Merge branch 'master' of https://github.com/erwincoumans/bullet3

data/cube.mtl

@@ -9,6 +9,6 @@ newmtl cube
   Kd 0.5880 0.5880 0.5880
   Ks 0.0000 0.0000 0.0000
   Ke 0.0000 0.0000 0.0000
-  map_Ka cube.png
-  map_Kd cube.png
+  map_Ka cube.tga
+  map_Kd cube_diffuse.tga
 

data/textured_sphere.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd checker_grid.jpg

data/textured_sphere_smooth.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd checker_huge.gif

examples/CommonInterfaces/CommonGraphicsAppInterface.h

@@ -15,10 +15,10 @@ struct DrawGridData
     int upAxis;
     float gridColor[4];
 
-    DrawGridData()
+    DrawGridData(int upAxis=1)
     :gridSize(10),
     upOffset(0.001f),
-    upAxis(1)
+    upAxis(upAxis)
     {
         gridColor[0] = 0.6f;
         gridColor[1] = 0.6f;
@@ -119,6 +119,7 @@ struct CommonGraphicsApp
 	virtual void swapBuffer() = 0;
 	virtual void drawText( const char* txt, int posX, int posY) = 0;
 	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
+	virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0;
 	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1)=0;
 	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1) = 0;
 	

examples/CommonInterfaces/CommonParameterInterface.h

@@ -40,12 +40,14 @@ struct ButtonParams
 	const char* m_name;
 	int m_buttonId;
 	void* m_userPointer;
+    bool m_isTrigger;
 
 	ButtonParamChangedCallback m_callback;
 	ButtonParams(const char* name, int buttonId, bool isTrigger)
 		:m_name(name),
 		m_buttonId(buttonId),
 		m_userPointer(0),
+    m_isTrigger(isTrigger),
 	m_callback(0)
 	{
 	}

examples/ExampleBrowser/ExampleEntries.cpp

@@ -230,15 +230,21 @@ static ExampleEntry gDefaultExamples[]=
 
 
 	ExampleEntry(0,"Experiments"),
-	
+	ExampleEntry(1,"Robot Control", "Create a physics client and server to create and control robots.",
+			PhysicsClientCreateFunc, eCLIENTEXAMPLE_SERVER),
 	ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
 			PhysicsServerCreateFunc),
+	ExampleEntry(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
+
 	ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
 			PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
 	ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
 			PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
 
 	ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
+
+
 #ifdef ENABLE_LUA
 	ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
 				 LuaDemoCreateFunc),

examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp

@@ -141,6 +141,7 @@ void GwenParameterInterface::registerButtonParameter(ButtonParams& params)
 	MyButtonEventHandler* handler = new MyButtonEventHandler(params.m_callback,params.m_buttonId,params.m_userPointer);
 	button->SetText(params.m_name);
 	button->onPress.Add( handler, &MyButtonEventHandler::onButtonPress );
+    button->SetIsToggle(params.m_isTrigger);
     
 	m_paramInternalData->m_buttons.push_back(button);
 	m_paramInternalData->m_buttonEventHandlers.push_back(handler);
@@ -190,8 +191,8 @@ void GwenParameterInterface::registerComboBox(ComboBoxParams& params)
 	combobox->onSelection.Add(handler,&MyComboBoxHander2::onSelect);
 	int ypos = m_gwenInternalData->m_curYposition;
 	m_gwenInternalData->m_curYposition+=22;
-	combobox->SetPos(10, ypos );
-	combobox->SetWidth( 100 );
+	combobox->SetPos(5, ypos );
+	combobox->SetWidth( 220 );
 	//box->SetPos(120,130);
 	for (int i=0;i<params.m_numItems;i++)
 	{
@@ -202,6 +203,7 @@ void GwenParameterInterface::registerComboBox(ComboBoxParams& params)
 
     
 	
+
 }
 
 void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -125,6 +125,9 @@ static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
 
 	ExampleEntryPhysicsServer(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
 			PhysicsServerCreateFunc),
+    ExampleEntryPhysicsServer(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
+			PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
+
 	ExampleEntryPhysicsServer(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
 			PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
 	ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -12,32 +12,28 @@
 #include "stb_image/stb_image.h"
 
 
-int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName, CommonRenderInterface* renderer)
+bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
 {
-    int shapeId = -1;
 
-    char relativeFileName[1024];
+	meshData.m_gfxShape = 0;
+	meshData.m_textureImage = 0;
+	meshData.m_textureHeight = 0;
+	meshData.m_textureWidth = 0;
+
+
+	char relativeFileName[1024];
     if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
     {
         char pathPrefix[1024];
 
         b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
-
-
-	
-        btVector3 shift(0,0,0);
-        
-    //	int index=10;
-	
-	{
+		btVector3 shift(0,0,0);
     	
 		std::vector<tinyobj::shape_t> shapes;
 		std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
 		
 		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
 		
-	
-		
 		int textureIndex = -1;
 		//try to load some texture
 		for (int i=0;i<shapes.size();i++)
@@ -48,7 +44,7 @@ int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName
 
 				int width,height,n;
 				const char* filename = shape.material.diffuse_texname.c_str();
-				const unsigned char* image=0;
+				unsigned char* image=0;
 
 				const char* prefix[]={ pathPrefix,"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
 				int numprefix = sizeof(prefix)/sizeof(const char*);
@@ -61,37 +57,59 @@ int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName
 					if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
                     {
                         image = stbi_load(relativeFileName, &width, &height, &n, 3);
+						meshData.m_textureImage = image;
+						if (image)
+						{
+							meshData.m_textureWidth = width;
+							meshData.m_textureHeight = height;
+						} else
+						{
+							meshData.m_textureWidth = 0;
+							meshData.m_textureHeight = 0;
+						}
+
                     } else
                     {
                         b3Warning("not found %s\n",relativeFileName);
                     }
 				}
-		
-				if (image)
-				{
-					textureIndex = renderer->registerTexture(image,width,height);
-					if (textureIndex>=0)
-					{
-						break;
-					}
-				}
-
 			}
 
 		}
+		meshData.m_gfxShape = gfxShape;
+		return true;
 	
-		shapeId = renderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices,B3_GL_TRIANGLES,textureIndex);
-		
-	
-		
-
-	
-	}
 	}
     else
     {
             b3Warning("Cannot find %s\n", fileName.c_str());
     }
-    return shapeId;
+
+	return false;
 }
 
+int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName, CommonRenderInterface* renderer)
+{
+	int shapeId = -1;
+
+	b3ImportMeshData meshData;
+	if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
+	{
+		int textureIndex = 0;
+
+		if (meshData.m_textureImage)
+		{
+			textureIndex = renderer->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
+		}
+
+		shapeId = renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], 
+									meshData.m_gfxShape->m_numvertices, 
+									&meshData.m_gfxShape->m_indices->at(0), 
+									meshData.m_gfxShape->m_numIndices,
+									B3_GL_TRIANGLES,
+									textureIndex);
+		delete meshData.m_gfxShape;
+		delete meshData.m_textureImage;
+	}
+	return shapeId;
+}

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h

@@ -3,11 +3,22 @@
 
 #include <string>
 
+struct b3ImportMeshData
+{
+	struct GLInstanceGraphicsShape* m_gfxShape;
+
+	unsigned char* m_textureImage;//in 3 component 8-bit RGB data
+	int m_textureWidth;
+	int m_textureHeight;
+};
+
 class b3ImportMeshUtility
 {
 public:
 static int loadAndRegisterMeshFromFile(const std::string& fileName, class CommonRenderInterface* renderer);
 
+static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData);
+
 };
 
 

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -186,6 +186,7 @@ public:
         {
             return m_sdfModels.size();
         }
+		return 0;
     }
     
     void activateModel(int modelIndex);

examples/OpenGLWindow/SimpleOpenGL2App.h

@@ -18,6 +18,7 @@ public:
 	
 	virtual void swapBuffer();
 	virtual void drawText( const char* txt, int posX, int posY);
+	virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA){};
 	virtual void setBackgroundColor(float red, float green, float blue);
 	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1)
 	{

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -425,6 +425,18 @@ void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi)
 	glDisable(GL_BLEND);
 }
 
+
+void SimpleOpenGL3App::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
+{
+	glEnable(GL_BLEND);
+	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+	m_primRenderer->drawTexturedRect(x0,y0,x1,y1,color,u0,v0,u1,v1,useRGBA);
+	glDisable(GL_BLEND);
+}
+
+
+
 struct GfxVertex
 	{
 		float x,y,z,w;

examples/OpenGLWindow/SimpleOpenGL3App.h

@@ -32,6 +32,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
 	virtual void swapBuffer();
 	virtual void drawText( const char* txt, int posX, int posY);
 	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
+	virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA);
 	struct sth_stash* getFontStash();
 
 

examples/RenderingExamples/TinyRendererSetup.cpp

@@ -6,25 +6,26 @@
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "../CommonInterfaces/CommonRenderInterface.h"
 #include "../TinyRenderer/TinyRenderer.h"
-
 #include "../CommonInterfaces/Common2dCanvasInterface.h"
-//#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-//#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
-//#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "btBulletCollisionCommon.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "../ExampleBrowser/CollisionShape2TriangleMesh.h"
+#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
 
 struct TinyRendererSetup : public CommonExampleInterface
 {
 	
+	struct GUIHelperInterface* m_guiHelper;
 	struct CommonGraphicsApp* m_app;
 	struct TinyRendererSetupInternalData* m_internalData;
+    bool m_useSoftware;
 
-	TinyRendererSetup(struct CommonGraphicsApp* app);
+	TinyRendererSetup(struct GUIHelperInterface* guiHelper);
 
 	virtual ~TinyRendererSetup();
 
@@ -48,12 +49,16 @@ struct TinyRendererSetup : public CommonExampleInterface
 	virtual void	renderScene()
 	{
 	}
+   
+    void selectRenderer(int rendererIndex)
+    {
+        m_useSoftware = (rendererIndex==0);
+    }
 };
 
 struct TinyRendererSetupInternalData
 {
-	int m_canvasIndex;
-	struct Common2dCanvasInterface* m_canvas;
+	
 	TGAImage m_rgbColorBuffer;
 	b3AlignedObjectArray<float> m_depthBuffer;
 
@@ -70,43 +75,21 @@ struct TinyRendererSetupInternalData
 	btScalar m_roll;
 	btScalar m_yaw;
 	
+	int m_textureHandle;
+
 	TinyRendererSetupInternalData(int width, int height)
-		:m_canvasIndex(-1),
-		m_canvas(0),
-		m_roll(0),
+		:m_roll(0),
 		m_pitch(0),
 		m_yaw(0),
 
 		m_width(width),
 		m_height(height),
-		m_rgbColorBuffer(width,height,TGAImage::RGB)
+		m_rgbColorBuffer(width,height,TGAImage::RGB),
+		m_textureHandle(0)
 	{
-		btConeShape* cone = new btConeShape(1,1);
-		btSphereShape* sphere = new btSphereShape(1);
-		btBoxShape* box = new btBoxShape (btVector3(1,1,1));
-		m_shapePtr.push_back(cone);
-		m_shapePtr.push_back(sphere);
-		m_shapePtr.push_back(box);
 		m_depthBuffer.resize(m_width*m_height);
 
-		for (int i=0;i<m_shapePtr.size();i++)
-		{
-			TinyRenderObjectData* ob = new TinyRenderObjectData(m_width,m_height,m_rgbColorBuffer,m_depthBuffer);
-			btAlignedObjectArray<btVector3> vertexPositions;
-			btAlignedObjectArray<btVector3> vertexNormals;
-			btAlignedObjectArray<int> indicesOut;
-			btTransform ident;
-			ident.setIdentity();
-			CollisionShape2TriangleMesh(m_shapePtr[i],ident,vertexPositions,vertexNormals,indicesOut);
-
-			m_renderObjects.push_back(ob);
-			ob->registerMesh2(vertexPositions,vertexNormals,indicesOut);
-		}
-		//ob->registerMeshShape(
-
-		
-		updateTransforms();
-	}
+    }
 	void updateTransforms()
 	{
 		int numObjects = m_shapePtr.size();
@@ -114,7 +97,8 @@ struct TinyRendererSetupInternalData
 		for (int i=0;i<numObjects;i++)
 		{
 			m_transforms[i].setIdentity();
-			btVector3	pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
+			//btVector3	pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
+			btVector3	pos(0.f,+i*2.5f, 0.f);
 			m_transforms[i].setIdentity();
 			m_transforms[i].setOrigin( pos );
 			btQuaternion orn;
@@ -130,48 +114,114 @@ struct TinyRendererSetupInternalData
 
 };
 
-TinyRendererSetup::TinyRendererSetup(struct CommonGraphicsApp* app)
+TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
 {
-	m_app = app;
-	m_internalData = new TinyRendererSetupInternalData(128,128);
+    m_useSoftware = false;
+	m_guiHelper = gui;
+	m_app = gui->getAppInterface();
+	m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight());
+	m_app->m_renderer->enableBlend(true);
+	const char* fileName = "textured_sphere_smooth.obj";//cube.obj";
+	
+
+	{
+		
+		{
+			int shapeId = -1;
+
+			b3ImportMeshData meshData;
+			if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
+			{
+				int textureIndex = -1;
+
+				if (meshData.m_textureImage)
+				{
+					textureIndex = m_guiHelper->getRenderInterface()->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
+				}
+
+				shapeId = m_guiHelper->getRenderInterface()->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], 
+											meshData.m_gfxShape->m_numvertices, 
+											&meshData.m_gfxShape->m_indices->at(0), 
+											meshData.m_gfxShape->m_numIndices,
+											B3_GL_TRIANGLES,
+											textureIndex);
+
+				float position[4]={0,0,0,1};
+				float orn[4]={0,0,0,1};
+				float color[4]={1,1,1,1};
+				float scaling[4]={1,1,1,1};
+
+				m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+				m_guiHelper->getRenderInterface()->writeTransforms();
+
+				m_internalData->m_shapePtr.push_back(0);
+				TinyRenderObjectData* ob = new TinyRenderObjectData(m_internalData->m_width,m_internalData->m_height,
+					m_internalData->m_rgbColorBuffer,
+					m_internalData->m_depthBuffer);
+					//ob->loadModel("cube.obj");
+				const int* indices = &meshData.m_gfxShape->m_indices->at(0);
+					ob->registerMeshShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
+						meshData.m_gfxShape->m_numvertices,
+						indices,
+						meshData.m_gfxShape->m_numIndices, meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
+						
+						
+					m_internalData->m_renderObjects.push_back(ob);
+
+
+
+				delete meshData.m_gfxShape;
+				delete meshData.m_textureImage;
+			}
+		}
+	}
+		
+		
 }
 
 TinyRendererSetup::~TinyRendererSetup()
 {
+	m_app->m_renderer->enableBlend(false);
 	delete m_internalData;
 }
 
+const char* items[] = {"Software", "OpenGL"};
+
+void TinyRendererComboCallback(int combobox, const char* item, void* userPointer)
+{
+    TinyRendererSetup* cl = (TinyRendererSetup*) userPointer;
+    b3Assert(cl);
+    int index=-1;
+    int numItems = sizeof(items)/sizeof(char*);
+    for (int i=0;i<numItems;i++)
+    {
+        if (!strcmp(item,items[i]))
+        {
+            index = i;
+        }
+    }
+    cl->selectRenderer(index);
+}
+
+
+
 void TinyRendererSetup::initPhysics()
 {
 	//request a visual bitma/texture we can render to
 	
-	
     m_app->setUpAxis(2);
     
-	m_internalData->m_canvas = m_app->m_2dCanvasInterface;
-	
-
-	if (m_internalData->m_canvas)
-	{
-		
-		m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("tinyrenderer",m_internalData->m_width,m_internalData->m_height);
-		for (int i=0;i<m_internalData->m_width;i++)
-		{
-			for (int j=0;j<m_internalData->m_height;j++)
-			{
-				unsigned char red=255;
-				unsigned char green=255;
-				unsigned char blue=255;
-				unsigned char alpha=255;
-				m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
-			}
-		}
-		m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
-
-		//int bitmapId = gfxBridge.createRenderBitmap(width,height);
-	}
+	CommonRenderInterface* render = m_app->m_renderer;
 	
+	m_internalData->m_textureHandle = render->registerTexture(m_internalData->m_rgbColorBuffer.buffer(),m_internalData->m_width,m_internalData->m_height);
     
+    ComboBoxParams comboParams;
+    comboParams.m_userPointer = this;
+    comboParams.m_numItems=sizeof(items)/sizeof(char*);
+    comboParams.m_startItem = 1;
+    comboParams.m_items=items;
+    comboParams.m_callback =TinyRendererComboCallback;
+    m_guiHelper->getParameterInterface()->registerComboBox( comboParams);
     
     
 }
@@ -180,72 +230,81 @@ void TinyRendererSetup::initPhysics()
 void TinyRendererSetup::exitPhysics()
 {
 
-	if (m_internalData->m_canvas && m_internalData->m_canvasIndex>=0)
-	{
-		m_internalData->m_canvas->destroyCanvas(m_internalData->m_canvasIndex);
-	}
 }
 
 
 void TinyRendererSetup::stepSimulation(float deltaTime)
 {
+    m_internalData->updateTransforms();
     
-	m_internalData->updateTransforms();
+    if (!m_useSoftware)
+    {
         
-	TGAColor clearColor;
-	clearColor.bgra[0] = 255;
-	clearColor.bgra[1] = 255;
-	clearColor.bgra[2] = 255;
-	clearColor.bgra[3] = 255;
-	for(int y=0;y<m_internalData->m_height;++y)
-	{
-		for(int x=0;x<m_internalData->m_width;++x)
-		{
-			m_internalData->m_rgbColorBuffer.set(x,y,clearColor);
-			m_internalData->m_depthBuffer[x+y*m_internalData->m_width] = -1e30f;
-		}
-	}
+        for (int i=0;i<m_internalData->m_transforms.size();i++)
+        {
+            m_guiHelper->getRenderInterface()->writeSingleInstanceTransformToCPU(m_internalData->m_transforms[i].getOrigin(),m_internalData->m_transforms[i].getRotation(),i);
+        }
+        m_guiHelper->getRenderInterface()->writeTransforms();
+        m_guiHelper->getRenderInterface()->renderScene();
+    } else
+    {
+        
+        TGAColor clearColor;
+        clearColor.bgra[0] = 200;
+        clearColor.bgra[1] = 200;
+        clearColor.bgra[2] = 200;
+        clearColor.bgra[3] = 255;
+        for(int y=0;y<m_internalData->m_height;++y)
+        {
+            for(int x=0;x<m_internalData->m_width;++x)
+            {
+                m_internalData->m_rgbColorBuffer.set(x,y,clearColor);
+                m_internalData->m_depthBuffer[x+y*m_internalData->m_width] = -1e30f;
+            }
+        }
 
 
-	ATTRIBUTE_ALIGNED16(btScalar modelMat2[16]);
-	ATTRIBUTE_ALIGNED16(float viewMat[16]);
-	CommonRenderInterface* render = this->m_app->m_renderer;
-	render->getActiveCamera()->getCameraViewMatrix(viewMat);
+        ATTRIBUTE_ALIGNED16(btScalar modelMat2[16]);
+        ATTRIBUTE_ALIGNED16(float viewMat[16]);
+        ATTRIBUTE_ALIGNED16(float projMat[16]);
+        CommonRenderInterface* render = this->m_app->m_renderer;
+        render->getActiveCamera()->getCameraViewMatrix(viewMat);
+        render->getActiveCamera()->getCameraProjectionMatrix(projMat);
             
 
         
-	for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
-	{
+        for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
+        {
                 
-		const btTransform& tr = m_internalData->m_transforms[o];
-		tr.getOpenGLMatrix(modelMat2);
+            const btTransform& tr = m_internalData->m_transforms[o];
+            tr.getOpenGLMatrix(modelMat2);
             
                     
-		for (int i=0;i<4;i++)
-		{
-			for (int j=0;j<4;j++)
-			{
-				m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]);
-				m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
-			}
-		}
-		TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
-	}
+            for (int i=0;i<4;i++)
+            {
+                for (int j=0;j<4;j++)
+                {
+                    m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]);
+                    m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
+                    m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i+4*j];
                     
-	for(int y=0;y<m_internalData->m_height;++y)
-	{
-		for(int x=0;x<m_internalData->m_width;++x)
-		{
+                    float eye[4];
+                    float center[4];
+                    render->getActiveCamera()->getCameraPosition(eye);
+                    render->getActiveCamera()->getCameraTargetPosition(center);
 
-			const TGAColor& color = m_internalData->m_rgbColorBuffer.get(x,y);
-			m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,(m_internalData->m_height-1-y),
-				color.bgra[2],color.bgra[1],color.bgra[0],255);
-		}
-	} 
-
-    //m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,y,255,0,0,255);
-		
-	m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
+                    m_internalData->m_renderObjects[o]->m_eye.setValue(eye[0],eye[1],eye[2]);
+                    m_internalData->m_renderObjects[o]->m_center.setValue(center[0],center[1],center[2]);
+                }
+            }
+            TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
+        }
+        //m_app->drawText("hello",500,500);
+        render->activateTexture(m_internalData->m_textureHandle);
+        render->updateTexture(m_internalData->m_textureHandle,m_internalData->m_rgbColorBuffer.buffer());
+        float color[4] = {1,1,1,1};
+        m_app->drawTexturedRect(0,0,m_app->m_window->getWidth(), m_app->m_window->getHeight(),color,0,0,1,1,true);
+    }
 }
 
 
@@ -275,5 +334,5 @@ void TinyRendererSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
 
  CommonExampleInterface*    TinyRendererCreateFunc(struct CommonExampleOptions& options)
  {
-	 return new TinyRendererSetup(options.m_guiHelper->getAppInterface());
+	 return new TinyRendererSetup(options.m_guiHelper);
  }

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -676,3 +676,34 @@ void    b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
     }
     
 }
+
+///request an image from a simulated camera, using a software renderer.
+b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
+{
+    PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+    b3Assert(command);
+    command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
+    return (b3SharedMemoryCommandHandle) command;
+}
+
+void b3RequestCameraImageSetResolution(b3SharedMemoryCommandHandle command, int pixelWidth, int pixelHeight)
+{
+	
+}
+
+void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16])
+{
+	
+}
+
+void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData)
+{
+	PhysicsClient* cl = (PhysicsClient* ) physClient;
+	if (cl)
+	{
+	}
+}
+

examples/SharedMemory/PhysicsClientC_API.h

@@ -65,6 +65,12 @@ b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle
 ///status CMD_DEBUG_LINES_COMPLETED
 void    b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
 
+///request an image from a simulated camera, using a software renderer.
+b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
+void b3RequestCameraImageSetResolution(b3SharedMemoryCommandHandle command, int pixelWidth, int pixelHeight);
+void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
+void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
+
 
 b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
 int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

examples/SharedMemory/PhysicsClientExample.cpp

@@ -11,7 +11,7 @@
 #include "PhysicsLoopBackC_API.h"
 #include "PhysicsDirectC_API.h"
 #include "PhysicsClientC_API.h"
-
+#include "PhysicsServerSharedMemory.h"
 struct MyMotorInfo2
 {
 	btScalar m_velTarget;
@@ -29,6 +29,9 @@ class PhysicsClientExample : public SharedMemoryCommon
 protected:
     b3PhysicsClientHandle m_physicsClientHandle;
 
+	//this m_physicsServer is only used when option eCLIENTEXAMPLE_SERVER is enabled
+	PhysicsServerSharedMemory	m_physicsServer;
+	
 	bool m_wantsTermination;
     btAlignedObjectArray<int> m_userCommandRequests;
     int m_sharedMemoryKey;
@@ -38,15 +41,18 @@ protected:
 
 	void createButtons();
 	
-public:
+
     
     //@todo, add accessor methods
 	// MyMotorInfo2 m_motorTargetVelocities[MAX_NUM_MOTORS];
     MyMotorInfo2 m_motorTargetPositions[MAX_NUM_MOTORS];
 	int m_numMotors;
+	int m_options;
+	bool m_isOptionalServerConnected;
 
+	public:
 
-	PhysicsClientExample(GUIHelperInterface* helper);
+	PhysicsClientExample(GUIHelperInterface* helper, int options);
 	virtual ~PhysicsClientExample();
     
 	virtual void	initPhysics();
@@ -93,6 +99,11 @@ public:
 	virtual void    exitPhysics(){};
 	virtual void	renderScene()
 	{
+		if (m_options == eCLIENTEXAMPLE_SERVER)
+		{
+			m_physicsServer.renderScene();
+		}
+
         b3DebugLines debugLines;
         b3GetDebugLines(m_physicsClientHandle,&debugLines);
         int numLines = debugLines.m_numDebugLines;
@@ -153,7 +164,13 @@ public:
             b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
         }
 	}
-	virtual void	physicsDebugDraw(int debugFlags){}
+	virtual void	physicsDebugDraw(int debugFlags)
+	{
+		if (m_options==eCLIENTEXAMPLE_SERVER)
+		{
+			m_physicsServer.physicsDebugDraw(debugFlags);
+		}
+	}
 	virtual bool	mouseMoveCallback(float x,float y){return false;};
 	virtual bool	mouseButtonCallback(int button, int state, float x, float y){return false;}
 	virtual bool	keyboardCallback(int key, int state){return false;}
@@ -352,7 +369,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
         case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: {
             b3SharedMemoryCommandHandle commandHandle = b3InitPhysicsParamCommand(m_physicsClientHandle);
             b3PhysicsParamSetGravity(commandHandle, 0.0, 0.0, -9.8);
-            b3SubmitClientCommandAndWaitStatus(m_physicsClientHandle, commandHandle);
+            b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
             break;
         }
         default:
@@ -365,14 +382,16 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
 
 
 
-PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
+PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper, int options)
 :SharedMemoryCommon(helper),
 m_physicsClientHandle(0),
 m_wantsTermination(false),
 m_sharedMemoryKey(SHARED_MEMORY_KEY),
 m_selectedBody(-1),
 m_prevSelectedBody(-1),
-m_numMotors(0)
+m_numMotors(0),
+m_options(options),
+m_isOptionalServerConnected(false)
 {
 	b3Printf("Started PhysicsClientExample\n");
 }
@@ -384,6 +403,12 @@ PhysicsClientExample::~PhysicsClientExample()
 		b3ProcessServerStatus(m_physicsClientHandle);
 		b3DisconnectSharedMemory(m_physicsClientHandle);
 	}
+
+	if (m_options == eCLIENTEXAMPLE_SERVER)
+	{
+		bool deInitializeSharedMemory = true;
+		m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
+	}
     b3Printf("~PhysicsClientExample\n");
 }
 
@@ -406,7 +431,10 @@ void	PhysicsClientExample::createButtons()
         createButton("Load URDF",CMD_LOAD_URDF,  isTrigger);
         createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
         createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM,  isTrigger);
-        createButton("Get State",CMD_REQUEST_ACTUAL_STATE,  isTrigger);
+		if (m_options!=eCLIENTEXAMPLE_SERVER)
+		{
+			createButton("Get State",CMD_REQUEST_ACTUAL_STATE,  isTrigger);
+		}
         createButton("Send Desired State",CMD_SEND_DESIRED_STATE,  isTrigger);
         createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
 		createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
@@ -477,6 +505,11 @@ void	PhysicsClientExample::initPhysics()
 	m_selectedBody = -1;
 	m_prevSelectedBody = -1;
 
+	if (m_options == eCLIENTEXAMPLE_SERVER)
+	{
+		m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
+	}
+
     m_physicsClientHandle  = b3ConnectSharedMemory(m_sharedMemoryKey);
 	//m_physicsClientHandle  = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
 	//m_physicsClientHandle = b3ConnectPhysicsDirect();
@@ -491,6 +524,15 @@ void	PhysicsClientExample::initPhysics()
 
 void	PhysicsClientExample::stepSimulation(float deltaTime)
 {
+
+	if (m_options == eCLIENTEXAMPLE_SERVER)
+	{
+		for (int i=0;i<100;i++)
+		{
+			m_physicsServer.processClientCommands();
+		}
+	}
+
 	if (m_prevSelectedBody != m_selectedBody)
 	{
 		createButtons();
@@ -564,10 +606,29 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
 				m_selectedBody = -1;
                 m_numMotors=0;
                 createButtons();
-            }
-			
-            
-            prepareAndSubmitCommand(commandId);
+				b3SharedMemoryCommandHandle commandHandle = b3InitResetSimulationCommand(m_physicsClientHandle);
+				if (m_options == eCLIENTEXAMPLE_SERVER)
+				{
+					b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+					while (!b3CanSubmitCommand(m_physicsClientHandle))
+					{
+						m_physicsServer.processClientCommands();
+						b3SharedMemoryStatusHandle status = b3ProcessServerStatus(m_physicsClientHandle);
+						bool hasStatus = (status != 0);
+						if (hasStatus)
+						{
+							int statusType = b3GetStatusType(status);
+							b3Printf("Status after reset: %d",statusType);
+						}
+					}
+				} else
+				{
+					prepareAndSubmitCommand(commandId);
+				}
+            } else
+			{
+	            prepareAndSubmitCommand(commandId);
+			}
             
         }  else
         {
@@ -575,7 +636,10 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
             {
                 enqueueCommand(CMD_SEND_DESIRED_STATE);
                 enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
-                enqueueCommand(CMD_REQUEST_DEBUG_LINES);
+				if (m_options != eCLIENTEXAMPLE_SERVER)
+				{
+					enqueueCommand(CMD_REQUEST_DEBUG_LINES);
+				}
                 //enqueueCommand(CMD_REQUEST_ACTUAL_STATE);
             }
         }
@@ -589,7 +653,7 @@ extern int gSharedMemoryKey;
 
 class CommonExampleInterface*    PhysicsClientCreateFunc(struct CommonExampleOptions& options)
 {
-    PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper);
+    PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper, options.m_option);
 	if (gSharedMemoryKey>=0)
 	{
 		example->setSharedMemoryKey(gSharedMemoryKey);

examples/SharedMemory/PhysicsClientExample.h

@@ -1,6 +1,13 @@
 #ifndef PHYSICS_CLIENT_EXAMPLE_H
 #define PHYSICS_CLIENT_EXAMPLE_H
 
+enum ClientExampleOptions
+{
+	eCLIENTEXAMPLE_LOOPBACK=1,
+	eCLIENTEAXMPLE_DIRECT=2,
+	eCLIENTEXAMPLE_SERVER=3,
+};
+
 class CommonExampleInterface*    PhysicsClientCreateFunc(struct CommonExampleOptions& options);
 
 #endif//PHYSICS_CLIENT_EXAMPLE_H

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -962,6 +962,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						break;
 					}
 
+				case CMD_REQUEST_CAMERA_IMAGE_DATA:
+				{
+					serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
+					hasStatus = true;
+					break;
+				}
+
                 case CMD_LOAD_URDF:
                 {
 					

examples/SharedMemory/PhysicsServerExample.cpp

@@ -19,10 +19,11 @@ class PhysicsServerExample : public SharedMemoryCommon
     bool m_isConnected;
     btClock m_clock;
 	bool m_replay;
+	int m_options;
 
 public:
 
-	PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0);
+	PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0, int options=0);
 
 	virtual ~PhysicsServerExample();
 
@@ -133,12 +134,13 @@ public:
 
 };
 
-PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem)
+PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem, int options)
 :SharedMemoryCommon(helper),
 m_physicsServer(sharedMem),
 m_wantsShutdown(false),
 m_isConnected(false),
-m_replay(false)
+m_replay(false),
+m_options(options)
 {
 	b3Printf("Started PhysicsServer\n");
 }
@@ -188,11 +190,7 @@ bool PhysicsServerExample::wantsTermination()
 
 void	PhysicsServerExample::stepSimulation(float deltaTime)
 {
-	if (m_replay)
-	{
-		for (int i=0;i<100;i++)
-			m_physicsServer.processClientCommands();
-	} else
+	if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
 	{
 		btClock rtc;
 		btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
@@ -201,6 +199,10 @@ void	PhysicsServerExample::stepSimulation(float deltaTime)
 		{
 			m_physicsServer.processClientCommands();
 		}
+	} else
+	{
+        for (int i=0;i<10;i++)
+			m_physicsServer.processClientCommands();
 	}
 }
 
@@ -288,7 +290,7 @@ extern int gSharedMemoryKey;
 
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
 {
-  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem);
+  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem, options.m_option);
 	if (gSharedMemoryKey>=0)
 	{
 		example->setSharedMemoryKey(gSharedMemoryKey);

examples/SharedMemory/PhysicsServerExample.h

@@ -5,6 +5,7 @@ enum PhysicsServerOptions
 {
 	PHYSICS_SERVER_ENABLE_COMMAND_LOGGING=1,
 	PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG=2,
+	PHYSICS_SERVER_USE_RTC_CLOCK = 4,
 };
 
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options);

examples/SharedMemory/SharedMemoryPublic.h

@@ -23,6 +23,7 @@ enum EnumSharedMemoryClientCommand
     CMD_PICK_BODY,
     CMD_MOVE_PICKED_BODY,
     CMD_REMOVE_PICKING_CONSTRAINT_BODY,
+    CMD_REQUEST_CAMERA_IMAGE_DATA,
     CMD_MAX_CLIENT_COMMANDS
 };
 
@@ -105,6 +106,14 @@ struct b3DebugLines
     const float*  m_linesColor;//float red,green,blue times 'm_numDebugLines'.
 };
 
+struct b3CameraImageData
+{
+	int m_pixelWidth;
+	int m_pixelHeight;
+	const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
+	const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
+};
+
 ///b3LinkState provides extra information such as the Cartesian world coordinates
 ///center of mass (COM) of the link, relative to the world reference frame.
 ///Orientation is a quaternion x,y,z,w
@@ -127,4 +136,5 @@ enum {
     CONTROL_MODE_POSITION_VELOCITY_PD,
 };
 
+
 #endif//SHARED_MEMORY_PUBLIC_H

examples/TinyRenderer/TinyRenderer.cpp

@@ -70,7 +70,8 @@ struct Shader : public IShader {
 
         Vec3f n = (B*m_model->normal(uv)).normalize();
 
-        float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.3f),1.f);
+        float diff = 1;//b3Min(b3Max(0.f, n*0.3f),1.f);
+		//float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.3f),1.f);
 		//float diff = b3Max(0.f, n*m_light_dir_local);
         color = m_model->diffuse(uv)*diff;
 
@@ -90,11 +91,13 @@ m_userIndex(-1)
 {
     Vec3f       eye(1,1,3);
     Vec3f    center(0,0,0);
-    Vec3f        up(0,1,0);
+    Vec3f        up(0,0,1);
     
     m_modelMatrix = Matrix::identity();
     m_viewMatrix = lookat(eye, center, up);
-    m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
+    //m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
+	//m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
+	m_viewportMatrix = viewport(0,0,width,height);
     m_projectionMatrix = projection(-1.f/(eye-center).norm());
  
 }
@@ -113,15 +116,22 @@ void TinyRenderObjectData::loadModel(const char* fileName)
 }
 
 
-void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices)
+void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices,
+	unsigned char* textureImage, int textureWidth, int textureHeight)
 {
 	if (0==m_model)
     {
         m_model = new Model();
-		char relativeFileName[1024];
-		if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
+		if (textureImage)
 		{
-			m_model->loadDiffuseTexture(relativeFileName);
+			m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
+		} else
+		{
+			char relativeFileName[1024];
+			if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
+			{
+				m_model->loadDiffuseTexture(relativeFileName);
+			}
 		}
 		
         for (int i=0;i<numVertices;i++)
@@ -223,6 +233,20 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
     if (0==model)
         return;
     
+	Vec3f       eye(renderData.m_eye[0],renderData.m_eye[1],renderData.m_eye[2]);
+    Vec3f       center(renderData.m_center[0],renderData.m_center[1],renderData.m_center[2]);
+    Vec3f        up(0,0,1);
+    
+
+	//renderData.m_viewMatrix = lookat(eye, center, up);
+	int width = renderData.m_width;
+	int height = renderData.m_height;
+	//renderData.m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
+	renderData.m_viewportMatrix = viewport(0,0,renderData.m_width,renderData.m_height);
+    //renderData.m_projectionMatrix = projection(-1.f/(eye-center).norm());
+ 
+
+
     b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
     
     TGAImage& frame = renderData.m_rgbColorBuffer;
@@ -233,7 +257,10 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
         Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
         
         Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix);
-        for (int i=0; i<model->nfaces(); i++) {
+        
+		
+		for (int i=0; i<model->nfaces(); i++) {
+			 
             for (int j=0; j<3; j++) {
                 shader.vertex(i, j);
             }

examples/TinyRenderer/TinyRenderer.h

@@ -17,6 +17,9 @@ struct TinyRenderObjectData
     Matrix m_projectionMatrix;
     Matrix m_viewportMatrix;
 
+	btVector3 m_eye;
+	btVector3 m_center;
+	
     //Model (vertices, indices, textures, shader)
     Matrix m_modelMatrix;
     class Model*  m_model;
@@ -33,7 +36,8 @@ struct TinyRenderObjectData
     
     void loadModel(const char* fileName);
     void createCube(float HalfExtentsX,float HalfExtentsY,float HalfExtentsZ);
-    void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices);
+    void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices,
+		unsigned char* textureImage=0, int textureWidth=0, int textureHeight=0);
 	
 	void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals,btAlignedObjectArray<int>& indices);
     

examples/TinyRenderer/model.cpp

@@ -49,6 +49,28 @@ Model::Model():verts_(), faces_(), norms_(), uv_(), diffusemap_(), normalmap_(),
 {
 }
 
+void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight)
+{
+	diffusemap_ = TGAImage(textureWidth, textureHeight, TGAImage::RGB);
+	for (int i=0;i<textureWidth;i++)
+	{
+		for (int j=0;j<textureHeight;j++)
+		{
+			TGAColor color;
+			color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
+			color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
+			color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
+			color.bgra[3] = 255;
+
+			color.bytespp = 3;
+			diffusemap_.set(i,j,color);
+			
+		}
+	}
+	
+	diffusemap_.flip_vertically();
+}
+
 void Model::loadDiffuseTexture(const char* relativeFileName)
 {
     diffusemap_.read_tga_file(relativeFileName);

examples/TinyRenderer/model.h

@@ -19,6 +19,7 @@ public:
     Model(const char *filename);
     Model();
     void loadDiffuseTexture(const char* relativeFileName);
+	void setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight);
     void addVertex(float x,float y,float z, float normalX, float normalY, float normalZ, float u, float v);
     void addTriangle(int vertexposIndex0, int normalIndex0, int uvIndex0,
                         int vertexposIndex1, int normalIndex1, int uvIndex1,

examples/TinyRenderer/our_gl.cpp

@@ -60,7 +60,7 @@ Vec3f barycentric(Vec2f A, Vec2f B, Vec2f C, Vec2f P) {
 }
 
 void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, const Matrix& viewPortMatrix) {
-    mat<3,4,float> pts  = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points
+	mat<3,4,float> pts  = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points
 	
 	
 	//we don't clip triangles that cross the near plane, just discard them instead of showing artifacts
@@ -93,8 +93,10 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
 			
             Vec3f bc_clip    = Vec3f(bc_screen.x/pts[0][3], bc_screen.y/pts[1][3], bc_screen.z/pts[2][3]);
             bc_clip = bc_clip/(bc_clip.x+bc_clip.y+bc_clip.z);
-            float frag_depth = clipc[2]*bc_clip;
-            if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 || zbuffer[P.x+P.y*image.get_width()]>frag_depth) continue;
+            float frag_depth = -1*(clipc[2]*bc_clip);
+            if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 || 
+				zbuffer[P.x+P.y*image.get_width()]>frag_depth) 
+				continue;
             bool discard = shader.fragment(bc_clip, color);
             if (!discard) {
                 zbuffer[P.x+P.y*image.get_width()] = frag_depth;

examples/pybullet/CMakeLists.txt

@@ -8,7 +8,50 @@ INCLUDE_DIRECTORIES(
 
 SET(pybullet_SRCS
 	pybullet.c
-	../../examples/ExampleBrowser/ExampleEntries.cpp
+	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
+                        ../../examples/SharedMemory/InProcessMemory.cpp
+                        ../../examples/SharedMemory/PhysicsClient.cpp
+                        ../../examples/SharedMemory/PhysicsClient.h
+                        ../../examples/SharedMemory/PhysicsServer.cpp
+                        ../../examples/SharedMemory/PhysicsServer.h
+                        ../../examples/SharedMemory/PhysicsServerExample.cpp
+                        ../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+                        ../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
+                        ../../examples/SharedMemory/PhysicsServerSharedMemory.h
+                        ../../examples/SharedMemory/PhysicsDirect.cpp
+                        ../../examples/SharedMemory/PhysicsDirect.h
+                        ../../examples/SharedMemory/PhysicsDirectC_API.cpp
+                        ../../examples/SharedMemory/PhysicsDirectC_API.h
+                        ../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+                        ../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+                        ../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
+                        ../../examples/SharedMemory/PhysicsClientSharedMemory.h
+                        ../../examples/SharedMemory/PhysicsClientC_API.cpp
+                        ../../examples/SharedMemory/PhysicsClientC_API.h
+                        ../../examples/SharedMemory/Win32SharedMemory.cpp
+                        ../../examples/SharedMemory/Win32SharedMemory.h
+                        ../../examples/SharedMemory/PosixSharedMemory.cpp
+                        ../../examples/SharedMemory/PosixSharedMemory.h
+                        ../../examples/Utils/b3ResourcePath.cpp
+                        ../../examples/Utils/b3ResourcePath.h
+                        ../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
+                        ../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
+                        ../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
+                        ../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+                        ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+                        ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
+                        ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+                        ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+                        ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+                        ../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+                        ../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+                        ../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+                        ../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
+                        ../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+                        ../../examples/MultiThreading/b3PosixThreadSupport.cpp
+                        ../../examples/MultiThreading/b3Win32ThreadSupport.cpp
+			../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+
 )
 
 IF(WIN32)
@@ -23,7 +66,7 @@ ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
 
-TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})
+TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})
 
 
 

examples/pybullet/pybullet.c

@@ -329,8 +329,14 @@ initpybullet(void)
         SpamMethods, "Python bindings for Bullet");
 #endif
 
+#if PY_MAJOR_VERSION >= 3
     if (m == NULL)
         return m;
+#else
+    if (m == NULL)
+        return;
+#endif
+    
 	
 	PyModule_AddIntConstant (m, "SHARED_MEMORY", eCONNECT_SHARED_MEMORY); // user read
 	PyModule_AddIntConstant (m, "DIRECT", eCONNECT_DIRECT); // user read 

src/LinearMath/btScalar.h

@@ -104,7 +104,7 @@ inline int	btGetVersion()
 #ifdef BT_DEBUG
 	#ifdef _MSC_VER
 		#include <stdio.h>
-		#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak();	}}
+		#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak();	}}
 	#else//_MSC_VER
 		#include <assert.h>
 		#define btAssert assert