Thanks to @dchichkov for some of the fixes in the eglRendererPlugin!

Rename tinyRenderer -> eglRenderer in the eglRendererPlugin.
Allow to run the eglRendererPlugin to run on Windows (not in EGL mode but Win32OpenGLWindow mode)

Here is a script I tested on Windows:
~~~~~~~~~~~~
mport pybullet as p
import time

p.connect(p.DIRECT)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_eglRendererPlugin_vs2010_x64_debug.dll","_eglRendererPlugin")
print("plugin=",plugin)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf",[0,0,-1])
p.loadURDF("r2d2.urdf")
pixelWidth = 320
pixelHeight = 220
while (1):
	p.stepSimulation()
	viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
	projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]

	#img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	img_arr = p.getCameraImage(pixelWidth, pixelHeight, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	#print("img_arr=",img_arr)
	time.sleep(1)
~~~~~~~~~~~~~

10 files changed, 160 insertions, 185 deletions

diff --git a/build3/premake4.lua b/build3/premake4.lua
index 69f0c1275..95d54a0ae 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -73,6 +73,14 @@
 		description = "Use Midi controller to control parameters"
 	}
 	
+	
+	newoption
+	{
+		trigger = "enable_egl",
+		description = "Build an experimental eglPlugin"
+	}
+
+	
 	newoption
 	{
 		trigger = "enable_grpc",
@@ -145,6 +153,13 @@
 		_OPTIONS["protobuf_lib_dir"] = default_protobuf_lib_dir
 	end	
 	
+
+	if _OPTIONS["enable_egl"] then
+		function initEGL()
+			defines {"BT_USE_EGL"}
+		end
+	end	
+	
 	
 	if _OPTIONS["enable_grpc"] then
 	function initGRPC()
diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat
index a5b824826..e3e8a4dc5 100644
--- a/build_visual_studio_vr_pybullet_double.bat
+++ b/build_visual_studio_vr_pybullet_double.bat
@@ -12,16 +12,17 @@ set /p myvar1= < tmp1234.txt
 set myvar=c:/%myvar1%
 del tmp1234.txt
 
-#you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
-#SET myvar=c:\python-3.5.2
+rem you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
+rem SET myvar=c:\python-3.5.2
 
 cd build3
 
 
 premake4  --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
-#premake4  --double --grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
 
-#premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+rem premake4  --double   --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
+rem premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 
 start vs2010
 
diff --git a/examples/OpenGLWindow/EGLOpenGLWindow.cpp b/examples/OpenGLWindow/EGLOpenGLWindow.cpp
index ec7fea20b..f2f12c92b 100644
--- a/examples/OpenGLWindow/EGLOpenGLWindow.cpp
+++ b/examples/OpenGLWindow/EGLOpenGLWindow.cpp
@@ -30,11 +30,12 @@
 
 #ifdef BT_USE_EGL
 
-#include <pthread.h>
+
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include <unistd.h>
+
 
 #include "OpenGLInclude.h"
 
@@ -213,7 +214,7 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) {
         exit(EXIT_FAILURE);
     }
 
-    if (!gladLoadGL(eglGetProcAddress)) {
+    if (!gladLoadGL((GLADloadfunc) eglGetProcAddress)) {
         fprintf(stderr, "failed to load GL with glad.\n");
         exit(EXIT_FAILURE);
     }
@@ -228,8 +229,8 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) {
     const GLubyte* sl = glGetString(GL_SHADING_LANGUAGE_VERSION);
     printf("GL_SHADING_LANGUAGE_VERSION=%s\n", sl);
     
-    int i = pthread_getconcurrency();
-    printf("pthread_getconcurrency()=%d\n", i);
+    //int i = pthread_getconcurrency();
+    //printf("pthread_getconcurrency()=%d\n", i);
 }
 
 void EGLOpenGLWindow::closeWindow() {
diff --git a/examples/SharedMemory/plugins/eglPlugin/bullet.py b/examples/SharedMemory/plugins/eglPlugin/bullet.py
deleted file mode 100644
index 038061c9c..000000000
--- a/examples/SharedMemory/plugins/eglPlugin/bullet.py
+++ /dev/null
@@ -1,85 +0,0 @@
-import os 
-import sys
-import time
-import subprocess
-import pybullet as p
-from pdb import set_trace
-import matplotlib.pyplot as plt
-import numpy as np
-#subprocess.call(["hardening-check", p.__file__])
-
-
-
-p.connect(p.DIRECT)
-logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "debugTimings")
-
-plugin = True
-if plugin:
-    plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
-    plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
-    if plugin < 0:
-        print("\nPlugin Failed to load!\n")
-        sys.exit()
-    print("plugin =",plugin)
-
-path = '/home/argusm/lang/bullet3/examples/pybullet/gym/pybullet_data/duck_vhacd.urdf'
-p.loadURDF(path,globalScaling=12)
-#path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka_weiss_bolt.sdf'
-#p.loadSDF(path)
-
-start = time.time()
-
-camTargetPos = [0,0,0]
-upAxisIndex = 2
-nearPlane = 0.01
-farPlane = 100
-camDistance = 2
-pixelWidth = 128
-pixelHeight = 128
-fov = 60
-
-plot = False
-anim = True
-if plot:
-    plt.ion()
-if anim:
-    import matplotlib.animation as manimation
-    FFMpegWriter = manimation.writers['ffmpeg']
-    metadata = dict(title='Movie Test', artist='Matplotlib',
-                    comment='Movie support!')
-    writer = FFMpegWriter(fps=15, metadata=metadata)
-if plot or anim:
-    fig = plt.figure()
-    img = np.random.rand(pixelWidth,pixelHeight)
-    image = plt.imshow(img,interpolation='none',animated=True,label="blah")
-    ax = plt.gca()
-    ax.set_axis_off()
-    ax.set_aspect('equal')
-    plt.subplots_adjust(wspace=0, hspace=0, left=0, bottom=0, right=1, top=1)
-
-
-try:
-    iter = range(0,360,10)
-    with writer.saving(fig, "debug.mp4", len(iter)):
-        for i,yaw in enumerate(iter):
-            viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, 0, yaw-90, 0, upAxisIndex)
-            aspect = pixelWidth / pixelHeight;
-            projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
-
-            hight, width, img_arr, deept_arr, obj_arr = p.getCameraImage(pixelWidth,pixelHeight,viewMatrix,projectionMatrix)
-            if plot:
-                image.set_data(img_arr)#np_img_arr)
-                ax.plot([0])
-                #plt.draw()
-                #plt.show()
-                plt.pause(0.01)
-            if anim:
-                image.set_data(img_arr)#np_img_arr)
-                ax.plot([0])
-                writer.grab_frame()
-
-            if i % 100 == 0 and i > 0:
-                print("FPS",100/(time.time()-start))
-            start = time.time()
-finally:
-    p.stopStateLogging(logId)
diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp
index b90ae3c2c..3ca472901 100644
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp
@@ -1,15 +1,7 @@
 
-//tinyRenderer plugin
-
-/*
-import pybullet as p
-p.connect(p.GUI)
-plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
-print("plugin=",plugin)
-p.loadURDF("r2d2.urdf")
-while (1):
-	p.getCameraImage(320,200)
-*/
+//eglRenderer plugin
+
+//see Bullet/examples/pybullet/examples/eglRendererTest.py
 
 #include "eglRendererPlugin.h"
 #include "eglRendererVisualShapeConverter.h"
@@ -20,43 +12,43 @@ while (1):
 
 
 
-struct MyRendererPluginClass
+struct EGLRendererPluginClass
 {
 	
-	TinyRendererVisualShapeConverter m_renderer;
-	MyRendererPluginClass()
+	EGLRendererVisualShapeConverter m_renderer;
+	EGLRendererPluginClass()
 	{
 	}
-	virtual ~MyRendererPluginClass()
+	virtual ~EGLRendererPluginClass()
 	{
 	}
 };
 
-B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+B3_SHARED_API int initPlugin_eglRendererPlugin(struct b3PluginContext* context)
 {
-	MyRendererPluginClass* obj = new MyRendererPluginClass();
+	EGLRendererPluginClass* obj = new EGLRendererPluginClass();
 	context->m_userPointer = obj;
 	return SHARED_MEMORY_MAGIC_NUMBER;
 }
 
 
-B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
+B3_SHARED_API int executePluginCommand_eglRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
 {
 		return -1;
 }
 
 
-B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context)
+B3_SHARED_API void exitPlugin_eglRendererPlugin(struct b3PluginContext* context)
 {
-	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
 	delete obj;
 	context->m_userPointer = 0;
 }
 
 //all the APIs below are optional
-B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context)
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugin(struct b3PluginContext* context)
 {
-	MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer;
+	EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
 	return &obj->m_renderer;
 }
 
diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h b/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h
index 9f1d9330a..bc010d2c9 100644
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h
@@ -1,5 +1,5 @@
-#ifndef TINY_RENDERER_PLUGIN_H
-#define TINY_RENDERER_PLUGIN_H
+#ifndef EGL_RENDERER_PLUGIN_H
+#define EGL_RENDERER_PLUGIN_H
 
 #include "../b3PluginAPI.h"
 
@@ -9,12 +9,12 @@ extern "C"
 #endif
 
 //initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
-B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context);
-B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context);
-B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
+B3_SHARED_API int initPlugin_eglRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API void exitPlugin_eglRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API int executePluginCommand_eglRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
 
 //all the APIs below are optional
-B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context);
+B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugin(struct b3PluginContext* context);
 
 
 
@@ -22,4 +22,4 @@ B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlug
 };
 #endif
 
-#endif//#define TEST_PLUGIN_H
+#endif//#define EGL_RENDERER_PLUGIN_H
diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
index 60c248b24..ce657d8bd 100644
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
@@ -38,9 +38,16 @@ subject to the following restrictions:
 #include "stb_image/stb_image.h"
 
 
-#include "../OpenGLWindow/EGLOpenGLWindow.h"
-#include "../OpenGLWindow/GLInstancingRenderer.h"
-#include "../OpenGLWindow/GLRenderToTexture.h"
+#ifdef _WIN32
+#include "OpenGLWindow/Win32OpenGLWindow.h"
+typedef Win32OpenGLWindow DefaultOpenGLWindow;
+#else
+#include "OpenGLWindow/EGLOpenGLWindow.h"
+typedef EGLOpenGLWindow DefaultOpenGLWindow;
+#endif
+
+#include "OpenGLWindow/GLInstancingRenderer.h"
+#include "OpenGLWindow/GLRenderToTexture.h"
 
 static void printGLString(const char *name, GLenum s) {
     const char *v = (const char *) glGetString(s);
@@ -62,6 +69,7 @@ struct TinyRendererObjectArray
   btAlignedObjectArray<  TinyRenderObjectData*> m_renderObjects;
   int m_objectUniqueId;
   int m_linkIndex;
+  int m_graphicsInstanceId;
   btTransform m_worldTransform;
   btVector3 m_localScaling;
 
@@ -69,13 +77,14 @@ struct TinyRendererObjectArray
   {
 	  m_worldTransform.setIdentity();
 	  m_localScaling.setValue(1,1,1);
+	  m_graphicsInstanceId = -1;
   }
 };
 
 #define START_WIDTH 640
 #define START_HEIGHT 480
 
-struct TinyRendererVisualShapeConverterInternalData
+struct EGLRendererVisualShapeConverterInternalData
 {
     class CommonWindowInterface* m_window;
     class GLInstancingRenderer* m_instancingRenderer;
@@ -111,7 +120,7 @@ struct TinyRendererVisualShapeConverterInternalData
 	SimpleCamera m_camera;
 	
 	
-	TinyRendererVisualShapeConverterInternalData()
+	EGLRendererVisualShapeConverterInternalData()
 	:m_upAxis(2),
 	m_swWidth(START_WIDTH),
 	m_swHeight(START_HEIGHT),
@@ -137,7 +146,7 @@ struct TinyRendererVisualShapeConverterInternalData
 
             // OpenGL window
             bool allowRetina=true;
-            m_window = new EGLOpenGLWindow();
+            m_window = new DefaultOpenGLWindow();
             m_window->setAllowRetina(allowRetina);
             b3gWindowConstructionInfo ci;
             ci.m_title = "Title";
@@ -177,9 +186,9 @@ struct TinyRendererVisualShapeConverterInternalData
 
 
 
-TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()
+EGLRendererVisualShapeConverter::EGLRendererVisualShapeConverter()
 {
-        m_data = new TinyRendererVisualShapeConverterInternalData();
+        m_data = new EGLRendererVisualShapeConverterInternalData();
 	
 	float dist = 1.5;
 	float pitch = -10;
@@ -190,53 +199,53 @@ TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()
 
 
 }
-TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter()
+EGLRendererVisualShapeConverter::~EGLRendererVisualShapeConverter()
 {
 	resetAll();
 	delete m_data;
 }
 	
-void TinyRendererVisualShapeConverter::setLightDirection(float x, float y, float z)
+void EGLRendererVisualShapeConverter::setLightDirection(float x, float y, float z)
 {
 	m_data->m_lightDirection.setValue(x, y, z);
 	m_data->m_hasLightDirection = true;
 }
 
-void TinyRendererVisualShapeConverter::setLightColor(float x, float y, float z)
+void EGLRendererVisualShapeConverter::setLightColor(float x, float y, float z)
 {
     m_data->m_lightColor.setValue(x, y, z);
     m_data->m_hasLightColor = true;
 }
 
-void TinyRendererVisualShapeConverter::setLightDistance(float dist)
+void EGLRendererVisualShapeConverter::setLightDistance(float dist)
 {
     m_data->m_lightDistance = dist;
     m_data->m_hasLightDistance = true;
 }
 
-void TinyRendererVisualShapeConverter::setShadow(bool hasShadow)
+void EGLRendererVisualShapeConverter::setShadow(bool hasShadow)
 {
     m_data->m_hasShadow = hasShadow;
 }
-void TinyRendererVisualShapeConverter::setFlags(int flags)
+void EGLRendererVisualShapeConverter::setFlags(int flags)
 {
 	m_data->m_flags = flags;
 }
 
 
-void TinyRendererVisualShapeConverter::setLightAmbientCoeff(float ambientCoeff)
+void EGLRendererVisualShapeConverter::setLightAmbientCoeff(float ambientCoeff)
 {
     m_data->m_lightAmbientCoeff = ambientCoeff;
     m_data->m_hasLightAmbientCoeff = true;
 }
 
-void TinyRendererVisualShapeConverter::setLightDiffuseCoeff(float diffuseCoeff)
+void EGLRendererVisualShapeConverter::setLightDiffuseCoeff(float diffuseCoeff)
 {
     m_data->m_lightDiffuseCoeff = diffuseCoeff;
     m_data->m_hasLightDiffuseCoeff = true;
 }
 
-void TinyRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
+void EGLRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
 {
     m_data->m_lightSpecularCoeff = specularCoeff;
     m_data->m_hasLightSpecularCoeff = true;
@@ -609,7 +618,7 @@ static btVector4 sColors[4] =
 // If you are getting segfaults in this function it may be ecause you are
 // compliling the plugin with differently from pybullet, try complining the
 // plugin with distutils too.
-void TinyRendererVisualShapeConverter::convertVisualShapes(
+void EGLRendererVisualShapeConverter::convertVisualShapes(
 	int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
 	const UrdfLink* linkPtr, const UrdfModel* model,
 	int collisionObjectUniqueId, int bodyUniqueId)
@@ -739,14 +748,17 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 				unsigned char* textureImage1=0;
 				int textureWidth=0;
 				int textureHeight=0;
-                                bool isCached = false;
+				bool isCached = false;
+				int textureIndex = -1;
+
 				if (textures.size())
 				{
 					textureImage1 = textures[0].textureData1;
 					textureWidth = textures[0].m_width;
 					textureHeight = textures[0].m_height;
 					isCached = textures[0].m_isCached;
-                                }
+					textureIndex =  m_data->m_instancingRenderer->registerTexture(textureImage1, textureWidth, textureHeight);
+                }
 				
 				{
 					B3_PROFILE("registerMeshShape");
@@ -760,10 +772,11 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
                  B3_PROFILE("m_instancingRenderer register");
 
                 // register mesh to m_instancingRenderer too.
-                int textureIndex =  m_data->m_instancingRenderer->registerTexture(textureImage1, textureWidth, textureHeight);
-                int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),textureIndex);
+                
+                int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES, textureIndex);
                 btVector3 scaling(1,1,1);
-                m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0],scaling);
+				visuals->m_graphicsInstanceId = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0],scaling);
+	
                 m_data->m_instancingRenderer->writeTransforms();
                 }
             }
@@ -778,7 +791,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 	}
 }
 
-int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
+int EGLRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
 {
 	int start = -1;
 	//find first one, then count how many
@@ -810,7 +823,7 @@ int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
 	return count;
 }
 
-int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)
+int EGLRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)
 {
 	int start = -1;
 	//find first one, then count how many
@@ -837,7 +850,7 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
 
 
 
-void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])
+void EGLRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])
 {
     //int start = -1;
     for (int i = 0; i < m_data->m_visualShapes.size(); i++)
@@ -874,7 +887,7 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
 
 
 
-void TinyRendererVisualShapeConverter::setUpAxis(int axis)
+void EGLRendererVisualShapeConverter::setUpAxis(int axis)
 {
     m_data->m_upAxis = axis;
     m_data->m_camera.setCameraUpAxis(axis);
@@ -882,7 +895,7 @@ void TinyRendererVisualShapeConverter::setUpAxis(int axis)
     m_data->m_instancingRenderer->updateCamera();
 
 }
-void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
+void EGLRendererVisualShapeConverter::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
 {
     m_data->m_camera.setCameraDistance(camDist);
     m_data->m_camera.setCameraPitch(pitch);
@@ -892,7 +905,7 @@ void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, flo
     m_data->m_camera.update();
 }
 
-void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
+void EGLRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
 {
 	float farPlane = m_data->m_camera.getCameraFrustumFar();
     for(int y=0;y<m_data->m_swHeight;++y)
@@ -908,7 +921,7 @@ void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
 
 }
 
-void TinyRendererVisualShapeConverter::render()
+void EGLRendererVisualShapeConverter::render()
 {
     /*
     ATTRIBUTE_ALIGNED16(float viewMat[16]);
@@ -920,13 +933,23 @@ void TinyRendererVisualShapeConverter::render()
     cout<<viewMat[4*2 + 0]<<" "<<viewMat[4*2+1]<<" "<<viewMat[4*2+2]<<" "<<viewMat[4*2+3] << endl;
     cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
     */
+	
     B3_PROFILE("m_instancingRenderer render");
-    m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera);
-    m_data->m_instancingRenderer->updateCamera();
+	m_data->m_instancingRenderer->writeTransforms();
+	if (m_data->m_hasLightDirection)
+	{
+		m_data->m_instancingRenderer->setLightPosition(m_data->m_lightDirection);
+	}
+	m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera);
+	m_data->m_instancingRenderer->updateCamera(m_data->m_upAxis);
+
     m_data->m_instancingRenderer->renderScene();
+	m_data->m_window->endRendering();
+	m_data->m_window->startRendering();
+
 }
 
-void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
+void EGLRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
 {
     // This code is very similar to that of
     // PhysicsServerCommandProcessor::processRequestCameraImageCommand
@@ -934,10 +957,10 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
 
     // Tiny allows rendering with viewMat, projMat explicitly, but
     // GLInstancingRender calls m_activeCamera, so set this.
-    m_data->m_camera.setVRCamera(viewMat,projMat);
-    m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera);
-    m_data->m_instancingRenderer->updateCamera();
-    m_data->m_instancingRenderer->renderScene();
+	
+	m_data->m_camera.setVRCamera(viewMat,projMat);
+
+	render();
 
     //cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl;
     //cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl;
@@ -945,14 +968,14 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
     //cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
 }
 
-void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height)
+void EGLRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height)
 {
     width = m_data->m_swWidth;
     height = m_data->m_swHeight;
 }
 
 
-void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
+void EGLRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
 {
 	m_data->m_swWidth = width;
 	m_data->m_swHeight = height;
@@ -966,7 +989,7 @@ void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
 }
 
 //copied from OpenGLGuiHelper.cpp
-void TinyRendererVisualShapeConverter::copyCameraImageDataGL(
+void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
         unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
         float* depthBuffer, int depthBufferSizeInPixels,
         int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,
@@ -1079,7 +1102,7 @@ void TinyRendererVisualShapeConverter::copyCameraImageDataGL(
     }
 }
 
-void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
+void EGLRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
                                                             float* depthBuffer, int depthBufferSizeInPixels,
                                                             int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,
                                                             int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
@@ -1091,7 +1114,7 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
             startPixelIndex,  widthPtr, heightPtr, numPixelsCopied);
 }
 
-void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqueId)
+void EGLRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqueId)
 {
 	TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[collisionObjectUniqueId];
 	if (ptrptr && *ptrptr)
@@ -1110,7 +1133,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniq
 }
 
 
-void TinyRendererVisualShapeConverter::resetAll()
+void EGLRendererVisualShapeConverter::resetAll()
 {
 	for (int i=0;i<m_data->m_swRenderInstances.size();i++)
 	{
@@ -1142,7 +1165,7 @@ void TinyRendererVisualShapeConverter::resetAll()
 }
 
 
-void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
+void EGLRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
 {
 	btAssert(textureUniqueId < m_data->m_textures.size());
 	if (textureUniqueId >= 0 && textureUniqueId < m_data->m_textures.size())
@@ -1170,7 +1193,7 @@ void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, in
 	}
 }
 
-int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)
+int EGLRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)
 {
     MyTexture2 texData;
     texData.m_width = width;
@@ -1181,7 +1204,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
     return m_data->m_textures.size()-1;
 }
 
-int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
+int EGLRendererVisualShapeConverter::loadTextureFile(const char* filename)
 {
 	B3_PROFILE("loadTextureFile");
     int width,height,n;
@@ -1194,7 +1217,7 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
     return -1;
 }
 
-void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
+void EGLRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
 {
         TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
         if (renderObjPtr)
@@ -1202,5 +1225,11 @@ void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId
                 TinyRendererObjectArray* renderObj = *renderObjPtr;
                 renderObj->m_worldTransform = worldTransform;
                 renderObj->m_localScaling = localScaling;
+				if (renderObj->m_graphicsInstanceId>=0)
+				{
+					btVector3 pos = worldTransform.getOrigin();
+					btQuaternion orn = worldTransform.getRotation();
+					m_data->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos, orn, renderObj->m_graphicsInstanceId);
+				}
         }
 }
diff --git a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
index 6abe8c270..800c63b6a 100644
--- a/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
@@ -3,15 +3,14 @@
 
 #include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
 
-struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface
+struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
 {
-        int frame = 0;
-
-        struct TinyRendererVisualShapeConverterInternalData* m_data;
+        
+	struct EGLRendererVisualShapeConverterInternalData* m_data;
 	
-        TinyRendererVisualShapeConverter();
+	EGLRendererVisualShapeConverter();
 	
-        virtual ~TinyRendererVisualShapeConverter();
+	virtual ~EGLRendererVisualShapeConverter();
 	
 	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);
 	
diff --git a/examples/SharedMemory/plugins/eglPlugin/premake4.lua b/examples/SharedMemory/plugins/eglPlugin/premake4.lua
index fd2b91db8..972b0566a 100644
--- a/examples/SharedMemory/plugins/eglPlugin/premake4.lua
+++ b/examples/SharedMemory/plugins/eglPlugin/premake4.lua
@@ -3,25 +3,36 @@
 project ("pybullet_eglRendererPlugin")
 		language "C++"
 		kind "SharedLib"
+		initEGL()
 		
 		includedirs {".","../../../../src", "../../../../examples",
-		"../../../ThirdPartyLibs"}
-		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+		"../../../ThirdPartyLibs", ""../../examples/ThirdPartyLibs/glad"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STB_AGAIN"}
 	hasCL = findOpenCL("clew")
 
 	links{"BulletCollision", "Bullet3Common", "LinearMath"}
 
+	initOpenGL()
+
+	if os.is("Windows") then
+		files {"../../../OpenGLWindow/Win32OpenGLWindow.cpp",
+		"../../../OpenGLWindow/Win32GLWindow.cpp",}
+		
+	end
 	if os.is("MacOSX") then
 --		targetextension {"so"}
-		links{"Cocoa.framework","Python"}
+		links{"Cocoa.framework"}
 	end
 
+  if os.is("Linux") then
+  		files {"../../../ThirdPartyLibs/glad/glx.c",}
+  end
 
 		files {
 			"eglRendererPlugin.cpp",
 			"eglRendererPlugin.h",
-			"TinyRendererVisualShapeConverter.cpp",
-			"TinyRendererVisualShapeConverter.h",
+			"eglRendererVisualShapeConverter.cpp",
+			"eglRendererVisualShapeConverter.h",
 			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 			"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
 			"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
@@ -35,14 +46,22 @@ project ("pybullet_eglRendererPlugin")
 			"../../../TinyRenderer/our_gl.cpp",
 			"../../../TinyRenderer/tgaimage.cpp",
 			"../../../TinyRenderer/TinyRenderer.cpp",
-			"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.cpp",
-			"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.h",
+			"../../../ThirdPartyLibs/glad/gl.c",
+			"../../../ThirdPartyLibs/glad/egl.c",
+			"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+			"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
 			"../../../ThirdPartyLibs/stb_image/stb_image.cpp",
 			"../../../ThirdPartyLibs/stb_image/stb_image.h",
-			"../../../ThirdPartyLibs/eglxml2/eglxml2.cpp",
-			"../../../ThirdPartyLibs/eglxml2/eglxml2.h",
+			"../../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
+			"../../../ThirdPartyLibs/tinyxml2/tinyxml2.h",
 			"../../../OpenGLWindow/SimpleCamera.cpp",
 			"../../../OpenGLWindow/SimpleCamera.h",
+			"../../../OpenGLWindow/GLInstancingRenderer.cpp",
+			"../../../OpenGLWindow/GLInstancingRenderer.h",
+			"../../../OpenGLWindow/LoadShader.cpp",
+			"../../../OpenGLWindow/LoadShader.h",
+			"../../../OpenGLWindow/GLRenderToTexture.cpp",
+			"../../../OpenGLWindow/GLRenderToTexture.h",
 			"../../../Utils/b3Clock.cpp",
 			"../../../Utils/b3Clock.h",
 			"../../../Utils/b3ResourcePath.cpp",
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index 6ff1c32eb..417ff1447 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -474,6 +474,10 @@ include "plugins/tinyRendererPlugin"
 include "plugins/pdControlPlugin"
 include "plugins/collisionFilterPlugin"
 
+if _OPTIONS["enable_egl"] then
+		include "plugins/eglPlugin"
+end
+
 if _OPTIONS["enable_grpc"] then
 		include "grpc"
 		include "plugins/grpcPlugin"