prepare for 'custom' multi body creation.

examples/MultiBody/MultiBodyCustomURDFDemo.cpp

@@ -0,0 +1,64 @@
+
+#include "MultiBodyCustomURDFDemo.h"
+
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+
+#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
+#include "CustomMultiBodyCreationCallback.h"
+
+
+struct MultiBodyCustomURDFDemo : public CommonMultiBodyBase
+{
+    btMultiBody* m_multiBody;
+
+public:
+
+    MultiBodyCustomURDFDemo(struct GUIHelperInterface* helper);
+    virtual ~MultiBodyCustomURDFDemo();
+
+    virtual void initPhysics();
+
+    virtual void stepSimulation(float deltaTime);
+
+};
+
+MultiBodyCustomURDFDemo::MultiBodyCustomURDFDemo(struct GUIHelperInterface* helper)
+:CommonMultiBodyBase(helper)
+{
+}
+
+MultiBodyCustomURDFDemo::~MultiBodyCustomURDFDemo()
+{
+
+}
+
+void MultiBodyCustomURDFDemo::initPhysics()
+{
+    int upAxis = 2;
+    m_guiHelper->setUpAxis(upAxis);
+	createEmptyDynamicsWorld();
+    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+    m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+        //btIDebugDraw::DBG_DrawConstraints
+        +btIDebugDraw::DBG_DrawWireframe
+        +btIDebugDraw::DBG_DrawContactPoints
+        +btIDebugDraw::DBG_DrawAabb
+        );//+btIDebugDraw::DBG_DrawConstraintLimits);
+
+
+    
+}
+
+void MultiBodyCustomURDFDemo::stepSimulation(float deltaTime)
+{
+   
+    m_dynamicsWorld->stepSimulation(deltaTime);
+}
+
+
+class ExampleInterface*    MultiBodyCustomURDFDofCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+{
+	return new MultiBodyCustomURDFDemo(helper);
+}