Merge pull request #1263 from erwincoumans/master

improve the new pybullet gym environments, upgrade to OpenVR 1.0.9, add preliminary support for Mac OSX OpenVR

examples/OpenGLWindow/MacOpenGLWindowObjC.m

@@ -470,6 +470,10 @@ int Mac_createWindow(struct MacOpenGLWindowInternalData* m_internalData,struct M
 #else
     m_internalData->m_retinaScaleFactor=1.f;
 #endif
+        GLint                       sync = 0;
+        CGLContextObj               ctx = CGLGetCurrentContext();
+        CGLSetParameter(ctx, kCGLCPSwapInterval, &sync);
+
     [m_internalData->m_myApp finishLaunching];
     [pool release];
     
@@ -1226,4 +1230,4 @@ void Mac_setResizeCallback(struct MacOpenGLWindowInternalData* m_internalData, b
 b3ResizeCallback Mac_getResizeCallback(struct MacOpenGLWindowInternalData* m_internalData)
 {
 	return [m_internalData->m_myview getResizeCallback];
-}
+}

examples/SharedMemory/CMakeLists.txt

@@ -213,7 +213,8 @@ IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
 
 
-IF (WIN32)
+#VR/OpenVR only on Windows and Mac OSX for now
+IF (WIN32 OR APPLE)
 
 INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src
@@ -234,13 +235,42 @@ LINK_LIBRARIES(
 
  				ADD_DEFINITIONS(-DGLEW_STATIC)
 				LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
+				IF(WIN32)
+				SET(Platform_SRCS
+					../MultiThreading/b3Win32ThreadSupport.cpp
+					../MultiThreading/b3Win32ThreadSupport.h
+					${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
+				)
 				IF (CMAKE_CL_64)
 					LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win64)
 				ELSE(CMAKE_CL_64)
 					LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win32)
 				ENDIF(CMAKE_CL_64)
+				ELSE(WIN32)
+
+					set_source_files_properties(../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp ../StandaloneMain/hellovr_opengl_main.cpp  PROPERTIES COMPILE_FLAGS "-x objective-c++")
+    					find_library(FOUNDATION_FRAMEWORK Foundation)
+    					mark_as_advanced(FOUNDATION_FRAMEWORK)
+    					set(EXTRA_LIBS ${EXTRA_LIBS} ${FOUNDATION_FRAMEWORK})
+
+					set(CMAKE_MACOSX_RPATH 0)
+  					
+					SET(Platform_SRCS
+                                        ../MultiThreading/b3PosixThreadSupport.cpp
+                                        ../MultiThreading/b3PosixThreadSupport.h
+                                	)
+					IF (CMAKE_CL_64)
+						LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/osx64)
+					ELSE()
+						set(ARCH_TARGET osx32)
+						LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/osx32)
+					ENDIF()
+					add_definitions(-DOSX -DPOSIX)
+
+				ENDIF(WIN32)
         ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_VR
                 ${SharedMemory_SRCS}
+		${Platform_SRCS}
           ../StandaloneMain/hellovr_opengl_main.cpp
 					../ExampleBrowser/OpenGLGuiHelper.cpp
 					../ExampleBrowser/GL_ShapeDrawer.cpp
@@ -257,9 +287,6 @@ LINK_LIBRARIES(
 					../ThirdPartyLibs/openvr/samples/shared/strtools.cpp
 					../ThirdPartyLibs/openvr/samples/shared/strtools.h
 					../ThirdPartyLibs/openvr/samples/shared/Vectors.h
-						../MultiThreading/b3Win32ThreadSupport.cpp
-						../MultiThreading/b3Win32ThreadSupport.h
-	          ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
         )
 
 

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -31,7 +31,8 @@ bool gDisableDesktopGL = false;
 #include <cstdlib>
 
 #include <openvr.h>
-
+#include "strtools.h"
+#include "compat.h"
 #include "lodepng.h"
 #include "Matrices.h"
 #include "pathtools.h"
@@ -597,10 +598,10 @@ bool CMainApplication::BInitGL()
 {
 	if( m_bDebugOpenGL )
 	{
-		const GLvoid *userParam=0;
+		//const GLvoid *userParam=0;
-		glDebugMessageCallback(DebugCallback,  userParam);
+		//glDebugMessageCallback(DebugCallback,  userParam);
-		glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_TRUE );
+		//glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_TRUE );
-		glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
+		//glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
 	}
 
 	if( !CreateAllShaders() )
@@ -656,8 +657,8 @@ void CMainApplication::Shutdown()
 	{
 		if (m_glSceneVertBuffer)
 		{
-			glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
+			//glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
-			glDebugMessageCallback(nullptr, nullptr);
+			//glDebugMessageCallback(nullptr, nullptr);
 			glDeleteBuffers(1, &m_glSceneVertBuffer);
 			glDeleteBuffers(1, &m_glIDVertBuffer);
 			glDeleteBuffers(1, &m_glIDIndexBuffer);
@@ -1278,10 +1279,12 @@ bool CMainApplication::SetupTexturemaps()
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR );
 
+#ifdef WIN32
 	GLfloat fLargest;
+	
 	glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &fLargest);
 	glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, fLargest);
-	 	
+#endif	
 	glBindTexture( GL_TEXTURE_2D, 0 );
 
 	return ( m_iTexture != 0 );
@@ -2290,11 +2293,11 @@ bool CGLRenderModel::BInit( const vr::RenderModel_t & vrModel, const vr::RenderM
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE );
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
 	glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR );
-
+#ifdef _WIN32
 	GLfloat fLargest;
 	glGetFloatv( GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &fLargest );
 	glTexParameterf( GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, fLargest );
-
+#endif
 	glBindTexture( GL_TEXTURE_2D, 0 );
 
 	m_unVertexCount = vrModel.unTriangleCount * 3;
@@ -2384,7 +2387,8 @@ int main(int argc, char *argv[])
     args.GetCmdLineArgument("mp4",gVideoFileName);
     if (gVideoFileName)
         pMainApplication->getApp()->dumpFramesToVideo(gVideoFileName);
- 
+
+#ifdef _WIN32 
 	//request disable VSYNC
 	typedef bool (APIENTRY *PFNWGLSWAPINTERVALFARPROC)(int);
 	PFNWGLSWAPINTERVALFARPROC wglSwapIntervalEXT = 0;
@@ -2392,7 +2396,14 @@ int main(int argc, char *argv[])
 		(PFNWGLSWAPINTERVALFARPROC)wglGetProcAddress("wglSwapIntervalEXT");
 	if (wglSwapIntervalEXT)
 		wglSwapIntervalEXT(0);
-			
+#endif
+
+#ifdef __APPLE__
+	GLint                       sync = 0;
+	CGLContextObj               ctx = CGLGetCurrentContext();
+	CGLSetParameter(ctx, kCGLCPSwapInterval, &sync);
+#endif
+		
 	pMainApplication->RunMainLoop();
 
 	pMainApplication->Shutdown();
@@ -2405,4 +2416,4 @@ int main(int argc, char *argv[])
 
 	return 0;
 }
-#endif //BT_ENABLE_VR
+#endif //BT_ENABLE_VR

examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Resources/Info.plist

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleIdentifier</key>
+	<string>com.valvesoftware.OpenVR.framework</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>OpenVR</string>
+	<key>CFBundlePackageType</key>
+	<string>FMWK</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleVersion</key>
+	<string>1.0</string>
+</dict>
+</plist>

examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/A/Resources/Info.plist

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleIdentifier</key>
+	<string>com.valvesoftware.OpenVR.framework</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>OpenVR</string>
+	<key>CFBundlePackageType</key>
+	<string>FMWK</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleVersion</key>
+	<string>1.0</string>
+</dict>
+</plist>

examples/ThirdPartyLibs/openvr/bin/osx64/OpenVR.framework/Versions/Current/Resources/Info.plist

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleIdentifier</key>
+	<string>com.valvesoftware.OpenVR.framework</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>OpenVR</string>
+	<key>CFBundlePackageType</key>
+	<string>FMWK</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleVersion</key>
+	<string>1.0</string>
+</dict>
+</plist>

examples/ThirdPartyLibs/openvr/headers/openvr.h

@@ -143,6 +143,9 @@ enum ETrackingResult
 	TrackingResult_Running_OutOfRange		= 201,
 };
 
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
 static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
 
 /** Used to pass device IDs to API calls */
@@ -309,6 +312,10 @@ enum ETrackedDeviceProperty
 	Prop_DisplayMCImageNumChannels_Int32		= 2040,
 	Prop_DisplayMCImageData_Binary				= 2041,
 	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+	Prop_DriverProvidedChaperonePath_String		= 2048,
 
 	// Properties that are unique to TrackedDeviceClass_Controller
 	Prop_AttachedDeviceId_String				= 3000,
@@ -330,15 +337,15 @@ enum ETrackedDeviceProperty
 	Prop_ModeLabel_String						= 4006,
 
 	// Properties that are used for user interface like icons names
-	Prop_IconPathName_String						= 5000, // usually a directory named "icons"
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
-	Prop_NamedIconPathDeviceOff_String				= 5001, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceSearching_String		= 5002, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceReady_String			= 5004, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceNotReady_String			= 5006, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceStandby_String			= 5007, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - 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
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - 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,
@@ -458,6 +465,8 @@ enum EVREventType
 	VREvent_WatchdogWakeUpRequested		= 109,
 	VREvent_LensDistortionChanged		= 110,
 	VREvent_PropertyChanged				= 111,
+	VREvent_WirelessDisconnect			= 112,
+	VREvent_WirelessReconnect			= 113,
 
 	VREvent_ButtonPress					= 200, // data is controller
 	VREvent_ButtonUnpress				= 201, // data is controller
@@ -539,6 +548,7 @@ enum EVREventType
 	VREvent_ModelSkinSettingsHaveChanged	= 853,
 	VREvent_EnvironmentSettingsHaveChanged	= 854,
 	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
 
 	VREvent_StatusUpdate					= 900,
 
@@ -1044,6 +1054,8 @@ enum EVRInitError
 	VRInitError_Init_WatchdogDisabledInSettings = 132,
 	VRInitError_Init_VRDashboardNotFound		= 133,
 	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
 
 	VRInitError_Driver_Failed				= 200,
 	VRInitError_Driver_Unknown				= 201,
@@ -1074,6 +1086,7 @@ enum EVRInitError
 	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
 	VRInitError_Compositor_OverlayInitFailed		= 403,
 	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
 
 	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
 
@@ -1265,6 +1278,22 @@ public:
 	* 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;
+	
+	/**
+	 * Returns platform- and texture-type specific adapter identification so that applications and the
+	 * compositor are creating textures and swap chains on the same GPU. If an error occurs the device
+	 * will be set to 0.
+	 * [D3D10/11/12 Only (D3D9 Not Supported)]
+	 *  Returns the adapter LUID that identifies the GPU attached to the HMD. The user should
+	 *  enumerate all adapters using IDXGIFactory::EnumAdapters and IDXGIAdapter::GetDesc to find
+	 *  the adapter with the matching LUID, or use IDXGIFactory4::EnumAdapterByLuid.
+	 *  The discovered IDXGIAdapter should be used to create the device and swap chain.
+	 * [Vulkan Only]
+	 *  Returns the vk::PhysicalDevice that should be used by the application.
+	 * [macOS Only]
+	 *  Returns an id<MTLDevice> that should be used by the application.
+	 */
+	virtual void GetOutputDevice( uint64_t *pnDevice, ETextureType textureType ) = 0;
 
 	// ------------------------------------
 	// Display Mode methods
@@ -1482,7 +1511,7 @@ public:
 
 };
 
-static const char * const IVRSystem_Version = "IVRSystem_015";
+static const char * const IVRSystem_Version = "IVRSystem_016";
 
 }
 
@@ -1511,6 +1540,7 @@ namespace vr
 		VRApplicationError_OldApplicationQuitting = 112, 
 		VRApplicationError_TransitionAborted = 113,
 		VRApplicationError_IsTemplate = 114, // error when you try to call LaunchApplication() on a template type app (use LaunchTemplateApplication)
+		VRApplicationError_SteamVRIsExiting = 115,
 
 		VRApplicationError_BufferTooSmall = 200,		// The provided buffer was too small to fit the requested data
 		VRApplicationError_PropertyNotSet = 201,		// The requested property was not set
@@ -1541,6 +1571,7 @@ namespace vr
 		VRApplicationProperty_IsTemplate_Bool			= 61,
 		VRApplicationProperty_IsInstanced_Bool			= 62,
 		VRApplicationProperty_IsInternal_Bool			= 63,
+		VRApplicationProperty_WantsCompositorPauseInStandby_Bool = 64,
 
 		VRApplicationProperty_LastLaunchTime_Uint64		= 70,
 	};
@@ -1770,7 +1801,7 @@ namespace vr
 	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
 	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
 	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
-	static const char * const k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
 	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
 	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
 	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
@@ -1783,10 +1814,10 @@ namespace vr
 	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
 	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
 	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
-	static const char * const k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp";
 	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
 	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
 	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
 
 	//-----------------------------------------------------------------------------
 	// lighthouse keys
@@ -1844,6 +1875,7 @@ namespace vr
 	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
 	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
 	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
 
 	//-----------------------------------------------------------------------------
 	// collision bounds keys
@@ -1889,6 +1921,7 @@ namespace vr
 	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
 	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
 	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+	static const char * const k_pch_Power_PauseCompositorOnStandby_Bool = "pauseCompositorOnStandby";
 
 	//-----------------------------------------------------------------------------
 	// dashboard keys
@@ -2087,6 +2120,7 @@ enum EVRCompositorError
 	VRCompositorError_SharedTexturesNotSupported = 106,
 	VRCompositorError_IndexOutOfRange			= 107,
 	VRCompositorError_AlreadySubmitted			= 108,
+	VRCompositorError_InvalidBounds				= 109,
 };
 
 const uint32_t VRCompositor_ReprojectionReason_Cpu = 0x01;
@@ -3350,7 +3384,26 @@ public:
 static const char * const IVRResources_Version = "IVRResources_001";
 
 
-}// End
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
+
+// End
 
 #endif // _OPENVR_API
 
@@ -3571,6 +3624,17 @@ namespace vr
 			return m_pVRTrackedCamera;
 		}
 
+		IVRDriverManager *VRDriverManager()
+		{
+			CheckClear();
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = ( IVRDriverManager * )VR_GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
 	private:
 		IVRSystem			*m_pVRSystem;
 		IVRChaperone		*m_pVRChaperone;
@@ -3584,6 +3648,7 @@ namespace vr
 		IVRApplications		*m_pVRApplications;
 		IVRTrackedCamera	*m_pVRTrackedCamera;
 		IVRScreenshots		*m_pVRScreenshots;
+		IVRDriverManager	*m_pVRDriverManager;
 	};
 
 	inline COpenVRContext &OpenVRInternal_ModuleContext()
@@ -3604,6 +3669,7 @@ namespace vr
 	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleContext().VRResources(); }
 	inline IVRExtendedDisplay *VR_CALLTYPE VRExtendedDisplay() { return OpenVRInternal_ModuleContext().VRExtendedDisplay(); }
 	inline IVRTrackedCamera *VR_CALLTYPE VRTrackedCamera() { return OpenVRInternal_ModuleContext().VRTrackedCamera(); }
+	inline IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleContext().VRDriverManager(); }
 
 	inline void COpenVRContext::Clear()
 	{
@@ -3619,6 +3685,7 @@ namespace vr
 		m_pVRTrackedCamera = nullptr;
 		m_pVRResources = nullptr;
 		m_pVRScreenshots = nullptr;
+		m_pVRDriverManager = nullptr;
 	}
 
 	VR_INTERFACE uint32_t VR_CALLTYPE VR_InitInternal( EVRInitError *peError, EVRApplicationType eApplicationType );

examples/ThirdPartyLibs/openvr/headers/openvr_api.cs

@@ -55,6 +55,11 @@ public struct IVRSystem
 	[MarshalAs(UnmanagedType.FunctionPtr)]
 	internal _GetDXGIOutputInfo GetDXGIOutputInfo;
 
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate void _GetOutputDevice(ref ulong pnDevice, ETextureType textureType);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetOutputDevice GetOutputDevice;
+
 	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
 	internal delegate bool _IsDisplayOnDesktop();
 	[MarshalAs(UnmanagedType.FunctionPtr)]
@@ -1477,6 +1482,21 @@ public struct IVRResources
 
 }
 
+[StructLayout(LayoutKind.Sequential)]
+public struct IVRDriverManager
+{
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverCount();
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverCount GetDriverCount;
+
+	[UnmanagedFunctionPointer(CallingConvention.StdCall)]
+	internal delegate uint _GetDriverName(uint nDriver, System.Text.StringBuilder pchValue, uint unBufferSize);
+	[MarshalAs(UnmanagedType.FunctionPtr)]
+	internal _GetDriverName GetDriverName;
+
+}
+
 
 public class CVRSystem
 {
@@ -1531,6 +1551,11 @@ public class CVRSystem
 		pnAdapterIndex = 0;
 		FnTable.GetDXGIOutputInfo(ref pnAdapterIndex);
 	}
+	public void GetOutputDevice(ref ulong pnDevice,ETextureType textureType)
+	{
+		pnDevice = 0;
+		FnTable.GetOutputDevice(ref pnDevice,textureType);
+	}
 	public bool IsDisplayOnDesktop()
 	{
 		bool result = FnTable.IsDisplayOnDesktop();
@@ -1642,6 +1667,7 @@ public class CVRSystem
 	}
 	public bool PollNextEvent(ref VREvent_t pEvent,uint uncbVREvent)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -1654,6 +1680,7 @@ public class CVRSystem
 			event_packed.Unpack(ref pEvent);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.PollNextEvent(ref pEvent,uncbVREvent);
 		return result;
 	}
@@ -1686,6 +1713,7 @@ public class CVRSystem
 	}
 	public bool GetControllerState(uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -1698,6 +1726,7 @@ public class CVRSystem
 			state_packed.Unpack(ref pControllerState);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.GetControllerState(unControllerDeviceIndex,ref pControllerState,unControllerStateSize);
 		return result;
 	}
@@ -1715,6 +1744,7 @@ public class CVRSystem
 	}
 	public bool GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -1727,6 +1757,7 @@ public class CVRSystem
 			state_packed.Unpack(ref pControllerState);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.GetControllerStateWithPose(eOrigin,unControllerDeviceIndex,ref pControllerState,unControllerStateSize,ref pTrackedDevicePose);
 		return result;
 	}
@@ -2680,6 +2711,7 @@ public class CVROverlay
 	}
 	public bool PollNextOverlayEvent(ulong ulOverlayHandle,ref VREvent_t pEvent,uint uncbVREvent)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -2692,6 +2724,7 @@ public class CVROverlay
 			event_packed.Unpack(ref pEvent);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.PollNextOverlayEvent(ulOverlayHandle,ref pEvent,uncbVREvent);
 		return result;
 	}
@@ -2956,6 +2989,7 @@ public class CVRRenderModels
 	}
 	public bool GetComponentState(string pchRenderModelName,string pchComponentName,ref VRControllerState_t pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState)
 	{
+#if !UNITY_METRO
 		if ((System.Environment.OSVersion.Platform == System.PlatformID.MacOSX) ||
 				(System.Environment.OSVersion.Platform == System.PlatformID.Unix))
 		{
@@ -2968,6 +3002,7 @@ public class CVRRenderModels
 			state_packed.Unpack(ref pControllerState);
 			return packed_result;
 		}
+#endif
 		bool result = FnTable.GetComponentState(pchRenderModelName,pchComponentName,ref pControllerState,ref pState,ref pComponentState);
 		return result;
 	}
@@ -3145,6 +3180,26 @@ public class CVRResources
 }
 
 
+public class CVRDriverManager
+{
+	IVRDriverManager FnTable;
+	internal CVRDriverManager(IntPtr pInterface)
+	{
+		FnTable = (IVRDriverManager)Marshal.PtrToStructure(pInterface, typeof(IVRDriverManager));
+	}
+	public uint GetDriverCount()
+	{
+		uint result = FnTable.GetDriverCount();
+		return result;
+	}
+	public uint GetDriverName(uint nDriver,System.Text.StringBuilder pchValue,uint unBufferSize)
+	{
+		uint result = FnTable.GetDriverName(nDriver,pchValue,unBufferSize);
+		return result;
+	}
+}
+
+
 public class OpenVRInterop
 {
 	[DllImportAttribute("openvr_api", EntryPoint = "VR_InitInternal", CallingConvention = CallingConvention.Cdecl)]
@@ -3296,6 +3351,10 @@ public enum ETrackedDeviceProperty
 	Prop_DisplayMCImageNumChannels_Int32 = 2040,
 	Prop_DisplayMCImageData_Binary = 2041,
 	Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	Prop_DisplayDebugMode_Bool = 2044,
+	Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	Prop_DriverProvidedChaperonePath_String = 2048,
 	Prop_AttachedDeviceId_String = 3000,
 	Prop_SupportedButtons_Uint64 = 3001,
 	Prop_Axis0Type_Int32 = 3002,
@@ -3381,6 +3440,8 @@ public enum EVREventType
 	VREvent_WatchdogWakeUpRequested = 109,
 	VREvent_LensDistortionChanged = 110,
 	VREvent_PropertyChanged = 111,
+	VREvent_WirelessDisconnect = 112,
+	VREvent_WirelessReconnect = 113,
 	VREvent_ButtonPress = 200,
 	VREvent_ButtonUnpress = 201,
 	VREvent_ButtonTouch = 202,
@@ -3449,6 +3510,7 @@ public enum EVREventType
 	VREvent_ModelSkinSettingsHaveChanged = 853,
 	VREvent_EnvironmentSettingsHaveChanged = 854,
 	VREvent_PowerSettingsHaveChanged = 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
 	VREvent_StatusUpdate = 900,
 	VREvent_MCImageUpdated = 1000,
 	VREvent_FirmwareUpdateStarted = 1100,
@@ -3632,6 +3694,8 @@ public enum EVRInitError
 	Init_WatchdogDisabledInSettings = 132,
 	Init_VRDashboardNotFound = 133,
 	Init_VRDashboardStartupFailed = 134,
+	Init_VRHomeNotFound = 135,
+	Init_VRHomeStartupFailed = 136,
 	Driver_Failed = 200,
 	Driver_Unknown = 201,
 	Driver_HmdUnknown = 202,
@@ -3658,6 +3722,7 @@ public enum EVRInitError
 	Compositor_FirmwareRequiresUpdate = 402,
 	Compositor_OverlayInitFailed = 403,
 	Compositor_ScreenshotsInitFailed = 404,
+	Compositor_UnableToCreateDevice = 405,
 	VendorSpecific_UnableToConnectToOculusRuntime = 1000,
 	VendorSpecific_HmdFound_CantOpenDevice = 1101,
 	VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
@@ -3733,6 +3798,7 @@ public enum EVRApplicationError
 	OldApplicationQuitting = 112,
 	TransitionAborted = 113,
 	IsTemplate = 114,
+	SteamVRIsExiting = 115,
 	BufferTooSmall = 200,
 	PropertyNotSet = 201,
 	UnknownProperty = 202,
@@ -3754,6 +3820,7 @@ public enum EVRApplicationProperty
 	IsTemplate_Bool = 61,
 	IsInstanced_Bool = 62,
 	IsInternal_Bool = 63,
+	WantsCompositorPauseInStandby_Bool = 64,
 	LastLaunchTime_Uint64 = 70,
 }
 public enum EVRApplicationTransitionState
@@ -3798,6 +3865,7 @@ public enum EVRCompositorError
 	SharedTexturesNotSupported = 106,
 	IndexOutOfRange = 107,
 	AlreadySubmitted = 108,
+	InvalidBounds = 109,
 }
 public enum VROverlayInputMethod
 {
@@ -4479,6 +4547,7 @@ public enum EVRScreenshotError
 	public IntPtr m_pVRApplications; // class vr::IVRApplications *
 	public IntPtr m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
 	public IntPtr m_pVRScreenshots; // class vr::IVRScreenshots *
+	public IntPtr m_pVRDriverManager; // class vr::IVRDriverManager *
 }
 
 public class OpenVR
@@ -4524,6 +4593,7 @@ public class OpenVR
 		return OpenVRInterop.GetInitToken();
 	}
 
+	public const uint k_nDriverNone = 4294967295;
 	public const uint k_unMaxDriverDebugResponseSize = 32768;
 	public const uint k_unTrackedDeviceIndex_Hmd = 0;
 	public const uint k_unMaxTrackedDeviceCount = 16;
@@ -4547,7 +4617,7 @@ public class OpenVR
 	public const uint k_unControllerStateAxisCount = 5;
 	public const ulong k_ulOverlayHandleInvalid = 0;
 	public const uint k_unScreenshotHandleInvalid = 0;
-	public const string IVRSystem_Version = "IVRSystem_015";
+	public const string IVRSystem_Version = "IVRSystem_016";
 	public const string IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
 	public const string IVRTrackedCamera_Version = "IVRTrackedCamera_003";
 	public const uint k_unMaxApplicationKeyLength = 128;
@@ -4598,7 +4668,7 @@ public class OpenVR
 	public const string k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
 	public const string k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
 	public const string k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
-	public const string k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier";
+	public const string k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
 	public const string k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
 	public const string k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
 	public const string k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
@@ -4611,10 +4681,10 @@ public class OpenVR
 	public const string k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
 	public const string k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
 	public const string k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
-	public const string k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp";
 	public const string k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
 	public const string k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
 	public const string k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	public const string k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
 	public const string k_pch_Lighthouse_Section = "driver_lighthouse";
 	public const string k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
 	public const string k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
@@ -4654,6 +4724,7 @@ public class OpenVR
 	public const string k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
 	public const string k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
 	public const string k_pch_Perf_TestData_Float = "perfTestData";
+	public const string k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
 	public const string k_pch_CollisionBounds_Section = "collisionBounds";
 	public const string k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
 	public const string k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
@@ -4687,6 +4758,7 @@ public class OpenVR
 	public const string k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
 	public const string k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
 	public const string k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+	public const string k_pch_Power_PauseCompositorOnStandby_Bool = "pauseCompositorOnStandby";
 	public const string k_pch_Dashboard_Section = "dashboard";
 	public const string k_pch_Dashboard_EnableDashboard_Bool = "enableDashboard";
 	public const string k_pch_Dashboard_ArcadeMode_Bool = "arcadeMode";
@@ -4694,6 +4766,7 @@ public class OpenVR
 	public const string k_pch_Driver_Enable_Bool = "enable";
 	public const string IVRScreenshots_Version = "IVRScreenshots_001";
 	public const string IVRResources_Version = "IVRResources_001";
+	public const string IVRDriverManager_Version = "IVRDriverManager_001";
 
 	static uint VRToken { get; set; }
 

examples/ThirdPartyLibs/openvr/headers/openvr_api.json

@@ -2,6 +2,7 @@
 ,{"typedef": "vr::glInt_t","type": "int32_t"}
 ,{"typedef": "vr::glUInt_t","type": "uint32_t"}
 ,{"typedef": "vr::SharedTextureHandle_t","type": "uint64_t"}
+,{"typedef": "vr::DriverId_t","type": "uint32_t"}
 ,{"typedef": "vr::TrackedDeviceIndex_t","type": "uint32_t"}
 ,{"typedef": "vr::PropertyContainerHandle_t","type": "uint64_t"}
 ,{"typedef": "vr::PropertyTypeTag_t","type": "uint32_t"}
@@ -153,6 +154,10 @@
 	,{"name": "Prop_DisplayMCImageNumChannels_Int32","value": "2040"}
 	,{"name": "Prop_DisplayMCImageData_Binary","value": "2041"}
 	,{"name": "Prop_SecondsFromPhotonsToVblank_Float","value": "2042"}
+	,{"name": "Prop_DriverDirectModeSendsVsyncEvents_Bool","value": "2043"}
+	,{"name": "Prop_DisplayDebugMode_Bool","value": "2044"}
+	,{"name": "Prop_GraphicsAdapterLuid_Uint64","value": "2045"}
+	,{"name": "Prop_DriverProvidedChaperonePath_String","value": "2048"}
 	,{"name": "Prop_AttachedDeviceId_String","value": "3000"}
 	,{"name": "Prop_SupportedButtons_Uint64","value": "3001"}
 	,{"name": "Prop_Axis0Type_Int32","value": "3002"}
@@ -234,6 +239,8 @@
 	,{"name": "VREvent_WatchdogWakeUpRequested","value": "109"}
 	,{"name": "VREvent_LensDistortionChanged","value": "110"}
 	,{"name": "VREvent_PropertyChanged","value": "111"}
+	,{"name": "VREvent_WirelessDisconnect","value": "112"}
+	,{"name": "VREvent_WirelessReconnect","value": "113"}
 	,{"name": "VREvent_ButtonPress","value": "200"}
 	,{"name": "VREvent_ButtonUnpress","value": "201"}
 	,{"name": "VREvent_ButtonTouch","value": "202"}
@@ -302,6 +309,7 @@
 	,{"name": "VREvent_ModelSkinSettingsHaveChanged","value": "853"}
 	,{"name": "VREvent_EnvironmentSettingsHaveChanged","value": "854"}
 	,{"name": "VREvent_PowerSettingsHaveChanged","value": "855"}
+	,{"name": "VREvent_EnableHomeAppSettingsHaveChanged","value": "856"}
 	,{"name": "VREvent_StatusUpdate","value": "900"}
 	,{"name": "VREvent_MCImageUpdated","value": "1000"}
 	,{"name": "VREvent_FirmwareUpdateStarted","value": "1100"}
@@ -473,6 +481,8 @@
 	,{"name": "VRInitError_Init_WatchdogDisabledInSettings","value": "132"}
 	,{"name": "VRInitError_Init_VRDashboardNotFound","value": "133"}
 	,{"name": "VRInitError_Init_VRDashboardStartupFailed","value": "134"}
+	,{"name": "VRInitError_Init_VRHomeNotFound","value": "135"}
+	,{"name": "VRInitError_Init_VRHomeStartupFailed","value": "136"}
 	,{"name": "VRInitError_Driver_Failed","value": "200"}
 	,{"name": "VRInitError_Driver_Unknown","value": "201"}
 	,{"name": "VRInitError_Driver_HmdUnknown","value": "202"}
@@ -499,6 +509,7 @@
 	,{"name": "VRInitError_Compositor_FirmwareRequiresUpdate","value": "402"}
 	,{"name": "VRInitError_Compositor_OverlayInitFailed","value": "403"}
 	,{"name": "VRInitError_Compositor_ScreenshotsInitFailed","value": "404"}
+	,{"name": "VRInitError_Compositor_UnableToCreateDevice","value": "405"}
 	,{"name": "VRInitError_VendorSpecific_UnableToConnectToOculusRuntime","value": "1000"}
 	,{"name": "VRInitError_VendorSpecific_HmdFound_CantOpenDevice","value": "1101"}
 	,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart","value": "1102"}
@@ -569,6 +580,7 @@
 	,{"name": "VRApplicationError_OldApplicationQuitting","value": "112"}
 	,{"name": "VRApplicationError_TransitionAborted","value": "113"}
 	,{"name": "VRApplicationError_IsTemplate","value": "114"}
+	,{"name": "VRApplicationError_SteamVRIsExiting","value": "115"}
 	,{"name": "VRApplicationError_BufferTooSmall","value": "200"}
 	,{"name": "VRApplicationError_PropertyNotSet","value": "201"}
 	,{"name": "VRApplicationError_UnknownProperty","value": "202"}
@@ -589,6 +601,7 @@
 	,{"name": "VRApplicationProperty_IsTemplate_Bool","value": "61"}
 	,{"name": "VRApplicationProperty_IsInstanced_Bool","value": "62"}
 	,{"name": "VRApplicationProperty_IsInternal_Bool","value": "63"}
+	,{"name": "VRApplicationProperty_WantsCompositorPauseInStandby_Bool","value": "64"}
 	,{"name": "VRApplicationProperty_LastLaunchTime_Uint64","value": "70"}
 ]}
 ,	{"enumname": "vr::EVRApplicationTransitionState","values": [ 
@@ -628,6 +641,7 @@
 	,{"name": "VRCompositorError_SharedTexturesNotSupported","value": "106"}
 	,{"name": "VRCompositorError_IndexOutOfRange","value": "107"}
 	,{"name": "VRCompositorError_AlreadySubmitted","value": "108"}
+	,{"name": "VRCompositorError_InvalidBounds","value": "109"}
 ]}
 ,	{"enumname": "vr::VROverlayInputMethod","values": [ 
 	{"name": "VROverlayInputMethod_None","value": "0"}
@@ -738,6 +752,8 @@
 ]}
 ],
 "consts":[{
+	"constname": "k_nDriverNone","consttype": "const uint32_t", "constval": "4294967295"}
+,{
 	"constname": "k_unMaxDriverDebugResponseSize","consttype": "const uint32_t", "constval": "32768"}
 ,{
 	"constname": "k_unTrackedDeviceIndex_Hmd","consttype": "const uint32_t", "constval": "0"}
@@ -784,7 +800,7 @@
 ,{
 	"constname": "k_unScreenshotHandleInvalid","consttype": "const uint32_t", "constval": "0"}
 ,{
-	"constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_015"}
+	"constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_016"}
 ,{
 	"constname": "IVRExtendedDisplay_Version","consttype": "const char *const", "constval": "IVRExtendedDisplay_001"}
 ,{
@@ -886,7 +902,7 @@
 ,{
 	"constname": "k_pch_SteamVR_NeverKillProcesses_Bool","consttype": "const char *const", "constval": "neverKillProcesses"}
 ,{
-	"constname": "k_pch_SteamVR_RenderTargetMultiplier_Float","consttype": "const char *const", "constval": "renderTargetMultiplier"}
+	"constname": "k_pch_SteamVR_SupersampleScale_Float","consttype": "const char *const", "constval": "supersampleScale"}
 ,{
 	"constname": "k_pch_SteamVR_AllowAsyncReprojection_Bool","consttype": "const char *const", "constval": "allowAsyncReprojection"}
 ,{
@@ -911,14 +927,14 @@
 	"constname": "k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool","consttype": "const char *const", "constval": "startOverlayAppsFromDashboard"}
 ,{
 	"constname": "k_pch_SteamVR_EnableHomeApp","consttype": "const char *const", "constval": "enableHomeApp"}
-,{
-	"constname": "k_pch_SteamVR_SetInitialDefaultHomeApp","consttype": "const char *const", "constval": "setInitialDefaultHomeApp"}
 ,{
 	"constname": "k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32","consttype": "const char *const", "constval": "CycleBackgroundImageTimeSec"}
 ,{
 	"constname": "k_pch_SteamVR_RetailDemo_Bool","consttype": "const char *const", "constval": "retailDemo"}
 ,{
 	"constname": "k_pch_SteamVR_IpdOffset_Float","consttype": "const char *const", "constval": "ipdOffset"}
+,{
+	"constname": "k_pch_SteamVR_AllowSupersampleFiltering_Bool","consttype": "const char *const", "constval": "allowSupersampleFiltering"}
 ,{
 	"constname": "k_pch_Lighthouse_Section","consttype": "const char *const", "constval": "driver_lighthouse"}
 ,{
@@ -997,6 +1013,8 @@
 	"constname": "k_pch_Perf_SaveTimingsOnExit_Bool","consttype": "const char *const", "constval": "saveTimingsOnExit"}
 ,{
 	"constname": "k_pch_Perf_TestData_Float","consttype": "const char *const", "constval": "perfTestData"}
+,{
+	"constname": "k_pch_Perf_LinuxGPUProfiling_Bool","consttype": "const char *const", "constval": "linuxGPUProfiling"}
 ,{
 	"constname": "k_pch_CollisionBounds_Section","consttype": "const char *const", "constval": "collisionBounds"}
 ,{
@@ -1063,6 +1081,8 @@
 	"constname": "k_pch_Power_ReturnToWatchdogTimeout_Float","consttype": "const char *const", "constval": "returnToWatchdogTimeout"}
 ,{
 	"constname": "k_pch_Power_AutoLaunchSteamVROnButtonPress","consttype": "const char *const", "constval": "autoLaunchSteamVROnButtonPress"}
+,{
+	"constname": "k_pch_Power_PauseCompositorOnStandby_Bool","consttype": "const char *const", "constval": "pauseCompositorOnStandby"}
 ,{
 	"constname": "k_pch_Dashboard_Section","consttype": "const char *const", "constval": "dashboard"}
 ,{
@@ -1077,6 +1097,8 @@
 	"constname": "IVRScreenshots_Version","consttype": "const char *const", "constval": "IVRScreenshots_001"}
 ,{
 	"constname": "IVRResources_Version","consttype": "const char *const", "constval": "IVRResources_001"}
+,{
+	"constname": "IVRDriverManager_Version","consttype": "const char *const", "constval": "IVRDriverManager_001"}
 ],
 "structs":[{"struct": "vr::HmdMatrix34_t","fields": [
 { "fieldname": "m", "fieldtype": "float [3][4]"}]}
@@ -1363,7 +1385,8 @@
 { "fieldname": "m_pVRSettings", "fieldtype": "class vr::IVRSettings *"},
 { "fieldname": "m_pVRApplications", "fieldtype": "class vr::IVRApplications *"},
 { "fieldname": "m_pVRTrackedCamera", "fieldtype": "class vr::IVRTrackedCamera *"},
-{ "fieldname": "m_pVRScreenshots", "fieldtype": "class vr::IVRScreenshots *"}]}
+{ "fieldname": "m_pVRScreenshots", "fieldtype": "class vr::IVRScreenshots *"},
+{ "fieldname": "m_pVRDriverManager", "fieldtype": "class vr::IVRDriverManager *"}]}
 ],
 "methods":[{
 	"classname": "vr::IVRSystem",
@@ -1437,6 +1460,15 @@
 {	"paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"}
 	 ]
 }
+,{
+	"classname": "vr::IVRSystem",
+	"methodname": "GetOutputDevice",
+	"returntype": "void",
+	"params": [ 
+{	"paramname": "pnDevice" ,"paramtype": "uint64_t *"},
+{	"paramname": "textureType" ,"paramtype": "vr::ETextureType"}
+	 ]
+}
 ,{
 	"classname": "vr::IVRSystem",
 	"methodname": "IsDisplayOnDesktop",
@@ -3844,5 +3876,20 @@
 {	"paramname": "unBufferLen" ,"paramtype": "uint32_t"}
 	 ]
 }
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverCount",
+	"returntype": "uint32_t"
+}
+,{
+	"classname": "vr::IVRDriverManager",
+	"methodname": "GetDriverName",
+	"returntype": "uint32_t",
+	"params": [ 
+{	"paramname": "nDriver" ,"paramtype": "vr::DriverId_t"},
+{	"paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"},
+{	"paramname": "unBufferSize" ,"paramtype": "uint32_t"}
+	 ]
+}
 ]
 }

examples/ThirdPartyLibs/openvr/headers/openvr_capi.h

@@ -60,6 +60,7 @@ typedef uint32_t PropertyTypeTag_t;
 
 // OpenVR Constants
 
+static const unsigned int k_nDriverNone = 4294967295;
 static const unsigned int k_unMaxDriverDebugResponseSize = 32768;
 static const unsigned int k_unTrackedDeviceIndex_Hmd = 0;
 static const unsigned int k_unMaxTrackedDeviceCount = 16;
@@ -83,7 +84,7 @@ static const unsigned int k_unMaxPropertyStringSize = 32768;
 static const unsigned int k_unControllerStateAxisCount = 5;
 static const unsigned long k_ulOverlayHandleInvalid = 0;
 static const unsigned int k_unScreenshotHandleInvalid = 0;
-static const char * IVRSystem_Version = "IVRSystem_015";
+static const char * IVRSystem_Version = "IVRSystem_016";
 static const char * IVRExtendedDisplay_Version = "IVRExtendedDisplay_001";
 static const char * IVRTrackedCamera_Version = "IVRTrackedCamera_003";
 static const unsigned int k_unMaxApplicationKeyLength = 128;
@@ -134,7 +135,7 @@ static const char * k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers";
 static const char * k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
 static const char * k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
 static const char * k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
-static const char * k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier";
+static const char * k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
 static const char * k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
 static const char * k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
 static const char * k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
@@ -147,10 +148,10 @@ static const char * k_pch_SteamVR_StartCompositorFromAppLaunch_Bool = "startComp
 static const char * k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
 static const char * k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
 static const char * k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
-static const char * k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp";
 static const char * k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
 static const char * k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
 static const char * k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+static const char * k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
 static const char * k_pch_Lighthouse_Section = "driver_lighthouse";
 static const char * k_pch_Lighthouse_DisableIMU_Bool = "disableimu";
 static const char * k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation";
@@ -190,6 +191,7 @@ static const char * k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce";
 static const char * k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
 static const char * k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
 static const char * k_pch_Perf_TestData_Float = "perfTestData";
+static const char * k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
 static const char * k_pch_CollisionBounds_Section = "collisionBounds";
 static const char * k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle";
 static const char * k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn";
@@ -223,6 +225,7 @@ static const char * k_pch_Power_TurnOffScreensTimeout_Float = "turnOffScreensTim
 static const char * k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
 static const char * k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
 static const char * k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+static const char * k_pch_Power_PauseCompositorOnStandby_Bool = "pauseCompositorOnStandby";
 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";
@@ -230,6 +233,7 @@ 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";
+static const char * IVRDriverManager_Version = "IVRDriverManager_001";
 
 // OpenVR Enums
 
@@ -370,6 +374,10 @@ typedef enum ETrackedDeviceProperty
 	ETrackedDeviceProperty_Prop_DisplayMCImageNumChannels_Int32 = 2040,
 	ETrackedDeviceProperty_Prop_DisplayMCImageData_Binary = 2041,
 	ETrackedDeviceProperty_Prop_SecondsFromPhotonsToVblank_Float = 2042,
+	ETrackedDeviceProperty_Prop_DriverDirectModeSendsVsyncEvents_Bool = 2043,
+	ETrackedDeviceProperty_Prop_DisplayDebugMode_Bool = 2044,
+	ETrackedDeviceProperty_Prop_GraphicsAdapterLuid_Uint64 = 2045,
+	ETrackedDeviceProperty_Prop_DriverProvidedChaperonePath_String = 2048,
 	ETrackedDeviceProperty_Prop_AttachedDeviceId_String = 3000,
 	ETrackedDeviceProperty_Prop_SupportedButtons_Uint64 = 3001,
 	ETrackedDeviceProperty_Prop_Axis0Type_Int32 = 3002,
@@ -459,6 +467,8 @@ typedef enum EVREventType
 	EVREventType_VREvent_WatchdogWakeUpRequested = 109,
 	EVREventType_VREvent_LensDistortionChanged = 110,
 	EVREventType_VREvent_PropertyChanged = 111,
+	EVREventType_VREvent_WirelessDisconnect = 112,
+	EVREventType_VREvent_WirelessReconnect = 113,
 	EVREventType_VREvent_ButtonPress = 200,
 	EVREventType_VREvent_ButtonUnpress = 201,
 	EVREventType_VREvent_ButtonTouch = 202,
@@ -527,6 +537,7 @@ typedef enum EVREventType
 	EVREventType_VREvent_ModelSkinSettingsHaveChanged = 853,
 	EVREventType_VREvent_EnvironmentSettingsHaveChanged = 854,
 	EVREventType_VREvent_PowerSettingsHaveChanged = 855,
+	EVREventType_VREvent_EnableHomeAppSettingsHaveChanged = 856,
 	EVREventType_VREvent_StatusUpdate = 900,
 	EVREventType_VREvent_MCImageUpdated = 1000,
 	EVREventType_VREvent_FirmwareUpdateStarted = 1100,
@@ -722,6 +733,8 @@ typedef enum EVRInitError
 	EVRInitError_VRInitError_Init_WatchdogDisabledInSettings = 132,
 	EVRInitError_VRInitError_Init_VRDashboardNotFound = 133,
 	EVRInitError_VRInitError_Init_VRDashboardStartupFailed = 134,
+	EVRInitError_VRInitError_Init_VRHomeNotFound = 135,
+	EVRInitError_VRInitError_Init_VRHomeStartupFailed = 136,
 	EVRInitError_VRInitError_Driver_Failed = 200,
 	EVRInitError_VRInitError_Driver_Unknown = 201,
 	EVRInitError_VRInitError_Driver_HmdUnknown = 202,
@@ -748,6 +761,7 @@ typedef enum EVRInitError
 	EVRInitError_VRInitError_Compositor_FirmwareRequiresUpdate = 402,
 	EVRInitError_VRInitError_Compositor_OverlayInitFailed = 403,
 	EVRInitError_VRInitError_Compositor_ScreenshotsInitFailed = 404,
+	EVRInitError_VRInitError_Compositor_UnableToCreateDevice = 405,
 	EVRInitError_VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
 	EVRInitError_VRInitError_VendorSpecific_HmdFound_CantOpenDevice = 1101,
 	EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102,
@@ -828,6 +842,7 @@ typedef enum EVRApplicationError
 	EVRApplicationError_VRApplicationError_OldApplicationQuitting = 112,
 	EVRApplicationError_VRApplicationError_TransitionAborted = 113,
 	EVRApplicationError_VRApplicationError_IsTemplate = 114,
+	EVRApplicationError_VRApplicationError_SteamVRIsExiting = 115,
 	EVRApplicationError_VRApplicationError_BufferTooSmall = 200,
 	EVRApplicationError_VRApplicationError_PropertyNotSet = 201,
 	EVRApplicationError_VRApplicationError_UnknownProperty = 202,
@@ -850,6 +865,7 @@ typedef enum EVRApplicationProperty
 	EVRApplicationProperty_VRApplicationProperty_IsTemplate_Bool = 61,
 	EVRApplicationProperty_VRApplicationProperty_IsInstanced_Bool = 62,
 	EVRApplicationProperty_VRApplicationProperty_IsInternal_Bool = 63,
+	EVRApplicationProperty_VRApplicationProperty_WantsCompositorPauseInStandby_Bool = 64,
 	EVRApplicationProperty_VRApplicationProperty_LastLaunchTime_Uint64 = 70,
 } EVRApplicationProperty;
 
@@ -899,6 +915,7 @@ typedef enum EVRCompositorError
 	EVRCompositorError_VRCompositorError_SharedTexturesNotSupported = 106,
 	EVRCompositorError_VRCompositorError_IndexOutOfRange = 107,
 	EVRCompositorError_VRCompositorError_AlreadySubmitted = 108,
+	EVRCompositorError_VRCompositorError_InvalidBounds = 109,
 } EVRCompositorError;
 
 typedef enum VROverlayInputMethod
@@ -1047,6 +1064,7 @@ typedef void * glSharedTextureHandle_t;
 typedef int32_t glInt_t;
 typedef uint32_t glUInt_t;
 typedef uint64_t SharedTextureHandle_t;
+typedef uint32_t DriverId_t;
 typedef uint32_t TrackedDeviceIndex_t;
 typedef uint64_t PropertyContainerHandle_t;
 typedef uint32_t PropertyTypeTag_t;
@@ -1503,6 +1521,7 @@ typedef struct COpenVRContext
 	intptr_t m_pVRApplications; // class vr::IVRApplications *
 	intptr_t m_pVRTrackedCamera; // class vr::IVRTrackedCamera *
 	intptr_t m_pVRScreenshots; // class vr::IVRScreenshots *
+	intptr_t m_pVRDriverManager; // class vr::IVRDriverManager *
 } COpenVRContext;
 
 
@@ -1560,6 +1579,7 @@ struct VR_IVRSystem_FnTable
 	bool (OPENVR_FNTABLE_CALLTYPE *GetTimeSinceLastVsync)(float * pfSecondsSinceLastVsync, uint64_t * pulFrameCounter);
 	int32_t (OPENVR_FNTABLE_CALLTYPE *GetD3D9AdapterIndex)();
 	void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex);
+	void (OPENVR_FNTABLE_CALLTYPE *GetOutputDevice)(uint64_t * pnDevice, ETextureType textureType);
 	bool (OPENVR_FNTABLE_CALLTYPE *IsDisplayOnDesktop)();
 	bool (OPENVR_FNTABLE_CALLTYPE *SetDisplayVisibility)(bool bIsVisibleOnDesktop);
 	void (OPENVR_FNTABLE_CALLTYPE *GetDeviceToAbsoluteTrackingPose)(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, struct TrackedDevicePose_t * pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount);
@@ -1882,6 +1902,12 @@ struct VR_IVRResources_FnTable
 	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetResourceFullPath)(char * pchResourceName, char * pchResourceTypeDirectory, char * pchPathBuffer, uint32_t unBufferLen);
 };
 
+struct VR_IVRDriverManager_FnTable
+{
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverCount)();
+	uint32_t (OPENVR_FNTABLE_CALLTYPE *GetDriverName)(DriverId_t nDriver, char * pchValue, uint32_t unBufferSize);
+};
+
 
 #if 0
 // Global entry points

examples/ThirdPartyLibs/openvr/headers/openvr_driver.h

@@ -143,6 +143,9 @@ enum ETrackingResult
 	TrackingResult_Running_OutOfRange		= 201,
 };
 
+typedef uint32_t DriverId_t;
+static const uint32_t k_nDriverNone = 0xFFFFFFFF;
+
 static const uint32_t k_unMaxDriverDebugResponseSize = 32768;
 
 /** Used to pass device IDs to API calls */
@@ -309,6 +312,10 @@ enum ETrackedDeviceProperty
 	Prop_DisplayMCImageNumChannels_Int32		= 2040,
 	Prop_DisplayMCImageData_Binary				= 2041,
 	Prop_SecondsFromPhotonsToVblank_Float		= 2042,
+	Prop_DriverDirectModeSendsVsyncEvents_Bool	= 2043,
+	Prop_DisplayDebugMode_Bool					= 2044,
+	Prop_GraphicsAdapterLuid_Uint64				= 2045,
+	Prop_DriverProvidedChaperonePath_String		= 2048,
 
 	// Properties that are unique to TrackedDeviceClass_Controller
 	Prop_AttachedDeviceId_String				= 3000,
@@ -330,15 +337,15 @@ enum ETrackedDeviceProperty
 	Prop_ModeLabel_String						= 4006,
 
 	// Properties that are used for user interface like icons names
-	Prop_IconPathName_String						= 5000, // usually a directory named "icons"
+	Prop_IconPathName_String						= 5000, // DEPRECATED. Value not referenced. Now expected to be part of icon path properties.
-	Prop_NamedIconPathDeviceOff_String				= 5001, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceOff_String				= 5001, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceSearching_String		= 5002, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearching_String		= 5002, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceSearchingAlert_String	= 5003, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceReady_String			= 5004, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReady_String			= 5004, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceReadyAlert_String		= 5005, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceNotReady_String			= 5006, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceNotReady_String			= 5006, // {driver}/icons/icon_filename - PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
-	Prop_NamedIconPathDeviceStandby_String			= 5007, // PNG for static icon, or GIF for animation, 50x32 for headsets and 32x32 for others
+	Prop_NamedIconPathDeviceStandby_String			= 5007, // {driver}/icons/icon_filename - 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
+	Prop_NamedIconPathDeviceAlertLow_String			= 5008, // {driver}/icons/icon_filename - 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,
@@ -458,6 +465,8 @@ enum EVREventType
 	VREvent_WatchdogWakeUpRequested		= 109,
 	VREvent_LensDistortionChanged		= 110,
 	VREvent_PropertyChanged				= 111,
+	VREvent_WirelessDisconnect			= 112,
+	VREvent_WirelessReconnect			= 113,
 
 	VREvent_ButtonPress					= 200, // data is controller
 	VREvent_ButtonUnpress				= 201, // data is controller
@@ -539,6 +548,7 @@ enum EVREventType
 	VREvent_ModelSkinSettingsHaveChanged	= 853,
 	VREvent_EnvironmentSettingsHaveChanged	= 854,
 	VREvent_PowerSettingsHaveChanged		= 855,
+	VREvent_EnableHomeAppSettingsHaveChanged = 856,
 
 	VREvent_StatusUpdate					= 900,
 
@@ -1044,6 +1054,8 @@ enum EVRInitError
 	VRInitError_Init_WatchdogDisabledInSettings = 132,
 	VRInitError_Init_VRDashboardNotFound		= 133,
 	VRInitError_Init_VRDashboardStartupFailed	= 134,
+	VRInitError_Init_VRHomeNotFound				= 135,
+	VRInitError_Init_VRHomeStartupFailed		= 136,
 
 	VRInitError_Driver_Failed				= 200,
 	VRInitError_Driver_Unknown				= 201,
@@ -1074,6 +1086,7 @@ enum EVRInitError
 	VRInitError_Compositor_FirmwareRequiresUpdate	= 402,
 	VRInitError_Compositor_OverlayInitFailed		= 403,
 	VRInitError_Compositor_ScreenshotsInitFailed	= 404,
+	VRInitError_Compositor_UnableToCreateDevice		= 405,
 
 	VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000,
 
@@ -1374,7 +1387,7 @@ namespace vr
 	static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees";
 	static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement";
 	static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses";
-	static const char * const k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier";
+	static const char * const k_pch_SteamVR_SupersampleScale_Float = "supersampleScale";
 	static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection";
 	static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection";
 	static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection";
@@ -1387,10 +1400,10 @@ namespace vr
 	static const char * const k_pch_SteamVR_StartDashboardFromAppLaunch_Bool = "startDashboardFromAppLaunch";
 	static const char * const k_pch_SteamVR_StartOverlayAppsFromDashboard_Bool = "startOverlayAppsFromDashboard";
 	static const char * const k_pch_SteamVR_EnableHomeApp = "enableHomeApp";
-	static const char * const k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp";
 	static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec";
 	static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo";
 	static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset";
+	static const char * const k_pch_SteamVR_AllowSupersampleFiltering_Bool = "allowSupersampleFiltering";
 
 	//-----------------------------------------------------------------------------
 	// lighthouse keys
@@ -1448,6 +1461,7 @@ namespace vr
 	static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore";
 	static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit";
 	static const char * const k_pch_Perf_TestData_Float = "perfTestData";
+	static const char * const k_pch_Perf_LinuxGPUProfiling_Bool = "linuxGPUProfiling";
 
 	//-----------------------------------------------------------------------------
 	// collision bounds keys
@@ -1493,6 +1507,7 @@ namespace vr
 	static const char * const k_pch_Power_TurnOffControllersTimeout_Float = "turnOffControllersTimeout";
 	static const char * const k_pch_Power_ReturnToWatchdogTimeout_Float = "returnToWatchdogTimeout";
 	static const char * const k_pch_Power_AutoLaunchSteamVROnButtonPress = "autoLaunchSteamVROnButtonPress";
+	static const char * const k_pch_Power_PauseCompositorOnStandby_Bool = "pauseCompositorOnStandby";
 
 	//-----------------------------------------------------------------------------
 	// dashboard keys
@@ -2278,6 +2293,9 @@ public:
 	* 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;
+
+	/** Notifies the server that a tracked device's display component transforms have been updated. */
+	virtual void TrackedDeviceDisplayTransformUpdated( uint32_t unWhichDevice, HmdMatrix34_t eyeToHeadLeft, HmdMatrix34_t eyeToHeadRight ) = 0;
 };
 
 static const char *IVRServerDriverHost_Version = "IVRServerDriverHost_004";
@@ -2385,6 +2403,49 @@ namespace vr
 }
 
 
+// ivrresources.h
+namespace vr
+{
+
+class IVRResources
+{
+public:
+
+	// ------------------------------------
+	// Shared Resource Methods
+	// ------------------------------------
+
+	/** Loads the specified resource into the provided buffer if large enough.
+	* Returns the size in bytes of the buffer required to hold the specified resource. */
+	virtual uint32_t LoadSharedResource( const char *pchResourceName, char *pchBuffer, uint32_t unBufferLen ) = 0;
+
+	/** Provides the full path to the specified resource. Resource names can include named directories for
+	* drivers and other things, and this resolves all of those and returns the actual physical path. 
+	* pchResourceTypeDirectory is the subdirectory of resources to look in. */
+	virtual uint32_t GetResourceFullPath( const char *pchResourceName, const char *pchResourceTypeDirectory, char *pchPathBuffer, uint32_t unBufferLen ) = 0;
+};
+
+static const char * const IVRResources_Version = "IVRResources_001";
+
+
+}
+// ivrdrivermanager.h
+namespace vr
+{
+
+class IVRDriverManager
+{
+public:
+	virtual uint32_t GetDriverCount() const = 0;
+
+	/** Returns the length of the number of bytes necessary to hold this string including the trailing null. */
+	virtual uint32_t GetDriverName( vr::DriverId_t nDriver, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize ) = 0;
+};
+
+static const char * const IVRDriverManager_Version = "IVRDriverManager_001";
+
+} // namespace vr
+
 
 
 
@@ -2402,6 +2463,8 @@ namespace vr
 		IServerTrackedDeviceProvider_Version,
 		IVRWatchdogProvider_Version,
 		IVRVirtualDisplay_Version,
+		IVRDriverManager_Version,
+		IVRResources_Version,
 		nullptr
 	};
 
@@ -2489,14 +2552,37 @@ namespace vr
 			return VRDriverContext()->GetDriverHandle();
 		}
 
+		IVRDriverManager *VRDriverManager()
+		{
+			if ( !m_pVRDriverManager )
+			{
+				EVRInitError eError;
+				m_pVRDriverManager = (IVRDriverManager *)VRDriverContext()->GetGenericInterface( IVRDriverManager_Version, &eError );
+			}
+			return m_pVRDriverManager;
+		}
+
+		IVRResources *VRResources()
+		{
+			if ( !m_pVRResources )
+			{
+				EVRInitError eError;
+				m_pVRResources = (IVRResources *)VRDriverContext()->GetGenericInterface( IVRResources_Version, &eError );
+			}
+			return m_pVRResources;
+		}
+
 	private:
-		IVRSettings			*m_pVRSettings;
+		CVRPropertyHelpers		m_propertyHelpers;
-		IVRProperties		*m_pVRProperties;
-		CVRPropertyHelpers	m_propertyHelpers;
 		CVRHiddenAreaHelpers	m_hiddenAreaHelpers;
-		IVRServerDriverHost	*m_pVRServerDriverHost;
+
-		IVRWatchdogHost		*m_pVRWatchdogHost;
+		IVRSettings				*m_pVRSettings;
-		IVRDriverLog		*m_pVRDriverLog;
+		IVRProperties			*m_pVRProperties;
+		IVRServerDriverHost		*m_pVRServerDriverHost;
+		IVRWatchdogHost			*m_pVRWatchdogHost;
+		IVRDriverLog			*m_pVRDriverLog;
+		IVRDriverManager		*m_pVRDriverManager;
+		IVRResources			*m_pVRResources;
 	};
 
 	inline COpenVRDriverContext &OpenVRInternal_ModuleServerDriverContext()
@@ -2513,6 +2599,9 @@ namespace vr
 	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 IVRDriverManager *VR_CALLTYPE VRDriverManager() { return OpenVRInternal_ModuleServerDriverContext().VRDriverManager(); }
+	inline IVRResources *VR_CALLTYPE VRResources() { return OpenVRInternal_ModuleServerDriverContext().VRResources(); }
+
 	inline void COpenVRDriverContext::Clear()
 	{
 		m_pVRSettings = nullptr;
@@ -2520,6 +2609,8 @@ namespace vr
 		m_pVRServerDriverHost = nullptr;
 		m_pVRDriverLog = nullptr;
 		m_pVRWatchdogHost = nullptr;
+		m_pVRDriverManager = nullptr;
+		m_pVRResources = nullptr;
 	}
 
 	inline EVRInitError COpenVRDriverContext::InitServer()
@@ -2528,7 +2619,9 @@ namespace vr
 		if ( !VRServerDriverHost()
 			|| !VRSettings()
 			|| !VRProperties()
-			|| !VRDriverLog() )
+			|| !VRDriverLog() 
+			|| !VRDriverManager()
+			|| !VRResources() )
 			return VRInitError_Init_InterfaceNotFound;
 		return VRInitError_None;
 	}

examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp

@@ -4,11 +4,12 @@
 #include "pathtools.h"
 
 #if defined( _WIN32)
-#include <Windows.h>
+#include <windows.h>
 #include <direct.h>
-#include <Shobjidl.h>
+#include <shobjidl.h>
-#include <KnownFolders.h>
+#include <knownfolders.h>
-#include <Shlobj.h>
+#include <shlobj.h>
+#include <share.h>
 
 #undef GetEnvironmentVariable
 #else

examples/ThirdPartyLibs/openvr/samples/shared/strtools.h

@@ -37,13 +37,15 @@ 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>
+#ifndef __THROW // If __THROW is defined, these will clash with throw() versions on gcc
-inline int stricmp(const char *pStr1, const char *pStr2) { return strcasecmp(pStr1,pStr2); }
+	#include <strings.h>
-#ifndef _stricmp
+	inline int stricmp(const char *pStr1, const char *pStr2) { return strcasecmp(pStr1,pStr2); }
-#define _stricmp stricmp
+	#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
 #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
@@ -51,7 +53,7 @@ inline int strnicmp( const char *pStr1, const char *pStr2, size_t unBufferLen )
 
 #define _TRUNCATE ((size_t)-1)
 
-#endif
+#endif // defined( OSX ) || defined( LINUX )
 
 #if defined( OSX )
 // behaviors ensure NULL-termination at least as well as _TRUNCATE does, but

examples/pybullet/examples/inverse_kinematics.py

@@ -3,8 +3,9 @@ import time
 import math
 from datetime import datetime
 
-#clid = p.connect(p.SHARED_MEMORY)
+clid = p.connect(p.SHARED_MEMORY)
-p.connect(p.GUI)
+if (clid<0):
+	p.connect(p.GUI)
 p.loadURDF("plane.urdf",[0,0,-0.3])
 kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
 p.resetBasePositionAndOrientation(kukaId,[0,0,0],[0,0,0,1])

examples/pybullet/gym/enjoy_TF_AntBulletEnv_v0_2017may.py

@@ -24,24 +24,39 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("AntBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[0].decode() == "torso"):
+           torsoId=i
+           print("found torso")
+
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
+
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py

@@ -24,24 +24,42 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("HalfCheetahBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
 
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
+    #disable rendering during reset, makes loading much faster
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[1].decode() == "cheetah"):
+           torsoId=i
+           print("found torso")
+           print(p.getNumJoints(torsoId))
+           for j in range (p.getNumJoints(torsoId)):
+              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
 
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos = p.getLinkState(torsoId,4)[0]
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/enjoy_TF_HopperBulletEnv_v0_2017may.py

@@ -26,24 +26,40 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("HopperBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
-
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[1].decode() == "hopper"):
+           torsoId=i
+           print("found torso")
+           print(p.getNumJoints(torsoId))
+           for j in range (p.getNumJoints(torsoId)):
+              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        #disable rendering during reset, makes loading much faster
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos = p.getLinkState(torsoId,4)[0]
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
+
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/enjoy_TF_HumanoidBulletEnv_v0_2017may.py

@@ -25,24 +25,37 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("HumanoidBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
-
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[0].decode() == "torso"):
+           torsoId=i
+           print("found humanoid torso")
     while 1:
         frame = 0
         score = 0
         restart_delay = 0
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
         obs = env.reset()
+        p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos, humanOrn = p.getBasePositionAndOrientation(torsoId)
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
+
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py

@@ -24,9 +24,7 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("InvertedDoublePendulumBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
 
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 

examples/pybullet/gym/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py

@@ -22,12 +22,10 @@ class SmallReactivePolicy:
         return x
 
 def demo_run():
+    print("create env")
     env = gym.make("InvertedPendulumBulletEnv-v0")
-
+    print("connecting")
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
     while 1:
@@ -35,7 +33,7 @@ def demo_run():
         score = 0
         restart_delay = 0
         obs = env.reset()
-
+        print("frame")
         while 1:
             time.sleep(0.05)
             a = pi.act(obs)

examples/pybullet/gym/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py

@@ -24,9 +24,7 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("InvertedPendulumSwingupBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
-        cid = p.connect(p.DIRECT)
 
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 

examples/pybullet/gym/enjoy_TF_Walker2DBulletEnv_v0_2017may.py

@@ -24,12 +24,24 @@ class SmallReactivePolicy:
 def demo_run():
     env = gym.make("Walker2DBulletEnv-v0")
 
-    cid = p.connect(p.SHARED_MEMORY)  # only show graphics if the browser is already running....
+    cid = p.connect(p.GUI)
-    if cid < 0:
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-        cid = p.connect(p.DIRECT)
-
     pi = SmallReactivePolicy(env.observation_space, env.action_space)
 
+    p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+    env.reset()
+    p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+    torsoId = -1
+    for i in range (p.getNumBodies()):
+        print(p.getBodyInfo(i))
+        if (p.getBodyInfo(i)[1].decode() == "walker2d"):
+           torsoId=i
+           print("found torso")
+           print(p.getNumJoints(torsoId))
+           for j in range (p.getNumJoints(torsoId)):
+              print(p.getJointInfo(torsoId,j))#LinkState(torsoId,j))
+
     while 1:
         frame = 0
         score = 0
@@ -37,11 +49,15 @@ def demo_run():
         obs = env.reset()
 
         while 1:
-            time.sleep(0.01)
+            time.sleep(0.001)
             a = pi.act(obs)
             obs, r, done, _ = env.step(a)
             score += r
             frame += 1
+            distance=5
+            yaw = 0
+            humanPos = p.getLinkState(torsoId,4)[0]
+            p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
             still_open = env.render("human")
             if still_open==False:
                 return

examples/pybullet/gym/envs/gym_locomotion_envs.py

@@ -1,5 +1,5 @@
-from scene_stadium import SinglePlayerStadiumScene
+from .scene_stadium import SinglePlayerStadiumScene
-from env_bases import MujocoXmlBaseBulletEnv
+from .env_bases import MujocoXmlBaseBulletEnv
 import numpy as np
 from robot_locomotors import Hopper, Walker2D, HalfCheetah, Ant, Humanoid
 

examples/pybullet/gym/envs/gym_pendulum_envs.py

@@ -1,5 +1,5 @@
-from scene_abstract import SingleRobotEmptyScene
+from .scene_abstract import SingleRobotEmptyScene
-from env_bases import MujocoXmlBaseBulletEnv
+from .env_bases import MujocoXmlBaseBulletEnv
 from robot_pendula import InvertedPendulum, InvertedPendulumSwingup, InvertedDoublePendulum
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np

examples/pybullet/gym/envs/scene_stadium.py

@@ -14,6 +14,8 @@ class StadiumScene(Scene):
 		#	 stadium_pose.set_xyz(27, 21, 0)  # see RUN_STARTLINE, RUN_RAD constants
 		self.stadium = p.loadSDF("stadium.sdf")
 		self.ground_plane_mjcf = p.loadMJCF("mjcf/ground_plane.xml")
+		for i in self.ground_plane_mjcf:
+			p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])
 
 class SinglePlayerStadiumScene(StadiumScene):
 	"This scene created by environment, to work in a way as if there was no concept of scene visible to user."

setup.py

@@ -399,7 +399,7 @@ elif _platform == "win32":
 elif _platform == "darwin":
     print("darwin!")
     os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
-    CXX_FLAFS += '-DB3_NO_PYTHON_FRAMEWORK '
+    CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
     CXX_FLAGS += '-DHAS_SOCKLEN_T '
     CXX_FLAGS += '-D_DARWIN '
 #    CXX_FLAGS += '-framework Cocoa '