fix crash in BasicDemo

add small experiments to distribute points on a sphere
prepare for coordinate frame demo (incomplete)
fix/hack around gwen update of scroll bars and Focu

Demos3/bullet2/CoordinateFrameDemo/CoordinateFrameDemoPhysicsSetup.cpp

@@ -0,0 +1,90 @@
+
+
+#include "CoordinateFrameDemoPhysicsSetup.h"
+#include "btBulletDynamicsCommon.h"
+#define ARRAY_SIZE_Y 5
+#define ARRAY_SIZE_X 5
+#define ARRAY_SIZE_Z 5
+
+
+bool showRigidBodyCenterOfMass = true;
+
+void    CoordinateFrameDemoPhysicsSetup::debugDraw()
+{
+	/*
+	for (int i=0;i<m_dynamicsWorld->getCollisionObjectArray().size();i++)
+	{
+		const btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		if (showRigidBodyCenterOfMass)
+		{
+			m_dynamicsWorld->getDebugDrawer()->drawTransform(colObj->getWorldTransform(),1);
+		}
+	}
+	*/
+	m_dynamicsWorld->debugDrawWorld();
+}
+
+void CoordinateFrameDemoPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
+{
+	createEmptyDynamicsWorld();
+	m_dynamicsWorld->setGravity(btVector3(0,0,0));
+	gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
+    m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	m_dynamicsWorld->getDebugDrawer()->setDebugMode(m_dynamicsWorld->getDebugDrawer()->getDebugMode() + btIDebugDraw::DBG_DrawFrames);
+
+	btScalar sqr2 = btSqrt(2);
+	btVector3 tetraVerts[] = {
+		btVector3(1.f,	0.f,  -1/sqr2),
+		btVector3(-1.f,	0.f,  -1/sqr2),
+		btVector3(0, 1.f,	1/sqr2),
+		btVector3(0, -1.f,	1/sqr2),
+	};
+
+	
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+		btCompoundShape* hull = new btCompoundShape();
+		btConvexHullShape* childHull = new btConvexHullShape(&tetraVerts[0].getX(),sizeof(tetraVerts)/sizeof(btVector3),sizeof(btVector3));
+		
+		childHull->initializePolyhedralFeatures();
+		btTransform childTrans;
+		childTrans.setIdentity();
+		childTrans.setOrigin(btVector3(2,0,0));
+		hull->addChildShape(childTrans,childHull);
+		gfxBridge.createCollisionShapeGraphicsObject(hull);
+		m_collisionShapes.push_back(hull);
+
+		/// 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)
+			hull->calculateLocalInertia(mass,localInertia);
+
+
+		startTransform.setOrigin(btVector3(0,0,0));
+		
+		btRigidBody* body = createRigidBody(mass,startTransform,hull);
+		gfxBridge.createRigidBodyGraphicsObject(body, btVector3(1, 1, 0));
+	}
+
+}
+
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