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/BasicDemo/BasicExample.cpp

@@ -37,6 +37,14 @@ struct BasicExample : public CommonRigidBodyBase
 	virtual ~BasicExample(){}
 	virtual void initPhysics();
 	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 };
 
 void BasicExample::initPhysics()
@@ -128,9 +136,11 @@ void BasicExample::renderScene()
 
 
 
-CommonExampleInterface*    BasicExampleCreateFunc(PhysicsInterface* pint, GUIHelperInterface* helper, int option)
+
+
+CommonExampleInterface*    BasicExampleCreateFunc(CommonExampleOptions& options)
 {
-	return new BasicExample(helper);
+	return new BasicExample(options.m_guiHelper);
 }
 
 

examples/BasicDemo/BasicExample.h

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef BASIC_EXAMPLE_H
 #define BASIC_EXAMPLE_H
 
-class CommonExampleInterface*    BasicExampleCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    BasicExampleCreateFunc(struct CommonExampleOptions& options);
 
 
 #endif //BASIC_DEMO_PHYSICS_SETUP_H

examples/BasicDemo/main.cpp

@@ -28,9 +28,7 @@ int main(int argc, char* argv[])
 	
 	DummyGUIHelper noGfx;
 
-	int option = 0;
+	CommonExampleInterface*    example = BasicExampleCreateFunc(CommonExampleOptions(&noGfx));
-
-	CommonExampleInterface*    example = BasicExampleCreateFunc(pint, &noGfx, option);
 	
 	example->initPhysics();
 	example->stepSimulation(1.f/60.f);

examples/Benchmarks/BenchmarkDemo.cpp

@@ -1234,7 +1234,7 @@ void	BenchmarkDemo::exitPhysics()
 
 
 
-struct CommonExampleInterface*    BenchmarkCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+struct CommonExampleInterface*    BenchmarkCreateFunc(struct CommonExampleOptions& options)
 {
-	return new BenchmarkDemo(helper,option);
+	return new BenchmarkDemo(options.m_guiHelper,options.m_option);
 }

examples/Benchmarks/BenchmarkDemo.h

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

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>

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

examples/ExampleBrowser/EmptyExample.h

@@ -10,7 +10,7 @@ public:
 	EmptyExample() {}
 	virtual ~EmptyExample(){}
 
-	static CommonExampleInterface* CreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+	static CommonExampleInterface* CreateFunc(struct CommonExampleOptions& /* unusedOptions*/)
 	{
 		return new EmptyExample;
 	}

examples/ExampleBrowser/ExampleEntries.cpp

@@ -61,14 +61,14 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(1,"Gyroscopic", "Show the Dzhanibekov effect using various settings of the gyroscopic term. You can select the gyroscopic term computation using btRigidBody::setFlags, with arguments BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT (using explicit integration, which adds energy and can lead to explosions), BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD, BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY. If you don't set any of these flags, there is no gyroscopic term used.", GyroscopicCreateFunc),
 
 	ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.",Planar2DCreateFunc),
-	ExampleEntry(1,"Constraints","Use of a btHingeConstraint. You can adjust the first slider to change the target velocity, and the second slider to adjust the maximum impulse applied to reach the target velocity. Note that the hinge angle can reach beyond -360 and 360 degrees.", ConstraintCreateFunc),
 	ExampleEntry(1,"6DofSpring2","Show the use of the btGeneric6DofSpring2Constraint.", 
 				Dof6Spring2CreateFunc),
 
 	ExampleEntry(1,"Constraints","Show the use of the various constraints in Bullet.", 
 				AllConstraintCreateFunc),
 
-	
+	ExampleEntry(1,"Motorized Hinge","Use of a btHingeConstraint. You can adjust the first slider to change the target velocity, and the second slider to adjust the maximum impulse applied to reach the target velocity. Note that the hinge angle can reach beyond -360 and 360 degrees.", ConstraintCreateFunc),
+
 	ExampleEntry(0,"MultiBody"),
 	ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
 	ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers).", TestJointTorqueCreateFunc),
@@ -164,16 +164,20 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(1,"Implicit Cloth", "Cloth simulation using implicit integration, by Stan Melax. The cloth is only attached at the corners. Note the stability using a large time step even with high stiffness.",
 				   ImplicitClothCreateFunc),
 
-#ifdef B3_USE_CLEW
+
-	ExampleEntry(0,"OpenCL (experimental)"),
-	ExampleEntry(1,"Pair Bench", "Benchmark of overlapping pair search using OpenCL.", PairBenchOpenCLCreateFunc),
-#endif //
 	ExampleEntry(0,"Rendering"),
 	ExampleEntry(1,"Instanced Rendering", "Simple example of fast instanced rendering, only active when using OpenGL3+.",RenderInstancingCreateFunc),
 	ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
 	
 };
 
+static ExampleEntry gOpenCLExamples[]=
+{
+#ifdef B3_USE_CLEW
+	ExampleEntry(0,"OpenCL (experimental)"),
+	ExampleEntry(1,"Pair Bench", "Benchmark of overlapping pair search using OpenCL.", PairBenchOpenCLCreateFunc),
+#endif //
+};
 
 static btAlignedObjectArray<ExampleEntry> gAdditionalRegisteredExamples;
 
@@ -193,6 +197,15 @@ ExampleEntries::~ExampleEntries()
 	delete m_data;
 }
 
+void ExampleEntries::initOpenCLExampleEntries()
+{
+	int numDefaultEntries = sizeof(gOpenCLExamples)/sizeof(ExampleEntry);
+	for (int i=0;i<numDefaultEntries;i++)
+	{
+		m_data->m_allExamples.push_back(gOpenCLExamples[i]);
+	}
+}
+
 void ExampleEntries::initExampleEntries()
 {
 	m_data->m_allExamples.clear();

examples/ExampleBrowser/ExampleEntries.h

@@ -20,6 +20,8 @@ public:
 	static void registerExampleEntry(int menuLevel, const char* name,const char* description, CommonExampleInterface::CreateFunc* createFunc, int option=0);
 	
 	void initExampleEntries();
+
+	void initOpenCLExampleEntries();
 	
 	int getNumRegisteredExamples();
 

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -34,6 +34,9 @@
 #include "ExampleEntries.h"
 #include "OpenGLGuiHelper.h"
 #include "LinearMath/btIDebugDraw.h"
+//quick test for file import, @todo(erwincoumans) make it more general and add other file formats
+#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
+
 static CommonGraphicsApp* s_app=0;
 
 static CommonWindowInterface* s_window = 0;
@@ -46,7 +49,7 @@ static MyProfileWindow* s_profWindow =0;
 const char* startFileName = "bulletDemo.txt";
 
 static GwenUserInterface* gui  = 0;
-static int sCurrentDemoIndex = 0;
+static int sCurrentDemoIndex = -1;
 static int sCurrentHightlighted = 0;
 static CommonExampleInterface* sCurrentDemo = 0;
 static b3AlignedObjectArray<const char*> allNames;
@@ -190,38 +193,49 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
 
 void openURDFDemo(const char* filename)
 {
-#if 0   
+
     if (sCurrentDemo)
     {
-        sCurrentDemo->exitPhysics();
+		sCurrentDemo->exitPhysics();
-        s_instancingRenderer->removeAllInstances();
+		s_instancingRenderer->removeAllInstances();
-        delete sCurrentDemo;
+		delete sCurrentDemo;
-        sCurrentDemo=0;
+		sCurrentDemo=0;
+		delete s_guiHelper;
+		s_guiHelper = 0;
     }
-    
+   
+	s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
     s_parameterInterface->removeAllParameters();
    
-    ImportUrdfSetup* physicsSetup = new ImportUrdfSetup();
-    physicsSetup->setFileName(filename);
 
-    sCurrentDemo = new BasicDemo(s_app, physicsSetup);
+	CommonExampleOptions options(s_guiHelper,0);
-	s_app->setUpAxis(2);
+	options.m_fileName = filename;
-    
+
+    sCurrentDemo = ImportURDFCreateFunc(options);
+
+	//physicsSetup->setFileName(filename);
+
+	
     if (sCurrentDemo)
     {
         sCurrentDemo->initPhysics();
+		sCurrentDemo->resetCamera();
     }
 
-#endif
+
 }
 
 
 
 void selectDemo(int demoIndex)
 {
+	bool resetCamera = (sCurrentDemoIndex != demoIndex);
 	sCurrentDemoIndex = demoIndex;
 	sCurrentHightlighted = demoIndex;
 	int numDemos = gAllExamples->getNumRegisteredExamples();
+	
+	
+
 	if (demoIndex>numDemos)
 	{
 		demoIndex = 0;
@@ -241,7 +255,7 @@ void selectDemo(int demoIndex)
 		s_parameterInterface->removeAllParameters();
 		int option = gAllExamples->getExampleOption(demoIndex);
 		s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
-		sCurrentDemo = (*func)(0,s_guiHelper, option);
+		sCurrentDemo = (*func)(CommonExampleOptions(s_guiHelper, option));
 		if (sCurrentDemo)
 		{
 			if (gui)
@@ -251,7 +265,12 @@ void selectDemo(int demoIndex)
 			}
 			b3Printf("Selected demo: %s",gAllExamples->getExampleName(demoIndex));
 			gui->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
+			
 			sCurrentDemo->initPhysics();
+			if(resetCamera)
+			{
+				sCurrentDemo->resetCamera();
+			}
 		}
 	}
 
@@ -544,14 +563,24 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
     SimpleOpenGL3App* simpleApp=0;
 	sUseOpenGL2 =args.CheckCmdLineFlag("opengl2");
 
+	const char* appTitle = "Bullet Physics ExampleBrowser";
+#if defined (_DEBUG) || defined (DEBUG)
+	const char* optMode = "Debug build (slow)";
+#else
+	const char* optMode = "Release build";
+#endif
+
     if (sUseOpenGL2 )
     {
-		
+		char title[1024];
-        s_app = new SimpleOpenGL2App("AllBullet2Demos",width,height);
+		sprintf(title,"%s using OpenGL2 fallback. %s", appTitle,optMode);
+        s_app = new SimpleOpenGL2App(title,width,height);
         s_app->m_renderer = new SimpleOpenGL2Renderer(width,height);
     } else
     {
-        simpleApp = new SimpleOpenGL3App("AllBullet2Demos",width,height);
+		char title[1024];
+		sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
+        simpleApp = new SimpleOpenGL3App(title,width,height);
         s_app = simpleApp;
     }
     char* gVideoFileName = 0;
@@ -692,6 +721,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	}
 	
     gui->registerFileOpenCallback(fileOpenCallback);
+	
     
 	return true;
 }
@@ -775,6 +805,22 @@ void OpenGLExampleBrowser::update(float deltaTime)
             }
 		}
 
+		{
+			
+			if (s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
+			{
+				char msg[1024];
+				float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
+				float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
+				float yaw = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraYaw();
+				float camTarget[3];
+				s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
+				sprintf(msg,"dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
+				gui->setStatusBarMessage(msg, true);	
+			}
+			
+		}
+
 		static int toggle = 1;
 		if (1)
 		{

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -117,7 +117,7 @@ public:
 static btVector4 sColors[4] =
 {
 	btVector4(0.3,0.3,1,1),
-	btVector4(1,0,0,1),
+	btVector4(0.6,0.6,1,1),
 	btVector4(0,1,0,1),
 	btVector4(0,1,1,1),
 	//btVector4(1,1,0,1),
@@ -128,7 +128,6 @@ struct OpenGLGuiHelperInternalData
 {
 	struct CommonGraphicsApp* m_glApp;
 	class MyDebugDrawer* m_debugDraw;
-	int m_curColor;
 	GL_ShapeDrawer* m_gl2ShapeDrawer;
 };
 
@@ -139,7 +138,7 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
 	m_data = new OpenGLGuiHelperInternalData;
 	m_data->m_glApp = glApp;
 	m_data->m_debugDraw = 0;
-	m_data->m_curColor = 0;
+	
 	m_data->m_gl2ShapeDrawer = 0;
 
 	if (useOpenGL2)
@@ -487,15 +486,20 @@ void OpenGLGuiHelper::setUpAxis(int axis)
 	m_data->m_glApp->setUpAxis(axis);
 }
 
-
+void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
-btVector3 OpenGLGuiHelper::selectColor()
 {
-	btVector4 color = sColors[m_data->m_curColor];
+	if (getRenderInterface() && getRenderInterface()->getActiveCamera())
-	m_data->m_curColor++;
+	{
-	m_data->m_curColor&=3;
+		getRenderInterface()->getActiveCamera()->setCameraDistance(camDist);
-	return color;
+		getRenderInterface()->getActiveCamera()->setCameraPitch(pitch);
+		getRenderInterface()->getActiveCamera()->setCameraYaw(yaw);
+		getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPosX,camPosY,camPosZ);
+	}
 }
 
+
+
+
 struct MyConvertPointerSizeT
 {
 	union 
@@ -530,7 +534,9 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
 		//btRigidBody* body = btRigidBody::upcast(colObj);
 		//does this also work for btMultiBody/btMultiBodyLinkCollider?
 		createCollisionShapeGraphicsObject(colObj->getCollisionShape());
-		btVector3 color= selectColor();
+		int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
+
+		btVector3 color= sColors[colorIndex];
 		createCollisionObjectGraphicsObject(colObj,color);
 			
 	}
@@ -546,3 +552,4 @@ struct CommonGraphicsApp* OpenGLGuiHelper::getAppInterface()
 {
 	return m_data->m_glApp;
 }
+

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -31,7 +31,6 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
 
 	
-
 	virtual void render(const btDiscreteDynamicsWorld* rbWorld);
 
 	virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld);
@@ -42,10 +41,9 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 
 	virtual struct CommonGraphicsApp* getAppInterface();
 
-
 	virtual void setUpAxis(int axis);
 	
-	btVector3 selectColor();
+	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
     

examples/ExampleBrowser/main.cpp

@@ -20,6 +20,7 @@ int main(int argc, char* argv[])
 
 	ExampleEntries examples;
 	examples.initExampleEntries();
+	examples.initOpenCLExampleEntries();
 
 	ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);
 	bool init = exampleBrowser->init(argc,argv);

examples/Experiments/ImplicitCloth/ImplicitClothExample.cpp

@@ -56,6 +56,14 @@ public:
 		return false;
 	}
 
+	virtual void resetCamera()
+	{
+		float dist = 10;
+		float pitch = 62;
+		float yaw = 33;
+		float targetPos[3]={-3,2.4,-3.6};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 
 	
 };
@@ -64,6 +72,7 @@ public:
 void    ImplicitClothExample::initPhysics()
 {
 	float size=10;
+	m_guiHelper->setUpAxis(1);
 	m_cloth = ClothCreate(numX,numY,size);
 	
 }
@@ -114,7 +123,7 @@ void	ImplicitClothExample::physicsDebugDraw(int debugFlags)
 }
 
 
-class CommonExampleInterface*    ImplicitClothCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    ImplicitClothCreateFunc(struct CommonExampleOptions& options)
 {
-	return new ImplicitClothExample(helper, option);
+	return new ImplicitClothExample(options.m_guiHelper, options.m_option);
 }

examples/Experiments/ImplicitCloth/ImplicitClothExample.h

@@ -1,7 +1,7 @@
 #ifndef IMPLICIT_CLOTH_EXAMPLE_H
 #define IMPLICIT_CLOTH_EXAMPLE_H
 
-class CommonExampleInterface*    ImplicitClothCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    ImplicitClothCreateFunc(struct CommonExampleOptions& options);
 
 
 #endif //IMPLICIT_CLOTH_EXAMPLE_H

examples/ForkLift/ForkLiftDemo.cpp

@@ -141,6 +141,15 @@ class ForkLiftDemo  : public CommonExampleInterface
 	void initPhysics();
 	void exitPhysics();
 
+	virtual void resetCamera()
+	{
+		float dist = 8;
+		float pitch = -45;
+		float yaw = 32;
+		float targetPos[3]={-0.33,-0.72,4.5};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
 	/*static DemoApplication* Create()
 	{
 		ForkLiftDemo* demo = new ForkLiftDemo();
@@ -1200,7 +1209,7 @@ btRigidBody* ForkLiftDemo::localCreateRigidBody(btScalar mass, const btTransform
 	return body;
 }
 
-CommonExampleInterface*    ForkLiftCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+CommonExampleInterface*    ForkLiftCreateFunc(struct CommonExampleOptions& options)
 {
-	return new ForkLiftDemo(helper);
+	return new ForkLiftDemo(options.m_guiHelper);
 }

examples/ForkLift/ForkLiftDemo.h

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

examples/GyroscopicDemo/GyroscopicSetup.cpp

@@ -18,6 +18,15 @@ struct GyroscopicSetup : public CommonRigidBodyBase
 
 	virtual void physicsDebugDraw(int debugFlags);
 
+	void resetCamera()
+	{
+		float dist = 20;
+		float pitch = 180;
+		float yaw = 16;
+		float targetPos[3]={-2.4,0.4,-0.24};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
 };
 
 
@@ -123,7 +132,7 @@ void GyroscopicSetup::physicsDebugDraw(int debugFlags)
 }
 
 
-class CommonExampleInterface*    GyroscopicCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    GyroscopicCreateFunc(CommonExampleOptions& options)
 {
-	return new GyroscopicSetup(helper);
+	return new GyroscopicSetup(options.m_guiHelper);
 }

examples/GyroscopicDemo/GyroscopicSetup.h

@@ -2,6 +2,6 @@
 #ifndef GYROSCOPIC_SETUP_H
 #define GYROSCOPIC_SETUP_H
 
-class CommonExampleInterface*    GyroscopicCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    GyroscopicCreateFunc(struct CommonExampleOptions& options);
 
 #endif //GYROSCOPIC_SETUP_H

examples/HelloWorld/premake4.lua

@@ -1,5 +1,5 @@
 
-project "AppHelloWorld"
+project "App_HelloWorld"
 
 if _OPTIONS["ios"] then
 	kind "WindowedApp"

examples/Importers/ImportBsp/ImportBspExample.cpp

@@ -64,6 +64,14 @@ class BspDemo : public CommonRigidBodyBase
 
 	void	initPhysics(const char* bspfilename);
 
+	virtual void resetCamera()
+	{
+		float dist = 43;
+		float pitch = -175;
+		float yaw = 12;
+		float targetPos[3]={4,-25,-6};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 	
 
 };
@@ -277,9 +285,9 @@ char* makeExeToBspFilename(const char* lpCmdLine)
 }
 
 
-struct CommonExampleInterface*    ImportBspCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+struct CommonExampleInterface*    ImportBspCreateFunc(struct CommonExampleOptions& options)
 {
-		BspDemo* demo = new BspDemo(helper);
+	BspDemo* demo = new BspDemo(options.m_guiHelper);
 		
 		demo->initPhysics("BspDemo.bsp");
 		return demo;

examples/Importers/ImportBsp/ImportBspExample.h

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

examples/Importers/ImportBullet/SerializeSetup.cpp

@@ -12,6 +12,16 @@ public:
 	
 	virtual void initPhysics();
 	virtual void stepSimulation(float deltaTime);
+
+	virtual void resetCamera()
+	{
+		float dist = 9.5;
+		float pitch = -2.8;
+		float yaw = 20;
+		float targetPos[3]={-0.2,-1.4,3.5};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
 };
 
 
@@ -89,7 +99,7 @@ void SerializeSetup::stepSimulation(float deltaTime)
     CommonRigidBodyBase::stepSimulation(deltaTime);
 }
 
-class CommonExampleInterface*    SerializeBulletCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    SerializeBulletCreateFunc(struct CommonExampleOptions& options)
 {
-	return new SerializeSetup(helper);
+	return new SerializeSetup(options.m_guiHelper);
 }

examples/Importers/ImportBullet/SerializeSetup.h

@@ -1,7 +1,7 @@
 #ifndef SERIALIZE_SETUP_H
 #define SERIALIZE_SETUP_H
 
-class CommonExampleInterface*    SerializeBulletCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    SerializeBulletCreateFunc(struct CommonExampleOptions& options);
 
 
 #endif //SERIALIZE_SETUP_H

examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp

@@ -37,6 +37,15 @@ public:
     virtual ~ImportColladaSetup();
     
 	virtual void initPhysics();
+	virtual void resetCamera()
+	{
+		float dist = 16;
+		float pitch = -140;
+		float yaw = 28;
+		float targetPos[3]={-4,-3,-3};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
 };
 
 ImportColladaSetup::ImportColladaSetup(struct GUIHelperInterface* helper)
@@ -197,7 +206,7 @@ void ImportColladaSetup::initPhysics()
 
 }
 
-class CommonExampleInterface*    ImportColladaCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    ImportColladaCreateFunc(struct CommonExampleOptions& options)
 {
-	return new ImportColladaSetup(helper);
+	return new ImportColladaSetup(options.m_guiHelper);
 }

examples/Importers/ImportColladaDemo/ImportColladaSetup.h

@@ -19,7 +19,7 @@ subject to the following restrictions:
 #ifndef IMPORT_COLLADA_SETUP_H
 #define IMPORT_COLLADA_SETUP_H
 
-class CommonExampleInterface*    ImportColladaCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    ImportColladaCreateFunc(struct CommonExampleOptions& options);
 
 
 #endif //IMPORT_COLLADA_SETUP_H

examples/Importers/ImportObjDemo/ImportObjExample.cpp

@@ -19,6 +19,16 @@ public:
     virtual ~ImportObjSetup();
     
 	virtual void initPhysics();
+
+	virtual void resetCamera()
+	{
+		float dist = 50;
+		float pitch = 61;
+		float yaw = 18;
+		float targetPos[3]={-15,-15,47};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
 };
 
 ImportObjSetup::ImportObjSetup(struct GUIHelperInterface* helper)
@@ -99,7 +109,7 @@ void ImportObjSetup::initPhysics()
 	}
 }
 
- CommonExampleInterface*    ImportObjCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+ CommonExampleInterface*    ImportObjCreateFunc(struct CommonExampleOptions& options)
  {
-	 return new ImportObjSetup(helper);
+	 return new ImportObjSetup(options.m_guiHelper);
  }

examples/Importers/ImportObjDemo/ImportObjExample.h

@@ -1,7 +1,7 @@
 #ifndef IMPORT_OBJ_EXAMPLE_H
 #define IMPORT_OBJ_EXAMPLE_H
 
-class CommonExampleInterface*    ImportObjCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    ImportObjCreateFunc(struct CommonExampleOptions& options);
 
 
 #endif //IMPORT_OBJ_EXAMPLE_H

examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp

@@ -18,6 +18,15 @@ public:
     virtual ~ImportSTLSetup();
     
 	virtual void initPhysics();
+	virtual void resetCamera()
+	{
+		float dist = 3.5;
+		float pitch = -136;
+		float yaw = 28;
+		float targetPos[3]={0.47,0,-0.64};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
 };
 
 
@@ -92,7 +101,7 @@ void ImportSTLSetup::initPhysics()
 	}
 }
 
-class CommonExampleInterface*    ImportSTLCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    ImportSTLCreateFunc(struct CommonExampleOptions& options)
 {
-	return new ImportSTLSetup(helper);
+	return new ImportSTLSetup(options.m_guiHelper);
 }

examples/Importers/ImportSTLDemo/ImportSTLSetup.h

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

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -34,13 +34,22 @@ class ImportUrdfSetup : public CommonMultiBodyBase
 	bool m_useMultiBody;
     
 public:
-    ImportUrdfSetup(struct GUIHelperInterface* helper, int option);
+    ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName);
     virtual ~ImportUrdfSetup();
 
 	virtual void initPhysics();
 	virtual void stepSimulation(float deltaTime);
     
     void setFileName(const char* urdfFileName);
+
+	virtual void resetCamera()
+	{
+		float dist = 3.5;
+		float pitch = -136;
+		float yaw = 28;
+		float targetPos[3]={0.47,0,-0.64};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 };
 
 
@@ -62,9 +71,11 @@ struct ImportUrdfInternalData
 };
 
 
-ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option)
+ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
 	:CommonMultiBodyBase(helper)
 {
+	m_data = new ImportUrdfInternalData;
+
 	if (option==1)
 	{
 		m_useMultiBody = true;
@@ -74,38 +85,44 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option)
 	}
 
 	static int count = 0;
-    gFileNameArray.clear();
+	if (fileName)
-    gFileNameArray.push_back("r2d2.urdf");
-
-    m_data = new ImportUrdfInternalData;
-    
-    //load additional urdf file names from file
-    
-    FILE* f = fopen("urdf_files.txt","r");
-    if (f)
-    {
-        int result;
-        //warning: we don't avoid string buffer overflow in this basic example in fscanf
-        char fileName[1024];
-        do
-        {
-            result = fscanf(f,"%s",fileName);
-            if (result==1)
-            {
-                gFileNameArray.push_back(fileName);
-            }
-        } while (result==1);
-        
-        fclose(f);
-    }
-    
-    int numFileNames = gFileNameArray.size();
-
-    if (count>=numFileNames)
 	{
-		count=0;
+		setFileName(fileName);
+	} else
+	{
+		gFileNameArray.clear();
+		gFileNameArray.push_back("r2d2.urdf");
+
+		
+    
+		//load additional urdf file names from file
+    
+		FILE* f = fopen("urdf_files.txt","r");
+		if (f)
+		{
+			int result;
+			//warning: we don't avoid string buffer overflow in this basic example in fscanf
+			char fileName[1024];
+			do
+			{
+				result = fscanf(f,"%s",fileName);
+				if (result==1)
+				{
+					gFileNameArray.push_back(fileName);
+				}
+			} while (result==1);
+        
+			fclose(f);
+		}
+    
+		int numFileNames = gFileNameArray.size();
+
+		if (count>=numFileNames)
+		{
+			count=0;
+		}
+		sprintf(m_fileName,gFileNameArray[count++].c_str());
 	}
-    sprintf(m_fileName,gFileNameArray[count++].c_str());
 }
 
 ImportUrdfSetup::~ImportUrdfSetup()
@@ -270,8 +287,8 @@ void ImportUrdfSetup::stepSimulation(float deltaTime)
 	}
 }
 
-class CommonExampleInterface*    ImportURDFCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    ImportURDFCreateFunc(struct CommonExampleOptions& options)
 {
 
-	return new ImportUrdfSetup(helper, option);
+	return new ImportUrdfSetup(options.m_guiHelper, options.m_option,options.m_fileName);
 }

examples/Importers/ImportURDFDemo/ImportURDFSetup.h

@@ -2,6 +2,7 @@
 #define IMPORT_URDF_SETUP_H
 
 
-class CommonExampleInterface*    ImportURDFCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    ImportURDFCreateFunc(struct CommonExampleOptions& options);
+
 
 #endif //IMPORT_URDF_SETUP_H

examples/MultiBody/MultiDofDemo.cpp

@@ -29,6 +29,15 @@ public:
 
 	virtual void	stepSimulation(float deltaTime);
 
+	virtual void resetCamera()
+	{
+		float dist = 1;
+		float pitch = 50;
+		float yaw = 35;
+		float targetPos[3]={-3,2.8,-2.5};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
 
 	btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical = false, bool floating = false);
 	void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
@@ -76,6 +85,7 @@ void	MultiDofDemo::stepSimulation(float deltaTime)
 void	MultiDofDemo::initPhysics()
 {	
 
+
 	m_guiHelper->setUpAxis(1);
 
 	if(g_firstInit)
@@ -100,7 +110,7 @@ void	MultiDofDemo::initPhysics()
 	btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher,m_broadphase,sol,m_collisionConfiguration);
 	m_dynamicsWorld = world;
 //	m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
-	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
 
 	///create a few basic rigid bodies
@@ -418,7 +428,7 @@ void MultiDofDemo::addBoxes_testMultiDof()
 	}
 }
 
-class CommonExampleInterface*    MultiDofCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    MultiDofCreateFunc(struct CommonExampleOptions& options)
 {
-	return new MultiDofDemo(helper);
+	return new MultiDofDemo(options.m_guiHelper);
 }

examples/MultiBody/MultiDofDemo.h

@@ -2,7 +2,7 @@
 #ifndef MULTI_DOF_DEMO_H
 #define MULTI_DOF_DEMO_H
 
-class CommonExampleInterface*    MultiDofCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    MultiDofCreateFunc(struct CommonExampleOptions& options);
 
 #endif //MULTI_DOF_DEMO_H
 

examples/MultiBody/TestJointTorqueSetup.cpp

@@ -18,6 +18,16 @@ public:
 
     virtual void stepSimulation(float deltaTime);
 
+	virtual void resetCamera()
+	{
+		float dist = 5;
+		float pitch = 270;
+		float yaw = 21;
+		float targetPos[3]={-1.34,3.4,-0.44};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
+
 };
 
 TestJointTorqueSetup::TestJointTorqueSetup(struct GUIHelperInterface* helper)
@@ -270,7 +280,7 @@ void TestJointTorqueSetup::stepSimulation(float deltaTime)
 }
 
 
-class CommonExampleInterface*    TestJointTorqueCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    TestJointTorqueCreateFunc(struct CommonExampleOptions& options)
 {
-	return new TestJointTorqueSetup(helper);
+	return new TestJointTorqueSetup(options.m_guiHelper);
 }

examples/MultiBody/TestJointTorqueSetup.h

@@ -1,7 +1,7 @@
 #ifndef TEST_JOINT_TORQUE_SETUP_H
 #define TEST_JOINT_TORQUE_SETUP_H
 
-class CommonExampleInterface*    TestJointTorqueCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    TestJointTorqueCreateFunc(struct CommonExampleOptions& options);
 
 #endif //TEST_JOINT_TORQUE_SETUP_H
 

examples/OpenCL/broadphase/PairBench.cpp

@@ -32,14 +32,13 @@
 #include "../OpenGLWindow/GLInstanceRendererInternalData.h"
 
 
+char* gPairBenchFileName = 0;
 
 class PairBench : public CommonOpenCLBase
 {
 	
 	struct PairBenchInternalData*	m_data;
 
-	GLInstancingRenderer* m_instancingRenderer;
-
 public:
 	
 	PairBench(GUIHelperInterface* helper);
@@ -56,6 +55,24 @@ public:
 	virtual void stepSimulation(float deltaTime);
 
 	virtual void renderScene();
+
+	virtual void resetCamera()
+	{
+		float dist = 10;
+
+		if (gPairBenchFileName)
+		{
+			dist = 830;
+		} else
+		{
+			dist = 130;
+		}
+
+		float pitch = 62;
+		float yaw = 33;
+		float targetPos[4]={15.5,12.5,15.5,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 	
 };
 
@@ -67,7 +84,7 @@ public:
 
 
 
-char* gPairBenchFileName = 0;
+
 extern bool useShadowMap;
 float maxExtents = -1e30f;
 int largeCount = 0;
@@ -143,7 +160,8 @@ PairBench::PairBench(GUIHelperInterface* helper)
 :CommonOpenCLBase(helper)
 {
 	m_data = new PairBenchInternalData;
-	m_instancingRenderer = (GLInstancingRenderer*) helper->getRenderInterface();
+	
+	
 	m_data->m_validationBroadphase = 0;
 }
 PairBench::~PairBench()
@@ -182,7 +200,7 @@ void	PairBench::initPhysics()
 	dimensions[1] = 10;
 	dimensions[2] = 10;
 
-	//m_instancingRenderer = ci.m_instancingRenderer;
+	//m_guiHelper->getRenderInterface() = ci.m_guiHelper->getRenderInterface();
 	sPairDemo = this;
 	useShadowMap = false;
 
@@ -228,7 +246,7 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 	int strideInBytes = 9*sizeof(float);
 	int numVertices = sizeof(cube_vertices)/strideInBytes;
 	int numIndices = sizeof(cube_vertices)/sizeof(int);
-	int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
+	int shapeId = m_guiHelper->getRenderInterface()->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
 	int group=1;
 	int mask=1;
 	int index=TEST_INDEX_OFFSET;
@@ -316,12 +334,12 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 							if (l>500)
 							{
 								b3Vector4 color=b3MakeVector4(0,1,0,0.1);
-								int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+								int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 								m_data->m_broadphaseGPU->createLargeProxy(aabbMin,aabbMax,index,group,mask);
 							} else
 							{
 								b3Vector4 color=b3MakeVector4(1,0,0,1);
-								int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+								int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 								m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,index,group,mask);
 									index++;
 							}
@@ -384,7 +402,7 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 					}*/
 
 
-					int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+					int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 					
 					
 					b3Vector3 aabbMin = position-scaling;
@@ -404,21 +422,13 @@ void	PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
 		}
 	}
 	
-	float camPos[4]={15.5,12.5,15.5,0};
-	m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(camPos[0],camPos[1],camPos[2]);
-	if (gPairBenchFileName)
-	{
-		m_instancingRenderer->getActiveCamera()->setCameraDistance(830);
-	} else
-	{
-		m_instancingRenderer->getActiveCamera()->setCameraDistance(130);
-	}
 
-	m_instancingRenderer->writeTransforms();
+	m_guiHelper->getRenderInterface()->writeTransforms();
 	m_data->m_broadphaseGPU->writeAabbsToGpu();
 
 }
 
+
 void	PairBench::deleteBroadphase()
 {
 	delete m_data->m_broadphaseGPU;
@@ -429,11 +439,13 @@ void	PairBench::deleteBroadphase()
 	m_data->m_bodyTimes = 0;
 
 	m_data->m_broadphaseGPU = 0;
-	m_instancingRenderer->removeAllInstances();
+	m_guiHelper->getRenderInterface()->removeAllInstances();
 }
 
 void	PairBench::exitPhysics()
 {
+	//reset the state to 'on'
+	useShadowMap = true;
 	if(m_data->m_validationBroadphase)
 	{
 		delete m_data->m_validationBroadphase;
@@ -449,7 +461,7 @@ void	PairBench::exitPhysics()
 
 void PairBench::renderScene()
 {
-	m_instancingRenderer->renderScene();
+	m_guiHelper->getRenderInterface()->renderScene();
 }
 
 struct OverlappingPairSortPredicate 
@@ -467,17 +479,23 @@ void PairBench::stepSimulation(float deltaTime)
 {
 	//color all objects blue
 
+	GLInstanceRendererInternalData* internalData = m_guiHelper->getRenderInterface()->getInternalData();
+
+	if (internalData==0)
+		return;
+
+
 	bool animate=true;
 	int numObjects= 0;
 	{
 		B3_PROFILE("Num Objects");
-		numObjects = m_instancingRenderer->getInternalData()->m_totalNumInstances;
+		numObjects = internalData->m_totalNumInstances;
 	}
 	b3Vector4* positions = 0;
 	if (numObjects)
 	{
 		B3_PROFILE("Sync");
-		GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
+		GLuint vbo = internalData->m_vbo;
 		
 			
 
@@ -488,7 +506,7 @@ void PairBench::stepSimulation(float deltaTime)
 		char* hostPtr= 0;
 		{
 			B3_PROFILE("glMapBufferRange");
-			hostPtr = 	(char*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT|GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
+			hostPtr = 	(char*)glMapBufferRange( GL_ARRAY_BUFFER,internalData->m_maxShapeCapacityInBytes,arraySizeInBytes, GL_MAP_WRITE_BIT|GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
 		}
 		GLint err = glGetError();
 		assert(err==GL_NO_ERROR);
@@ -767,7 +785,7 @@ void PairBench::stepSimulation(float deltaTime)
 
 }
 
-class CommonExampleInterface*    PairBenchOpenCLCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    PairBenchOpenCLCreateFunc(struct CommonExampleOptions& options)
 {
-	return new PairBench(helper);
+	return new PairBench(options.m_guiHelper);
 }

examples/OpenCL/broadphase/PairBench.h

@@ -1,7 +1,7 @@
 #ifndef PAIR_BENCH_H
 #define PAIR_BENCH_H
 
-class CommonExampleInterface*    PairBenchOpenCLCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    PairBenchOpenCLCreateFunc(struct CommonExampleOptions& options);
 
 
 #endif

examples/OpenGLWindow/GLInstanceRendererInternalData.h

@@ -15,6 +15,9 @@ struct GLInstanceRendererInternalData
 	int 								m_vboSize;
 	GLuint								m_vbo;
 	int									m_totalNumInstances;
+	int		m_maxNumObjectCapacity;
+	int		m_maxShapeCapacityInBytes;
+
 };
 
 #endif //GL_INSTANCE_RENDERER_INTERNAL_DATA_H

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -152,6 +152,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
 	GLRenderToTexture*	m_shadowMap;
 	GLuint				m_shadowTexture;
 	
+	
 	InternalDataRenderer() :
 		m_shadowMap(0),
 		m_shadowTexture(0)
@@ -223,8 +224,7 @@ static GLint	ProjectionMatrixPointSprite=0;
 
 
 GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShapeCapacityInBytes)
-	:m_maxNumObjectCapacity(maxNumObjectCapacity),
+	:
-	m_maxShapeCapacityInBytes(maxShapeCapacityInBytes),
 	m_textureenabled(true),
 	m_textureinitialized(false),
 	m_screenWidth(0),
@@ -234,14 +234,17 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
 {
 
 	m_data = new InternalDataRenderer;
+	m_data->m_maxNumObjectCapacity = maxNumObjectCapacity;
+	m_data->m_maxShapeCapacityInBytes=maxShapeCapacityInBytes;
+
 	m_data->m_totalNumInstances = 0;
 
 	sData2 = m_data;
 
-	m_data->m_instance_positions_ptr.resize(m_maxNumObjectCapacity*4);
+	m_data->m_instance_positions_ptr.resize(m_data->m_maxNumObjectCapacity*4);
-	m_data->m_instance_quaternion_ptr.resize(m_maxNumObjectCapacity*4);
+	m_data->m_instance_quaternion_ptr.resize(m_data->m_maxNumObjectCapacity*4);
-	m_data->m_instance_colors_ptr.resize(m_maxNumObjectCapacity*4);
+	m_data->m_instance_colors_ptr.resize(m_data->m_maxNumObjectCapacity*4);
-	m_data->m_instance_scale_ptr.resize(m_maxNumObjectCapacity*3);
+	m_data->m_instance_scale_ptr.resize(m_data->m_maxNumObjectCapacity*3);
 
 }
 
@@ -346,8 +349,8 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
 
 	char* base = orgBase;
 
-	float* positions = (float*)(base+m_maxShapeCapacityInBytes);
+	float* positions = (float*)(base+m_data->m_maxShapeCapacityInBytes);
-	float* orientations = (float*)(base+m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE);
+	float* orientations = (float*)(base+m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE);
 
 
 	positions[objectIndex*4] = position[0];
@@ -406,10 +409,10 @@ void GLInstancingRenderer::writeTransforms()
 
 			char* base = orgBase;
 
-			float* positions = (float*)(base+m_maxShapeCapacityInBytes);
+			float* positions = (float*)(base+m_data->m_maxShapeCapacityInBytes);
-			float* orientations = (float*)(base+m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE);
+			float* orientations = (float*)(base+m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE);
-			float* colors= (float*)(base+m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE);
+			float* colors= (float*)(base+m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE);
-			float* scaling= (float*)(base+m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE);
+			float* scaling= (float*)(base+m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE);
 
 			//static int offset=0;
 			//offset++;
@@ -470,7 +473,7 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const double*
 int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
 {
 	b3Assert(shapeIndex == (m_graphicsInstances.size()-1));
-	b3Assert(m_graphicsInstances.size()<m_maxNumObjectCapacity-1);
+	b3Assert(m_graphicsInstances.size()<m_data->m_maxNumObjectCapacity-1);
 
 	b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
 
@@ -579,7 +582,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 	int sz = numvertices*vertexStrideInBytes;
 #ifdef B3_DEBUG
 	int totalUsed = vertexStrideInBytes*gfxObj->m_vertexArrayOffset+sz;
-	b3Assert(totalUsed<this->m_maxShapeCapacityInBytes);
+	b3Assert(totalUsed<m_data->m_maxShapeCapacityInBytes);
 #endif//B3_DEBUG
 
 	memcpy(dest+vertexStrideInBytes*gfxObj->m_vertexArrayOffset,vertices,sz);
@@ -611,10 +614,10 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 void GLInstancingRenderer::InitShaders()
 {
 
-	int POSITION_BUFFER_SIZE = (m_maxNumObjectCapacity*sizeof(float)*4);
+	int POSITION_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*4);
-	int ORIENTATION_BUFFER_SIZE = (m_maxNumObjectCapacity*sizeof(float)*4);
+	int ORIENTATION_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*4);
-	int COLOR_BUFFER_SIZE = (m_maxNumObjectCapacity*sizeof(float)*4);
+	int COLOR_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*4);
-	int SCALE_BUFFER_SIZE = (m_maxNumObjectCapacity*sizeof(float)*3);
+	int SCALE_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*3);
 
 	linesShader = gltLoadShaderPair(linesVertexShader,linesFragmentShader);
 	lines_ModelViewMatrix = glGetUniformLocation(linesShader, "ModelViewMatrix");
@@ -702,7 +705,7 @@ void GLInstancingRenderer::InitShaders()
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
 
 
-	int size = m_maxShapeCapacityInBytes  + POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE+SCALE_BUFFER_SIZE;
+	int size = m_data->m_maxShapeCapacityInBytes  + POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE+SCALE_BUFFER_SIZE;
 	m_data->m_vboSize = size;
 
 	glBufferData(GL_ARRAY_BUFFER, size, 0, GL_DYNAMIC_DRAW);//GL_STATIC_DRAW);
@@ -1460,8 +1463,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 
 
 		glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer);
-		glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_maxShapeCapacityInBytes));
+		glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
-		glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
+		glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
 
 		PointerCaster uv;
 		uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex;
@@ -1471,8 +1474,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 
 		glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, 9*sizeof(float), uv.m_pointer);
 		glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 9*sizeof(float), normal.m_pointer);
-		glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
+		glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
-		glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*3*sizeof(float)+m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
+		glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
 
 		glEnableVertexAttribArray(0);
 		glEnableVertexAttribArray(1);
@@ -1630,3 +1633,11 @@ void GLInstancingRenderer::enableShadowMap()
 
 }
 
+int GLInstancingRenderer::getMaxShapeCapacity() const
+{
+	return m_data->m_maxShapeCapacityInBytes;
+}
+int GLInstancingRenderer::getInstanceCapacity() const
+{
+	return m_data->m_maxNumObjectCapacity;
+}

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -29,8 +29,7 @@ class GLInstancingRenderer : public CommonRenderInterface
 	
 	b3AlignedObjectArray<struct b3GraphicsInstance*> m_graphicsInstances;
 
-	int		m_maxNumObjectCapacity;
+	
-	int		m_maxShapeCapacityInBytes;
 	struct InternalDataRenderer* m_data;
 
 	bool m_textureenabled;
@@ -94,7 +93,7 @@ public:
 	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
 
 	
-	struct	GLInstanceRendererInternalData* getInternalData();
+	virtual struct	GLInstanceRendererInternalData* getInternalData();
 
 	virtual void drawLine(const float from[4], const float to[4], const float color[4], float lineWidth=1);
 	virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth=1);
@@ -119,14 +118,10 @@ public:
 		return m_screenHeight;
 	}
 
-	virtual int getMaxShapeCapacity() const
+	virtual int getMaxShapeCapacity() const;
-	{
+	
-		return m_maxShapeCapacityInBytes;
+	virtual int getInstanceCapacity() const;
-	}
+	
-	virtual int getInstanceCapacity() const
-	{
-		return m_maxNumObjectCapacity;
-	}
 	virtual void enableShadowMap();
     virtual void enableBlend(bool blend)
     {

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -71,6 +71,11 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
     virtual void updateShape(int shapeIndex, const float* vertices);
     
     virtual void enableBlend(bool blend);
+
+	virtual struct	GLInstanceRendererInternalData* getInternalData()
+	{
+		return 0;
+	}
     
 };
 #endif //SIMPLE_OPENGL2_RENDERER_H

examples/Planar2D/Planar2D.cpp

@@ -93,7 +93,14 @@ class Planar2D : public CommonRigidBodyBase
 
 	void	exitPhysics();
 
-	
+	void resetCamera()
+	{
+		float dist = 9;
+		float pitch = 539;
+		float yaw = 11;
+		float targetPos[3]={8.6,10.5,-20.6};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 	
 	
 };
@@ -325,7 +332,7 @@ void	Planar2D::exitPhysics()
 	m_box2dbox2dAlgo = 0;
 }
 
-CommonExampleInterface*    Planar2DCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+CommonExampleInterface*    Planar2DCreateFunc(struct CommonExampleOptions& options)
 {
-	return new Planar2D(helper);
+	return new Planar2D(options.m_guiHelper);
 }

examples/Planar2D/Planar2D.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef PLANAR2D_H
 #define PLANAR2D_H
 
-class CommonExampleInterface*    Planar2DCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    Planar2DCreateFunc(struct CommonExampleOptions& options);
 
 #endif //BOX2D_DEMO_H
 

examples/Raycast/RaytestDemo.cpp

@@ -52,7 +52,14 @@ public:
 	
 	virtual void stepSimulation(float deltaTime);
 	
-	
+	virtual void resetCamera()
+	{
+		float dist = 18;
+		float pitch = 129;
+		float yaw = 30;
+		float targetPos[3]={-4.6,-4.7,-5.75};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 	
 };
 
@@ -147,6 +154,7 @@ void RaytestDemo::castRays()
 
 void	RaytestDemo::initPhysics()
 {
+	m_guiHelper->setUpAxis(1);
 	
 	///collision configuration contains default setup for memory, collision setup
 	m_collisionConfiguration = new btDefaultCollisionConfiguration();
@@ -318,9 +326,9 @@ void	RaytestDemo::exitPhysics()
 	
 }
 
-class CommonExampleInterface*    RaytestCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    RaytestCreateFunc(struct CommonExampleOptions& options)
 {
-	return new RaytestDemo(helper);
+	return new RaytestDemo(options.m_guiHelper);
 }
 
 

examples/Raycast/RaytestDemo.h

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

examples/RenderingExamples/CoordinateSystemDemo.cpp

@@ -138,11 +138,26 @@ public:
     {
         return false;   
     }
-    
+  
+
+	virtual void resetCamera()
+	{
+		float dist = 3.5;
+		float pitch = 136;
+		float yaw = 32;
+		float targetPos[3]={0,0,0};
+		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
+		{
+			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
+			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
+			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
+		}
+	}
 };
 
-struct CommonExampleInterface*    CoordinateSystemCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+struct CommonExampleInterface*    CoordinateSystemCreateFunc(struct CommonExampleOptions& options)
 {
-	return new CoordinateSystemDemo(helper->getAppInterface());
+	return new CoordinateSystemDemo(options.m_guiHelper->getAppInterface());
 }
 

examples/RenderingExamples/CoordinateSystemDemo.h

@@ -1,7 +1,7 @@
 #ifndef COORDINATE_SYSTEM_DEMO_H
 #define COORDINATE_SYSTEM_DEMO_H
 
-class	CommonExampleInterface*    CoordinateSystemCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class	CommonExampleInterface*    CoordinateSystemCreateFunc(struct CommonExampleOptions& options);
 
 
 #endif //COORDINATE_SYSTEM_DEMO_H

examples/RenderingExamples/RaytracerSetup.cpp

@@ -378,7 +378,7 @@ void RaytracerPhysicsSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBrid
 {
 }
 
- CommonExampleInterface*    RayTracerCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+ CommonExampleInterface*    RayTracerCreateFunc(struct CommonExampleOptions& options)
  {
-	 return new RaytracerPhysicsSetup(helper->getAppInterface());
+	 return new RaytracerPhysicsSetup(options.m_guiHelper->getAppInterface());
  }

examples/RenderingExamples/RaytracerSetup.h

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

examples/RenderingExamples/RenderInstancingDemo.cpp

@@ -125,12 +125,27 @@ public:
         return false;   
     }
     
+	virtual void resetCamera()
+	{
+		float dist = 13;
+		float pitch = 50;
+		float yaw = 13;
+		float targetPos[3]={-1,0,-0.3};
+		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
+		{
+			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
+			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
+			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
+		}
+	}
+
 };
 
 
-class	CommonExampleInterface*    RenderInstancingCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class	CommonExampleInterface*    RenderInstancingCreateFunc(struct CommonExampleOptions& options)
 {
-	return new RenderInstancingDemo(helper->getAppInterface());
+	return new RenderInstancingDemo(options.m_guiHelper->getAppInterface());
 }
 
 #endif //RENDER_INSTANCING_DEMO_H

examples/RenderingExamples/RenderInstancingDemo.h

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

examples/SoftDemo/SoftDemo.cpp

@@ -103,6 +103,16 @@ public:
 
 	void	exitPhysics();
 
+	virtual void resetCamera()
+	{
+		//@todo depends on current_demo?
+		float dist = 45;
+		float pitch = 27;
+		float yaw = 31;
+		float targetPos[3]={10-1,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
 	SoftDemo(struct GUIHelperInterface* helper) 
 		: CommonRigidBodyBase(helper),
 		m_drag(false)
@@ -2322,10 +2332,10 @@ void	SoftDemo::exitPhysics()
 }
 
 
-class CommonExampleInterface*    SoftDemoCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+class CommonExampleInterface*    SoftDemoCreateFunc(struct CommonExampleOptions& options)
 {
-	current_demo = option;
+	current_demo = options.m_option;
-	return new SoftDemo(helper);
+	return new SoftDemo(options.m_guiHelper);
 }
 
 

examples/SoftDemo/SoftDemo.h

@@ -19,7 +19,7 @@ subject to the following restrictions:
 #ifndef SOFT_DEMO_H
 #define SOFT_DEMO_H
 
-class CommonExampleInterface*    SoftDemoCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    SoftDemoCreateFunc(struct CommonExampleOptions& options);
 
 
 #endif //CCD_PHYSICS_DEMO_H

examples/Vehicles/Hinge2Vehicle.cpp

@@ -118,6 +118,15 @@ class Hinge2Vehicle  : public CommonRigidBodyBase
 	void initPhysics();
 	void exitPhysics();
 
+	virtual void resetCamera()
+	{
+		float dist = 8;
+		float pitch = -45;
+		float yaw = 32;
+		float targetPos[3]={-0.33,-0.72,4.5};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
 	/*static DemoApplication* Create()
 	{
 		Hinge2Vehicle* demo = new Hinge2Vehicle();
@@ -1170,7 +1179,7 @@ btRigidBody* Hinge2Vehicle::localCreateRigidBody(btScalar mass, const btTransfor
 	return body;
 }
 
-CommonExampleInterface*    Hinge2VehicleCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+CommonExampleInterface*    Hinge2VehicleCreateFunc(struct CommonExampleOptions& options)
 {
-	return new Hinge2Vehicle(helper);
+	return new Hinge2Vehicle(options.m_guiHelper);
 }

examples/Vehicles/Hinge2Vehicle.h

@@ -16,7 +16,7 @@ subject to the following restrictions:
 #ifndef HINGE2_VEHICLE_H
 #define HINGE2_VEHICLE_H
 
-class CommonExampleInterface*    Hinge2VehicleCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+class CommonExampleInterface*    Hinge2VehicleCreateFunc(struct CommonExampleOptions& options);
 
 #endif // HINGE2_VEHICLE_H
 

examples/VoronoiFracture/VoronoiFractureDemo.cpp

@@ -105,7 +105,14 @@ class VoronoiFractureDemo : public CommonRigidBodyBase
 
 	void attachFixedConstraints();
 
-
+	virtual void resetCamera()
+	{
+		float dist = 18;
+		float pitch = 129;
+		float yaw = 30;
+		float targetPos[3]={-1.5,4.7,-2};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
 	
 	
 };
@@ -817,7 +824,7 @@ static DemoApplication* Create()
 
 */
 
-CommonExampleInterface*    VoronoiFractureCreateFunc(PhysicsInterface* pint, GUIHelperInterface* helper, int option)
+CommonExampleInterface*    VoronoiFractureCreateFunc(struct CommonExampleOptions& options)
 {
-	return new VoronoiFractureDemo(helper);
+	return new VoronoiFractureDemo(options.m_guiHelper);
 }

examples/VoronoiFracture/VoronoiFractureDemo.h

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