updated demos -> ALT + mouse uses Maya-style controls, replaced BMF_Fonts by GLDebugFont

fix debug drawing of btMultiSphereShape
added box2d demo
added experimental gpu 2d demo

Demos/AllBulletDemos/DemoEntries.cpp

@@ -32,16 +32,16 @@ subject to the following restrictions:
 #include "../ConstraintDemo/ConstraintDemo.h"
 #include "../Benchmarks/BenchmarkDemo.h"
 #include "../SoftDemo/SoftDemo.h"
-
+#include "GLDebugFont.h"
 
 #include "GlutStuff.h"//OpenGL stuff
-#include "BMF_Api.h"//font stuff
+
 
 extern int gNumAlignedAllocs;
 extern int gNumAlignedFree;
 extern int gTotalBytesAlignedAllocs;
 
-class btEmptyDebugDemo : public DemoApplication
+class btEmptyDebugDemo : public GlutDemoApplication
 {
 public:
 	btEmptyDebugDemo()
@@ -66,22 +66,22 @@ public:
 
 		glRasterPos3f(xOffset,yStart,0);
 		sprintf(buf,"gNumAlignedAllocs= %d",gNumAlignedAllocs);
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		GLDebugDrawString(xOffset,yStart,buf);
 		yStart += yIncr;
 
 		glRasterPos3f(xOffset,yStart,0);
 		sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		GLDebugDrawString(xOffset,yStart,buf);
 		yStart += yIncr;
 
 		glRasterPos3f(xOffset,yStart,0);
 		sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		GLDebugDrawString(xOffset,yStart,buf);
 		yStart += yIncr;
 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
 		glRasterPos3f(xOffset,yStart,0);
 		sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		GLDebugDrawString(xOffset,yStart,buf);
 		yStart += yIncr;
 #endif //BT_DEBUG_MEMORY_ALLOCATIONS
 
@@ -90,6 +90,8 @@ public:
 			
 	}
 
+	virtual	void initPhysics() {}
+
 	static DemoApplication* Create()
 	{
 		btEmptyDebugDemo* demo = new btEmptyDebugDemo();

Demos/BasicDemo/BasicDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef BASIC_DEMO_H
 #define BASIC_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -27,7 +27,7 @@ struct btCollisionAlgorithmCreateFunc;
 class btDefaultCollisionConfiguration;
 
 ///BasicDemo is good starting point for learning the code base and porting.
-class BasicDemo : public DemoApplication
+class BasicDemo : public GlutDemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/Benchmarks/BenchmarkDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef BENCHMARK_DEMO_H
 #define BENCHMARK_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #define NUMRAYS 500
 
@@ -28,7 +28,7 @@ struct btCollisionAlgorithmCreateFunc;
 class btDefaultCollisionConfiguration;
 
 ///BenchmarkDemo is provides several performance tests
-class BenchmarkDemo : public DemoApplication
+class BenchmarkDemo : public GlutDemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/Box2dDemo/Box2dDemo.cpp

@@ -0,0 +1,256 @@
+/*
+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 "btBox2dShape.h"
+#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
+#include "btBox2dBox2dCollisionAlgorithm.h"
+
+///create 125 (5x5x5) dynamic object
+#define ARRAY_SIZE_X 17
+#define ARRAY_SIZE_Y 17
+#define ARRAY_SIZE_Z 1
+
+//maximum number of objects (and allow user to shoot additional boxes)
+#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
+
+///scaling of the objects (0.1 = 20 centimeter boxes )
+#define SCALING 1
+#define START_POS_X -5
+#define START_POS_Y -5
+#define START_POS_Z -3
+
+#include "Box2dDemo.h"
+#include "GlutStuff.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include <stdio.h> //printf debugging
+
+
+void Box2dDemo::clientMoveAndDisplay()
+{
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+
+	//simple dynamics world doesn't handle fixed-time-stepping
+	float ms = getDeltaTimeMicroseconds();
+	
+	///step the simulation
+	if (m_dynamicsWorld)
+	{
+		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+	}
+		
+	renderme(); 
+
+	glFlush();
+
+	glutSwapBuffers();
+
+}
+
+
+
+void Box2dDemo::displayCallback(void) {
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+	
+	renderme();
+
+	//optional but useful: debug drawing to detect problems
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
+	glFlush();
+	glutSwapBuffers();
+}
+
+
+
+
+
+void	Box2dDemo::initPhysics()
+{
+	setTexturing(true);
+	setShadows(true);
+
+	setCameraDistance(btScalar(SCALING*50.));
+	m_cameraTargetPosition.setValue(0, ARRAY_SIZE_Y, 0);
+
+	///collision configuration contains default setup for memory, collision setup
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	//m_collisionConfiguration->setConvexConvexMultipointIterations();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
+
+	m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new btEmptyAlgorithm::CreateFunc);
+	m_dispatcher->registerCollisionCreateFunc(CUSTOM_CONVEX_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc);
+
+	m_broadphase = new btDbvtBroadphase();
+
+	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+	m_solver = sol;
+
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+	//m_dynamicsWorld->getSolverInfo().m_erp = 1.f;
+	//m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
+	
+
+
+	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+
+	///create a few basic rigid bodies
+	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.),btScalar(50.),btScalar(150.)));
+//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-43,0));
+
+	//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
+	{
+		btScalar mass(0.);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0,0,0);
+		if (isDynamic)
+			groundShape->calculateLocalInertia(mass,localInertia);
+
+		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+		btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
+		btRigidBody* body = new btRigidBody(rbInfo);
+
+		//add the body to the dynamics world
+		m_dynamicsWorld->addRigidBody(body);
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+
+		//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
+		btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.));
+		colShape->setMargin(0.);
+		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
+		m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0,0,0);
+		if (isDynamic)
+			colShape->calculateLocalInertia(mass,localInertia);
+
+		float start_x = START_POS_X - ARRAY_SIZE_X/2;
+		float start_y = START_POS_Y;
+		float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
+
+		btVector3 x(-ARRAY_SIZE_X, 8.0f,-20.f);
+		btVector3 y;
+		btVector3 deltaX(SCALING*1, SCALING*2,0.f);
+		btVector3 deltaY(SCALING*2, 0.0f,0.f);
+
+		for (int i = 0; i < ARRAY_SIZE_X; ++i)
+		{
+			y = x;
+
+			for (int  j = i; j < ARRAY_SIZE_Y; ++j)
+			{
+					startTransform.setOrigin(y);
+
+			
+					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
+					btRigidBody* body = new btRigidBody(rbInfo);
+					//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
+					body->setActivationState(ISLAND_SLEEPING);
+					body->setLinearFactor(btVector3(1,1,0));
+					body->setAngularFactor(btVector3(0,0,1));
+
+					m_dynamicsWorld->addRigidBody(body);
+					body->setActivationState(ISLAND_SLEEPING);
+
+
+				y += deltaY;
+			}
+
+			x += deltaX;
+		}
+
+	}
+
+
+	clientResetScene();
+}
+	
+
+void	Box2dDemo::exitPhysics()
+{
+
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject( obj );
+		delete obj;
+	}
+
+	//delete collision shapes
+	for (int j=0;j<m_collisionShapes.size();j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+
+	delete m_dynamicsWorld;
+	
+	delete m_solver;
+	
+	delete m_broadphase;
+	
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+
+	
+}
+
+
+
+

Demos/Box2dDemo/Box2dDemo.h

@@ -0,0 +1,73 @@
+/*
+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.
+*/
+#ifndef BOX2D_DEMO_H
+#define BOX2D_DEMO_H
+
+#include "GlutDemoApplication.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+class btBroadphaseInterface;
+class btCollisionShape;
+class btOverlappingPairCache;
+class btCollisionDispatcher;
+class btConstraintSolver;
+struct btCollisionAlgorithmCreateFunc;
+class btDefaultCollisionConfiguration;
+
+///Box2dDemo is good starting point for learning the code base and porting.
+class Box2dDemo : public GlutDemoApplication
+{
+
+	//keep the collision shapes, for deletion/cleanup
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+
+	btBroadphaseInterface*	m_broadphase;
+
+	btCollisionDispatcher*	m_dispatcher;
+
+	btConstraintSolver*	m_solver;
+
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+	public:
+
+	Box2dDemo()
+	{
+	}
+	virtual ~Box2dDemo()
+	{
+		exitPhysics();
+	}
+	void	initPhysics();
+
+	void	exitPhysics();
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+	
+	static DemoApplication* Create()
+	{
+		Box2dDemo* demo = new Box2dDemo;
+		demo->myinit();
+		demo->initPhysics();
+		return demo;
+	}
+
+	
+};
+
+#endif //BOX2D_DEMO_H
+

Demos/Box2dDemo/btBox2dBox2dCollisionAlgorithm.cpp

@@ -0,0 +1,438 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
+
+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.
+*/
+
+///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
+///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
+
+#include "btBox2dBox2dCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
+#include "btBox2dShape.h"
+
+#define USE_PERSISTENT_CONTACTS 1
+
+btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
+: btActivatingCollisionAlgorithm(ci,obj0,obj1),
+m_ownManifold(false),
+m_manifoldPtr(mf)
+{
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
+	{
+		m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
+		m_ownManifold = true;
+	}
+}
+
+btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
+{
+	
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr)
+			m_dispatcher->releaseManifold(m_manifoldPtr);
+	}
+	
+}
+
+
+void b2CollidePolygons(btManifoldResult* manifold,  const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
+
+#include <stdio.h>
+void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	if (!m_manifoldPtr)
+		return;
+
+	btCollisionObject*	col0 = body0;
+	btCollisionObject*	col1 = body1;
+	btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
+	btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
+
+	resultOut->setPersistentManifold(m_manifoldPtr);
+
+	b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
+
+	//  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
+	if (m_ownManifold)
+	{
+		resultOut->refreshContactPoints();
+	}
+
+}
+
+btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+{
+	//not yet
+	return 1.f;
+}
+
+
+struct ClipVertex
+{
+	btVector3 v;
+	int id;
+	//b2ContactID id;
+	//b2ContactID id;
+};
+
+#define b2Dot(a,b) (a).dot(b)
+#define b2Mul(a,b) (a)*(b)
+#define b2MulT(a,b) (a).transpose()*(b)
+#define BT_FLT_MAX 1e30f
+#define b2Cross(a,b) (a).cross(b)
+#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
+
+int b2_maxManifoldPoints =2;
+
+static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
+					  const btVector3& normal, btScalar offset)
+{
+	// Start with no output points
+	int numOut = 0;
+
+	// Calculate the distance of end points to the line
+	btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
+	btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
+
+	// If the points are behind the plane
+	if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
+	if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
+
+	// If the points are on different sides of the plane
+	if (distance0 * distance1 < 0.0f)
+	{
+		// Find intersection point of edge and plane
+		btScalar interp = distance0 / (distance0 - distance1);
+		vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
+		if (distance0 > 0.0f)
+		{
+			vOut[numOut].id = vIn[0].id;
+		}
+		else
+		{
+			vOut[numOut].id = vIn[1].id;
+		}
+		++numOut;
+	}
+
+	return numOut;
+}
+
+// Find the separation between poly1 and poly2 for a give edge normal on poly1.
+static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
+							  const btBox2dShape* poly2, const btTransform& xf2)
+{
+	int count1 = poly1->getVertexCount();
+	const btVector3* vertices1 = poly1->getVertices();
+	const btVector3* normals1 = poly1->getNormals();
+
+	int count2 = poly2->getVertexCount();
+	const btVector3* vertices2 = poly2->getVertices();
+
+	btAssert(0 <= edge1 && edge1 < count1);
+
+	// Convert normal from poly1's frame into poly2's frame.
+	btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
+	btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
+
+	// Find support vertex on poly2 for -normal.
+	int index = 0;
+	btScalar minDot = BT_FLT_MAX;
+
+	for (int i = 0; i < count2; ++i)
+	{
+		btScalar dot = b2Dot(vertices2[i], normal1);
+		if (dot < minDot)
+		{
+			minDot = dot;
+			index = i;
+		}
+	}
+
+	btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
+	btVector3 v2 = b2Mul(xf2, vertices2[index]);
+	btScalar separation = b2Dot(v2 - v1, normal1World);
+	return separation;
+}
+
+// Find the max separation between poly1 and poly2 using edge normals from poly1.
+static btScalar FindMaxSeparation(int* edgeIndex,
+								 const btBox2dShape* poly1, const btTransform& xf1,
+								 const btBox2dShape* poly2, const btTransform& xf2)
+{
+	int count1 = poly1->getVertexCount();
+	const btVector3* normals1 = poly1->getNormals();
+
+	// Vector pointing from the centroid of poly1 to the centroid of poly2.
+	btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
+	btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
+
+	// Find edge normal on poly1 that has the largest projection onto d.
+	int edge = 0;
+	btScalar maxDot = -BT_FLT_MAX;
+	for (int i = 0; i < count1; ++i)
+	{
+		btScalar dot = b2Dot(normals1[i], dLocal1);
+		if (dot > maxDot)
+		{
+			maxDot = dot;
+			edge = i;
+		}
+	}
+
+	// Get the separation for the edge normal.
+	btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
+	if (s > 0.0f)
+	{
+		return s;
+	}
+
+	// Check the separation for the previous edge normal.
+	int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
+	btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
+	if (sPrev > 0.0f)
+	{
+		return sPrev;
+	}
+
+	// Check the separation for the next edge normal.
+	int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
+	btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
+	if (sNext > 0.0f)
+	{
+		return sNext;
+	}
+
+	// Find the best edge and the search direction.
+	int bestEdge;
+	btScalar bestSeparation;
+	int increment;
+	if (sPrev > s && sPrev > sNext)
+	{
+		increment = -1;
+		bestEdge = prevEdge;
+		bestSeparation = sPrev;
+	}
+	else if (sNext > s)
+	{
+		increment = 1;
+		bestEdge = nextEdge;
+		bestSeparation = sNext;
+	}
+	else
+	{
+		*edgeIndex = edge;
+		return s;
+	}
+
+	// Perform a local search for the best edge normal.
+	for ( ; ; )
+	{
+		if (increment == -1)
+			edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
+		else
+			edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
+
+		s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
+		if (s > 0.0f)
+		{
+			return s;
+		}
+
+		if (s > bestSeparation)
+		{
+			bestEdge = edge;
+			bestSeparation = s;
+		}
+		else
+		{
+			break;
+		}
+	}
+
+	*edgeIndex = bestEdge;
+	return bestSeparation;
+}
+
+static void FindIncidentEdge(ClipVertex c[2],
+							 const btBox2dShape* poly1, const btTransform& xf1, int edge1,
+							 const btBox2dShape* poly2, const btTransform& xf2)
+{
+	int count1 = poly1->getVertexCount();
+	const btVector3* normals1 = poly1->getNormals();
+
+	int count2 = poly2->getVertexCount();
+	const btVector3* vertices2 = poly2->getVertices();
+	const btVector3* normals2 = poly2->getNormals();
+
+	btAssert(0 <= edge1 && edge1 < count1);
+
+	// Get the normal of the reference edge in poly2's frame.
+	btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
+
+	// Find the incident edge on poly2.
+	int index = 0;
+	btScalar minDot = BT_FLT_MAX;
+	for (int i = 0; i < count2; ++i)
+	{
+		btScalar dot = b2Dot(normal1, normals2[i]);
+		if (dot < minDot)
+		{
+			minDot = dot;
+			index = i;
+		}
+	}
+
+	// Build the clip vertices for the incident edge.
+	int i1 = index;
+	int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
+
+	c[0].v = b2Mul(xf2, vertices2[i1]);
+//	c[0].id.features.referenceEdge = (unsigned char)edge1;
+//	c[0].id.features.incidentEdge = (unsigned char)i1;
+//	c[0].id.features.incidentVertex = 0;
+
+	c[1].v = b2Mul(xf2, vertices2[i2]);
+//	c[1].id.features.referenceEdge = (unsigned char)edge1;
+//	c[1].id.features.incidentEdge = (unsigned char)i2;
+//	c[1].id.features.incidentVertex = 1;
+}
+
+// Find edge normal of max separation on A - return if separating axis is found
+// Find edge normal of max separation on B - return if separation axis is found
+// Choose reference edge as min(minA, minB)
+// Find incident edge
+// Clip
+
+// The normal points from 1 to 2
+void b2CollidePolygons(btManifoldResult* manifold,
+					  const btBox2dShape* polyA, const btTransform& xfA,
+					  const btBox2dShape* polyB, const btTransform& xfB)
+{
+
+	int edgeA = 0;
+	btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
+	if (separationA > 0.0f)
+		return;
+
+	int edgeB = 0;
+	btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
+	if (separationB > 0.0f)
+		return;
+
+	const btBox2dShape* poly1;	// reference poly
+	const btBox2dShape* poly2;	// incident poly
+	btTransform xf1, xf2;
+	int edge1;		// reference edge
+	unsigned char flip;
+	const btScalar k_relativeTol = 0.98f;
+	const btScalar k_absoluteTol = 0.001f;
+
+	// TODO_ERIN use "radius" of poly for absolute tolerance.
+	if (separationB > k_relativeTol * separationA + k_absoluteTol)
+	{
+		poly1 = polyB;
+		poly2 = polyA;
+		xf1 = xfB;
+		xf2 = xfA;
+		edge1 = edgeB;
+		flip = 1;
+	}
+	else
+	{
+		poly1 = polyA;
+		poly2 = polyB;
+		xf1 = xfA;
+		xf2 = xfB;
+		edge1 = edgeA;
+		flip = 0;
+	}
+
+	ClipVertex incidentEdge[2];
+	FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
+
+	int count1 = poly1->getVertexCount();
+	const btVector3* vertices1 = poly1->getVertices();
+
+	btVector3 v11 = vertices1[edge1];
+	btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
+
+	btVector3 dv = v12 - v11;
+	btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
+	sideNormal.normalize();
+	btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
+	
+	
+	v11 = b2Mul(xf1, v11);
+	v12 = b2Mul(xf1, v12);
+
+	btScalar frontOffset = b2Dot(frontNormal, v11);
+	btScalar sideOffset1 = -b2Dot(sideNormal, v11);
+	btScalar sideOffset2 = b2Dot(sideNormal, v12);
+
+	// Clip incident edge against extruded edge1 side edges.
+	ClipVertex clipPoints1[2];
+	clipPoints1[0].v.setValue(0,0,0);
+	clipPoints1[1].v.setValue(0,0,0);
+
+	ClipVertex clipPoints2[2];
+	clipPoints2[0].v.setValue(0,0,0);
+	clipPoints2[1].v.setValue(0,0,0);
+
+
+	int np;
+
+	// Clip to box side 1
+	np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
+
+	if (np < 2)
+		return;
+
+	// Clip to negative box side 1
+	np = ClipSegmentToLine(clipPoints2, clipPoints1,  sideNormal, sideOffset2);
+
+	if (np < 2)
+	{
+		return;
+	}
+
+	// Now clipPoints2 contains the clipped points.
+	btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
+
+	int pointCount = 0;
+	for (int i = 0; i < b2_maxManifoldPoints; ++i)
+	{
+		btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
+
+		if (separation <= 0.0f)
+		{
+			
+			//b2ManifoldPoint* cp = manifold->points + pointCount;
+			//btScalar separation = separation;
+			//cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
+			//cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
+
+			manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation);
+
+//			cp->id = clipPoints2[i].id;
+//			cp->id.features.flip = flip;
+			++pointCount;
+		}
+	}
+
+//	manifold->pointCount = pointCount;}
+}

Demos/Box2dDemo/btBox2dBox2dCollisionAlgorithm.h

@@ -0,0 +1,66 @@
+/*
+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.
+*/
+
+#ifndef BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+#define BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+
+#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+
+class btPersistentManifold;
+
+///box-box collision detection
+class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
+{
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	
+public:
+	btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+		: btActivatingCollisionAlgorithm(ci) {}
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+
+	virtual ~btBox2dBox2dCollisionAlgorithm();
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
+
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
+			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
+			return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
+		}
+	};
+
+};
+
+#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+

Demos/Box2dDemo/btBox2dShape.cpp

@@ -0,0 +1,42 @@
+/*
+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 "btBox2dShape.h"
+
+
+//{ 
+
+
+void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+}
+
+
+void	btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+	//btScalar margin = btScalar(0.);
+	btVector3 halfExtents = getHalfExtentsWithMargin();
+
+	btScalar lx=btScalar(2.)*(halfExtents.x());
+	btScalar ly=btScalar(2.)*(halfExtents.y());
+	btScalar lz=btScalar(2.)*(halfExtents.z());
+
+	inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + lz*lz),
+					mass/(btScalar(12.0)) * (lx*lx + ly*ly));
+
+}
+

Demos/Box2dDemo/btBox2dShape.h

@@ -0,0 +1,363 @@
+/*
+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.
+*/
+
+#ifndef OBB_BOX_2D_SHAPE_H
+#define OBB_BOX_2D_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btMinMax.h"
+
+///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
+class btBox2dShape: public btPolyhedralConvexShape
+{
+
+	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
+
+	btVector3 m_centroid;
+	btVector3 m_vertices[4];
+	btVector3 m_normals[4];
+
+public:
+
+	btVector3 getHalfExtentsWithMargin() const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		halfExtents += margin;
+		return halfExtents;
+	}
+	
+	const btVector3& getHalfExtentsWithoutMargin() const
+	{
+		return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
+	}
+	
+
+	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		halfExtents += margin;
+		
+		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+	}
+
+	SIMD_FORCE_INLINE  btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+	{
+		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+		
+		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
+	}
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+	{
+		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
+	
+		for (int i=0;i<numVectors;i++)
+		{
+			const btVector3& vec = vectors[i];
+			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
+				btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
+				btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); 
+		}
+
+	}
+
+
+	btBox2dShape( const btVector3& boxHalfExtents) 
+		: btPolyhedralConvexShape(),
+		m_centroid(0,0,0)
+	{
+		m_vertices[0].setValue(-boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
+		m_vertices[1].setValue(boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
+		m_vertices[2].setValue(boxHalfExtents.getX(),boxHalfExtents.getY(),0);
+		m_vertices[3].setValue(-boxHalfExtents.getX(),boxHalfExtents.getY(),0);
+
+		m_normals[0].setValue(0,-1,0);
+		m_normals[1].setValue(1,0,0);
+		m_normals[2].setValue(0,1,0);
+		m_normals[3].setValue(-1,0,0);
+
+		m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
+		btVector3 margin(getMargin(),getMargin(),getMargin());
+		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
+	};
+
+	virtual void setMargin(btScalar collisionMargin)
+	{
+		//correct the m_implicitShapeDimensions for the margin
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		
+		btConvexInternalShape::setMargin(collisionMargin);
+		btVector3 newMargin(getMargin(),getMargin(),getMargin());
+		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
+
+	}
+	virtual void	setLocalScaling(const btVector3& scaling)
+	{
+		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
+		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
+		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
+
+		btConvexInternalShape::setLocalScaling(scaling);
+
+		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
+
+	}
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+
+
+
+
+
+	int	getVertexCount() const
+	{
+		return 4;
+	}
+
+	virtual int getNumVertices()const
+	{
+		return 4;
+	}
+
+	const btVector3* getVertices() const
+	{
+		return &m_vertices[0];
+	}
+
+	const btVector3* getNormals() const
+	{
+		return &m_normals[0];
+	}
+
+
+
+
+
+
+
+	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
+	{
+		//this plane might not be aligned...
+		btVector4 plane ;
+		getPlaneEquation(plane,i);
+		planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
+		planeSupport = localGetSupportingVertex(-planeNormal);
+	}
+
+
+	const btVector3& getCentroid() const
+	{
+		return m_centroid;
+	}
+	
+	virtual int getNumPlanes() const
+	{
+		return 6;
+	}	
+	
+	
+
+	virtual int getNumEdges() const
+	{
+		return 12;
+	}
+
+
+	virtual void getVertex(int i,btVector3& vtx) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+		vtx = btVector3(
+				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
+				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
+				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
+	}
+	
+
+	virtual void	getPlaneEquation(btVector4& plane,int i) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+		switch (i)
+		{
+		case 0:
+			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+			break;
+		case 1:
+			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
+			break;
+		case 2:
+			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
+			break;
+		case 3:
+			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
+			break;
+		case 4:
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
+			break;
+		case 5:
+			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
+			break;
+		default:
+			btAssert(0);
+		}
+	}
+
+	
+	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
+	//virtual void getEdge(int i,Edge& edge) const
+	{
+		int edgeVert0 = 0;
+		int edgeVert1 = 0;
+
+		switch (i)
+		{
+		case 0:
+				edgeVert0 = 0;
+				edgeVert1 = 1;
+			break;
+		case 1:
+				edgeVert0 = 0;
+				edgeVert1 = 2;
+			break;
+		case 2:
+			edgeVert0 = 1;
+			edgeVert1 = 3;
+
+			break;
+		case 3:
+			edgeVert0 = 2;
+			edgeVert1 = 3;
+			break;
+		case 4:
+			edgeVert0 = 0;
+			edgeVert1 = 4;
+			break;
+		case 5:
+			edgeVert0 = 1;
+			edgeVert1 = 5;
+
+			break;
+		case 6:
+			edgeVert0 = 2;
+			edgeVert1 = 6;
+			break;
+		case 7:
+			edgeVert0 = 3;
+			edgeVert1 = 7;
+			break;
+		case 8:
+			edgeVert0 = 4;
+			edgeVert1 = 5;
+			break;
+		case 9:
+			edgeVert0 = 4;
+			edgeVert1 = 6;
+			break;
+		case 10:
+			edgeVert0 = 5;
+			edgeVert1 = 7;
+			break;
+		case 11:
+			edgeVert0 = 6;
+			edgeVert1 = 7;
+			break;
+		default:
+			btAssert(0);
+
+		}
+
+		getVertex(edgeVert0,pa );
+		getVertex(edgeVert1,pb );
+	}
+
+
+
+
+	
+	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
+	{
+		btVector3 halfExtents = getHalfExtentsWithoutMargin();
+
+		//btScalar minDist = 2*tolerance;
+		
+		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
+						(pt.x() >= (-halfExtents.x()-tolerance)) &&
+						(pt.y() <= (halfExtents.y()+tolerance)) &&
+						(pt.y() >= (-halfExtents.y()-tolerance)) &&
+						(pt.z() <= (halfExtents.z()+tolerance)) &&
+						(pt.z() >= (-halfExtents.z()-tolerance));
+		
+		return result;
+	}
+
+
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "Box2d";
+	}
+
+	virtual int		getNumPreferredPenetrationDirections() const
+	{
+		return 6;
+	}
+	
+	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
+	{
+		switch (index)
+		{
+		case 0:
+			penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
+			break;
+		case 1:
+			penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
+			break;
+		case 2:
+			penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
+			break;
+		case 3:
+			penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
+			break;
+		case 4:
+			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
+			break;
+		case 5:
+			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
+			break;
+		default:
+			btAssert(0);
+		}
+	}
+
+};
+
+#endif //OBB_BOX_2D_SHAPE_H
+
+

Demos/Box2dDemo/main.cpp

@@ -0,0 +1,60 @@
+/*
+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 "Box2dDemo.h"
+#include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btHashMap.h"
+
+class OurValue
+	{
+		int m_uid;
+
+	public:
+		OurValue(const btVector3& initialPos)
+			:m_position(initialPos)
+		{
+			static int gUid=0;
+			m_uid=gUid;
+			gUid++;
+		}
+
+		btVector3	m_position;
+		int	getUid() const
+		{
+			return m_uid;
+		}
+	};
+
+	
+int main(int argc,char** argv)
+{
+	GLDebugDrawer	gDebugDrawer;
+	
+	Box2dDemo ccdDemo;
+	ccdDemo.initPhysics();
+	ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
+
+
+#ifdef CHECK_MEMORY_LEAKS
+	ccdDemo.exitPhysics();
+#else
+	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
+#endif
+	
+	//default glut doesn't return from mainloop
+	return 0;
+}

Demos/BspDemo/BspDemo.cpp

@@ -28,7 +28,7 @@ subject to the following restrictions:
 #include "BspConverter.h"
 #endif //QUAKE_BSP_IMPORTING
 
-#include "BMF_Api.h"
+
 #include <stdio.h> //printf debugging
 
 
@@ -131,7 +131,16 @@ BspDemo::~BspDemo()
 	delete m_collisionConfiguration;
 }
 
-void	BspDemo::initPhysics(char* bspfilename)
+void	BspDemo::initPhysics()
+{
+	const char* bspfilename = "BspDemo.bsp";
+	
+	initPhysics(bspfilename);
+}
+
+
+
+void	BspDemo::initPhysics(const char* bspfilename)
 {
 	setTexturing(true);
 	setShadows(false);

Demos/BspDemo/BspDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef BSP_DEMO_H
 #define BSP_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -28,7 +28,7 @@ class btDefaultCollisionConfiguration;
 
 
 ///BspDemo shows the convex collision detection, by converting a Quake BSP file into convex objects and allowing interaction with boxes.
-class BspDemo : public DemoApplication
+class BspDemo : public GlutDemoApplication
 {
 	public:
 
@@ -48,7 +48,9 @@ class BspDemo : public DemoApplication
 
 	virtual ~BspDemo();
 
-	void	initPhysics(char* bspfilename);
+	virtual void	initPhysics();
+
+	void	initPhysics(const char* bspfilename);
 
 	virtual void clientMoveAndDisplay();
 

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -61,7 +61,7 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 
 
-#include "BMF_Api.h"
+#include "GLDebugFont.h"
 #include <stdio.h> //printf debugging
 
 static float	gCollisionMargin = 0.05f;

Demos/CcdPhysicsDemo/CcdPhysicsDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef CCD_PHYSICS_DEMO_H
 #define CCD_PHYSICS_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -28,7 +28,7 @@ class btDefaultCollisionConfiguration;
 
 
 ///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
-class CcdPhysicsDemo : public DemoApplication
+class CcdPhysicsDemo : public GlutDemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/CharacterDemo/CharacterDemo.h

@@ -28,10 +28,10 @@ class btKinematicCharacterController;
 class btCollisionShape;
 
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 ///CharacterDemo shows how to setup and use the built-in raycast vehicle
-class CharacterDemo : public DemoApplication
+class CharacterDemo : public GlutDemoApplication
 {
 	public:
 

Demos/ColladaDemo/ColladaDemo.cpp

@@ -25,7 +25,7 @@ subject to the following restrictions:
 
 #include "ColladaConverter.h"
 
-#include "BMF_Api.h"
+#include "GLDebugFont.h"
 #include <stdio.h> //printf debugging
 
 float deltaTime = 1.f/60.f;
@@ -101,6 +101,12 @@ int main(int argc,char** argv)
 	return glutmain(argc, argv,640,480,"Bullet COLLADA Physics Viewer http://bulletphysics.org",colladaDemo);
 }
 
+void ColladaDemo::initPhysics()
+{
+	const char* filename = "jenga.dae";
+	initPhysics(filename);
+}
+
 void	ColladaDemo::initPhysics(const char* filename)
 {
 	m_cameraUp = btVector3(0,0,1);

Demos/ColladaDemo/ColladaDemo.h

@@ -15,14 +15,16 @@ subject to the following restrictions:
 #ifndef COLLADA_PHYSICS_DEMO_H
 #define COLLADA_PHYSICS_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 ///ColladaDemo shows the loading and exporting of COLLADA physics xml files.
 ///It uses COLLADA DOM
-class ColladaDemo : public DemoApplication
+class ColladaDemo : public GlutDemoApplication
 {
 	public:
 
+	virtual	void initPhysics();
+
 	void	initPhysics(const char* filename);
 
 	virtual void clientMoveAndDisplay();

Demos/CollisionDemo/CollisionDemo.h

@@ -15,10 +15,10 @@ subject to the following restrictions:
 #ifndef COLLISION_DEMO_H
 #define COLLISION_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 ///CollisionDemo shows the low-level direct access to GJK
-class CollisionDemo : public DemoApplication
+class CollisionDemo : public GlutDemoApplication
 {
 	public:
 

Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.h

@@ -15,10 +15,10 @@ subject to the following restrictions:
 #ifndef COLLISION_INTERFACE_DEMO_H
 #define COLLISION_INTERFACE_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 ///CollisionInterfaceDemo shows how to use the collision detection without dynamics (btCollisionWorld/CollisionObject)
-class CollisionInterfaceDemo : public DemoApplication
+class CollisionInterfaceDemo : public GlutDemoApplication
 {
 	public:
 

Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef CONCAVE_CONVEXCAST_DEMO_H
 #define CONCAVE_CONVEXCAST_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -29,7 +29,7 @@ class btTriangleIndexVertexArray;
 
 ///ConcaveRaycaseDemo shows usage of static concave triangle meshes
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
-class ConcaveConvexcastDemo : public DemoApplication
+class ConcaveConvexcastDemo : public GlutDemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/ConcaveDemo/ConcaveDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef CONCAVE_DEMO_H
 #define CONCAVE_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -29,7 +29,7 @@ class btTriangleIndexVertexArray;
 
 ///ConcaveDemo shows usage of static concave triangle meshes
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
-class ConcaveDemo : public DemoApplication
+class ConcaveDemo : public GlutDemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef CONCAVE_RAYCAST_DEMO_H
 #define CONCAVE_RAYCAST_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -28,7 +28,7 @@ class btDefaultCollisionConfiguration;
 class btTriangleIndexVertexArray;
 
 ///ConcaveRaycastDemo shows usage of static concave triangle meshes
-class ConcaveRaycastDemo : public DemoApplication
+class ConcaveRaycastDemo : public GlutDemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 #include "GLDebugDrawer.h"
 
-#include "BMF_Api.h"
+#include "GLDebugFont.h"
 #include <stdio.h> //printf debugging
 
 #include "ConstraintDemo.h"

Demos/ConstraintDemo/ConstraintDemo.h

@@ -15,10 +15,10 @@ subject to the following restrictions:
 #ifndef CONSTRAINT_DEMO_H
 #define CONSTRAINT_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 ///ConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
-class ConstraintDemo : public DemoApplication
+class ConstraintDemo : public GlutDemoApplication
 {
 	//keep track of variables to delete memory at the end
 	btAlignedObjectArray<btCollisionShape*> m_collisionShapes;

Demos/ContinuousConvexCollision/ContinuousConvexCollision.h

@@ -15,10 +15,10 @@ subject to the following restrictions:
 #ifndef CONTINUOUS_CONVEX_COLLISION_DEMO_H
 #define CONTINUOUS_CONVEX_COLLISION_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 ///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
-class btContinuousConvexCollisionDemo : public DemoApplication
+class btContinuousConvexCollisionDemo : public GlutDemoApplication
 {
 	public:
 

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -34,7 +34,7 @@ subject to the following restrictions:
 
 
 
-#include "BMF_Api.h"
+#include "GLDebugFont.h"
 #include <stdio.h> //printf debugging
 
 
@@ -55,6 +55,13 @@ btVector3   convexDecompositionObjectOffset(10,0,0);
 unsigned int tcount = 0;
 
 
+void ConvexDecompositionDemo::initPhysics()
+{
+	initPhysics("file.obj");
+}
+
+
+
 
 void ConvexDecompositionDemo::initPhysics(const char* filename)
 {

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef CONVEX_DECOMPOSITION_DEMO_H
 #define CONVEX_DECOMPOSITION_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -28,7 +28,7 @@ class btDefaultCollisionConfiguration;
 class btTriangleMesh;
 
 ///ConvexDecompositionDemo shows automatic convex decomposition of a concave mesh
-class ConvexDecompositionDemo : public DemoApplication
+class ConvexDecompositionDemo : public GlutDemoApplication
 {
 
 public:
@@ -48,6 +48,7 @@ public:
 	btDefaultCollisionConfiguration* m_collisionConfiguration;
 
 
+	virtual void initPhysics();
 
 	void	initPhysics(const char* filename);
 

Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp

@@ -24,7 +24,9 @@ subject to the following restrictions:
 #include "btBulletCollisionCommon.h"
 
 #include "LinearMath/btIDebugDraw.h"
-#include "BMF_Api.h"
+#include "GLDebugFont.h"
+
+
 #include "GL_ShapeDrawer.h"
 #include "DoublePrecisionDemo.h"
 #include "GlutStuff.h"
@@ -189,16 +191,16 @@ void DoublePrecisionDemo::displayCallback(void)
 
   glRasterPos3f(10.0f,yStart,0);
   #ifdef BT_USE_DOUBLE_PRECISION
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"Double Precision Mode");
+  GLDebugDrawString(10.f,yStart,"Double Precision Mode");
   #else
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"Single Precision Mode");
+  GLDebugDrawString(10.f,yStart,"Single Precision Mode");
   #endif
   yStart += yIncr;
   
   glRasterPos3f(10.0f,yStart,0);
   sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
 
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+  GLDebugDrawString(10.f,yStart,buf);
   yStart += yIncr;
   
   glRasterPos3f(10.0f,yStart,0);
@@ -206,7 +208,7 @@ void DoublePrecisionDemo::displayCallback(void)
   btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
   btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
   sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+  GLDebugDrawString(10.f,yStart,buf);
   yStart += yIncr;
 
   xValue = objects[1].getWorldTransform().getOrigin().x();
@@ -214,11 +216,11 @@ void DoublePrecisionDemo::displayCallback(void)
   zValue = objects[1].getWorldTransform().getOrigin().z();
   glRasterPos3f(10.0f,yStart,0);
   sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+  GLDebugDrawString(10.f,yStart,buf);
   yStart += yIncr;
 
   glRasterPos3f(10.0f,yStart,0);
-  BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"w=toggle wireframe/solid");
+  GLDebugDrawString(10.f,yStart,"w=toggle wireframe/solid");
 
   resetPerspectiveProjection();
 

Demos/DoublePrecisionDemo/DoublePrecisionDemo.h

@@ -15,10 +15,10 @@ subject to the following restrictions:
 #ifndef COLLISION_INTERFACE_DEMO_H
 #define COLLISION_INTERFACE_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 ///DoublePrecisionDemo shows how to use the collision detection without dynamics (btCollisionWorld/CollisionObject)
-class DoublePrecisionDemo : public DemoApplication
+class DoublePrecisionDemo : public GlutDemoApplication
 {
 	public:
 

Demos/DynamicControlDemo/MotorDemo.h

@@ -17,7 +17,7 @@ subject to the following restrictions:
 #ifndef MOTORDEMO_H
 #define MOTORDEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 class btBroadphaseInterface;
 class btCollisionShape;
@@ -27,7 +27,7 @@ class btConstraintSolver;
 struct btCollisionAlgorithmCreateFunc;
 class btDefaultCollisionConfiguration;
 
-class MotorDemo : public DemoApplication
+class MotorDemo : public GlutDemoApplication
 {
 	float m_Time;
 	float m_fCyclePeriod; // in milliseconds

Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp

@@ -16,13 +16,14 @@
 #include <GL/glut.h>
 #endif
 
+
 #include <stdlib.h>
 #include <stdio.h>
 #include <math.h>
 
 #define VERBOSE_TEXT_ONSCREEN 1
 #ifdef VERBOSE_TEXT_ONSCREEN
-#include "BMF_Api.h"
+#include "GLDebugFont.h"
 #endif
 
 #include "btBulletCollisionCommon.h"
@@ -693,19 +694,16 @@ static void RenderCallback()
 	float yIncr = 20.f;
 	char buf[124];
 
-	glRasterPos3f(xOffset,yStart,0);
 	sprintf(buf,"gDepth=%f:  gNormal=(%f  %f  %f)\n", gDepth, gNormal.x(), gNormal.y(), gNormal.z());
-	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+	GLDebugDrawString(xOffset,yStart,buf);
 	yStart += yIncr;
 
-	glRasterPos3f(xOffset,yStart,0);
 	sprintf(buf,"num GJK iterations =%d\n", gNumGjkIterations);
-	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+	GLDebugDrawString(xOffset,yStart,buf);
 	yStart += yIncr;
 
-	glRasterPos3f(xOffset,yStart,0);
 	sprintf(buf,"gLastUsedMethod=%d\n", gLastUsedMethod);
-	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+	GLDebugDrawString(xOffset,yStart,buf);
 	yStart += yIncr;
 
 	
@@ -731,23 +729,20 @@ static void RenderCallback()
 		default:
 				sprintf(buf,"Unknown Penetration Depth\n" );
 		}
-		glRasterPos3f(xOffset,yStart,0);
+		GLDebugDrawString(xOffset,yStart,buf);
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
 	} else
 	{
-		glRasterPos3f(xOffset,yStart,0);
 		sprintf(buf,"Hybrid GJK method %d\n", gLastUsedMethod);
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		GLDebugDrawString(xOffset,yStart,buf);
 		yStart += yIncr;
 	}
 
 	if (gLastDegenerateSimplex)
 	{
-		glRasterPos3f(xOffset,yStart,0);
 		sprintf(buf,"DegenerateSimplex %d\n", gLastDegenerateSimplex);
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		GLDebugDrawString(xOffset,yStart,buf);
 		yStart += yIncr;
 	}
 

Demos/ForkLiftDemo/ForkLiftDemo.cpp

@@ -20,7 +20,7 @@ subject to the following restrictions:
 ///with gears etc.
 #include "btBulletDynamicsCommon.h"
 #include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
-
+#include "GLDebugFont.h"
 
 #ifndef M_PI
 #define M_PI       3.14159265358979323846
@@ -62,7 +62,7 @@ subject to the following restrictions:
 
 #include "GlutStuff.h"
 #include "ForkLiftDemo.h"
-#include "BMF_Api.h"
+
 
 const int maxProxies = 32766;
 const int maxOverlap = 65535;
@@ -439,7 +439,7 @@ void ForkLiftDemo::renderme()
 
 	int lineWidth=250;
 	int xStart = m_glutScreenWidth - lineWidth;
-	
+	int yStart = 20;
 
 	if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0)
 	{
@@ -447,18 +447,23 @@ void ForkLiftDemo::renderme()
 		glDisable(GL_LIGHTING);
 		glColor3f(0, 0, 0);
 		char buf[124];
-		glRasterPos3f(xStart, 20, 0);
+		
+		glRasterPos3f(xStart, yStart, 0);
 		sprintf(buf,"SHIFT+Cursor Left/Right - rotate lift");
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		GLDebugDrawString(xStart,20,buf);
-		glRasterPos3f(xStart, 40, 0);
+		yStart+=20;
+		glRasterPos3f(xStart, yStart, 0);
 		sprintf(buf,"SHIFT+Cursor UP/Down - move fork up/down");
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		yStart+=20;
-		glRasterPos3f(xStart, 60, 0);
+		GLDebugDrawString(xStart,yStart,buf);
+		glRasterPos3f(xStart, yStart, 0);
 		sprintf(buf,"F5 - toggle camera mode");
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		yStart+=20;
-		glRasterPos3f(xStart, 80, 0);
+		GLDebugDrawString(xStart,yStart,buf);
-                sprintf(buf,"Click inside this window for keyboard focus");
+		glRasterPos3f(xStart, yStart, 0);
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+        sprintf(buf,"Click inside this window for keyboard focus");
+		yStart+=20;
+		GLDebugDrawString(xStart,yStart,buf);
 
 
 		resetPerspectiveProjection();

Demos/ForkLiftDemo/ForkLiftDemo.h

@@ -23,10 +23,10 @@ class btCollisionShape;
 #include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 ///VehicleDemo shows how to setup and use the built-in raycast vehicle
-class ForkLiftDemo : public DemoApplication
+class ForkLiftDemo : public GlutDemoApplication
 {
 	public:
 

Demos/GenericJointDemo/GenericJointDemo.h

@@ -19,11 +19,11 @@ Written by: Marten Svanfeldt
 #ifndef GENERIGJOINTDEMO_H
 #define GENERIGJOINTDEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "Ragdoll.h"
 
-class GenericJointDemo : public DemoApplication
+class GenericJointDemo : public GlutDemoApplication
 {
 
 	btAlignedObjectArray<class RagDoll*> m_ragdolls;

Demos/GimpactTestDemo/GimpactTestDemo.cpp

@@ -22,13 +22,11 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btDefaultMotionState.h"
-
+#include "GLDebugFont.h"
 /// Including GIMPACT here
 
 
 
-#include "BMF_Api.h"
-
 #include "GLDebugDrawer.h"
 
 #include "GL_ShapeDrawer.h"
@@ -172,52 +170,52 @@ void GimpactConcaveDemo::renderme()
 
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"mouse to interact");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 		/*	glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"space to reset");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 		*/
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"cursor keys and z,x to navigate");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"i to toggle simulation, s single step");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"q to quit");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,". to shoot TRIMESH (dot)");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 			// not yet hooked up again after refactoring...
 
 /*			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"d to toggle deactivation");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 */
 
 		/*
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"a to draw temporal AABBs");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 		*/
 
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"h to toggle help text");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 			//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
@@ -226,24 +224,24 @@ void GimpactConcaveDemo::renderme()
 
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 			#ifdef SHOW_NUM_DEEP_PENETRATIONS
 				
 				glRasterPos3f(xOffset,yStart,0);
 				sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
-				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				GLDebugDrawString(xOffset,yStart,buf);
 				yStart += yIncr;
 
 				glRasterPos3f(xOffset,yStart,0);
 				sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
-				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				GLDebugDrawString(xOffset,yStart,buf);
 				yStart += yIncr;
 
 				
@@ -251,7 +249,7 @@ void GimpactConcaveDemo::renderme()
 
 				glRasterPos3f(xOffset,yStart,0);
 				sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
-				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				GLDebugDrawString(xOffset,yStart,buf);
 				yStart += yIncr;
 
 			#endif //SHOW_NUM_DEEP_PENETRATIONS

Demos/GimpactTestDemo/GimpactTestDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef TEST_CONCAVE_DEMO_H
 #define TEST_CONCAVE_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 class btTriangleIndexVertexArray;
 class btDefaultCollisionConfiguration;
 
@@ -47,7 +47,7 @@ struct btCollisionAlgorithmCreateFunc;
 
 ///GimpactConcaveDemo shows usage of static concave triangle meshes
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
-class GimpactConcaveDemo : public DemoApplication
+class GimpactConcaveDemo : public GlutDemoApplication
 {
 
 public:

Demos/GjkConvexCastDemo/LinearConvexCastDemo.h

@@ -15,10 +15,10 @@ subject to the following restrictions:
 #ifndef LINEAR_CONVEX_CAST_DEMO_H
 #define LINEAR_CONVEX_CAST_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 ///LinearConvexCastDemo shows the working of the object sweep / pure-linear continuous collision detection query
-class LinearConvexCastDemo : public DemoApplication
+class LinearConvexCastDemo : public GlutDemoApplication
 {
 	public:
 

Demos/Gpu2dDemo/BasicDemo.cpp

@@ -0,0 +1,759 @@
+/*
+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 "BulletMultiThreaded/btGpuDefines.h"
+#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
+#include "BulletMultiThreaded/btGpuUtilsSharedCode.h"
+
+//----------------------------------------------------------------------------------------
+
+
+#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
+
+#include "btGpuDemoPairCache.h"
+
+#include "btGpuDemoDynamicsWorld.h"
+#include "GLDebugFont.h"
+
+#define USE_CUDA_DEMO_PAIR_CASHE 0
+
+#define SPEC_TEST 0
+#define OECAKE_LOADER 1
+
+#ifdef _DEBUG
+	#define LARGE_DEMO 0
+//	#define LARGE_DEMO 1
+#else
+	#define LARGE_DEMO 1
+#endif
+
+#if LARGE_DEMO
+	///create 512 (8x8x8) dynamic object
+//	#define ARRAY_SIZE_X 116
+//	#define ARRAY_SIZE_Y 116
+
+//	#define ARRAY_SIZE_X 228
+//	#define ARRAY_SIZE_Y 228
+//	#define ARRAY_SIZE_X 256
+//	#define ARRAY_SIZE_Y 156
+	#define ARRAY_SIZE_X 50
+	#define ARRAY_SIZE_Y 100
+	#define ARRAY_SIZE_Z 1
+#else
+	///create 125 (5x5x5) dynamic object
+	#define ARRAY_SIZE_X 5
+	#define ARRAY_SIZE_Y 5
+//	#define ARRAY_SIZE_Z 5
+	#define ARRAY_SIZE_Z 1
+#endif
+
+
+//maximum number of objects (and allow user to shoot additional boxes)
+#define NUM_SMALL_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z)
+#define MAX_PROXIES (NUM_SMALL_PROXIES + 1024)
+#define MAX_LARGE_PROXIES 0
+#define MAX_SMALL_PROXIES (MAX_PROXIES - MAX_LARGE_PROXIES)
+
+///scaling of the objects (0.1 = 20 centimeter boxes )
+//#define SCALING 0.1
+#define SCALING 1
+#define START_POS_X 0
+#define START_POS_Y 0
+#define START_POS_Z 0
+
+#include "BasicDemo.h"
+#include "GlutStuff.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include <stdio.h> //printf debugging
+
+#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
+
+#ifdef BT_USE_CUDA
+#include "../Extras/CUDA/btCudaBroadphase.h"
+#else
+#include "BulletMultiThreaded/btGpu3DGridBroadphase.h"
+#endif
+
+btScalar gTimeStep = btScalar(1./60.);
+
+bool gbDrawBatches = false;
+int gSelectedBatch = CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES;
+#ifdef BT_USE_CUDA
+bool gUseCPUSolver = false;
+#else
+bool gUseCPUSolver = true;
+#endif //BT_USE_CUDA
+
+
+#include "oecakeLoader.h"
+
+
+class	BasicDemoOecakeLoader : public BasicOECakeReader
+{
+
+	BasicDemo* m_demo;
+
+public:
+
+	BasicDemoOecakeLoader(BasicDemo* demo)
+	:m_demo(demo)
+	{
+
+	}
+
+	virtual void createBodyForCompoundShape(btCompoundShape* compoundTmpShape,bool addConstraint, const btTransform& worldTransform, btScalar mass)
+	{
+
+		btDefaultMotionState* myMotionState= 0;
+		
+		btVector3 inertiaHalfExtents;
+		btVector3 aabbMin,aabbMax;
+		compoundTmpShape->getAabb(btTransform::getIdentity(),aabbMin,aabbMax);
+		inertiaHalfExtents = (aabbMax-aabbMin)*0.5;
+		int numSpheres = compoundTmpShape->getNumChildShapes();
+		btAssert(numSpheres>0);
+		if (numSpheres>8)
+		{
+			printf("error: exceeded 8 spheres\n");
+			return;
+		}
+			
+		btVector3* positions = new btVector3[numSpheres];
+		btScalar* radii = new btScalar[numSpheres];
+
+		for (int i=0;i<numSpheres;i++)
+		{
+			btAssert(compoundTmpShape->getChildShape(i)->getShapeType()== SPHERE_SHAPE_PROXYTYPE);
+			btSphereShape* sphereShape = (btSphereShape*)compoundTmpShape->getChildShape(i);
+			radii[i]=sphereShape->getRadius();
+			positions[i] = compoundTmpShape->getChildTransform(i).getOrigin();
+		}
+
+		btMultiSphereShape* multiSphere = new btMultiSphereShape(inertiaHalfExtents,positions,radii,numSpheres);
+		
+			btVector3 localInertia(0,0,0);
+			if (mass)
+			{
+				myMotionState = new btDefaultMotionState(worldTransform);
+				multiSphere->calculateLocalInertia(mass,localInertia);
+			}
+
+				//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+			btRigidBody* body = new btRigidBody(mass,myMotionState,multiSphere,localInertia);	
+			body->setLinearFactor(btVector3(1,1,0));
+			body->setAngularFactor(btVector3(0,0,1));
+
+			body->setWorldTransform(worldTransform);
+
+
+			m_demo->getDynamicsWorld()->addRigidBody(body);
+
+			if (addConstraint)
+			{
+				btVector3 pivotInA(0,0,0);
+				btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,pivotInA);
+				m_demo->getDynamicsWorld()->addConstraint(p2p);
+			}
+	}
+
+};
+
+
+void BasicDemo::clientMoveAndDisplay()
+{
+	updateCamera();
+	glDisable(GL_LIGHTING);
+	glColor3f(1.f, 1.f, 1.f);
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+
+	glDisable(GL_TEXTURE_2D); // we always draw wireframe in this demo
+
+	//simple dynamics world doesn't handle fixed-time-stepping
+	float ms = getDeltaTimeMicroseconds();
+
+	///step the simulation
+	if (m_dynamicsWorld)
+	{
+#if USE_CUDA_DEMO_PAIR_CASHE
+		btCudaDemoPairCache* pc = (btCudaDemoPairCache*)m_dynamicsWorld->getPairCache();
+		pc->m_numSmallProxies = m_dynamicsWorld->getNumCollisionObjects(); //  - 1; // exclude floor
+#endif
+		m_dynamicsWorld->stepSimulation(gTimeStep,0);//ms / 1000000.f);
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+	}
+	renderme(); 
+
+	ms = getDeltaTimeMicroseconds();
+
+	glFlush();
+
+	glutSwapBuffers();
+
+}
+
+
+
+void BasicDemo::displayCallback(void) {
+
+	
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+
+	renderme();
+
+	//optional but useful: debug drawing to detect problems
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
+	glFlush();
+	glutSwapBuffers();
+}
+
+
+#define POS_OFFS_X (ARRAY_SIZE_X * SCALING + 20)
+#define POS_OFFS_Y (ARRAY_SIZE_Y * SCALING + 10)
+#define POS_OFFS_Z (ARRAY_SIZE_Z * SCALING)
+
+#if OECAKE_LOADER
+	btVector3 gWorldMin(-200,   0, 0);
+	btVector3 gWorldMax( 200, 200, 0);
+#else
+	btVector3 gWorldMin(-POS_OFFS_X, -POS_OFFS_Y, -POS_OFFS_Z);
+	btVector3 gWorldMax( POS_OFFS_X,  POS_OFFS_Y,  POS_OFFS_Z);
+#endif
+
+//btCudaDemoPairCache* gPairCache;
+btOverlappingPairCache* gPairCache;
+
+
+void	BasicDemo::initPhysics()
+{
+	setTexturing(false);
+	setShadows(false);
+
+#if OECAKE_LOADER
+	setCameraDistance(80.);
+	m_cameraTargetPosition.setValue(50, 10, 0);
+#else
+	#if LARGE_DEMO
+		setCameraDistance(btScalar(SCALING*100.));
+	#else
+		setCameraDistance(btScalar(SCALING*20.));
+	#endif
+	m_cameraTargetPosition.setValue(START_POS_X, -START_POS_Y-20, START_POS_Z);
+#endif
+	m_azi = btScalar(0.f);
+	m_ele = btScalar(0.f);
+
+	///collision configuration contains default setup for memory, collision setup
+
+	btDefaultCollisionConstructionInfo dci;
+	dci.m_defaultMaxPersistentManifoldPoolSize=50000;
+	dci.m_defaultMaxCollisionAlgorithmPoolSize=50000;
+
+	m_collisionConfiguration = new btDefaultCollisionConfiguration(dci);
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
+	m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new btEmptyAlgorithm::CreateFunc);
+
+	m_dispatcher->setNearCallback(cudaDemoNearCallback);
+
+	
+#if USE_CUDA_DEMO_PAIR_CASHE
+	gPairCache = new (btAlignedAlloc(sizeof(btCudaDemoPairCache),16)) btCudaDemoPairCache(MAX_PROXIES, 24, MAX_SMALL_PROXIES); 
+#else
+	gPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16))btHashedOverlappingPairCache(); 
+#endif
+
+
+	btVector3 numOfCells = (gWorldMax - gWorldMin) / (2. * SCALING);
+	int numOfCellsX = (int)numOfCells[0];
+	int numOfCellsY = (int)numOfCells[1];
+	int numOfCellsZ = (int)numOfCells[2];
+
+//	m_broadphase = new btAxisSweep3(gWorldMin, gWorldMax, MAX_PROXIES,gPairCache);
+	m_broadphase = new btDbvtBroadphase(gPairCache);
+//	m_broadphase = new btGpu3DGridBroadphase(gPairCache, gWorldMin, gWorldMax,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,10,24,24);
+//	m_broadphase = new btCudaBroadphase(gPairCache, gWorldMin, gWorldMax,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,10,24,24);
+
+
+	///the default constraint solver
+	m_solver = new btSequentialImpulseConstraintSolver();
+
+	btGpuDemoDynamicsWorld* pDdw = new btGpuDemoDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration, MAX_PROXIES);
+	m_dynamicsWorld = pDdw;
+	pDdw->getSimulationIslandManager()->setSplitIslands(true);
+	pDdw->setObjRad(SCALING);
+	pDdw->setWorldMin(gWorldMin);
+	pDdw->setWorldMax(gWorldMax);
+//	gUseCPUSolver = true;
+	pDdw->setUseCPUSolver(gUseCPUSolver);
+
+//	m_dynamicsWorld->setGravity(btVector3(0,0,0));
+	m_dynamicsWorld->setGravity(btVector3(0,-10.,0));
+	m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+
+
+		//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,0.1));//SCALING*1));
+//		btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*.7,SCALING*.7,0.1));//SCALING*1));
+
+		#define SPRADIUS btScalar(SCALING*0.1f)
+		#define SPRPOS btScalar(SCALING*0.05f)
+		static btVector3 sSphPos[8];
+		
+		for (int k=0;k<8;k++)
+		{
+			sSphPos[k].setValue((k-4)*0.25*SCALING,0,0);
+		}
+		
+		btVector3 inertiaHalfExtents(SPRADIUS,  SPRADIUS,  SPRADIUS);
+		static btScalar sSphRad[8] = 
+		{
+//			 SPRADIUS,  SPRADIUS,  SPRADIUS, SPRADIUS,SPRADIUS,  SPRADIUS,  SPRADIUS, 0.3
+			 SPRADIUS,  SPRADIUS,  SPRADIUS, SPRADIUS,SPRADIUS,  SPRADIUS,  SPRADIUS, SPRADIUS
+		};
+//		sSphPos[0].setX(sSphPos[0].getX()-0.15);
+		#undef SPR
+		btMultiSphereShape* colShape[2];
+		colShape[0] = new btMultiSphereShape(inertiaHalfExtents, sSphPos, sSphRad, 8);
+		colShape[1] = new btMultiSphereShape(inertiaHalfExtents, sSphPos, sSphRad, 2);
+
+		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
+		m_collisionShapes.push_back(colShape[0]);
+		m_collisionShapes.push_back(colShape[1]);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar	mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0,0,0);
+
+#if OECAKE_LOADER
+	BasicDemoOecakeLoader	loader(this);
+	if (!loader.processFile("test1.oec"))
+	{
+		loader.processFile("../../test1.oec");
+	}
+
+#else
+#if (!SPEC_TEST)
+		float start_x = START_POS_X - ARRAY_SIZE_X * SCALING;
+		float start_y = START_POS_Y - ARRAY_SIZE_Y * SCALING;
+		float start_z = START_POS_Z - ARRAY_SIZE_Z * SCALING;
+
+		int collisionShapeIndex = 0;
+		for (int k=0;k<ARRAY_SIZE_Y;k++)
+		{
+			for (int i=0;i<ARRAY_SIZE_X;i++)
+			{
+				for(int j = 0;j<ARRAY_SIZE_Z;j++)
+				{
+					float offs = (2. * (float)rand() / (float)RAND_MAX - 1.f) * 0.05f;
+					startTransform.setOrigin(SCALING*btVector3(
+										2.0*SCALING*i + start_x + offs,
+										2.0*SCALING*k + start_y + offs,
+										2.0*SCALING*j + start_z));
+
+					if (isDynamic)
+						colShape[collisionShapeIndex]->calculateLocalInertia(mass,localInertia);
+
+
+			
+					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+					//btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape[collisionShapeIndex],localInertia);
+					collisionShapeIndex = 1 - collisionShapeIndex;
+					rbInfo.m_startWorldTransform=startTransform;
+					btRigidBody* body = new btRigidBody(rbInfo);
+					m_dynamicsWorld->addRigidBody(body);
+				}
+			}
+		}
+#else//SPEC_TEST
+		// narrowphase test - 2 bodies at the same position
+		float start_x = START_POS_X;
+//		float start_y = START_POS_Y;
+		float start_y = gWorldMin[1] + SCALING * 0.7f + 5.f;
+		float start_z = START_POS_Z;
+		startTransform.setOrigin(SCALING*btVector3(start_x,start_y,start_z));
+		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape[0],localInertia);
+		rbInfo.m_startWorldTransform=startTransform;
+		btRigidBody* body = new btRigidBody(rbInfo);
+		m_dynamicsWorld->addRigidBody(body);
+
+		btPoint2PointConstraint * p2pConstr =  new btPoint2PointConstraint(*body, btVector3(1., 0., 0.));
+		m_dynamicsWorld->addConstraint(p2pConstr);
+
+		startTransform.setOrigin(SCALING*btVector3(start_x-2.f, start_y,start_z));
+		rbInfo.m_startWorldTransform=startTransform;
+		btRigidBody* body1 = new btRigidBody(rbInfo);
+		m_dynamicsWorld->addRigidBody(body1);
+
+		p2pConstr =  new btPoint2PointConstraint(*body, *body1, btVector3(-1., 0., 0.), btVector3(1., 0., 0.));
+		m_dynamicsWorld->addConstraint(p2pConstr);
+
+
+#endif//SPEC_TEST
+#endif //OE_CAKE_LOADER
+	}
+	// now set Ids used by collision detector and constraint solver
+	int numObjects = m_dynamicsWorld->getNumCollisionObjects();
+	btCollisionObjectArray& collisionObjects = m_dynamicsWorld->getCollisionObjectArray();
+	for(int i = 0; i < numObjects; i++)
+	{
+		btCollisionObject* colObj = collisionObjects[i];
+		colObj->setCompanionId(i+1); // 0 reserved for the "world" object
+		btCollisionShape* pShape = colObj->getCollisionShape();
+		int shapeType = pShape->getShapeType();
+		if(shapeType == MULTI_SPHERE_SHAPE_PROXYTYPE)
+		{
+			btMultiSphereShape* pMs = (btMultiSphereShape*)pShape;
+			int numSpheres = pMs->getSphereCount();
+			pDdw->addMultiShereObject(numSpheres, i + 1);
+			for(int j = 0; j < numSpheres; j++)
+			{
+				btVector3 sphPos = pMs->getSpherePosition(j);
+				float sphRad = pMs->getSphereRadius(j);
+				pDdw->addSphere(sphPos, sphRad);
+			}
+		}
+		else
+		{
+			btAssert(0);
+		}
+	}
+#if OECAKE_LOADER
+	clientResetScene();
+#endif
+}
+
+void BasicDemo::clientResetScene()
+{
+	DemoApplication::clientResetScene();
+#if OECAKE_LOADER
+	return;
+#endif
+#if SPEC_TEST
+	{
+		float start_x = START_POS_X;
+//		float start_y = START_POS_Y;
+		float start_y = gWorldMin[1] + SCALING * 0.7f + 5.f;
+		float start_z = START_POS_Z;
+		int numObjects = m_dynamicsWorld->getNumCollisionObjects();
+		btCollisionObjectArray& collisionObjects = m_dynamicsWorld->getCollisionObjectArray();
+		btTransform startTransform;
+		startTransform.setIdentity();
+		for(int n = 0; n < numObjects; n++)
+		{
+			btCollisionObject* colObj = collisionObjects[n];
+			btRigidBody* rb = btRigidBody::upcast(colObj);
+			if(!n)
+			{
+				startTransform.setOrigin(SCALING*btVector3(start_x,start_y,start_z));
+			}
+			else
+			{
+//				startTransform.setOrigin(SCALING*btVector3(start_x+0.1f,start_y+SCALING * 0.7f * 2.f, start_z));
+				startTransform.setOrigin(SCALING*btVector3(start_x-2.f,start_y, start_z));
+			}
+			rb->setCenterOfMassTransform(startTransform);
+		}
+		return;
+	}
+#endif
+// we don't use motionState, so reset transforms here
+	int numObjects = m_dynamicsWorld->getNumCollisionObjects();
+	btCollisionObjectArray& collisionObjects = m_dynamicsWorld->getCollisionObjectArray();
+
+	float start_x = START_POS_X - ARRAY_SIZE_X * SCALING;
+	float start_y = START_POS_Y - ARRAY_SIZE_Y * SCALING;
+	float start_z = START_POS_Z - ARRAY_SIZE_Z * SCALING;
+	btTransform startTransform;
+	startTransform.setIdentity();
+
+	for(int n = 0; n < numObjects; n++)
+	{
+		btCollisionObject* colObj = collisionObjects[n];
+		colObj->setCompanionId(n);
+		btRigidBody* rb = btRigidBody::upcast(colObj);
+		int offs = ARRAY_SIZE_X * ARRAY_SIZE_Z;
+		int indx = n;
+		int ky = indx / offs;
+		indx -= ky * offs;
+		int kx = indx / ARRAY_SIZE_Z;
+		indx -= kx * ARRAY_SIZE_Z;
+		int kz = indx;
+		startTransform.setOrigin(SCALING*btVector3(
+									2.0*SCALING*kx + start_x,
+									2.0*SCALING*ky + start_y,
+									2.0*SCALING*kz + start_z));
+		rb->setCenterOfMassTransform(startTransform);
+	}
+}
+
+	
+
+void	BasicDemo::exitPhysics()
+{
+
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject( obj );
+		delete obj;
+	}
+
+	//delete collision shapes
+	for (int j=0;j<m_collisionShapes.size();j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+
+	delete m_dynamicsWorld;
+	
+	delete m_solver;
+	
+	delete m_broadphase;
+	
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+
+	
+}
+
+
+
+void BasicDemo::keyboardCallback(unsigned char key, int x, int y)
+{
+	(void)x;
+	(void)y;
+	switch (key) 
+	{
+		case 'q' : 
+			exitPhysics();
+			exit(0);
+			break;
+		case 'c' :
+			{
+				gbDrawBatches = !gbDrawBatches;
+				break;
+			}
+		case 'b' :
+			{
+				gSelectedBatch++;
+				gSelectedBatch %= (CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES + 1);
+				break;
+			}
+		case 'u' :
+			{
+				btGpuDemoDynamicsWorld* pDdw = (btGpuDemoDynamicsWorld*)m_dynamicsWorld;
+				gUseCPUSolver = !gUseCPUSolver;
+				pDdw->setUseCPUSolver(gUseCPUSolver);
+				break;
+			}
+		default : 
+			{
+				DemoApplication::keyboardCallback(key, x, y);
+			}
+			break;
+	}
+	
+	if(key == ' ')
+	{
+#if USE_CUDA_DEMO_PAIR_CASHE
+		((btCudaDemoPairCache*)gPairCache)->reset();
+#endif
+	}
+}
+
+
+
+
+#define BATCH_NUM_COLORS 12
+
+const float cBatchColorTab[BATCH_NUM_COLORS * 3] = 
+	{
+		1.f, 0.f, 0.f,
+		0.f, 1.f, 0.f,
+		0.f, 0.f, 1.f,
+		1.f, 1.f, 0.f,
+		0.f, 1.f, 1.f,
+		1.f, 0.f, 1.f,
+		1.f, .5f, 0.f,
+		.5f, 1.f, 0.f,
+		0.f, 1.f, .5f,
+		0.f, .5f, 1.f,
+		.5f, 0.f, 1.f,
+		1.f, 0.f, .5f
+	};
+
+
+void BasicDemo::DrawConstraintInfo()
+{
+	int fontW = 10; // hack, could be changed
+	int fontH = 14; // hack, could be changed
+	char buf[32];
+	float xOffs;
+	float yOffs = fontH * 2;
+	glDisable(GL_LIGHTING);
+	glColor3f(1, 1, 1);
+	sprintf(buf,"solver on %s", gUseCPUSolver ? "CPU" : "CUDA");
+	xOffs = m_glutScreenWidth - (strlen(buf) + 1) * fontW;	
+	GLDebugDrawString(xOffs, yOffs,buf);
+	yOffs += fontH;
+	btGpuDemoDynamicsWorld* cddw = (btGpuDemoDynamicsWorld*)m_dynamicsWorld;
+	for(int i = 0; i < CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES; i++)
+	{
+		const float* pCol = cBatchColorTab + i * 3;
+		glColor3f(pCol[0], pCol[1], pCol[2]);
+		sprintf(buf,"%2d : %5d", i, cddw->m_numInBatches[i]);
+		xOffs = m_glutScreenWidth - (strlen(buf) + 1) * fontW;	
+		GLDebugDrawString(xOffs, yOffs,buf);
+		yOffs += fontH;
+	}
+}
+
+
+void BasicDemo::renderme()
+{
+	renderscene(0);
+	if(gbDrawBatches)
+	{
+		((btGpuDemoDynamicsWorld*)m_dynamicsWorld)->debugDrawConstraints(gSelectedBatch, cBatchColorTab);
+	}
+
+//	if (0)
+	if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
+	{
+		setOrthographicProjection();
+		int  xOffset = 10.f;
+		int  yStart = 20.f;
+		int  yIncr = 20.f;
+		showProfileInfo(xOffset, yStart, yIncr);
+		DrawConstraintInfo();
+		outputDebugInfo(xOffset, yStart, yIncr);
+		resetPerspectiveProjection();
+	}
+}
+
+
+
+extern int gNumClampedCcdMotions;
+#define SHOW_NUM_DEEP_PENETRATIONS 1
+#ifdef SHOW_NUM_DEEP_PENETRATIONS 
+	extern int gNumDeepPenetrationChecks;
+	extern int gNumSplitImpulseRecoveries;
+	extern int gNumGjkChecks;
+	extern int gNumAlignedAllocs;
+	extern int gNumAlignedFree;
+	extern int gTotalBytesAlignedAllocs;
+#endif //
+
+
+void BasicDemo::outputDebugInfo(int & xOffset,int & yStart, int  yIncr)
+{
+	char buf[124];
+	glDisable(GL_LIGHTING);
+	glColor3f(0, 0, 0);
+	
+	sprintf(buf,"mouse move+buttons to interact");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	
+	sprintf(buf,"space to reset");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	
+	sprintf(buf,"cursor keys and z,x to navigate");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	
+	sprintf(buf,"i to toggle simulation, s single step");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	
+	sprintf(buf,"q to quit");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	
+	sprintf(buf,"h to toggle help text");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	
+	sprintf(buf,"p to toggle profiling (+results to file)");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	
+	sprintf(buf,"c to toggle constraint drawing");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+
+	sprintf(buf,"b to draw single constraint batch");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	
+	sprintf(buf,"u to toggle between CPU  and CUDA solvers");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	
+	sprintf(buf,"d to toggle between different batch builders");
+	GLDebugDrawString(xOffset,yStart,buf);
+	yStart += yIncr;
+
+	if (getDynamicsWorld())
+	{
+		
+		sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+		
+		sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
+		GLDebugDrawString(xOffset,yStart,buf);
+		yStart += yIncr;
+	}
+} // BasicDemo::outputDebugInfo()

Demos/Gpu2dDemo/BasicDemo.h

@@ -0,0 +1,96 @@
+/*
+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.
+*/
+#ifndef BASIC_DEMO_H
+#define BASIC_DEMO_H
+
+#include "DemoApplication.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+
+
+#ifdef BT_USE_CUDA
+#include "btCudaDemoPairCache.h"
+#include <vector_types.h>
+#endif //BT_USE_CUDA
+
+class btBroadphaseInterface;
+class btCollisionShape;
+class btOverlappingPairCache;
+class btCollisionDispatcher;
+class btConstraintSolver;
+struct btCollisionAlgorithmCreateFunc;
+class btDefaultCollisionConfiguration;
+#include "GlutDemoApplication.h"
+
+///BasicDemo is good starting point for learning the code base and porting.
+class BasicDemo : public GlutDemoApplication
+{
+
+	//keep the collision shapes, for deletion/cleanup
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+
+	btBroadphaseInterface*	m_broadphase;
+
+	btCollisionDispatcher*	m_dispatcher;
+
+	btConstraintSolver*	m_solver;
+
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+	int m_mouseButtons;
+	int m_mouseOldX;
+	int m_mouseOldY;
+
+	public:
+
+	BasicDemo()
+	{
+	}
+	virtual ~BasicDemo()
+	{
+		exitPhysics();
+	}
+	void	initPhysics();
+
+	void	exitPhysics();
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+
+	virtual void keyboardCallback(unsigned char key, int x, int y);
+
+	virtual void clientResetScene();
+
+	static DemoApplication* Create()
+	{
+		BasicDemo* demo = new BasicDemo;
+		demo->myinit();
+		demo->initPhysics();
+		demo->m_mouseButtons = 0;
+		demo->m_mouseOldX = 0;
+		demo->m_mouseOldY = 0;
+		return demo;
+	}
+
+	void DrawConstraintInfo();
+	void outputDebugInfo(int & xOffset,int & yStart, int  yIncr);
+	virtual void renderme();
+	
+};
+
+
+#endif //BASIC_DEMO_H
+

Demos/Gpu2dDemo/CMakeLists.txt

@@ -0,0 +1,26 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+# This is the variable for Windows.  I use this to define the root of my directory structure.
+SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
+)
+
+LINK_LIBRARIES(
+OpenGLSupport  BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppBasicDemo
+	main.cpp
+	BasicDemo.cpp 
+)
+

Demos/Gpu2dDemo/Jamfile

@@ -0,0 +1,3 @@
+SubDir TOP Demos BasicDemo ;
+
+BulletDemo BasicDemo : [ Wildcard *.h *.cpp  ] ;

Demos/Gpu2dDemo/Makefile.am

@@ -0,0 +1,5 @@
+noinst_PROGRAMS=BasicDemo
+
+BasicDemo_SOURCES=BasicDemo.cpp BasicDemo.h main.cpp
+BasicDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS)
+BasicDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lbulletdynamics -lbulletcollision -lbulletmath @opengl_LIBS@

Demos/Gpu2dDemo/btGpuDemo2dCpuFunc.cpp

@@ -0,0 +1,33 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+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 "LinearMath/btQuickprof.h"
+
+//----------------------------------------------------------------------------------------
+#include "LinearMath/btScalar.h"
+
+#include "btGpuDemo2dSharedTypes.h"
+
+//----------------------------------------------------------------------------------------
+
+#include "BulletMultiThreaded/btGpuDefines.h"
+#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
+#include "btGpuDemo2dSharedCode.h"
+
+//--------------------------------------------------------------------------
+//--------------------------------------------------------------------------
+//--------------------------------------------------------------------------

Demos/Gpu2dDemo/btGpuDemo2dCudaFunc.cu

@@ -0,0 +1,46 @@
+/*
+Impulse based Rigid body simulation using CUDA
+Copyright (c) 2007 Takahiro Harada  http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
+
+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 <cstdlib>
+#include <cstdio>
+#include <string.h>
+
+#include "../../Extras/CUDA/cutil_math.h"
+#include "math_constants.h"
+
+#include <vector_types.h>
+
+//----------------------------------------------------------------------------------------
+
+#include "../../Extras/CUDA/btCudaDefines.h"
+
+//----------------------------------------------------------------------------------------
+
+#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
+#include "btGpuDemo2dSharedTypes.h"
+#include "btGpuDemo2dSharedDefs.h"
+
+//----------------------------------------------------------------------------------------
+
+texture<float4, 1, cudaReadModeElementType> posTex;
+
+//----------------------------------------------------------------------------------------
+
+#include "btGpuDemo2dSharedCode.h"
+
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+

Demos/Gpu2dDemo/btGpuDemo2dSharedCode.h

@@ -0,0 +1,472 @@
+/*
+Impulse based Rigid body simulation using CUDA
+Copyright (c) 2007 Takahiro Harada  http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
+
+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.
+*/
+
+//----------------------------------------------------------------------------------------
+
+#define USE_FRICTION 1
+#define FRICTION_BOX_GROUND_FACT 0.05f
+#define FRICTION_BOX_BOX_FACT 0.05f
+#define USE_CENTERS 1
+
+//------------------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------------------
+//------------------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------   C o n s t r a i n t   s o l v e r    d e m o   ----------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+
+#define MAX_VTX_PER_OBJ 8
+
+/*
+BT_GPU___device__ void kill_me()
+{
+	char* badPtr = (char*)0xFFFFFFFF;
+	*badPtr = 10;
+}
+*/
+
+
+BT_GPU___global__ void clearAccumulationOfLambdaDtD(float* lambdaDtBox, int numConstraints, int numContPoints)
+{
+    int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+	if(index < numConstraints)
+	{
+		for(int i=0; i < numContPoints; i++)
+			lambdaDtBox[numContPoints * index + i] = 0;
+	}
+}
+
+#define SPHERE_FACT 1.0f
+
+BT_GPU___device__ void testSphSph(float3 aPos, float3 bPos, float radA, float radB, float4* pOut)
+{
+	float3 del = bPos - aPos;
+	float dist = BT_GPU_dot(del, del);
+	dist = sqrtf(dist);
+	float maxD = radA + radB;
+	if(dist > maxD)
+	{
+		return;
+	}
+	float penetration = (radA + radB - dist) * SPHERE_FACT;
+//	float penetration = (dist - radA - radB) * SPHERE_FACT;
+	float3 normal;
+	if(dist > 0.f) 
+	{
+		float fact = -1.0f/dist;
+//		float fact = 1.0f/dist;
+		normal = del * fact; 
+	}
+	else
+	{
+		normal = BT_GPU_make_float3(1.f, 0.f, 0.f);
+	}
+//	float3 contact = (bPos + aPos + normal * (radB - radA)) * 0.5f;
+	float3 contact = aPos - normal * radA;
+	// now add point
+	int numPoints = 0;
+	for(int i = 0; i < MAX_VTX_PER_OBJ; i++)
+	{
+		if(pOut[i*2].w >= 0.f)
+		{
+			numPoints++;
+		}
+	}
+	if(numPoints < MAX_VTX_PER_OBJ)
+	{
+		pOut[numPoints * 2] = BT_GPU_make_float42(contact, penetration);
+		pOut[numPoints * 2 + 1] = BT_GPU_make_float42(normal, 0.f);
+	}
+} // testSphSph()
+
+
+
+BT_GPU___global__ void setConstraintDataD(int2 *constraints,
+								   int numConstraints,
+								   float4 *pos,
+								   float *rotation,
+								   char* shapes,
+								   int2* shapeIds,
+								   btCudaPartProps pProp,
+								   float4 *contact)
+{
+    int idx = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+	int aId,bId;
+	float3 aPos,bPos;
+//	float positionConstraint;
+//	float3 normal;
+	float aRot,bRot;
+	float sideLength2	=	pProp.m_diameter*0.5f/sqrt(2.0f);
+
+	if(idx < numConstraints)
+	{
+		aId=constraints[idx].x;
+		bId=constraints[idx].y;
+		
+		aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,aId));
+		bPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,bId));
+		aRot= rotation[aId];
+		bRot= rotation[bId];
+		float cosA = cosf(aRot);
+		float sinA = sinf(aRot);
+		float cosB = cosf(bRot);
+		float sinB = sinf(bRot);
+		float4* shapeA = (float4*)(shapes + shapeIds[aId].x);
+		int numSphA = shapeIds[aId].y;
+		float4* shapeB = (float4*)(shapes + shapeIds[bId].x);
+		int numSphB = shapeIds[bId].y;
+		int i, j;
+		float3 ai =	BT_GPU_make_float3(cosA, sinA, 0.f);
+		float3 aj =	BT_GPU_make_float3(-sinA, cosA, 0.f);
+		float3 bi =	BT_GPU_make_float3(cosB, sinB, 0.f);
+		float3 bj =	BT_GPU_make_float3(-sinB, cosB, 0.f);
+		float4* pOut = contact + idx * MAX_VTX_PER_OBJ * 2;
+		for(i = 0; i < MAX_VTX_PER_OBJ; i++)
+		{
+			pOut[i * 2].w = -1.f;
+			pOut[i * 2 + 1].w = 0.f;
+		}
+		for(i = 0; i < numSphA; i++)
+		{	
+			float3 va = aPos;
+			va += ai * shapeA[i].x;
+			va += aj * shapeA[i].y;
+			float radA = shapeA[i].w;
+			for(j = 0; j < numSphB; j++)
+			{
+				float3 vb = bPos;
+				vb += bi * shapeB[j].x;
+				vb += bj * shapeB[j].y;
+				float radB = shapeB[j].w;
+				testSphSph(va, vb, radA, radB, pOut);
+			}
+		}
+	}
+}
+
+
+BT_GPU___device__ float computeImpulse1(float3 rVel,
+								 float positionConstraint,
+								 float3 cNormal,
+								 float dt)
+{
+	const float collisionConstant	=	0.1f;
+	const float baumgarteConstant	=	0.5f;
+	const float penetrationError	=	0.02f;
+
+	float lambdaDt=0;
+	float3 impulse=BT_GPU_make_float3(0.f,0.f,0.f);
+
+	if(positionConstraint > 0)
+		return lambdaDt;
+
+	positionConstraint = min(0.0f,positionConstraint+penetrationError);
+	
+	lambdaDt	=	-(BT_GPU_dot(cNormal,rVel)*(1+collisionConstant));
+	lambdaDt	-=	(baumgarteConstant/dt*positionConstraint);
+
+	return lambdaDt;
+}
+
+
+BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
+								   float4 *vel,
+								   float *rotation,
+								   float *angVel,
+								   char* shapes,
+								   int2* shapeIds,
+								   btCudaPartProps pProp,
+								   btCudaBoxProps gProp,
+								   int nParticles,
+								   float dt)
+{
+    int idx = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+	float3 aPos;
+	float aRot;
+	float positionConstraint;
+	float3 impulse;
+	
+
+	if((idx > 0) && idx < nParticles)
+	{
+		aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,idx));
+		aRot=rotation[idx];
+		float4* shape = (float4*)(shapes + shapeIds[idx].x);
+		int numSph = shapeIds[idx].y;
+		float cosA = cosf(aRot);
+		float sinA = sinf(aRot);
+		float3 ai =	BT_GPU_make_float3(cosA, sinA, 0.f);
+		float3 aj =	BT_GPU_make_float3(-sinA, cosA, 0.f);
+
+		for(int iVtx=0;iVtx < numSph; iVtx++){
+			float3 aVel = BT_GPU_make_float3(vel[idx].x, vel[idx].y, vel[idx].z);
+			float aAngVel = angVel[idx];
+			float3 rerVertex = ai * shape[iVtx].x;
+			rerVertex += aj * shape[iVtx].y;
+			float3 vPos = aPos + rerVertex;
+			float rad = shape[iVtx].w;
+			float3 vVel	=aVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,aAngVel),rerVertex);
+			float restitution=1.0;
+			{
+				positionConstraint	=vPos.y - rad - gProp.minY;
+				impulse				=BT_GPU_make_float31(0.0f);
+
+				if(positionConstraint < 0){
+					float3 groundNormal;
+					groundNormal = BT_GPU_make_float3(0.0f,1.0f,0.0f);
+					impulse	=groundNormal*
+						restitution * computeImpulse1(vVel,positionConstraint,
+						groundNormal,
+						dt);
+#if USE_FRICTION	// only with ground for now
+					float3 lat_vel = vVel - groundNormal * BT_GPU_dot(groundNormal,vVel);
+					float lat_vel_len = BT_GPU_dot(lat_vel, lat_vel);
+					if (lat_vel_len > 0)
+					{
+						lat_vel_len = sqrtf(lat_vel_len);
+						lat_vel *= 1.f/lat_vel_len;	
+						impulse	-= lat_vel * BT_GPU_dot(lat_vel, vVel) * FRICTION_BOX_GROUND_FACT;
+					}
+#endif //USE_FRICTION
+					vel[idx]	+=	BT_GPU_make_float42(impulse,0.0f);
+					angVel[idx]	+=	BT_GPU_cross(rerVertex,impulse).z;
+				}
+			}
+
+			{
+				positionConstraint	=vPos.x - rad - gProp.minX;
+				impulse				=BT_GPU_make_float31(0.0f);
+
+				if(positionConstraint < 0){
+					impulse	=BT_GPU_make_float3(1.0f,0.0f,0.0f)*
+						computeImpulse1(vVel,positionConstraint,
+						BT_GPU_make_float3(1.0f,0.0f,0.0f),
+						dt);
+
+					vel[idx]	+=	BT_GPU_make_float42(impulse,0.0f);
+					angVel[idx]	+=	BT_GPU_cross(rerVertex,impulse).z;
+				}
+			}
+
+			{
+				positionConstraint	= gProp.maxX - vPos.x - rad;
+				impulse				=BT_GPU_make_float31(0.0f);
+
+				if(positionConstraint < 0){
+					impulse	=BT_GPU_make_float3(-1.0f,0.0f,0.0f)*
+						computeImpulse1(vVel,positionConstraint,
+						BT_GPU_make_float3(-1.0f,0.0f,0.0f),
+						dt);
+
+					vel[idx]	+=	BT_GPU_make_float42(impulse,0.0f);
+					angVel[idx]	+=	BT_GPU_cross(rerVertex,impulse).z;
+				}
+			}
+		}
+	}
+}
+
+BT_GPU___device__ void collisionResolutionBox(	int constrId,
+												int2* constraints,
+												float4 *pos,
+												float4 *vel,
+												float *rotation,
+												float *angularVel,
+												float *lambdaDtBox,
+												float4* contact,
+												btCudaPartProps pProp,
+												float dt)
+{
+#if 1
+	float3 relVel;
+	float3 impulse;
+	float lambdaDt;
+	float positionConstraint;
+	int aId=constraints[constrId].x;
+	int bId=constraints[constrId].y;
+	float3 aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,aId));
+	float3 bPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,bId));
+	float aRot=rotation[aId];
+	float bRot=rotation[bId];
+	float3 aVel=BT_GPU_make_float34(vel[aId]);
+	float3 bVel=BT_GPU_make_float34(vel[bId]);
+	float aAngVel=angularVel[aId];
+	float bAngVel=angularVel[bId];
+	float4* pCont = contact + constrId * MAX_VTX_PER_OBJ * 2;
+	//	test Vertices in A to Box B
+	for(int iVtx=0;iVtx<MAX_VTX_PER_OBJ;iVtx++){
+		float3 contactPoint	= BT_GPU_make_float34(pCont[iVtx * 2]);
+		contactPoint = contactPoint - aPos;
+		positionConstraint = pCont[iVtx * 2].w;
+		if(positionConstraint >= 0)
+		{
+			float3 contactNormal = BT_GPU_make_float34(pCont[iVtx * 2 + 1]);
+			relVel=(aVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,aAngVel),
+				contactPoint))
+				-(bVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,bAngVel),
+				contactPoint+aPos-bPos));
+
+			lambdaDt=	computeImpulse1(relVel,-positionConstraint,
+				contactNormal,dt);
+
+			{
+				float rLambdaDt=lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx];
+				float pLambdaDt=rLambdaDt;
+				rLambdaDt=max(pLambdaDt+lambdaDt,0.0f);
+				lambdaDt=rLambdaDt-pLambdaDt;
+				lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx]=rLambdaDt;
+			}
+			impulse=	contactNormal*lambdaDt*0.5;
+#if USE_FRICTION
+			if(pCont[iVtx * 2 + 1].w <= 0)
+			{
+				float3 lat_vel = relVel - contactNormal * BT_GPU_dot(contactNormal, relVel);
+				float lat_vel_len = BT_GPU_dot(lat_vel, lat_vel);
+				if (lat_vel_len > 0)
+				{
+					lat_vel_len = sqrtf(lat_vel_len);
+					lat_vel *= 1.f/lat_vel_len;
+					impulse	-= lat_vel * BT_GPU_dot(lat_vel , relVel) * FRICTION_BOX_BOX_FACT;
+				}
+			}
+#endif //USE_FRICTION
+			if(aId)
+			{
+				aVel+=	impulse;
+				aAngVel+=	BT_GPU_cross(contactPoint, impulse).z;
+			}
+			if(bId)
+			{
+				bVel-=	impulse;
+				bAngVel-=	BT_GPU_cross(contactPoint+aPos-bPos,	impulse).z;
+			}
+		}
+	}
+	vel[aId]=BT_GPU_make_float42(aVel,0.0f);
+	vel[bId]=BT_GPU_make_float42(bVel,0.0f);
+	angularVel[aId]=aAngVel;
+	angularVel[bId]=bAngVel;
+#endif
+}
+
+BT_GPU___global__ void collisionBatchResolutionBoxD(int2 *constraints,
+										 int *batch,
+										 int nConstraints,
+										 float4 *pos,
+										 float4 *vel,
+										 float *rotation,
+										 float *angularVel,
+										 float *lambdaDtBox,
+										 float4* contact,
+										 btCudaPartProps pProp,
+										 int iBatch,
+										 float dt)
+{
+    int k_idx = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
+	if(k_idx < nConstraints)
+	{
+		int idx = batch[k_idx];
+		collisionResolutionBox(	idx, constraints, pos, vel, rotation, angularVel, lambdaDtBox,
+								contact, pProp, dt);
+	}
+}
+
+
+extern "C"
+{
+
+void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints))
+{
+	if(!numConstraints) 
+	{
+		return;
+	}
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numConstraints, 256, numBlocks, numThreads);
+    // execute the kernel
+    BT_GPU_EXECKERNEL(numBlocks, numThreads, clearAccumulationOfLambdaDtD, (lambdaDtBox, numConstraints, numContPoints));
+    // check if kernel invocation generated an error
+    BT_GPU_CHECK_ERROR("clearAccumulationOfLambdaDtD kernel execution failed");
+    
+}
+
+void BT_GPU_PREF(setConstraintData(void* constraints,int numConstraints,int numObjs,void* pos,float *rotation,char* shapes,void* shapeIds,btCudaPartProps pProp,void* contact))
+{
+	if(!numConstraints) 
+	{
+		return;
+	}
+	int2* pConst = (int2*)constraints;
+	float4* pPos = (float4*)pos;
+	float4* pCont = (float4*)contact;
+	int2* pShapeIds = (int2*)shapeIds;
+
+    BT_GPU_SAFE_CALL(BT_GPU_BindTexture(0, posTex, pPos, numObjs * sizeof(float4)));
+	
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numConstraints, 256, numBlocks, numThreads);
+    // execute the kernel
+    BT_GPU_EXECKERNEL(numBlocks, numThreads, setConstraintDataD, (pConst,numConstraints,pPos,rotation,shapes,pShapeIds,pProp,pCont));
+    BT_GPU_SAFE_CALL(BT_GPU_UnbindTexture(posTex));
+    // check if kernel invocation generated an error
+    BT_GPU_CHECK_ERROR("setConstraintDataD kernel execution failed");
+}
+
+void BT_GPU_PREF(collisionWithWallBox(void* pos,void* vel,float *rotation,float *angVel,char* shapes,void* shapeIds,btCudaPartProps pProp,	btCudaBoxProps gProp,int numObjs,float dt))
+{
+	if(!numObjs) 
+	{
+		return;
+	}
+	float4* pPos = (float4*)pos;
+	float4* pVel = (float4*)vel;
+	int2* pShapeIds = (int2*)shapeIds;
+    BT_GPU_SAFE_CALL(BT_GPU_BindTexture(0, posTex, pPos, numObjs * sizeof(float4)));
+
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numObjs, 256, numBlocks, numThreads);
+    // execute the kernel
+    BT_GPU_EXECKERNEL(numBlocks, numThreads, collisionWithWallBoxD, (pPos,pVel,rotation,angVel,shapes, pShapeIds,pProp,gProp,numObjs,dt));
+
+    BT_GPU_SAFE_CALL(BT_GPU_UnbindTexture(posTex));
+    // check if kernel invocation generated an error
+    BT_GPU_CHECK_ERROR("collisionWithWallBoxD kernel execution failed");
+}
+
+void BT_GPU_PREF(collisionBatchResolutionBox(void* constraints,int *batch,int numConstraints,int numObjs,void *pos,void *vel,float *rotation,float *angularVel,float *lambdaDtBox,void* contact,btCudaPartProps pProp,int iBatch,float dt))
+{
+	if(!numConstraints) 
+	{
+		return;
+	}
+	int2* pConstr = (int2*)constraints;
+	float4* pPos = (float4*)pos;
+	float4* pVel = (float4*)vel;
+	float4* pCont = (float4*)contact;
+    int numThreads, numBlocks;
+    BT_GPU_PREF(computeGridSize)(numConstraints, 128, numBlocks, numThreads);
+    BT_GPU_SAFE_CALL(BT_GPU_BindTexture(0, posTex, pPos, numObjs * sizeof(float4)));
+    // execute the kernel
+    BT_GPU_EXECKERNEL(numBlocks, numThreads, collisionBatchResolutionBoxD, (pConstr,batch,numConstraints,pPos,pVel,rotation,angularVel,lambdaDtBox,pCont,pProp,iBatch,dt));
+    // check if kernel invocation generated an error
+    BT_GPU_CHECK_ERROR("collisionBatchResolutionBox2D kernel execution failed");
+    BT_GPU_SAFE_CALL(BT_GPU_UnbindTexture(posTex));
+
+}
+
+
+}   // extern "C"

Demos/Gpu2dDemo/btGpuDemo2dSharedDefs.h

@@ -0,0 +1,33 @@
+/*
+Impulse based Rigid body simulation using CUDA
+Copyright (c) 2007 Takahiro Harada  http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
+
+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.
+*/
+
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------   C o n s t r a i n t   s o l v e r    d e m o   ----------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+
+
+extern "C"
+{
+
+void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints));
+void BT_GPU_PREF(setConstraintData(void* constraints,int numConstraints,int numObjs,void* pos,float *rotation,char* shapes,void* shapeIds,btCudaPartProps pProp,void* oContact));
+void BT_GPU_PREF(collisionWithWallBox(void* pos,void* vel,float *rotation,float *angVel,char* shapes,void* shapeIds,btCudaPartProps pProp,	btCudaBoxProps gProp,int numObjs,float dt));
+void BT_GPU_PREF(collisionBatchResolutionBox(void* constraints,int *batch,int numConstraints,int numObjs,void *pos,void *vel,float *rotation,float *angularVel,float *lambdaDtBox,void* contact,btCudaPartProps pProp,int iBatch,float dt));
+
+}   // extern "C"
+
+//----------------------------------------------------------------------------------------

Demos/Gpu2dDemo/btGpuDemo2dSharedTypes.h

@@ -0,0 +1,39 @@
+/*
+Impulse based Rigid body simulation using CUDA
+Copyright (c) 2007 Takahiro Harada  http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
+
+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.
+*/
+
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+//----------   C o n s t r a i n t   s o l v e r    d e m o   ----------------------------
+//----------------------------------------------------------------------------------------
+//----------------------------------------------------------------------------------------
+
+struct btCudaPartProps
+{
+	float m_mass;
+	float m_diameter;
+	float m_restCoeff;
+};
+
+struct btCudaBoxProps
+{
+	float minX;
+	float maxX;
+	float minY;
+	float maxY;
+	float minZ;
+	float maxZ;
+};
+
+//----------------------------------------------------------------------------------------

Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.cpp

@@ -0,0 +1,503 @@
+/*
+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 "btGpuDemoDynamicsWorld.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
+#include "BulletCollision/CollisionShapes/btCollisionShape.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
+#include "LinearMath/btQuickprof.h"
+#include "GlutStuff.h"
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
+
+
+//--------------------------------------------------------------------------
+
+#define BT_GPU_PREF(func) btCuda_##func
+
+#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
+#include "btGpuDemo2dSharedDefs.h"
+#undef BT_GPU_PREF
+
+#define BT_GPU_PREF(func) btGpu_##func
+#include "btGpuDemo2dSharedDefs.h"
+#undef BT_GPU_PREF
+
+//--------------------------------------------------------------------------
+
+btGpuDemoDynamicsWorld* gpCudaDemoDynamicsWorld = NULL;
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::grabNonContactConstraintData()
+{
+	m_numNonContactConstraints = 0;
+	int numNonContactConstraints = getNumConstraints(); 
+	for(int i = 0; i < numNonContactConstraints; i++)
+	{
+		btTypedConstraint* ct = m_constraints[i];
+		int ctype = ct->getConstraintType();
+		switch(ctype)
+		{
+			case POINT2POINT_CONSTRAINT_TYPE : 
+				grabP2PConstraintData((btPoint2PointConstraint*)ct);
+				break;
+			default : 
+				// warning (not supported) here?
+				break;
+		}
+	}
+} // btGpuDemoDynamicsWorld::grabNonContactConstraintData()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::grabP2PConstraintData(btPoint2PointConstraint* ct)
+{
+	btRigidBody& bodyA = ct->getRigidBodyA();
+	btTransform trA = bodyA.getCenterOfMassTransform();
+	btVector3 pivotA = trA.getBasis() * ct->getPivotInA();
+	btRigidBody& bodyB = ct->getRigidBodyB();
+	btTransform trB = bodyB.getCenterOfMassTransform();
+	btVector3 pivotB = trB.getBasis() * ct->getPivotInB();
+	btVector3 pivotA_W = pivotA + trA.getOrigin();
+	btVector3 pivotB_W = pivotB + trB.getOrigin();
+	btVector3 delta = pivotB_W - pivotA_W;
+	int idA = bodyA.getCompanionId();
+	int idB = bodyB.getCompanionId();
+	m_hIds[m_totalNumConstraints].x = idA;
+	m_hIds[m_totalNumConstraints].y = (idB > 0) ? idB : 0;
+	btVector3* pConstrData = (btVector3*)(m_hContact + m_totalNumConstraints * 2 * m_maxVtxPerObj);
+	for(int k = 0; k < 2; k++)
+	{
+		btScalar penetration = delta[k];
+		btScalar sign = (penetration < 0) ? btScalar(-1.f) : btScalar(1.f);
+		btVector3 normal = btVector3(0., 0., 0.);
+		normal[k] = sign;
+		penetration *= sign;
+		pConstrData[0] = pivotA_W;
+		pConstrData[0][3] = penetration;
+		pConstrData[1] = normal;
+		pConstrData[1][3] = btScalar(1.f);
+		pConstrData += 2;
+	}
+	for(int n = 2; n < m_maxVtxPerObj; n++)
+	{
+		pConstrData[0][3] = -1.f;
+		pConstrData += 2;
+	}
+	m_totalNumConstraints++;
+	m_numNonContactConstraints++;
+} // btGpuDemoDynamicsWorld::grabP2PConstraintData()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::grabData()
+{
+	BT_PROFILE("grab data");
+	m_numObj = getNumCollisionObjects();
+	m_hPos[0].x = m_hPos[0].y = m_hPos[0].z = m_hPos[0].w = 0.f;
+	m_hRot[0] = 0.f;
+	m_hVel[0].x = m_hVel[0].y = m_hVel[0].z = m_hVel[0].w = 0.f;
+	m_hAngVel[0] = 0.f;
+	for(int i = 0; i < m_numObj; i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* rb = btRigidBody::upcast(colObj);
+		btVector3 v;
+		v = rb->getCenterOfMassPosition();
+		m_hPos[i+1] = *((float4*)&v);
+		const btTransform& tr = rb->getCenterOfMassTransform();
+		v = tr.getBasis().getColumn(0);
+		float rot = btAtan2(v[1], v[0]);
+		m_hRot[i+1] = rot;
+		v = rb->getLinearVelocity();
+		m_hVel[i+1] = *((float4*)&v);
+		v = rb->getAngularVelocity();
+		m_hAngVel[i+1] = v[2];
+	}
+	grabNonContactConstraintData();
+} // btGpuDemoDynamicsWorld::grabGata()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::createBatches2()
+{
+	BT_PROFILE("create batches");
+	int sz = m_maxObjs * m_maxNeighbors;
+	for(int idx = 0; idx < sz; idx++)
+	{
+		m_hBatchIds[idx] = -1;
+	}
+	for(int i = 0; i < m_totalNumConstraints; i++)
+	{
+		m_hConstraintUsed[i] = 0;
+	}
+	int curBatchId=0;
+	int* pBatchIds = m_hBatchIds;
+	for(int stage = 0; stage < m_maxBatches; stage++)
+	{
+		bool isLast = (stage == m_maxBatches-1);
+		for(int j = 0; j < m_numObj + 1; j++)
+		{
+			m_hConstraintCounter[j] = 0;
+		}
+		int numInBatch = 0;
+		for(int i = 0; i < m_totalNumConstraints; i++)
+		{
+			if(m_hConstraintUsed[i])
+			{
+				continue;
+			}
+			int2 ids = m_hIds[i];
+			if(!isLast)
+			{
+				if((m_hConstraintCounter[ids.x] == 0) && (m_hConstraintCounter[ids.y] == 0))
+				{
+					m_hConstraintCounter[ids.x]=1;
+					m_hConstraintCounter[ids.y]=1;
+					pBatchIds[numInBatch]=i;
+					numInBatch++;
+					m_hConstraintUsed[i] = 1;
+				}
+			}
+			else
+			{
+				pBatchIds[numInBatch]=i;
+				numInBatch++;
+				m_hConstraintUsed[i] = 1;
+			}
+		}
+		m_numInBatches[stage] = numInBatch;
+		pBatchIds += numInBatch;
+	}
+} // btGpuDemoDynamicsWorld::createBatches2()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::writebackData()
+{
+	BT_PROFILE("copy velocity into btRigidBody");
+	for(int i = 0; i < m_numObj; i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		btRigidBody* rb = btRigidBody::upcast(colObj);
+		btVector3 v;
+		v = *((btVector3*)(m_hVel + i + 1));
+		v[2] = 0.f;
+		rb->setLinearVelocity(v);
+		v[0] = btScalar(0.f);
+		v[1] = btScalar(0.f);
+		v[2] = m_hAngVel[i + 1];
+		rb->setAngularVelocity(v);
+	}
+} // btGpuDemoDynamicsWorld::writebackData()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::copyDataToGPU()
+{
+	BT_PROFILE("copyDataToGPU");
+
+#ifdef BT_USE_CUDA
+
+	btCuda_copyArrayToDevice(m_dIds, m_hIds, sizeof(int2) * m_totalNumConstraints);
+	btCuda_copyArrayToDevice(m_dBatchIds, m_hBatchIds, sizeof(int) * m_totalNumConstraints);
+
+	if(m_numNonContactConstraints)
+	{ // non-contact constraints are set up by CPU, so copy data to GPU
+		int nonContConstrOffs = (m_totalNumConstraints - m_numNonContactConstraints) * 2 * m_maxVtxPerObj;
+		int nonContConstrSize = 2 * m_numNonContactConstraints * m_maxVtxPerObj;
+		btCuda_copyArrayToDevice(m_dContact + nonContConstrOffs, m_hContact + nonContConstrOffs, sizeof(float4) * nonContConstrSize);
+	}
+
+	if(m_numSimStep & 1)
+	{
+		m_dcPos = m_dpPos;
+		m_dcVel = m_dpVel;
+		m_dcRot = m_dpRot;
+		m_dcAngVel = m_dpAngVel;
+	}
+	else
+	{
+		m_dcPos = m_dPos;
+		m_dcVel = m_dVel;
+		m_dcRot = m_dRot;
+		m_dcAngVel = m_dAngVel;
+	}
+	btCuda_copyArrayToDevice(m_dcPos, m_hPos, (m_numObj + 1) * sizeof(float4)); 
+	btCuda_copyArrayToDevice(m_dcVel, m_hVel, (m_numObj + 1)  * sizeof(float4));
+	btCuda_copyArrayToDevice(m_dcRot, m_hRot, (m_numObj + 1)  * sizeof(float)); 
+	btCuda_copyArrayToDevice(m_dcAngVel, m_hAngVel, (m_numObj + 1)  * sizeof(float)); 
+	if(m_copyShapeDataToGPU)
+	{
+		btCuda_copyArrayToDevice(m_dShapeBuffer, m_hShapeBuffer, m_firstFreeShapeBufferOffset); 
+		btCuda_copyArrayToDevice(m_dShapeIds, m_hShapeIds, (m_numObj + 1) * sizeof(int2)); 
+		m_copyShapeDataToGPU = false;
+	}
+#endif //BT_USE_CUDA
+
+} // btGpuDemoDynamicsWorld::copyDataToGPU()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::setConstraintData(btCudaPartProps& partProps)
+{
+		BT_PROFILE("set constraint data");
+		partProps.m_mass = 1.0f;
+		partProps.m_diameter = m_objRad * 2.0f;
+		partProps.m_restCoeff = 1.0f;
+#ifdef BT_USE_CUDA
+		btCuda_clearAccumulationOfLambdaDt(m_dLambdaDtBox, m_totalNumConstraints, m_maxVtxPerObj * 2);
+		btCuda_setConstraintData(m_dIds, m_totalNumConstraints - m_numNonContactConstraints, m_numObj + 1, m_dcPos, m_dcRot, m_dShapeBuffer, m_dShapeIds,
+								 partProps,	m_dContact);
+#endif //BT_USE_CUDA
+
+} // btGpuDemoDynamicsWorld::setConstraintData()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::copyDataFromGPU()
+{
+	BT_PROFILE("copy velocity data from device");
+#ifdef BT_USE_CUDA
+	btCuda_copyArrayFromDevice(m_hVel, m_dcVel, (m_numObj + 1) * sizeof(float4));
+	btCuda_copyArrayFromDevice(m_hAngVel, m_dcAngVel, (m_numObj + 1) * sizeof(float)); 
+#endif //BT_USE_CUDA
+} // btGpuDemoDynamicsWorld::copyDataFromGPU()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
+{
+	if(m_useCPUSolver)
+	{
+		solveConstraintsCPU2(solverInfo);
+	}
+	else
+	{
+		solveConstraints2(solverInfo);
+	}
+	m_totalNumConstraints = 0;
+} // btGpuDemoDynamicsWorld::solveConstraints()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::solveConstraints2(btContactSolverInfo& solverInfo)
+{
+#ifdef BT_USE_CUDA
+	BT_PROFILE("solveConstraints");
+	grabData();
+	createBatches2();
+	copyDataToGPU();
+
+	btCudaPartProps partProps;
+	setConstraintData(partProps);
+
+	btCudaBoxProps boxProps;
+	boxProps.minX = m_worldMin[0];
+	boxProps.maxX = m_worldMax[0];
+	boxProps.minY = m_worldMin[1];
+	boxProps.maxY = m_worldMax[1];
+	{
+		BT_PROFILE("btCuda_collisionBatchResolutionBox");
+		
+		int nIter=getSolverInfo().m_numIterations;
+		btDispatcherInfo& dispatchInfo = getDispatchInfo();
+		btScalar timeStep = dispatchInfo.m_timeStep;
+
+		for(int i=0;i<nIter;i++)
+		{
+			btCuda_collisionWithWallBox(m_dcPos, m_dcVel, m_dcRot, m_dcAngVel,m_dShapeBuffer, m_dShapeIds,
+				partProps, boxProps, m_numObj + 1, timeStep);
+			int* pBatchIds = m_dBatchIds;
+			for(int iBatch=0;iBatch < m_maxBatches;iBatch++)
+			{
+				int numConstraints = m_numInBatches[iBatch]; 
+				btCuda_collisionBatchResolutionBox( m_dIds, pBatchIds, numConstraints, m_numObj + 1,
+													m_dcPos, m_dcVel,
+													m_dcRot, m_dcAngVel,
+													m_dLambdaDtBox,
+													m_dContact,
+													partProps, iBatch, timeStep);
+				pBatchIds += numConstraints;
+			}
+		}
+	}
+	copyDataFromGPU();
+	writebackData();
+	m_numSimStep++;
+#endif //BT_USE_CUDA
+} // btGpuDemoDynamicsWorld::solveConstraints2()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::solveConstraintsCPU2(btContactSolverInfo& solverInfo)
+{
+	BT_PROFILE("solveConstraints");
+	grabData();
+	createBatches2();
+	btCudaPartProps partProps;
+	{
+		BT_PROFILE("set constraint data CPU");
+		
+		partProps.m_mass = 1.0f;
+		partProps.m_diameter = m_objRad * 2.0f;
+		partProps.m_restCoeff = 1.0f;
+
+		btGpu_clearAccumulationOfLambdaDt(m_hLambdaDtBox, m_totalNumConstraints, m_maxVtxPerObj * 2);
+
+		btGpu_setConstraintData(m_hIds, m_totalNumConstraints - m_numNonContactConstraints, m_numObj + 1, m_hPos, m_hRot,m_hShapeBuffer, m_hShapeIds,
+									partProps,	m_hContact);
+	}
+
+	btCudaBoxProps boxProps;
+	boxProps.minX = m_worldMin[0];
+	boxProps.maxX = m_worldMax[0];
+	boxProps.minY = m_worldMin[1];
+	boxProps.maxY = m_worldMax[1];
+	
+	{
+		BT_PROFILE("btCuda_collisionBatchResolutionBox CPU");
+		
+		int nIter=getSolverInfo().m_numIterations;
+		btDispatcherInfo& dispatchInfo = getDispatchInfo();
+		btScalar timeStep = dispatchInfo.m_timeStep;
+
+		for(int i=0;i<nIter;i++){
+			btGpu_collisionWithWallBox(m_hPos, m_hVel, m_hRot, m_hAngVel,m_hShapeBuffer, m_hShapeIds,
+				partProps, boxProps, m_numObj + 1, timeStep);
+			int* pBatchIds = m_hBatchIds;
+			for(int iBatch=0;iBatch < m_maxBatches;iBatch++)
+			{
+				int numContConstraints = m_numInBatches[iBatch]; 
+				if(!numContConstraints)
+				{
+					break;
+				}
+				btGpu_collisionBatchResolutionBox( m_hIds, pBatchIds, numContConstraints, m_numObj + 1,
+													m_hPos, m_hVel,
+													m_hRot, m_hAngVel,
+													m_hLambdaDtBox,
+													m_hContact,
+													partProps, iBatch, timeStep);
+				pBatchIds += numContConstraints;
+			}
+		}
+	}
+	writebackData();
+	m_numSimStep++;
+} // btGpuDemoDynamicsWorld::solveConstraintsCPU2()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::debugDrawConstraints(int selectedBatch, const float* pColorTab)
+{
+	int* pBatchIds = m_hBatchIds;
+	for(int stage = 0; stage < m_maxBatches; stage++)
+	{	
+		int numConstraints = m_numInBatches[stage]; 
+		if(!numConstraints)
+		{
+			break;
+		}
+		const float* pCol = pColorTab + stage * 3;
+		if(selectedBatch < CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES)
+		{
+			if(stage != selectedBatch)
+			{
+				pBatchIds += numConstraints;
+				continue;
+			}
+		}
+		glColor3f(pCol[0], pCol[1], pCol[2]);
+		glBegin(GL_LINES);
+		for(int i = 0; i < numConstraints; i++)
+		{
+			int indx = pBatchIds[i];
+			int idA = m_hIds[indx].x;
+			int idB = m_hIds[indx].y;
+			if((idA > 0) && (idB > 0))
+			{
+				btCollisionObject* colObjA = m_collisionObjects[idA];
+				btCollisionObject* colObjB = m_collisionObjects[idB];
+				btVector3 vA = colObjA->getWorldTransform().getOrigin();
+				btVector3 vB = colObjB->getWorldTransform().getOrigin();
+				glVertex3f(vA[0], vA[1], vA[2]);
+				glVertex3f(vB[0], vB[1], vB[2]);
+			}
+		}
+		pBatchIds += numConstraints;
+		glEnd();
+	}
+} // btGpuDemoDynamicsWorld::debugDrawConstraints()
+
+//--------------------------------------------------------------------------
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::initShapeBuffer(int maxShapeBufferSize)
+{
+	m_maxShapeBufferSize = maxShapeBufferSize;
+	m_firstFreeShapeBufferOffset = 0;
+	m_hShapeBuffer = new char[m_maxShapeBufferSize];
+	m_hShapeIds = new int2[m_maxObjs];
+
+#ifdef BT_USE_CUDA
+	btCuda_allocateArray((void**)&m_dShapeBuffer, m_maxShapeBufferSize);
+	btCuda_allocateArray((void**)&m_dShapeIds, sizeof(int) * 2 * m_maxObjs);
+#endif //BT_USE_CUDA
+
+	m_copyShapeDataToGPU = true;
+} // btGpuDemoDynamicsWorld::initShapeBuffer()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::freeShapeBuffer()
+{
+	delete [] m_hShapeBuffer;
+	delete [] m_hShapeIds;
+#ifdef BT_USE_CUDA
+	btCuda_freeArray(m_dShapeBuffer);
+	btCuda_freeArray(m_dShapeIds);
+#endif //BT_USE_CUDA
+} // btGpuDemoDynamicsWorld::freeShapeBuffer()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::addSphere(btVector3& pos, btScalar rad)
+{
+	btVector3* pBuf = (btVector3*)(m_hShapeBuffer + m_firstFreeShapeBufferOffset);
+	*pBuf = pos;
+	pBuf->setW(rad);
+	m_firstFreeShapeBufferOffset += sizeof(btVector3);
+} // btGpuDemoDynamicsWorld::addSphere()
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoDynamicsWorld::addMultiShereObject(int numSpheres, int objIndex)
+{
+	m_hShapeIds[objIndex].x = m_firstFreeShapeBufferOffset;
+	m_hShapeIds[objIndex].y  = numSpheres;
+	return;
+} // btGpuDemoDynamicsWorld::addMultiShereObject()
+
+//--------------------------------------------------------------------------
+//--------------------------------------------------------------------------
+//--------------------------------------------------------------------------
+

Demos/Gpu2dDemo/btGpuDemoDynamicsWorld.h

@@ -0,0 +1,272 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+//----------------------------------------------------------------------------------------
+
+#ifndef BT_CUDA_DEMO_DYNAMICS_WORLD_H
+#define BT_CUDA_DEMO_DYNAMICS_WORLD_H
+
+//----------------------------------------------------------------------------------------
+
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
+
+
+#ifdef BT_USE_CUDA
+#include "btCudaDemoPairCache.h"
+#include <vector_types.h>
+#define BT_GPU_PREF(func) btCuda_##func
+#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
+#else
+#include "BulletMultiThreaded/btGpuDefines.h"
+#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
+#endif
+
+#undef BT_GPU_PREF
+//----------------------------------------------------------------------------------------
+
+
+
+//----------------------------------------------------------------------------------------
+
+#include "btGpuDemo2DSharedTypes.h"
+
+//----------------------------------------------------------------------------------------
+
+#define CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES 20
+
+#define CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS 1024
+#define CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS 24
+
+#define CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ 8
+
+class btGpuDemoDynamicsWorld;
+
+extern btGpuDemoDynamicsWorld* gpCudaDemoDynamicsWorld; // to access world members from pair cache
+
+class btGpuDemoDynamicsWorld : public btDiscreteDynamicsWorld
+{
+protected:
+	int						m_maxObjs;
+	int						m_maxNeighbors;
+
+	int						m_numObj;
+	int						m_numSimStep;
+	bool					m_useCPUSolver;
+
+	float4*					m_hPos;
+	float*					m_hRot;
+	float4*					m_hVel;
+	float*					m_hAngVel;
+
+#ifdef BT_USE_CUDA
+	float4*					m_dPos;
+	float*					m_dRot;
+	float4*					m_dVel;
+	float*					m_dAngVel;
+	float4*					m_dpPos;
+	float*					m_dpRot;
+	float4*					m_dpVel;
+	float*					m_dpAngVel;
+
+	float4*					m_dcPos;
+	float*					m_dcRot;
+	float4*					m_dcVel;
+	float*					m_dcAngVel;
+#endif //BT_USE_CUDA
+
+
+	btOverlappingPairCache*	m_pairCache;
+	int*					m_hConstraintBuffer;
+	int*					m_hConstraintCounter;
+	int						m_maxBatches;
+	int						m_numBatches;
+	int						m_totalNumConstraints;
+	int2*					m_hIds;
+	int*					m_hBatchIds;
+	
+	int						m_maxVtxPerObj;
+
+	int2*					m_dIds;
+	int*					m_dBatchIds;
+
+	float*					m_dLambdaDtBox;
+	float4*					m_dContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
+
+	// ------------- these are only needed for CPU version and for debugging
+	float*					m_hLambdaDtBox;
+	float4*					m_hContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
+	// ------------- 
+
+	btScalar 				m_objRad;
+	btVector3				m_worldMin;
+	btVector3				m_worldMax;
+	
+	//-------------------------------
+	int*					m_hConstraintUsed;
+
+	//-------------------------------
+	// shape buffer
+	int						m_maxShapeBufferSize;
+	int						m_firstFreeShapeBufferOffset;
+	char*					m_hShapeBuffer;  // (pos.x, pos.y, pos.z, radius)
+	char*					m_dShapeBuffer;//pointer in device memory
+	int2*					m_hShapeIds;
+	int2*					m_dShapeIds;
+	bool					m_copyShapeDataToGPU;
+	void					initShapeBuffer(int maxShapeBufferSize);
+	void					freeShapeBuffer();
+	void					sendShapeDataToGpu();
+
+	//-------------------------------
+	int						m_numNonContactConstraints;
+	void					grabNonContactConstraintData();
+	void					grabP2PConstraintData(btPoint2PointConstraint* ct);
+
+public:
+	int						m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES];
+	void					addSphere(btVector3& pos, btScalar rad);
+	void					addMultiShereObject(int numSpheres, int objIndex);
+
+
+	btGpuDemoDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration,
+			int maxObjs = CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS, int maxNeighbors = CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS)
+		: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
+	{ 
+		m_maxObjs = maxObjs;
+		m_maxNeighbors = maxNeighbors;
+		m_useCPUSolver = false;
+		m_pairCache = pairCache->getOverlappingPairCache();
+		int sz = m_maxObjs * m_maxNeighbors;
+		m_hConstraintBuffer = new int[sz];
+		m_hConstraintCounter = new int[m_maxObjs];
+		m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES;
+		m_hIds = new int2[sz];
+		m_hBatchIds = new int[sz];
+		for(int i = 0; i < sz; i++)
+		{
+			m_hBatchIds[i] = -1;
+		}
+		m_hPos = new float4[m_maxObjs];
+		m_hVel = new float4[m_maxObjs];
+		m_hRot = new float[m_maxObjs];
+		m_hAngVel = new float[m_maxObjs];
+
+		m_maxVtxPerObj = 8;
+
+#ifdef BT_USE_CUDA
+		btCuda_allocateArray((void**)&m_dPos, sizeof(float4) * m_maxObjs);
+		btCuda_allocateArray((void**)&m_dRot, sizeof(float) * m_maxObjs);
+		btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObjs);
+		btCuda_allocateArray((void**)&m_dAngVel, sizeof(float) * m_maxObjs);
+		btCuda_allocateArray((void**)&m_dpPos, sizeof(float4) * m_maxObjs);
+		btCuda_allocateArray((void**)&m_dpRot, sizeof(float) * m_maxObjs);
+		btCuda_allocateArray((void**)&m_dpVel, sizeof(float4) * m_maxObjs);
+		btCuda_allocateArray((void**)&m_dpAngVel, sizeof(float) * m_maxObjs);
+
+		btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
+		btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
+
+		btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxVtxPerObj);
+		btCuda_allocateArray((void**)&m_dContact, sizeof(float) * sz * m_maxVtxPerObj * 8);
+//		btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxVtxPerObj * 2);
+//		btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxVtxPerObj * 2);
+#endif //BT_USE_CUDA
+
+		
+		m_hLambdaDtBox = new float[sz * m_maxVtxPerObj];
+		m_hContact = new float4[sz * m_maxVtxPerObj * 2];
+//		m_hPositionConstraint = new float[sz * m_maxVtxPerObj * 2];
+//		m_hNormal = new float3[sz * m_maxVtxPerObj * 2];
+
+		m_numSimStep = 0;
+
+		m_objRad = 1.0f;
+
+		m_hConstraintUsed = new int[sz];
+
+
+		gpCudaDemoDynamicsWorld = this;
+		m_totalNumConstraints = 0;
+
+		initShapeBuffer(m_maxObjs * CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ * sizeof(float) * 4);
+
+	}
+	virtual ~btGpuDemoDynamicsWorld()
+	{
+		delete [] m_hConstraintBuffer;
+		delete [] m_hConstraintCounter;
+		delete [] m_hIds;
+		delete [] m_hBatchIds;
+		delete [] m_hPos;
+		delete [] m_hRot;
+		delete [] m_hVel;
+		delete [] m_hAngVel;
+#ifdef BT_USE_CUDA
+		btCuda_freeArray(m_dPos);
+		btCuda_freeArray(m_dRot);
+		btCuda_freeArray(m_dVel);
+		btCuda_freeArray(m_dAngVel);
+		btCuda_freeArray(m_dpPos);
+		btCuda_freeArray(m_dpRot);
+		btCuda_freeArray(m_dpVel);
+		btCuda_freeArray(m_dpAngVel);
+
+		btCuda_freeArray(m_dIds);
+		btCuda_freeArray(m_dBatchIds);
+		btCuda_freeArray(m_dLambdaDtBox);
+		btCuda_freeArray(m_dContact);
+#endif //BT_USE_CUDA
+
+		delete [] m_hLambdaDtBox;
+		delete [] m_hContact;
+		delete [] m_hConstraintUsed;
+
+		gpCudaDemoDynamicsWorld = NULL;
+
+		freeShapeBuffer();
+	}
+
+	virtual void	calculateSimulationIslands()
+	{
+	}
+	virtual void	solveConstraints(btContactSolverInfo& solverInfo);
+	void solveConstraints2(btContactSolverInfo& solverInfo);
+	void solveConstraintsCPU2(btContactSolverInfo& solverInfo);
+
+	void debugDrawConstraints(int selectedBatch, const float* pColorTab);
+
+	void setObjRad(btScalar rad) { m_objRad = rad; }
+	void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
+	void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
+
+	void grabData();
+	void copyDataToGPU();
+	void setConstraintData(btCudaPartProps& partProps);
+	void copyDataFromGPU();
+	void writebackData();
+	void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
+
+	void createBatches2();
+
+	int2* getIdsPtr() { return m_hIds; }
+	void setTotalNumConstraints(int totalNumConstraints) { m_totalNumConstraints = totalNumConstraints; }
+	int getTotalNumConstraints() { return m_totalNumConstraints; }
+
+};
+
+
+#endif //BT_CUDA_DEMO_DYNAMICS_WORLD_H

Demos/Gpu2dDemo/btGpuDemoPairCache.cpp

@@ -0,0 +1,79 @@
+/*
+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 "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+
+#include "btGpuDemoPairCache.h"
+
+#include "btGpuDemoDynamicsWorld.h"
+
+//--------------------------------------------------------------------------
+
+void btGpuDemoPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
+{
+	int sz = m_maxProxies * m_maxNeighbors;
+	int numContConstraints = 0;
+	int2* pIds = gpCudaDemoDynamicsWorld->getIdsPtr();
+	for(int idx = 0; idx < sz; idx++)
+	{
+		int neigh  = m_hNeighbors[idx];
+		if(neigh >= 0)
+		{
+			int i=idx / m_maxNeighbors;
+			int j=idx % m_maxNeighbors;
+			pIds[numContConstraints].x = i;
+			pIds[numContConstraints].y = m_hNeighbors[i * m_maxNeighbors + j];
+			numContConstraints++;
+		}
+	}
+	gpCudaDemoDynamicsWorld->setTotalNumConstraints(numContConstraints);	
+} // btGpuDemoPairCache::processAllOverlappingPairs()
+
+//--------------------------------------------------------------------------
+
+// this will be called for each overlapping pair if collision detection uses pairCache other than btGpuDemoPairCache
+// IMPORTANT : m_numConstraints in gpCudaDemoDynamicsWorld is set to 0 at start of simulation step
+// IMPORTANT : companionIds for all objects should be properly set at start of simulation step
+void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
+{
+	btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
+	btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
+	if (dispatcher.needsCollision(colObj0,colObj1))
+	{
+		// int id0 = collisionPair.m_pProxy0->m_uniqueId - 2;
+		// int id1 = collisionPair.m_pProxy1->m_uniqueId - 2;
+		// cannot use m_uniqueId : it may be altered by broadphase code
+		// so we'll use companionIds set on the initialization stage
+		unsigned int id0 = colObj0->getCompanionId();
+		unsigned int id1 = colObj1->getCompanionId();
+		if(id0 > id1)
+		{
+			int tmp = id0; id0 = id1; id1 = tmp;
+		}
+		int totalNumConstraints = gpCudaDemoDynamicsWorld->getTotalNumConstraints();
+		int2* pIds = gpCudaDemoDynamicsWorld->getIdsPtr();
+		pIds += totalNumConstraints;
+		pIds->x = id0;
+		pIds->y = id1;
+		totalNumConstraints++;
+		gpCudaDemoDynamicsWorld->setTotalNumConstraints(totalNumConstraints);	
+	}
+} // cudaDemoNearCallback()
+
+//--------------------------------------------------------------------------
+//--------------------------------------------------------------------------
+//--------------------------------------------------------------------------

Demos/Gpu2dDemo/btGpuDemoPairCache.h

@@ -0,0 +1,136 @@
+/*
+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.
+*/
+
+#ifndef CUDA_DEMO_PAIR_CACHE_H
+#define CUDA_DEMO_PAIR_CACHE_H
+
+
+#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
+#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+class btGpuDemoPairCache : public btNullPairCache
+{
+public:
+	int		m_maxProxies;
+	int		m_maxNeighbors;
+	int*	m_hNeighbors;
+	int		m_numPairs;
+	int		m_numSmallProxies;
+	int		m_maxSmallProxies;
+
+	btGpuDemoPairCache(int maxProxies, int maxNeighbors, int maxSmallProxies)
+	{
+		m_maxProxies = maxProxies;
+		m_maxNeighbors = maxNeighbors;
+		m_maxSmallProxies = maxSmallProxies;
+		int sz = maxProxies * maxNeighbors;
+		m_hNeighbors = new int [sz];
+		reset();
+	}
+
+	~btGpuDemoPairCache()
+	{
+		delete [] m_hNeighbors;
+	}
+	
+	void reset(void)
+	{
+		int sz = m_maxProxies * m_maxNeighbors;
+		for(int i = 0; i < sz; i++)
+		{
+			m_hNeighbors[i] = -1;
+		}
+		m_numPairs = 0;
+	}
+
+	virtual int getNumOverlappingPairs() const
+	{
+		return 	m_numPairs;
+		//return 0; // to skip btSimulationIslandManager::findUnions()
+	}
+
+	virtual void	processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher);
+
+	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
+	{
+		int id0 = proxy0->m_uniqueId - 2;
+		int id1 = proxy1->m_uniqueId - 2;
+		if(id0 >= m_maxSmallProxies)
+		{
+			id0 -= m_maxSmallProxies - m_numSmallProxies;
+		}
+		if(id1 >= m_maxSmallProxies)
+		{
+			id1 -= m_maxSmallProxies - m_numSmallProxies;
+		}
+		if(id0 > id1)
+		{
+			int tmp = id0; id0 = id1; id1 = tmp;
+		}
+		int offs = id0 * m_maxNeighbors;
+		int i;
+		for(i = 0; i < m_maxNeighbors; i++)
+		{
+			if(m_hNeighbors[offs + i] < 0)
+			{
+				m_hNeighbors[offs + i] = id1;
+				m_numPairs++;
+				break;
+			}
+		}
+		// btAssert(i < m_maxNeighbors);
+		return 0;
+	}
+
+	virtual void*	removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* /*dispatcher*/)
+	{
+		int id0 = proxy0->m_uniqueId - 2;
+		int id1 = proxy1->m_uniqueId - 2;
+		if(id0 >= m_maxSmallProxies)
+		{
+			id0 -= m_maxSmallProxies - m_numSmallProxies;
+		}
+		if(id1 >= m_maxSmallProxies)
+		{
+			id1 -= m_maxSmallProxies - m_numSmallProxies;
+		}
+		if(id0 > id1)
+		{
+			int tmp = id0; id0 = id1; id1 = tmp;
+		}
+		int offs = id0 * m_maxNeighbors;
+		int i;
+		for(i = 0; i < m_maxNeighbors; i++)
+		{
+			if(m_hNeighbors[offs + i] == id1)
+			{
+				m_hNeighbors[offs + i] = -1;
+				m_numPairs--;
+				break;
+			}
+		}
+//		btAssert(i < m_maxNeighbors);
+		return 0;
+	}
+};
+
+extern void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
+
+#endif //CUDA_DEMO_PAIR_CACHE_H
+
+

Demos/Gpu2dDemo/main.cpp

@@ -0,0 +1,62 @@
+/*
+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"
+#include "GLDebugDrawer.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btHashMap.h"
+
+class OurValue
+	{
+		int m_uid;
+
+	public:
+		OurValue(const btVector3& initialPos)
+			:m_position(initialPos)
+		{
+			static int gUid=0;
+			m_uid=gUid;
+			gUid++;
+		}
+
+		btVector3	m_position;
+		int	getUid() const
+		{
+			return m_uid;
+		}
+	};
+
+GLDebugDrawer	gDebugDrawer;
+
+int main(int argc,char** argv)
+{
+	
+	
+	BasicDemo ccdDemo;
+	ccdDemo.initPhysics();
+	ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
+
+
+#ifdef CHECK_MEMORY_LEAKS
+	ccdDemo.exitPhysics();
+#else
+	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
+#endif
+	
+	//default glut doesn't return from mainloop
+	return 0;
+}

Demos/Gpu2dDemo/oecakeLoader.cpp

@@ -0,0 +1,252 @@
+#include "oecakeLoader.h"
+#include <stdio.h> //printf debugging
+#include <stdlib.h>
+
+
+
+
+btCompoundShape* shiftTransform(btCompoundShape* boxCompound,btScalar mass,btTransform& shift)
+{
+	btTransform principal;
+	btVector3 principalInertia;
+	btScalar* masses = new btScalar[boxCompound->getNumChildShapes()];
+	for (int j=0;j<boxCompound->getNumChildShapes();j++)
+	{
+		//evenly distribute mass
+		masses[j]=mass/boxCompound->getNumChildShapes();
+	}
+
+
+	boxCompound->calculatePrincipalAxisTransform(masses,principal,principalInertia);
+
+
+	///create a new compound with world transform/center of mass properly aligned with the principal axis
+
+	///non-recursive compound shapes perform better
+	//#define USE_RECURSIVE_COMPOUND 1
+#ifdef USE_RECURSIVE_COMPOUND
+
+	btCompoundShape* newCompound = new btCompoundShape();
+	newCompound->addChildShape(principal.inverse(),boxCompound);
+	m_collisionShapes.push_back(newCompound);
+
+	btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+	btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,newCompound,principalInertia);
+
+#else
+#ifdef CHANGE_COMPOUND_INPLACE
+	for (int i=0;i<boxCompound->getNumChildShapes();i++)
+	{
+		btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i);
+		///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update
+		boxCompound->updateChildTransform(i,newChildTransform);
+	}
+	if (isDynamic)
+		boxCompound->calculateLocalInertia(mass,localInertia);
+	btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+	btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,boxCompound,localInertia);
+#else
+	///creation is faster using a new compound to store the shifted children
+	btCompoundShape* newBoxCompound = new btCompoundShape();
+	for (int i=0;i<boxCompound->getNumChildShapes();i++)
+	{
+		btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i);
+		///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update
+		newBoxCompound->addChildShape(newChildTransform,boxCompound->getChildShape(i));
+	}
+
+
+
+#endif
+
+#endif//USE_RECURSIVE_COMPOUND
+
+	shift = principal;
+	return newBoxCompound;
+}
+
+
+void BasicOECakeReader::addParticle(int materialType, int pIndex, int pColor, float pPosX, float pPosY,float radius)
+{
+	//determine that we have a new shape?
+	if (m_particlePositions.size())
+	{
+		if (
+			(materialType != m_materialType)
+			 ||
+			 (pIndex != m_particleObjectIndex)
+			)
+		{
+			convertParticleGroup();
+		}
+	}
+	
+
+	//add to array
+	m_materialType = materialType;
+	m_particleObjectIndex = pIndex;
+	m_particleColor = pColor;
+	m_particlePositions.push_back(btVector3(pPosX,pPosY,0.));
+	m_particleRadii.push_back(radius);
+
+}
+
+void	BasicOECakeReader::convertParticleGroup()
+{
+	printf("found a particle group of %d particles\n",m_particlePositions.size());
+	if (m_particlePositions.size()>0)
+	{
+		addNewCollisionShape(m_particlePositions.size(),&m_particlePositions[0],&m_particleRadii[0],m_materialType,m_particleObjectIndex,m_particleColor);
+		m_particlePositions.clear();
+		m_particleRadii.clear();
+	}
+}
+
+void	BasicOECakeReader::addNewCollisionShape(int numParticles, btVector3* particlePositions, btScalar* radii, int materialType, int objectIndex,int color )
+{
+	//create Bullet stuff
+	btCompoundShape* colShape = 0;
+	btScalar mass;
+
+	bool addConstraint = false;
+
+
+	if (materialType&0x800000)
+	{
+		addConstraint = true;
+	}
+	
+	if ((materialType & 0x20000) ||(materialType & 0x12))
+	{
+		mass = 1.f;
+	}
+	btTransform	startTransform;
+	startTransform.setIdentity();
+
+
+	{
+		
+	
+		btTransform localTrans;
+		localTrans.setIdentity();
+
+		//static
+		btCompoundShape* compound = new btCompoundShape();
+		for (int i=0;i<numParticles;i++)
+		{
+			localTrans.setOrigin(particlePositions[i]);
+			btSphereShape* particle = new btSphereShape(radii[i]);
+			compound->addChildShape(localTrans,particle);
+		}
+		if (mass)
+		{
+			//shift the center of mass, based on all spheres
+			btCompoundShape* newCompound = shiftTransform(compound,mass,startTransform);
+			colShape = newCompound;
+		} else
+		{
+			//use unmodified
+			colShape = compound;
+		}
+	}
+
+	btDefaultMotionState* myMotionState  = 0;
+
+	if (colShape)
+	{
+		createBodyForCompoundShape(colShape,addConstraint,startTransform,mass);
+	}
+}
+
+
+
+int BasicOECakeReader::processLine(char * buffer, int size)
+{
+	int numBytesRead  = 0;
+
+	if (buffer[0] == 'p') 
+	{
+		int materialType;
+		int	particleObjectIndex;
+		int particleColor;
+		int dummy1;
+		float particlePosX;
+		float particlePosY;
+
+		if (sscanf (buffer, "p %x %x %x %x %f %f", &materialType,&particleObjectIndex,&dummy1, &particleColor,  &particlePosX, &particlePosY) == 6)
+		{
+			addParticle(materialType,particleObjectIndex,particleColor,particlePosX,particlePosY);
+		}
+		else
+		{
+			printf("ERROR: invalid line (%s)\n", buffer);
+		}
+	}
+	
+	while (*buffer != '\n' && size != 0)
+	{
+		buffer++;
+		numBytesRead++;
+	}
+
+	
+	if (buffer[0]==0x0a)
+	{
+		buffer++;
+		numBytesRead++;
+	}
+	
+
+	return numBytesRead;
+}
+
+bool BasicOECakeReader::processFile(char * fileName)
+{
+	FILE * fp = fopen(fileName, "rb");
+	if (fp == NULL)
+	{
+		printf("ERROR: file(%s) not found", fileName);
+		return false;
+	}
+
+	int size;
+	if (fseek(fp, 0, SEEK_END) || (size = ftell(fp)) == EOF || fseek(fp, 0, SEEK_SET)) 
+	{
+		printf("ERROR: problem reading file(%s)", fileName);
+		fclose(fp);
+		return false;
+	}
+	else
+	{
+		rewind (fp);
+		char * buffer = (char *) malloc(size+1);
+		memset(buffer,0,size);
+		
+		if (fread(buffer,1,size,fp) != size)
+		{
+			printf("Error reading file %s!\n",fileName);
+			fclose(fp);
+			return false;
+		}
+
+		int totalBytesRead = 0;
+
+		while(totalBytesRead<size)
+		{
+			int remainingSize = size-totalBytesRead;
+			if (remainingSize<1229)
+
+			{
+				printf("..");
+			}
+
+			
+			totalBytesRead +=processLine(&buffer[totalBytesRead],remainingSize);
+		}
+	}
+
+	convertParticleGroup();
+
+	fclose(fp);
+	return false;
+}

Demos/Gpu2dDemo/oecakeLoader.h

@@ -0,0 +1,35 @@
+
+#ifndef OE_CAKE_LOADER_H
+#define OE_CAKE_LOADER_H
+
+#include "btBulletDynamicsCommon.h"
+
+
+class BasicOECakeReader
+{
+	int	m_materialType;
+	int	m_particleObjectIndex;
+	int	m_particleColor;
+	btAlignedObjectArray<btVector3>	m_particlePositions;
+	btAlignedObjectArray<btScalar>	m_particleRadii;
+
+	void addParticle(int materialType, int pIndex, int pColor, float pPosX, float pPosY, float radius=1);
+
+	virtual	void	addNewCollisionShape(int numParticles, btVector3* particlePositions, btScalar* radii, int materialType, int objectIndex,int color );
+
+	int processLine(char * buffer, int size);
+
+	void	convertParticleGroup();
+
+public:
+
+	BasicOECakeReader()
+	{
+	}
+
+	bool processFile(char * fileName);
+
+	virtual void createBodyForCompoundShape(btCompoundShape* compound,bool addConstraint,const btTransform& worldTransform, btScalar mass) = 0;	
+	
+};
+#endif //OE_CAKE_LOADER_H

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.cpp

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #include <stdio.h>

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluid.h

@@ -11,233 +11,233 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
-*/
+*/
-
+
-#ifndef __HFFLUID_H
+#ifndef __HFFLUID_H
-#define __HFFLUID_H
+#define __HFFLUID_H
-
+
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
+#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
-
+
-class btPersistentManifold;
+class btPersistentManifold;
-class btManifoldResult;
+class btManifoldResult;
-
+
-// FIX AABB calculation for whole btHfFluid shape
+// FIX AABB calculation for whole btHfFluid shape
-// Fix flags and fill ratio
+// Fix flags and fill ratio
-// -> Figure out the constants used in flags and fill ratio code
+// -> Figure out the constants used in flags and fill ratio code
-// Fix volume removal
+// Fix volume removal
-// add buoyant convex vs. convex / concave
+// add buoyant convex vs. convex / concave
-// add buoyant concave support (try bunny model)
+// add buoyant concave support (try bunny model)
-
+
-///experimental buyancy fluid demo
+///experimental buyancy fluid demo
-class btHfFluid : public btCollisionObject
+class btHfFluid : public btCollisionObject
-{
+{
-public:
+public:
-	btHfFluid (btScalar gridCellWidth, int numNodesWidth, int numNodesLength);
+	btHfFluid (btScalar gridCellWidth, int numNodesWidth, int numNodesLength);
-
+
-	~btHfFluid ();
+	~btHfFluid ();
-
+
-	void predictMotion(btScalar dt);
+	void predictMotion(btScalar dt);
-
+
-	/* Prep does some initial setup of the height field fluid.
+	/* Prep does some initial setup of the height field fluid.
-	 * You should call this at initialization time.
+	 * You should call this at initialization time.
-	 */
+	 */
-	void prep ();
+	void prep ();
-		
+		
-	static const btHfFluid*	upcast(const btCollisionObject* colObj)
+	static const btHfFluid*	upcast(const btCollisionObject* colObj)
-	{
+	{
-		if (colObj->getInternalType()==CO_HF_FLUID)
+		if (colObj->getInternalType()==CO_HF_FLUID)
-			return (const btHfFluid*)colObj;
+			return (const btHfFluid*)colObj;
-		return 0;
+		return 0;
-	}
+	}
-	static btHfFluid*			upcast(btCollisionObject* colObj)
+	static btHfFluid*			upcast(btCollisionObject* colObj)
-	{
+	{
-		if (colObj->getInternalType()==CO_HF_FLUID)
+		if (colObj->getInternalType()==CO_HF_FLUID)
-			return (btHfFluid*)colObj;
+			return (btHfFluid*)colObj;
-		return 0;
+		return 0;
-	}
+	}
-
+
-	//
+	//
-	// ::btCollisionObject
+	// ::btCollisionObject
-	//
+	//
-
+
-	virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const
-	{
+	{
-		aabbMin = m_aabbMin;
+		aabbMin = m_aabbMin;
-		aabbMax = m_aabbMax;
+		aabbMax = m_aabbMax;
-	}
+	}
-
+
-	int getNumNodesWidth () const { return m_numNodesWidth; }
+	int getNumNodesWidth () const { return m_numNodesWidth; }
-	int getNumNodesLength () const { return m_numNodesLength; }
+	int getNumNodesLength () const { return m_numNodesLength; }
-
+
-	btScalar getGridCellWidth () const { return m_gridCellWidth; }
+	btScalar getGridCellWidth () const { return m_gridCellWidth; }
-	btScalar widthPos (int i) const;
+	btScalar widthPos (int i) const;
-	btScalar lengthPos (int j) const;
+	btScalar lengthPos (int j) const;
-
+
-	int arrayIndex (int i, int j) const;
+	int arrayIndex (int i, int j) const;
-	int arrayIndex (btScalar i, btScalar j) const;
+	int arrayIndex (btScalar i, btScalar j) const;
-	int arrayIndex (unsigned int i, unsigned int j) const;
+	int arrayIndex (unsigned int i, unsigned int j) const;
-	const btScalar* getHeightArray () const;
+	const btScalar* getHeightArray () const;
-	const btScalar* getGroundArray () const;
+	const btScalar* getGroundArray () const;
-	const btScalar* getEtaArray () const;
+	const btScalar* getEtaArray () const;
-	const btScalar* getVelocityUArray () const;
+	const btScalar* getVelocityUArray () const;
-	const btScalar* getVelocityVArray () const;
+	const btScalar* getVelocityVArray () const;
-	const bool* getFlagsArray () const;
+	const bool* getFlagsArray () const;
-
+
-	void setFluidHeight (int x, int y, btScalar height);
+	void setFluidHeight (int x, int y, btScalar height);
-	void setFluidHeight (int index, btScalar height);
+	void setFluidHeight (int index, btScalar height);
-
+
-	void addFluidHeight (int x, int y, btScalar height);
+	void addFluidHeight (int x, int y, btScalar height);
-	void addDisplaced (int i, int j, btScalar r);
+	void addDisplaced (int i, int j, btScalar r);
-
+
-	void getAabbForColumn (int x, int y, btVector3& aabbMin, btVector3& aabbMax);
+	void getAabbForColumn (int x, int y, btVector3& aabbMin, btVector3& aabbMax);
-
+
-	btScalar* getHeightArray ();
+	btScalar* getHeightArray ();
-	btScalar* getGroundArray ();
+	btScalar* getGroundArray ();
-	btScalar* getEtaArray ();
+	btScalar* getEtaArray ();
-	btScalar* getVelocityUArray ();
+	btScalar* getVelocityUArray ();
-	btScalar* getVelocityVArray ();
+	btScalar* getVelocityVArray ();
-	bool* getFlagsArray ();
+	bool* getFlagsArray ();
-
+
-	void foreachGroundTriangle(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax);
+	void foreachGroundTriangle(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax);
-	class btHfFluidColumnCallback 
+	class btHfFluidColumnCallback 
-	{
+	{
-	public:
+	public:
-		btHfFluidColumnCallback () {}
+		btHfFluidColumnCallback () {}
-
+
-		virtual ~btHfFluidColumnCallback () {}
+		virtual ~btHfFluidColumnCallback () {}
-
+
-		virtual bool processColumn (btHfFluid* fluid, int w, int l)
+		virtual bool processColumn (btHfFluid* fluid, int w, int l)
-		{
+		{
-			return true; // keep going
+			return true; // keep going
-		}
+		}
-	};
+	};
-
+
-	void foreachFluidColumn (btHfFluidColumnCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
+	void foreachFluidColumn (btHfFluidColumnCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
-
+
-	void foreachSurfaceTriangle (btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
+	void foreachSurfaceTriangle (btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
-protected:
+protected:
-	int m_numNodesWidth;
+	int m_numNodesWidth;
-	int m_numNodesLength;
+	int m_numNodesLength;
-
+
-	btScalar m_gridCellWidth;
+	btScalar m_gridCellWidth;
-	btScalar m_gridWidth;
+	btScalar m_gridWidth;
-	btScalar m_gridLength;
+	btScalar m_gridLength;
-
+
-	btScalar m_gridCellWidthInv;
+	btScalar m_gridCellWidthInv;
-	
+	
-	btVector3 m_aabbMin;
+	btVector3 m_aabbMin;
-	btVector3 m_aabbMax;
+	btVector3 m_aabbMax;
-
+
-	void setGridDimensions (btScalar gridCellWidth,
+	void setGridDimensions (btScalar gridCellWidth,
-							int numNodesWidth, int numNodesLength);
+							int numNodesWidth, int numNodesLength);
-
+
-	btScalar bilinearInterpolate (const btScalar* array, btScalar i, btScalar j);
+	btScalar bilinearInterpolate (const btScalar* array, btScalar i, btScalar j);
-
+
-	btScalar advect (const btScalar* array, btScalar i, btScalar j, btScalar di, btScalar dj, btScalar dt);
+	btScalar advect (const btScalar* array, btScalar i, btScalar j, btScalar di, btScalar dj, btScalar dt);
-
+
-	void advectEta (btScalar dt);
+	void advectEta (btScalar dt);
-	void updateHeight (btScalar dt);
+	void updateHeight (btScalar dt);
-
+
-	void advectVelocityU (btScalar dt);
+	void advectVelocityU (btScalar dt);
-	void advectVelocityV (btScalar dt);
+	void advectVelocityV (btScalar dt);
-	void updateVelocity (btScalar dt);
+	void updateVelocity (btScalar dt);
-
+
-	void transferDisplaced (btScalar dt);
+	void transferDisplaced (btScalar dt);
-
+
-	void setReflectBoundaryLeft ();
+	void setReflectBoundaryLeft ();
-	void setReflectBoundaryRight ();
+	void setReflectBoundaryRight ();
-	void setReflectBoundaryTop ();
+	void setReflectBoundaryTop ();
-	void setReflectBoundaryBottom ();
+	void setReflectBoundaryBottom ();
-
+
-	void setAbsorbBoundaryLeft (btScalar dt);
+	void setAbsorbBoundaryLeft (btScalar dt);
-	void setAbsorbBoundaryRight (btScalar dt);
+	void setAbsorbBoundaryRight (btScalar dt);
-	void setAbsorbBoundaryTop (btScalar dt);
+	void setAbsorbBoundaryTop (btScalar dt);
-	void setAbsorbBoundaryBottom (btScalar dt);
+	void setAbsorbBoundaryBottom (btScalar dt);
-
+
-	void computeFlagsAndFillRatio ();
+	void computeFlagsAndFillRatio ();
-	btScalar computeHmin (int i, int j);
+	btScalar computeHmin (int i, int j);
-	btScalar computeHmax (int i, int j);
+	btScalar computeHmax (int i, int j);
-	btScalar computeEtaMax (int i, int j);
+	btScalar computeEtaMax (int i, int j);
-
+
-	void allocateArrays ();
+	void allocateArrays ();
-
+
-	void debugTests ();
+	void debugTests ();
-
+
-	btScalar* m_temp; // temp
+	btScalar* m_temp; // temp
-	int m_heightIndex;
+	int m_heightIndex;
-	btScalar* m_height[2];
+	btScalar* m_height[2];
-	btScalar* m_ground;
+	btScalar* m_ground;
-	btScalar* m_eta; // height - ground
+	btScalar* m_eta; // height - ground
-	btScalar* m_u[2];
+	btScalar* m_u[2];
-	btScalar* m_v[2];
+	btScalar* m_v[2];
-	int m_rIndex;
+	int m_rIndex;
-	btScalar* m_r[2];
+	btScalar* m_r[2];
-	int m_velocityIndex;
+	int m_velocityIndex;
-	bool* m_flags;
+	bool* m_flags;
-	btScalar* m_fillRatio;
+	btScalar* m_fillRatio;
-
+
-	// tweakables
+	// tweakables
-	btScalar m_globalVelocityU;
+	btScalar m_globalVelocityU;
-	btScalar m_globalVelocityV;
+	btScalar m_globalVelocityV;
-	btScalar m_gravity;
+	btScalar m_gravity;
-	btScalar m_volumeDisplacementScale;
+	btScalar m_volumeDisplacementScale;
-	btScalar m_horizontalVelocityScale;
+	btScalar m_horizontalVelocityScale;
-
+
-	btScalar m_epsHeight;
+	btScalar m_epsHeight;
-	btScalar m_epsEta;
+	btScalar m_epsEta;
-public:
+public:
-	// You can enforce a global velocity at the surface of the fluid
+	// You can enforce a global velocity at the surface of the fluid
-	// default: 0.0 and 0.0
+	// default: 0.0 and 0.0
-	void setGlobaVelocity (btScalar globalVelocityU, btScalar globalVelocityV);
+	void setGlobaVelocity (btScalar globalVelocityU, btScalar globalVelocityV);
-	void getGlobalVelocity (btScalar& globalVelocityU, btScalar& globalVelocityV) const;
+	void getGlobalVelocity (btScalar& globalVelocityU, btScalar& globalVelocityV) const;
-
+
-	// Control force of gravity, should match physics world
+	// Control force of gravity, should match physics world
-	// default: -10.0
+	// default: -10.0
-	void setGravity (btScalar gravity);
+	void setGravity (btScalar gravity);
-	btScalar getGravity () const;
+	btScalar getGravity () const;
-
+
-	// When a body is submerged into the fluid, the displaced fluid
+	// When a body is submerged into the fluid, the displaced fluid
-	// is spread to adjacent cells. You can control the percentage of this
+	// is spread to adjacent cells. You can control the percentage of this
-	// by setting this value between 0.0 and 1.0
+	// by setting this value between 0.0 and 1.0
-	// default: 0.5
+	// default: 0.5
-	void setVolumeDisplacementScale (btScalar volumeDisplacementScale);
+	void setVolumeDisplacementScale (btScalar volumeDisplacementScale);
-	btScalar getVolumeDisplacementScale () const;
+	btScalar getVolumeDisplacementScale () const;
-
+
-	// The horizontal velocity of the fluid can influence bodies submerged
+	// The horizontal velocity of the fluid can influence bodies submerged
-	// in the fluid. You can control how much influence by setting this
+	// in the fluid. You can control how much influence by setting this
-	// between 0.0 and 1.0
+	// between 0.0 and 1.0
-	// default: 0.5
+	// default: 0.5
-	void setHorizontalVelocityScale (btScalar horizontalVelocityScale);
+	void setHorizontalVelocityScale (btScalar horizontalVelocityScale);
-	btScalar getHorizontalVelocityScale () const;
+	btScalar getHorizontalVelocityScale () const;
-};
+};
-
+
-class btRigidBody;
+class btRigidBody;
-class btIDebugDraw;
+class btIDebugDraw;
-class btHfFluidBuoyantConvexShape;
+class btHfFluidBuoyantConvexShape;
-
+
-class btHfFluidColumnRigidBodyCallback : public btHfFluid::btHfFluidColumnCallback
+class btHfFluidColumnRigidBodyCallback : public btHfFluid::btHfFluidColumnCallback
-{
+{
-protected:
+protected:
-	btRigidBody* m_rigidBody;
+	btRigidBody* m_rigidBody;
-	btHfFluidBuoyantConvexShape* m_buoyantShape;
+	btHfFluidBuoyantConvexShape* m_buoyantShape;
-	btIDebugDraw* m_debugDraw;
+	btIDebugDraw* m_debugDraw;
-	int m_numVoxels;
+	int m_numVoxels;
-	btVector3* m_voxelPositionsXformed;
+	btVector3* m_voxelPositionsXformed;
-	bool* m_voxelSubmerged;
+	bool* m_voxelSubmerged;
-	btVector3 m_aabbMin;
+	btVector3 m_aabbMin;
-	btVector3 m_aabbMax;
+	btVector3 m_aabbMax;
-	btScalar m_volume;
+	btScalar m_volume;
-	btScalar m_density;
+	btScalar m_density;
-	btScalar m_floatyness;
+	btScalar m_floatyness;
-public:
+public:
-	btHfFluidColumnRigidBodyCallback (btRigidBody* rigidBody, btIDebugDraw* debugDraw, btScalar density, btScalar floatyness);
+	btHfFluidColumnRigidBodyCallback (btRigidBody* rigidBody, btIDebugDraw* debugDraw, btScalar density, btScalar floatyness);
-	~btHfFluidColumnRigidBodyCallback ();
+	~btHfFluidColumnRigidBodyCallback ();
-	bool processColumn (btHfFluid* fluid, int w, int l);
+	bool processColumn (btHfFluid* fluid, int w, int l);
-	btScalar getVolume () const { return m_volume; }
+	btScalar getVolume () const { return m_volume; }
-};
+};
-
+
-#endif
+#endif
-
+

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.cpp

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 #include <stdio.h>
 

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantConvexShape.h

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 #ifndef __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H
 #define __BT_HFFLUID_BUOYANT_CONVEX_SHAPE_H

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.cpp

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 #include <stdio.h>
 

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidBuoyantShapeCollisionAlgorithm.h

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifndef HF_FLUID_BUOYANT_SHAPE_COLLISION_ALGORITHM_H

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.cpp

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
-*/
+*/
-#include "btHfFluidCollisionShape.h"
+#include "btHfFluidCollisionShape.h"
-
+

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidCollisionShape.h

@@ -11,84 +11,84 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
-*/
+*/
-#ifndef BT_HF_FLUID_COLLISION_SHAPE_H
+#ifndef BT_HF_FLUID_COLLISION_SHAPE_H
-#define BT_HF_FLUID_COLLISION_SHAPE_H
+#define BT_HF_FLUID_COLLISION_SHAPE_H
-
+
-#include "btHfFluid.h"
+#include "btHfFluid.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
+#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
-#include "BulletCollision/CollisionShapes/btConcaveShape.h"
+#include "BulletCollision/CollisionShapes/btConcaveShape.h"
-
+
-class btHfFluidCollisionShape : public btConcaveShape
+class btHfFluidCollisionShape : public btConcaveShape
-{
+{
-	public:
+	public:
-	btHfFluid*						m_fluid;
+	btHfFluid*						m_fluid;
-	
+	
-	btHfFluidCollisionShape(btHfFluid* backptr) : btConcaveShape ()
+	btHfFluidCollisionShape(btHfFluid* backptr) : btConcaveShape ()
-	{
+	{
-		m_shapeType = HFFLUID_SHAPE_PROXYTYPE;
+		m_shapeType = HFFLUID_SHAPE_PROXYTYPE;
-		m_fluid=backptr;
+		m_fluid=backptr;
-	}
+	}
-
+
-	virtual ~btHfFluidCollisionShape()
+	virtual ~btHfFluidCollisionShape()
-	{
+	{
-
+
-	}
+	}
-
+
-	void	processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const
+	void	processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const
-	{
+	{
-		//not yet
+		//not yet
-		btAssert(0);
+		btAssert(0);
-	}
+	}
-
+
-	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
+	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-	{
+	{
-		/* t should be identity, but better be safe than...fast? */ 
+		/* t should be identity, but better be safe than...fast? */ 
-		btVector3	mins;
+		btVector3	mins;
-		btVector3	maxs;
+		btVector3	maxs;
-
+
-		m_fluid->getAabb (mins, maxs);
+		m_fluid->getAabb (mins, maxs);
-
+
-		const btVector3	crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
+		const btVector3	crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
-								t*btVector3(maxs.x(),mins.y(),mins.z()),
+								t*btVector3(maxs.x(),mins.y(),mins.z()),
-								t*btVector3(maxs.x(),maxs.y(),mins.z()),
+								t*btVector3(maxs.x(),maxs.y(),mins.z()),
-								t*btVector3(mins.x(),maxs.y(),mins.z()),
+								t*btVector3(mins.x(),maxs.y(),mins.z()),
-								t*btVector3(mins.x(),mins.y(),maxs.z()),
+								t*btVector3(mins.x(),mins.y(),maxs.z()),
-								t*btVector3(maxs.x(),mins.y(),maxs.z()),
+								t*btVector3(maxs.x(),mins.y(),maxs.z()),
-								t*btVector3(maxs.x(),maxs.y(),maxs.z()),
+								t*btVector3(maxs.x(),maxs.y(),maxs.z()),
-								t*btVector3(mins.x(),maxs.y(),maxs.z())};
+								t*btVector3(mins.x(),maxs.y(),maxs.z())};
-		aabbMin=aabbMax=crns[0];
+		aabbMin=aabbMax=crns[0];
-		for(int i=1;i<8;++i)
+		for(int i=1;i<8;++i)
-		{
+		{
-			aabbMin.setMin(crns[i]);
+			aabbMin.setMin(crns[i]);
-			aabbMax.setMax(crns[i]);
+			aabbMax.setMax(crns[i]);
-		}
+		}
-	}
+	}
-
+
-	virtual void	setLocalScaling(const btVector3& /*scaling*/)
+	virtual void	setLocalScaling(const btVector3& /*scaling*/)
-	{		
+	{		
-		///na
+		///na
-		btAssert(0);
+		btAssert(0);
-	}
+	}
-	virtual const btVector3& getLocalScaling() const
+	virtual const btVector3& getLocalScaling() const
-	{
+	{
-		static const btVector3 dummy(1,1,1);
+		static const btVector3 dummy(1,1,1);
-		return dummy;
+		return dummy;
-	}
+	}
-	virtual void	calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
+	virtual void	calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
-	{
+	{
-		///not yet
+		///not yet
-		btAssert(0);
+		btAssert(0);
-	}
+	}
-	virtual const char*	getName()const
+	virtual const char*	getName()const
-	{
+	{
-		return "HfFluid";
+		return "HfFluid";
-	}
+	}
-};
+};
-
+
-#endif
+#endif

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.cpp

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #include <stdio.h>

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.h

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifndef HF_FLUID_RIGID_COLLISION_ALGORITHM_H

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.cpp

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #include "btHfFluidRigidCollisionConfiguration.h"

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionConfiguration.h

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifndef BT_HFFLUID_RIGID_COLLISION_CONFIGURATION

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.cpp

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #include <stdio.h>

Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidDynamicsWorld.h

@@ -11,82 +11,82 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
-*/
+*/
-
+
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
-
+
-#ifndef BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
+#ifndef BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
-#define BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
+#define BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
-
+
-class btHfFluid;
+class btHfFluid;
-typedef	btAlignedObjectArray<btHfFluid*> btHfFluidArray;
+typedef	btAlignedObjectArray<btHfFluid*> btHfFluidArray;
-
+
-#define DRAWMODE_NORMAL 0
+#define DRAWMODE_NORMAL 0
-#define DRAWMODE_VELOCITY 1
+#define DRAWMODE_VELOCITY 1
-#define DRAWMODE_MAX 2
+#define DRAWMODE_MAX 2
-
+
-#define BODY_DRAWMODE_NORMAL 0
+#define BODY_DRAWMODE_NORMAL 0
-#define BODY_DRAWMODE_VOXEL 1
+#define BODY_DRAWMODE_VOXEL 1
-#define BODY_DRAWMODE_MAX 2
+#define BODY_DRAWMODE_MAX 2
-
+
-class btHfFluidBuoyantConvexShape;
+class btHfFluidBuoyantConvexShape;
-
+
-///experimental buyancy fluid demo
+///experimental buyancy fluid demo
-class btHfFluidRigidDynamicsWorld : public btDiscreteDynamicsWorld
+class btHfFluidRigidDynamicsWorld : public btDiscreteDynamicsWorld
-{
+{
-	
+	
-	btHfFluidArray	m_hfFluids;
+	btHfFluidArray	m_hfFluids;
-	int m_drawMode;
+	int m_drawMode;
-	int m_bodyDrawMode;
+	int m_bodyDrawMode;
-protected:
+protected:
-	
+	
-	virtual void	predictUnconstraintMotion(btScalar timeStep);
+	virtual void	predictUnconstraintMotion(btScalar timeStep);
-	
+	
-	virtual void	internalSingleStepSimulation( btScalar timeStep);
+	virtual void	internalSingleStepSimulation( btScalar timeStep);
-
+
-	void	updateFluids(btScalar timeStep);
+	void	updateFluids(btScalar timeStep);
-
+
-	void	solveFluidConstraints(btScalar timeStep);
+	void	solveFluidConstraints(btScalar timeStep);
-
+
-	virtual void	debugDrawWorld();
+	virtual void	debugDrawWorld();
-
+
-	void drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid);
+	void drawHfFluidGround (btIDebugDraw* debugDraw, btHfFluid* fluid);
-	void drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid);
+	void drawHfFluidVelocity (btIDebugDraw* debugDraw, btHfFluid* fluid);
-	void drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw);
+	void drawHfFluidBuoyantConvexShape (btIDebugDraw* debugDrawer, btCollisionObject* object, btHfFluidBuoyantConvexShape* buoyantShape, int voxelDraw);
-	void drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid);
+	void drawHfFluidNormal (btIDebugDraw* debugDraw, btHfFluid* fluid);
-public:
+public:
-	
+	
-	btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
+	btHfFluidRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
-
+
-	virtual ~btHfFluidRigidDynamicsWorld();
+	virtual ~btHfFluidRigidDynamicsWorld();
-		
+		
-			
+			
-	void	addHfFluid(btHfFluid* fluid);
+	void	addHfFluid(btHfFluid* fluid);
-
+
-	void	removeHfFluid(btHfFluid* fluid);
+	void	removeHfFluid(btHfFluid* fluid);
-	
+	
-	void setDrawMode (int drawMode)
+	void setDrawMode (int drawMode)
-	{
+	{
-		m_drawMode = drawMode;
+		m_drawMode = drawMode;
-	}
+	}
-
+
-	void setBodyDrawMode (int bodyDrawMode)
+	void setBodyDrawMode (int bodyDrawMode)
-	{
+	{
-		m_bodyDrawMode = bodyDrawMode;
+		m_bodyDrawMode = bodyDrawMode;
-	}
+	}
-
+
-	btHfFluidArray& getHfFluidArray()
+	btHfFluidArray& getHfFluidArray()
-	{
+	{
-		return m_hfFluids;
+		return m_hfFluids;
-	}
+	}
-
+
-	const btHfFluidArray& getHfFluidArray() const
+	const btHfFluidArray& getHfFluidArray() const
-	{
+	{
-		return m_hfFluids;
+		return m_hfFluids;
-	}
+	}
-		
+		
-};
+};
-
+
-#endif //BT_HFFLUID_RIGID_DYNAMICS_WORLD_H
+#endif //BT_HFFLUID_RIGID_DYNAMICS_WORLD_H

Demos/HeightFieldFluidDemo/HfFluidDemo.cpp

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #include "btBulletDynamicsCommon.h"
@@ -26,7 +26,6 @@ Experimental Buoyancy fluid demo written by John McCutchan
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btRandom.h"
-#include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 #include "LinearMath/btConvexHull.h"
 

Demos/HeightFieldFluidDemo/HfFluidDemo.h

@@ -11,14 +11,14 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifndef HFFLUID_DEMO_H
 #define HFFLUID_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "BulletHfFluid/btHfFluid.h"
 
@@ -36,7 +36,7 @@ class btFluidRididCollisionAlgorithm;
 
 ///experimental buyancy fluid demo
 ///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
-class HfFluidDemo : public DemoApplication
+class HfFluidDemo : public GlutDemoApplication
 {
 public:
 	btAlignedObjectArray<btFluidRididCollisionAlgorithm*> m_FluidRigidCollisionAlgorithms;

Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.cpp

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifdef WIN32 //needed for glut.h
@@ -54,7 +54,6 @@ Experimental Buoyancy fluid demo written by John McCutchan
 
 #include "LinearMath/btIDebugDraw.h"
 //for debugmodes
-#include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
 #include <map>
@@ -422,7 +421,7 @@ void HfFluidDemo_GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape*
 					glRasterPos3f(vtx.x(),  vtx.y(),  vtx.z());
 					char buf[12];
 					sprintf(buf," %d",i);
-					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+//					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 				}
 
 				for (i=0;i<polyshape->getNumPlanes();i++)
@@ -435,7 +434,7 @@ void HfFluidDemo_GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape*
 					glRasterPos3f(normal.x()*d,  normal.y()*d, normal.z()*d);
 					char buf[12];
 					sprintf(buf," plane %d",i);
-					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+//					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 
 				}
 			}
@@ -502,7 +501,7 @@ glDisable(GL_DEPTH_TEST);
 glRasterPos3f(0,0,0);//mvtx.x(),  vtx.y(),  vtx.z());
 if (debugMode&btIDebugDraw::DBG_DrawText)
 {
-	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getName());
+//	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getName());
 }
 
 if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)

Demos/HeightFieldFluidDemo/HfFluidDemo_GL_ShapeDrawer.h

@@ -11,8 +11,8 @@ 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.
-
+
-Experimental Buoyancy fluid demo written by John McCutchan
+Experimental Buoyancy fluid demo written by John McCutchan
 */
 
 #ifndef HFFLUID_GL_SHAPE_DRAWER_H

Demos/MovingConcaveDemo/ConcaveDemo.h

@@ -15,13 +15,13 @@ subject to the following restrictions:
 #ifndef CONCAVE_DEMO_H
 #define CONCAVE_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 
 struct btCollisionAlgorithmCreateFunc;
 
 ///ConcaveDemo shows usage of static concave triangle meshes
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
-class ConcaveDemo : public DemoApplication
+class ConcaveDemo : public GlutDemoApplication
 {
 
 	btCollisionShape * m_trimeshShape;

Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp

@@ -22,11 +22,10 @@ subject to the following restrictions:
 #include "LinearMath/btDefaultMotionState.h"
 #include "BulletCollision/Gimpact/btGImpactShape.h"
 #include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
+#include "GLDebugFont.h"
 
 
 
-#include "BMF_Api.h"
-
 #include "GLDebugDrawer.h"
 
 #include "GL_ShapeDrawer.h"
@@ -1552,69 +1551,68 @@ void ConcaveDemo::renderme()
 
 			setOrthographicProjection();
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"mouse to interact");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
 
-		/*	glRasterPos3f(xOffset,yStart,0);
+		/*	glRasterPos3f(xOffset,xOffset,0);
 			sprintf(buf,"space to reset");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
 		*/
-			glRasterPos3f(xOffset,yStart,0);
+
 			sprintf(buf,"cursor keys and z,x to navigate");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
+
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"i to toggle simulation, s single step");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
+
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"q to quit");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
+
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,". to shoot TRIMESH (dot)");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
 
 			// not yet hooked up again after refactoring...
 
-/*			glRasterPos3f(xOffset,yStart,0);
+/*			glRasterPos3f(xOffset,xOffset,0);
 			sprintf(buf,"d to toggle deactivation");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
 */
 
 		/*
-			glRasterPos3f(xOffset,yStart,0);
+			glRasterPos3f(xOffset,xOffset,0);
 			sprintf(buf,"a to draw temporal AABBs");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
 		*/
 
-			glRasterPos3f(xOffset,yStart,0);
+
 			sprintf(buf,"h to toggle help text");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
 
 			//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
 
 			bool useCCD = ((getDebugMode() & btIDebugDraw::DBG_EnableCCD) != 0);
 
-			glRasterPos3f(xOffset,yStart,0);
-			sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
-			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
+			sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
+			GLDebugDrawString(xOffset,xOffset,buf);
+			xOffset += yIncr;
+
+
 			sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,xOffset,buf);
-			yStart += yIncr;
+			xOffset += yIncr;
 
 			resetPerspectiveProjection();
 

Demos/MultiMaterialDemo/MultiMaterialDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef CONCAVE_DEMO_H
 #define CONCAVE_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -29,7 +29,7 @@ class btTriangleIndexVertexArray;
 
 ///MultiMaterialDemo shows usage of static concave triangle meshes
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
-class MultiMaterialDemo : public DemoApplication
+class MultiMaterialDemo : public GlutDemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/MultiThreadedDemo/MultiThreadedDemo.cpp

@@ -53,7 +53,7 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 
 
-#include "BMF_Api.h"
+
 #include <stdio.h> //printf debugging
 
 #include "MultiThreadedDemo.h"

Demos/MultiThreadedDemo/MultiThreadedDemo.h

@@ -15,7 +15,7 @@ subject to the following restrictions:
 #ifndef MULTI_THREADED_DEMO_H
 #define MULTI_THREADED_DEMO_H
 
-#include "DemoApplication.h"
+#include "GlutDemoApplication.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -28,7 +28,7 @@ class btDefaultCollisionConfiguration;
 
 
 ///MultiThreadedDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
-class MultiThreadedDemo : public DemoApplication
+class MultiThreadedDemo : public GlutDemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/OpenGL/BMF_Api.cpp

@@ -1,162 +0,0 @@
-/**
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU bteral Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU bteral Public License for more details.
- *
- * You should have received a copy of the GNU bteral Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-/**
-
- * Copyright (C) 2001 NaN Technologies B.V.
- *
- * Implementation of the API of the OpenGL bitmap font library.
- */
-
-#include "BMF_Api.h"
-
-#include "BMF_BitmapFont.h"
-
-
-#if BMF_INCLUDE_HELV10
-extern BMF_FontData BMF_font_helv10;
-static BMF_BitmapFont bmfHelv10(&BMF_font_helv10);
-#endif // BMF_INCLUDE_HELV10
-#if BMF_INCLUDE_HELV12
-extern BMF_FontData BMF_font_helv12;
-static BMF_BitmapFont bmfHelv12(&BMF_font_helv12);
-#endif // BMF_INCLUDE_HELV12
-#if BMF_INCLUDE_HELVB8
-extern BMF_FontData BMF_font_helvb8;
-static BMF_BitmapFont bmfHelvb8(&BMF_font_helvb8);
-#endif // BMF_INCLUDE_HELVB8
-#if BMF_INCLUDE_HELVB10
-extern BMF_FontData BMF_font_helvb10;
-static BMF_BitmapFont bmfHelvb10(&BMF_font_helvb10);
-#endif // BMF_INCLUDE_HELVB10
-#if BMF_INCLUDE_HELVB12
-extern BMF_FontData BMF_font_helvb12;
-static BMF_BitmapFont bmfHelvb12(&BMF_font_helvb12);
-#endif // BMF_INCLUDE_HELVB12
-#if BMF_INCLUDE_HELVB14
-extern BMF_FontData BMF_font_helvb14;
-static BMF_BitmapFont bmfHelvb14(&BMF_font_helvb14);
-#endif // BMF_INCLUDE_HELVB14
-#if BMF_INCLUDE_SCR12
-extern BMF_FontData BMF_font_scr12;
-static BMF_BitmapFont bmfScreen12(&BMF_font_scr12);
-#endif // BMF_INCLUDE_SCR12
-#if BMF_INCLUDE_SCR14
-extern BMF_FontData BMF_font_scr14;
-static BMF_BitmapFont bmfScreen14(&BMF_font_scr14);
-#endif // BMF_INCLUDE_SCR14
-#if BMF_INCLUDE_SCR15
-extern BMF_FontData BMF_font_scr15;
-static BMF_BitmapFont bmfScreen15(&BMF_font_scr15);
-#endif // BMF_INCLUDE_SCR15
-
-
-BMF_Font* BMF_GetFont(BMF_FontType font)
-{
-	switch (font)
-	{
-#if BMF_INCLUDE_HELV10
-	case BMF_kHelvetica10:	return (BMF_Font*) &bmfHelv10;
-#endif // BMF_INCLUDE_HELV10
-#if BMF_INCLUDE_HELV12
-	case BMF_kHelvetica12:	return (BMF_Font*) &bmfHelv12;
-#endif // BMF_INCLUDE_HELV12
-#if BMF_INCLUDE_HELVB8
-	case BMF_kHelveticaBold8:	return (BMF_Font*) &bmfHelvb8;
-#endif // BMF_INCLUDE_HELVB8
-#if BMF_INCLUDE_HELVB10
-	case BMF_kHelveticaBold10:	return (BMF_Font*) &bmfHelvb10;
-#endif // BMF_INCLUDE_HELVB10
-#if BMF_INCLUDE_HELVB12
-	case BMF_kHelveticaBold12:	return (BMF_Font*) &bmfHelvb12;
-#endif // BMF_INCLUDE_HELVB12
-#if BMF_INCLUDE_HELVB14
-	case BMF_kHelveticaBold14:	return (BMF_Font*) &bmfHelvb14;
-#endif // BMF_INCLUDE_HELVB12
-#if BMF_INCLUDE_SCR12
-	case BMF_kScreen12:	return (BMF_Font*) &bmfScreen12;
-#endif // BMF_INCLUDE_SCR12
-#if BMF_INCLUDE_SCR14
-	case BMF_kScreen14:	return (BMF_Font*) &bmfScreen14;
-#endif // BMF_INCLUDE_SCR14
-#if BMF_INCLUDE_SCR15
-	case BMF_kScreen15:	return (BMF_Font*) &bmfScreen15;
-#endif // BMF_INCLUDE_SCR15
-	default:
-		break;
-	}
-	return 0;
-}
-
-
-int BMF_DrawCharacter(BMF_Font* font, char c)
-{
-	char str[2] = {c, '\0'};
-	return BMF_DrawString(font, str);
-}
-
-
-int BMF_DrawString(BMF_Font* font, const char* str)
-{
-	if (!font) return 0;
-	((BMF_BitmapFont*)font)->drawString(str);
-	return 1;
-}
-
-
-int BMF_GetCharacterWidth(BMF_Font* font, char c)
-{
-	char str[2] = {c, '\0'};
-	return BMF_GetStringWidth(font, str);
-}
-
-
-int BMF_GetStringWidth(BMF_Font* font, char* str)
-{
-	if (!font) return 0;
-	return ((BMF_BitmapFont*)font)->getStringWidth(str);
-}
-
-
-void BMF_GetBoundingBox(BMF_Font* font, int *xmin_r, int *ymin_r, int *xmax_r, int *ymax_r)
-{
-	if (!font) return;
-	((BMF_BitmapFont*)font)->getBoundingBox(*xmin_r, *ymin_r, *xmax_r, *ymax_r);
-}
-
-int BMF_GetFontTexture(BMF_Font* font) {
-	if (!font) return -1;
-	return ((BMF_BitmapFont*)font)->getTexture();
-}
-
-void BMF_DrawStringTexture(BMF_Font* font, char *string, float x, float y, float z) {
-	if (!font) return;
-	((BMF_BitmapFont*)font)->drawStringTexture(string, x, y, z);
-}

Demos/OpenGL/BMF_Api.h

@@ -1,128 +0,0 @@
-/**
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU bteral Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU bteral Public License for more details.
- *
- * You should have received a copy of the GNU bteral Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-/**
-
- * Copyright (C) 2001 NaN Technologies B.V.
- *
- * API of the OpenGL bitmap font library.
- * Currently draws fonts using the glBitmap routine.
- * This implies that drawing speed is heavyly dependant on
- * the 2D capabilities of the graphics card.
- */
-
-#ifndef __BMF_API_H
-#define __BMF_API_H
-
-#ifdef __cplusplus
-extern "C" { 
-#endif
-
-#include "BMF_Fonts.h"
-
-/**
- * Returns the font for a given font type.
- * @param font	The font to retrieve.
- * @return The font (or nil if not found).
- */
-BMF_Font* BMF_GetFont(BMF_FontType font);
-
-/**
- * Draws a character at the current raster position.
- * @param font	The font to use.
- * @param c		The character to draw.
- * @return Indication of success (0 == error).
- */
-int BMF_DrawCharacter(BMF_Font* font, char c);
-
-/**
- * Draws a string at the current raster position.
- * @param font	The font to use.
- * @param str	The string to draw.
- * @return Indication of success (0 == error).
- */
-int BMF_DrawString(BMF_Font* font, const char* str);
-
-/**
- * Returns the width of a character in pixels.
- * @param font	The font to use.
- * @param c		The character.
- * @return The length.
- */
-int BMF_GetCharacterWidth(BMF_Font* font, char c);
-
-/**
- * Returns the width of a string of characters.
- * @param font	The font to use.
- * @param str	The string.
- * @return The length.
- */
-int BMF_GetStringWidth(BMF_Font* font, char* str);
-
-/**
- * Returns the bounding box of the font. The width and
- * height represent the bounding box of the union of
- * all glyps. The minimum and maximum values of the
- * box represent the extent of the font and its positioning
- * about the origin.
- */
-void BMF_GetBoundingBox(BMF_Font* font, int *xmin_r, int *ymin_r, int *xmax_r, int *ymax_r);
-
-/**
- * Convert the given @a font to a texture, and return the GL texture
- * ID of the texture. If the texture ID is bound, text can
- * be drawn using the texture by calling drawStringTexture.
- * 
- * @param font The font to create the texture from.
- * @return The GL texture ID of the new texture, or -1 if unable
- * to create.
- */
-int BMF_GetFontTexture(BMF_Font* font);
-
-/**
- * Draw the given @a str at the point @a x, @a y, @a z, using
- * texture coordinates. This assumes that an appropriate texture
- * has been bound, see BMF_BitmapFont::getTexture(). The string
- * is drawn along the positive X axis.
- * 
- * @param font The font to draw with.
- * @param string The c-string to draw.
- * @param x The x coordinate to start drawing at.
- * @param y The y coordinate to start drawing at.
- * @param z The z coordinate to start drawing at.
- */
-void BMF_DrawStringTexture(BMF_Font* font, char* string, float x, float y, float z);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __BMF_API_H */
-

Demos/OpenGL/BMF_BitmapFont.cpp

@@ -1,208 +0,0 @@
-/**
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU bteral Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU bteral Public License for more details.
- *
- * You should have received a copy of the GNU bteral Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-/**
-
- * Copyright (C) 2001 NaN Technologies B.V.
- */
-
-#include <string.h>
-
-#if defined(WIN32) || defined(__APPLE__)
-	#ifdef WIN32
-        #if !defined(__CYGWIN32__)
-        #pragma warning(disable:4244)
-        #endif /* __CYGWIN32__ */
-		#include <windows.h>
-		#include <GL/gl.h>
-	#else // WIN32
-		// __APPLE__ is defined
-		#include <AGL/gl.h>
-	#endif // WIN32
-#else // defined(WIN32) || defined(__APPLE__)
-	#include <GL/gl.h>
-#endif // defined(WIN32) || defined(__APPLE__)
-
-#include "BMF_BitmapFont.h"
-
-
-BMF_BitmapFont::BMF_BitmapFont(BMF_FontData* fontData)
-: m_fontData(fontData)
-{
-}
-
-
-BMF_BitmapFont::~BMF_BitmapFont(void)
-{
-}
-
-
-void BMF_BitmapFont::drawString(const char* str)
-{
-	if (!str)
-		return;
-
-	GLint alignment;
-	unsigned char c;
-		
-	glGetIntegerv(GL_UNPACK_ALIGNMENT, &alignment);
-	glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-
-	while ((c = (unsigned char) *str++)) {
-		BMF_CharData & cd = m_fontData->chars[c];
-		
-		if (cd.data_offset==-1) {
-			GLubyte nullBitmap = 0;
-		
-			glBitmap(1, 1, 0, 0, cd.advance, 0, &nullBitmap);	
-		} else {
-			GLubyte *bitmap = &m_fontData->bitmap_data[cd.data_offset];
-		
-			glBitmap(cd.width, cd.height, cd.xorig, cd.yorig, cd.advance, 0, bitmap);
-		}
-	}
-
-	glPixelStorei(GL_UNPACK_ALIGNMENT, alignment);
-}
-
-
-int BMF_BitmapFont::getStringWidth(char* str)
-{
-	unsigned char c;
-	int length = 0;
-
-	while ((c = (unsigned char) *str++)) {
-		length += m_fontData->chars[c].advance;
-	}
-	
-	return length;
-}
-
-void BMF_BitmapFont::getBoundingBox(int & xMin, int & yMin, int & xMax, int & yMax)
-{
-	xMin = m_fontData->xmin;
-	yMin = m_fontData->ymin;
-	xMax = m_fontData->xmax;
-	yMax = m_fontData->ymax;
-}
-
-int BMF_BitmapFont::getTexture()
-{
-	int fWidth = m_fontData->xmax - m_fontData->xmin;
-	int fHeight = m_fontData->ymax - m_fontData->ymin;
-	
-	if (fWidth>=16 || fHeight>=16) {
-		return -1;
-	}
-	
-	int cRows = 16, cCols = 16;
-	int cWidth = 16, cHeight = 16;
-	int iWidth = cCols*cWidth;
-	int iHeight = cRows*cHeight;
-	GLubyte *img = new GLubyte [iHeight*iWidth];
-	GLuint texId;
-
-	int baseLine = -(m_fontData->ymin);
-	
-	memset(img, 0, iHeight*iWidth);
-	for (int i = 0; i<256; i++) {
-		BMF_CharData & cd = m_fontData->chars[i];
-		
-		if (cd.data_offset != -1) {
-			int cellX = i%16;
-			int cellY = i/16;
-			
-			for (int y = 0; y<cd.height; y++) {
-				GLubyte* imgRow = &img[(cellY*cHeight + y + baseLine - cd.yorig)*iWidth];
-				GLubyte* chrRow = &m_fontData->bitmap_data[cd.data_offset + ((cd.width+7)/8)*y];
-
-				for (int x = 0; x<cd.width; x++) {
-					GLubyte* imgPxl = &imgRow[(cellX*cWidth + x - cd.xorig)];
-					int byteIdx = x/8;
-					int bitIdx = 7 - (x%8);
-					
-					if (chrRow[byteIdx]&(1<<bitIdx)) {
-						imgPxl[0] = 255;
-					}
-				}
-			}
-		}
-	}
-	
-	glGenTextures(1, &texId);
-	
-	glBindTexture(GL_TEXTURE_2D, texId);
-
-	glTexImage2D(GL_TEXTURE_2D, 0, GL_ALPHA4, iWidth, iHeight, 0, GL_ALPHA, GL_UNSIGNED_BYTE, img);
-	if (glGetError()) {
-		glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE4_ALPHA4, iWidth, iHeight, 0, GL_ALPHA, GL_UNSIGNED_BYTE, img);
-	}
-	
-	glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-	
-	delete [] img;
-	
-	return texId;
-}
-
-void BMF_BitmapFont::drawStringTexture(char *str, float x, float y, float z)
-{
-	unsigned char c;
-	float pos = 0;
-	
-	int baseLine = -(m_fontData->ymin);
-
-	glBegin(GL_QUADS);
-	while ((c = (unsigned char) *str++)) {
-		BMF_CharData & cd = m_fontData->chars[c];
-		
-		if (cd.data_offset != -1) {
-			float cellX = (c%16)/16.0;
-			float cellY = (c/16)/16.0;
-		
-			glTexCoord2f(cellX + 1.0/16.0, cellY);
-			glVertex3f(x + pos + 16.0, -baseLine + y + 0.0, z);
-
-			glTexCoord2f(cellX + 1.0/16.0, cellY + 1.0/16.0);
-			glVertex3f(x + pos + 16.0, -baseLine + y + 16.0, z);
-
-			glTexCoord2f(cellX, cellY + 1.0/16.0);
-			glVertex3f(x + pos + 0.0, -baseLine + y + 16.0, z);
-
-			glTexCoord2f(cellX, cellY);
-			glVertex3f(x + pos + 0.0, -baseLine + y + 0.0, z);
-		}
-		
-		pos += cd.advance;
-	}
-	glEnd();
-}

Demos/OpenGL/BMF_BitmapFont.h

@@ -1,111 +0,0 @@
-/**
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU bteral Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU bteral Public License for more details.
- *
- * You should have received a copy of the GNU bteral Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-/**
-
- * Copyright (C) 2001 NaN Technologies B.V.
- */
-
-#ifndef __BMF_BITMAP_FONT_H
-#define __BMF_BITMAP_FONT_H
-
-#include "BMF_FontData.h"
-
-/**
- * Base class for OpenGL bitmap fonts.
- */
-class BMF_BitmapFont
-{
-public:
-	/**
-	 * Default constructor.
-	 */
-	BMF_BitmapFont(BMF_FontData* fontData);
-
-	/**
-	 * Destructor.
-	 */
-	virtual	~BMF_BitmapFont(void);
-
-	/**
-	 * Draws a string at the current raster position.
-	 * @param str	The string to draw.
-	 */
-	void drawString(const char* str);
-
-	void drawStringMemory(char* str);
-
-
-	/**
-	 * Draws a string at the current raster position.
-	 * @param str	The string to draw.
-	 * @return The width of the string.
-	 */
-	int getStringWidth(char* str);
-
-	/**
-	 * Returns the bounding box of the font. The width and
-	 * height represent the bounding box of the union of
-	 * all glyps. The minimum and maximum values of the
-	 * box represent the extent of the font and its positioning
-	 * about the origin.
-	 */
-	void getBoundingBox(int & xMin, int & yMin, int & xMax, int & yMax);
-
-	/**
-	 * Convert the font to a texture, and return the GL texture
-	 * ID of the texture. If the texture ID is bound, text can
-	 * be drawn using the texture by calling drawStringTexture.
-	 * 
-	 * @return The GL texture ID of the new texture, or -1 if unable
-	 * to create.
-	 */
-	int getTexture();
-	
-	/**
-	 * Draw the given @a string at the point @a x, @a y, @a z, using
-	 * texture coordinates. This assumes that an appropriate texture
-	 * has been bound, see BMF_BitmapFont::getTexture(). The string
-	 * is drawn along the positive X axis.
-	 * 
-	 * @param string The c-string to draw.
-	 * @param x The x coordinate to start drawing at.
-	 * @param y The y coordinate to start drawing at.
-	 * @param z The z coordinate to start drawing at.
-	 */
-	void drawStringTexture(char* string, float x, float y, float z);
-	
-protected:
-	/** Pointer to the font data. */
-	 BMF_FontData* m_fontData;
-};
-
-#endif // __BMF_BITMAP_FONT_H
-

Demos/OpenGL/BMF_FontData.h

@@ -1,56 +0,0 @@
-/**
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU bteral Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU bteral Public License for more details.
- *
- * You should have received a copy of the GNU bteral Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-/**
-
- * Copyright (C) 2001 NaN Technologies B.V.
- */
-
-#ifndef __BMF_FONTDATA_H__
-#define __BMF_FONTDATA_H__
-
-typedef struct {
-	signed char width, height;
-	signed char xorig, yorig;
-	signed char advance;
-	
-	short		data_offset;
-} BMF_CharData;
-
-typedef struct {
-	int				xmin, ymin;
-	int				xmax, ymax;
-
-	BMF_CharData	chars[256];
-	unsigned char*	bitmap_data;
-} BMF_FontData;
-
-#endif
-

Demos/OpenGL/BMF_Fonts.h

@@ -1,75 +0,0 @@
-/**
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU bteral Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU bteral Public License for more details.
- *
- * You should have received a copy of the GNU bteral Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-/**
-
- * Copyright (C) 2001 NaN Technologies B.V.
- * Defines the names of the fonts in the library.
- */
-
-#ifndef __BMF_FONTS_H
-#define __BMF_FONTS_H
-
-#include "BMF_Settings.h"
-
-typedef enum
-{
-	BMF_kHelvetica10 = 0,
-#if BMF_INCLUDE_HELV12
-	BMF_kHelvetica12,
-#endif
-#if BMF_INCLUDE_HELVB8
-	BMF_kHelveticaBold8,
-#endif
-#if BMF_INCLUDE_HELVB10
-	BMF_kHelveticaBold10,
-#endif
-#if BMF_INCLUDE_HELVB12
-	BMF_kHelveticaBold12,
-#endif
-#if BMF_INCLUDE_HELVB14
-	BMF_kHelveticaBold14,
-#endif
-#if BMF_INCLUDE_SCR12
-	BMF_kScreen12,
-#endif
-#if BMF_INCLUDE_SCR14
-	BMF_kScreen14,
-#endif
-#if BMF_INCLUDE_SCR15
-	BMF_kScreen15,
-#endif
-	BMF_kNumFonts
-} BMF_FontType;
-
-typedef struct BMF_Font BMF_Font;
-
-#endif /* __BMF_FONTS_H */
-

Demos/OpenGL/BMF_Settings.h

@@ -1,52 +0,0 @@
-/**
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU bteral Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU bteral Public License for more details.
- *
- * You should have received a copy of the GNU bteral Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-/**
-
-  * Copyright (C) 2001 NaN Technologies B.V.
- * Allows you to determine which fonts to include in the library.
- */
-
-#ifndef __BMF_SETTINGS_H
-#define __BMF_SETTINGS_H
-
-
-#define BMF_INCLUDE_HELV12	0
-#define BMF_INCLUDE_HELVB8	0
-#define BMF_INCLUDE_HELVB10	0
-#define BMF_INCLUDE_HELVB12	0
-#define BMF_INCLUDE_HELVB14	0
-#define BMF_INCLUDE_SCR12	0
-#define BMF_INCLUDE_SCR14	0
-#define BMF_INCLUDE_SCR15	0
-#define BMF_INCLUDE_HELV10	1
-
-#endif /* __BMF_SETTINGS_H */
-

Demos/OpenGL/BMF_font_helv10.cpp

@@ -1,491 +0,0 @@
-/**
- * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU bteral Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version. The Blender
- * Foundation also sells licenses for use in proprietary software under
- * the Blender License.  See http://www.blender.org/BL/ for information
- * about this.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU bteral Public License for more details.
- *
- * You should have received a copy of the GNU bteral Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL/BL DUAL LICENSE BLOCK *****
- */
-
-#include "BMF_FontData.h"
-#include "BMF_Settings.h"
-
-#if BMF_INCLUDE_HELV10
-
-static unsigned char bitmap_data[]= {
-	0x80,0x00,0x80,0x80,0x80,0x80,0x80,0x80,
-	0xa0,0xa0,0x50,0x50,0xf8,0x28,0x7c,0x28,
-	0x28,0x20,0x70,0xa8,0x28,0x70,0xa0,0xa8,
-	0x70,0x20,0x26,0x29,0x16,0x10,0x08,0x68,
-	0x94,0x64,0x64,0x98,0x98,0xa4,0x60,0x50,
-	0x50,0x20,0x80,0x40,0x40,0x20,0x40,0x40,
-	0x80,0x80,0x80,0x80,0x40,0x40,0x20,0x80,
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-		{7, 9, -1, 1, 8, 349},
-		{5, 8, -1, 0, 7, 358},
-		{5, 8, -1, 0, 7, 366},
-		{5, 8, 0, 0, 5, 374},
-		{6, 8, -1, 0, 8, 382},
-		{7, 8, 0, 0, 7, 390},
-		{9, 8, 0, 0, 9, 398},
-		{5, 8, -1, 0, 7, 414},
-		{7, 8, 0, 0, 7, 422},
-		{5, 8, -1, 0, 7, 430},
-		{2, 10, -1, 2, 3, 438},
-		{3, 8, 0, 0, 3, 448},
-		{2, 10, 0, 2, 3, 456},
-		{5, 5, 0, -3, 6, 466},
-		{6, 1, 0, 2, 6, 471},
-		{2, 3, 0, -5, 3, 472},
-		{5, 6, 0, 0, 5, 475},
-		{5, 8, 0, 0, 6, 481},
-		{4, 6, 0, 0, 5, 489},
-		{5, 8, 0, 0, 6, 495},
-		{4, 6, 0, 0, 5, 503},
-		{4, 8, 0, 0, 4, 509},
-		{5, 8, 0, 2, 6, 517},
-		{5, 8, 0, 0, 6, 525},
-		{1, 8, 0, 0, 2, 533},
-		{1, 9, 0, 1, 2, 541},
-		{4, 8, 0, 0, 5, 550},
-		{1, 8, 0, 0, 2, 558},
-		{7, 6, 0, 0, 8, 566},
-		{5, 6, 0, 0, 6, 572},
-		{5, 6, 0, 0, 6, 578},
-		{5, 8, 0, 2, 6, 584},
-		{5, 8, 0, 2, 6, 592},
-		{3, 6, 0, 0, 4, 600},
-		{4, 6, 0, 0, 5, 606},
-		{3, 8, 0, 0, 4, 612},
-		{4, 6, 0, 0, 5, 620},
-		{5, 6, 0, 0, 6, 626},
-		{7, 6, 0, 0, 8, 632},
-		{5, 6, 0, 0, 6, 638},
-		{4, 8, 0, 2, 5, 644},
-		{4, 6, 0, 0, 5, 652},
-		{3, 10, 0, 2, 3, 658},
-		{1, 10, -1, 2, 3, 668},
-		{3, 10, 0, 2, 3, 678},
-		{6, 2, 0, -3, 7, 688},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0,0,0,0,0, -1},
-		{0, 0, 0, 0, 3, -1},
-		{1, 8, -1, 2, 3, 690},
-		{5, 8, 0, 1, 6, 698},
-		{5, 8, 0, 0, 6, 706},
-		{4, 6, 0, -1, 5, 714},
-		{5, 8, 0, 0, 6, 720},
-		{1, 10, -1, 2, 3, 728},
-		{5, 10, 0, 2, 6, 738},
-		{3, 1, 0, -7, 3, 748},
-		{7, 7, -1, 0, 9, 749},
-		{3, 5, 0, -3, 4, 756},
-		{5, 5, 0, 0, 6, 761},
-		{5, 3, -1, -2, 7, 766},
-		{3, 1, 0, -3, 4, 769},
-		{7, 7, -1, 0, 9, 770},
-		{3, 1, 0, -7, 3, 777},
-		{4, 4, 0, -3, 4, 778},
-		{5, 7, 0, 0, 6, 782},
-		{3, 4, 0, -3, 3, 789},
-		{3, 4, 0, -3, 3, 793},
-		{2, 2, 0, -6, 3, 797},
-		{4, 8, 0, 2, 5, 799},
-		{6, 10, 0, 2, 6, 807},
-		{2, 1, 0, -3, 3, 817},
-		{2, 2, 0, 2, 3, 818},
-		{2, 4, 0, -3, 3, 820},
-		{3, 5, 0, -3, 4, 824},
-		{5, 5, 0, 0, 6, 829},
-		{9, 8, 0, 0, 9, 834},
-		{8, 8, 0, 0, 9, 850},
-		{9, 8, 0, 0, 9, 858},
-		{4, 8, -1, 2, 6, 874},
-		{7, 11, 0, 0, 7, 882},
-		{7, 11, 0, 0, 7, 893},
-		{7, 11, 0, 0, 7, 904},
-		{7, 11, 0, 0, 7, 915},
-		{7, 10, 0, 0, 7, 926},
-		{7, 11, 0, 0, 7, 936},
-		{9, 8, 0, 0, 10, 947},
-		{6, 10, -1, 2, 8, 963},
-		{5, 11, -1, 0, 7, 973},
-		{5, 11, -1, 0, 7, 984},
-		{5, 11, -1, 0, 7, 995},
-		{5, 10, -1, 0, 7, 1006},
-		{2, 11, 0, 0, 3, 1016},
-		{2, 11, -1, 0, 3, 1027},
-		{3, 11, 0, 0, 3, 1038},
-		{3, 10, 0, 0, 3, 1049},
-		{7, 8, 0, 0, 8, 1059},
-		{6, 11, -1, 0, 8, 1067},
-		{6, 11, -1, 0, 8, 1078},
-		{6, 11, -1, 0, 8, 1089},
-		{6, 11, -1, 0, 8, 1100},
-		{6, 11, -1, 0, 8, 1111},
-		{6, 10, -1, 0, 8, 1122},
-		{5, 5, 0, -1, 6, 1132},
-		{6, 10, -1, 1, 8, 1137},
-		{6, 11, -1, 0, 8, 1147},
-		{6, 11, -1, 0, 8, 1158},
-		{6, 11, -1, 0, 8, 1169},
-		{6, 10, -1, 0, 8, 1180},
-		{7, 11, 0, 0, 7, 1190},
-		{5, 8, -1, 0, 7, 1201},
-		{4, 8, 0, 0, 5, 1209},
-		{5, 9, 0, 0, 5, 1217},
-		{5, 9, 0, 0, 5, 1226},
-		{5, 9, 0, 0, 5, 1235},
-		{5, 9, 0, 0, 5, 1244},
-		{5, 8, 0, 0, 5, 1253},
-		{5, 9, 0, 0, 5, 1261},
-		{7, 6, 0, 0, 8, 1270},
-		{4, 8, 0, 2, 5, 1276},
-		{4, 9, 0, 0, 5, 1284},
-		{4, 9, 0, 0, 5, 1293},
-		{4, 9, 0, 0, 5, 1302},
-		{4, 8, 0, 0, 5, 1311},
-		{2, 9, 1, 0, 2, 1319},
-		{2, 9, 0, 0, 2, 1328},
-		{3, 9, 1, 0, 2, 1337},
-		{3, 8, 0, 0, 2, 1346},
-		{5, 9, 0, 0, 6, 1354},
-		{4, 9, 0, 0, 5, 1363},
-		{5, 9, 0, 0, 6, 1372},
-		{5, 9, 0, 0, 6, 1381},
-		{5, 9, 0, 0, 6, 1390},
-		{5, 9, 0, 0, 6, 1399},
-		{5, 8, 0, 0, 6, 1408},
-		{5, 5, 0, -1, 6, 1416},
-		{6, 6, 0, 0, 6, 1421},
-		{4, 9, 0, 0, 5, 1427},
-		{4, 9, 0, 0, 5, 1436},
-		{4, 9, 0, 0, 5, 1445},
-		{4, 8, 0, 0, 5, 1454},
-		{4, 11, 0, 2, 5, 1462},
-		{5, 10, 0, 2, 6, 1473},
-		{4, 10, 0, 2, 5, 1483},
-	},
-	bitmap_data
-};
-
-#endif
-

Demos/OpenGL/CMakeLists.txt

@@ -18,15 +18,14 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexHull
 )
 
 ADD_LIBRARY(OpenGLSupport
-		BMF_Api.cpp
+		GLDebugFont.cpp
-		BMF_BitmapFont.cpp
-		BMF_font_helv10.cpp
 		GL_ShapeDrawer.cpp
 		GL_Simplex1to4.cpp
 		GLDebugDrawer.cpp
 		GlutStuff.cpp
 		RenderTexture.cpp
 		DemoApplication.cpp
+		GlutDemoApplication.cpp
 )
 
 IF (BUILD_SHARED_LIBS)

Demos/OpenGL/DemoApplication.cpp

@@ -29,8 +29,8 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btDefaultMotionState.h"
 
+#include "GLDebugFont.h"
 
-#include "BMF_Api.h"
 
 extern bool gDisableDeactivation;
 int numObjects = 0;
@@ -76,7 +76,12 @@ m_stepping(true),
 m_singleStep(false),
 m_idle(false),
 m_enableshadows(false),
-m_sundirection(btVector3(1,-2,1)*1000)
+m_sundirection(btVector3(1,-2,1)*1000),
+m_ortho(0),
+m_mouseOldX(0),
+m_mouseOldY(0),
+m_mouseButtons(0),
+m_modifierKeys(0)
 {
 #ifndef BT_NO_PROFILE
 	m_profileIterator = CProfileManager::Get_Iterator();
@@ -203,22 +208,51 @@ void DemoApplication::updateCamera() {
 	if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
 		return;
 
+	btScalar aspect;
+	btVector3 extents;
+
 	if (m_glutScreenWidth > m_glutScreenHeight) 
 	{
-		btScalar aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
+		aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
-		glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
+		extents.setValue(aspect * 1.0f, 1.0f,0);
 	} else 
 	{
-		btScalar aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
+		aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
-		glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0);
+		extents.setValue(1.0f, aspect*1.f,0);
 	}
 
+	
+	if (m_ortho)
+	{
+		// reset matrix
+		glLoadIdentity();
+		
+		
+		extents *= m_cameraDistance;
+		btVector3 lower = m_cameraTargetPosition - extents;
+		btVector3 upper = m_cameraTargetPosition + extents;
+		//gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
+		glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
+		
+		glMatrixMode(GL_MODELVIEW);
+		glLoadIdentity();
+		//glTranslatef(100,210,0);
+	} else
+	{
+		if (m_glutScreenWidth > m_glutScreenHeight) 
+		{
+			glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
+		} else 
+		{
+			glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0);
+		}
+		glMatrixMode(GL_MODELVIEW);
+		glLoadIdentity();
+		gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2], 
+			m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2], 
+			m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
+	}
 
-	glMatrixMode(GL_MODELVIEW);
-	glLoadIdentity();
-	gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2], 
-		m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2], 
-		m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
 }
 
 
@@ -265,6 +299,8 @@ void DemoApplication::zoomOut()
 
 void DemoApplication::reshape(int w, int h) 
 {
+	GLDebugResetFont(w,h);
+
 	m_glutScreenWidth = w;
 	m_glutScreenHeight = h;
 
@@ -403,7 +439,7 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 
 	case 'o' :
 		{
-			m_stepping = !m_stepping;
+			m_ortho = !m_ortho;//m_stepping = !m_stepping;
 			break;
 		}
 	case 's' : clientMoveAndDisplay(); break;
@@ -445,7 +481,7 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 	if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
 		getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
 
-	glutPostRedisplay();
+	
 
 }
 
@@ -457,67 +493,7 @@ void	DemoApplication::setDebugMode(int mode)
 }
 
 
-void DemoApplication::specialKeyboardUp(int key, int x, int y)
-{
 
-	glutPostRedisplay();
-
-}
-
-void DemoApplication::specialKeyboard(int key, int x, int y)	
-{
-	(void)x;
-	(void)y;
-
-	switch (key) 
-	{
-	case GLUT_KEY_F1:
-		{
-
-			break;
-		}
-
-	case GLUT_KEY_F2:
-		{
-
-			break;
-		}
-
-
-	case GLUT_KEY_END:
-		{
-			int numObj = getDynamicsWorld()->getNumCollisionObjects();
-			if (numObj)
-			{
-				btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
-
-				getDynamicsWorld()->removeCollisionObject(obj);
-				btRigidBody* body = btRigidBody::upcast(obj);
-				if (body && body->getMotionState())
-				{
-					delete body->getMotionState();					
-				}
-				delete obj;
-
-
-			}
-			break;
-		}
-	case GLUT_KEY_LEFT : stepLeft(); break;
-	case GLUT_KEY_RIGHT : stepRight(); break;
-	case GLUT_KEY_UP : stepFront(); break;
-	case GLUT_KEY_DOWN : stepBack(); break;
-	case GLUT_KEY_PAGE_UP : zoomIn(); break;
-	case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
-	case GLUT_KEY_HOME : toggleIdle(); break;
-	default:
-		//        std::cout << "unused (special) key : " << key << std::endl;
-		break;
-	}
-
-	glutPostRedisplay();
-
-}
 
 
 
@@ -525,6 +501,8 @@ void DemoApplication::moveAndDisplay()
 {
 	if (!m_idle)
 		clientMoveAndDisplay();
+	else
+ 		displayCallback();
 }
 
 
@@ -534,19 +512,14 @@ void DemoApplication::displayCallback()
 {
 }
 
+#define NUM_SPHERES_ON_DIAGONAL 9
 
 void	DemoApplication::setShootBoxShape ()
 {
-		if (!m_shootBoxShape)
+	if (!m_shootBoxShape)
-		{
+	{
-			//#define TEST_UNIFORM_SCALING_SHAPE 1
+		m_shootBoxShape = new btBoxShape(btVector3(.5f,.5f,.5f));
-#ifdef TEST_UNIFORM_SCALING_SHAPE
+	}
-			btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
-			m_shootBoxShape = new btUniformScalingShape(childShape,0.5f);
-#else
-			m_shootBoxShape = new btBoxShape(btVector3(.5f,.5f,.5f));
-#endif//
-		}
 }
 
 void	DemoApplication::shootBox(const btVector3& destination)
@@ -577,12 +550,12 @@ void	DemoApplication::shootBox(const btVector3& destination)
 		body->setCcdSweptSphereRadius(0.2f);
 		
 	}
-
 }
 
 
 int gPickingConstraintId = 0;
 btVector3 gOldPickingPos;
+btVector3 gHitPos(-1,-1,-1);
 float gOldPickingDist  = 0.f;
 btRigidBody* pickedBody = 0;//for deactivation state
 
@@ -590,6 +563,35 @@ btRigidBody* pickedBody = 0;//for deactivation state
 btVector3	DemoApplication::getRayTo(int x,int y)
 {
 
+	
+
+	if (m_ortho)
+	{
+
+		btScalar aspect;
+		btVector3 extents;
+		if (m_glutScreenWidth > m_glutScreenHeight) 
+		{
+			aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
+			extents.setValue(aspect * 1.0f, 1.0f,0);
+		} else 
+		{
+			aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
+			extents.setValue(1.0f, aspect*1.f,0);
+		}
+		
+		extents *= m_cameraDistance;
+		btVector3 lower = m_cameraTargetPosition - extents;
+		btVector3 upper = m_cameraTargetPosition + extents;
+
+		btScalar u = x / btScalar(m_glutScreenWidth);
+		btScalar v = (m_glutScreenHeight - y) / btScalar(m_glutScreenHeight);
+		
+		btVector3	p(0,0,0);
+		p.setValue((1.0f - u) * lower.getX() + u * upper.getX(),(1.0f - v) * lower.getY() + v * upper.getY(),m_cameraTargetPosition.getZ());
+		return p;
+	}
+
 	float top = 1.f;
 	float bottom = -1.f;
 	float nearPlane = 1.f;
@@ -613,19 +615,24 @@ btVector3	DemoApplication::getRayTo(int x,int y)
 
 	float tanfov = tanf(0.5f*fov);
 
-	btScalar aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
 
 	hor *= 2.f * farPlane * tanfov;
 	vertical *= 2.f * farPlane * tanfov;
 
-	if (aspect<1)
+	btScalar aspect;
+	
+	if (m_glutScreenWidth > m_glutScreenHeight) 
 	{
-		hor/=aspect;
+		aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
-	} else
+		
+		hor*=aspect;
+	} else 
 	{
+		aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
 		vertical*=aspect;
 	}
 
+
 	btVector3 rayToCenter = rayFrom + rayForward;
 	btVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
 	btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
@@ -642,6 +649,23 @@ btScalar mousePickClamping = 30.f;
 
 void DemoApplication::mouseFunc(int button, int state, int x, int y)
 {
+	if (state == 0) 
+	{
+        m_mouseButtons |= 1<<button;
+    } else
+	{
+        m_mouseButtons = 0;
+    }
+
+	m_mouseOldX = x;
+    m_mouseOldY = y;
+
+	updateModifierKeys();
+	if ((m_modifierKeys& BT_ACTIVE_ALT) && (state==0))
+	{
+		return;
+	}
+
 	//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
 	//button 0, state 0 means left mouse down
 
@@ -665,7 +689,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 			if (state==0)
 			{
 
-
+#if 0
 				//apply an impulse
 				if (m_dynamicsWorld)
 				{
@@ -687,6 +711,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 						}
 					}
 				}
+#endif
 
 
 
@@ -705,8 +730,19 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 				//add a point to point constraint for picking
 				if (m_dynamicsWorld)
 				{
-					btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo);
+					
-					m_dynamicsWorld->rayTest(m_cameraPosition,rayTo,rayCallback);
+					btVector3 rayFrom;
+					if (m_ortho)
+					{
+						rayFrom = rayTo;
+						rayFrom.setZ(-100.f);
+					} else
+					{
+						rayFrom = m_cameraPosition;
+					}
+					
+					btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
+					m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
 					if (rayCallback.hasHit())
 					{
 
@@ -722,6 +758,8 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 
 
 								btVector3 pickPos = rayCallback.m_hitPointWorld;
+								printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
+
 
 								btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
 
@@ -733,10 +771,9 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 
 								//save mouse position for dragging
 								gOldPickingPos = rayTo;
+								gHitPos = pickPos;
 
-								btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
+								gOldPickingDist  = (pickPos-rayFrom).length();
-
-								gOldPickingDist  = (pickPos-eyePos).length();
 
 								//very weak constraint for picking
 								p2p->m_setting.m_tau = 0.1f;
@@ -784,17 +821,77 @@ void	DemoApplication::mouseMotionFunc(int x,int y)
 			//keep it at the same picking distance
 
 			btVector3 newRayTo = getRayTo(x,y);
-			btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
+			btVector3 rayFrom;
-			btVector3 dir = newRayTo-eyePos;
+			btVector3 oldPivotInB = p2p->getPivotInB();
-			dir.normalize();
+			btVector3 newPivotB;
-			dir *= gOldPickingDist;
+			if (m_ortho)
+			{
+				newPivotB = oldPivotInB;
+				newPivotB.setX(newRayTo.getX());
+				newPivotB.setY(newRayTo.getY());
+			} else
+			{
+				rayFrom = m_cameraPosition;
+				btVector3 dir = newRayTo-rayFrom;
+				dir.normalize();
+				dir *= gOldPickingDist;
 
-			btVector3 newPos = eyePos + dir;
+				newPivotB = rayFrom + dir;
-			p2p->setPivotB(newPos);
+			}
+
+			
+		
+			p2p->setPivotB(newPivotB);
 		}
 
 	}
 
+	float dx, dy;
+    dx = x - m_mouseOldX;
+    dy = y - m_mouseOldY;
+
+
+	///only if ALT key is pressed (Maya style)
+	if (m_modifierKeys& BT_ACTIVE_ALT)
+	{
+		if(m_mouseButtons & 2)
+		{
+			btVector3 hor = getRayTo(0,0)-getRayTo(1,0);
+			btVector3 vert = getRayTo(0,0)-getRayTo(0,1);
+			btScalar multiplierX = 0.01;
+			btScalar multiplierY = 0.01;
+			if (m_ortho)
+			{
+				multiplierX = 1;
+				multiplierY = 1;
+			}
+
+
+			m_cameraTargetPosition += hor* dx * multiplierX;
+			m_cameraTargetPosition += vert* dy * multiplierY;
+		}
+
+		if(m_mouseButtons & (2 << 2) && m_mouseButtons & 1)
+		{
+		}
+		else if(m_mouseButtons & 1) 
+		{
+			m_azi += dx * 0.2;
+			m_azi = fmodf(m_azi, 180.f);
+			m_ele += dy * 0.2;
+			m_ele = fmodf(m_ele, 180.f);
+		} 
+		else if(m_mouseButtons & 4) 
+		{
+			m_cameraDistance -= dy * 0.2f;
+		} 
+	}
+
+
+	m_mouseOldX = x;
+    m_mouseOldY = y;
+	updateCamera();
+
 
 }
 
@@ -873,11 +970,11 @@ extern CProfileIterator * m_profileIterator;
 void DemoApplication::displayProfileString(int xOffset,int yStart,char* message)
 {
 	glRasterPos3f(xOffset,yStart,0);
-	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),message);
+	GLDebugDrawString(xOffset,yStart,message);
 }
 
 
-void DemoApplication::showProfileInfo(float& xOffset,float& yStart, float yIncr)
+void DemoApplication::showProfileInfo(int& xOffset,int& yStart, int yIncr)
 {
 #ifndef BT_NO_PROFILE
 
@@ -1074,9 +1171,9 @@ void DemoApplication::renderme()
 			renderscene(0);
 		}
 
-		float xOffset = 10.f;
+		int	xOffset = 10;
-		float yStart = 20.f;
+		int yStart = 20;
-		float yIncr = 20.f;
+		int yIncr = 20;
 		char buf[124];
 
 		glDisable(GL_LIGHTING);
@@ -1101,7 +1198,7 @@ void DemoApplication::renderme()
 					char blockTime[128];
 					sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
 					glRasterPos3f(xOffset,yStart,0);
-					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
+					GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
 					yStart += yIncr;
 
 				}
@@ -1110,59 +1207,52 @@ void DemoApplication::renderme()
 #endif //USE_QUICKPROF
 
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"mouse to interact");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
+			yStart += yIncr;
+
+			sprintf(buf,"ALT + mouse to move camera");
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"space to reset");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"cursor keys and z,x to navigate");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"i to toggle simulation, s single step");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"q to quit");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,". to shoot box");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 			// not yet hooked up again after refactoring...
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"d to toggle deactivation");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"g to toggle mesh animation (ConcaveDemo)");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"h to toggle help text");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-
+			sprintf(buf,"o to toggle orthogonal/perspective view");
-			glRasterPos3f(xOffset,yStart,0);
+			GLDebugDrawString(xOffset,yStart,buf);
-			sprintf(buf,"p to toggle profiling (+results to file)");
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 			yStart += yIncr;
 
 
@@ -1170,58 +1260,51 @@ void DemoApplication::renderme()
 			//bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
 			//glRasterPos3f(xOffset,yStart,0);
 			//sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
-			//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			//GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 			//yStart += yIncr;
 
 
-			glRasterPos3f(xOffset,yStart,0);
+
 			sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 #ifdef SHOW_NUM_DEEP_PENETRATIONS
 
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 			
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"gNumClampedCcdMotions = %d",gNumClampedCcdMotions);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"gNumAlignedAllocs = %d",gNumAlignedAllocs);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
-			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(xOffset,yStart,buf);
 			yStart += yIncr;
 
 			//enable BT_DEBUG_MEMORY_ALLOCATIONS define in Bullet/src/LinearMath/btAlignedAllocator.h for memory leak detection
 #ifdef BT_DEBUG_MEMORY_ALLOCATIONS
 			glRasterPos3f(xOffset,yStart,0);
 			sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
-			BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+			GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 			yStart += yIncr;
 #endif //BT_DEBUG_MEMORY_ALLOCATIONS
 
@@ -1229,11 +1312,14 @@ void DemoApplication::renderme()
 			{
 				glRasterPos3f(xOffset,yStart,0);
 				sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
-				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				GLDebugDrawString(xOffset,yStart,buf);
 				yStart += yIncr;
 				glRasterPos3f(xOffset,yStart,0);
 				sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
-				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				GLDebugDrawString(xOffset,yStart,buf);
+				yStart += yIncr;
+				sprintf(buf,"# hitPos = %f,%f,%f",gHitPos.getX(),gHitPos.getY(),gHitPos.getZ());
+				GLDebugDrawString(xOffset,yStart,buf);
 				yStart += yIncr;
 
 			}
@@ -1273,13 +1359,7 @@ void	DemoApplication::clientResetScene()
 	///create a copy of the array, not a reference!
 	btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray();
 
-	for (i=0;i<copyArray.size();i++)
+	
-	{
-		btRigidBody* body = btRigidBody::upcast(copyArray[i]);
-		if (body)
-			m_dynamicsWorld->removeRigidBody(body);
-	}
-
 
 
 	for (i=0;i<numObjects;i++)
@@ -1300,7 +1380,7 @@ void	DemoApplication::clientResetScene()
 				//colObj->setActivationState(WANTS_DEACTIVATION);
 			}
 			//removed cached contact points (this is not necessary if all objects have been removed from the dynamics world)
-			m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
+			//m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
 
 			btRigidBody* body = btRigidBody::upcast(colObj);
 			if (body && !body->isStaticObject())
@@ -1315,14 +1395,6 @@ void	DemoApplication::clientResetScene()
 	///reset some internal cached data in the broadphase
 	m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher());
 	m_dynamicsWorld->getConstraintSolver()->reset();
-	
-	for ( i=0;i<copyArray.size();i++)
-	{
-		btRigidBody* body = btRigidBody::upcast(copyArray[i]);
-		if (body)
-			m_dynamicsWorld->addRigidBody(btRigidBody::upcast(copyArray[i]));
-	}
-	
 
 
 }

Demos/OpenGL/DemoApplication.h

@@ -64,6 +64,11 @@ class DemoApplication
 	btVector3 m_cameraPosition;
 	btVector3 m_cameraTargetPosition;//look at
 
+	int	m_mouseOldX;
+	int	m_mouseOldY;
+	int	m_mouseButtons;
+	int	m_modifierKeys;
+
 	float m_scaleBottom;
 	float m_scaleFactor;
 	btVector3 m_cameraUp;
@@ -72,6 +77,8 @@ class DemoApplication
 	int m_glutScreenWidth;
 	int m_glutScreenHeight;
 
+	int	m_ortho;
+
 	float	m_ShootBoxInitialSpeed;
 	
 	bool	m_stepping;
@@ -79,7 +86,7 @@ class DemoApplication
 	bool m_idle;
 	int m_lastKey;
 
-	void showProfileInfo(float& xOffset,float& yStart, float yIncr);
+	void showProfileInfo(int& xOffset,int& yStart, int yIncr);
 	void renderscene(int pass);
 
 	GL_ShapeDrawer*	m_shapeDrawer;
@@ -97,6 +104,8 @@ public:
 		return m_dynamicsWorld;
 	}
 
+	virtual	void initPhysics() = 0;
+
 	virtual	void setDrawClusters(bool drawClusters)
 	{
 
@@ -189,9 +198,9 @@ public:
 
 	virtual void keyboardCallback(unsigned char key, int x, int y);
 
-	virtual void specialKeyboard(int key, int x, int y);
+	virtual void specialKeyboard(int key, int x, int y){}
 
-	virtual void specialKeyboardUp(int key, int x, int y);
+	virtual void specialKeyboardUp(int key, int x, int y){}
 
 	virtual void reshape(int w, int h);
 
@@ -203,6 +212,9 @@ public:
 
 	virtual 	void renderme();
 
+	virtual		void swapBuffers() = 0;
+
+	virtual		void	updateModifierKeys() = 0;
 
 	void stepLeft();
 	void stepRight();

Demos/OpenGL/GLDebugDrawer.cpp

@@ -1,20 +1,10 @@
 
 #include "GLDebugDrawer.h"
+#include "GLDebugFont.h"
+#include "GlutStuff.h"
 
-#ifdef WIN32 //needed for glut.h
-#include <windows.h>
-#endif
 
-//think different
-#if defined(__APPLE__) && !defined (VMDMESA)
-#include <OpenGL/gl.h>
-#include <OpenGL/glu.h>
-#include <GLUT/glut.h>
-#else
-#include <GL/glut.h>
-#endif
 
-#include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 GLDebugDrawer::GLDebugDrawer()
 :m_debugMode(0)
@@ -49,7 +39,7 @@ void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVec
 	glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
 	glPushMatrix ();
 	glTranslatef (p.getX(), p.getY(), p.getZ());
-	glutSolidSphere (radius, 10, 10);
+//	glutSolidSphere (radius, 10, 10);
 	glPopMatrix();
 }
 
@@ -63,7 +53,7 @@ void GLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, c
 	glPushMatrix ();
 	glTranslatef (center.getX(), center.getY(), center.getZ());
 	glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
-	glutSolidCube(1.0);
+//	glutSolidCube(1.0);
 	glPopMatrix ();
 	//glDisable(GL_BLEND);
 }
@@ -92,7 +82,7 @@ void	GLDebugDrawer::setDebugMode(int debugMode)
 void	GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
 {
 	glRasterPos3f(location.x(),  location.y(),  location.z());
-	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
+	//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
 }
 
 void	GLDebugDrawer::reportErrorWarning(const char* warningString)
@@ -118,7 +108,7 @@ void	GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3&
 		glRasterPos3f(from.x(),  from.y(),  from.z());
 		char buf[12];
 		sprintf(buf," %d",lifeTime);
-		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+		//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 
 
 	}

Demos/OpenGL/GLDebugFont.cpp

@@ -0,0 +1,898 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 "GLDebugFont.h"
+#include "GlutStuff.h"
+#include <stdio.h>
+
+unsigned char sFontData[];
+static GLuint sTexture = -1;
+static int sScreenWidth = 0;
+static int sScreenHeight = 0;
+
+
+void GLDebugResetFont(int screenWidth,int screenHeight)
+{
+	
+	sScreenWidth = screenWidth;
+	sScreenHeight = screenHeight;
+
+	if (sTexture==-1)
+	{
+		glGenTextures(1, &sTexture);
+		glBindTexture(GL_TEXTURE_2D, sTexture);
+		glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
+		glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
+		glTexImage2D(GL_TEXTURE_2D, 0, 3, 256 , 256 , 0, GL_RGB, GL_UNSIGNED_BYTE, &sFontData[0]);
+	}
+
+	int windowWidth=screenWidth;
+	int windowHeight = screenHeight;
+	printf("generating font at resolution %d,%d\n",screenWidth,screenHeight);
+
+}
+
+void	GLDebugDrawString(int x,int y,const char* string)
+{
+
+	const char* string2 = "test";
+	if (sTexture==-1)
+	{
+		GLDebugResetFont(sScreenWidth,sScreenHeight);
+	}
+	if (strlen(string))
+	{
+		
+		glColor3f(1.,1.,1.);
+		float	cx;
+		float	cy;
+
+		glMatrixMode(GL_TEXTURE);
+		glLoadIdentity();
+
+		glDisable(GL_TEXTURE_GEN_S);
+		glDisable(GL_TEXTURE_GEN_T);
+		glDisable(GL_TEXTURE_GEN_R);
+
+		glEnable(GL_TEXTURE_2D);
+		glBlendFunc(GL_SRC_ALPHA,GL_ONE);
+		glDepthFunc (GL_LEQUAL);
+		glEnable(GL_BLEND);
+		glEnable (GL_DEPTH_TEST);
+		glBindTexture(GL_TEXTURE_2D, sTexture);
+		glDisable(GL_DEPTH_TEST);
+		glMatrixMode(GL_PROJECTION);
+		glPushMatrix();
+		glLoadIdentity();
+		glOrtho(0,sScreenWidth,0,sScreenHeight,-1,1);
+		glMatrixMode(GL_MODELVIEW);
+		glPushMatrix();
+		glLoadIdentity();
+		glTranslated(x,sScreenHeight - y,0);
+
+		for (int i=0;i<strlen(string);i++)
+		{
+			unsigned char ch = string[i]-32;
+			if (ch>=0)
+			{
+				cx=float(ch%16) * 1./16.f;
+				cy=float(ch/16) * 1./16.f;
+
+				glBegin(GL_QUADS);
+				glTexCoord2f(cx,1-cy-1./16.f);
+				glVertex2i(0,0);
+				glTexCoord2f(cx+1./16.f,1-cy-1./16.f);
+				glVertex2i(16 - 1,0);
+				glTexCoord2f(cx+1./16.f,1-cy);
+				glVertex2i(16 - 1,16 -1);
+				glTexCoord2f(cx,1-cy);
+				glVertex2i(0,16 -1);
+				glEnd();
+				glTranslated(10,0,0);
+			}
+		}
+
+		glMatrixMode(GL_PROJECTION);
+		glPopMatrix();
+		glMatrixMode(GL_MODELVIEW);
+		glPopMatrix();
+		glEnable(GL_DEPTH_TEST);
+		glBlendFunc(GL_SRC_ALPHA,GL_ONE);
+		glDepthFunc (GL_LEQUAL);
+		glDisable(GL_BLEND);
+		glDisable(GL_TEXTURE_2D);
+
+		glMatrixMode(GL_TEXTURE);
+		glLoadIdentity();
+		glScalef(0.025,0.025,0.025);
+
+		
+
+		//glDisable(GL_TEXTURE_2D);
+	}
+}
+
+
+unsigned char sFontData[] = 
+{
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
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+	103,103,0,0,0,255,255,255,0,0,0,0,0,0,0,0,0,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,213,213,213,0,0,0,255,255,255,103,103,103,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,246,246,246,246,246,246,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,2,255,255,255,70,70,70,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,70,70,70,178,178,178,0,0,
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+	178,178,246,246,246,37,37,37,0,0,0,0,0,0,0,0,0,103,103,103,213,213,213,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,178,178,178,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,255,255,255,255,255,255,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,2,255,255,255,255,255,255,2,2,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,178,178,178,255,255,255,145,145,145,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,70,70,70,145,145,145,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,246,246,246,70,70,70,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,103,103,103,2,2,2,0,0,0,70,70,70,70,70,70,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,246,246,246,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,103,103,103,103,103,103,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,37,37,37,2,2,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,103,103,103,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,70,70,70,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+};

Demos/OpenGL/GLDebugFont.h

@@ -0,0 +1,23 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+
+#ifndef BT_DEBUG_FONT_H
+#define BT_DEBUG_FONT_H
+
+void	GLDebugDrawString(int x,int y,const char* string);
+void	GLDebugResetFont(int screenWidth,int screenHeight);
+
+#endif //BT_DEBUG_FONT_H

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -16,15 +16,9 @@ subject to the following restrictions:
 #ifdef WIN32 //needed for glut.h
 #include <windows.h>
 #endif
+#include "GLDebugFont.h"
+
 
-//think different
-#if defined(__APPLE__) && !defined (VMDMESA)
-#include <OpenGL/gl.h>
-#include <OpenGL/glu.h>
-#include <GLUT/glut.h>
-#else
-#include <GL/glut.h>
-#endif
 
 #include "GlutStuff.h"
 #include "GL_ShapeDrawer.h"
@@ -48,7 +42,7 @@ subject to the following restrictions:
 
 #include "LinearMath/btIDebugDraw.h"
 //for debugmodes
-#include "BMF_Api.h"
+
 #include <stdio.h> //printf debugging
 
 //#define USE_DISPLAY_LISTS 1
@@ -364,13 +358,82 @@ GL_ShapeDrawer::ShapeCache*		GL_ShapeDrawer::cache(btConvexShape* shape)
 	return(sc);
 }
 
+void renderSquareA(float x, float y, float z)
+{
+	glBegin(GL_LINE_LOOP);
+	glVertex3f(x, y, z);
+	glVertex3f(x + 10., y, z);
+	glVertex3f(x + 10., y + 10., z);
+	glVertex3f(x, y + 10., z);
+	glEnd();
+}
+
+inline void glDrawVector(btVector3& v) { glVertex3d(v[0], v[1], v[2]); }
+
+
 void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
 {
+	if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE)
+	{
+		btVector3 org(m[12], m[13], m[14]);
+		btVector3 dx(m[0], m[1], m[2]);
+		btVector3 dy(m[4], m[5], m[6]);
+//		btVector3 dz(m[8], m[9], m[10]);
+		const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+		btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+		dx *= halfExtent[0];
+		dy *= halfExtent[1];
+//		dz *= halfExtent[2];
+		glColor3f(1,1,1);
+		glDisable(GL_LIGHTING);
+		glLineWidth(2);
 
+		glBegin(GL_LINE_LOOP);
+		glDrawVector(org - dx - dy);
+		glDrawVector(org - dx + dy);
+		glDrawVector(org + dx + dy);
+		glDrawVector(org + dx - dy);
+		glEnd();
+		return;
+	} 
+	else if((shape->getShapeType() == BOX_SHAPE_PROXYTYPE) && (debugMode & btIDebugDraw::DBG_FastWireframe))
+	{
+		btVector3 org(m[12], m[13], m[14]);
+		btVector3 dx(m[0], m[1], m[2]);
+		btVector3 dy(m[4], m[5], m[6]);
+		btVector3 dz(m[8], m[9], m[10]);
+		const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+		btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
+		dx *= halfExtent[0];
+		dy *= halfExtent[1];
+		dz *= halfExtent[2];
+		glBegin(GL_LINE_LOOP);
+		glDrawVector(org - dx - dy - dz);
+		glDrawVector(org + dx - dy - dz);
+		glDrawVector(org + dx + dy - dz);
+		glDrawVector(org - dx + dy - dz);
+		glDrawVector(org - dx + dy + dz);
+		glDrawVector(org + dx + dy + dz);
+		glDrawVector(org + dx - dy + dz);
+		glDrawVector(org - dx - dy + dz);
+		glEnd();
+		glBegin(GL_LINES);
+		glDrawVector(org + dx - dy - dz);
+		glDrawVector(org + dx - dy + dz);
+		glDrawVector(org + dx + dy - dz);
+		glDrawVector(org + dx + dy + dz);
+		glDrawVector(org - dx - dy - dz);
+		glDrawVector(org - dx + dy - dz);
+		glDrawVector(org - dx - dy + dz);
+		glDrawVector(org - dx + dy + dz);
+		glEnd();
+		return;
+	}
 
 	glPushMatrix(); 
 	btglMultMatrix(m);
 
+
 	if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
 	{
 		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
@@ -417,6 +480,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 					pi[0]=pi[1]=pi[2]=c;pi+=3;
 				}
 			}
+
 			glGenTextures(1,(GLuint*)&m_texturehandle);
 			glBindTexture(GL_TEXTURE_2D,m_texturehandle);
 			glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE);
@@ -426,12 +490,17 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT);
 			gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image);
 			delete[] image;
-
+	
 			glMatrixMode(GL_TEXTURE);
 			glLoadIdentity();
 			glScalef(0.025,0.025,0.025);
+		
+			
+		}
 
-			static const GLfloat	planex[]={1,0,0,0};
+		
+
+		static const GLfloat	planex[]={1,0,0,0};
 			static const GLfloat	planey[]={0,1,0,0};
 			static const GLfloat	planez[]={0,0,1,0};
 			glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
@@ -442,7 +511,10 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			glEnable(GL_TEXTURE_GEN_T);
 			glEnable(GL_TEXTURE_GEN_R);
 			m_textureinitialized=true;
-		}
+
+		
+			
+
 		//drawCoordSystem();
 
 		//glPushMatrix();
@@ -464,10 +536,12 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 		if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
 		{
 			///you can comment out any of the specific cases, and use the default
+
 			///the benefit of 'default' is that it approximates the actual collision shape including collision margin
 			int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
 			switch (shapetype)
 			{
+#if 0
 			case BOX_SHAPE_PROXYTYPE:
 				{
 					const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
@@ -515,7 +589,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 					break;
 
 				}
-
+#endif
 
 			case STATIC_PLANE_PROXYTYPE:
 				{
@@ -651,7 +725,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 
 			{
 				glRasterPos3f(0.0,  0.0,  0.0);
-				//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
+				//btDrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
 
 				glColor3f(1.f, 1.f, 1.f);
 				int i;
@@ -662,7 +736,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 					glRasterPos3f(vtx.x(),  vtx.y(),  vtx.z());
 					char buf[12];
 					sprintf(buf," %d",i);
-					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+					//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 				}
 
 				for (i=0;i<polyshape->getNumPlanes();i++)
@@ -675,7 +749,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 					glRasterPos3f(normal.x()*d,  normal.y()*d, normal.z()*d);
 					char buf[12];
 					sprintf(buf," plane %d",i);
-					BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+					//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 
 				}
 			}
@@ -713,19 +787,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 }
 #endif
 
-/*
-if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
-{
-btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
 
-//todo: pass camera for some culling			
-btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
-btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
-TriangleGlDrawcallback drawCallback;
-convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
-
-}
-*/
 
 
 
@@ -733,12 +795,12 @@ glDisable(GL_DEPTH_TEST);
 glRasterPos3f(0,0,0);//mvtx.x(),  vtx.y(),  vtx.z());
 if (debugMode&btIDebugDraw::DBG_DrawText)
 {
-	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getName());
+	GLDebugDrawString(0,0,shape->getName());
 }
 
 if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
 {
-	//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
+	//btDrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
 }
 glEnable(GL_DEPTH_TEST);
 

Demos/OpenGL/GlutDemoApplication.cpp

@@ -0,0 +1,84 @@
+
+#ifndef _WINDOWS
+#include "GlutDemoApplication.h"
+
+#include "GlutStuff.h"
+
+#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+void	GlutDemoApplication::updateModifierKeys()
+{
+	m_modifierKeys = 0;
+	if (glutGetModifiers() & GLUT_ACTIVE_ALT)
+		m_modifierKeys |= BT_ACTIVE_ALT;
+
+	if (glutGetModifiers() & GLUT_ACTIVE_CTRL)
+		m_modifierKeys |= BT_ACTIVE_CTRL;
+	
+	if (glutGetModifiers() & GLUT_ACTIVE_SHIFT)
+		m_modifierKeys |= BT_ACTIVE_SHIFT;
+}
+
+void GlutDemoApplication::specialKeyboard(int key, int x, int y)	
+{
+	(void)x;
+	(void)y;
+
+	switch (key) 
+	{
+	case GLUT_KEY_F1:
+		{
+
+			break;
+		}
+
+	case GLUT_KEY_F2:
+		{
+
+			break;
+		}
+
+
+	case GLUT_KEY_END:
+		{
+			int numObj = getDynamicsWorld()->getNumCollisionObjects();
+			if (numObj)
+			{
+				btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
+
+				getDynamicsWorld()->removeCollisionObject(obj);
+				btRigidBody* body = btRigidBody::upcast(obj);
+				if (body && body->getMotionState())
+				{
+					delete body->getMotionState();					
+				}
+				delete obj;
+
+
+			}
+			break;
+		}
+	case GLUT_KEY_LEFT : stepLeft(); break;
+	case GLUT_KEY_RIGHT : stepRight(); break;
+	case GLUT_KEY_UP : stepFront(); break;
+	case GLUT_KEY_DOWN : stepBack(); break;
+	case GLUT_KEY_PAGE_UP : zoomIn(); break;
+	case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
+	case GLUT_KEY_HOME : toggleIdle(); break;
+	default:
+		//        std::cout << "unused (special) key : " << key << std::endl;
+		break;
+	}
+
+	glutPostRedisplay();
+
+}
+
+void GlutDemoApplication::swapBuffers()
+{
+	glutSwapBuffers();
+
+}
+
+#endif //_WINDOWS

Demos/OpenGL/GlutDemoApplication.h

@@ -0,0 +1,33 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+
+#ifndef GLUT_DEMO_APPLICATION_H
+#define GLUT_DEMO_APPLICATION_H
+
+#include "DemoApplication.h"
+
+class GlutDemoApplication : public DemoApplication
+{
+public:
+	
+	void specialKeyboard(int key, int x, int y);
+
+	virtual void swapBuffers();
+
+	virtual	void	updateModifierKeys();
+
+};
+#endif //GLUT_DEMO_APPLICATION_H

Demos/OpenGL/GlutStuff.cpp

@@ -65,7 +65,7 @@ static void glutDisplayCallback(void)
 	gDemoApplication->displayCallback();
 }
 
-
+#ifndef _WINDOWS
 int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp) {
     
 	gDemoApplication = demoApp;
@@ -97,3 +97,5 @@ int glutmain(int argc, char **argv,int width,int height,const char* title,DemoAp
     glutMainLoop();
     return 0;
 }
+
+#endif //_WINDOWS

Demos/OpenGL/GlutStuff.h

@@ -25,14 +25,60 @@ subject to the following restrictions:
 #include <OpenGL/glu.h>
 #include <GLUT/glut.h>
 #else
+#ifndef _WINDOWS
 #include <GL/glut.h>
+#else
+#include <windows.h>
+#include <GL/gl.h>
+#include <GL/glu.h>
 #endif
+#endif
+
+#ifdef _WINDOWS
+#define BT_KEY_K 'K'
+#define BT_KEY_LEFT			VK_LEFT
+#define BT_KEY_RIGHT		VK_RIGHT
+#define BT_KEY_UP			VK_UP
+#define BT_KEY_DOWN			VK_DOWN
+#define	BT_KEY_F1			VK_F1
+#define	BT_KEY_F2			VK_F2
+#define	BT_KEY_F3			VK_F3
+#define	BT_KEY_F4			VK_F4
+#define	BT_KEY_F5			VK_F5
+#define BT_KEY_PAGEUP		VK_PRIOR
+#define BT_KEY_PAGEDOWN		VK_NEXT
+#define BT_KEY_END			VK_END
+#define BT_KEY_HOME			VK_HOME
+
+
+#else
+#define BT_KEY_K 'k'
+#define BT_KEY_LEFT			GLUT_KEY_LEFT
+#define BT_KEY_RIGHT		GLUT_KEY_RIGHT
+#define BT_KEY_UP			GLUT_KEY_UP
+#define BT_KEY_DOWN			GLUT_KEY_DOWN
+#define	BT_KEY_F1			GLUT_KEY_F1
+#define	BT_KEY_F2			GLUT_KEY_F2
+#define	BT_KEY_F3			GLUT_KEY_F3
+#define	BT_KEY_F4			GLUT_KEY_F4
+#define	BT_KEY_F5			GLUT_KEY_F5
+#define BT_KEY_PAGEUP		GLUT_KEY_PAGE_UP
+#define BT_KEY_PAGEDOWN		GLUT_KEY_PAGE_DOWN
+#define BT_KEY_END			GLUT_KEY_END
+#define BT_KEY_HOME			GLUT_KEY_HOME
+#define BT_ACTIVE_ALT		GLUT_ACTIVE_ALT
+#define	BT_ACTIVE_CTRL		GLUT_ACTIVE_ALT
+#define BT_ACTIVE_SHIFT		GLUT_ACTIVE_SHIFT
+
+#endif
+
 
 #if BT_USE_FREEGLUT
 #include "GL/freeglut_ext.h" //to be able to return from glutMainLoop()
 #endif
 
 
+
 class DemoApplication;
 
 int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp);

Demos/OpenGL/Makefile.am

@@ -1,12 +1,12 @@
 noinst_LIBRARIES	= libbulletopenglsupport.a
 
 libbulletopenglsupport_a_SOURCES	= \
-	BMF_Api.cpp         BMF_BitmapFont.h     BMF_Fonts.h        \
 	DemoApplication.cpp  GLDebugDrawer.h     GL_Simplex1to4.cpp \
-	GlutStuff.h 	BMF_Api.h           BMF_FontData.h          \
+	GLDebugFont.cpp GLDebugFont.h GlutDemoApplication.cpp GlutDemoApplication.h \
-	BMF_Settings.h     DemoApplication.h    GL_ShapeDrawer.cpp  \
+	GlutStuff.h 	  \
-	GL_Simplex1to4.h    RenderTexture.cpp BMF_BitmapFont.cpp    \
+	   DemoApplication.h    GL_ShapeDrawer.cpp  \
-	BMF_font_helv10.cpp  DebugCastResult.h  GLDebugDrawer.cpp   \
+	GL_Simplex1to4.h    RenderTexture.cpp  \
+	 DebugCastResult.h  GLDebugDrawer.cpp   \
 	GL_ShapeDrawer.h    GlutStuff.cpp       RenderTexture.h
 
 INCLUDES=-I../../src

Demos/OpenGL/RenderTexture.cpp

@@ -15,7 +15,7 @@ subject to the following restrictions:
 
 #include "RenderTexture.h"
 #include <memory.h>
-#include "BMF_FontData.h"
+
 
 renderTexture::renderTexture(int width,int height)
 :m_height(height),m_width(width)
@@ -37,30 +37,30 @@ renderTexture::renderTexture(int width,int height)
 
 }
 
-void renderTexture::grapicalPrintf(char* str,	BMF_FontData* fontData, int startx,int starty)
+void renderTexture::grapicalPrintf(char* str,	void* fontData, int startx,int starty)
 {
 	unsigned char c;
 	int rasterposx = startx;
 	int rasterposy = starty;
 	while ((c = (unsigned char) *str++)) {
-		BMF_CharData & cd = fontData->chars[c];
 		
-		if (cd.data_offset!=-1) {
+		
-			unsigned char* bitmap = &fontData->bitmap_data[cd.data_offset];
+		
-			for (int y=0;y<cd.height;y++)
+		unsigned char* bitmap = 0;//&fontData->bitmap_data[cd.data_offset];
+		for (int y=0;y<8;y++)
+		{
+			int bit = 128;
+			for (int x=0;x<8;x++)
 			{
-				int bit = 128;
+				char packedColor = bitmap[y];
-				for (int x=0;x<cd.width;x++)
+				float colorf = packedColor & bit ? 0.f : 1.f;
-				{
+				btVector4 rgba(colorf,colorf,colorf,1.f);
-					char packedColor = bitmap[y];
+				setPixel(rasterposx+x,rasterposy+8-y-1,rgba);
-					float colorf = packedColor & bit ? 0.f : 1.f;
+				bit >>=1;
-					btVector4 rgba(colorf,colorf,colorf,1.f);
-					setPixel(rasterposx+x,rasterposy+8-y-1,rgba);
-					bit >>=1;
-				}
 			}
 		}
-		rasterposx+= cd.advance;
+		
+		rasterposx+= 8;
 	}
 }
 

Demos/OpenGL/RenderTexture.h

@@ -17,7 +17,7 @@ subject to the following restrictions:
 #define RENDER_TEXTURE_H
 
 #include "LinearMath/btVector3.h"
-#include "BMF_FontData.h"
+#include "GLDebugFont.h"
 
 ///
 ///renderTexture provides a software-render context (setpixel/printf)
@@ -55,7 +55,7 @@ public:
 	const unsigned char*	getBuffer() const { return m_buffer;}
 	int	getWidth() const { return m_width;}
 	int	getHeight() const { return m_height;}
-	void grapicalPrintf(char* str,	BMF_FontData* fontData, int startx = 0,int starty=0);
+	void grapicalPrintf(char* str,	void* fontData, int startx = 0,int starty=0);
 
 };
 

Demos/OpenGL/Win32AppMain.cpp

@@ -0,0 +1,354 @@
+#ifdef _WINDOWS
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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 <windows.h>
+#include <gl/gl.h>
+
+
+#include "DemoApplication.h"
+
+#include "GLDebugDrawer.h"
+#include "GLDebugFont.h"
+
+#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
+
+/// This Win32AppMain is shared code between all demos. 
+/// The actual demo, derived from DemoApplication is created using 'createDemo', in a separate .cpp file
+DemoApplication* gDemoApplication = 0;
+DemoApplication*	createDemo();
+
+
+
+// Function Declarations
+
+LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam);
+void EnableOpenGL(HWND hWnd, HDC * hDC, HGLRC * hRC);
+void DisableOpenGL(HWND hWnd, HDC hDC, HGLRC hRC);
+
+
+
+// WinMain
+
+int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, 
+				   LPSTR lpCmdLine, int iCmdShow)
+{
+	WNDCLASS wc;
+	HWND hWnd;
+	HDC hDC;
+	HGLRC hRC;
+	MSG msg;
+	BOOL quit = FALSE;
+	float theta = 0.0f;
+	
+	gDemoApplication = createDemo();
+	
+
+	// register window class
+	wc.style = CS_OWNDC;
+	wc.lpfnWndProc = WndProc;
+	wc.cbClsExtra = 0;
+	wc.cbWndExtra = 0;
+	wc.hInstance = hInstance;
+	wc.hIcon = LoadIcon( NULL, IDI_APPLICATION );
+	wc.hCursor = LoadCursor( NULL, IDC_ARROW );
+	wc.hbrBackground = (HBRUSH)GetStockObject( BLACK_BRUSH );
+	wc.lpszMenuName = NULL;
+	wc.lpszClassName = "BulletPhysics";
+	RegisterClass( &wc );
+	
+	// create main window
+	hWnd = CreateWindow( 
+		"BulletPhysics", "Bullet Physics Sample. http://bulletphysics.org", 
+		WS_CAPTION | WS_VISIBLE | WS_OVERLAPPEDWINDOW,
+//		0, 0, 640, 480,
+		0, 0, 1024, 768,
+		NULL, NULL, hInstance, NULL );
+	
+	// enable OpenGL for the window
+	EnableOpenGL( hWnd, &hDC, &hRC );
+	
+	
+	GLDebugDrawer debugDraw;
+	gDemoApplication->myinit();
+	//gDemoApplication->reshape(1024, 768);
+	gDemoApplication->initPhysics();
+	gDemoApplication->getDynamicsWorld()->setDebugDrawer(&debugDraw);
+	
+
+	// program main loop
+	while ( !quit )
+	{
+		
+		// check for messages
+		if ( PeekMessage( &msg, NULL, 0, 0, PM_REMOVE )  )
+		{
+			
+			// handle or dispatch messages
+			if ( msg.message == WM_QUIT ) 
+			{
+				quit = TRUE;
+			} 
+			else 
+			{
+				TranslateMessage( &msg );
+				DispatchMessage( &msg );
+			}
+			
+//			gDemoApplication->displayCallback();
+			
+
+		};
+		
+		// OpenGL animation code goes here
+		
+		glClearColor( .7f, 0.7f, 0.7f, 1.f );
+		
+		gDemoApplication->moveAndDisplay();
+
+
+		SwapBuffers( hDC );
+		
+		theta += 1.0f;
+	
+		
+	}
+	
+
+
+	// shutdown OpenGL
+	DisableOpenGL( hWnd, hDC, hRC );
+	
+	// destroy the window explicitly
+	DestroyWindow( hWnd );
+
+	delete gDemoApplication;
+
+	return msg.wParam;
+	
+}
+
+// Window Procedure
+
+LRESULT CALLBACK WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam)
+{
+	
+	switch (message)
+	{
+		
+		case WM_SIZE:													// Size Action Has Taken Place
+			switch (wParam)												// Evaluate Size Action
+			{
+				case SIZE_MINIMIZED:									// Was Window Minimized?
+				return 0;												// Return
+
+				case SIZE_MAXIMIZED:									// Was Window Maximized?
+						gDemoApplication->reshape(LOWORD (lParam), HIWORD (lParam));
+				return 0;												// Return
+
+				case SIZE_RESTORED:										// Was Window Restored?
+						gDemoApplication->reshape(LOWORD (lParam), HIWORD (lParam));
+				return 0;												// Return
+			}
+		break;	
+
+	case WM_CREATE:
+		return 0;
+	
+	case WM_MBUTTONUP:
+	{
+			int xPos = LOWORD(lParam); 
+			int yPos = HIWORD(lParam); 
+			gDemoApplication->mouseFunc(1,1,xPos,yPos);
+		break;
+	}
+	case WM_MBUTTONDOWN:
+	{
+			int xPos = LOWORD(lParam); 
+			int yPos = HIWORD(lParam); 
+			gDemoApplication->mouseFunc(1,0,xPos,yPos);
+		break;
+	}
+
+	case WM_LBUTTONUP:
+	{
+			int xPos = LOWORD(lParam); 
+			int yPos = HIWORD(lParam); 
+			gDemoApplication->mouseFunc(0,1,xPos,yPos);
+		break;
+	}
+	case 0x020A://WM_MOUSEWHEEL:
+	{
+
+		int  zDelta = (short)HIWORD(wParam);
+		int xPos = LOWORD(lParam); 
+		int yPos = HIWORD(lParam); 
+		if (zDelta>0)
+			gDemoApplication->zoomIn();
+		else
+			gDemoApplication->zoomOut();
+		break;
+	}
+
+	case WM_MOUSEMOVE:
+		{
+				int xPos = LOWORD(lParam); 
+				int yPos = HIWORD(lParam); 
+				gDemoApplication->mouseMotionFunc(xPos,yPos);
+			break;
+		}
+	case WM_RBUTTONUP:
+	{
+			int xPos = LOWORD(lParam); 
+			int yPos = HIWORD(lParam); 
+			gDemoApplication->mouseFunc(2,1,xPos,yPos);
+		break;
+	}
+	case WM_RBUTTONDOWN:
+	{
+			int xPos = LOWORD(lParam); 
+			int yPos = HIWORD(lParam); 
+			gDemoApplication->mouseFunc(2,0,xPos,yPos);
+		break;
+	}
+	case WM_LBUTTONDOWN:
+		{
+				int xPos = LOWORD(lParam); 
+				int yPos = HIWORD(lParam); 
+				gDemoApplication->mouseFunc(0,0,xPos,yPos);
+			break;
+		}
+/*#define WM_LBUTTONUP                    0x0202
+#define WM_LBUTTONDBLCLK                0x0203
+#define WM_RBUTTONDOWN                  0x0204
+#define WM_RBUTTONUP                    0x0205
+#define WM_RBUTTONDBLCLK                0x0206
+#define WM_MBUTTONDOWN                  0x0207
+#define WM_MBUTTONUP                    0x0208
+#define WM_MBUTTONDBLCLK                0x0209
+*/
+
+
+
+	case WM_CLOSE:
+		PostQuitMessage( 0 );
+		return 0;
+		
+	case WM_DESTROY:
+		return 0;
+		
+	case WM_KEYUP:
+		switch ( wParam )
+		{
+			
+		case VK_PRIOR:
+		case VK_NEXT:
+		case VK_END:
+		case VK_HOME:
+		case VK_LEFT:
+		case VK_UP:
+		case VK_RIGHT:
+		case VK_DOWN:
+			{
+				if (gDemoApplication)
+					gDemoApplication->specialKeyboardUp(wParam,0,0);
+				return 0;
+			}
+			default:
+			return DefWindowProc( hWnd, message, wParam, lParam );
+		}
+
+	case WM_KEYDOWN:
+		switch ( wParam )
+		{
+		case VK_PRIOR:
+		case VK_NEXT:
+		case VK_END:
+		case VK_HOME:
+		case VK_LEFT:
+		case VK_UP:
+		case VK_RIGHT:
+		case VK_DOWN:
+			{
+				if (gDemoApplication)
+					gDemoApplication->specialKeyboard(wParam,0,0);
+				break;
+			}
+
+		case ' ':
+			{
+				if (gDemoApplication)
+					gDemoApplication->clientResetScene();
+				break;
+			}
+		case 'Q':
+		case VK_ESCAPE:
+			PostQuitMessage(0);
+			return 0;
+			
+		}
+		return 0;
+		
+	case WM_CHAR:
+		gDemoApplication->keyboardCallback(wParam,0,0);
+		break;
+	
+	default:
+		return DefWindowProc( hWnd, message, wParam, lParam );
+			
+	}
+	return 0;
+}
+
+// Enable OpenGL
+
+void EnableOpenGL(HWND hWnd, HDC * hDC, HGLRC * hRC)
+{
+	PIXELFORMATDESCRIPTOR pfd;
+	int format;
+	
+	// get the device context (DC)
+	*hDC = GetDC( hWnd );
+	
+	// set the pixel format for the DC
+	ZeroMemory( &pfd, sizeof( pfd ) );
+	pfd.nSize = sizeof( pfd );
+	pfd.nVersion = 1;
+	pfd.dwFlags = PFD_DRAW_TO_WINDOW | PFD_SUPPORT_OPENGL | PFD_DOUBLEBUFFER;
+	pfd.iPixelType = PFD_TYPE_RGBA;
+	pfd.cColorBits = 24;
+	pfd.cDepthBits = 16;
+	pfd.cStencilBits = 1;
+	pfd.iLayerType = PFD_MAIN_PLANE;
+	format = ChoosePixelFormat( *hDC, &pfd );
+	SetPixelFormat( *hDC, format, &pfd );
+	
+	// create and enable the render context (RC)
+	*hRC = wglCreateContext( *hDC );
+	wglMakeCurrent( *hDC, *hRC );
+	
+}
+
+// Disable OpenGL
+
+void DisableOpenGL(HWND hWnd, HDC hDC, HGLRC hRC)
+{
+	wglMakeCurrent( NULL, NULL );
+	wglDeleteContext( hRC );
+	ReleaseDC( hWnd, hDC );
+}
+
+#endif //_WINDOWS