allow some existing demos to run in the TestFrameWork

Demos/BasicDemo/BasicDemo.cpp

@@ -16,7 +16,6 @@ subject to the following restrictions:
 
 #define USE_GROUND_BOX 1
 //#define PRINT_CONTACT_STATISTICS 1
-//#define CHECK_MEMORY_LEAKS 1
 //#define USE_PARALLEL_DISPATCHER 1
 
 #define START_POS_X -5
@@ -65,22 +64,7 @@ class myTest
 
 
 
-int main(int argc,char** argv)
-{
 
-	BasicDemo ccdDemo;
-	ccdDemo.initPhysics();
-	ccdDemo.setCameraDistance(btScalar(50.));
-
-#ifdef CHECK_MEMORY_LEAKS
-	ccdDemo.exitPhysics();
-#else
-	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&ccdDemo);
-#endif
-	
-	//default glut doesn't return from mainloop
-	return 0;
-}
 
 
 

Demos/BasicDemo/BasicDemo.h

@@ -16,8 +16,9 @@ subject to the following restrictions:
 #define BASIC_DEMO_H
 
 #include "DemoApplication.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
-
+class btBroadphaseInterface;
 class btCollisionShape;
 class btOverlappingPairCache;
 class btCollisionDispatcher;

Demos/BasicDemo/main.cpp

@@ -0,0 +1,36 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "BasicDemo.h"
+#include "GlutStuff.h"
+
+//#define CHECK_MEMORY_LEAKS 1
+
+int main(int argc,char** argv)
+{
+
+	BasicDemo ccdDemo;
+	ccdDemo.initPhysics();
+	ccdDemo.setCameraDistance(btScalar(50.));
+
+#ifdef CHECK_MEMORY_LEAKS
+	ccdDemo.exitPhysics();
+#else
+	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&ccdDemo);
+#endif
+	
+	//default glut doesn't return from mainloop
+	return 0;
+}

Demos/BspDemo/BspDemo.cpp

@@ -31,7 +31,7 @@ subject to the following restrictions:
 #include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
-float deltaTime = 1.f/60.f;
+
 #include "BspDemo.h"
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
@@ -85,41 +85,9 @@ public:
 
 
 
-GLDebugDrawer debugDrawer;
-
-char* makeExeToBspFilename(const char* lpCmdLine);
-char* getLastFileName();
 
 
-int main(int argc,char** argv)
-{
 
-	BspDemo* bspDemo = new BspDemo();
-
-	const char* bspfilename = "BspDemo.bsp";
-
-	printf("argc=%i\n",argc);
-	{
-		for (int i=0;i<argc;i++)
-		{
-			printf("argv[%i]=%s\n",i,argv[i]);
-		}
-		
-		bspfilename = makeExeToBspFilename(argv[0]);
-		printf("new name=%s\n",bspfilename);
-	}
-	if (argc>1)
-	{
-		bspfilename = argv[1];
-	}
-
-	// Enrico: TODO: Should change parameter type of initPhysics() to std::string or at least const char *
-	bspDemo->initPhysics((char*)bspfilename);
-	
-	bspDemo->setCameraDistance(22.f);
-
-	return glutmain(argc, argv,640,480,"Bullet Quake BSP Physics Viewer http://bullet.sourceforge.net",bspDemo);
-}
 
 BspDemo::~BspDemo()
 {
@@ -147,7 +115,6 @@ void	BspDemo::initPhysics(char* bspfilename)
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
 
 	m_dynamicsWorld->setGravity(-m_cameraUp * 10);
-	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 
 
 #ifdef QUAKE_BSP_IMPORTING
@@ -225,8 +192,6 @@ void BspDemo::displayCallback(void) {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 
-	//m_dynamicsWorld->UpdateAabbs(deltaTime);
-
 	renderme();
 
 

Demos/BspDemo/main.cpp

@@ -0,0 +1,54 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "BspDemo.h"
+#include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+
+char* makeExeToBspFilename(const char* lpCmdLine);
+char* getLastFileName();
+
+
+int main(int argc,char** argv)
+{
+
+	BspDemo* bspDemo = new BspDemo();
+
+	const char* bspfilename = "BspDemo.bsp";
+
+	printf("argc=%i\n",argc);
+	{
+		for (int i=0;i<argc;i++)
+		{
+			printf("argv[%i]=%s\n",i,argv[i]);
+		}
+		
+		bspfilename = makeExeToBspFilename(argv[0]);
+		printf("new name=%s\n",bspfilename);
+	}
+	if (argc>1)
+	{
+		bspfilename = argv[1];
+	}
+
+	// Enrico: TODO: Should change parameter type of initPhysics() to std::string or at least const char *
+	bspDemo->initPhysics((char*)bspfilename);
+	
+	bspDemo->setCameraDistance(22.f);
+
+	return glutmain(argc, argv,640,480,"Bullet Quake BSP Physics Viewer http://bullet.sourceforge.net",bspDemo);
+}
+

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -71,7 +71,6 @@ subject to the following restrictions:
 #include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
-float deltaTime = 1.f/60.f;
 float	gCollisionMargin = 0.05f;
 #include "CcdPhysicsDemo.h"
 #include "GL_ShapeDrawer.h"
@@ -172,6 +171,11 @@ void CcdPhysicsDemo::createStack( btCollisionShape* boxShape, float halfCubeSize
 
 			btRigidBody* body = 0;
 			body = localCreateRigidBody(mass,trans,boxShape);
+#ifdef USER_DEFINED_FRICTION_MODEL	
+		///Advanced use: override the friction solver
+		body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
+#endif //USER_DEFINED_FRICTION_MODEL
+
 		}
 	}
 }
@@ -220,25 +224,10 @@ void customNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher&
 
 
 
-GLDebugDrawer debugDrawer;
 
 //experimental jitter damping (1 = no damping, 0 = total damping once motion below threshold)
 extern btScalar gJitterVelocityDampingFactor;
 
-int main(int argc,char** argv)
-{
-	gJitterVelocityDampingFactor = 0.7;
-
-	CcdPhysicsDemo* ccdDemo = new CcdPhysicsDemo();
-
-	ccdDemo->initPhysics();
-
-#ifdef DO_BENCHMARK_PYRAMIDS
-	ccdDemo->setCameraDistance(26.f);
-#endif
-
-	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",ccdDemo);
-}
 
 
 
@@ -371,6 +360,11 @@ float myFrictionModel(	btRigidBody& body1,	btRigidBody& body2,	btManifoldPoint&
 
 void	CcdPhysicsDemo::initPhysics()
 {
+
+#ifdef DO_BENCHMARK_PYRAMIDS
+	setCameraDistance(2.5f);
+#endif
+
 #ifdef DO_BENCHMARK_PYRAMIDS
 	m_azi = 90.f;
 #endif //DO_BENCHMARK_PYRAMIDS
@@ -487,7 +481,6 @@ int maxNumOutstandingTasks = 4;
 		m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
 		m_dynamicsWorld->setGravity(btVector3(0,-10,0));
 
-		m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 		
 
 #ifdef USER_DEFINED_FRICTION_MODEL

Demos/CcdPhysicsDemo/main.cpp

@@ -0,0 +1,29 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "CcdPhysicsDemo.h"
+#include "GlutStuff.h"
+
+
+int main(int argc,char** argv)
+{
+
+	CcdPhysicsDemo* ccdDemo = new CcdPhysicsDemo();
+
+	ccdDemo->initPhysics();
+
+
+	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",ccdDemo);
+}

Examples/TestBed/FrameWork/Jamfile

@@ -1,3 +1,3 @@
 SubDir TOP Examples TestBed Framework ;
 
-BulletDemo FrameWork : [ Wildcard *.h *.cpp  ] ;
+FrameWorkDemo FrameWork : [ Wildcard *.h *.cpp  ] ;

Examples/TestBed/Jamfile

@@ -3,7 +3,7 @@ SubDir TOP Examples TestBed ;
 if $(GLUT.AVAILABLE) = "yes"
 {
   # All demo apps have a lot in common, so use this rule to simply things
-  rule BulletDemo
+  rule FrameWorkDemo
   {
     Application $(<) : $(>) : noinstall console nomanifest ;
     LinkWith $(<) :  Tests bulletdynamics bulletcollision bulletmath glui ;

Examples/TestBed/Tests/CollisionProcessing.h

@@ -6,7 +6,7 @@
 class CollisionProcessing : public Test
 {
 public:
-void Step(Settings* settings)
+void Step(const Settings* settings)
 {
 
 }

Examples/TestBed/Tests/TestEntries.cpp

@@ -3,8 +3,63 @@
 #include "../FrameWork/Test.h"
 #include "CollisionProcessing.h"
 
-TestEntry g_testEntries[] =
+#include "../../Demos/CcdPhysicsDemo/CcdPhysicsDemo.h"
+
+class CcdPhysicsTest : public Test
 {
-        {"Collision Processing", CollisionProcessing::Create}
+	CcdPhysicsDemo*	m_demo;
+	CcdPhysicsTest()
+	{
+		m_demo = new CcdPhysicsDemo();
+		m_demo->initPhysics();
+	}
+	virtual ~CcdPhysicsTest()
+	{
+		delete m_demo;
+	}
+public:
+	void Step(const Settings* settings)
+	{
+		m_demo->clientMoveAndDisplay();
+	}
+	static Test* Create()
+	{
+		return new CcdPhysicsTest;
+	}
+};
+
+#include "../../Demos/BspDemo/BspDemo.h"
+
+class BspDemoTest : public Test
+{
+	BspDemo*	m_demo;
+
+	BspDemoTest()
+	{
+		m_demo = new BspDemo();
+		m_demo->initPhysics("BspDemo.bsp");
+	}
+	virtual ~BspDemoTest()
+	{
+		delete m_demo;
+	}
+public:
+	void Step(const Settings* settings)
+	{
+		m_demo->clientMoveAndDisplay();
+	}
+	static Test* Create()
+	{
+		return new BspDemoTest;
+	}
+};
+
+
+TestEntry g_testEntries[] =
+{
+		{"CcdPhysics Test", CcdPhysicsTest::Create},
+		{"BspDemo Test", BspDemoTest::Create},
+        {"Collision Processing", CollisionProcessing::Create},
+		{0, 0}
 };