->m_dynamicsWorld->getMultiBodyConstraint(i);
+									if ((mbc->getMultiBodyA() == bodyHandle->m_multiBody)||(mbc->getMultiBodyB()==bodyHandle->m_multiBody))
+									{
+										m_data->m_dynamicsWorld->removeMultiBodyConstraint(mbc);
+
+										//also remove user constraint and submit it as removed
+										for (int c=m_data->m_userConstraints.size()-1;c>=0;c--)
+										{
+											InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.getAtIndex(c);
+											int userConstraintKey = m_data->m_userConstraints.getKeyAtIndex(c).getUid1();
+
+											if (userConstraintPtr->m_mbConstraint == mbc)
+											{
+												m_data->m_userConstraints.remove(userConstraintKey);
+												serverCmd.m_removeObjectArgs.m_userConstraintUniqueIds[serverCmd.m_removeObjectArgs.m_numUserConstraints++]=userConstraintKey;
+											}
+										}
+
+										delete mbc;
+										
+
+									}
+								}
+								
 								if (bodyHandle->m_multiBody->getBaseCollider())
 								{
+									m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
 									int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
 									m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
-									m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
 								}
 								for (int link=0;link<bodyHandle->m_multiBody->getNumLinks();link++)
 								{
+									
 									if (bodyHandle->m_multiBody->getLink(link).m_collider)
 									{
+										m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider);
 										int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex();
 										m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
-										m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider);
 									}
 								}
 								int numCollisionObjects = m_data->m_dynamicsWorld->getNumCollisionObjects();
@@ -4961,6 +4990,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								numCollisionObjects =  m_data->m_dynamicsWorld->getNumCollisionObjects();
 								//todo: clear all other remaining data, release memory etc
 
+								delete bodyHandle->m_multiBody;
+								bodyHandle->m_multiBody=0;
 								serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
 							}
 							if (bodyHandle->m_rigidBody)
@@ -4970,6 +5001,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								m_data->m_dynamicsWorld->removeRigidBody(bodyHandle->m_rigidBody);
 								int graphicsInstance = bodyHandle->m_rigidBody->getUserIndex2();
 								m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance);
+								delete bodyHandle->m_rigidBody;
+								bodyHandle->m_rigidBody=0;
 								serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
 							}
 						}
diff --git a/src/Bullet3Common/b3ResizablePool.h b/src/Bullet3Common/b3ResizablePool.h
index ff28c2218..06ad8a778 100644
--- a/src/Bullet3Common/b3ResizablePool.h
+++ b/src/Bullet3Common/b3ResizablePool.h
@@ -167,11 +167,13 @@ public:
 	{
 		b3Assert(handle >= 0);
 
-		getHandleInternal(handle)->clear();
-		getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
-		m_firstFreeHandle = handle;
-
-		m_numUsedHandles--;
+		if (m_bodyHandles[handle].getNextFree()==B3_POOL_HANDLE_TERMINAL_USED)
+		{
+			getHandleInternal(handle)->clear();
+			getHandleInternal(handle)->setNextFree(m_firstFreeHandle);
+			m_firstFreeHandle = handle;
+			m_numUsedHandles--;
+		}
 	}
 };
 	///end handle management

From 7bf125e4608299a6392c7f96276f7f909e234ff7 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 4 May 2017 13:28:09 -0700
Subject: [PATCH 41/80] reset the m_userConstraintUIDGenerator to 1 after
 'resetSimulation'

---
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 96ab8fd29..2883b3b92 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1729,7 +1729,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 
 	delete m_data->m_collisionConfiguration;
 	m_data->m_collisionConfiguration=0;
-
+	m_userConstraintUIDGenerator = 1;
 }
 
 

From a8bf53b49489bd84665da32e61e694be0e610a86 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 4 May 2017 13:52:02 -0700
Subject: [PATCH 42/80] fix error, m_userConstraintUIDGenerator should be
 m_data->m_userConstraintUIDGenerator

---
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 2883b3b92..8ea61307b 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1729,7 +1729,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
 
 	delete m_data->m_collisionConfiguration;
 	m_data->m_collisionConfiguration=0;
-	m_userConstraintUIDGenerator = 1;
+	m_data->m_userConstraintUIDGenerator = 1;
 }
 
 

From 1f64a87abeae41634f9b5f55b9ffeb9ceed63809 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 4 May 2017 17:51:40 -0700
Subject: [PATCH 43/80] Improve ChromeTraceUtil logging, allow filename to be
 specified. Expose this ChromeTraceUtil  logging to C-API: start/statelogging
 and submitProfileTiming pybullet.submitProfileTiming, and
 STATE_LOGGING_PROFILE_TIMINGS used in startStateLogging added example for
 Python profileTiming.py and C++
 b3RobotSimulatorClientAPI::submitProfileTiming

---
 .../ExampleBrowser/OpenGLExampleBrowser.cpp   |   2 +-
 .../b3RobotSimulatorClientAPI.cpp             |  33 +++++
 .../b3RobotSimulatorClientAPI.h               |   3 +
 examples/SharedMemory/PhysicsClientC_API.cpp  |  36 +++++-
 examples/SharedMemory/PhysicsClientC_API.h    |   2 +
 .../PhysicsServerCommandProcessor.cpp         | 114 +++++++++++++++---
 .../PhysicsServerSharedMemory.cpp             |   2 +-
 examples/SharedMemory/SharedMemoryCommands.h  |   9 ++
 examples/SharedMemory/SharedMemoryPublic.h    |   2 +
 .../StandaloneMain/hellovr_opengl_main.cpp    |   4 +-
 examples/Utils/ChromeTraceUtil.cpp            |   4 +-
 examples/Utils/ChromeTraceUtil.h              |   2 +-
 examples/pybullet/examples/profileTiming.py   |  12 ++
 examples/pybullet/pybullet.c                  |  41 +++++++
 src/Bullet3Common/b3HashMap.h                 |  12 ++
 .../Dynamics/btDiscreteDynamicsWorld.cpp      |   3 +-
 .../Featherstone/btMultiBodyDynamicsWorld.cpp |   2 +-
 17 files changed, 255 insertions(+), 28 deletions(-)
 create mode 100644 examples/pybullet/examples/profileTiming.py

diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index 9bbcafb64..cdfef5404 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -260,7 +260,7 @@ void MyKeyboardCallback(int key, int state)
 
 			} else
 			{
-				b3ChromeUtilsStopTimingsAndWriteJsonFile();
+				b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
 			}
 	#endif //BT_NO_PROFILE
 		}
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
index 17a4806cc..5e4eefa74 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -912,6 +912,11 @@ void b3RobotSimulatorClientAPI::getKeyboardEvents(b3KeyboardEventsData* keyboard
 
 int b3RobotSimulatorClientAPI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
 {
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return -1;
+	}
 	int loggingUniqueId = -1;
 	b3SharedMemoryCommandHandle commandHandle;
 	commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
@@ -942,6 +947,12 @@ int b3RobotSimulatorClientAPI::startStateLogging(b3StateLoggingType loggingType,
 
 void b3RobotSimulatorClientAPI::stopStateLogging(int stateLoggerUniqueId)
 {
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
 	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
 	commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
@@ -951,6 +962,12 @@ void b3RobotSimulatorClientAPI::stopStateLogging(int stateLoggerUniqueId)
 
 void b3RobotSimulatorClientAPI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos)
 {
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
 	b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(m_data->m_physicsClientHandle);
 	if (commandHandle)
 	{
@@ -963,3 +980,19 @@ void b3RobotSimulatorClientAPI::resetDebugVisualizerCamera(double cameraDistance
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
 	}
 }
+
+void b3RobotSimulatorClientAPI::submitProfileTiming(const std::string&  profileName, int durationInMicroSeconds)
+{
+	if (!isConnected())
+	{
+		b3Warning("Not connected");
+		return;
+	}
+
+	b3SharedMemoryCommandHandle	commandHandle = b3ProfileTimingCommandInit(m_data->m_physicsClientHandle, profileName.c_str());
+	if (durationInMicroSeconds>=0)
+	{
+		b3SetProfileTimingDuractionInMicroSeconds(commandHandle, durationInMicroSeconds);
+	}
+	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+}
\ No newline at end of file
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
index f92fd6497..7dd9fdeb4 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
@@ -210,6 +210,9 @@ public:
 
 	void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
 	void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
+
+	void submitProfileTiming(const std::string&  profileName, int durationInMicroSeconds=1);				
+
 };
 
 #endif  //B3_ROBOT_SIMULATOR_CLIENT_API_H
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 150c6a242..7fb2fb30a 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -2695,6 +2695,41 @@ void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3Keyboard
 }
 
 
+b3SharedMemoryCommandHandle	b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+
+	int len = strlen(name);
+	if (len>=0 && len < (MAX_FILENAME_LENGTH+1))
+	{
+		command->m_type = CMD_PROFILE_TIMING;
+		strcpy(command->m_profile.m_name,name);
+		command->m_profile.m_name[len]=0;
+	} else
+	{
+		const char* invalid = "InvalidProfileTimingName";
+		int len = strlen(invalid);
+		strcpy(command->m_profile.m_name,invalid);
+		command->m_profile.m_name[len] = 0;
+	}
+	command->m_profile.m_durationInMicroSeconds = 0;
+	return (b3SharedMemoryCommandHandle)command;
+}
+
+void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle commandHandle, int duration)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_PROFILE_TIMING);
+	if (command->m_type == CMD_PROFILE_TIMING)
+	{
+		command->m_profile.m_durationInMicroSeconds  = duration;
+	}
+}
 
 b3SharedMemoryCommandHandle	b3StateLoggingCommandInit(b3PhysicsClientHandle physClient)
 {
@@ -2841,7 +2876,6 @@ int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle,
 	return 0;
 }
 
-
 int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 61db28054..482c6f4d4 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -392,6 +392,8 @@ int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
 int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);
 
 
+b3SharedMemoryCommandHandle	b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name);
+void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle commandHandle, int duration);
 
 void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds);
 double b3GetTimeOut(b3PhysicsClientHandle physClient);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 8ea61307b..30672dae5 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -13,7 +13,9 @@
 #include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-#include "LinearMath/btHashMap.h"
+#include "Bullet3Common/b3HashMap.h"
+#include "../Utils/ChromeTraceUtil.h"
+
 #include "BulletInverseDynamics/MultiBodyTree.hpp"
 #include "IKTrajectoryHelper.h"
 #include "btBulletDynamicsCommon.h"
@@ -28,7 +30,7 @@
 #include "SharedMemoryCommands.h"
 #include "LinearMath/btRandom.h"
 #include "Bullet3Common/b3ResizablePool.h"
-
+#include "../Utils/b3Clock.h"
 #ifdef B3_ENABLE_TINY_AUDIO
 #include "../TinyAudio/b3SoundEngine.h"
 #endif
@@ -132,7 +134,7 @@ struct InteralBodyData
 	btTransform m_rootLocalInertialFrame;
 	btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
 #ifdef B3_ENABLE_TINY_AUDIO
-	btHashMap<btHashInt, SDFAudioSource> m_audioSources;
+	b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
 #endif //B3_ENABLE_TINY_AUDIO
 
 	InteralBodyData()		
@@ -1158,11 +1160,11 @@ struct PhysicsServerCommandProcessorInternalData
 	btScalar m_physicsDeltaTime;
     btScalar m_numSimulationSubSteps;
 	btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
-	btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
-	btHashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
+	b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
+	b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
 	
 	int m_userConstraintUIDGenerator;
-	btHashMap<btHashInt, InteralUserConstraintData> m_userConstraints;
+	b3HashMap<btHashInt, InteralUserConstraintData> m_userConstraints;
 
 	b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;
 
@@ -1198,6 +1200,8 @@ struct PhysicsServerCommandProcessorInternalData
 
 	btAlignedObjectArray<InternalStateLogger*>	m_stateLoggers;
 	int m_stateLoggersUniqueId;
+	int m_profileTimingLoggingUid;
+	std::string m_profileTimingFileName;
 
 	struct GUIHelperInterface* m_guiHelper;
 	int m_sharedMemoryKey;
@@ -1219,6 +1223,8 @@ struct PhysicsServerCommandProcessorInternalData
 	b3SoundEngine m_soundEngine;
 #endif
 
+	b3HashMap<b3HashString,  char*> m_profileEvents;
+
 	PhysicsServerCommandProcessorInternalData()
 		:
 		m_allowRealTimeSimulation(false),
@@ -1247,6 +1253,7 @@ struct PhysicsServerCommandProcessorInternalData
 		m_dynamicsWorld(0),
 		m_remoteDebugDrawer(0),
 		m_stateLoggersUniqueId(0),
+		m_profileTimingLoggingUid(-1),
 		m_guiHelper(0),
 		m_sharedMemoryKey(SHARED_MEMORY_KEY),
 		m_verboseOutput(false),
@@ -1372,7 +1379,11 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
 		delete m_data->m_commandLogger;
 		m_data->m_commandLogger = 0;
 	}
-
+	for (int i=0;i<m_data->m_profileEvents.size();i++)
+	{
+		char* event = *m_data->m_profileEvents.getAtIndex(i);
+		delete[] event;
+	}
 	delete m_data;
 }
 
@@ -2210,7 +2221,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
 
 bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
 {
-	BT_PROFILE("processCommand");
+//	BT_PROFILE("processCommand");
 
 	bool hasStatus = false;
 
@@ -2278,7 +2289,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 					if (clientCmd.m_updateFlags & STATE_LOGGING_START_LOG)
 					{
-
+						if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_PROFILE_TIMINGS)
+						{
+							if (m_data->m_profileTimingLoggingUid<0)
+							{
+								b3ChromeUtilsStartTimings();
+								m_data->m_profileTimingFileName = clientCmd.m_stateLoggingArguments.m_fileName;
+								int loggerUid = m_data->m_stateLoggersUniqueId++;
+								serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
+								serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
+								m_data->m_profileTimingLoggingUid = loggerUid;
+							}
+						}
 						if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VIDEO_MP4)
 						{
 							//if (clientCmd.m_stateLoggingArguments.m_fileName)
@@ -2416,14 +2438,22 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					}
 					if ((clientCmd.m_updateFlags & STATE_LOGGING_STOP_LOG) && clientCmd.m_stateLoggingArguments.m_loggingUniqueId>=0)
 					{
-						serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
-						for (int i=0;i<m_data->m_stateLoggers.size();i++)
+						if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
 						{
-							if (m_data->m_stateLoggers[i]->m_loggingUniqueId==clientCmd.m_stateLoggingArguments.m_loggingUniqueId)
+							b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str());
+							m_data->m_profileTimingLoggingUid = -1;
+						}
+						else
+						{
+							serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
+							for (int i=0;i<m_data->m_stateLoggers.size();i++)
 							{
-								m_data->m_stateLoggers[i]->stop();
-								delete m_data->m_stateLoggers[i];
-								m_data->m_stateLoggers.removeAtIndex(i);
+								if (m_data->m_stateLoggers[i]->m_loggingUniqueId==clientCmd.m_stateLoggingArguments.m_loggingUniqueId)
+								{
+									m_data->m_stateLoggers[i]->stop();
+									delete m_data->m_stateLoggers[i];
+									m_data->m_stateLoggers.removeAtIndex(i);
+								}
 							}
 						}
 					}
@@ -2458,7 +2488,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				}
 				case CMD_REQUEST_VR_EVENTS_DATA:
 				{
-					BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
+					//BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
 					serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
 
 					for (int i=0;i<MAX_VR_CONTROLLERS;i++)
@@ -2486,7 +2516,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 				case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
 				{
-					BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
+					//BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
 
 					serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = m_data->m_keyboardEvents.size();
 					if (serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents>MAX_KEYBOARD_EVENTS)
@@ -3320,6 +3350,56 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
                     break;
                 }
+				case CMD_PROFILE_TIMING:
+				{
+					{
+						B3_PROFILE("custom");//clientCmd.m_profile.m_name);
+						{
+							B3_PROFILE("event");//clientCmd.m_profile.m_name);
+							char** eventNamePtr = m_data->m_profileEvents[clientCmd.m_profile.m_name];
+							char* eventName = 0;
+							if (eventNamePtr)
+							{
+								B3_PROFILE("reuse");
+								eventName = *eventNamePtr;
+								
+							} else
+							{
+								B3_PROFILE("alloc");
+								int len = strlen(clientCmd.m_profile.m_name);
+								eventName = new char[len+1];
+								strcpy(eventName,clientCmd.m_profile.m_name);
+								eventName[len] = 0;
+								m_data->m_profileEvents.insert(eventName,eventName);
+								
+							}
+
+							
+							{
+								{
+									B3_PROFILE("with");//clientCmd.m_profile.m_name);
+									{
+										B3_PROFILE("some");//clientCmd.m_profile.m_name);
+										{
+											B3_PROFILE("deep");//clientCmd.m_profile.m_name);
+											{
+												B3_PROFILE("level");//clientCmd.m_profile.m_name);
+												{
+													B3_PROFILE(eventName);
+													b3Clock::usleep(clientCmd.m_profile.m_durationInMicroSeconds);
+												}
+											}
+										}
+									}
+								}
+							}
+						}
+					}
+					serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
+					hasStatus = true;
+					break;
+				}
+
 				case CMD_SEND_DESIRED_STATE:
                     {
 						BT_PROFILE("CMD_SEND_DESIRED_STATE");
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index dde91f028..0a9c75f3c 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -252,7 +252,7 @@ void PhysicsServerSharedMemory::processClientCommands()
             if (m_data->m_testBlocks[block]->m_numClientCommands> m_data->m_testBlocks[block]->m_numProcessedClientCommands)
             {
                
-				BT_PROFILE("processClientCommand");
+				//BT_PROFILE("processClientCommand");
 
                 //until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
                 btAssert(m_data->m_testBlocks[block]->m_numClientCommands==m_data->m_testBlocks[block]->m_numProcessedClientCommands+1);
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 299b1c804..c0a7a3315 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -459,6 +459,14 @@ struct b3ObjectArgs
 	int m_userConstraintUniqueIds[MAX_SDF_BODIES];
 };
 
+struct b3Profile
+{
+	char m_name[MAX_FILENAME_LENGTH];
+	int m_durationInMicroSeconds;
+};
+
+
+
 struct SdfLoadedArgs
 {
     int m_numBodies;
@@ -758,6 +766,7 @@ struct SharedMemoryCommand
 		struct StateLoggingRequest m_stateLoggingArguments;
         struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
 		struct b3ObjectArgs m_removeObjectArgs;
+		struct b3Profile m_profile;
 
     };
 };
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 57b44fef6..410ca5d3e 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -57,6 +57,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
 	CMD_REMOVE_BODY,
 	CMD_RESET_DYNAMIC_INFO,
+	CMD_PROFILE_TIMING,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -388,6 +389,7 @@ enum  b3StateLoggingType
 	STATE_LOGGING_VIDEO_MP4 = 3,
 	STATE_LOGGING_COMMANDS = 4,
 	STATE_LOGGING_CONTACT_POINTS = 5,
+	STATE_LOGGING_PROFILE_TIMINGS = 6,
 };
 
 
diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp
index 4965e7df5..518fc98e8 100644
--- a/examples/StandaloneMain/hellovr_opengl_main.cpp
+++ b/examples/StandaloneMain/hellovr_opengl_main.cpp
@@ -355,7 +355,7 @@ void MyKeyboardCallback(int key, int state)
 		}
 		else
 		{
-			b3ChromeUtilsStopTimingsAndWriteJsonFile();
+			b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
 		}
 	}
 	if (sExample)
@@ -2342,7 +2342,7 @@ int main(int argc, char *argv[])
 
 	if (args.CheckCmdLineFlag("tracing"))
 	{
-		b3ChromeUtilsStopTimingsAndWriteJsonFile();
+		b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
 	}
 
 
diff --git a/examples/Utils/ChromeTraceUtil.cpp b/examples/Utils/ChromeTraceUtil.cpp
index 35faa1957..80139719f 100644
--- a/examples/Utils/ChromeTraceUtil.cpp
+++ b/examples/Utils/ChromeTraceUtil.cpp
@@ -239,7 +239,7 @@ void b3ChromeUtilsStartTimings()
 		btSetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
 }
 
-void b3ChromeUtilsStopTimingsAndWriteJsonFile()
+void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix)
 {
 		b3SetCustomEnterProfileZoneFunc(MyDummyEnterProfileZoneFunc);
 			b3SetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
@@ -248,7 +248,7 @@ void b3ChromeUtilsStopTimingsAndWriteJsonFile()
 			btSetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
 			char fileName[1024];
 			static int fileCounter = 0;
-			sprintf(fileName,"timings_%d.json",fileCounter++);
+			sprintf(fileName,"%s_%d.json",fileNamePrefix, fileCounter++);
 			gTimingFile = fopen(fileName,"w");
 			fprintf(gTimingFile,"{\"traceEvents\":[\n");
 			//dump the content to file
diff --git a/examples/Utils/ChromeTraceUtil.h b/examples/Utils/ChromeTraceUtil.h
index 27cc3ab22..b1cf8d3b2 100644
--- a/examples/Utils/ChromeTraceUtil.h
+++ b/examples/Utils/ChromeTraceUtil.h
@@ -3,7 +3,7 @@
 #define B3_CHROME_TRACE_UTIL_H
 
 void b3ChromeUtilsStartTimings();
-void b3ChromeUtilsStopTimingsAndWriteJsonFile();
+void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix);
 void b3ChromeUtilsEnableProfiling();
 
 #endif//B3_CHROME_TRACE_UTIL_H
\ No newline at end of file
diff --git a/examples/pybullet/examples/profileTiming.py b/examples/pybullet/examples/profileTiming.py
new file mode 100644
index 000000000..7b761fc9b
--- /dev/null
+++ b/examples/pybullet/examples/profileTiming.py
@@ -0,0 +1,12 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+
+t = time.time()+0.1
+
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "haha")
+while (time.time()<t):
+	p.submitProfileTiming("pythontest")
+p.stopStateLogging(logId)
+		
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index aaa173924..037f5b181 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -2879,6 +2879,42 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
 	return Py_None;
 }
 
+static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	char* eventName = 0;
+	int duractionInMicroSeconds=-1;
+
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = {"eventName ", "duraction", "physicsClientId", NULL};
+	int physicsClientId = 0;
+
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist,
+									 &eventName, &duractionInMicroSeconds, &physicsClientId))
+		return NULL;
+
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+	if (eventName)
+	{
+		b3SharedMemoryCommandHandle commandHandle;
+		commandHandle = b3ProfileTimingCommandInit(sm, eventName);
+		if (duractionInMicroSeconds>=0)
+		{
+			b3SetProfileTimingDuractionInMicroSeconds(commandHandle, duractionInMicroSeconds);
+		}
+		b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+	}
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
+
 static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	b3SharedMemoryStatusHandle statusHandle;
@@ -5691,6 +5727,10 @@ static PyMethodDef SpamMethods[] = {
 		"Cast a batch of rays and return the result for each of the rays (first object hit, if any. or -1) "
 	 "Takes two arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates"},
 
+	{"submitProfileTiming", (PyCFunction)pybullet_submitProfileTiming, METH_VARARGS | METH_KEYWORDS,
+	 "Add a custom profile timing that will be visible in performance profile recordings on the physics server."
+	 "On the physics server (in GUI and VR mode) you can press 'p' to start and/or stop profile recordings" },
+
 	{"setTimeOut", (PyCFunction)pybullet_setTimeOut, METH_VARARGS | METH_KEYWORDS,
 	 "Set the timeOut in seconds, used for most of the API calls."},
 	// todo(erwincoumans)
@@ -5821,6 +5861,7 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "STATE_LOGGING_VR_CONTROLLERS", STATE_LOGGING_VR_CONTROLLERS);
 	PyModule_AddIntConstant(m, "STATE_LOGGING_VIDEO_MP4", STATE_LOGGING_VIDEO_MP4);
 	PyModule_AddIntConstant(m, "STATE_LOGGING_CONTACT_POINTS", STATE_LOGGING_CONTACT_POINTS);
+	PyModule_AddIntConstant(m, "STATE_LOGGING_PROFILE_TIMINGS", STATE_LOGGING_PROFILE_TIMINGS);
 
 	PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
 	PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);
diff --git a/src/Bullet3Common/b3HashMap.h b/src/Bullet3Common/b3HashMap.h
index dc3579117..ceeb838e2 100644
--- a/src/Bullet3Common/b3HashMap.h
+++ b/src/Bullet3Common/b3HashMap.h
@@ -399,6 +399,18 @@ protected:
 		return &m_valueArray[index];
 	}
 
+	 Key getKeyAtIndex(int index)
+    {
+        b3Assert(index < m_keyArray.size());
+        return m_keyArray[index];
+    }
+    
+    const Key getKeyAtIndex(int index) const
+    {
+        b3Assert(index < m_keyArray.size());
+        return m_keyArray[index];
+    }
+
 	Value* operator[](const Key& key) {
 		return find(key);
 	}
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index d420cd29c..27bb88f2a 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -374,7 +374,7 @@ void	btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
 
 void	btDiscreteDynamicsWorld::synchronizeMotionStates()
 {
-	BT_PROFILE("synchronizeMotionStates");
+//	BT_PROFILE("synchronizeMotionStates");
 	if (m_synchronizeAllMotionStates)
 	{
 		//iterate  over all collision objects
@@ -402,7 +402,6 @@ int	btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
 {
 	startProfiling(timeStep);
 
-	BT_PROFILE("stepSimulation");
 
 	int numSimulationSubSteps = 0;
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 20b6a04b3..2bed4a3a7 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -917,7 +917,7 @@ void btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces()
 void btMultiBodyDynamicsWorld::clearMultiBodyForces()
 {
               {
-                BT_PROFILE("clearMultiBodyForces");
+               // BT_PROFILE("clearMultiBodyForces");
                 for (int i=0;i<this->m_multiBodies.size();i++)
                 {
                         btMultiBody* bod = m_multiBodies[i];

From cb1f5c74ea7d1fccb32c4e0763b7a34881750a99 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 4 May 2017 18:04:32 -0700
Subject: [PATCH 44/80] add missing files to projects

---
 examples/SharedMemory/tcp/premake4.lua | 2 ++
 examples/SharedMemory/udp/premake4.lua | 2 ++
 test/SharedMemory/CMakeLists.txt       | 2 ++
 test/SharedMemory/premake4.lua         | 3 ++-
 4 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/examples/SharedMemory/tcp/premake4.lua b/examples/SharedMemory/tcp/premake4.lua
index f4e011a9c..b1d5a73ab 100644
--- a/examples/SharedMemory/tcp/premake4.lua
+++ b/examples/SharedMemory/tcp/premake4.lua
@@ -113,6 +113,8 @@ myfiles =
 	"../../Importers/ImportURDFDemo/URDF2Bullet.h",
 	"../../Utils/b3ResourcePath.cpp",
 	"../../Utils/b3Clock.cpp",
+	"../../Utils/ChromeTraceUtil.cpp",
+	"../../Utils/ChromeTraceUtil.h",
 	"../../Utils/RobotLoggingUtil.cpp",
 	"../../Utils/RobotLoggingUtil.h",
 	"../../../Extras/Serialize/BulletWorldImporter/*",
diff --git a/examples/SharedMemory/udp/premake4.lua b/examples/SharedMemory/udp/premake4.lua
index 174625ed3..a316d6b1c 100644
--- a/examples/SharedMemory/udp/premake4.lua
+++ b/examples/SharedMemory/udp/premake4.lua
@@ -104,6 +104,8 @@ myfiles =
 	"../../Importers/ImportURDFDemo/URDF2Bullet.h",
 	"../../Utils/b3ResourcePath.cpp",
 	"../../Utils/b3Clock.cpp",
+	"../../Utils/ChromeTraceUtil.cpp",
+	"../../Utils/ChromeTraceUtil.h",
 	"../../Utils/RobotLoggingUtil.cpp",
 	"../../Utils/RobotLoggingUtil.h",
 	"../../../Extras/Serialize/BulletWorldImporter/*",
diff --git a/test/SharedMemory/CMakeLists.txt b/test/SharedMemory/CMakeLists.txt
index 6ae0aea3e..542a52bb3 100644
--- a/test/SharedMemory/CMakeLists.txt
+++ b/test/SharedMemory/CMakeLists.txt
@@ -58,6 +58,8 @@ ENDIF()
                         ../../examples/Utils/b3ResourcePath.h
                         ../../examples/Utils/b3Clock.cpp
                         ../../examples/Utils/b3Clock.h
+												../../examples/Utils/ChromeTraceUtil.cpp
+												../../examples/Utils/ChromeTraceUtil.h
 						../../examples/Utils/RobotLoggingUtil.cpp
                         ../../examples/Utils/RobotLoggingUtil.h
 					    ../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index a61f7291c..f4e3fccb5 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -281,7 +281,8 @@ project ("Test_PhysicsServerLoopBack")
 			"../../examples/Utils/RobotLoggingUtil.cpp",
 			"../../examples/Utils/RobotLoggingUtil.h",
 			"../../examples/Utils/b3Clock.cpp",
-			"../../examples/Utils/b3Clock.h",
+			"../../examples/Utils/ChromeTraceUtil.cpp",
+			"../../examples/Utils/ChromeTraceUtil.h",			
 			"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
 			"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
 			"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",

From 1e443edc5554e963ca65e4c312166ded367f5edc Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 5 May 2017 07:48:05 -0700
Subject: [PATCH 45/80] minor change in API for CommonGUIHelperInterface

---
 examples/CommonInterfaces/CommonGUIHelperInterface.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h
index 6e9fd7aeb..9c0de410d 100644
--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@@ -37,7 +37,7 @@ struct GUIHelperInterface
 	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
     virtual void removeAllGraphicsInstances()=0;
-	virtual void removeGraphicsInstance(int graphicsUid)=0;
+	virtual void removeGraphicsInstance(int graphicsUid) {}
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
 	

From 09caa599ff0ae8b9447c898b1e2f3a47b321d59d Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 5 May 2017 10:38:16 -0700
Subject: [PATCH 46/80] avoid an assert when removing a non-existing graphics
 index in debug mode

---
 examples/ExampleBrowser/OpenGLGuiHelper.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index b26dfbf59..5c0e995af 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -243,7 +243,10 @@ void OpenGLGuiHelper::removeAllGraphicsInstances()
 
 void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
 {
-	m_data->m_glApp->m_renderer->removeGraphicsInstance(graphicsUid);
+	if (graphicsUid>=0)
+	{
+		m_data->m_glApp->m_renderer->removeGraphicsInstance(graphicsUid);
+	};
 }
 
 

From 385156cbc5d1a54bdc997f3556825434087a10a1 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 5 May 2017 17:24:35 -0700
Subject: [PATCH 47/80] add simple humanoid_benchmark.py and mjcf file

---
 data/mjcf/humanoid_symmetric.xml              | 118 ++++++++++++++++++
 .../pybullet/examples/humanoid_benchmark.py   |  20 +++
 2 files changed, 138 insertions(+)
 create mode 100644 data/mjcf/humanoid_symmetric.xml
 create mode 100644 examples/pybullet/examples/humanoid_benchmark.py

diff --git a/data/mjcf/humanoid_symmetric.xml b/data/mjcf/humanoid_symmetric.xml
new file mode 100644
index 000000000..de2fee3f5
--- /dev/null
+++ b/data/mjcf/humanoid_symmetric.xml
@@ -0,0 +1,118 @@
+<mujoco model="humanoid">
+    <compiler angle="degree" inertiafromgeom="true"/>
+    <default>
+        <joint armature="1" damping="1" limited="true"/>
+        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
+        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+    </default>
+    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
+        <!-- <flags solverstat="enable" energy="enable"/>-->
+    </option>
+    <size nkey="5" nuser_geom="1"/>
+    <visual>
+        <map fogend="5" fogstart="3"/>
+    </visual>
+    <asset>
+        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
+        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
+        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+        <material name="geom" texture="texgeom" texuniform="true"/>
+    </asset>
+    <worldbody>
+        <!-- light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/-->
+        <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
+        <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
+        <body name="torso" pos="0 0 1.4">
+            <!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
+            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
+            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
+            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
+            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
+                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
+                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
+                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
+                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
+                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
+                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
+                    <body name="right_thigh" pos="0 -0.1 -0.04">
+                        <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
+                        <body name="right_shin" pos="0 0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
+                            <body name="right_foot" pos="0 0 -0.45">
+                                <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
+                            </body>
+                        </body>
+                    </body>
+                    <body name="left_thigh" pos="0 0.1 -0.04">
+                        <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
+                        <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
+                        <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
+                        <body name="left_shin" pos="0 -0.01 -0.403">
+                            <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
+                            <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
+                            <body name="left_foot" pos="0 0 -0.45">
+                                <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="right_upper_arm" pos="0 -0.17 0.06">
+                <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="right_lower_arm" pos=".18 -.18 -.18">
+                    <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
+                    <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+            <body name="left_upper_arm" pos="0 0.17 0.06">
+                <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
+                <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
+                <body name="left_lower_arm" pos=".18 .18 -.18">
+                    <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
+                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
+                    <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <tendon>
+        <fixed name="left_hipknee">
+            <joint coef="-1" joint="left_hip_y"/>
+            <joint coef="1" joint="left_knee"/>
+        </fixed>
+        <fixed name="right_hipknee">
+            <joint coef="-1" joint="right_hip_y"/>
+            <joint coef="1" joint="right_knee"/>
+        </fixed>
+    </tendon>
+    <actuator><!-- this section is not supported, same constants in code -->
+        <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
+        <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
+        <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
+        <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
+        <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
+        <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
+        <motor gear="200" joint="right_knee" name="right_knee"/>
+        <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
+        <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
+        <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
+        <motor gear="200" joint="left_knee" name="left_knee"/>
+        <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
+        <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
+        <motor gear="25" joint="right_elbow" name="right_elbow"/>
+        <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
+        <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
+        <motor gear="25" joint="left_elbow" name="left_elbow"/>
+    </actuator>
+</mujoco>
diff --git a/examples/pybullet/examples/humanoid_benchmark.py b/examples/pybullet/examples/humanoid_benchmark.py
new file mode 100644
index 000000000..2a9c0cf68
--- /dev/null
+++ b/examples/pybullet/examples/humanoid_benchmark.py
@@ -0,0 +1,20 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+p.setGravity(0,0,-10)
+p.setPhysicsEngineParameter(numSolverIterations=5)
+p.loadMJCF("mjcf/humanoid.xml")
+
+#first let the humanoid fall
+p.setRealTimeSimulation(1)
+time.sleep(3)
+p.setRealTimeSimulation(0)
+
+#now do a benchmark
+print("Starting benchmark")
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json")
+for i in range(1000):
+	p.stepSimulation()
+p.stopStateLogging(logId)
+
+print("ended benchmark")
\ No newline at end of file

From 3849612403dc924db590c0a38789aab418073a5f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 5 May 2017 17:42:43 -0700
Subject: [PATCH 48/80] pybullet benchmark: make some parameters explicit

---
 examples/pybullet/examples/humanoid_benchmark.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/examples/pybullet/examples/humanoid_benchmark.py b/examples/pybullet/examples/humanoid_benchmark.py
index 2a9c0cf68..8f5648159 100644
--- a/examples/pybullet/examples/humanoid_benchmark.py
+++ b/examples/pybullet/examples/humanoid_benchmark.py
@@ -3,7 +3,10 @@ import time
 p.connect(p.GUI)
 p.setGravity(0,0,-10)
 p.setPhysicsEngineParameter(numSolverIterations=5)
-p.loadMJCF("mjcf/humanoid.xml")
+p.setPhysicsEngineParameter(fixedTimeStep=1./240.)
+p.setPhysicsEngineParameter(numSubSteps=1)
+
+p.loadMJCF("mjcf/humanoid_symmetric.xml")
 
 #first let the humanoid fall
 p.setRealTimeSimulation(1)

From 7003401605d9ee40bb4f83f2b267ba1b1b563c2e Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 5 May 2017 17:57:07 -0700
Subject: [PATCH 49/80] use DIRECT mode for benchmark

---
 examples/pybullet/examples/humanoid_benchmark.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/pybullet/examples/humanoid_benchmark.py b/examples/pybullet/examples/humanoid_benchmark.py
index 8f5648159..028e99622 100644
--- a/examples/pybullet/examples/humanoid_benchmark.py
+++ b/examples/pybullet/examples/humanoid_benchmark.py
@@ -1,6 +1,6 @@
 import pybullet as p
 import time
-p.connect(p.GUI)
+p.connect(p.DIRECT)
 p.setGravity(0,0,-10)
 p.setPhysicsEngineParameter(numSolverIterations=5)
 p.setPhysicsEngineParameter(fixedTimeStep=1./240.)

From 6767b986d04d90841947afa276c3b9a1afdceb7b Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 5 May 2017 18:05:36 -0700
Subject: [PATCH 50/80] tuned the benchmark a little bit, start with the
 humanoid on the floor

---
 examples/pybullet/examples/humanoid_benchmark.py | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/examples/pybullet/examples/humanoid_benchmark.py b/examples/pybullet/examples/humanoid_benchmark.py
index 028e99622..30d479443 100644
--- a/examples/pybullet/examples/humanoid_benchmark.py
+++ b/examples/pybullet/examples/humanoid_benchmark.py
@@ -6,12 +6,21 @@ p.setPhysicsEngineParameter(numSolverIterations=5)
 p.setPhysicsEngineParameter(fixedTimeStep=1./240.)
 p.setPhysicsEngineParameter(numSubSteps=1)
 
-p.loadMJCF("mjcf/humanoid_symmetric.xml")
+objects = p.loadMJCF("mjcf/humanoid_symmetric.xml")
+ob = objects[0]
+p.resetBasePositionAndOrientation(ob,[0.000000,0.000000,0.000000],[0.000000,0.000000,0.000000,1.000000])
+ob = objects[1]
+p.resetBasePositionAndOrientation(ob,[0.789351,0.962124,0.113124],[0.710965,0.218117,0.519402,-0.420923])
+jointPositions=[ -0.200226, 0.123925, 0.000000, -0.224016, 0.000000, -0.022247, 0.099119, -0.041829, 0.000000, -0.344372, 0.000000, 0.000000, 0.090687, -0.578698, 0.044461, 0.000000, -0.185004, 0.000000, 0.000000, 0.039517, -0.131217, 0.000000, 0.083382, 0.000000, -0.165303, -0.140802, 0.000000, -0.007374, 0.000000 ]
+for jointIndex in range (p.getNumJoints(ob)):
+	p.resetJointState(ob,jointIndex,jointPositions[jointIndex])
+
 
 #first let the humanoid fall
-p.setRealTimeSimulation(1)
-time.sleep(3)
+#p.setRealTimeSimulation(1)
+#time.sleep(5)
 p.setRealTimeSimulation(0)
+#p.saveWorld("lyiing.py")
 
 #now do a benchmark
 print("Starting benchmark")

From 72b0b76b642e5ed854d4214a6d65efe9469c9293 Mon Sep 17 00:00:00 2001
From: Gregery Barton <gregeryb@users.noreply.github.com>
Date: Sat, 6 May 2017 11:45:26 +1000
Subject: [PATCH 51/80] getSolveSwingLimit() returns wrong value

Should return m_solveSwingLimit instead of m_solveTwistLimit
---
 src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
index b7636180c..7a33d01d1 100644
--- a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
@@ -260,7 +260,7 @@ public:
 
 	inline int getSolveSwingLimit()
 	{
-		return m_solveTwistLimit;
+		return m_solveSwingLimit;
 	}
 
 	inline btScalar getTwistLimitSign()

From 1524004aa86c53edd94062e5d1f273a5201cd241 Mon Sep 17 00:00:00 2001
From: Oleg Klimov <omgtech@gmail.com>
Date: Thu, 6 Apr 2017 04:25:56 +0300
Subject: [PATCH 52/80] MJCF: support for "axisangle", small code improvements

---
 .../ImportMJCFDemo/BulletMJCFImporter.cpp     | 51 ++++++++++---------
 .../Importers/ImportURDFDemo/URDF2Bullet.cpp  |  3 ++
 .../TinyRendererVisualShapeConverter.cpp      |  2 +-
 3 files changed, 30 insertions(+), 26 deletions(-)

diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index 3c5329809..d8db32b0b 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -630,11 +630,7 @@ struct BulletMJCFImporterInternalData
 		bool handledGeomType = false;
 		UrdfGeometry geom;
 
-		
-
-		const char* gType = link_xml->Attribute("type");
 		const char* sz = link_xml->Attribute("size");
-		const char* posS = link_xml->Attribute("pos");
 		int conDim = defaults.m_defaultConDim;
 
 		const char* conDimS = link_xml->Attribute("condim");
@@ -707,6 +703,7 @@ struct BulletMJCFImporterInternalData
 			geom.m_localMaterial.m_name = rgba;
 		}
 
+		const char* posS = link_xml->Attribute("pos");
 		if (posS)
 		{
 			btVector3 pos(0,0,0);
@@ -716,18 +713,32 @@ struct BulletMJCFImporterInternalData
 				linkLocalFrame.setOrigin(pos);
 			}
 		}
+
 		const char* ornS = link_xml->Attribute("quat");
 		if (ornS)
 		{
-			std::string ornStr = ornS;
 			btQuaternion orn(0,0,0,1);
 			btVector4 o4;
-			if (parseVector4(o4,ornStr))
+			if (parseVector4(o4, ornS))
 			{
 				orn.setValue(o4[1],o4[2],o4[3],o4[0]);
 				linkLocalFrame.setRotation(orn);
 			}
 		}
+
+		const char* axis_and_angle = link_xml->Attribute("axisangle");
+		if (axis_and_angle)
+		{
+			btQuaternion orn(0,0,0,1);
+			btVector4 o4;
+			if (parseVector4(o4, axis_and_angle))
+			{
+				orn.setRotation(btVector3(o4[0],o4[1],o4[2]), o4[3]);
+				linkLocalFrame.setRotation(orn);
+			}
+		}
+
+		const char* gType = link_xml->Attribute("type");
 		if (gType)
 		{
 			std::string geomType = gType;
@@ -792,8 +803,8 @@ struct BulletMJCFImporterInternalData
 					}
 				}
 
-				geom.m_capsuleRadius = 0;
-				geom.m_capsuleHeight = 0.f;
+				geom.m_capsuleRadius = 2.00f; // 2 to make it visible if something is wrong
+				geom.m_capsuleHeight = 2.00f;
 
 				if (sizes.size()>0)
 				{
@@ -877,6 +888,7 @@ struct BulletMJCFImporterInternalData
 
 				col.m_geometry = geom;
 				col.m_linkLocalFrame = linkLocalFrame;
+				col.m_sourceFileLocation = sourceFileLocation(link_xml);
 				linkPtr->m_collisionArray.push_back(col);
 
 			} else
@@ -950,22 +962,6 @@ struct BulletMJCFImporterInternalData
 					col->m_geometry.m_boxSize[2];
 				break;
 			}
-
-			case URDF_GEOM_CYLINDER:
-			{
-				double r = col->m_geometry.m_capsuleRadius;
-				btScalar h(0);
-				//and one cylinder of 'height'
-				if (col->m_geometry.m_hasFromTo)
-				{
-					h = (col->m_geometry.m_capsuleFrom-col->m_geometry.m_capsuleTo).length();
-				} else
-				{
-					h = col->m_geometry.m_capsuleHeight;
-				}
-				totalVolume += SIMD_PI*r*r*h;
-				break;
-			}
 			case URDF_GEOM_MESH:
 			{
 				//todo (based on mesh bounding box?)
@@ -976,11 +972,15 @@ struct BulletMJCFImporterInternalData
 				//todo
 				break;
 			}
+			case URDF_GEOM_CYLINDER:
 			case URDF_GEOM_CAPSULE:
 			{
 				//one sphere 
 				double r = col->m_geometry.m_capsuleRadius;
-				totalVolume += 4./3.*SIMD_PI*r*r*r;
+				if (col->m_geometry.m_type==URDF_GEOM_CAPSULE)
+				{
+					totalVolume += 4./3.*SIMD_PI*r*r*r;
+				}
 				btScalar h(0);
 				if (col->m_geometry.m_hasFromTo)
 				{
@@ -1205,6 +1205,7 @@ struct BulletMJCFImporterInternalData
 		}
 
 		linkPtr->m_linkTransformInWorld = linkTransform;
+
 		if ((newParentLinkIndex != INVALID_LINK_INDEX) && !skipFixedJoint)
 		{
 			//linkPtr->m_linkTransformInWorld.setIdentity();
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 94dcfcb04..2df69c430 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -285,6 +285,9 @@ void ConvertURDF2BulletInternal(
             if (!(flags & CUF_USE_URDF_INERTIA))
             {
                 compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
+                assert(localInertiaDiagonal[0] < 1e10);
+                assert(localInertiaDiagonal[1] < 1e10);
+                assert(localInertiaDiagonal[2] < 1e10);
             }
             URDFLinkContactInfo contactInfo;
             u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index f0eaa8798..5e9579c08 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -526,7 +526,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 		}
 		else
 		{
-			// We have to see something, take collision shape. Useful for MuJoCo xml, where there is not visual shape.
+			// We have to see something, take collision shape. Useful for MuJoCo xml, where there are no explicit visual shapes.
 			useVisual = false;
 			cnt = linkPtr->m_collisionArray.size();
 		}

From 5a40b5aaaedbae7065a68e491e33612abb6b81ed Mon Sep 17 00:00:00 2001
From: Oleg Klimov <omgtech@gmail.com>
Date: Sat, 6 May 2017 03:15:57 +0300
Subject: [PATCH 53/80] Compile fix

---
 examples/Importers/ImportURDFDemo/URDF2Bullet.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 2df69c430..fcee5a150 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -285,9 +285,9 @@ void ConvertURDF2BulletInternal(
             if (!(flags & CUF_USE_URDF_INERTIA))
             {
                 compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
-                assert(localInertiaDiagonal[0] < 1e10);
-                assert(localInertiaDiagonal[1] < 1e10);
-                assert(localInertiaDiagonal[2] < 1e10);
+                btAssert(localInertiaDiagonal[0] < 1e10);
+                btAssert(localInertiaDiagonal[1] < 1e10);
+                btAssert(localInertiaDiagonal[2] < 1e10);
             }
             URDFLinkContactInfo contactInfo;
             u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);

From b8afb4d7aa388e07d218685eceb9d949bd00fbb2 Mon Sep 17 00:00:00 2001
From: Oleg Klimov <omgtech@gmail.com>
Date: Sat, 15 Apr 2017 21:42:25 +0300
Subject: [PATCH 54/80] Memory leaks

---
 .../ImportMJCFDemo/BulletMJCFImporter.cpp     |  8 +++
 .../Importers/ImportURDFDemo/UrdfParser.cpp   | 54 +++++--------------
 .../Importers/ImportURDFDemo/UrdfParser.h     | 33 +++++++++++-
 3 files changed, 51 insertions(+), 44 deletions(-)

diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index d8db32b0b..befb30032 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -195,6 +195,14 @@ struct BulletMJCFImporterInternalData
 		m_pathPrefix[0] = 0;
 	}
 
+	~BulletMJCFImporterInternalData()
+	{
+		for (int i=0;i<m_models.size();i++)
+		{
+			delete m_models[i];
+		}
+	}
+
 	std::string sourceFileLocation(TiXmlElement* e)
 	{
 #if 0
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index f5462ceff..74ff541f6 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -13,48 +13,10 @@ m_activeSdfModel(-1)
 
 UrdfParser::~UrdfParser()
 {
-    cleanModel(&m_urdf2Model);
-    
-    for (int i=0;i<m_tmpModels.size();i++)
-    {
-        cleanModel(m_tmpModels[i]);
+	for (int i=0;i<m_tmpModels.size();i++)
+	{
 		delete m_tmpModels[i];
-    }
-    m_sdfModels.clear();
-    m_tmpModels.clear();
-}
-
-void UrdfParser::cleanModel(UrdfModel* model)
-{
-    for (int i=0;i<model->m_materials.size();i++)
-    {
-        UrdfMaterial** matPtr = model->m_materials.getAtIndex(i);
-        if (matPtr)
-        {
-            UrdfMaterial* mat = *matPtr;
-            delete mat;
-        }
-    }
-    
-    for (int i=0;i<model->m_links.size();i++)
-    {
-        UrdfLink** linkPtr = model->m_links.getAtIndex(i);
-        if (linkPtr)
-        {
-            UrdfLink* link = *linkPtr;
-            delete link;
-        }
-    }
-    
-    for (int i=0;i<model->m_joints.size();i++)
-    {
-        UrdfJoint** jointPtr = model->m_joints.getAtIndex(i);
-        if (jointPtr)
-        {
-            UrdfJoint* joint = *jointPtr;
-            delete joint;
-        }
-    }
+	}
 }
 
 static bool parseVector4(btVector4& vec4, const std::string& vector_str)
@@ -1471,6 +1433,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 		UrdfMaterial** mat =m_urdf2Model.m_materials.find(material->m_name.c_str());
 		if (mat)
 		{
+			delete material;
 			logger->reportWarning("Duplicate material");
 		} else
 		{
@@ -1494,6 +1457,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 			{
 				logger->reportError("Link name is not unique, link names in the same model have to be unique");
 				logger->reportError(link->m_name.c_str());
+				delete link;
 				return false;
 			} else
 			{
@@ -1542,6 +1506,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 			{
 				logger->reportError("joint '%s' is not unique.");
 				logger->reportError(joint->m_name.c_str());
+				delete joint;
 				return false;
 			}
 			else
@@ -1552,6 +1517,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 		else
 		{
 			logger->reportError("joint xml is not initialized correctly");
+			delete joint;
 			return false;
 		}
 	}
@@ -1666,7 +1632,8 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
             UrdfMaterial** mat =localModel->m_materials.find(material->m_name.c_str());
             if (mat)
             {
-                logger->reportWarning("Duplicate material");
+		logger->reportWarning("Duplicate material");
+		delete material;
             } else
             {
                 localModel->m_materials.insert(material->m_name.c_str(),material);
@@ -1689,6 +1656,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
                 {
                     logger->reportError("Link name is not unique, link names in the same model have to be unique");
                     logger->reportError(link->m_name.c_str());
+                    delete link;
                     return false;
                 } else
                 {
@@ -1737,6 +1705,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
                 {
                     logger->reportError("joint '%s' is not unique.");
                     logger->reportError(joint->m_name.c_str());
+                    delete joint;
                     return false;
                 }
                 else
@@ -1747,6 +1716,7 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
             else
             {
                 logger->reportError("joint xml is not initialized correctly");
+                delete joint;
                 return false;
             }
         }
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index c22745b39..0bb291e58 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -195,7 +195,37 @@ struct UrdfModel
 	{
 		m_rootTransformInWorld.setIdentity();
 	}
-	
+
+	~UrdfModel()
+	{
+		for (int i = 0; i < m_materials.size(); i++)
+		{
+			UrdfMaterial** ptr = m_materials.getAtIndex(i);
+			if (ptr)
+			{
+				UrdfMaterial* t = *ptr;
+				delete t;
+			}
+		}
+		for (int i = 0; i < m_links.size(); i++)
+		{
+			UrdfLink** ptr = m_links.getAtIndex(i);
+			if (ptr)
+			{
+				UrdfLink* t = *ptr;
+				delete t;
+			}
+		}
+		for (int i = 0; i < m_joints.size(); i++)
+		{
+			UrdfJoint** ptr = m_joints.getAtIndex(i);
+			if (ptr)
+			{
+				UrdfJoint* t = *ptr;
+				delete t;
+			}
+		}
+	}
 };
 
 class UrdfParser
@@ -210,7 +240,6 @@ protected:
     int m_activeSdfModel;
 
     
-    void cleanModel(UrdfModel* model);
 	bool parseInertia(UrdfInertia& inertia, class TiXmlElement* config, ErrorLogger* logger);
 	bool parseGeometry(UrdfGeometry& geom, class TiXmlElement* g, ErrorLogger* logger);
 	bool parseVisual(UrdfModel& model, UrdfVisual& visual, class TiXmlElement* config, ErrorLogger* logger);

From 2c6b2211fcce88aa3405f8cd68537a2656e81367 Mon Sep 17 00:00:00 2001
From: Oleg Klimov <omgtech@gmail.com>
Date: Sat, 6 May 2017 15:58:10 +0300
Subject: [PATCH 55/80] Friction typo

---
 examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index befb30032..b6eb24b9a 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -660,7 +660,7 @@ struct BulletMJCFImporterInternalData
 			btArray<float> frictions;
 			btAlignedObjectArray<std::string> strArray;
 			urdfIsAnyOf(" ", strArray);
-			urdfStringSplit(pieces, sz, strArray);
+			urdfStringSplit(pieces, frictionS, strArray);
 			for (int i = 0; i < pieces.size(); ++i)
 			{
 				if (!pieces[i].empty())

From acf57f25e64862486b5e7e61f6b66a27d9040670 Mon Sep 17 00:00:00 2001
From: Oleg Klimov <omgtech@gmail.com>
Date: Sat, 6 May 2017 03:00:37 +0300
Subject: [PATCH 56/80] MJCF: change default link name to be more unique

---
 examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index b6eb24b9a..ce49cf6f5 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -1025,9 +1025,9 @@ struct BulletMJCFImporterInternalData
 		UrdfModel* modelPtr = m_models[modelIndex];
 		int orgChildLinkIndex = modelPtr->m_links.size();
 		UrdfLink* linkPtr = new UrdfLink();
-		char uniqueLinkName[1024];
-		sprintf(uniqueLinkName,"link%d",orgChildLinkIndex );
-		linkPtr->m_name = uniqueLinkName;
+		char linkn[1024];
+		sprintf(linkn, "link%d_%d", modelIndex, orgChildLinkIndex);
+		linkPtr->m_name = linkn;
 		if (namePtr)
 		{
 			linkPtr->m_name = namePtr;

From e363e12ea4e2cc6a47a41a8b8a11abe69288b7c2 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Sun, 7 May 2017 21:09:08 -0700
Subject: [PATCH 57/80] Add default specular when there is not specular map.
 Add example for adjusting specular coefficient.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  |  6 +++-
 .../SharedMemory/PhysicsClientExample.cpp     | 35 ++++++++++++++++++-
 examples/SharedMemory/SharedMemoryCommands.h  |  1 +
 examples/SharedMemory/SharedMemoryPublic.h    |  1 +
 examples/TinyRenderer/model.cpp               |  8 +++--
 5 files changed, 47 insertions(+), 4 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 7fb2fb30a..be95bab46 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1208,13 +1208,17 @@ int	b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyId)
 	return cl->getNumJoints(bodyId);
 }
 
-
 int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
 	return cl->getJointInfo(bodyIndex, jointIndex, *info);
 }
 
+int b3GetDynamicInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, struct b3DynamicInfo* info)
+{
+	return 0;
+}
+
 b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index d0090f6b5..b744a2d0b 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -53,6 +53,9 @@ protected:
 	int m_canvasRGBIndex;
 	int m_canvasDepthIndex;
 	int m_canvasSegMaskIndex;
+
+	float m_lightPos[3];
+	float m_specularCoeff;
 	
 	void	createButton(const char* name, int id, bool isTrigger );
 
@@ -257,7 +260,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
         case  CMD_LOAD_SDF:
         {
 #ifdef BT_DEBUG
-			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");
+			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf");
 #else
 			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kitchens/1.sdf");//two_cubes.sdf");//kitchens/1.sdf");//kuka_iiwa/model.sdf");
 #endif
@@ -278,6 +281,8 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             
             b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
 						b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
+			b3RequestCameraImageSetLightDirection(commandHandle, m_lightPos);
+			b3RequestCameraImageSetLightSpecularCoeff(commandHandle, m_specularCoeff);
 						b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
 		        break;
         }
@@ -522,6 +527,7 @@ m_canvas(0),
 m_canvasRGBIndex(-1),
 m_canvasDepthIndex(-1),
 m_canvasSegMaskIndex(-1),
+m_specularCoeff(1.0),
 m_numMotors(0),
 m_options(options),
 m_isOptionalServerConnected(false)
@@ -660,6 +666,29 @@ void	PhysicsClientExample::createButtons()
 				}
 			}
 		}
+		
+		{
+			SliderParams sliderLightPosX("light source position x",&m_lightPos[0]);
+			SliderParams sliderLightPosY("light source position y",&m_lightPos[1]);
+			SliderParams sliderLightPosZ("light source position z",&m_lightPos[2]);
+			SliderParams sliderSpecularCoeff("specular coefficient",&m_specularCoeff);
+			sliderLightPosX.m_minVal=-1.5;
+			sliderLightPosX.m_maxVal=1.5;
+			sliderLightPosY.m_minVal=-1.5;
+			sliderLightPosY.m_maxVal=1.5;
+			sliderLightPosZ.m_minVal=-1.5;
+			sliderLightPosZ.m_maxVal=1.5;
+			sliderSpecularCoeff.m_minVal=0;
+			sliderSpecularCoeff.m_maxVal=5.0;
+			if (m_guiHelper && m_guiHelper->getParameterInterface())
+			{
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosX);
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosY);
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosZ);
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderSpecularCoeff);
+			}
+
+		}
     }
 }
 
@@ -684,6 +713,10 @@ void	PhysicsClientExample::initPhysics()
 
 	m_selectedBody = -1;
 	m_prevSelectedBody = -1;
+	
+	m_lightPos[0] = 1.0;
+	m_lightPos[1] = 1.0;
+	m_lightPos[2] = 1.0;
 
 	{
 		m_canvas = m_guiHelper->get2dCanvasInterface();
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index c0a7a3315..5e339430a 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -832,6 +832,7 @@ struct SharedMemoryStatus
 		struct StateLoggingResultArgs m_stateLoggingResultArgs;
 		struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
 		struct b3ObjectArgs m_removeObjectArgs;
+		struct b3DynamicInfo m_dynamicInfo;
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 410ca5d3e..7602e309e 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -224,6 +224,7 @@ struct b3DynamicInfo
 {
 	double m_mass;
 	double m_localInertialPosition[3];
+	double m_lateralFrictionCoeff;
 };
 
 // copied from btMultiBodyLink.h
diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp
index 056ed001f..25c7701df 100644
--- a/examples/TinyRenderer/model.cpp
+++ b/examples/TinyRenderer/model.cpp
@@ -167,8 +167,12 @@ Vec2f Model::uv(int iface, int nthvert) {
 }
 
 float Model::specular(Vec2f uvf) {
-    Vec2i uv(uvf[0]*specularmap_.get_width(), uvf[1]*specularmap_.get_height());
-    return specularmap_.get(uv[0], uv[1])[0]/1.f;
+	if (specularmap_.get_width() && specularmap_.get_height())
+	{
+		Vec2i uv(uvf[0]*specularmap_.get_width(), uvf[1]*specularmap_.get_height());
+		return specularmap_.get(uv[0], uv[1])[0]/1.f;
+	}
+	return 2.0;
 }
 
 Vec3f Model::normal(int iface, int nthvert) {

From 5fe4c6bb5b87e14359a303de8638b0e257bb5dbe Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Sun, 7 May 2017 22:21:38 -0700
Subject: [PATCH 58/80] Add API to get dynamic info.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 25 +++++++++++++--
 examples/SharedMemory/PhysicsClientC_API.h    |  3 +-
 .../SharedMemory/PhysicsClientExample.cpp     | 10 ++++--
 .../PhysicsClientSharedMemory.cpp             |  9 ++++++
 .../PhysicsServerCommandProcessor.cpp         | 32 +++++++++++++++++++
 examples/SharedMemory/SharedMemoryCommands.h  |  7 ++++
 examples/SharedMemory/SharedMemoryPublic.h    |  3 ++
 7 files changed, 83 insertions(+), 6 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index be95bab46..92c1692b0 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1214,9 +1214,30 @@ int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
 	return cl->getJointInfo(bodyIndex, jointIndex, *info);
 }
 
-int b3GetDynamicInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, struct b3DynamicInfo* info)
+b3SharedMemoryCommandHandle b3GetDynamicInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
 {
-	return 0;
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+	command->m_type = CMD_GET_DYNAMIC_INFO;
+	command->m_getDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_getDynamicInfoArgs.m_linkIndex = linkIndex;
+	return (b3SharedMemoryCommandHandle) command;
+}
+
+int b3GetDynamicInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicInfo* info)
+{
+	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
+	const b3DynamicInfo &dynamicInfo = status->m_dynamicInfo;
+	btAssert(status->m_type == CMD_GET_DYNAMIC_INFO);
+	if (status->m_type != CMD_GET_DYNAMIC_INFO_COMPLETED)
+		return false;
+
+	info->m_mass = dynamicInfo.m_mass;
+	info->m_lateralFrictionCoeff = dynamicInfo.m_lateralFrictionCoeff;
+	return true;
 }
 
 b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient)
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 482c6f4d4..2d9b16630 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -77,8 +77,9 @@ int	b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
 ///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
 int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
 
+b3SharedMemoryCommandHandle b3GetDynamicInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
 ///given a body unique id and link index, return the dynamic information. See b3DynamicInfo in SharedMemoryPublic.h
-int b3GetDynamicInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, struct b3DynamicInfo* info);
+int b3GetDynamicInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicInfo* info);
 	
 b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient);
 int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index b744a2d0b..86e03c0c9 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -54,8 +54,8 @@ protected:
 	int m_canvasDepthIndex;
 	int m_canvasSegMaskIndex;
 
-	float m_lightPos[3];
-	float m_specularCoeff;
+	btScalar m_lightPos[3];
+	btScalar m_specularCoeff;
 	
 	void	createButton(const char* name, int id, bool isTrigger );
 
@@ -281,7 +281,11 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             
             b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
 						b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
-			b3RequestCameraImageSetLightDirection(commandHandle, m_lightPos);
+			float lightPos[3];
+			lightPos[0] = m_lightPos[0];
+			lightPos[1] = m_lightPos[1];
+			lightPos[2] = m_lightPos[2];
+			b3RequestCameraImageSetLightDirection(commandHandle, lightPos);
 			b3RequestCameraImageSetLightSpecularCoeff(commandHandle, m_specularCoeff);
 						b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
 		        break;
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 27262685f..6c8bb1f83 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -1039,6 +1039,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				b3Warning("Removing body failed");
 				break;
 			}
+			case CMD_GET_DYNAMIC_INFO_COMPLETED:
+			{
+				break;
+			}
+			case CMD_GET_DYNAMIC_INFO_FAILED:
+			{
+				b3Warning("Request dynamic info failed");
+				break;
+			}
             default: {
                 b3Error("Unknown server status %d\n", serverCmd.m_type);
                 btAssert(0);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 30672dae5..6190cad6d 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3955,6 +3955,38 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					
 					break;
 				};
+				case CMD_GET_DYNAMIC_INFO:
+				{
+					int bodyUniqueId = clientCmd.m_getDynamicInfoArgs.m_bodyUniqueId;
+					int linkIndex = clientCmd.m_getDynamicInfoArgs.m_linkIndex;
+					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+					if (body && body->m_multiBody)
+					{
+						SharedMemoryStatus& serverCmd = serverStatusOut;
+						serverCmd.m_type = CMD_GET_DYNAMIC_INFO_COMPLETED;
+						
+						btMultiBody* mb = body->m_multiBody;
+						if (linkIndex == -1)
+						{
+							serverCmd.m_dynamicInfo.m_mass = mb->getBaseMass();
+							serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
+						}
+						else
+						{
+							serverCmd.m_dynamicInfo.m_mass = mb->getLinkMass(linkIndex);
+							serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
+						}
+						hasStatus = true;
+					}
+					else
+					{
+						b3Warning("The dynamic info requested is not available");
+						SharedMemoryStatus& serverCmd = serverStatusOut;
+						serverCmd.m_type = CMD_GET_DYNAMIC_INFO_FAILED;
+						hasStatus = true;
+					}
+					break;
+				}
 				case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
 				{
 					BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 5e339430a..b798d896f 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -122,6 +122,12 @@ struct ResetDynamicInfoArgs
 	double m_lateralFriction;
 };
 
+struct GetDynamicInfoArgs
+{
+	int m_bodyUniqueId;
+	int m_linkIndex;
+};
+
 struct SetJointFeedbackArgs
 {
 	int m_bodyUniqueId;
@@ -739,6 +745,7 @@ struct SharedMemoryCommand
 		struct FileArgs m_fileArguments;
 		struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
 		struct ResetDynamicInfoArgs m_resetDynamicInfoArgs;
+		struct GetDynamicInfoArgs m_getDynamicInfoArgs;
 		struct InitPoseArgs m_initPoseArgs;
 		struct SendPhysicsSimulationParameters m_physSimParamArgs;
 		struct BulletDataStreamArgs	m_dataStreamArguments;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 7602e309e..6a08a944a 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -57,6 +57,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
 	CMD_REMOVE_BODY,
 	CMD_RESET_DYNAMIC_INFO,
+	CMD_GET_DYNAMIC_INFO,
 	CMD_PROFILE_TIMING,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
@@ -141,6 +142,8 @@ enum EnumSharedMemoryServerStatus
 		CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
 		CMD_REMOVE_BODY_COMPLETED,
 		CMD_REMOVE_BODY_FAILED,
+		CMD_GET_DYNAMIC_INFO_COMPLETED,
+		CMD_GET_DYNAMIC_INFO_FAILED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };

From 92de4ecd3144f7ee7865910f7d3da19d7b0b3c84 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Sun, 7 May 2017 22:41:05 -0700
Subject: [PATCH 59/80] Add pybullet example to get dynamic info.

---
 .../pybullet/examples/reset_dynamic_info.py   |  4 ++
 examples/pybullet/pybullet.c                  | 60 +++++++++++++++++++
 2 files changed, 64 insertions(+)

diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pybullet/examples/reset_dynamic_info.py
index 126312b07..06f02ef36 100644
--- a/examples/pybullet/examples/reset_dynamic_info.py
+++ b/examples/pybullet/examples/reset_dynamic_info.py
@@ -16,5 +16,9 @@ while 1:
 	t=t+1
 	if t > 400:
 		p.resetDynamicInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
+	mass1,frictionCoeff1=p.getDynamicInfo(bodyUniqueId=0,linkIndex=-1)
+	mass2,frictionCoeff2=p.getDynamicInfo(bodyUniqueId=2,linkIndex=-1)
+	print mass1,frictionCoeff1
+	print mass2,frictionCoeff2
 	time.sleep(.01)
 	p.stepSimulation()
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 037f5b181..c68a58975 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -647,6 +647,63 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
 	return Py_None;
 }
 
+static PyObject* pybullet_getDynamicInfo(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	{
+		int bodyUniqueId = -1;
+		int linkIndex = -2;
+		b3PhysicsClientHandle sm = 0;
+		
+		int physicsClientId = 0;
+		static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
+		{
+			return NULL;
+		}
+		sm = getPhysicsClient(physicsClientId);
+		if (sm == 0)
+		{
+			PyErr_SetString(SpamError, "Not connected to physics server.");
+			return NULL;
+		}
+		{
+			int status_type = 0;
+			b3SharedMemoryCommandHandle cmd_handle;
+			b3SharedMemoryStatusHandle status_handle;
+			
+			if (bodyUniqueId < 0)
+			{
+				PyErr_SetString(SpamError, "getDynamicInfo failed; invalid bodyUniqueId");
+				return NULL;
+			}
+			if (linkIndex < -1)
+			{
+				PyErr_SetString(SpamError, "getDynamicInfo failed; invalid linkIndex");
+				return NULL;
+			}
+			cmd_handle = b3GetDynamicInfoCommandInit(sm, bodyUniqueId, linkIndex);
+			status_handle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
+			status_type = b3GetStatusType(status_handle);
+			if (status_type != CMD_GET_DYNAMIC_INFO_COMPLETED)
+			{
+				PyErr_SetString(SpamError, "getDynamicInfo failed; invalid return status");
+				return NULL;
+			}
+			struct b3DynamicInfo info;
+			if (b3GetDynamicInfo(status_handle, &info))
+			{
+				PyObject* pyDynamicInfo = PyTuple_New(2);
+				PyTuple_SetItem(pyDynamicInfo, 0, PyFloat_FromDouble(info.m_mass));
+				PyTuple_SetItem(pyDynamicInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff));
+				return pyDynamicInfo;
+			}
+		}
+	}
+	PyErr_SetString(SpamError, "Couldn't get dynamic info");
+	return NULL;
+}
+
+
 static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	double fixedTimeStep = -1;
@@ -5584,6 +5641,9 @@ static PyMethodDef SpamMethods[] = {
 	
 	{"resetDynamicInfo", (PyCFunction)pybullet_resetDynamicInfo, METH_VARARGS | METH_KEYWORDS,
 	 "Reset dynamic information such as mass, lateral friction coefficient."},
+	
+	{"getDynamicInfo", (PyCFunction)pybullet_getDynamicInfo, METH_VARARGS | METH_KEYWORDS,
+	 "Get dynamic information such as mass, lateral friction coefficient."},
 
 	{"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS,
 	 "This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead."

From a69442d1196f55d04dbb88b4eae402ddecb959ce Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 8 May 2017 09:06:39 -0700
Subject: [PATCH 60/80] Some optimizations for btMultiBodyJointMotor (skip
 constraint generation if maxImpulse/maxForce = 0) and skip constraint row
 generation if joint limit is not violated.

---
 .../Featherstone/btMultiBodyJointLimitConstraint.cpp   | 10 ++++++++--
 .../Featherstone/btMultiBodyJointMotor.cpp             |  3 +++
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
index 707817673..6d173b66a 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
@@ -110,7 +110,13 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
 	
 	for (int row=0;row<getNumRows();row++)
 	{
-		
+		btScalar penetration = getPosition(row);
+
+		//todo: consider adding some safety threshold here
+		if (penetration>0)
+		{
+			continue;
+		}
 		btScalar direction = row? -1 : 1;
 
 		btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
@@ -158,7 +164,7 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
 		}
 
 		{
-			btScalar penetration = getPosition(row);
+			
 			btScalar positionalError = 0.f;
 			btScalar	velocityError =  - rel_vel;// * damping;
 			btScalar erp = infoGlobal.m_erp2;
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
index 573c4960b..5ec9f43f0 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
@@ -117,6 +117,9 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
 	if (m_numDofsFinalized != m_jacSizeBoth)
 		return;
 
+	if (m_maxAppliedImpulse==0.f)
+		return;
+
 	const btScalar posError = 0;
 	const btVector3 dummy(0, 0, 0);
 

From 0f5b4008953a28e47d94b46f31afb84c35cc7a58 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 8 May 2017 13:41:07 -0700
Subject: [PATCH 61/80] pybullet: implement setJointMotorControlArray, the
 array version of setJointMotorControl2. This can improve performance in
 reinforcement learning loops (training / inference) by reducing
 Python/C-API/shared memory calling overhead.

---
 examples/pybullet/pybullet.c | 276 +++++++++++++++++++++++++++++++++++
 1 file changed, 276 insertions(+)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 037f5b181..d6ae00166 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1163,6 +1163,274 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 	return NULL;
 }
 
+static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int bodyIndex,  controlMode;
+	PyObject* jointIndicesObj = 0;
+	PyObject* targetPositionsObj = 0;
+	PyObject* targetVelocitiesObj = 0;
+	PyObject* forcesObj = 0;
+	PyObject* kpsObj = 0;
+	PyObject* kdsObj = 0;
+
+	b3PhysicsClientHandle sm = 0;
+
+	int physicsClientId = 0;
+	static char* kwlist[] = {"bodyIndex", "jointIndices", "controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOi|OOOOOi", kwlist, &bodyIndex, &jointIndicesObj, &controlMode,
+									 &targetPositionsObj, &targetVelocitiesObj, &forcesObj, &kpsObj, &kdsObj, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	{
+		
+		int numJoints;
+		int i;
+		b3SharedMemoryCommandHandle commandHandle;
+		b3SharedMemoryStatusHandle statusHandle;
+		struct b3JointInfo info;
+		int numControlledDofs = 0;
+		PyObject* jointIndicesSeq = 0;
+		PyObject* targetVelocitiesSeq = 0;
+		PyObject* targetPositionsSeq = 0;
+		PyObject* forcesSeq = 0;
+		PyObject* kpsSeq = 0;
+		PyObject* kdsSeq = 0;
+
+		numJoints = b3GetNumJoints(sm, bodyIndex);
+		
+		if ((controlMode != CONTROL_MODE_VELOCITY) &&
+			(controlMode != CONTROL_MODE_TORQUE) &&
+			(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
+		{
+			PyErr_SetString(SpamError, "Illegral control mode.");
+			return NULL;
+		}
+
+		jointIndicesSeq =  PySequence_Fast(jointIndicesObj, "expected a sequence of joint indices");
+
+		if (jointIndicesSeq==0)
+		{
+			PyErr_SetString(SpamError, "expected a sequence of joint indices");
+			return NULL;
+		}
+		
+		numControlledDofs = PySequence_Size(jointIndicesObj);
+		if (numControlledDofs==0)
+		{
+			Py_DECREF(jointIndicesSeq);
+			Py_INCREF(Py_None);
+			return Py_None;
+		}
+		
+		{
+			int i;
+			for (i = 0; i < numControlledDofs; i++)
+			{
+				int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
+				if ((jointIndex >= numJoints) || (jointIndex < 0))
+				{
+					Py_DECREF(jointIndicesSeq);
+					PyErr_SetString(SpamError, "Joint index out-of-range.");
+					return NULL;
+				}
+			}
+		}
+
+		if (targetVelocitiesObj)
+		{
+			int num = PySequence_Size(targetVelocitiesObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				PyErr_SetString(SpamError, "number of target velocies should match the number of joint indices");
+				return NULL;
+			}
+			targetVelocitiesSeq =  PySequence_Fast(targetVelocitiesObj, "expected a sequence of target velocities");
+		}
+		
+		if (targetPositionsObj)
+		{
+			int num = PySequence_Size(targetPositionsObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				if (targetVelocitiesSeq)
+				{
+					Py_DECREF(targetVelocitiesSeq);
+				}
+				PyErr_SetString(SpamError, "number of target positions should match the number of joint indices");
+				return NULL;
+			}
+			
+			targetPositionsSeq =  PySequence_Fast(targetPositionsObj, "expected a sequence of target positions");
+		}
+		
+		if (forcesObj)
+		{
+			int num = PySequence_Size(forcesObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				if (targetVelocitiesSeq)
+				{
+					Py_DECREF(targetVelocitiesSeq);
+				}
+				if (targetPositionsSeq)
+				{
+					Py_DECREF(targetPositionsSeq);
+				}
+				
+				PyErr_SetString(SpamError, "number of forces should match the joint indices");
+				return NULL;
+			}
+			
+			forcesSeq =  PySequence_Fast(forcesObj, "expected a sequence of forces");
+		}
+
+		
+		if (kpsObj)
+		{
+			int num = PySequence_Size(kpsObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				if (targetVelocitiesSeq)
+				{
+					Py_DECREF(targetVelocitiesSeq);
+				}
+				if (targetPositionsSeq)
+				{
+					Py_DECREF(targetPositionsSeq);
+				}
+				if (forcesSeq)
+				{
+					Py_DECREF(forcesSeq);
+				}
+
+				PyErr_SetString(SpamError, "number of kps should match the joint indices");
+				return NULL;
+			}
+			
+			kpsSeq =  PySequence_Fast(kpsObj, "expected a sequence of kps");
+		}
+
+		
+		if (kdsObj)
+		{
+			int num = PySequence_Size(kdsObj);
+			if (num != numControlledDofs)
+			{
+				Py_DECREF(jointIndicesSeq);
+				if (targetVelocitiesSeq)
+				{
+					Py_DECREF(targetVelocitiesSeq);
+				}
+				if (targetPositionsSeq)
+				{
+					Py_DECREF(targetPositionsSeq);
+				}
+				if (forcesSeq)
+				{
+					Py_DECREF(forcesSeq);
+				}
+				if (kpsSeq)
+				{
+					Py_DECREF(kpsSeq);
+				}
+				PyErr_SetString(SpamError, "number of kds should match the number of joint indices");
+				return NULL;
+			}
+			
+			kdsSeq =  PySequence_Fast(kdsObj, "expected a sequence of kds");
+		}
+
+		commandHandle = b3JointControlCommandInit2(sm, bodyIndex, controlMode);
+
+		for (i=0;i<numControlledDofs;i++)
+		{
+			double targetVelocity = 0.0;
+			if (targetVelocitiesSeq)
+			{
+				targetVelocity = pybullet_internalGetFloatFromSequence(targetVelocitiesSeq, i);
+			}
+			double targetPosition = 0.0;
+			if (targetPositionsSeq)
+			{
+				targetPosition = pybullet_internalGetFloatFromSequence(targetPositionsSeq, i);
+			}
+
+			double force = 100000.0;
+			if (forcesSeq)
+			{
+				force = pybullet_internalGetFloatFromSequence(forcesSeq, i);
+			}
+			double kp = 0.1;
+			if (kpsSeq)
+			{
+				kp = pybullet_internalGetFloatFromSequence(kpsSeq, i);
+			}
+			double kd = 1.0;
+			if (kdsSeq)
+			{
+				kd = pybullet_internalGetFloatFromSequence(kdsSeq, i);
+			}
+
+			int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
+			b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
+
+			switch (controlMode)
+			{
+				case CONTROL_MODE_VELOCITY:
+				{
+					b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex,
+													 targetVelocity);
+					b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
+					b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, force);
+					break;
+				}
+
+				case CONTROL_MODE_TORQUE:
+				{
+					b3JointControlSetDesiredForceTorque(commandHandle, info.m_uIndex,
+														force);
+					break;
+				}
+
+				case CONTROL_MODE_POSITION_VELOCITY_PD:
+				{
+					b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex,
+													 targetPosition);
+					b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
+					b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex,
+													 targetVelocity);
+					b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
+					b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, force);
+					break;
+				}
+				default:
+				{
+				}
+			};
+		}
+
+
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		Py_DECREF(jointIndicesSeq);
+		Py_INCREF(Py_None);
+		return Py_None;
+	}
+	//  PyErr_SetString(SpamError, "Error parsing arguments in setJointControl.");
+	//  return NULL;
+}
+
 static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int bodyIndex, jointIndex, controlMode;
@@ -5594,6 +5862,14 @@ static PyMethodDef SpamMethods[] = {
 	 "Set a single joint motor control mode and desired target value. There is "
 	 "no immediate state change, stepSimulation will process the motors."},
 
+	{"setJointMotorControlArray", (PyCFunction)pybullet_setJointMotorControlArray, METH_VARARGS | METH_KEYWORDS,
+	 "Set an array of motors control mode and desired target value. There is "
+	 "no immediate state change, stepSimulation will process the motors."
+	 "This is similar to setJointMotorControl2, with jointIndices as a list, and optional targetPositions, "
+	 "targetVelocities, forces, kds and kps as lists"
+	 "Using setJointMotorControlArray has the benefit of lower calling overhead."
+	 },
+
 	{"applyExternalForce", (PyCFunction)pybullet_applyExternalForce, METH_VARARGS | METH_KEYWORDS,
 	 "for objectUniqueId, linkIndex (-1 for base/root link), apply a force "
 	 "[x,y,z] at the a position [x,y,z], flag to select FORCE_IN_LINK_FRAME or "

From 98654a0cb433f1139e5a7b40446c55940a40f5b0 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Tue, 9 May 2017 10:31:28 -0700
Subject: [PATCH 62/80] Change dynamic to dynamics in dynamics info.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 48 +++++++++----------
 examples/SharedMemory/PhysicsClientC_API.h    | 10 ++--
 .../SharedMemory/PhysicsClientExample.cpp     |  2 +-
 .../PhysicsClientSharedMemory.cpp             |  4 +-
 .../PhysicsServerCommandProcessor.cpp         | 38 +++++++--------
 examples/SharedMemory/SharedMemoryCommands.h  | 18 +++----
 examples/SharedMemory/SharedMemoryPublic.h    | 10 ++--
 .../pybullet/examples/reset_dynamic_info.py   | 15 +++---
 examples/pybullet/pybullet.c                  | 42 ++++++++--------
 9 files changed, 93 insertions(+), 94 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 92c1692b0..aa1d3f3be 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1214,65 +1214,65 @@ int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
 	return cl->getJointInfo(bodyIndex, jointIndex, *info);
 }
 
-b3SharedMemoryCommandHandle b3GetDynamicInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
+b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
 	b3Assert(cl);
 	b3Assert(cl->canSubmitCommand());
 	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
 	b3Assert(command);
-	command->m_type = CMD_GET_DYNAMIC_INFO;
-	command->m_getDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
-	command->m_getDynamicInfoArgs.m_linkIndex = linkIndex;
+	command->m_type = CMD_GET_DYNAMICS_INFO;
+	command->m_getDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_getDynamicsInfoArgs.m_linkIndex = linkIndex;
 	return (b3SharedMemoryCommandHandle) command;
 }
 
-int b3GetDynamicInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicInfo* info)
+int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info)
 {
 	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
-	const b3DynamicInfo &dynamicInfo = status->m_dynamicInfo;
-	btAssert(status->m_type == CMD_GET_DYNAMIC_INFO);
-	if (status->m_type != CMD_GET_DYNAMIC_INFO_COMPLETED)
+	const b3DynamicsInfo &dynamicsInfo = status->m_dynamicsInfo;
+	btAssert(status->m_type == CMD_GET_DYNAMICS_INFO);
+	if (status->m_type != CMD_GET_DYNAMICS_INFO_COMPLETED)
 		return false;
 
-	info->m_mass = dynamicInfo.m_mass;
-	info->m_lateralFrictionCoeff = dynamicInfo.m_lateralFrictionCoeff;
+	info->m_mass = dynamicsInfo.m_mass;
+	info->m_lateralFrictionCoeff = dynamicsInfo.m_lateralFrictionCoeff;
 	return true;
 }
 
-b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient)
+b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
 	b3Assert(cl);
 	b3Assert(cl->canSubmitCommand());
 	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
 	b3Assert(command);
-	command->m_type = CMD_RESET_DYNAMIC_INFO;
+	command->m_type = CMD_RESET_DYNAMICS_INFO;
 	command->m_updateFlags = 0;
 	
 	return (b3SharedMemoryCommandHandle) command;
 }
 
-int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
+int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
-	b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
+	b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO);
 	b3Assert(mass > 0);
-	command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
-	command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
-	command->m_resetDynamicInfoArgs.m_mass = mass;
-	command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_MASS;
+	command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_resetDynamicsInfoArgs.m_mass = mass;
+	command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_MASS;
 	return 0;
 }
 
-int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
+int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
-	b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
-	command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
-	command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
-	command->m_resetDynamicInfoArgs.m_lateralFriction = lateralFriction;
-	command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION;
+	b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO);
+	command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_resetDynamicsInfoArgs.m_lateralFriction = lateralFriction;
+	command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION;
 	return 0;
 }
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 2d9b16630..58da884d4 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -77,13 +77,13 @@ int	b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
 ///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h
 int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
 
-b3SharedMemoryCommandHandle b3GetDynamicInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
+b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
 ///given a body unique id and link index, return the dynamic information. See b3DynamicInfo in SharedMemoryPublic.h
-int b3GetDynamicInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicInfo* info);
+int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info);
 	
-b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient);
-int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
-int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
+b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient);
+int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
+int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
     
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
 
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 86e03c0c9..7fe0109d8 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -260,7 +260,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
         case  CMD_LOAD_SDF:
         {
 #ifdef BT_DEBUG
-			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf");
+			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");
 #else
 			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kitchens/1.sdf");//two_cubes.sdf");//kitchens/1.sdf");//kuka_iiwa/model.sdf");
 #endif
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 6c8bb1f83..c618e2afe 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -1039,11 +1039,11 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				b3Warning("Removing body failed");
 				break;
 			}
-			case CMD_GET_DYNAMIC_INFO_COMPLETED:
+			case CMD_GET_DYNAMICS_INFO_COMPLETED:
 			{
 				break;
 			}
-			case CMD_GET_DYNAMIC_INFO_FAILED:
+			case CMD_GET_DYNAMICS_INFO_FAILED:
 			{
 				b3Warning("Request dynamic info failed");
 				break;
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 6190cad6d..723ec9dfa 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3898,15 +3898,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 					break;
 				};
-				case CMD_RESET_DYNAMIC_INFO:
+				case CMD_RESET_DYNAMICS_INFO:
 				{
-					BT_PROFILE("CMD_RESET_DYNAMIC_INFO");
+					BT_PROFILE("CMD_RESET_DYNAMICS_INFO");
 					
-					if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_MASS)
+					if (clientCmd.m_updateFlags & RESET_DYNAMICS_INFO_SET_MASS)
 					{
-						int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId;
-						int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex;
-						double mass = clientCmd.m_resetDynamicInfoArgs.m_mass;
+						int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId;
+						int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex;
+						double mass = clientCmd.m_resetDynamicsInfoArgs.m_mass;
 						btAssert(bodyUniqueId >= 0);
 						btAssert(linkIndex >= -1);
 						
@@ -3925,11 +3925,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 					}
 					
-					if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION)
+					if (clientCmd.m_updateFlags & RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION)
 					{
-						int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId;
-						int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex;
-						double lateralFriction = clientCmd.m_resetDynamicInfoArgs.m_lateralFriction;
+						int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId;
+						int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex;
+						double lateralFriction = clientCmd.m_resetDynamicsInfoArgs.m_lateralFriction;
 						btAssert(bodyUniqueId >= 0);
 						btAssert(linkIndex >= -1);
 						
@@ -3955,26 +3955,26 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					
 					break;
 				};
-				case CMD_GET_DYNAMIC_INFO:
+				case CMD_GET_DYNAMICS_INFO:
 				{
-					int bodyUniqueId = clientCmd.m_getDynamicInfoArgs.m_bodyUniqueId;
-					int linkIndex = clientCmd.m_getDynamicInfoArgs.m_linkIndex;
+					int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId;
+					int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex;
 					InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 					if (body && body->m_multiBody)
 					{
 						SharedMemoryStatus& serverCmd = serverStatusOut;
-						serverCmd.m_type = CMD_GET_DYNAMIC_INFO_COMPLETED;
+						serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
 						
 						btMultiBody* mb = body->m_multiBody;
 						if (linkIndex == -1)
 						{
-							serverCmd.m_dynamicInfo.m_mass = mb->getBaseMass();
-							serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
+							serverCmd.m_dynamicsInfo.m_mass = mb->getBaseMass();
+							serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
 						}
 						else
 						{
-							serverCmd.m_dynamicInfo.m_mass = mb->getLinkMass(linkIndex);
-							serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
+							serverCmd.m_dynamicsInfo.m_mass = mb->getLinkMass(linkIndex);
+							serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
 						}
 						hasStatus = true;
 					}
@@ -3982,7 +3982,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					{
 						b3Warning("The dynamic info requested is not available");
 						SharedMemoryStatus& serverCmd = serverStatusOut;
-						serverCmd.m_type = CMD_GET_DYNAMIC_INFO_FAILED;
+						serverCmd.m_type = CMD_GET_DYNAMICS_INFO_FAILED;
 						hasStatus = true;
 					}
 					break;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index b798d896f..ac261af2d 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -106,14 +106,14 @@ struct BulletDataStreamArgs
 	char m_bodyName[MAX_FILENAME_LENGTH];
 };
 
-enum EnumResetDynamicInfoFlags
+enum EnumResetDynamicsInfoFlags
 {
-	RESET_DYNAMIC_INFO_SET_MASS=1,
-	RESET_DYNAMIC_INFO_SET_COM=2,
-	RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION=4,
+	RESET_DYNAMICS_INFO_SET_MASS=1,
+	RESET_DYNAMICS_INFO_SET_COM=2,
+	RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION=4,
 };
 
-struct ResetDynamicInfoArgs
+struct ResetDynamicsInfoArgs
 {
 	int m_bodyUniqueId;
 	int m_linkIndex;
@@ -122,7 +122,7 @@ struct ResetDynamicInfoArgs
 	double m_lateralFriction;
 };
 
-struct GetDynamicInfoArgs
+struct GetDynamicsInfoArgs
 {
 	int m_bodyUniqueId;
 	int m_linkIndex;
@@ -744,8 +744,8 @@ struct SharedMemoryCommand
 		struct MjcfArgs	m_mjcfArguments;
 		struct FileArgs m_fileArguments;
 		struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
-		struct ResetDynamicInfoArgs m_resetDynamicInfoArgs;
-		struct GetDynamicInfoArgs m_getDynamicInfoArgs;
+		struct ResetDynamicsInfoArgs m_resetDynamicsInfoArgs;
+		struct GetDynamicsInfoArgs m_getDynamicsInfoArgs;
 		struct InitPoseArgs m_initPoseArgs;
 		struct SendPhysicsSimulationParameters m_physSimParamArgs;
 		struct BulletDataStreamArgs	m_dataStreamArguments;
@@ -839,7 +839,7 @@ struct SharedMemoryStatus
 		struct StateLoggingResultArgs m_stateLoggingResultArgs;
 		struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
 		struct b3ObjectArgs m_removeObjectArgs;
-		struct b3DynamicInfo m_dynamicInfo;
+		struct b3DynamicsInfo m_dynamicsInfo;
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 6a08a944a..925106392 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -56,8 +56,8 @@ enum EnumSharedMemoryClientCommand
 	CMD_REQUEST_KEYBOARD_EVENTS_DATA,
 	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
 	CMD_REMOVE_BODY,
-	CMD_RESET_DYNAMIC_INFO,
-	CMD_GET_DYNAMIC_INFO,
+	CMD_RESET_DYNAMICS_INFO,
+	CMD_GET_DYNAMICS_INFO,
 	CMD_PROFILE_TIMING,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
@@ -142,8 +142,8 @@ enum EnumSharedMemoryServerStatus
 		CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
 		CMD_REMOVE_BODY_COMPLETED,
 		CMD_REMOVE_BODY_FAILED,
-		CMD_GET_DYNAMIC_INFO_COMPLETED,
-		CMD_GET_DYNAMIC_INFO_FAILED,
+		CMD_GET_DYNAMICS_INFO_COMPLETED,
+		CMD_GET_DYNAMICS_INFO_FAILED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };
@@ -223,7 +223,7 @@ struct b3BodyInfo
 	const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf
 };
 
-struct b3DynamicInfo
+struct b3DynamicsInfo
 {
 	double m_mass;
 	double m_localInertialPosition[3];
diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pybullet/examples/reset_dynamic_info.py
index 06f02ef36..ebf171275 100644
--- a/examples/pybullet/examples/reset_dynamic_info.py
+++ b/examples/pybullet/examples/reset_dynamic_info.py
@@ -3,21 +3,20 @@ import time
 import math
 
 p.connect(p.GUI)
-
-p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
+planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
 p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
-p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
-p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
-#p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
+cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
+p.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
+#p.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
 p.setGravity(0,0,-10)
 p.setRealTimeSimulation(0)
 t=0
 while 1:
 	t=t+1
 	if t > 400:
-		p.resetDynamicInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
-	mass1,frictionCoeff1=p.getDynamicInfo(bodyUniqueId=0,linkIndex=-1)
-	mass2,frictionCoeff2=p.getDynamicInfo(bodyUniqueId=2,linkIndex=-1)
+		p.resetDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
+	mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
+	mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
 	print mass1,frictionCoeff1
 	print mass2,frictionCoeff2
 	time.sleep(.01)
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index c68a58975..8e5b0b056 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -604,7 +604,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	return pylist;
 }
 
-static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObject* keywds)
+static PyObject* pybullet_resetDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int bodyUniqueId = -1;
 	int linkIndex = -2;
@@ -627,17 +627,17 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
 	}
 	
 	{
-		b3SharedMemoryCommandHandle command = b3InitResetDynamicInfo(sm);
+		b3SharedMemoryCommandHandle command = b3InitResetDynamicsInfo(sm);
 		b3SharedMemoryStatusHandle statusHandle;
 		
 		if (mass >= 0)
 		{
-			b3ResetDynamicInfoSetMass(command, bodyUniqueId, linkIndex, mass);
+			b3ResetDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
 		}
 		
 		if (lateralFriction >= 0)
 		{
-			b3ResetDynamicInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
+			b3ResetDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
 		}
 		
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -647,7 +647,7 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
 	return Py_None;
 }
 
-static PyObject* pybullet_getDynamicInfo(PyObject* self, PyObject* args, PyObject* keywds)
+static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	{
 		int bodyUniqueId = -1;
@@ -673,33 +673,33 @@ static PyObject* pybullet_getDynamicInfo(PyObject* self, PyObject* args, PyObjec
 			
 			if (bodyUniqueId < 0)
 			{
-				PyErr_SetString(SpamError, "getDynamicInfo failed; invalid bodyUniqueId");
+				PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid bodyUniqueId");
 				return NULL;
 			}
 			if (linkIndex < -1)
 			{
-				PyErr_SetString(SpamError, "getDynamicInfo failed; invalid linkIndex");
+				PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid linkIndex");
 				return NULL;
 			}
-			cmd_handle = b3GetDynamicInfoCommandInit(sm, bodyUniqueId, linkIndex);
+			cmd_handle = b3GetDynamicsInfoCommandInit(sm, bodyUniqueId, linkIndex);
 			status_handle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
 			status_type = b3GetStatusType(status_handle);
-			if (status_type != CMD_GET_DYNAMIC_INFO_COMPLETED)
+			if (status_type != CMD_GET_DYNAMICS_INFO_COMPLETED)
 			{
-				PyErr_SetString(SpamError, "getDynamicInfo failed; invalid return status");
+				PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid return status");
 				return NULL;
 			}
-			struct b3DynamicInfo info;
-			if (b3GetDynamicInfo(status_handle, &info))
+			struct b3DynamicsInfo info;
+			if (b3GetDynamicsInfo(status_handle, &info))
 			{
-				PyObject* pyDynamicInfo = PyTuple_New(2);
-				PyTuple_SetItem(pyDynamicInfo, 0, PyFloat_FromDouble(info.m_mass));
-				PyTuple_SetItem(pyDynamicInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff));
-				return pyDynamicInfo;
+				PyObject* pyDynamicsInfo = PyTuple_New(2);
+				PyTuple_SetItem(pyDynamicsInfo, 0, PyFloat_FromDouble(info.m_mass));
+				PyTuple_SetItem(pyDynamicsInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff));
+				return pyDynamicsInfo;
 			}
 		}
 	}
-	PyErr_SetString(SpamError, "Couldn't get dynamic info");
+	PyErr_SetString(SpamError, "Couldn't get dynamics info");
 	return NULL;
 }
 
@@ -5639,11 +5639,11 @@ static PyMethodDef SpamMethods[] = {
 	 "Reset the state (position, velocity etc) for a joint on a body "
 	 "instantaneously, not through physics simulation."},
 	
-	{"resetDynamicInfo", (PyCFunction)pybullet_resetDynamicInfo, METH_VARARGS | METH_KEYWORDS,
-	 "Reset dynamic information such as mass, lateral friction coefficient."},
+	{"resetDynamicsInfo", (PyCFunction)pybullet_resetDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
+	 "Reset dynamics information such as mass, lateral friction coefficient."},
 	
-	{"getDynamicInfo", (PyCFunction)pybullet_getDynamicInfo, METH_VARARGS | METH_KEYWORDS,
-	 "Get dynamic information such as mass, lateral friction coefficient."},
+	{"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
+	 "Get dynamics information such as mass, lateral friction coefficient."},
 
 	{"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS,
 	 "This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead."

From a587d4fec41babba9519ca841f94731d23f8c3ba Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Tue, 9 May 2017 10:44:33 -0700
Subject: [PATCH 63/80] Use "change" instead of "reset" for changing dynamics
 info.

---
 examples/SharedMemory/PhysicsClientC_API.cpp  | 28 +++++++++----------
 examples/SharedMemory/PhysicsClientC_API.h    |  8 +++---
 .../PhysicsClientSharedMemory.cpp             |  2 +-
 .../PhysicsServerCommandProcessor.cpp         | 20 ++++++-------
 examples/SharedMemory/SharedMemoryCommands.h  | 12 ++++----
 examples/SharedMemory/SharedMemoryPublic.h    |  2 +-
 .../pybullet/examples/reset_dynamic_info.py   |  6 ++--
 examples/pybullet/pybullet.c                  | 12 ++++----
 8 files changed, 45 insertions(+), 45 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index aa1d3f3be..5c235125f 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1240,39 +1240,39 @@ int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3Dynamics
 	return true;
 }
 
-b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient)
+b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
 	b3Assert(cl);
 	b3Assert(cl->canSubmitCommand());
 	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
 	b3Assert(command);
-	command->m_type = CMD_RESET_DYNAMICS_INFO;
+	command->m_type = CMD_CHANGE_DYNAMICS_INFO;
 	command->m_updateFlags = 0;
 	
 	return (b3SharedMemoryCommandHandle) command;
 }
 
-int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
+int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
-	b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO);
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
 	b3Assert(mass > 0);
-	command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
-	command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
-	command->m_resetDynamicsInfoArgs.m_mass = mass;
-	command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_MASS;
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_changeDynamicsInfoArgs.m_mass = mass;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_MASS;
 	return 0;
 }
 
-int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
+int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
-	b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO);
-	command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
-	command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
-	command->m_resetDynamicsInfoArgs.m_lateralFriction = lateralFriction;
-	command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_changeDynamicsInfoArgs.m_lateralFriction = lateralFriction;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION;
 	return 0;
 }
 
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 58da884d4..021bcf493 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -78,12 +78,12 @@ int	b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
 int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
 
 b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
-///given a body unique id and link index, return the dynamic information. See b3DynamicInfo in SharedMemoryPublic.h
+///given a body unique id and link index, return the dynamics information. See b3DynamicsInfo in SharedMemoryPublic.h
 int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info);
 	
-b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient);
-int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
-int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
+b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient);
+int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
+int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction);
     
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
 
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index c618e2afe..2c1936e75 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -1045,7 +1045,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 			}
 			case CMD_GET_DYNAMICS_INFO_FAILED:
 			{
-				b3Warning("Request dynamic info failed");
+				b3Warning("Request dynamics info failed");
 				break;
 			}
             default: {
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 723ec9dfa..bd18e3cf7 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3898,15 +3898,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 					break;
 				};
-				case CMD_RESET_DYNAMICS_INFO:
+				case CMD_CHANGE_DYNAMICS_INFO:
 				{
-					BT_PROFILE("CMD_RESET_DYNAMICS_INFO");
+					BT_PROFILE("CMD_CHANGE_DYNAMICS_INFO");
 					
-					if (clientCmd.m_updateFlags & RESET_DYNAMICS_INFO_SET_MASS)
+					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
 					{
-						int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId;
-						int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex;
-						double mass = clientCmd.m_resetDynamicsInfoArgs.m_mass;
+						int bodyUniqueId = clientCmd.m_changeDynamicsInfoArgs.m_bodyUniqueId;
+						int linkIndex = clientCmd.m_changeDynamicsInfoArgs.m_linkIndex;
+						double mass = clientCmd.m_changeDynamicsInfoArgs.m_mass;
 						btAssert(bodyUniqueId >= 0);
 						btAssert(linkIndex >= -1);
 						
@@ -3925,11 +3925,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 					}
 					
-					if (clientCmd.m_updateFlags & RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION)
+					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
 					{
-						int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId;
-						int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex;
-						double lateralFriction = clientCmd.m_resetDynamicsInfoArgs.m_lateralFriction;
+						int bodyUniqueId = clientCmd.m_changeDynamicsInfoArgs.m_bodyUniqueId;
+						int linkIndex = clientCmd.m_changeDynamicsInfoArgs.m_linkIndex;
+						double lateralFriction = clientCmd.m_changeDynamicsInfoArgs.m_lateralFriction;
 						btAssert(bodyUniqueId >= 0);
 						btAssert(linkIndex >= -1);
 						
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index ac261af2d..e1a494fb8 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -106,14 +106,14 @@ struct BulletDataStreamArgs
 	char m_bodyName[MAX_FILENAME_LENGTH];
 };
 
-enum EnumResetDynamicsInfoFlags
+enum EnumChangeDynamicsInfoFlags
 {
-	RESET_DYNAMICS_INFO_SET_MASS=1,
-	RESET_DYNAMICS_INFO_SET_COM=2,
-	RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION=4,
+	CHANGE_DYNAMICS_INFO_SET_MASS=1,
+	CHANGE_DYNAMICS_INFO_SET_COM=2,
+	CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION=4,
 };
 
-struct ResetDynamicsInfoArgs
+struct ChangeDynamicsInfoArgs
 {
 	int m_bodyUniqueId;
 	int m_linkIndex;
@@ -744,7 +744,7 @@ struct SharedMemoryCommand
 		struct MjcfArgs	m_mjcfArguments;
 		struct FileArgs m_fileArguments;
 		struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
-		struct ResetDynamicsInfoArgs m_resetDynamicsInfoArgs;
+		struct ChangeDynamicsInfoArgs m_changeDynamicsInfoArgs;
 		struct GetDynamicsInfoArgs m_getDynamicsInfoArgs;
 		struct InitPoseArgs m_initPoseArgs;
 		struct SendPhysicsSimulationParameters m_physSimParamArgs;
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 925106392..9a373b115 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -56,7 +56,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_REQUEST_KEYBOARD_EVENTS_DATA,
 	CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
 	CMD_REMOVE_BODY,
-	CMD_RESET_DYNAMICS_INFO,
+	CMD_CHANGE_DYNAMICS_INFO,
 	CMD_GET_DYNAMICS_INFO,
 	CMD_PROFILE_TIMING,
     //don't go beyond this command!
diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pybullet/examples/reset_dynamic_info.py
index ebf171275..0158f2e17 100644
--- a/examples/pybullet/examples/reset_dynamic_info.py
+++ b/examples/pybullet/examples/reset_dynamic_info.py
@@ -6,15 +6,15 @@ p.connect(p.GUI)
 planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
 p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
 cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
-p.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
-#p.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
+p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
+#p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
 p.setGravity(0,0,-10)
 p.setRealTimeSimulation(0)
 t=0
 while 1:
 	t=t+1
 	if t > 400:
-		p.resetDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
+		p.changeDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
 	mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
 	mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
 	print mass1,frictionCoeff1
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 8e5b0b056..1b3cac5c4 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -604,7 +604,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	return pylist;
 }
 
-static PyObject* pybullet_resetDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds)
+static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int bodyUniqueId = -1;
 	int linkIndex = -2;
@@ -627,17 +627,17 @@ static PyObject* pybullet_resetDynamicsInfo(PyObject* self, PyObject* args, PyOb
 	}
 	
 	{
-		b3SharedMemoryCommandHandle command = b3InitResetDynamicsInfo(sm);
+		b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(sm);
 		b3SharedMemoryStatusHandle statusHandle;
 		
 		if (mass >= 0)
 		{
-			b3ResetDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
+			b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
 		}
 		
 		if (lateralFriction >= 0)
 		{
-			b3ResetDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
+			b3ChangeDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
 		}
 		
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -5639,8 +5639,8 @@ static PyMethodDef SpamMethods[] = {
 	 "Reset the state (position, velocity etc) for a joint on a body "
 	 "instantaneously, not through physics simulation."},
 	
-	{"resetDynamicsInfo", (PyCFunction)pybullet_resetDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
-	 "Reset dynamics information such as mass, lateral friction coefficient."},
+	{"changeDynamicsInfo", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
+	 "change dynamics information such as mass, lateral friction coefficient."},
 	
 	{"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
 	 "Get dynamics information such as mass, lateral friction coefficient."},

From 28de699e70717649b769d7cbf078715e05a1fdde Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Tue, 9 May 2017 13:49:13 -0700
Subject: [PATCH 64/80] Add back face culling based on world space coordinates.

---
 examples/TinyRenderer/TinyRenderer.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index 37134093c..48ab13c11 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -87,6 +87,7 @@ struct Shader : public IShader {
     mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS
     mat<4,3,float> varying_tri_light_view;
     mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS
+	mat<4,3,float> world_tri; // model triangle coordinates in the world space used for backface culling, written by VS
     
     Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Matrix& viewportMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray<float>* shadowBuffer, float ambient_coefficient=0.6, float diffuse_coefficient=0.35, float specular_coefficient=0.05)
     :m_model(model),
@@ -120,6 +121,8 @@ struct Shader : public IShader {
                                unScaledVert[2]*m_localScaling[2]);
         Vec4f gl_Vertex = m_projectionMat*m_modelView1*embed<4>(scaledVert);
         varying_tri.set_col(nthvert, gl_Vertex);
+		Vec4f world_Vertex = m_modelMat*embed<4>(scaledVert);
+		world_tri.set_col(nthvert, world_Vertex);
         Vec4f gl_VertexLightView = m_projectionMat*m_lightModelView*embed<4>(scaledVert);
         varying_tri_light_view.set_col(nthvert, gl_VertexLightView);
         return gl_Vertex;
@@ -492,6 +495,8 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
         Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix;
         Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
         Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
+		Matrix viewMatrixInv = renderData.m_viewMatrix.invert();
+		btVector3 P(viewMatrixInv[0][3], viewMatrixInv[1][3], viewMatrixInv[2][3]);
         
         Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowBufferPtr, renderData.m_lightAmbientCoeff, renderData.m_lightDiffuseCoeff, renderData.m_lightSpecularCoeff);
         
@@ -500,6 +505,14 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
             for (int j=0; j<3; j++) {
                 shader.vertex(i, j);
             }
+			
+			// backface culling
+			btVector3 v0(shader.world_tri.col(0)[0], shader.world_tri.col(0)[1], shader.world_tri.col(0)[2]);
+			btVector3 v1(shader.world_tri.col(1)[0], shader.world_tri.col(1)[1], shader.world_tri.col(1)[2]);
+			btVector3 v2(shader.world_tri.col(2)[0], shader.world_tri.col(2)[1], shader.world_tri.col(2)[2]);
+			btVector3 N = (v1-v0).cross(v2-v0);
+			if ((v0-P).dot(N) >= 0)
+				continue;
 
 			mat<4,3,float> stackTris[3];
 

From c938e42a19687d391444c225463c7a2b40ab3c30 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Tue, 9 May 2017 14:11:01 -0700
Subject: [PATCH 65/80] Optimize tinyrender by precompute matrix multiplication
 in vertex shader.

---
 examples/TinyRenderer/TinyRenderer.cpp | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index 48ab13c11..5a74d2ad8 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -12,6 +12,7 @@
 #include "../OpenGLWindow/ShapeData.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btVector3.h"
+#include "Bullet3Common/b3Logging.h"
 
 struct DepthShader : public IShader {
     
@@ -72,6 +73,8 @@ struct Shader : public IShader {
     Matrix& m_lightModelView;
     Vec4f m_colorRGBA;
     Matrix& m_viewportMat;
+	Matrix m_projectionModelViewMat;
+	Matrix m_projectionLightViewMat;
     float m_ambient_coefficient;
     float m_diffuse_coefficient;
     float m_specular_coefficient;
@@ -110,8 +113,11 @@ struct Shader : public IShader {
    
     {
         m_invModelMat = m_modelMat.invert_transpose();
+		m_projectionModelViewMat = m_projectionMat*m_modelView1;
+		m_projectionLightViewMat = m_projectionMat*m_lightModelView;
     }
     virtual Vec4f vertex(int iface, int nthvert) {
+		B3_PROFILE("vertex");
         Vec2f uv = m_model->uv(iface, nthvert);
         varying_uv.set_col(nthvert, uv);
         varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f)));
@@ -119,16 +125,17 @@ struct Shader : public IShader {
         Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0],
                                unScaledVert[1]*m_localScaling[1],
                                unScaledVert[2]*m_localScaling[2]);
-        Vec4f gl_Vertex = m_projectionMat*m_modelView1*embed<4>(scaledVert);
+        Vec4f gl_Vertex = m_projectionModelViewMat*embed<4>(scaledVert);
         varying_tri.set_col(nthvert, gl_Vertex);
 		Vec4f world_Vertex = m_modelMat*embed<4>(scaledVert);
 		world_tri.set_col(nthvert, world_Vertex);
-        Vec4f gl_VertexLightView = m_projectionMat*m_lightModelView*embed<4>(scaledVert);
+        Vec4f gl_VertexLightView = m_projectionLightViewMat*embed<4>(scaledVert);
         varying_tri_light_view.set_col(nthvert, gl_VertexLightView);
         return gl_Vertex;
     }
     
     virtual bool fragment(Vec3f bar, TGAColor &color) {
+		B3_PROFILE("fragment");
         Vec4f p = m_viewportMat*(varying_tri_light_view*bar);
         float depth = p[2];
         p = p/p[3];
@@ -502,6 +509,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
         
         for (int i=0; i<model->nfaces(); i++)
         {
+			B3_PROFILE("face");
             for (int j=0; j<3; j++) {
                 shader.vertex(i, j);
             }

From 0d3940b8bd46cb32408ab626285491acf906b429 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Tue, 9 May 2017 16:36:11 -0700
Subject: [PATCH 66/80] fix signed-integer-overflow issue: Hash functions rely
 on 2's complement behaviour. Use unsigned integers to get that.

---
 .../BroadphaseCollision/btOverlappingPairCache.h     |  9 +++------
 .../CollisionDispatch/btHashedSimplePairCache.h      |  6 +++---
 src/LinearMath/btHashMap.h                           | 12 ++++++------
 3 files changed, 12 insertions(+), 15 deletions(-)

diff --git a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index 6488bdd64..f7be7d45b 100644
--- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -215,10 +215,9 @@ private:
 	*/
 
 
-	
-	SIMD_FORCE_INLINE	unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
+	SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
 	{
-		int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
+		unsigned int key = proxyId1 | (proxyId2 << 16);
 		// Thomas Wang's hash
 
 		key += ~(key << 15);
@@ -227,13 +226,11 @@ private:
 		key ^=  (key >> 6);
 		key += ~(key << 11);
 		key ^=  (key >> 16);
-		return static_cast<unsigned int>(key);
+		return key;
 	}
 	
 
 
-
-
 	SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
 	{
 		int proxyId1 = proxy0->getUid();
diff --git a/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
index 186964d72..2aaf6201f 100644
--- a/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
+++ b/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
@@ -123,9 +123,9 @@ private:
 
 	
 	
-	SIMD_FORCE_INLINE	unsigned int getHash(unsigned int indexA, unsigned int indexB)
+	SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB)
 	{
-		int key = static_cast<int>(((unsigned int)indexA) | (((unsigned int)indexB) <<16));
+		unsigned int key = indexA | (indexB << 16);
 		// Thomas Wang's hash
 
 		key += ~(key << 15);
@@ -134,7 +134,7 @@ private:
 		key ^=  (key >> 6);
 		key += ~(key << 11);
 		key ^=  (key >> 16);
-		return static_cast<unsigned int>(key);
+		return key;
 	}
 	
 
diff --git a/src/LinearMath/btHashMap.h b/src/LinearMath/btHashMap.h
index 8f723a646..3e8b75b7d 100644
--- a/src/LinearMath/btHashMap.h
+++ b/src/LinearMath/btHashMap.h
@@ -105,9 +105,10 @@ public:
 	//to our success
 	SIMD_FORCE_INLINE	unsigned int getHash()const
 	{
-		int key = m_uid;
+		unsigned int key = m_uid;
 		// Thomas Wang's hash
 		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		
 		return key;
 	}
 };
@@ -120,7 +121,7 @@ class btHashPtr
 	union
 	{
 		const void*	m_pointer;
-		int	m_hashValues[2];
+		unsigned int	m_hashValues[2];
 	};
 
 public:
@@ -145,8 +146,7 @@ public:
 	{
 		const bool VOID_IS_8 = ((sizeof(void*)==8));
 		
-		int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
-	
+		unsigned int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0];
 		// Thomas Wang's hash
 		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
 		return key;
@@ -179,7 +179,7 @@ public:
         //to our success
         SIMD_FORCE_INLINE       unsigned int getHash()const
         {
-                int key = m_uid;
+                unsigned int key = m_uid;
                 // Thomas Wang's hash
                 key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
                 return key;
@@ -211,7 +211,7 @@ public:
 	//to our success
 	SIMD_FORCE_INLINE	unsigned int getHash()const
 	{
-		int key = m_uid;
+		unsigned int key = m_uid;
 		// Thomas Wang's hash
 		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
 		return key;

From d54eab16e1018f4b660cce8efe68d9fd7e8a7ad0 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Tue, 9 May 2017 16:57:56 -0700
Subject: [PATCH 67/80] bump up setup.py pybullet pypi pip version to 1.0.2

---
 setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.py b/setup.py
index bf36944a9..42ff89b26 100644
--- a/setup.py
+++ b/setup.py
@@ -417,7 +417,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.0.1',
+	version='1.0.2',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

From fc6fb7b14ced5ec2c5b4e775728ffed0c3a7da9c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Tue, 9 May 2017 18:00:28 -0700
Subject: [PATCH 68/80] initialize values (padding etc) help asan/msan tests

---
 .../BroadphaseCollision/btQuantizedBvh.cpp           |  2 ++
 .../CollisionDispatch/btCollisionObject.cpp          | 12 +++++++++---
 .../CollisionShapes/btBvhTriangleMeshShape.cpp       |  3 +++
 src/BulletCollision/CollisionShapes/btCapsuleShape.h | 10 ++++++++--
 .../CollisionShapes/btCollisionShape.cpp             |  5 ++++-
 src/BulletCollision/CollisionShapes/btConeShape.h    | 12 +++++++++---
 .../CollisionShapes/btConvexHullShape.cpp            |  5 ++++-
 .../CollisionShapes/btConvexInternalShape.h          |  3 +++
 .../CollisionShapes/btCylinderShape.h                | 10 ++++++++--
 .../CollisionShapes/btMultiSphereShape.cpp           |  5 ++++-
 .../CollisionShapes/btStaticPlaneShape.h             |  8 +++++++-
 .../CollisionShapes/btStridingMeshInterface.cpp      |  7 +++++++
 .../CollisionShapes/btTriangleInfoMap.h              |  7 +++++++
 .../ConstraintSolver/btGearConstraint.h              |  8 ++++++++
 .../btGeneric6DofSpring2Constraint.h                 |  5 +++++
 .../ConstraintSolver/btHingeConstraint.h             |  8 ++++++++
 .../Dynamics/btDiscreteDynamicsWorld.cpp             |  3 +++
 src/BulletDynamics/Dynamics/btRigidBody.cpp          |  5 +++++
 src/BulletDynamics/Featherstone/btMultiBody.cpp      |  5 +++++
 19 files changed, 109 insertions(+), 14 deletions(-)

diff --git a/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
index 93de49998..875d89c53 100644
--- a/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
@@ -1336,6 +1336,8 @@ const char*	btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer
 			memPtr->m_escapeIndex = m_contiguousNodes[i].m_escapeIndex;
 			memPtr->m_subPart = m_contiguousNodes[i].m_subPart;
 			memPtr->m_triangleIndex = m_contiguousNodes[i].m_triangleIndex;
+			// Fill padding with zeros to appease msan.
+			memset(memPtr->m_pad, 0, sizeof(memPtr->m_pad));
 		}
 		serializer->finalizeChunk(chunk,"btOptimizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_contiguousNodes[0]);
 	}
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index fdecac162..b595c56bc 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -18,9 +18,11 @@ subject to the following restrictions:
 #include "LinearMath/btSerializer.h"
 
 btCollisionObject::btCollisionObject()
-	:	m_anisotropicFriction(1.f,1.f,1.f),
-	m_hasAnisotropicFriction(false),
-	m_contactProcessingThreshold(BT_LARGE_FLOAT),
+	:	m_interpolationLinearVelocity(0.f, 0.f, 0.f),
+		m_interpolationAngularVelocity(0.f, 0.f, 0.f),
+		m_anisotropicFriction(1.f,1.f,1.f),
+		m_hasAnisotropicFriction(false),
+		m_contactProcessingThreshold(BT_LARGE_FLOAT),
 		m_broadphaseHandle(0),
 		m_collisionShape(0),
 		m_extensionPointer(0),
@@ -48,6 +50,7 @@ btCollisionObject::btCollisionObject()
 		m_updateRevision(0)
 {
 	m_worldTransform.setIdentity();
+	m_interpolationWorldTransform.setIdentity();
 }
 
 btCollisionObject::~btCollisionObject()
@@ -112,6 +115,9 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
 	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
 	dataOut->m_checkCollideWith = m_checkCollideWith;
 
+	// Fill padding with zeros to appease msan.
+	memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
+
 	return btCollisionObjectDataName;
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
index 0940da1a4..61f465cb7 100644
--- a/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -437,6 +437,9 @@ const char*	btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* se
 		trimeshData->m_triangleInfoMap = 0;
 	}
 
+	// Fill padding with zeros to appease msan.
+	memset(trimeshData->m_pad3, 0, sizeof(trimeshData->m_pad3));
+
 	return "btTriangleMeshShapeData";
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/src/BulletCollision/CollisionShapes/btCapsuleShape.h
index aa65d5439..7d64b46ab 100644
--- a/src/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/src/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -164,11 +164,17 @@ SIMD_FORCE_INLINE	int	btCapsuleShape::calculateSerializeBufferSize() const
 SIMD_FORCE_INLINE	const char*	btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
-	
+
 	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
 
 	shapeData->m_upAxis = m_upAxis;
-	
+
+	// Fill padding with zeros to appease msan.
+	shapeData->m_padding[0] = 0;
+	shapeData->m_padding[1] = 0;
+	shapeData->m_padding[2] = 0;
+	shapeData->m_padding[3] = 0;
+
 	return "btCapsuleShapeData";
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btCollisionShape.cpp b/src/BulletCollision/CollisionShapes/btCollisionShape.cpp
index 39ee21cad..823e2788f 100644
--- a/src/BulletCollision/CollisionShapes/btCollisionShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btCollisionShape.cpp
@@ -106,7 +106,10 @@ const char*	btCollisionShape::serialize(void* dataBuffer, btSerializer* serializ
 		serializer->serializeName(name);
 	}
 	shapeData->m_shapeType = m_shapeType;
-	//shapeData->m_padding//??
+
+	// Fill padding with zeros to appease msan.
+	memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding));
+
 	return "btCollisionShapeData";
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btConeShape.h b/src/BulletCollision/CollisionShapes/btConeShape.h
index 46d78d148..3b44e3f27 100644
--- a/src/BulletCollision/CollisionShapes/btConeShape.h
+++ b/src/BulletCollision/CollisionShapes/btConeShape.h
@@ -168,11 +168,17 @@ SIMD_FORCE_INLINE	int	btConeShape::calculateSerializeBufferSize() const
 SIMD_FORCE_INLINE	const char*	btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
-	
+
 	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
-	
+
 	shapeData->m_upIndex = m_coneIndices[1];
-	
+
+	// Fill padding with zeros to appease msan.
+	shapeData->m_padding[0] = 0;
+	shapeData->m_padding[1] = 0;
+	shapeData->m_padding[2] = 0;
+	shapeData->m_padding[3] = 0;
+
 	return "btConeShapeData";
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
index c1aa6ca46..a7a959840 100644
--- a/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -211,7 +211,10 @@ const char*	btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali
 		}
 		serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
 	}
-	
+
+	// Fill padding with zeros to appease msan.
+	memset(shapeData->m_padding3, 0, sizeof(shapeData->m_padding3));
+
 	return "btConvexHullShapeData";
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
index 37e04f5fc..1213b82fb 100644
--- a/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
+++ b/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
@@ -172,6 +172,9 @@ SIMD_FORCE_INLINE	const char*	btConvexInternalShape::serialize(void* dataBuffer,
 	m_localScaling.serializeFloat(shapeData->m_localScaling);
 	shapeData->m_collisionMargin = float(m_collisionMargin);
 
+	// Fill padding with zeros to appease msan.
+	shapeData->m_padding = 0;
+
 	return "btConvexInternalShapeData";
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btCylinderShape.h b/src/BulletCollision/CollisionShapes/btCylinderShape.h
index 6f796950e..a214a827c 100644
--- a/src/BulletCollision/CollisionShapes/btCylinderShape.h
+++ b/src/BulletCollision/CollisionShapes/btCylinderShape.h
@@ -199,11 +199,17 @@ SIMD_FORCE_INLINE	int	btCylinderShape::calculateSerializeBufferSize() const
 SIMD_FORCE_INLINE	const char*	btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
 	btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
-	
+
 	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
 
 	shapeData->m_upAxis = m_upAxis;
-	
+
+	// Fill padding with zeros to appease msan.
+	shapeData->m_padding[0] = 0;
+	shapeData->m_padding[1] = 0;
+	shapeData->m_padding[2] = 0;
+	shapeData->m_padding[3] = 0;
+
 	return "btCylinderShapeData";
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
index 88f6c4dcb..4195fa313 100644
--- a/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
@@ -175,7 +175,10 @@ const char*	btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serial
 		}
 		serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]);
 	}
-	
+
+	// Fill padding with zeros to appease msan.
+	memset(shapeData->m_padding, 0, sizeof(shapeData->m_padding));
+
 	return "btMultiSphereShapeData";
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
index e6e328839..5e9eccc77 100644
--- a/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+++ b/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
@@ -94,7 +94,13 @@ SIMD_FORCE_INLINE	const char*	btStaticPlaneShape::serialize(void* dataBuffer, bt
 	m_localScaling.serializeFloat(planeData->m_localScaling);
 	m_planeNormal.serializeFloat(planeData->m_planeNormal);
 	planeData->m_planeConstant = float(m_planeConstant);
-		
+
+	// Fill padding with zeros to appease msan.
+	planeData->m_pad[0] = 0;
+	planeData->m_pad[1] = 0;
+	planeData->m_pad[2] = 0;
+	planeData->m_pad[3] = 0;
+
 	return "btStaticPlaneShapeData";
 }
 
diff --git a/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
index b3d449676..78ddeb370 100644
--- a/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
+++ b/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
@@ -293,6 +293,9 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 							tmpIndices[gfxindex].m_values[0] = tri_indices[0];
 							tmpIndices[gfxindex].m_values[1] = tri_indices[1];
 							tmpIndices[gfxindex].m_values[2] = tri_indices[2];
+							// Fill padding with zeros to appease msan.
+							tmpIndices[gfxindex].m_pad[0] = 0;
+							tmpIndices[gfxindex].m_pad[1] = 0;
 						}
 						serializer->finalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
 					}
@@ -311,6 +314,8 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 							tmpIndices[gfxindex].m_values[0] = tri_indices[0];
 							tmpIndices[gfxindex].m_values[1] = tri_indices[1];
 							tmpIndices[gfxindex].m_values[2] = tri_indices[2];
+							// Fill padding with zeros to appease msan.
+							tmpIndices[gfxindex].m_pad = 0;
 						}
 						serializer->finalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
 					}
@@ -375,6 +380,8 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 		serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr);
 	}
 
+	// Fill padding with zeros to appease msan.
+	memset(trimeshData->m_padding, 0, sizeof(trimeshData->m_padding));
 
 	m_scaling.serializeFloat(trimeshData->m_scaling);
 	return "btStridingMeshInterfaceData";
diff --git a/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
index 17deef89d..642758959 100644
--- a/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
+++ b/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h
@@ -195,6 +195,13 @@ SIMD_FORCE_INLINE	const char*	btTriangleInfoMap::serialize(void* dataBuffer, btS
 		serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]);
 
 	}
+
+	// Fill padding with zeros to appease msan.
+	tmapData->m_padding[0] = 0;
+	tmapData->m_padding[1] = 0;
+	tmapData->m_padding[2] = 0;
+	tmapData->m_padding[3] = 0;
+
 	return "btTriangleInfoMapData";
 }
 
diff --git a/src/BulletDynamics/ConstraintSolver/btGearConstraint.h b/src/BulletDynamics/ConstraintSolver/btGearConstraint.h
index f9afcb912..e4613455a 100644
--- a/src/BulletDynamics/ConstraintSolver/btGearConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btGearConstraint.h
@@ -141,6 +141,14 @@ SIMD_FORCE_INLINE	const char*	btGearConstraint::serialize(void* dataBuffer, btSe
 
 	gear->m_ratio = m_ratio;
 
+	// Fill padding with zeros to appease msan.
+#ifndef BT_USE_DOUBLE_PRECISION
+	gear->m_padding[0] = 0;
+	gear->m_padding[1] = 0;
+	gear->m_padding[2] = 0;
+	gear->m_padding[3] = 0;
+#endif
+
 	return btGearConstraintDataName;
 }
 
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
index 57b4e1983..536e5af1b 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
@@ -664,6 +664,11 @@ SIMD_FORCE_INLINE const char* btGeneric6DofSpring2Constraint::serialize(void* da
 
 	dof->m_rotateOrder = m_rotateOrder;
 
+	dof->m_padding1[0] = 0;
+	dof->m_padding1[1] = 0;
+	dof->m_padding1[2] = 0;
+	dof->m_padding1[3] = 0;
+
 	return btGeneric6DofSpring2ConstraintDataName;
 }
 
diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
index f26e72105..636aa7fe3 100644
--- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
@@ -489,6 +489,14 @@ SIMD_FORCE_INLINE	const char*	btHingeConstraint::serialize(void* dataBuffer, btS
 	hingeData->m_relaxationFactor = float(m_relaxationFactor);
 #endif
 
+	// Fill padding with zeros to appease msan.
+#ifdef BT_USE_DOUBLE_PRECISION
+	hingeData->m_padding1[0] = 0;
+	hingeData->m_padding1[1] = 0;
+	hingeData->m_padding1[2] = 0;
+	hingeData->m_padding1[3] = 0;
+#endif
+
 	return btHingeConstraintDataName;
 }
 
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index 27bb88f2a..fc85b4f86 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -1511,6 +1511,9 @@ void	btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize
 
 		worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
 
+		// Fill padding with zeros to appease msan.
+		memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding));
+
 #ifdef BT_USE_DOUBLE_PRECISION
 		const char* structType = "btDynamicsWorldDoubleData";
 #else//BT_USE_DOUBLE_PRECISION
diff --git a/src/BulletDynamics/Dynamics/btRigidBody.cpp b/src/BulletDynamics/Dynamics/btRigidBody.cpp
index 9402a658c..ca0714fcf 100644
--- a/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -507,6 +507,11 @@ const char*	btRigidBody::serialize(void* dataBuffer, class btSerializer* seriali
 	rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
 	rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
 
+	// Fill padding with zeros to appease msan.
+#ifdef BT_USE_DOUBLE_PRECISION
+	memset(rbd->m_padding, 0, sizeof(rbd->m_padding));
+#endif
+
 	return btRigidBodyDataName;
 }
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 6fcca2dd9..ca9652f1e 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -2013,5 +2013,10 @@ const char*	btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
 		}
 		mbd->m_links = mbd->m_numLinks? (btMultiBodyLinkData*) serializer->getUniquePointer((void*)&m_links[0]):0;
 
+		// Fill padding with zeros to appease msan.
+#ifdef BT_USE_DOUBLE_PRECISION
+		memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
+#endif
+
 		return btMultiBodyDataName;
 }

From 53a82819a0b09731fd718a5bea00e33b3a16a4de Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 10 May 2017 15:01:25 -0700
Subject: [PATCH 69/80] expose b3LoadMJCFCommandSetFlags /
 pybullet.pybullet_loadMJCF(fileName,flags=pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)

---
 .../Importers/ImportURDFDemo/URDF2Bullet.cpp  | 18 +++++++--
 .../Importers/ImportURDFDemo/URDF2Bullet.h    |  4 +-
 examples/SharedMemory/PhysicsClientC_API.cpp  | 10 +++++
 examples/SharedMemory/PhysicsClientC_API.h    |  2 +-
 .../PhysicsServerCommandProcessor.cpp         |  7 +++-
 examples/SharedMemory/SharedMemoryCommands.h  |  3 ++
 examples/SharedMemory/SharedMemoryPublic.h    |  2 +
 examples/pybullet/pybullet.c                  | 16 ++++++--
 .../Featherstone/btMultiBodyLink.h            |  3 +-
 .../Featherstone/btMultiBodyLinkCollider.h    | 40 +++++++++++++++++--
 10 files changed, 89 insertions(+), 16 deletions(-)

diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index fcee5a150..d7ed716b0 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -473,12 +473,12 @@ void ConvertURDF2BulletInternal(
                 int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
 
 				int colGroup=0, colMask=0;
-				int flags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);
-				if (flags & URDF_HAS_COLLISION_GROUP)
+				int collisionFlags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);
+				if (collisionFlags & URDF_HAS_COLLISION_GROUP)
 				{
 					collisionFilterGroup = colGroup;
 				}
-				if (flags & URDF_HAS_COLLISION_MASK)
+				if (collisionFlags & URDF_HAS_COLLISION_MASK)
 				{
 					collisionFilterMask = colMask;
 				}
@@ -498,6 +498,14 @@ void ConvertURDF2BulletInternal(
                 if (mbLinkIndex>=0) //???? double-check +/- 1
                 {
                     cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col;
+					if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_PARENT)
+					{
+						cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
+					}
+					if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+					{
+						cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION;
+					}
                 } else
                 {
                     cache.m_bulletMultiBody->setBaseCollider(col);
@@ -539,7 +547,9 @@ void ConvertURDF2Bullet(
 	if (world1 && cache.m_bulletMultiBody)
 	{
 		btMultiBody* mb = cache.m_bulletMultiBody;
-		mb->setHasSelfCollision(false);
+
+		mb->setHasSelfCollision((flags&CUF_USE_SELF_COLLISION)!=0);
+		
 		mb->finalizeMultiDof();
 
 		btTransform localInertialFrameRoot = cache.m_urdfLinkLocalInertialFrames[urdfLinkIndex];
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.h b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
index de8978faf..ccc63c4d9 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -19,7 +19,9 @@ enum ConvertURDFFlags {
   // Use inertia values in URDF instead of recomputing them from collision shape.
   CUF_USE_URDF_INERTIA = 2,
   CUF_USE_MJCF = 4,
-  CUF_USE_SELF_COLLISION=8
+  CUF_USE_SELF_COLLISION=8,
+  CUF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
+  CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
 };
 
 void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 5c235125f..f75e2c5e7 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -160,6 +160,16 @@ b3SharedMemoryCommandHandle	b3LoadMJCFCommandInit(b3PhysicsClientHandle physClie
 	return 0;
 }
 
+void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command->m_type == CMD_LOAD_MJCF);
+	if (command->m_type == CMD_LOAD_MJCF)
+	{
+		command->m_mjcfArguments.m_flags = flags;
+		command->m_updateFlags |= URDF_ARGS_HAS_CUSTOM_URDF_FLAGS;
+	}
+}
 
 b3SharedMemoryCommandHandle	b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient)
 {
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 021bcf493..382e144d8 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -237,7 +237,7 @@ int	b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int fla
 b3SharedMemoryCommandHandle	b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
 b3SharedMemoryCommandHandle	b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
 b3SharedMemoryCommandHandle	b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
-
+void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
 
 
 ///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index bd18e3cf7..6e98ad191 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5693,7 +5693,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                             b3Printf("Processed CMD_LOAD_MJCF:%s", mjcfArgs.m_mjcfFileName);
                         }
                         bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (mjcfArgs.m_useMultiBody!=0) : true;
-						int flags = CUF_USE_MJCF;//CUF_USE_URDF_INERTIA
+						int flags = CUF_USE_MJCF;
+						if (clientCmd.m_updateFlags&URDF_ARGS_HAS_CUSTOM_URDF_FLAGS)
+						{
+							flags |= clientCmd.m_mjcfArguments.m_flags;
+						}
+
                         bool completedOk = loadMjcf(mjcfArgs.m_mjcfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
                         if (completedOk)
                         {
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index e1a494fb8..df9dbc14e 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -93,10 +93,13 @@ struct UrdfArgs
 	int m_urdfFlags;
 };
 
+
+
 struct MjcfArgs
 {
 	char m_mjcfFileName[MAX_URDF_FILENAME_LENGTH];
 	int m_useMultiBody;
+	int m_flags;
 };
 
 struct BulletDataStreamArgs
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 9a373b115..eccda8cfc 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -509,6 +509,8 @@ enum eURDF_Flags
 {
 	URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
 	URDF_USE_SELF_COLLISION=8,//see CUF_USE_SELF_COLLISION
+	URDF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
+	URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
 };
 
 #endif//SHARED_MEMORY_PUBLIC_H
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 726abebac..372b281a2 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -563,8 +563,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	int bodyIndicesOut[MAX_SDF_BODIES];
 	PyObject* pylist = 0;
 	int physicsClientId = 0;
-	static char* kwlist[] = {"mjcfFileName", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &mjcfFileName, &physicsClientId))
+	int flags = -1;
+
+	static char* kwlist[] = {"mjcfFileName", "flags", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &mjcfFileName, &flags, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -576,6 +578,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	}
 
 	command = b3LoadMJCFCommandInit(sm, mjcfFileName);
+	if (flags>=0)
+	{
+		b3LoadMJCFCommandSetFlags(command,flags);
+	}
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	statusType = b3GetStatusType(statusHandle);
 	if (statusType != CMD_MJCF_LOADING_COMPLETED)
@@ -3206,8 +3212,8 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
 
 static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	b3SharedMemoryStatusHandle statusHandle;
-	int statusType;
+//	b3SharedMemoryStatusHandle statusHandle;
+//	int statusType;
 	char* eventName = 0;
 	int duractionInMicroSeconds=-1;
 
@@ -6208,6 +6214,8 @@ initpybullet(void)
 
 	PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
+	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
+	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);
 
 	PyModule_AddIntConstant(m, "MAX_RAY_INTERSECTION_BATCH_SIZE", MAX_RAY_INTERSECTION_BATCH_SIZE);
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
index 2734bf4bd..6cd8c69d3 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
@@ -22,7 +22,8 @@ subject to the following restrictions:
 
 enum	btMultiBodyLinkFlags
 {
-	BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1
+	BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1,
+	BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION = 2,
 };
 
 //both defines are now permanently enabled
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
index 5080ea874..9a375e3e4 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
@@ -74,15 +74,47 @@ public:
 		if (m_link>=0)
 		{
 			const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
-			if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.m_parent == other->m_link)
-				return false;
+			if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
+			{
+				if ( link.m_parent == other->m_link)
+					return false;
+			}
+			if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
+			{
+				int parent_of_this = m_link;
+				while (1) 
+				{
+					if (parent_of_this==-1) 
+						break;
+					parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
+					if (parent_of_this==other->m_link)
+					{
+						return false;
+					}
+				}
+			}
 		}
 		
 		if (other->m_link>=0)
 		{
 			const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
-			if ((otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && otherLink.m_parent == this->m_link)
-				return false;
+			if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
+			{
+				if (otherLink.m_parent == this->m_link)
+					return false;
+			}
+			if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
+			{
+				int parent_of_other = other->m_link;
+				while (1) 
+				{
+					if (parent_of_other==-1) 
+						break;
+					parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
+					if (parent_of_other==this->m_link)
+						return false;
+				}
+			}
 		}
 		return true;
 	}

From cfb8316297f8bdf5572312c32a3f2fabfaceb71d Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Wed, 10 May 2017 15:07:49 -0700
Subject: [PATCH 70/80] Add an example to decode the packed button events from
 vr log.

---
 data/example_log_vr.bin               | Bin 0 -> 524463 bytes
 examples/pybullet/examples/dumpLog.py |  38 ++++++++++++++++++++++++--
 2 files changed, 36 insertions(+), 2 deletions(-)
 create mode 100755 data/example_log_vr.bin

diff --git a/data/example_log_vr.bin b/data/example_log_vr.bin
new file mode 100755
index 0000000000000000000000000000000000000000..a7b9a7fc6649d1744baacc31999f53cd9ae3477d
GIT binary patch
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zQz*sAsHKZ+8{ny;z?kaz8WI<l?1Oc~Rr5?c+8JnMWh~w4BHIRdswi-NDe8!>y0f0n
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Y03*(kS!eC9uNITP4=<oEC0EV<4I|WnTL1t6

literal 0
HcmV?d00001

diff --git a/examples/pybullet/examples/dumpLog.py b/examples/pybullet/examples/dumpLog.py
index 8cec0af5b..35659ef19 100644
--- a/examples/pybullet/examples/dumpLog.py
+++ b/examples/pybullet/examples/dumpLog.py
@@ -61,7 +61,7 @@ numArgs = len(sys.argv)
 
 print ('Number of arguments:', numArgs, 'arguments.')
 print ('Argument List:', str(sys.argv))
-fileName = "log.bin"
+fileName = "data/example_log_vr.bin"
 
 if (numArgs>1):
 	fileName = sys.argv[1]
@@ -71,4 +71,38 @@ print(fileName)
 
 verbose = True
 	
-readLogFile(fileName,verbose)
+log = readLogFile(fileName,verbose)
+
+# the index of the first integer in the vr log file for packed buttons
+firstPackedButtonIndex = 13
+# the number of packed buttons in one integer
+numGroupedButtons = 10
+# the number of integers for packed buttons
+numPackedButtons = 7
+# the mask to get the button state
+buttonMask = 7
+
+for record in log:
+	# indices of buttons that are down
+	buttonDownIndices = []
+	# indices of buttons that are triggered
+	buttonTriggeredIndices = []
+	# indices of buttons that are released
+	buttonReleasedIndices = []
+	buttonIndex = 0
+	for packedButtonIndex in range(firstPackedButtonIndex, firstPackedButtonIndex+numPackedButtons):
+		for packButtonShift in range(numGroupedButtons):
+			buttonEvent = buttonMask & record[packedButtonIndex]
+			if buttonEvent == 1:
+				buttonDownIndices.append(buttonIndex)
+			elif buttonEvent == 2:
+				buttonTriggeredIndices.append(buttonIndex)
+			elif buttonEvent == 4:
+				buttonReleasedIndices.append(buttonIndex)
+			record[packedButtonIndex] = record[packedButtonIndex] >> 3
+			buttonIndex += 1
+	if len(buttonDownIndices) or len(buttonTriggeredIndices) or len(buttonReleasedIndices):
+		print ('timestamp: ', record[1])
+		print ('button is down: ', buttonDownIndices)
+		print ('button is triggered: ', buttonTriggeredIndices)
+		print ('button is released: ', buttonReleasedIndices)

From c3e3e1e98379e8c08b3cbc39aca750551dbee30e Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Wed, 10 May 2017 15:33:58 -0700
Subject: [PATCH 71/80] modify vr button log parse example

---
 examples/pybullet/examples/dumpLog.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/examples/pybullet/examples/dumpLog.py b/examples/pybullet/examples/dumpLog.py
index 35659ef19..0fe87cdf0 100644
--- a/examples/pybullet/examples/dumpLog.py
+++ b/examples/pybullet/examples/dumpLog.py
@@ -93,11 +93,11 @@ for record in log:
 	for packedButtonIndex in range(firstPackedButtonIndex, firstPackedButtonIndex+numPackedButtons):
 		for packButtonShift in range(numGroupedButtons):
 			buttonEvent = buttonMask & record[packedButtonIndex]
-			if buttonEvent == 1:
+			if buttonEvent & 1:
 				buttonDownIndices.append(buttonIndex)
-			elif buttonEvent == 2:
+			elif buttonEvent & 2:
 				buttonTriggeredIndices.append(buttonIndex)
-			elif buttonEvent == 4:
+			elif buttonEvent & 4:
 				buttonReleasedIndices.append(buttonIndex)
 			record[packedButtonIndex] = record[packedButtonIndex] >> 3
 			buttonIndex += 1

From 719dba5cd16da3582b933cb6fa41cbb0f7c5078c Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Wed, 10 May 2017 16:12:45 -0700
Subject: [PATCH 72/80] keep the original dumpLog, and create a dumpVrLog

---
 examples/pybullet/examples/dumpLog.py   |  98 +++++++--------------
 examples/pybullet/examples/dumpVrLog.py | 108 ++++++++++++++++++++++++
 2 files changed, 140 insertions(+), 66 deletions(-)
 create mode 100644 examples/pybullet/examples/dumpVrLog.py

diff --git a/examples/pybullet/examples/dumpLog.py b/examples/pybullet/examples/dumpLog.py
index 0fe87cdf0..eae981d10 100644
--- a/examples/pybullet/examples/dumpLog.py
+++ b/examples/pybullet/examples/dumpLog.py
@@ -8,60 +8,60 @@ import argparse
 from time import sleep
 
 def readLogFile(filename, verbose = True):
-  f = open(filename, 'rb')
-
+	f = open(filename, 'rb')
+		
   print('Opened'),
   print(filename)
-
+  
   keys = f.readline().decode('utf8').rstrip('\n').split(',')
   fmt = f.readline().decode('utf8').rstrip('\n')
-
+  
   # The byte number of one record
   sz = struct.calcsize(fmt)
   # The type number of one record
   ncols = len(fmt)
-
+  
   if verbose:
-    print('Keys:'),
+	  print('Keys:'),
     print(keys)
-    print('Format:'),
-    print(fmt)
-    print('Size:'),
-    print(sz)
-    print('Columns:'),
-    print(ncols)
+	print('Format:'),
+	print(fmt)
+	print('Size:'),
+	print(sz)
+	print('Columns:'),
+	print(ncols)
 
-  # Read data
-  wholeFile = f.read()
-  # split by alignment word
-  chunks = wholeFile.split(b'\xaa\xbb')
+# Read data
+wholeFile = f.read()
+	# split by alignment word
+	chunks = wholeFile.split(b'\xaa\xbb')
   log = list()
   if verbose:
   	print("num chunks:")
   	print(len(chunks))
-  chunkIndex = 0
-  for chunk in chunks:
-    print("len(chunk)=",len(chunk)," sz = ", sz)
-    if len(chunk) == sz:
-      print("chunk #",chunkIndex)
-      chunkIndex=chunkIndex+1
+chunkIndex = 0
+	for chunk in chunks:
+		print("len(chunk)=",len(chunk)," sz = ", sz)
+			if len(chunk) == sz:
+				print("chunk #",chunkIndex)
+					chunkIndex=chunkIndex+1
       values = struct.unpack(fmt, chunk)
-      record = list()
-      for i in range(ncols):
-        record.append(values[i])
-        if verbose:
-        	print("    ",keys[i],"=",values[i])
+	  record = list()
+	  for i in range(ncols):
+		  record.append(values[i])
+			  if verbose:
+				  print("    ",keys[i],"=",values[i])
 
-      log.append(record)
-
-  return log
+log.append(record)
+	
+	return log
 
 
 numArgs = len(sys.argv)
 
 print ('Number of arguments:', numArgs, 'arguments.')
 print ('Argument List:', str(sys.argv))
-fileName = "data/example_log_vr.bin"
+fileName = "log.bin"
 
 if (numArgs>1):
 	fileName = sys.argv[1]
@@ -70,39 +70,5 @@ print("filename=")
 print(fileName)
 
 verbose = True
-	
-log = readLogFile(fileName,verbose)
 
-# the index of the first integer in the vr log file for packed buttons
-firstPackedButtonIndex = 13
-# the number of packed buttons in one integer
-numGroupedButtons = 10
-# the number of integers for packed buttons
-numPackedButtons = 7
-# the mask to get the button state
-buttonMask = 7
-
-for record in log:
-	# indices of buttons that are down
-	buttonDownIndices = []
-	# indices of buttons that are triggered
-	buttonTriggeredIndices = []
-	# indices of buttons that are released
-	buttonReleasedIndices = []
-	buttonIndex = 0
-	for packedButtonIndex in range(firstPackedButtonIndex, firstPackedButtonIndex+numPackedButtons):
-		for packButtonShift in range(numGroupedButtons):
-			buttonEvent = buttonMask & record[packedButtonIndex]
-			if buttonEvent & 1:
-				buttonDownIndices.append(buttonIndex)
-			elif buttonEvent & 2:
-				buttonTriggeredIndices.append(buttonIndex)
-			elif buttonEvent & 4:
-				buttonReleasedIndices.append(buttonIndex)
-			record[packedButtonIndex] = record[packedButtonIndex] >> 3
-			buttonIndex += 1
-	if len(buttonDownIndices) or len(buttonTriggeredIndices) or len(buttonReleasedIndices):
-		print ('timestamp: ', record[1])
-		print ('button is down: ', buttonDownIndices)
-		print ('button is triggered: ', buttonTriggeredIndices)
-		print ('button is released: ', buttonReleasedIndices)
+readLogFile(fileName,verbose)
diff --git a/examples/pybullet/examples/dumpVrLog.py b/examples/pybullet/examples/dumpVrLog.py
new file mode 100644
index 000000000..0fe87cdf0
--- /dev/null
+++ b/examples/pybullet/examples/dumpVrLog.py
@@ -0,0 +1,108 @@
+import time
+import math
+from datetime import datetime
+import struct
+import sys
+import os, fnmatch
+import argparse
+from time import sleep
+
+def readLogFile(filename, verbose = True):
+  f = open(filename, 'rb')
+
+  print('Opened'),
+  print(filename)
+
+  keys = f.readline().decode('utf8').rstrip('\n').split(',')
+  fmt = f.readline().decode('utf8').rstrip('\n')
+
+  # The byte number of one record
+  sz = struct.calcsize(fmt)
+  # The type number of one record
+  ncols = len(fmt)
+
+  if verbose:
+    print('Keys:'),
+    print(keys)
+    print('Format:'),
+    print(fmt)
+    print('Size:'),
+    print(sz)
+    print('Columns:'),
+    print(ncols)
+
+  # Read data
+  wholeFile = f.read()
+  # split by alignment word
+  chunks = wholeFile.split(b'\xaa\xbb')
+  log = list()
+  if verbose:
+  	print("num chunks:")
+  	print(len(chunks))
+  chunkIndex = 0
+  for chunk in chunks:
+    print("len(chunk)=",len(chunk)," sz = ", sz)
+    if len(chunk) == sz:
+      print("chunk #",chunkIndex)
+      chunkIndex=chunkIndex+1
+      values = struct.unpack(fmt, chunk)
+      record = list()
+      for i in range(ncols):
+        record.append(values[i])
+        if verbose:
+        	print("    ",keys[i],"=",values[i])
+
+      log.append(record)
+
+  return log
+
+
+numArgs = len(sys.argv)
+
+print ('Number of arguments:', numArgs, 'arguments.')
+print ('Argument List:', str(sys.argv))
+fileName = "data/example_log_vr.bin"
+
+if (numArgs>1):
+	fileName = sys.argv[1]
+
+print("filename=")
+print(fileName)
+
+verbose = True
+	
+log = readLogFile(fileName,verbose)
+
+# the index of the first integer in the vr log file for packed buttons
+firstPackedButtonIndex = 13
+# the number of packed buttons in one integer
+numGroupedButtons = 10
+# the number of integers for packed buttons
+numPackedButtons = 7
+# the mask to get the button state
+buttonMask = 7
+
+for record in log:
+	# indices of buttons that are down
+	buttonDownIndices = []
+	# indices of buttons that are triggered
+	buttonTriggeredIndices = []
+	# indices of buttons that are released
+	buttonReleasedIndices = []
+	buttonIndex = 0
+	for packedButtonIndex in range(firstPackedButtonIndex, firstPackedButtonIndex+numPackedButtons):
+		for packButtonShift in range(numGroupedButtons):
+			buttonEvent = buttonMask & record[packedButtonIndex]
+			if buttonEvent & 1:
+				buttonDownIndices.append(buttonIndex)
+			elif buttonEvent & 2:
+				buttonTriggeredIndices.append(buttonIndex)
+			elif buttonEvent & 4:
+				buttonReleasedIndices.append(buttonIndex)
+			record[packedButtonIndex] = record[packedButtonIndex] >> 3
+			buttonIndex += 1
+	if len(buttonDownIndices) or len(buttonTriggeredIndices) or len(buttonReleasedIndices):
+		print ('timestamp: ', record[1])
+		print ('button is down: ', buttonDownIndices)
+		print ('button is triggered: ', buttonTriggeredIndices)
+		print ('button is released: ', buttonReleasedIndices)

From c9aad0b6b081c032d10fb27ff8d14214ba4b927e Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Wed, 10 May 2017 16:15:13 -0700
Subject: [PATCH 73/80] format change

---
 examples/pybullet/examples/dumpLog.py | 66 +++++++++++++--------------
 1 file changed, 33 insertions(+), 33 deletions(-)

diff --git a/examples/pybullet/examples/dumpLog.py b/examples/pybullet/examples/dumpLog.py
index eae981d10..8cec0af5b 100644
--- a/examples/pybullet/examples/dumpLog.py
+++ b/examples/pybullet/examples/dumpLog.py
@@ -8,53 +8,53 @@ import argparse
 from time import sleep
 
 def readLogFile(filename, verbose = True):
-	f = open(filename, 'rb')
-		
+  f = open(filename, 'rb')
+
   print('Opened'),
   print(filename)
-  
+
   keys = f.readline().decode('utf8').rstrip('\n').split(',')
   fmt = f.readline().decode('utf8').rstrip('\n')
-  
+
   # The byte number of one record
   sz = struct.calcsize(fmt)
   # The type number of one record
   ncols = len(fmt)
-  
-  if verbose:
-	  print('Keys:'),
-    print(keys)
-	print('Format:'),
-	print(fmt)
-	print('Size:'),
-	print(sz)
-	print('Columns:'),
-	print(ncols)
 
-# Read data
-wholeFile = f.read()
-	# split by alignment word
-	chunks = wholeFile.split(b'\xaa\xbb')
+  if verbose:
+    print('Keys:'),
+    print(keys)
+    print('Format:'),
+    print(fmt)
+    print('Size:'),
+    print(sz)
+    print('Columns:'),
+    print(ncols)
+
+  # Read data
+  wholeFile = f.read()
+  # split by alignment word
+  chunks = wholeFile.split(b'\xaa\xbb')
   log = list()
   if verbose:
   	print("num chunks:")
   	print(len(chunks))
-chunkIndex = 0
-	for chunk in chunks:
-		print("len(chunk)=",len(chunk)," sz = ", sz)
-			if len(chunk) == sz:
-				print("chunk #",chunkIndex)
-					chunkIndex=chunkIndex+1
+  chunkIndex = 0
+  for chunk in chunks:
+    print("len(chunk)=",len(chunk)," sz = ", sz)
+    if len(chunk) == sz:
+      print("chunk #",chunkIndex)
+      chunkIndex=chunkIndex+1
       values = struct.unpack(fmt, chunk)
-	  record = list()
-	  for i in range(ncols):
-		  record.append(values[i])
-			  if verbose:
-				  print("    ",keys[i],"=",values[i])
+      record = list()
+      for i in range(ncols):
+        record.append(values[i])
+        if verbose:
+        	print("    ",keys[i],"=",values[i])
 
-log.append(record)
-	
-	return log
+      log.append(record)
+
+  return log
 
 
 numArgs = len(sys.argv)
@@ -70,5 +70,5 @@ print("filename=")
 print(fileName)
 
 verbose = True
-
+	
 readLogFile(fileName,verbose)

From 97235578fbcafcce0db80f36a03d559db1bfc1de Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Wed, 10 May 2017 18:08:43 -0700
Subject: [PATCH 74/80] added the humanoid_running.py from this pull request,
 modified so it works with plain pybullet.

---
 .../pybullet/tensorflow/humanoid_running.py   | 652 ++++++++++++++++++
 1 file changed, 652 insertions(+)
 create mode 100644 examples/pybullet/tensorflow/humanoid_running.py

diff --git a/examples/pybullet/tensorflow/humanoid_running.py b/examples/pybullet/tensorflow/humanoid_running.py
new file mode 100644
index 000000000..f4e9f327d
--- /dev/null
+++ b/examples/pybullet/tensorflow/humanoid_running.py
@@ -0,0 +1,652 @@
+import tensorflow as tf
+import sys
+import numpy as np
+
+import pybullet as p
+import time
+p.connect(p.SHARED_MEMORY) #GUI is slower, but shows the running gait
+p.setGravity(0,0,-9.8)
+p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
+#this mp4 recording requires ffmpeg installed
+#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
+# numSubSteps:
+# 1  falls often at 300 fps
+# 2  works fine  at 300 fps
+# 11 not that slower at 180 fps
+
+
+plane, human1  = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+p.removeBody(plane)
+print (human1)
+p.resetBasePositionAndOrientation(human1,[0,1,1.5],[0,0,0,1])
+
+plane, human2  = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+p.resetBasePositionAndOrientation(human2,[0,2,1.5],[0,0,0,1])
+p.removeBody(plane)
+
+plane, human  = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+
+ordered_joints = []
+
+jdict = {}
+for j in range( p.getNumJoints(human) ):
+	info = p.getJointInfo(human, j)
+	link_name = info[12].decode("ascii")
+	if link_name=="left_foot": left_foot = j
+	if link_name=="right_foot": right_foot = j
+	if info[2] != p.JOINT_REVOLUTE: continue
+	jname = info[1].decode("ascii")
+	jdict[jname] = j
+	lower, upper = (info[8], info[9])
+	ordered_joints.append( (j, lower, upper) )
+	p.setJointMotorControl2(human, j, controlMode=p.VELOCITY_CONTROL, force=0)
+	p.setJointMotorControl2(human1, j, controlMode=p.VELOCITY_CONTROL, force=0)
+	p.setJointMotorControl2(human2, j, controlMode=p.VELOCITY_CONTROL, force=0)
+
+	
+
+motor_names  = ["abdomen_z", "abdomen_y", "abdomen_x"]
+motor_power  = [100, 100, 100]
+motor_names += ["right_hip_x", "right_hip_z", "right_hip_y", "right_knee"]
+motor_power += [100, 100, 300, 200]
+motor_names += ["left_hip_x", "left_hip_z", "left_hip_y", "left_knee"]
+motor_power += [100, 100, 300, 200]
+motor_names += ["right_shoulder1", "right_shoulder2", "right_elbow"]
+motor_power += [75, 75, 75]
+motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
+motor_power += [75, 75, 75]
+motors = [jdict[n] for n in motor_names]
+
+class Dummy:
+	pass
+dummy = Dummy()
+dummy.initial_z = None
+
+def current_relative_position(human, j, lower, upper):
+	#print("j")
+	#print(j)
+	pos, vel, *other = p.getJointState(human, j)
+	#print("pos")
+	#print(pos)
+	#print("vel")
+	#print(vel)
+	pos_mid = 0.5 * (lower + upper);
+	return (
+		2 * (pos - pos_mid) / (upper - lower),
+		0.1 * vel
+		)
+
+def collect_observations(human):
+	j = np.array([current_relative_position(human, *jtuple) for jtuple in ordered_joints]).flatten()
+	#print("j")
+	#print(j)
+	body_xyz, (qx, qy, qz, qw) = p.getBasePositionAndOrientation(human)
+	#print("body_xyz")
+	#print(body_xyz, qx,qy,qz,qw)
+	z = body_xyz[2]
+	dummy.distance = body_xyz[0]
+	if dummy.initial_z==None:
+		dummy.initial_z = z
+	(vx, vy, vz), _ = p.getBaseVelocity(human)
+	more = np.array([z-dummy.initial_z, 0.1*vx, 0.1*vy, 0.1*vz, qx, qy, qz, qw])
+	rcont = p.getContactPoints(human, -1, right_foot, -1)
+	#print("rcont")
+	#print(rcont)
+	lcont = p.getContactPoints(human, -1, left_foot, -1)
+	#print("lcont")
+	#print(lcont)
+	feet_contact = np.array([len(rcont)>0, len(lcont)>0])
+	return np.clip( np.concatenate([more] + [j] + [feet_contact]), -5, +5)
+
+class SmallReactivePolicy(object):
+    def __init__(self, name, ob_space, ac_space):
+        self.name = name
+        with tf.variable_scope(name):
+            batch_of_observations = [None] + list(ob_space.shape)
+            self.ob = tf.placeholder(dtype=tf.float32, shape=batch_of_observations, name="ob")
+            x = self.ob
+
+            width = 256
+            self.dense1_w = tf.get_variable("dense1_w", [x.get_shape()[1], width])
+            self.dense1_b = tf.get_variable("dense1_b", [width])
+            x = tf.nn.relu(tf.matmul(x, self.dense1_w) + self.dense1_b)
+
+            width = 128
+            self.dense2_w = tf.get_variable("dense2_w", [x.get_shape()[1], width])
+            self.dense2_b = tf.get_variable("dense2_b", [width])
+            x = tf.nn.relu(tf.matmul(x, self.dense2_w) + self.dense2_b)
+
+            assert(len(ac_space.shape)==1)
+            width = ac_space.shape[0]
+            self.final_w = tf.get_variable("final_w", [x.get_shape()[1], width])
+            self.final_b = tf.get_variable("final_b", [width])
+            x = tf.matmul(x, self.final_w) + self.final_b
+            self.action_node = x
+
+            self.all_variables = tf.get_collection(tf.GraphKeys.TRAINABLE_VARIABLES, tf.get_variable_scope().name)
+
+    def act(self, ob):
+        a = tf.get_default_session().run(self.action_node, feed_dict={ self.ob: ob[None] })
+        return a[0]
+
+    def load_weights(self):
+        assigns = [
+            (self.dense1_w, weights_dense1_w),
+            (self.dense1_b, weights_dense1_b),
+            (self.dense2_w, weights_dense2_w),
+            (self.dense2_b, weights_dense2_b),
+            (self.final_w, weights_final_w),
+            (self.final_b, weights_final_b)]
+        to_run = []
+        feed_dict = {}
+        for var, w in assigns:
+            ph = tf.placeholder(tf.float32, w.shape)
+            to_run.append( tf.assign(var, ph) )
+            feed_dict[ph] = w
+        tf.get_default_session().run(to_run, feed_dict=feed_dict)
+
+def demo_run():
+	sess = tf.InteractiveSession(config=tf.ConfigProto(inter_op_parallelism_threads=1, intra_op_parallelism_threads=1, device_count={ "GPU": 0 }))
+	pi = SmallReactivePolicy("pi", np.zeros((44,)), np.zeros((17,)))
+	pi.load_weights()
+	t1 = time.time()
+	timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "humanoidTimings.json")
+
+	frame = 0
+	while 1:
+		obs = collect_observations(human)
+		obs1 = collect_observations(human1)
+		obs2 = collect_observations(human2)
+
+		actions = pi.act(obs)
+		actions1 = pi.act(obs1)
+		actions2 = pi.act(obs2)
+
+		#print(" ".join(["%+0.2f"%x for x in obs]))
+		#print("Motors")
+		#print(motors)
+
+		#for m in range(len(motors)):
+			#print("motor_power")
+			#print(motor_power[m])
+			#print("actions[m]")
+			#print(actions[m])
+		#p.setJointMotorControl2(human, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)
+		#p.setJointMotorControl2(human1, motors[m], controlMode=p.TORQUE_CONTROL, force=motor_power[m]*actions[m]*0.082)
+			
+		forces = [0.] * len(motors)
+		for m in range(len(motors)):
+			forces[m] = motor_power[m]*actions[m]*0.082
+		p.setJointMotorControlArray(human, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
+		for m in range(len(motors)):
+			forces[m] = motor_power[m]*actions1[m]*0.082
+		p.setJointMotorControlArray(human1, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
+		for m in range(len(motors)):
+			forces[m] = motor_power[m]*actions2[m]*0.082
+		p.setJointMotorControlArray(human2, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
+
+		p.stepSimulation()
+		time.sleep(0.01)
+		distance=5
+		yaw = 0
+		humanPos, humanOrn = p.getBasePositionAndOrientation(human)
+		p.resetDebugVisualizerCamera(distance,yaw,20,humanPos);
+		frame += 1
+		
+		if frame==1000: break
+	t2 = time.time()
+	print("############################### distance = %0.2f meters" % dummy.distance)
+	print("############################### FPS = ", 1000/ (t2-t1))
+	#print("Starting benchmark")
+	#logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"pybullet_humanoid_timings.json")
+	#p.stopStateLogging(logId)
+	print("ended benchmark")
+	print(frame)
+	p.stopStateLogging(timinglog)
+
+
+weights_dense1_w = np.array([
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+[ -0.0543, -0.0786, -0.1657, +0.3412, +0.2236, -0.0256, +0.1423, -0.2476, -0.0579, -0.0400, +0.3387, +0.1397, +0.0693, -0.0978, -0.0721, +0.0494, -0.1215],
+[ +0.3175, -0.0093, -0.0200, -0.1039, +0.1993, -0.2639, +0.2093, -0.2860, -0.0647, +0.0382, -0.1736, +0.1920, +0.0989, -0.0879, +0.3887, +0.1490, -0.2475],
+[ +0.1223, -0.0573, -0.1927, +0.0222, -0.2032, -0.1156, +0.1203, +0.1252, +0.3434, -0.0309, +0.1683, -0.0745, -0.2512, -0.0162, -0.2847, +0.0018, +0.2597],
+[ -0.2100, -0.0401, +0.3119, +0.0271, +0.0367, -0.2558, +0.3757, +0.2703, -0.1604, -0.1646, -0.0853, -0.1255, +0.1305, +0.0554, -0.0657, +0.3253, -0.2175],
+[ -0.1669, -0.1024, +0.3036, +0.1949, -0.4268, +0.2212, +0.2057, -0.1204, +0.0223, -0.0924, +0.0152, -0.2183, +0.0476, -0.0045, -0.1289, +0.0776, +0.1919],
+[ -0.1015, +0.1058, +0.3162, +0.2942, +0.2410, +0.1193, +0.1045, -0.1116, -0.0550, +0.0776, -0.2475, +0.2624, +0.0536, -0.0720, +0.1367, -0.1158, +0.1027],
+[ -0.3849, +0.3457, +0.0135, +0.0063, +0.2045, -0.0144, -0.0950, +0.1271, +0.4600, -0.0311, +0.1044, -0.2487, +0.1230, +0.0327, -0.3978, -0.3512, +0.2497],
+[ +0.2812, -0.0669, +0.1645, -0.0291, -0.0164, -0.1144, +0.2963, -0.0595, -0.1484, +0.1771, -0.0079, -0.5441, +0.0339, +0.3036, -0.2279, +0.1066, -0.2468],
+[ -0.0718, +0.5449, -0.0494, +0.1283, +0.2544, +0.1221, +0.0988, +0.0028, +0.0135, +0.0904, +0.1348, +0.1037, -0.0058, +0.0007, -0.0455, +0.1696, +0.1674],
+[ -0.2138, -0.3133, -0.3800, +0.0846, -0.0372, -0.2185, +0.0951, +0.2048, +0.1555, +0.1266, +0.0414, +0.2256, +0.0326, -0.0332, -0.0807, -0.3547, +0.2416],
+[ -0.0868, -0.0794, -0.2556, -0.3129, +0.0309, +0.1684, +0.3753, +0.1522, +0.2974, -0.2167, +0.0158, +0.2495, +0.0596, -0.1184, +0.0521, +0.2815, +0.1270],
+[ +0.0900, -0.1678, -0.0648, -0.0243, -0.1684, -0.2439, +0.0659, +0.3151, -0.4868, +0.0200, -0.0563, -0.0812, +0.2157, -0.1118, -0.0546, +0.1121, +0.1330],
+[ -0.1735, -0.0359, +0.1421, -0.0054, +0.1613, -0.0438, +0.7337, -0.2124, +0.0604, +0.0033, +0.1450, -0.0176, -0.2187, -0.0204, -0.2695, +0.0197, -0.0461],
+[ +0.0981, +0.2768, +0.0884, +0.5310, +0.1594, +0.4027, +0.1326, -0.3091, +0.3588, -0.3596, +0.2099, +0.1202, -0.2811, -0.2679, -0.3697, -0.1143, +0.0364],
+[ +0.1433, -0.1962, +0.1004, -0.0014, -0.1924, -0.2953, +0.0410, +0.3597, +0.2484, +0.0705, -0.1239, +0.1030, +0.2636, +0.1599, +0.0982, -0.0888, +0.0597],
+[ -0.0233, +0.0115, -0.6757, +0.2189, -0.0165, -0.4398, +0.5602, +0.1727, -0.3657, +0.4095, +0.1018, +0.1222, -0.0591, -0.0114, +0.2174, +0.2068, -0.2059],
+[ +0.1465, +0.3763, +0.2525, -0.0040, +0.1222, +0.0591, -0.2716, -0.3108, +0.3361, +0.2440, +0.1371, +0.1249, -0.1091, +0.2130, +0.4761, -0.0394, -0.1550],
+[ +0.0480, -0.4882, -0.0725, -0.3144, -0.2882, -0.0517, -0.0909, +0.1522, -0.0457, -0.1458, -0.2927, +0.0594, -0.4833, -0.4030, +0.1000, +0.0829, -0.1583],
+[ +0.2517, -0.1086, +0.2060, +0.1727, +0.0902, -0.1455, +0.1913, -0.3011, +0.4524, -0.2250, -0.3558, -0.3009, -0.0365, -0.0636, +0.0852, +0.1678, -0.0045],
+[ -0.0800, +0.2266, -0.0954, +0.0206, +0.1473, +0.6583, -0.4648, +0.1038, +0.1741, -0.3025, +0.0773, +0.1044, +0.0888, -0.2105, +0.1827, +0.0543, -0.0055],
+[ -0.0999, +0.0095, -0.0853, +0.0084, -0.2591, -0.0105, -0.3086, -0.4188, -0.1658, +0.4141, +0.4294, -0.0325, +0.3242, -0.2091, -0.2607, +0.1492, +0.1504],
+[ +0.0317, -0.0307, +0.3815, +0.0595, -0.1011, -0.0057, -0.1609, -0.5363, -0.1927, +0.0689, -0.0432, +0.1582, +0.1995, +0.0791, -0.0799, -0.0426, -0.0398],
+[ +0.2850, +0.2052, -0.0389, -0.0705, +0.3961, +0.0547, +0.0385, +0.2505, +0.0714, -0.0159, +0.0321, +0.0161, +0.1245, -0.1221, -0.2063, +0.0359, +0.0904],
+[ +0.2388, -0.0879, +0.0303, -0.1298, -0.2066, +0.2349, -0.1669, -0.0393, +0.0557, -0.0419, -0.0636, -0.3270, -0.1898, +0.1185, -0.1003, +0.2182, -0.1358],
+[ +0.1651, -0.2028, -0.3384, -0.5319, +0.2690, +0.0798, +0.3677, +0.2660, +0.1497, +0.1026, -0.1128, +0.3130, +0.2733, +0.1554, -0.1325, -0.1619, -0.0860],
+[ +0.1536, +0.0465, -0.1248, -0.0063, -0.1992, +0.0119, +0.0328, +0.1646, -0.3838, +0.1776, -0.1014, +0.3482, +0.0298, +0.0296, +0.1838, +0.1373, -0.1523],
+[ +0.0442, +0.1129, -0.3831, -0.1119, +0.0817, +0.1744, +0.2670, +0.0339, +0.1102, -0.1592, -0.1006, -0.4853, +0.2444, +0.0459, -0.1019, -0.1361, -0.0604],
+[ +0.1310, -0.0497, +0.2974, +0.2772, -0.2771, -0.2194, -0.0129, -0.0623, +0.0006, -0.0298, +0.1518, +0.0271, +0.1619, -0.1267, -0.1727, -0.1988, -0.1210],
+[ +0.3556, -0.3053, -0.3899, +0.2106, -0.1380, -0.2564, -0.0534, -0.3945, -0.0198, +0.0277, +0.1276, -0.0327, +0.4129, +0.1444, -0.3541, +0.2025, -0.0395],
+[ +0.1271, -0.1985, +0.3796, +0.0934, +0.2144, +0.0129, -0.2250, -0.2218, -0.0024, +0.2304, -0.2798, +0.0901, -0.2428, +0.2513, +0.1104, +0.2521, -0.0836],
+[ -0.0790, +0.3823, -0.1396, -0.3351, -0.1272, -0.2597, +0.0591, +0.1499, -0.2298, +0.6025, +0.7618, -0.2407, +0.0333, -0.0403, -0.0925, -0.3186, -0.1176],
+[ -0.1944, -0.2272, +0.3309, -0.0803, +0.3230, -0.1632, +0.6171, -0.0997, +0.3684, -0.1963, -0.0740, +0.1319, +0.2760, -0.2500, -0.0141, -0.3381, +0.0988],
+[ +0.2057, -0.1338, -0.1396, +0.1905, -0.0804, +0.0064, -0.1375, +0.0256, +0.1821, +0.1315, +0.0442, +0.0899, -0.0152, -0.0606, +0.1378, -0.5944, +0.0902],
+[ +0.3549, -0.1397, -0.1932, +0.0118, +0.0244, +0.0824, +0.1821, -0.0512, -0.2780, -0.0666, +0.0240, -0.1947, -0.1455, +0.0940, +0.0609, -0.2599, -0.0573],
+[ +0.0848, +0.0130, -0.3703, +0.1482, -0.0567, -0.2191, +0.0100, -0.0555, -0.1383, +0.2142, -0.2411, -0.1008, -0.0247, -0.0685, -0.6440, +0.5464, -0.2950],
+[ +0.0558, +0.0309, +0.2263, +0.4103, +0.0554, +0.3598, +0.1403, +0.0423, -0.2540, -0.2593, +0.1508, +0.1841, -0.2731, +0.0649, +0.3406, -0.1161, +0.2166],
+[ +0.0934, -0.2574, +0.1155, -0.0240, +0.0258, +0.1470, -0.0135, +0.4334, -0.0167, -0.2294, -0.1428, -0.3680, -0.2007, -0.0010, +0.1405, -0.4045, -0.0752],
+[ +0.3774, -0.3684, -0.1185, +0.3444, -0.0005, -0.2114, +0.1939, -0.3012, +0.1912, +0.1980, +0.0747, +0.3322, +0.1122, -0.2042, -0.2741, +0.1889, -0.0508],
+[ +0.1951, +0.0460, -0.2167, -0.2370, +0.1496, -0.2761, +0.2644, -0.0282, -0.0858, -0.0368, +0.4173, -0.0596, +0.3189, +0.3252, +0.3012, +0.2653, -0.1094],
+[ -0.0618, -0.1060, -0.0063, -0.1816, -0.0928, +0.1112, +0.2248, -0.0704, +0.1565, -0.1376, -0.1280, -0.1405, -0.4444, -0.0081, -0.3809, -0.2760, +0.2826],
+[ -0.2150, -0.2761, -0.4387, +0.0652, -0.0250, -0.1408, -0.1410, -0.0401, -0.2530, -0.1720, -0.1383, +0.0815, +0.1345, +0.1094, +0.1165, -0.1125, -0.0680],
+[ +0.4100, -0.2501, -0.1091, -0.1421, -0.1276, -0.0343, -0.2467, +0.5050, -0.1084, +0.2873, +0.2955, -0.0441, +0.0624, -0.3208, -0.1248, -0.2148, +0.0624],
+[ +0.2167, -0.2099, +0.1943, -0.0190, +0.1348, +0.0457, -0.0756, -0.1493, -0.2804, +0.0296, -0.1222, -0.2076, +0.1460, +0.0056, +0.0618, +0.0620, +0.1078],
+[ -0.1699, +0.1200, +0.0562, -0.2747, +0.2608, -0.3566, -0.2460, -0.2062, +0.5545, -0.0188, +0.3313, -0.1312, -0.7428, -0.5009, -0.6418, -0.0003, +0.2460],
+[ -0.2792, +0.1021, -0.2467, -0.0577, -0.1567, +0.0156, +0.0434, -0.2623, +0.0924, +0.0685, +0.2042, +0.0532, +0.1473, -0.1451, -0.0592, -0.1645, +0.1258],
+[ +0.0919, -0.0480, +0.3094, +0.1917, +0.0822, +0.0892, +0.0365, -0.0325, +0.1961, -0.2383, -0.0073, +0.0189, +0.2700, +0.2116, -0.2724, -0.1682, -0.1288],
+[ +0.1483, +0.0807, +0.2281, -0.3101, -0.0014, +0.0484, -0.2612, -0.0005, +0.0087, -0.1544, +0.1201, +0.1475, -0.1714, +0.0190, -0.2971, -0.1113, -0.4718],
+[ -0.1700, -0.1545, +0.2127, -0.1944, +0.3472, +0.2332, +0.2231, +0.0469, +0.2023, -0.0298, -0.0297, +0.0597, -0.3039, +0.0959, +0.2502, +0.2281, -0.0078],
+[ +0.3397, +0.2010, +0.6118, +0.2780, -0.0135, +0.4304, -0.2720, -0.6300, +0.3764, +0.1227, -0.0925, +0.1188, -0.5911, +0.1235, -0.1578, -0.4889, -0.1543],
+[ +0.4581, +0.2872, +0.1375, +0.2818, +0.2036, -0.0369, +0.0807, -0.0667, -0.2801, -0.0582, +0.1936, +0.1047, -0.1245, -0.1259, -0.1373, -0.1140, +0.0582],
+[ +0.2535, +0.5913, +0.2155, -0.0587, -0.0918, -0.0362, +0.7135, +0.3591, +0.4240, +0.3692, -0.0313, -0.2431, +0.9143, -0.0241, -0.6210, +0.4646, -0.1512],
+[ +0.3188, +0.2507, -0.2129, -0.4617, +0.1874, -0.1286, +0.0632, -0.2470, -0.0572, +0.6183, +0.3531, +0.1321, -0.1687, +0.1307, -0.3712, +0.0199, -0.0776],
+[ -0.1779, +0.3660, +0.2386, +0.2297, +0.1792, -0.1369, +0.2320, -0.5867, -0.1306, +0.3471, -0.1127, +0.3352, -0.0214, +0.0801, -0.1368, -0.7262, +0.1757],
+[ +0.0183, -0.0485, +0.1199, +0.2513, +0.2022, -0.0472, +0.3076, +0.0656, -0.3302, -0.0587, -0.0200, -0.5474, -0.0863, +0.2087, -0.2581, -0.1750, +0.3391],
+[ -0.2339, +0.0639, +0.2085, -0.1872, -0.2686, +0.1490, +0.0436, -0.0841, -0.1054, -0.4899, +0.0193, -0.0250, +0.2212, +0.0972, +0.0329, +0.1328, -0.0545],
+[ -0.0874, -0.1087, -0.1577, +0.0936, -0.3083, -0.1450, +0.0365, -0.1924, -0.0536, +0.0475, +0.0348, +0.0772, +0.0348, -0.2800, +0.0864, +0.2640, -0.0215],
+[ +0.0745, +0.4503, -0.4064, +0.6300, -0.1275, -0.0463, -0.4074, +0.0031, +0.1408, +0.0531, +0.1400, +0.0308, -0.0220, -0.0014, -0.3056, -0.1551, -0.0096],
+[ +0.1479, +0.1186, +0.1323, -0.3466, -0.0654, -0.1084, -0.2509, +0.0944, -0.2135, +0.2020, +0.0602, -0.1239, +0.0741, +0.2037, -0.4462, +0.1065, +0.1710]
+])
+
+weights_final_b = np.array([ -0.0274, +0.1314, -0.0578, +0.2965, +0.1318, -0.0622, +0.1158, +0.0643, +0.2138, -0.1422, +0.1579, +0.0836, -0.0388, -0.0933, +0.2233, -0.2276, +0.0375])
+
+if __name__=="__main__":
+    demo_run()

From 424a29474fa3317d04054550630a2a50c4eabc8f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Thu, 11 May 2017 17:45:01 -0700
Subject: [PATCH 75/80] fix for division by zero, in case angular velocity goes
 close to zero (but not zero)

---
 src/LinearMath/btQuaternion.h    | 10 +++++++++-
 src/LinearMath/btTransformUtil.h | 21 +++++++++++++++++----
 2 files changed, 26 insertions(+), 5 deletions(-)

diff --git a/src/LinearMath/btQuaternion.h b/src/LinearMath/btQuaternion.h
index a9b78022e..7bd39e6a3 100644
--- a/src/LinearMath/btQuaternion.h
+++ b/src/LinearMath/btQuaternion.h
@@ -355,7 +355,15 @@ public:
 	{
 		return btSqrt(length2());
 	}
-
+	btQuaternion& safeNormalize()
+	{
+		btScalar l2 = length2();
+		if (l2>SIMD_EPSILON)
+		{
+			normalize();
+		}
+		return *this;
+	}
   /**@brief Normalize the quaternion 
    * Such that x^2 + y^2 + z^2 +w^2 = 1 */
 	btQuaternion& normalize() 
diff --git a/src/LinearMath/btTransformUtil.h b/src/LinearMath/btTransformUtil.h
index 2303c2742..182cc43fa 100644
--- a/src/LinearMath/btTransformUtil.h
+++ b/src/LinearMath/btTransformUtil.h
@@ -47,13 +47,19 @@ public:
 	#ifdef QUATERNION_DERIVATIVE
 		btQuaternion predictedOrn = curTrans.getRotation();
 		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
-		predictedOrn.normalize();
+		predictedOrn.safeNormalize();
 	#else
 		//Exponential map
 		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
 
 		btVector3 axis;
-		btScalar	fAngle = angvel.length(); 
+		btScalar	fAngle2 = angvel.length2();
+        	btScalar    fAngle = 0;
+        	if (fAngle2>SIMD_EPSILON)
+        	{
+            		fAngle = btSqrt(fAngle2);
+        	}
+
 		//limit the angular motion
 		if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD)
 		{
@@ -74,9 +80,16 @@ public:
 		btQuaternion orn0 = curTrans.getRotation();
 
 		btQuaternion predictedOrn = dorn * orn0;
-		predictedOrn.normalize();
+		predictedOrn.safeNormalize();
 	#endif
-		predictedTransform.setRotation(predictedOrn);
+		if (predictedOrn.length2()>SIMD_EPSILON)
+		{
+			predictedTransform.setRotation(predictedOrn);
+		}
+		else
+		{
+			predictedTransform.setBasis(curTrans.getBasis());
+		}
 	}
 
 	static void	calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)

From 0e12277cfb888952bfcfc7509ed92ac2a8e73847 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Thu, 11 May 2017 22:26:49 -0700
Subject: [PATCH 76/80] Update humanoid_running.py

disable sleep and use GUI mode by default
---
 examples/pybullet/tensorflow/humanoid_running.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/pybullet/tensorflow/humanoid_running.py b/examples/pybullet/tensorflow/humanoid_running.py
index f4e9f327d..579ac2cab 100644
--- a/examples/pybullet/tensorflow/humanoid_running.py
+++ b/examples/pybullet/tensorflow/humanoid_running.py
@@ -4,7 +4,7 @@ import numpy as np
 
 import pybullet as p
 import time
-p.connect(p.SHARED_MEMORY) #GUI is slower, but shows the running gait
+p.connect(p.GUI) #GUI is slower, but shows the running gait
 p.setGravity(0,0,-9.8)
 p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
 #this mp4 recording requires ffmpeg installed
@@ -186,7 +186,7 @@ def demo_run():
 		p.setJointMotorControlArray(human2, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
 
 		p.stepSimulation()
-		time.sleep(0.01)
+		#time.sleep(0.01)
 		distance=5
 		yaw = 0
 		humanPos, humanOrn = p.getBasePositionAndOrientation(human)

From ac7518d24bae6954ccfaf069d8977545472e1506 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Thu, 11 May 2017 22:51:50 -0700
Subject: [PATCH 77/80] Update humanoid_running.py

remove obsolete fps comment, runs at > 1000FPS on my laptop
---
 examples/pybullet/tensorflow/humanoid_running.py | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/examples/pybullet/tensorflow/humanoid_running.py b/examples/pybullet/tensorflow/humanoid_running.py
index 579ac2cab..d54d08d44 100644
--- a/examples/pybullet/tensorflow/humanoid_running.py
+++ b/examples/pybullet/tensorflow/humanoid_running.py
@@ -9,10 +9,6 @@ p.setGravity(0,0,-9.8)
 p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
 #this mp4 recording requires ffmpeg installed
 #mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
-# numSubSteps:
-# 1  falls often at 300 fps
-# 2  works fine  at 300 fps
-# 11 not that slower at 180 fps
 
 
 plane, human1  = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)

From b22ffcf61ca4fa73b2ed081616d95914cc771466 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 11 May 2017 22:59:27 -0700
Subject: [PATCH 78/80] Use more googley colors in the examples. Add
 high-resolution textured sphere, and automatically convert sphere, capsule
 and multi-sphere shape to use this, with caching to avoid duplicates.

---
 examples/ExampleBrowser/OpenGLGuiHelper.cpp   |  587 +-
 examples/ExampleBrowser/OpenGLGuiHelper.h     |    1 +
 .../OpenGLWindow/GLInstancingRenderer.cpp     |    2 +-
 examples/OpenGLWindow/ShapeData.h             | 7177 +++++++++++++++++
 4 files changed, 7758 insertions(+), 9 deletions(-)

diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index 5c0e995af..39cb5ebf4 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -7,6 +7,7 @@
 #include "Bullet3Common/b3Scalar.h"
 #include "CollisionShape2TriangleMesh.h"
 
+#include "../OpenGLWindow/ShapeData.h"
 
 #include "../OpenGLWindow/SimpleCamera.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
@@ -35,6 +36,8 @@ ATTRIBUTE_ALIGNED16( class )MyDebugDrawer : public btIDebugDraw
 
     btAlignedObjectArray<MyDebugVec3> m_linePoints;
     btAlignedObjectArray<unsigned int> m_lineIndices;
+
+
     btVector3 m_currentLineColor;
 	DefaultColors m_ourColors;
 
@@ -133,14 +136,67 @@ public:
 
 static btVector4 sColors[4] =
 {
-	btVector4(0.3,0.3,1,1),
-	btVector4(0.6,0.6,1,1),
-	btVector4(0,1,0,1),
-	btVector4(0,1,1,1),
+	btVector4(60./256.,186./256.,84./256.,1),
+	btVector4(244./256.,194./256.,13./256.,1),
+	btVector4(219./256.,50./256.,54./256.,1),
+	btVector4(72./256.,133./256.,237./256.,1),
+
 	//btVector4(1,1,0,1),
 };
 
 
+
+struct MyHashShape
+{
+	
+	int m_shapeKey;
+	int m_shapeType;
+	btVector3 m_sphere0Pos;
+	btVector3 m_sphere1Pos;
+	btScalar m_radius0;
+	btScalar m_radius1;
+	btTransform m_childTransform;
+	int m_deformFunc;
+	int m_upAxis;
+	btScalar m_halfHeight;
+
+	MyHashShape()
+		:m_shapeKey(0),
+		m_shapeType(0),
+		m_sphere0Pos(btVector3(0,0,0)),
+		m_sphere1Pos(btVector3(0,0,0)),
+		m_radius0(0),
+		m_radius1(0),
+		m_deformFunc(0),
+		m_upAxis(-1),
+		m_halfHeight(0)
+	{
+		m_childTransform.setIdentity();
+	}
+
+	bool equals(const MyHashShape& other) const
+	{
+		bool sameShapeType = m_shapeType==other.m_shapeType;
+		bool sameSphere0= m_sphere0Pos == other.m_sphere0Pos;
+		bool sameSphere1= m_sphere1Pos == other.m_sphere1Pos;
+		bool sameRadius0 = m_radius0== other.m_radius0;
+		bool sameRadius1 = m_radius1== other.m_radius1;
+		bool sameTransform = m_childTransform== other.m_childTransform;
+		bool sameUpAxis = m_upAxis == other.m_upAxis;
+		bool sameHalfHeight = m_halfHeight == other.m_halfHeight;
+		return sameShapeType && sameSphere0 && sameSphere1 && sameRadius0 && sameRadius1 && sameTransform && sameUpAxis && sameHalfHeight;
+	}
+	//to our success
+	SIMD_FORCE_INLINE	unsigned int getHash()const
+	{
+		unsigned int key = m_shapeKey;
+		// Thomas Wang's hash
+		key += ~(key << 15);	key ^=  (key >> 10);	key +=  (key << 3);	key ^=  (key >> 6);	key += ~(key << 11);	key ^=  (key >> 16);
+		
+		return key;
+	}
+};
+	
 struct OpenGLGuiHelperInternalData
 {
 	struct CommonGraphicsApp* m_glApp;
@@ -150,12 +206,20 @@ struct OpenGLGuiHelperInternalData
 
 	btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
 	btAlignedObjectArray<float> m_depthBuffer1;
-	
+	btHashMap<MyHashShape, int> m_hashShapes;
+
+
 	VisualizerFlagCallback m_visualizerFlagCallback;
+
+	int m_checkedTexture;
+	int m_checkedTextureGrey;
+
 	OpenGLGuiHelperInternalData()
 		:m_vrMode(false),
 		m_vrSkipShadowPass(0),
-		m_visualizerFlagCallback(0)
+		m_visualizerFlagCallback(0),
+		m_checkedTexture(-1),
+		m_checkedTextureGrey(-1)
 	{
 	}
 
@@ -238,6 +302,7 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
 
 void OpenGLGuiHelper::removeAllGraphicsInstances()
 {
+	m_data->m_hashShapes.clear();
     m_data->m_glApp->m_renderer->removeAllInstances();
 }
 
@@ -249,6 +314,45 @@ void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
 	};
 }
 
+int OpenGLGuiHelper::createCheckeredTexture(int red,int green, int blue)
+{
+	int texWidth=1024;
+		int texHeight=1024;
+		btAlignedObjectArray<unsigned char> texels;
+		texels.resize(texWidth*texHeight*3);
+		for (int i=0;i<texWidth*texHeight*3;i++)
+			texels[i]=255;
+		
+		
+		for (int i=0;i<texWidth;i++)
+		{
+			for (int j=0;j<texHeight;j++)
+			{
+				int a = i<texWidth/2? 1 : 0;
+				int b = j<texWidth/2? 1 : 0;
+
+				if (a==b)
+				{
+					texels[(i+j*texWidth)*3+0] = red;
+					texels[(i+j*texWidth)*3+1] = green;
+					texels[(i+j*texWidth)*3+2] = blue;
+//					texels[(i+j*texWidth)*4+3] = 255;
+
+				} 
+				/*else
+				{
+					texels[i*3+0+j*texWidth] = 255;
+					texels[i*3+1+j*texWidth] = 255;
+					texels[i*3+2+j*texWidth] = 255;
+				}
+				*/
+			}
+		}
+		
+	
+		int texId = registerTexture(&texels[0],texWidth,texHeight);
+		return texId;
+}
 
 void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 {
@@ -256,10 +360,472 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 	if (collisionShape->getUserIndex()>=0)
 		return;
 
-	btAlignedObjectArray<GLInstanceVertex> gfxVertices;
+	if (m_data->m_checkedTexture<0)
+	{
+		m_data->m_checkedTexture = createCheckeredTexture(192,192,255);
+	}
+
+	if (m_data->m_checkedTextureGrey<0)
+	{
+		m_data->m_checkedTextureGrey = createCheckeredTexture(192,192,192);
+	}
 	
+
+	btAlignedObjectArray<GLInstanceVertex> gfxVertices;
 	btAlignedObjectArray<int> indices;
+	int strideInBytes = 9*sizeof(float);
+	//if (collisionShape->getShapeType()==BOX_SHAPE_PROXYTYPE)
+	{
+	}
+	if (collisionShape->getShapeType()==MULTI_SPHERE_SHAPE_PROXYTYPE)
+	{
+		btMultiSphereShape* ms = (btMultiSphereShape*) collisionShape;
+		if (ms->getSphereCount()==2)
+		{
+			btAlignedObjectArray<float> transformedVertices;
+			int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
+			transformedVertices.resize(numVertices*9);
+			btVector3 sphere0Pos = ms->getSpherePosition(0);
+			btVector3 sphere1Pos = ms->getSpherePosition(1);
+			btVector3 fromTo = sphere1Pos-sphere0Pos;
+			MyHashShape shape;
+			shape.m_sphere0Pos = sphere0Pos;
+			shape.m_sphere1Pos = sphere1Pos;
+			shape.m_radius0 = 2.*ms->getSphereRadius(0);
+			shape.m_radius1 = 2.*ms->getSphereRadius(1);
+			shape.m_deformFunc = 1;//vert.dot(fromTo)
+			int graphicsShapeIndex = -1;
+			int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
+			
+			if (graphicsShapeIndexPtr)
+			{
+				//cache hit
+				graphicsShapeIndex = *graphicsShapeIndexPtr;
+			} else
+			{
+				//cache miss
+				for (int i=0;i<numVertices;i++)
+				{
+					btVector3 vert;
+					vert.setValue(textured_detailed_sphere_vertices[i*9+0],
+						textured_detailed_sphere_vertices[i*9+1],
+						textured_detailed_sphere_vertices[i*9+2]);
+
+					btVector3 trVer(0,0,0);
+
+					if (vert.dot(fromTo)>0)
+					{
+						btScalar radiusScale = 2.*ms->getSphereRadius(1);
+						trVer = radiusScale*vert;
+						trVer+=sphere1Pos;
+					} else
+					{
+						btScalar radiusScale = 2.*ms->getSphereRadius(0);
+						trVer = radiusScale*vert;
+						trVer+=sphere0Pos;
+					}
+
+					transformedVertices[i*9+0] = trVer[0];
+					transformedVertices[i*9+1] = trVer[1];
+					transformedVertices[i*9+2] = trVer[2];
+					transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
+					transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
+					transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
+					transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
+					transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
+					transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
+				}
+				
+				int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
+				graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
+			
+				m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
+			}
+			collisionShape->setUserIndex(graphicsShapeIndex);
+			return;
+		}
+	}
+
+	if (collisionShape->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
+	{
+			btSphereShape* sphereShape = (btSphereShape*) collisionShape;
+			btScalar radius = sphereShape->getRadius();
+			btScalar sphereSize = 2.*radius;
+			btVector3 radiusScale(sphereSize,sphereSize,sphereSize);
+			btAlignedObjectArray<float> transformedVertices;
+
+
+			MyHashShape shape;
+			shape.m_radius0 = sphereSize;
+			shape.m_deformFunc = 0;////no deform
+			int graphicsShapeIndex = -1;
+			int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
+			
+			if (graphicsShapeIndexPtr)
+			{
+				graphicsShapeIndex = *graphicsShapeIndexPtr;
+			} else
+			{
+				int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
+				transformedVertices.resize(numVertices*9);
+				for (int i=0;i<numVertices;i++)
+				{
+
+					btVector3 vert;
+					vert.setValue(textured_detailed_sphere_vertices[i*9+0],
+						textured_detailed_sphere_vertices[i*9+1],
+						textured_detailed_sphere_vertices[i*9+2]);
+
+					btVector3 trVer = radiusScale*vert;
+					transformedVertices[i*9+0] = trVer[0];
+					transformedVertices[i*9+1] = trVer[1];
+					transformedVertices[i*9+2] = trVer[2];
+					transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
+					transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
+					transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
+					transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
+					transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
+					transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
+				}
+				
+				int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
+				graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
+				m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
+			}
+
+			collisionShape->setUserIndex(graphicsShapeIndex);
+			return;
+	}
+	if (collisionShape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
+	{
+		btCompoundShape* compound = (btCompoundShape*)collisionShape;
+		if (compound->getNumChildShapes()==1)
+		{
+			if (compound->getChildShape(0)->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
+			{
+				btSphereShape* sphereShape = (btSphereShape*) compound->getChildShape(0);
+				btScalar radius = sphereShape->getRadius();
+				btScalar sphereSize = 2.*radius;
+				btVector3 radiusScale(sphereSize,sphereSize,sphereSize);
+
+				MyHashShape shape;
+				shape.m_radius0 = sphereSize;
+				shape.m_deformFunc = 0;//no deform
+				shape.m_childTransform =  compound->getChildTransform(0);
+
+				int graphicsShapeIndex = -1;
+				int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
+			
+				if (graphicsShapeIndexPtr)
+				{
+					graphicsShapeIndex = *graphicsShapeIndexPtr;
+				} 
+				else
+				{
+
+					btAlignedObjectArray<float> transformedVertices;
+					int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
+					transformedVertices.resize(numVertices*9);
+					for (int i=0;i<numVertices;i++)
+					{
+
+						btVector3 vert;
+						vert.setValue(textured_detailed_sphere_vertices[i*9+0],
+						 textured_detailed_sphere_vertices[i*9+1],
+						 textured_detailed_sphere_vertices[i*9+2]);
+
+						btVector3 trVer = compound->getChildTransform(0)*(radiusScale*vert);
+						transformedVertices[i*9+0] = trVer[0];
+						transformedVertices[i*9+1] = trVer[1];
+						transformedVertices[i*9+2] = trVer[2];
+						transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
+						transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
+						transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
+						transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
+						transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
+						transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
+					}
+				
+					int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
+					graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
+					m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
+				}
+
+				collisionShape->setUserIndex(graphicsShapeIndex);
+				return;
+			}
+			if (compound->getChildShape(0)->getShapeType()==CAPSULE_SHAPE_PROXYTYPE)
+			{
+				btCapsuleShape* sphereShape = (btCapsuleShape*)  compound->getChildShape(0);
+				int up = sphereShape->getUpAxis();
+				btScalar halfHeight = sphereShape->getHalfHeight();
+
+				btScalar radius = sphereShape->getRadius();
+				btScalar sphereSize = 2.*radius;
+				
+				btVector3 radiusScale = btVector3(sphereSize,sphereSize,sphereSize);
+
+
+				MyHashShape shape;
+				shape.m_radius0 = sphereSize;
+				shape.m_deformFunc = 2;//no deform
+				shape.m_childTransform =  compound->getChildTransform(0);
+				shape.m_upAxis = up;
+
+				int graphicsShapeIndex = -1;
+				int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
+			
+				if (graphicsShapeIndexPtr)
+				{
+					graphicsShapeIndex = *graphicsShapeIndexPtr;
+				} 
+				else
+				{
+
+					btAlignedObjectArray<float> transformedVertices;
+					int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
+					transformedVertices.resize(numVertices*9);
+					for (int i=0;i<numVertices;i++)
+					{
+
+						btVector3 vert;
+						vert.setValue(textured_detailed_sphere_vertices[i*9+0],
+							textured_detailed_sphere_vertices[i*9+1],
+							textured_detailed_sphere_vertices[i*9+2]);
+				
+						btVector3 trVer = compound->getChildTransform(0)*(radiusScale*vert);
+						if (trVer[up]>0)
+							trVer[up]+=halfHeight;
+						else
+							trVer[up]-=halfHeight;
+
+
+						transformedVertices[i*9+0] = trVer[0];
+						transformedVertices[i*9+1] = trVer[1];
+						transformedVertices[i*9+2] = trVer[2];
+						transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
+						transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
+						transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
+						transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
+						transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
+						transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
+					}
+				
+					int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
+					graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
+					m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
+				}
+
+				collisionShape->setUserIndex(graphicsShapeIndex);
+				return;
+
+			}
+
+			if (compound->getChildShape(0)->getShapeType()==MULTI_SPHERE_SHAPE_PROXYTYPE)
+			{
+				btMultiSphereShape* ms = (btMultiSphereShape*) compound->getChildShape(0);
+				if (ms->getSphereCount()==2)
+				{
+					btAlignedObjectArray<float> transformedVertices;
+					int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
+					transformedVertices.resize(numVertices*9);
+					btVector3 sphere0Pos = ms->getSpherePosition(0);
+					btVector3 sphere1Pos = ms->getSpherePosition(1);
+					btVector3 fromTo = sphere1Pos-sphere0Pos;
+					btScalar radiusScale1 = 2.0*ms->getSphereRadius(1);
+					btScalar radiusScale0 = 2.0*ms->getSphereRadius(0);
+
+					MyHashShape shape;
+					shape.m_radius0 = radiusScale0;
+					shape.m_radius1 = radiusScale1;
+					shape.m_deformFunc = 4;
+					shape.m_sphere0Pos = sphere0Pos;
+					shape.m_sphere1Pos = sphere1Pos;
+					shape.m_childTransform = compound->getChildTransform(0);
+
+					int graphicsShapeIndex = -1;
+					int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
+			
+					if (graphicsShapeIndexPtr)
+					{
+						graphicsShapeIndex = *graphicsShapeIndexPtr;
+					} 
+					else
+					{
+						for (int i=0;i<numVertices;i++)
+						{
+
+							btVector3 vert;
+							vert.setValue(textured_detailed_sphere_vertices[i*9+0],
+								textured_detailed_sphere_vertices[i*9+1],
+								textured_detailed_sphere_vertices[i*9+2]);
+
+							btVector3 trVer(0,0,0);
+							if (vert.dot(fromTo)>0)
+							{
+
+								trVer = vert*radiusScale1;
+								trVer+=sphere1Pos;
+								trVer = compound->getChildTransform(0)*trVer;
+							} else
+							{
+								trVer = vert*radiusScale0;
+								trVer+=sphere0Pos;
+								trVer=compound->getChildTransform(0)*trVer;
+							}
+
+
+
+							transformedVertices[i*9+0] = trVer[0];
+							transformedVertices[i*9+1] = trVer[1];
+							transformedVertices[i*9+2] = trVer[2];
+							transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
+							transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
+							transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
+							transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
+							transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
+							transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
+						}
+				
+						int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
+						graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
+						m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
+					}
+					collisionShape->setUserIndex(graphicsShapeIndex);
+					return;
+				}
+			}
+		}
+	}
+	if (collisionShape->getShapeType()==CAPSULE_SHAPE_PROXYTYPE)
+	{
+		btCapsuleShape* sphereShape = (btCapsuleShape*) collisionShape;//Y up
+		int up = sphereShape->getUpAxis();
+		btScalar halfHeight = sphereShape->getHalfHeight();
+
+		btScalar radius = sphereShape->getRadius();
+		btScalar sphereSize = 2.*radius;
+		btVector3 radiusScale(sphereSize,sphereSize,sphereSize);
+	
+			
+		MyHashShape shape;
+		shape.m_radius0 = sphereSize;
+		shape.m_deformFunc = 3;
+		shape.m_upAxis = up;
+		shape.m_halfHeight = halfHeight;
+		int graphicsShapeIndex = -1;
+		int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
+			
+		if (graphicsShapeIndexPtr)
+		{
+			graphicsShapeIndex = *graphicsShapeIndexPtr;
+		} 
+		else
+		{
+			
+			btAlignedObjectArray<float> transformedVertices;
+			int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
+			transformedVertices.resize(numVertices*9);
+			for (int i=0;i<numVertices;i++)
+			{
+
+				btVector3 vert;
+				vert.setValue(textured_detailed_sphere_vertices[i*9+0],
+					textured_detailed_sphere_vertices[i*9+1],
+					textured_detailed_sphere_vertices[i*9+2]);
+				
+				btVector3 trVer = radiusScale*vert;
+				if (trVer[up]>0)
+					trVer[up]+=halfHeight;
+				else
+					trVer[up]-=halfHeight;
+
+
+
+				transformedVertices[i*9+0] = trVer[0];
+				transformedVertices[i*9+1] = trVer[1];
+				transformedVertices[i*9+2] = trVer[2];
+				transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
+				transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
+				transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
+				transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
+				transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
+				transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
+			}
+				
+			int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
+			m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
+		}
+		collisionShape->setUserIndex(graphicsShapeIndex);
+		return;
+
+	}
+	if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
+	{
+		const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
+		btScalar planeConst = staticPlaneShape->getPlaneConstant();
+		const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+		btVector3 planeOrigin = planeNormal * planeConst;
+		btVector3 vec0,vec1;
+		btPlaneSpace1(planeNormal,vec0,vec1);
+
+		btScalar vecLen = 128;
+		btVector3 verts[4];
+
+		verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
+		verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
+		verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
+		verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
+		
+		int startIndex = 0;
+		indices.push_back(startIndex+0);
+		indices.push_back(startIndex+1);
+		indices.push_back(startIndex+2);
+		indices.push_back(startIndex+0);
+		indices.push_back(startIndex+2);
+		indices.push_back(startIndex+3);
+		btTransform parentTransform;
+		parentTransform.setIdentity();
+		btVector3 triNormal = parentTransform.getBasis()*planeNormal;
+				
+		gfxVertices.resize(4);
+
+		for (int i=0;i<4;i++)
+		{
+			btVector3 vtxPos;
+			btVector3 pos =parentTransform*verts[i];
+
+			gfxVertices[i].xyzw[0] = pos[0];
+			gfxVertices[i].xyzw[1] = pos[1];
+			gfxVertices[i].xyzw[2] = pos[2];
+			gfxVertices[i].xyzw[3] = 1;
+			gfxVertices[i].normal[0] = triNormal[0];
+			gfxVertices[i].normal[1] = triNormal[1];
+			gfxVertices[i].normal[2] = triNormal[2];
+		}
+
+		//verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
+		//verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
+		//verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
+		//verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
+
+		gfxVertices[0].uv[0] = vecLen/2;
+		gfxVertices[0].uv[1] = vecLen/2;
+		gfxVertices[1].uv[0] = -vecLen/2;
+		gfxVertices[1].uv[1] = vecLen/2;
+		gfxVertices[2].uv[0] = -vecLen/2;
+		gfxVertices[2].uv[1] = -vecLen/2;
+		gfxVertices[3].uv[0] = vecLen/2;
+		gfxVertices[3].uv[1] = -vecLen/2;
+
+		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,m_data->m_checkedTexture);
+		collisionShape->setUserIndex(shapeId);
+		return;
+	}
+
 	btTransform startTrans;startTrans.setIdentity();
+	//todo: create some textured objects for popular objects, like plane, cube, sphere, capsule
 
     {
         btAlignedObjectArray<btVector3> vertexPositions;
@@ -605,7 +1171,12 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
 		createCollisionShapeGraphicsObject(colObj->getCollisionShape());
 		int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
 
-		btVector3 color= sColors[colorIndex];
+		btVector3 color;
+		color = sColors[colorIndex];
+		if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
+		{
+			color.setValue(1,1,1);
+		}
 		createCollisionObjectGraphicsObject(colObj,color);
 			
 	}
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h
index 93bc5f3fe..db4a12796 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.h
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.h
@@ -90,6 +90,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 
 	virtual void	dumpFramesToVideo(const char* mp4FileName);
 
+	int createCheckeredTexture(int r,int g, int b);
 };
 
 #endif //OPENGL_GUI_HELPER_H
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 5deb8d91c..32cc0e03e 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -192,7 +192,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 		m_shadowTexture(0),
 		m_renderFrameBuffer(0)
 	{
-		m_lightPos=b3MakeVector3(-50,30,100);
+		m_lightPos=b3MakeVector3(-50,50,50);
 
 		//clear to zero to make it obvious if the matrix is used uninitialized
 		for (int i=0;i<16;i++)
diff --git a/examples/OpenGLWindow/ShapeData.h b/examples/OpenGLWindow/ShapeData.h
index f538f1e5f..e887912ce 100644
--- a/examples/OpenGLWindow/ShapeData.h
+++ b/examples/OpenGLWindow/ShapeData.h
@@ -4857,4 +4857,7181 @@ const int point_sphere_indices[]=
 };
 
 
+
+const float textured_detailed_sphere_vertices[]=
+{
+-0.493414,-0.080891,0.000000,0.000000,  -0.986900,-0.161200,0.000000,  1.000000,0.448300,
+-0.499267,-0.027069,0.000000,0.000000,  -0.998500,-0.054000,0.000000,  1.000000,0.482800,
+-0.489673,-0.027069,-0.097402,0.000000,  -0.979300,-0.054000,-0.194800,  0.968800,0.482800,
+-0.493414,-0.080891,0.000000,0.000000,  -0.986900,-0.161200,0.000000,  1.000000,0.448300,
+-0.489673,-0.027069,-0.097402,0.000000,  -0.979300,-0.054000,-0.194800,  0.968800,0.482800,
+-0.483932,-0.080891,-0.096260,0.000000,  -0.967900,-0.161200,-0.192500,  0.968800,0.448300,
+-0.159651,0.473826,0.000000,0.000000,  -0.322300,0.946600,0.000000,  1.000000,0.896600,
+-0.107485,0.488310,0.000000,0.000000,  -0.218200,0.975900,0.000000,  1.000000,0.931000,
+-0.105420,0.488310,-0.020969,0.000000,  -0.214000,0.975900,-0.042500,  0.968800,0.931000,
+-0.159651,0.473826,0.000000,0.000000,  -0.322300,0.946600,0.000000,  1.000000,0.896600,
+-0.105420,0.488310,-0.020969,0.000000,  -0.214000,0.975900,-0.042500,  0.968800,0.931000,
+-0.156583,0.473826,-0.031146,0.000000,  -0.316100,0.946600,-0.062900,  0.968800,0.896600,
+-0.481775,-0.133764,0.000000,0.000000,  -0.963800,-0.266600,0.000000,  1.000000,0.413800,
+-0.493414,-0.080891,0.000000,0.000000,  -0.986900,-0.161200,0.000000,  1.000000,0.448300,
+-0.483932,-0.080891,-0.096260,0.000000,  -0.967900,-0.161200,-0.192500,  0.968800,0.448300,
+-0.481775,-0.133764,0.000000,0.000000,  -0.963800,-0.266600,0.000000,  1.000000,0.413800,
+-0.483932,-0.080891,-0.096260,0.000000,  -0.967900,-0.161200,-0.192500,  0.968800,0.448300,
+-0.472518,-0.133764,-0.093989,0.000000,  -0.945200,-0.266600,-0.188000,  0.968800,0.413800,
+-0.209945,0.453788,0.000000,0.000000,  -0.422700,0.906300,0.000000,  1.000000,0.862100,
+-0.159651,0.473826,0.000000,0.000000,  -0.322300,0.946600,0.000000,  1.000000,0.896600,
+-0.156583,0.473826,-0.031146,0.000000,  -0.316100,0.946600,-0.062900,  0.968800,0.896600,
+-0.209945,0.453788,0.000000,0.000000,  -0.422700,0.906300,0.000000,  1.000000,0.862100,
+-0.156583,0.473826,-0.031146,0.000000,  -0.316100,0.946600,-0.062900,  0.968800,0.896600,
+-0.205911,0.453788,-0.040958,0.000000,  -0.414500,0.906300,-0.082400,  0.968800,0.862100,
+-0.464489,-0.185069,0.000000,0.000000,  -0.929400,-0.369000,0.000000,  1.000000,0.379300,
+-0.481775,-0.133764,0.000000,0.000000,  -0.963800,-0.266600,0.000000,  1.000000,0.413800,
+-0.472518,-0.133764,-0.093989,0.000000,  -0.945200,-0.266600,-0.188000,  0.968800,0.413800,
+-0.464489,-0.185069,0.000000,0.000000,  -0.929400,-0.369000,0.000000,  1.000000,0.379300,
+-0.472518,-0.133764,-0.093989,0.000000,  -0.945200,-0.266600,-0.188000,  0.968800,0.413800,
+-0.455563,-0.185069,-0.090617,0.000000,  -0.911600,-0.369000,-0.181300,  0.968800,0.379300,
+-0.257777,0.428429,0.000000,0.000000,  -0.518000,0.855300,0.000000,  1.000000,0.827600,
+-0.209945,0.453788,0.000000,0.000000,  -0.422700,0.906300,0.000000,  1.000000,0.862100,
+-0.205911,0.453788,-0.040958,0.000000,  -0.414500,0.906300,-0.082400,  0.968800,0.862100,
+-0.257777,0.428429,0.000000,0.000000,  -0.518000,0.855300,0.000000,  1.000000,0.827600,
+-0.205911,0.453788,-0.040958,0.000000,  -0.414500,0.906300,-0.082400,  0.968800,0.862100,
+-0.252824,0.428429,-0.050290,0.000000,  -0.508100,0.855300,-0.101000,  0.968800,0.827600,
+-0.441756,-0.234204,0.000000,0.000000,  -0.884200,-0.467000,0.000000,  1.000000,0.344800,
+-0.464489,-0.185069,0.000000,0.000000,  -0.929400,-0.369000,0.000000,  1.000000,0.379300,
+-0.455563,-0.185069,-0.090617,0.000000,  -0.911600,-0.369000,-0.181300,  0.968800,0.379300,
+-0.441756,-0.234204,0.000000,0.000000,  -0.884200,-0.467000,0.000000,  1.000000,0.344800,
+-0.455563,-0.185069,-0.090617,0.000000,  -0.911600,-0.369000,-0.181300,  0.968800,0.379300,
+-0.433268,-0.234204,-0.086182,0.000000,  -0.867200,-0.467000,-0.172500,  0.968800,0.344800,
+-0.302587,0.398046,0.000000,0.000000,  -0.607300,0.794500,0.000000,  1.000000,0.793100,
+-0.257777,0.428429,0.000000,0.000000,  -0.518000,0.855300,0.000000,  1.000000,0.827600,
+-0.252824,0.428429,-0.050290,0.000000,  -0.508100,0.855300,-0.101000,  0.968800,0.827600,
+-0.302587,0.398046,0.000000,0.000000,  -0.607300,0.794500,0.000000,  1.000000,0.793100,
+-0.252824,0.428429,-0.050290,0.000000,  -0.508100,0.855300,-0.101000,  0.968800,0.827600,
+-0.296773,0.398046,-0.059032,0.000000,  -0.595600,0.794500,-0.118500,  0.968800,0.793100,
+-0.413844,-0.280594,0.000000,0.000000,  -0.828700,-0.559600,0.000000,  1.000000,0.310300,
+-0.441756,-0.234204,0.000000,0.000000,  -0.884200,-0.467000,0.000000,  1.000000,0.344800,
+-0.433268,-0.234204,-0.086182,0.000000,  -0.867200,-0.467000,-0.172500,  0.968800,0.344800,
+-0.413844,-0.280594,0.000000,0.000000,  -0.828700,-0.559600,0.000000,  1.000000,0.310300,
+-0.433268,-0.234204,-0.086182,0.000000,  -0.867200,-0.467000,-0.172500,  0.968800,0.344800,
+-0.405892,-0.280594,-0.080737,0.000000,  -0.812800,-0.559600,-0.161700,  0.968800,0.310300,
+-0.343850,0.362998,0.000000,0.000000,  -0.689400,0.724300,0.000000,  1.000000,0.758600,
+-0.302587,0.398046,0.000000,0.000000,  -0.607300,0.794500,0.000000,  1.000000,0.793100,
+-0.296773,0.398046,-0.059032,0.000000,  -0.595600,0.794500,-0.118500,  0.968800,0.793100,
+-0.343850,0.362998,0.000000,0.000000,  -0.689400,0.724300,0.000000,  1.000000,0.758600,
+-0.296773,0.398046,-0.059032,0.000000,  -0.595600,0.794500,-0.118500,  0.968800,0.793100,
+-0.337243,0.362998,-0.067082,0.000000,  -0.676200,0.724300,-0.134500,  0.968800,0.758600,
+-0.381081,-0.323693,0.000000,0.000000,  -0.763500,-0.645700,0.000000,  1.000000,0.275900,
+-0.413844,-0.280594,0.000000,0.000000,  -0.828700,-0.559600,0.000000,  1.000000,0.310300,
+-0.405892,-0.280594,-0.080737,0.000000,  -0.812800,-0.559600,-0.161700,  0.968800,0.310300,
+-0.381081,-0.323693,0.000000,0.000000,  -0.763500,-0.645700,0.000000,  1.000000,0.275900,
+-0.405892,-0.280594,-0.080737,0.000000,  -0.812800,-0.559600,-0.161700,  0.968800,0.310300,
+-0.373759,-0.323693,-0.074345,0.000000,  -0.748900,-0.645700,-0.149000,  0.968800,0.275900,
+-0.381081,0.323693,0.000000,0.000000,  -0.763500,0.645700,0.000000,  1.000000,0.724100,
+-0.343850,0.362998,0.000000,0.000000,  -0.689400,0.724300,0.000000,  1.000000,0.758600,
+-0.337243,0.362998,-0.067082,0.000000,  -0.676200,0.724300,-0.134500,  0.968800,0.758600,
+-0.381081,0.323693,0.000000,0.000000,  -0.763500,0.645700,0.000000,  1.000000,0.724100,
+-0.337243,0.362998,-0.067082,0.000000,  -0.676200,0.724300,-0.134500,  0.968800,0.758600,
+-0.373758,0.323693,-0.074345,0.000000,  -0.748900,0.645700,-0.149000,  0.968800,0.724100,
+-0.343850,-0.362998,0.000000,0.000000,  -0.689400,-0.724300,0.000000,  1.000000,0.241400,
+-0.381081,-0.323693,0.000000,0.000000,  -0.763500,-0.645700,0.000000,  1.000000,0.275900,
+-0.373759,-0.323693,-0.074345,0.000000,  -0.748900,-0.645700,-0.149000,  0.968800,0.275900,
+-0.343850,-0.362998,0.000000,0.000000,  -0.689400,-0.724300,0.000000,  1.000000,0.241400,
+-0.373759,-0.323693,-0.074345,0.000000,  -0.748900,-0.645700,-0.149000,  0.968800,0.275900,
+-0.337243,-0.362998,-0.067082,0.000000,  -0.676200,-0.724300,-0.134500,  0.968800,0.241400,
+-0.413844,0.280594,0.000000,0.000000,  -0.828700,0.559600,0.000000,  1.000000,0.689700,
+-0.381081,0.323693,0.000000,0.000000,  -0.763500,0.645700,0.000000,  1.000000,0.724100,
+-0.373758,0.323693,-0.074345,0.000000,  -0.748900,0.645700,-0.149000,  0.968800,0.724100,
+-0.413844,0.280594,0.000000,0.000000,  -0.828700,0.559600,0.000000,  1.000000,0.689700,
+-0.373758,0.323693,-0.074345,0.000000,  -0.748900,0.645700,-0.149000,  0.968800,0.724100,
+-0.405892,0.280594,-0.080737,0.000000,  -0.812800,0.559600,-0.161700,  0.968800,0.689700,
+-0.302588,-0.398046,0.000000,0.000000,  -0.607300,-0.794500,0.000000,  1.000000,0.206900,
+-0.343850,-0.362998,0.000000,0.000000,  -0.689400,-0.724300,0.000000,  1.000000,0.241400,
+-0.337243,-0.362998,-0.067082,0.000000,  -0.676200,-0.724300,-0.134500,  0.968800,0.241400,
+-0.302588,-0.398046,0.000000,0.000000,  -0.607300,-0.794500,0.000000,  1.000000,0.206900,
+-0.337243,-0.362998,-0.067082,0.000000,  -0.676200,-0.724300,-0.134500,  0.968800,0.241400,
+-0.296773,-0.398046,-0.059032,0.000000,  -0.595600,-0.794500,-0.118500,  0.968800,0.206900,
+-0.441756,0.234204,0.000000,0.000000,  -0.884200,0.467000,0.000000,  1.000000,0.655200,
+-0.413844,0.280594,0.000000,0.000000,  -0.828700,0.559600,0.000000,  1.000000,0.689700,
+-0.405892,0.280594,-0.080737,0.000000,  -0.812800,0.559600,-0.161700,  0.968800,0.689700,
+-0.441756,0.234204,0.000000,0.000000,  -0.884200,0.467000,0.000000,  1.000000,0.655200,
+-0.405892,0.280594,-0.080737,0.000000,  -0.812800,0.559600,-0.161700,  0.968800,0.689700,
+-0.433268,0.234204,-0.086182,0.000000,  -0.867200,0.467000,-0.172500,  0.968800,0.655200,
+-0.257777,-0.428429,0.000000,0.000000,  -0.518000,-0.855300,0.000000,  1.000000,0.172400,
+-0.302588,-0.398046,0.000000,0.000000,  -0.607300,-0.794500,0.000000,  1.000000,0.206900,
+-0.296773,-0.398046,-0.059032,0.000000,  -0.595600,-0.794500,-0.118500,  0.968800,0.206900,
+-0.257777,-0.428429,0.000000,0.000000,  -0.518000,-0.855300,0.000000,  1.000000,0.172400,
+-0.296773,-0.398046,-0.059032,0.000000,  -0.595600,-0.794500,-0.118500,  0.968800,0.206900,
+-0.252824,-0.428429,-0.050290,0.000000,  -0.508100,-0.855300,-0.101000,  0.968800,0.172400,
+-0.464489,0.185069,0.000000,0.000000,  -0.929400,0.369000,0.000000,  1.000000,0.620700,
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+-0.156583,0.473826,0.031146,0.000000,  -0.316100,0.946600,0.062900,  1.031200,0.896600,
+-0.105420,0.488310,0.020969,0.000000,  -0.214000,0.975900,0.042500,  1.031200,0.931000,
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+-0.373758,0.323693,0.074345,0.000000,  -0.748900,0.645700,0.149000,  0.031200,0.724100,
+-0.337243,0.362998,0.067082,0.000000,  -0.676200,0.724300,0.134500,  0.031200,0.758600,
+-0.343850,0.362998,0.000000,0.000000,  -0.689400,0.724300,0.000000,  0.000000,0.758600,
+-0.373758,0.323693,0.074345,0.000000,  -0.748900,0.645700,0.149000,  0.031200,0.724100,
+-0.343850,0.362998,0.000000,0.000000,  -0.689400,0.724300,0.000000,  0.000000,0.758600,
+-0.381081,0.323693,0.000000,0.000000,  -0.763500,0.645700,0.000000,  0.000000,0.724100,
+-0.337243,-0.362998,0.067082,0.000000,  -0.676200,-0.724300,0.134500,  0.031200,0.241400,
+-0.373758,-0.323693,0.074345,0.000000,  -0.748900,-0.645700,0.149000,  0.031200,0.275900,
+-0.381081,-0.323693,0.000000,0.000000,  -0.763500,-0.645700,0.000000,  0.000000,0.275900,
+-0.337243,-0.362998,0.067082,0.000000,  -0.676200,-0.724300,0.134500,  0.031200,0.241400,
+-0.381081,-0.323693,0.000000,0.000000,  -0.763500,-0.645700,0.000000,  0.000000,0.275900,
+-0.343850,-0.362998,0.000000,0.000000,  -0.689400,-0.724300,0.000000,  0.000000,0.241400,
+-0.405892,0.280594,0.080737,0.000000,  -0.812800,0.559600,0.161700,  0.031200,0.689700,
+-0.373758,0.323693,0.074345,0.000000,  -0.748900,0.645700,0.149000,  0.031200,0.724100,
+-0.381081,0.323693,0.000000,0.000000,  -0.763500,0.645700,0.000000,  0.000000,0.724100,
+-0.405892,0.280594,0.080737,0.000000,  -0.812800,0.559600,0.161700,  0.031200,0.689700,
+-0.381081,0.323693,0.000000,0.000000,  -0.763500,0.645700,0.000000,  0.000000,0.724100,
+-0.413844,0.280594,0.000000,0.000000,  -0.828700,0.559600,0.000000,  0.000000,0.689700,
+-0.296773,-0.398046,0.059032,0.000000,  -0.595600,-0.794500,0.118500,  0.031200,0.206900,
+-0.337243,-0.362998,0.067082,0.000000,  -0.676200,-0.724300,0.134500,  0.031200,0.241400,
+-0.343850,-0.362998,0.000000,0.000000,  -0.689400,-0.724300,0.000000,  0.000000,0.241400,
+-0.296773,-0.398046,0.059032,0.000000,  -0.595600,-0.794500,0.118500,  0.031200,0.206900,
+-0.343850,-0.362998,0.000000,0.000000,  -0.689400,-0.724300,0.000000,  0.000000,0.241400,
+-0.302588,-0.398046,0.000000,0.000000,  -0.607300,-0.794500,0.000000,  0.000000,0.206900,
+-0.433268,0.234204,0.086182,0.000000,  -0.867200,0.467000,0.172500,  0.031200,0.655200,
+-0.405892,0.280594,0.080737,0.000000,  -0.812800,0.559600,0.161700,  0.031200,0.689700,
+-0.413844,0.280594,0.000000,0.000000,  -0.828700,0.559600,0.000000,  0.000000,0.689700,
+-0.433268,0.234204,0.086182,0.000000,  -0.867200,0.467000,0.172500,  0.031200,0.655200,
+-0.413844,0.280594,0.000000,0.000000,  -0.828700,0.559600,0.000000,  0.000000,0.689700,
+-0.441756,0.234204,0.000000,0.000000,  -0.884200,0.467000,0.000000,  0.000000,0.655200,
+-0.252824,-0.428429,0.050290,0.000000,  -0.508100,-0.855300,0.101000,  0.031200,0.172400,
+-0.296773,-0.398046,0.059032,0.000000,  -0.595600,-0.794500,0.118500,  0.031200,0.206900,
+-0.302588,-0.398046,0.000000,0.000000,  -0.607300,-0.794500,0.000000,  0.000000,0.206900,
+-0.252824,-0.428429,0.050290,0.000000,  -0.508100,-0.855300,0.101000,  0.031200,0.172400,
+-0.302588,-0.398046,0.000000,0.000000,  -0.607300,-0.794500,0.000000,  0.000000,0.206900,
+-0.257777,-0.428429,0.000000,0.000000,  -0.518000,-0.855300,0.000000,  0.000000,0.172400,
+-0.455563,0.185069,0.090617,0.000000,  -0.911600,0.369000,0.181300,  0.031200,0.620700,
+-0.433268,0.234204,0.086182,0.000000,  -0.867200,0.467000,0.172500,  0.031200,0.655200,
+-0.441756,0.234204,0.000000,0.000000,  -0.884200,0.467000,0.000000,  0.000000,0.655200,
+-0.455563,0.185069,0.090617,0.000000,  -0.911600,0.369000,0.181300,  0.031200,0.620700,
+-0.441756,0.234204,0.000000,0.000000,  -0.884200,0.467000,0.000000,  0.000000,0.655200,
+-0.464489,0.185069,0.000000,0.000000,  -0.929400,0.369000,0.000000,  0.000000,0.620700,
+};
+
+const int textured_detailed_sphere_indices[]=
+{
+0,1,2,
+3,4,5,
+6,7,8,
+9,10,11,
+12,13,14,
+15,16,17,
+18,19,20,
+21,22,23,
+24,25,26,
+27,28,29,
+30,31,32,
+33,34,35,
+36,37,38,
+39,40,41,
+42,43,44,
+45,46,47,
+48,49,50,
+51,52,53,
+54,55,56,
+57,58,59,
+60,61,62,
+63,64,65,
+66,67,68,
+69,70,71,
+72,73,74,
+75,76,77,
+78,79,80,
+81,82,83,
+84,85,86,
+87,88,89,
+90,91,92,
+93,94,95,
+96,97,98,
+99,100,101,
+102,103,104,
+105,106,107,
+108,109,110,
+111,112,113,
+114,115,116,
+117,118,119,
+120,121,122,
+123,124,125,
+126,127,128,
+129,130,131,
+132,133,134,
+135,136,137,
+138,139,140,
+141,142,143,
+144,145,146,
+147,148,149,
+150,151,152,
+153,154,155,
+156,157,158,
+159,160,161,
+162,163,164,
+165,166,167,
+168,169,170,
+171,172,173,
+174,175,176,
+177,178,179,
+180,181,182,
+183,184,185,
+186,187,188,
+189,190,191,
+192,193,194,
+195,196,197,
+198,199,200,
+201,202,203,
+204,205,206,
+207,208,209,
+210,211,212,
+213,214,215,
+216,217,218,
+219,220,221,
+222,223,224,
+225,226,227,
+228,229,230,
+231,232,233,
+234,235,236,
+237,238,239,
+240,241,242,
+243,244,245,
+246,247,248,
+249,250,251,
+252,253,254,
+255,256,257,
+258,259,260,
+261,262,263,
+264,265,266,
+267,268,269,
+270,271,272,
+273,274,275,
+276,277,278,
+279,280,281,
+282,283,284,
+285,286,287,
+288,289,290,
+291,292,293,
+294,295,296,
+297,298,299,
+300,301,302,
+303,304,305,
+306,307,308,
+309,310,311,
+312,313,314,
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+5373,5374,5375,
+};
+
 #endif //SHAPE_DATA_H

From 0ad3fade4e0d806591a9e75fbed1c0eb54e9ee9b Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 12 May 2017 09:38:17 -0700
Subject: [PATCH 79/80] physicsClientId always comes last for each pybullet
 command

---
 examples/pybullet/pybullet.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 372b281a2..4738f5ddb 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5520,8 +5520,8 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 	PyObject* restPosesObj = 0;
 	PyObject* jointDampingObj = 0;
 
-	static char* kwlist[] = {"bodyIndex", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "physicsClientId", "jointDamping", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOiO", kwlist, &bodyIndex, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &physicsClientId, &jointDampingObj))
+	static char* kwlist[] = {"bodyIndex", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId",  NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOiO", kwlist, &bodyIndex, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
 	{
 		return NULL;
 	}

From 3bdc60c05058bc606881bd475dabade443affd6c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Fri, 12 May 2017 11:18:33 -0700
Subject: [PATCH 80/80] fix pybullet inversekinematics argument order (O/i) add
 spinning friction to some tutorial

---
 examples/ExtendedTutorials/InclinedPlane.cpp | 15 +++++++++++++++
 examples/pybullet/pybullet.c                 |  2 +-
 2 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/examples/ExtendedTutorials/InclinedPlane.cpp b/examples/ExtendedTutorials/InclinedPlane.cpp
index 2c36f8ffa..343ebc3ae 100644
--- a/examples/ExtendedTutorials/InclinedPlane.cpp
+++ b/examples/ExtendedTutorials/InclinedPlane.cpp
@@ -36,6 +36,9 @@ static btScalar gBoxRestitution = 0; // set box restitution to 0
 static btScalar gSphereFriction = 1; // set sphere friction to 1
 
 static btScalar gSphereRollingFriction = 1; // set sphere rolling friction to 1
+static btScalar gSphereSpinningFriction = 0.3; // set sphere spinning friction to 0.3
+
+
 
 static btScalar gSphereRestitution = 0; // set sphere restitution to 0
 
@@ -149,6 +152,16 @@ void InclinedPlaneExample::initPhysics()
     m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
     }
 
+	{ // create slider to change the sphere rolling friction
+    SliderParams slider("Sphere Spinning",&gSphereSpinningFriction);
+    slider.m_minVal=0;
+    slider.m_maxVal=2;
+    slider.m_clampToNotches = false;
+    slider.m_callback = onSphereRestitutionChanged;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+	
+
     { // create slider to change the sphere restitution
     SliderParams slider("Sphere Restitution",&gSphereRestitution);
     slider.m_minVal=0;
@@ -240,6 +253,8 @@ void InclinedPlaneExample::initPhysics()
 		gSphere->setFriction(gSphereFriction);
 		gSphere->setRestitution(gSphereRestitution);
 		gSphere->setRollingFriction(gSphereRollingFriction);
+		gSphere->setSpinningFriction(gSphereSpinningFriction);
+
 	}
 
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 4738f5ddb..995110b81 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5521,7 +5521,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 	PyObject* jointDampingObj = 0;
 
 	static char* kwlist[] = {"bodyIndex", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId",  NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOiO", kwlist, &bodyIndex, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOOi", kwlist, &bodyIndex, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
 	{
 		return NULL;
 	}