Merge pull request #835 from erwincoumans/master2.85.1

don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps, compile issue, VR tiny UI work-in-progress

23 files changed, 616 insertions, 83 deletions

diff --git a/examples/BasicDemo/BasicExample.cpp b/examples/BasicDemo/BasicExample.cpp
index b687c35b1..dac3008f0 100644
--- a/examples/BasicDemo/BasicExample.cpp
+++ b/examples/BasicDemo/BasicExample.cpp
@@ -14,7 +14,6 @@ subject to the following restrictions:
 */
 
 
-
 #include "BasicExample.h"
 
 #include "btBulletDynamicsCommon.h"
diff --git a/examples/CommonInterfaces/CommonRigidBodyBase.h b/examples/CommonInterfaces/CommonRigidBodyBase.h
index c13f9519d..07175ca25 100644
--- a/examples/CommonInterfaces/CommonRigidBodyBase.h
+++ b/examples/CommonInterfaces/CommonRigidBodyBase.h
@@ -446,9 +446,15 @@ struct CommonRigidBodyBase : public CommonExampleInterface
 	
 	virtual void renderScene()
 	{
-		m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
+		{
+			
+			m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
+		}
 		
-		m_guiHelper->render(m_dynamicsWorld);
+		{
+			
+			m_guiHelper->render(m_dynamicsWorld);
+		}
 	}
 };
 
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 32f4c18f6..39b8c043f 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -131,7 +131,7 @@ SET(BulletExampleBrowser_SRCS
 	../SharedMemory/TinyRendererVisualShapeConverter.h
 	../SharedMemory/IKTrajectoryHelper.cpp
 	../SharedMemory/IKTrajectoryHelper.h
-	../RenderingExamples/TinyRendererSetup.cpp
+	
 	../SharedMemory/PhysicsServer.cpp
 	../SharedMemory/PhysicsClientSharedMemory.cpp
 	../SharedMemory/PhysicsClient.cpp
@@ -208,10 +208,16 @@ SET(BulletExampleBrowser_SRCS
 	../MultiThreading/b3PosixThreadSupport.cpp
 	../MultiThreading/b3Win32ThreadSupport.cpp
 	../MultiThreading/b3ThreadSupportInterface.cpp
+	../RenderingExamples/TinyRendererSetup.cpp
 	../RenderingExamples/TimeSeriesCanvas.cpp
 	../RenderingExamples/TimeSeriesCanvas.h
 	../RenderingExamples/TimeSeriesFontData.cpp
 	../RenderingExamples/TimeSeriesFontData.h
+	../RenderingExamples/DynamicTexturedCubeDemo.cpp
+	../RenderingExamples/DynamicTexturedCubeDemo.h
+	../RenderingExamples/TinyVRGui.cpp
+	../RenderingExamples/TinyVRGui.h
+	
 	../RoboticsLearning/GripperGraspExample.cpp
 	../RoboticsLearning/GripperGraspExample.h
 	../RoboticsLearning/b3RobotSimAPI.cpp
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 0608f0bd1..3310084fc 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -6,7 +6,7 @@
 #include "../RenderingExamples/CoordinateSystemDemo.h"
 #include "../RenderingExamples/RaytracerSetup.h"
 #include "../RenderingExamples/TinyRendererSetup.h"
-
+#include "../RenderingExamples/DynamicTexturedCubeDemo.h"
 #include "../ForkLift/ForkLiftDemo.h"
 #include "../BasicDemo/BasicExample.h"
 #include "../Planar2D/Planar2D.h"
@@ -290,6 +290,9 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
 	ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc),
 	ExampleEntry(1,"TinyRenderer", "Very small software renderer.", TinyRendererCreateFunc),
+	ExampleEntry(1,"Dynamic Texture", "Dynamic updated textured applied to a cube.", DynamicTexturedCubeDemoCreateFunc),
+
+		
 
 	//Extended Tutorials Added by Mobeen
 	ExampleEntry(0,"Extended Tutorials"),
diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
index f75ae91c6..e9f09b692 100644
--- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
+++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp
@@ -1087,7 +1087,7 @@ bool OpenGLExampleBrowser::requestedExit()
 
 void OpenGLExampleBrowser::update(float deltaTime)
 {
-
+		B3_PROFILE("OpenGLExampleBrowser::update");
 		assert(glGetError()==GL_NO_ERROR);
 		s_instancingRenderer->init();
         DrawGridData dg;
@@ -1139,9 +1139,11 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				singleStepSimulation = false;
 				//printf("---------------------------------------------------\n");
 				//printf("Framecount = %d\n",frameCount);
-				
+				B3_PROFILE("sCurrentDemo->stepSimulation");
+
 				if (gFixedTimeStep>0)
 				{
+				
 					sCurrentDemo->stepSimulation(gFixedTimeStep);
 				} else
 				{
@@ -1167,7 +1169,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
                 sCurrentDemo->renderScene();
             }
             {
-				
+				B3_PROFILE("physicsDebugDraw");
 				glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
                 sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
             }
@@ -1179,6 +1181,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 			
 			if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
 			{
+				B3_PROFILE("setStatusBarMessage");
 				char msg[1024];
 				float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
 				float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
@@ -1194,6 +1197,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		static int toggle = 1;
 		if (renderGui)
 		{
+			B3_PROFILE("renderGui");
 			//            if (!pauseSimulation)
 			//                processProfileData(s_profWindow,false);
 
@@ -1202,7 +1206,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 
 				saveOpenGLState(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
 			}
-			BT_PROFILE("Draw Gwen GUI");
+			
 			if (m_internalData->m_gui)
 			{
 				m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
@@ -1237,6 +1241,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 	
 		if (gui2)
 		{
+			B3_PROFILE("forceUpdateScrollBars");
 			gui2->forceUpdateScrollBars();
 		}
 
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index ff499f0be..4a4277b2d 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -289,18 +289,25 @@ void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
 		return;
 
 	int numCollisionObjects = rbWorld->getNumCollisionObjects();
-	for (int i = 0; i<numCollisionObjects; i++)
 	{
-		btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
-		btVector3 pos = colObj->getWorldTransform().getOrigin();
-		btQuaternion orn = colObj->getWorldTransform().getRotation();
-		int index = colObj->getUserIndex();
-		if (index >= 0)
+		B3_PROFILE("write all InstanceTransformToCPU");
+		for (int i = 0; i<numCollisionObjects; i++)
 		{
-			m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
+			B3_PROFILE("writeSingleInstanceTransformToCPU");
+			btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
+			btVector3 pos = colObj->getWorldTransform().getOrigin();
+			btQuaternion orn = colObj->getWorldTransform().getRotation();
+			int index = colObj->getUserIndex();
+			if (index >= 0)
+			{
+				m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
+			}
 		}
 	}
-	m_data->m_glApp->m_renderer->writeTransforms();
+	{
+		B3_PROFILE("writeTransforms");
+		m_data->m_glApp->m_renderer->writeTransforms();
+	}
 }
 
 
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index 5bd7eec42..e5cc37dce 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -54,7 +54,6 @@ project "App_BulletExampleBrowser"
 		"../TinyRenderer/tgaimage.cpp",
 		"../TinyRenderer/our_gl.cpp",
 		"../TinyRenderer/TinyRenderer.cpp",
-		"../RenderingExamples/TinyRendererSetup.cpp",
 		"../SharedMemory/IKTrajectoryHelper.cpp",
 		"../SharedMemory/IKTrajectoryHelper.h",
 		"../SharedMemory/PhysicsClientC_API.cpp",
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 8ca3f6dc8..718a9fc60 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -413,17 +413,32 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
 void GLInstancingRenderer::writeTransforms()
 {
 
-	b3Assert(glGetError() ==GL_NO_ERROR);
-
+	{
+		B3_PROFILE("b3Assert(glGetError() 1");
+		b3Assert(glGetError() ==GL_NO_ERROR);
+	}
+	{
+		B3_PROFILE("glBindBuffer");
+		glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
+	}
 
-	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	//glFlush();
+	{
+		B3_PROFILE("glFlush()");
+		//without the flush, the glBufferSubData can spike to really slow (seconds slow)
+		glFlush();
+	}
 
-	b3Assert(glGetError() ==GL_NO_ERROR);
+	{
+		B3_PROFILE("b3Assert(glGetError() 2");
+		b3Assert(glGetError() ==GL_NO_ERROR);
+	}
 	
 
 #ifdef B3_DEBUG
 	{
+		
+		//B3_PROFILE("m_data->m_totalNumInstances == totalNumInstances");
+
 		int totalNumInstances= 0;
 		for (int k=0;k<m_graphicsInstances.size();k++)
 		{
@@ -440,14 +455,29 @@ void GLInstancingRenderer::writeTransforms()
 //	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
 
 #if 1
+	{
+	//	printf("m_data->m_totalNumInstances = %d\n", m_data->m_totalNumInstances);
+		{
+		B3_PROFILE("glBufferSubData pos");
 	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_positions_ptr[0]);
+		}
+		{
+			B3_PROFILE("glBufferSubData orn");
 	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_quaternion_ptr[0]);
+		}
+		{
+			B3_PROFILE("glBufferSubData color");
 	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_colors_ptr[0]);
+		}
+		{
+			B3_PROFILE("glBufferSubData scale");
 	glBufferSubData(	GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
 					 	&m_data->m_instance_scale_ptr[0]);
+		}
+	}
 #else
 
 	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
@@ -517,9 +547,15 @@ void GLInstancingRenderer::writeTransforms()
 
 #endif
 
-	glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
+	{
+		B3_PROFILE("glBindBuffer 2");
+		glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
+	}
 
-    b3Assert(glGetError() ==GL_NO_ERROR);
+	{
+			B3_PROFILE("b3Assert(glGetError() 4");
+		b3Assert(glGetError() ==GL_NO_ERROR);
+	}
 
 }
 
@@ -686,9 +722,13 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 
 
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	char* dest=  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
 	int vertexStrideInBytes = 9*sizeof(float);
 	int sz = numvertices*vertexStrideInBytes;
+#if 0
+
+	char* dest=  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
+	
+	
 #ifdef B3_DEBUG
 	int totalUsed = vertexStrideInBytes*gfxObj->m_vertexArrayOffset+sz;
 	b3Assert(totalUsed<m_data->m_maxShapeCapacityInBytes);
@@ -696,6 +736,10 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 
 	memcpy(dest+vertexStrideInBytes*gfxObj->m_vertexArrayOffset,vertices,sz);
 	glUnmapBuffer( GL_ARRAY_BUFFER);
+#else
+	glBufferSubData(	GL_ARRAY_BUFFER,vertexStrideInBytes*gfxObj->m_vertexArrayOffset,sz,
+ 						vertices);
+#endif
 
 	glGenBuffers(1, &gfxObj->m_index_vbo);
 
@@ -1465,7 +1509,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 #endif//OLD_SHADOWMAP_INIT
 
 			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
+			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
 
 
 
diff --git a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
index 0902c5149..094ae7640 100644
--- a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
+++ b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
@@ -36,11 +36,9 @@ void main(void)
 		
 	//float bias = 0.005f;
 	
-	float bias = 0.0001*tan(acos(intensity));
-	bias = clamp(bias, 0,0.01);
-
+	
 
-	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));
+	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));
 	
 	intensity = 0.7*intensity  + 0.3*intensity*visibility;
 	
diff --git a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
index a9d53adb5..f7f2a6a11 100644
--- a/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
+++ b/examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
@@ -30,9 +30,8 @@ static const char* useShadowMapInstancingFragmentShader= \
 "		\n"
 "	//float bias = 0.005f;\n"
 "	\n"
-"	float bias = 0.0001*tan(acos(intensity));\n"
-"	bias = clamp(bias, 0,0.01);\n"
-"	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));\n"
+"	\n"
+"	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));\n"
 "	\n"
 "	intensity = 0.7*intensity  + 0.3*intensity*visibility;\n"
 "	\n"
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index f94465655..6abcd2185 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -173,6 +173,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
     b3Assert(glGetError() ==GL_NO_ERROR);
 
 	m_instancingRenderer = new GLInstancingRenderer(128*1024,128*1024*1024);
+
     m_primRenderer = new GLPrimitiveRenderer(width,height);
     
     m_renderer = m_instancingRenderer ;
diff --git a/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp b/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
new file mode 100644
index 000000000..1316663d0
--- /dev/null
+++ b/examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
@@ -0,0 +1,152 @@
+
+#include "DynamicTexturedCubeDemo.h"
+#include "Bullet3Common/b3Logging.h"
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "GwenGUISupport/GraphingTexture.h"
+
+#include "../CommonInterfaces/Common2dCanvasInterface.h"
+#include "../RenderingExamples/TimeSeriesCanvas.h"
+#include "../RenderingExamples/TimeSeriesFontData.h"
+#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+#include "TinyVRGui.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+class DynamicTexturedCubeDemo : public CommonExampleInterface
+{
+    CommonGraphicsApp* m_app;
+    float m_x;
+    float m_y;
+    float m_z;
+	b3AlignedObjectArray<int> m_movingInstances;
+	
+	
+	TinyVRGui* m_tinyVrGUI;
+
+	enum
+	{
+		numCubesX = 1,
+		numCubesY = 1
+	};
+public:
+    
+    DynamicTexturedCubeDemo(CommonGraphicsApp* app)
+    :m_app(app),
+    m_x(0),
+    m_y(0),
+	m_z(0),
+	m_tinyVrGUI(0)
+    {
+		m_app->setUpAxis(2);
+        
+		 {
+             b3Vector3 extents=b3MakeVector3(100,100,100);
+             extents[m_app->getUpAxis()]=1;
+             
+			 int xres = 20;
+			 int yres = 20;
+			 
+			 b3Vector4 color0=b3MakeVector4(0.1, 0.1, 0.5,1);
+			 b3Vector4 color1=b3MakeVector4(0.6, 0.6, 0.6,1);
+            m_app->registerGrid(xres, yres, color0, color1);
+        }
+		 
+		ComboBoxParams comboParams;
+        comboParams.m_comboboxId = 0;
+        comboParams.m_numItems = 0;
+        comboParams.m_startItem = 0;
+        comboParams.m_callback = 0;//MyComboBoxCallback;
+        comboParams.m_userPointer = 0;//this;
+            
+		
+		m_tinyVrGUI = new TinyVRGui(comboParams,m_app->m_renderer);
+		m_tinyVrGUI->init();
+
+		 m_app->m_renderer->writeTransforms();
+    }
+    virtual ~DynamicTexturedCubeDemo()
+    {
+		delete m_tinyVrGUI;
+        m_app->m_renderer->enableBlend(false);
+    }
+
+    
+    virtual void physicsDebugDraw(int debugDrawMode)
+    {
+        
+    }
+    virtual void    initPhysics()
+    {
+    }
+    virtual void    exitPhysics()
+    {
+		
+    }
+
+    virtual void	stepSimulation(float deltaTime)
+    {
+        static b3Transform tr = b3Transform::getIdentity();
+		static b3Scalar t = 0.f;
+		t+=deltaTime;
+		tr.setOrigin(b3MakeVector3(0.,0.,2.)+b3MakeVector3(0.,0.,0.02*b3Sin(t)));
+
+		m_tinyVrGUI->tick(deltaTime,tr);
+
+        m_app->m_renderer->writeTransforms();
+        
+    }
+    virtual void	renderScene()
+    {
+		
+		m_app->m_renderer->renderScene();
+    }
+
+	
+    virtual void	physicsDebugDraw()
+    {
+      		
+    }
+    virtual bool	mouseMoveCallback(float x,float y)
+    {
+		return false;   
+    }
+    virtual bool	mouseButtonCallback(int button, int state, float x, float y)
+    {
+        return false;   
+    }
+    virtual bool	keyboardCallback(int key, int state)
+    {
+        return false;   
+    }
+    
+	virtual void resetCamera()
+	{
+		float dist = 1.15;
+		float pitch = 396;
+		float yaw = 33.7;
+		float targetPos[3]={-0.5,0.7,1.45};
+		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
+		{
+			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
+			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
+			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
+		}
+	}
+
+};
+
+
+class	CommonExampleInterface*    DynamicTexturedCubeDemoCreateFunc(struct CommonExampleOptions& options)
+{
+	return new DynamicTexturedCubeDemo(options.m_guiHelper->getAppInterface());
+}
+
+
+
+
diff --git a/examples/RenderingExamples/DynamicTexturedCubeDemo.h b/examples/RenderingExamples/DynamicTexturedCubeDemo.h
new file mode 100644
index 000000000..a00185b2d
--- /dev/null
+++ b/examples/RenderingExamples/DynamicTexturedCubeDemo.h
@@ -0,0 +1,6 @@
+#ifndef DYNAMIC_TEXTURED_CUBE_DEMO_H
+#define DYNAMIC_TEXTURED_CUBE_DEMO_H
+
+class CommonExampleInterface*    DynamicTexturedCubeDemoCreateFunc(struct CommonExampleOptions& options);
+
+#endif //DYNAMIC_TEXTURED_CUBE_DEMO_H
diff --git a/examples/RenderingExamples/TimeSeriesCanvas.cpp b/examples/RenderingExamples/TimeSeriesCanvas.cpp
index 31bc28c23..bfd2e9dfd 100644
--- a/examples/RenderingExamples/TimeSeriesCanvas.cpp
+++ b/examples/RenderingExamples/TimeSeriesCanvas.cpp
@@ -104,7 +104,7 @@ void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char
 	m_internalData->m_dataSources.push_back(dataSource);
 
 }
-void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime)
+void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas)
 {
 	if (0==m_internalData->m_canvasInterface)
 		return;
@@ -113,20 +113,23 @@ void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int sta
 	m_internalData->m_ticksPerSecond = ticksPerSecond;
 	m_internalData->m_yScale = yScale;
 	m_internalData->m_dataSources.clear();
-	for (int i=0;i<m_internalData->m_width;i++)
+	
+	if (clearCanvas)
 	{
-		for (int j=0;j<m_internalData->m_height;j++)
+		for (int i=0;i<m_internalData->m_width;i++)
 		{
+			for (int j=0;j<m_internalData->m_height;j++)
+			{
 			
-			m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i,j,
-				m_internalData->m_backgroundRed,
-				m_internalData->m_backgroundGreen,
-				m_internalData->m_backgroundBlue,
-				m_internalData->m_backgroundAlpha);
+				m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i,j,
+					m_internalData->m_backgroundRed,
+					m_internalData->m_backgroundGreen,
+					m_internalData->m_backgroundBlue,
+					m_internalData->m_backgroundAlpha);
+			}
 		}
 	}
 	
-	
 	float zeroPixelCoord = m_internalData->m_zero;
 	float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
 	
@@ -207,7 +210,7 @@ void TimeSeriesCanvas::shift1PixelToLeft()
 	int countdown = resetVal;
 
 	//shift pixture one pixel to the left
-	for (int j=0;j<m_internalData->m_height-48;j++)
+	for (int j=50;j<m_internalData->m_height-48;j++)
 	{
 		for (int i=40;i<this->m_internalData->m_width;i++)
 		{
diff --git a/examples/RenderingExamples/TimeSeriesCanvas.h b/examples/RenderingExamples/TimeSeriesCanvas.h
index 3a4269295..41f466279 100644
--- a/examples/RenderingExamples/TimeSeriesCanvas.h
+++ b/examples/RenderingExamples/TimeSeriesCanvas.h
@@ -6,17 +6,17 @@ class TimeSeriesCanvas
 protected:
 	struct TimeSeriesInternalData* m_internalData;
 	void shift1PixelToLeft();
-	void grapicalPrintf(const char* str,	void* fontData, int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
-
+	
 public:
 	
 	TimeSeriesCanvas(struct Common2dCanvasInterface* canvasInterface, int width, int height, const char* windowTitle);
 	virtual ~TimeSeriesCanvas();
 
-	void setupTimeSeries(float yScale, int ticksPerSecond, int startTime);
+	void setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas=true);
 	void addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue);
 	void insertDataAtCurrentTime(float value, int dataSourceIndex, bool connectToPrevious);
 	float getCurrentTime() const;
+	void grapicalPrintf(const char* str,	void* fontData, int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
 
 	virtual void nextTick();
 	
diff --git a/examples/RenderingExamples/TinyVRGui.cpp b/examples/RenderingExamples/TinyVRGui.cpp
new file mode 100644
index 000000000..3dfcc0e3d
--- /dev/null
+++ b/examples/RenderingExamples/TinyVRGui.cpp
@@ -0,0 +1,218 @@
+#include "TinyVRGui.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../ExampleBrowser/GwenGUISupport/GraphingTexture.h"
+
+#include "../CommonInterfaces/Common2dCanvasInterface.h"
+#include "../RenderingExamples/TimeSeriesCanvas.h"
+#include "../RenderingExamples/TimeSeriesFontData.h"
+#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+
+#include "../CommonInterfaces/CommonRenderInterface.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+ 
+
+struct TestCanvasInterface2 : public Common2dCanvasInterface
+{
+	b3AlignedObjectArray<unsigned char>& m_texelsRGB;
+	int m_width;
+	int m_height;
+
+	TestCanvasInterface2(b3AlignedObjectArray<unsigned char>& texelsRGB, int width, int height)
+		:m_width(width),
+		m_height(height),
+		m_texelsRGB(texelsRGB)
+	{
+	}
+
+	virtual ~TestCanvasInterface2() 
+	{}
+	virtual int createCanvas(const char* canvasName, int width, int height)
+	{
+		return 0;
+	}
+	virtual void destroyCanvas(int canvasId)
+	{
+	}
+	virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
+	{
+		if (x>=0 && x<m_width && y>=0 && y<m_height)
+		{
+			m_texelsRGB[(x+y*m_width)*3+0] = red;
+			m_texelsRGB[(x+y*m_width)*3+1] = green;
+			m_texelsRGB[(x+y*m_width)*3+2] = blue;
+		}
+	}
+	virtual void getPixel(int canvasId, int x, int y, unsigned char& red, unsigned char& green,unsigned char& blue, unsigned char& alpha)
+	{
+		if (x>=0 && x<m_width && y>=0 && y<m_height)
+		{
+			red = m_texelsRGB[(x+y*m_width)*3+0];
+			green = m_texelsRGB[(x+y*m_width)*3+1];
+			blue = m_texelsRGB[(x+y*m_width)*3+2];
+		}
+	}
+
+	virtual void refreshImageData(int canvasId)
+	{
+
+	}
+
+};
+
+
+
+struct TinyVRGuiInternalData
+{
+	CommonRenderInterface*	m_renderer;
+
+	b3AlignedObjectArray<unsigned char> m_texelsRGB;
+	TestCanvasInterface2* m_testCanvas;
+	TimeSeriesCanvas* m_timeSeries;
+	int m_src;
+	int m_textureId;
+	int m_gfxObjectId;
+
+	TinyVRGuiInternalData()
+		:m_renderer(0),
+		m_testCanvas(0),
+		m_timeSeries(0),
+		m_src(-1),
+		m_textureId(-1),
+		m_gfxObjectId(-1)
+	{
+	}
+};
+
+
+TinyVRGui::TinyVRGui(struct ComboBoxParams& params, struct CommonRenderInterface*	renderer)
+{
+	m_data = new TinyVRGuiInternalData;
+	m_data->m_renderer = renderer;
+	
+
+}
+
+TinyVRGui::~TinyVRGui()
+{
+	delete m_data->m_timeSeries;
+	delete m_data->m_testCanvas;
+	delete m_data;
+}
+	
+bool TinyVRGui::init()
+{
+	 {
+
+			
+			int width = 256;
+			int height = 256;
+			m_data->m_texelsRGB.resize(width*height*3);
+			for (int i=0;i<width;i++)
+				for (int j=0;j<height;j++)
+				{
+					m_data->m_texelsRGB[(i+j*width)*3+0] = 155;
+					m_data->m_texelsRGB[(i+j*width)*3+1] = 155;
+					m_data->m_texelsRGB[(i+j*width)*3+2] = 255;
+				}
+			
+			m_data->m_testCanvas = new TestCanvasInterface2(m_data->m_texelsRGB,width,height);
+			m_data->m_timeSeries = new TimeSeriesCanvas(m_data->m_testCanvas,width,height,"time series");
+			
+			
+			bool clearCanvas = false;
+
+			m_data->m_timeSeries->setupTimeSeries(3,100, 0,clearCanvas);
+			m_data->m_timeSeries->addDataSource("Some sine wave", 255,0,0);
+			m_data->m_timeSeries->addDataSource("Some cosine wave", 0,255,0);
+			m_data->m_timeSeries->addDataSource("Delta Time (*10)", 0,0,255);
+			m_data->m_timeSeries->addDataSource("Tan", 255,0,255);
+			m_data->m_timeSeries->addDataSource("Some cosine wave2", 255,255,0);
+			m_data->m_timeSeries->addDataSource("Empty source2", 255,0,255);
+			
+			m_data->m_textureId = m_data->m_renderer->registerTexture(&m_data->m_texelsRGB[0],width,height);
+
+			{
+				  
+			const char* fileName = "cube.obj";//"textured_sphere_smooth.obj";
+			//fileName = "cube.obj";
+		
+			int shapeId = -1;
+
+			b3ImportMeshData meshData;
+			if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
+			{
+						
+
+				shapeId = m_data->m_renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], 
+											meshData.m_gfxShape->m_numvertices, 
+											&meshData.m_gfxShape->m_indices->at(0), 
+											meshData.m_gfxShape->m_numIndices,
+											B3_GL_TRIANGLES,
+											m_data->m_textureId);
+
+				float position[4]={0,0,2,1};
+				float orn[4]={0,0,0,1};
+				float color[4]={1,1,1,1};
+				float scaling[4]={.1,.1,.1,1};
+                
+				m_data->m_gfxObjectId = m_data->m_renderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+				m_data->m_renderer->writeTransforms();
+
+						
+						
+				meshData.m_gfxShape->m_scaling[0] = scaling[0];
+				meshData.m_gfxShape->m_scaling[1] = scaling[1];
+				meshData.m_gfxShape->m_scaling[2] = scaling[2];
+                
+						
+				delete meshData.m_gfxShape;
+				delete meshData.m_textureImage;
+			}
+				
+			
+		
+			}
+        }
+
+		 m_data->m_renderer->writeTransforms();
+		 return true;
+}
+
+
+void TinyVRGui::tick(b3Scalar deltaTime, const b3Transform& guiWorldTransform)
+{
+	float time = m_data->m_timeSeries->getCurrentTime();
+	float v = sinf(time);
+	m_data->m_timeSeries->insertDataAtCurrentTime(v,0,true);
+	v = cosf(time);
+	m_data->m_timeSeries->insertDataAtCurrentTime(v,1,true);
+	v = tanf(time);
+	m_data->m_timeSeries->insertDataAtCurrentTime(v,3,true);
+	m_data->m_timeSeries->insertDataAtCurrentTime(deltaTime*10,2,true);
+
+	m_data->m_timeSeries->nextTick();
+
+	m_data->m_renderer->updateTexture(m_data->m_textureId,&m_data->m_texelsRGB[0]);
+	m_data->m_renderer->writeSingleInstanceTransformToCPU(guiWorldTransform.getOrigin(),guiWorldTransform.getRotation(),m_data->m_gfxObjectId);
+    m_data->m_renderer->writeTransforms();
+}
+
+void TinyVRGui::clearTextArea()
+{
+		int width = 256;
+		int height = 50;
+		for (int i=0;i<width;i++)
+			for (int j=0;j<height;j++)
+			{
+				m_data->m_texelsRGB[(i+j*width)*3+0] = 155;
+				m_data->m_texelsRGB[(i+j*width)*3+1] = 155;
+				m_data->m_texelsRGB[(i+j*width)*3+2] = 255;
+			}
+}
+
+void TinyVRGui::grapicalPrintf(const char* str,int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
+{
+	m_data->m_timeSeries->grapicalPrintf(str,sTimeSeriesFontData,rasterposx,rasterposy,red,green,blue,alpha);
+}
+
diff --git a/examples/RenderingExamples/TinyVRGui.h b/examples/RenderingExamples/TinyVRGui.h
new file mode 100644
index 000000000..23432e421
--- /dev/null
+++ b/examples/RenderingExamples/TinyVRGui.h
@@ -0,0 +1,25 @@
+
+#ifndef TINY_VR_GUI_H
+#define TINY_VR_GUI_H
+
+#include "Bullet3Common/b3Transform.h"
+
+class TinyVRGui
+{
+	struct TinyVRGuiInternalData* m_data;
+
+public:
+
+	TinyVRGui(struct ComboBoxParams& params, struct CommonRenderInterface*	renderer);
+	virtual ~TinyVRGui();
+	
+	bool init();
+	void tick(b3Scalar deltaTime, const b3Transform& guiWorldTransform);
+
+	void clearTextArea();
+	void grapicalPrintf(const char* str,int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
+
+};
+
+
+#endif //TINY_VR_GUI_H
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 9abacbfc7..95faa3fc7 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -5,6 +5,7 @@
 #include "../CommonInterfaces/Common2dCanvasInterface.h"
 #include "SharedMemoryCommon.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
+
 #include "PhysicsClientC_API.h"
 #include "PhysicsClient.h"
 //#include "SharedMemoryCommands.h"
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index ee2ff385a..6f2de6b05 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -27,6 +27,7 @@
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "SharedMemoryCommands.h"
 
+
 //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
 btVector3 gLastPickPos(0, 0, 0);
 bool gCloseToKuka=false;
@@ -403,6 +404,8 @@ struct PhysicsServerCommandProcessorInternalData
 	btMultiBody* m_kukaGripperMultiBody;
 	btMultiBodyPoint2Point* m_kukaGripperRevolute1;
 	btMultiBodyPoint2Point* m_kukaGripperRevolute2;
+	
+
 	int m_huskyId;
 	int m_KukaId;
 	int m_sphereId;
@@ -457,6 +460,10 @@ struct PhysicsServerCommandProcessorInternalData
 		:m_hasGround(false),
 		m_gripperRigidbodyFixed(0),
 		m_gripperMultiBody(0),
+		m_kukaGripperFixed(0),
+		m_kukaGripperMultiBody(0),
+		m_kukaGripperRevolute1(0),
+		m_kukaGripperRevolute2(0),
 		m_allowRealTimeSimulation(false),
 		m_huskyId(-1),
 		m_KukaId(-1),
@@ -1363,7 +1370,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					///this is a very rudimentary way to save the state of the world, for scene authoring
 					///many todo's, for example save the state of motor controllers etc.
 
-					if (clientCmd.m_sdfArguments.m_sdfFileName)
+					
 					{
 						//saveWorld(clientCmd.m_sdfArguments.m_sdfFileName);
 
@@ -3128,6 +3135,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 		gBufferServerToClient.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 		int bodyId = 0;
 
+		
 		if (gCreateObjectSimVR >= 0)
 		{
 			gCreateObjectSimVR = -1;
@@ -3317,7 +3325,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 				//loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 				//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 
-				loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+				//loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 				m_data->m_huskyId = bodyId;
 
 				m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index eb35719d1..ef7f1404f 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -12,6 +12,12 @@
 #include "Bullet3Common/b3Matrix3x3.h"
 #include "../Utils/b3Clock.h"
 #include "../MultiThreading/b3ThreadSupportInterface.h"
+#ifdef BT_ENABLE_VR
+#include "../RenderingExamples/TinyVRGui.h"
+#endif//BT_ENABLE_VR
+
+
+#include "../CommonInterfaces/CommonParameterInterface.h"
 
 #define MAX_VR_CONTROLLERS 8
 
@@ -546,6 +552,10 @@ class PhysicsServerExample : public SharedMemoryCommon
 	bool m_replay;
 	int m_options;
 	
+#ifdef BT_ENABLE_VR
+	TinyVRGui* m_tinyVrGui;
+#endif
+
 public:
 
 	PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
@@ -677,6 +687,9 @@ m_wantsShutdown(false),
 m_isConnected(false),
 m_replay(false),
 m_options(options)
+#ifdef BT_ENABLE_VR
+,m_tinyVrGui(0)
+#endif
 {
 	m_multiThreadedHelper = helper;
 	b3Printf("Started PhysicsServer\n");
@@ -686,6 +699,9 @@ m_options(options)
 
 PhysicsServerExample::~PhysicsServerExample()
 {
+#ifdef BT_ENABLE_VR
+	delete m_tinyVrGui;
+#endif
 	bool deInitializeSharedMemory = true;
 	m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
     m_isConnected = false;
@@ -942,7 +958,73 @@ extern double gSubStep;
 void PhysicsServerExample::renderScene()
 {
 	B3_PROFILE("PhysicsServerExample::RenderScene");
+	static char line0[1024];
+		static char line1[1024];
+
+	if (gEnableRealTimeSimVR)
+	{
+		
+		static int frameCount=0;
+		static btScalar prevTime = m_clock.getTimeSeconds();
+		frameCount++;
+		
+		static btScalar worseFps = 1000000;
+		int numFrames = 200;
+		static int count = 0;
+		count++;
+
+		if (0 == (count & 1))
+		{
+			btScalar curTime = m_clock.getTimeSeconds();
+			btScalar fps = 1. / (curTime - prevTime);
+			prevTime = curTime;
+			if (fps < worseFps)
+			{
+				worseFps = fps;
+			}
+
+			if (count > numFrames)
+			{
+				count = 0;
+				sprintf(line0, "fps:%f frame:%d", worseFps, frameCount / 2);
+				sprintf(line1, "drop:%d tscale:%f dt:%f, substep %f)", gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
+				gDroppedSimulationSteps = 0;
+
+				worseFps = 1000000;
+			}
+		}
+
+#ifdef BT_ENABLE_VR
+		if (m_tinyVrGui==0)
+		{
+			ComboBoxParams comboParams;
+        comboParams.m_comboboxId = 0;
+        comboParams.m_numItems = 0;
+        comboParams.m_startItem = 0;
+        comboParams.m_callback = 0;//MyComboBoxCallback;
+        comboParams.m_userPointer = 0;//this;
+        
+			m_tinyVrGui = new TinyVRGui(comboParams,this->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface());
+			m_tinyVrGui->init();
+		}
+
+		if (m_tinyVrGui)
+		{
 
+			b3Transform tr;tr.setIdentity();
+			tr.setOrigin(b3MakeVector3(gVRController2Pos[0],gVRController2Pos[1],gVRController2Pos[2]));
+			tr.setRotation(b3Quaternion(gVRController2Orn[0],gVRController2Orn[1],gVRController2Orn[2],gVRController2Orn[3]));
+			tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
+			b3Scalar dt = 0.01;
+			m_tinyVrGui->clearTextArea();
+			
+			m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255);
+			m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255);
+
+			m_tinyVrGui->tick(dt,tr);
+		}
+#endif//BT_ENABLE_VR
+	}
 	///debug rendering
 	//m_args[0].m_cs->lock();
 	
@@ -993,38 +1075,6 @@ void PhysicsServerExample::renderScene()
 		B3_PROFILE("Draw Debug HUD");
 		//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
 
-		static int frameCount=0;
-		static btScalar prevTime = m_clock.getTimeSeconds();
-		frameCount++;
-		static char line0[1024];
-		static char line1[1024];
-
-		static btScalar worseFps = 1000000;
-		int numFrames = 200;
-		static int count = 0;
-		count++;
-
-		if (0 == (count & 1))
-		{
-			btScalar curTime = m_clock.getTimeSeconds();
-			btScalar fps = 1. / (curTime - prevTime);
-			prevTime = curTime;
-			if (fps < worseFps)
-			{
-				worseFps = fps;
-			}
-
-			if (count > numFrames)
-			{
-				count = 0;
-				sprintf(line0, "Graphics FPS (worse) = %f, frame %d", worseFps, frameCount / 2);
-
-				sprintf(line1, "Physics Steps = %d, Drop = %d, time scale=%f, dt %f, Substep %f)", gNumSteps, gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
-				gDroppedSimulationSteps = 0;
-
-				worseFps = 1000000;
-			}
-		}
 
 		float pos[4];
 		m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index 0dd45af08..2215cfbe0 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -231,6 +231,9 @@ if os.is("Windows") then
 					"../ExampleBrowser/OpenGLGuiHelper.cpp",
 					"../ExampleBrowser/GL_ShapeDrawer.cpp",
 					"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+					"../RenderingExamples/TinyVRGui.cpp",
+					"../RenderingExamples/TimeSeriesCanvas.cpp",
+					"../RenderingExamples/TimeSeriesFontData.cpp",
 					"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
 					"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
 					"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 8a8a5da77..b85656875 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -28,7 +28,7 @@
 #include "btMultiBodyJointFeedback.h"

 #include "LinearMath/btTransformUtil.h"

 #include "LinearMath/btSerializer.h"

-#include "Bullet3Common/b3Logging.h"

+//#include "Bullet3Common/b3Logging.h"

 // #define INCLUDE_GYRO_TERM 

 

 ///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals

diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
index a9b929f36..29f8e469c 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
@@ -1118,7 +1118,7 @@ static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodyS
 }
 #endif
 
-#include "Bullet3Common/b3Logging.h"
+
 void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
 {
 #if 1