Merge pull request #2677 from erwincoumans/master

pybullet removeAllParameters, getMeshData
2025-01-18 21:10:05 +00:00 · 2020-03-17 00:58:18 -07:00 · 2020-03-17 00:58:18 -07:00 · 3c9dde54a2
commit 3c9dde54a2
parent 0bae3a4967 9c53c52847
15 changed files with 476 additions and 192 deletions
--- a/Extras/BulletRobotics/CMakeLists.txt
+++ b/Extras/BulletRobotics/CMakeLists.txt
@ -222,13 +222,6 @@ IF(BUILD_ENET)
 ENDIF(BUILD_ENET)

 IF(BUILD_CLSOCKET)
-  set(BulletRobotics_CLSOCKET_INCLUDES 
-    ../../examples/SharedMemory/PhysicsClientTCP.h
-    ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
-    ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
-    ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.h
-    ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.h
-  )
  set(BulletRobotics_CLSOCKET_SRCS
    ../../examples/SharedMemory/PhysicsClientTCP.cpp
    ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
@ -237,13 +230,8 @@ IF(BUILD_CLSOCKET)
    ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
  )

-  set(BulletRobotics_INCLUDES
-    ${BulletRobotics_INCLUDES}
-    ${BulletRobotics_CLSOCKET_INCLUDES}
-  )
  set(BulletRobotics_SRCS
    ${BulletRobotics_SRCS}
-    ${BulletRobotics_CLSOCKET_INCLUDES}
    ${BulletRobotics_CLSOCKET_SRCS}
  )
 ENDIF()
@ -260,25 +248,12 @@ IF (BUILD_SHARED_LIBS)
 	TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
 ENDIF (BUILD_SHARED_LIBS)

-IF (INSTALL_EXTRA_LIBS)
-	INSTALL(FILES
-      ../../examples/SharedMemory/PhysicsClientC_API.h
-      ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
-      ../../examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h
-      ../../examples/SharedMemory/PhysicsDirectC_API.h
-      ../../examples/SharedMemory/PhysicsClientUDP_C_API.h
-      ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
-      ../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
-      ../../examples/SharedMemory/SharedMemoryPublic.h
-      ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
-      ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
-		DESTINATION include/bullet
-  )
  
-  INSTALL(FILES
-    ${BulletRobotics_INCLUDES}
-    DESTINATION include/bullet_robotics
-  )
+
+INSTALL (
+    DIRECTORY ${CMAKE_SOURCE_DIR}/examples/
+    DESTINATION include/bullet
+    FILES_MATCHING PATTERN "*.h*")

 	INSTALL(TARGETS
 		BulletRobotics
@ -301,5 +276,4 @@ IF(NOT MSVC)
      ${PKGCONFIG_INSTALL_PREFIX}
    )
 ENDIF(NOT MSVC)
-ENDIF (INSTALL_EXTRA_LIBS)

--- a/Extras/BulletRoboticsGUI/CMakeLists.txt
+++ b/Extras/BulletRoboticsGUI/CMakeLists.txt
@ -0,0 +1,208 @@
+
+INCLUDE_DIRECTORIES(
+		${BULLET_PHYSICS_SOURCE_DIR}/src
+		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+)
+
+SET(BulletRoboticsGUI_INCLUDES
+  ../../examples/CommonInterfaces/Common2dCanvasInterface.h
+  ../../examples/CommonInterfaces/CommonCallbacks.h
+  ../../examples/CommonInterfaces/CommonCameraInterface.h
+  ../../examples/CommonInterfaces/CommonExampleInterface.h
+  ../../examples/CommonInterfaces/CommonFileIOInterface.h
+  ../../examples/CommonInterfaces/CommonGraphicsAppInterface.h
+  ../../examples/CommonInterfaces/CommonGUIHelperInterface.h
+  ../../examples/CommonInterfaces/CommonMultiBodyBase.h
+  ../../examples/CommonInterfaces/CommonParameterInterface.h
+  ../../examples/CommonInterfaces/CommonRenderInterface.h
+  ../../examples/CommonInterfaces/CommonRigidBodyBase.h
+  ../../examples/CommonInterfaces/CommonWindowInterface.h
+
+  ../../examples/OpenGLWindow/SimpleCamera.h
+
+  ../../examples/TinyRenderer/geometry.h
+  ../../examples/TinyRenderer/model.h
+  ../../examples/TinyRenderer/tgaimage.h
+  ../../examples/TinyRenderer/our_gl.h
+  ../../examples/TinyRenderer/TinyRenderer.h
+
+  ../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
+  ../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+  ../../examples/SharedMemory/IKTrajectoryHelper.h
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
+  ../../examples/SharedMemory/InProcessMemory.h
+  ../../examples/SharedMemory/PhysicsServer.h
+  ../../examples/SharedMemory/PhysicsClient.h
+  ../../examples/SharedMemory/PhysicsServerSharedMemory.h
+  ../../examples/SharedMemory/PhysicsDirect.h
+  ../../examples/SharedMemory/PhysicsDirectC_API.h
+  ../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+  ../../examples/SharedMemory/b3PluginManager.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
+  ../../examples/SharedMemory/PhysicsClientC_API.h
+  ../../examples/SharedMemory/SharedMemoryPublic.h
+  ../../examples/SharedMemory/Win32SharedMemory.h
+  ../../examples/SharedMemory/PosixSharedMemory.h
+
+  ../../examples/Utils/b3ResourcePath.h
+  ../../examples/Utils/RobotLoggingUtil.h
+  ../../examples/Utils/b3Clock.h
+  ../../examples/Utils/b3ResourcePath.h
+  ../../examples/Utils/ChromeTraceUtil.h
+  ../../examples/Utils/b3ERPCFMHelper.hpp
+  ../../examples/Utils/b3ReferenceFrameHelper.hpp  
+
+  ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.h
+  ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
+  ../../examples/ThirdPartyLibs/stb_image/stb_image.h
+  ../../examples/ThirdPartyLibs/BussIK/Jacobian.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR2.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR3.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR4.h
+  ../../examples/ThirdPartyLibs/BussIK/MatrixRmn.h
+  ../../examples/ThirdPartyLibs/BussIK/Node.h
+  ../../examples/ThirdPartyLibs/BussIK/Tree.h
+  ../../examples/ThirdPartyLibs/BussIK/VectorRn.h
+
+  ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
+  ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.h
+  ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
+  ../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+  ../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+  ../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
+  ../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
+  ../../examples/Importers/ImportURDFDemo/UrdfParser.h
+  ../../examples/Importers/ImportURDFDemo/urdfStringSplit.h
+  ../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+  ../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
+  ../../examples/Importers/ImportURDFDemo/SDFAudioTypes.h
+  ../../examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
+  ../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
+  ../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
+  
+  ../../examples/MultiThreading/b3PosixThreadSupport.h
+  ../../examples/MultiThreading/b3Win32ThreadSupport.h
+  ../../examples/MultiThreading/b3ThreadSupportInterface.h
+)
+
+SET(BulletRoboticsGUI_SRCS ${BulletRoboticsGUI_INCLUDES}
+
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
+	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
+	../../examples/SharedMemory/GraphicsServerExample.cpp
+	../../examples/SharedMemory/GraphicsClientExample.cpp
+	../../examples/SharedMemory/RemoteGUIHelper.cpp
+	../../examples/SharedMemory/GraphicsServerExample.h
+	../../examples/SharedMemory/GraphicsClientExample.h
+	../../examples/SharedMemory/RemoteGUIHelper.h
+	../../examples/SharedMemory/GraphicsSharedMemoryCommands.h
+	../../examples/SharedMemory/GraphicsSharedMemoryPublic.h
+	../../examples/SharedMemory/PhysicsServerExample.cpp
+	../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
+	../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp		
+)
+
+IF(BUILD_CLSOCKET)
+ ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ENDIF(BUILD_CLSOCKET)
+
+IF(WIN32)
+	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)
+		
+	IF(NOT APPLE)
+		LINK_LIBRARIES(  pthread ${DL} )
+	ENDIF(NOT APPLE)
+ENDIF(WIN32)
+
+IF(BUILD_ENET)
+  set(BulletRoboticsGUI_ENET_INCLUDES 
+    ../../examples/SharedMemory/PhysicsClientUDP.h		
+    ../../examples/SharedMemory/PhysicsClientUDP_C_API.h
+    ../../examples/ThirdPartyLibs/enet/include/enet/win32.h
+		../../examples/ThirdPartyLibs/enet/include/enet/unix.h
+		../../examples/ThirdPartyLibs/enet/include/enet/callbacks.h
+		../../examples/ThirdPartyLibs/enet/include/enet/list.h
+		../../examples/ThirdPartyLibs/enet/include/enet/protocol.h
+  )
+
+  set(BulletRoboticsGUI_INCLUDES
+    ${BulletRoboticsGUI_INCLUDES}
+    ${BulletRoboticsGUI_ENET_INCLUDES}
+	)
+
+
+
+ENDIF(BUILD_ENET)
+
+
+ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
+
+
+ADD_LIBRARY(BulletRoboticsGUI ${BulletRoboticsGUI_SRCS})
+
+SET_TARGET_PROPERTIES(BulletRoboticsGUI PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletRoboticsGUI PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (BUILD_SHARED_LIBS)
+	TARGET_LINK_LIBRARIES(BulletRoboticsGUI  BulletExampleBrowserLib BulletRobotics  BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
+ENDIF (BUILD_SHARED_LIBS)
+
+  
+
+	INSTALL(TARGETS
+		BulletRoboticsGUI
+		LIBRARY DESTINATION lib${LIB_SUFFIX}
+		ARCHIVE DESTINATION lib${LIB_SUFFIX}
+	)
+		
+  IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+    SET_TARGET_PROPERTIES(BulletRobotics  PROPERTIES FRAMEWORK true)
+    SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
+  ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
+
+IF(NOT MSVC)
+    CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics_gui.pc.cmake
+                   ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc @ONLY)
+  	INSTALL(
+      FILES
+      ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc
+      DESTINATION
+      ${PKGCONFIG_INSTALL_PREFIX}
+    )
+ENDIF(NOT MSVC)
+
--- a/Extras/BulletRoboticsGUI/bullet_robotics_gui.pc.cmake
+++ b/Extras/BulletRoboticsGUI/bullet_robotics_gui.pc.cmake
@ -0,0 +1,6 @@
+Name: bullet_robotics_gui
+Description: Bullet GUI extras for robotics
+Requires: bullet
+Version: @BULLET_VERSION@
+Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletRoboticsGUI
+Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include/bullet_robotics_gui
--- a/Extras/CMakeLists.txt
+++ b/Extras/CMakeLists.txt
@ -1,4 +1,4 @@
-SUBDIRS( InverseDynamics BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
+SUBDIRS( InverseDynamics BulletRoboticsGUI BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )



--- a/examples/CommonInterfaces/CommonGUIHelperInterface.h
+++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h
@ -114,6 +114,8 @@ struct GUIHelperInterface

 	virtual void removeUserDebugItem(int debugItemUniqueId){};
 	virtual void removeAllUserDebugItems(){};
+	virtual void removeAllUserParameters() {};
+	
 	virtual void setVisualizerFlagCallback(VisualizerFlagCallback callback) {}

 	//empty name stops dumping video
--- a/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
+++ b/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
@ -141,6 +141,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans

 					if (pol)
 					{
+						int baseIndex = vertexPositions.size();
 						for (int v = 0; v < pol->m_vertices.size(); v++)
 						{
 							vertexPositions.push_back(pol->m_vertices[v]);
@ -152,9 +153,9 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
 						{
 							for (int ii = 2; ii < pol->m_faces[f].m_indices.size(); ii++)
 							{
-								indicesOut.push_back(pol->m_faces[f].m_indices[0]);
-								indicesOut.push_back(pol->m_faces[f].m_indices[ii - 1]);
-								indicesOut.push_back(pol->m_faces[f].m_indices[ii]);
+								indicesOut.push_back(baseIndex+pol->m_faces[f].m_indices[0]);
+								indicesOut.push_back(baseIndex + pol->m_faces[f].m_indices[ii - 1]);
+								indicesOut.push_back(baseIndex + pol->m_faces[f].m_indices[ii]);
 							}
 						}
 					}
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@ -1390,6 +1390,18 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClie
 	return 0;
 }

+B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_REQUEST_MESH_DATA);
+	if (command->m_type == CMD_REQUEST_MESH_DATA)
+	{
+		command->m_updateFlags = B3_MESH_DATA_COLLISIONSHAPEINDEX;
+		command->m_requestMeshDataArgs.m_collisionShapeIndex = shapeIndex;
+	}
+}
+
 B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
@ -4059,6 +4071,20 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3Physics
 	return (b3SharedMemoryCommandHandle)command;
 }

+B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserRemoveAllParameters(b3PhysicsClientHandle physClient)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+	b3Assert(command);
+	command->m_type = CMD_USER_DEBUG_DRAW;
+	command->m_updateFlags = USER_DEBUG_REMOVE_ALL_PARAMETERS;
+	command->m_userDebugDrawArgs.m_parentObjectUniqueId = -1;
+	return (b3SharedMemoryCommandHandle)command;
+}
+
+
 B3_SHARED_API int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle)
 {
 	const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@ -236,6 +236,7 @@ extern "C"

 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId);
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient);
+	B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserRemoveAllParameters(b3PhysicsClientHandle physClient);

 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient);
 	B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, const double objectColorRGB[/*3*/]);
@ -509,6 +510,8 @@ extern "C"
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);

 	B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
+	B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHandle commandHandle, int shapeIndex);
+
 	B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);


--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@ -5029,8 +5029,13 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 									convexHull->addPoint(pt * meshScale, false);
 								}

+								if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_INITIALIZE_SAT_FEATURES)
+								{
+									convexHull->initializePolyhedralFeatures();
+								}
 								convexHull->recalcLocalAabb();
 								convexHull->optimizeConvexHull();
+								
 								compound->addChildShape(childTransform, convexHull);
 							}
 						}
@ -5163,6 +5168,40 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 	return hasStatus;
 }

+static void gatherVertices(const btTransform& trans, const btCollisionShape* colShape, btAlignedObjectArray<btVector3>& verticesOut, int collisionShapeIndex)
+{
+	switch (colShape->getShapeType())
+	{
+		case COMPOUND_SHAPE_PROXYTYPE:
+		{
+			const btCompoundShape* compound = (const btCompoundShape*)colShape;
+			for (int i = 0; i < compound->getNumChildShapes(); i++)
+			{
+				btTransform childTr = trans * compound->getChildTransform(i);
+				if ((collisionShapeIndex < 0) || (collisionShapeIndex == i))
+				{
+					gatherVertices(childTr, compound->getChildShape(i), verticesOut, collisionShapeIndex);
+				}
+			}
+			break;
+		}
+		case CONVEX_HULL_SHAPE_PROXYTYPE:
+		{
+			const btConvexHullShape* convex = (const btConvexHullShape*)colShape;
+			btVector3 vtx;
+			for (int i = 0; i < convex->getNumVertices(); i++)
+			{
+				convex->getVertex(i, vtx);
+				btVector3 trVertex = trans * vtx;
+				verticesOut.push_back(trVertex);
+			}
+			break;
+		}
+		default:
+		{
+		}
+	}
+}
 bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
@ -5173,38 +5212,79 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
 	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
 	if (bodyHandle)
 	{
+		int totalBytesPerVertex = sizeof(btVector3);
+		btVector3* verticesOut = (btVector3*)bufferServerToClient;
+		const btCollisionShape* colShape = 0;
+
 		if (bodyHandle->m_multiBody)
 		{
-			//todo
+			//collision shape
+			
+
+			if (clientCmd.m_requestMeshDataArgs.m_linkIndex == -1)
+			{
+				colShape = bodyHandle->m_multiBody->getBaseCollider()->getCollisionShape();
+			}
+			else
+			{
+				colShape = bodyHandle->m_multiBody->getLinkCollider(clientCmd.m_requestMeshDataArgs.m_linkIndex)->getCollisionShape();
+			}
 		}
 		if (bodyHandle->m_rigidBody)
 		{
-			//todo
+			colShape = bodyHandle->m_rigidBody->getCollisionShape();
 		}
+
+		if (colShape)
+		{
+			btAlignedObjectArray<btVector3> vertices;
+			btTransform tr;
+			tr.setIdentity();
+			int collisionShapeIndex = -1;
+			if (clientCmd.m_updateFlags& B3_MESH_DATA_COLLISIONSHAPEINDEX)
+			{
+				collisionShapeIndex = clientCmd.m_requestMeshDataArgs.m_collisionShapeIndex;
+			}
+			gatherVertices(tr, colShape, vertices, collisionShapeIndex);
+			
+			int numVertices = vertices.size();
+			int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1;
+			int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex;
+			int verticesCopied = btMin(maxNumVertices, numVerticesRemaining);
+			for (int i = 0; i < verticesCopied; ++i)
+			{
+				verticesOut[i] = vertices[i];
+			}
+			serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
+			serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
+			serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex;
+			serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = numVerticesRemaining - verticesCopied;
+		}
+
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD

 		if (bodyHandle->m_softBody)
 		{
 			btSoftBody* psb = bodyHandle->m_softBody;
-			int totalBytesPerVertex = sizeof(btVector3);
-                        bool separateRenderMesh = (psb->m_renderNodes.size() != 0);
-                        int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size();
+			
+            bool separateRenderMesh = (psb->m_renderNodes.size() != 0);
+            int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size();
 			int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1;
 			int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex;
 			int verticesCopied = btMin(maxNumVertices, numVerticesRemaining);
-			btVector3* verticesOut = (btVector3*)bufferServerToClient;
+			
 			for (int i = 0; i < verticesCopied; ++i)
 			{
-                            if (separateRenderMesh)
-                            {
-                                const btSoftBody::Node& n = psb->m_renderNodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
-                                verticesOut[i] = n.m_x;
-                            }
-                            else
-                            {
-                                const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
-                                verticesOut[i] = n.m_x;
-                            }
+				if (separateRenderMesh)
+				{
+					const btSoftBody::Node& n = psb->m_renderNodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
+					verticesOut[i] = n.m_x;
+				}
+				else
+				{
+					const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
+					verticesOut[i] = n.m_x;
+				}
 			}

 			serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
@ -5644,6 +5724,14 @@ bool PhysicsServerCommandProcessor::processUserDebugDrawCommand(const struct Sha
 		m_data->m_guiHelper->removeAllUserDebugItems();
 		serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
 	}
+
+	if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ALL_PARAMETERS)
+	{
+		m_data->m_guiHelper->removeAllUserParameters();
+		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);
@ -12209,6 +12297,8 @@ bool PhysicsServerCommandProcessor::processRequestCollisionShapeInfoCommand(cons
 		if (bodyHandle->m_multiBody)
 		{
 			b3CollisionShapeData* collisionShapeStoragePtr = (b3CollisionShapeData*)bufferServerToClient;
+			collisionShapeStoragePtr->m_objectUniqueId = bodyUniqueId;
+			collisionShapeStoragePtr->m_linkIndex = linkIndex;
 			int totalBytesPerObject = sizeof(b3CollisionShapeData);
 			int maxNumColObjects = bufferSizeInBytes / totalBytesPerObject - 1;
 			btTransform childTrans;
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@ -128,6 +128,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIHelperRemoveTexture,
 	eGUIHelperSetVisualizerFlagCheckRenderedFrame,
 	eGUIHelperUpdateShape,
+	eGUIUserDebugRemoveAllParameters,
 };

 #include <stdio.h>
@ -494,6 +495,13 @@ struct UserDebugParameter
 	int m_itemUniqueId;
 };

+static void UserButtonToggle(int buttonId, bool buttonState, void* userPointer)
+{
+	UserDebugParameter* param = (UserDebugParameter*)userPointer;
+	param->m_value += 1;
+}
+
+
 struct UserDebugText
 {
 	char m_text[1024];
@ -1328,6 +1336,16 @@ public:
 		workerThreadWait();
 	}

+	virtual void removeAllUserParameters()
+	{
+		m_cs->lock();
+		m_cs->setSharedParam(1, eGUIUserDebugRemoveAllParameters);
+		workerThreadWait();
+	}
+
+	
+
+
 	const char* m_mp4FileName;
 	virtual void dumpFramesToVideo(const char* mp4FileName)
 	{
@ -2359,6 +2377,7 @@ void PhysicsServerExample::updateGraphics()
 			UserDebugParameter* param = new UserDebugParameter(m_multiThreadedHelper->m_tmpParam);
 			m_multiThreadedHelper->m_userDebugParams.push_back(param);

+			if (param->m_rangeMin<= param->m_rangeMax)
 			{
 				SliderParams slider(param->m_text, &param->m_value);
 				slider.m_minVal = param->m_rangeMin;
@ -2367,6 +2386,19 @@ void PhysicsServerExample::updateGraphics()
 				if (m_multiThreadedHelper->m_childGuiHelper->getParameterInterface())
 					m_multiThreadedHelper->m_childGuiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
 			}
+			else
+			{
+				int buttonId = -1;
+				bool isTrigger = false;
+				ButtonParams button(param->m_text, buttonId, isTrigger);
+				button.m_callback = UserButtonToggle;
+				button.m_userPointer = param;
+				button.m_initialState = false;
+				
+				//create a button
+				if (m_multiThreadedHelper->m_childGuiHelper->getParameterInterface())
+					m_multiThreadedHelper->m_childGuiHelper->getParameterInterface()->registerButtonParameter(button);
+			}

 			m_multiThreadedHelper->m_userDebugParamUid = (*m_multiThreadedHelper->m_userDebugParams[m_multiThreadedHelper->m_userDebugParams.size() - 1]).m_itemUniqueId;

@ -2424,10 +2456,23 @@ void PhysicsServerExample::updateGraphics()
 			m_multiThreadedHelper->mainThreadRelease();
 			break;
 		}
+		case eGUIUserDebugRemoveAllParameters:
+		{
+			B3_PROFILE("eGUIUserDebugRemoveAllParameters");
+			if (m_multiThreadedHelper->m_childGuiHelper->getParameterInterface())
+				m_multiThreadedHelper->m_childGuiHelper->getParameterInterface()->removeAllParameters();
+			for (int i = 0; i < m_multiThreadedHelper->m_userDebugParams.size(); i++)
+			{
+				delete m_multiThreadedHelper->m_userDebugParams[i];
+			}
+			m_multiThreadedHelper->m_userDebugParams.clear();
+			m_multiThreadedHelper->mainThreadRelease();
+			break;
+		}
+
 		case eGUIUserDebugRemoveAllItems:
 		{
 			B3_PROFILE("eGUIUserDebugRemoveAllItems");
-
 			m_multiThreadedHelper->m_userDebugLines.clear();
 			m_multiThreadedHelper->m_userDebugText.clear();
 			m_multiThreadedHelper->m_uidGenerator = 0;
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@ -811,6 +811,7 @@ enum EnumUserDebugDrawFlags
 	USER_DEBUG_HAS_TEXT_ORIENTATION = 512,
 	USER_DEBUG_HAS_PARENT_OBJECT = 1024,
 	USER_DEBUG_HAS_REPLACE_ITEM_UNIQUE_ID = 2048,
+	USER_DEBUG_REMOVE_ALL_PARAMETERS = 4096,
 };

 struct UserDebugDrawArgs
@ -1096,6 +1097,7 @@ struct b3RequestMeshDataArgs
 	int m_bodyUniqueId;
 	int m_linkIndex;
 	int m_startingVertex;
+	int m_collisionShapeIndex;
 };

 struct b3SendMeshDataArgs
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@ -449,6 +449,12 @@ struct b3MeshVertex
 	double x, y, z, w;
 };

+
+enum eMeshDataEnum
+{
+	B3_MESH_DATA_COLLISIONSHAPEINDEX=1,
+};
+
 struct b3MeshData
 {
 	int m_numVertices;
@ -940,6 +946,7 @@ enum eUrdfCollisionFlags
 {
 	GEOM_FORCE_CONCAVE_TRIMESH = 1,
 	GEOM_CONCAVE_INTERNAL_EDGE = 2,
+	GEOM_INITIALIZE_SAT_FEATURES = URDF_INITIALIZE_SAT_FEATURES,
 };

 enum eUrdfVisualFlags
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@ -15,159 +15,41 @@ ENDIF()

 ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)

+SET(pybullet3_SRCS
+	pybullet.c
+	)
+	
 SET(pybullet_SRCS
 	pybullet.c
-	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
-		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
-		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
-		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
-		../../examples/SharedMemory/IKTrajectoryHelper.cpp
-		../../examples/SharedMemory/IKTrajectoryHelper.h
-		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
-		../../examples/OpenGLWindow/SimpleCamera.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
-		../SharedMemory/GraphicsServerExample.cpp
-		../SharedMemory/GraphicsClientExample.cpp
-		../SharedMemory/RemoteGUIHelper.cpp
-		../SharedMemory/GraphicsServerExample.h
-		../SharedMemory/GraphicsClientExample.h
-		../SharedMemory/RemoteGUIHelper.h
-		../SharedMemory/GraphicsSharedMemoryCommands.h
-		../SharedMemory/GraphicsSharedMemoryPublic.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/b3PluginManager.h
-		
-		../../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/tinyxml2/tinyxml2.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
-		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
-		../../examples/ThirdPartyLibs/stb_image/stb_image_write.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_PYBULLET_CLSOCKET)
+
+IF(BUILD_CLSOCKET)
 ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
-ENDIF(BUILD_PYBULLET_CLSOCKET)
+ENDIF()

 IF(WIN32)
 	LINK_LIBRARIES(
 		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 	)
-	IF(BUILD_PYBULLET_ENET)
+	IF(BUILD_ENET)
 		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
-	ENDIF(BUILD_PYBULLET_ENET)
-	IF(BUILD_PYBULLET_CLSOCKET)
+	ENDIF()
+	IF(BUILD_CLSOCKET)
 		ADD_DEFINITIONS(-DWIN32)
-	ENDIF(BUILD_PYBULLET_CLSOCKET)
+	ENDIF()

 ELSE(WIN32)
-	IF(BUILD_PYBULLET_ENET)
+	IF(BUILD_ENET)
 		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
-	ENDIF(BUILD_PYBULLET_ENET)
+	ENDIF()

-	IF(BUILD_PYBULLET_CLSOCKET)	
+	IF(BUILD_CLSOCKET)	
 		ADD_DEFINITIONS(${OSDEF})
-	ENDIF(BUILD_PYBULLET_CLSOCKET)
+	ENDIF()
 ENDIF(WIN32)


-IF(BUILD_PYBULLET_ENET)
-	set(pybullet_SRCS ${pybullet_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_PYBULLET_ENET)
-
-IF(BUILD_PYBULLET_CLSOCKET)
-	set(pybullet_SRCS ${pybullet_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()

 ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})

@ -180,9 +62,9 @@ SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")


 IF(WIN32)
-	IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
+	IF(BUILD_ENET OR BUILD_CLSOCKET)
 		TARGET_LINK_LIBRARIES(pybullet ws2_32 )
-	ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
+	ENDIF()

 	SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
 ENDIF(WIN32)
@ -193,7 +75,7 @@ ENDIF()



-TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
+TARGET_LINK_LIBRARIES(pybullet BulletRoboticsGUI BulletExampleBrowserLib BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)

 IF (WIN32)
  TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES})
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@ -6096,7 +6096,7 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	static char* kwlist[] = {"physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist,  &physicsClientId))
 	{
 		return NULL;
 	}
@ -6117,6 +6117,36 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
 	return Py_None;
 }

+
+static PyObject* pybullet_removeAllUserParameters(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	b3SharedMemoryCommandHandle commandHandle;
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = {  "physicsClientId", NULL };
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
+	{
+		return NULL;
+	}
+
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	commandHandle = b3InitUserRemoveAllParameters(sm);
+
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+	statusType = b3GetStatusType(statusHandle);
+
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
 static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	b3SharedMemoryStatusHandle statusHandle;
@ -8590,6 +8620,7 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject*
 {
 	int bodyUniqueId = -1;
 	int linkIndex = -1;
+	int collisionShapeIndex = -1;
 	b3PhysicsClientHandle sm = 0;
 	b3SharedMemoryCommandHandle command;
 	b3SharedMemoryStatusHandle statusHandle;
@ -8597,8 +8628,8 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject*
 	int statusType;

 	int physicsClientId = 0;
-	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|ii", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "collisionShapeIndex", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|iii", kwlist, &bodyUniqueId, &linkIndex,&collisionShapeIndex, &physicsClientId))
 	{
 		return NULL;
 	}
@ -8609,6 +8640,10 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject*
 		return NULL;
 	}
 	command = b3GetMeshDataCommandInit(sm, bodyUniqueId, linkIndex);
+	if (collisionShapeIndex >= 0)
+	{
+		b3GetMeshDataSetCollisionShapeIndex(command, collisionShapeIndex);
+	}
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	statusType = b3GetStatusType(statusHandle);
 	if (statusType == CMD_REQUEST_MESH_DATA_COMPLETED)
@ -12270,6 +12305,9 @@ static PyMethodDef SpamMethods[] = {
 	{"removeAllUserDebugItems", (PyCFunction)pybullet_removeAllUserDebugItems, METH_VARARGS | METH_KEYWORDS,
 	 "remove all user debug draw items"},

+	 { "removeAllUserParameters", (PyCFunction)pybullet_removeAllUserParameters, METH_VARARGS | METH_KEYWORDS,
+		 "remove all user debug parameters (sliders, buttons)" },
+
 	{"setDebugObjectColor", (PyCFunction)pybullet_setDebugObjectColor, METH_VARARGS | METH_KEYWORDS,
 	 "Override the wireframe debug drawing color for a particular object unique id / link index."
 	 "If you ommit the color, the custom color will be removed."},
--- a/setup.py
+++ b/setup.py
@ -499,7 +499,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:

 setup(
    name='pybullet',
-    version='2.6.7',
+    version='2.6.8',
    description=
    'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
    long_description=