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/Constraints/ConstraintDemo.cpp

@@ -43,12 +43,19 @@ class AllConstraintDemo : public  CommonRigidBodyBase
 
 	virtual ~AllConstraintDemo();
 
-	void	initPhysics();
+	virtual void	initPhysics();
 
-	void	exitPhysics();
+	virtual void	exitPhysics();
+
+	virtual void resetCamera()
+	{
+		float dist = 27;
+		float pitch = 720;
+		float yaw = 30;
+		float targetPos[3]={2,0,-10};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 
-	
-	
 	virtual void keyboardCallback(unsigned char key, int x, int y);
 
 	// for cone-twist motor driving
@@ -872,7 +879,7 @@ void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
 	}
 }
 
-class CommonExampleInterface*    AllConstraintCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    AllConstraintCreateFunc(struct CommonExampleOptions& options)
 {
-	return new AllConstraintDemo(helper);
+	return new AllConstraintDemo(options.m_guiHelper);
 }

examples/Constraints/ConstraintDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef ALL_CONSTRAINT_DEMO_H
 #define ALL_CONSTRAINT_DEMO_H
 
-class CommonExampleInterface*    AllConstraintCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    AllConstraintCreateFunc(struct CommonExampleOptions& options);
 
 
 #endif //ALL_CONSTRAINT_DEMO_H

examples/Constraints/ConstraintPhysicsSetup.cpp

@@ -14,6 +14,17 @@ struct ConstraintPhysicsSetup : public CommonRigidBodyBase
 
 	virtual void stepSimulation(float deltaTime);
 
+	
+	virtual void resetCamera()
+	{
+		float dist = 7;
+		float pitch = 721;
+		float yaw = 44;
+		float targetPos[3]={8,1,-11};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+	
+
 };
 
 ConstraintPhysicsSetup::ConstraintPhysicsSetup(struct GUIHelperInterface* helper)
@@ -144,7 +155,7 @@ void ConstraintPhysicsSetup::initPhysics()
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
 }
 
-class CommonExampleInterface*    ConstraintCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    ConstraintCreateFunc(CommonExampleOptions& options)
 {
-	return new ConstraintPhysicsSetup(helper);
+	return new ConstraintPhysicsSetup(options.m_guiHelper);
 }

examples/Constraints/ConstraintPhysicsSetup.h

@@ -1,6 +1,6 @@
 #ifndef CONSTAINT_PHYSICS_SETUP_H
 #define CONSTAINT_PHYSICS_SETUP_H
 
-class CommonExampleInterface*    ConstraintCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    ConstraintCreateFunc(struct CommonExampleOptions& options);
 
 #endif //CONSTAINT_PHYSICS_SETUP_H

examples/Constraints/Dof6Spring2Setup.cpp

@@ -51,6 +51,15 @@ struct Dof6Spring2Setup : public CommonRigidBodyBase
 	virtual void stepSimulation(float deltaTime);
 
 	void animate();
+
+	virtual void resetCamera()
+	{
+		float dist = 5;
+		float pitch = 722;
+		float yaw = 35;
+		float targetPos[3]={4,2,-11};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 };
 
 
@@ -475,7 +484,7 @@ void Dof6Spring2Setup::stepSimulation(float deltaTime)
 	m_dynamicsWorld->stepSimulation(deltaTime);
 }
 
-class CommonExampleInterface*    Dof6Spring2CreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    Dof6Spring2CreateFunc( CommonExampleOptions& options)
 {
-	return new Dof6Spring2Setup(helper);
+	return new Dof6Spring2Setup(options.m_guiHelper);
 }

examples/Constraints/Dof6Spring2Setup.h

@@ -1,6 +1,6 @@
 #ifndef GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H
 #define GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H
 
-class CommonExampleInterface*    Dof6Spring2CreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    Dof6Spring2CreateFunc(struct CommonExampleOptions& options);
 
 #endif //GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H