Merge pull request #1506 from erwincoumans/master

allow to use colors from MJCF file as option (default to random Googl…
2018-01-12 09:02:51 -08:00
parent cdbd93e519 1875652d8f
commit c7a4222b58
20 changed files with 23836 additions and 56 deletions
--- a/data/dinnerware/cup/Cup/cup_vhacd.mtl
+++ b/data/dinnerware/cup/Cup/cup_vhacd.mtl
@@ -0,0 +1,128 @@
+# Blender MTL File: 'None'
+# Material Count: 14
+
+newmtl Shape.014
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.664000 0.688000 0.616000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.015
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.120000 0.744000 0.280000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.016
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.688000 0.736000 0.392000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.017
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.168000 0.496000 0.216000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.018
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.720000 0.472000 0.504000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.019
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.576000 0.288000 0.088000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.020
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.544000 0.536000 0.232000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.021
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.656000 0.240000 0.496000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.022
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.184000 0.536000 0.280000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.023
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.232000 0.016000 0.176000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.024
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.464000 0.552000 0.536000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.025
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.744000 0.448000 0.088000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.026
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.336000 0.232000 0.584000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
+
+newmtl Shape.027
+Ns 400.000000
+Ka 0.000000 0.000000 0.000000
+Kd 0.168000 0.152000 0.672000
+Ks 0.250000 0.250000 0.250000
+Ni 1.000000
+d 0.500000
+illum 2
--- a/data/dinnerware/cup/Cup/cup_vhacd.obj
+++ b/data/dinnerware/cup/Cup/cup_vhacd.obj
--- a/data/dinnerware/cup/Cup/textured-0008192-diffuse_map.jpg
+++ b/data/dinnerware/cup/Cup/textured-0008192-diffuse_map.jpg
--- a/data/dinnerware/cup/Cup/textured-0008192.mtl
+++ b/data/dinnerware/cup/Cup/textured-0008192.mtl
@@ -0,0 +1,4 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd textured-0008192-diffuse_map.jpg
+
--- a/data/dinnerware/cup/Cup/textured-0008192.obj
+++ b/data/dinnerware/cup/Cup/textured-0008192.obj
--- a/data/dinnerware/cup/cup_small.urdf
+++ b/data/dinnerware/cup/cup_small.urdf
@@ -0,0 +1,30 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <inertia_scaling value="3.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.02"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="Cup/textured-0008192.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<mesh filename="Cup/cup_vhacd.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
--- a/data/plane_transparent.urdf
+++ b/data/plane_transparent.urdf
@@ -15,7 +15,7 @@
 				<mesh filename="plane.obj" scale="1 1 1"/>
      </geometry>
       <material name="white">
-        <color rgba="1 1 1 .9"/>
+        <color rgba="1 1 1 .7"/>
      </material>
    </visual>
    <collision>
--- a/data/spider.bullet
+++ b/data/spider.bullet
--- a/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
+++ b/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
@@ -139,7 +139,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
 				btConvexShape* convex = (btConvexShape*)collisionShape;
 				{
 					btShapeHull* hull = new btShapeHull(convex);
-					hull->buildHull(0.0);
+					hull->buildHull(0.0, 1);

 					{
 						//int strideInBytes = 9*sizeof(float);
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -301,6 +301,15 @@ void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* rg

 int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
 {
+	if (textureId == -2)
+	{
+		if (m_data->m_checkedTextureGrey<0)
+		{
+			m_data->m_checkedTextureGrey = createCheckeredTexture(192, 192, 192);
+		}
+		textureId = m_data->m_checkedTextureGrey;
+	}
+
 	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
 	return shapeId;
 }
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -2,7 +2,10 @@
 #include "../../ThirdPartyLibs/tinyxml/tinyxml.h"
 #include "Bullet3Common/b3FileUtils.h"
 #include "Bullet3Common/b3HashMap.h"
-
+#include "LinearMath/btQuickprof.h"
+#include "BulletCollision/CollisionShapes/btShapeHull.h"
+#include "../../CommonInterfaces/CommonRenderInterface.h"
+#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
 #include <string>
 #include "../../Utils/b3ResourcePath.h"
 #include <iostream>
@@ -13,6 +16,9 @@
 #include "../ImportURDFDemo/urdfLexicalCast.h"
 #include "../ImportObjDemo/LoadMeshFromObj.h"
 #include "../ImportSTLDemo/LoadMeshFromSTL.h"
+#include "../ImportColladaDemo/LoadMeshFromCollada.h"
+#include "../OpenGLWindow/ShapeData.h"
+
 #include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
 #include "../ImportMeshUtility/b3ImportMeshUtility.h"

@@ -31,6 +37,20 @@



+#define mjcf_sphere_indiced textured_detailed_sphere_indices
+#define mjcf_sphere_vertices textured_detailed_sphere_vertices
+
+
+
+static btVector4 sGoogleColors[4] =
+{
+	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),
+};
+
+
 #include <vector>

 enum ePARENT_LINK_ENUMS
@@ -192,12 +212,14 @@ struct BulletMJCFImporterInternalData
 	mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;

 	int m_flags;
+	int m_textureId;

 	BulletMJCFImporterInternalData()
 		:m_inertiaFromGeom(true),
 		m_activeModel(-1),
 		m_activeBodyUniqueId(-1),
-		m_flags(0)
+		m_flags(0),
+		m_textureId(-1)
 	{
 		m_pathPrefix[0] = 0;
 	}
@@ -705,6 +727,12 @@ struct BulletMJCFImporterInternalData
 			linkPtr->m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
 		}

+		{
+			geom.m_localMaterial.m_matColor.m_rgbaColor = sGoogleColors[linkIndex & 3];
+			geom.m_localMaterial.m_matColor.m_specularColor.setValue(1, 1, 1);
+			geom.m_hasLocalMaterial = true;
+		}
+
 		std::string rgba = defaults.m_defaultGeomRgba;
 		if (const char* rgbattr = link_xml->Attribute("rgba"))
 		{
@@ -713,11 +741,16 @@ struct BulletMJCFImporterInternalData
 		if (!rgba.empty())
 		{
 			// "0 0.7 0.7 1"
-			parseVector4(geom.m_localMaterial.m_matColor.m_rgbaColor, rgba);
-			geom.m_hasLocalMaterial = true;
-			geom.m_localMaterial.m_name = rgba;
+			if ((m_flags&CUF_MJCF_COLORS_FROM_FILE))
+			{
+				parseVector4(geom.m_localMaterial.m_matColor.m_rgbaColor, rgba);
+				geom.m_hasLocalMaterial = true;
+				geom.m_localMaterial.m_name = rgba;
+			}
 		}

+		
+
 		const char* posS = link_xml->Attribute("pos");
 		if (posS)
 		{
@@ -880,31 +913,43 @@ struct BulletMJCFImporterInternalData
 			if (handledGeomType)
 			{
 						
-				UrdfCollision col;
-				col.m_flags |= URDF_HAS_COLLISION_GROUP;
-				col.m_collisionGroup = defaults.m_defaultCollisionGroup;
-				
-				col.m_flags |= URDF_HAS_COLLISION_MASK;
-				col.m_collisionMask = defaults.m_defaultCollisionMask;
-				
-				//contype, conaffinity 
-				const char* conTypeStr = link_xml->Attribute("contype");
-				if (conTypeStr)
 				{
+					UrdfCollision col;
 					col.m_flags |= URDF_HAS_COLLISION_GROUP;
-					col.m_collisionGroup = urdfLexicalCast<int>(conTypeStr);
-				}
-				const char* conAffinityStr = link_xml->Attribute("conaffinity");
-				if (conAffinityStr)
-				{
+					col.m_collisionGroup = defaults.m_defaultCollisionGroup;
+
 					col.m_flags |= URDF_HAS_COLLISION_MASK;
-					col.m_collisionMask = urdfLexicalCast<int>(conAffinityStr);
+					col.m_collisionMask = defaults.m_defaultCollisionMask;
+
+					//contype, conaffinity 
+					const char* conTypeStr = link_xml->Attribute("contype");
+					if (conTypeStr)
+					{
+						col.m_flags |= URDF_HAS_COLLISION_GROUP;
+						col.m_collisionGroup = urdfLexicalCast<int>(conTypeStr);
+					}
+					const char* conAffinityStr = link_xml->Attribute("conaffinity");
+					if (conAffinityStr)
+					{
+						col.m_flags |= URDF_HAS_COLLISION_MASK;
+						col.m_collisionMask = urdfLexicalCast<int>(conAffinityStr);
+					}
+
+					col.m_geometry = geom;
+					col.m_linkLocalFrame = linkLocalFrame;
+					col.m_sourceFileLocation = sourceFileLocation(link_xml);
+					linkPtr->m_collisionArray.push_back(col);
+				}
+				{
+					UrdfVisual vis;
+					vis.m_geometry = geom;
+					vis.m_linkLocalFrame = linkLocalFrame;
+					vis.m_sourceFileLocation = sourceFileLocation(link_xml);
+					linkPtr->m_visualArray.push_back(vis);
+
 				}

-				col.m_geometry = geom;
-				col.m_linkLocalFrame = linkLocalFrame;
-				col.m_sourceFileLocation = sourceFileLocation(link_xml);
-				linkPtr->m_collisionArray.push_back(col);
+

 			} else
 			{
@@ -1380,6 +1425,7 @@ BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVi
 	m_data->m_guiHelper = helper;
 	m_data->m_customVisualShapesConverter = customConverter;
 	m_data->m_flags = flags;
+	m_data->m_textureId = -1;
 }

 BulletMJCFImporter::~BulletMJCFImporter()
@@ -1525,6 +1571,49 @@ std::string BulletMJCFImporter::getBodyName() const
 	return m_data->m_fileModelName;
 }

+
+
+bool BulletMJCFImporter::getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const
+{
+	bool hasLinkColor = false;
+	{
+		const UrdfLink* link = m_data->getLink(m_data->m_activeModel, linkIndex);
+		if (link)
+		{
+			for (int i = 0; i < link->m_visualArray.size(); i++)
+			{
+				if (link->m_visualArray[i].m_geometry.m_hasLocalMaterial)
+				{
+					matCol = link->m_visualArray[i].m_geometry.m_localMaterial.m_matColor;
+					hasLinkColor = true;
+					break;
+				}
+			}
+
+			if (!hasLinkColor)
+			{
+				for (int i = 0; i < link->m_collisionArray.size(); i++)
+				{
+					if (link->m_collisionArray[i].m_geometry.m_hasLocalMaterial)
+					{
+						matCol = link->m_collisionArray[0].m_geometry.m_localMaterial.m_matColor;
+						hasLinkColor = true;
+					}
+					break;
+				}
+			}
+		}
+	}
+
+	if (!hasLinkColor)
+	{
+		matCol.m_rgbaColor = sGoogleColors[linkIndex & 3];
+		matCol.m_specularColor.setValue(1, 1, 1);
+		hasLinkColor = true;
+	}
+	return hasLinkColor;
+}
+
 bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
 {
 //	UrdfLink* link = m_data->getLink(linkIndex);
@@ -1664,9 +1753,512 @@ bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
 	return true;
 }

+void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const
+{
+
+
+	GLInstanceGraphicsShape* glmesh = 0;
+	int strideInBytes = 9 * sizeof(float);
+
+	btConvexShape* convexColShape = 0;
+
+	switch (visual->m_geometry.m_type)
+	{
+	case URDF_GEOM_CAPSULE:
+	{
+		
+#if 1
+
+		btScalar height = visual->m_geometry.m_capsuleHeight;
+
+		btTransform capsuleTrans;
+		capsuleTrans.setIdentity();
+		if (visual->m_geometry.m_hasFromTo)
+		{
+			btVector3 f = visual->m_geometry.m_capsuleFrom;
+			btVector3 t = visual->m_geometry.m_capsuleTo;
+
+			//compute the local 'fromto' transform
+			btVector3 localPosition = btScalar(0.5)*(t + f);
+			btQuaternion localOrn;
+			localOrn = btQuaternion::getIdentity();
+
+			btVector3 diff = t - f;
+			btScalar lenSqr = diff.length2();
+			height = 0.f;
+
+			if (lenSqr > SIMD_EPSILON)
+			{
+				height = btSqrt(lenSqr);
+				btVector3 ax = diff / height;
+
+				btVector3 zAxis(0, 0, 1);
+				localOrn = shortestArcQuat(zAxis, ax);
+			}
+			capsuleTrans.setOrigin(localPosition);
+			capsuleTrans.setRotation(localOrn);
+		}
+		
+		btScalar diam = 2.*visual->m_geometry.m_capsuleRadius;
+		b3AlignedObjectArray<GLInstanceVertex> transformedVertices;
+		int numVertices = sizeof(mjcf_sphere_vertices) / strideInBytes;
+		transformedVertices.resize(numVertices);
+		for (int i = 0; i<numVertices; i++)
+		{
+
+			btVector3 vert;
+			vert.setValue(mjcf_sphere_vertices[i * 9 + 0],
+				mjcf_sphere_vertices[i * 9 + 1],
+				mjcf_sphere_vertices[i * 9 + 2]);
+
+			btScalar halfHeight = 0.5*height;
+			btVector3 trVer = (diam*vert);
+			int up = 2; //default to z axis up for capsule
+			if (trVer[up]>0)
+				trVer[up] += halfHeight;
+			else
+				trVer[up] -= halfHeight;
+
+			trVer = capsuleTrans*trVer;
+
+			transformedVertices[i].xyzw[0] = trVer[0];
+			transformedVertices[i].xyzw[1] = trVer[1];
+			transformedVertices[i].xyzw[2] = trVer[2];
+			transformedVertices[i].xyzw[3] = 0;
+			transformedVertices[i].normal[0] = mjcf_sphere_vertices[i * 9 + 4];
+			transformedVertices[i].normal[1] = mjcf_sphere_vertices[i * 9 + 5];
+			transformedVertices[i].normal[2] = mjcf_sphere_vertices[i * 9 + 6];
+			//transformedVertices[i].uv[0] = mjcf_sphere_vertices[i * 9 + 7];
+			//transformedVertices[i].uv[1] = mjcf_sphere_vertices[i * 9 + 8];
+
+			btScalar u = btAtan2(transformedVertices[i].normal[0], transformedVertices[i].normal[2]) / (2 * SIMD_PI) + 0.5;
+			btScalar v = transformedVertices[i].normal[1] * 0.5 + 0.5;
+			transformedVertices[i].uv[0] = u;
+			transformedVertices[i].uv[1] = v;
+		}
+
+		glmesh = new GLInstanceGraphicsShape;
+		//		int index = 0;
+		glmesh->m_indices = new b3AlignedObjectArray<int>();
+		glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+
+		int numIndices = sizeof(mjcf_sphere_indiced) / sizeof(int);
+		for (int i = 0; i < numIndices; i++)
+		{
+			glmesh->m_indices->push_back(mjcf_sphere_indiced[i]);
+		}
+		for (int i = 0; i < transformedVertices.size(); i++)
+		{
+			glmesh->m_vertices->push_back(transformedVertices[i]);
+		}
+		glmesh->m_numIndices = numIndices;
+		glmesh->m_numvertices = transformedVertices.size();
+		glmesh->m_scaling[0] = 1;
+		glmesh->m_scaling[1] = 1;
+		glmesh->m_scaling[2] = 1;
+		glmesh->m_scaling[3] = 1;
+#else
+		if (visual->m_geometry.m_hasFromTo)
+		{
+			btVector3 f = visual->m_geometry.m_capsuleFrom;
+			btVector3 t = visual->m_geometry.m_capsuleTo;
+			btVector3 fromto[2] = { f, t };
+			btScalar radii[2] = { btScalar(visual->m_geometry.m_capsuleRadius)
+				, btScalar(visual->m_geometry.m_capsuleRadius) };
+
+			btMultiSphereShape* ms = new btMultiSphereShape(fromto, radii, 2);
+			convexColShape = ms;
+		}
+		else
+		{
+			btCapsuleShapeZ* cap = new btCapsuleShapeZ(visual->m_geometry.m_capsuleRadius,
+				visual->m_geometry.m_capsuleHeight);
+			convexColShape = cap;
+		}
+#endif
+
+		break;
+	}
+	
+	case URDF_GEOM_CYLINDER:
+	{
+		btAlignedObjectArray<btVector3> vertices;
+
+		//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
+		int numSteps = 32;
+		for (int i = 0; i<numSteps; i++)
+		{
+
+			btScalar cylRadius = visual->m_geometry.m_capsuleRadius;
+			btScalar cylLength = visual->m_geometry.m_capsuleHeight;
+
+			btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
+			vertices.push_back(vert);
+			vert[2] = -cylLength / 2.;
+			vertices.push_back(vert);
+		}
+
+		btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
+		cylZShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
+		cylZShape->recalcLocalAabb();
+		convexColShape = cylZShape;
+		break;
+	}
+
+	case URDF_GEOM_BOX:
+	{
+		btVector3 extents = visual->m_geometry.m_boxSize;
+		btBoxShape* boxShape = new btBoxShape(extents*0.5f);
+		//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
+		convexColShape = boxShape;
+		convexColShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
+		break;
+	}
+
+	case URDF_GEOM_SPHERE:
+	{
+#if 1
+		btScalar sphereSize = 2.*visual->m_geometry.m_sphereRadius;
+		b3AlignedObjectArray<GLInstanceVertex> transformedVertices;
+		int numVertices = sizeof(mjcf_sphere_vertices) / strideInBytes;
+		transformedVertices.resize(numVertices);
+		
+
+		glmesh = new GLInstanceGraphicsShape;
+		//		int index = 0;
+		glmesh->m_indices = new b3AlignedObjectArray<int>();
+		glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+		printf("vertices:\n");
+		for (int i = 0; i<numVertices; i++)
+		{
+			btVector3 vert;
+			vert.setValue(mjcf_sphere_vertices[i * 9 + 0],
+				mjcf_sphere_vertices[i * 9 + 1],
+				mjcf_sphere_vertices[i * 9 + 2]);
+
+			btVector3 trVer = sphereSize*vert;
+			transformedVertices[i].xyzw[0] = trVer[0];
+			transformedVertices[i].xyzw[1] = trVer[1];
+			transformedVertices[i].xyzw[2] = trVer[2];
+			transformedVertices[i].xyzw[3] = 0;
+			transformedVertices[i].normal[0] = mjcf_sphere_vertices[i * 9 + 4];
+			transformedVertices[i].normal[1] = mjcf_sphere_vertices[i * 9 + 5];
+			transformedVertices[i].normal[2] = mjcf_sphere_vertices[i * 9 + 6];
+			//transformedVertices[i].uv[0] = mjcf_sphere_vertices[i * 9 + 7];
+			//transformedVertices[i].uv[1] = mjcf_sphere_vertices[i * 9 + 8];
+
+			btScalar u = btAtan2(transformedVertices[i].normal[0], transformedVertices[i].normal[2]) / (2 * SIMD_PI) + 0.5;
+			btScalar v = transformedVertices[i].normal[1] * 0.5 + 0.5;
+			transformedVertices[i].uv[0] = u;
+			transformedVertices[i].uv[1] = v;
+
+		}
+		int numIndices = sizeof(mjcf_sphere_indiced) / sizeof(int);
+		for (int i = 0; i < numIndices; i++)
+		{
+			glmesh->m_indices->push_back(mjcf_sphere_indiced[i]);
+		}
+		for (int i = 0; i < transformedVertices.size(); i++)
+		{
+			glmesh->m_vertices->push_back(transformedVertices[i]);
+		}
+		glmesh->m_numIndices = numIndices;
+		glmesh->m_numvertices = transformedVertices.size();
+		glmesh->m_scaling[0] = 1;
+		glmesh->m_scaling[1] = 1;
+		glmesh->m_scaling[2] = 1;
+		glmesh->m_scaling[3] = 1;
+
+#else
+		
+		btScalar radius = visual->m_geometry.m_sphereRadius;
+		btSphereShape* sphereShape = new btSphereShape(radius);
+		convexColShape = sphereShape;
+		convexColShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
+#endif
+		break;
+	}
+
+	case URDF_GEOM_MESH:
+	{
+		switch (visual->m_geometry.m_meshFileType)
+		{
+		case UrdfGeometry::FILE_OBJ:
+		{
+			b3ImportMeshData meshData;
+			if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
+			{
+
+				if (meshData.m_textureImage1)
+				{
+					MJCFURDFTexture texData;
+					texData.m_width = meshData.m_textureWidth;
+					texData.m_height = meshData.m_textureHeight;
+					texData.textureData1 = meshData.m_textureImage1;
+					texData.m_isCached = meshData.m_isCached;
+					texturesOut.push_back(texData);
+				}
+				glmesh = meshData.m_gfxShape;
+			}
+			break;
+		}
+
+		case UrdfGeometry::FILE_STL:
+		{
+			glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
+			break;
+		}
+
+		case UrdfGeometry::FILE_COLLADA:
+		{
+			btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
+			btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
+			btTransform upAxisTrans; upAxisTrans.setIdentity();
+			float unitMeterScaling = 1;
+			int upAxis = 2;
+
+			LoadMeshFromCollada(visual->m_geometry.m_meshFileName.c_str(),
+				visualShapes,
+				visualShapeInstances,
+				upAxisTrans,
+				unitMeterScaling,
+				upAxis);
+
+			glmesh = new GLInstanceGraphicsShape;
+			//		int index = 0;
+			glmesh->m_indices = new b3AlignedObjectArray<int>();
+			glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+
+			for (int i = 0; i<visualShapeInstances.size(); i++)
+			{
+				ColladaGraphicsInstance* instance = &visualShapeInstances[i];
+				GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
+
+				b3AlignedObjectArray<GLInstanceVertex> verts;
+				verts.resize(gfxShape->m_vertices->size());
+
+				int baseIndex = glmesh->m_vertices->size();
+
+				for (int i = 0; i<gfxShape->m_vertices->size(); i++)
+				{
+					verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
+					verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
+					verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
+					verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
+					verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
+					verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
+					verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
+					verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
+					verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
+
+				}
+
+				int curNumIndices = glmesh->m_indices->size();
+				int additionalIndices = gfxShape->m_indices->size();
+				glmesh->m_indices->resize(curNumIndices + additionalIndices);
+				for (int k = 0; k<additionalIndices; k++)
+				{
+					glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
+				}
+
+				//compensate upAxisTrans and unitMeterScaling here
+				btMatrix4x4 upAxisMat;
+				upAxisMat.setIdentity();
+				//								upAxisMat.setPureRotation(upAxisTrans.getRotation());
+				btMatrix4x4 unitMeterScalingMat;
+				unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
+				btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
+				//btMatrix4x4 worldMat = instance->m_worldTransform;
+				int curNumVertices = glmesh->m_vertices->size();
+				int additionalVertices = verts.size();
+				glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
+
+				for (int v = 0; v<verts.size(); v++)
+				{
+					btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
+					pos = worldMat*pos;
+					verts[v].xyzw[0] = float(pos[0]);
+					verts[v].xyzw[1] = float(pos[1]);
+					verts[v].xyzw[2] = float(pos[2]);
+					glmesh->m_vertices->push_back(verts[v]);
+				}
+			}
+			glmesh->m_numIndices = glmesh->m_indices->size();
+			glmesh->m_numvertices = glmesh->m_vertices->size();
+			//glmesh = LoadMeshFromCollada(visual->m_geometry.m_meshFileName);
+
+			break;
+		}
+		} // switch file type
+
+		if (!glmesh || !glmesh->m_vertices || glmesh->m_numvertices <= 0)
+		{
+			b3Warning("%s: cannot extract anything useful from mesh '%s'\n", urdfPathPrefix, visual->m_geometry.m_meshFileName.c_str());
+			break;
+		}
+
+		//apply the geometry scaling
+		for (int i = 0; i<glmesh->m_vertices->size(); i++)
+		{
+			glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
+			glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
+			glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
+		}
+		break;
+	}
+	case URDF_GEOM_PLANE:
+	{
+		b3Warning("No default visual for URDF_GEOM_PLANE");
+		break;
+	}
+	default:
+	{
+		b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
+	}
+	}
+
+	//if we have a convex, tesselate into localVertices/localIndices
+	if ((glmesh == 0) && convexColShape)
+	{
+		BT_PROFILE("convexColShape");
+
+		btShapeHull* hull = new btShapeHull(convexColShape);
+		hull->buildHull(0.0);
+		{
+			//	int strideInBytes = 9*sizeof(float);
+			int numVertices = hull->numVertices();
+			int numIndices = hull->numIndices();
+
+
+			glmesh = new GLInstanceGraphicsShape;
+			//	int index = 0;
+			glmesh->m_indices = new b3AlignedObjectArray<int>();
+			glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+
+
+			
+
+			for (int i = 0; i < numVertices; i++)
+			{
+				GLInstanceVertex vtx;
+				btVector3 pos = hull->getVertexPointer()[i];
+				vtx.xyzw[0] = pos.x();
+				vtx.xyzw[1] = pos.y();
+				vtx.xyzw[2] = pos.z();
+				vtx.xyzw[3] = 1.f;
+				btVector3 normal = pos.normalized();
+				vtx.normal[0] = normal.x();
+				vtx.normal[1] = normal.y();
+				vtx.normal[2] = normal.z();
+				btScalar u = btAtan2(normal[0], normal[2]) / (2 * SIMD_PI) + 0.5;
+				btScalar v = normal[1] * 0.5 + 0.5;
+				vtx.uv[0] = u;
+				vtx.uv[1] = v;
+				glmesh->m_vertices->push_back(vtx);
+			}
+
+			btAlignedObjectArray<int> indices;
+			for (int i = 0; i < numIndices; i++)
+			{
+				glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
+			}
+
+			glmesh->m_numvertices = glmesh->m_vertices->size();
+			glmesh->m_numIndices = glmesh->m_indices->size();
+		}
+		delete hull;
+		delete convexColShape;
+		convexColShape = 0;
+
+	}
+
+	if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
+	{
+		BT_PROFILE("glmesh");
+		int baseIndex = verticesOut.size();
+
+
+
+		for (int i = 0; i < glmesh->m_indices->size(); i++)
+		{
+			indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
+		}
+
+		for (int i = 0; i < glmesh->m_vertices->size(); i++)
+		{
+			GLInstanceVertex& v = glmesh->m_vertices->at(i);
+			btVector3 vert(v.xyzw[0], v.xyzw[1], v.xyzw[2]);
+			btVector3 vt = visualTransform*vert;
+			v.xyzw[0] = vt[0];
+			v.xyzw[1] = vt[1];
+			v.xyzw[2] = vt[2];
+			btVector3 triNormal(v.normal[0], v.normal[1], v.normal[2]);
+			triNormal = visualTransform.getBasis()*triNormal;
+			v.normal[0] = triNormal[0];
+			v.normal[1] = triNormal[1];
+			v.normal[2] = triNormal[2];
+			verticesOut.push_back(v);
+		}
+	}
+	delete glmesh;
+}
+
 int BulletMJCFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
 {
-	return -1;
+	int graphicsIndex = -1;	
+	if (m_data->m_flags&CUF_MJCF_COLORS_FROM_FILE)
+	{
+		btAlignedObjectArray<GLInstanceVertex> vertices;
+		btAlignedObjectArray<int> indices;
+		btTransform startTrans; startTrans.setIdentity();
+		btAlignedObjectArray<MJCFURDFTexture> textures;
+
+		const UrdfModel& model = *m_data->m_models[m_data->m_activeModel];
+		UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
+		if (linkPtr)
+		{
+
+			const UrdfLink* link = *linkPtr;
+
+			for (int v = 0; v < link->m_visualArray.size(); v++)
+			{
+				const UrdfVisual& vis = link->m_visualArray[v];
+				btTransform childTrans = vis.m_linkLocalFrame;
+				btHashString matName(vis.m_materialName.c_str());
+				UrdfMaterial *const * matPtr = model.m_materials[matName];
+
+				convertURDFToVisualShapeInternal(&vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices, textures);
+
+			}
+		}
+		if (vertices.size() && indices.size())
+		{
+			if (1)
+			{
+				int textureIndex = -2;
+				if (textures.size())
+				{
+					textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1, textures[0].m_width, textures[0].m_height);
+				}
+				{
+					B3_PROFILE("registerGraphicsShape");
+					graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
+				}
+
+			}
+		}
+
+		//delete textures
+		for (int i = 0; i < textures.size(); i++)
+		{
+			B3_PROFILE("free textureData");
+			if (!textures[i].m_isCached)
+			{
+				free(textures[i].textureData1);
+			}
+		}
+	}
+	return graphicsIndex;
 }

 bool BulletMJCFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
@@ -12,12 +12,20 @@ struct MJCFErrorLogger
 	virtual void printMessage(const char* msg)=0;
 };

-
+struct MJCFURDFTexture
+{
+	int m_width;
+	int m_height;
+	unsigned char* textureData1;
+	bool m_isCached;
+};

 class BulletMJCFImporter : public URDFImporterInterface
 {
 	struct BulletMJCFImporterInternalData* m_data;

+	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
+
 public:
 	BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
 	virtual ~BulletMJCFImporter();
@@ -46,6 +54,7 @@ public:

 	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
+	bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;

 	//optional method to get collision group (type) and mask (affinity)
 	virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ;
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -25,6 +25,7 @@ enum ConvertURDFFlags {
  CUF_RESERVED=64,
  CUF_USE_IMPLICIT_CYLINDER=128,
  CUF_GLOBAL_VELOCITIES_MB=256,
+  CUF_MJCF_COLORS_FROM_FILE=512,
 };

 void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -674,6 +674,7 @@ enum eURDF_Flags
 	URDF_RESERVED=64,
 	URDF_USE_IMPLICIT_CYLINDER =128,
 	URDF_GLOBAL_VELOCITIES_MB =256,
+	MJCF_COLORS_FROM_FILE=512,
 };

 enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -470,12 +470,14 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
 				vtx.xyzw[1] = pos.y();
 				vtx.xyzw[2] = pos.z();
 				vtx.xyzw[3] = 1.f;
-				pos.normalize();
-				vtx.normal[0] = pos.x();
-				vtx.normal[1] = pos.y();
-				vtx.normal[2] = pos.z();
-				vtx.uv[0] = 0.5f;
-				vtx.uv[1] = 0.5f;
+				btVector3 normal = pos.safeNormalize();
+				vtx.normal[0] = normal.x();
+				vtx.normal[1] = normal.y();
+				vtx.normal[2] = normal.z();
+				btScalar u = btAtan2(normal[0], normal[2]) / (2 * SIMD_PI) + 0.5;
+				btScalar v = normal[1] * 0.5 + 0.5;
+				vtx.uv[0] = u;
+				vtx.uv[1] = v;
 				glmesh->m_vertices->push_back(vtx);
 			}

@@ -586,18 +588,33 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 			{
 				color.setValue(1,1,1,1);
 			}
-			if (model && useVisual)
+			if (model)
 			{
-				btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());
-				UrdfMaterial*const* matPtr = model->m_materials[matName];
-				if (matPtr)
+				if (useVisual)
 				{
-					for (int i=0; i<4; i++)
+					btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());
+					UrdfMaterial*const* matPtr = model->m_materials[matName];
+					if (matPtr)
 					{
-						rgbaColor[i] = (*matPtr)->m_matColor.m_rgbaColor[i];
+						for (int i = 0; i < 4; i++)
+						{
+							rgbaColor[i] = (*matPtr)->m_matColor.m_rgbaColor[i];
+						}
+						//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
+						//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
+					}
+				}
+				
+			}
+			else
+			{
+
+				if (vis && vis->m_geometry.m_hasLocalMaterial)
+				{
+					for (int i = 0; i < 4; i++)
+					{
+						rgbaColor[i] = vis->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[i];
 					}
-					//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
-					//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
 				}
 			}
 			
--- a/examples/pybullet/examples/quadruped.py
+++ b/examples/pybullet/examples/quadruped.py
@@ -4,7 +4,10 @@ import math


 def drawInertiaBox(parentUid, parentLinkIndex, color):
-	mass,frictionCoeff, inertia =p.getDynamicsInfo(bodyUniqueId=parentUid,linkIndex=parentLinkIndex, flags = p.DYNAMICS_INFO_REPORT_INERTIA)
+	dyn = p.getDynamicsInfo(parentUid, parentLinkIndex)
+	mass=dyn[0]
+	frictionCoeff=dyn[1]
+	inertia = dyn[2]
 	if (mass>0):
 		Ixx = inertia[0]
 		Iyy = inertia[1]
@@ -79,7 +82,7 @@ p.setTimeStep(fixedTimeStep)

 orn = p.getQuaternionFromEuler([0,0,0.4])
 p.setRealTimeSimulation(0)
-quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates)
+quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_USE_IMPLICIT_CYLINDER)
 nJoints = p.getNumJoints(quadruped)

 jointNameToId = {}
@@ -123,7 +126,11 @@ halfpi = 1.57079632679
 twopi = 4*halfpi
 kneeangle = -2.1834

-mass, friction, localInertiaDiagonal = p.getDynamicsInfo(quadruped,-1, flags=p.DYNAMICS_INFO_REPORT_INERTIA )
+dyn = p.getDynamicsInfo(quadruped,-1)
+mass=dyn[0]
+friction=dyn[1]
+localInertiaDiagonal = dyn[2]
+
 print("localInertiaDiagonal",localInertiaDiagonal)

 #this is a no-op, just to show the API
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -526,6 +526,33 @@ void b3pybulletExitFunc(void)
 	}
 }

+static PyObject* pybullet_isConnected(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	int isConnected = 0;
+	int method = 0;
+	PyObject* pylist = 0;
+	PyObject* val = 0;
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = { "physicsClientId", NULL };
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm != 0)
+	{
+		if (b3CanSubmitCommand(sm))
+		{
+			isConnected = 1;
+			method = sPhysicsClientsGUI[physicsClientId];
+		}
+	}
+
+	return PyLong_FromLong(isConnected);
+}
+
+

 static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyObject* keywds)
 {
@@ -8249,6 +8276,10 @@ static PyMethodDef SpamMethods[] = {
 	  "getConnectionInfo(physicsClientId=0)\n"
 	  "Return if a given client id is connected, and using what method."},

+	 { "isConnected", (PyCFunction)pybullet_isConnected, METH_VARARGS | METH_KEYWORDS,
+	"isConnected(physicsClientId=0)\n"
+	"Return if a given client id is connected." },
+
 	{"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS,
 	"resetSimulation(physicsClientId=0)\n"
 	 "Reset the simulation: remove all objects and start from an empty world."},
@@ -8818,7 +8849,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
 	PyModule_AddIntConstant(m, "URDF_USE_IMPLICIT_CYLINDER", URDF_USE_IMPLICIT_CYLINDER);
 	PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
-		
+	PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_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);
--- a/setup.py
+++ b/setup.py
@@ -443,7 +443,7 @@ print("-----")

 setup(
 	name = 'pybullet',
-	version='1.8.0',
+	version='1.8.1',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement 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',
--- a/src/BulletCollision/CollisionShapes/btShapeHull.cpp
+++ b/src/BulletCollision/CollisionShapes/btShapeHull.cpp
@@ -20,6 +20,8 @@ subject to the following restrictions:
 #include "LinearMath/btConvexHull.h"

 #define NUM_UNITSPHERE_POINTS 42
+#define NUM_UNITSPHERE_POINTS_HIGHRES 256
+

 btShapeHull::btShapeHull (const btConvexShape* shape)
 {
@@ -36,9 +38,9 @@ btShapeHull::~btShapeHull ()
 }

 bool
-btShapeHull::buildHull (btScalar /*margin*/)
+btShapeHull::buildHull (btScalar /*margin*/, int highres)
 {
-	int numSampleDirections = NUM_UNITSPHERE_POINTS;
+	int numSampleDirections = highres? NUM_UNITSPHERE_POINTS_HIGHRES:NUM_UNITSPHERE_POINTS;
 	{
 		int numPDA = m_shape->getNumPreferredPenetrationDirections();
 		if (numPDA)
@@ -53,11 +55,11 @@ btShapeHull::buildHull (btScalar /*margin*/)
 		}
 	}

-	btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+	btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
 	int i;
 	for (i = 0; i < numSampleDirections; i++)
 	{
-		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
+		supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
 	}

 	HullDesc hd;
@@ -118,9 +120,268 @@ btShapeHull::numIndices () const
 }


-btVector3* btShapeHull::getUnitSpherePoints()
+btVector3* btShapeHull::getUnitSpherePoints(int highres)
 {
-	static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
+	static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
+	{
+		btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),
+		btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),
+		btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),
+		btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),
+		btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),
+		btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),
+		btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),
+		btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),
+		btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),
+		btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),
+		btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),
+		btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),
+		btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),
+		btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),
+		btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),
+		btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),
+		btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),
+		btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),
+		btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),
+		btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),
+		btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),
+		btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),
+		btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),
+		btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),
+		btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),
+		btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),
+		btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),
+		btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),
+		btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),
+		btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),
+		btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),
+		btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),
+		btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),
+		btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),
+		btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),
+		btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),
+		btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),
+		btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),
+		btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),
+		btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),
+		btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),
+		btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),
+		btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),
+		btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),
+		btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),
+		btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),
+		btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),
+		btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),
+		btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),
+		btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),
+		btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),
+		btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),
+		btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),
+		btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),
+		btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),
+		btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),
+		btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),
+		btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),
+		btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),
+		btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),
+		btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),
+		btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),
+		btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),
+		btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),
+		btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),
+		btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),
+		btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),
+		btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),
+		btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),
+		btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),
+		btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),
+		btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),
+		btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),
+		btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),
+		btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),
+		btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),
+		btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),
+		btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),
+		btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),
+		btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),
+		btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),
+		btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),
+		btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),
+		btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),
+		btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),
+		btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),
+		btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),
+		btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),
+		btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),
+		btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),
+		btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),
+		btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),
+		btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),
+		btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),
+		btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),
+		btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),
+		btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),
+		btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),
+		btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),
+		btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),
+		btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),
+		btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),
+		btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),
+		btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),
+		btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),
+		btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),
+		btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),
+		btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),
+		btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),
+		btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),
+		btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),
+		btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),
+		btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),
+		btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),
+		btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),
+		btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),
+		btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),
+		btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),
+		btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),
+		btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),
+		btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),
+		btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),
+		btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),
+		btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),
+		btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),
+		btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),
+		btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),
+		btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),
+		btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),
+		btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),
+		btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),
+		btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),
+		btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),
+		btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),
+		btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),
+		btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),
+		btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),
+		btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),
+		btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),
+		btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),
+		btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),
+		btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),
+		btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),
+		btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),
+		btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),
+		btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),
+		btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),
+		btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),
+		btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),
+		btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),
+		btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),
+		btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),
+		btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),
+		btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),
+		btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),
+		btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),
+		btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),
+		btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),
+		btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),
+		btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),
+		btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),
+		btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),
+		btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),
+		btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),
+		btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),
+		btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),
+		btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),
+		btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),
+		btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),
+		btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),
+		btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),
+		btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),
+		btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),
+		btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),
+		btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),
+		btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),
+		btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),
+		btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),
+		btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),
+		btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),
+		btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),
+		btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),
+		btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),
+		btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),
+		btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),
+		btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),
+		btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),
+		btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),
+		btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),
+		btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),
+		btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),
+		btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),
+		btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),
+		btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),
+		btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),
+		btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),
+		btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),
+		btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),
+		btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),
+		btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),
+		btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),
+		btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),
+		btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),
+		btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),
+		btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),
+		btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),
+		btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),
+		btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),
+		btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),
+		btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),
+		btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),
+		btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),
+		btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),
+		btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),
+		btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),
+		btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),
+		btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),
+		btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),
+		btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),
+		btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),
+		btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),
+		btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),
+		btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),
+		btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),
+		btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),
+		btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),
+		btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),
+		btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),
+		btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),
+		btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),
+		btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),
+		btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),
+		btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),
+		btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),
+		btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),
+		btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),
+		btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),
+		btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),
+		btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),
+		btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),
+		btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),
+		btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),
+		btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),
+		btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),
+		btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),
+		btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),
+		btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),
+		btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),
+		btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),
+		btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),
+		btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),
+		btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),
+		btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),
+		btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),
+		btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),
+		btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),
+	};
+	static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
 	{
 		btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
 		btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
@@ -165,6 +426,8 @@ btVector3* btShapeHull::getUnitSpherePoints()
 		btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
 		btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
 	};
+	if (highres)
+		return sUnitSpherePointsHighres;
 	return sUnitSpherePoints;
 }

--- a/src/BulletCollision/CollisionShapes/btShapeHull.h
+++ b/src/BulletCollision/CollisionShapes/btShapeHull.h
@@ -34,7 +34,7 @@ protected:
 	unsigned int m_numIndices;
 	const btConvexShape* m_shape;

-	static btVector3* getUnitSpherePoints();
+	static btVector3* getUnitSpherePoints(int highres=0);

 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -42,7 +42,7 @@ public:
 	btShapeHull (const btConvexShape* shape);
 	~btShapeHull ();

-	bool buildHull (btScalar margin);
+	bool buildHull (btScalar margin, int highres=0);

 	int numTriangles () const;
 	int numVertices () const;