Abstract
This paper is the 4^<th> report of the irrDrawStuff that is the 3D computer graphics library for the Open Dynamics Engine, and an upper compatible with the Drawstuff library. The first version of irrDrawStuff is officially released under dual licenses, the LGPL and the BSD license, on 12^<th> January in 2010. The library has been developed continuously by authors. The current version is 0.0.4 and its compatible functions are almost finished. Functions about a menu bar, shadow rendering, single step, pause, measuring of simulation elapsed time are introduced from the former version. This paper describes those functions. Our goal is developing the robot development software platform that makes anyone be able to simulate robots easily.
