enable URDF loading throught the 'File/Open' menu

set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location.
no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)

examples/CommonInterfaces/CommonExampleInterface.h

@@ -3,23 +3,43 @@
 #ifndef COMMON_EXAMPLE_INTERFACE_H
 #define COMMON_EXAMPLE_INTERFACE_H
 
+struct CommonExampleOptions
+{
+	struct GUIHelperInterface*	m_guiHelper;
+
+	//Those are optional, some examples will use them others don't. Each example should work with them being 0.
+	int			m_option;
+	const char* m_fileName;
+
+	
+	CommonExampleOptions(struct GUIHelperInterface*	helper, int option=0)
+		:m_guiHelper(helper),
+		m_option(option),
+		m_fileName(0)
+	{
+	}
+
+};
 
 class CommonExampleInterface
 {
 public:
 
-	typedef class CommonExampleInterface* (CreateFunc)(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+	typedef class CommonExampleInterface* (CreateFunc)(CommonExampleOptions& options);
 
 	virtual ~CommonExampleInterface()
 	{
 	}
 
 	
+	
 	virtual void    initPhysics()=0;
 	virtual void    exitPhysics()=0;
 	virtual void	stepSimulation(float deltaTime)=0;
 	virtual void	renderScene()=0;
 	virtual void	physicsDebugDraw(int debugFlags)=0;//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h
+	//reset camera is only called when switching demo. this way you can restart (initPhysics) and watch in a specific location easier
+	virtual void	resetCamera(){};
 	virtual bool	mouseMoveCallback(float x,float y)=0;
 	virtual bool	mouseButtonCallback(int button, int state, float x, float y)=0;
 	virtual bool	keyboardCallback(int key, int state)=0;

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -43,6 +43,8 @@ struct GUIHelperInterface
 
 	virtual void setUpAxis(int axis)=0;
 
+	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
+	
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
 	
 	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
@@ -97,6 +99,9 @@ struct DummyGUIHelper : public GUIHelperInterface
 	virtual void setUpAxis(int axis)
 	{
 	}
+	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+	{
+	}
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) 
 	{

examples/CommonInterfaces/CommonRenderInterface.h

@@ -51,6 +51,10 @@ struct CommonRenderInterface
     
 	virtual void writeTransforms()=0;
     virtual void enableBlend(bool blend)=0;
+
+	//This is internal access to OpenGL3+ features, mainly used for OpenCL-OpenGL interop
+	//Only the GLInstancingRenderer supports it, just return 0 otherwise.
+	virtual struct	GLInstanceRendererInternalData* getInternalData()=0;
 };
 
 template <typename T>