Merge pull request #1046 from erwincoumans/master

enable --opengl2 fallback for example browser in 'physics server' mode too.

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -495,10 +495,10 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
 		{
 			fprintf(f,"--enable_experimental_opencl\n");
 		}
-		if (sUseOpenGL2 )
+//		if (sUseOpenGL2 )
-		{
+//		{
-			fprintf(f,"--opengl2\n");
+//			fprintf(f,"--opengl2\n");
-		}
+//		}
 
 		fclose(f);
 	}
@@ -1237,8 +1237,8 @@ void OpenGLExampleBrowser::update(float deltaTime)
 			if (renderGrid)
             {
                 BT_PROFILE("Draw Grid");
-                glPolygonOffset(3.0, 3);
+                //glPolygonOffset(3.0, 3);
-                glEnable(GL_POLYGON_OFFSET_FILL);
+                //glEnable(GL_POLYGON_OFFSET_FILL);
                 s_app->drawGrid(dg);
                 
             }

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -10,8 +10,6 @@
 
 #include "../OpenGLWindow/SimpleCamera.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
-//backwards compatibility
-#include "GL_ShapeDrawer.h"
 
 
 #define BT_LINE_BATCH_SIZE 512
@@ -147,7 +145,6 @@ struct OpenGLGuiHelperInternalData
 {
 	struct CommonGraphicsApp* m_glApp;
 	class MyDebugDrawer* m_debugDraw;
-	GL_ShapeDrawer* m_gl2ShapeDrawer;
 	bool m_vrMode;
 	int m_vrSkipShadowPass;
 
@@ -178,19 +175,13 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
 	m_data->m_glApp = glApp;
 	m_data->m_debugDraw = 0;
 	
-	m_data->m_gl2ShapeDrawer = 0;
 	
-	if (useOpenGL2)
-	{
-		m_data->m_gl2ShapeDrawer = new GL_ShapeDrawer();
-
-	}
 }
 
 OpenGLGuiHelper::~OpenGLGuiHelper()
 {
 	delete m_data->m_debugDraw;
-	delete m_data->m_gl2ShapeDrawer;
+
 	delete m_data;
 }
 
@@ -337,13 +328,7 @@ void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
 		m_data->m_glApp->m_renderer->renderScene();	
 	}
 	
-	//backwards compatible OpenGL2 rendering
 	
-	if (m_data->m_gl2ShapeDrawer && rbWorld)
-	{
-		m_data->m_gl2ShapeDrawer->enableTexture(true);
-		m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true, m_data->m_glApp->getUpAxis());
-	}
 }
 void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
 {

examples/OpenGLWindow/SimpleOpenGL2App.cpp

@@ -1,13 +1,15 @@
 #include "SimpleOpenGL2App.h"
 #define USE_OPENGL2
 #include "OpenGLInclude.h"
-
+#include "ShapeData.h"
 #include "Bullet3Common/b3Logging.h"//b3Assert?
 #include "Bullet3Common/b3Scalar.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3Quaternion.h"
 #include "../CommonInterfaces/CommonRenderInterface.h"
 #include "../OpenGLWindow/GLPrimitiveRenderer.h"
+#include "GLInstanceGraphicsShape.h"
 #include "stdlib.h"
 #include "TwFonts.h"
 #ifdef __APPLE__
@@ -161,13 +163,13 @@ SimpleOpenGL2App::SimpleOpenGL2App(const char* title, int width, int height)
 
     b3Assert(glGetError() ==GL_NO_ERROR);
 
-	//m_instancingRenderer = new GLInstancingRenderer(128*1024,32*1024*1024);
+	//m_renderer = new GLInstancingRenderer(128*1024,32*1024*1024);
-	//m_instancingRenderer->init();
+	//m_renderer->init();
-	//m_instancingRenderer->resize(width,height);
+	//m_renderer->resize(width,height);
 
 	b3Assert(glGetError() ==GL_NO_ERROR);
 
-	//m_instancingRenderer->InitShaders();
+	//m_renderer->InitShaders();
 
 	m_window->setMouseMoveCallback(Simple2MouseMoveCallback);
 	m_window->setMouseButtonCallback(Simple2MouseButtonCallback);
@@ -275,7 +277,7 @@ void SimpleOpenGL2App::drawGrid(DrawGridData data)
 
 	//we don't use drawPoints because all points would have the same color
 //	b3Vector3 points[3] = { b3MakeVector3(1, 0, 0), b3MakeVector3(0, 1, 0), b3MakeVector3(0, 0, 1) };
-//	m_instancingRenderer->drawPoints(&points[0].x, b3MakeVector3(1, 0, 0), 3, sizeof(b3Vector3), 6);
+//	m_renderer->drawPoints(&points[0].x, b3MakeVector3(1, 0, 0), 3, sizeof(b3Vector3), 6);
 }
 void SimpleOpenGL2App::setUpAxis(int axis)
 {
@@ -466,8 +468,106 @@ void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float world
 	restoreOpenGLState();
 }
 
-void SimpleOpenGL2App::registerGrid(int xres, int yres, float color0[4], float color1[4])
+
+void SimpleOpenGL2App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
 {
+	b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
+	cubeExtents[m_data->m_upAxis] = 0;
+	int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
+
+	b3Quaternion orn(0,0,0,1);
+	b3Vector3 center=b3MakeVector3(0,0,0,1);
+	b3Vector3 scaling=b3MakeVector3(1,1,1,1);
+
+	for ( int i = 0; i < cells_x; i++) 
+	{
+		for (int j = 0; j < cells_z; j++) 
+		{
+			float* color =0;
+			if ((i + j) % 2 == 0) 
+			{
+				color = (float*)color0;
+			} else {
+				color = (float*)color1;
+			}
+			if (this->m_data->m_upAxis==1)
+			{
+				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, 0.f, (j + 0.5f) - cells_z * 0.5f);
+			} else
+			{
+				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,0.f );
+			}
+			m_renderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
+		}
+	}
 	
 }
 
+int	SimpleOpenGL2App::registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId)
+{
+
+	int strideInBytes = 9*sizeof(float);
+
+	int graphicsShapeIndex = -1;
+
+	switch (lod)
+	{
+		case 		SPHERE_LOD_POINT_SPRITE:
+		{
+			int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(point_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_renderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS,textureId);
+			break;
+		}
+
+		case SPHERE_LOD_LOW:
+		{
+			int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(low_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_renderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
+			break;
+		}
+		case SPHERE_LOD_MEDIUM:
+		{
+			int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_renderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
+			break;
+		}
+		case SPHERE_LOD_HIGH:
+		default:
+		{
+			int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_renderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
+			break;
+		}
+	};
+	return graphicsShapeIndex;
+}
+
+
+int	SimpleOpenGL2App::registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex,  float textureScaling )
+{
+	int strideInBytes = 9*sizeof(float);
+	int numVertices = sizeof(cube_vertices_textured)/strideInBytes;
+	int numIndices = sizeof(cube_indices)/sizeof(int);
+
+	b3AlignedObjectArray<GLInstanceVertex> verts;
+	verts.resize(numVertices);
+	for (int i=0;i<numVertices;i++)
+	{
+		verts[i].xyzw[0] = halfExtentsX*cube_vertices_textured[i*9];
+		verts[i].xyzw[1] = halfExtentsY*cube_vertices_textured[i*9+1];
+		verts[i].xyzw[2] = halfExtentsZ*cube_vertices_textured[i*9+2];
+		verts[i].xyzw[3] = cube_vertices_textured[i*9+3];
+		verts[i].normal[0] = cube_vertices_textured[i*9+4];
+		verts[i].normal[1]= cube_vertices_textured[i*9+5];
+		verts[i].normal[2] = cube_vertices_textured[i*9+6];
+		verts[i].uv[0] = cube_vertices_textured[i*9+7]*textureScaling;
+		verts[i].uv[1] = cube_vertices_textured[i*9+8]*textureScaling;
+	}
+	
+	int shapeId = m_renderer->registerShape(&verts[0].xyzw[0],numVertices,cube_indices,numIndices,B3_GL_TRIANGLES,textureIndex);
+	return shapeId;
+}

examples/OpenGLWindow/SimpleOpenGL2App.h

@@ -20,14 +20,9 @@ public:
 	virtual void drawText( const char* txt, int posX, int posY, float size);
 	virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA){};
 	virtual void setBackgroundColor(float red, float green, float blue);
-	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1)
+	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1);
-	{
+
-		return 0;
+	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1);
-	}
-	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1)
-	{
-		return 0;
-	}
     virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
     virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
 

examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp

@@ -2,13 +2,63 @@
 #include "SimpleOpenGL2Renderer.h"
 #include "OpenGL2Include.h"
 #include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "GLInstanceGraphicsShape.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3Transform.h"
 
+B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Shape
+{
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	int m_textureIndex;
+	int m_primitiveType;
+	b3AlignedObjectArray<int> m_indices;
+	b3AlignedObjectArray<GLInstanceVertex> m_vertices;
+	b3Vector3 m_scaling;
+};
+
+B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Instance
+{
+	B3_DECLARE_ALIGNED_ALLOCATOR();
+
+	int m_shapeIndex;
+	b3Vector3 m_position;
+	b3Quaternion orn;
+	b3Vector3 m_rgbColor;
+	b3Vector3 m_scaling;
+};
+
+
+
+struct InternalTextureHandle2
+{
+    GLuint  m_glTexture;
+    int m_width;
+    int m_height;
+};
+
+struct SimpleOpenGL2RendererInternalData
+{
+	int m_width;
+    int m_height;
+    SimpleCamera	m_camera;
+	b3AlignedObjectArray<SimpleGL2Shape*> m_shapes;
+	b3AlignedObjectArray<SimpleGL2Instance> m_graphicsInstances;
+	b3AlignedObjectArray<InternalTextureHandle2>	m_textureHandles;
+
+};
 
 SimpleOpenGL2Renderer::SimpleOpenGL2Renderer(int width, int height)
- :m_width(width),
- m_height(height)
 {
+    m_data = new SimpleOpenGL2RendererInternalData;
+	m_data->m_width = width;
+	m_data->m_height = height;
+}
 
+SimpleOpenGL2Renderer::~SimpleOpenGL2Renderer()
+{
+	delete m_data;
 }
 
 void SimpleOpenGL2Renderer::init()
@@ -17,11 +67,11 @@ void SimpleOpenGL2Renderer::init()
 
 const CommonCameraInterface* SimpleOpenGL2Renderer::getActiveCamera() const
 {
-	return &m_camera;
+	return &m_data->m_camera;
 }
 CommonCameraInterface* SimpleOpenGL2Renderer::getActiveCamera()
 {
-	return &m_camera;
+	return &m_data->m_camera;
 }
 void SimpleOpenGL2Renderer::setActiveCamera(CommonCameraInterface* cam)
 {
@@ -32,11 +82,11 @@ void SimpleOpenGL2Renderer::updateCamera(int upAxis)
 {
     float projection[16];
     float view[16];
-    m_camera.setAspectRatio((float)m_width/(float)m_height);
+    getActiveCamera()->setAspectRatio((float)m_data->m_width/(float)m_data->m_height);
-	m_camera.setCameraUpAxis(upAxis);
+	getActiveCamera()->setCameraUpAxis(upAxis);
-    m_camera.update();
+    m_data->m_camera.update(); //??
-    m_camera.getCameraProjectionMatrix(projection);
+    getActiveCamera()->getCameraProjectionMatrix(projection);
-    m_camera.getCameraViewMatrix(view);
+    getActiveCamera()->getCameraViewMatrix(view);
     GLfloat projMat[16];
     GLfloat viewMat[16];
     for (int i=0;i<16;i++)
@@ -55,6 +105,14 @@ void SimpleOpenGL2Renderer::updateCamera(int upAxis)
 
 void SimpleOpenGL2Renderer::removeAllInstances()
 {
+	for (int i=0;i<m_data->m_shapes.size();i++)
+	{
+		delete m_data->m_shapes[i];
+	}
+	m_data->m_shapes.clear();
+	m_data->m_graphicsInstances.clear();
+	//also destroy textures?
+	m_data->m_textureHandles.clear();
 }
 
 
@@ -76,7 +134,7 @@ void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int src
 
 int SimpleOpenGL2Renderer::getTotalNumInstances() const
 {
-    return 0;
+    return m_data->m_graphicsInstances.size();
 }
 
 void	SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
@@ -90,21 +148,323 @@ void	SimpleOpenGL2Renderer::getCameraProjectionMatrix(float projMat[16]) const
 }
 
 
+void SimpleOpenGL2Renderer::drawOpenGL(int instanceIndex)
+{
+	const SimpleGL2Instance& inst = m_data->m_graphicsInstances[instanceIndex];
+	const SimpleGL2Shape* shape = m_data->m_shapes[inst.m_shapeIndex];
+
+
+	glPushMatrix(); 
+	b3Transform tr;
+	tr.setOrigin(b3MakeVector3(inst.m_position[0],inst.m_position[1],inst.m_position[2]));
+	tr.setRotation(b3Quaternion(inst.orn[0],inst.orn[1],inst.orn[2],inst.orn[3]));
+
+	b3Scalar m[16];
+
+	tr.getOpenGLMatrix(m);
+
+#ifdef B3_USE_DOUBLE_PRECISION
+	glMultMatrixd(m);
+#else
+		glMultMatrixf(m);
+#endif
+
+
+	#if 0
+	glMatrixMode(GL_TEXTURE);
+	glLoadIdentity();
+	glScalef(0.025f,0.025f,0.025f);
+	glMatrixMode(GL_MODELVIEW);
+
+	static const GLfloat	planex[]={1,0,0,0};
+	//	static const GLfloat	planey[]={0,1,0,0};
+		static const GLfloat	planez[]={0,0,1,0};
+		glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
+		glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
+		glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+		glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
+		glEnable(GL_TEXTURE_GEN_S);
+		glEnable(GL_TEXTURE_GEN_T);
+		glEnable(GL_TEXTURE_GEN_R);
+		m_textureinitialized=true;
+
+		
+			
+		#endif
+
+	//drawCoordSystem();
+
+	//glPushMatrix();
+//	glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
+//	glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
+//	glMatrixMode(GL_TEXTURE);
+//	glLoadIdentity();
+	glMatrixMode(GL_MODELVIEW);
+
+	glEnable(GL_COLOR_MATERIAL);
+
+	if(shape->m_textureIndex>=0)
+	{
+		glEnable(GL_TEXTURE_2D);
+		activateTexture(shape->m_textureIndex);
+	} else
+	{
+		glDisable(GL_TEXTURE_2D);
+	}
+
+
+	glColor3f(inst.m_rgbColor[0],inst.m_rgbColor[1], inst.m_rgbColor[2]);		
+	glScalef(inst.m_scaling[0],inst.m_scaling[1],inst.m_scaling[2]);
+	glShadeModel(GL_SMOOTH);
+
+	glBegin (GL_TRIANGLES);
+	for (int i=0;i<shape->m_indices.size();i+=3)
+	{
+		for (int v=0;v<3;v++)
+		{
+			const GLInstanceVertex& vtx0 = shape->m_vertices[shape->m_indices[i+v]];
+			glNormal3f(vtx0.normal[0],vtx0.normal[1],vtx0.normal[2]);
+			glTexCoord2f(vtx0.uv[0],vtx0.uv[1]);
+			glVertex3f (vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
+		}			
+	}
+	glEnd();
+
+	glPopMatrix();
+
+}
+
+void SimpleOpenGL2Renderer::drawSceneInternal(int pass, int cameraUpAxis)
+{
+	for (int i=0;i<m_data->m_graphicsInstances.size();i++)
+	{
+		drawOpenGL(i);
+	}
+
+	#if 0
+	b3Scalar	m[16];
+	b3Matrix3x3	rot;rot.setIdentity();
+	const int	numObjects=dynamicsWorld->getNumCollisionObjects();
+	btVector3 wireColor(1,0,0);
+	//glDisable(GL_CULL_FACE);
+			
+	for(int i=0;i<numObjects;i++)
+	{
+		const btCollisionObject*	colObj=dynamicsWorld->getCollisionObjectArray()[i];
+		const btRigidBody*		body=btRigidBody::upcast(colObj);
+		if(body&&body->getMotionState())
+		{
+			btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
+			myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
+			rot=myMotionState->m_graphicsWorldTrans.getBasis();
+		}
+		else
+		{
+			colObj->getWorldTransform().getOpenGLMatrix(m);
+			rot=colObj->getWorldTransform().getBasis();
+		}
+		btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
+		if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
+		///color differently for active, sleeping, wantsdeactivation states
+		if (colObj->getActivationState() == 1) //active
+		{
+			if (i & 1)
+			{
+				wireColor += btVector3 (1.f,0.f,0.f);
+			}
+			else
+			{
+				wireColor += btVector3 (.5f,0.f,0.f);
+			}
+		}
+		if(colObj->getActivationState()==2) //ISLAND_SLEEPING
+		{
+			if(i&1)
+			{
+				wireColor += btVector3 (0.f,1.f, 0.f);
+			}
+			else
+			{
+				wireColor += btVector3 (0.f,0.5f,0.f);
+			}
+		}
+
+		btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
+		//m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
+
+		aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+		aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+	//		printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
+	//		printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
+	//		m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
+
+		//switch(pass)
+		
+		//if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe))
+		int debugMode = 0;//getDebugMode()
+		//btVector3 m_sundirection(-1,-1,-1);
+		
+		btVector3 m_sundirection(btVector3(1,-2,1)*1000);
+		if (cameraUpAxis==2)
+		{
+			m_sundirection = btVector3(1,1,-2)*1000;
+		}
+				
+		switch(pass)
+		{
+			case	0:	drawOpenGL(m,colObj->getCollisionShape(),wireColor,debugMode,aabbMin,aabbMax);break;
+			case	1:	drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
+			case	2:	drawOpenGL(m,colObj->getCollisionShape(),wireColor*b3Scalar(0.3),0,aabbMin,aabbMax);break;
+		}
+	}
+	#endif
+
+}
+
 void SimpleOpenGL2Renderer::renderScene()
 {
+	GLfloat light_ambient[] = { b3Scalar(0.2), b3Scalar(0.2), b3Scalar(0.2), b3Scalar(1.0) };
+	GLfloat light_diffuse[] = { b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0) };
+	GLfloat light_specular[] = { b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0 )};
+	/*	light_position is NOT default value	*/
+	GLfloat light_position0[] = { b3Scalar(1.0), b3Scalar(10.0), b3Scalar(1.0), b3Scalar(0.0 )};
+	GLfloat light_position1[] = { b3Scalar(-1.0), b3Scalar(-10.0), b3Scalar(-1.0), b3Scalar(0.0) };
+
+	glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
+	glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
+	glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
+	glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
+
+	glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
+	glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
+	glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
+	glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
+
+	glEnable(GL_LIGHTING);
+	glEnable(GL_LIGHT0);
+	glEnable(GL_LIGHT1);
+
+
+	glShadeModel(GL_SMOOTH);
+	glEnable(GL_DEPTH_TEST);
+	glDepthFunc(GL_LESS);
+
+	drawSceneInternal(0,0);
 }
     
     
+int	SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int width, int height)
+{
+	b3Assert(glGetError() ==GL_NO_ERROR);
+	glActiveTexture(GL_TEXTURE0);
+	int textureIndex = m_data->m_textureHandles.size();
+  //  const GLubyte*	image= (const GLubyte*)texels;	
+	GLuint textureHandle;
+	glGenTextures(1,(GLuint*)&textureHandle);
+	glBindTexture(GL_TEXTURE_2D,textureHandle);
+
+	b3Assert(glGetError() ==GL_NO_ERROR);
+
+	InternalTextureHandle2 h;
+    h.m_glTexture = textureHandle;
+    h.m_width = width;
+    h.m_height = height;
+
+	m_data->m_textureHandles.push_back(h);
+	updateTexture(textureIndex, texels);
+	return textureIndex;
+}
+
+
+void    SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned char* texels)
+{
+    if (textureIndex>=0)
+    {
+		
+		
+
+        glActiveTexture(GL_TEXTURE0);
+        b3Assert(glGetError() ==GL_NO_ERROR);
+        InternalTextureHandle2& h = m_data->m_textureHandles[textureIndex];
+
+		//textures need to be flipped for OpenGL...
+		b3AlignedObjectArray<unsigned char> flippedTexels;
+		flippedTexels.resize(h.m_width* h.m_height * 3);
+		for (int i = 0; i < h.m_width; i++)
+		{
+			for (int j = 0; j < h.m_height; j++)
+			{
+				flippedTexels[(i + j*h.m_width) * 3] =      texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
+				flippedTexels[(i + j*h.m_width) * 3+1] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
+				flippedTexels[(i + j*h.m_width) * 3+2] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
+			}
+		}
+
+
+        glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
+        b3Assert(glGetError() ==GL_NO_ERROR);
+      //  const GLubyte*	image= (const GLubyte*)texels;	
+        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
+        b3Assert(glGetError() ==GL_NO_ERROR);
+        glGenerateMipmap(GL_TEXTURE_2D);
+        b3Assert(glGetError() ==GL_NO_ERROR);
+    }
+}
+
+void SimpleOpenGL2Renderer::activateTexture(int textureIndex)
+{
+    glActiveTexture(GL_TEXTURE0);
+    
+    if (textureIndex>=0)
+    {
+        glBindTexture(GL_TEXTURE_2D,m_data->m_textureHandles[textureIndex].m_glTexture);
+    } else
+    {
+        glBindTexture(GL_TEXTURE_2D,0);
+    }
+}
 
 
 int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling)
 {
-    return 0;
+	int sz = m_data->m_graphicsInstances.size();
+	SimpleGL2Instance& instance = m_data->m_graphicsInstances.expand();
+	instance.m_shapeIndex = shapeIndex;
+	instance.m_position[0] = position[0];
+	instance.m_position[1] = position[1];
+	instance.m_position[2] = position[2];
+	instance.orn[0] = quaternion[0];
+	instance.orn[1] = quaternion[1];
+	instance.orn[2] = quaternion[2];
+	instance.orn[3] = quaternion[3];
+	instance.m_rgbColor[0] = color[0];
+	instance.m_rgbColor[1] = color[1];
+	instance.m_rgbColor[2] = color[2];
+	instance.m_scaling[0] = scaling[0];
+	instance.m_scaling[1] = scaling[1];
+	instance.m_scaling[2] = scaling[2];
+	return sz;
 }
 
 int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
 {
-    return 0;
+	int sz = m_data->m_graphicsInstances.size();
+	SimpleGL2Instance& instance = m_data->m_graphicsInstances.expand();
+	instance.m_shapeIndex = shapeIndex;
+	instance.m_position[0] = position[0];
+	instance.m_position[1] = position[1];
+	instance.m_position[2] = position[2];
+	instance.orn[0] = quaternion[0];
+	instance.orn[1] = quaternion[1];
+	instance.orn[2] = quaternion[2];
+	instance.orn[3] = quaternion[3];
+	instance.m_rgbColor[0] = color[0];
+	instance.m_rgbColor[1] = color[1];
+	instance.m_rgbColor[2] = color[2];
+	instance.m_scaling[0] = scaling[0];
+	instance.m_scaling[1] = scaling[1];
+	instance.m_scaling[2] = scaling[2];
+	return sz;
 }
 
 void SimpleOpenGL2Renderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize)
@@ -141,25 +501,91 @@ void SimpleOpenGL2Renderer::drawLine(const float from[4], const float to[4], con
         glVertex3d(to[0],to[1],to[2]);
         glEnd();
 }
+
+
 int SimpleOpenGL2Renderer::registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureIndex)
 {
-    return 0;
+
+	SimpleGL2Shape* shape = new SimpleGL2Shape();
+	shape->m_textureIndex = textureIndex;
+	shape->m_indices.resize(numIndices);
+
+	for (int i=0;i<numIndices;i++)
+	{
+		shape->m_indices[i]=indices[i];
+	}
+
+	shape->m_vertices.resize(numvertices);
+
+	for (int v=0;v<numvertices;v++)
+	{
+		GLInstanceVertex& vtx = shape->m_vertices[v];
+		vtx.xyzw[0] = vertices[9*v+0];
+		vtx.xyzw[1] = vertices[9*v+1];
+		vtx.xyzw[2] = vertices[9*v+2];
+		vtx.xyzw[3] = vertices[9*v+3];
+		vtx.normal[0] = vertices[9*v+4];
+		vtx.normal[1] = vertices[9*v+5];
+		vtx.normal[2] = vertices[9*v+6];
+		vtx.uv[0] = vertices[9*v+7];
+		vtx.uv[1] = vertices[9*v+8];
+	}
+	int sz = m_data->m_shapes.size();
+	m_data->m_shapes.push_back(shape);
+	return sz;
 }
 
 void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)
 {
+	m_data->m_graphicsInstances[srcIndex].m_position[0] = position[0];
+	m_data->m_graphicsInstances[srcIndex].m_position[1] = position[1];
+	m_data->m_graphicsInstances[srcIndex].m_position[2] = position[2];
+
+	m_data->m_graphicsInstances[srcIndex].orn[0] = orientation[0];
+	m_data->m_graphicsInstances[srcIndex].orn[1] = orientation[1];
+	m_data->m_graphicsInstances[srcIndex].orn[2] = orientation[2];
+	m_data->m_graphicsInstances[srcIndex].orn[3] = orientation[3];
+
 }
 void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)
 {
+	m_data->m_graphicsInstances[srcIndex].m_position[0] = position[0];
+	m_data->m_graphicsInstances[srcIndex].m_position[1] = position[1];
+	m_data->m_graphicsInstances[srcIndex].m_position[2] = position[2];
+
+	m_data->m_graphicsInstances[srcIndex].orn[0] = orientation[0];
+	m_data->m_graphicsInstances[srcIndex].orn[1] = orientation[1];
+	m_data->m_graphicsInstances[srcIndex].orn[2] = orientation[2];
+	m_data->m_graphicsInstances[srcIndex].orn[3] = orientation[3];
 }
 void SimpleOpenGL2Renderer::writeTransforms()
 {
 }
 
+void	SimpleOpenGL2Renderer::resize(int width, int height)
+{
+	m_data->m_width = width;
+	m_data->m_height = height;
+}
+
+int SimpleOpenGL2Renderer::getScreenWidth()
+{
+    return m_data->m_width;
+}
+int SimpleOpenGL2Renderer::getScreenHeight()
+{
+    return m_data->m_height;
+}
+
 
 void SimpleOpenGL2Renderer::drawLine(const double from[4], const double to[4], const double color[4], double lineWidth)
 {
-    
+    glLineWidth(lineWidth);
+    glBegin(GL_LINES);
+    glColor3f(color[0],color[1],color[2]);
+    glVertex3d(from[0],from[1],from[2]);
+    glVertex3d(to[0],to[1],to[2]);
+    glEnd();
 }
 void SimpleOpenGL2Renderer::drawPoint(const float* position, const float color[4], float pointDrawSize)
 {
@@ -170,6 +596,23 @@ void SimpleOpenGL2Renderer::drawPoint(const double* position, const double color
 
 void SimpleOpenGL2Renderer::updateShape(int shapeIndex, const float* vertices)
 {
+	SimpleGL2Shape* shape = m_data->m_shapes[shapeIndex];
+	int numvertices = shape->m_vertices.size();
+	
+	for (int i=0;i<numvertices;i++)
+	{
+		shape->m_vertices[i].xyzw[0] = vertices[9*i+0];
+		shape->m_vertices[i].xyzw[1] = vertices[9*i+1];
+		shape->m_vertices[i].xyzw[2] = vertices[9*i+2];
+		shape->m_vertices[i].xyzw[3] = vertices[9*i+3];
+
+		shape->m_vertices[i].normal[0] = vertices[9*i+4];
+		shape->m_vertices[i].normal[1] = vertices[9*i+5];
+		shape->m_vertices[i].normal[2] = vertices[9*i+6];
+
+		shape->m_vertices[i].uv[0] = vertices[9*i+7];
+		shape->m_vertices[i].uv[1] = vertices[9*i+8];
+	}
 }
 
 void SimpleOpenGL2Renderer::enableBlend(bool blend)

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -5,13 +5,17 @@
 #include "../CommonInterfaces/CommonRenderInterface.h"
 #include "SimpleCamera.h"
 
-struct SimpleOpenGL2Renderer : public CommonRenderInterface
+class SimpleOpenGL2Renderer : public CommonRenderInterface
 {
-    int m_width;
+	struct SimpleOpenGL2RendererInternalData* m_data;
-    int m_height;
+  
-    SimpleCamera	m_camera;
+	void drawSceneInternal(int pass, int cameraUpAxis);
+	void drawOpenGL(int instanceIndex);
+
+public:
 
     SimpleOpenGL2Renderer(int width, int height);
+    virtual ~SimpleOpenGL2Renderer();
 
     virtual void init();
     
@@ -21,11 +25,7 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
 	virtual CommonCameraInterface* getActiveCamera();
 	virtual void setActiveCamera(CommonCameraInterface* cam);
 
-	virtual void	resize(int width, int height)
+	virtual void	resize(int width, int height);
-	{
-		m_width = width;
-		m_height = height;
-	}
 
     virtual void removeAllInstances();
     
@@ -40,20 +40,11 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
     
     virtual void renderScene();
     
-    virtual int getScreenWidth()
+    virtual int getScreenWidth();
-    {
+    virtual int getScreenHeight();
-        return m_width;
+	virtual int	registerTexture(const unsigned char* texels, int width, int height);
-    }
+	virtual void    updateTexture(int textureIndex, const unsigned char* texels);
-    virtual int getScreenHeight()
+    virtual void activateTexture(int textureIndex);
-    {
-        return m_height;
-    }
-	virtual int	registerTexture(const unsigned char* texels, int width, int height)
-	{
-		return -1;
-	}
-	virtual void    updateTexture(int textureIndex, const unsigned char* texels) {}
-    virtual void activateTexture(int textureIndex) {}
 
 
     virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);

examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp

@@ -260,6 +260,8 @@ int b3RobotSimulatorClientAPI::loadURDF(const std::string& fileName, const struc
 
 	//setting the initial position, orientation and other arguments are optional
 
+	b3LoadUrdfCommandSetFlags(command,args.m_flags);
+
 	b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
 									  args.m_startPosition[1],
 									  args.m_startPosition[2]);

examples/RobotSimulator/b3RobotSimulatorClientAPI.h

@@ -15,12 +15,14 @@ struct b3RobotSimulatorLoadUrdfFileArgs
 	b3Quaternion m_startOrientation;
 	bool m_forceOverrideFixedBase;
 	bool m_useMultiBody;
+	int m_flags;
 
 	b3RobotSimulatorLoadUrdfFileArgs()
 		: m_startPosition(b3MakeVector3(0, 0, 0)),
 		  m_startOrientation(b3Quaternion(0, 0, 0, 1)),
 		  m_forceOverrideFixedBase(false),
-		  m_useMultiBody(true)
+		  m_useMultiBody(true),
+		  m_flags(0)
 	{
 	}
 };

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -238,6 +238,19 @@ int	b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
 	return -1;
 }
 
+int	b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_LOAD_URDF);
+	if (command && (command->m_type == CMD_LOAD_URDF))
+	{
+		command->m_updateFlags |= 	URDF_ARGS_HAS_CUSTOM_URDF_FLAGS;
+		command->m_urdfArguments.m_urdfFlags = flags;
+	}
+	return 0;
+}
+
 int	b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ)
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -217,6 +217,7 @@ int	b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle,
 int	b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW);
 int	b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
 int	b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase);
+int	b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
 
 b3SharedMemoryCommandHandle	b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
 b3SharedMemoryCommandHandle	b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1539,7 +1539,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
 
 
 bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn,
-                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes)
+                             bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags)
 {
 	BT_PROFILE("loadURDF");
 	btAssert(m_data->m_dynamicsWorld);
@@ -1597,7 +1597,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
         //                      printf("urdf root link index = %d\n",rootLinkIndex);
 		MyMultiBodyCreator creation(m_data->m_guiHelper);
 
-        ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
+        ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
 
         for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
         {
@@ -2617,6 +2617,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						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];
@@ -2630,8 +2635,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     //load the actual URDF and send a report: completed or failed
                     bool completedOk = loadUrdf(urdfArgs.m_urdfFileName,
                                                initialPos,initialOrn,
-                                               useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
+                                               useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes, urdfFlags);
-
 
                     if (completedOk)
                     {
@@ -5399,7 +5403,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		btVector3 spawnDir = mat.getColumn(0);
 		btVector3 shiftPos = spawnDir*spawnDistance;
 		btVector3 spawnPos = gVRGripperPos + shiftPos;
-		loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+		loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size(),0);
 		//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		m_data->m_sphereId = bodyId;
 		InteralBodyData* parentBody = m_data->getHandle(bodyId);

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -35,7 +35,7 @@ protected:
 	bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
 
 	bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
-		bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
+		bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes, int flags=0);
 
 	bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
 

examples/SharedMemory/SharedMemoryCommands.h

@@ -79,6 +79,7 @@ enum EnumUrdfArgsUpdateFlags
 	URDF_ARGS_INITIAL_ORIENTATION=4,
 	URDF_ARGS_USE_MULTIBODY=8,
 	URDF_ARGS_USE_FIXED_BASE=16,
+	URDF_ARGS_HAS_CUSTOM_URDF_FLAGS = 32
 };
 
 
@@ -89,6 +90,7 @@ struct UrdfArgs
 	double m_initialOrientation[4];
 	int m_useMultiBody;
 	int m_useFixedBase;
+	int m_urdfFlags;
 };
 
 struct MjcfArgs

examples/SharedMemory/SharedMemoryPublic.h

@@ -447,4 +447,9 @@ enum eCONNECT_METHOD {
   eCONNECT_TCP = 5,
 };
 
+enum eURDF_Flags
+{
+	URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
+};
+
 #endif//SHARED_MEMORY_PUBLIC_H

examples/pybullet/pybullet.c

@@ -693,8 +693,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int physicsClientId = 0;
+	int flags = 0;
 
-	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "physicsClientId", NULL};
+	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","physicsClientId", NULL};
 
 	static char* kwlistBackwardCompatible4[] = {"fileName", "startPosX", "startPosY", "startPosZ", NULL};
 	static char* kwlistBackwardCompatible8[] = {"fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY", "startOrnZ", "startOrnW", NULL};
@@ -741,7 +742,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 		double basePos[3];
 		double baseOrn[4];
 
-		if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &physicsClientId))
+		if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &physicsClientId))
 		{
 			return NULL;
 		}
@@ -790,6 +791,8 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
 		b3SharedMemoryCommandHandle command =
 			b3LoadUrdfCommandInit(sm, urdfFileName);
 
+		b3LoadUrdfCommandSetFlags(command,flags);
+
 		// setting the initial position, orientation and other arguments are
 		// optional
 		b3LoadUrdfCommandSetStartPosition(command, startPosX, startPosY, startPosZ);
@@ -3916,15 +3919,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
 	b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
 	b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
 
-	b3RequestCameraImageSelectRenderer(command, renderer);
+	b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
 
 	if (b3CanSubmitCommand(sm))
 	{
 		b3SharedMemoryStatusHandle statusHandle;
 		int statusType;
 
-		// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
-
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
@@ -4349,7 +4350,6 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
 		b3SharedMemoryStatusHandle statusHandle;
 		int statusType;
 
-		// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
 
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);
@@ -5422,6 +5422,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
 	PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
 
+	PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
+	
 	PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);
 	PyModule_AddIntConstant(m, "B3G_F2", B3G_F2);
 	PyModule_AddIntConstant(m, "B3G_F3", B3G_F3);