add option to create mp4 videos from App_AllBullet2Demos, using the

--mp4=video.mp4 note that you have to re-convert for Quicktime
ffmpeg  -f mp4 -vcodec h264 -i test.mp4 -pix_fmt yuv420p test2.mp4
add the option to display text in 3d, used in Coriolis demo

Demos/GyroscopicDemo/GyroscopicSetup.cpp

@@ -1,5 +1,22 @@
 #include "GyroscopicSetup.h"
 
+static int gyroflags[5] = {
+    0,//none, no gyroscopic term
+    BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT,
+    BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_EWERT,
+    BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_CATTO,
+    BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_COOPER,
+};
+
+static const char* gyroNames[5] = {
+    "No Coriolis",
+    "Explicit",
+    "Ewert",
+    "Catto",
+    "Cooper",
+};
+
+
 void GyroscopicSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 {
 	gfxBridge.setUpAxis(2);
@@ -7,16 +24,7 @@ void GyroscopicSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 	m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
 	gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
 
-	//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5)));
-	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 0, 1), 0);
 	
-	m_collisionShapes.push_back(groundShape);
-	btTransform groundTransform;
-	groundTransform.setIdentity();
-	groundTransform.setOrigin(btVector3(0, 0, 0));
-	btRigidBody* groundBody;
-	groundBody = createRigidBody(0, groundTransform, groundShape);
-	groundBody->setFriction(btSqrt(2));
 	btVector3 positions[5] = {
 		btVector3( -10, 8,4),
 		btVector3( -5, 8,4),
@@ -24,14 +32,7 @@ void GyroscopicSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 		btVector3( 5, 8,4),
 		btVector3( 10, 8,4),
 	};
-	int gyroflags[5] = {
-		0,//none, no gyroscopic term
-		BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT,
-		BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_EWERT,
-		BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_COOPER,
-		BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_CATTO,
 
-	};
 
 	for (int i = 0; i<5; i++)
 	{
@@ -64,6 +65,34 @@ void GyroscopicSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 
 	}
 
+    {
+        //btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5)));
+        btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 0, 1), 0);
+        
+        m_collisionShapes.push_back(groundShape);
+        btTransform groundTransform;
+        groundTransform.setIdentity();
+        groundTransform.setOrigin(btVector3(0, 0, 0));
+        btRigidBody* groundBody;
+        groundBody = createRigidBody(0, groundTransform, groundShape);
+        groundBody->setFriction(btSqrt(2));
+    }
 	gfxBridge.autogenerateGraphicsObjects(m_dynamicsWorld);
 }
 
+void GyroscopicSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
+{
+    CommonRigidBodySetup::syncPhysicsToGraphics(gfxBridge);
+    //render method names above objects
+    for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
+    {
+        btRigidBody* body = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[i]);
+        if (body && body->getInvMass()>0)
+        {
+            btTransform tr = body->getWorldTransform();
+            btVector3 pos = tr.getOrigin()+btVector3(0,0,2);
+            btScalar size=1;
+            gfxBridge.drawText3D(gyroNames[i],pos.x(),pos.y(),pos.z(),size);
+        }
+    }
+}

Demos/GyroscopicDemo/GyroscopicSetup.h

@@ -8,6 +8,8 @@ struct GyroscopicSetup : public CommonRigidBodySetup
 {
 	virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
 
+    virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge);
+
 };
 
 

Demos3/AllBullet2Demos/main.cpp

@@ -32,6 +32,7 @@
 #include "Bullet3AppSupport/GwenTextureWindow.h"
 #include "Bullet3AppSupport/GraphingTexture.h"
 #include "Bullet3AppSupport/Common2dCanvasInterface.h"
+#include "Bullet3Common/b3CommandLineArgs.h"
 
 #include "OpenGLWindow/SimpleCamera.h"
 #include "OpenGLWindow/SimpleOpenGL2Renderer.h"
@@ -462,6 +463,8 @@ struct QuickCanvas : public Common2dCanvasInterface
 extern float shadowMapWorldSize;
 int main(int argc, char* argv[])
 {
+    b3CommandLineArgs args(argc,argv);
+    
     shadowMapWorldSize = 25;
 
 	b3Clock clock;
@@ -483,6 +486,12 @@ int main(int argc, char* argv[])
         simpleApp = new SimpleOpenGL3App("AllBullet2Demos",width,height);
         app = simpleApp;
     }
+    char* gVideoFileName = 0;
+    args.GetCmdLineArgument("mp4",gVideoFileName);
+    
+    if (gVideoFileName)
+        simpleApp->dumpFramesToVideo(gVideoFileName);
+    
    
     s_instancingRenderer = app->m_renderer;
 	s_window  = app->m_window;

btgui/Bullet3AppSupport/Bullet2RigidBodyDemo.cpp

@@ -275,6 +275,12 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
 			
 		}
 	}
+    
+    virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size)
+    {
+        btAssert(m_glApp);
+        m_glApp->drawText3D(txt,posX,posY,posZ,size);
+    }
 };
 
 Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(CommonGraphicsApp* app, CommonPhysicsSetup* physicsSetup)

btgui/Bullet3AppSupport/CommonPhysicsSetup.h

@@ -55,6 +55,11 @@ struct GraphicsPhysicsBridge
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) 
 	{
 	}
+    
+    virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
+    {
+        
+    }
 };
 
 ///Bullet 2 specific physics setup, that allows to share code between old and new demo frameworks

btgui/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -744,6 +744,7 @@ void SimpleOpenGL3App::swapBuffer()
     }
 	m_window->startRendering();
 }
+
 // see also http://blog.mmacklin.com/2013/06/11/real-time-video-capture-with-ffmpeg/
 void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
 {
@@ -751,8 +752,17 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
     int height = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight();
     char cmd[8192];
 
-    sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
+#ifdef _WIN32
-                 "-threads 0 -y -crf 0 -b 50000k -vf vflip %s",width,height,mp4FileName);
+    sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba   -s %dx%d -i - "
+    		"-y -crf 0  -b:v 1500000 -an -vcodec h264 -vf vflip  %s", width, height, mp4FileName);
+#else
+   
+   sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
+    		"-threads 0 -y -crf 0 -b 50000k -vf vflip %s", width, height, mp4FileName);
+#endif
+    
+    //sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
+     //            "-threads 0 -y -crf 0 -b 50000k -vf vflip %s",width,height,mp4FileName);
 
     //              sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
     //              "-threads 0 -preset fast -y -crf 21 -vf vflip %s",width,height,mp4FileName);

build3/premake4.lua

@@ -94,6 +94,7 @@
 			{
         		'ARCHS = "$(ARCHS_STANDARD_32_BIT) $(ARCHS_STANDARD_64_BIT)"',
         		'VALID_ARCHS = "x86_64 i386"',
+--			'SDKROOT = "macosx10.9"',
 			}
 	end
 

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -434,9 +434,8 @@ if (dInvertMatrix3(itInv, Itild) != 0) {
 	}
 #endif
 	btVector3 tau0 = Itild * L;
-	printf("tau0 = %f,%f,%f\n",tau0.x(),tau0.y(),tau0.z());
+//	printf("tau0 = %f,%f,%f\n",tau0.x(),tau0.y(),tau0.z());
 	return tau0;
-	return btVector3(0, 0, 0);
 }
 
 btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Ewert(btScalar step) const