https://github.com/bulletphysics/bullet3/pull/618 by Mobeen

Summary of changes:
1) Changed include paths to be relative to the current sources (affected
files: LoadMeshFromObj.cpp, Wavefront2GLInstanceGraphicsShape.h/cpp)
2) Added new tutorials in the ExtendedTutorials folder
3) Modified the main_opengl_single_example.cpp file to enable picking
support in standalone demos

examples/ExtendedTutorials/Bridge.cpp

@@ -0,0 +1,150 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 "Bridge.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_PLANKS = 10;
+struct BridgeExample : public CommonRigidBodyBase
+{
+	BridgeExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~BridgeExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void BridgeExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+	//create two fixed boxes to hold the planks
+
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+		btScalar plankWidth = 0.4;
+		btScalar plankHeight = 0.2;
+		btScalar plankBreadth = 1;
+		btScalar plankOffset = plankWidth; //distance between two planks
+		btScalar bridgeWidth = plankWidth*TOTAL_PLANKS + plankOffset*(TOTAL_PLANKS-1);
+		btScalar bridgeHeight = 5;
+		btScalar halfBridgeWidth = bridgeWidth*0.5f;
+
+        btBoxShape* colShape = createBoxShape(btVector3(plankWidth,plankHeight,plankBreadth));
+		 
+		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);
+
+		//create a set of boxes to represent bridge 
+		btAlignedObjectArray<btRigidBody*> boxes;
+		int lastBoxIndex = TOTAL_PLANKS-1;
+		for(int i=0;i<TOTAL_PLANKS;++i) {
+			float t =   float(i)/lastBoxIndex;
+			t = -(t*2-1.0f) * halfBridgeWidth;
+			startTransform.setOrigin(btVector3(									 
+									 btScalar(t),
+									 bridgeHeight,
+									 btScalar(0)
+									 )
+									 );
+			boxes.push_back(createRigidBody((i==0 || i==lastBoxIndex)?0:mass,startTransform,colShape));		  
+		} 
+		 
+		
+		//add N-1 spring constraints
+		for(int i=0;i<TOTAL_PLANKS-1;++i) {
+			btRigidBody* b1 = boxes[i];
+			btRigidBody* b2 = boxes[i+1];
+			 
+			btPoint2PointConstraint* leftSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5,0,-0.5), btVector3(0.5,0,-0.5));
+			m_dynamicsWorld->addConstraint(leftSpring);
+			 
+			btPoint2PointConstraint* rightSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5,0,0.5), btVector3(0.5,0,0.5));
+			m_dynamicsWorld->addConstraint(rightSpring);
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void BridgeExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_BridgeCreateFunc(CommonExampleOptions& options)
+{
+	return new BridgeExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/Bridge.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 ET_BRIDGE_EXAMPLE_H
+#define ET_BRIDGE_EXAMPLE_H
+
+class CommonExampleInterface*    ET_BridgeCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_BRIDGE_EXAMPLE_H

examples/ExtendedTutorials/Chain.cpp

@@ -0,0 +1,137 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 "Chain.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_BOXES = 10;
+struct ChainExample : public CommonRigidBodyBase
+{
+	ChainExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~ChainExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void ChainExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+        btBoxShape* colShape = createBoxShape(btVector3(1,1,0.25));
+		 
+		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);
+		 
+		btAlignedObjectArray<btRigidBody*> boxes;
+		int lastBoxIndex = TOTAL_BOXES-1;
+		for(int i=0;i<TOTAL_BOXES;++i) {
+			startTransform.setOrigin(btVector3(
+									 btScalar(0),
+									 btScalar(5+i*2),
+									 btScalar(0)
+									 )
+									 );
+			boxes.push_back(createRigidBody((i==lastBoxIndex)?0:mass,startTransform,colShape));		 
+		} 
+		 
+		//add N-1 spring constraints
+		for(int i=0;i<TOTAL_BOXES-1;++i) {
+			btRigidBody* b1 = boxes[i];
+			btRigidBody* b2 = boxes[i+1];
+			 
+			btPoint2PointConstraint* leftSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5,1,0), btVector3(-0.5,-1,0));
+			 
+			m_dynamicsWorld->addConstraint(leftSpring);
+			 
+			btPoint2PointConstraint* rightSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(0.5,1,0), btVector3(0.5,-1,0));
+
+			m_dynamicsWorld->addConstraint(rightSpring);
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void ChainExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_ChainCreateFunc(CommonExampleOptions& options)
+{
+	return new ChainExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/Chain.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 ET_CHAIN_EXAMPLE_H
+#define ET_CHAIN_EXAMPLE_H
+
+class CommonExampleInterface*    ET_ChainCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_CHAIN_EXAMPLE_H

examples/ExtendedTutorials/MultipleBoxes.cpp

@@ -0,0 +1,120 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 "MultipleBoxes.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_BOXES = 10;
+struct MultipleBoxesExample : public CommonRigidBodyBase
+{
+	MultipleBoxesExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~MultipleBoxesExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void MultipleBoxesExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+        btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		 
+		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);
+
+		
+		for(int i=0;i<TOTAL_BOXES;++i) {
+			startTransform.setOrigin(btVector3(
+									 btScalar(0),
+									 btScalar(20+i*2),
+									 btScalar(0)));
+			createRigidBody(mass,startTransform,colShape);		 
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void MultipleBoxesExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_MultipleBoxesCreateFunc(CommonExampleOptions& options)
+{
+	return new MultipleBoxesExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/MultipleBoxes.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 ET_MULTIPLE_BOXES_EXAMPLE_H
+#define ET_MULTIPLE_BOXES_EXAMPLE_H
+
+class CommonExampleInterface*    ET_MultipleBoxesCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_MULTIPLE_BOXES_EXAMPLE_H

examples/ExtendedTutorials/RigidBodyFromObj.cpp

@@ -0,0 +1,159 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 "RigidBodyFromObj.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+
+
+struct RigidBodyFromObjExample : public CommonRigidBodyBase
+{
+    int m_options;
+    
+	RigidBodyFromObjExample(struct GUIHelperInterface* helper, int options)
+		:CommonRigidBodyBase(helper),
+		m_options(options)
+	{
+	}
+	virtual ~RigidBodyFromObjExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void RigidBodyFromObjExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	//if (m_dynamicsWorld->getDebugDrawer())
+	//	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+	//load our obj mesh
+	const char* fileName = "teddy.obj";//sphere8.obj";//sponza_closed.obj";//sphere8.obj";
+    char relativeFileName[1024];
+    if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+    {
+		char pathPrefix[1024];
+		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+	}
+	
+	GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, "");
+	printf("[INFO] Obj loaded: Extracted %d verticed from obj file [%s]\n", glmesh->m_numvertices, fileName);
+
+	const GLInstanceVertex& v = glmesh->m_vertices->at(0);
+	btConvexHullShape* shape = new btConvexHullShape((const btScalar*)(&(v.xyzw[0])), glmesh->m_numvertices, sizeof(GLInstanceVertex));
+	
+	shape->setLocalScaling(btVector3(0.1,0.1,0.1));
+	    
+    if (m_options & OptimizeConvexObj)
+    {
+        shape->optimizeConvexHull();
+    }
+
+    if (m_options & ComputePolyhedralFeatures)
+    {
+        shape->initializePolyhedralFeatures();    
+    }
+	
+	
+	
+	//shape->setMargin(0.001);
+	m_collisionShapes.push_back(shape);
+
+	btTransform startTransform;
+	startTransform.setIdentity();
+
+	btScalar	mass(1.f);
+	bool isDynamic = (mass != 0.f);
+	btVector3 localInertia(0,0,0);
+	if (isDynamic)
+		shape->calculateLocalInertia(mass,localInertia);
+
+	btVector3 position(0,20,0);
+	startTransform.setOrigin(position);
+	btRigidBody* body = createRigidBody(mass,startTransform,shape);	
+	 
+	btVector3 color(1,1,1);
+	btVector3 scaling(0.1,0.1,0.1);
+	bool useObjForRendering = ((m_options & ObjUseConvexHullForRendering)!=0);
+    
+	    
+	if (useObjForRendering)
+    {
+        int shapeId = m_guiHelper->getRenderInterface()->registerShape(&glmesh->m_vertices->at(0).xyzw[0], 
+                                                                        glmesh->m_numvertices, 
+                                                                        &glmesh->m_indices->at(0), 
+                                                                        glmesh->m_numIndices,
+                                                                    B3_GL_TRIANGLES,-1);
+        shape->setUserIndex(shapeId);
+        int renderInstance = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,startTransform.getRotation(),color,scaling);
+        body->setUserIndex(renderInstance);
+    }
+    
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void RigidBodyFromObjExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_RigidBodyFromObjCreateFunc(CommonExampleOptions& options)
+{
+	return new RigidBodyFromObjExample(options.m_guiHelper,options.m_option);
+}
+
+
+

examples/ExtendedTutorials/RigidBodyFromObj.h

@@ -0,0 +1,28 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 ET_RIGIDBODYFROMOBJ_EXAMPLE_H
+#define ET_RIGIDBODYFROMOBJ_EXAMPLE_H
+
+enum ObjToRigidBodyOptionsEnum
+{
+        ObjUseConvexHullForRendering=1,
+        OptimizeConvexObj=2,
+        ComputePolyhedralFeatures=4,
+};
+class CommonExampleInterface*    ET_RigidBodyFromObjCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_RIGIDBODYFROMOBJ_EXAMPLE_H

examples/ExtendedTutorials/SimpleBox.cpp

@@ -0,0 +1,118 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 "SimpleBox.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+
+struct SimpleBoxExample : public CommonRigidBodyBase
+{
+	SimpleBoxExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~SimpleBoxExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void SimpleBoxExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+        btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		 
+		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);
+
+
+		startTransform.setOrigin(btVector3(
+								 btScalar(0),
+								 btScalar(20),
+								 btScalar(0)));
+		createRigidBody(mass,startTransform,colShape);		 
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void SimpleBoxExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_SimpleBoxCreateFunc(CommonExampleOptions& options)
+{
+	return new SimpleBoxExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/SimpleBox.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 ET_SIMPLE_BOX_EXAMPLE_H
+#define ET_SIMPLE_BOX_EXAMPLE_H
+
+class CommonExampleInterface*    ET_SimpleBoxCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_SIMPLE_BOX_EXAMPLE_H

examples/ExtendedTutorials/SimpleCloth.cpp

@@ -0,0 +1,162 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 "SimpleCloth.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+
+struct SimpleClothExample : public CommonRigidBodyBase
+{
+	SimpleClothExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~SimpleClothExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void createEmptyDynamicsWorld()
+	{
+		m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); 
+        m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration); 
+		 
+		m_broadphase = new btDbvtBroadphase();
+	 
+		m_solver = new btSequentialImpulseConstraintSolver; 
+		
+		m_dynamicsWorld = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+		m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+
+		softBodyWorldInfo.m_broadphase = m_broadphase;
+		softBodyWorldInfo.m_dispatcher = m_dispatcher;
+		softBodyWorldInfo.m_gravity = m_dynamicsWorld->getGravity();
+		softBodyWorldInfo.m_sparsesdf.Initialize();
+	}
+	virtual btSoftRigidDynamicsWorld*	getSoftDynamicsWorld()
+	{
+		///just make it a btSoftRigidDynamicsWorld please
+		///or we will add type checking
+		return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
+	}
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
+	void createSoftBody(const btScalar size, const int num_x, const int num_z, const int fixed=1+2);
+	btSoftBodyWorldInfo softBodyWorldInfo;
+};
+
+void SimpleClothExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		const btScalar s=4; //size of cloth patch
+		const int NUM_X=31; //vertices on X axis
+		const int NUM_Z=31; //vertices on Z axis
+		createSoftBody(s,NUM_X, NUM_Z);
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void SimpleClothExample::createSoftBody(const btScalar s,
+										const int numX,
+										const int numY, 
+										const int fixed) {
+	
+	
+	 
+	btSoftBody* cloth=btSoftBodyHelpers::CreatePatch(softBodyWorldInfo,
+		btVector3(-s/2,s+1,0),
+		btVector3(+s/2,s+1,0),
+		btVector3(-s/2,s+1,+s),
+		btVector3(+s/2,s+1,+s),
+		numX,numY, 
+		fixed,true);
+	
+	cloth->getCollisionShape()->setMargin(0.001f);
+	cloth->generateBendingConstraints(2,cloth->appendMaterial());
+	cloth->setTotalMass(10); 
+	//cloth->m_cfg.citerations = 10;
+//	cloth->m_cfg.diterations = 10;
+	cloth->m_cfg.piterations = 5;
+	cloth->m_cfg.kDP = 0.005f;
+	getSoftDynamicsWorld()->addSoftBody(cloth);
+
+}
+
+void SimpleClothExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+	btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
+
+		for (  int i=0;i<softWorld->getSoftBodyArray().size();i++)
+		{
+			btSoftBody*	psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
+			//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+			{
+				btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
+			}
+		}
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_SimpleClothCreateFunc(CommonExampleOptions& options)
+{
+	return new SimpleClothExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/SimpleCloth.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 ET_SIMPLE_CLOTH_EXAMPLE_H
+#define ET_SIMPLE_CLOTH_EXAMPLE_H
+
+class CommonExampleInterface*    ET_SimpleClothCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_SIMPLE_CLOTH_EXAMPLE_H

examples/ExtendedTutorials/SimpleJoint.cpp

@@ -0,0 +1,133 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 "SimpleJoint.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+
+struct SimpleJointExample : public CommonRigidBodyBase
+{
+	SimpleJointExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~SimpleJointExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void SimpleJointExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+        btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		 
+		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);
+
+
+		startTransform.setOrigin(btVector3(
+								 btScalar(0),
+								 btScalar(10),
+								 btScalar(0)));
+		btRigidBody* dynamicBox = createRigidBody(mass,startTransform,colShape);	
+
+		//create a static rigid body
+		mass = 0;
+		startTransform.setOrigin(btVector3(
+								 btScalar(0),
+								 btScalar(20),
+								 btScalar(0)));
+		
+		btRigidBody* staticBox = createRigidBody(mass,startTransform,colShape);	
+
+		//create a simple p2pjoint constraint
+		btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*dynamicBox, *staticBox, btVector3(0,3,0), btVector3(0,0,0));
+		p2p->m_setting.m_damping = 0.0625;
+		p2p->m_setting.m_impulseClamp = 0.95;
+		m_dynamicsWorld->addConstraint(p2p);
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void SimpleJointExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	 
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_SimpleJointCreateFunc(CommonExampleOptions& options)
+{
+	return new SimpleJointExample(options.m_guiHelper);
+}
+
+
+

examples/ExtendedTutorials/SimpleJoint.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. 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 ET_SIMPLE_JOINT_EXAMPLE_H
+#define ET_SIMPLE_JOINT_EXAMPLE_H
+
+class CommonExampleInterface*    ET_SimpleJointCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_SIMPLE_JOINT_EXAMPLE_H