bullet3/examples/SharedMemory/PhysicsServerCommandProcessor.cpp

#include "PhysicsServerCommandProcessor.h"
#include "../CommonInterfaces/CommonRenderInterface.h"

#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
#include "TinyRendererVisualShapeConverter.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyGearConstraint.h"
#include "../Importers/ImportURDFDemo/UrdfParser.h"
#include "../Utils/b3ResourcePath.h"
#include "Bullet3Common/b3FileUtils.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "Bullet3Common/b3HashMap.h"
#include "../Utils/ChromeTraceUtil.h"
#include "stb_image/stb_image.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h"
#include "../Utils/RobotLoggingUtil.h"
#include "LinearMath/btTransform.h"
#include "../Importers/ImportMJCFDemo/BulletMJCFImporter.h"
#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
#include "../Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "LinearMath/btSerializer.h"
#include "Bullet3Common/b3Logging.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "SharedMemoryCommands.h"
#include "LinearMath/btRandom.h"
#include "Bullet3Common/b3ResizablePool.h"
#include "../Utils/b3Clock.h"
#include "b3PluginManager.h"


#ifdef STATIC_LINK_VR_PLUGIN
#include "plugins/vrSyncPlugin/vrSyncPlugin.h"
#endif

#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/b3SoundEngine.h"
#endif

#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletSoftBody/btSoftBodySolvers.h"
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "BulletSoftBody/btSoftMultiBodyDynamicsWorld.h"
#include "../SoftDemo/BunnyMesh.h"
#else
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif



int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
int gVRTrackingObjectFlag = VR_CAMERA_TRACK_OBJECT_ORIENTATION;

btTransform gVRTrackingObjectTr = btTransform::getIdentity();




btVector3 gVRTeleportPos1(0,0,0);
btQuaternion gVRTeleportOrn(0, 0, 0,1);


btScalar simTimeScalingFactor = 1;
btScalar gRhsClamp = 1.f;

struct UrdfLinkNameMapUtil
{
	btMultiBody* m_mb;
	btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_rigidBodyJoints;

	btDefaultSerializer* m_memSerializer;

	UrdfLinkNameMapUtil():m_mb(0),m_memSerializer(0)
	{
	}
	virtual ~UrdfLinkNameMapUtil()
	{
		delete m_memSerializer;
	}
};


struct SharedMemoryDebugDrawer : public btIDebugDraw
{

	int m_debugMode;
	btAlignedObjectArray<SharedMemLines> m_lines2;

	SharedMemoryDebugDrawer ()
		:m_debugMode(0)
	{
	}
	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
	{
	}

	virtual void	reportErrorWarning(const char* warningString)
	{
	}

	virtual void	draw3dText(const btVector3& location,const char* textString)
	{
	}

	virtual void	setDebugMode(int debugMode)
	{
		m_debugMode = debugMode;
	}

	virtual int		getDebugMode() const
	{
		return m_debugMode;
	}
	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
	{
		SharedMemLines line;
		line.m_from = from;
		line.m_to = to;
		line.m_color = color;
		m_lines2.push_back(line);
	}
};

struct InternalVisualShapeData
{
	int m_tinyRendererVisualShapeIndex;
	int m_OpenGLGraphicsIndex;

	UrdfVisual m_visualShape;
	btTransform m_localInertiaFrame;
	std::string m_pathPrefix;

	void clear()
	{
		m_tinyRendererVisualShapeIndex = 0;
		m_OpenGLGraphicsIndex = 0;
		m_localInertiaFrame.setIdentity();
		m_pathPrefix = "";
	}
};

struct InternalCollisionShapeData
{
	btCollisionShape* m_collisionShape;
	b3AlignedObjectArray<UrdfCollision> m_urdfCollisionObjects;
	void clear()
	{
		m_collisionShape=0;
	}
};

struct InternalBodyData
{
	btMultiBody* m_multiBody;
	btRigidBody* m_rigidBody;
	int m_testData;
	std::string m_bodyName;

	btTransform m_rootLocalInertialFrame;
	btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
	btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_rigidBodyJoints;
	btAlignedObjectArray<std::string> m_rigidBodyJointNames;
	btAlignedObjectArray<std::string> m_rigidBodyLinkNames;
	
#ifdef B3_ENABLE_TINY_AUDIO
	b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
#endif //B3_ENABLE_TINY_AUDIO

	InternalBodyData()		
	{
		clear();
	}

	void clear()
	{
		m_multiBody=0;
		m_rigidBody=0;
		m_testData=0;
		m_bodyName="";
		m_rootLocalInertialFrame.setIdentity();
		m_linkLocalInertialFrames.clear();
		m_rigidBodyJoints.clear();
		m_rigidBodyJointNames.clear();
		m_rigidBodyLinkNames.clear();
	}

};

struct InteralUserConstraintData
{
	btTypedConstraint* m_rbConstraint;
	btMultiBodyConstraint* m_mbConstraint;

	b3UserConstraint m_userConstraintData;

	InteralUserConstraintData()
		:m_rbConstraint(0),
		m_mbConstraint(0)
	{
	}
};

struct InternalTextureData
{
	int m_tinyRendererTextureId;
	int m_openglTextureId;
	void clear()
	{
		m_tinyRendererTextureId = -1;
		m_openglTextureId = -1;
	}
};

typedef b3PoolBodyHandle<InternalTextureData> InternalTextureHandle;
typedef b3PoolBodyHandle<InternalBodyData> InternalBodyHandle;
typedef b3PoolBodyHandle<InternalCollisionShapeData> InternalCollisionShapeHandle;
typedef b3PoolBodyHandle<InternalVisualShapeData> InternalVisualShapeHandle;



class btCommandChunk
{
public:
	int		m_chunkCode;
	int		m_length;
	void	*m_oldPtr;
	int		m_dna_nr;
	int		m_number;
};


class bCommandChunkPtr4
{
public:
	bCommandChunkPtr4(){}
	int code;
	int len;
	union
	{
		int m_uniqueInt;
	};
	int dna_nr;
	int nr;
};

// ----------------------------------------------------- //
class bCommandChunkPtr8
{
public:
	bCommandChunkPtr8(){}
	int code,  len;
	union
	{
		int	m_uniqueInts[2];
	};
	int dna_nr, nr;
};



struct CommandLogger
{
	FILE* m_file;

	void	writeHeader(unsigned char* buffer) const
	{

#ifdef  BT_USE_DOUBLE_PRECISION
		memcpy(buffer, "BT3CMDd", 7);
#else
		memcpy(buffer, "BT3CMDf", 7);
#endif //BT_USE_DOUBLE_PRECISION

		int littleEndian= 1;
		littleEndian= ((char*)&littleEndian)[0];

		if (sizeof(void*)==8)
		{
			buffer[7] = '-';
		} else
		{
			buffer[7] = '_';
		}

		if (littleEndian)
		{
			buffer[8]='v';
		} else
		{
			buffer[8]='V';
		}

		buffer[9] = 0;
		buffer[10] = 0;
		buffer[11] = 0;

		int ver = btGetVersion();
		if (ver>=0 && ver<999)
		{
			sprintf((char*)&buffer[9],"%d",ver);
		}

	}

	void logCommand(const SharedMemoryCommand& command)
	{
		if (m_file)
		{
			btCommandChunk chunk;
			chunk.m_chunkCode = command.m_type;
			chunk.m_oldPtr = 0;
			chunk.m_dna_nr = 0;
			chunk.m_length = sizeof(SharedMemoryCommand);
			chunk.m_number = 1;
			fwrite((const char*)&chunk,sizeof(btCommandChunk), 1,m_file);
			
			switch (command.m_type)
			{
				
				case CMD_LOAD_MJCF:
				{
					fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
					fwrite((const char*)&command.m_mjcfArguments , sizeof(MjcfArgs),1,m_file);
					break;
				}
				case CMD_REQUEST_BODY_INFO:
                {
					fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
					fwrite((const char*)&command.m_sdfRequestInfoArgs, sizeof(SdfRequestInfoArgs),1,m_file);
					break;
				}
				case CMD_REQUEST_VISUAL_SHAPE_INFO:
				{
					fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
					fwrite((const char*)&command.m_requestVisualShapeDataArguments, sizeof(RequestVisualShapeDataArgs),1,m_file);
					break;
				}
				case CMD_LOAD_URDF:
                {
					fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
					fwrite((const char*)&command.m_urdfArguments, sizeof(UrdfArgs),1,m_file);
					break;
				 }
				 case CMD_INIT_POSE:
				 {
					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
					 fwrite((const char*)&command.m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);
					break;
				 };
				 case CMD_REQUEST_ACTUAL_STATE:
				 {
					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
					 fwrite((const char*)&command.m_requestActualStateInformationCommandArgument,
						 sizeof(RequestActualStateArgs),1,m_file);
					break;
				 };
				 case CMD_SEND_DESIRED_STATE:
				 {
					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
					 fwrite((const char*)&command.m_sendDesiredStateCommandArgument,sizeof(SendDesiredStateArgs),1,m_file);
					 break;
				 }
				 case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
				 {
					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
					 fwrite((const char*)&command.m_physSimParamArgs, sizeof(b3PhysicsSimulationParameters), 1,m_file);
					 break;
				 }
				 case CMD_REQUEST_CONTACT_POINT_INFORMATION:
				 {
					 fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
					 fwrite((const char*)&command.m_requestContactPointArguments,sizeof(RequestContactDataArgs),1,m_file);
					 break;
				 }
				case CMD_STEP_FORWARD_SIMULATION:
				case CMD_RESET_SIMULATION:
				case CMD_REQUEST_INTERNAL_DATA:
				{
					break;
				};
				default:
				{
					fwrite((const char*)&command,sizeof(SharedMemoryCommand),1,m_file);
				}

			};
		}
	}

	CommandLogger(const char* fileName)
	{
		m_file = fopen(fileName,"wb");
		if (m_file)
		{
			unsigned char buf[15];
			buf[12] = 12;
			buf[13] = 13;
			buf[14] = 14;
			writeHeader(buf);
			fwrite(buf,12,1,m_file);
		}
	}
	virtual ~CommandLogger()
	{
		if (m_file)
		{
			fclose(m_file);
		}
	}
};


struct CommandLogPlayback
{
	unsigned char m_header[12];
	FILE* m_file;
	bool m_bitsVary;
	bool m_fileIs64bit;


	CommandLogPlayback(const char* fileName)
	{
		m_file = fopen(fileName,"rb");
		if (m_file)
		{
			size_t bytesRead;
			bytesRead = fread(m_header,12,1,m_file);
		}
		unsigned char c = m_header[7];
		m_fileIs64bit =  (c=='-');

		const bool VOID_IS_8 = ((sizeof(void*)==8));
		m_bitsVary = (VOID_IS_8 != m_fileIs64bit);



	}
	virtual ~CommandLogPlayback()
	{
		if (m_file)
		{
			fclose(m_file);
			m_file=0;
		}
	}
	bool processNextCommand(SharedMemoryCommand* cmd)
	{
//for a little while, keep this flag to be able to read 'old' log files
//#define BACKWARD_COMPAT
#if BACKWARD_COMPAT
		SharedMemoryCommand unused;
#endif//BACKWARD_COMPAT
		bool result = false;

		if (m_file)
		{
			size_t s = 0;
			int commandType = -1;

			if (m_fileIs64bit)
			{
				bCommandChunkPtr8 chunk8;
				s = fread((void*)&chunk8,sizeof(bCommandChunkPtr8),1,m_file);
				commandType = chunk8.code;
			} else
			{
				bCommandChunkPtr4 chunk4;
				s = fread((void*)&chunk4,sizeof(bCommandChunkPtr4),1,m_file);
				commandType = chunk4.code;
			}

			if (s==1)
			{
				memset(cmd,0,sizeof(SharedMemoryCommand));
				cmd->m_type = commandType;				

#ifdef BACKWARD_COMPAT
				s = fread(&unused,sizeof(SharedMemoryCommand),1,m_file);
				cmd->m_updateFlags = unused.m_updateFlags;
#endif


				switch (commandType)
				{
				case CMD_LOAD_MJCF:
				{
#ifdef BACKWARD_COMPAT
					cmd->m_mjcfArguments = unused.m_mjcfArguments;
#else
					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
					fread(&cmd->m_mjcfArguments,sizeof(MjcfArgs),1,m_file);
#endif
					result=true;
					break;
				}
				case CMD_REQUEST_BODY_INFO:
                {
#ifdef BACKWARD_COMPAT
					cmd->m_sdfRequestInfoArgs = unused.m_sdfRequestInfoArgs;
#else
					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
					fread(&cmd->m_sdfRequestInfoArgs,sizeof(SdfRequestInfoArgs),1,m_file);					
#endif
					result=true;
					break;
				}
				case CMD_REQUEST_VISUAL_SHAPE_INFO:
				{
#ifdef BACKWARD_COMPAT
					cmd->m_requestVisualShapeDataArguments = unused.m_requestVisualShapeDataArguments;
#else
					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
					fread(&cmd->m_requestVisualShapeDataArguments,sizeof(RequestVisualShapeDataArgs),1,m_file);					
#endif
					result=true;
					break;
				}
				 case CMD_LOAD_URDF:
                {
#ifdef BACKWARD_COMPAT
					 cmd->m_urdfArguments = unused.m_urdfArguments;
#else
					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
					fread(&cmd->m_urdfArguments,sizeof(UrdfArgs),1,m_file);					
#endif
					result=true;
					break;
				 }
				 case CMD_INIT_POSE:
				 {
#ifdef BACKWARD_COMPAT
					 cmd->m_initPoseArgs = unused.m_initPoseArgs;
#else
					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
					fread(&cmd->m_initPoseArgs,sizeof(InitPoseArgs),1,m_file);					

#endif
					 result=true;
					break;
				 };
				 case CMD_REQUEST_ACTUAL_STATE:
				 {
#ifdef BACKWARD_COMPAT					 
					cmd->m_requestActualStateInformationCommandArgument = unused.m_requestActualStateInformationCommandArgument;
#else
					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
					fread(&cmd->m_requestActualStateInformationCommandArgument,sizeof(RequestActualStateArgs),1,m_file);					
#endif
					 result=true;
					break;
				 };
				 case CMD_SEND_DESIRED_STATE:
				 {
#ifdef BACKWARD_COMPAT	
					 cmd->m_sendDesiredStateCommandArgument = unused.m_sendDesiredStateCommandArgument;
#else
					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
					fread(&cmd->m_sendDesiredStateCommandArgument ,sizeof(SendDesiredStateArgs),1,m_file);					

#endif
					 result = true;
					 break;
				 }
				 case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
				 {
#ifdef BACKWARD_COMPAT	
					 cmd->m_physSimParamArgs = unused.m_physSimParamArgs;
					 #else
					fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
					fread(&cmd->m_physSimParamArgs ,sizeof(b3PhysicsSimulationParameters),1,m_file);					

					 #endif
					 result = true;
					 break;
				 }
				 case CMD_REQUEST_CONTACT_POINT_INFORMATION:
				 {
#ifdef BACKWARD_COMPAT	
					 cmd->m_requestContactPointArguments = unused.m_requestContactPointArguments;
					 #else
					 fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
					fread(&cmd->m_requestContactPointArguments ,sizeof(RequestContactDataArgs),1,m_file);					

					 #endif
					 result = true;
					 break;
				 }
				 case CMD_STEP_FORWARD_SIMULATION:
				case CMD_RESET_SIMULATION:
				case CMD_REQUEST_INTERNAL_DATA:
				{
					result=true;
					break;
				}
				default:
				{
					s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file);
					result=(s==1);
				}
				};
			}
		}
		return result;

	}
};

struct SaveWorldObjectData
{
	b3AlignedObjectArray<int> m_bodyUniqueIds;
	std::string	m_fileName;
};

struct MyBroadphaseCallback : public btBroadphaseAabbCallback
{
	b3AlignedObjectArray<int> m_bodyUniqueIds;
	b3AlignedObjectArray<int> m_links;


	MyBroadphaseCallback()
	{
	}
	virtual ~MyBroadphaseCallback()
	{
	}
	void clear()
	{
		m_bodyUniqueIds.clear();
		m_links.clear();
	}
	virtual bool	process(const btBroadphaseProxy* proxy)
	{
		btCollisionObject* colObj = (btCollisionObject*)proxy->m_clientObject;
		btMultiBodyLinkCollider* mbl = btMultiBodyLinkCollider::upcast(colObj);
		if (mbl)
		{
			int bodyUniqueId = mbl->m_multiBody->getUserIndex2();
			m_bodyUniqueIds.push_back(bodyUniqueId);
			m_links.push_back(mbl->m_link);
			return true;
		}
		int bodyUniqueId = colObj->getUserIndex2();
		if (bodyUniqueId >= 0)
		{
			m_bodyUniqueIds.push_back(bodyUniqueId);
			//it is not a multibody, so use -1 otherwise
			m_links.push_back(-1);
		}
		return true;
	}
};



enum MyFilterModes
{
	FILTER_GROUPAMASKB_AND_GROUPBMASKA=0,
	FILTER_GROUPAMASKB_OR_GROUPBMASKA
};

struct MyOverlapFilterCallback : public btOverlapFilterCallback
{
	int m_filterMode;
	
	MyOverlapFilterCallback()
	:m_filterMode(FILTER_GROUPAMASKB_AND_GROUPBMASKA)
	{
	}
	
	virtual ~MyOverlapFilterCallback()
	{}
	// return true when pairs need collision
	virtual bool	needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
	{
		if (m_filterMode==FILTER_GROUPAMASKB_AND_GROUPBMASKA)
		{
			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
			collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
			return collides;
		}
		
		if (m_filterMode==FILTER_GROUPAMASKB_OR_GROUPBMASKA)
		{
			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
			collides = collides || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
			return collides;
		}
		return false;
	}
};


struct InternalStateLogger
{
	int m_loggingUniqueId;
	int m_loggingType;

	InternalStateLogger()
		:m_loggingUniqueId(0),
		m_loggingType(0)
	{
	}
	virtual ~InternalStateLogger() {}

	virtual void stop() = 0;
	virtual void logState(btScalar timeStep)=0;

};

struct VideoMP4Loggger : public InternalStateLogger
{

	struct GUIHelperInterface* m_guiHelper;
	std::string m_fileName;
	VideoMP4Loggger(int loggerUid,const char* fileName,GUIHelperInterface* guiHelper)
		:m_guiHelper(guiHelper)
	{
		m_fileName = fileName;
		m_loggingUniqueId = loggerUid;
		m_loggingType = STATE_LOGGING_VIDEO_MP4;
		m_guiHelper->dumpFramesToVideo(fileName);
	}

	virtual void stop()
	{
		m_guiHelper->dumpFramesToVideo(0);
	}
	virtual void logState(btScalar timeStep)
	{
		//dumping video frames happens in another thread
		//we could add some overlay of timestamp here, if needed/wanted
	}
};

struct MinitaurStateLogger : public InternalStateLogger
{
	int m_loggingTimeStamp;
	std::string m_fileName;
	int m_minitaurBodyUniqueId;
	FILE* m_logFileHandle;

	std::string m_structTypes;
	btMultiBody* m_minitaurMultiBody;
	btAlignedObjectArray<int> m_motorIdList;

	MinitaurStateLogger(int loggingUniqueId, const std::string& fileName, btMultiBody* minitaurMultiBody, btAlignedObjectArray<int>& motorIdList)
		:m_loggingTimeStamp(0),
		m_logFileHandle(0),
		m_minitaurMultiBody(minitaurMultiBody)
	{
        m_loggingUniqueId = loggingUniqueId;
		m_loggingType = STATE_LOGGING_MINITAUR;
		m_motorIdList.resize(motorIdList.size());
		for (int m=0;m<motorIdList.size();m++)
		{
			m_motorIdList[m] = motorIdList[m];
		}

		btAlignedObjectArray<std::string> structNames;
		//'t', 'r', 'p', 'y', 'q0', 'q1', 'q2', 'q3', 'q4', 'q5', 'q6', 'q7', 'u0', 'u1', 'u2', 'u3', 'u4', 'u5', 'u6', 'u7', 'xd', 'mo'
		structNames.push_back("t");
		structNames.push_back("r");
		structNames.push_back("p");
		structNames.push_back("y");
	
		structNames.push_back("q0");
		structNames.push_back("q1");
		structNames.push_back("q2");
		structNames.push_back("q3");
		structNames.push_back("q4");
		structNames.push_back("q5");
		structNames.push_back("q6");
		structNames.push_back("q7");

		structNames.push_back("u0");
		structNames.push_back("u1");
		structNames.push_back("u2");
		structNames.push_back("u3");
		structNames.push_back("u4");
		structNames.push_back("u5");
		structNames.push_back("u6");
		structNames.push_back("u7");

		structNames.push_back("dx");
		structNames.push_back("mo");

		m_structTypes = "IffffffffffffffffffffB";
		const char* fileNameC = fileName.c_str();

		m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);
	}
	virtual void stop()
	{
		if (m_logFileHandle)
		{
			closeMinitaurLogFile(m_logFileHandle);
			m_logFileHandle = 0;
		}
	}

	virtual void logState(btScalar timeStep)
	{
		if (m_logFileHandle)
		{
			
			//btVector3 pos = m_minitaurMultiBody->getBasePos();

			MinitaurLogRecord logData;
			//'t', 'r', 'p', 'y', 'q0', 'q1', 'q2', 'q3', 'q4', 'q5', 'q6', 'q7', 'u0', 'u1', 'u2', 'u3', 'u4', 'u5', 'u6', 'u7', 'xd', 'mo'
			btScalar motorDir[8] = {1, 1, 1, 1, 1, 1, 1, 1};


			btQuaternion orn = m_minitaurMultiBody->getBaseWorldTransform().getRotation();
			btMatrix3x3 mat(orn);
			btScalar roll=0;
			btScalar pitch=0;
			btScalar yaw = 0;

			mat.getEulerZYX(yaw,pitch,roll);
			
			logData.m_values.push_back(m_loggingTimeStamp);
			logData.m_values.push_back((float)roll);
			logData.m_values.push_back((float)pitch);
			logData.m_values.push_back((float)yaw);

			for (int i=0;i<8;i++)
			{
				float jointAngle = (float)motorDir[i]*m_minitaurMultiBody->getJointPos(m_motorIdList[i]);
				logData.m_values.push_back(jointAngle);
			}
			for (int i=0;i<8;i++)
			{
                btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_minitaurMultiBody->getLink(m_motorIdList[i]).m_userPtr;

                if (motor && timeStep>btScalar(0))
                {
					btScalar force = motor->getAppliedImpulse(0)/timeStep;
					logData.m_values.push_back((float)force);
				}
			}
			//x is forward component, estimated speed forward
			float xd_speed = m_minitaurMultiBody->getBaseVel()[0];
			logData.m_values.push_back(xd_speed);
			char mode = 6;
			logData.m_values.push_back(mode);

			//at the moment, appendMinitaurLogData will directly write to disk (potential delay)
			//better to fill a huge memory buffer and once in a while write it to disk
			appendMinitaurLogData(m_logFileHandle, m_structTypes, logData);

			fflush(m_logFileHandle);
		
			m_loggingTimeStamp++;
		}
	}
};


struct b3VRControllerEvents
{
	b3VRControllerEvent m_vrEvents[MAX_VR_CONTROLLERS];
	
	b3VRControllerEvents()
	{
		init();
	}

	virtual ~b3VRControllerEvents()
	{
	}

	void init()
	{
		for (int i=0;i<MAX_VR_CONTROLLERS;i++)
		{
			m_vrEvents[i].m_deviceType = 0;
			m_vrEvents[i].m_numButtonEvents = 0;
			m_vrEvents[i].m_numMoveEvents = 0;
			for (int b=0;b<MAX_VR_BUTTONS;b++)
			{
				m_vrEvents[i].m_buttons[b] = 0;
			}
		}
	}

	void addNewVREvents(const struct b3VRControllerEvent* vrEvents, int numVREvents)
	{
	//update m_vrEvents
		for (int i=0;i<numVREvents;i++)
		{
			int controlledId = vrEvents[i].m_controllerId;
			if (vrEvents[i].m_numMoveEvents)
			{
				m_vrEvents[controlledId].m_analogAxis = vrEvents[i].m_analogAxis;
				for (int a=0;a<10;a++)
				{
					m_vrEvents[controlledId].m_auxAnalogAxis[a] = vrEvents[i].m_auxAnalogAxis[a];
				}
			} else
			{
				m_vrEvents[controlledId].m_analogAxis = 0;
				for (int a=0;a<10;a++)
				{
					m_vrEvents[controlledId].m_auxAnalogAxis[a] = 0;
				}
			}
			if (vrEvents[i].m_numMoveEvents+vrEvents[i].m_numButtonEvents)
			{
				m_vrEvents[controlledId].m_controllerId = vrEvents[i].m_controllerId;
				m_vrEvents[controlledId].m_deviceType = vrEvents[i].m_deviceType;

				m_vrEvents[controlledId].m_pos[0] = vrEvents[i].m_pos[0];
				m_vrEvents[controlledId].m_pos[1] = vrEvents[i].m_pos[1];
				m_vrEvents[controlledId].m_pos[2] = vrEvents[i].m_pos[2];
				m_vrEvents[controlledId].m_orn[0] = vrEvents[i].m_orn[0];
				m_vrEvents[controlledId].m_orn[1] = vrEvents[i].m_orn[1];
				m_vrEvents[controlledId].m_orn[2] = vrEvents[i].m_orn[2];
				m_vrEvents[controlledId].m_orn[3] = vrEvents[i].m_orn[3];
			}

			m_vrEvents[controlledId].m_numButtonEvents += vrEvents[i].m_numButtonEvents;
			m_vrEvents[controlledId].m_numMoveEvents += vrEvents[i].m_numMoveEvents;
			for (int b=0;b<MAX_VR_BUTTONS;b++)
			{
				m_vrEvents[controlledId].m_buttons[b] |= vrEvents[i].m_buttons[b];
				if (vrEvents[i].m_buttons[b] & eButtonIsDown)
				{
					m_vrEvents[controlledId].m_buttons[b] |= eButtonIsDown;
				} else
				{
					m_vrEvents[controlledId].m_buttons[b] &= ~eButtonIsDown;
				}
			}
		}
	};
};

struct VRControllerStateLogger : public InternalStateLogger
{
	b3VRControllerEvents m_vrEvents;
	int m_loggingTimeStamp;
	int m_deviceTypeFilter;
	std::string m_fileName;
	FILE* m_logFileHandle;
	std::string m_structTypes;

	VRControllerStateLogger(int loggingUniqueId, int deviceTypeFilter, const std::string& fileName)
		:m_loggingTimeStamp(0),
		m_deviceTypeFilter(deviceTypeFilter),
		m_fileName(fileName),
		m_logFileHandle(0)
	{
		m_loggingUniqueId = loggingUniqueId;
		m_loggingType = STATE_LOGGING_VR_CONTROLLERS;

		btAlignedObjectArray<std::string> structNames;
		structNames.push_back("stepCount");
		structNames.push_back("timeStamp");
		structNames.push_back("controllerId");
		structNames.push_back("numMoveEvents");
		structNames.push_back("m_numButtonEvents");
		structNames.push_back("posX");
        structNames.push_back("posY");
        structNames.push_back("posZ");
        structNames.push_back("oriX");
        structNames.push_back("oriY");
        structNames.push_back("oriZ");
        structNames.push_back("oriW");
		structNames.push_back("analogAxis");
		structNames.push_back("buttons0");
		structNames.push_back("buttons1");
		structNames.push_back("buttons2");
		structNames.push_back("buttons3");
		structNames.push_back("buttons4");
		structNames.push_back("buttons5");
		structNames.push_back("buttons6");
		structNames.push_back("deviceType");
		m_structTypes = "IfIIIffffffffIIIIIIII";

		const char* fileNameC = fileName.c_str();
		m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);

	}
	virtual void stop()
	{
		 if (m_logFileHandle)
        {
            closeMinitaurLogFile(m_logFileHandle);
            m_logFileHandle = 0;
        }
	}
	virtual void logState(btScalar timeStep)
	{
		if (m_logFileHandle)
        {
               
                int stepCount = m_loggingTimeStamp;
                float timeStamp = m_loggingTimeStamp*timeStep;

				for (int i=0;i<MAX_VR_CONTROLLERS;i++)
				{
					b3VRControllerEvent& event = m_vrEvents.m_vrEvents[i];
					if (m_deviceTypeFilter & event.m_deviceType)
					{
						if (event.m_numButtonEvents + event.m_numMoveEvents)
						{
							MinitaurLogRecord logData;

							//serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = event;
							//log the event
							logData.m_values.push_back(stepCount);
							logData.m_values.push_back(timeStamp);
							logData.m_values.push_back(event.m_controllerId);
							logData.m_values.push_back(event.m_numMoveEvents);
							logData.m_values.push_back(event.m_numButtonEvents);
							logData.m_values.push_back(event.m_pos[0]);
							logData.m_values.push_back(event.m_pos[1]);
							logData.m_values.push_back(event.m_pos[2]);
							logData.m_values.push_back(event.m_orn[0]);
							logData.m_values.push_back(event.m_orn[1]);
							logData.m_values.push_back(event.m_orn[2]);
							logData.m_values.push_back(event.m_orn[3]);
							logData.m_values.push_back(event.m_analogAxis);
							int packedButtons[7]={0,0,0,0,0,0,0};

							int packedButtonIndex = 0;
							int packedButtonShift = 0;
							//encode the 64 buttons into 7 int (3 bits each), each int stores 10 buttons
							for (int b=0;b<MAX_VR_BUTTONS;b++)
							{
								int buttonMask = event.m_buttons[b];
								buttonMask = buttonMask << (packedButtonShift*3);
								packedButtons[packedButtonIndex] |= buttonMask;
								packedButtonShift++;

								if (packedButtonShift>=10)
								{
									packedButtonShift=0;
									packedButtonIndex++;
									if (packedButtonIndex>=7)
									{
										btAssert(0);
										break;
									}
								}
							}

							for (int b=0;b<7;b++)
							{
								logData.m_values.push_back(packedButtons[b]);
							}
							logData.m_values.push_back(event.m_deviceType);
							appendMinitaurLogData(m_logFileHandle, m_structTypes, logData);

							event.m_numButtonEvents = 0;
							event.m_numMoveEvents = 0;
							for (int b=0;b<MAX_VR_BUTTONS;b++)
							{
								event.m_buttons[b] = 0;
							}
						}
					}
				}

				fflush(m_logFileHandle);
				m_loggingTimeStamp++;
		}
	}
};

struct GenericRobotStateLogger : public InternalStateLogger
{
    float m_loggingTimeStamp;
    std::string m_fileName;
    FILE* m_logFileHandle;
    std::string m_structTypes;
    const btMultiBodyDynamicsWorld* m_dynamicsWorld;
    btAlignedObjectArray<int> m_bodyIdList;
    bool m_filterObjectUniqueId;
    int m_maxLogDof;
	int m_logFlags;

    GenericRobotStateLogger(int loggingUniqueId, const std::string& fileName, const btMultiBodyDynamicsWorld* dynamicsWorld, int maxLogDof, int logFlags)
    :m_loggingTimeStamp(0),
    m_logFileHandle(0),
    m_dynamicsWorld(dynamicsWorld),
    m_filterObjectUniqueId(false),
	m_maxLogDof(maxLogDof),
	m_logFlags(logFlags)
    {
        m_loggingUniqueId = loggingUniqueId;
        m_loggingType = STATE_LOGGING_GENERIC_ROBOT;
        
        btAlignedObjectArray<std::string> structNames;
        structNames.push_back("stepCount");
        structNames.push_back("timeStamp");
        structNames.push_back("objectId");
        structNames.push_back("posX");
        structNames.push_back("posY");
        structNames.push_back("posZ");
        structNames.push_back("oriX");
        structNames.push_back("oriY");
        structNames.push_back("oriZ");
        structNames.push_back("oriW");
        structNames.push_back("velX");
        structNames.push_back("velY");
        structNames.push_back("velZ");
        structNames.push_back("omegaX");
        structNames.push_back("omegaY");
        structNames.push_back("omegaZ");
        structNames.push_back("qNum");

		m_structTypes = "IfifffffffffffffI";

		for (int i=0;i<m_maxLogDof;i++)
		{
			m_structTypes.append("f");
			char jointName[256];
			sprintf(jointName,"q%d",i);
			structNames.push_back(jointName);
		}

		for (int i=0;i<m_maxLogDof;i++)
		{
			m_structTypes.append("f");
			char jointName[256];
			sprintf(jointName,"u%d",i);
			structNames.push_back(jointName);
		}

		if (m_logFlags & STATE_LOG_JOINT_TORQUES)
		{
			for (int i=0;i<m_maxLogDof;i++)
			{
				m_structTypes.append("f");
				char jointName[256];
				sprintf(jointName,"t%d",i);
				structNames.push_back(jointName);
			}
		}

        const char* fileNameC = fileName.c_str();
        
        m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);
    }
    virtual void stop()
    {
        if (m_logFileHandle)
        {
            closeMinitaurLogFile(m_logFileHandle);
            m_logFileHandle = 0;
        }
    }
    
    virtual void logState(btScalar timeStep)
    {
        if (m_logFileHandle)
        {
            for (int i=0;i<m_dynamicsWorld->getNumMultibodies();i++)
            {
                const btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
                int objectUniqueId = mb->getUserIndex2();
                if (m_filterObjectUniqueId && m_bodyIdList.findLinearSearch2(objectUniqueId) < 0)
                {
                    continue;
                }
                
                MinitaurLogRecord logData;
                int stepCount = m_loggingTimeStamp;
                float timeStamp = m_loggingTimeStamp*m_dynamicsWorld->getSolverInfo().m_timeStep;
                logData.m_values.push_back(stepCount);
                logData.m_values.push_back(timeStamp);
                
                btVector3 pos = mb->getBasePos();
                btQuaternion ori = mb->getWorldToBaseRot().inverse();
                btVector3 vel = mb->getBaseVel();
                btVector3 omega = mb->getBaseOmega();
                
                float posX = pos[0];
                float posY = pos[1];
                float posZ = pos[2];
                float oriX = ori.x();
                float oriY = ori.y();
                float oriZ = ori.z();
                float oriW = ori.w();
                float velX = vel[0];
                float velY = vel[1];
                float velZ = vel[2];
                float omegaX = omega[0];
                float omegaY = omega[1];
                float omegaZ = omega[2];
                
                logData.m_values.push_back(objectUniqueId);
                logData.m_values.push_back(posX);
                logData.m_values.push_back(posY);
                logData.m_values.push_back(posZ);
                logData.m_values.push_back(oriX);
                logData.m_values.push_back(oriY);
                logData.m_values.push_back(oriZ);
                logData.m_values.push_back(oriW);
                logData.m_values.push_back(velX);
                logData.m_values.push_back(velY);
                logData.m_values.push_back(velZ);
                logData.m_values.push_back(omegaX);
                logData.m_values.push_back(omegaY);
                logData.m_values.push_back(omegaZ);
                
                int numDofs = mb->getNumDofs();
                logData.m_values.push_back(numDofs);
                int numJoints = mb->getNumLinks();
                
                for (int j = 0; j < numJoints; ++j)
                {
                    if (mb->getLink(j).m_jointType == 0 || mb->getLink(j).m_jointType == 1)
                    {
                        float q = mb->getJointPos(j);
                        logData.m_values.push_back(q);
                    }
                }
                for (int j = numDofs; j < m_maxLogDof; ++j)
                {
                    float q = 0.0;
                    logData.m_values.push_back(q);
                }
                
                for (int j = 0; j < numJoints; ++j)
                {
                    if (mb->getLink(j).m_jointType == 0 || mb->getLink(j).m_jointType == 1)
                    {
                        float v = mb->getJointVel(j);
                        logData.m_values.push_back(v);
                    }
                }
                for (int j = numDofs; j < m_maxLogDof; ++j)
                {
                    float v = 0.0;
                    logData.m_values.push_back(v);
                }

				
				if (m_logFlags & STATE_LOG_JOINT_TORQUES)
				{
					for (int j = 0; j < numJoints; ++j)
					{
						if (mb->getLink(j).m_jointType == 0 || mb->getLink(j).m_jointType == 1)
						{
							float jointTorque = 0;
							if (m_logFlags & STATE_LOG_JOINT_MOTOR_TORQUES)
							{
								btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(j).m_userPtr;
								if (motor)
								{
									jointTorque += motor->getAppliedImpulse(0)/timeStep;
								}
							}
							if (m_logFlags & STATE_LOG_JOINT_USER_TORQUES)
							{
								if (mb->getLink(j).m_jointType == 0 || mb->getLink(j).m_jointType == 1)
								{
									jointTorque += mb->getJointTorque(j);//these are the 'user' applied external torques
								}
							}
							logData.m_values.push_back(jointTorque);
						}

					}
					for (int j = numDofs; j < m_maxLogDof; ++j)
					{
						float u = 0.0;
						logData.m_values.push_back(u);
					}
				}
                                
                //at the moment, appendMinitaurLogData will directly write to disk (potential delay)
                //better to fill a huge memory buffer and once in a while write it to disk
                appendMinitaurLogData(m_logFileHandle, m_structTypes, logData);
                fflush(m_logFileHandle);
            }
            
            m_loggingTimeStamp++;
        }
    }
};
struct ContactPointsStateLogger : public InternalStateLogger
{
	int m_loggingTimeStamp;
	
	std::string m_fileName;
	FILE* m_logFileHandle;
	std::string m_structTypes;
	btMultiBodyDynamicsWorld* m_dynamicsWorld;
	bool m_filterLinkA;
	bool m_filterLinkB;
	int m_linkIndexA;
	int m_linkIndexB;
	int m_bodyUniqueIdA;
	int m_bodyUniqueIdB;
	
	ContactPointsStateLogger(int loggingUniqueId, const std::string& fileName, btMultiBodyDynamicsWorld* dynamicsWorld)
	:m_loggingTimeStamp(0),
	m_fileName(fileName),
	m_logFileHandle(0),
	m_dynamicsWorld(dynamicsWorld),
	m_filterLinkA(false),
	m_filterLinkB(false),
	m_linkIndexA(-2),
	m_linkIndexB(-2),
	m_bodyUniqueIdA(-1),
	m_bodyUniqueIdB(-1)
	{
		m_loggingUniqueId = loggingUniqueId;
		m_loggingType = STATE_LOGGING_CONTACT_POINTS;
		
		btAlignedObjectArray<std::string> structNames;
		structNames.push_back("stepCount");
		structNames.push_back("timeStamp");
		structNames.push_back("contactFlag");
		structNames.push_back("bodyUniqueIdA");
		structNames.push_back("bodyUniqueIdB");
		structNames.push_back("linkIndexA");
		structNames.push_back("linkIndexB");
		structNames.push_back("positionOnAX");
		structNames.push_back("positionOnAY");
		structNames.push_back("positionOnAZ");
		structNames.push_back("positionOnBX");
		structNames.push_back("positionOnBY");
		structNames.push_back("positionOnBZ");
		structNames.push_back("contactNormalOnBX");
		structNames.push_back("contactNormalOnBY");
		structNames.push_back("contactNormalOnBZ");
		structNames.push_back("contactDistance");
		structNames.push_back("normalForce");
		m_structTypes = "IfIiiiifffffffffff";
		
		const char* fileNameC = fileName.c_str();
		m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);
		
	}
	virtual void stop()
	{
		if (m_logFileHandle)
		{
			closeMinitaurLogFile(m_logFileHandle);
			m_logFileHandle = 0;
		}
	}
	virtual void logState(btScalar timeStep)
	{
		if (m_logFileHandle)
		{
			int numContactManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
			for (int i = 0; i < numContactManifolds; i++)
			{
				const btPersistentManifold* manifold = m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
				int linkIndexA = -1;
				int linkIndexB = -1;
				
				int objectIndexB = -1;
				
				const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
				if (bodyB)
				{
					objectIndexB = bodyB->getUserIndex2();
				}
				const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
				if (mblB && mblB->m_multiBody)
				{
					linkIndexB = mblB->m_link;
					objectIndexB = mblB->m_multiBody->getUserIndex2();
					if (m_filterLinkB && (m_linkIndexB != linkIndexB))
					{
						continue;
					}
				}
				
				int objectIndexA = -1;
				const btRigidBody* bodyA = btRigidBody::upcast(manifold->getBody0());
				if (bodyA)
				{
					objectIndexA = bodyA->getUserIndex2();
				}
				const btMultiBodyLinkCollider* mblA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
				if (mblA && mblA->m_multiBody)
				{
					linkIndexA = mblA->m_link;
					objectIndexA = mblA->m_multiBody->getUserIndex2();
					if (m_filterLinkA && (m_linkIndexA != linkIndexA))
					{
						continue;
					}
				}
				
				btAssert(bodyA || mblA);
				
				//apply the filter, if the user provides it
				if (m_bodyUniqueIdA >= 0)
				{
					if ((m_bodyUniqueIdA != objectIndexA) &&
						(m_bodyUniqueIdA != objectIndexB))
						continue;
				}
				
				//apply the second object filter, if the user provides it
				if (m_bodyUniqueIdB >= 0)
				{
					if ((m_bodyUniqueIdB != objectIndexA) &&
						(m_bodyUniqueIdB != objectIndexB))
						continue;
				}
				
				for (int p = 0; p < manifold->getNumContacts(); p++)
				{
					MinitaurLogRecord logData;
					int stepCount = m_loggingTimeStamp;
					float timeStamp = m_loggingTimeStamp*timeStep;
					logData.m_values.push_back(stepCount);
					logData.m_values.push_back(timeStamp);
					
					const btManifoldPoint& srcPt = manifold->getContactPoint(p);
					
					logData.m_values.push_back(0); // reserved contact flag
					logData.m_values.push_back(objectIndexA);
					logData.m_values.push_back(objectIndexB);
					logData.m_values.push_back(linkIndexA);
					logData.m_values.push_back(linkIndexB);
					logData.m_values.push_back((float)(srcPt.getPositionWorldOnA()[0]));
					logData.m_values.push_back((float)(srcPt.getPositionWorldOnA()[1]));
					logData.m_values.push_back((float)(srcPt.getPositionWorldOnA()[2]));
					logData.m_values.push_back((float)(srcPt.getPositionWorldOnB()[0]));
					logData.m_values.push_back((float)(srcPt.getPositionWorldOnB()[1]));
					logData.m_values.push_back((float)(srcPt.getPositionWorldOnB()[2]));
					logData.m_values.push_back((float)(srcPt.m_normalWorldOnB[0]));
					logData.m_values.push_back((float)(srcPt.m_normalWorldOnB[1]));
					logData.m_values.push_back((float)(srcPt.m_normalWorldOnB[2]));
					logData.m_values.push_back((float)(srcPt.getDistance()));
					logData.m_values.push_back((float)(srcPt.getAppliedImpulse() / timeStep));
					
					appendMinitaurLogData(m_logFileHandle, m_structTypes, logData);
					fflush(m_logFileHandle);
				}
			}
			m_loggingTimeStamp++;
		}
	}
};

struct PhysicsServerCommandProcessorInternalData
{
	///handle management
	b3ResizablePool< InternalTextureHandle > m_textureHandles;
	b3ResizablePool< InternalBodyHandle > m_bodyHandles;
	b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
	b3ResizablePool<InternalVisualShapeHandle> m_userVisualShapeHandles;
	


	b3PluginManager m_pluginManager;

	bool m_useRealTimeSimulation;
	

	b3VRControllerEvents m_vrControllerEvents;


	btAlignedObjectArray<b3KeyboardEvent> m_keyboardEvents;
	btAlignedObjectArray<b3MouseEvent> m_mouseEvents;

	CommandLogger* m_commandLogger;
	CommandLogPlayback* m_logPlayback;


	btScalar m_physicsDeltaTime;
    btScalar m_numSimulationSubSteps;
	btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
	b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
	b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
	
	int m_userConstraintUIDGenerator;
	b3HashMap<btHashInt, InteralUserConstraintData> m_userConstraints;

	b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;


	btAlignedObjectArray<btMultiBodyWorldImporter*> m_worldImporters;
	btAlignedObjectArray<UrdfLinkNameMapUtil*> m_urdfLinkNameMapper;
	btAlignedObjectArray<std::string*> m_strings;

	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
	btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;

	MyOverlapFilterCallback* m_broadphaseCollisionFilterCallback;
	btHashedOverlappingPairCache* m_pairCache;
	btBroadphaseInterface*	m_broadphase;
	btCollisionDispatcher*	m_dispatcher;
	btMultiBodyConstraintSolver*	m_solver;
	btDefaultCollisionConfiguration* m_collisionConfiguration;
    
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
	btSoftMultiBodyDynamicsWorld* m_dynamicsWorld;
    btSoftBodySolver* m_softbodySolver;
    btSoftBodyWorldInfo	m_softBodyWorldInfo;
#else
    btMultiBodyDynamicsWorld* m_dynamicsWorld;
#endif
    
	SharedMemoryDebugDrawer*		m_remoteDebugDrawer;
    
	btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
	MyBroadphaseCallback m_cachedOverlappingObjects;


	btAlignedObjectArray<int> m_sdfRecentLoadedBodies;
	
	btAlignedObjectArray<InternalStateLogger*>	m_stateLoggers;
	int m_stateLoggersUniqueId;
	int m_profileTimingLoggingUid;
	std::string m_profileTimingFileName;

	struct GUIHelperInterface* m_guiHelper;
	int m_sharedMemoryKey;
	bool m_enableTinyRenderer;

	bool m_verboseOutput;


	//data for picking objects
	class btRigidBody*	m_pickedBody;
    int m_savedActivationState;
	class btTypedConstraint* m_pickedConstraint;
	class btMultiBodyPoint2Point*		m_pickingMultiBodyPoint2Point;
	btVector3 m_oldPickingPos;
	btVector3 m_hitPos;
	btScalar m_oldPickingDist;
	bool m_prevCanSleep;
	TinyRendererVisualShapeConverter  m_visualConverter;
#ifdef B3_ENABLE_TINY_AUDIO
	b3SoundEngine m_soundEngine;
#endif

	b3HashMap<b3HashString,  char*> m_profileEvents;

	PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
		:m_pluginManager(proc),
		m_useRealTimeSimulation(false),
		m_commandLogger(0),
		m_logPlayback(0),
		m_physicsDeltaTime(1./240.),
        m_numSimulationSubSteps(0),
		m_userConstraintUIDGenerator(1),
		m_broadphaseCollisionFilterCallback(0),
		m_pairCache(0),
		m_broadphase(0),
		m_dispatcher(0),
		m_solver(0),
		m_collisionConfiguration(0),
		m_dynamicsWorld(0),
		m_remoteDebugDrawer(0),
		m_stateLoggersUniqueId(0),
		m_profileTimingLoggingUid(-1),
		m_guiHelper(0),
		m_sharedMemoryKey(SHARED_MEMORY_KEY),
		m_enableTinyRenderer(true),
		m_verboseOutput(false),
		m_pickedBody(0),
		m_pickedConstraint(0),
		m_pickingMultiBodyPoint2Point(0)
	{

		

		{
			//register static plugins:
#ifdef STATIC_LINK_VR_PLUGIN
			m_pluginManager.registerStaticLinkedPlugin("vrSyncPlugin", initPlugin_vrSyncPlugin, exitPlugin_vrSyncPlugin, executePluginCommand_vrSyncPlugin,preTickPluginCallback_vrSyncPlugin,0);
#endif //STATIC_LINK_VR_PLUGIN

		}

		m_vrControllerEvents.init();

		m_bodyHandles.exitHandles();
		m_bodyHandles.initHandles();
		m_userCollisionShapeHandles.exitHandles();
		m_userCollisionShapeHandles.initHandles();

		m_userVisualShapeHandles.exitHandles();
		m_userVisualShapeHandles.initHandles();

	}

    btInverseDynamics::MultiBodyTree* findOrCreateTree(btMultiBody* multiBody)
    {
        btInverseDynamics::MultiBodyTree* tree = 0;
        
        btInverseDynamics::MultiBodyTree** treePtrPtr =
        m_inverseDynamicsBodies.find(multiBody);
        
        if (treePtrPtr)
        {
            tree = *treePtrPtr;
        }
        else
        {
            btInverseDynamics::btMultiBodyTreeCreator id_creator;
            if (-1 == id_creator.createFromBtMultiBody(multiBody, false))
            {
                
            }
            else
            {
                tree = btInverseDynamics::CreateMultiBodyTree(id_creator);
                m_inverseDynamicsBodies.insert(multiBody, tree);
            }
        }
        
        return tree;
    }

    
};

void PhysicsServerCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiHelper)
{

	if (guiHelper)
	{

		guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld);
	} else
	{
		if (m_data->m_guiHelper && m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getDebugDrawer())
		{

			m_data->m_dynamicsWorld->setDebugDrawer(0);
		}
	}
	m_data->m_guiHelper = guiHelper;



}


PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
	:m_data(0)
{
	m_data = new PhysicsServerCommandProcessorInternalData(this);

	createEmptyDynamicsWorld();

}

PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
{
	deleteDynamicsWorld();
	if (m_data->m_commandLogger)
	{
		delete m_data->m_commandLogger;
		m_data->m_commandLogger = 0;
	}
	for (int i=0;i<m_data->m_profileEvents.size();i++)
	{
		char* event = *m_data->m_profileEvents.getAtIndex(i);
		delete[] event;
	}
	delete m_data;
}


void preTickCallback(btDynamicsWorld *world, btScalar timeStep)
{
	PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
	bool isPreTick = true;
	proc->tickPlugins(timeStep, isPreTick);
}

void logCallback(btDynamicsWorld *world, btScalar timeStep)
{
	//handle the logging and playing sounds
	PhysicsServerCommandProcessor* proc = (PhysicsServerCommandProcessor*) world->getWorldUserInfo();
	proc->processCollisionForces(timeStep);
	proc->logObjectStates(timeStep);
	
	bool isPreTick = false;
	proc->tickPlugins(timeStep, isPreTick);
}

bool MyContactAddedCallback(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
	return true;
}




bool MyContactDestroyedCallback(void* userPersistentData)
{
	//printf("destroyed\n");
	return false;
}

bool MyContactProcessedCallback(btManifoldPoint& cp,void* body0,void* body1)
{
	//printf("processed\n");
	return false;

}
void MyContactStartedCallback(btPersistentManifold* const &manifold)
{
	//printf("started\n");
}
void MyContactEndedCallback(btPersistentManifold* const &manifold)
{
//	printf("ended\n");
}



void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
{
#ifdef B3_ENABLE_TINY_AUDIO
	//this is experimental at the moment: impulse thresholds, sound parameters will be exposed in C-API/pybullet.
	//audio will go into a wav file, as well as real-time output to speakers/headphones using RtAudio/DAC.

	int numContactManifolds =  m_data->m_dynamicsWorld->getDispatcher()->getNumManifolds();
	for (int i = 0; i < numContactManifolds; i++)
	{
		const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];

		bool objHasSound[2];
		objHasSound[0] = (0!=(manifold->getBody0()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
		objHasSound[1] = (0!=(manifold->getBody1()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
		const btCollisionObject* colObjs[2] = {manifold->getBody0(),manifold->getBody1()};

		for (int ob = 0;ob<2;ob++)
		{
			if (objHasSound[ob])
			{
				int uid0 = -1;
				int linkIndex = -2;

				const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(colObjs[ob]);
				if (mblB && mblB->m_multiBody)
				{
					linkIndex = mblB->m_link;
					uid0 = mblB->m_multiBody->getUserIndex2();
				}
				const btRigidBody* bodyB = btRigidBody::upcast(colObjs[ob]);
				if (bodyB)
				{
					uid0 = bodyB->getUserIndex2();
					linkIndex = -1;
				}

				if ((uid0<0)||(linkIndex<-1))
					continue;

				InternalBodyHandle* bodyHandle0 = m_data->m_bodyHandles.getHandle(uid0);
				SDFAudioSource* audioSrc = bodyHandle0->m_audioSources[linkIndex];
				if (audioSrc==0)
					continue;

				for (int p=0;p<manifold->getNumContacts();p++)
				{
					double imp = manifold->getContactPoint(p).getAppliedImpulse();
						//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);

					if (imp>audioSrc->m_collisionForceThreshold && manifold->getContactPoint(p).getLifeTime()==1)
					{
						int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
						if (soundSourceIndex>=0)
						{
							b3SoundMessage msg;
							msg.m_attackRate = audioSrc->m_attackRate;
							msg.m_decayRate = audioSrc->m_decayRate;
							msg.m_sustainLevel = audioSrc->m_sustainLevel;
							msg.m_releaseRate = audioSrc->m_releaseRate;
							msg.m_amplitude = audioSrc->m_gain;
							msg.m_frequency = audioSrc->m_pitch;
							msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
							msg.m_wavId = audioSrc->m_userIndex;
							msg.m_autoKeyOff = true;
							m_data->m_soundEngine.startSound(soundSourceIndex,msg);
						}
					}
				}
			}
		}
	}
#endif//B3_ENABLE_TINY_AUDIO
}

void PhysicsServerCommandProcessor::tickPlugins(btScalar timeStep, bool isPreTick)
{
	m_data->m_pluginManager.tickPlugins(timeStep, isPreTick);
	if (!isPreTick)
	{
		//clear events after each postTick, so we don't receive events multiple ticks
		m_data->m_pluginManager.clearEvents();
	}
}


void PhysicsServerCommandProcessor::logObjectStates(btScalar timeStep)
{
	for (int i=0;i<m_data->m_stateLoggers.size();i++)
	{
		m_data->m_stateLoggers[i]->logState(timeStep);
	}

}

struct ProgrammaticUrdfInterface : public URDFImporterInterface
{
	int m_bodyUniqueId;

	const b3CreateMultiBodyArgs& m_createBodyArgs;
	mutable b3AlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
	PhysicsServerCommandProcessorInternalData* m_data;

	ProgrammaticUrdfInterface(const b3CreateMultiBodyArgs& bodyArgs, PhysicsServerCommandProcessorInternalData* data)
		:m_bodyUniqueId(-1),
		m_createBodyArgs(bodyArgs),
		m_data(data)
	{

	}

	virtual ~ProgrammaticUrdfInterface()
	{

	}

	 virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
	 {
		 b3Assert(0);
		 return false;
	 }

    virtual const char* getPathPrefix()
	{
		return "";
	}
    
    ///return >=0 for the root link index, -1 if there is no root link
    virtual int getRootLinkIndex() const
	{
		return m_createBodyArgs.m_baseLinkIndex;
	}
    
    ///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
    virtual std::string getLinkName(int linkIndex) const
	{
		std::string linkName = "link";
		char numstr[21]; // enough to hold all numbers up to 64-bits
		sprintf(numstr, "%d", linkIndex);
		linkName = linkName + numstr;
		return linkName;
	}

	//various derived class in internal source code break with new pure virtual methods, so provide some default implementation
	virtual std::string getBodyName() const
	{
		return m_createBodyArgs.m_bodyName;
	}
    
	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const 
	{ 
		b3Assert(0);
		return false;
	}

	virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const 
	{ 
		if (m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]>=0)
		{
			const InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]);
			if (visHandle)
			{
				if (visHandle->m_visualShape.m_geometry.m_hasLocalMaterial)
				{
					matCol = visHandle->m_visualShape.m_geometry.m_localMaterial.m_matColor;
					return true;
				}
			}
		}
		return false;
	}

	virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const 
	{ 
		return 0;
	}
	///this API will likely change, don't override it!
	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const  
	{ 

		return false;
	}
    
	virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const 
	{
		b3Assert(0);
		return false;
	}

    virtual std::string getJointName(int linkIndex) const
	{
		std::string jointName = "joint";
		char numstr[21]; // enough to hold all numbers up to 64-bits
		sprintf(numstr, "%d", linkIndex);
		jointName = jointName + numstr;
		return jointName;
	}
	
    //fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.
    virtual void  getMassAndInertia(int urdfLinkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
	{
		if (urdfLinkIndex>=0 && urdfLinkIndex < m_createBodyArgs.m_numLinks)
		{
			mass = m_createBodyArgs.m_linkMasses[urdfLinkIndex];
			localInertiaDiagonal.setValue(
				m_createBodyArgs.m_linkInertias[urdfLinkIndex*3+0],
				m_createBodyArgs.m_linkInertias[urdfLinkIndex*3+1],
				m_createBodyArgs.m_linkInertias[urdfLinkIndex*3+2]);
			inertialFrame.setOrigin(btVector3(
				m_createBodyArgs.m_linkInertialFramePositions[urdfLinkIndex*3+0],
				m_createBodyArgs.m_linkInertialFramePositions[urdfLinkIndex*3+1],
				m_createBodyArgs.m_linkInertialFramePositions[urdfLinkIndex*3+2]));
			inertialFrame.setRotation(btQuaternion(
				m_createBodyArgs.m_linkInertialFrameOrientations[urdfLinkIndex*4+0],
				m_createBodyArgs.m_linkInertialFrameOrientations[urdfLinkIndex*4+1],
				m_createBodyArgs.m_linkInertialFrameOrientations[urdfLinkIndex*4+2],
				m_createBodyArgs.m_linkInertialFrameOrientations[urdfLinkIndex*4+3]));
		} else
		{		
			mass = 0;
			localInertiaDiagonal.setValue(0,0,0);
			inertialFrame.setIdentity();
		}
	}
    
    ///fill an array of child link indices for this link, btAlignedObjectArray behaves like a std::vector so just use push_back and resize(0) if needed
    virtual void getLinkChildIndices(int urdfLinkIndex, btAlignedObjectArray<int>& childLinkIndices) const
	{
		for (int i=0;i<m_createBodyArgs.m_numLinks;i++)
		{
			if (m_createBodyArgs.m_linkParentIndices[i] == urdfLinkIndex)
			{
				childLinkIndices.push_back(i);
			}
		}
		
	}
    
    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
	{
		return false;
	};

	virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const 
	{
		bool isValid = false;

		int jointTypeOrg = m_createBodyArgs.m_linkJointTypes[urdfLinkIndex];

		switch (jointTypeOrg)
		{
		case eRevoluteType:
		{
			isValid = true;
			jointType = URDFRevoluteJoint;
			break;
		}
		case	ePrismaticType:
		{
			isValid = true;
			jointType = URDFPrismaticJoint;
			break;
		}
		case	eFixedType:
		{
			isValid = true;
			jointType = URDFFixedJoint;
			break;
		}
		//case	eSphericalType:
		//case	ePlanarType:
		//case	eFixedType:
		//case ePoint2PointType:
		//case eGearType:
		default:
		{
		}
		};

		if (isValid)
		{
			//backwards compatibility for custom file importers
			jointMaxForce = 0;
			jointMaxVelocity = 0;
			jointFriction = 0;
			jointDamping = 0;
			jointLowerLimit = 1;
			jointUpperLimit = -1;

			parent2joint.setOrigin(btVector3(
				m_createBodyArgs.m_linkPositions[urdfLinkIndex*3+0],
				m_createBodyArgs.m_linkPositions[urdfLinkIndex*3+1],
				m_createBodyArgs.m_linkPositions[urdfLinkIndex*3+2]));
			parent2joint.setRotation(btQuaternion(
				m_createBodyArgs.m_linkOrientations[urdfLinkIndex*4+0],
				m_createBodyArgs.m_linkOrientations[urdfLinkIndex*4+1],
				m_createBodyArgs.m_linkOrientations[urdfLinkIndex*4+2],
				m_createBodyArgs.m_linkOrientations[urdfLinkIndex*4+3]
			));

		
			linkTransformInWorld.setIdentity();

			jointAxisInJointSpace.setValue(
				m_createBodyArgs.m_linkJointAxis[3*urdfLinkIndex+0],
				m_createBodyArgs.m_linkJointAxis[3*urdfLinkIndex+1],
				m_createBodyArgs.m_linkJointAxis[3*urdfLinkIndex+2]);

		
		}
		return isValid;
	};
    
    virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const
	{
		int baseLinkIndex = m_createBodyArgs.m_baseLinkIndex;

		rootTransformInWorld.setOrigin(btVector3(
			m_createBodyArgs.m_linkPositions[baseLinkIndex*3+0],
			m_createBodyArgs.m_linkPositions[baseLinkIndex*3+1],
			m_createBodyArgs.m_linkPositions[baseLinkIndex*3+2]));
		rootTransformInWorld.setRotation(btQuaternion(
			m_createBodyArgs.m_linkOrientations[baseLinkIndex*4+0],
			m_createBodyArgs.m_linkOrientations[baseLinkIndex*4+1],
			m_createBodyArgs.m_linkOrientations[baseLinkIndex*4+2],
			m_createBodyArgs.m_linkOrientations[baseLinkIndex*4+3]));
		return true;
	}
	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld)
	{
		b3Assert(0);
	}

	///quick hack: need to rethink the API/dependencies of this
    virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
	{
		if (m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]>=0)
		{
			const InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]);
			if (visHandle)
			{
				
				return visHandle->m_OpenGLGraphicsIndex;
			}
		}
		return -1;
	}
    
    virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const  
	{
		//if there is a visual, use it, otherwise convert collision shape back into UrdfCollision...

		


		UrdfModel model;// = m_data->m_urdfParser.getModel();
		UrdfLink link;
		int colShapeUniqueId = m_createBodyArgs.m_linkCollisionShapeUniqueIds[urdfIndex];
		if (colShapeUniqueId>=0)
		{
			InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId);
			if (handle)
			{
				for (int i=0;i<handle->m_urdfCollisionObjects.size();i++)
				{
					link.m_collisionArray.push_back(handle->m_urdfCollisionObjects[i]);
				}
			}
		}
		//UrdfVisual vis;
		//link.m_visualArray.push_back(vis);
		//UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
		m_data->m_visualConverter.convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj, bodyUniqueId);
	}
    virtual void setBodyUniqueId(int bodyId) 
	{
		m_bodyUniqueId = bodyId;
	}
    virtual int getBodyUniqueId() const 
	{
		return m_bodyUniqueId;
	}

   //default implementation for backward compatibility 
	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
	{
		btCompoundShape* compound = new btCompoundShape();

		int colShapeUniqueId = m_createBodyArgs.m_linkCollisionShapeUniqueIds[linkIndex];
		if (colShapeUniqueId>=0)
		{
			InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId);
			if (handle)
			{
				btTransform childTrans;
				childTrans.setIdentity();				
				compound->addChildShape(localInertiaFrame.inverse()*childTrans,handle->m_collisionShape);
			}
		}
		m_allocatedCollisionShapes.push_back(compound);
		return compound;
	}
	
	virtual int getNumAllocatedCollisionShapes() const 
	{ 
		return m_allocatedCollisionShapes.size();
	}
    
	virtual class btCollisionShape* getAllocatedCollisionShape(int index) 
	{
		return m_allocatedCollisionShapes[index];
	}
	virtual int getNumModels() const 
	{
		return 1;
	}
    virtual void activateModel(int /*modelIndex*/) 
	{
	}
};


void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
    ///collision configuration contains default setup for memory, collision setup
    //m_collisionConfiguration->setConvexConvexMultipointIterations();
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
    m_data->m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
#else
    m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
#endif
    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
    m_data->m_dispatcher = new	btCollisionDispatcher(m_data->m_collisionConfiguration);
    

	m_data->m_broadphaseCollisionFilterCallback = new MyOverlapFilterCallback();
	m_data->m_broadphaseCollisionFilterCallback->m_filterMode = FILTER_GROUPAMASKB_OR_GROUPBMASKA;
	
	m_data->m_pairCache = new btHashedOverlappingPairCache();
	
	m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback);
	
    m_data->m_broadphase = new btDbvtBroadphase(m_data->m_pairCache);
    
    m_data->m_solver = new btMultiBodyConstraintSolver;
    
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
    m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#else
    m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#endif
    
    //Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
    m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(32768);
    
    m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
    
    
    m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
    m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;

	m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = 0.2;//need to check if there are artifacts with frictionERP
	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
	m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
	m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
//	m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;
	//todo: islands/constraints are buggy in btMultiBodyDynamicsWorld! (performance + see slipping grasp)

	if (m_data->m_guiHelper)
	{
		m_data->m_guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld);
	}
	bool isPreTick=false;
	m_data->m_dynamicsWorld->setInternalTickCallback(logCallback,this,isPreTick);
	isPreTick = true;
	m_data->m_dynamicsWorld->setInternalTickCallback(preTickCallback,this,isPreTick);


#ifdef B3_ENABLE_TINY_AUDIO
	m_data->m_soundEngine.init(16,true);

//we don't use those callbacks (yet), experimental
//	gContactAddedCallback = MyContactAddedCallback;
//	gContactDestroyedCallback = MyContactDestroyedCallback;
//	gContactProcessedCallback = MyContactProcessedCallback;
//	gContactStartedCallback = MyContactStartedCallback;
//	gContactEndedCallback = MyContactEndedCallback;
#endif
}

void PhysicsServerCommandProcessor::deleteStateLoggers()
{
	for (int i=0;i<m_data->m_stateLoggers.size();i++)
	{
		m_data->m_stateLoggers[i]->stop();
		delete m_data->m_stateLoggers[i];
	}
	m_data->m_stateLoggers.clear();

}

void PhysicsServerCommandProcessor::deleteCachedInverseKinematicsBodies()
{
	for (int i = 0; i < m_data->m_inverseKinematicsHelpers.size(); i++)
	{
		IKTrajectoryHelper** ikHelperPtr = m_data->m_inverseKinematicsHelpers.getAtIndex(i);
		if (ikHelperPtr)
		{
			IKTrajectoryHelper* ikHelper = *ikHelperPtr;
			delete ikHelper;
		}
	}
	m_data->m_inverseKinematicsHelpers.clear();
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
{
	for (int i = 0; i < m_data->m_inverseDynamicsBodies.size(); i++)
	{
		btInverseDynamics::MultiBodyTree** treePtrPtr = m_data->m_inverseDynamicsBodies.getAtIndex(i);
		if (treePtrPtr)
		{
			btInverseDynamics::MultiBodyTree* tree = *treePtrPtr;
			delete tree;
		}

	}
	m_data->m_inverseDynamicsBodies.clear();
}

void PhysicsServerCommandProcessor::deleteDynamicsWorld()
{
#ifdef B3_ENABLE_TINY_AUDIO
	m_data->m_soundEngine.exit();
	//gContactDestroyedCallback = 0;
	//gContactProcessedCallback = 0;
	//gContactStartedCallback = 0;
	//gContactEndedCallback = 0;
#endif
	
	deleteCachedInverseDynamicsBodies();
	deleteCachedInverseKinematicsBodies();
	deleteStateLoggers();

	m_data->m_userConstraints.clear();
	m_data->m_saveWorldBodyData.clear();

	for (int i=0;i<m_data->m_multiBodyJointFeedbacks.size();i++)
	{
		delete m_data->m_multiBodyJointFeedbacks[i];
	}
	m_data->m_multiBodyJointFeedbacks.clear();


	for (int i=0;i<m_data->m_worldImporters.size();i++)
	{
		m_data->m_worldImporters[i]->deleteAllData();
		delete m_data->m_worldImporters[i];
	}
	m_data->m_worldImporters.clear();

	for (int i=0;i<m_data->m_urdfLinkNameMapper.size();i++)
	{
		delete m_data->m_urdfLinkNameMapper[i];
	}
	m_data->m_urdfLinkNameMapper.clear();


	for (int i=0;i<m_data->m_strings.size();i++)
	{
		delete m_data->m_strings[i];
	}
	m_data->m_strings.clear();

    btAlignedObjectArray<btTypedConstraint*> constraints;
    btAlignedObjectArray<btMultiBodyConstraint*> mbconstraints;


	if (m_data->m_dynamicsWorld)
	{

		int i;
		for (i = m_data->m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
		{
            btTypedConstraint* constraint =m_data->m_dynamicsWorld->getConstraint(i);
            constraints.push_back(constraint);
			m_data->m_dynamicsWorld->removeConstraint(constraint);
		}
        for (i=m_data->m_dynamicsWorld->getNumMultiBodyConstraints()-1;i>=0;i--)
        {
            btMultiBodyConstraint* mbconstraint = m_data->m_dynamicsWorld->getMultiBodyConstraint(i);
            mbconstraints.push_back(mbconstraint);
            m_data->m_dynamicsWorld->removeMultiBodyConstraint(mbconstraint);
        }

		for (i = m_data->m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
		{
			btCollisionObject* obj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i];
			btRigidBody* body = btRigidBody::upcast(obj);
			if (body && body->getMotionState())
			{
				delete body->getMotionState();
			}
			m_data->m_dynamicsWorld->removeCollisionObject(obj);
			delete obj;
		}
        for (i=m_data->m_dynamicsWorld->getNumMultibodies()-1;i>=0;i--)
        {
            btMultiBody* mb = m_data->m_dynamicsWorld->getMultiBody(i);
            m_data->m_dynamicsWorld->removeMultiBody(mb);
            delete mb;
        }
	}

    for (int i=0;i<constraints.size();i++)
    {
        delete constraints[i];
    }
    constraints.clear();
    for (int i=0;i<mbconstraints.size();i++)
    {
        delete mbconstraints[i];
    }
    mbconstraints.clear();
    //delete collision shapes
	for (int j = 0; j<m_data->m_collisionShapes.size(); j++)
	{
		btCollisionShape* shape = m_data->m_collisionShapes[j];
		delete shape;
	}
	for (int j=0;j<m_data->m_meshInterfaces.size();j++)
	{
		delete m_data->m_meshInterfaces[j];
	}
	m_data->m_meshInterfaces.clear();
	m_data->m_collisionShapes.clear();

	delete m_data->m_dynamicsWorld;
	m_data->m_dynamicsWorld=0;

	delete m_data->m_remoteDebugDrawer;
	m_data->m_remoteDebugDrawer =0;

	delete m_data->m_solver;
	m_data->m_solver=0;

	
	delete m_data->m_broadphase;
	m_data->m_broadphase=0;

	delete m_data->m_pairCache;
	m_data->m_pairCache= 0;
	
	delete m_data->m_broadphaseCollisionFilterCallback;
	m_data->m_broadphaseCollisionFilterCallback= 0;
	
	delete m_data->m_dispatcher;
	m_data->m_dispatcher=0;

	delete m_data->m_collisionConfiguration;
	m_data->m_collisionConfiguration=0;
	m_data->m_userConstraintUIDGenerator = 1;
}




bool PhysicsServerCommandProcessor::supportsJointMotor(btMultiBody* mb, int mbLinkIndex)
{
	bool canHaveMotor = (mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::eRevolute
			||mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::ePrismatic);
	return canHaveMotor;

}

//for testing, create joint motors for revolute and prismatic joints
void	PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
{
	int numLinks = mb->getNumLinks();
	for (int i=0;i<numLinks;i++)
	{
		int mbLinkIndex = i;

		if (supportsJointMotor(mb,mbLinkIndex))
		{
			float maxMotorImpulse = 1.f;
			int dof = 0;
			btScalar desiredVelocity = 0.f;
			btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb,mbLinkIndex,dof,desiredVelocity,maxMotorImpulse);
			motor->setPositionTarget(0, 0);
			motor->setVelocityTarget(0, 1);
			//motor->setRhsClamp(gRhsClamp);
			//motor->setMaxAppliedImpulse(0);
            mb->getLink(mbLinkIndex).m_userPtr = motor;
			m_data->m_dynamicsWorld->addMultiBodyConstraint(motor);
            motor->finalizeMultiDof();

		}

	}
}

bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, URDFImporterInterface& u2b)
{
	bool loadOk = true;
        

    btTransform rootTrans;
    rootTrans.setIdentity();
    if (m_data->m_verboseOutput)
    {
        b3Printf("loaded %s OK!", fileName);
    }
	SaveWorldObjectData sd;
	sd.m_fileName = fileName;


    for (int m =0; m<u2b.getNumModels();m++)
    {

        u2b.activateModel(m);
        btMultiBody* mb = 0;
        btRigidBody* rb = 0;

        //get a body index
        int bodyUniqueId = m_data->m_bodyHandles.allocHandle();

        InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
			
		sd.m_bodyUniqueIds.push_back(bodyUniqueId);

        u2b.setBodyUniqueId(bodyUniqueId);
        {
            btScalar mass = 0;
            bodyHandle->m_rootLocalInertialFrame.setIdentity();
			bodyHandle->m_bodyName = u2b.getBodyName();
            btVector3 localInertiaDiagonal(0,0,0);
            int urdfLinkIndex = u2b.getRootLinkIndex();
            u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame);
        }



        //todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
        //int rootLinkIndex = u2b.getRootLinkIndex();
        //b3Printf("urdf root link index = %d\n",rootLinkIndex);
        MyMultiBodyCreator creation(m_data->m_guiHelper);

        u2b.getRootTransformInWorld(rootTrans);
		//CUF_RESERVED is a temporary flag, for backward compatibility purposes
		flags |= CUF_RESERVED;
		ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);



        mb = creation.getBulletMultiBody();
        rb = creation.getRigidBody();
		if (rb)
			rb->setUserIndex2(bodyUniqueId);

		if (mb)
			mb->setUserIndex2(bodyUniqueId);

			
        if (mb)
        {
            bodyHandle->m_multiBody = mb;
				

			m_data->m_sdfRecentLoadedBodies.push_back(bodyUniqueId);

			createJointMotors(mb);

#ifdef B3_ENABLE_TINY_AUDIO
			{
				SDFAudioSource audioSource;
				int urdfRootLink = u2b.getRootLinkIndex();//LinkIndex = creation.m_mb2urdfLink[-1];
				if (u2b.getLinkAudioSource(urdfRootLink,audioSource))
				{
					int flags = mb->getBaseCollider()->getCollisionFlags();
					mb->getBaseCollider()->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
					audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
					if (audioSource.m_userIndex>=0)
					{
						bodyHandle->m_audioSources.insert(-1, audioSource);
					}
				}
			}
#endif
			//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);

            bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
			for (int i=0;i<mb->getNumLinks();i++)
            {
				//disable serialization of the collision objects

				int urdfLinkIndex = creation.m_mb2urdfLink[i];
				btScalar mass;
                btVector3 localInertiaDiagonal(0,0,0);
                btTransform localInertialFrame;
				u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
				bodyHandle->m_linkLocalInertialFrames.push_back(localInertialFrame);

				std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());
				m_data->m_strings.push_back(linkName);

				mb->getLink(i).m_linkName = linkName->c_str();

				std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str());
				m_data->m_strings.push_back(jointName);

				mb->getLink(i).m_jointName = jointName->c_str();

#ifdef B3_ENABLE_TINY_AUDIO
				   {
						SDFAudioSource audioSource;
						int urdfLinkIndex = creation.m_mb2urdfLink[link];
						if (u2b.getLinkAudioSource(urdfLinkIndex,audioSource))
						{
							int flags = mb->getLink(link).m_collider->getCollisionFlags();
							mb->getLink(i).m_collider->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
							audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
							if (audioSource.m_userIndex>=0)
							{
								bodyHandle->m_audioSources.insert(link, audioSource);
							}
						}
					}
#endif
            }
			std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
			m_data->m_strings.push_back(baseName);
			mb->setBaseName(baseName->c_str());
		} else
		{
			//b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later.");
            bodyHandle->m_rigidBody = rb;
			rb->setUserIndex2(bodyUniqueId);
			m_data->m_sdfRecentLoadedBodies.push_back(bodyUniqueId);

			std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
			m_data->m_strings.push_back(baseName);
			bodyHandle->m_bodyName = *baseName;

			int numJoints = creation.getNum6DofConstraints();
			bodyHandle->m_rigidBodyJoints.reserve(numJoints);
			bodyHandle->m_rigidBodyJointNames.reserve(numJoints);
			bodyHandle->m_rigidBodyLinkNames.reserve(numJoints);
			for (int i=0;i<numJoints;i++)
			{
				int urdfLinkIndex = creation.m_mb2urdfLink[i];

				btGeneric6DofSpring2Constraint* con = creation.get6DofConstraint(i);
				
				std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());
				m_data->m_strings.push_back(linkName);

				std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str());
				m_data->m_strings.push_back(jointName);

				bodyHandle->m_rigidBodyJointNames.push_back(*jointName);
				bodyHandle->m_rigidBodyLinkNames.push_back(*linkName);

				bodyHandle->m_rigidBodyJoints.push_back(con);
			}
		}

    }

	for (int i=0;i<u2b.getNumAllocatedMeshInterfaces();i++)
	{
		m_data->m_meshInterfaces.push_back(u2b.getAllocatedMeshInterface(i));
	}

	for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
    {
        btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
        m_data->m_collisionShapes.push_back(shape);
    }

	m_data->m_saveWorldBodyData.push_back(sd);

	return loadOk;
}

struct MyMJCFLogger2 : public MJCFErrorLogger
{
	virtual void reportError(const char* error)
	{
		b3Error(error);
	}
	virtual void reportWarning(const char* warning)
	{
		b3Warning(warning);
	}
	virtual void printMessage(const char* msg)
	{
		b3Printf(msg);
	}
};

bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags)
{
	btAssert(m_data->m_dynamicsWorld);
	if (!m_data->m_dynamicsWorld)
	{
		b3Error("loadSdf: No valid m_dynamicsWorld");
		return false;
	}

	m_data->m_sdfRecentLoadedBodies.clear();

    BulletMJCFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);

	bool useFixedBase = false;
	MyMJCFLogger2 logger;
    bool loadOk =  u2b.loadMJCF(fileName, &logger, useFixedBase);
    if (loadOk)
	{
		processImportedObjects(fileName,bufferServerToClient,bufferSizeInBytes,useMultiBody,flags, u2b);
	}
	return loadOk;
}

bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, btScalar globalScaling)
{
    btAssert(m_data->m_dynamicsWorld);
	if (!m_data->m_dynamicsWorld)
	{
		b3Error("loadSdf: No valid m_dynamicsWorld");
		return false;
	}

	m_data->m_sdfRecentLoadedBodies.clear();

    BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);

	bool forceFixedBase = false;
	bool loadOk =u2b.loadSDF(fileName,forceFixedBase);
	
	if (loadOk)
	{
		processImportedObjects(fileName,bufferServerToClient,bufferSizeInBytes,useMultiBody,flags, u2b);
	}
    return loadOk;
}




bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags, btScalar globalScaling)
{
	m_data->m_sdfRecentLoadedBodies.clear();
	*bodyUniqueIdPtr = -1;

	BT_PROFILE("loadURDF");
	btAssert(m_data->m_dynamicsWorld);
	if (!m_data->m_dynamicsWorld)
	{
		b3Error("loadUrdf: No valid m_dynamicsWorld");
		return false;
	}



    BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
    bool loadOk =  u2b.loadURDF(fileName, useFixedBase);

    if (loadOk)
    {
		btTransform rootTrans;
		rootTrans.setOrigin(pos);
		rootTrans.setRotation(orn);
		u2b.setRootTransformInWorld(rootTrans);
		bool ok = processImportedObjects(fileName, bufferServerToClient, bufferSizeInBytes,  useMultiBody, flags, u2b);
		if (ok)
		{
			if (m_data->m_sdfRecentLoadedBodies.size()==1)
			{
				*bodyUniqueIdPtr = m_data->m_sdfRecentLoadedBodies[0];
			}
			m_data->m_sdfRecentLoadedBodies.clear();
		}
		return ok;
    }
    return false;
}

void PhysicsServerCommandProcessor::replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes)
{
        if (m_data->m_logPlayback)
        {

            SharedMemoryCommand clientCmd;
            SharedMemoryStatus serverStatus;

            bool hasCommand = m_data->m_logPlayback->processNextCommand(&clientCmd);
            if (hasCommand)
            {
                processCommand(clientCmd,serverStatus,bufferServerToClient,bufferSizeInBytes);
            }
        }
}

int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes)
{
    int streamSizeInBytes = 0;
    //serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire

    InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
	btMultiBody* mb = bodyHandle? bodyHandle->m_multiBody:0;   
    if (mb)
    {
        UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
        m_data->m_urdfLinkNameMapper.push_back(util);
        util->m_mb = mb;
        util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
		util->m_memSerializer->startSerialization();

        //disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
        util->m_memSerializer->m_skipPointers.insert(mb->getBaseCollider(),0);
		if (mb->getBaseName())
		{
			util->m_memSerializer->registerNameForPointer(mb->getBaseName(),mb->getBaseName());
		}

        bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
        for (int i=0;i<mb->getNumLinks();i++)
        {
            //disable serialization of the collision objects
           util->m_memSerializer->m_skipPointers.insert(mb->getLink(i).m_collider,0);
           util->m_memSerializer->registerNameForPointer(mb->getLink(i).m_linkName,mb->getLink(i).m_linkName);
           util->m_memSerializer->registerNameForPointer(mb->getLink(i).m_jointName,mb->getLink(i).m_jointName);
        }

        util->m_memSerializer->registerNameForPointer(mb->getBaseName(),mb->getBaseName());


        int len = mb->calculateSerializeBufferSize();
        btChunk* chunk = util->m_memSerializer->allocate(len,1);
        const char* structType = mb->serialize(chunk->m_oldPtr, util->m_memSerializer);
        util->m_memSerializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb);
        streamSizeInBytes = util->m_memSerializer->getCurrentBufferSize();

    } else
	{
		btRigidBody* rb = bodyHandle? bodyHandle->m_rigidBody :0;   
		if (rb)
		{
			UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
			m_data->m_urdfLinkNameMapper.push_back(util);
			util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient);
			util->m_memSerializer->startSerialization();
			util->m_memSerializer->registerNameForPointer(bodyHandle->m_rigidBody,bodyHandle->m_bodyName.c_str());
			//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
			for (int i=0;i<bodyHandle->m_rigidBodyJoints.size();i++)
			{
				const btGeneric6DofSpring2Constraint* con = bodyHandle->m_rigidBodyJoints.at(i);

				util->m_memSerializer->registerNameForPointer(con,bodyHandle->m_rigidBodyJointNames[i].c_str());
				util->m_memSerializer->registerNameForPointer(&con->getRigidBodyB(),bodyHandle->m_rigidBodyLinkNames[i].c_str());

				const btRigidBody& bodyA = con->getRigidBodyA();

				int len = con->calculateSerializeBufferSize();
				btChunk* chunk = util->m_memSerializer->allocate(len,1);
				const char* structType = con->serialize(chunk->m_oldPtr, util->m_memSerializer);
				util->m_memSerializer->finalizeChunk(chunk,structType,BT_CONSTRAINT_CODE,(void*)con);
			}

			streamSizeInBytes = util->m_memSerializer->getCurrentBufferSize();

		}
	}

    return streamSizeInBytes;
}

bool PhysicsServerCommandProcessor::processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	

	BT_PROFILE("CMD_STATE_LOGGING");

	serverStatusOut.m_type = CMD_STATE_LOGGING_FAILED;
    bool hasStatus = true;

	if (clientCmd.m_updateFlags & STATE_LOGGING_START_LOG)
	{
		if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_PROFILE_TIMINGS)
		{
			if (m_data->m_profileTimingLoggingUid<0)
			{
				b3ChromeUtilsStartTimings();
				m_data->m_profileTimingFileName = clientCmd.m_stateLoggingArguments.m_fileName;
				int loggerUid = m_data->m_stateLoggersUniqueId++;
				serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
				serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
				m_data->m_profileTimingLoggingUid = loggerUid;
			}
		}
		if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VIDEO_MP4)
		{
			//if (clientCmd.m_stateLoggingArguments.m_fileName)
			{
				int loggerUid = m_data->m_stateLoggersUniqueId++;
				VideoMP4Loggger* logger = new VideoMP4Loggger(loggerUid,clientCmd.m_stateLoggingArguments.m_fileName,this->m_data->m_guiHelper);
				m_data->m_stateLoggers.push_back(logger);
				serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
				serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
			}
		}
						
		if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_MINITAUR)
		{
							
			std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
			//either provide the minitaur by object unique Id, or search for first multibody with 8 motors...

							
			if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID)&& (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds>0))
			{
				int bodyUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[0];
				InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
				if (body)
				{
					if (body->m_multiBody)
					{
						btAlignedObjectArray<std::string> motorNames;
						motorNames.push_back("motor_front_leftR_joint");
						motorNames.push_back("motor_front_leftL_joint");
						motorNames.push_back("motor_back_leftR_joint");
						motorNames.push_back("motor_back_leftL_joint");
						motorNames.push_back("motor_front_rightL_joint");
						motorNames.push_back("motor_front_rightR_joint");
						motorNames.push_back("motor_back_rightL_joint");
						motorNames.push_back("motor_back_rightR_joint");
										
						btAlignedObjectArray<int> motorIdList;
						for (int m=0;m<motorNames.size();m++)
						{
							for (int i=0;i<body->m_multiBody->getNumLinks();i++)
							{
								std::string jointName;
								if (body->m_multiBody->getLink(i).m_jointName)
								{
									jointName = body->m_multiBody->getLink(i).m_jointName;
								}
								if (motorNames[m]==jointName)
								{
									motorIdList.push_back(i);
								}
							}
						}

						if (motorIdList.size()==8)
						{
							int loggerUid = m_data->m_stateLoggersUniqueId++;
							MinitaurStateLogger* logger = new MinitaurStateLogger(loggerUid,fileName,body->m_multiBody, motorIdList);
							m_data->m_stateLoggers.push_back(logger);
							serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
							serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
						}
					}
				}
			}
		}
        if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_GENERIC_ROBOT)
        {
            std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
                            
            int loggerUid = m_data->m_stateLoggersUniqueId++;
			int maxLogDof = 12;
			if ((clientCmd.m_updateFlags & STATE_LOGGING_MAX_LOG_DOF))
			{
				maxLogDof = clientCmd.m_stateLoggingArguments.m_maxLogDof;
			}
							
			int logFlags = 0;
			if (clientCmd.m_updateFlags & STATE_LOGGING_LOG_FLAGS)
			{
				logFlags = clientCmd.m_stateLoggingArguments.m_logFlags;
			}
            GenericRobotStateLogger* logger = new GenericRobotStateLogger(loggerUid,fileName,m_data->m_dynamicsWorld,maxLogDof, logFlags);
                            
            if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID) && (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds>0))
            {
                logger->m_filterObjectUniqueId = true;
                for (int i = 0; i < clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds; ++i)
                {
					int objectUniqueId  = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[i];
                    logger->m_bodyIdList.push_back(objectUniqueId);
                }
            }
                            
            m_data->m_stateLoggers.push_back(logger);
            serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
            serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
        }
		if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_CONTACT_POINTS)
		{
			std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
			int loggerUid = m_data->m_stateLoggersUniqueId++;
			ContactPointsStateLogger* logger = new ContactPointsStateLogger(loggerUid,fileName,m_data->m_dynamicsWorld);
			if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_LINK_INDEX_A) && clientCmd.m_stateLoggingArguments.m_linkIndexA >= -1)
			{
				logger->m_filterLinkA = true;
				logger->m_linkIndexA = clientCmd.m_stateLoggingArguments.m_linkIndexA;
			}
			if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_LINK_INDEX_B) && clientCmd.m_stateLoggingArguments.m_linkIndexB >= -1)
			{
				logger->m_filterLinkB = true;
				logger->m_linkIndexB = clientCmd.m_stateLoggingArguments.m_linkIndexB;
			}
			if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_UNIQUE_ID_A) && clientCmd.m_stateLoggingArguments.m_bodyUniqueIdA > -1)
			{
				logger->m_bodyUniqueIdA = clientCmd.m_stateLoggingArguments.m_bodyUniqueIdA;
			}
			if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_BODY_UNIQUE_ID_B) && clientCmd.m_stateLoggingArguments.m_bodyUniqueIdB > -1)
			{
				logger->m_bodyUniqueIdB = clientCmd.m_stateLoggingArguments.m_bodyUniqueIdB;
			}
			m_data->m_stateLoggers.push_back(logger);
			serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
			serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
		}
		if (clientCmd.m_stateLoggingArguments.m_logType ==STATE_LOGGING_VR_CONTROLLERS)
		{
			std::string fileName = clientCmd.m_stateLoggingArguments.m_fileName;
            int loggerUid = m_data->m_stateLoggersUniqueId++;
			int deviceFilterType = VR_DEVICE_CONTROLLER;
			if (clientCmd.m_updateFlags & STATE_LOGGING_FILTER_DEVICE_TYPE)
			{
				deviceFilterType = clientCmd.m_stateLoggingArguments.m_deviceFilterType;
			}
            VRControllerStateLogger* logger = new VRControllerStateLogger(loggerUid,deviceFilterType, fileName);
            m_data->m_stateLoggers.push_back(logger);
            serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
            serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
							
		}
	}
	if ((clientCmd.m_updateFlags & STATE_LOGGING_STOP_LOG) && clientCmd.m_stateLoggingArguments.m_loggingUniqueId>=0)
	{
		if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
		{
			serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
			b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str());
			m_data->m_profileTimingLoggingUid = -1;
		}
		else
		{
			serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
			for (int i=0;i<m_data->m_stateLoggers.size();i++)
			{
				if (m_data->m_stateLoggers[i]->m_loggingUniqueId==clientCmd.m_stateLoggingArguments.m_loggingUniqueId)
				{
					m_data->m_stateLoggers[i]->stop();
					delete m_data->m_stateLoggers[i];
					m_data->m_stateLoggers.removeAtIndex(i);
				}
			}
		}
	}
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_REQUEST_CAMERA_IMAGE_DATA");
	int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex;
	int width = clientCmd.m_requestPixelDataArguments.m_pixelWidth;
	int height = clientCmd.m_requestPixelDataArguments.m_pixelHeight;
	int numPixelsCopied = 0;



	if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
			(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
	{
			m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
														clientCmd.m_requestPixelDataArguments.m_pixelHeight);
	}


	int numTotalPixels = width*height;
	int numRemainingPixels = numTotalPixels - startPixelIndex;


	if (numRemainingPixels>0)
	{
		int totalBytesPerPixel = 4+4+4;//4 for rgb, 4 for depth, 4 for segmentation mask
		int maxNumPixels = bufferSizeInBytes/totalBytesPerPixel-1;
		unsigned char* pixelRGBA = (unsigned char*)bufferServerToClient;
		int numRequestedPixels = btMin(maxNumPixels,numRemainingPixels);

		float* depthBuffer = (float*)(bufferServerToClient+numRequestedPixels*4);
		int* segmentationMaskBuffer = (int*)(bufferServerToClient+numRequestedPixels*8);

		serverStatusOut.m_numDataStreamBytes = numRequestedPixels * totalBytesPerPixel;
		float viewMat[16];
		float projMat[16];
		for (int i=0;i<16;i++)
		{
			viewMat[i] = clientCmd.m_requestPixelDataArguments.m_viewMatrix[i];
			projMat[i] = clientCmd.m_requestPixelDataArguments.m_projectionMatrix[i];
		}
		if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)==0)
		{
			b3OpenGLVisualizerCameraInfo tmpCamResult;
			bool result = this->m_data->m_guiHelper->getCameraInfo(
				&tmpCamResult.m_width,
				&tmpCamResult.m_height,
				tmpCamResult.m_viewMatrix,
				tmpCamResult.m_projectionMatrix,
				tmpCamResult.m_camUp,
				tmpCamResult.m_camForward,
				tmpCamResult.m_horizontal,
				tmpCamResult.m_vertical,
				&tmpCamResult.m_yaw,
				&tmpCamResult.m_pitch,
				&tmpCamResult.m_dist,
				tmpCamResult.m_target);
			if (result)
			{
				for (int i=0;i<16;i++)
				{
					viewMat[i] = tmpCamResult.m_viewMatrix[i];
					projMat[i] = tmpCamResult.m_projectionMatrix[i];
				}
			}
			}
		bool handled = false;
                        
		if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
		{

			m_data->m_guiHelper->copyCameraImageData(viewMat,
								projMat,pixelRGBA,numRequestedPixels,
								depthBuffer,numRequestedPixels,
								segmentationMaskBuffer, numRequestedPixels,
								startPixelIndex,width,height,&numPixelsCopied);

			if (numPixelsCopied>0)
			{
				handled = true;
				m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
								projMat,pixelRGBA,numRequestedPixels,
								depthBuffer,numRequestedPixels,
								0, numRequestedPixels,
								startPixelIndex,width,height,&numPixelsCopied);
			}

							
		}
		if (!handled)
		{

			if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
			{
				//   printf("-------------------------------\nRendering\n");

				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) != 0)
				{
					m_data->m_visualConverter.setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]);
				}
                                
				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR) != 0)
				{
					m_data->m_visualConverter.setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]);
				}
                                
				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE) != 0)
				{
					m_data->m_visualConverter.setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance);
				}
                                
				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0)
				{
					m_data->m_visualConverter.setShadow((clientCmd.m_requestPixelDataArguments.m_hasShadow!=0));
				}
                                
				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0)
				{
					m_data->m_visualConverter.setLightAmbientCoeff(clientCmd.m_requestPixelDataArguments.m_lightAmbientCoeff);
				}
                                
				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF) != 0)
				{
					m_data->m_visualConverter.setLightDiffuseCoeff(clientCmd.m_requestPixelDataArguments.m_lightDiffuseCoeff);
				}
                                
				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF) != 0)
				{
					m_data->m_visualConverter.setLightSpecularCoeff(clientCmd.m_requestPixelDataArguments.m_lightSpecularCoeff);
				}

				if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
				{
					m_data->m_visualConverter.render(
														clientCmd.m_requestPixelDataArguments.m_viewMatrix,
														clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
				} else
				{
					b3OpenGLVisualizerCameraInfo tmpCamResult;
					bool result = this->m_data->m_guiHelper->getCameraInfo(
						&tmpCamResult.m_width,
						&tmpCamResult.m_height,
						tmpCamResult.m_viewMatrix,
						tmpCamResult.m_projectionMatrix,
						tmpCamResult.m_camUp,
						tmpCamResult.m_camForward,
						tmpCamResult.m_horizontal,
						tmpCamResult.m_vertical,
						&tmpCamResult.m_yaw,
						&tmpCamResult.m_pitch,
						&tmpCamResult.m_dist,
						tmpCamResult.m_target);
					if (result)
					{
						m_data->m_visualConverter.render(tmpCamResult.m_viewMatrix,
						tmpCamResult.m_projectionMatrix);
					} else
					{
						m_data->m_visualConverter.render();
					}
				}
			}

			m_data->m_visualConverter.copyCameraImageData(pixelRGBA,numRequestedPixels,
										depthBuffer,numRequestedPixels,
										segmentationMaskBuffer, numRequestedPixels,
										startPixelIndex,&width,&height,&numPixelsCopied);

			m_data->m_guiHelper->debugDisplayCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,
								clientCmd.m_requestPixelDataArguments.m_projectionMatrix,pixelRGBA,numRequestedPixels,
								depthBuffer,numRequestedPixels,
								segmentationMaskBuffer, numRequestedPixels,
								startPixelIndex,width,height,&numPixelsCopied);

		}

		//each pixel takes 4 RGBA values and 1 float = 8 bytes

	} else
	{

	}

	serverStatusOut.m_type = CMD_CAMERA_IMAGE_COMPLETED;
					
	serverStatusOut.m_sendPixelDataArguments.m_numPixelsCopied = numPixelsCopied;
	serverStatusOut.m_sendPixelDataArguments.m_numRemainingPixels = numRemainingPixels - numPixelsCopied;
	serverStatusOut.m_sendPixelDataArguments.m_startingPixelIndex = startPixelIndex;
	serverStatusOut.m_sendPixelDataArguments.m_imageWidth = width;
	serverStatusOut.m_sendPixelDataArguments.m_imageHeight= height;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processSaveWorldCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = false;
	BT_PROFILE("CMD_SAVE_WORLD");
	serverStatusOut.m_type = CMD_SAVE_WORLD_FAILED;

	///this is a very rudimentary way to save the state of the world, for scene authoring
	///many todo's, for example save the state of motor controllers etc.
					
	{
		//saveWorld(clientCmd.m_sdfArguments.m_sdfFileName);
		int constraintCount = 0;
		FILE* f = fopen(clientCmd.m_sdfArguments.m_sdfFileName,"w");
		if (f)
		{
			char line[1024];
			{
				sprintf(line,"import pybullet as p\n");
				int len = strlen(line);
				fwrite(line,len,1,f);
			}
			{
				sprintf(line,"cin = p.connect(p.SHARED_MEMORY)\n");
				int len = strlen(line);
				fwrite(line,len,1,f);
			}
			{
				sprintf(line,"if (cin < 0):\n");
				int len = strlen(line);
				fwrite(line,len,1,f);
			}
			{
				sprintf(line,"    cin = p.connect(p.GUI)\n");
				int len = strlen(line);
				fwrite(line,len,1,f);
			}

			//for each objects ...
			for (int i=0;i<m_data->m_saveWorldBodyData.size();i++)
			{
				SaveWorldObjectData& sd = m_data->m_saveWorldBodyData[i];

				for (int i=0;i<sd.m_bodyUniqueIds.size();i++)
				{
					{
						int bodyUniqueId = sd.m_bodyUniqueIds[i];
						InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
						if (body)
						{
								if (body->m_multiBody)
								{
								btMultiBody* mb = body->m_multiBody;
												
								btTransform comTr = mb->getBaseWorldTransform();
								btTransform tr = comTr * body->m_rootLocalInertialFrame.inverse();
												
								if (strstr(sd.m_fileName.c_str(),".urdf"))
								{
									sprintf(line,"objects = [p.loadURDF(\"%s\", %f,%f,%f,%f,%f,%f,%f)]\n",sd.m_fileName.c_str(),
										tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2],
										tr.getRotation()[0],tr.getRotation()[1],tr.getRotation()[2],tr.getRotation()[3]);
									int len = strlen(line);
									fwrite(line,len,1,f);
								}

								if (strstr(sd.m_fileName.c_str(),".sdf") && i==0)
								{
									sprintf(line,"objects = p.loadSDF(\"%s\")\n",sd.m_fileName.c_str());
									int len = strlen(line);
									fwrite(line,len,1,f);
								}
								if (strstr(sd.m_fileName.c_str(),".xml") && i==0)
								{
									sprintf(line,"objects = p.loadMJCF(\"%s\")\n",sd.m_fileName.c_str());
									int len = strlen(line);
									fwrite(line,len,1,f);
								}

								if (strstr(sd.m_fileName.c_str(),".sdf") || strstr(sd.m_fileName.c_str(),".xml") || ((strstr(sd.m_fileName.c_str(),".urdf")) && mb->getNumLinks()) )
								{
									sprintf(line,"ob = objects[%d]\n",i);
									int len = strlen(line);
									fwrite(line,len,1,f);
								}

								if (strstr(sd.m_fileName.c_str(),".sdf")||strstr(sd.m_fileName.c_str(),".xml"))
								{
									sprintf(line,"p.resetBasePositionAndOrientation(ob,[%f,%f,%f],[%f,%f,%f,%f])\n",
										comTr.getOrigin()[0],comTr.getOrigin()[1],comTr.getOrigin()[2],
										comTr.getRotation()[0],comTr.getRotation()[1],comTr.getRotation()[2],comTr.getRotation()[3]);
									int len = strlen(line);
									fwrite(line,len,1,f);
								}

								if (mb->getNumLinks())
								{
									{
										sprintf(line,"jointPositions=[");
										int len = strlen(line);
										fwrite(line,len,1,f);
									}

									for (int i=0;i<mb->getNumLinks();i++)
									{
										btScalar jointPos = mb->getJointPosMultiDof(i)[0];
										if (i<mb->getNumLinks()-1)
										{
											sprintf(line," %f,",jointPos);
											int len = strlen(line);
											fwrite(line,len,1,f);
										} else
										{
											sprintf(line," %f ",jointPos);
											int len = strlen(line);
											fwrite(line,len,1,f);
										}
									}

									{
										sprintf(line,"]\nfor jointIndex in range (p.getNumJoints(ob)):\n\tp.resetJointState(ob,jointIndex,jointPositions[jointIndex])\n\n");
										int len = strlen(line);
										fwrite(line,len,1,f);
									}
								}
								} else
								{
									//todo: btRigidBody/btSoftBody etc case
								}
						}
					}
									
				}
								
				//for URDF, load at origin, then reposition...
								

				struct SaveWorldObjectData
				{
					b3AlignedObjectArray<int> m_bodyUniqueIds;
					std::string	m_fileName;
				};
			}

			//user constraints
			{
				for (int i=0;i<m_data->m_userConstraints.size();i++)
				{
					InteralUserConstraintData* ucptr = m_data->m_userConstraints.getAtIndex(i);
					b3UserConstraint& uc = ucptr->m_userConstraintData;

					int parentBodyIndex=uc.m_parentBodyIndex;
					int parentJointIndex=uc.m_parentJointIndex;
					int childBodyIndex=uc.m_childBodyIndex;
					int childJointIndex=uc.m_childJointIndex;
					btVector3 jointAxis(uc.m_jointAxis[0],uc.m_jointAxis[1],uc.m_jointAxis[2]);
					btVector3 pivotParent(uc.m_parentFrame[0],uc.m_parentFrame[1],uc.m_parentFrame[2]);
					btVector3 pivotChild(uc.m_childFrame[0],uc.m_childFrame[1],uc.m_childFrame[2]);
					btQuaternion ornFrameParent(uc.m_parentFrame[3],uc.m_parentFrame[4],uc.m_parentFrame[5],uc.m_parentFrame[6]);
					btQuaternion ornFrameChild(uc.m_childFrame[3],uc.m_childFrame[4],uc.m_childFrame[5],uc.m_childFrame[6]);
					{
						char jointTypeStr[1024]="FIXED";
						bool hasKnownJointType = true;

						switch (uc.m_jointType)
						{
							case eRevoluteType:
							{
								sprintf(jointTypeStr,"p.JOINT_REVOLUTE");
								break;
							}
							case ePrismaticType:
							{
								sprintf(jointTypeStr,"p.JOINT_PRISMATIC");
								break;
							}
							case eSphericalType:
							{
								sprintf(jointTypeStr,"p.JOINT_SPHERICAL");
								break;
							}
							case ePlanarType:
							{
								sprintf(jointTypeStr,"p.JOINT_PLANAR");
								break;
							}
							case eFixedType :
							{
								sprintf(jointTypeStr,"p.JOINT_FIXED");
								break;
							}
							case ePoint2PointType:
							{
								sprintf(jointTypeStr,"p.JOINT_POINT2POINT");
								break;
                            }
                            case eGearType:
                            {
                                sprintf(jointTypeStr,"p.JOINT_GEAR");
                                break;
                            }
							default:
							{
								hasKnownJointType = false;
								b3Warning("unknown constraint type in SAVE_WORLD");
							}
						};
						if (hasKnownJointType)
						{
							{
								sprintf(line,"cid%d = p.createConstraint(%d,%d,%d,%d,%s,[%f,%f,%f],[%f,%f,%f],[%f,%f,%f],[%f,%f,%f,%f],[%f,%f,%f,%f])\n",
									constraintCount,
									parentBodyIndex,
									parentJointIndex,
									childBodyIndex,
									childJointIndex,
									jointTypeStr,
									jointAxis[0],jointAxis[1],jointAxis[2],
									pivotParent[0],pivotParent[1],pivotParent[2],
									pivotChild[0],pivotChild[1],pivotChild[2],
									ornFrameParent[0],ornFrameParent[1],ornFrameParent[2],ornFrameParent[3],
									ornFrameChild[0],ornFrameChild[1],ornFrameChild[2],ornFrameChild[3]
									);
								int len = strlen(line);
								fwrite(line,len,1,f);
							}
							{
								sprintf(line,"p.changeConstraint(cid%d,maxForce=%f)\n",constraintCount,uc.m_maxAppliedForce);
								int len = strlen(line);
								fwrite(line,len,1,f);
								constraintCount++;
							}
						}
					}
				}
			}

			{
				btVector3 grav=this->m_data->m_dynamicsWorld->getGravity();
				sprintf(line,"p.setGravity(%f,%f,%f)\n",grav[0],grav[1],grav[2]);
				int len = strlen(line);
				fwrite(line,len,1,f);
			}
														

			{
					sprintf(line,"p.stepSimulation()\np.disconnect()\n");
					int len = strlen(line);
					fwrite(line,len,1,f);
			}
			fclose(f);
		}


		serverStatusOut.m_type = CMD_SAVE_WORLD_COMPLETED;
		hasStatus = true;
	}
	
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_FAILED;
					
	btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);

	btCollisionShape* shape = 0;
	b3AlignedObjectArray<UrdfCollision> urdfCollisionObjects;

	btCompoundShape* compound = 0;

	if (clientCmd.m_createUserShapeArgs.m_numUserShapes>1)
	{
		compound = worldImporter->createCompoundShape();
	}
	for (int i=0;i<clientCmd.m_createUserShapeArgs.m_numUserShapes;i++)
	{
		UrdfCollision urdfColObj;

		btTransform childTransform;
		childTransform.setIdentity();
		if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_hasChildTransform)
		{
			childTransform.setOrigin(btVector3(clientCmd.m_createUserShapeArgs.m_shapes[i].m_childPosition[0],
				clientCmd.m_createUserShapeArgs.m_shapes[i].m_childPosition[1],
				clientCmd.m_createUserShapeArgs.m_shapes[i].m_childPosition[2]));
			childTransform.setRotation(btQuaternion(
				clientCmd.m_createUserShapeArgs.m_shapes[i].m_childOrientation[0],
				clientCmd.m_createUserShapeArgs.m_shapes[i].m_childOrientation[1],
				clientCmd.m_createUserShapeArgs.m_shapes[i].m_childOrientation[2],
				clientCmd.m_createUserShapeArgs.m_shapes[i].m_childOrientation[3]
			));
			if (compound==0)
			{
				compound = worldImporter->createCompoundShape();
			}
		}

		urdfColObj.m_linkLocalFrame = childTransform;
		urdfColObj.m_sourceFileLocation = "memory";
		urdfColObj.m_name = "memory";
		urdfColObj.m_geometry.m_type = URDF_GEOM_UNKNOWN;

		switch (clientCmd.m_createUserShapeArgs.m_shapes[i].m_type)
		{
			case GEOM_SPHERE:
			{
				double radius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_sphereRadius;
				shape = worldImporter->createSphereShape(radius);
				if (compound)
				{
					compound->addChildShape(childTransform,shape);
				}
				urdfColObj.m_geometry.m_type = URDF_GEOM_SPHERE;
				urdfColObj.m_geometry.m_sphereRadius = radius;
				break;
			}
			case GEOM_BOX:
			{
				//double halfExtents[3] = clientCmd.m_createUserShapeArgs.m_shapes[i].m_sphereRadius;
				btVector3 halfExtents(
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[0],
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[1],
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[2]);
				shape = worldImporter->createBoxShape(halfExtents);
				if (compound)
				{
					compound->addChildShape(childTransform,shape);
				}
				urdfColObj.m_geometry.m_type = URDF_GEOM_BOX;
				urdfColObj.m_geometry.m_boxSize = 2.*halfExtents;
				break;
			}
			case GEOM_CAPSULE:
			{
				shape = worldImporter->createCapsuleShapeZ(clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius,
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight);
				if (compound)
				{
					compound->addChildShape(childTransform,shape);
				}
				urdfColObj.m_geometry.m_type = URDF_GEOM_CAPSULE;
				urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius;
				urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight;

				break;
			}
			case GEOM_CYLINDER:
			{
				shape = worldImporter->createCylinderShapeZ(clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius,
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight);
				if (compound)
				{
					compound->addChildShape(childTransform,shape);
				}
				urdfColObj.m_geometry.m_type = URDF_GEOM_CYLINDER;
				urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius;
				urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight;

				break;
			}
			case GEOM_PLANE:
			{
				btVector3 planeNormal(clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[0],
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[1],
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[2]);

				shape = worldImporter->createPlaneShape(planeNormal,0);
				if (compound)
				{
					compound->addChildShape(childTransform,shape);
				}
				urdfColObj.m_geometry.m_type = URDF_GEOM_PLANE;
				urdfColObj.m_geometry.m_planeNormal.setValue(
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[0],
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[1],
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[2]);
									
				break;
			}
			case GEOM_MESH:
			{
				btScalar defaultCollisionMargin = 0.001;

				btVector3 meshScale(clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[0],
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[1],
					clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshScale[2]);

				const std::string& urdf_path="";

				std::string fileName = clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshFileName;
				urdfColObj.m_geometry.m_type = URDF_GEOM_MESH;
				urdfColObj.m_geometry.m_meshFileName = fileName;
							
				urdfColObj.m_geometry.m_meshScale = meshScale;
				char relativeFileName[1024];
				char pathPrefix[1024];
				pathPrefix[0] = 0;
				if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
				{

					b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
				}
								
				const std::string& error_message_prefix="";
				std::string out_found_filename; 
				int out_type;

				bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName,error_message_prefix,&out_found_filename, &out_type); 
				if (foundFile)
				{
					urdfColObj.m_geometry.m_meshFileType = out_type;

					if (out_type==UrdfGeometry::FILE_OBJ)
					{
						//create a convex hull for each shape, and store it in a btCompoundShape

						if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags&GEOM_FORCE_CONCAVE_TRIMESH)
						{
							GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, pathPrefix);
											
							if (!glmesh || glmesh->m_numvertices<=0)
							{
								b3Warning("%s: cannot extract mesh from '%s'\n", pathPrefix, relativeFileName);
								delete glmesh;
								break;
							}
							btAlignedObjectArray<btVector3> convertedVerts;
							convertedVerts.reserve(glmesh->m_numvertices);
											
							for (int i=0; i<glmesh->m_numvertices; i++)
							{
								convertedVerts.push_back(btVector3(
									glmesh->m_vertices->at(i).xyzw[0]*meshScale[0],
									glmesh->m_vertices->at(i).xyzw[1]*meshScale[1],
									glmesh->m_vertices->at(i).xyzw[2]*meshScale[2]));
							}

							BT_PROFILE("convert trimesh");
							btTriangleMesh* meshInterface = new btTriangleMesh();
							this->m_data->m_meshInterfaces.push_back(meshInterface);
							{
								BT_PROFILE("convert vertices");

								for (int i=0; i<glmesh->m_numIndices/3; i++)
								{
									const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
									const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
									const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
									meshInterface->addTriangle(v0,v1,v2);
								}
							}
							{
								BT_PROFILE("create btBvhTriangleMeshShape");
								btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
								m_data->m_collisionShapes.push_back(trimesh);
								//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
								shape = trimesh;
								if (compound)
								{
									compound->addChildShape(childTransform,shape);
								}
							}
							delete glmesh;
						} else
						{

							std::vector<tinyobj::shape_t> shapes;
							std::string err = tinyobj::LoadObj(shapes,out_found_filename.c_str());

							//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
							//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
							B3_PROFILE("createConvexHullFromShapes");
							if (compound==0)
							{
								compound = worldImporter->createCompoundShape();
							}
							compound->setMargin(defaultCollisionMargin);

							for (int s = 0; s<(int)shapes.size(); s++)
							{
								btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
								convexHull->setMargin(defaultCollisionMargin);
								tinyobj::shape_t& shape = shapes[s];
								int faceCount = shape.mesh.indices.size();

								for (int f = 0; f<faceCount; f += 3)
								{

									btVector3 pt;
									pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
										shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
										shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
			
									convexHull->addPoint(pt*meshScale,false);

									pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
												shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
												shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
									convexHull->addPoint(pt*meshScale, false);

									pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
												shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
												shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
									convexHull->addPoint(pt*meshScale, false);
								}

								convexHull->recalcLocalAabb();
								convexHull->optimizeConvexHull();
								compound->addChildShape(childTransform,convexHull);
							}
						}
					}
				}
				break;
			}
			default:
			{
			}
		}
		if (urdfColObj.m_geometry.m_type != URDF_GEOM_UNKNOWN)
		{
			urdfCollisionObjects.push_back(urdfColObj);
		}
	}

	if (compound && compound->getNumChildShapes())
	{
		shape = compound;
	}

	if (shape)
	{
		int collisionShapeUid = m_data->m_userCollisionShapeHandles.allocHandle();
		InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(collisionShapeUid);
		handle->m_collisionShape = shape;
		for (int i=0;i<urdfCollisionObjects.size();i++)
		{
			handle->m_urdfCollisionObjects.push_back(urdfCollisionObjects[i]);
		}
		serverStatusOut.m_createUserShapeResultArgs.m_userShapeUniqueId = collisionShapeUid;
		m_data->m_worldImporters.push_back(worldImporter);
		serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_COMPLETED;
	} else
	{
		delete worldImporter;
	}

	return hasStatus;
}

bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_FAILED;
	double globalScaling = 1.f;

	BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
	btTransform localInertiaFrame;
	localInertiaFrame.setIdentity();
	btTransform childTrans;
	childTrans.setIdentity();
	const char* pathPrefix = "";
	if (clientCmd.m_createUserShapeArgs.m_numUserShapes == 1)
	{
		int userShapeIndex = 0;

		UrdfVisual visualShape;
		visualShape.m_geometry.m_type = (UrdfGeomTypes)clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_type;
		char relativeFileName[1024];
		char pathPrefix[1024];
		pathPrefix[0] = 0;

		if (visualShape.m_geometry.m_type == URDF_GEOM_MESH)
		{
								
			std::string fileName = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshFileName;
			const std::string& error_message_prefix="";
			std::string out_found_filename; 
			int out_type;
			if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
			{
				b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
			}
								
			bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName,error_message_prefix,&out_found_filename, &out_type); 
			visualShape.m_geometry.m_meshFileType = out_type;
			visualShape.m_geometry.m_meshFileName=fileName;

			visualShape.m_geometry.m_meshScale.setValue(clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[0],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[1],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[2]);
		}
		visualShape.m_name = "bla";
		visualShape.m_materialName="";
		visualShape.m_sourceFileLocation="blaat_line_10";
		visualShape.m_linkLocalFrame.setIdentity();
		visualShape.m_geometry.m_hasLocalMaterial = false;
							
							
		btAlignedObjectArray<GLInstanceVertex> vertices;
		btAlignedObjectArray<int> indices;
		btTransform startTrans; startTrans.setIdentity();
		btAlignedObjectArray<BulletURDFTexture> textures;
		bool hasRGBA = (clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_visualFlags&GEOM_VISUAL_HAS_RGBA_COLOR)!=0;;
		bool hasSpecular = (clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_visualFlags&GEOM_VISUAL_HAS_SPECULAR_COLOR)!=0;;
		visualShape.m_geometry.m_hasLocalMaterial = hasRGBA|hasSpecular;
		if (visualShape.m_geometry.m_hasLocalMaterial)
		{
			if (hasRGBA)
			{
			visualShape.m_geometry.m_localMaterial.m_matColor.m_rgbaColor.setValue(
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_rgbaColor[0],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_rgbaColor[1],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_rgbaColor[2],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_rgbaColor[3]);
			} else
			{
									
			}
			if (hasSpecular)
			{
				visualShape.m_geometry.m_localMaterial.m_matColor.m_specularColor.setValue(
					clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_specularColor[0],
					clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_specularColor[1],
					clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_specularColor[2]);
			} else
			{
				visualShape.m_geometry.m_localMaterial.m_matColor.m_specularColor.setValue(0.4,0.4,0.4);
			}
		}
							
		if (clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_hasChildTransform !=0)
		{
			childTrans.setOrigin(btVector3(clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_childPosition[0],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_childPosition[1],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_childPosition[2]));
			childTrans.setRotation(btQuaternion(
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_childOrientation[0],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_childOrientation[1],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_childOrientation[2],
				clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_childOrientation[3]));
		}

							

		u2b.convertURDFToVisualShapeInternal(&visualShape, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures);
					
		if (vertices.size() && indices.size())
		{
			if (1)
			{
				int textureIndex = -1;
				if (textures.size())
				{
				
					textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1,textures[0].m_width,textures[0].m_height);
				}
				int graphicsIndex = -1;
				{
					B3_PROFILE("registerGraphicsShape");
					graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
					if (graphicsIndex>=0)
					{
						int visualShapeUniqueId = m_data->m_userVisualShapeHandles.allocHandle();
						InternalVisualShapeHandle* visualHandle = m_data->m_userVisualShapeHandles.getHandle(visualShapeUniqueId);
						visualHandle->m_OpenGLGraphicsIndex = graphicsIndex;
						visualHandle->m_tinyRendererVisualShapeIndex = -1;
						//tinyrenderer doesn't separate shape versus instance, so create it when creating the multibody instance
						//store needed info for tinyrenderer
						visualHandle->m_localInertiaFrame = localInertiaFrame;
						visualHandle->m_visualShape = visualShape;
						visualHandle->m_pathPrefix = pathPrefix[0] ? pathPrefix : "";

						serverStatusOut.m_createUserShapeResultArgs.m_userShapeUniqueId = visualShapeUniqueId;
						serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_COMPLETED;
					}
				}
			}
		}
	}
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_CUSTOM_COMMAND_FAILED;
	serverCmd.m_customCommandResultArgs.m_pluginUniqueId = -1;

	if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN)
	{
		//pluginPath could be registered or load from disk
		const char* postFix = "";
		if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_LOAD_PLUGIN_POSTFIX)
		{
			postFix = clientCmd.m_customCommandArgs.m_postFix;
		}

		int pluginUniqueId = m_data->m_pluginManager.loadPlugin(clientCmd.m_customCommandArgs.m_pluginPath, postFix);
		if (pluginUniqueId>=0)
		{
			serverCmd.m_customCommandResultArgs.m_pluginUniqueId = pluginUniqueId;
			serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
		}
	}
	if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_UNLOAD_PLUGIN)
	{
		m_data->m_pluginManager.unloadPlugin(clientCmd.m_customCommandArgs.m_pluginUniqueId);
		serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;
	}
	if (clientCmd.m_updateFlags & CMD_CUSTOM_COMMAND_EXECUTE_PLUGIN_COMMAND)
	{
							
		int result = m_data->m_pluginManager.executePluginCommand(clientCmd.m_customCommandArgs.m_pluginUniqueId, &clientCmd.m_customCommandArgs.m_arguments);
		serverCmd.m_customCommandResultArgs.m_executeCommandResult = result;
		serverCmd.m_type = CMD_CUSTOM_COMMAND_COMPLETED;

	}
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processUserDebugDrawCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_USER_DEBUG_DRAW");
	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED;
					

	int trackingVisualShapeIndex = -1;

	if (clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId>=0)
	{
		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_userDebugDrawArgs.m_parentObjectUniqueId);
		if (bodyHandle)
		{
			int linkIndex  = -1;

			if (bodyHandle->m_multiBody)
			{
				int linkIndex = clientCmd.m_userDebugDrawArgs.m_parentLinkIndex;
				if (linkIndex ==-1)
				{
					if (bodyHandle->m_multiBody->getBaseCollider())
					{
						trackingVisualShapeIndex  = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
					}
				} else
				{
					if (linkIndex >=0 && linkIndex < bodyHandle->m_multiBody->getNumLinks())
					{
						if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
						{
							trackingVisualShapeIndex  = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
						}
					}

				}
			}
			if (bodyHandle->m_rigidBody)
			{
				trackingVisualShapeIndex = bodyHandle->m_rigidBody->getUserIndex();
			}
		}
	}

	if (clientCmd.m_updateFlags & USER_DEBUG_ADD_PARAMETER)
	{
		int uid = m_data->m_guiHelper->addUserDebugParameter(
			clientCmd.m_userDebugDrawArgs.m_text,
			clientCmd.m_userDebugDrawArgs.m_rangeMin,
			clientCmd.m_userDebugDrawArgs.m_rangeMax,
			clientCmd.m_userDebugDrawArgs.m_startValue
		);
		serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid;
		serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
	}
	if (clientCmd.m_updateFlags &USER_DEBUG_READ_PARAMETER)
	{
						
		int ok = m_data->m_guiHelper->readUserDebugParameter(
			clientCmd.m_userDebugDrawArgs.m_itemUniqueId,
			&serverCmd.m_userDebugDrawArgs.m_parameterValue);
		if (ok)
		{
			serverCmd.m_type = CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED;
		} 
	}
	if ((clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR))
	{
		int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId;
		InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
		if (body)
		{
			btCollisionObject* destColObj = 0;

			if (body->m_multiBody)
			{
				if (clientCmd.m_userDebugDrawArgs.m_linkIndex == -1)
				{
					destColObj = body->m_multiBody->getBaseCollider();
				}
				else
				{
					if (clientCmd.m_userDebugDrawArgs.m_linkIndex >= 0 && clientCmd.m_userDebugDrawArgs.m_linkIndex < body->m_multiBody->getNumLinks())
					{
						destColObj = body->m_multiBody->getLink(clientCmd.m_userDebugDrawArgs.m_linkIndex).m_collider;
					}
				}

			}
			if (body->m_rigidBody)
			{
				destColObj = body->m_rigidBody;
			}

			if (destColObj)
			{
				if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR)
				{
					destColObj->removeCustomDebugColor();
					serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
				}
				if (clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR)
				{
					btVector3 objectColorRGB;
					objectColorRGB.setValue(clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[0],
						clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[1],
						clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[2]);
					destColObj->setCustomDebugColor(objectColorRGB);
					serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
				}
			}
		}
	}

	if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT)
	{
			//addUserDebugText3D( const double orientation[4], const double	textColorRGB[3], double size, double lifeTime, int trackingObjectUniqueId, int optionFlags){return -1;}

		int optionFlags = clientCmd.m_userDebugDrawArgs.m_optionFlags;

		if ((clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT_ORIENTATION)==0)
		{
			optionFlags |= DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA;
		}


		int replaceItemUniqueId = -1;
		if ((clientCmd.m_updateFlags & USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID)!=0)
		{
			replaceItemUniqueId = clientCmd.m_userDebugDrawArgs.m_replaceItemUniqueId;
		}


		int uid = m_data->m_guiHelper->addUserDebugText3D(clientCmd.m_userDebugDrawArgs.m_text,
			clientCmd.m_userDebugDrawArgs.m_textPositionXYZ,
			clientCmd.m_userDebugDrawArgs.m_textOrientation,
			clientCmd.m_userDebugDrawArgs.m_textColorRGB,
			clientCmd.m_userDebugDrawArgs.m_textSize,
			clientCmd.m_userDebugDrawArgs.m_lifeTime,
			trackingVisualShapeIndex,
			optionFlags,
			replaceItemUniqueId);

		if (uid>=0)
		{
			serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid;
			serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
		}
	}

	if (clientCmd.m_updateFlags & USER_DEBUG_HAS_LINE)
	{
		int uid = m_data->m_guiHelper->addUserDebugLine(
			clientCmd.m_userDebugDrawArgs.m_debugLineFromXYZ,
			clientCmd.m_userDebugDrawArgs.m_debugLineToXYZ,
			clientCmd.m_userDebugDrawArgs.m_debugLineColorRGB,
			clientCmd.m_userDebugDrawArgs.m_lineWidth,
			clientCmd.m_userDebugDrawArgs.m_lifeTime,
			trackingVisualShapeIndex);

		if (uid>=0)
		{
			serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid;
			serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
		}
	}
						

	if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ALL)
	{
		m_data->m_guiHelper->removeAllUserDebugItems();
		serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;

	}
	if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ONE_ITEM)
	{
		m_data->m_guiHelper->removeUserDebugItem(clientCmd.m_userDebugDrawArgs.m_itemUniqueId);
		serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;

	}
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processSetVRCameraStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_SET_VR_CAMERA_STATE");

	if (clientCmd.m_updateFlags & 	VR_CAMERA_ROOT_POSITION)
	{
		gVRTeleportPos1[0] = clientCmd.m_vrCameraStateArguments.m_rootPosition[0];
		gVRTeleportPos1[1] = clientCmd.m_vrCameraStateArguments.m_rootPosition[1];
		gVRTeleportPos1[2] = clientCmd.m_vrCameraStateArguments.m_rootPosition[2];
	}
	if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_ORIENTATION)
	{
		gVRTeleportOrn[0] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[0];
		gVRTeleportOrn[1] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[1];
		gVRTeleportOrn[2] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[2];
		gVRTeleportOrn[3] = clientCmd.m_vrCameraStateArguments.m_rootOrientation[3];
	}

	if (clientCmd.m_updateFlags & VR_CAMERA_ROOT_TRACKING_OBJECT)
	{
		gVRTrackingObjectUniqueId = clientCmd.m_vrCameraStateArguments.m_trackingObjectUniqueId;
	}

	if (clientCmd.m_updateFlags & VR_CAMERA_FLAG)
	{
		gVRTrackingObjectFlag = clientCmd.m_vrCameraStateArguments.m_trackingObjectFlag;
	}

	serverStatusOut.m_type  = CMD_CLIENT_COMMAND_COMPLETED;
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processRequestVREventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	//BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
	serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;

	for (int i=0;i<MAX_VR_CONTROLLERS;i++)
	{
		b3VRControllerEvent& event = m_data->m_vrControllerEvents.m_vrEvents[i];

		if (clientCmd.m_updateFlags&event.m_deviceType)
		{
			if (event.m_numButtonEvents + event.m_numMoveEvents)
			{
				serverStatusOut.m_sendVREvents.m_controllerEvents[serverStatusOut.m_sendVREvents.m_numVRControllerEvents++] = event;
				event.m_numButtonEvents = 0;
				event.m_numMoveEvents = 0;
				for (int b=0;b<MAX_VR_BUTTONS;b++)
				{
					event.m_buttons[b] = 0;
				}
			}
		}
	}
	serverStatusOut.m_type = CMD_REQUEST_VR_EVENTS_DATA_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRequestMouseEventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	serverStatusOut.m_sendMouseEvents.m_numMouseEvents = m_data->m_mouseEvents.size();
	if (serverStatusOut.m_sendMouseEvents.m_numMouseEvents>MAX_MOUSE_EVENTS)
	{
		serverStatusOut.m_sendMouseEvents.m_numMouseEvents = MAX_MOUSE_EVENTS;
	}
	for (int i=0;i<serverStatusOut.m_sendMouseEvents.m_numMouseEvents;i++)
	{
		serverStatusOut.m_sendMouseEvents.m_mouseEvents[i] = m_data->m_mouseEvents[i];
	}

	m_data->m_mouseEvents.resize(0);
	serverStatusOut.m_type = CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRequestKeyboardEventsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	//BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
	bool hasStatus = true;
	serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = m_data->m_keyboardEvents.size();
	if (serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents>MAX_KEYBOARD_EVENTS)
	{
		serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = MAX_KEYBOARD_EVENTS;
	}
	for (int i=0;i<serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents;i++)
	{
		serverStatusOut.m_sendKeyboardEvents.m_keyboardEvents[i] = m_data->m_keyboardEvents[i];
	}

	btAlignedObjectArray<b3KeyboardEvent> events;

	//remove out-of-date events
	for (int i=0;i<m_data->m_keyboardEvents.size();i++)
	{
		b3KeyboardEvent event = m_data->m_keyboardEvents[i];
		if (event.m_keyState & eButtonIsDown)
		{
			event.m_keyState = eButtonIsDown;
			events.push_back(event);
		}
	}
	m_data->m_keyboardEvents.resize(events.size());
	for (int i=0;i<events.size();i++)
	{
		m_data->m_keyboardEvents[i] = events[i];
	}

	serverStatusOut.m_type = CMD_REQUEST_KEYBOARD_EVENTS_DATA_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_REQUEST_RAY_CAST_INTERSECTIONS");
	serverStatusOut.m_raycastHits.m_numRaycastHits = 0;

	for (int ray=0;ray<clientCmd.m_requestRaycastIntersections.m_numRays;ray++)
	{
		btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPositions[ray][0],
			clientCmd.m_requestRaycastIntersections.m_rayFromPositions[ray][1],
			clientCmd.m_requestRaycastIntersections.m_rayFromPositions[ray][2]);
		btVector3 rayToWorld(clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][0],
			clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][1],
			clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][2]);

		btCollisionWorld::ClosestRayResultCallback rayResultCallback(rayFromWorld,rayToWorld);
		m_data->m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,rayResultCallback);
		int rayHits = serverStatusOut.m_raycastHits.m_numRaycastHits;

		if (rayResultCallback.hasHit())
		{
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitFraction 
				= rayResultCallback.m_closestHitFraction;

			int objectUniqueId = -1;
			int linkIndex = -1;

			const btRigidBody* body = btRigidBody::upcast(rayResultCallback.m_collisionObject);
			if (body)
			{
				objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
			} else
			{
				const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(rayResultCallback.m_collisionObject);
				if (mblB && mblB->m_multiBody)
				{
					linkIndex = mblB->m_link;
					objectUniqueId = mblB->m_multiBody->getUserIndex2();
				}
			}

			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitObjectUniqueId 
				= objectUniqueId;
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitObjectLinkIndex
				= linkIndex;

			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[0] 
				= rayResultCallback.m_hitPointWorld[0];
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[1] 
				= rayResultCallback.m_hitPointWorld[1];
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[2] 
				= rayResultCallback.m_hitPointWorld[2];
						
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[0] 
				= rayResultCallback.m_hitNormalWorld[0]; 
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[1] 
				= rayResultCallback.m_hitNormalWorld[1]; 
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[2] 
				= rayResultCallback.m_hitNormalWorld[2]; 

		} else
		{
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitFraction = 1;
			serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectUniqueId = -1;
			serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectLinkIndex = -1;
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[0] = 0;
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[1] = 0;
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[2] = 0;
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[0] = 0;
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[1] = 0;
			serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[2] = 0;
		}
		serverStatusOut.m_raycastHits.m_numRaycastHits++;
	}
	serverStatusOut.m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRequestDebugLinesCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_REQUEST_DEBUG_LINES");
	int curFlags =m_data->m_remoteDebugDrawer->getDebugMode();

	int debugMode = clientCmd.m_requestDebugLinesArguments.m_debugMode;//clientCmd.btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb;
	int startingLineIndex = clientCmd.m_requestDebugLinesArguments.m_startingLineIndex;
	if (startingLineIndex<0)
	{
		b3Warning("startingLineIndex should be non-negative");
		startingLineIndex = 0;
	}

	if (clientCmd.m_requestDebugLinesArguments.m_startingLineIndex==0)
	{
		m_data->m_remoteDebugDrawer->m_lines2.resize(0);
		//|btIDebugDraw::DBG_DrawAabb|
		//	btIDebugDraw::DBG_DrawConstraints |btIDebugDraw::DBG_DrawConstraintLimits ;
		m_data->m_remoteDebugDrawer->setDebugMode(debugMode);
		btIDebugDraw* oldDebugDrawer = m_data->m_dynamicsWorld->getDebugDrawer();
		m_data->m_dynamicsWorld->setDebugDrawer(m_data->m_remoteDebugDrawer);
		m_data->m_dynamicsWorld->debugDrawWorld();
		m_data->m_dynamicsWorld->setDebugDrawer(oldDebugDrawer);
		m_data->m_remoteDebugDrawer->setDebugMode(curFlags);
	}

	//9 floats per line: 3 floats for 'from', 3 floats for 'to' and 3 floats for 'color'
	int bytesPerLine = (sizeof(float) * 9);
	int maxNumLines = bufferSizeInBytes/bytesPerLine-1;
	if (startingLineIndex >m_data->m_remoteDebugDrawer->m_lines2.size())
	{
		b3Warning("m_startingLineIndex exceeds total number of debug lines");
		startingLineIndex =m_data->m_remoteDebugDrawer->m_lines2.size();
	}

	int numLines = btMin(maxNumLines,m_data->m_remoteDebugDrawer->m_lines2.size()-startingLineIndex);

	if (numLines)
	{

		float* linesFrom = (float*)bufferServerToClient;
		float* linesTo = (float*)(bufferServerToClient+numLines*3*sizeof(float));
		float* linesColor = (float*)(bufferServerToClient+2*numLines*3*sizeof(float));

		for (int i=0;i<numLines;i++)
		{
			linesFrom[i*3] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_from.x();
			linesTo[i*3] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_to.x();
			linesColor[i*3] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.x();

			linesFrom[i*3+1] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_from.y();
			linesTo[i*3+1] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_to.y();
			linesColor[i*3+1] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.y();

			linesFrom[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_from.z();
			linesTo[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_to.z();
			linesColor[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.z();
		}
	}

	serverStatusOut.m_type = CMD_DEBUG_LINES_COMPLETED;
	serverStatusOut.m_numDataStreamBytes = numLines * bytesPerLine;
	serverStatusOut.m_sendDebugLinesArgs.m_numDebugLines = numLines;
	serverStatusOut.m_sendDebugLinesArgs.m_startingLineIndex = startingLineIndex;
	serverStatusOut.m_sendDebugLinesArgs.m_numRemainingDebugLines = m_data->m_remoteDebugDrawer->m_lines2.size()-(startingLineIndex+numLines);
		
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_SYNC_BODY_INFO");

	b3AlignedObjectArray<int> usedHandles;
	m_data->m_bodyHandles.getUsedHandles(usedHandles);
	int actualNumBodies = 0;
	for (int i=0;i<usedHandles.size();i++)
	{
		int usedHandle = usedHandles[i];
		InternalBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle);
		if (body && (body->m_multiBody || body->m_rigidBody))
		{
			serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle;
		}
	}
	serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies;

	int usz = m_data->m_userConstraints.size();
	serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz;
	for (int i=0;i<usz;i++)
	{

		int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1();
//						int uid = m_data->m_userConstraints.getAtIndex(i)->m_userConstraintData.m_userConstraintUniqueId;
		serverStatusOut.m_sdfLoadedArgs.m_userConstraintUniqueIds[i] = key;
	}

	serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_SEND_DESIRED_STATE");
	if (m_data->m_verboseOutput)
	{
		b3Printf("Processed CMD_SEND_DESIRED_STATE");
	}

	int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId;
	InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);

	if (body && body->m_multiBody)
	{
		btMultiBody* mb = body->m_multiBody;
		btAssert(mb);

		switch (clientCmd.m_sendDesiredStateCommandArgument.m_controlMode)
		{
		case CONTROL_MODE_TORQUE:
			{
				if (m_data->m_verboseOutput)
				{
					b3Printf("Using CONTROL_MODE_TORQUE");
				}
				//  mb->clearForcesAndTorques();
				int torqueIndex = 6;
				if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
				{
					for (int link=0;link<mb->getNumLinks();link++)
					{

						for (int dof=0;dof<mb->getLink(link).m_dofCount;dof++)
						{
							double torque = 0.f;
							if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[torqueIndex]&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
							{
								torque = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[torqueIndex];
								mb->addJointTorqueMultiDof(link,dof,torque);
							}
							torqueIndex++;
						}
					}
				}
				break;
			}
		case CONTROL_MODE_VELOCITY:
			{
				if (m_data->m_verboseOutput)
				{
					b3Printf("Using CONTROL_MODE_VELOCITY");
				}

				int numMotors = 0;
				//find the joint motors and apply the desired velocity and maximum force/torque
				{
					int dofIndex = 6;//skip the 3 linear + 3 angular degree of freedom entries of the base
					for (int link=0;link<mb->getNumLinks();link++)
					{
						if (supportsJointMotor(mb,link))
						{

							btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;


							if (motor)
							{
								btScalar desiredVelocity = 0.f;
								bool hasDesiredVelocity = false;


								if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex]&SIM_DESIRED_STATE_HAS_QDOT)!=0)
								{
									desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex];
									btScalar kd = 0.1f;
									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] & SIM_DESIRED_STATE_HAS_KD)!=0)
									{
										kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[dofIndex];
									}

									motor->setVelocityTarget(desiredVelocity,kd);

									btScalar kp = 0.f;
									motor->setPositionTarget(0,kp);
									hasDesiredVelocity = true;
								}
								if (hasDesiredVelocity)
								{
									btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime;
									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex]&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
									{
										maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex]*m_data->m_physicsDeltaTime;
									}
									motor->setMaxAppliedImpulse(maxImp);
								}
								numMotors++;

							}
						}
						dofIndex += mb->getLink(link).m_dofCount;
					}
				}
				break;
			}

		case CONTROL_MODE_POSITION_VELOCITY_PD:
			{
				if (m_data->m_verboseOutput)
				{
					b3Printf("Using CONTROL_MODE_POSITION_VELOCITY_PD");
				}
				//compute the force base on PD control

				int numMotors = 0;
				//find the joint motors and apply the desired velocity and maximum force/torque
				{
					int velIndex = 6;//skip the 3 linear + 3 angular degree of freedom velocity entries of the base
					int posIndex = 7;//skip 3 positional and 4 orientation (quaternion) positional degrees of freedom of the base
					for (int link=0;link<mb->getNumLinks();link++)
					{
						if (supportsJointMotor(mb,link))
						{


							btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;

							if (motor)
							{
								if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex]&SIM_DESIRED_STATE_HAS_RHS_CLAMP)!=0)
								{
									motor->setRhsClamp(clientCmd.m_sendDesiredStateCommandArgument.m_rhsClamp[velIndex]);
								}

								bool hasDesiredPosOrVel = false;
								btScalar kp = 0.f;
								btScalar kd = 0.f;
								btScalar desiredVelocity = 0.f;
								if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_QDOT)!=0)
								{
									hasDesiredPosOrVel = true;
									desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex];
									kd = 0.1;
								}
								btScalar desiredPosition = 0.f;
								if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[posIndex] & SIM_DESIRED_STATE_HAS_Q)!=0)
								{
									hasDesiredPosOrVel = true;
									desiredPosition = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex];
									kp = 0.1;
								}

								if (hasDesiredPosOrVel)
								{

									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_KP)!=0)
									{
										kp = clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex];
									}

									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_KD)!=0)
									{
										kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex];
									}

									motor->setVelocityTarget(desiredVelocity,kd);
									motor->setPositionTarget(desiredPosition,kp);

									btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime;

									if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
										maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex]*m_data->m_physicsDeltaTime;

									motor->setMaxAppliedImpulse(maxImp);
								}
								numMotors++;
							}

						}
						velIndex += mb->getLink(link).m_dofCount;
						posIndex += mb->getLink(link).m_posVarCount;
					}
				}

				break;
			}
		default:
			{
				b3Warning("m_controlMode not implemented yet");
				break;
			}

		}
	} else
	{
		//support for non-btMultiBody, such as btRigidBody

		if (body && body->m_rigidBody)
		{
			btRigidBody* rb = body->m_rigidBody;
			btAssert(rb);

			//switch (clientCmd.m_sendDesiredStateCommandArgument.m_controlMode)
			{
				//case CONTROL_MODE_TORQUE:
				{
					if (m_data->m_verboseOutput)
					{
						b3Printf("Using CONTROL_MODE_TORQUE");
					}
					//  mb->clearForcesAndTorques();
					///see addJointInfoFromConstraint
					int velIndex = 6;
					int posIndex = 7;
					//if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
					{
						for (int link=0;link<body->m_rigidBodyJoints.size();link++)
						{
							btGeneric6DofSpring2Constraint* con = body->m_rigidBodyJoints[link];

							btVector3 linearLowerLimit;
							btVector3 linearUpperLimit;
							btVector3 angularLowerLimit;
							btVector3 angularUpperLimit;


							//for (int dof=0;dof<mb->getLink(link).m_dofCount;dof++)
							{


								{

									int torqueIndex = velIndex;
									double torque = 100;
									bool hasDesiredTorque = false;
									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
									{
										torque = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex];
										hasDesiredTorque = true;
									}

									bool hasDesiredPosOrVel = false;
									btScalar qdotTarget = 0.f;
									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_QDOT)!=0)
									{
										hasDesiredPosOrVel = true;
										qdotTarget = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex];
									}
									btScalar qTarget = 0.f;
									if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[posIndex] & SIM_DESIRED_STATE_HAS_Q)!=0)
									{
										hasDesiredPosOrVel = true;
										qTarget = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex];
									}

									con->getLinearLowerLimit(linearLowerLimit);
									con->getLinearUpperLimit(linearUpperLimit);
									con->getAngularLowerLimit(angularLowerLimit);
									con->getAngularUpperLimit(angularUpperLimit);

									if (linearLowerLimit.isZero() && linearUpperLimit.isZero() && angularLowerLimit.isZero() && angularUpperLimit.isZero())
									{
										//fixed, don't do anything
									} else
									{
										con->calculateTransforms();

										if (linearLowerLimit.isZero() && linearUpperLimit.isZero())
										{
											//eRevoluteType;
											btVector3 limitRange = angularLowerLimit.absolute()+angularUpperLimit.absolute();
											int limitAxis = limitRange.maxAxis();
											const btTransform& transA = con->getCalculatedTransformA();
											const btTransform& transB = con->getCalculatedTransformB();
											btVector3 axisA = transA.getBasis().getColumn(limitAxis);
											btVector3 axisB = transB.getBasis().getColumn(limitAxis);

											switch (clientCmd.m_sendDesiredStateCommandArgument.m_controlMode)
											{
											case CONTROL_MODE_TORQUE:
												{
													if (hasDesiredTorque)
													{
														con->getRigidBodyA().applyTorque(torque*axisA);
														con->getRigidBodyB().applyTorque(-torque*axisB);
													}
													break;
												}
											case CONTROL_MODE_VELOCITY:
												{
													if (hasDesiredPosOrVel)
													{
														con->enableMotor(3+limitAxis,true);
														con->setTargetVelocity(3+limitAxis, qdotTarget);
														//this is max motor force impulse
														btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
														con->setMaxMotorForce(3+limitAxis,torqueImpulse);
													}
													break;
												}
											case CONTROL_MODE_POSITION_VELOCITY_PD:
												{
													if (hasDesiredPosOrVel)
													{
														con->setServo(3+limitAxis,true);
														con->setServoTarget(3+limitAxis,-qTarget);
														//next one is the maximum velocity to reach target position.
														//the maximum velocity is limited by maxMotorForce
														con->setTargetVelocity(3+limitAxis, 100);
														//this is max motor force impulse
														btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
														con->setMaxMotorForce(3+limitAxis,torqueImpulse);
														con->enableMotor(3+limitAxis,true);
													}
													break;
												}
											default:
												{
												}
											};




										} else
										{
											//ePrismaticType; @todo
											btVector3 limitRange = linearLowerLimit.absolute()+linearUpperLimit.absolute();
											int limitAxis = limitRange.maxAxis();

											const btTransform& transA = con->getCalculatedTransformA();
											const btTransform& transB = con->getCalculatedTransformB();
											btVector3 axisA = transA.getBasis().getColumn(limitAxis);
											btVector3 axisB = transB.getBasis().getColumn(limitAxis);

											switch (clientCmd.m_sendDesiredStateCommandArgument.m_controlMode)
											{
											case CONTROL_MODE_TORQUE:
												{
													con->getRigidBodyA().applyForce(-torque*axisA,btVector3(0,0,0));
													con->getRigidBodyB().applyForce(torque*axisB,btVector3(0,0,0));
													break;
												}
											case CONTROL_MODE_VELOCITY:
												{
													con->enableMotor(limitAxis,true);
													con->setTargetVelocity(limitAxis, -qdotTarget);
													//this is max motor force impulse
													btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
													con->setMaxMotorForce(limitAxis,torqueImpulse);
													break;
												}
											case CONTROL_MODE_POSITION_VELOCITY_PD:
												{
													con->setServo(limitAxis,true);
													con->setServoTarget(limitAxis,qTarget);
													//next one is the maximum velocity to reach target position.
													//the maximum velocity is limited by maxMotorForce
													con->setTargetVelocity(limitAxis, 100);
													//this is max motor force impulse
													btScalar torqueImpulse = torque*m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
													con->setMaxMotorForce(limitAxis,torqueImpulse);
													con->enableMotor(limitAxis,true);
													break;
												}
											default:
												{
												}
											};

										}
									}
								}//fi
								///see addJointInfoFromConstraint
								velIndex ++;//info.m_uIndex
								posIndex ++;//info.m_qIndex

							}
						}
					}//fi
					//break;
				}

			}
		} //if (body && body->m_rigidBody)
	}

	serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED;
	
	BT_PROFILE("CMD_REQUEST_ACTUAL_STATE");
	if (m_data->m_verboseOutput)
	{
		b3Printf("Sending the actual state (Q,U)");
	}
	int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId;
	InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
						

	if (body && body->m_multiBody)
	{
		btMultiBody* mb = body->m_multiBody;
		SharedMemoryStatus& serverCmd = serverStatusOut;
		serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;

		serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
		serverCmd.m_sendActualStateArgs.m_numLinks = body->m_multiBody->getNumLinks();

		int totalDegreeOfFreedomQ = 0;
		int totalDegreeOfFreedomU = 0;

		if (mb->getNumLinks()>= MAX_DEGREE_OF_FREEDOM)
		{
			serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED;
			hasStatus = true;
			return hasStatus;
		}

		//always add the base, even for static (non-moving objects)
		//so that we can easily move the 'fixed' base when needed
		//do we don't use this conditional "if (!mb->hasFixedBase())"
		{
			btTransform tr;
			tr.setOrigin(mb->getBasePos());
			tr.setRotation(mb->getWorldToBaseRot().inverse());

            serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] =
                body->m_rootLocalInertialFrame.getOrigin()[0];
            serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] =
                body->m_rootLocalInertialFrame.getOrigin()[1];
            serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[2] =
                body->m_rootLocalInertialFrame.getOrigin()[2];

            serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[3] =
                body->m_rootLocalInertialFrame.getRotation()[0];
            serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[4] =
                body->m_rootLocalInertialFrame.getRotation()[1];
            serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[5] =
                body->m_rootLocalInertialFrame.getRotation()[2];
            serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
                body->m_rootLocalInertialFrame.getRotation()[3];

							

			//base position in world space, carthesian
			serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = tr.getOrigin()[0];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = tr.getOrigin()[1];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = tr.getOrigin()[2];

			//base orientation, quaternion x,y,z,w, in world space, carthesian
			serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = tr.getRotation()[0];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = tr.getRotation()[1];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = tr.getRotation()[2];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = tr.getRotation()[3];
			totalDegreeOfFreedomQ +=7;//pos + quaternion

			//base linear velocity (in world space, carthesian)
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[0] = mb->getBaseVel()[0];
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = mb->getBaseVel()[1];
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = mb->getBaseVel()[2];

			//base angular velocity (in world space, carthesian)
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = mb->getBaseOmega()[0];
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = mb->getBaseOmega()[1];
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = mb->getBaseOmega()[2];
			totalDegreeOfFreedomU += 6;//3 linear and 3 angular DOF
		}

		btAlignedObjectArray<btVector3> omega;
		btAlignedObjectArray<btVector3> linVel;
							
		bool computeForwardKinematics = ((clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_FORWARD_KINEMATICS)!=0);
		if (computeForwardKinematics)
		{
			B3_PROFILE("compForwardKinematics");
			btAlignedObjectArray<btQuaternion> world_to_local;
			btAlignedObjectArray<btVector3> local_origin;
			world_to_local.resize(mb->getNumLinks()+1);
			local_origin.resize(mb->getNumLinks()+1);
			mb->forwardKinematics(world_to_local,local_origin);
		}

		bool computeLinkVelocities = ((clientCmd.m_updateFlags & ACTUAL_STATE_COMPUTE_LINKVELOCITY)!=0);
		if (computeLinkVelocities)
		{
			omega.resize(mb->getNumLinks()+1);
			linVel.resize(mb->getNumLinks()+1);
			{
				B3_PROFILE("compTreeLinkVelocities");
				mb->compTreeLinkVelocities(&omega[0], &linVel[0]);
			}
		}
		for (int l=0;l<mb->getNumLinks();l++)
		{
			for (int d=0;d<mb->getLink(l).m_posVarCount;d++)
			{
				serverCmd.m_sendActualStateArgs.m_actualStateQ[totalDegreeOfFreedomQ++] = mb->getJointPosMultiDof(l)[d];
			}
			for (int d=0;d<mb->getLink(l).m_dofCount;d++)
			{
				serverCmd.m_sendActualStateArgs.m_actualStateQdot[totalDegreeOfFreedomU++] = mb->getJointVelMultiDof(l)[d];
			}

            if (0 == mb->getLink(l).m_jointFeedback)
            {
                for (int d=0;d<6;d++)
                {
                    serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+d]=0;
                }
            } else
            {
                btVector3 sensedForce = mb->getLink(l).m_jointFeedback->m_reactionForces.getLinear();
                btVector3 sensedTorque = mb->getLink(l).m_jointFeedback->m_reactionForces.getAngular();

                serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+0] = sensedForce[0];
                serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+1] = sensedForce[1];
                serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+2] = sensedForce[2];

                serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+3] = sensedTorque[0];
                serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+4] = sensedTorque[1];
                serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+5] = sensedTorque[2];
            }

            serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] = 0;

            if (supportsJointMotor(mb,l))
            {

                btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)body->m_multiBody->getLink(l).m_userPtr;

                if (motor && m_data->m_physicsDeltaTime>btScalar(0))
                {
                    btScalar force =motor->getAppliedImpulse(0)/m_data->m_physicsDeltaTime;
                    serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] =
                    force;
                    //if (force>0)
                    //{
                    //   b3Printf("force = %f\n", force);
                    //}
                }
            }
			btVector3 linkLocalInertialOrigin = body->m_linkLocalInertialFrames[l].getOrigin();
			btQuaternion linkLocalInertialRotation = body->m_linkLocalInertialFrames[l].getRotation();

			btVector3 linkCOMOrigin =  mb->getLink(l).m_cachedWorldTransform.getOrigin();
			btQuaternion linkCOMRotation =  mb->getLink(l).m_cachedWorldTransform.getRotation();

			serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = linkCOMOrigin.getX();
			serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = linkCOMOrigin.getY();
			serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = linkCOMOrigin.getZ();
			serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = linkCOMRotation.x();
			serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = linkCOMRotation.y();
			serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z();
			serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w();

							

			btVector3 worldLinVel(0,0,0);
			btVector3 worldAngVel(0,0,0);
								
			if (computeLinkVelocities)
			{
				const btMatrix3x3& linkRotMat = mb->getLink(l).m_cachedWorldTransform.getBasis();
				worldLinVel = linkRotMat * linVel[l+1];
				worldAngVel = linkRotMat * omega[l+1];
			}

			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+0] = worldLinVel[0];
			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+1] = worldLinVel[1];
			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+2] = worldLinVel[2];
			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+3] = worldAngVel[0];
			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+4] = worldAngVel[1];
			serverCmd.m_sendActualStateArgs.m_linkWorldVelocities[l*6+5] = worldAngVel[2];
								
			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = linkLocalInertialOrigin.getX();
			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = linkLocalInertialOrigin.getY();
			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+2] = linkLocalInertialOrigin.getZ();

			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+3] = linkLocalInertialRotation.x();
			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+4] = linkLocalInertialRotation.y();
			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+5] = linkLocalInertialRotation.z();
			serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+6] = linkLocalInertialRotation.w();

        }


		serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
		serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU;

		hasStatus = true;

	} else
	{
		if (body && body->m_rigidBody)
		{
			btRigidBody* rb = body->m_rigidBody;
			SharedMemoryStatus& serverCmd = serverStatusOut;
			serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_COMPLETED;

			serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId;
			serverCmd.m_sendActualStateArgs.m_numLinks = 0;

			int totalDegreeOfFreedomQ = 0;
			int totalDegreeOfFreedomU = 0;

			btTransform tr = rb->getWorldTransform();
			//base position in world space, carthesian
			serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = tr.getOrigin()[0];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = tr.getOrigin()[1];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = tr.getOrigin()[2];

			//base orientation, quaternion x,y,z,w, in world space, carthesian
			serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = tr.getRotation()[0];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = tr.getRotation()[1];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = tr.getRotation()[2];
			serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = tr.getRotation()[3];
			totalDegreeOfFreedomQ +=7;//pos + quaternion

			//base linear velocity (in world space, carthesian)
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[0] = rb->getLinearVelocity()[0];
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = rb->getLinearVelocity()[1];
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = rb->getLinearVelocity()[2];

			//base angular velocity (in world space, carthesian)
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = rb->getAngularVelocity()[0];
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = rb->getAngularVelocity()[1];
			serverCmd.m_sendActualStateArgs.m_actualStateQdot[5] = rb->getAngularVelocity()[2];
			totalDegreeOfFreedomU += 6;//3 linear and 3 angular DOF

			serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
			serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU;

			hasStatus = true;
		} else
		{
			//b3Warning("Request state but no multibody or rigid body available");
			SharedMemoryStatus& serverCmd = serverStatusOut;
			serverCmd.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED;
			hasStatus = true;
		}
	}
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_REQUEST_CONTACT_POINT_INFORMATION");
    SharedMemoryStatus& serverCmd =serverStatusOut;
    serverCmd.m_sendContactPointArgs.m_numContactPointsCopied = 0;
                        
    //make a snapshot of the contact manifolds into individual contact points
	if (clientCmd.m_requestContactPointArguments.m_startingContactPointIndex == 0)
	{
		m_data->m_cachedContactPoints.resize(0);

		int mode = CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS;

		if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE)
		{
			mode = clientCmd.m_requestContactPointArguments.m_mode;
		}

		switch (mode)
		{
		case CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS:
		{
			int numContactManifolds = m_data->m_dynamicsWorld->getDispatcher()->getNumManifolds();
			m_data->m_cachedContactPoints.reserve(numContactManifolds * 4);
			for (int i = 0; i < numContactManifolds; i++)
			{
				const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
				int linkIndexA = -1;
				int linkIndexB = -1;

				int objectIndexB = -1;
				const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
				if (bodyB)
				{
					objectIndexB = bodyB->getUserIndex2();
				}
				const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
				if (mblB && mblB->m_multiBody)
				{
					linkIndexB = mblB->m_link;
					objectIndexB = mblB->m_multiBody->getUserIndex2();
				}

				int objectIndexA = -1;
				const btRigidBody* bodyA = btRigidBody::upcast(manifold->getBody0());
				if (bodyA)
				{
					objectIndexA = bodyA->getUserIndex2();
				}
				const btMultiBodyLinkCollider* mblA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
				if (mblA && mblA->m_multiBody)
				{
					linkIndexA = mblA->m_link;
					objectIndexA = mblA->m_multiBody->getUserIndex2();
				}
				btAssert(bodyA || mblA);

				//apply the filter, if the user provides it
				bool swap = false;
				if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
				{
					if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
					{
						swap = false;
					}
					else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
					{
						swap = true;
					}
					else
					{
						continue;
					}
				}

				if (swap)
				{
					std::swap(objectIndexA, objectIndexB);
					std::swap(linkIndexA, linkIndexB);
					std::swap(bodyA, bodyB);
				}

				//apply the second object filter, if the user provides it
				if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
				{
					if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
					{
						continue;
					}
				}

				if (
					(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
					clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
				{
					continue;
				}

				if (
					(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
					clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
				{
					continue;
				}

				for (int p = 0; p < manifold->getNumContacts(); p++)
				{

					b3ContactPointData pt;
					pt.m_bodyUniqueIdA = objectIndexA;
					pt.m_bodyUniqueIdB = objectIndexB;
					const btManifoldPoint& srcPt = manifold->getContactPoint(p);
					pt.m_contactDistance = srcPt.getDistance();
					pt.m_contactFlags = 0;
					pt.m_linkIndexA = linkIndexA;
					pt.m_linkIndexB = linkIndexB;
					for (int j = 0; j < 3; j++)
					{
						pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j];
						pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j];
						pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
					}
					pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->m_physicsDeltaTime;
					//                                    pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1;
					m_data->m_cachedContactPoints.push_back(pt);
				}
			}
			break;
		}
						
		case CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS:
		{
			//todo(erwincoumans) compute closest points between all, and vs all, pair
			btScalar closestDistanceThreshold = 0.f;

			if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD)
			{
				closestDistanceThreshold = clientCmd.m_requestContactPointArguments.m_closestDistanceThreshold;
			}
								
			int bodyUniqueIdA = clientCmd.m_requestContactPointArguments.m_objectAIndexFilter;
			int bodyUniqueIdB = clientCmd.m_requestContactPointArguments.m_objectBIndexFilter;

			bool hasLinkIndexAFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER));
			bool hasLinkIndexBFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER));

			int linkIndexA  = clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter;
			int linkIndexB = clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter;

			btAlignedObjectArray<btCollisionObject*> setA;
			btAlignedObjectArray<btCollisionObject*> setB;
			btAlignedObjectArray<int> setALinkIndex;
			btAlignedObjectArray<int> setBLinkIndex;
								
			if (bodyUniqueIdA >= 0)
			{
				InternalBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA);
				if (bodyA)
				{
					if (bodyA->m_multiBody)
					{
						if (bodyA->m_multiBody->getBaseCollider())
						{
							if (!hasLinkIndexAFilter || (linkIndexA == -1))
							{
								setA.push_back(bodyA->m_multiBody->getBaseCollider());
								setALinkIndex.push_back(-1);
							}
						}
						for (int i = 0; i < bodyA->m_multiBody->getNumLinks(); i++)
						{
							if (bodyA->m_multiBody->getLink(i).m_collider)
							{
								if (!hasLinkIndexAFilter || (linkIndexA == i))
								{
									setA.push_back(bodyA->m_multiBody->getLink(i).m_collider);
									setALinkIndex.push_back(i);
								}
							}
						}
					}
					if (bodyA->m_rigidBody)
					{
						setA.push_back(bodyA->m_rigidBody);
						setALinkIndex.push_back(-1);
					}
				}
			}
			if (bodyUniqueIdB>=0)
			{
				InternalBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB);
				if (bodyB)
				{
					if (bodyB->m_multiBody)
					{
						if (bodyB->m_multiBody->getBaseCollider())
						{
							if (!hasLinkIndexBFilter || (linkIndexB == -1))
							{
								setB.push_back(bodyB->m_multiBody->getBaseCollider());
								setBLinkIndex.push_back(-1);
							}
						}
						for (int i = 0; i < bodyB->m_multiBody->getNumLinks(); i++)
						{
							if (bodyB->m_multiBody->getLink(i).m_collider)
							{
								if (!hasLinkIndexBFilter || (linkIndexB ==i))
								{
									setB.push_back(bodyB->m_multiBody->getLink(i).m_collider);
									setBLinkIndex.push_back(i);
								}
							}
						}
					}
					if (bodyB->m_rigidBody)
					{
						setB.push_back(bodyB->m_rigidBody);
						setBLinkIndex.push_back(-1);

					}
				}
			}

			{
				///ContactResultCallback is used to report contact points
				struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
				{
					int m_bodyUniqueIdA;
					int m_bodyUniqueIdB;
					int m_linkIndexA;
					int m_linkIndexB;
					btScalar m_deltaTime;

					btAlignedObjectArray<b3ContactPointData>& m_cachedContactPoints;

					MyContactResultCallback(btAlignedObjectArray<b3ContactPointData>& pointCache)
					:m_cachedContactPoints(pointCache)
					{
					}

					virtual ~MyContactResultCallback()
					{
					}

					virtual bool needsCollision(btBroadphaseProxy* proxy0) const
					{
						//bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
						//collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
						//return collides;
						return true;
					}

					virtual	btScalar	addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1)
					{
						if (cp.m_distance1<=m_closestDistanceThreshold)
						{
							b3ContactPointData pt;
							pt.m_bodyUniqueIdA = m_bodyUniqueIdA;
							pt.m_bodyUniqueIdB = m_bodyUniqueIdB;
							const btManifoldPoint& srcPt = cp;
							pt.m_contactDistance = srcPt.getDistance();
							pt.m_contactFlags = 0;
							pt.m_linkIndexA = m_linkIndexA;
							pt.m_linkIndexB = m_linkIndexB;
							for (int j = 0; j < 3; j++)
							{
								pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j];
								pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j];
								pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
							}
							pt.m_normalForce = srcPt.getAppliedImpulse() / m_deltaTime;
							//                                    pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1;
							m_cachedContactPoints.push_back(pt);
						}
						return 1;

					}
				};


				MyContactResultCallback cb(m_data->m_cachedContactPoints);

				cb.m_bodyUniqueIdA = bodyUniqueIdA;
				cb.m_bodyUniqueIdB = bodyUniqueIdB;
				cb.m_deltaTime = m_data->m_physicsDeltaTime;

				for (int i = 0; i < setA.size(); i++)
				{
					cb.m_linkIndexA = setALinkIndex[i];
					for (int j = 0; j < setB.size(); j++)
					{
						cb.m_linkIndexB = setBLinkIndex[j];
						cb.m_closestDistanceThreshold = closestDistanceThreshold;
						this->m_data->m_dynamicsWorld->contactPairTest(setA[i], setB[j], cb);
					}
				}
			}
									
				break;
			}
			default:
			{
				b3Warning("Unknown contact query mode: %d", mode);
			}

		}
	}
                        
	int numContactPoints = m_data->m_cachedContactPoints.size();
						

	//b3ContactPoint
	//struct b3ContactPointDynamics

	int totalBytesPerContact = sizeof(b3ContactPointData);
	int contactPointStorage = bufferSizeInBytes/totalBytesPerContact-1;

	b3ContactPointData* contactData = (b3ContactPointData*)bufferServerToClient;

	int startContactPointIndex = clientCmd.m_requestContactPointArguments.m_startingContactPointIndex;
	int numContactPointBatch = btMin(numContactPoints,contactPointStorage);

	int endContactPointIndex = startContactPointIndex+numContactPointBatch;

	for (int i=startContactPointIndex;i<endContactPointIndex ;i++)
	{
		const b3ContactPointData& srcPt = m_data->m_cachedContactPoints[i];
		b3ContactPointData& destPt = contactData[serverCmd.m_sendContactPointArgs.m_numContactPointsCopied];
		destPt = srcPt;
		serverCmd.m_sendContactPointArgs.m_numContactPointsCopied++;
	}
						
	serverCmd.m_sendContactPointArgs.m_startingContactPointIndex = clientCmd.m_requestContactPointArguments.m_startingContactPointIndex;
	serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints = numContactPoints - clientCmd.m_requestContactPointArguments.m_startingContactPointIndex - serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
	serverCmd.m_numDataStreamBytes = totalBytesPerContact * serverCmd.m_sendContactPointArgs.m_numContactPointsCopied;
	serverCmd.m_type = CMD_CONTACT_POINT_INFORMATION_COMPLETED; //CMD_CONTACT_POINT_INFORMATION_FAILED,
	
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_REQUEST_BODY_INFO");

	const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs;
	//stream info into memory
	int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes);

	serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED;
	serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId;
	serverStatusOut.m_dataStreamArguments.m_bodyName[0] = 0;
						
	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(sdfInfoArgs.m_bodyUniqueId);
	if (bodyHandle)
	{
		strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName,bodyHandle->m_bodyName.c_str());
	}

	serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
						
	return hasStatus;

}

bool PhysicsServerCommandProcessor::processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_LOAD_SDF");

    const SdfArgs& sdfArgs = clientCmd.m_sdfArguments;
    if (m_data->m_verboseOutput)
    {
        b3Printf("Processed CMD_LOAD_SDF:%s", sdfArgs.m_sdfFileName);
    }
    bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (sdfArgs.m_useMultiBody!=0) : true;

	int flags = CUF_USE_SDF; //CUF_USE_URDF_INERTIA
	btScalar globalScaling = 1.f;
	if (clientCmd.m_updateFlags & URDF_ARGS_USE_GLOBAL_SCALING)
	{
		globalScaling = sdfArgs.m_globalScaling;
	}
    bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, globalScaling);
    if (completedOk)
    {
		m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);

        //serverStatusOut.m_type = CMD_SDF_LOADING_FAILED;
        serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size();
		serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = 0;
        int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies);
        for (int i=0;i<maxBodies;i++)
        {
            serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = m_data->m_sdfRecentLoadedBodies[i];
        }

        serverStatusOut.m_type = CMD_SDF_LOADING_COMPLETED;
    } else
    {
        serverStatusOut.m_type = CMD_SDF_LOADING_FAILED;
    }
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_FAILED;
	if (clientCmd.m_createMultiBodyArgs.m_baseLinkIndex>=0)
	{
		m_data->m_sdfRecentLoadedBodies.clear();

		ProgrammaticUrdfInterface u2b(clientCmd.m_createMultiBodyArgs, m_data);
						
		bool useMultiBody = true;
		if (clientCmd.m_updateFlags & MULT_BODY_USE_MAXIMAL_COORDINATES)
		{
			useMultiBody = false;
		}						
					
		int flags = 0;
		bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody,  flags, u2b);

		if (ok)
		{
			int bodyUniqueId = -1;

			if (m_data->m_sdfRecentLoadedBodies.size()==1)
			{
				bodyUniqueId = m_data->m_sdfRecentLoadedBodies[0];
			}
			m_data->m_sdfRecentLoadedBodies.clear();
			if (bodyUniqueId>=0)
			{
				m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
				serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_COMPLETED;
								
				int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
				if (m_data->m_urdfLinkNameMapper.size())
				{
					serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
				}
				serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
				InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
				strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
			}
		}

		//ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
	}
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processLoadURDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	serverStatusOut.m_type = CMD_URDF_LOADING_FAILED;

	BT_PROFILE("CMD_LOAD_URDF");
    const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments;
	if (m_data->m_verboseOutput)
	{
		b3Printf("Processed CMD_LOAD_URDF:%s", urdfArgs.m_urdfFileName);
	}
	btAssert((clientCmd.m_updateFlags&URDF_ARGS_FILE_NAME) !=0);
	btAssert(urdfArgs.m_urdfFileName);
	btVector3 initialPos(0,0,0);
	btQuaternion initialOrn(0,0,0,1);
	if (clientCmd.m_updateFlags & URDF_ARGS_INITIAL_POSITION)
	{
		initialPos[0] = urdfArgs.m_initialPosition[0];
		initialPos[1] = urdfArgs.m_initialPosition[1];
		initialPos[2] = urdfArgs.m_initialPosition[2];
	}
	int urdfFlags = 0;
	if (clientCmd.m_updateFlags & URDF_ARGS_HAS_CUSTOM_URDF_FLAGS)
	{
		urdfFlags = urdfArgs.m_urdfFlags;
	}
	if (clientCmd.m_updateFlags & URDF_ARGS_INITIAL_ORIENTATION)
	{
		initialOrn[0] = urdfArgs.m_initialOrientation[0];
		initialOrn[1] = urdfArgs.m_initialOrientation[1];
		initialOrn[2] = urdfArgs.m_initialOrientation[2];
		initialOrn[3] = urdfArgs.m_initialOrientation[3];
	}
	bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (urdfArgs.m_useMultiBody!=0) : true;
	bool useFixedBase = (clientCmd.m_updateFlags & URDF_ARGS_USE_FIXED_BASE) ? (urdfArgs.m_useFixedBase!=0): false;
	int bodyUniqueId;
	btScalar globalScaling = 1.f;
	if (clientCmd.m_updateFlags & URDF_ARGS_USE_GLOBAL_SCALING)
	{
		globalScaling = urdfArgs.m_globalScaling;
	}
    //load the actual URDF and send a report: completed or failed
    bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
                                initialPos,initialOrn,
                                useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags, globalScaling);

    if (completedOk && bodyUniqueId>=0)
    {


		m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);

		serverStatusOut.m_type = CMD_URDF_LOADING_COMPLETED;
                       
		int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);


		if (m_data->m_urdfLinkNameMapper.size())
		{
			serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
		}
		serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
		InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
		strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
		
    }

	return hasStatus;
}

bool PhysicsServerCommandProcessor::processLoadBunnyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
	bool hasStatus = true;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
    double scale = 0.1;
    double mass = 0.1;
    double collisionMargin = 0.02;
    if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_SCALE)
    {
        scale = clientCmd.m_loadBunnyArguments.m_scale;
    }
    if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_MASS)
    {
        mass = clientCmd.m_loadBunnyArguments.m_mass;
    }
    if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_COLLISION_MARGIN)
    {
        collisionMargin = clientCmd.m_loadBunnyArguments.m_collisionMargin;
    }
    m_data->m_softBodyWorldInfo.air_density		=	(btScalar)1.2;
    m_data->m_softBodyWorldInfo.water_density	=	0;
    m_data->m_softBodyWorldInfo.water_offset	=	0;
    m_data->m_softBodyWorldInfo.water_normal	=	btVector3(0,0,0);
    m_data->m_softBodyWorldInfo.m_gravity.setValue(0,0,-10);
    m_data->m_softBodyWorldInfo.m_broadphase = m_data->m_broadphase;
    m_data->m_softBodyWorldInfo.m_sparsesdf.Initialize();
                    
    btSoftBody*	psb=btSoftBodyHelpers::CreateFromTriMesh(m_data->m_softBodyWorldInfo,gVerticesBunny,                                                       &gIndicesBunny[0][0],                                                         BUNNY_NUM_TRIANGLES);
                    
    btSoftBody::Material*	pm=psb->appendMaterial();
    pm->m_kLST				=	1.0;
    pm->m_flags				-=	btSoftBody::fMaterial::DebugDraw;
    psb->generateBendingConstraints(2,pm);
    psb->m_cfg.piterations	=	50;
    psb->m_cfg.kDF			=	0.5;
    psb->randomizeConstraints();
    psb->rotate(btQuaternion(0.70711,0,0,0.70711));
    psb->translate(btVector3(0,0,1.0));
    psb->scale(btVector3(scale,scale,scale));
    psb->setTotalMass(mass,true);
    psb->getCollisionShape()->setMargin(collisionMargin);
                    
    m_data->m_dynamicsWorld->addSoftBody(psb);
	serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
#endif
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processCreateSensorCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_CREATE_SENSOR");

	if (m_data->m_verboseOutput)
	{
		b3Printf("Processed CMD_CREATE_SENSOR");
	}
	int bodyUniqueId = clientCmd.m_createSensorArguments.m_bodyUniqueId;
	InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
    if (body && body->m_multiBody)
    {
        btMultiBody* mb = body->m_multiBody;
        btAssert(mb);
        for (int i=0;i<clientCmd.m_createSensorArguments.m_numJointSensorChanges;i++)
        {
            int jointIndex = clientCmd.m_createSensorArguments.m_jointIndex[i];
            if (clientCmd.m_createSensorArguments.m_enableJointForceSensor[i])
            {
                if (mb->getLink(jointIndex).m_jointFeedback)
                {
                    b3Warning("CMD_CREATE_SENSOR: sensor for joint [%d] already enabled", jointIndex);
                } else
                {
                    btMultiBodyJointFeedback* fb = new btMultiBodyJointFeedback();
                    fb->m_reactionForces.setZero();
                    mb->getLink(jointIndex).m_jointFeedback = fb;
                    m_data->m_multiBodyJointFeedbacks.push_back(fb);
                };

            } else
            {
                if (mb->getLink(jointIndex).m_jointFeedback)
                {
                    m_data->m_multiBodyJointFeedbacks.remove(mb->getLink(jointIndex).m_jointFeedback);
                    delete mb->getLink(jointIndex).m_jointFeedback;
                    mb->getLink(jointIndex).m_jointFeedback=0;
                } else
                {
                        b3Warning("CMD_CREATE_SENSOR: cannot perform sensor removal request, no sensor on joint [%d]", jointIndex);
                };

            }
        }

    } else
    {
        b3Warning("No btMultiBody in the world. btRigidBody/btTypedConstraint sensor not hooked up yet");
    }

#if 0
    //todo(erwincoumans) here is some sample code to hook up a force/torque sensor for btTypedConstraint/btRigidBody
    /*
        for (int i=0;i<m_data->m_dynamicsWorld->getNumConstraints();i++)
        {
        btTypedConstraint* c = m_data->m_dynamicsWorld->getConstraint(i);
        btJointFeedback* fb = new btJointFeedback();
        m_data->m_jointFeedbacks.push_back(fb);
        c->setJointFeedback(fb);


        }
        */
#endif

	serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processProfileTimingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	
	B3_PROFILE("custom");//clientCmd.m_profile.m_name);
	{
		B3_PROFILE("event");//clientCmd.m_profile.m_name);
		char** eventNamePtr = m_data->m_profileEvents[clientCmd.m_profile.m_name];
		char* eventName = 0;
		if (eventNamePtr)
		{
			B3_PROFILE("reuse");
			eventName = *eventNamePtr;
								
		} else
		{
			B3_PROFILE("alloc");
			int len = strlen(clientCmd.m_profile.m_name);
			eventName = new char[len+1];
			strcpy(eventName,clientCmd.m_profile.m_name);
			eventName[len] = 0;
			m_data->m_profileEvents.insert(eventName,eventName);
								
		}

							
		{
			{
				B3_PROFILE("with");//clientCmd.m_profile.m_name);
				{
					B3_PROFILE("some");//clientCmd.m_profile.m_name);
					{
						B3_PROFILE("deep");//clientCmd.m_profile.m_name);
						{
							B3_PROFILE("level");//clientCmd.m_profile.m_name);
							{
								B3_PROFILE(eventName);
								b3Clock::usleep(clientCmd.m_profile.m_durationInMicroSeconds);
							}
						}
					}
				}
			}
		}
	}
	
	serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	hasStatus = true;
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processRequestCollisionInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_FAILED;
	hasStatus=true;
	int bodyUniqueId = clientCmd.m_requestCollisionInfoArgs.m_bodyUniqueId;
	InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
						

	if (body && body->m_multiBody)
	{
		btMultiBody* mb = body->m_multiBody;
		serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED;
		serverCmd.m_sendCollisionInfoArgs.m_numLinks = body->m_multiBody->getNumLinks();
		serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = 0;
		serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = 0;
		serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = 0;

		serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = -1;
		serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = -1;
		serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = -1;

		if (body->m_multiBody->getBaseCollider())
		{
			btTransform tr;
			tr.setOrigin(mb->getBasePos());
			tr.setRotation(mb->getWorldToBaseRot().inverse());

			btVector3 aabbMin,aabbMax;
			body->m_multiBody->getBaseCollider()->getCollisionShape()->getAabb(tr,aabbMin,aabbMax);
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = aabbMin[0];
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = aabbMin[1];
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = aabbMin[2];

			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = aabbMax[0];
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = aabbMax[1];
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = aabbMax[2];
		}
		for (int l=0;l<mb->getNumLinks();l++)
		{
			serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+0] = 0;
			serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+1] = 0;
			serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+2] = 0;

			serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+0] = -1;
			serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+1] = -1;
			serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+2] = -1;

								

			if (body->m_multiBody->getLink(l).m_collider)
			{
				btVector3 aabbMin,aabbMax;
				body->m_multiBody->getLinkCollider(l)->getCollisionShape()->getAabb(mb->getLink(l).m_cachedWorldTransform,aabbMin,aabbMax);

				serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+0] = aabbMin[0];
				serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+1] = aabbMin[1];
				serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMin[3*l+2] = aabbMin[2];
				serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+0] = aabbMax[0];
				serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+1] = aabbMax[1];
				serverCmd.m_sendCollisionInfoArgs.m_linkWorldAABBsMax[3*l+2] = aabbMax[2];
			}
						
		}
	}
	else
	{
		if (body && body->m_rigidBody)
		{
			btRigidBody* rb = body->m_rigidBody;
			SharedMemoryStatus& serverCmd = serverStatusOut;
			serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_COMPLETED;
			serverCmd.m_sendCollisionInfoArgs.m_numLinks = 0;
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = 0;
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = 0;
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = 0;

			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = -1;
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = -1;
			serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = -1;
			if (rb->getCollisionShape())
			{
				btTransform tr = rb->getWorldTransform();
								
				btVector3 aabbMin,aabbMax;
				rb->getCollisionShape()->getAabb(tr,aabbMin,aabbMax);
				serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[0] = aabbMin[0];
				serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[1] = aabbMin[1];
				serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMin[2] = aabbMin[2];

				serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[0] = aabbMax[0];
				serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[1] = aabbMax[1];
				serverCmd.m_sendCollisionInfoArgs.m_rootWorldAABBMax[2] = aabbMax[2];
			}
		}
	}
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_STEP_FORWARD_SIMULATION");


	if (m_data->m_verboseOutput)
	{
		b3Printf("Step simulation request");
		b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
	}
    ///todo(erwincoumans) move this damping inside Bullet
    for (int i=0;i<m_data->m_dynamicsWorld->getNumMultibodies();i++)
	{
		btMultiBody* mb = m_data->m_dynamicsWorld->getMultiBody(i);
		for (int l=0;l<mb->getNumLinks();l++) 
		{
			for (int d=0;d<mb->getLink(l).m_dofCount;d++) 
			{
				double damping_coefficient = mb->getLink(l).m_jointDamping;
				double damping = -damping_coefficient*mb->getJointVelMultiDof(l)[d];
				mb->addJointTorqueMultiDof(l, d, damping);
			}
		}
	}

	btScalar deltaTimeScaled = m_data->m_physicsDeltaTime*simTimeScalingFactor;

	if (m_data->m_numSimulationSubSteps > 0)
	{
		m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, m_data->m_numSimulationSubSteps, m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps);
	}
	else
	{
		m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, 0);
	}

	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
	return hasStatus;

}

bool PhysicsServerCommandProcessor::processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{

	bool hasStatus = true;
	BT_PROFILE("CMD_REQUEST_INTERNAL_DATA");

	//todo: also check version etc?

	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_REQUEST_INTERNAL_DATA_FAILED;
					
	int sz = btDefaultSerializer::getMemoryDnaSizeInBytes();
	const char* memDna = btDefaultSerializer::getMemoryDna();
	if (sz < bufferSizeInBytes)
	{
		for (int i = 0; i < sz; i++)
		{
			bufferServerToClient[i] = memDna[i];
		}
		serverCmd.m_type = CMD_REQUEST_INTERNAL_DATA_COMPLETED;
		serverCmd.m_numDataStreamBytes = sz;
	}
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_CHANGE_DYNAMICS_INFO");
					
	int bodyUniqueId = clientCmd.m_changeDynamicsInfoArgs.m_bodyUniqueId;
	int linkIndex = clientCmd.m_changeDynamicsInfoArgs.m_linkIndex;
	double mass = clientCmd.m_changeDynamicsInfoArgs.m_mass;
	double lateralFriction = clientCmd.m_changeDynamicsInfoArgs.m_lateralFriction;
	double spinningFriction = clientCmd.m_changeDynamicsInfoArgs.m_spinningFriction;
	double rollingFriction = clientCmd.m_changeDynamicsInfoArgs.m_rollingFriction;
	double restitution = clientCmd.m_changeDynamicsInfoArgs.m_restitution;
	btAssert(bodyUniqueId >= 0);
						
	InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);

	if (body && body->m_multiBody)
	{
		btMultiBody* mb = body->m_multiBody;

		if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
		{
			mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping);
		}
		if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
		{
			mb->setAngularDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
		}

		if (linkIndex == -1)
		{
			if (mb->getBaseCollider())
			{
				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
				{
					mb->getBaseCollider()->setRestitution(restitution);
				}
								

				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
				{
					mb->getBaseCollider()->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
				}
				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
				{
					mb->getBaseCollider()->setFriction(lateralFriction);
				}
				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
				{
					mb->getBaseCollider()->setSpinningFriction(spinningFriction);
				}
				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
				{
					mb->getBaseCollider()->setRollingFriction(rollingFriction);
				}		

				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
				{
					if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
					{
						mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
					} else
					{
						mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
					}
				}		
			}
			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
			{
				mb->setBaseMass(mass);	
				if (mb->getBaseCollider() && mb->getBaseCollider()->getCollisionShape())
				{
					btVector3 localInertia;
					mb->getBaseCollider()->getCollisionShape()->calculateLocalInertia(mass,localInertia);
					mb->setBaseInertia(localInertia);
				}
			}
		}
		else
		{
			if (linkIndex >= 0 && linkIndex < mb->getNumLinks())
			{
				if (mb->getLinkCollider(linkIndex))
				{
					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
					{
						mb->getLinkCollider(linkIndex)->setRestitution(restitution);
					}
					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
					{
						mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
					}
					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
					{
						mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
					}

					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
					{
						if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
						{
							mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
						} else
						{
							mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
						}
					}		


					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
					{
						mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
					}

					if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
					{
						mb->getLinkCollider(linkIndex)->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
					}
								
			
				}
				if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
				{
					mb->getLink(linkIndex).m_mass = mass;
					if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
					{
						btVector3 localInertia;
						mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
						mb->getLink(linkIndex).m_inertiaLocal = localInertia;
					}
				}
			}
		}
	} else
	{
		if (body && body->m_rigidBody)
		{
			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
			{
				btScalar angDamping = body->m_rigidBody->getAngularDamping();
				body->m_rigidBody->setDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping,angDamping);
			}
			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING)
			{
				btScalar linDamping = body->m_rigidBody->getLinearDamping();
				body->m_rigidBody->setDamping(linDamping, clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
			}

			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
			{
				body->m_rigidBody->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
			}
			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
			{
				body->m_rigidBody->setRestitution(restitution);
			}
			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
			{
				body->m_rigidBody->setFriction(lateralFriction);
			}
			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
			{
				body->m_rigidBody->setSpinningFriction(spinningFriction);
			}
			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
			{
				body->m_rigidBody->setRollingFriction(rollingFriction);
			}

			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
			{
				if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
				{
					body->m_rigidBody->setCollisionFlags(body->m_rigidBody->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
				} else
				{
					body->m_rigidBody->setCollisionFlags(body->m_rigidBody->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
				}
			}	

			if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
			{
				btVector3 localInertia;
				if (body->m_rigidBody->getCollisionShape())
				{
					body->m_rigidBody->getCollisionShape()->calculateLocalInertia(mass,localInertia);
				}
				body->m_rigidBody->setMassProps(mass,localInertia);
			}
		}
	}
					
					
	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	return hasStatus;					
}

bool PhysicsServerCommandProcessor::processSetAdditionalSearchPathCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool  hasStatus = true;

	BT_PROFILE("CMD_SET_ADDITIONAL_SEARCH_PATH");
	b3ResourcePath::setAdditionalSearchPath(clientCmd.m_searchPathArgs.m_path);
	serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_GET_DYNAMICS_INFO_FAILED;

	int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId;
	int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex;
	InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
	if (body && body->m_multiBody)
	{
		SharedMemoryStatus& serverCmd = serverStatusOut;
		serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
						
		btMultiBody* mb = body->m_multiBody;
		if (linkIndex == -1)
		{
			serverCmd.m_dynamicsInfo.m_mass = mb->getBaseMass();
			serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
		}
		else
		{
			serverCmd.m_dynamicsInfo.m_mass = mb->getLinkMass(linkIndex);
			if (mb->getLinkCollider(linkIndex))
			{
				serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
			}
			else
			{
				b3Warning("The dynamic info requested is not available");
				serverCmd.m_type = CMD_GET_DYNAMICS_INFO_FAILED;
			}
		}
		hasStatus = true;
	}
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED;
	serverCmd.m_simulationParameterResultArgs.m_collisionFilterMode = m_data->m_broadphaseCollisionFilterCallback->m_filterMode;
	serverCmd.m_simulationParameterResultArgs.m_contactBreakingThreshold = gContactBreakingThreshold;
	serverCmd.m_simulationParameterResultArgs.m_defaultContactERP = m_data->m_dynamicsWorld->getSolverInfo().m_erp2;
	serverCmd.m_simulationParameterResultArgs.m_defaultNonContactERP = m_data->m_dynamicsWorld->getSolverInfo().m_erp;
	serverCmd.m_simulationParameterResultArgs.m_deltaTime = m_data->m_physicsDeltaTime;
	serverCmd.m_simulationParameterResultArgs.m_enableFileCaching =  b3IsFileCachingEnabled();
	serverCmd.m_simulationParameterResultArgs.m_frictionERP = m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP;
	btVector3 grav = m_data->m_dynamicsWorld->getGravity();
	serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[0] = grav[0];
	serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[1] = grav[1];
	serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[2] = grav[2];
	serverCmd.m_simulationParameterResultArgs.m_internalSimFlags = gInternalSimFlags;
	serverCmd.m_simulationParameterResultArgs.m_numSimulationSubSteps = m_data->m_numSimulationSubSteps;
	serverCmd.m_simulationParameterResultArgs.m_numSolverIterations = m_data->m_dynamicsWorld->getSolverInfo().m_numIterations;
	serverCmd.m_simulationParameterResultArgs.m_restitutionVelocityThreshold = m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold;
	serverCmd.m_simulationParameterResultArgs.m_splitImpulsePenetrationThreshold = m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold;
	serverCmd.m_simulationParameterResultArgs.m_useRealTimeSimulation = m_data->m_useRealTimeSimulation;
	serverCmd.m_simulationParameterResultArgs.m_useSplitImpulse = m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");

	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
	{
		m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;
	}
	if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_REAL_TIME_SIMULATION)
	{
		m_data->m_useRealTimeSimulation = (clientCmd.m_physSimParamArgs.m_useRealTimeSimulation!=0);
	}
					
	//see 
	if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS)
	{
		//these flags are for internal/temporary/easter-egg/experimental demo purposes, use at own risk
		gInternalSimFlags = clientCmd.m_physSimParamArgs.m_internalSimFlags;
	}

	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY)
	{
		btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0],
						clientCmd.m_physSimParamArgs.m_gravityAcceleration[1],
						clientCmd.m_physSimParamArgs.m_gravityAcceleration[2]);
		this->m_data->m_dynamicsWorld->setGravity(grav);
		if (m_data->m_verboseOutput)
		{
			b3Printf("Updated Gravity: %f,%f,%f",grav[0],grav[1],grav[2]);
		}

	}
	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS)
	{
		m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
	}
	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD)
	{
		gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold;
	}
					
	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
	{
		m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
	}

	if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE)
	{
		m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse = clientCmd.m_physSimParamArgs.m_useSplitImpulse;
	}
	if (clientCmd.m_updateFlags &SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD)
	{
		m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = clientCmd.m_physSimParamArgs.m_splitImpulsePenetrationThreshold;
	}
					

    if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS)
    {
        m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
    }

	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP)
    {
        m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
    }

	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP)
    {
        m_data->m_dynamicsWorld->getSolverInfo().m_erp = clientCmd.m_physSimParamArgs.m_defaultNonContactERP;
    }

	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP)
    {
        m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionERP;
    }
					

	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
    {
        m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold = clientCmd.m_physSimParamArgs.m_restitutionVelocityThreshold;
    }

					

	if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_FILE_CACHING)
    {
		b3EnableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching);
    }


	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processInitPoseCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_INIT_POSE");

	if (m_data->m_verboseOutput)
	{
		b3Printf("Server Init Pose not implemented yet");
	}
	int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId;
	InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);

	btVector3 baseLinVel(0, 0, 0);
	btVector3 baseAngVel(0, 0, 0);

	if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY)
	{
		baseLinVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[0],
			clientCmd.m_initPoseArgs.m_initialStateQdot[1],
			clientCmd.m_initPoseArgs.m_initialStateQdot[2]);
	}
	if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY)
	{
		baseAngVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[3],
			clientCmd.m_initPoseArgs.m_initialStateQdot[4],
			clientCmd.m_initPoseArgs.m_initialStateQdot[5]);
	}
	btVector3 basePos(0, 0, 0);
	if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION)
	{
		basePos = btVector3(
			clientCmd.m_initPoseArgs.m_initialStateQ[0],
			clientCmd.m_initPoseArgs.m_initialStateQ[1],
			clientCmd.m_initPoseArgs.m_initialStateQ[2]);
	}
	btQuaternion baseOrn(0, 0, 0, 1);
	if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION)
	{
		baseOrn.setValue(clientCmd.m_initPoseArgs.m_initialStateQ[3],
			clientCmd.m_initPoseArgs.m_initialStateQ[4],
			clientCmd.m_initPoseArgs.m_initialStateQ[5],
			clientCmd.m_initPoseArgs.m_initialStateQ[6]);
	}
	if (body && body->m_multiBody)
	{
		btMultiBody* mb = body->m_multiBody;
						


		if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY)
		{
			mb->setBaseVel(baseLinVel);
		}

		if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY)
		{
			mb->setBaseOmega(baseAngVel);
		}


		if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION)
		{
			btVector3 zero(0,0,0);
			btAssert(clientCmd.m_initPoseArgs.m_hasInitialStateQ[0] &&
					clientCmd.m_initPoseArgs.m_hasInitialStateQ[1] &&
					clientCmd.m_initPoseArgs.m_hasInitialStateQ[2]);

			mb->setBaseVel(baseLinVel);
			mb->setBasePos(basePos);
		}
		if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION)
		{
			btAssert(clientCmd.m_initPoseArgs.m_hasInitialStateQ[3] &&
					clientCmd.m_initPoseArgs.m_hasInitialStateQ[4] &&
					clientCmd.m_initPoseArgs.m_hasInitialStateQ[5] &&
					clientCmd.m_initPoseArgs.m_hasInitialStateQ[6]);

			mb->setBaseOmega(baseAngVel);
			btQuaternion invOrn(baseOrn);

			mb->setWorldToBaseRot(invOrn.inverse());
		}
		if (clientCmd.m_updateFlags & INIT_POSE_HAS_JOINT_STATE)
		{
			int uDofIndex = 6;
			int posVarCountIndex = 7;
			for (int i=0;i<mb->getNumLinks();i++)
			{
				if ( (clientCmd.m_initPoseArgs.m_hasInitialStateQ[posVarCountIndex]) && (mb->getLink(i).m_dofCount==1))
				{
					mb->setJointPos(i,clientCmd.m_initPoseArgs.m_initialStateQ[posVarCountIndex]);
					mb->setJointVel(i,0);//backwards compatibility
				}
				if ((clientCmd.m_initPoseArgs.m_hasInitialStateQdot[uDofIndex]) && (mb->getLink(i).m_dofCount==1))
				{
					btScalar vel = clientCmd.m_initPoseArgs.m_initialStateQdot[uDofIndex];
					mb->setJointVel(i,vel);
				}

				posVarCountIndex += mb->getLink(i).m_posVarCount;
				uDofIndex += mb->getLink(i).m_dofCount;

			}
		}
                        
		btAlignedObjectArray<btQuaternion> scratch_q;
		btAlignedObjectArray<btVector3> scratch_m;
                        
		mb->forwardKinematics(scratch_q,scratch_m);
		int nLinks = mb->getNumLinks();
		scratch_q.resize(nLinks+1);
		scratch_m.resize(nLinks+1);
                        
		mb->updateCollisionObjectWorldTransforms(scratch_q,scratch_m);

                        
	}

	if (body && body->m_rigidBody)
	{
		if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY)
		{
			body->m_rigidBody->setLinearVelocity(baseLinVel);
		}
		if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY)
		{
			body->m_rigidBody->setAngularVelocity(baseAngVel);
		}
						
		if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION)
		{
			body->m_rigidBody->getWorldTransform().setOrigin(basePos);
			body->m_rigidBody->setLinearVelocity(baseLinVel);
		}

		if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION)
		{
			body->m_rigidBody->getWorldTransform().setRotation(baseOrn);
			body->m_rigidBody->setAngularVelocity(baseAngVel);
		}

	}

	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processResetSimulationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_RESET_SIMULATION");
	m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,0);
	resetSimulation();
	m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,1);
					
	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processCreateRigidBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_RIGID_BODY_CREATION_COMPLETED;
	
	BT_PROFILE("CMD_CREATE_RIGID_BODY");

    btVector3 halfExtents(1,1,1);
    if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_HALF_EXTENTS)
    {
        halfExtents = btVector3(
                                clientCmd.m_createBoxShapeArguments.m_halfExtentsX,
                                clientCmd.m_createBoxShapeArguments.m_halfExtentsY,
                                clientCmd.m_createBoxShapeArguments.m_halfExtentsZ);
    }
	btTransform startTrans;
	startTrans.setIdentity();
    if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_INITIAL_POSITION)
    {
        startTrans.setOrigin(btVector3(
                                clientCmd.m_createBoxShapeArguments.m_initialPosition[0],
                                clientCmd.m_createBoxShapeArguments.m_initialPosition[1],
                                clientCmd.m_createBoxShapeArguments.m_initialPosition[2]));
    }

    if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_INITIAL_ORIENTATION)
    {

        startTrans.setRotation(btQuaternion(
                                        clientCmd.m_createBoxShapeArguments.m_initialOrientation[0],
                                                clientCmd.m_createBoxShapeArguments.m_initialOrientation[1],
                                                clientCmd.m_createBoxShapeArguments.m_initialOrientation[2],
                                                clientCmd.m_createBoxShapeArguments.m_initialOrientation[3]));
    }

	btScalar mass = 0.f;
	if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_MASS)
	{
		mass = clientCmd.m_createBoxShapeArguments.m_mass;
	}

	int shapeType = COLLISION_SHAPE_TYPE_BOX;

	if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE)
	{
		shapeType = clientCmd.m_createBoxShapeArguments.m_collisionShapeType;
	}

	btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
	m_data->m_worldImporters.push_back(worldImporter);

	btCollisionShape* shape = 0;

	switch (shapeType)
	{
		case COLLISION_SHAPE_TYPE_CYLINDER_X:
		{
			btScalar radius = halfExtents[1];
			btScalar height = halfExtents[0];
			shape = worldImporter->createCylinderShapeX(radius,height);
			break;
		}
		case COLLISION_SHAPE_TYPE_CYLINDER_Y:
		{
			btScalar radius = halfExtents[0];
			btScalar height = halfExtents[1];
			shape = worldImporter->createCylinderShapeY(radius,height);
			break;
		}
		case COLLISION_SHAPE_TYPE_CYLINDER_Z:
		{
			btScalar radius = halfExtents[1];
			btScalar height = halfExtents[2];
			shape = worldImporter->createCylinderShapeZ(radius,height);
			break;
		}
		case COLLISION_SHAPE_TYPE_CAPSULE_X:
		{
			btScalar radius = halfExtents[1];
			btScalar height = halfExtents[0];
			shape = worldImporter->createCapsuleShapeX(radius,height);
			break;
		}
		case COLLISION_SHAPE_TYPE_CAPSULE_Y:
		{
			btScalar radius = halfExtents[0];
			btScalar height = halfExtents[1];
			shape = worldImporter->createCapsuleShapeY(radius,height);
			break;
		}
		case COLLISION_SHAPE_TYPE_CAPSULE_Z:
		{
			btScalar radius = halfExtents[1];
			btScalar height = halfExtents[2];
			shape = worldImporter->createCapsuleShapeZ(radius,height);
			break;
		}
		case COLLISION_SHAPE_TYPE_SPHERE:
		{
			btScalar radius = halfExtents[0];
			shape = worldImporter->createSphereShape(radius);
			break;
		}
		case COLLISION_SHAPE_TYPE_BOX:
		default:
		{
			shape = worldImporter->createBoxShape(halfExtents);
		}
	}


	bool isDynamic = (mass>0);
	btRigidBody* rb = worldImporter->createRigidBody(isDynamic,mass,startTrans,shape,0);
	//m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
	btVector4 colorRGBA(1,0,0,1);
	if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_COLOR)
	{
		colorRGBA[0] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[0];
		colorRGBA[1] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[1];
		colorRGBA[2] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[2];
		colorRGBA[3] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[3];
	}
	m_data->m_guiHelper->createCollisionShapeGraphicsObject(rb->getCollisionShape());
	m_data->m_guiHelper->createCollisionObjectGraphicsObject(rb,colorRGBA);


	int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
	serverCmd.m_rigidBodyCreateArgs.m_bodyUniqueId = bodyUniqueId;
	rb->setUserIndex2(bodyUniqueId);
	bodyHandle->m_rootLocalInertialFrame.setIdentity();
	bodyHandle->m_rigidBody = rb;
	
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processPickBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_PICK_BODY");

    pickBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
                        clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
                        clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
                btVector3(clientCmd.m_pickBodyArguments.m_rayToWorld[0],
                        clientCmd.m_pickBodyArguments.m_rayToWorld[1],
                        clientCmd.m_pickBodyArguments.m_rayToWorld[2]));


	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processMovePickedBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_MOVE_PICKED_BODY");

    movePickedBody(btVector3(clientCmd.m_pickBodyArguments.m_rayFromWorld[0],
                                clientCmd.m_pickBodyArguments.m_rayFromWorld[1],
                                clientCmd.m_pickBodyArguments.m_rayFromWorld[2]),
                    btVector3(clientCmd.m_pickBodyArguments.m_rayToWorld[0],
                                clientCmd.m_pickBodyArguments.m_rayToWorld[1],
                                clientCmd.m_pickBodyArguments.m_rayToWorld[2]));

    SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRemovePickingConstraintCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_REMOVE_PICKING_CONSTRAINT_BODY");
    removePickingConstraint();

	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processRequestAabbOverlapCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_REQUEST_AABB_OVERLAP");
	SharedMemoryStatus& serverCmd = serverStatusOut;
	int curObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex;

	if (0== curObjectIndex)
	{
		//clientCmd.m_requestContactPointArguments.m_aabbQueryMin
		btVector3 aabbMin, aabbMax;
		aabbMin.setValue(clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMin[0],
			clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMin[1],
			clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMin[2]);
		aabbMax.setValue(clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMax[0],
			clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMax[1],
			clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMax[2]);

		m_data->m_cachedOverlappingObjects.clear();

		m_data->m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin, aabbMax, m_data->m_cachedOverlappingObjects);
	}
					

	int totalBytesPerObject = sizeof(b3OverlappingObject);
	int overlapCapacity = bufferSizeInBytes / totalBytesPerObject - 1;
	int numOverlap =  m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size();
	int remainingObjects = numOverlap - curObjectIndex;

	int curNumObjects = btMin(overlapCapacity, remainingObjects);

	if (numOverlap < overlapCapacity)
	{
						
		b3OverlappingObject* overlapStorage = (b3OverlappingObject*)bufferServerToClient;
		for (int i = 0; i < m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size(); i++)
		{
			overlapStorage[i].m_objectUniqueId = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds[i];
			overlapStorage[i].m_linkIndex = m_data->m_cachedOverlappingObjects.m_links[i];
		}

		serverCmd.m_type = CMD_REQUEST_AABB_OVERLAP_COMPLETED;

		//int m_startingOverlappingObjectIndex;
		//int m_numOverlappingObjectsCopied;
		//int m_numRemainingOverlappingObjects;
		serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex;
		serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size();
		serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects = remainingObjects - curNumObjects;
	}
	else
	{
		serverCmd.m_type = CMD_REQUEST_AABB_OVERLAP_FAILED;
	}
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRequestOpenGLVisualizeCameraCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_REQUEST_OPENGL_VISUALIZER_CAMERA");
    SharedMemoryStatus& serverCmd = serverStatusOut;
	bool result = this->m_data->m_guiHelper->getCameraInfo(
		&serverCmd.m_visualizerCameraResultArgs.m_width,
		&serverCmd.m_visualizerCameraResultArgs.m_height,
		serverCmd.m_visualizerCameraResultArgs.m_viewMatrix,
		serverCmd.m_visualizerCameraResultArgs.m_projectionMatrix,
		serverCmd.m_visualizerCameraResultArgs.m_camUp,
		serverCmd.m_visualizerCameraResultArgs.m_camForward,
		serverCmd.m_visualizerCameraResultArgs.m_horizontal,
		serverCmd.m_visualizerCameraResultArgs.m_vertical,
		&serverCmd.m_visualizerCameraResultArgs.m_yaw,
		&serverCmd.m_visualizerCameraResultArgs.m_pitch,
		&serverCmd.m_visualizerCameraResultArgs.m_dist,
		serverCmd.m_visualizerCameraResultArgs.m_target);
    serverCmd.m_type = result ? CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED: CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_FAILED;
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processConfigureOpenGLVisualizerCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_CONFIGURE_OPENGL_VISUALIZER");
    SharedMemoryStatus& serverCmd = serverStatusOut;
    serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED;
                    
    hasStatus = true;

	if (clientCmd.m_updateFlags&COV_SET_FLAGS)
	{
		if (clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag == COV_ENABLE_TINY_RENDERER)
		{
			m_data->m_enableTinyRenderer = clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled!=0;
		}
        m_data->m_guiHelper->setVisualizerFlag(clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag,
                                            clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled);
    }
    if (clientCmd.m_updateFlags&COV_SET_CAMERA_VIEW_MATRIX)
    {
        m_data->m_guiHelper->resetCamera( clientCmd.m_configureOpenGLVisualizerArguments.m_cameraDistance,
                                            clientCmd.m_configureOpenGLVisualizerArguments.m_cameraYaw,
                                            clientCmd.m_configureOpenGLVisualizerArguments.m_cameraPitch,
                                            clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[0],
                                            clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1],
                                            clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2]);
    }
    return hasStatus;
}

bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_CALCULATE_INVERSE_DYNAMICS");
	SharedMemoryStatus& serverCmd = serverStatusOut;
	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId);
	if (bodyHandle && bodyHandle->m_multiBody)
	{
        serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
                        
		btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);

		if (tree)
		{
			int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
			const int num_dofs = bodyHandle->m_multiBody->getNumDofs();
			btInverseDynamics::vecx nu(num_dofs+baseDofs), qdot(num_dofs + baseDofs), q(num_dofs + baseDofs), joint_force(num_dofs + baseDofs);
			for (int i = 0; i < num_dofs; i++)
			{
				q[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[i];
				qdot[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i];
				nu[i+baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointAccelerations[i];
			}
			// Set the gravity to correspond to the world gravity
			btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
                            
			if (-1 != tree->setGravityInWorldFrame(id_grav) &&
                -1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
			{
				serverCmd.m_inverseDynamicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
				serverCmd.m_inverseDynamicsResultArgs.m_dofCount = num_dofs;
				for (int i = 0; i < num_dofs; i++)
				{
					serverCmd.m_inverseDynamicsResultArgs.m_jointForces[i] = joint_force[i+baseDofs];
				}
				serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED;
			}
			else
			{
				serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
			}
		}

	}
	else
	{
		serverCmd.m_type = CMD_CALCULATED_INVERSE_DYNAMICS_FAILED;
	}

	return hasStatus;
}

bool PhysicsServerCommandProcessor::processCalculateJacobianCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_CALCULATE_JACOBIAN");

	SharedMemoryStatus& serverCmd = serverStatusOut;
	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateJacobianArguments.m_bodyUniqueId);
	if (bodyHandle && bodyHandle->m_multiBody)
	{
		serverCmd.m_type = CMD_CALCULATED_JACOBIAN_FAILED;
                        
		btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);
                        
		if (tree)
		{
			int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
			const int numDofs = bodyHandle->m_multiBody->getNumDofs();
			btInverseDynamics::vecx q(numDofs + baseDofs);
			btInverseDynamics::vecx qdot(numDofs + baseDofs);
			btInverseDynamics::vecx nu(numDofs + baseDofs);
			btInverseDynamics::vecx joint_force(numDofs + baseDofs);
			for (int i = 0; i < numDofs; i++)
			{
				q[i + baseDofs] = clientCmd.m_calculateJacobianArguments.m_jointPositionsQ[i];
				qdot[i + baseDofs] = clientCmd.m_calculateJacobianArguments.m_jointVelocitiesQdot[i];
				nu[i + baseDofs] = clientCmd.m_calculateJacobianArguments.m_jointAccelerations[i];
			}
			// Set the gravity to correspond to the world gravity
			btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
			if (-1 != tree->setGravityInWorldFrame(id_grav) &&
				-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
			{
				serverCmd.m_jacobianResultArgs.m_dofCount = numDofs + baseDofs;
				// Set jacobian value
				tree->calculateJacobians(q);
				btInverseDynamics::mat3x jac_t(3, numDofs + baseDofs);
				btInverseDynamics::mat3x jac_r(3, numDofs + baseDofs);
                                
				// Note that inverse dynamics uses zero-based indexing of bodies, not starting from -1 for the base link.
				tree->getBodyJacobianTrans(clientCmd.m_calculateJacobianArguments.m_linkIndex + 1, &jac_t);
				tree->getBodyJacobianRot(clientCmd.m_calculateJacobianArguments.m_linkIndex + 1, &jac_r);
				// Update the translational jacobian based on the desired local point.
				// v_pt = v_frame + w x pt
				// v_pt = J_t * qd + (J_r * qd) x pt
				// v_pt = J_t * qd - pt x (J_r * qd)
				// v_pt = J_t * qd - pt_x * J_r * qd)
				// v_pt = (J_t - pt_x * J_r) * qd
				// J_t_new = J_t - pt_x * J_r
				btInverseDynamics::vec3 localPosition;
				for (int i = 0; i < 3; ++i) {
					localPosition(i) = clientCmd.m_calculateJacobianArguments.m_localPosition[i];
				}
				// Only calculate if the localPosition is non-zero.
				if (btInverseDynamics::maxAbs(localPosition) > 0.0) {
					// Write the localPosition into world coordinates.
					btInverseDynamics::mat33 world_rotation_body;
					tree->getBodyTransform(clientCmd.m_calculateJacobianArguments.m_linkIndex + 1, &world_rotation_body);
					localPosition = world_rotation_body * localPosition;
					// Correct the translational jacobian.
					btInverseDynamics::mat33 skewCrossProduct;
					btInverseDynamics::skew(localPosition, &skewCrossProduct);
					btInverseDynamics::mat3x jac_l(3, numDofs + baseDofs);
					btInverseDynamics::mul(skewCrossProduct, jac_r, &jac_l);
					btInverseDynamics::mat3x jac_t_new(3, numDofs + baseDofs);
					btInverseDynamics::sub(jac_t, jac_l, &jac_t_new);
					jac_t = jac_t_new;
				}
				// Fill in the result into the shared memory.
				for (int i = 0; i < 3; ++i)
				{
					for (int j = 0; j < (numDofs + baseDofs); ++j)
					{
						int element = (numDofs + baseDofs) * i + j;
						serverCmd.m_jacobianResultArgs.m_linearJacobian[element] = jac_t(i,j);
						serverCmd.m_jacobianResultArgs.m_angularJacobian[element] = jac_r(i,j);
					}
				}
				serverCmd.m_type = CMD_CALCULATED_JACOBIAN_COMPLETED;
			}
			else
			{
				serverCmd.m_type = CMD_CALCULATED_JACOBIAN_FAILED;
			}
		}
                        
	}
	else
	{
		serverCmd.m_type = CMD_CALCULATED_JACOBIAN_FAILED;
	}
                    
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processCalculateMassMatrixCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	BT_PROFILE("CMD_CALCULATE_MASS_MATRIX");

    SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED;
    InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateMassMatrixArguments.m_bodyUniqueId);
    if (bodyHandle && bodyHandle->m_multiBody)
    {
                        
        btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);
                        
        if (tree)
        {
            int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
            const int numDofs = bodyHandle->m_multiBody->getNumDofs();
            const int totDofs = numDofs + baseDofs;
            btInverseDynamics::vecx q(totDofs);
            btInverseDynamics::matxx massMatrix(totDofs, totDofs);
            for (int i = 0; i < numDofs; i++)
            {
                q[i + baseDofs] = clientCmd.m_calculateMassMatrixArguments.m_jointPositionsQ[i];
            }
            if (-1 != tree->calculateMassMatrix(q, &massMatrix))
            {
                serverCmd.m_massMatrixResultArgs.m_dofCount = totDofs;
                // Fill in the result into the shared memory.
				double* sharedBuf = (double*)bufferServerToClient;
				int sizeInBytes = totDofs*totDofs*sizeof(double);
				if (sizeInBytes < bufferSizeInBytes)
				{
					for (int i = 0; i < (totDofs); ++i)
					{
						for (int j = 0; j < (totDofs); ++j)
						{
							int element = (totDofs) * i + j;
                                        
							sharedBuf[element] = massMatrix(i,j);
						}
					}
					serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_COMPLETED;
				}
            }
                            
        }
                        
    }
    else
    {
        serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_FAILED;
    }
                    
    return hasStatus;
}


bool PhysicsServerCommandProcessor::processApplyExternalForceCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_APPLY_EXTERNAL_FORCE");

	if (m_data->m_verboseOutput)
	{
		b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber);
	}
	for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
	{
		InternalBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
		bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME) != 0);

		if (body && body->m_multiBody)
		{
			btMultiBody* mb = body->m_multiBody;
                         
			if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE)!=0)
			{
				btVector3 tmpForce(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0],
								clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+1],
								clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+2]);
				btVector3 tmpPosition(
										clientCmd.m_externalForceArguments.m_positions[i*3+0],
										clientCmd.m_externalForceArguments.m_positions[i*3+1],
										clientCmd.m_externalForceArguments.m_positions[i*3+2]);

								
				if (clientCmd.m_externalForceArguments.m_linkIds[i] == -1)
				{
					btVector3 forceWorld = isLinkFrame ? mb->getBaseWorldTransform().getBasis()*tmpForce : tmpForce;
					btVector3 relPosWorld = isLinkFrame ? mb->getBaseWorldTransform().getBasis()*tmpPosition : tmpPosition - mb->getBaseWorldTransform().getOrigin();
					mb->addBaseForce(forceWorld);
					mb->addBaseTorque(relPosWorld.cross(forceWorld));
					//b3Printf("apply base force of %f,%f,%f at %f,%f,%f\n", forceWorld[0],forceWorld[1],forceWorld[2],positionLocal[0],positionLocal[1],positionLocal[2]);
				} else
				{
					int link = clientCmd.m_externalForceArguments.m_linkIds[i];

					btVector3 forceWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis()*tmpForce : tmpForce;
					btVector3 relPosWorld = isLinkFrame ? mb->getLink(link).m_cachedWorldTransform.getBasis()*tmpPosition : tmpPosition - mb->getBaseWorldTransform().getOrigin();
					mb->addLinkForce(link, forceWorld);
					mb->addLinkTorque(link,relPosWorld.cross(forceWorld));
					//b3Printf("apply link force of %f,%f,%f at %f,%f,%f\n", forceWorld[0],forceWorld[1],forceWorld[2], positionLocal[0],positionLocal[1],positionLocal[2]);
				}
			}
			if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_TORQUE)!=0)
			{
				btVector3 torqueLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0],
										clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+1],
										clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+2]);

				if (clientCmd.m_externalForceArguments.m_linkIds[i] == -1)
				{
					btVector3 torqueWorld = isLinkFrame ? torqueLocal : mb->getBaseWorldTransform().getBasis()*torqueLocal;
					mb->addBaseTorque(torqueWorld);
					//b3Printf("apply base torque of %f,%f,%f\n", torqueWorld[0],torqueWorld[1],torqueWorld[2]);
				} else
				{
					int link = clientCmd.m_externalForceArguments.m_linkIds[i];
					btVector3 torqueWorld = mb->getLink(link).m_cachedWorldTransform.getBasis()*torqueLocal;
					mb->addLinkTorque(link, torqueWorld);
					//b3Printf("apply link torque of %f,%f,%f\n", torqueWorld[0],torqueWorld[1],torqueWorld[2]);
				}
			}
		}

		if (body && body->m_rigidBody)
		{
			btRigidBody* rb = body->m_rigidBody;
			if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE) != 0)
			{
				btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
					clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
					clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);
				btVector3 positionLocal(
					clientCmd.m_externalForceArguments.m_positions[i * 3 + 0],
					clientCmd.m_externalForceArguments.m_positions[i * 3 + 1],
					clientCmd.m_externalForceArguments.m_positions[i * 3 + 2]);

				btVector3 forceWorld = isLinkFrame ? forceLocal : rb->getWorldTransform().getBasis()*forceLocal;
				btVector3 relPosWorld = isLinkFrame ? positionLocal : rb->getWorldTransform().getBasis()*positionLocal;
				rb->applyForce(forceWorld, relPosWorld);

			}

			if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_TORQUE) != 0)
			{
				btVector3 torqueLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0],
					clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1],
					clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]);

				btVector3 torqueWorld = isLinkFrame ? torqueLocal : rb->getWorldTransform().getBasis()*torqueLocal;
				rb->applyTorque(torqueWorld);
			}
		}
	}

	SharedMemoryStatus& serverCmd =serverStatusOut;
	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	SharedMemoryStatus& serverCmd =serverStatusOut;
    serverCmd.m_type = CMD_REMOVE_BODY_FAILED;
	serverCmd.m_removeObjectArgs.m_numBodies = 0;
	serverCmd.m_removeObjectArgs.m_numUserConstraints = 0;

	m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,0);

	for (int i=0;i<clientCmd.m_removeObjectArgs.m_numBodies;i++)
	{
		int bodyUniqueId = clientCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
		if (bodyHandle)
		{
			if (bodyHandle->m_multiBody)
			{
				serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;

				//also remove user constraints...
				for (int i=m_data->m_dynamicsWorld->getNumMultiBodyConstraints()-1;i>=0;i--)
				{
					btMultiBodyConstraint* mbc = m_data->m_dynamicsWorld->getMultiBodyConstraint(i);
					if ((mbc->getMultiBodyA() == bodyHandle->m_multiBody)||(mbc->getMultiBodyB()==bodyHandle->m_multiBody))
					{
						m_data->m_dynamicsWorld->removeMultiBodyConstraint(mbc);

						//also remove user constraint and submit it as removed
						for (int c=m_data->m_userConstraints.size()-1;c>=0;c--)
						{
							InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.getAtIndex(c);
							int userConstraintKey = m_data->m_userConstraints.getKeyAtIndex(c).getUid1();

							if (userConstraintPtr->m_mbConstraint == mbc)
							{
								m_data->m_userConstraints.remove(userConstraintKey);
								serverCmd.m_removeObjectArgs.m_userConstraintUniqueIds[serverCmd.m_removeObjectArgs.m_numUserConstraints++]=userConstraintKey;
							}
						}

						delete mbc;
										

					}
				}
								
				if (bodyHandle->m_multiBody->getBaseCollider())
				{
					m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getBaseCollider());
					m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getBaseCollider());
					int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
					m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
				}
				for (int link=0;link<bodyHandle->m_multiBody->getNumLinks();link++)
				{
									
					if (bodyHandle->m_multiBody->getLink(link).m_collider)
					{
						m_data->m_visualConverter.removeVisualShape(bodyHandle->m_multiBody->getLink(link).m_collider);
						m_data->m_dynamicsWorld->removeCollisionObject(bodyHandle->m_multiBody->getLink(link).m_collider);
						int graphicsIndex = bodyHandle->m_multiBody->getLink(link).m_collider->getUserIndex();
						m_data->m_guiHelper->removeGraphicsInstance(graphicsIndex);
					}
				}
				int numCollisionObjects = m_data->m_dynamicsWorld->getNumCollisionObjects();
				m_data->m_dynamicsWorld->removeMultiBody(bodyHandle->m_multiBody);
				numCollisionObjects =  m_data->m_dynamicsWorld->getNumCollisionObjects();
				//todo: clear all other remaining data, release memory etc

				delete bodyHandle->m_multiBody;
				bodyHandle->m_multiBody=0;
				serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
			}
			if (bodyHandle->m_rigidBody)
			{
				m_data->m_visualConverter.removeVisualShape(bodyHandle->m_rigidBody);
				serverCmd.m_removeObjectArgs.m_bodyUniqueIds[serverCmd.m_removeObjectArgs.m_numBodies++] = bodyUniqueId;
				//todo: clear all other remaining data...
				m_data->m_dynamicsWorld->removeRigidBody(bodyHandle->m_rigidBody);
				int graphicsInstance = bodyHandle->m_rigidBody->getUserIndex2();
				m_data->m_guiHelper->removeGraphicsInstance(graphicsInstance);
				delete bodyHandle->m_rigidBody;
				bodyHandle->m_rigidBody=0;
				serverCmd.m_type = CMD_REMOVE_BODY_COMPLETED;
			}
		}

		m_data->m_bodyHandles.freeHandle(bodyUniqueId);
	}
	m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,1);
	
    return hasStatus;
}

bool PhysicsServerCommandProcessor::processCreateUserConstraintCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_USER_CONSTRAINT");

	SharedMemoryStatus& serverCmd =serverStatusOut;
    serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED;
    hasStatus = true;
	if (clientCmd.m_updateFlags & USER_CONSTRAINT_REQUEST_STATE)
	{
		int constraintUid = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
		InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(constraintUid);
		if (userConstraintPtr)
		{
			serverCmd.m_userConstraintStateResultArgs.m_numDofs = 0;
			for (int i = 0; i < 6; i++)
			{
				serverCmd.m_userConstraintStateResultArgs.m_appliedConstraintForces[i] = 0;
			}
			if (userConstraintPtr->m_mbConstraint)
			{
				serverCmd.m_userConstraintStateResultArgs.m_numDofs = userConstraintPtr->m_mbConstraint->getNumRows();
				for (int i = 0; i < userConstraintPtr->m_mbConstraint->getNumRows(); i++)
				{
					serverCmd.m_userConstraintStateResultArgs.m_appliedConstraintForces[i] = userConstraintPtr->m_mbConstraint->getAppliedImpulse(i) / m_data->m_dynamicsWorld->getSolverInfo().m_timeStep;
				}
				serverCmd.m_type = CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED;
			}
		}

	};
	if (clientCmd.m_updateFlags & USER_CONSTRAINT_REQUEST_INFO)
	{
		int userConstraintUidChange = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
		InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidChange);
		if (userConstraintPtr)
		{
			serverCmd.m_userConstraintResultArgs = userConstraintPtr->m_userConstraintData;
							
			serverCmd.m_type = CMD_USER_CONSTRAINT_INFO_COMPLETED;
		}
	}
	if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_CONSTRAINT)
	{
		btScalar defaultMaxForce = 500.0;
		InternalBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
		if (parentBody && parentBody->m_multiBody)
		{
			if ((clientCmd.m_userConstraintArguments.m_parentJointIndex>=-1) && clientCmd.m_userConstraintArguments.m_parentJointIndex < parentBody->m_multiBody->getNumLinks())
			{
				InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
				//also create a constraint with just a single multibody/rigid body without child
				//if (childBody)
				{
					btVector3 pivotInParent(clientCmd.m_userConstraintArguments.m_parentFrame[0], clientCmd.m_userConstraintArguments.m_parentFrame[1], clientCmd.m_userConstraintArguments.m_parentFrame[2]);
					btVector3 pivotInChild(clientCmd.m_userConstraintArguments.m_childFrame[0], clientCmd.m_userConstraintArguments.m_childFrame[1], clientCmd.m_userConstraintArguments.m_childFrame[2]);
					btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_userConstraintArguments.m_parentFrame[3], clientCmd.m_userConstraintArguments.m_parentFrame[4], clientCmd.m_userConstraintArguments.m_parentFrame[5], clientCmd.m_userConstraintArguments.m_parentFrame[6]));
					btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_userConstraintArguments.m_childFrame[3], clientCmd.m_userConstraintArguments.m_childFrame[4], clientCmd.m_userConstraintArguments.m_childFrame[5], clientCmd.m_userConstraintArguments.m_childFrame[6]));
					btVector3 jointAxis(clientCmd.m_userConstraintArguments.m_jointAxis[0], clientCmd.m_userConstraintArguments.m_jointAxis[1], clientCmd.m_userConstraintArguments.m_jointAxis[2]);
									

									
					if (clientCmd.m_userConstraintArguments.m_jointType == eGearType)
					{
						if (childBody && childBody->m_multiBody)
						{
							if ((clientCmd.m_userConstraintArguments.m_childJointIndex>=-1) && (clientCmd.m_userConstraintArguments.m_childJointIndex <childBody->m_multiBody->getNumLinks()))
							{
								btMultiBodyGearConstraint* multibodyGear = new btMultiBodyGearConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
								multibodyGear->setMaxAppliedImpulse(defaultMaxForce);
								m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyGear);
								InteralUserConstraintData userConstraintData;
								userConstraintData.m_mbConstraint = multibodyGear;
								int uid = m_data->m_userConstraintUIDGenerator++;
                                serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
								serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
								serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
								userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
								m_data->m_userConstraints.insert(uid,userConstraintData);
								serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
							}
									
						}
					}
					else if (clientCmd.m_userConstraintArguments.m_jointType == eFixedType)
					{
						if (childBody && childBody->m_multiBody)
						{
							if ((clientCmd.m_userConstraintArguments.m_childJointIndex>=-1) && (clientCmd.m_userConstraintArguments.m_childJointIndex <childBody->m_multiBody->getNumLinks()))
							{
								btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild);
								multibodyFixed->setMaxAppliedImpulse(defaultMaxForce);
								m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed);
								InteralUserConstraintData userConstraintData;
								userConstraintData.m_mbConstraint = multibodyFixed;
								int uid = m_data->m_userConstraintUIDGenerator++;
                                serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
								serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
								serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
								userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
								m_data->m_userConstraints.insert(uid,userConstraintData);
								serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
							}
									
						}
						else
						{
							btRigidBody* rb = childBody? childBody->m_rigidBody : 0;
							btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,rb,pivotInParent,pivotInChild,frameInParent,frameInChild);
							rigidbodyFixed->setMaxAppliedImpulse(defaultMaxForce);
							btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
							world->addMultiBodyConstraint(rigidbodyFixed);
							InteralUserConstraintData userConstraintData;
							userConstraintData.m_mbConstraint = rigidbodyFixed;
							int uid = m_data->m_userConstraintUIDGenerator++;
							serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
							serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
							serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
							userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
							m_data->m_userConstraints.insert(uid,userConstraintData);
							serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
						}
								
					}
					else if (clientCmd.m_userConstraintArguments.m_jointType == ePrismaticType)
					{
						if (childBody &&  childBody->m_multiBody)
						{
							btMultiBodySliderConstraint* multibodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
							multibodySlider->setMaxAppliedImpulse(defaultMaxForce);
							m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodySlider);
							InteralUserConstraintData userConstraintData;
							userConstraintData.m_mbConstraint = multibodySlider;
							int uid = m_data->m_userConstraintUIDGenerator++;
							serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
							serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
							serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
							userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
							m_data->m_userConstraints.insert(uid,userConstraintData);
							serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
						}
						else
						{
							btRigidBody* rb = childBody? childBody->m_rigidBody : 0;
									
							btMultiBodySliderConstraint* rigidbodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,rb,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis);
							rigidbodySlider->setMaxAppliedImpulse(defaultMaxForce);
							btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
							world->addMultiBodyConstraint(rigidbodySlider);
							InteralUserConstraintData userConstraintData;
							userConstraintData.m_mbConstraint = rigidbodySlider;
							int uid = m_data->m_userConstraintUIDGenerator++;
							serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
							serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
							serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
							userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
							m_data->m_userConstraints.insert(uid,userConstraintData);
							serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;										}
								
					} else if (clientCmd.m_userConstraintArguments.m_jointType == ePoint2PointType)
					{
						if (childBody && childBody->m_multiBody)
						{
							btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild);
							p2p->setMaxAppliedImpulse(defaultMaxForce);
							m_data->m_dynamicsWorld->addMultiBodyConstraint(p2p);
							InteralUserConstraintData userConstraintData;
							userConstraintData.m_mbConstraint = p2p;
							int uid = m_data->m_userConstraintUIDGenerator++;
							serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
							serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
							serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
							userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
							m_data->m_userConstraints.insert(uid,userConstraintData);
							serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
						}
						else
						{
							btRigidBody* rb = childBody? childBody->m_rigidBody : 0;
									
							btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,rb,pivotInParent,pivotInChild);
							p2p->setMaxAppliedImpulse(defaultMaxForce);
							btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
							world->addMultiBodyConstraint(p2p);
							InteralUserConstraintData userConstraintData;
							userConstraintData.m_mbConstraint = p2p;
							int uid = m_data->m_userConstraintUIDGenerator++;
							serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
							serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
							serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
							userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
							m_data->m_userConstraints.insert(uid,userConstraintData);
							serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
						}
								
					} else
					{
						b3Warning("unknown constraint type");
					}

							
				}
			}
		}
		else
		{
			InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
						
			if (parentBody && childBody)
			{
				if (parentBody->m_rigidBody)
				{

					btRigidBody* parentRb = 0;
					if (clientCmd.m_userConstraintArguments.m_parentJointIndex==-1)
					{
						parentRb = parentBody->m_rigidBody;
					} else
					{
						if ((clientCmd.m_userConstraintArguments.m_parentJointIndex>=0) &&
							(clientCmd.m_userConstraintArguments.m_parentJointIndex<parentBody->m_rigidBodyJoints.size()))
						{
							parentRb = &parentBody->m_rigidBodyJoints[clientCmd.m_userConstraintArguments.m_parentJointIndex]->getRigidBodyB();
						}
					}
												

					btRigidBody* childRb = 0;
					if (childBody->m_rigidBody)
					{
											
						if (clientCmd.m_userConstraintArguments.m_childJointIndex==-1)
						{
							childRb = childBody->m_rigidBody;
						}
						else
						{
							if ((clientCmd.m_userConstraintArguments.m_childJointIndex>=0)
								&& (clientCmd.m_userConstraintArguments.m_childJointIndex<childBody->m_rigidBodyJoints.size()))
							{
								childRb = &childBody->m_rigidBodyJoints[clientCmd.m_userConstraintArguments.m_childJointIndex]->getRigidBodyB();
							}
													
						}
					}

					switch (clientCmd.m_userConstraintArguments.m_jointType)
					{
						case eRevoluteType:
						{
							break;
						}
						case ePrismaticType:
						{
							break;
						}
										
						case eFixedType:
						{
							if (childRb && parentRb && (childRb!=parentRb))
							{
								btVector3 pivotInParent(clientCmd.m_userConstraintArguments.m_parentFrame[0], clientCmd.m_userConstraintArguments.m_parentFrame[1], clientCmd.m_userConstraintArguments.m_parentFrame[2]);
								btVector3 pivotInChild(clientCmd.m_userConstraintArguments.m_childFrame[0], clientCmd.m_userConstraintArguments.m_childFrame[1], clientCmd.m_userConstraintArguments.m_childFrame[2]);

								btTransform offsetTrA,offsetTrB;
								offsetTrA.setIdentity();
								offsetTrA.setOrigin(pivotInParent);
								offsetTrB.setIdentity();
								offsetTrB.setOrigin(pivotInChild);

								btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentRb, *childRb,  offsetTrA, offsetTrB);
												
								dof6->setLinearLowerLimit(btVector3(0,0,0));
								dof6->setLinearUpperLimit(btVector3(0,0,0));

								dof6->setAngularLowerLimit(btVector3(0,0,0));
								dof6->setAngularUpperLimit(btVector3(0,0,0));
								m_data->m_dynamicsWorld->addConstraint(dof6);
								InteralUserConstraintData userConstraintData;
								userConstraintData.m_rbConstraint = dof6;
								int uid = m_data->m_userConstraintUIDGenerator++;
								serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
								serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
								serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
								userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
								m_data->m_userConstraints.insert(uid,userConstraintData);
								serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
							}

							break;
						}
											
						case ePoint2PointType:
						{
							if (childRb && parentRb && (childRb!=parentRb))
							{
								btVector3 pivotInParent(clientCmd.m_userConstraintArguments.m_parentFrame[0], clientCmd.m_userConstraintArguments.m_parentFrame[1], clientCmd.m_userConstraintArguments.m_parentFrame[2]);
								btVector3 pivotInChild(clientCmd.m_userConstraintArguments.m_childFrame[0], clientCmd.m_userConstraintArguments.m_childFrame[1], clientCmd.m_userConstraintArguments.m_childFrame[2]);

								btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*parentRb,*childRb,pivotInParent,pivotInChild);
								p2p->m_setting.m_impulseClamp = defaultMaxForce;
								m_data->m_dynamicsWorld->addConstraint(p2p);
								InteralUserConstraintData userConstraintData;
								userConstraintData.m_rbConstraint = p2p;
								int uid = m_data->m_userConstraintUIDGenerator++;
								serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
								serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
								serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
								userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
								m_data->m_userConstraints.insert(uid,userConstraintData);
								serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
							}
							break;
						}
										
						case eGearType:
						{
											
							if (childRb && parentRb && (childRb!=parentRb))
							{
								btVector3 axisA(clientCmd.m_userConstraintArguments.m_jointAxis[0],
									clientCmd.m_userConstraintArguments.m_jointAxis[1],
									clientCmd.m_userConstraintArguments.m_jointAxis[2]);
								//for now we use the same local axis for both objects
								btVector3 axisB(clientCmd.m_userConstraintArguments.m_jointAxis[0],
									clientCmd.m_userConstraintArguments.m_jointAxis[1],
									clientCmd.m_userConstraintArguments.m_jointAxis[2]);
								btScalar ratio=1;
								btGearConstraint* gear = new btGearConstraint(*parentRb,*childRb, axisA,axisB,ratio);
								m_data->m_dynamicsWorld->addConstraint(gear,true);
								InteralUserConstraintData userConstraintData;
								userConstraintData.m_rbConstraint = gear;
								int uid = m_data->m_userConstraintUIDGenerator++;
								serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
								serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid;
								serverCmd.m_userConstraintResultArgs.m_maxAppliedForce = defaultMaxForce;
								userConstraintData.m_userConstraintData = serverCmd.m_userConstraintResultArgs;
								m_data->m_userConstraints.insert(uid,userConstraintData);
								serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED;
							}
							break;
						}
						case eSphericalType:
						{
							b3Warning("constraint type not handled yet");
							break;
						}
						case ePlanarType:
						{
							b3Warning("constraint type not handled yet");
							break;
						}
					default:
						{
							b3Warning("unknown constraint type");
						}
					};
				}
			}
		}
	}

	if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT)
	{
		serverCmd.m_type = CMD_CHANGE_USER_CONSTRAINT_FAILED;
		int userConstraintUidChange = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
		InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidChange);
		if (userConstraintPtr)
		{
			if (userConstraintPtr->m_mbConstraint)
			{
				if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_PIVOT_IN_B)
				{
					btVector3 pivotInB(clientCmd.m_userConstraintArguments.m_childFrame[0],
						clientCmd.m_userConstraintArguments.m_childFrame[1],
						clientCmd.m_userConstraintArguments.m_childFrame[2]);
					userConstraintPtr->m_userConstraintData.m_childFrame[0] = clientCmd.m_userConstraintArguments.m_childFrame[0];
					userConstraintPtr->m_userConstraintData.m_childFrame[1] = clientCmd.m_userConstraintArguments.m_childFrame[1];
					userConstraintPtr->m_userConstraintData.m_childFrame[2] = clientCmd.m_userConstraintArguments.m_childFrame[2];
					userConstraintPtr->m_mbConstraint->setPivotInB(pivotInB);
				}
				if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B)
				{
					btQuaternion childFrameOrn(clientCmd.m_userConstraintArguments.m_childFrame[3],
						clientCmd.m_userConstraintArguments.m_childFrame[4],
						clientCmd.m_userConstraintArguments.m_childFrame[5],
						clientCmd.m_userConstraintArguments.m_childFrame[6]);
					userConstraintPtr->m_userConstraintData.m_childFrame[3] = clientCmd.m_userConstraintArguments.m_childFrame[3];
					userConstraintPtr->m_userConstraintData.m_childFrame[4] = clientCmd.m_userConstraintArguments.m_childFrame[4];
					userConstraintPtr->m_userConstraintData.m_childFrame[5] = clientCmd.m_userConstraintArguments.m_childFrame[5];
					userConstraintPtr->m_userConstraintData.m_childFrame[6] = clientCmd.m_userConstraintArguments.m_childFrame[6];
					btMatrix3x3 childFrameBasis(childFrameOrn);
					userConstraintPtr->m_mbConstraint->setFrameInB(childFrameBasis);
				}
				if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
				{
					btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce*m_data->m_physicsDeltaTime;
					userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
					userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
				}

				if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
				{
					userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
					userConstraintPtr->m_userConstraintData.m_gearRatio = clientCmd.m_userConstraintArguments.m_gearRatio;
				}
				if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_RELATIVE_POSITION_TARGET)
				{
					userConstraintPtr->m_mbConstraint->setRelativePositionTarget(clientCmd.m_userConstraintArguments.m_relativePositionTarget);
					userConstraintPtr->m_userConstraintData.m_relativePositionTarget = clientCmd.m_userConstraintArguments.m_relativePositionTarget;
				}
				if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_ERP)
				{
					userConstraintPtr->m_mbConstraint->setErp(clientCmd.m_userConstraintArguments.m_erp);
					userConstraintPtr->m_userConstraintData.m_erp = clientCmd.m_userConstraintArguments.m_erp;
				}

				if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
				{
					userConstraintPtr->m_mbConstraint->setGearAuxLink(clientCmd.m_userConstraintArguments.m_gearAuxLink);
					userConstraintPtr->m_userConstraintData.m_gearAuxLink = clientCmd.m_userConstraintArguments.m_gearAuxLink;
				}

			}
			if (userConstraintPtr->m_rbConstraint)
			{
				if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
				{
					btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce*m_data->m_physicsDeltaTime;
					userConstraintPtr->m_userConstraintData.m_maxAppliedForce = clientCmd.m_userConstraintArguments.m_maxAppliedForce;
					//userConstraintPtr->m_rbConstraint->setMaxAppliedImpulse(maxImp);
				}

				if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_RATIO)
				{
					if (userConstraintPtr->m_rbConstraint->getObjectType()==GEAR_CONSTRAINT_TYPE)
					{
						btGearConstraint* gear = (btGearConstraint*) userConstraintPtr->m_rbConstraint;
						gear->setRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
					}
				}
			}
			serverCmd.m_userConstraintResultArgs = clientCmd.m_userConstraintArguments;
			serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = userConstraintUidChange;
			serverCmd.m_updateFlags = clientCmd.m_updateFlags;
			serverCmd.m_type = CMD_CHANGE_USER_CONSTRAINT_COMPLETED;
		}
	}
	if (clientCmd.m_updateFlags & USER_CONSTRAINT_REMOVE_CONSTRAINT)
	{
		serverCmd.m_type = CMD_REMOVE_USER_CONSTRAINT_FAILED;
		int userConstraintUidRemove = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId;
		InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidRemove);
		if (userConstraintPtr)
		{
			if (userConstraintPtr->m_mbConstraint)
			{
				m_data->m_dynamicsWorld->removeMultiBodyConstraint(userConstraintPtr->m_mbConstraint);
				delete userConstraintPtr->m_mbConstraint;
				m_data->m_userConstraints.remove(userConstraintUidRemove);
			}
			if (userConstraintPtr->m_rbConstraint)
			{
				m_data->m_dynamicsWorld->removeConstraint(userConstraintPtr->m_rbConstraint);
				delete userConstraintPtr->m_rbConstraint;
				m_data->m_userConstraints.remove(userConstraintUidRemove);	
			}
			serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = userConstraintUidRemove;
			serverCmd.m_type = CMD_REMOVE_USER_CONSTRAINT_COMPLETED;

                            
		}

						
	}
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_CALCULATE_INVERSE_KINEMATICS");
	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_FAILED;

	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_calculateInverseKinematicsArguments.m_bodyUniqueId);
	if (bodyHandle && bodyHandle->m_multiBody)
	{
		IKTrajectoryHelper** ikHelperPtrPtr = m_data->m_inverseKinematicsHelpers.find(bodyHandle->m_multiBody);
		IKTrajectoryHelper* ikHelperPtr = 0;
							

		if (ikHelperPtrPtr)
		{
			ikHelperPtr = *ikHelperPtrPtr;
		}
		else
		{
			IKTrajectoryHelper* tmpHelper = new IKTrajectoryHelper;
			m_data->m_inverseKinematicsHelpers.insert(bodyHandle->m_multiBody, tmpHelper);
			ikHelperPtr = tmpHelper;
		}

        int endEffectorLinkIndex = clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndex;
                            
							
		if (ikHelperPtr && (endEffectorLinkIndex<bodyHandle->m_multiBody->getNumLinks()))
		{
			const int numDofs = bodyHandle->m_multiBody->getNumDofs();
			int baseDofs = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
            b3AlignedObjectArray<double> jacobian_linear;
            jacobian_linear.resize(3*numDofs);
            b3AlignedObjectArray<double> jacobian_angular;
            jacobian_angular.resize(3*numDofs);
            int jacSize = 0;
                                
            btInverseDynamics::MultiBodyTree* tree = m_data->findOrCreateTree(bodyHandle->m_multiBody);
                      
							

            btAlignedObjectArray<double> q_current;
			q_current.resize(numDofs);
                                
								

			if (tree && ((numDofs+ baseDofs) == tree->numDoFs()))
            {
                jacSize = jacobian_linear.size();
                // Set jacobian value
                                   
                                    
                                    
                btInverseDynamics::vecx nu(numDofs+baseDofs), qdot(numDofs + baseDofs), q(numDofs + baseDofs), joint_force(numDofs + baseDofs);
				int DofIndex = 0;
				for (int i = 0; i < bodyHandle->m_multiBody->getNumLinks(); ++i) {
					if (bodyHandle->m_multiBody->getLink(i).m_jointType >= 0 && bodyHandle->m_multiBody->getLink(i).m_jointType <= 2) { // 0, 1, 2 represent revolute, prismatic, and spherical joint types respectively. Skip the fixed joints.
						q_current[DofIndex] = bodyHandle->m_multiBody->getJointPos(i);
						q[DofIndex+baseDofs] = bodyHandle->m_multiBody->getJointPos(i);
						qdot[DofIndex+baseDofs] = 0;
						nu[DofIndex+baseDofs] = 0;
						DofIndex++;
					}
				}                                    // Set the gravity to correspond to the world gravity
                btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
                                    
                if (-1 != tree->setGravityInWorldFrame(id_grav) &&
                    -1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
                {
                    tree->calculateJacobians(q);
                    btInverseDynamics::mat3x jac_t(3, numDofs+ baseDofs);
                    btInverseDynamics::mat3x jac_r(3,numDofs + baseDofs);
	                // Note that inverse dynamics uses zero-based indexing of bodies, not starting from -1 for the base link.
                    tree->getBodyJacobianTrans(endEffectorLinkIndex+1, &jac_t);
                    tree->getBodyJacobianRot(endEffectorLinkIndex+1, &jac_r);
                    for (int i = 0; i < 3; ++i)
                    {
                        for (int j = 0; j < numDofs; ++j)
                        {
                            jacobian_linear[i*numDofs+j] = jac_t(i,(baseDofs+j));
                            jacobian_angular[i*numDofs+j] = jac_r(i,(baseDofs+j));
                        }
                    }
                }
                                
                                
                                
				btAlignedObjectArray<double> q_new;
				q_new.resize(numDofs);
				int ikMethod = 0;
				if ((clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)&&(clientCmd.m_updateFlags&IK_HAS_NULL_SPACE_VELOCITY))
				{
					//Nullspace task only works with DLS now. TODO: add nullspace task to SDLS.
					ikMethod = IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;
				}
				else if (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)
				{
					if (clientCmd.m_updateFlags & IK_SDLS)
					{
						ikMethod = IK2_VEL_SDLS_WITH_ORIENTATION;
					}
					else
					{
						ikMethod = IK2_VEL_DLS_WITH_ORIENTATION;
					}
				}
				else if (clientCmd.m_updateFlags& IK_HAS_NULL_SPACE_VELOCITY)
				{
					//Nullspace task only works with DLS now. TODO: add nullspace task to SDLS.
					ikMethod = IK2_VEL_DLS_WITH_NULLSPACE;
				}
				else
				{
					if (clientCmd.m_updateFlags & IK_SDLS)
					{
						ikMethod = IK2_VEL_SDLS;
					}
					else
					{
						ikMethod = IK2_VEL_DLS;;
					}
				}
                                
				if (clientCmd.m_updateFlags& IK_HAS_NULL_SPACE_VELOCITY)
				{
					btAlignedObjectArray<double> lower_limit;
					btAlignedObjectArray<double> upper_limit;
					btAlignedObjectArray<double> joint_range;
					btAlignedObjectArray<double> rest_pose;
					lower_limit.resize(numDofs);
					upper_limit.resize(numDofs);
					joint_range.resize(numDofs);
					rest_pose.resize(numDofs);
					for (int i = 0; i < numDofs; ++i)
					{
						lower_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_lowerLimit[i];
						upper_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_upperLimit[i];
						joint_range[i] = clientCmd.m_calculateInverseKinematicsArguments.m_jointRange[i];
						rest_pose[i] = clientCmd.m_calculateInverseKinematicsArguments.m_restPose[i];
					}
					ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
				}
                                
				btTransform endEffectorTransformWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform * bodyHandle->m_linkLocalInertialFrames[endEffectorLinkIndex].inverse();
                               
				btVector3DoubleData endEffectorWorldPosition;
				btQuaternionDoubleData endEffectorWorldOrientation;
                                
				btVector3 endEffectorPosWorldOrg =  endEffectorTransformWorld.getOrigin();
				btQuaternion endEffectorOriWorldOrg = endEffectorTransformWorld.getRotation();
				btTransform endEffectorWorld;
				endEffectorWorld.setOrigin(endEffectorPosWorldOrg);
				endEffectorWorld.setRotation(endEffectorOriWorldOrg);

				btTransform tr = bodyHandle->m_multiBody->getBaseWorldTransform();

				btTransform endEffectorBaseCoord = tr.inverse()*endEffectorWorld;

				btQuaternion endEffectorOriBaseCoord= endEffectorBaseCoord.getRotation();

				btVector4 endEffectorOri(endEffectorOriBaseCoord.x(), endEffectorOriBaseCoord.y(), endEffectorOriBaseCoord.z(), endEffectorOriBaseCoord.w());
                                
				endEffectorBaseCoord.getOrigin().serializeDouble(endEffectorWorldPosition);
				endEffectorBaseCoord.getRotation().serializeDouble(endEffectorWorldOrientation);
                                
				btVector3 targetPosWorld(clientCmd.m_calculateInverseKinematicsArguments.m_targetPosition[0],
					clientCmd.m_calculateInverseKinematicsArguments.m_targetPosition[1],
					clientCmd.m_calculateInverseKinematicsArguments.m_targetPosition[2]);

				btQuaternion targetOrnWorld(clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[0],
					clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[1],
					clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[2],
					clientCmd.m_calculateInverseKinematicsArguments.m_targetOrientation[3]);
				btTransform targetWorld;
				targetWorld.setOrigin(targetPosWorld);
				targetWorld.setRotation(targetOrnWorld);
				btTransform targetBaseCoord;
				targetBaseCoord = tr.inverse()*targetWorld;

				btVector3DoubleData targetPosBaseCoord;
				btQuaternionDoubleData targetOrnBaseCoord;
				targetBaseCoord.getOrigin().serializeDouble(targetPosBaseCoord);
				targetBaseCoord.getRotation().serializeDouble(targetOrnBaseCoord);

				// Set joint damping coefficents. A small default
				// damping constant is added to prevent singularity
				// with pseudo inverse. The user can set joint damping
				// coefficients differently for each joint. The larger
				// the damping coefficient is, the less we rely on
				// this joint to achieve the IK target.
				btAlignedObjectArray<double> joint_damping;
				joint_damping.resize(numDofs,0.5);
				if (clientCmd.m_updateFlags& IK_HAS_JOINT_DAMPING)
				{
					for (int i = 0; i < numDofs; ++i)
					{
						joint_damping[i] = clientCmd.m_calculateInverseKinematicsArguments.m_jointDamping[i];
					}
				}
				ikHelperPtr->setDampingCoeff(numDofs, &joint_damping[0]);
                                
				double targetDampCoeff[6] = { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 };
				ikHelperPtr->computeIK(targetPosBaseCoord.m_floats, targetOrnBaseCoord.m_floats,
										endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats,
										&q_current[0],
										numDofs, clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndex,
					&q_new[0], ikMethod, &jacobian_linear[0], &jacobian_angular[0], jacSize*2, targetDampCoeff);
                                
				serverCmd.m_inverseKinematicsResultArgs.m_bodyUniqueId =clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
				for (int i=0;i<numDofs;i++)
				{
					serverCmd.m_inverseKinematicsResultArgs.m_jointPositions[i] = q_new[i];
				}
				serverCmd.m_inverseKinematicsResultArgs.m_dofCount = numDofs;
				serverCmd.m_type = CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED;
			}
		}
	}
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

    BT_PROFILE("CMD_REQUEST_VISUAL_SHAPE_INFO");
    SharedMemoryStatus& serverCmd = serverStatusOut;
    serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_FAILED;
    //retrieve the visual shape information for a specific body
                    
	int totalNumVisualShapes = m_data->m_visualConverter.getNumVisualShapes(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId);
	//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
	//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
	b3VisualShapeData* visualShapeStoragePtr = (b3VisualShapeData*)bufferServerToClient;

	int remain = totalNumVisualShapes - clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
	int shapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;

	int success = m_data->m_visualConverter.getVisualShapesData(clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId,
		shapeIndex,
		visualShapeStoragePtr);
	if (success) {
		serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1;
		serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1;
		serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;
		serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId;
		serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData)*serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied;
		serverCmd.m_type = CMD_VISUAL_SHAPE_INFO_COMPLETED;
	}
	return hasStatus;
}


bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE");
    SharedMemoryStatus& serverCmd = serverStatusOut;
    serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
    InternalTextureHandle* texHandle = 0;
					
	if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) 
	{
		texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);

		if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0)
		{
			if (texHandle)
			{
			    m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
			}
		}
	}                    
   
	{
		int bodyUniqueId = clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId;
		int linkIndex = clientCmd.m_updateVisualShapeDataArguments.m_jointIndex;

		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
		if (bodyHandle)
		{
			if (bodyHandle->m_multiBody)
			{
				if (linkIndex==-1)
				{
					if (bodyHandle->m_multiBody->getBaseCollider())
					{
						int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
						if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) 
						{
							if (texHandle)
							{
								int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
								m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId);
							}
						}
						if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
						{
							m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
							m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
						}
						if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
						{
							m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
						}
										
					}
				} else
				{
					if (linkIndex<bodyHandle->m_multiBody->getNumLinks())
					{
						if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
						{
							int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
							if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) 
							{
								if (texHandle)
								{
									int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
									m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId);
								}
							}
							if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
							{
								m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
								m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
							}
							if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
							{
								m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
							}

						}
					}
				}
			} else
			{
				if (bodyHandle->m_rigidBody)
				{
					int graphicsIndex = bodyHandle->m_rigidBody->getUserIndex();
					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) 
					{
						if (texHandle)
						{
							int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
							m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId);
						}
					}
					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
					{
						m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);										
						m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
					}
					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) 
					{
						m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
					}
				}
			}
		}
	}
	
	serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
    return hasStatus;
}

bool PhysicsServerCommandProcessor::processChangeTextureCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_CHANGE_TEXTURE_COMMAND_FAILED;
					
	InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(clientCmd.m_changeTextureArgs.m_textureUniqueId);
	if(texH)
	{
		int gltex = texH->m_openglTextureId;
		m_data->m_guiHelper->changeTexture(gltex,
			(const unsigned char*)bufferServerToClient, clientCmd.m_changeTextureArgs.m_width,clientCmd.m_changeTextureArgs.m_height);

		serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
	}
    return hasStatus;
}

bool PhysicsServerCommandProcessor::processLoadTextureCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;
	
	BT_PROFILE("CMD_LOAD_TEXTURE");
	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;

	char relativeFileName[1024];
	char pathPrefix[1024];

	if(b3ResourcePath::findResourcePath(clientCmd.m_loadTextureArguments.m_textureFileName,relativeFileName,1024))
	{
		b3FileUtils::extractPath(relativeFileName,pathPrefix,1024);

		int texHandle = m_data->m_textureHandles.allocHandle();
		InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
		if(texH)
		{
			texH->m_tinyRendererTextureId = -1;
			texH->m_openglTextureId = -1;

			int uid = m_data->m_visualConverter.loadTextureFile(relativeFileName);
			if(uid>=0)
			{
				texH->m_tinyRendererTextureId = uid;
			}

			{
				int width,height,n;
				unsigned char* imageData= stbi_load(relativeFileName,&width,&height,&n,3);

				if(imageData)
				{
					texH->m_openglTextureId = m_data->m_guiHelper->registerTexture(imageData,width,height);
					free(imageData);
				}
				else
				{
					b3Warning("Unsupported texture image format [%s]\n",relativeFileName);
				}
			}
			serverCmd.m_loadTextureResultArguments.m_textureUniqueId = texHandle;
			serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED;
		}
	}
	else
	{
		serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
	}
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	BT_PROFILE("CMD_LOAD_BULLET");

	bool hasStatus = true;
	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_BULLET_LOADING_FAILED;
		
	//btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);
	btMultiBodyWorldImporter* importer = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);

	const char* prefix[] = { "", "./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/" };
	int numPrefixes = sizeof(prefix) / sizeof(const char*);
	char relativeFileName[1024];
	FILE* f = 0;
	bool found = false;

	for (int i = 0; !f && i<numPrefixes; i++)
	{
		sprintf(relativeFileName, "%s%s", prefix[i], clientCmd.m_fileArguments.m_fileName);
		f = fopen(relativeFileName, "rb");
		if (f)
		{
			found = true;
			break;
		}
	}
	if (f)
	{
		fclose(f);
	}

	if (found)
	{
		bool ok = importer->loadFile(relativeFileName);
		if (ok)
		{
			int numRb = importer->getNumRigidBodies();
			serverStatusOut.m_sdfLoadedArgs.m_numBodies = 0;
			serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = 0;
                            
			for( int i=0;i<numRb;i++)
			{
				btCollisionObject* colObj = importer->getRigidBodyByIndex(i);
				if (colObj)
				{
					btRigidBody* rb = btRigidBody::upcast(colObj);
					if (rb)
					{
						int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
						InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
						colObj->setUserIndex2(bodyUniqueId);
						bodyHandle->m_rigidBody = rb;

						if (serverStatusOut.m_sdfLoadedArgs.m_numBodies<MAX_SDF_BODIES)
						{
							serverStatusOut.m_sdfLoadedArgs.m_numBodies++;
							serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = bodyUniqueId;
						}
					}
				}
			}

			serverCmd.m_type = CMD_BULLET_LOADING_COMPLETED;
			m_data->m_guiHelper->autogenerateGraphicsObjects(m_data->m_dynamicsWorld);
		}
	}
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processLoadMJCFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_LOAD_MJCF");
	SharedMemoryStatus& serverCmd = serverStatusOut;
	serverCmd.m_type = CMD_MJCF_LOADING_FAILED;
	const MjcfArgs& mjcfArgs = clientCmd.m_mjcfArguments;
    if (m_data->m_verboseOutput)
    {
        b3Printf("Processed CMD_LOAD_MJCF:%s", mjcfArgs.m_mjcfFileName);
    }
    bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (mjcfArgs.m_useMultiBody!=0) : true;
	int flags = CUF_USE_MJCF;
	if (clientCmd.m_updateFlags&URDF_ARGS_HAS_CUSTOM_URDF_FLAGS)
	{
		flags |= clientCmd.m_mjcfArguments.m_flags;
	}

    bool completedOk = loadMjcf(mjcfArgs.m_mjcfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
    if (completedOk)
    {
		m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);

        serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size();
		serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = 0;
        int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies);
        for (int i=0;i<maxBodies;i++)
        {
            serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = m_data->m_sdfRecentLoadedBodies[i];
        }

        serverStatusOut.m_type = CMD_MJCF_LOADING_COMPLETED;
    } else
    {
        serverStatusOut.m_type = CMD_MJCF_LOADING_FAILED;
    }
	return hasStatus;

}


bool PhysicsServerCommandProcessor::processSaveBulletCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
	bool hasStatus = true;

	BT_PROFILE("CMD_SAVE_BULLET");
	SharedMemoryStatus& serverCmd = serverStatusOut;
					
	FILE* f = fopen(clientCmd.m_fileArguments.m_fileName, "wb");
	if (f)
	{
		btDefaultSerializer* ser = new btDefaultSerializer();
		m_data->m_dynamicsWorld->serialize(ser);
		fwrite(ser->getBufferPointer(), ser->getCurrentBufferSize(), 1, f);
		fclose(f);
		serverCmd.m_type = CMD_BULLET_SAVING_COMPLETED;
		delete ser;
		return hasStatus;
	}
	serverCmd.m_type = CMD_BULLET_SAVING_FAILED;
	return hasStatus;
}

bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{
	//	BT_PROFILE("processCommand");

	int sz = sizeof(SharedMemoryStatus);
	int sz2 = sizeof(SharedMemoryCommand);

	bool hasStatus = false;

	if (m_data->m_commandLogger)
	{
		m_data->m_commandLogger->logCommand(clientCmd);
	}
	serverStatusOut.m_type = CMD_INVALID_STATUS;
	serverStatusOut.m_numDataStreamBytes = 0;
	serverStatusOut.m_dataStream = 0;

	//consume the command
	switch (clientCmd.m_type)
	{

	case CMD_STATE_LOGGING:
		{
			hasStatus = processStateLoggingCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_SET_VR_CAMERA_STATE:
		{
			hasStatus = processSetVRCameraStateCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_REQUEST_VR_EVENTS_DATA:
		{
			hasStatus = processRequestVREventsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		};
	case CMD_REQUEST_MOUSE_EVENTS_DATA:
		{
			hasStatus = processRequestMouseEventsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		};
	case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
		{
			hasStatus = processRequestKeyboardEventsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		};

	case CMD_REQUEST_RAY_CAST_INTERSECTIONS:
		{

			hasStatus = processRequestRaycastIntersectionsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		};
	case CMD_REQUEST_DEBUG_LINES:
		{
			hasStatus = processRequestDebugLinesCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}

	case CMD_REQUEST_CAMERA_IMAGE_DATA:
		{
			hasStatus = processRequestCameraImageCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_SYNC_BODY_INFO:
		{
			hasStatus = processSyncBodyInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_REQUEST_BODY_INFO:
		{
			hasStatus = processRequestBodyInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_SAVE_WORLD:
		{
			hasStatus = processSaveWorldCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_LOAD_SDF:
		{
			hasStatus = processLoadSDFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CREATE_COLLISION_SHAPE:
		{
			hasStatus = processCreateCollisionShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CREATE_VISUAL_SHAPE:
		{
			hasStatus = processCreateVisualShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CREATE_MULTI_BODY:
		{
			hasStatus = processCreateMultiBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_SET_ADDITIONAL_SEARCH_PATH:
		{
			hasStatus = processSetAdditionalSearchPathCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_LOAD_URDF:
		{
			hasStatus = processLoadURDFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_LOAD_BUNNY:
		{
			hasStatus = processLoadBunnyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CREATE_SENSOR:
		{
			hasStatus = processCreateSensorCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_PROFILE_TIMING:
		{
			hasStatus = processProfileTimingCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}

	case CMD_SEND_DESIRED_STATE:
		{
			hasStatus = processSendDesiredStateCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_REQUEST_COLLISION_INFO:
		{
			hasStatus = processRequestCollisionInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}

	case CMD_REQUEST_ACTUAL_STATE:
		{
			hasStatus = processRequestActualStateCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_STEP_FORWARD_SIMULATION:
		{
			hasStatus = processForwardDynamicsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}

	case CMD_REQUEST_INTERNAL_DATA:
		{
			hasStatus = processRequestInternalDataCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		};
	case CMD_CHANGE_DYNAMICS_INFO:
		{
			hasStatus = processChangeDynamicsInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		};
	case CMD_GET_DYNAMICS_INFO:
		{
			hasStatus = processGetDynamicsInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}

	case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS:
		{
			hasStatus = processRequestPhysicsSimulationParametersCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}

	case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
		{
			hasStatus = processSendPhysicsParametersCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;

		};
	case CMD_INIT_POSE:
		{
			hasStatus = processInitPoseCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_RESET_SIMULATION:
		{
			hasStatus = processResetSimulationCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CREATE_RIGID_BODY:
		{
			hasStatus = processCreateRigidBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CREATE_BOX_COLLISION_SHAPE:
		{
			//for backward compatibility, CMD_CREATE_BOX_COLLISION_SHAPE is the same as CMD_CREATE_RIGID_BODY
			hasStatus = processCreateRigidBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_PICK_BODY:
		{
			hasStatus = processPickBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_MOVE_PICKED_BODY:
		{
			hasStatus = processMovePickedBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_REMOVE_PICKING_CONSTRAINT_BODY:
		{
			hasStatus = processRemovePickingConstraintCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_REQUEST_AABB_OVERLAP:
		{
			hasStatus = processRequestAabbOverlapCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_REQUEST_OPENGL_VISUALIZER_CAMERA:
		{
			hasStatus = processRequestOpenGLVisualizeCameraCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CONFIGURE_OPENGL_VISUALIZER:
		{
			hasStatus = processConfigureOpenGLVisualizerCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_REQUEST_CONTACT_POINT_INFORMATION:
		{
			hasStatus = processRequestContactpointInformationCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CALCULATE_INVERSE_DYNAMICS:
		{
			hasStatus = processInverseDynamicsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CALCULATE_JACOBIAN:
		{
			hasStatus = processCalculateJacobianCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CALCULATE_MASS_MATRIX:
		{
			hasStatus = processCalculateMassMatrixCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_APPLY_EXTERNAL_FORCE:
		{
			hasStatus = processApplyExternalForceCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_REMOVE_BODY:
		{
			hasStatus = processRemoveBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_USER_CONSTRAINT:
		{
			hasStatus = processCreateUserConstraintCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CALCULATE_INVERSE_KINEMATICS:
		{
			hasStatus = processCalculateInverseKinematicsCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_REQUEST_VISUAL_SHAPE_INFO:
		{
			hasStatus = processRequestVisualShapeInfoCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_UPDATE_VISUAL_SHAPE:
		{
			hasStatus = processUpdateVisualShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_CHANGE_TEXTURE:
		{
			hasStatus = processChangeTextureCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_LOAD_TEXTURE:
		{
			hasStatus = processLoadTextureCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_LOAD_BULLET:
		{
			hasStatus = processLoadBulletCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_SAVE_BULLET:
		{
			hasStatus = processSaveBulletCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_LOAD_MJCF:
		{
			hasStatus = processLoadMJCFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	case CMD_USER_DEBUG_DRAW:
		{
			hasStatus = processUserDebugDrawCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;        
		}
	case CMD_CUSTOM_COMMAND:
		{
			hasStatus = processCustomCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
			break;
		}
	default:
		{
			BT_PROFILE("CMD_UNKNOWN");
			b3Error("Unknown command encountered");
			SharedMemoryStatus& serverCmd =serverStatusOut;
			serverCmd.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
			hasStatus = true;
		}
	};

	return hasStatus;
}

void PhysicsServerCommandProcessor::syncPhysicsToGraphics()
{
	m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
}

void PhysicsServerCommandProcessor::renderScene(int renderFlags)
{
	if (m_data->m_guiHelper)
	{
		if (0==(renderFlags&COV_DISABLE_SYNC_RENDERING))		
 		{		
 			m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);		
 		}

		m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
	}
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
    for (  int i=0;i<m_data->m_dynamicsWorld->getSoftBodyArray().size();i++)
    {
        btSoftBody*	psb=(btSoftBody*)m_data->m_dynamicsWorld->getSoftBodyArray()[i];
        if (m_data->m_dynamicsWorld->getDebugDrawer() && !(m_data->m_dynamicsWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
        {
            //btSoftBodyHelpers::DrawFrame(psb,m_data->m_dynamicsWorld->getDebugDrawer());
            btSoftBodyHelpers::Draw(psb,m_data->m_dynamicsWorld->getDebugDrawer(),m_data->m_dynamicsWorld->getDrawFlags());
        }
    }
#endif
}

void    PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags)
{
	if (m_data->m_dynamicsWorld)
	{
		if (m_data->m_dynamicsWorld->getDebugDrawer())
		{
			m_data->m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
			m_data->m_dynamicsWorld->debugDrawWorld();
		}
	}
}



bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{

	if (m_data->m_dynamicsWorld==0)
		return false;

	btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);

	m_data->m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
	if (rayCallback.hasHit())
	{

		btVector3 pickPos = rayCallback.m_hitPointWorld;
		
		btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
		if (body)
		{
			//other exclusions?
			if (!(body->isStaticObject() || body->isKinematicObject()))
			{
				m_data->m_pickedBody = body;
                m_data->m_savedActivationState = body->getActivationState();
				m_data->m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
				//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
				btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
				btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);
				m_data->m_dynamicsWorld->addConstraint(p2p, true);
				m_data->m_pickedConstraint = p2p;
				btScalar mousePickClamping = 30.f;
				p2p->m_setting.m_impulseClamp = mousePickClamping;
				//very weak constraint for picking
				p2p->m_setting.m_tau = 0.001f;
			}
			
		} else
		{
			btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
			if (multiCol && multiCol->m_multiBody)
			{

				m_data->m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
				multiCol->m_multiBody->setCanSleep(false);

				btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);

				btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos);
				//if you add too much energy to the system, causing high angular velocities, simulation 'explodes'
				//see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949
				//so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply
				//it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?)
				btScalar scaling=1;
				p2p->setMaxAppliedImpulse(2*scaling);

				btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
				world->addMultiBodyConstraint(p2p);
				m_data->m_pickingMultiBodyPoint2Point =p2p;
			}
		}



		//					pickObject(pickPos, rayCallback.m_collisionObject);
		m_data->m_oldPickingPos = rayToWorld;
		m_data->m_hitPos = pickPos;
		m_data->m_oldPickingDist = (pickPos - rayFromWorld).length();
		//					printf("hit !\n");
		//add p2p
	}
	return false;
}


bool PhysicsServerCommandProcessor::movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
	if (m_data->m_pickedBody  && m_data->m_pickedConstraint)
	{
		btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_data->m_pickedConstraint);
		if (pickCon)
		{
			//keep it at the same picking distance

			btVector3 dir = rayToWorld-rayFromWorld;
			dir.normalize();
			dir *= m_data->m_oldPickingDist;

			btVector3 newPivotB = rayFromWorld + dir;
			pickCon->setPivotB(newPivotB);
		}
	}

	if (m_data->m_pickingMultiBodyPoint2Point)
	{
		//keep it at the same picking distance


		btVector3 dir = rayToWorld-rayFromWorld;
		dir.normalize();
		dir *= m_data->m_oldPickingDist;

		btVector3 newPivotB = rayFromWorld + dir;

		m_data->m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB);
	}

	return false;
}

void PhysicsServerCommandProcessor::removePickingConstraint()
{
	if (m_data->m_pickedConstraint)
	{
		m_data->m_dynamicsWorld->removeConstraint(m_data->m_pickedConstraint);
		delete m_data->m_pickedConstraint;
		m_data->m_pickedConstraint = 0;
		m_data->m_pickedBody->forceActivationState(m_data->m_savedActivationState);
		m_data->m_pickedBody = 0;
	}
	if (m_data->m_pickingMultiBodyPoint2Point)
	{
		m_data->m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(m_data->m_prevCanSleep);
		btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
		world->removeMultiBodyConstraint(m_data->m_pickingMultiBodyPoint2Point);
		delete m_data->m_pickingMultiBodyPoint2Point;
		m_data->m_pickingMultiBodyPoint2Point = 0;
	}
}


void PhysicsServerCommandProcessor::enableCommandLogging(bool enable, const char* fileName)
{
	if (enable)
	{
		if (0==m_data->m_commandLogger)
		{
			m_data->m_commandLogger = new CommandLogger(fileName);
		}
	} else
	{
		if (0!=m_data->m_commandLogger)
		{
			delete m_data->m_commandLogger;
			m_data->m_commandLogger = 0;
		}
	}
}


void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
{
	CommandLogPlayback* pb = new CommandLogPlayback(fileName);
	m_data->m_logPlayback = pb;
}






int gDroppedSimulationSteps = 0;
int gNumSteps = 0;
double gDtInSec = 0.f;
double gSubStep = 0.f;

void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTimeSim)
{
	m_data->m_useRealTimeSimulation = enableRealTimeSim;
}

bool PhysicsServerCommandProcessor::isRealTimeSimulationEnabled() const
{
	return 	m_data->m_useRealTimeSimulation;
}

void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
{
	m_data->m_vrControllerEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
	m_data->m_pluginManager.addEvents(vrControllerEvents, numVRControllerEvents, keyEvents, numKeyEvents, mouseEvents, numMouseEvents);

	for (int i=0;i<m_data->m_stateLoggers.size();i++)
	{
		if (m_data->m_stateLoggers[i]->m_loggingType==STATE_LOGGING_VR_CONTROLLERS)
		{
			VRControllerStateLogger* vrLogger = (VRControllerStateLogger*) m_data->m_stateLoggers[i];
			vrLogger->m_vrEvents.addNewVREvents(vrControllerEvents,numVRControllerEvents);
		}
	}

	for (int ii=0;ii<numMouseEvents;ii++)
	{
		const b3MouseEvent& event = mouseEvents[ii];
		bool found = false;
		//search a matching one first, otherwise add new event
		for (int e=0;e<m_data->m_mouseEvents.size();e++)
		{
			if (event.m_eventType == m_data->m_mouseEvents[e].m_eventType)
			{
				if (event.m_eventType == MOUSE_MOVE_EVENT)
				{
					m_data->m_mouseEvents[e].m_mousePosX = event.m_mousePosX;
					m_data->m_mouseEvents[e].m_mousePosY = event.m_mousePosY;
					found = true;
				} else
				if ((event.m_eventType == MOUSE_BUTTON_EVENT) && event.m_buttonIndex == m_data->m_mouseEvents[e].m_buttonIndex)
				{
					m_data->m_mouseEvents[e].m_buttonState |= event.m_buttonState;
					if (event.m_buttonState & eButtonIsDown)
					{
						m_data->m_mouseEvents[e].m_buttonState |= eButtonIsDown;
					} else
					{
						m_data->m_mouseEvents[e].m_buttonState &= ~eButtonIsDown;
					}
					found = true;
				}
			}
		}	
		if (!found)
		{
			m_data->m_mouseEvents.push_back(event);
		}
	}

	for (int i=0;i<numKeyEvents;i++)
	{
		const b3KeyboardEvent& event = keyEvents[i];
		bool found = false;
		//search a matching one first, otherwise add new event
		for (int e=0;e<m_data->m_keyboardEvents.size();e++)
		{
			if (event.m_keyCode == m_data->m_keyboardEvents[e].m_keyCode)
			{
				m_data->m_keyboardEvents[e].m_keyState |= event.m_keyState;
				if (event.m_keyState & eButtonIsDown)
				{
					m_data->m_keyboardEvents[e].m_keyState |= eButtonIsDown;
				} else
				{
					m_data->m_keyboardEvents[e].m_keyState &= ~eButtonIsDown;
				}
				found=true;
			}
		}
		if (!found)
		{
			m_data->m_keyboardEvents.push_back(event);
		}
	}
	if (gResetSimulation)
	{
		resetSimulation();
		gResetSimulation = false;
	}

	if (gVRTrackingObjectUniqueId >= 0)
	{
		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(gVRTrackingObjectUniqueId);
		if (bodyHandle && bodyHandle->m_multiBody)
		{
//			gVRTrackingObjectTr  = bodyHandle->m_multiBody->getBaseWorldTransform();

			if (gVRTrackingObjectUniqueId>=0)
			{
				gVRTrackingObjectTr.setOrigin(bodyHandle->m_multiBody->getBaseWorldTransform().getOrigin());
				gVRTeleportPos1 = gVRTrackingObjectTr.getOrigin();
			}
			if (gVRTrackingObjectFlag&VR_CAMERA_TRACK_OBJECT_ORIENTATION)
			{
				gVRTrackingObjectTr.setBasis(bodyHandle->m_multiBody->getBaseWorldTransform().getBasis());
				gVRTeleportOrn = gVRTrackingObjectTr.getRotation();

			}	

		}
	}

	if ((m_data->m_useRealTimeSimulation) && m_data->m_guiHelper)
	{
		
		
		int maxSteps = m_data->m_numSimulationSubSteps+3;
		if (m_data->m_numSimulationSubSteps)
		{
			gSubStep = m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps;
		}
		else
		{
			gSubStep = m_data->m_physicsDeltaTime;
		}
		
		


		int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec*simTimeScalingFactor,maxSteps, gSubStep);
		gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;

		if (numSteps)
		{
			gNumSteps = numSteps;
			gDtInSec = dtInSec;
		}
	}
}



void PhysicsServerCommandProcessor::resetSimulation()
{
	//clean up all data

	if (m_data && m_data->m_guiHelper)
	{
		m_data->m_guiHelper->removeAllGraphicsInstances();
		m_data->m_guiHelper->removeAllUserDebugItems();
	}
	if (m_data)
	{
		m_data->m_visualConverter.resetAll();
	}

	removePickingConstraint();

	deleteDynamicsWorld();
	createEmptyDynamicsWorld();

	m_data->m_bodyHandles.exitHandles();
	m_data->m_bodyHandles.initHandles();

	m_data->m_userCollisionShapeHandles.exitHandles();
	m_data->m_userCollisionShapeHandles.initHandles();

}


void PhysicsServerCommandProcessor::setTimeOut(double /*timeOutInSeconds*/)
{
}

const btVector3& PhysicsServerCommandProcessor::getVRTeleportPosition() const
{
	return gVRTeleportPos1;
}
void PhysicsServerCommandProcessor::setVRTeleportPosition(const btVector3& vrTeleportPos)
{
	gVRTeleportPos1 = vrTeleportPos;
}
const btQuaternion& PhysicsServerCommandProcessor::getVRTeleportOrientation() const
{
	return gVRTeleportOrn;
}
void PhysicsServerCommandProcessor::setVRTeleportOrientation(const btQuaternion& vrTeleportOrn)
{
	gVRTeleportOrn = vrTeleportOrn;
}