Merge pull request #1546 from erwincoumans/master

Add new methods for b3RobotSimulatorClientAPI

Extras/BulletRobotics/CMakeLists.txt

@@ -120,6 +120,10 @@ ELSE(WIN32)
 	IF(BUILD_CLSOCKET)	
 		ADD_DEFINITIONS(${OSDEF})
 	ENDIF(BUILD_CLSOCKET)
+		
+	IF(NOT APPLE)
+		LINK_LIBRARIES(  pthread ${DL} )
+	ENDIF(APPLE)
 ENDIF(WIN32)
 
 IF(BUILD_ENET)

examples/ExampleBrowser/CMakeLists.txt

@@ -175,6 +175,8 @@ SET(BulletExampleBrowser_SRCS
 	../SharedMemory/b3PluginManager.cpp
 	../RobotSimulator/b3RobotSimulatorClientAPI.cpp
 	../RobotSimulator/b3RobotSimulatorClientAPI.h
+	../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
+	../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
 	../BasicDemo/BasicExample.cpp
 	../BasicDemo/BasicExample.h
 	../InverseDynamics/InverseDynamicsExample.cpp

examples/ExampleBrowser/premake4.lua

@@ -122,6 +122,8 @@ project "App_BulletExampleBrowser"
 		"../InverseDynamics/InverseDynamicsExample.h",
 		"../RobotSimulator/b3RobotSimulatorClientAPI.cpp",
 		"../RobotSimulator/b3RobotSimulatorClientAPI.h",		
+		"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp",
+		"../RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h",		
 		"../BasicDemo/BasicExample.*",
 		"../Tutorial/*",
 		"../ExtendedTutorials/*",

examples/RobotSimulator/CMakeLists.txt

@@ -1,4 +1,3 @@
-
 INCLUDE_DIRECTORIES( 
 		${BULLET_PHYSICS_SOURCE_DIR}/src
 		${BULLET_PHYSICS_SOURCE_DIR}/examples
@@ -9,77 +8,20 @@ INCLUDE_DIRECTORIES(
 
 
 SET(RobotSimulator_SRCS
-		RobotSimulatorMain.cpp
+RobotSimulatorMain.cpp
-		b3RobotSimulatorClientAPI.cpp
+	b3RobotSimulatorClientAPI.cpp
-		b3RobotSimulatorClientAPI.h	
+	b3RobotSimulatorClientAPI.h	
-		MinitaurSetup.cpp
+	b3RobotSimulatorClientAPI_NoGUI.cpp
-		MinitaurSetup.h
+	b3RobotSimulatorClientAPI_NoGUI.h	
-		../../examples/SharedMemory/IKTrajectoryHelper.cpp
+	MinitaurSetup.cpp
-		../../examples/SharedMemory/IKTrajectoryHelper.h
+	MinitaurSetup.h
-		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
+	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+	../../examples/SharedMemory/PhysicsServerExample.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+	../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
-		../../examples/OpenGLWindow/SimpleCamera.cpp
+	../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp		
-		../../examples/OpenGLWindow/SimpleCamera.h
+)	
-		../../examples/TinyRenderer/geometry.cpp
+
-		../../examples/TinyRenderer/model.cpp
+
-		../../examples/TinyRenderer/tgaimage.cpp
-		../../examples/TinyRenderer/our_gl.cpp
-		../../examples/TinyRenderer/TinyRenderer.cpp
-		../../examples/SharedMemory/InProcessMemory.cpp
-		../../examples/SharedMemory/PhysicsClient.cpp
-		../../examples/SharedMemory/PhysicsClient.h
-		../../examples/SharedMemory/PhysicsServer.cpp
-		../../examples/SharedMemory/PhysicsServer.h
-		../../examples/SharedMemory/PhysicsServerExample.cpp
-		../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
-		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
-		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsServerSharedMemory.h
-		../../examples/SharedMemory/PhysicsDirect.cpp
-		../../examples/SharedMemory/PhysicsDirect.h
-		../../examples/SharedMemory/PhysicsDirectC_API.cpp
-		../../examples/SharedMemory/PhysicsDirectC_API.h
-		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
-		../../examples/SharedMemory/PhysicsServerCommandProcessor.h
-		../../examples/SharedMemory/b3PluginManager.cpp
-		
-		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory.h
-		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
-		../../examples/SharedMemory/PhysicsClientC_API.cpp
-		../../examples/SharedMemory/PhysicsClientC_API.h
-		../../examples/SharedMemory/Win32SharedMemory.cpp
-		../../examples/SharedMemory/Win32SharedMemory.h
-		../../examples/SharedMemory/PosixSharedMemory.cpp
-		../../examples/SharedMemory/PosixSharedMemory.h
-		../../examples/Utils/b3ResourcePath.cpp
-		../../examples/Utils/b3ResourcePath.h
-		../../examples/Utils/RobotLoggingUtil.cpp
-		../../examples/Utils/RobotLoggingUtil.h
-		../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
-		../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
-		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
-		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
-		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
-		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
-		../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
-		../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
-		../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
-		../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
-		../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
-		../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
-		../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
-		../../examples/MultiThreading/b3PosixThreadSupport.cpp
-		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
-		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
-		
-)
 
 IF(BUILD_CLSOCKET)
  ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
@@ -89,54 +31,9 @@ IF(WIN32)
 	LINK_LIBRARIES(
 		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 	)
-	IF(BUILD_ENET)
-		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
-	ENDIF(BUILD_ENET)
-	IF(BUILD_CLSOCKET)
-		ADD_DEFINITIONS(-DWIN32)
-	ENDIF(BUILD_CLSOCKET)
-
-ELSE(WIN32)
-	IF(BUILD_ENET)
-		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
-	ENDIF(BUILD_ENET)
-
-	IF(BUILD_CLSOCKET)	
-		ADD_DEFINITIONS(${OSDEF})
-	ENDIF(BUILD_CLSOCKET)
 ENDIF(WIN32)
 
 
-IF(BUILD_ENET)
-	set(RobotSimulator_SRCS ${RobotSimulator_SRCS} 
-		../../examples/SharedMemory/PhysicsClientUDP.cpp
-		../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
-		../../examples/SharedMemory/PhysicsClientUDP.h		
-		../../examples/SharedMemory/PhysicsClientUDP_C_API.h
-		../../examples/ThirdPartyLibs/enet/win32.c
-		../../examples/ThirdPartyLibs/enet/unix.c
-		../../examples/ThirdPartyLibs/enet/callbacks.c
-		../../examples/ThirdPartyLibs/enet/compress.c
-		../../examples/ThirdPartyLibs/enet/host.c
-		../../examples/ThirdPartyLibs/enet/list.c
-		../../examples/ThirdPartyLibs/enet/packet.c
-		../../examples/ThirdPartyLibs/enet/peer.c
-		../../examples/ThirdPartyLibs/enet/protocol.c
-	)
-ENDIF(BUILD_ENET)
-
-IF(BUILD_CLSOCKET)
-	set(RobotSimulator_SRCS ${RobotSimulator_SRCS}
-		 ../../examples/SharedMemory/PhysicsClientTCP.cpp
-                 ../../examples/SharedMemory/PhysicsClientTCP.h
-                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
-                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
-		 ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
-		 ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
-		 ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
-	)
-ENDIF()
-
 
 #some code to support OpenGL and Glew cross platform
 IF (WIN32)
@@ -168,6 +65,8 @@ ADD_EXECUTABLE(App_RobotSimulator  ${RobotSimulator_SRCS})
 
 SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES DEBUG_POSTFIX "_d")
+SET_TARGET_PROPERTIES(App_RobotSimulator PROPERTIES COMPILE_DEFINITIONS "B3_USE_ROBOTSIM_GUI")
+
 
 
 IF(WIN32)
@@ -176,8 +75,56 @@ IF(WIN32)
 	ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
 ENDIF(WIN32)
 
+TARGET_LINK_LIBRARIES(App_RobotSimulator BulletRobotics BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common)
+
+
+
+
+
+
+
+INCLUDE_DIRECTORIES( 
+		${BULLET_PHYSICS_SOURCE_DIR}/src
+		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+  )
+
+SET(RobotSimulator_NoGUI_SRCS
+	RobotSimulatorMain.cpp
+	b3RobotSimulatorClientAPI_NoGUI.cpp
+	b3RobotSimulatorClientAPI_NoGUI.h	
+	MinitaurSetup.cpp
+	MinitaurSetup.h
+)
+
+ADD_EXECUTABLE(App_RobotSimulator_NoGUI  ${RobotSimulator_NoGUI_SRCS})
+
+SET_TARGET_PROPERTIES(App_RobotSimulator_NoGUI PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(App_RobotSimulator_NoGUI PROPERTIES DEBUG_POSTFIX "_d")
+
+
+IF(WIN32)
+	IF(BUILD_ENET OR BUILD_CLSOCKET)
+		TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI ws2_32 )
+	ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
+ELSE()
+	IF(APPLE)
+	ELSE(APPLE)
+		TARGET_LINK_LIBRARIES( App_RobotSimulator_NoGUI pthread ${DL} )
+	ENDIF(APPLE)
+ENDIF(WIN32)
+
+TARGET_LINK_LIBRARIES(App_RobotSimulator_NoGUI BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath Bullet3Common)
+
+
+
+
+
+
+
 
 
-TARGET_LINK_LIBRARIES(App_RobotSimulator BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
 
 

examples/RobotSimulator/MinitaurSetup.cpp

@@ -1,5 +1,5 @@
 #include "MinitaurSetup.h"
-#include "b3RobotSimulatorClientAPI.h"
+#include "b3RobotSimulatorClientAPI_NoGUI.h"
 
 #include "Bullet3Common/b3HashMap.h"
 
@@ -27,7 +27,7 @@ MinitaurSetup::~MinitaurSetup()
 	delete m_data;
 }
 
-void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque, double kp, double kd)
+void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque, double kp, double kd)
 {
 	b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
 	controlArgs.m_maxTorqueValue = maxTorque;
@@ -158,7 +158,7 @@ static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";
 #endif
 
 
-void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
+void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim)
 {
 	//release all motors
 	int numJoints = sim->getNumJoints(m_data->m_quadrupedUniqueId);
@@ -255,7 +255,7 @@ void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI* sim)
 
 }
 
-int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
+int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const b3Vector3& startPos, const b3Quaternion& startOrn)
 {
 	
 	b3RobotSimulatorLoadUrdfFileArgs args;

examples/RobotSimulator/MinitaurSetup.h

@@ -6,15 +6,15 @@
 class MinitaurSetup
 {
 	struct MinitaurSetupInternalData* m_data;
-	void resetPose(class b3RobotSimulatorClientAPI* sim);
+	void resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim);
 
 public:
 	MinitaurSetup();
 	virtual ~MinitaurSetup();
 
-	int setupMinitaur(class b3RobotSimulatorClientAPI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
+	int setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const class b3Vector3& startPos=b3MakeVector3(0,0,0), const class b3Quaternion& startOrn = b3Quaternion(0,0,0,1));
 
-	void setDesiredMotorAngle(class b3RobotSimulatorClientAPI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
+	void setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque=3,double kp=0.1, double kd=0.9);
 
 };
 #endif //MINITAUR_SIMULATION_SETUP_H

examples/RobotSimulator/RobotSimulatorMain.cpp

@@ -1,5 +1,11 @@
 
-#include "b3RobotSimulatorClientAPI.h"
+#ifdef B3_USE_ROBOTSIM_GUI
+	#include "b3RobotSimulatorClientAPI.h"
+#else
+	#include "b3RobotSimulatorClientAPI_NoGUI.h"
+#endif
+
+
 #include "../Utils/b3Clock.h"
 
 #include <string.h>
@@ -7,11 +13,23 @@
 #include <assert.h>
 #define ASSERT_EQ(a,b) assert((a)==(b));
 #include "MinitaurSetup.h"
+
+
+
 int main(int argc, char* argv[])
 {
+#ifdef B3_USE_ROBOTSIM_GUI
 	b3RobotSimulatorClientAPI* sim = new b3RobotSimulatorClientAPI();
-
+	bool isConnected = sim->connect(eCONNECT_GUI);
-	sim->connect(eCONNECT_GUI);
+#else
+	b3RobotSimulatorClientAPI_NoGUI* sim = new b3RobotSimulatorClientAPI_NoGUI();
+	bool isConnected = sim->connect(eCONNECT_DIRECT);
+#endif
+	if (!isConnected)
+	{
+		printf("Cannot connect\n");
+		return -1;
+	}
 	//Can also use eCONNECT_DIRECT,eCONNECT_SHARED_MEMORY,eCONNECT_UDP,eCONNECT_TCP, for example:
 	//sim->connect(eCONNECT_UDP, "localhost", 1234);
 	sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);

examples/RobotSimulator/b3RobotSimulatorClientAPI.h

@@ -1,246 +1,32 @@
-#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
+#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H
-#define B3_ROBOT_SIMULATOR_CLIENT_API_H
+#define B3_ROBOT_SIMULATOR_CLIENT_API_GUI_H
 
-#include "../SharedMemory/SharedMemoryPublic.h"
+#include "b3RobotSimulatorClientAPI_NoGUI.h"
-#include "Bullet3Common/b3Vector3.h"
-#include "Bullet3Common/b3Quaternion.h"
-#include "Bullet3Common/b3Transform.h"
-#include "Bullet3Common/b3AlignedObjectArray.h"
 
-#include <string>
 
-struct b3RobotSimulatorLoadUrdfFileArgs
+///The b3RobotSimulatorClientAPI_GUI is pretty much the C++ version of pybullet
-{
-	b3Vector3 m_startPosition;
-	b3Quaternion m_startOrientation;
-	bool m_forceOverrideFixedBase;
-	bool m_useMultiBody;
-	int m_flags;
-
-	b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
-		: m_startPosition(startPos),
-		  m_startOrientation(startOrn),
-		  m_forceOverrideFixedBase(false),
-		  m_useMultiBody(true),
-		  m_flags(0)
-	{
-	}
-
-	b3RobotSimulatorLoadUrdfFileArgs()
-		: m_startPosition(b3MakeVector3(0, 0, 0)),
-		  m_startOrientation(b3Quaternion(0, 0, 0, 1)),
-		  m_forceOverrideFixedBase(false),
-		  m_useMultiBody(true),
-		  m_flags(0)
-	{
-	}
-};
-
-struct b3RobotSimulatorLoadSdfFileArgs
-{
-	bool m_forceOverrideFixedBase;
-	bool m_useMultiBody;
-
-	b3RobotSimulatorLoadSdfFileArgs()
-		: m_forceOverrideFixedBase(false),
-		  m_useMultiBody(true)
-	{
-	}
-};
-
-struct b3RobotSimulatorLoadFileResults
-{
-	b3AlignedObjectArray<int> m_uniqueObjectIds;
-	b3RobotSimulatorLoadFileResults()
-	{
-	}
-};
-
-struct b3RobotSimulatorJointMotorArgs
-{
-	int m_controlMode;
-
-	double m_targetPosition;
-	double m_kp;
-
-	double m_targetVelocity;
-	double m_kd;
-
-	double m_maxTorqueValue;
-
-	b3RobotSimulatorJointMotorArgs(int controlMode)
-		: m_controlMode(controlMode),
-		  m_targetPosition(0),
-		  m_kp(0.1),
-		  m_targetVelocity(0),
-		  m_kd(0.9),
-		  m_maxTorqueValue(1000)
-	{
-	}
-};
-
-enum b3RobotSimulatorInverseKinematicsFlags
-{
-	B3_HAS_IK_TARGET_ORIENTATION = 1,
-	B3_HAS_NULL_SPACE_VELOCITY = 2,
-	B3_HAS_JOINT_DAMPING = 4,
-};
-
-struct b3RobotSimulatorInverseKinematicArgs
-{
-	int m_bodyUniqueId;
-	//	double* m_currentJointPositions;
-	//	int m_numPositions;
-	double m_endEffectorTargetPosition[3];
-	double m_endEffectorTargetOrientation[4];
-	int m_endEffectorLinkIndex;
-	int m_flags;
-	int m_numDegreeOfFreedom;
-	b3AlignedObjectArray<double> m_lowerLimits;
-	b3AlignedObjectArray<double> m_upperLimits;
-	b3AlignedObjectArray<double> m_jointRanges;
-	b3AlignedObjectArray<double> m_restPoses;
-	b3AlignedObjectArray<double> m_jointDamping;
-
-	b3RobotSimulatorInverseKinematicArgs()
-		: m_bodyUniqueId(-1),
-		  m_endEffectorLinkIndex(-1),
-		  m_flags(0)
-	{
-		m_endEffectorTargetPosition[0] = 0;
-		m_endEffectorTargetPosition[1] = 0;
-		m_endEffectorTargetPosition[2] = 0;
-
-		m_endEffectorTargetOrientation[0] = 0;
-		m_endEffectorTargetOrientation[1] = 0;
-		m_endEffectorTargetOrientation[2] = 0;
-		m_endEffectorTargetOrientation[3] = 1;
-	}
-};
-
-struct b3RobotSimulatorInverseKinematicsResults
-{
-	int m_bodyUniqueId;
-	b3AlignedObjectArray<double> m_calculatedJointPositions;
-};
-
-struct b3JointStates2
-{
-    int m_bodyUniqueId;
-    int m_numDegreeOfFreedomQ;
-    int m_numDegreeOfFreedomU;
-    b3Transform m_rootLocalInertialFrame;
-    b3AlignedObjectArray<double> m_actualStateQ;
-    b3AlignedObjectArray<double> m_actualStateQdot;
-    b3AlignedObjectArray<double> m_jointReactionForces;
-};
-
-///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
 ///as documented in the pybullet Quickstart Guide
 ///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
-class b3RobotSimulatorClientAPI
+class b3RobotSimulatorClientAPI : public b3RobotSimulatorClientAPI_NoGUI
 {
-	struct b3RobotSimulatorClientAPI_InternalData* m_data;
 
 public:
 
 
 	b3RobotSimulatorClientAPI();
+	
 	virtual ~b3RobotSimulatorClientAPI();
 
-	bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
+	virtual bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
-
+	
-	void disconnect();
-
-	bool isConnected() const;
-
-	void setTimeOut(double timeOutInSec);
-
-	void syncBodies();
-
-	void resetSimulation();
-
-	b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
-	b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
-
-	int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
-	bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
-	bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
-	bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
-
-	bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
-
-	bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
-	bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
-
-	bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
-	bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
-
-	int getNumJoints(int bodyUniqueId) const;
-
-	bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
-
-	int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
-
-	int changeConstraint(int constraintId, b3JointInfo* jointInfo);
-
-	void removeConstraint(int constraintId);
-
-	bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
-
-	bool getJointStates(int bodyUniqueId, b3JointStates2& state);
-
-	bool resetJointState(int bodyUniqueId, int jointIndex, double targetValue);
-
-	void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
-
-	void stepSimulation();
-
-	bool canSubmitCommand() const;
-
-	void setRealTimeSimulation(bool enableRealTimeSimulation);
-
-	void setInternalSimFlags(int flags);
-
-	void setGravity(const b3Vector3& gravityAcceleration);
-
-	void setTimeStep(double timeStepInSeconds);
-	void setNumSimulationSubSteps(int numSubSteps);
-	void setNumSolverIterations(int numIterations);
-	void setContactBreakingThreshold(double threshold);
-
-	bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
-
-	bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
-
-	bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
-
-	void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
-	void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos);
-
-	int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
-	void stopStateLogging(int stateLoggerUniqueId);
-
-	void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
-	void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
-
-	void submitProfileTiming(const std::string&  profileName, int durationInMicroSeconds=1);				
-
-
-	//////////////// INTERNAL
-
-	void loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin);
-
-	//setGuiHelper is only used when embedded in existing example browser
-	void setGuiHelper(struct GUIHelperInterface* guiHelper);
-	//renderScene is only used when embedded in existing example browser
 	virtual void renderScene();
-	//debugDraw is only used when embedded in existing example browser
+
 	virtual void debugDraw(int debugDrawMode);
+
 	virtual bool	mouseMoveCallback(float x,float y);
+
 	virtual bool	mouseButtonCallback(int button, int state, float x, float y);
 
-	////////////////INTERNAL
 };
 
 #endif  //B3_ROBOT_SIMULATOR_CLIENT_API_H

examples/RobotSimulator/b3RobotSimulatorClientAPI_InternalData.h

@@ -0,0 +1,18 @@
+#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_INTERNAL_DATA_H
+#define B3_ROBOT_SIMULATOR_CLIENT_API_INTERNAL_DATA_H
+
+#include "../SharedMemory/PhysicsClientC_API.h"
+
+struct b3RobotSimulatorClientAPI_InternalData
+{
+	b3PhysicsClientHandle m_physicsClientHandle;
+	struct GUIHelperInterface* m_guiHelper;
+
+	b3RobotSimulatorClientAPI_InternalData()
+		: m_physicsClientHandle(0),
+		m_guiHelper(0)
+	{
+	}
+};
+
+#endif //B3_ROBOT_SIMULATOR_CLIENT_API_INTERNAL_DATA_H

examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h

@@ -0,0 +1,572 @@
+#ifndef B3_ROBOT_SIMULATOR_CLIENT_API_H
+#define B3_ROBOT_SIMULATOR_CLIENT_API_H
+
+#include "../SharedMemory/SharedMemoryPublic.h"
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3Transform.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+#include <string>
+
+struct b3RobotSimulatorLoadUrdfFileArgs
+{
+	b3Vector3 m_startPosition;
+	b3Quaternion m_startOrientation;
+	bool m_forceOverrideFixedBase;
+	bool m_useMultiBody;
+	int m_flags;
+
+	b3RobotSimulatorLoadUrdfFileArgs(const b3Vector3& startPos, const b3Quaternion& startOrn)
+		: m_startPosition(startPos),
+		m_startOrientation(startOrn),
+		m_forceOverrideFixedBase(false),
+		m_useMultiBody(true),
+		m_flags(0)
+	{
+	}
+
+	b3RobotSimulatorLoadUrdfFileArgs()
+		: m_startPosition(b3MakeVector3(0, 0, 0)),
+		m_startOrientation(b3Quaternion(0, 0, 0, 1)),
+		m_forceOverrideFixedBase(false),
+		m_useMultiBody(true),
+		m_flags(0)
+	{
+	}
+};
+
+struct b3RobotSimulatorLoadSdfFileArgs
+{
+	bool m_forceOverrideFixedBase;
+	bool m_useMultiBody;
+
+	b3RobotSimulatorLoadSdfFileArgs()
+		: m_forceOverrideFixedBase(false),
+		m_useMultiBody(true)
+	{
+	}
+};
+
+struct b3RobotSimulatorLoadFileResults
+{
+	b3AlignedObjectArray<int> m_uniqueObjectIds;
+	b3RobotSimulatorLoadFileResults()
+	{
+	}
+};
+
+struct b3RobotSimulatorJointMotorArgs
+{
+	int m_controlMode;
+
+	double m_targetPosition;
+	double m_kp;
+
+	double m_targetVelocity;
+	double m_kd;
+
+	double m_maxTorqueValue;
+
+	b3RobotSimulatorJointMotorArgs(int controlMode)
+		: m_controlMode(controlMode),
+		m_targetPosition(0),
+		m_kp(0.1),
+		m_targetVelocity(0),
+		m_kd(0.9),
+		m_maxTorqueValue(1000)
+	{
+	}
+};
+
+enum b3RobotSimulatorInverseKinematicsFlags
+{
+	B3_HAS_IK_TARGET_ORIENTATION = 1,
+	B3_HAS_NULL_SPACE_VELOCITY = 2,
+	B3_HAS_JOINT_DAMPING = 4,
+};
+
+struct b3RobotSimulatorInverseKinematicArgs
+{
+	int m_bodyUniqueId;
+	//	double* m_currentJointPositions;
+	//	int m_numPositions;
+	double m_endEffectorTargetPosition[3];
+	double m_endEffectorTargetOrientation[4];
+	int m_endEffectorLinkIndex;
+	int m_flags;
+	int m_numDegreeOfFreedom;
+	b3AlignedObjectArray<double> m_lowerLimits;
+	b3AlignedObjectArray<double> m_upperLimits;
+	b3AlignedObjectArray<double> m_jointRanges;
+	b3AlignedObjectArray<double> m_restPoses;
+	b3AlignedObjectArray<double> m_jointDamping;
+
+	b3RobotSimulatorInverseKinematicArgs()
+		: m_bodyUniqueId(-1),
+		m_endEffectorLinkIndex(-1),
+		m_flags(0)
+	{
+		m_endEffectorTargetPosition[0] = 0;
+		m_endEffectorTargetPosition[1] = 0;
+		m_endEffectorTargetPosition[2] = 0;
+
+		m_endEffectorTargetOrientation[0] = 0;
+		m_endEffectorTargetOrientation[1] = 0;
+		m_endEffectorTargetOrientation[2] = 0;
+		m_endEffectorTargetOrientation[3] = 1;
+	}
+};
+
+struct b3RobotSimulatorInverseKinematicsResults
+{
+	int m_bodyUniqueId;
+	b3AlignedObjectArray<double> m_calculatedJointPositions;
+};
+
+struct b3JointStates2
+{
+	int m_bodyUniqueId;
+	int m_numDegreeOfFreedomQ;
+	int m_numDegreeOfFreedomU;
+	b3Transform m_rootLocalInertialFrame;
+	b3AlignedObjectArray<double> m_actualStateQ;
+	b3AlignedObjectArray<double> m_actualStateQdot;
+	b3AlignedObjectArray<double> m_jointReactionForces;
+};
+
+
+struct b3RobotSimulatorJointMotorArrayArgs
+{
+	int m_controlMode;
+	int m_numControlledDofs;
+
+	int *m_jointIndices;
+
+	double *m_targetPositions;
+	double *m_kps;
+
+	double *m_targetVelocities;
+	double *m_kds;
+
+	double *m_forces;
+
+	b3RobotSimulatorJointMotorArrayArgs(int controlMode, int numControlledDofs)
+		: m_controlMode(controlMode), m_numControlledDofs(numControlledDofs)
+	{
+	}
+};
+
+struct b3RobotSimulatorGetCameraImageArgs
+{
+	int m_width;
+	int m_height;
+	float *m_viewMatrix;
+	float *m_projectionMatrix;
+	float *m_lightDirection;
+	float *m_lightColor;
+	float m_lightDistance;
+	int m_hasShadow;
+	float m_lightAmbientCoeff;
+	float m_lightDiffuseCoeff;
+	float m_lightSpecularCoeff;
+	int m_renderer;
+
+	b3RobotSimulatorGetCameraImageArgs(int width, int height)
+		: m_width(width),
+		m_height(height),
+		m_viewMatrix(NULL),
+		m_projectionMatrix(NULL),
+		m_lightDirection(NULL),
+		m_lightColor(NULL),
+		m_lightDistance(-1),
+		m_hasShadow(-1),
+		m_lightAmbientCoeff(-1),
+		m_lightDiffuseCoeff(-1),
+		m_lightSpecularCoeff(-1),
+		m_renderer(-1)
+	{
+	}
+};
+
+struct b3RobotSimulatorSetPhysicsEngineParameters 
+{
+	double m_fixedTimeStep;
+	int m_numSolverIterations;
+	int m_useSplitImpulse;
+	double m_splitImpulsePenetrationThreshold;
+	int m_numSubSteps;
+	int m_collisionFilterMode;
+	double m_contactBreakingThreshold;
+	int m_maxNumCmdPer1ms;
+	int m_enableFileCaching;
+	double m_restitutionVelocityThreshold;
+	double m_erp;
+	double m_contactERP;
+	double m_frictionERP;
+
+	b3RobotSimulatorSetPhysicsEngineParameters()
+		: m_fixedTimeStep(-1),
+		m_numSolverIterations(-1),
+		m_useSplitImpulse(-1),
+		m_splitImpulsePenetrationThreshold(-1),
+		m_numSubSteps(-1),
+		m_collisionFilterMode(-1),
+		m_contactBreakingThreshold(-1),
+		m_maxNumCmdPer1ms(-1),
+		m_enableFileCaching(-1),
+		m_restitutionVelocityThreshold(-1),
+		m_erp(-1),
+		m_contactERP(-1),
+		m_frictionERP(-1)
+	{}
+};
+
+struct b3RobotSimulatorChangeDynamicsArgs
+{
+	double m_mass;
+	double m_lateralFriction;
+	double m_spinningFriction;
+	double m_rollingFriction;
+	double m_restitution;
+	double m_linearDamping;
+	double m_angularDamping;
+	double m_contactStiffness;
+	double m_contactDamping;
+	int m_frictionAnchor;
+
+	b3RobotSimulatorChangeDynamicsArgs()
+		: m_mass(-1),
+		m_lateralFriction(-1),
+		m_spinningFriction(-1),
+		m_rollingFriction(-1),
+		m_restitution(-1),
+		m_linearDamping(-1),
+		m_angularDamping(-1),
+		m_contactStiffness(-1),
+		m_contactDamping(-1),
+		m_frictionAnchor(-1)
+	{}
+};
+
+struct b3RobotSimulatorAddUserDebugLineArgs
+{
+	double m_colorRGB[3];
+	double m_lineWidth;
+	double m_lifeTime;
+	int m_parentObjectUniqueId;
+	int m_parentLinkIndex;
+
+	b3RobotSimulatorAddUserDebugLineArgs()
+		: 
+	m_lineWidth(1),
+		m_lifeTime(0),
+		m_parentObjectUniqueId(-1),
+		m_parentLinkIndex(-1)
+	{
+		m_colorRGB[0] = 1;
+		m_colorRGB[1] = 1;
+		m_colorRGB[2] = 1;
+	}
+};
+
+enum b3AddUserDebugTextFlags {
+	DEBUG_TEXT_HAS_ORIENTATION = 1
+};
+
+struct b3RobotSimulatorAddUserDebugTextArgs
+{
+	double m_colorRGB[3];
+	double m_size;
+	double m_lifeTime;
+	double m_textOrientation[4];
+	int m_parentObjectUniqueId;
+	int m_parentLinkIndex;
+	int m_flags;
+
+	b3RobotSimulatorAddUserDebugTextArgs()
+		: m_size(1),
+		m_lifeTime(0),
+		m_parentObjectUniqueId(-1),
+		m_parentLinkIndex(-1),
+		m_flags(0)
+	{
+		m_colorRGB[0] = 1;
+		m_colorRGB[1] = 1;
+		m_colorRGB[2] = 1;
+
+		m_textOrientation[0] = 0;
+		m_textOrientation[1] = 0;
+		m_textOrientation[2] = 0;
+		m_textOrientation[3] = 1;
+
+	}
+};
+
+struct b3RobotSimulatorGetContactPointsArgs
+{
+	int m_bodyUniqueIdA;
+	int m_bodyUniqueIdB;
+	int m_linkIndexA;
+	int m_linkIndexB;
+
+	b3RobotSimulatorGetContactPointsArgs()
+		: m_bodyUniqueIdA(-1),
+		m_bodyUniqueIdB(-1),
+		m_linkIndexA(-2),
+		m_linkIndexB(-2)
+	{}
+};
+
+struct b3RobotSimulatorCreateCollisionShapeArgs
+{
+	int m_shapeType;
+	double m_radius;
+	b3Vector3 m_halfExtents;
+	double m_height;
+	char* m_fileName;
+	b3Vector3 m_meshScale;
+	b3Vector3 m_planeNormal;
+	int m_flags;
+	b3RobotSimulatorCreateCollisionShapeArgs()
+		: m_shapeType(-1),
+		m_radius(0.5),
+		m_height(1),
+		m_fileName(NULL),
+		m_flags(0)
+	{
+		m_halfExtents.m_floats[0] = 1;
+		m_halfExtents.m_floats[1] = 1;
+		m_halfExtents.m_floats[2] = 1;
+
+		m_meshScale.m_floats[0] = 1;
+		m_meshScale.m_floats[1] = 1;
+		m_meshScale.m_floats[2] = 1;
+
+		m_planeNormal.m_floats[0] = 0;
+		m_planeNormal.m_floats[1] = 0;
+		m_planeNormal.m_floats[2] = 1;
+	}
+
+};
+
+struct b3RobotSimulatorCreateMultiBodyArgs
+{
+	double m_baseMass;
+	int m_baseCollisionShapeIndex;
+	int m_baseVisualShapeIndex;
+	b3Vector3 m_basePosition;
+	b3Quaternion m_baseOrientation;
+	b3Vector3 m_baseInertialFramePosition;
+	b3Quaternion m_baseInertialFrameOrientation;
+
+	int m_numLinks;
+	double *m_linkMasses;
+	int *m_linkCollisionShapeIndices;
+	int *m_linkVisualShapeIndices;
+	b3Vector3 *m_linkPositions;
+	b3Quaternion *m_linkOrientations;
+	b3Vector3 *m_linkInertialFramePositions;
+	b3Quaternion *m_linkInertialFrameOrientations;
+	int *m_linkParentIndices;
+	int *m_linkJointTypes;
+	b3Vector3 *m_linkJointAxes;
+
+	int m_useMaximalCoordinates;
+
+	b3RobotSimulatorCreateMultiBodyArgs()
+		: m_numLinks(0), m_baseMass(0), m_baseCollisionShapeIndex(-1), m_baseVisualShapeIndex(-1), m_useMaximalCoordinates(0), 
+		m_linkMasses(NULL), 
+		m_linkCollisionShapeIndices(NULL), 
+		m_linkVisualShapeIndices(NULL), 
+		m_linkPositions(NULL), 
+		m_linkOrientations(NULL), 
+		m_linkInertialFramePositions(NULL), 
+		m_linkInertialFrameOrientations(NULL), 
+		m_linkParentIndices(NULL), 
+		m_linkJointTypes(NULL), 
+		m_linkJointAxes(NULL)      
+	{
+		m_basePosition.setValue(0,0,0);
+		m_baseOrientation.setValue(0,0,0,1);
+		m_baseInertialFramePosition.setValue(0,0,0);
+		m_baseInertialFrameOrientation.setValue(0,0,0,1);
+	}
+};
+
+
+
+///The b3RobotSimulatorClientAPI is pretty much the C++ version of pybullet
+///as documented in the pybullet Quickstart Guide
+///https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA
+class b3RobotSimulatorClientAPI_NoGUI
+{
+protected:
+
+	struct b3RobotSimulatorClientAPI_InternalData* m_data;
+
+public:
+	
+	b3RobotSimulatorClientAPI_NoGUI();
+	virtual ~b3RobotSimulatorClientAPI_NoGUI();
+
+	bool connect(int mode, const std::string& hostName = "localhost", int portOrKey = -1);
+
+	void disconnect();
+
+	bool isConnected() const;
+
+	void setTimeOut(double timeOutInSec);
+
+	void syncBodies();
+
+	void resetSimulation();
+
+	b3Quaternion getQuaternionFromEuler(const b3Vector3& rollPitchYaw);
+	b3Vector3 getEulerFromQuaternion(const b3Quaternion& quat);
+
+	int loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args = b3RobotSimulatorLoadUrdfFileArgs());
+	bool loadSDF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results, const struct b3RobotSimulatorLoadSdfFileArgs& args = b3RobotSimulatorLoadSdfFileArgs());
+	bool loadMJCF(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
+	bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
+
+	bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
+
+	bool getBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation) const;
+	bool resetBasePositionAndOrientation(int bodyUniqueId, b3Vector3& basePosition, b3Quaternion& baseOrientation);
+
+	bool getBaseVelocity(int bodyUniqueId, b3Vector3& baseLinearVelocity, b3Vector3& baseAngularVelocity) const;
+	bool resetBaseVelocity(int bodyUniqueId, const b3Vector3& linearVelocity, const b3Vector3& angularVelocity) const;
+
+	int getNumJoints(int bodyUniqueId) const;
+
+	bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
+
+	int createConstraint(int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, b3JointInfo* jointInfo);
+
+	int changeConstraint(int constraintId, b3JointInfo* jointInfo);
+
+	void removeConstraint(int constraintId);
+
+	bool getJointState(int bodyUniqueId, int jointIndex, struct b3JointSensorState* state);
+
+	bool getJointStates(int bodyUniqueId, b3JointStates2& state);
+
+	bool resetJointState(int bodyUniqueId, int jointIndex, double targetValue);
+
+	void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3RobotSimulatorJointMotorArgs& args);
+
+	bool setJointMotorControlArray(int bodyUniqueId, int controlMode, int numControlledDofs,
+		int *jointIndices, double *targetVelocities, double *targetPositions,
+		double *forces, double *kps, double *kds);
+
+	void stepSimulation();
+
+	bool canSubmitCommand() const;
+
+	void setRealTimeSimulation(bool enableRealTimeSimulation);
+
+	void setInternalSimFlags(int flags);
+
+	void setGravity(const b3Vector3& gravityAcceleration);
+
+	void setTimeStep(double timeStepInSeconds);
+	void setNumSimulationSubSteps(int numSubSteps);
+	void setNumSolverIterations(int numIterations);
+	void setContactBreakingThreshold(double threshold);
+
+	bool calculateInverseKinematics(const struct b3RobotSimulatorInverseKinematicArgs& args, struct b3RobotSimulatorInverseKinematicsResults& results);
+
+	bool getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian);
+
+	bool getLinkState(int bodyUniqueId, int linkIndex, b3LinkState* linkState);
+
+	void configureDebugVisualizer(enum b3ConfigureDebugVisualizerEnum flag, int enable);
+	void resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos);
+
+	int startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds=b3AlignedObjectArray<int>(), int maxLogDof = -1);
+	void stopStateLogging(int stateLoggerUniqueId);
+
+	void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
+	void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
+
+	void submitProfileTiming(const std::string&  profileName, int durationInMicroSeconds=1);
+
+	// JFC: added these 24 methods
+
+	void getMouseEvents(b3MouseEventsData* mouseEventsData);
+
+	bool getLinkState(int bodyUniqueId, int linkIndex, int computeLinkVelocity, int computeInverseKinematics, b3LinkState* linkState);
+
+	bool getCameraImage(int width, int height, struct b3RobotSimulatorGetCameraImageArgs args, b3CameraImageData &imageData);
+
+	bool calculateInverseDynamics(int bodyUniqueId, double *jointPositions, double *jointVelocities, double *jointAccelerations, double *jointForcesOutput);
+
+	int getNumBodies() const;
+
+	int getBodyUniqueId(int bodyId) const;
+
+	bool removeBody(int bodyUniqueId);
+
+	bool getDynamicsInfo(int bodyUniqueId, int linkIndex, b3DynamicsInfo *dynamicsInfo);
+
+	bool changeDynamics(int bodyUniqueId, int linkIndex, struct b3RobotSimulatorChangeDynamicsArgs &args);
+
+	int addUserDebugParameter(char *paramName, double rangeMin, double rangeMax, double startValue);
+
+	double readUserDebugParameter(int itemUniqueId);
+
+	bool removeUserDebugItem(int itemUniqueId);
+
+	int addUserDebugText(char *text, double *textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
+
+	int addUserDebugText(char *text, b3Vector3 &textPosition, struct b3RobotSimulatorAddUserDebugTextArgs &args);
+
+	int addUserDebugLine(double *fromXYZ, double *toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
+
+	int addUserDebugLine(b3Vector3 &fromXYZ, b3Vector3 &toXYZ, struct b3RobotSimulatorAddUserDebugLineArgs &args);
+
+	bool setJointMotorControlArray(int bodyUniqueId, struct b3RobotSimulatorJointMotorArrayArgs &args);
+
+	bool setPhysicsEngineParameter(struct b3RobotSimulatorSetPhysicsEngineParameters &args);
+
+	bool applyExternalForce(int objectUniqueId, int linkIndex, double *force, double *position, int flags);
+
+	bool applyExternalForce(int objectUniqueId, int linkIndex, b3Vector3 &force, b3Vector3 &position, int flags);
+
+	bool applyExternalTorque(int objectUniqueId, int linkIndex, double *torque, int flags);
+
+	bool applyExternalTorque(int objectUniqueId, int linkIndex, b3Vector3 &torque, int flags);
+
+	bool enableJointForceTorqueSensor(int bodyUniqueId, int linkIndex, bool enable);
+
+	bool getDebugVisualizerCamera(struct b3OpenGLVisualizerCameraInfo *cameraInfo);
+
+	bool getContactPoints(struct b3RobotSimulatorGetContactPointsArgs &args, struct b3ContactInformation *contactInfo);
+
+	bool getClosestPoints(struct b3RobotSimulatorGetContactPointsArgs &args, double distance, struct b3ContactInformation *contactInfo);
+
+	bool getOverlappingObjects(double *aabbMin, double *aabbMax, struct b3AABBOverlapData *overlapData);
+
+	bool getOverlappingObjects(b3Vector3 &aabbMin, b3Vector3 &aabbMax, struct b3AABBOverlapData *overlapData);
+
+	bool getAABB(int bodyUniqueId, int linkIndex, double *aabbMin, double *aabbMax);
+
+	bool getAABB(int bodyUniqueId, int linkIndex, b3Vector3 &aabbMin, b3Vector3 &aabbMax);
+
+	int createCollisionShape(int shapeType, struct b3RobotSimulatorCreateCollisionShapeArgs &args);
+
+	int createMultiBody(struct b3RobotSimulatorCreateMultiBodyArgs &args);
+
+	int getNumConstraints() const;
+
+	int getConstraintUniqueId(int serialIndex);
+
+	void loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin);
+	
+	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
+	virtual struct GUIHelperInterface* getGuiHelper();
+	
+};
+
+#endif  //B3_ROBOT_SIMULATOR_CLIENT_API_H

examples/RobotSimulator/premake4.lua

@@ -193,6 +193,8 @@ if not _OPTIONS["no-enet"] then
 			"RobotSimulatorMain.cpp",
 			"b3RobotSimulatorClientAPI.cpp",
 			"b3RobotSimulatorClientAPI.h",
+			"b3RobotSimulatorClientAPI_NoGUI.cpp",
+			"b3RobotSimulatorClientAPI_NoGUI.h",
 			"MinitaurSetup.cpp",
 			"MinitaurSetup.h",
 			myfiles
@@ -283,6 +285,8 @@ project ("App_VRGloveHandSimulator")
 			"VRGloveSimulatorMain.cpp",
 			"b3RobotSimulatorClientAPI.cpp",
 			"b3RobotSimulatorClientAPI.h",
+			"b3RobotSimulatorClientAPI_NoGUI.cpp",
+			"b3RobotSimulatorClientAPI_NoGUI.h",
 			myfiles
 		}
 

examples/SharedMemory/PhysicsClientC_API.h

@@ -32,7 +32,6 @@ B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle);
 #include "PhysicsClientTCP_C_API.h"
 #endif
 
-#include "SharedMemoryInProcessPhysicsC_API.h"
 
 #ifdef __cplusplus
 extern "C" { 

examples/TwoJoint/TwoJointMain.cpp

@@ -9,6 +9,7 @@
 #include "SharedMemory/PhysicsClientC_API.h"
 #include "Bullet3Common/b3Vector3.h"
 #include "Bullet3Common/b3Quaternion.h"
+#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
 
 extern const int CONTROL_RATE;
 const int CONTROL_RATE = 500;