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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.
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