From dae8af0a78a508666de9c5fe2c1dd693535da1b8 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@replicant.com>
Date: Thu, 28 Sep 2017 15:45:14 -0700
Subject: [PATCH 1/6] remote b3GjkPairDetector, it is obsolete and unused,
 causing clang compile problems see
 https://github.com/bulletphysics/bullet3/issues/1347

---
 setup.py                                      |   2 +-
 .../b3ConvexHullContact.cpp                   | 158 +-----
 .../b3GjkPairDetector.cpp                     | 533 ------------------
 .../NarrowphaseCollision/b3GjkPairDetector.h  |  84 ---
 4 files changed, 11 insertions(+), 766 deletions(-)
 delete mode 100644 src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp
 delete mode 100644 src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.h

diff --git a/setup.py b/setup.py
index 29139f534..0321e9658 100644
--- a/setup.py
+++ b/setup.py
@@ -441,7 +441,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.4.9',
+	version='1.5.1',
 	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',
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
index 4bdee1a05..fb435aa7f 100644
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
+++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
@@ -24,8 +24,8 @@ bool clipConvexFacesAndFindContactsCPU = false;//false;//true;
 bool reduceConcaveContactsOnGPU = true;//false;
 bool reduceConvexContactsOnGPU = true;//false;
 bool findConvexClippingFacesGPU = true;
-bool useGjk = true;///option for CPU/host testing, when findSeparatingAxisOnGpu = false
-bool useGjkContacts = true;//////option for CPU/host testing when findSeparatingAxisOnGpu = false
+bool useGjk = false;///option for CPU/host testing, when findSeparatingAxisOnGpu = false
+bool useGjkContacts = false;//////option for CPU/host testing when findSeparatingAxisOnGpu = false
 
 
 static int myframecount=0;///for testing
@@ -2606,146 +2606,6 @@ void	computeContactSphereConvex(int pairIndex,
 
 
 
-#include "b3GjkPairDetector.h"
-#include "b3GjkEpa.h"
-#include "b3VoronoiSimplexSolver.h"
-
-int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
-																int pairIndex,
-																int bodyIndexA, int bodyIndexB, 
-																int collidableIndexA, int collidableIndexB, 
-																const b3AlignedObjectArray<b3RigidBodyData>& rigidBodies, 
-																const b3AlignedObjectArray<b3Collidable>& collidables,
-																const b3AlignedObjectArray<b3ConvexPolyhedronData>& convexShapes,
-																const b3AlignedObjectArray<b3Vector3>& convexVertices,
-																const b3AlignedObjectArray<b3Vector3>& uniqueEdges,
-																const b3AlignedObjectArray<int>& convexIndices,
-																const b3AlignedObjectArray<b3GpuFace>& faces,
-																b3AlignedObjectArray<b3Contact4>& globalContactsOut,
-																int& nGlobalContactsOut,
-																int maxContactCapacity,
-																b3AlignedObjectArray<int>&hostHasSepAxis,
-																b3AlignedObjectArray<b3Vector3>&hostSepAxis
-
-
-							   //,const b3AlignedObjectArray<b3Contact4>& oldContacts
-																)
-{	
-	int contactIndex = -1;
-	b3VoronoiSimplexSolver simplexSolver;
-	b3GjkEpaSolver2 epaSolver;
-			
-	b3GjkPairDetector gjkDetector(&simplexSolver,&epaSolver);
-
-	b3Transform transA;
-	transA.setOrigin(rigidBodies[bodyIndexA].m_pos);
-	transA.setRotation(rigidBodies[bodyIndexA].m_quat);
-
-	b3Transform transB;
-	transB.setOrigin(rigidBodies[bodyIndexB].m_pos);
-	transB.setRotation(rigidBodies[bodyIndexB].m_quat);
-	float maximumDistanceSquared = 1e30f;
-					
-	b3Vector3 resultPointOnBWorld;
-	b3Vector3 sepAxis2=b3MakeVector3(0,1,0);
-	b3Scalar distance2 = 1e30f;
-	
-	int shapeIndexA = collidables[collidableIndexA].m_shapeIndex;
-	int shapeIndexB = collidables[collidableIndexB].m_shapeIndex;
-
-	//int sz = sizeof(b3Contact4);
-
-	bool result2 = getClosestPoints(&gjkDetector, transA, transB,
-		convexShapes[shapeIndexA], convexShapes[shapeIndexB],
-		convexVertices,convexVertices,
-		maximumDistanceSquared,
-		sepAxis2,
-		distance2,
-		resultPointOnBWorld);
-	
-	
-	if (result2)
-	{
-		if (nGlobalContactsOut<maxContactCapacity)
-		{
-			contactIndex = nGlobalContactsOut;
-			globalContactsOut.expand();
-			b3Contact4& newContact = globalContactsOut.at(nGlobalContactsOut);
-			newContact.m_batchIdx = 0;//i;
-			newContact.m_bodyAPtrAndSignBit = (rigidBodies.at(bodyIndexA).m_invMass==0)? -bodyIndexA:bodyIndexA;
-			newContact.m_bodyBPtrAndSignBit = (rigidBodies.at(bodyIndexB).m_invMass==0)? -bodyIndexB:bodyIndexB;
-
-			newContact.m_frictionCoeffCmp = 45874;
-			newContact.m_restituitionCoeffCmp = 0;
-					
-			
-			int numPoints = 0;
-			if (pairs[pairIndex].z>=0)
-			{
-				//printf("add existing points?\n");
-				//refresh
-				
-				int numOldPoints = 0;//oldContacts[pairs[pairIndex].z].getNPoints();
-				if (numOldPoints)
-				{
-					//newContact = oldContacts[pairs[pairIndex].z];
-#ifdef PERSISTENT_CONTACTS_HOST
-					b3ContactCache::refreshContactPoints(transA,transB,newContact);
-#endif //PERSISTENT_CONTACTS_HOST
-				}
-				numPoints = b3Contact4Data_getNumPoints(&newContact);
-
-			}
-
-			/*
-			int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
-				if (insertIndex >= 0)
-				{
-					//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
-					m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
-				} else
-				{
-					insertIndex = m_manifoldPtr->addManifoldPoint(newPt);
-				}
-			*/
-			
-			int p=numPoints;
-			if (numPoints<4)
-			{
-				numPoints++;
-			} else
-			{
-				p=3;
-			}
-
-			{
-				resultPointOnBWorld.w = distance2;
-				newContact.m_worldPosB[p] = resultPointOnBWorld;
-#ifdef PERSISTENT_CONTACTS_HOST
-				b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
-				newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld;
-				newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld;
-#endif
-				newContact.m_worldNormalOnB = sepAxis2;
-				
-				
-				hostHasSepAxis[pairIndex] = 1;
-				hostSepAxis[pairIndex] =sepAxis2;
-				//printf("sepAxis[%d]=%f,%f,%f,%f\n",pairIndex,sepAxis2.x,sepAxis2.y,sepAxis2.z,sepAxis2.w);
-			}
-			//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
-			newContact.m_worldNormalOnB.w = (b3Scalar)numPoints;
-
-			
-			nGlobalContactsOut++;
-		} else
-		{
-			b3Error("Error: exceeding contact capacity (%d/%d)\n", nGlobalContactsOut,maxContactCapacity);
-		}
-	}
-	
-	return contactIndex;
-}
 
 int computeContactConvexConvex2(
 																int pairIndex,
@@ -3025,8 +2885,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 			hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
 		{
 			//printf("hostPairs[i].z=%d\n",hostPairs[i].z);
-			//int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
-			int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
+			int contactIndex = computeContactConvexConvex2(           i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
+			//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
 
 
 			if (contactIndex>=0)
@@ -3538,9 +3398,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 
 			
 				
-				
+			//int contactIndex = computeContactConvexConvex2(           i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
+							b3AlignedObjectArray<b3Contact4> oldHostContacts;	
 							int result;
-							result = computeContactConvexConvex( hostPairs,
+							result = computeContactConvexConvex2( //hostPairs,
 													   pairIndex,
 													bodyIndexA, bodyIndexB,
 													   collidableIndexA, collidableIndexB,
@@ -3554,8 +3415,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
 													   hostContacts,
 													   nGlobalContactsOut,
 														maxContactCapacity,
-														hostHasSepAxis,
-														hostSepAxis
+														oldHostContacts
+														//hostHasSepAxis,
+														//hostSepAxis
 														
 																);
 						}//mpr
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp
deleted file mode 100644
index 39f8c31ba..000000000
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp
+++ /dev/null
@@ -1,533 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "b3GjkPairDetector.h"
-#include "Bullet3Common/b3Transform.h"
-#include "b3VoronoiSimplexSolver.h"
-#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
-#include "b3VectorFloat4.h"
-#include "b3GjkEpa.h"
-#include "b3SupportMappings.h"
-
-//must be above the machine epsilon
-#define REL_ERROR2 b3Scalar(1.0e-6)
-
-//temp globals, to improve GJK/EPA/penetration calculations
-int gNumDeepPenetrationChecks2 = 0;
-int gNumGjkChecks2 = 0;
-int gGjkSeparatingAxis2=0;
-int gEpaSeparatingAxis2=0;
-
-
-
-b3GjkPairDetector::b3GjkPairDetector(b3VoronoiSimplexSolver* simplexSolver,b3GjkEpaSolver2*	penetrationDepthSolver)
-:m_cachedSeparatingAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(-1.),b3Scalar(0.))),
-m_penetrationDepthSolver(penetrationDepthSolver),
-m_simplexSolver(simplexSolver),
-m_ignoreMargin(false),
-m_lastUsedMethod(-1),
-m_catchDegeneracies(1),
-m_fixContactNormalDirection(1)
-{
-}
-
-
-
-
-bool calcPenDepth( b3VoronoiSimplexSolver& simplexSolver,
-											  const b3Transform&	transformA, const b3Transform&	transformB,
-	const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const b3AlignedObjectArray<b3Vector3>& verticesA,
-	const b3AlignedObjectArray<b3Vector3>& verticesB,
-											  b3Vector3& v, b3Vector3& wWitnessOnA, b3Vector3& wWitnessOnB)
-{
-
-	(void)v;
-	(void)simplexSolver;
-
-	b3Vector3	guessVector(transformB.getOrigin()-transformA.getOrigin());
-	b3GjkEpaSolver2::sResults	results;
-	
-
-	if(b3GjkEpaSolver2::Penetration(transformA,transformB,&hullA,&hullB,verticesA,verticesB,guessVector,results))
-	{
-		wWitnessOnA = results.witnesses[0];
-		wWitnessOnB = results.witnesses[1];
-		v = results.normal;
-		return true;		
-	} 
-	else
-	{
-		if(b3GjkEpaSolver2::Distance(transformA,transformB,&hullA,&hullB,verticesA,verticesB,guessVector,results))
-		{
-			wWitnessOnA = results.witnesses[0];
-			wWitnessOnB = results.witnesses[1];
-			v = results.normal;
-			return false;
-		}
-	}
-
-	return false;
-}
-#define dot3F4 b3Dot
-
-inline void project(const b3ConvexPolyhedronData& hull,  const float4& pos, const b3Quaternion& orn, const float4& dir, const b3AlignedObjectArray<b3Vector3>& vertices, b3Scalar& min, b3Scalar& max)
-{
-	min = FLT_MAX;
-	max = -FLT_MAX;
-	int numVerts = hull.m_numVertices;
-
-	const float4 localDir = b3QuatRotate(orn.inverse(),dir);
-
-	b3Scalar offset = dot3F4(pos,dir);
-
-	for(int i=0;i<numVerts;i++)
-	{
-		//b3Vector3 pt = trans * vertices[m_vertexOffset+i];
-		//b3Scalar dp = pt.dot(dir);
-		//b3Vector3 vertex = vertices[hull.m_vertexOffset+i];
-		b3Scalar dp = dot3F4((float4&)vertices[hull.m_vertexOffset+i],localDir);
-		//b3Assert(dp==dpL);
-		if(dp < min)	min = dp;
-		if(dp > max)	max = dp;
-	}
-	if(min>max)
-	{
-		b3Scalar tmp = min;
-		min = max;
-		max = tmp;
-	}
-	min += offset;
-	max += offset;
-}
-
-#if 0
-static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const float4& posA,const b3Quaternion& ornA,
-	const float4& posB,const b3Quaternion& ornB,
-	float4& sep_axis, const b3AlignedObjectArray<b3Vector3>& verticesA,const b3AlignedObjectArray<b3Vector3>& verticesB,b3Scalar& depth)
-{
-	b3Scalar Min0,Max0;
-	b3Scalar Min1,Max1;
-	project(hullA,posA,ornA,sep_axis,verticesA, Min0, Max0);
-	project(hullB,posB,ornB, sep_axis,verticesB, Min1, Max1);
-
-	if(Max0<Min1 || Max1<Min0)
-		return false;
-
-	b3Scalar d0 = Max0 - Min1;
-	b3Assert(d0>=0.0f);
-	b3Scalar d1 = Max1 - Min0;
-	b3Assert(d1>=0.0f);
-	if (d0<d1)
-	{
-		depth = d0;
-		sep_axis *=-1;
-	} else
-	{
-		depth = d1;
-		
-	}
-	
-	return true;
-}
-#endif
-
-bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform&	transA, const b3Transform&	transB,
-	const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const b3AlignedObjectArray<b3Vector3>& verticesA,
-	const b3AlignedObjectArray<b3Vector3>& verticesB,
-	b3Scalar maximumDistanceSquared,
-	b3Vector3& resultSepNormal,
-	float& resultSepDistance,
-	b3Vector3& resultPointOnB)
-{
-	//resultSepDistance = maximumDistanceSquared;
-
-	gjkDetector->m_cachedSeparatingDistance = 0.f;
-
-	b3Scalar distance=b3Scalar(0.);
-	b3Vector3	normalInB= b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.));
-	b3Vector3 pointOnA,pointOnB;
-
-	b3Transform localTransA = transA;
-	b3Transform localTransB = transB;
-	
-	b3Vector3 positionOffset = b3MakeVector3(0,0,0);// = (localTransA.getOrigin() + localTransB.getOrigin()) * b3Scalar(0.5);
-	localTransA.getOrigin() -= positionOffset;
-	localTransB.getOrigin() -= positionOffset;
-
-	bool check2d = false;//m_minkowskiA->isConvex2d() && m_minkowskiB->isConvex2d();
-
-	b3Scalar marginA = 0.f;//m_marginA;
-	b3Scalar marginB = 0.f;//m_marginB;
-
-	gNumGjkChecks2++;
-
-
-	//for CCD we don't use margins
-	if (gjkDetector->m_ignoreMargin)
-	{
-		marginA = b3Scalar(0.);
-		marginB = b3Scalar(0.);
-	}
-
-	gjkDetector->m_curIter = 0;
-	int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN?
-	gjkDetector->m_cachedSeparatingAxis.setValue(1,1,1);//0,0,0);
-
-	bool isValid = false;
-	bool checkSimplex = false;
-	bool checkPenetration = true;
-	gjkDetector->m_degenerateSimplex = 0;
-
-	gjkDetector->m_lastUsedMethod = -1;
-
-	{
-		b3Scalar squaredDistance = B3_LARGE_FLOAT;
-		b3Scalar delta = -1e30f;//b3Scalar(0.);
-	//	b3Scalar prevDelta = -1e30f;//b3Scalar(0.);
-		
-		b3Scalar margin = marginA + marginB;
-	//	b3Scalar bestDeltaN = -1e30f;
-	//	b3Vector3 bestSepAxis= b3MakeVector3(0,0,0);
-		
-		
-
-		gjkDetector->m_simplexSolver->reset();
-		
-		for ( ; ; )
-		//while (true)
-		{
-
-		
-			b3Vector3 seperatingAxisInA = (-gjkDetector->m_cachedSeparatingAxis)* localTransA.getBasis();
-			b3Vector3 seperatingAxisInB = gjkDetector->m_cachedSeparatingAxis* localTransB.getBasis();
-
-			b3Vector3 pInA = localGetSupportVertexWithoutMargin(seperatingAxisInA,&hullA,verticesA);
-			b3Vector3 qInB = localGetSupportVertexWithoutMargin(seperatingAxisInB,&hullB,verticesB);
-
-			b3Vector3  pWorld = localTransA(pInA);	
-			b3Vector3  qWorld = localTransB(qInB);
-
-
-#ifdef DEBUG_SPU_COLLISION_DETECTION
-		spu_printf("got local supporting vertices\n");
-#endif
-
-			if (check2d)
-			{
-				pWorld[2] = 0.f;
-				qWorld[2] = 0.f;
-			}
-
-			b3Vector3 w	= pWorld - qWorld;
-			delta = gjkDetector->m_cachedSeparatingAxis.dot(w);
-
-			// potential exit, they don't overlap
-			if ((delta > b3Scalar(0.0)) && (delta * delta > squaredDistance * maximumDistanceSquared)) 
-			{
-				gjkDetector->m_degenerateSimplex = 10;
-				checkSimplex=true;
-				//checkPenetration = false;
-				break;
-			}
-
-			//exit 0: the new point is already in the simplex, or we didn't come any closer
-			if (gjkDetector->m_simplexSolver->inSimplex(w))
-			{
-				gjkDetector->m_degenerateSimplex = 1;
-				checkSimplex = true;
-				break;
-			}
-			// are we getting any closer ?
-			b3Scalar f0 = squaredDistance - delta;
-			b3Scalar f1 = squaredDistance * REL_ERROR2;
-
-			if (f0 <= f1)
-			{
-				if (f0 <= b3Scalar(0.))
-				{
-					gjkDetector->m_degenerateSimplex = 2;
-				} else
-				{
-					gjkDetector->m_degenerateSimplex = 11;
-				}
-				checkSimplex = true;
-				break;
-			}
-
-#ifdef DEBUG_SPU_COLLISION_DETECTION
-		spu_printf("addVertex 1\n");
-#endif
-			//add current vertex to simplex
-			gjkDetector->m_simplexSolver->addVertex(w, pWorld, qWorld);
-#ifdef DEBUG_SPU_COLLISION_DETECTION
-		spu_printf("addVertex 2\n");
-#endif
-			b3Vector3 newCachedSeparatingAxis;
-
-			//calculate the closest point to the origin (update vector v)
-			if (!gjkDetector->m_simplexSolver->closest(newCachedSeparatingAxis))
-			{
-				gjkDetector->m_degenerateSimplex = 3;
-				checkSimplex = true;
-				break;
-			}
-
-			if(newCachedSeparatingAxis.length2()<REL_ERROR2)
-            {
-				gjkDetector->m_cachedSeparatingAxis = newCachedSeparatingAxis;
-                gjkDetector->m_degenerateSimplex = 6;
-                checkSimplex = true;
-                break;
-            }
-
-			b3Scalar previousSquaredDistance = squaredDistance;
-			squaredDistance = newCachedSeparatingAxis.length2();
-#if 0
-///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
-			if (squaredDistance>previousSquaredDistance)
-			{
-				gjkDetector->m_degenerateSimplex = 7;
-				squaredDistance = previousSquaredDistance;
-                checkSimplex = false;
-                break;
-			}
-#endif //
-			
-
-			//redundant gjkDetector->m_simplexSolver->compute_points(pointOnA, pointOnB);
-
-			//are we getting any closer ?
-			if (previousSquaredDistance - squaredDistance <= B3_EPSILON * previousSquaredDistance) 
-			{ 
-//				gjkDetector->m_simplexSolver->backup_closest(gjkDetector->m_cachedSeparatingAxis);
-				checkSimplex = true;
-				gjkDetector->m_degenerateSimplex = 12;
-				
-				break;
-			}
-
-			gjkDetector->m_cachedSeparatingAxis = newCachedSeparatingAxis;
-
-			  //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject   
-              if (gjkDetector->m_curIter++ > gGjkMaxIter)   
-              {   
-                      #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)
-
-                              printf("btGjkPairDetector maxIter exceeded:%i\n",gjkDetector->m_curIter);   
-                              printf("sepAxis=(%f,%f,%f), squaredDistance = %f\n",   
-                              gjkDetector->m_cachedSeparatingAxis.getX(),   
-                              gjkDetector->m_cachedSeparatingAxis.getY(),   
-                              gjkDetector->m_cachedSeparatingAxis.getZ(),   
-                              squaredDistance);
-                              
-
-                      #endif   
-                      break;   
-
-              } 
-
-
-			bool check = (!gjkDetector->m_simplexSolver->fullSimplex());
-			//bool check = (!gjkDetector->m_simplexSolver->fullSimplex() && squaredDistance > B3_EPSILON * gjkDetector->m_simplexSolver->maxVertex());
-
-			if (!check)
-			{
-				//do we need this backup_closest here ?
-//				gjkDetector->m_simplexSolver->backup_closest(gjkDetector->m_cachedSeparatingAxis);
-				gjkDetector->m_degenerateSimplex = 13;
-				break;
-			}
-		}
-
-		if (checkSimplex)
-		{
-			gjkDetector->m_simplexSolver->compute_points(pointOnA, pointOnB);
-			normalInB = gjkDetector->m_cachedSeparatingAxis;
-			b3Scalar lenSqr =gjkDetector->m_cachedSeparatingAxis.length2();
-			
-			//valid normal
-			if (lenSqr < 0.0001)
-			{
-				gjkDetector->m_degenerateSimplex = 5;
-			} 
-			if (lenSqr > B3_EPSILON*B3_EPSILON)
-			{
-				b3Scalar rlen = b3Scalar(1.) / b3Sqrt(lenSqr );
-				normalInB *= rlen; //normalize
-				b3Scalar s = b3Sqrt(squaredDistance);
-			
-				b3Assert(s > b3Scalar(0.0));
-				pointOnA -= gjkDetector->m_cachedSeparatingAxis * (marginA / s);
-				pointOnB += gjkDetector->m_cachedSeparatingAxis * (marginB / s);
-				distance = ((b3Scalar(1.)/rlen) - margin);
-				isValid = true;
-				
-				gjkDetector->m_lastUsedMethod = 1;
-			} else
-			{
-				gjkDetector->m_lastUsedMethod = 2;
-			}
-		}
-
-		bool catchDegeneratePenetrationCase = 
-			(gjkDetector->m_catchDegeneracies && gjkDetector->m_penetrationDepthSolver && gjkDetector->m_degenerateSimplex && ((distance+margin) < 0.01));
-
-		//if (checkPenetration && !isValid)
-		if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
-		{
-			//penetration case
-
-			//if there is no way to handle penetrations, bail out
-			if (gjkDetector->m_penetrationDepthSolver)
-			{
-				// Penetration depth case.
-				b3Vector3 tmpPointOnA,tmpPointOnB;
-				
-				gNumDeepPenetrationChecks2++;
-				gjkDetector->m_cachedSeparatingAxis.setZero();
-
-				bool isValid2 = calcPenDepth( 
-					*gjkDetector->m_simplexSolver, 
-					transA,transB,hullA,hullB,verticesA,verticesB,
-					gjkDetector->m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB
-					);
-
-
-				if (isValid2)
-				{
-					b3Vector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
-					b3Scalar lenSqr = tmpNormalInB.length2();
-					if (lenSqr <= (B3_EPSILON*B3_EPSILON))
-					{
-						tmpNormalInB = gjkDetector->m_cachedSeparatingAxis;
-						lenSqr = gjkDetector->m_cachedSeparatingAxis.length2();
-					}
-
-					if (lenSqr > (B3_EPSILON*B3_EPSILON))
-					{
-						tmpNormalInB /= b3Sqrt(lenSqr);
-						b3Scalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
-						//only replace valid penetrations when the result is deeper (check)
-						if (!isValid || (distance2 < distance))
-						{
-							distance = distance2;
-							pointOnA = tmpPointOnA;
-							pointOnB = tmpPointOnB;
-							normalInB = tmpNormalInB;
-							isValid = true;
-							gjkDetector->m_lastUsedMethod = 3;
-						} else
-						{
-							gjkDetector->m_lastUsedMethod = 8;
-						}
-					} else
-					{
-						gjkDetector->m_lastUsedMethod = 9;
-					}
-				} else
-
-				{
-					///this is another degenerate case, where the initial GJK calculation reports a degenerate case
-					///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
-					///reports a valid positive distance. Use the results of the second GJK instead of failing.
-					///thanks to Jacob.Langford for the reproduction case
-					///http://code.google.com/p/bullet/issues/detail?id=250
-
-				
-					if (gjkDetector->m_cachedSeparatingAxis.length2() > b3Scalar(0.))
-					{
-						b3Scalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
-						//only replace valid distances when the distance is less
-						if (!isValid || (distance2 < distance))
-						{
-							distance = distance2;
-							pointOnA = tmpPointOnA;
-							pointOnB = tmpPointOnB;
-							pointOnA -= gjkDetector->m_cachedSeparatingAxis * marginA ;
-							pointOnB += gjkDetector->m_cachedSeparatingAxis * marginB ;
-							normalInB = gjkDetector->m_cachedSeparatingAxis;
-							normalInB.normalize();
-							isValid = true;
-							gjkDetector->m_lastUsedMethod = 6;
-						} else
-						{
-							gjkDetector->m_lastUsedMethod = 5;
-						}
-					}
-				}
-				
-			}
-
-		}
-	}
-
-	
-
-	if (isValid && (distance < 0))
-	//if (isValid && ((distance < 0) || (distance*distance < maximumDistanceSquared)))
-	{
-
-		if (1)//m_fixContactNormalDirection)
-		{
-			///@workaround for sticky convex collisions
-			//in some degenerate cases (usually when the use uses very small margins) 
-			//the contact normal is pointing the wrong direction
-			//so fix it now (until we can deal with all degenerate cases in GJK and EPA)
-			//contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A
-			//We like to use a dot product of the normal against the difference of the centroids, 
-			//once the centroid is available in the API
-			//until then we use the center of the aabb to approximate the centroid
-			b3Vector3 posA  = localTransA*hullA.m_localCenter;
-			b3Vector3 posB  = localTransB*hullB.m_localCenter;
-
-			
-			b3Vector3 diff = posA-posB;
-			if (diff.dot(normalInB) < 0.f)
-				normalInB *= -1.f;
-		}
-		gjkDetector->m_cachedSeparatingAxis = normalInB;
-		gjkDetector->m_cachedSeparatingDistance = distance;
-
-		/*output.addContactPoint(
-			normalInB,
-			pointOnB+positionOffset,
-			distance);
-			*/
-		
-		static float maxPenetrationDistance = 0.f;
-		if (distance<maxPenetrationDistance)
-		{
-			maxPenetrationDistance = distance;
-			printf("maxPenetrationDistance = %f\n",maxPenetrationDistance);
-		}
-		resultSepNormal = normalInB;
-		resultSepDistance = distance;
-		resultPointOnB = pointOnB+positionOffset;
-		return true;
-	}
-
-		
-		
-	return false;
-
-}
-
-
-
-
-
diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.h b/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.h
deleted file mode 100644
index 2a0f85a88..000000000
--- a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.h
+++ /dev/null
@@ -1,84 +0,0 @@
-
-
-
-
-#ifndef B3_GJK_PAIR_DETECTOR_H
-#define B3_GJK_PAIR_DETECTOR_H
-
-
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
-
-class b3Transform;
-struct b3GjkEpaSolver2;
-class b3VoronoiSimplexSolver;
-struct b3ConvexPolyhedronData;
-
-B3_ATTRIBUTE_ALIGNED16(struct) b3GjkPairDetector
-{
-	
-
-	b3Vector3	m_cachedSeparatingAxis;
-	b3GjkEpaSolver2*	m_penetrationDepthSolver;
-	b3VoronoiSimplexSolver* m_simplexSolver;
-
-
-	bool		m_ignoreMargin;
-	b3Scalar	m_cachedSeparatingDistance;
-	
-
-public:
-
-	//some debugging to fix degeneracy problems
-	int			m_lastUsedMethod;
-	int			m_curIter;
-	int			m_degenerateSimplex;
-	int			m_catchDegeneracies;
-	int			m_fixContactNormalDirection;
-
-	b3GjkPairDetector(b3VoronoiSimplexSolver* simplexSolver,b3GjkEpaSolver2*	penetrationDepthSolver);
-	
-	virtual ~b3GjkPairDetector() {};
-
-	
-	//void	getClosestPoints(,Result& output);
-	
-	void setCachedSeperatingAxis(const b3Vector3& seperatingAxis)
-	{
-		m_cachedSeparatingAxis = seperatingAxis;
-	}
-
-	const b3Vector3& getCachedSeparatingAxis() const
-	{
-		return m_cachedSeparatingAxis;
-	}
-	b3Scalar	getCachedSeparatingDistance() const
-	{
-		return m_cachedSeparatingDistance;
-	}
-
-	void	setPenetrationDepthSolver(b3GjkEpaSolver2*	penetrationDepthSolver)
-	{
-		m_penetrationDepthSolver = penetrationDepthSolver;
-	}
-
-	///don't use setIgnoreMargin, it's for Bullet's internal use
-	void	setIgnoreMargin(bool ignoreMargin)
-	{
-		m_ignoreMargin = ignoreMargin;
-	}
-
-
-};
-
-
-bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform&	transA, const b3Transform&	transB,
-	const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, 
-	const b3AlignedObjectArray<b3Vector3>& verticesA,
-	const b3AlignedObjectArray<b3Vector3>& verticesB,
-	b3Scalar maximumDistanceSquared,
-	b3Vector3& resultSepNormal,
-	float& resultSepDistance,
-	b3Vector3& resultPointOnB);
-
-#endif //B3_GJK_PAIR_DETECTOR_H

From dd2c7af2b2f3e06d3f2647457ac69d0e5e2ec3d4 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Fri, 29 Sep 2017 07:47:31 -0700
Subject: [PATCH 2/6] Update pybullet autogenerated C# bindings, with very
 basic example script that runs inside Unity 3D

---
 data/kuka_iiwa/model_free_base.urdf           |   16 +-
 .../pybullet/unity3d/autogen/NativeMethods.cs | 1167 ++++++++++-------
 .../unity3d/examples/NewBehaviourScript.cs    |   69 +-
 3 files changed, 701 insertions(+), 551 deletions(-)

diff --git a/data/kuka_iiwa/model_free_base.urdf b/data/kuka_iiwa/model_free_base.urdf
index b87373346..3d66235c7 100644
--- a/data/kuka_iiwa/model_free_base.urdf
+++ b/data/kuka_iiwa/model_free_base.urdf
@@ -70,7 +70,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_0.stl"/>
+        <mesh filename="meshes/link_0.obj"/>
       </geometry>
       <material name="Grey"/>
     </visual>
@@ -99,7 +99,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_1.stl"/>
+        <mesh filename="meshes/link_1.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -128,7 +128,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_2.stl"/>
+        <mesh filename="meshes/link_2.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -157,7 +157,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_3.stl"/>
+        <mesh filename="meshes/link_3.obj"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -186,7 +186,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_4.stl"/>
+        <mesh filename="meshes/link_4.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -215,7 +215,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_5.stl"/>
+        <mesh filename="meshes/link_5.obj"/>
       </geometry>
       <material name="Blue"/>
     </visual>
@@ -244,7 +244,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_6.stl"/>
+        <mesh filename="meshes/link_6.obj"/>
       </geometry>
       <material name="Orange"/>
     </visual>
@@ -273,7 +273,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/link_7.stl"/>
+        <mesh filename="meshes/link_7.obj"/>
       </geometry>
       <material name="Grey"/>
     </visual>
diff --git a/examples/pybullet/unity3d/autogen/NativeMethods.cs b/examples/pybullet/unity3d/autogen/NativeMethods.cs
index 365cffa8c..29ec9f4f0 100644
--- a/examples/pybullet/unity3d/autogen/NativeMethods.cs
+++ b/examples/pybullet/unity3d/autogen/NativeMethods.cs
@@ -1,4 +1,11 @@
 
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System;
+
+
+
 public partial class NativeConstants {
     
     /// PHYSICS_CLIENT_C_API_H -> 
@@ -14,8 +21,8 @@ public partial class NativeConstants {
     /// SHARED_MEMORY_KEY -> 12347
     public const int SHARED_MEMORY_KEY = 12347;
     
-    /// SHARED_MEMORY_MAGIC_NUMBER -> 201708270
-    public const int SHARED_MEMORY_MAGIC_NUMBER = 201708270;
+    /// SHARED_MEMORY_MAGIC_NUMBER -> 201709260
+    public const int SHARED_MEMORY_MAGIC_NUMBER = 201709260;
     
     /// MAX_VR_BUTTONS -> 64
     public const int MAX_VR_BUTTONS = 64;
@@ -38,10 +45,20 @@ public partial class NativeConstants {
     /// VISUAL_SHAPE_MAX_PATH_LEN -> 1024
     public const int VISUAL_SHAPE_MAX_PATH_LEN = 1024;
     
+    /// B3_MAX_PLUGIN_ARG_SIZE -> 128
+    public const int B3_MAX_PLUGIN_ARG_SIZE = 128;
+    
+    /// B3_MAX_PLUGIN_ARG_TEXT_LEN -> 1024
+    public const int B3_MAX_PLUGIN_ARG_TEXT_LEN = 1024;
+    
     /// Warning: Generation of Method Macros is not supported at this time
     /// B3_DECLARE_HANDLE -> "(name) typedef struct name##__ { int unused; } *name"
     public const string B3_DECLARE_HANDLE = "(name) typedef struct name##__ { int unused; } *name";
     
+    /// B3_SHARED_API -> __declspec(dllexport)
+    /// Error generating expression: Error generating function call.  Operation not implemented
+    public const string B3_SHARED_API = "__declspec(dllexport)";
+    
     /// PHYSICS_CLIENT_SHARED_MEMORY_H -> 
     /// Error generating expression: Value cannot be null.
     ///Parameter name: node
@@ -177,6 +194,8 @@ public enum EnumSharedMemoryClientCommand {
     
     CMD_SET_ADDITIONAL_SEARCH_PATH,
     
+    CMD_CUSTOM_COMMAND,
+    
     CMD_MAX_CLIENT_COMMANDS,
 }
 
@@ -355,6 +374,10 @@ public enum EnumSharedMemoryServerStatus {
     
     CMD_CHANGE_TEXTURE_COMMAND_FAILED,
     
+    CMD_CUSTOM_COMMAND_COMPLETED,
+    
+    CMD_CUSTOM_COMMAND_FAILED,
+    
     CMD_MAX_SERVER_COMMANDS,
 }
 
@@ -498,6 +521,12 @@ public struct b3UserConstraint {
     
     /// int
     public int m_gearAuxLink;
+    
+    /// double
+    public double m_relativePositionTarget;
+    
+    /// double
+    public double m_erp;
 }
 
 [System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
@@ -941,6 +970,9 @@ public enum eLinkStateFlags {
     
     /// ACTUAL_STATE_COMPUTE_LINKVELOCITY -> 1
     ACTUAL_STATE_COMPUTE_LINKVELOCITY = 1,
+    
+    /// ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS -> 2
+    ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS = 2,
 }
 
 [System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
@@ -1119,80 +1151,121 @@ public enum eStateLoggingFlags {
     STATE_LOG_JOINT_TORQUES = (eStateLoggingFlags.STATE_LOG_JOINT_MOTOR_TORQUES + eStateLoggingFlags.STATE_LOG_JOINT_USER_TORQUES),
 }
 
+[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)]
+public struct b3PluginArguments {
+    
+    /// char[1024]
+    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)]
+    public string m_text;
+    
+    /// int
+    public int m_numInts;
+    
+    /// int[128]
+    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)]
+    public int[] m_ints;
+    
+    /// int
+    public int m_numFloats;
+    
+    /// int[128]
+    [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)]
+    public int[] m_floats;
+}
 
+[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
+public struct b3PhysicsClientHandle__ {
+    
+    /// int
+    public int unused;
+}
+
+[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
+public struct b3SharedMemoryCommandHandle__ {
+    
+    /// int
+    public int unused;
+}
+
+[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
+public struct b3SharedMemoryStatusHandle__ {
+    
+    /// int
+    public int unused;
+}
 
 public partial class NativeMethods {
     
     /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///key: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ConnectSharedMemory")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ConnectSharedMemory")]
 public static extern  System.IntPtr b3ConnectSharedMemory(int key) ;
 
     
     /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///key: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ConnectSharedMemory2")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ConnectSharedMemory2")]
 public static extern  System.IntPtr b3ConnectSharedMemory2(int key) ;
 
     
     /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ConnectPhysicsDirect")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ConnectPhysicsDirect")]
 public static extern  System.IntPtr b3ConnectPhysicsDirect() ;
 
     
     /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///argc: int
     ///argv: char**
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateInProcessPhysicsServerAndConnect")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateInProcessPhysicsServerAndConnect")]
 public static extern  System.IntPtr b3CreateInProcessPhysicsServerAndConnect(int argc, ref System.IntPtr argv) ;
 
     
     /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///argc: int
     ///argv: char**
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateInProcessPhysicsServerAndConnectSharedMemory")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateInProcessPhysicsServerAndConnectSharedMemory")]
 public static extern  System.IntPtr b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, ref System.IntPtr argv) ;
 
     
     /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///argc: int
     ///argv: char**
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateInProcessPhysicsServerAndConnectMainThread")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateInProcessPhysicsServerAndConnectMainThread")]
 public static extern  System.IntPtr b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, ref System.IntPtr argv) ;
 
     
     /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///argc: int
     ///argv: char**
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory")]
 public static extern  System.IntPtr b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, ref System.IntPtr argv) ;
 
     
     /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///guiHelperPtr: void*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect")]
 public static extern  System.IntPtr b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(System.IntPtr guiHelperPtr) ;
 
     
     /// Return Type: void
     ///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InProcessRenderSceneInternal")]
-public static extern  void b3InProcessRenderSceneInternal(System.IntPtr clientHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InProcessRenderSceneInternal")]
+public static extern  void b3InProcessRenderSceneInternal(IntPtr clientHandle) ;
 
     
     /// Return Type: void
     ///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///debugDrawMode: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InProcessDebugDrawInternal")]
-public static extern  void b3InProcessDebugDrawInternal(System.IntPtr clientHandle, int debugDrawMode) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InProcessDebugDrawInternal")]
+public static extern  void b3InProcessDebugDrawInternal(IntPtr clientHandle, int debugDrawMode) ;
 
     
     /// Return Type: int
     ///clientHandle: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///x: float
     ///y: float
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InProcessMouseMoveCallback")]
-public static extern  int b3InProcessMouseMoveCallback(System.IntPtr clientHandle, float x, float y) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InProcessMouseMoveCallback")]
+public static extern  int b3InProcessMouseMoveCallback(IntPtr clientHandle, float x, float y) ;
 
     
     /// Return Type: int
@@ -1201,60 +1274,114 @@ public static extern  int b3InProcessMouseMoveCallback(System.IntPtr clientHandl
     ///state: int
     ///x: float
     ///y: float
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InProcessMouseButtonCallback")]
-public static extern  int b3InProcessMouseButtonCallback(System.IntPtr clientHandle, int button, int state, float x, float y) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InProcessMouseButtonCallback")]
+public static extern  int b3InProcessMouseButtonCallback(IntPtr clientHandle, int button, int state, float x, float y) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3DisconnectSharedMemory")]
-public static extern  void b3DisconnectSharedMemory(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3DisconnectSharedMemory")]
+public static extern  void b3DisconnectSharedMemory(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CanSubmitCommand")]
-public static extern  int b3CanSubmitCommand(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CanSubmitCommand")]
+public static extern  int b3CanSubmitCommand(IntPtr physClient) ;
 
     
     /// Return Type: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SubmitClientCommandAndWaitStatus")]
-public static extern  System.IntPtr b3SubmitClientCommandAndWaitStatus(System.IntPtr physClient, System.IntPtr commandHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SubmitClientCommandAndWaitStatus")]
+public static extern  System.IntPtr b3SubmitClientCommandAndWaitStatus(IntPtr physClient, IntPtr commandHandle) ;
 
     
     /// Return Type: int
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SubmitClientCommand")]
-public static extern  int b3SubmitClientCommand(System.IntPtr physClient, System.IntPtr commandHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SubmitClientCommand")]
+public static extern  int b3SubmitClientCommand(IntPtr physClient, IntPtr commandHandle) ;
 
     
     /// Return Type: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ProcessServerStatus")]
-public static extern  System.IntPtr b3ProcessServerStatus(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ProcessServerStatus")]
+public static extern  System.IntPtr b3ProcessServerStatus(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusType")]
-public static extern  int b3GetStatusType(System.IntPtr statusHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusType")]
+public static extern  int b3GetStatusType(IntPtr statusHandle) ;
+
+    
+    /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCustomCommand")]
+public static extern  System.IntPtr b3CreateCustomCommand(IntPtr physClient) ;
+
+    
+    /// Return Type: void
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///pluginPath: char*
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CustomCommandLoadPlugin")]
+public static extern  void b3CustomCommandLoadPlugin(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string pluginPath) ;
+
+    
+    /// Return Type: int
+    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusPluginUniqueId")]
+public static extern  int b3GetStatusPluginUniqueId(IntPtr statusHandle) ;
+
+    
+    /// Return Type: int
+    ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusPluginCommandResult")]
+public static extern  int b3GetStatusPluginCommandResult(IntPtr statusHandle) ;
+
+    
+    /// Return Type: void
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///pluginUniqueId: int
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CustomCommandUnloadPlugin")]
+public static extern  void b3CustomCommandUnloadPlugin(IntPtr commandHandle, int pluginUniqueId) ;
+
+    
+    /// Return Type: void
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///pluginUniqueId: int
+    ///textArguments: char*
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CustomCommandExecutePluginCommand")]
+public static extern  void b3CustomCommandExecutePluginCommand(IntPtr commandHandle, int pluginUniqueId, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string textArguments) ;
+
+    
+    /// Return Type: void
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///intVal: int
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CustomCommandExecuteAddIntArgument")]
+public static extern  void b3CustomCommandExecuteAddIntArgument(IntPtr commandHandle, int intVal) ;
+
+    
+    /// Return Type: void
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///floatVal: float
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CustomCommandExecuteAddFloatArgument")]
+public static extern  void b3CustomCommandExecuteAddFloatArgument(IntPtr commandHandle, float floatVal) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
     ///bodyIndicesOut: int*
     ///bodyIndicesCapacity: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusBodyIndices")]
-public static extern  int b3GetStatusBodyIndices(System.IntPtr statusHandle, ref int bodyIndicesOut, int bodyIndicesCapacity) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusBodyIndices")]
+public static extern  int b3GetStatusBodyIndices(IntPtr statusHandle, ref int bodyIndicesOut, int bodyIndicesCapacity) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusBodyIndex")]
-public static extern  int b3GetStatusBodyIndex(System.IntPtr statusHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusBodyIndex")]
+public static extern  int b3GetStatusBodyIndex(IntPtr statusHandle) ;
 
     
     /// Return Type: int
@@ -1266,15 +1393,15 @@ public static extern  int b3GetStatusBodyIndex(System.IntPtr statusHandle) ;
     ///actualStateQ: double**
     ///actualStateQdot: double**
     ///jointReactionForces: double**
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusActualState")]
-public static extern  int b3GetStatusActualState(System.IntPtr statusHandle, ref int bodyUniqueId, ref int numDegreeOfFreedomQ, ref int numDegreeOfFreedomU, ref System.IntPtr rootLocalInertialFrame, ref System.IntPtr actualStateQ, ref System.IntPtr actualStateQdot, ref System.IntPtr jointReactionForces) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusActualState")]
+public static extern  int b3GetStatusActualState(IntPtr statusHandle, ref int bodyUniqueId, ref int numDegreeOfFreedomQ, ref int numDegreeOfFreedomU, ref System.IntPtr rootLocalInertialFrame, ref System.IntPtr actualStateQ, ref System.IntPtr actualStateQdot, ref System.IntPtr jointReactionForces) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCollisionInfoCommandInit")]
-public static extern  System.IntPtr b3RequestCollisionInfoCommandInit(System.IntPtr physClient, int bodyUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCollisionInfoCommandInit")]
+public static extern  System.IntPtr b3RequestCollisionInfoCommandInit(IntPtr physClient, int bodyUniqueId) ;
 
     
     /// Return Type: int
@@ -1282,49 +1409,49 @@ public static extern  System.IntPtr b3RequestCollisionInfoCommandInit(System.Int
     ///linkIndex: int
     ///aabbMin: double*
     ///aabbMax: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusAABB")]
-public static extern  int b3GetStatusAABB(System.IntPtr statusHandle, int linkIndex, ref double aabbMin, ref double aabbMax) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusAABB")]
+public static extern  int b3GetStatusAABB(IntPtr statusHandle, int linkIndex, ref double aabbMin, ref double aabbMax) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitSyncBodyInfoCommand")]
-public static extern  System.IntPtr b3InitSyncBodyInfoCommand(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitSyncBodyInfoCommand")]
+public static extern  System.IntPtr b3InitSyncBodyInfoCommand(IntPtr physClient) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitRemoveBodyCommand")]
-public static extern  System.IntPtr b3InitRemoveBodyCommand(System.IntPtr physClient, int bodyUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitRemoveBodyCommand")]
+public static extern  System.IntPtr b3InitRemoveBodyCommand(IntPtr physClient, int bodyUniqueId) ;
 
     
     /// Return Type: int
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetNumBodies")]
-public static extern  int b3GetNumBodies(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetNumBodies")]
+public static extern  int b3GetNumBodies(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///serialIndex: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetBodyUniqueId")]
-public static extern  int b3GetBodyUniqueId(System.IntPtr physClient, int serialIndex) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetBodyUniqueId")]
+public static extern  int b3GetBodyUniqueId(IntPtr physClient, int serialIndex) ;
 
     
     /// Return Type: int
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyUniqueId: int
     ///info: b3BodyInfo*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetBodyInfo")]
-public static extern  int b3GetBodyInfo(System.IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetBodyInfo")]
+public static extern  int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ;
 
     
     /// Return Type: int
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    ///bodyIndex: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetNumJoints")]
-public static extern  int b3GetNumJoints(System.IntPtr physClient, int bodyIndex) ;
+    ///bodyId: int
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetNumJoints")]
+public static extern  int b3GetNumJoints(IntPtr physClient, int bodyId) ;
 
     
     /// Return Type: int
@@ -1332,29 +1459,29 @@ public static extern  int b3GetNumJoints(System.IntPtr physClient, int bodyIndex
     ///bodyIndex: int
     ///jointIndex: int
     ///info: b3JointInfo*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetJointInfo")]
-public static extern  int b3GetJointInfo(System.IntPtr physClient, int bodyIndex, int jointIndex, ref b3JointInfo info) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetJointInfo")]
+public static extern  int b3GetJointInfo(IntPtr physClient, int bodyIndex, int jointIndex, ref b3JointInfo info) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyUniqueId: int
     ///linkIndex: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetDynamicsInfoCommandInit")]
-public static extern  System.IntPtr b3GetDynamicsInfoCommandInit(System.IntPtr physClient, int bodyUniqueId, int linkIndex) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetDynamicsInfoCommandInit")]
+public static extern  System.IntPtr b3GetDynamicsInfoCommandInit(IntPtr physClient, int bodyUniqueId, int linkIndex) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
     ///info: b3DynamicsInfo*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetDynamicsInfo")]
-public static extern  int b3GetDynamicsInfo(System.IntPtr statusHandle, ref b3DynamicsInfo info) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetDynamicsInfo")]
+public static extern  int b3GetDynamicsInfo(IntPtr statusHandle, ref b3DynamicsInfo info) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitChangeDynamicsInfo")]
-public static extern  System.IntPtr b3InitChangeDynamicsInfo(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitChangeDynamicsInfo")]
+public static extern  System.IntPtr b3InitChangeDynamicsInfo(IntPtr physClient) ;
 
     
     /// Return Type: int
@@ -1362,8 +1489,8 @@ public static extern  System.IntPtr b3InitChangeDynamicsInfo(System.IntPtr physC
     ///bodyUniqueId: int
     ///linkIndex: int
     ///mass: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ChangeDynamicsInfoSetMass")]
-public static extern  int b3ChangeDynamicsInfoSetMass(System.IntPtr commandHandle, int bodyUniqueId, int linkIndex, double mass) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ChangeDynamicsInfoSetMass")]
+public static extern  int b3ChangeDynamicsInfoSetMass(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double mass) ;
 
     
     /// Return Type: int
@@ -1371,8 +1498,8 @@ public static extern  int b3ChangeDynamicsInfoSetMass(System.IntPtr commandHandl
     ///bodyUniqueId: int
     ///linkIndex: int
     ///lateralFriction: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ChangeDynamicsInfoSetLateralFriction")]
-public static extern  int b3ChangeDynamicsInfoSetLateralFriction(System.IntPtr commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ChangeDynamicsInfoSetLateralFriction")]
+public static extern  int b3ChangeDynamicsInfoSetLateralFriction(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction) ;
 
     
     /// Return Type: int
@@ -1380,8 +1507,8 @@ public static extern  int b3ChangeDynamicsInfoSetLateralFriction(System.IntPtr c
     ///bodyUniqueId: int
     ///linkIndex: int
     ///friction: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ChangeDynamicsInfoSetSpinningFriction")]
-public static extern  int b3ChangeDynamicsInfoSetSpinningFriction(System.IntPtr commandHandle, int bodyUniqueId, int linkIndex, double friction) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ChangeDynamicsInfoSetSpinningFriction")]
+public static extern  int b3ChangeDynamicsInfoSetSpinningFriction(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double friction) ;
 
     
     /// Return Type: int
@@ -1389,8 +1516,8 @@ public static extern  int b3ChangeDynamicsInfoSetSpinningFriction(System.IntPtr
     ///bodyUniqueId: int
     ///linkIndex: int
     ///friction: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ChangeDynamicsInfoSetRollingFriction")]
-public static extern  int b3ChangeDynamicsInfoSetRollingFriction(System.IntPtr commandHandle, int bodyUniqueId, int linkIndex, double friction) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ChangeDynamicsInfoSetRollingFriction")]
+public static extern  int b3ChangeDynamicsInfoSetRollingFriction(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double friction) ;
 
     
     /// Return Type: int
@@ -1398,24 +1525,24 @@ public static extern  int b3ChangeDynamicsInfoSetRollingFriction(System.IntPtr c
     ///bodyUniqueId: int
     ///linkIndex: int
     ///restitution: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ChangeDynamicsInfoSetRestitution")]
-public static extern  int b3ChangeDynamicsInfoSetRestitution(System.IntPtr commandHandle, int bodyUniqueId, int linkIndex, double restitution) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ChangeDynamicsInfoSetRestitution")]
+public static extern  int b3ChangeDynamicsInfoSetRestitution(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double restitution) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///bodyUniqueId: int
     ///linearDamping: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ChangeDynamicsInfoSetLinearDamping")]
-public static extern  int b3ChangeDynamicsInfoSetLinearDamping(System.IntPtr commandHandle, int bodyUniqueId, double linearDamping) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ChangeDynamicsInfoSetLinearDamping")]
+public static extern  int b3ChangeDynamicsInfoSetLinearDamping(IntPtr commandHandle, int bodyUniqueId, double linearDamping) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///bodyUniqueId: int
     ///angularDamping: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ChangeDynamicsInfoSetAngularDamping")]
-public static extern  int b3ChangeDynamicsInfoSetAngularDamping(System.IntPtr commandHandle, int bodyUniqueId, double angularDamping) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ChangeDynamicsInfoSetAngularDamping")]
+public static extern  int b3ChangeDynamicsInfoSetAngularDamping(IntPtr commandHandle, int bodyUniqueId, double angularDamping) ;
 
     
     /// Return Type: int
@@ -1424,8 +1551,8 @@ public static extern  int b3ChangeDynamicsInfoSetAngularDamping(System.IntPtr co
     ///linkIndex: int
     ///contactStiffness: double
     ///contactDamping: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ChangeDynamicsInfoSetContactStiffnessAndDamping")]
-public static extern  int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(System.IntPtr commandHandle, int bodyUniqueId, int linkIndex, double contactStiffness, double contactDamping) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ChangeDynamicsInfoSetContactStiffnessAndDamping")]
+public static extern  int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double contactStiffness, double contactDamping) ;
 
     
     /// Return Type: int
@@ -1433,8 +1560,8 @@ public static extern  int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(Syst
     ///bodyUniqueId: int
     ///linkIndex: int
     ///frictionAnchor: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ChangeDynamicsInfoSetFrictionAnchor")]
-public static extern  int b3ChangeDynamicsInfoSetFrictionAnchor(System.IntPtr commandHandle, int bodyUniqueId, int linkIndex, int frictionAnchor) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ChangeDynamicsInfoSetFrictionAnchor")]
+public static extern  int b3ChangeDynamicsInfoSetFrictionAnchor(IntPtr commandHandle, int bodyUniqueId, int linkIndex, int frictionAnchor) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -1444,112 +1571,126 @@ public static extern  int b3ChangeDynamicsInfoSetFrictionAnchor(System.IntPtr co
     ///childBodyIndex: int
     ///childJointIndex: int
     ///info: b3JointInfo*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitCreateUserConstraintCommand")]
-public static extern  System.IntPtr b3InitCreateUserConstraintCommand(System.IntPtr physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, ref b3JointInfo info) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitCreateUserConstraintCommand")]
+public static extern  System.IntPtr b3InitCreateUserConstraintCommand(IntPtr physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, ref b3JointInfo info) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusUserConstraintUniqueId")]
-public static extern  int b3GetStatusUserConstraintUniqueId(System.IntPtr statusHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusUserConstraintUniqueId")]
+public static extern  int b3GetStatusUserConstraintUniqueId(IntPtr statusHandle) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///userConstraintUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitChangeUserConstraintCommand")]
-public static extern  System.IntPtr b3InitChangeUserConstraintCommand(System.IntPtr physClient, int userConstraintUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitChangeUserConstraintCommand")]
+public static extern  System.IntPtr b3InitChangeUserConstraintCommand(IntPtr physClient, int userConstraintUniqueId) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///jointChildPivot: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitChangeUserConstraintSetPivotInB")]
-public static extern  int b3InitChangeUserConstraintSetPivotInB(System.IntPtr commandHandle, ref double jointChildPivot) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitChangeUserConstraintSetPivotInB")]
+public static extern  int b3InitChangeUserConstraintSetPivotInB(IntPtr commandHandle, ref double jointChildPivot) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///jointChildFrameOrn: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitChangeUserConstraintSetFrameInB")]
-public static extern  int b3InitChangeUserConstraintSetFrameInB(System.IntPtr commandHandle, ref double jointChildFrameOrn) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitChangeUserConstraintSetFrameInB")]
+public static extern  int b3InitChangeUserConstraintSetFrameInB(IntPtr commandHandle, ref double jointChildFrameOrn) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///maxAppliedForce: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitChangeUserConstraintSetMaxForce")]
-public static extern  int b3InitChangeUserConstraintSetMaxForce(System.IntPtr commandHandle, double maxAppliedForce) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitChangeUserConstraintSetMaxForce")]
+public static extern  int b3InitChangeUserConstraintSetMaxForce(IntPtr commandHandle, double maxAppliedForce) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///gearRatio: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitChangeUserConstraintSetGearRatio")]
-public static extern  int b3InitChangeUserConstraintSetGearRatio(System.IntPtr commandHandle, double gearRatio) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitChangeUserConstraintSetGearRatio")]
+public static extern  int b3InitChangeUserConstraintSetGearRatio(IntPtr commandHandle, double gearRatio) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///gearAuxLink: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitChangeUserConstraintSetGearAuxLink")]
-public static extern  int b3InitChangeUserConstraintSetGearAuxLink(System.IntPtr commandHandle, int gearAuxLink) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitChangeUserConstraintSetGearAuxLink")]
+public static extern  int b3InitChangeUserConstraintSetGearAuxLink(IntPtr commandHandle, int gearAuxLink) ;
+
+    
+    /// Return Type: int
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///relativePositionTarget: double
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitChangeUserConstraintSetRelativePositionTarget")]
+public static extern  int b3InitChangeUserConstraintSetRelativePositionTarget(IntPtr commandHandle, double relativePositionTarget) ;
+
+    
+    /// Return Type: int
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///erp: double
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitChangeUserConstraintSetERP")]
+public static extern  int b3InitChangeUserConstraintSetERP(IntPtr commandHandle, double erp) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///userConstraintUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitRemoveUserConstraintCommand")]
-public static extern  System.IntPtr b3InitRemoveUserConstraintCommand(System.IntPtr physClient, int userConstraintUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitRemoveUserConstraintCommand")]
+public static extern  System.IntPtr b3InitRemoveUserConstraintCommand(IntPtr physClient, int userConstraintUniqueId) ;
 
     
     /// Return Type: int
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetNumUserConstraints")]
-public static extern  int b3GetNumUserConstraints(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetNumUserConstraints")]
+public static extern  int b3GetNumUserConstraints(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///constraintUniqueId: int
     ///info: b3UserConstraint*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetUserConstraintInfo")]
-public static extern  int b3GetUserConstraintInfo(System.IntPtr physClient, int constraintUniqueId, ref b3UserConstraint info) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetUserConstraintInfo")]
+public static extern  int b3GetUserConstraintInfo(IntPtr physClient, int constraintUniqueId, ref b3UserConstraint info) ;
 
     
     /// Return Type: int
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///serialIndex: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetUserConstraintId")]
-public static extern  int b3GetUserConstraintId(System.IntPtr physClient, int serialIndex) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetUserConstraintId")]
+public static extern  int b3GetUserConstraintId(IntPtr physClient, int serialIndex) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///debugMode: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitRequestDebugLinesCommand")]
-public static extern  System.IntPtr b3InitRequestDebugLinesCommand(System.IntPtr physClient, int debugMode) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitRequestDebugLinesCommand")]
+public static extern  System.IntPtr b3InitRequestDebugLinesCommand(IntPtr physClient, int debugMode) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///lines: b3DebugLines*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetDebugLines")]
-public static extern  void b3GetDebugLines(System.IntPtr physClient, ref b3DebugLines lines) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetDebugLines")]
+public static extern  void b3GetDebugLines(IntPtr physClient, ref b3DebugLines lines) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitConfigureOpenGLVisualizer")]
-public static extern  System.IntPtr b3InitConfigureOpenGLVisualizer(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitConfigureOpenGLVisualizer")]
+public static extern  System.IntPtr b3InitConfigureOpenGLVisualizer(IntPtr physClient) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///flag: int
     ///enabled: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ConfigureOpenGLVisualizerSetVisualizationFlags")]
-public static extern  void b3ConfigureOpenGLVisualizerSetVisualizationFlags(System.IntPtr commandHandle, int flag, int enabled) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ConfigureOpenGLVisualizerSetVisualizationFlags")]
+public static extern  void b3ConfigureOpenGLVisualizerSetVisualizationFlags(IntPtr commandHandle, int flag, int enabled) ;
 
     
     /// Return Type: void
@@ -1558,21 +1699,21 @@ public static extern  void b3ConfigureOpenGLVisualizerSetVisualizationFlags(Syst
     ///cameraPitch: float
     ///cameraYaw: float
     ///cameraTargetPosition: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ConfigureOpenGLVisualizerSetViewMatrix")]
-public static extern  void b3ConfigureOpenGLVisualizerSetViewMatrix(System.IntPtr commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, ref float cameraTargetPosition) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ConfigureOpenGLVisualizerSetViewMatrix")]
+public static extern  void b3ConfigureOpenGLVisualizerSetViewMatrix(IntPtr commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, ref float cameraTargetPosition) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitRequestOpenGLVisualizerCameraCommand")]
-public static extern  System.IntPtr b3InitRequestOpenGLVisualizerCameraCommand(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitRequestOpenGLVisualizerCameraCommand")]
+public static extern  System.IntPtr b3InitRequestOpenGLVisualizerCameraCommand(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
     ///camera: b3OpenGLVisualizerCameraInfo*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusOpenGLVisualizerCamera")]
-public static extern  int b3GetStatusOpenGLVisualizerCamera(System.IntPtr statusHandle, ref b3OpenGLVisualizerCameraInfo camera) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusOpenGLVisualizerCamera")]
+public static extern  int b3GetStatusOpenGLVisualizerCamera(IntPtr statusHandle, ref b3OpenGLVisualizerCameraInfo camera) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -1582,8 +1723,8 @@ public static extern  int b3GetStatusOpenGLVisualizerCamera(System.IntPtr status
     ///colorRGB: double*
     ///lineWidth: double
     ///lifeTime: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitUserDebugDrawAddLine3D")]
-public static extern  System.IntPtr b3InitUserDebugDrawAddLine3D(System.IntPtr physClient, ref double fromXYZ, ref double toXYZ, ref double colorRGB, double lineWidth, double lifeTime) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitUserDebugDrawAddLine3D")]
+public static extern  System.IntPtr b3InitUserDebugDrawAddLine3D(IntPtr physClient, ref double fromXYZ, ref double toXYZ, ref double colorRGB, double lineWidth, double lifeTime) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -1593,30 +1734,30 @@ public static extern  System.IntPtr b3InitUserDebugDrawAddLine3D(System.IntPtr p
     ///colorRGB: double*
     ///textSize: double
     ///lifeTime: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitUserDebugDrawAddText3D")]
-public static extern  System.IntPtr b3InitUserDebugDrawAddText3D(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string txt, ref double positionXYZ, ref double colorRGB, double textSize, double lifeTime) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitUserDebugDrawAddText3D")]
+public static extern  System.IntPtr b3InitUserDebugDrawAddText3D(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string txt, ref double positionXYZ, ref double colorRGB, double textSize, double lifeTime) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///optionFlags: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3UserDebugTextSetOptionFlags")]
-public static extern  void b3UserDebugTextSetOptionFlags(System.IntPtr commandHandle, int optionFlags) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3UserDebugTextSetOptionFlags")]
+public static extern  void b3UserDebugTextSetOptionFlags(IntPtr commandHandle, int optionFlags) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///orientation: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3UserDebugTextSetOrientation")]
-public static extern  void b3UserDebugTextSetOrientation(System.IntPtr commandHandle, ref double orientation) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3UserDebugTextSetOrientation")]
+public static extern  void b3UserDebugTextSetOrientation(IntPtr commandHandle, ref double orientation) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///objectUniqueId: int
     ///linkIndex: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3UserDebugItemSetParentObject")]
-public static extern  void b3UserDebugItemSetParentObject(System.IntPtr commandHandle, int objectUniqueId, int linkIndex) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3UserDebugItemSetParentObject")]
+public static extern  void b3UserDebugItemSetParentObject(IntPtr commandHandle, int objectUniqueId, int linkIndex) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -1625,41 +1766,41 @@ public static extern  void b3UserDebugItemSetParentObject(System.IntPtr commandH
     ///rangeMin: double
     ///rangeMax: double
     ///startValue: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitUserDebugAddParameter")]
-public static extern  System.IntPtr b3InitUserDebugAddParameter(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string txt, double rangeMin, double rangeMax, double startValue) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitUserDebugAddParameter")]
+public static extern  System.IntPtr b3InitUserDebugAddParameter(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string txt, double rangeMin, double rangeMax, double startValue) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///debugItemUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitUserDebugReadParameter")]
-public static extern  System.IntPtr b3InitUserDebugReadParameter(System.IntPtr physClient, int debugItemUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitUserDebugReadParameter")]
+public static extern  System.IntPtr b3InitUserDebugReadParameter(IntPtr physClient, int debugItemUniqueId) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
     ///paramValue: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusDebugParameterValue")]
-public static extern  int b3GetStatusDebugParameterValue(System.IntPtr statusHandle, ref double paramValue) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusDebugParameterValue")]
+public static extern  int b3GetStatusDebugParameterValue(IntPtr statusHandle, ref double paramValue) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///debugItemUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitUserDebugDrawRemove")]
-public static extern  System.IntPtr b3InitUserDebugDrawRemove(System.IntPtr physClient, int debugItemUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitUserDebugDrawRemove")]
+public static extern  System.IntPtr b3InitUserDebugDrawRemove(IntPtr physClient, int debugItemUniqueId) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitUserDebugDrawRemoveAll")]
-public static extern  System.IntPtr b3InitUserDebugDrawRemoveAll(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitUserDebugDrawRemoveAll")]
+public static extern  System.IntPtr b3InitUserDebugDrawRemoveAll(IntPtr physClient) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitDebugDrawingCommand")]
-public static extern  System.IntPtr b3InitDebugDrawingCommand(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitDebugDrawingCommand")]
+public static extern  System.IntPtr b3InitDebugDrawingCommand(IntPtr physClient) ;
 
     
     /// Return Type: void
@@ -1667,107 +1808,107 @@ public static extern  System.IntPtr b3InitDebugDrawingCommand(System.IntPtr phys
     ///objectUniqueId: int
     ///linkIndex: int
     ///objectColorRGB: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetDebugObjectColor")]
-public static extern  void b3SetDebugObjectColor(System.IntPtr commandHandle, int objectUniqueId, int linkIndex, ref double objectColorRGB) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetDebugObjectColor")]
+public static extern  void b3SetDebugObjectColor(IntPtr commandHandle, int objectUniqueId, int linkIndex, ref double objectColorRGB) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///objectUniqueId: int
     ///linkIndex: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RemoveDebugObjectColor")]
-public static extern  void b3RemoveDebugObjectColor(System.IntPtr commandHandle, int objectUniqueId, int linkIndex) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RemoveDebugObjectColor")]
+public static extern  void b3RemoveDebugObjectColor(IntPtr commandHandle, int objectUniqueId, int linkIndex) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetDebugItemUniqueId")]
-public static extern  int b3GetDebugItemUniqueId(System.IntPtr statusHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetDebugItemUniqueId")]
+public static extern  int b3GetDebugItemUniqueId(IntPtr statusHandle) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitRequestCameraImage")]
-public static extern  System.IntPtr b3InitRequestCameraImage(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitRequestCameraImage")]
+public static extern  System.IntPtr b3InitRequestCameraImage(IntPtr physClient) ;
 
     
     /// Return Type: void
-    ///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///viewMatrix: float*
     ///projectionMatrix: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetCameraMatrices")]
-public static extern  void b3RequestCameraImageSetCameraMatrices(System.IntPtr command, ref float viewMatrix, ref float projectionMatrix) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetCameraMatrices")]
+public static extern  void b3RequestCameraImageSetCameraMatrices(IntPtr commandHandle, ref float viewMatrix, ref float projectionMatrix) ;
 
     
     /// Return Type: void
-    ///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///width: int
     ///height: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetPixelResolution")]
-public static extern  void b3RequestCameraImageSetPixelResolution(System.IntPtr command, int width, int height) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetPixelResolution")]
+public static extern  void b3RequestCameraImageSetPixelResolution(IntPtr commandHandle, int width, int height) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///lightDirection: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetLightDirection")]
-public static extern  void b3RequestCameraImageSetLightDirection(System.IntPtr commandHandle, ref float lightDirection) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetLightDirection")]
+public static extern  void b3RequestCameraImageSetLightDirection(IntPtr commandHandle, ref float lightDirection) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///lightColor: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetLightColor")]
-public static extern  void b3RequestCameraImageSetLightColor(System.IntPtr commandHandle, ref float lightColor) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetLightColor")]
+public static extern  void b3RequestCameraImageSetLightColor(IntPtr commandHandle, ref float lightColor) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///lightDistance: float
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetLightDistance")]
-public static extern  void b3RequestCameraImageSetLightDistance(System.IntPtr commandHandle, float lightDistance) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetLightDistance")]
+public static extern  void b3RequestCameraImageSetLightDistance(IntPtr commandHandle, float lightDistance) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///lightAmbientCoeff: float
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetLightAmbientCoeff")]
-public static extern  void b3RequestCameraImageSetLightAmbientCoeff(System.IntPtr commandHandle, float lightAmbientCoeff) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetLightAmbientCoeff")]
+public static extern  void b3RequestCameraImageSetLightAmbientCoeff(IntPtr commandHandle, float lightAmbientCoeff) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///lightDiffuseCoeff: float
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetLightDiffuseCoeff")]
-public static extern  void b3RequestCameraImageSetLightDiffuseCoeff(System.IntPtr commandHandle, float lightDiffuseCoeff) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetLightDiffuseCoeff")]
+public static extern  void b3RequestCameraImageSetLightDiffuseCoeff(IntPtr commandHandle, float lightDiffuseCoeff) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///lightSpecularCoeff: float
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetLightSpecularCoeff")]
-public static extern  void b3RequestCameraImageSetLightSpecularCoeff(System.IntPtr commandHandle, float lightSpecularCoeff) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetLightSpecularCoeff")]
+public static extern  void b3RequestCameraImageSetLightSpecularCoeff(IntPtr commandHandle, float lightSpecularCoeff) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///hasShadow: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetShadow")]
-public static extern  void b3RequestCameraImageSetShadow(System.IntPtr commandHandle, int hasShadow) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetShadow")]
+public static extern  void b3RequestCameraImageSetShadow(IntPtr commandHandle, int hasShadow) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///renderer: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSelectRenderer")]
-public static extern  void b3RequestCameraImageSelectRenderer(System.IntPtr commandHandle, int renderer) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSelectRenderer")]
+public static extern  void b3RequestCameraImageSelectRenderer(IntPtr commandHandle, int renderer) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///imageData: b3CameraImageData*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetCameraImageData")]
-public static extern  void b3GetCameraImageData(System.IntPtr physClient, ref b3CameraImageData imageData) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetCameraImageData")]
+public static extern  void b3GetCameraImageData(IntPtr physClient, ref b3CameraImageData imageData) ;
 
     
     /// Return Type: void
@@ -1775,7 +1916,7 @@ public static extern  void b3GetCameraImageData(System.IntPtr physClient, ref b3
     ///cameraTargetPosition: float*
     ///cameraUp: float*
     ///viewMatrix: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ComputeViewMatrixFromPositions")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ComputeViewMatrixFromPositions")]
 public static extern  void b3ComputeViewMatrixFromPositions(ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp, ref float viewMatrix) ;
 
     
@@ -1787,7 +1928,7 @@ public static extern  void b3ComputeViewMatrixFromPositions(ref float cameraPosi
     ///roll: float
     ///upAxis: int
     ///viewMatrix: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ComputeViewMatrixFromYawPitchRoll")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ComputeViewMatrixFromYawPitchRoll")]
 public static extern  void b3ComputeViewMatrixFromYawPitchRoll(ref float cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis, ref float viewMatrix) ;
 
     
@@ -1796,7 +1937,7 @@ public static extern  void b3ComputeViewMatrixFromYawPitchRoll(ref float cameraT
     ///cameraPosition: float*
     ///cameraTargetPosition: float*
     ///cameraUp: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ComputePositionFromViewMatrix")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ComputePositionFromViewMatrix")]
 public static extern  void b3ComputePositionFromViewMatrix(ref float viewMatrix, ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp) ;
 
     
@@ -1808,7 +1949,7 @@ public static extern  void b3ComputePositionFromViewMatrix(ref float viewMatrix,
     ///nearVal: float
     ///farVal: float
     ///projectionMatrix: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ComputeProjectionMatrix")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ComputeProjectionMatrix")]
 public static extern  void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, ref float projectionMatrix) ;
 
     
@@ -1818,17 +1959,17 @@ public static extern  void b3ComputeProjectionMatrix(float left, float right, fl
     ///nearVal: float
     ///farVal: float
     ///projectionMatrix: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ComputeProjectionMatrixFOV")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ComputeProjectionMatrixFOV")]
 public static extern  void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, ref float projectionMatrix) ;
 
     
     /// Return Type: void
-    ///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///cameraPosition: float*
     ///cameraTargetPosition: float*
     ///cameraUp: float*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetViewMatrix")]
-public static extern  void b3RequestCameraImageSetViewMatrix(System.IntPtr command, ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetViewMatrix")]
+public static extern  void b3RequestCameraImageSetViewMatrix(IntPtr commandHandle, ref float cameraPosition, ref float cameraTargetPosition, ref float cameraUp) ;
 
     
     /// Return Type: void
@@ -1839,161 +1980,161 @@ public static extern  void b3RequestCameraImageSetViewMatrix(System.IntPtr comma
     ///pitch: float
     ///roll: float
     ///upAxis: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetViewMatrix2")]
-public static extern  void b3RequestCameraImageSetViewMatrix2(System.IntPtr commandHandle, ref float cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetViewMatrix2")]
+public static extern  void b3RequestCameraImageSetViewMatrix2(IntPtr commandHandle, ref float cameraTargetPosition, float distance, float yaw, float pitch, float roll, int upAxis) ;
 
     
     /// Return Type: void
-    ///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///left: float
     ///right: float
     ///bottom: float
     ///top: float
     ///nearVal: float
     ///farVal: float
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetProjectionMatrix")]
-public static extern  void b3RequestCameraImageSetProjectionMatrix(System.IntPtr command, float left, float right, float bottom, float top, float nearVal, float farVal) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetProjectionMatrix")]
+public static extern  void b3RequestCameraImageSetProjectionMatrix(IntPtr commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal) ;
 
     
     /// Return Type: void
-    ///command: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///fov: float
     ///aspect: float
     ///nearVal: float
     ///farVal: float
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestCameraImageSetFOVProjectionMatrix")]
-public static extern  void b3RequestCameraImageSetFOVProjectionMatrix(System.IntPtr command, float fov, float aspect, float nearVal, float farVal) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestCameraImageSetFOVProjectionMatrix")]
+public static extern  void b3RequestCameraImageSetFOVProjectionMatrix(IntPtr commandHandle, float fov, float aspect, float nearVal, float farVal) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitRequestContactPointInformation")]
-public static extern  System.IntPtr b3InitRequestContactPointInformation(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitRequestContactPointInformation")]
+public static extern  System.IntPtr b3InitRequestContactPointInformation(IntPtr physClient) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///bodyUniqueIdA: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetContactFilterBodyA")]
-public static extern  void b3SetContactFilterBodyA(System.IntPtr commandHandle, int bodyUniqueIdA) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetContactFilterBodyA")]
+public static extern  void b3SetContactFilterBodyA(IntPtr commandHandle, int bodyUniqueIdA) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///bodyUniqueIdB: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetContactFilterBodyB")]
-public static extern  void b3SetContactFilterBodyB(System.IntPtr commandHandle, int bodyUniqueIdB) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetContactFilterBodyB")]
+public static extern  void b3SetContactFilterBodyB(IntPtr commandHandle, int bodyUniqueIdB) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///linkIndexA: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetContactFilterLinkA")]
-public static extern  void b3SetContactFilterLinkA(System.IntPtr commandHandle, int linkIndexA) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetContactFilterLinkA")]
+public static extern  void b3SetContactFilterLinkA(IntPtr commandHandle, int linkIndexA) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///linkIndexB: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetContactFilterLinkB")]
-public static extern  void b3SetContactFilterLinkB(System.IntPtr commandHandle, int linkIndexB) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetContactFilterLinkB")]
+public static extern  void b3SetContactFilterLinkB(IntPtr commandHandle, int linkIndexB) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    ///contactPointInfo: b3ContactInformation*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetContactPointInformation")]
-public static extern  void b3GetContactPointInformation(System.IntPtr physClient, ref b3ContactInformation contactPointInfo) ;
+    ///contactPointData: b3ContactInformation*
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetContactPointInformation")]
+public static extern  void b3GetContactPointInformation(IntPtr physClient, ref b3ContactInformation contactPointData) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitClosestDistanceQuery")]
-public static extern  System.IntPtr b3InitClosestDistanceQuery(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitClosestDistanceQuery")]
+public static extern  System.IntPtr b3InitClosestDistanceQuery(IntPtr physClient) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///bodyUniqueIdA: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetClosestDistanceFilterBodyA")]
-public static extern  void b3SetClosestDistanceFilterBodyA(System.IntPtr commandHandle, int bodyUniqueIdA) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetClosestDistanceFilterBodyA")]
+public static extern  void b3SetClosestDistanceFilterBodyA(IntPtr commandHandle, int bodyUniqueIdA) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///linkIndexA: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetClosestDistanceFilterLinkA")]
-public static extern  void b3SetClosestDistanceFilterLinkA(System.IntPtr commandHandle, int linkIndexA) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetClosestDistanceFilterLinkA")]
+public static extern  void b3SetClosestDistanceFilterLinkA(IntPtr commandHandle, int linkIndexA) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///bodyUniqueIdB: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetClosestDistanceFilterBodyB")]
-public static extern  void b3SetClosestDistanceFilterBodyB(System.IntPtr commandHandle, int bodyUniqueIdB) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetClosestDistanceFilterBodyB")]
+public static extern  void b3SetClosestDistanceFilterBodyB(IntPtr commandHandle, int bodyUniqueIdB) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///linkIndexB: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetClosestDistanceFilterLinkB")]
-public static extern  void b3SetClosestDistanceFilterLinkB(System.IntPtr commandHandle, int linkIndexB) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetClosestDistanceFilterLinkB")]
+public static extern  void b3SetClosestDistanceFilterLinkB(IntPtr commandHandle, int linkIndexB) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///distance: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetClosestDistanceThreshold")]
-public static extern  void b3SetClosestDistanceThreshold(System.IntPtr commandHandle, double distance) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetClosestDistanceThreshold")]
+public static extern  void b3SetClosestDistanceThreshold(IntPtr commandHandle, double distance) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///contactPointInfo: b3ContactInformation*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetClosestPointInformation")]
-public static extern  void b3GetClosestPointInformation(System.IntPtr physClient, ref b3ContactInformation contactPointInfo) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetClosestPointInformation")]
+public static extern  void b3GetClosestPointInformation(IntPtr physClient, ref b3ContactInformation contactPointInfo) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///aabbMin: double*
     ///aabbMax: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitAABBOverlapQuery")]
-public static extern  System.IntPtr b3InitAABBOverlapQuery(System.IntPtr physClient, ref double aabbMin, ref double aabbMax) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitAABBOverlapQuery")]
+public static extern  System.IntPtr b3InitAABBOverlapQuery(IntPtr physClient, ref double aabbMin, ref double aabbMax) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///data: b3AABBOverlapData*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetAABBOverlapResults")]
-public static extern  void b3GetAABBOverlapResults(System.IntPtr physClient, ref b3AABBOverlapData data) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetAABBOverlapResults")]
+public static extern  void b3GetAABBOverlapResults(IntPtr physClient, ref b3AABBOverlapData data) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyUniqueIdA: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitRequestVisualShapeInformation")]
-public static extern  System.IntPtr b3InitRequestVisualShapeInformation(System.IntPtr physClient, int bodyUniqueIdA) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitRequestVisualShapeInformation")]
+public static extern  System.IntPtr b3InitRequestVisualShapeInformation(IntPtr physClient, int bodyUniqueIdA) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///visualShapeInfo: b3VisualShapeInformation*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetVisualShapeInformation")]
-public static extern  void b3GetVisualShapeInformation(System.IntPtr physClient, ref b3VisualShapeInformation visualShapeInfo) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetVisualShapeInformation")]
+public static extern  void b3GetVisualShapeInformation(IntPtr physClient, ref b3VisualShapeInformation visualShapeInfo) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///filename: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitLoadTexture")]
-public static extern  System.IntPtr b3InitLoadTexture(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string filename) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitLoadTexture")]
+public static extern  System.IntPtr b3InitLoadTexture(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string filename) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusTextureUniqueId")]
-public static extern  int b3GetStatusTextureUniqueId(System.IntPtr statusHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusTextureUniqueId")]
+public static extern  int b3GetStatusTextureUniqueId(IntPtr statusHandle) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -2002,8 +2143,8 @@ public static extern  int b3GetStatusTextureUniqueId(System.IntPtr statusHandle)
     ///width: int
     ///height: int
     ///rgbPixels: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateChangeTextureCommandInit")]
-public static extern  System.IntPtr b3CreateChangeTextureCommandInit(System.IntPtr physClient, int textureUniqueId, int width, int height, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string rgbPixels) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateChangeTextureCommandInit")]
+public static extern  System.IntPtr b3CreateChangeTextureCommandInit(IntPtr physClient, int textureUniqueId, int width, int height, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string rgbPixels) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -2012,28 +2153,28 @@ public static extern  System.IntPtr b3CreateChangeTextureCommandInit(System.IntP
     ///jointIndex: int
     ///shapeIndex: int
     ///textureUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitUpdateVisualShape")]
-public static extern  System.IntPtr b3InitUpdateVisualShape(System.IntPtr physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitUpdateVisualShape")]
+public static extern  System.IntPtr b3InitUpdateVisualShape(IntPtr physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///rgbaColor: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3UpdateVisualShapeRGBAColor")]
-public static extern  void b3UpdateVisualShapeRGBAColor(System.IntPtr commandHandle, ref double rgbaColor) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3UpdateVisualShapeRGBAColor")]
+public static extern  void b3UpdateVisualShapeRGBAColor(IntPtr commandHandle, ref double rgbaColor) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///specularColor: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3UpdateVisualShapeSpecularColor")]
-public static extern  void b3UpdateVisualShapeSpecularColor(System.IntPtr commandHandle, ref double specularColor) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3UpdateVisualShapeSpecularColor")]
+public static extern  void b3UpdateVisualShapeSpecularColor(IntPtr commandHandle, ref double specularColor) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitPhysicsParamCommand")]
-public static extern  System.IntPtr b3InitPhysicsParamCommand(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitPhysicsParamCommand")]
+public static extern  System.IntPtr b3InitPhysicsParamCommand(IntPtr physClient) ;
 
     
     /// Return Type: int
@@ -2041,132 +2182,132 @@ public static extern  System.IntPtr b3InitPhysicsParamCommand(System.IntPtr phys
     ///gravx: double
     ///gravy: double
     ///gravz: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetGravity")]
-public static extern  int b3PhysicsParamSetGravity(System.IntPtr commandHandle, double gravx, double gravy, double gravz) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetGravity")]
+public static extern  int b3PhysicsParamSetGravity(IntPtr commandHandle, double gravx, double gravy, double gravz) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///timeStep: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetTimeStep")]
-public static extern  int b3PhysicsParamSetTimeStep(System.IntPtr commandHandle, double timeStep) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetTimeStep")]
+public static extern  int b3PhysicsParamSetTimeStep(IntPtr commandHandle, double timeStep) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///defaultContactERP: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetDefaultContactERP")]
-public static extern  int b3PhysicsParamSetDefaultContactERP(System.IntPtr commandHandle, double defaultContactERP) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetDefaultContactERP")]
+public static extern  int b3PhysicsParamSetDefaultContactERP(IntPtr commandHandle, double defaultContactERP) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///defaultNonContactERP: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetDefaultNonContactERP")]
-public static extern  int b3PhysicsParamSetDefaultNonContactERP(System.IntPtr commandHandle, double defaultNonContactERP) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetDefaultNonContactERP")]
+public static extern  int b3PhysicsParamSetDefaultNonContactERP(IntPtr commandHandle, double defaultNonContactERP) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///frictionERP: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetDefaultFrictionERP")]
-public static extern  int b3PhysicsParamSetDefaultFrictionERP(System.IntPtr commandHandle, double frictionERP) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetDefaultFrictionERP")]
+public static extern  int b3PhysicsParamSetDefaultFrictionERP(IntPtr commandHandle, double frictionERP) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///numSubSteps: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetNumSubSteps")]
-public static extern  int b3PhysicsParamSetNumSubSteps(System.IntPtr commandHandle, int numSubSteps) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetNumSubSteps")]
+public static extern  int b3PhysicsParamSetNumSubSteps(IntPtr commandHandle, int numSubSteps) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///enableRealTimeSimulation: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetRealTimeSimulation")]
-public static extern  int b3PhysicsParamSetRealTimeSimulation(System.IntPtr commandHandle, int enableRealTimeSimulation) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetRealTimeSimulation")]
+public static extern  int b3PhysicsParamSetRealTimeSimulation(IntPtr commandHandle, int enableRealTimeSimulation) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///numSolverIterations: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetNumSolverIterations")]
-public static extern  int b3PhysicsParamSetNumSolverIterations(System.IntPtr commandHandle, int numSolverIterations) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetNumSolverIterations")]
+public static extern  int b3PhysicsParamSetNumSolverIterations(IntPtr commandHandle, int numSolverIterations) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///filterMode: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetCollisionFilterMode")]
-public static extern  int b3PhysicsParamSetCollisionFilterMode(System.IntPtr commandHandle, int filterMode) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetCollisionFilterMode")]
+public static extern  int b3PhysicsParamSetCollisionFilterMode(IntPtr commandHandle, int filterMode) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///useSplitImpulse: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetUseSplitImpulse")]
-public static extern  int b3PhysicsParamSetUseSplitImpulse(System.IntPtr commandHandle, int useSplitImpulse) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetUseSplitImpulse")]
+public static extern  int b3PhysicsParamSetUseSplitImpulse(IntPtr commandHandle, int useSplitImpulse) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///splitImpulsePenetrationThreshold: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetSplitImpulsePenetrationThreshold")]
-public static extern  int b3PhysicsParamSetSplitImpulsePenetrationThreshold(System.IntPtr commandHandle, double splitImpulsePenetrationThreshold) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetSplitImpulsePenetrationThreshold")]
+public static extern  int b3PhysicsParamSetSplitImpulsePenetrationThreshold(IntPtr commandHandle, double splitImpulsePenetrationThreshold) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///contactBreakingThreshold: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetContactBreakingThreshold")]
-public static extern  int b3PhysicsParamSetContactBreakingThreshold(System.IntPtr commandHandle, double contactBreakingThreshold) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetContactBreakingThreshold")]
+public static extern  int b3PhysicsParamSetContactBreakingThreshold(IntPtr commandHandle, double contactBreakingThreshold) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///maxNumCmdPer1ms: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetMaxNumCommandsPer1ms")]
-public static extern  int b3PhysicsParamSetMaxNumCommandsPer1ms(System.IntPtr commandHandle, int maxNumCmdPer1ms) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetMaxNumCommandsPer1ms")]
+public static extern  int b3PhysicsParamSetMaxNumCommandsPer1ms(IntPtr commandHandle, int maxNumCmdPer1ms) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///enableFileCaching: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetEnableFileCaching")]
-public static extern  int b3PhysicsParamSetEnableFileCaching(System.IntPtr commandHandle, int enableFileCaching) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetEnableFileCaching")]
+public static extern  int b3PhysicsParamSetEnableFileCaching(IntPtr commandHandle, int enableFileCaching) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///restitutionVelocityThreshold: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetRestitutionVelocityThreshold")]
-public static extern  int b3PhysicsParamSetRestitutionVelocityThreshold(System.IntPtr commandHandle, double restitutionVelocityThreshold) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetRestitutionVelocityThreshold")]
+public static extern  int b3PhysicsParamSetRestitutionVelocityThreshold(IntPtr commandHandle, double restitutionVelocityThreshold) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///flags: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PhysicsParamSetInternalSimFlags")]
-public static extern  int b3PhysicsParamSetInternalSimFlags(System.IntPtr commandHandle, int flags) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PhysicsParamSetInternalSimFlags")]
+public static extern  int b3PhysicsParamSetInternalSimFlags(IntPtr commandHandle, int flags) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitStepSimulationCommand")]
-public static extern  System.IntPtr b3InitStepSimulationCommand(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitStepSimulationCommand")]
+public static extern  System.IntPtr b3InitStepSimulationCommand(IntPtr physClient) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InitResetSimulationCommand")]
-public static extern  System.IntPtr b3InitResetSimulationCommand(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InitResetSimulationCommand")]
+public static extern  System.IntPtr b3InitResetSimulationCommand(IntPtr physClient) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///urdfFileName: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadUrdfCommandInit")]
-public static extern  System.IntPtr b3LoadUrdfCommandInit(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string urdfFileName) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadUrdfCommandInit")]
+public static extern  System.IntPtr b3LoadUrdfCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string urdfFileName) ;
 
     
     /// Return Type: int
@@ -2174,8 +2315,8 @@ public static extern  System.IntPtr b3LoadUrdfCommandInit(System.IntPtr physClie
     ///startPosX: double
     ///startPosY: double
     ///startPosZ: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadUrdfCommandSetStartPosition")]
-public static extern  int b3LoadUrdfCommandSetStartPosition(System.IntPtr commandHandle, double startPosX, double startPosY, double startPosZ) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadUrdfCommandSetStartPosition")]
+public static extern  int b3LoadUrdfCommandSetStartPosition(IntPtr commandHandle, double startPosX, double startPosY, double startPosZ) ;
 
     
     /// Return Type: int
@@ -2184,64 +2325,64 @@ public static extern  int b3LoadUrdfCommandSetStartPosition(System.IntPtr comman
     ///startOrnY: double
     ///startOrnZ: double
     ///startOrnW: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadUrdfCommandSetStartOrientation")]
-public static extern  int b3LoadUrdfCommandSetStartOrientation(System.IntPtr commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadUrdfCommandSetStartOrientation")]
+public static extern  int b3LoadUrdfCommandSetStartOrientation(IntPtr commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///useMultiBody: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadUrdfCommandSetUseMultiBody")]
-public static extern  int b3LoadUrdfCommandSetUseMultiBody(System.IntPtr commandHandle, int useMultiBody) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadUrdfCommandSetUseMultiBody")]
+public static extern  int b3LoadUrdfCommandSetUseMultiBody(IntPtr commandHandle, int useMultiBody) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///useFixedBase: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadUrdfCommandSetUseFixedBase")]
-public static extern  int b3LoadUrdfCommandSetUseFixedBase(System.IntPtr commandHandle, int useFixedBase) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadUrdfCommandSetUseFixedBase")]
+public static extern  int b3LoadUrdfCommandSetUseFixedBase(IntPtr commandHandle, int useFixedBase) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///flags: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadUrdfCommandSetFlags")]
-public static extern  int b3LoadUrdfCommandSetFlags(System.IntPtr commandHandle, int flags) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadUrdfCommandSetFlags")]
+public static extern  int b3LoadUrdfCommandSetFlags(IntPtr commandHandle, int flags) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///globalScaling: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadUrdfCommandSetGlobalScaling")]
-public static extern  int b3LoadUrdfCommandSetGlobalScaling(System.IntPtr commandHandle, double globalScaling) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadUrdfCommandSetGlobalScaling")]
+public static extern  int b3LoadUrdfCommandSetGlobalScaling(IntPtr commandHandle, double globalScaling) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///fileName: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadBulletCommandInit")]
-public static extern  System.IntPtr b3LoadBulletCommandInit(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadBulletCommandInit")]
+public static extern  System.IntPtr b3LoadBulletCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///fileName: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SaveBulletCommandInit")]
-public static extern  System.IntPtr b3SaveBulletCommandInit(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SaveBulletCommandInit")]
+public static extern  System.IntPtr b3SaveBulletCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///fileName: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadMJCFCommandInit")]
-public static extern  System.IntPtr b3LoadMJCFCommandInit(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadMJCFCommandInit")]
+public static extern  System.IntPtr b3LoadMJCFCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///flags: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadMJCFCommandSetFlags")]
-public static extern  void b3LoadMJCFCommandSetFlags(System.IntPtr commandHandle, int flags) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadMJCFCommandSetFlags")]
+public static extern  void b3LoadMJCFCommandSetFlags(IntPtr commandHandle, int flags) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -2250,8 +2391,8 @@ public static extern  void b3LoadMJCFCommandSetFlags(System.IntPtr commandHandle
     ///jointPositionsQ: double*
     ///jointVelocitiesQdot: double*
     ///jointAccelerations: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CalculateInverseDynamicsCommandInit")]
-public static extern  System.IntPtr b3CalculateInverseDynamicsCommandInit(System.IntPtr physClient, int bodyIndex, ref double jointPositionsQ, ref double jointVelocitiesQdot, ref double jointAccelerations) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CalculateInverseDynamicsCommandInit")]
+public static extern  System.IntPtr b3CalculateInverseDynamicsCommandInit(IntPtr physClient, int bodyIndex, ref double jointPositionsQ, ref double jointVelocitiesQdot, ref double jointAccelerations) ;
 
     
     /// Return Type: int
@@ -2259,8 +2400,8 @@ public static extern  System.IntPtr b3CalculateInverseDynamicsCommandInit(System
     ///bodyUniqueId: int*
     ///dofCount: int*
     ///jointForces: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusInverseDynamicsJointForces")]
-public static extern  int b3GetStatusInverseDynamicsJointForces(System.IntPtr statusHandle, ref int bodyUniqueId, ref int dofCount, ref double jointForces) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusInverseDynamicsJointForces")]
+public static extern  int b3GetStatusInverseDynamicsJointForces(IntPtr statusHandle, ref int bodyUniqueId, ref int dofCount, ref double jointForces) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -2271,31 +2412,32 @@ public static extern  int b3GetStatusInverseDynamicsJointForces(System.IntPtr st
     ///jointPositionsQ: double*
     ///jointVelocitiesQdot: double*
     ///jointAccelerations: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CalculateJacobianCommandInit")]
-public static extern  System.IntPtr b3CalculateJacobianCommandInit(System.IntPtr physClient, int bodyIndex, int linkIndex, ref double localPosition, ref double jointPositionsQ, ref double jointVelocitiesQdot, ref double jointAccelerations) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CalculateJacobianCommandInit")]
+public static extern  System.IntPtr b3CalculateJacobianCommandInit(IntPtr physClient, int bodyIndex, int linkIndex, ref double localPosition, ref double jointPositionsQ, ref double jointVelocitiesQdot, ref double jointAccelerations) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
+    ///dofCount: int*
     ///linearJacobian: double*
     ///angularJacobian: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusJacobian")]
-public static extern  int b3GetStatusJacobian(System.IntPtr statusHandle, ref double linearJacobian, ref double angularJacobian) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusJacobian")]
+public static extern  int b3GetStatusJacobian(IntPtr statusHandle, ref int dofCount, ref double linearJacobian, ref double angularJacobian) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyIndex: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CalculateInverseKinematicsCommandInit")]
-public static extern  System.IntPtr b3CalculateInverseKinematicsCommandInit(System.IntPtr physClient, int bodyIndex) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CalculateInverseKinematicsCommandInit")]
+public static extern  System.IntPtr b3CalculateInverseKinematicsCommandInit(IntPtr physClient, int bodyIndex) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///endEffectorLinkIndex: int
     ///targetPosition: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CalculateInverseKinematicsAddTargetPurePosition")]
-public static extern  void b3CalculateInverseKinematicsAddTargetPurePosition(System.IntPtr commandHandle, int endEffectorLinkIndex, ref double targetPosition) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CalculateInverseKinematicsAddTargetPurePosition")]
+public static extern  void b3CalculateInverseKinematicsAddTargetPurePosition(IntPtr commandHandle, int endEffectorLinkIndex, ref double targetPosition) ;
 
     
     /// Return Type: void
@@ -2303,8 +2445,8 @@ public static extern  void b3CalculateInverseKinematicsAddTargetPurePosition(Sys
     ///endEffectorLinkIndex: int
     ///targetPosition: double*
     ///targetOrientation: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CalculateInverseKinematicsAddTargetPositionWithOrientation")]
-public static extern  void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(System.IntPtr commandHandle, int endEffectorLinkIndex, ref double targetPosition, ref double targetOrientation) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CalculateInverseKinematicsAddTargetPositionWithOrientation")]
+public static extern  void b3CalculateInverseKinematicsAddTargetPositionWithOrientation(IntPtr commandHandle, int endEffectorLinkIndex, ref double targetPosition, ref double targetOrientation) ;
 
     
     /// Return Type: void
@@ -2316,8 +2458,8 @@ public static extern  void b3CalculateInverseKinematicsAddTargetPositionWithOrie
     ///upperLimit: double*
     ///jointRange: double*
     ///restPose: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CalculateInverseKinematicsPosWithNullSpaceVel")]
-public static extern  void b3CalculateInverseKinematicsPosWithNullSpaceVel(System.IntPtr commandHandle, int numDof, int endEffectorLinkIndex, ref double targetPosition, ref double lowerLimit, ref double upperLimit, ref double jointRange, ref double restPose) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CalculateInverseKinematicsPosWithNullSpaceVel")]
+public static extern  void b3CalculateInverseKinematicsPosWithNullSpaceVel(IntPtr commandHandle, int numDof, int endEffectorLinkIndex, ref double targetPosition, ref double lowerLimit, ref double upperLimit, ref double jointRange, ref double restPose) ;
 
     
     /// Return Type: void
@@ -2330,16 +2472,16 @@ public static extern  void b3CalculateInverseKinematicsPosWithNullSpaceVel(Syste
     ///upperLimit: double*
     ///jointRange: double*
     ///restPose: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CalculateInverseKinematicsPosOrnWithNullSpaceVel")]
-public static extern  void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(System.IntPtr commandHandle, int numDof, int endEffectorLinkIndex, ref double targetPosition, ref double targetOrientation, ref double lowerLimit, ref double upperLimit, ref double jointRange, ref double restPose) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CalculateInverseKinematicsPosOrnWithNullSpaceVel")]
+public static extern  void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(IntPtr commandHandle, int numDof, int endEffectorLinkIndex, ref double targetPosition, ref double targetOrientation, ref double lowerLimit, ref double upperLimit, ref double jointRange, ref double restPose) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///numDof: int
     ///jointDampingCoeff: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CalculateInverseKinematicsSetJointDamping")]
-public static extern  void b3CalculateInverseKinematicsSetJointDamping(System.IntPtr commandHandle, int numDof, ref double jointDampingCoeff) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CalculateInverseKinematicsSetJointDamping")]
+public static extern  void b3CalculateInverseKinematicsSetJointDamping(IntPtr commandHandle, int numDof, ref double jointDampingCoeff) ;
 
     
     /// Return Type: int
@@ -2347,159 +2489,159 @@ public static extern  void b3CalculateInverseKinematicsSetJointDamping(System.In
     ///bodyUniqueId: int*
     ///dofCount: int*
     ///jointPositions: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusInverseKinematicsJointPositions")]
-public static extern  int b3GetStatusInverseKinematicsJointPositions(System.IntPtr statusHandle, ref int bodyUniqueId, ref int dofCount, ref double jointPositions) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusInverseKinematicsJointPositions")]
+public static extern  int b3GetStatusInverseKinematicsJointPositions(IntPtr statusHandle, ref int bodyUniqueId, ref int dofCount, ref double jointPositions) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///sdfFileName: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadSdfCommandInit")]
-public static extern  System.IntPtr b3LoadSdfCommandInit(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string sdfFileName) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadSdfCommandInit")]
+public static extern  System.IntPtr b3LoadSdfCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string sdfFileName) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///useMultiBody: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadSdfCommandSetUseMultiBody")]
-public static extern  int b3LoadSdfCommandSetUseMultiBody(System.IntPtr commandHandle, int useMultiBody) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadSdfCommandSetUseMultiBody")]
+public static extern  int b3LoadSdfCommandSetUseMultiBody(IntPtr commandHandle, int useMultiBody) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///globalScaling: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadSdfCommandSetUseGlobalScaling")]
-public static extern  int b3LoadSdfCommandSetUseGlobalScaling(System.IntPtr commandHandle, double globalScaling) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadSdfCommandSetUseGlobalScaling")]
+public static extern  int b3LoadSdfCommandSetUseGlobalScaling(IntPtr commandHandle, double globalScaling) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///sdfFileName: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SaveWorldCommandInit")]
-public static extern  System.IntPtr b3SaveWorldCommandInit(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string sdfFileName) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SaveWorldCommandInit")]
+public static extern  System.IntPtr b3SaveWorldCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string sdfFileName) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///controlMode: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3JointControlCommandInit")]
-public static extern  System.IntPtr b3JointControlCommandInit(System.IntPtr physClient, int controlMode) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3JointControlCommandInit")]
+public static extern  System.IntPtr b3JointControlCommandInit(IntPtr physClient, int controlMode) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyUniqueId: int
     ///controlMode: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3JointControlCommandInit2")]
-public static extern  System.IntPtr b3JointControlCommandInit2(System.IntPtr physClient, int bodyUniqueId, int controlMode) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3JointControlCommandInit2")]
+public static extern  System.IntPtr b3JointControlCommandInit2(IntPtr physClient, int bodyUniqueId, int controlMode) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///qIndex: int
     ///value: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3JointControlSetDesiredPosition")]
-public static extern  int b3JointControlSetDesiredPosition(System.IntPtr commandHandle, int qIndex, double value) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3JointControlSetDesiredPosition")]
+public static extern  int b3JointControlSetDesiredPosition(IntPtr commandHandle, int qIndex, double value) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///dofIndex: int
     ///value: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3JointControlSetKp")]
-public static extern  int b3JointControlSetKp(System.IntPtr commandHandle, int dofIndex, double value) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3JointControlSetKp")]
+public static extern  int b3JointControlSetKp(IntPtr commandHandle, int dofIndex, double value) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///dofIndex: int
     ///value: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3JointControlSetKd")]
-public static extern  int b3JointControlSetKd(System.IntPtr commandHandle, int dofIndex, double value) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3JointControlSetKd")]
+public static extern  int b3JointControlSetKd(IntPtr commandHandle, int dofIndex, double value) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///dofIndex: int
     ///value: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3JointControlSetDesiredVelocity")]
-public static extern  int b3JointControlSetDesiredVelocity(System.IntPtr commandHandle, int dofIndex, double value) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3JointControlSetDesiredVelocity")]
+public static extern  int b3JointControlSetDesiredVelocity(IntPtr commandHandle, int dofIndex, double value) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///dofIndex: int
     ///value: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3JointControlSetMaximumForce")]
-public static extern  int b3JointControlSetMaximumForce(System.IntPtr commandHandle, int dofIndex, double value) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3JointControlSetMaximumForce")]
+public static extern  int b3JointControlSetMaximumForce(IntPtr commandHandle, int dofIndex, double value) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///dofIndex: int
     ///value: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3JointControlSetDesiredForceTorque")]
-public static extern  int b3JointControlSetDesiredForceTorque(System.IntPtr commandHandle, int dofIndex, double value) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3JointControlSetDesiredForceTorque")]
+public static extern  int b3JointControlSetDesiredForceTorque(IntPtr commandHandle, int dofIndex, double value) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateCollisionShapeCommandInit")]
-public static extern  System.IntPtr b3CreateCollisionShapeCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCollisionShapeCommandInit")]
+public static extern  System.IntPtr b3CreateCollisionShapeCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///radius: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateCollisionShapeAddSphere")]
-public static extern  int b3CreateCollisionShapeAddSphere(System.IntPtr commandHandle, double radius) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCollisionShapeAddSphere")]
+public static extern  int b3CreateCollisionShapeAddSphere(IntPtr commandHandle, double radius) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///halfExtents: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateCollisionShapeAddBox")]
-public static extern  int b3CreateCollisionShapeAddBox(System.IntPtr commandHandle, ref double halfExtents) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCollisionShapeAddBox")]
+public static extern  int b3CreateCollisionShapeAddBox(IntPtr commandHandle, ref double halfExtents) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///radius: double
     ///height: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateCollisionShapeAddCapsule")]
-public static extern  int b3CreateCollisionShapeAddCapsule(System.IntPtr commandHandle, double radius, double height) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCollisionShapeAddCapsule")]
+public static extern  int b3CreateCollisionShapeAddCapsule(IntPtr commandHandle, double radius, double height) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///radius: double
     ///height: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateCollisionShapeAddCylinder")]
-public static extern  int b3CreateCollisionShapeAddCylinder(System.IntPtr commandHandle, double radius, double height) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCollisionShapeAddCylinder")]
+public static extern  int b3CreateCollisionShapeAddCylinder(IntPtr commandHandle, double radius, double height) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///planeNormal: double*
     ///planeConstant: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateCollisionShapeAddPlane")]
-public static extern  int b3CreateCollisionShapeAddPlane(System.IntPtr commandHandle, ref double planeNormal, double planeConstant) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCollisionShapeAddPlane")]
+public static extern  int b3CreateCollisionShapeAddPlane(IntPtr commandHandle, ref double planeNormal, double planeConstant) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///fileName: char*
     ///meshScale: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateCollisionShapeAddMesh")]
-public static extern  int b3CreateCollisionShapeAddMesh(System.IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName, ref double meshScale) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCollisionShapeAddMesh")]
+public static extern  int b3CreateCollisionShapeAddMesh(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName, ref double meshScale) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///shapeIndex: int
     ///flags: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateCollisionSetFlag")]
-public static extern  void b3CreateCollisionSetFlag(System.IntPtr commandHandle, int shapeIndex, int flags) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCollisionSetFlag")]
+public static extern  void b3CreateCollisionSetFlag(IntPtr commandHandle, int shapeIndex, int flags) ;
 
     
     /// Return Type: void
@@ -2507,32 +2649,32 @@ public static extern  void b3CreateCollisionSetFlag(System.IntPtr commandHandle,
     ///shapeIndex: int
     ///childPosition: double*
     ///childOrientation: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateCollisionShapeSetChildTransform")]
-public static extern  void b3CreateCollisionShapeSetChildTransform(System.IntPtr commandHandle, int shapeIndex, ref double childPosition, ref double childOrientation) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateCollisionShapeSetChildTransform")]
+public static extern  void b3CreateCollisionShapeSetChildTransform(IntPtr commandHandle, int shapeIndex, ref double childPosition, ref double childOrientation) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusCollisionShapeUniqueId")]
-public static extern  int b3GetStatusCollisionShapeUniqueId(System.IntPtr statusHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusCollisionShapeUniqueId")]
+public static extern  int b3GetStatusCollisionShapeUniqueId(IntPtr statusHandle) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateVisualShapeCommandInit")]
-public static extern  System.IntPtr b3CreateVisualShapeCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateVisualShapeCommandInit")]
+public static extern  System.IntPtr b3CreateVisualShapeCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusVisualShapeUniqueId")]
-public static extern  int b3GetStatusVisualShapeUniqueId(System.IntPtr statusHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusVisualShapeUniqueId")]
+public static extern  int b3GetStatusVisualShapeUniqueId(IntPtr statusHandle) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateMultiBodyCommandInit")]
-public static extern  System.IntPtr b3CreateMultiBodyCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateMultiBodyCommandInit")]
+public static extern  System.IntPtr b3CreateMultiBodyCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: int
@@ -2544,8 +2686,8 @@ public static extern  System.IntPtr b3CreateMultiBodyCommandInit(System.IntPtr p
     ///baseOrientation: double*
     ///baseInertialFramePosition: double*
     ///baseInertialFrameOrientation: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateMultiBodyBase")]
-public static extern  int b3CreateMultiBodyBase(System.IntPtr commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, ref double basePosition, ref double baseOrientation, ref double baseInertialFramePosition, ref double baseInertialFrameOrientation) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateMultiBodyBase")]
+public static extern  int b3CreateMultiBodyBase(IntPtr commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, ref double basePosition, ref double baseOrientation, ref double baseInertialFramePosition, ref double baseInertialFrameOrientation) ;
 
     
     /// Return Type: int
@@ -2560,20 +2702,20 @@ public static extern  int b3CreateMultiBodyBase(System.IntPtr commandHandle, dou
     ///linkParentIndex: int
     ///linkJointType: int
     ///linkJointAxis: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateMultiBodyLink")]
-public static extern  int b3CreateMultiBodyLink(System.IntPtr commandHandle, double linkMass, double linkCollisionShapeIndex, double linkVisualShapeIndex, ref double linkPosition, ref double linkOrientation, ref double linkInertialFramePosition, ref double linkInertialFrameOrientation, int linkParentIndex, int linkJointType, ref double linkJointAxis) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateMultiBodyLink")]
+public static extern  int b3CreateMultiBodyLink(IntPtr commandHandle, double linkMass, double linkCollisionShapeIndex, double linkVisualShapeIndex, ref double linkPosition, ref double linkOrientation, ref double linkInertialFramePosition, ref double linkInertialFrameOrientation, int linkParentIndex, int linkJointType, ref double linkJointAxis) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateMultiBodyUseMaximalCoordinates")]
-public static extern  void b3CreateMultiBodyUseMaximalCoordinates(System.IntPtr commandHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateMultiBodyUseMaximalCoordinates")]
+public static extern  void b3CreateMultiBodyUseMaximalCoordinates(IntPtr commandHandle) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateBoxShapeCommandInit")]
-public static extern  System.IntPtr b3CreateBoxShapeCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateBoxShapeCommandInit")]
+public static extern  System.IntPtr b3CreateBoxShapeCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: int
@@ -2581,8 +2723,8 @@ public static extern  System.IntPtr b3CreateBoxShapeCommandInit(System.IntPtr ph
     ///startPosX: double
     ///startPosY: double
     ///startPosZ: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateBoxCommandSetStartPosition")]
-public static extern  int b3CreateBoxCommandSetStartPosition(System.IntPtr commandHandle, double startPosX, double startPosY, double startPosZ) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateBoxCommandSetStartPosition")]
+public static extern  int b3CreateBoxCommandSetStartPosition(IntPtr commandHandle, double startPosX, double startPosY, double startPosZ) ;
 
     
     /// Return Type: int
@@ -2591,8 +2733,8 @@ public static extern  int b3CreateBoxCommandSetStartPosition(System.IntPtr comma
     ///startOrnY: double
     ///startOrnZ: double
     ///startOrnW: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateBoxCommandSetStartOrientation")]
-public static extern  int b3CreateBoxCommandSetStartOrientation(System.IntPtr commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateBoxCommandSetStartOrientation")]
+public static extern  int b3CreateBoxCommandSetStartOrientation(IntPtr commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;
 
     
     /// Return Type: int
@@ -2600,22 +2742,22 @@ public static extern  int b3CreateBoxCommandSetStartOrientation(System.IntPtr co
     ///halfExtentsX: double
     ///halfExtentsY: double
     ///halfExtentsZ: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateBoxCommandSetHalfExtents")]
-public static extern  int b3CreateBoxCommandSetHalfExtents(System.IntPtr commandHandle, double halfExtentsX, double halfExtentsY, double halfExtentsZ) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateBoxCommandSetHalfExtents")]
+public static extern  int b3CreateBoxCommandSetHalfExtents(IntPtr commandHandle, double halfExtentsX, double halfExtentsY, double halfExtentsZ) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///mass: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateBoxCommandSetMass")]
-public static extern  int b3CreateBoxCommandSetMass(System.IntPtr commandHandle, double mass) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateBoxCommandSetMass")]
+public static extern  int b3CreateBoxCommandSetMass(IntPtr commandHandle, double mass) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///collisionShapeType: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateBoxCommandSetCollisionShapeType")]
-public static extern  int b3CreateBoxCommandSetCollisionShapeType(System.IntPtr commandHandle, int collisionShapeType) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateBoxCommandSetCollisionShapeType")]
+public static extern  int b3CreateBoxCommandSetCollisionShapeType(IntPtr commandHandle, int collisionShapeType) ;
 
     
     /// Return Type: int
@@ -2624,15 +2766,15 @@ public static extern  int b3CreateBoxCommandSetCollisionShapeType(System.IntPtr
     ///green: double
     ///blue: double
     ///alpha: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateBoxCommandSetColorRGBA")]
-public static extern  int b3CreateBoxCommandSetColorRGBA(System.IntPtr commandHandle, double red, double green, double blue, double alpha) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateBoxCommandSetColorRGBA")]
+public static extern  int b3CreateBoxCommandSetColorRGBA(IntPtr commandHandle, double red, double green, double blue, double alpha) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyIndex: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreatePoseCommandInit")]
-public static extern  System.IntPtr b3CreatePoseCommandInit(System.IntPtr physClient, int bodyIndex) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreatePoseCommandInit")]
+public static extern  System.IntPtr b3CreatePoseCommandInit(IntPtr physClient, int bodyIndex) ;
 
     
     /// Return Type: int
@@ -2640,8 +2782,8 @@ public static extern  System.IntPtr b3CreatePoseCommandInit(System.IntPtr physCl
     ///startPosX: double
     ///startPosY: double
     ///startPosZ: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreatePoseCommandSetBasePosition")]
-public static extern  int b3CreatePoseCommandSetBasePosition(System.IntPtr commandHandle, double startPosX, double startPosY, double startPosZ) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreatePoseCommandSetBasePosition")]
+public static extern  int b3CreatePoseCommandSetBasePosition(IntPtr commandHandle, double startPosX, double startPosY, double startPosZ) ;
 
     
     /// Return Type: int
@@ -2650,30 +2792,30 @@ public static extern  int b3CreatePoseCommandSetBasePosition(System.IntPtr comma
     ///startOrnY: double
     ///startOrnZ: double
     ///startOrnW: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreatePoseCommandSetBaseOrientation")]
-public static extern  int b3CreatePoseCommandSetBaseOrientation(System.IntPtr commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreatePoseCommandSetBaseOrientation")]
+public static extern  int b3CreatePoseCommandSetBaseOrientation(IntPtr commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///linVel: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreatePoseCommandSetBaseLinearVelocity")]
-public static extern  int b3CreatePoseCommandSetBaseLinearVelocity(System.IntPtr commandHandle, ref double linVel) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreatePoseCommandSetBaseLinearVelocity")]
+public static extern  int b3CreatePoseCommandSetBaseLinearVelocity(IntPtr commandHandle, ref double linVel) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///angVel: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreatePoseCommandSetBaseAngularVelocity")]
-public static extern  int b3CreatePoseCommandSetBaseAngularVelocity(System.IntPtr commandHandle, ref double angVel) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreatePoseCommandSetBaseAngularVelocity")]
+public static extern  int b3CreatePoseCommandSetBaseAngularVelocity(IntPtr commandHandle, ref double angVel) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///numJointPositions: int
     ///jointPositions: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreatePoseCommandSetJointPositions")]
-public static extern  int b3CreatePoseCommandSetJointPositions(System.IntPtr commandHandle, int numJointPositions, ref double jointPositions) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreatePoseCommandSetJointPositions")]
+public static extern  int b3CreatePoseCommandSetJointPositions(IntPtr commandHandle, int numJointPositions, ref double jointPositions) ;
 
     
     /// Return Type: int
@@ -2681,8 +2823,8 @@ public static extern  int b3CreatePoseCommandSetJointPositions(System.IntPtr com
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///jointIndex: int
     ///jointPosition: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreatePoseCommandSetJointPosition")]
-public static extern  int b3CreatePoseCommandSetJointPosition(System.IntPtr physClient, System.IntPtr commandHandle, int jointIndex, double jointPosition) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreatePoseCommandSetJointPosition")]
+public static extern  int b3CreatePoseCommandSetJointPosition(IntPtr physClient, IntPtr commandHandle, int jointIndex, double jointPosition) ;
 
     
     /// Return Type: int
@@ -2690,8 +2832,8 @@ public static extern  int b3CreatePoseCommandSetJointPosition(System.IntPtr phys
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///numJointVelocities: int
     ///jointVelocities: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreatePoseCommandSetJointVelocities")]
-public static extern  int b3CreatePoseCommandSetJointVelocities(System.IntPtr physClient, System.IntPtr commandHandle, int numJointVelocities, ref double jointVelocities) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreatePoseCommandSetJointVelocities")]
+public static extern  int b3CreatePoseCommandSetJointVelocities(IntPtr physClient, IntPtr commandHandle, int numJointVelocities, ref double jointVelocities) ;
 
     
     /// Return Type: int
@@ -2699,45 +2841,52 @@ public static extern  int b3CreatePoseCommandSetJointVelocities(System.IntPtr ph
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///jointIndex: int
     ///jointVelocity: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreatePoseCommandSetJointVelocity")]
-public static extern  int b3CreatePoseCommandSetJointVelocity(System.IntPtr physClient, System.IntPtr commandHandle, int jointIndex, double jointVelocity) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreatePoseCommandSetJointVelocity")]
+public static extern  int b3CreatePoseCommandSetJointVelocity(IntPtr physClient, IntPtr commandHandle, int jointIndex, double jointVelocity) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateSensorCommandInit")]
-public static extern  System.IntPtr b3CreateSensorCommandInit(System.IntPtr physClient, int bodyUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateSensorCommandInit")]
+public static extern  System.IntPtr b3CreateSensorCommandInit(IntPtr physClient, int bodyUniqueId) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///jointIndex: int
     ///enable: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateSensorEnable6DofJointForceTorqueSensor")]
-public static extern  int b3CreateSensorEnable6DofJointForceTorqueSensor(System.IntPtr commandHandle, int jointIndex, int enable) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateSensorEnable6DofJointForceTorqueSensor")]
+public static extern  int b3CreateSensorEnable6DofJointForceTorqueSensor(IntPtr commandHandle, int jointIndex, int enable) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///linkIndex: int
     ///enable: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateSensorEnableIMUForLink")]
-public static extern  int b3CreateSensorEnableIMUForLink(System.IntPtr commandHandle, int linkIndex, int enable) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateSensorEnableIMUForLink")]
+public static extern  int b3CreateSensorEnableIMUForLink(IntPtr commandHandle, int linkIndex, int enable) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///bodyUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestActualStateCommandInit")]
-public static extern  System.IntPtr b3RequestActualStateCommandInit(System.IntPtr physClient, int bodyUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestActualStateCommandInit")]
+public static extern  System.IntPtr b3RequestActualStateCommandInit(IntPtr physClient, int bodyUniqueId) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///computeLinkVelocity: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestActualStateCommandComputeLinkVelocity")]
-public static extern  int b3RequestActualStateCommandComputeLinkVelocity(System.IntPtr commandHandle, int computeLinkVelocity) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestActualStateCommandComputeLinkVelocity")]
+public static extern  int b3RequestActualStateCommandComputeLinkVelocity(IntPtr commandHandle, int computeLinkVelocity) ;
+
+    
+    /// Return Type: int
+    ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
+    ///computeForwardKinematics: int
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestActualStateCommandComputeForwardKinematics")]
+public static extern  int b3RequestActualStateCommandComputeForwardKinematics(IntPtr commandHandle, int computeForwardKinematics) ;
 
     
     /// Return Type: int
@@ -2745,8 +2894,8 @@ public static extern  int b3RequestActualStateCommandComputeLinkVelocity(System.
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
     ///jointIndex: int
     ///state: b3JointSensorState*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetJointState")]
-public static extern  int b3GetJointState(System.IntPtr physClient, System.IntPtr statusHandle, int jointIndex, ref b3JointSensorState state) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetJointState")]
+public static extern  int b3GetJointState(IntPtr physClient, IntPtr statusHandle, int jointIndex, ref b3JointSensorState state) ;
 
     
     /// Return Type: int
@@ -2754,8 +2903,8 @@ public static extern  int b3GetJointState(System.IntPtr physClient, System.IntPt
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
     ///linkIndex: int
     ///state: b3LinkState*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetLinkState")]
-public static extern  int b3GetLinkState(System.IntPtr physClient, System.IntPtr statusHandle, int linkIndex, ref b3LinkState state) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetLinkState")]
+public static extern  int b3GetLinkState(IntPtr physClient, IntPtr statusHandle, int linkIndex, ref b3LinkState state) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -2766,8 +2915,8 @@ public static extern  int b3GetLinkState(System.IntPtr physClient, System.IntPtr
     ///rayToWorldX: double
     ///rayToWorldY: double
     ///rayToWorldZ: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3PickBody")]
-public static extern  System.IntPtr b3PickBody(System.IntPtr physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3PickBody")]
+public static extern  System.IntPtr b3PickBody(IntPtr physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -2778,14 +2927,14 @@ public static extern  System.IntPtr b3PickBody(System.IntPtr physClient, double
     ///rayToWorldX: double
     ///rayToWorldY: double
     ///rayToWorldZ: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3MovePickedBody")]
-public static extern  System.IntPtr b3MovePickedBody(System.IntPtr physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3MovePickedBody")]
+public static extern  System.IntPtr b3MovePickedBody(IntPtr physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RemovePickingConstraint")]
-public static extern  System.IntPtr b3RemovePickingConstraint(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RemovePickingConstraint")]
+public static extern  System.IntPtr b3RemovePickingConstraint(IntPtr physClient) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
@@ -2796,35 +2945,35 @@ public static extern  System.IntPtr b3RemovePickingConstraint(System.IntPtr phys
     ///rayToWorldX: double
     ///rayToWorldY: double
     ///rayToWorldZ: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateRaycastCommandInit")]
-public static extern  System.IntPtr b3CreateRaycastCommandInit(System.IntPtr physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateRaycastCommandInit")]
+public static extern  System.IntPtr b3CreateRaycastCommandInit(IntPtr physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3CreateRaycastBatchCommandInit")]
-public static extern  System.IntPtr b3CreateRaycastBatchCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3CreateRaycastBatchCommandInit")]
+public static extern  System.IntPtr b3CreateRaycastBatchCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///rayFromWorld: double*
     ///rayToWorld: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RaycastBatchAddRay")]
-public static extern  void b3RaycastBatchAddRay(System.IntPtr commandHandle, ref double rayFromWorld, ref double rayToWorld) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RaycastBatchAddRay")]
+public static extern  void b3RaycastBatchAddRay(IntPtr commandHandle, ref double rayFromWorld, ref double rayToWorld) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///raycastInfo: b3RaycastInformation*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetRaycastInformation")]
-public static extern  void b3GetRaycastInformation(System.IntPtr physClient, ref b3RaycastInformation raycastInfo) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetRaycastInformation")]
+public static extern  void b3GetRaycastInformation(IntPtr physClient, ref b3RaycastInformation raycastInfo) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ApplyExternalForceCommandInit")]
-public static extern  System.IntPtr b3ApplyExternalForceCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ApplyExternalForceCommandInit")]
+public static extern  System.IntPtr b3ApplyExternalForceCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: void
@@ -2833,9 +2982,9 @@ public static extern  System.IntPtr b3ApplyExternalForceCommandInit(System.IntPt
     ///linkId: int
     ///force: double*
     ///position: double*
-    ///flags: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ApplyExternalForce")]
-public static extern  void b3ApplyExternalForce(System.IntPtr commandHandle, int bodyUniqueId, int linkId, ref double force, ref double position, int flags) ;
+    ///flag: int
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ApplyExternalForce")]
+public static extern  void b3ApplyExternalForce(IntPtr commandHandle, int bodyUniqueId, int linkId, ref double force, ref double position, int flag) ;
 
     
     /// Return Type: void
@@ -2843,233 +2992,233 @@ public static extern  void b3ApplyExternalForce(System.IntPtr commandHandle, int
     ///bodyUniqueId: int
     ///linkId: int
     ///torque: double*
-    ///flags: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ApplyExternalTorque")]
-public static extern  void b3ApplyExternalTorque(System.IntPtr commandHandle, int bodyUniqueId, int linkId, ref double torque, int flags) ;
+    ///flag: int
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ApplyExternalTorque")]
+public static extern  void b3ApplyExternalTorque(IntPtr commandHandle, int bodyUniqueId, int linkId, ref double torque, int flag) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadBunnyCommandInit")]
-public static extern  System.IntPtr b3LoadBunnyCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadBunnyCommandInit")]
+public static extern  System.IntPtr b3LoadBunnyCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///scale: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadBunnySetScale")]
-public static extern  int b3LoadBunnySetScale(System.IntPtr commandHandle, double scale) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadBunnySetScale")]
+public static extern  int b3LoadBunnySetScale(IntPtr commandHandle, double scale) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///mass: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadBunnySetMass")]
-public static extern  int b3LoadBunnySetMass(System.IntPtr commandHandle, double mass) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadBunnySetMass")]
+public static extern  int b3LoadBunnySetMass(IntPtr commandHandle, double mass) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///collisionMargin: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3LoadBunnySetCollisionMargin")]
-public static extern  int b3LoadBunnySetCollisionMargin(System.IntPtr commandHandle, double collisionMargin) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3LoadBunnySetCollisionMargin")]
+public static extern  int b3LoadBunnySetCollisionMargin(IntPtr commandHandle, double collisionMargin) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestVREventsCommandInit")]
-public static extern  System.IntPtr b3RequestVREventsCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestVREventsCommandInit")]
+public static extern  System.IntPtr b3RequestVREventsCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///deviceTypeFilter: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3VREventsSetDeviceTypeFilter")]
-public static extern  void b3VREventsSetDeviceTypeFilter(System.IntPtr commandHandle, int deviceTypeFilter) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3VREventsSetDeviceTypeFilter")]
+public static extern  void b3VREventsSetDeviceTypeFilter(IntPtr commandHandle, int deviceTypeFilter) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///vrEventsData: b3VREventsData*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetVREventsData")]
-public static extern  void b3GetVREventsData(System.IntPtr physClient, ref b3VREventsData vrEventsData) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetVREventsData")]
+public static extern  void b3GetVREventsData(IntPtr physClient, ref b3VREventsData vrEventsData) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetVRCameraStateCommandInit")]
-public static extern  System.IntPtr b3SetVRCameraStateCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetVRCameraStateCommandInit")]
+public static extern  System.IntPtr b3SetVRCameraStateCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///rootPos: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetVRCameraRootPosition")]
-public static extern  int b3SetVRCameraRootPosition(System.IntPtr commandHandle, ref double rootPos) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetVRCameraRootPosition")]
+public static extern  int b3SetVRCameraRootPosition(IntPtr commandHandle, ref double rootPos) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///rootOrn: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetVRCameraRootOrientation")]
-public static extern  int b3SetVRCameraRootOrientation(System.IntPtr commandHandle, ref double rootOrn) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetVRCameraRootOrientation")]
+public static extern  int b3SetVRCameraRootOrientation(IntPtr commandHandle, ref double rootOrn) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///objectUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetVRCameraTrackingObject")]
-public static extern  int b3SetVRCameraTrackingObject(System.IntPtr commandHandle, int objectUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetVRCameraTrackingObject")]
+public static extern  int b3SetVRCameraTrackingObject(IntPtr commandHandle, int objectUniqueId) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///flag: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetVRCameraTrackingObjectFlag")]
-public static extern  int b3SetVRCameraTrackingObjectFlag(System.IntPtr commandHandle, int flag) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetVRCameraTrackingObjectFlag")]
+public static extern  int b3SetVRCameraTrackingObjectFlag(IntPtr commandHandle, int flag) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestKeyboardEventsCommandInit")]
-public static extern  System.IntPtr b3RequestKeyboardEventsCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestKeyboardEventsCommandInit")]
+public static extern  System.IntPtr b3RequestKeyboardEventsCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///keyboardEventsData: b3KeyboardEventsData*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetKeyboardEventsData")]
-public static extern  void b3GetKeyboardEventsData(System.IntPtr physClient, ref b3KeyboardEventsData keyboardEventsData) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetKeyboardEventsData")]
+public static extern  void b3GetKeyboardEventsData(IntPtr physClient, ref b3KeyboardEventsData keyboardEventsData) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3RequestMouseEventsCommandInit")]
-public static extern  System.IntPtr b3RequestMouseEventsCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3RequestMouseEventsCommandInit")]
+public static extern  System.IntPtr b3RequestMouseEventsCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///mouseEventsData: b3MouseEventsData*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetMouseEventsData")]
-public static extern  void b3GetMouseEventsData(System.IntPtr physClient, ref b3MouseEventsData mouseEventsData) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetMouseEventsData")]
+public static extern  void b3GetMouseEventsData(IntPtr physClient, ref b3MouseEventsData mouseEventsData) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingCommandInit")]
-public static extern  System.IntPtr b3StateLoggingCommandInit(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingCommandInit")]
+public static extern  System.IntPtr b3StateLoggingCommandInit(IntPtr physClient) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///loggingType: int
     ///fileName: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingStart")]
-public static extern  int b3StateLoggingStart(System.IntPtr commandHandle, int loggingType, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingStart")]
+public static extern  int b3StateLoggingStart(IntPtr commandHandle, int loggingType, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///objectUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingAddLoggingObjectUniqueId")]
-public static extern  int b3StateLoggingAddLoggingObjectUniqueId(System.IntPtr commandHandle, int objectUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingAddLoggingObjectUniqueId")]
+public static extern  int b3StateLoggingAddLoggingObjectUniqueId(IntPtr commandHandle, int objectUniqueId) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///maxLogDof: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingSetMaxLogDof")]
-public static extern  int b3StateLoggingSetMaxLogDof(System.IntPtr commandHandle, int maxLogDof) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingSetMaxLogDof")]
+public static extern  int b3StateLoggingSetMaxLogDof(IntPtr commandHandle, int maxLogDof) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///linkIndexA: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingSetLinkIndexA")]
-public static extern  int b3StateLoggingSetLinkIndexA(System.IntPtr commandHandle, int linkIndexA) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingSetLinkIndexA")]
+public static extern  int b3StateLoggingSetLinkIndexA(IntPtr commandHandle, int linkIndexA) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///linkIndexB: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingSetLinkIndexB")]
-public static extern  int b3StateLoggingSetLinkIndexB(System.IntPtr commandHandle, int linkIndexB) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingSetLinkIndexB")]
+public static extern  int b3StateLoggingSetLinkIndexB(IntPtr commandHandle, int linkIndexB) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///bodyAUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingSetBodyAUniqueId")]
-public static extern  int b3StateLoggingSetBodyAUniqueId(System.IntPtr commandHandle, int bodyAUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingSetBodyAUniqueId")]
+public static extern  int b3StateLoggingSetBodyAUniqueId(IntPtr commandHandle, int bodyAUniqueId) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///bodyBUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingSetBodyBUniqueId")]
-public static extern  int b3StateLoggingSetBodyBUniqueId(System.IntPtr commandHandle, int bodyBUniqueId) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingSetBodyBUniqueId")]
+public static extern  int b3StateLoggingSetBodyBUniqueId(IntPtr commandHandle, int bodyBUniqueId) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///deviceTypeFilter: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingSetDeviceTypeFilter")]
-public static extern  int b3StateLoggingSetDeviceTypeFilter(System.IntPtr commandHandle, int deviceTypeFilter) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingSetDeviceTypeFilter")]
+public static extern  int b3StateLoggingSetDeviceTypeFilter(IntPtr commandHandle, int deviceTypeFilter) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///logFlags: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingSetLogFlags")]
-public static extern  int b3StateLoggingSetLogFlags(System.IntPtr commandHandle, int logFlags) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingSetLogFlags")]
+public static extern  int b3StateLoggingSetLogFlags(IntPtr commandHandle, int logFlags) ;
 
     
     /// Return Type: int
     ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetStatusLoggingUniqueId")]
-public static extern  int b3GetStatusLoggingUniqueId(System.IntPtr statusHandle) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetStatusLoggingUniqueId")]
+public static extern  int b3GetStatusLoggingUniqueId(IntPtr statusHandle) ;
 
     
     /// Return Type: int
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
-    ///loggingUniqueId: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3StateLoggingStop")]
-public static extern  int b3StateLoggingStop(System.IntPtr commandHandle, int loggingUniqueId) ;
+    ///loggingUid: int
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3StateLoggingStop")]
+public static extern  int b3StateLoggingStop(IntPtr commandHandle, int loggingUid) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///name: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3ProfileTimingCommandInit")]
-public static extern  System.IntPtr b3ProfileTimingCommandInit(System.IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3ProfileTimingCommandInit")]
+public static extern  System.IntPtr b3ProfileTimingCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string name) ;
 
     
     /// Return Type: void
     ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///duration: int
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetProfileTimingDuractionInMicroSeconds")]
-public static extern  void b3SetProfileTimingDuractionInMicroSeconds(System.IntPtr commandHandle, int duration) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetProfileTimingDuractionInMicroSeconds")]
+public static extern  void b3SetProfileTimingDuractionInMicroSeconds(IntPtr commandHandle, int duration) ;
 
     
     /// Return Type: void
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///timeOutInSeconds: double
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetTimeOut")]
-public static extern  void b3SetTimeOut(System.IntPtr physClient, double timeOutInSeconds) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetTimeOut")]
+public static extern  void b3SetTimeOut(IntPtr physClient, double timeOutInSeconds) ;
 
     
     /// Return Type: double
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3GetTimeOut")]
-public static extern  double b3GetTimeOut(System.IntPtr physClient) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3GetTimeOut")]
+public static extern  double b3GetTimeOut(IntPtr physClient) ;
 
     
     /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__*
     ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__*
     ///path: char*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3SetAdditionalSearchPath")]
-public static extern  System.IntPtr b3SetAdditionalSearchPath(System.IntPtr physClient, System.IntPtr path) ;
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3SetAdditionalSearchPath")]
+public static extern  System.IntPtr b3SetAdditionalSearchPath(IntPtr physClient, System.IntPtr path) ;
 
     
     /// Return Type: void
@@ -3079,7 +3228,7 @@ public static extern  System.IntPtr b3SetAdditionalSearchPath(System.IntPtr phys
     ///ornB: double*
     ///outPos: double*
     ///outOrn: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3MultiplyTransforms")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3MultiplyTransforms")]
 public static extern  void b3MultiplyTransforms(ref double posA, ref double ornA, ref double posB, ref double ornB, ref double outPos, ref double outOrn) ;
 
     
@@ -3088,7 +3237,7 @@ public static extern  void b3MultiplyTransforms(ref double posA, ref double ornA
     ///orn: double*
     ///outPos: double*
     ///outOrn: double*
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010.dll", EntryPoint="b3InvertTransform")]
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint="b3InvertTransform")]
 public static extern  void b3InvertTransform(ref double pos, ref double orn, ref double outPos, ref double outOrn) ;
 
 }
diff --git a/examples/pybullet/unity3d/examples/NewBehaviourScript.cs b/examples/pybullet/unity3d/examples/NewBehaviourScript.cs
index 026e7a709..42bcfddf0 100644
--- a/examples/pybullet/unity3d/examples/NewBehaviourScript.cs
+++ b/examples/pybullet/unity3d/examples/NewBehaviourScript.cs
@@ -10,25 +10,8 @@ using System;
 
 public class NewBehaviourScript : MonoBehaviour {
 
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3ConnectSharedMemory")]
-    public static extern System.IntPtr b3ConnectSharedMemory(int key);
-
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3CreateInProcessPhysicsServerAndConnect")]
-    public static extern System.IntPtr b3CreateInProcessPhysicsServerAndConnect(int argc, ref System.IntPtr argv);
-
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3InitStepSimulationCommand")]
-    public static extern System.IntPtr b3InitStepSimulationCommand(IntPtr  physClient);
-
-    
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3LoadUrdfCommandInit")]
-    public static extern System.IntPtr b3LoadUrdfCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string urdfFileName);
-
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3InitResetSimulationCommand")]
-    public static extern System.IntPtr b3InitResetSimulationCommand(IntPtr physClient);
-
-    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3SubmitClientCommandAndWaitStatus")]
-    public static extern System.IntPtr b3SubmitClientCommandAndWaitStatus(IntPtr physClient, IntPtr commandHandle);
-
+                                 
+   
 
     [DllImport("TestCppPlug.dll")]
     static extern int Add(int a, int b);
@@ -60,27 +43,45 @@ public class NewBehaviourScript : MonoBehaviour {
         CallMe(IWasCalled);
         sharedAPI = CreateSharedAPI(30);
 
-        IntPtr pybullet = b3ConnectSharedMemory(12347);
-        IntPtr cmd = b3InitResetSimulationCommand(pybullet);
-        IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
-        cmd = b3LoadUrdfCommandInit(pybullet, "plane.urdf");
-        status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
+        pybullet = NativeMethods.b3ConnectPhysicsDirect();// SharedMemory(12347);
+        IntPtr cmd = NativeMethods.b3InitResetSimulationCommand(pybullet);
+        IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
+        int numBodies = NativeMethods.b3GetNumBodies(pybullet);
+        cmd = NativeMethods.b3LoadUrdfCommandInit(pybullet, "plane.urdf");
+        status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
+        EnumSharedMemoryServerStatus statusType = (EnumSharedMemoryServerStatus)NativeMethods.b3GetStatusType(status);
+        if (statusType == EnumSharedMemoryServerStatus.CMD_URDF_LOADING_COMPLETED)
+        {
+            numBodies = NativeMethods.b3GetNumBodies(pybullet);
+            text.text = numBodies.ToString();
+            if (numBodies > 0)
+            {
+
+                //b3BodyInfo info=new b3BodyInfo();
+                //NativeMethods.b3GetBodyInfo(pybullet, 0, ref  info );
+                //text.text = info.m_baseName;
+            }
+        }
+        
         //IntPtr clientPtr = b3CreateInProcessPhysicsServerAndConnect(0, ref ptr);
     }
-	
-	// Update is called once per frame
-	void Update () {
-        IntPtr cmd = b3InitStepSimulationCommand(pybullet);
-        IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
 
-        //System.IO.Directory.GetCurrentDirectory().ToString();//
-        //text.text = Add(4, 5).ToString();
-        text.text = UnityEngine.Random.Range(0f, 1f).ToString();// GetMyIdPlusTen(sharedAPI).ToString();
+    // Update is called once per frame
+    void Update () {
+        //if (pybullet != IntPtr.Zero)
+        {
+            IntPtr cmd = NativeMethods.b3InitStepSimulationCommand(pybullet);
+            IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
+
+            //text.text = System.IO.Directory.GetCurrentDirectory().ToString();
+            //text.text = Add(4, 5).ToString();
+            //text.text = UnityEngine.Random.Range(0f, 1f).ToString();// GetMyIdPlusTen(sharedAPI).ToString();
+        }
     }
 
     void OnDestroy()
     {
-
-        DeleteSharedAPI(sharedAPI);
+        NativeMethods.b3DisconnectSharedMemory(pybullet);
+       
     }
 }

From 17115f38c281ebc0d0143dab56b8d13a2db18ce8 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Fri, 29 Sep 2017 07:50:04 -0700
Subject: [PATCH 3/6] add some timings, small fix in btSoftBody related to
 btMultiBody interaction

---
 src/BulletSoftBody/btSoftBody.cpp | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index 52f8cd897..48efb0d8d 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -3003,6 +3003,7 @@ void				btSoftBody::applyForces()
 //
 void				btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
 {
+	BT_PROFILE("PSolve_Anchors");
 	const btScalar	kAHR=psb->m_cfg.kAHR*kst;
 	const btScalar	dt=psb->m_sst.sdt;
 	for(int i=0,ni=psb->m_anchors.size();i<ni;++i)
@@ -3024,8 +3025,10 @@ void				btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
 //
 void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
 {
+	BT_PROFILE("PSolve_RContacts");
 	const btScalar	dt = psb->m_sst.sdt;
 	const btScalar	mrg = psb->getCollisionShape()->getMargin();
+	btMultiBodyJacobianData jacobianData;
 	for(int i=0,ni=psb->m_rcontacts.size();i<ni;++i)
 	{
 		const RContact&		c = psb->m_rcontacts[i];
@@ -3033,10 +3036,10 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
 		if (cti.m_colObj->hasContactResponse()) 
 		{
             btVector3 va(0,0,0);
-            btRigidBody* rigidCol;
-            btMultiBodyLinkCollider* multibodyLinkCol;
+            btRigidBody* rigidCol=0;
+            btMultiBodyLinkCollider* multibodyLinkCol=0;
             btScalar* deltaV;
-            btMultiBodyJacobianData jacobianData;
+            
             if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
             {
                 rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
@@ -3096,6 +3099,8 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
 //
 void				btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti)
 {
+	BT_PROFILE("PSolve_SContacts");
+	
 	for(int i=0,ni=psb->m_scontacts.size();i<ni;++i)
 	{
 		const SContact&		c=psb->m_scontacts[i];
@@ -3129,6 +3134,7 @@ void				btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti)
 //
 void				btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti)
 {
+BT_PROFILE("PSolve_Links");
 	for(int i=0,ni=psb->m_links.size();i<ni;++i)
 	{			
 		Link&	l=psb->m_links[i];
@@ -3151,6 +3157,7 @@ void				btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti)
 //
 void				btSoftBody::VSolve_Links(btSoftBody* psb,btScalar kst)
 {
+	BT_PROFILE("VSolve_Links");
 	for(int i=0,ni=psb->m_links.size();i<ni;++i)
 	{			
 		Link&			l=psb->m_links[i];

From e0dbd25cb79e2f21f9b843bc8c459d4df401b448 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Fri, 29 Sep 2017 07:50:48 -0700
Subject: [PATCH 4/6] remove some unneeded/debug BT_PROFILE markers

---
 .../OpenGLWindow/GLInstancingRenderer.cpp     | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index a92500af7..9d47827c2 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -622,22 +622,22 @@ void GLInstancingRenderer::writeTransforms()
 {
 
 	{
-		B3_PROFILE("b3Assert(glGetError() 1");
+		//B3_PROFILE("b3Assert(glGetError() 1");
 		b3Assert(glGetError() ==GL_NO_ERROR);
 	}
 	{
-		B3_PROFILE("glBindBuffer");
+		//B3_PROFILE("glBindBuffer");
 		glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
 	}
 
 	{
-		B3_PROFILE("glFlush()");
+		//B3_PROFILE("glFlush()");
 		//without the flush, the glBufferSubData can spike to really slow (seconds slow)
 		glFlush();
 	}
 
 	{
-		B3_PROFILE("b3Assert(glGetError() 2");
+		//B3_PROFILE("b3Assert(glGetError() 2");
 		b3Assert(glGetError() ==GL_NO_ERROR);
 	}
 	
@@ -666,22 +666,22 @@ void GLInstancingRenderer::writeTransforms()
 	{
 	//	printf("m_data->m_totalNumInstances = %d\n", m_data->m_totalNumInstances);
 		{
-		B3_PROFILE("glBufferSubData pos");
+		//B3_PROFILE("glBufferSubData pos");
 	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_positions_ptr[0]);
 		}
 		{
-			B3_PROFILE("glBufferSubData orn");
+//			B3_PROFILE("glBufferSubData orn");
 	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_quaternion_ptr[0]);
 		}
 		{
-			B3_PROFILE("glBufferSubData color");
+//			B3_PROFILE("glBufferSubData color");
 	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_colors_ptr[0]);
 		}
 		{
-			B3_PROFILE("glBufferSubData scale");
+//			B3_PROFILE("glBufferSubData scale");
 	glBufferSubData(	GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
 					 	&m_data->m_instance_scale_ptr[0]);
 		}
@@ -756,12 +756,12 @@ void GLInstancingRenderer::writeTransforms()
 #endif
 
 	{
-		B3_PROFILE("glBindBuffer 2");
+//		B3_PROFILE("glBindBuffer 2");
 		glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
 	}
 
 	{
-			B3_PROFILE("b3Assert(glGetError() 4");
+		//	B3_PROFILE("b3Assert(glGetError() 4");
 		b3Assert(glGetError() ==GL_NO_ERROR);
 	}
 

From c9b76e17602ad8ff84e751c93a0a21115de3343f Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Fri, 29 Sep 2017 08:00:35 -0700
Subject: [PATCH 5/6] update pybullet_quickstartguide.pdf

---
 docs/pybullet_quickstartguide.pdf | Bin 1810277 -> 1867173 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/docs/pybullet_quickstartguide.pdf b/docs/pybullet_quickstartguide.pdf
index 2c8fbea2af8f671fec0a87c44d5f96891a461106..9a96ab0e47d8ad1540f634e1d05a25ac41cfb89f 100644
GIT binary patch
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From abdcb0a5a1fa6655f3428008456c255a08724ed4 Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Fri, 29 Sep 2017 12:53:34 -0700
Subject: [PATCH 6/6] remove b3GjkPairDetector.cpp from cmake

---
 src/Bullet3OpenCL/CMakeLists.txt | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/Bullet3OpenCL/CMakeLists.txt b/src/Bullet3OpenCL/CMakeLists.txt
index 45df06ff6..1da58d4a9 100644
--- a/src/Bullet3OpenCL/CMakeLists.txt
+++ b/src/Bullet3OpenCL/CMakeLists.txt
@@ -12,7 +12,6 @@ SET(Bullet3OpenCL_clew_SRCS
 	NarrowphaseCollision/b3ContactCache.cpp
 	NarrowphaseCollision/b3ConvexHullContact.cpp
 	NarrowphaseCollision/b3GjkEpa.cpp
-	NarrowphaseCollision/b3GjkPairDetector.cpp
 	NarrowphaseCollision/b3OptimizedBvh.cpp
 	NarrowphaseCollision/b3QuantizedBvh.cpp
 	NarrowphaseCollision/b3StridingMeshInterface.cpp