OpenVR controller can pick/drag objects. Instructions, Windows only:

Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)

Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.

build_visual_studio.bat

@@ -14,6 +14,6 @@ rem cd vs2010
 rem rename 0_Bullet3Solution.sln 0_client.sln
 rem cd ..
 rem rename vs2010 vs2010_client
-start vs2010/0_Bullet3Solution.sln
+rem start vs2010/0_Bullet3Solution.sln
 
 pause

data/kuka_iiwa/model.urdf

@@ -77,7 +77,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_0.stl"/>
+        <mesh filename="meshes/link_0.stl"/>
       </geometry>
     </collision>
   </link>
@@ -106,7 +106,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_1.stl"/>
+        <mesh filename="meshes/link_1.stl"/>
       </geometry>
     </collision>
   </link>
@@ -135,7 +135,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_2.stl"/>
+        <mesh filename="meshes/link_2.stl"/>
       </geometry>
     </collision>
   </link>
@@ -164,7 +164,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_3.stl"/>
+        <mesh filename="meshes/link_3.stl"/>
       </geometry>
     </collision>
   </link>
@@ -193,7 +193,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_4.stl"/>
+        <mesh filename="meshes/link_4.stl"/>
       </geometry>
     </collision>
   </link>
@@ -222,7 +222,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_5.stl"/>
+        <mesh filename="meshes/link_5.stl"/>
       </geometry>
     </collision>
   </link>
@@ -251,7 +251,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_6.stl"/>
+        <mesh filename="meshes/link_6.stl"/>
       </geometry>
     </collision>
   </link>
@@ -280,7 +280,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_7.stl"/>
+        <mesh filename="meshes/link_7.stl"/>
       </geometry>
     </collision>
   </link>

examples/CommonInterfaces/CommonExampleInterface.h

@@ -46,6 +46,8 @@ public:
 	virtual bool	mouseButtonCallback(int button, int state, float x, float y)=0;
 	virtual bool	keyboardCallback(int key, int state)=0;
 
+	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]) {}
+	virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
 };
 
 class ExampleEntries

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -16,9 +16,9 @@ subject to the following restrictions:
 
 
 ///todo: make this configurable in the gui
-bool useShadowMap=true;//false;//true;
+bool useShadowMap = true;// true;//false;//true;
 int shadowMapWidth=4096;//8192;
-int shadowMapHeight=4096;
+int shadowMapHeight= 4096;
 float shadowMapWorldSize=25;
 
 #define MAX_POINTS_IN_BATCH 1024
@@ -363,7 +363,7 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int srcI
 void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectIndex)
 {
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	glFlush();
+	//glFlush();
 
 	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
 	//b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
@@ -393,7 +393,7 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
 	orientations [objectIndex*4+3] = orientation[3];
 
 	glUnmapBuffer( GL_ARRAY_BUFFER);
-	glFlush();
+	//glFlush();
 }
 
 
@@ -500,7 +500,7 @@ void GLInstancingRenderer::writeTransforms()
 	glUnmapBuffer( GL_ARRAY_BUFFER);
 	//if this glFinish is removed, the animation is not always working/blocks
 	//@todo: figure out why
-	glFlush();
+	//glFlush();
 
 #endif
 
@@ -1037,7 +1037,7 @@ void GLInstancingRenderer::renderScene()
 	//avoid some Intel driver on a Macbook Pro to lock-up
 	//todo: figure out what is going on on that machine
 
-	glFlush();
+	//glFlush();
 
 	if (useShadowMap)
 	{
@@ -1539,7 +1539,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 		B3_PROFILE("glFlush2");
 
 		glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-		glFlush();
+		//glFlush();
 	}
 b3Assert(glGetError() ==GL_NO_ERROR);
 
@@ -1730,7 +1730,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 
 	{
 			B3_PROFILE("glFlush");
-			glFlush();
+			//glFlush();
 		}
 	if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE)
 	{

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -115,6 +115,15 @@ int     b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, doub
 	return 0;
 }
 
+int     b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_physSimParamArgs.m_allowRealTimeSimulation = enableRealTimeSimulation;
+	command->m_updateFlags |= SIM_PARAM_UPDATE_REAL_TIME_SIMULATION;
+	return 0;
+}
+
 int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -81,6 +81,7 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
 b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
 int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
 int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
+int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
 
 b3SharedMemoryCommandHandle	b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -374,6 +374,8 @@ struct PhysicsServerCommandProcessorInternalData
 
 	///end handle management
 
+	bool m_allowRealTimeSimulation;
+	bool m_hasGround;
 
 	CommandLogger* m_commandLogger;
 	CommandLogPlayback* m_logPlayback;
@@ -417,7 +419,8 @@ struct PhysicsServerCommandProcessorInternalData
 	TinyRendererVisualShapeConverter  m_visualConverter;
 
 	PhysicsServerCommandProcessorInternalData()
-		:
+		:m_hasGround(false),
+		m_allowRealTimeSimulation(false),
 		m_commandLogger(0),
 		m_logPlayback(0),
 		m_physicsDeltaTime(1./240.),
@@ -496,6 +499,9 @@ void PhysicsServerCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiH
 		}
 	}
 	m_data->m_guiHelper = guiHelper;
+
+	
+
 }
 
 
@@ -504,6 +510,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
 	m_data = new PhysicsServerCommandProcessorInternalData();
 
 	createEmptyDynamicsWorld();
+	
 }
 
 PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
@@ -983,7 +990,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
 
 bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
 {
-
+	
 	bool hasStatus = false;
 
     {
@@ -1768,6 +1775,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					{
 						m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;
 					}
+					if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_REAL_TIME_SIMULATION)
+					{
+						m_data->m_allowRealTimeSimulation = clientCmd.m_physSimParamArgs.m_allowRealTimeSimulation;
+					}
 					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY)
 					{
 						btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0],
@@ -1873,7 +1884,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					SharedMemoryStatus& serverCmd =serverStatusOut;
 					serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
 					hasStatus = true;
-
+					m_data->m_hasGround = false;
                     break;
                 }
 				case CMD_CREATE_RIGID_BODY:
@@ -2307,6 +2318,26 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
 	m_data->m_logPlayback = pb;
 }
 
+void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
+{
+	if (m_data->m_allowRealTimeSimulation)
+	{
+		if (!m_data->m_hasGround)
+		{
+			m_data->m_hasGround = true;
+
+			int bodyId = 0;
+			btAlignedObjectArray<char> bufferServerToClient;
+			bufferServerToClient.resize(32768);
+
+
+			loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
+		}
+
+		m_data->m_dynamicsWorld->stepSimulation(dtInSec);
+	}
+}
+
 void PhysicsServerCommandProcessor::applyJointDamping(int bodyUniqueId)
 {
     InteralBodyData* body = m_data->getHandle(bodyUniqueId);

examples/SharedMemory/PhysicsServerCommandProcessor.h

@@ -53,7 +53,8 @@ public:
 	
 	void enableCommandLogging(bool enable, const char* fileName);
 	void replayFromLogFile(const char* fileName);
-    void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
+	void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
+	void stepSimulationRealTime(double dtInSec);
 	void applyJointDamping(int bodyUniqueId);
 };
 

examples/SharedMemory/PhysicsServerExample.cpp

@@ -9,11 +9,12 @@
 #include "PhysicsServerSharedMemory.h"
 
 #include "SharedMemoryCommon.h"
-
+#include "Bullet3Common/b3Matrix3x3.h"
 #include "../Utils/b3Clock.h"
 #include "../MultiThreading/b3ThreadSupportInterface.h"
 
 
+
 void	MotionThreadFunc(void* userPtr,void* lsMemory);
 void*	MotionlsMemoryFunc();
 #define MAX_MOTION_NUM_THREADS 1
@@ -80,13 +81,23 @@ b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
 struct	MotionArgs
 {
 	MotionArgs()
-		:m_physicsServerPtr(0)
+		:m_physicsServerPtr(0),
+		m_isPicking(false),
+		m_isDragging(false),
+		m_isReleasing(false)
 	{
 	}
 	b3CriticalSection* m_cs;
 	
 	PhysicsServerSharedMemory*	m_physicsServerPtr;
 	b3AlignedObjectArray<b3Vector3> m_positions;
+
+	btVector3 m_pos;
+	btQuaternion m_orn;
+	bool m_isPicking;
+	bool m_isDragging;
+	bool m_isReleasing;
+	
 };
 
 struct MotionThreadLocalStorage
@@ -113,23 +124,58 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 		args->m_cs->setSharedParam(0,eMotionIsInitialized);
 		args->m_cs->unlock();
 
+
 		do
 		{
 //todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
-#if 0
+
 			double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
-			if (deltaTimeInSeconds<(1./260.))
+			if (deltaTimeInSeconds<(1./5000.))
 			{
 				skip++;
-				if (deltaTimeInSeconds<.001)
-					continue;
+			} else
+			{
+				//process special controller commands, such as
+				//VR controller button press/release and controller motion
+
+				btVector3 from = args->m_pos;
+				btMatrix3x3 mat(args->m_orn);
+	
+				btVector3 toX = args->m_pos+mat.getColumn(0);
+				btVector3 toY = args->m_pos+mat.getColumn(1);
+				btVector3 toZ = args->m_pos+mat.getColumn(2)*50.;
+						
+
+				if (args->m_isPicking)
+				{
+					args->m_isPicking  = false;
+					args->m_isDragging = true;
+					args->m_physicsServerPtr->pickBody(from,-toZ);
+					//printf("PICK!\n");
+				}
+
+				 if (args->m_isDragging)
+				 {
+					 args->m_physicsServerPtr->movePickedBody(from,-toZ);
+					// printf(".");
+				 }
+				
+				if (args->m_isReleasing)
+				{
+					args->m_isDragging = false;
+					args->m_isReleasing = false;
+					args->m_physicsServerPtr->removePickingConstraint();
+					//printf("Release pick\n");
+				}
+
+				//don't simulate over a huge timestep if we had some interruption (debugger breakpoint etc)
+				btClamp(deltaTimeInSeconds,0.,0.1);
+				args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds);
+				clock.reset();
 			}
 
-			clock.reset();
-#endif
 			args->m_physicsServerPtr->processClientCommands();
 			
-			
 		} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
 	} else
 	{
@@ -375,7 +421,7 @@ class PhysicsServerExample : public SharedMemoryCommon
     btClock m_clock;
 	bool m_replay;
 	int m_options;
-
+	
 public:
 
 	PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
@@ -417,6 +463,9 @@ public:
 
 	btVector3	getRayTo(int x,int y);
 
+	virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]);
+	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]);
+
 	virtual bool	mouseMoveCallback(float x,float y)
 	{
 		if (m_replay)
@@ -720,6 +769,28 @@ void PhysicsServerExample::renderScene()
 	//m_args[0].m_cs->lock();
 	
 	m_physicsServer.renderScene();
+	
+	if (m_args[0].m_isPicking || m_args[0].m_isDragging)
+	{
+		btVector3 from = m_args[0].m_pos;
+		btMatrix3x3 mat(m_args[0].m_orn);
+	
+		btVector3 toX = m_args[0].m_pos+mat.getColumn(0);
+		btVector3 toY = m_args[0].m_pos+mat.getColumn(1);
+		btVector3 toZ = m_args[0].m_pos+mat.getColumn(2);
+	
+		int width = 2;
+
+	
+		btVector4 color;
+		color=btVector4(1,0,0,1);
+		m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width);
+		color=btVector4(0,1,0,1);
+		m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width);
+		color=btVector4(0,0,1,1);
+		m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width);
+	
+	}
 
 	if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
 	{
@@ -856,4 +927,17 @@ class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOpt
 
 }
 
-B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)
+void	PhysicsServerExample::vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4])
+{
+	m_args[0].m_isPicking = (state!=0);
+	m_args[0].m_isReleasing = (state==0);
+	m_args[0].m_pos.setValue(pos[0],pos[1],pos[2]);
+	m_args[0].m_orn.setValue(orn[0],orn[1],orn[2],orn[3]);
+}
+
+void	PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4])
+{
+	m_args[0].m_pos.setValue(pos[0],pos[1],pos[2]);
+	m_args[0].m_orn.setValue(orn[0],orn[1],orn[2],orn[3]);
+}
+B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)

examples/SharedMemory/PhysicsServerSharedMemory.cpp

@@ -236,8 +236,10 @@ void PhysicsServerSharedMemory::releaseSharedMemory()
 }
 
 
-
-
+void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec)
+{
+	m_data->m_commandProcessor->stepSimulationRealTime(dtInSec);
+}
 
 
 void PhysicsServerSharedMemory::processClientCommands()

examples/SharedMemory/PhysicsServerSharedMemory.h

@@ -26,6 +26,8 @@ public:
 
 	virtual void processClientCommands();
 
+	virtual void stepSimulationRealTime(double dtInSec);
+
 	//bool	supportsJointMotor(class btMultiBody* body, int linkIndex);
 
 	//@todo(erwincoumans) Should we have shared memory commands for picking objects?

examples/SharedMemory/SharedMemoryCommands.h

@@ -215,6 +215,7 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_GRAVITY=2,
 	SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4,	
 	SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
+	SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
 };
 
 ///Controlling a robot involves sending the desired state to its joint motor controllers.
@@ -225,6 +226,7 @@ struct SendPhysicsSimulationParameters
 	double m_gravityAcceleration[3];
 	int m_numSimulationSubSteps;
 	int m_numSolverIterations;
+	bool m_allowRealTimeSimulation;
 };
 
 struct RequestActualStateArgs

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -4,6 +4,8 @@
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
 #include "../OpenGLWindow/OpenGLInclude.h"
 #include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3Transform.h"
+
 #include "../ExampleBrowser/OpenGLGuiHelper.h"
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
@@ -28,6 +30,8 @@ int gSharedMemoryKey = -1;
 #include "pathtools.h"
 
 CommonExampleInterface*    sExample;
+int sIsPressed=-1;
+int sPrevPacketNum=0;
 GUIHelperInterface* sGuiPtr = 0;
 
 
@@ -82,7 +86,7 @@ public:
 	bool BInit();
 	bool BInitGL();
 	bool BInitCompositor();
-
+	void getControllerTransform(int unDevice, b3Transform& tr);
 	void SetupRenderModels();
 
 	void Shutdown();
@@ -619,6 +623,26 @@ void CMainApplication::Shutdown()
 	
 }
 
+
+void CMainApplication::getControllerTransform(int unDevice, b3Transform& tr)
+{
+		const Matrix4 & matOrg = m_rmat4DevicePose[unDevice];
+		tr.setIdentity();
+		tr.setOrigin(b3MakeVector3(matOrg[12],matOrg[13],matOrg[14]));//pos[1]));
+		b3Matrix3x3 bmat;
+		for (int i=0;i<3;i++)
+		{
+			for (int j=0;j<3;j++)
+			{
+				bmat[i][j] = matOrg[i+4*j];
+			}
+		}
+		tr.setBasis(bmat);
+		b3Transform y2z;
+		y2z.setIdentity();
+		y2z.setRotation(b3Quaternion(0,B3_HALF_PI,0));
+		tr = y2z*tr;
+}
 //-----------------------------------------------------------------------------
 // Purpose:
 //-----------------------------------------------------------------------------
@@ -639,14 +663,61 @@ bool CMainApplication::HandleInput()
 		vr::VRControllerState_t state;
 		if( m_pHMD->GetControllerState( unDevice, &state ) )
 		{
-			if (state.ulButtonPressed)
+			uint64_t trigger = vr::ButtonMaskFromId(vr::k_EButton_SteamVR_Trigger);
+			
+			if (sPrevPacketNum != state.unPacketNum)
 			{
-				b3Printf("state.ulButtonPressed=%d\n",state.ulButtonPressed);
-				sExample->exitPhysics();
-				m_app->m_instancingRenderer->removeAllInstances();
-				sExample->initPhysics();
+				
+				static int counter=0;
+				sPrevPacketNum = state.unPacketNum;
+				//b3Printf(".");
+				bool isTrigger = (state.ulButtonPressed&trigger)!=0;
+				if (isTrigger)
+				{
+					//printf("unDevice=%d\n",unDevice);
+					b3Transform tr;
+					getControllerTransform(unDevice,tr);
+					float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]};
+					b3Quaternion born = tr.getRotation();
+					float orn[4] = {born[0],born[1],born[2],born[3]};
+					
+
+					if (sIsPressed!=unDevice)
+					{
+						b3Printf("trigger pressed %d, %d\n",counter++, unDevice);
+						sIsPressed=unDevice;
+
+						sExample->vrControllerButtonCallback(unDevice,1,1,pos, orn);
+
+						//
+						//virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]) {}
+						//virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
+
+						//sExample->start
+					} else
+					{
+						sExample->vrControllerMoveCallback(unDevice,pos,orn);
+					}
+					//sExample->exitPhysics();
+					//m_app->m_instancingRenderer->removeAllInstances();
+					///sExample->initPhysics();
+				} else
+				{
+					if (unDevice==sIsPressed)
+					{
+						b3Transform tr;
+						getControllerTransform(unDevice,tr);
+						float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]};
+						b3Quaternion born = tr.getRotation();
+						float orn[4] = {born[0],born[1],born[2],born[3]};
+
+						sIsPressed=-1;
+						printf("device released: %d",unDevice);
+						sExample->vrControllerButtonCallback(unDevice,1,0,pos, orn);
+					}
+				}
+			} 
 
-			}
 			m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0;
 		}
 	}
@@ -1480,7 +1551,7 @@ void CMainApplication::RenderStereoTargets()
 		rotYtoZ.rotateX(-90);
 	}
 	
-	RenderScene( vr::Eye_Left );
+	
 
 	// Left Eye
 	{
@@ -1527,7 +1598,7 @@ void CMainApplication::RenderStereoTargets()
 	m_app->m_window->startRendering();
 	
 
-	
+	RenderScene( vr::Eye_Left );
 
 	
 	
@@ -1560,7 +1631,7 @@ void CMainApplication::RenderStereoTargets()
 
 	// Right Eye
 	
-	RenderScene( vr::Eye_Right );
+	
 
 	{
 		Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ;
@@ -1573,7 +1644,7 @@ void CMainApplication::RenderStereoTargets()
  	
 	m_app->m_window->startRendering();
 	
-	
+	RenderScene( vr::Eye_Right );
 	
 	m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId);
 	//m_app->m_renderer->renderScene();

examples/Utils/b3ResourcePath.cpp

@@ -33,8 +33,10 @@ int b3ResourcePath::getExePath(char* path, int maxPathLenInBytes)
 #else
 #ifdef _WIN32
 	//https://msdn.microsoft.com/en-us/library/windows/desktop/ms683197(v=vs.85).aspx
+
 	HMODULE hModule = GetModuleHandle(NULL);
-	numBytes = GetModuleFileName(hModule, path, maxPathLenInBytes);
+	numBytes = GetModuleFileNameA(hModule, path, maxPathLenInBytes);
+
 #else
 	///http://stackoverflow.com/questions/933850/how-to-find-the-location-of-the-executable-in-c
 	numBytes = (int)readlink("/proc/self/exe", path, maxPathLenInBytes-1);

examples/pybullet/pybullet.c

@@ -410,6 +410,41 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 }
 
 
+
+static PyObject *
+pybullet_setRealTimeSimulation(PyObject* self, PyObject* args)
+{
+	if (0 == sm)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	{
+		int enableRealTimeSimulation = 0;
+		int ret;
+
+		b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
+		b3SharedMemoryStatusHandle statusHandle;
+
+		if (!PyArg_ParseTuple(args, "i", &enableRealTimeSimulation))
+		{
+			PyErr_SetString(SpamError, "setRealTimeSimulation expected a single value (integer).");
+			return NULL;
+		}
+		ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
+
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+		//ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
+	}
+
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
+
+
+
 // Set the gravity of the world with (x, y, z) arguments
 static PyObject *
 pybullet_setGravity(PyObject* self, PyObject* args)
@@ -1453,6 +1488,9 @@ static PyMethodDef SpamMethods[] = {
     {"setTimeStep",  pybullet_setTimeStep, METH_VARARGS,
         "Set the amount of time to proceed at each call to stepSimulation. (unit is seconds, typically range is 0.01 or 0.001)"},
     
+	{ "setRealTimeSimulation", pybullet_setRealTimeSimulation, METH_VARARGS,
+	"Enable or disable real time simulation (using the real time clock, RTC) in the physics server. Expects one integer argument, 0 or 1" },
+
     {"loadURDF",  pybullet_loadURDF, METH_VARARGS,
       "Create a multibody by loading a URDF file."},
       

src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp

@@ -636,10 +636,10 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 
 
 		FILETIME modtimeBinary;
-		CreateDirectory(sCachedBinaryPath,0);
+		CreateDirectoryA(sCachedBinaryPath,0);
 		{
 
-			HANDLE binaryFileHandle = CreateFile(binaryFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
+			HANDLE binaryFileHandle = CreateFileA(binaryFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
 			if (binaryFileHandle ==INVALID_HANDLE_VALUE)
 			{
 				DWORD errorCode;
@@ -677,7 +677,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 
 			if (binaryFileValid)
 			{
-				HANDLE srcFileHandle = CreateFile(clFileNameForCaching,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
+				HANDLE srcFileHandle = CreateFileA(clFileNameForCaching,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
 
 				if (srcFileHandle==INVALID_HANDLE_VALUE)
 				{
@@ -686,7 +686,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 					{
 						char relativeFileName[1024];
 						sprintf(relativeFileName,"%s%s",prefix[i],clFileNameForCaching);
-						srcFileHandle = CreateFile(relativeFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
+						srcFileHandle = CreateFileA(relativeFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0);
 					}
 
 				}