Merge branch 'master' of https://github.com/erwincoumans/bullet3

CMakeLists.txt

@@ -60,7 +60,7 @@ IF(MSVC)
 
 	IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
 		#We statically link to reduce dependancies
-		FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO)
+		FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
 			IF(${flag_var} MATCHES "/MD")
 				STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
 			ENDIF(${flag_var} MATCHES "/MD")
@@ -231,18 +231,30 @@ IF (APPLE)
 ENDIF()
 
 OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
+
 IF(BUILD_BULLET3)
-	OPTION(BUILD_BULLET3_DEMOS "Set when you want to build the Bullet 3 demos" ON)
+	 IF(APPLE)
+                MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
+                IF(_CURRENT_OSX_VERSION  VERSION_LESS 10.9)
+                        MESSAGE("Mac OSX below 10.9 has no OpenGL 3 support so please disable the BUILD_OPENGL3_DEMOS option")
+                        #unset(BUILD_OPENGL3_DEMOS CACHE)
+                        OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" OFF)
+                ELSE()
+                        OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" ON)
+                ENDIF()
+        ELSE()
+                OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" ON)
+        ENDIF()
 ELSE(BUILD_BULLET3)
-	unset(BUILD_BULLET3_DEMOS CACHE)
+	unset(BUILD_OPENGL3_DEMOS CACHE)
-	OPTION(BUILD_BULLET3_DEMOS "Set when you want to build the Bullet 3 demos" OFF)
+	OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" OFF)
 ENDIF(BUILD_BULLET3)
-IF(BUILD_BULLET3_DEMOS)
+IF(BUILD_OPENGL3_DEMOS)
 	IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos3)
 		SUBDIRS(Demos3)
 		SUBDIRS(btgui)
 	ENDIF()
-ENDIF(BUILD_BULLET3_DEMOS)
+ENDIF(BUILD_OPENGL3_DEMOS)
 
 OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON)
 IF(BUILD_EXTRAS)
@@ -267,10 +279,10 @@ ENDIF()
 
 IF(INSTALL_LIBS)
 	SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
-	SET (LIB_DESTINATION "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
+	SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
 	## the following are directories where stuff will be installed to
-	SET(INCLUDE_INSTALL_DIR      "${CMAKE_INSTALL_PREFIX}/include/bullet/" CACHE PATH "The subdirectory to the header prefix")
+	SET(INCLUDE_INSTALL_DIR      "include/bullet/" CACHE PATH "The subdirectory to the header prefix")
-	SET(PKGCONFIG_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
+	SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
 	IF(NOT WIN32)
 	  CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc @ONLY)
   	INSTALL(
@@ -297,7 +309,7 @@ list (APPEND BULLET_LIBRARIES LinearMath)
 list (APPEND BULLET_LIBRARIES BulletCollision)
 list (APPEND BULLET_LIBRARIES BulletDynamics)
 list (APPEND BULLET_LIBRARIES BulletSoftBody)
-set (BULLET_USE_FILE ${CMAKE_INSTALL_PREFIX}/${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
+set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
 configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
                  ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
                  @ONLY ESCAPE_QUOTES

Demos/CMakeLists.txt

@@ -24,18 +24,12 @@ IF (USE_GLUT)
 			SET(SharedDemoSubdirs			OpenGL		)
 		ENDIF(BUILD_CPU_DEMOS)
 		
-		IF(BUILD_MULTITHREADING)
-			SUBDIRS(	MultiThreadedDemo			OpenCLClothDemo			)
-		ENDIF(BUILD_MULTITHREADING)
 
 		SUBDIRS( 		
 			${SharedDemoSubdirs}
 			Benchmarks
 		)
 		
-		IF(BUILD_MULTITHREADING)
-			SUBDIRS(	ThreadingDemo		VectorAdd_OpenCL )
-		ENDIF()
 
 	ENDIF(GLUT_FOUND)
 ELSE (USE_GLUT)

Demos/CommonMultiBodySetup.h

@@ -0,0 +1,298 @@
+
+#ifndef COMMON_MULTI_BODY_SETUP_H
+#define COMMON_MULTI_BODY_SETUP_H
+
+//todo: replace this 'btBulletDynamicsCommon.h' header with specific used header files
+#include "btBulletDynamicsCommon.h"
+#include "CommonPhysicsSetup.h"
+#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+
+struct CommonMultiBodySetup : public CommonPhysicsSetup
+{
+		//keep the collision shapes, for deletion/cleanup
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+	btBroadphaseInterface*	m_broadphase;
+	btCollisionDispatcher*	m_dispatcher;
+	btMultiBodyConstraintSolver*	m_solver;
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+	btMultiBodyDynamicsWorld* m_dynamicsWorld;
+
+	//data for picking objects
+	class btRigidBody*	m_pickedBody;
+	class btTypedConstraint* m_pickedConstraint;
+	class btMultiBodyPoint2Point*		m_pickingMultiBodyPoint2Point;
+
+	btVector3 m_oldPickingPos;
+	btVector3 m_hitPos;
+	btScalar m_oldPickingDist;
+	bool m_prevCanSleep;
+
+	CommonMultiBodySetup()
+	:m_broadphase(0),
+		m_dispatcher(0),
+		m_solver(0),
+		m_collisionConfiguration(0),
+		m_dynamicsWorld(0),
+		m_pickedBody(0),
+		m_pickedConstraint(0),
+		m_pickingMultiBodyPoint2Point(0),
+		m_prevCanSleep(false)
+	{
+	}
+
+	virtual void createEmptyDynamicsWorld()
+	{
+		///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_broadphase = new btDbvtBroadphase();
+
+		m_solver = new btMultiBodyConstraintSolver;
+
+		m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+
+		m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+	}
+
+
+	virtual void stepSimulation(float deltaTime)
+	{
+		if (m_dynamicsWorld)
+		{
+			m_dynamicsWorld->stepSimulation(deltaTime);
+		}
+	}
+
+
+	virtual void exitPhysics()
+	{
+		removePickingConstraint();
+		//cleanup in the reverse order of creation/initialization
+
+		//remove the rigidbodies from the dynamics world and delete them
+
+		if (m_dynamicsWorld)
+		{
+
+            int i;
+            for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
+            {
+                m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(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;
+		}
+		m_collisionShapes.clear();
+
+		delete m_dynamicsWorld;
+
+		delete m_solver;
+
+		delete m_broadphase;
+
+		delete m_dispatcher;
+
+		delete m_collisionConfiguration;
+	}
+
+	virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
+	{
+		if (m_dynamicsWorld)
+		{
+			gfxBridge.syncPhysicsToGraphics(m_dynamicsWorld);
+		}
+	}
+
+    virtual void    debugDraw()
+    {
+     	if (m_dynamicsWorld)
+        {
+            m_dynamicsWorld->debugDrawWorld();
+        }
+
+    }
+
+	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
+	{
+		if (m_dynamicsWorld==0)
+			return false;
+
+		btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
+
+		m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
+		if (rayCallback.hasHit())
+		{
+
+			btVector3 pickPos = rayCallback.m_hitPointWorld;
+			btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
+			if (body)
+			{
+				//other exclusions?
+				if (!(body->isStaticObject() || body->isKinematicObject()))
+				{
+					m_pickedBody = body;
+					m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
+					//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
+					btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
+					btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);
+					m_dynamicsWorld->addConstraint(p2p, true);
+					m_pickedConstraint = p2p;
+					btScalar mousePickClamping = 30.f;
+					p2p->m_setting.m_impulseClamp = mousePickClamping;
+					//very weak constraint for picking
+					p2p->m_setting.m_tau = 0.001f;
+				}
+			} else
+			{
+				btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
+				if (multiCol && multiCol->m_multiBody)
+				{
+						
+					m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
+					multiCol->m_multiBody->setCanSleep(false);
+
+					btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);
+
+					btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos);
+					//if you add too much energy to the system, causing high angular velocities, simulation 'explodes'
+					//see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949
+					//so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply
+					//it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?)
+					btScalar scaling=1;
+					p2p->setMaxAppliedImpulse(2*scaling);
+		
+					btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
+					world->addMultiBodyConstraint(p2p);
+					m_pickingMultiBodyPoint2Point =p2p; 
+				}
+			}
+
+
+
+			//					pickObject(pickPos, rayCallback.m_collisionObject);
+			m_oldPickingPos = rayToWorld;
+			m_hitPos = pickPos;
+			m_oldPickingDist = (pickPos - rayFromWorld).length();
+			//					printf("hit !\n");
+			//add p2p
+		}
+		return false;
+	}
+	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
+	{
+		if (m_pickedBody  && m_pickedConstraint)
+		{
+			btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
+			if (pickCon)
+			{
+				//keep it at the same picking distance
+		
+				btVector3 dir = rayToWorld-rayFromWorld;
+				dir.normalize();
+				dir *= m_oldPickingDist;
+
+				btVector3 newPivotB = rayFromWorld + dir;
+				pickCon->setPivotB(newPivotB);
+			}
+		}
+		
+		if (m_pickingMultiBodyPoint2Point)
+		{
+			//keep it at the same picking distance
+
+		
+			btVector3 dir = rayToWorld-rayFromWorld;
+			dir.normalize();
+			dir *= m_oldPickingDist;
+
+			btVector3 newPivotB = rayFromWorld + dir;
+			
+			m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB);
+		}
+		
+		return false;
+	}
+	virtual void removePickingConstraint()
+	{
+		if (m_pickedConstraint)
+		{
+			m_dynamicsWorld->removeConstraint(m_pickedConstraint);
+			delete m_pickedConstraint;
+			m_pickedConstraint = 0;
+			m_pickedBody = 0;
+		}
+		if (m_pickingMultiBodyPoint2Point)
+		{
+			m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(m_prevCanSleep);
+			btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
+			world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point);
+			delete m_pickingMultiBodyPoint2Point;
+			m_pickingMultiBodyPoint2Point = 0;
+		}
+	}
+
+
+
+	btBoxShape* createBoxShape(const btVector3& halfExtents)
+	{
+		btBoxShape* box = new btBoxShape(halfExtents);
+		return box;
+	}
+
+	btRigidBody*	createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape,  const btVector4& color = btVector4(1, 0, 0, 1))
+	{
+		btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
+
+		//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)
+			shape->calculateLocalInertia(mass, localInertia);
+
+		//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+
+#define USE_MOTIONSTATE 1
+#ifdef USE_MOTIONSTATE
+		btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+
+		btRigidBody::btRigidBodyConstructionInfo cInfo(mass, myMotionState, shape, localInertia);
+
+		btRigidBody* body = new btRigidBody(cInfo);
+		//body->setContactProcessingThreshold(m_defaultContactProcessingThreshold);
+
+#else
+		btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia);
+		body->setWorldTransform(startTransform);
+#endif//
+
+		body->setUserIndex(-1);
+		m_dynamicsWorld->addRigidBody(body);
+		return body;
+	}
+};
+
+#endif //COMMON_MULTI_BODY_SETUP_H
+

Demos/CommonPhysicsSetup.h

@@ -3,6 +3,7 @@
 #define COMMON_PHYSICS_SETUP_H
 
 class btRigidBody;
+class btCollisionObject;
 class btBoxShape;
 class btTransform;
 class btCollisionShape;
@@ -18,6 +19,10 @@ struct GraphicsPhysicsBridge
 	virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
 	{
 	}
+
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
+	{
+	}
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 	{
 	}

Demos/OpenGL/DemoApplication.cpp

@@ -443,7 +443,7 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 			m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
 		break;
 
-	case '=':
+	case '\\':
 		{
 			int maxSerializeBufferSize = 1024*1024*5;
 			btDefaultSerializer*	serializer = new btDefaultSerializer(maxSerializeBufferSize);

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -462,7 +462,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 				{
 					const int		s=x>>4;
 					const GLubyte	b=180;					
-					GLubyte			c=b+((s+t&1)&1)*(255-b);
+					GLubyte			c=b+((s+(t&1))&1)*(255-b);
 					pi[0]=pi[1]=pi[2]=pi[3]=c;pi+=3;
 				}
 			}
@@ -518,7 +518,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 
 		glColor3f(color.x(),color.y(), color.z());		
 
-		bool useWireframeFallback = true;
+		//bool useWireframeFallback = true;
 
 		if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
 		{
@@ -535,7 +535,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 					const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
 					float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
 					drawSphere(radius,10,10);
-					useWireframeFallback = false;
+					//useWireframeFallback = false;
 					break;
 				}
 
@@ -586,7 +586,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 					glEnd();
 #endif
 
-					useWireframeFallback = false;
+					//useWireframeFallback = false;
 					break;
 				}
 
@@ -617,7 +617,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 
 					glTranslatef(0.0, 0.0, -0.5*height);
 					glutSolidCone(radius,height,10,10);
-					useWireframeFallback = false;
+					//useWireframeFallback = false;
 					break;
 
 				}

Demos/OpenGL/GlutStuff.cpp

@@ -17,6 +17,11 @@ subject to the following restrictions:
 
 #include "DemoApplication.h"
 
+#if !defined(_WIN32) && !defined(__APPLE__)
+//assume linux workaround
+//#include <pthread.h>
+#endif
+
 //glut is C code, this global gDemoApplication links glut to the C++ demo
 static DemoApplication* gDemoApplication = 0;
 
@@ -77,6 +82,14 @@ int glutmain(int argc, char **argv,int width,int height,const char* title,DemoAp
 
 	gDemoApplication = demoApp;
 
+#if !defined(_WIN32) && !defined(__APPLE__)
+//Access pthreads as a workaround for a bug in Linux/Ubuntu
+//See https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-319/+bug/1248642
+
+//	int i=pthread_getconcurrency();
+ //       printf("pthread_getconcurrency()=%d\n",i);
+#endif
+
 	glutInit(&argc, argv);
     glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GLUT_STENCIL);
     glutInitWindowPosition(width/2, height/2);

Demos/SerializeDemo/SerializeSetup.cpp

@@ -14,8 +14,48 @@ void SerializeSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 {
     this->createEmptyDynamicsWorld();
     gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
-    m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
+    m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
     btBulletWorldImporter* importer = new btBulletWorldImporter(m_dynamicsWorld);
-    const char* filename = "testFile.bullet";
+	const char* someFileName="spider.bullet";
-    importer->loadFile(filename);
+
+    const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
+        int numPrefixes = sizeof(prefix)/sizeof(const char*);
+        char relativeFileName[1024];
+        FILE* f=0;
+        bool fileFound = false;
+        int result = 0;
+
+        for (int i=0;!f && i<numPrefixes;i++)
+        {
+                sprintf(relativeFileName,"%s%s",prefix[i],someFileName);
+                f = fopen(relativeFileName,"rb");
+                if (f)
+                {
+                    fileFound = true;
+                    break;
+                }
+        }
+        if (f)
+        {
+                fclose(f);
+        }
+
+
+    importer->loadFile(relativeFileName);
+
+	//for now, guess the up axis from gravity
+	if (m_dynamicsWorld->getGravity()[1] == 0.f)
+	{
+		gfxBridge.setUpAxis(2);
+	} else
+	{
+		gfxBridge.setUpAxis(1);
+	}
+
+
+}
+
+void SerializeSetup::stepSimulation(float deltaTime)
+{
+    CommonRigidBodySetup::stepSimulation(deltaTime);
 }

Demos/SerializeDemo/SerializeSetup.h

@@ -9,6 +9,7 @@ public:
     virtual ~SerializeSetup();
 
 	virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
+	virtual void stepSimulation(float deltaTime);
 };
 
 #endif //SERIALIZE_SETUP_H

Demos/premake4.lua

@@ -34,7 +34,7 @@ function createDemos( demos, incdirs, linknames)
 	 		linkoptions { "-framework Carbon -framework OpenGL -framework AGL -framework Glut" } 
 		
 		configuration {"not Windows", "not MacOSX"}
-			links {"GL","GLU","glut"}
+			links {"GL","GLU","glut","pthread"}
 		configuration{}
 	
 		

Demos3/AllBullet2Demos/BulletDemoEntries.h

@@ -14,10 +14,18 @@
 #include "../bullet2/LuaDemo/LuaPhysicsSetup.h"
 #include "../bullet2/ChainDemo/ChainDemo.h"
 #include "../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h"
-#include "../../Demos/ConstraintDemo/ConstraintPhysicsSetup.h"
+#include "../bullet2/ConstraintDemo/ConstraintPhysicsSetup.h"
 #include "../ImportURDFDemo/ImportURDFSetup.h"
 #include "../ImportObjDemo/ImportObjSetup.h"
 #include "../ImportSTLDemo/ImportSTLSetup.h"
+#include "../../Demos/SerializeDemo/SerializeSetup.h"
+#include "../bullet2/MultiBodyDemo/TestJointTorqueSetup.h"
+
+static BulletDemoInterface* TestJointTorqueCreateFunc(SimpleOpenGL3App* app)
+{
+       CommonPhysicsSetup* physicsSetup = new TestJointTorqueSetup();
+       return new BasicDemo(app, physicsSetup);
+}
 
 static BulletDemoInterface* LuaDemoCreateFunc(SimpleOpenGL3App* app)
 {
@@ -36,7 +44,11 @@ static BulletDemoInterface* MyKinematicObjectCreateFunc(SimpleOpenGL3App* app)
 	CommonPhysicsSetup* physicsSetup = new KinematicObjectSetup();
 	return new BasicDemo(app, physicsSetup);
 }
-
+static BulletDemoInterface* MySerializeCreateFunc(SimpleOpenGL3App* app)
+{
+    CommonPhysicsSetup* physicsSetup = new SerializeSetup();
+	return new BasicDemo(app, physicsSetup);
+}
 static BulletDemoInterface* MyConstraintCreateFunc(SimpleOpenGL3App* app)
 {
 	CommonPhysicsSetup* physicsSetup = new ConstraintPhysicsSetup();
@@ -82,6 +94,7 @@ static BulletDemoEntry allDemos[]=
 
 	{0,"File Formats", 0},
 //@todo(erwincoumans)	{ 1, "bullet", MyImportSTLCreateFunc},
+    { 1, ".bullet",MySerializeCreateFunc},
 	{ 1, "Wavefront Obj", MyImportObjCreateFunc},
     { 1, "URDF", MyImportUrdfCreateFunc },
 	{ 1, "STL", MyImportSTLCreateFunc},
@@ -102,6 +115,8 @@ static BulletDemoEntry allDemos[]=
 	{1,"MultiBody1",FeatherstoneDemo1::MyCreateFunc},
 //	{"MultiBody2",FeatherstoneDemo2::MyCreateFunc},
 	{1,"MultiDofDemo",MultiDofDemo::MyCreateFunc},
+	{1,"TestJointTorque",TestJointTorqueCreateFunc},
+
 
 };
 
@@ -124,10 +139,15 @@ static int loadCurrentDemoEntry(const char* startFileName)
 	FILE* f = fopen(startFileName,"r");
 	if (f)
 	{
-		fscanf(f,"%d",&currentEntry);
+		int result;
+		result = fscanf(f,"%d",&currentEntry);
+		if (result)
+		{
+			return currentEntry;
+		}
 		fclose(f);
 	}
-	return currentEntry;
+	return 0;
 };
 
 #endif//BULLET_DEMO_ENTRIES_H

Demos3/AllBullet2Demos/CMakeLists.txt

@@ -6,7 +6,6 @@ INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/btgui/lua-5.2.3/src
 )
 
- 
 SET(App_AllBullet2Demos_SRCS
 	main.cpp
 	BulletDemoInterface.h
@@ -26,8 +25,16 @@ SET(App_AllBullet2Demos_SRCS
 	../../Demos/BasicDemo/BasicDemoPhysicsSetup.h
 	../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp
 	../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h
-	../../Demos/ConstraintDemo/ConstraintPhysicsSetup.cpp
+	../../Demos/SerializeDemo/SerializeSetup.cpp
-	../../Demos/ConstraintDemo/ConstraintPhysicsSetup.h
+        ../../Extras/Serialize/BulletFileLoader/bChunk.cpp
+        ../../Extras/Serialize/BulletFileLoader/bDNA.cpp
+        ../../Extras/Serialize/BulletFileLoader/bFile.cpp
+        ../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
+        ../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
+        ../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
+	../bullet2/MultiBodyDemo/TestJointTorqueSetup.cpp
+	../bullet2/ConstraintDemo/ConstraintPhysicsSetup.cpp
+	../bullet2/ConstraintDemo/ConstraintPhysicsSetup.h
 	../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
 	../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h
 	../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp
@@ -93,7 +100,13 @@ ELSE(WIN32)
                 MESSAGE(${COCOA})
                 link_libraries(${COCOA})
         ELSE(APPLE)
-		LINK_LIBRARIES( pthread GLEW)
+		ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+		ADD_DEFINITIONS("-DGLEW_STATIC")
+	        ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+		INCLUDE_DIRECTORIES(
+                                ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+	        )
+		LINK_LIBRARIES( pthread dl)
 	ENDIF(APPLE)
 ENDIF(WIN32)
  

Demos3/AllBullet2Demos/GraphingTexture.cpp

@@ -14,7 +14,7 @@ GraphingTexture::~GraphingTexture()
 	destroy();
 }
 
-bool GraphingTexture::destroy()
+void GraphingTexture::destroy()
 {
 	//TODO(erwincoumans) release memory etc...
 	m_width = 0;
@@ -58,21 +58,18 @@ bool GraphingTexture::create(int texWidth, int texHeight)
 	glGenTextures(1,(GLuint*)&m_textureId);
 	
 	uploadImageData();
+	return true;
 }
 
 void GraphingTexture::uploadImageData()
 {
 	glBindTexture(GL_TEXTURE_2D,m_textureId);
-	GLint err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-	assert(err==GL_NO_ERROR);
 	
-	err = glGetError();
-	assert(err==GL_NO_ERROR);
 	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, m_width,m_height,0,GL_RGBA,GL_UNSIGNED_BYTE,&m_imageData[0]);
 	glGenerateMipmap(GL_TEXTURE_2D);
 	
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-	assert(err==GL_NO_ERROR);
 	
 	
 }

Demos3/AllBullet2Demos/GraphingTexture.h

@@ -14,7 +14,7 @@ struct GraphingTexture
 	virtual ~GraphingTexture();
 	
 	bool create(int texWidth, int texHeight);
-	bool destroy();
+	void  destroy();
 	
 	void setPixel(int x, int y, unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
 	{

Demos3/AllBullet2Demos/GwenParameterInterface.cpp

@@ -124,7 +124,7 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
 
 	pSlider->onValueChanged.Add( handler, &MySliderEventHandler<btScalar>::SliderMoved );
 	handler->SliderMoved(pSlider);
-	float v = pSlider->GetValue();
+//	float v = pSlider->GetValue();
 	m_gwenInternalData->m_curYposition+=22;
 }
 

Demos3/AllBullet2Demos/GwenProfileWindow.cpp

@@ -1,3 +1,4 @@
+#include "GwenProfileWindow.h"
 #include "../GpuDemos/gwenUserInterface.h"
 #include "../GpuDemos/gwenInternalData.h"
 #include "LinearMath/btQuickprof.h"
@@ -27,7 +28,7 @@ protected:
 	
 	void SliderMoved(Gwen::Controls::Base* pControl )
 	{
-		Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl;
+	//	Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl;
 		//this->m_app->scaleYoungModulus(pSlider->GetValue());
 		//	printf("Slider Value: %.2f", pSlider->GetValue() );
 	}
@@ -35,8 +36,8 @@ protected:
 	
 	void	OnCheckChangedStiffnessWarping (Gwen::Controls::Base* pControl)
 	{
-		Gwen::Controls::CheckBox* labeled = (Gwen::Controls::CheckBox* )pControl;
+	//	Gwen::Controls::CheckBox* labeled = (Gwen::Controls::CheckBox* )pControl;
-		bool checked = labeled->IsChecked();
+//		bool checked = labeled->IsChecked();
 		//m_app->m_stiffness_warp_on  = checked;
 	}
 public:
@@ -148,13 +149,13 @@ public:
 	void	UpdateText(CProfileIterator*  profileIterator, bool idle)
 	{
 		
-		static bool update=true;
+	//	static bool update=true;
 		
         m_ctrl->SetBounds(0,0,this->GetInnerBounds().w,this->GetInnerBounds().h);
 		
         //		if (!update)
         //			return;
-		update=false;
+	//	update=false;
 		
 		
 		static int test = 1;
@@ -170,18 +171,18 @@ public:
 		{
             //recompute profiling data, and store profile strings
 			
-            char blockTime[128];
+         //   char blockTime[128];
 			
-            double totalTime = 0;
+           // double totalTime = 0;
 			
-            int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
+          //  int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
 			
             profileIterator->First();
 			
             double parent_time = profileIterator->Is_Root() ? time_since_reset : profileIterator->Get_Current_Parent_Total_Time();
 			
 			
-            Gwen::Controls::TreeNode* curParent = m_node;
+         //   Gwen::Controls::TreeNode* curParent = m_node;
 			
             double accumulated_time = dumpRecursive(profileIterator,m_node);
 			

Demos3/AllBullet2Demos/GwenProfileWindow.h

@@ -1,8 +1,7 @@
 #ifndef GWEN_PROFILE_WINDOW_H
 #define GWEN_PROFILE_WINDOW_H
 
-struct MyProfileWindow* setupProfileWindow(struct GwenInternalData* data);
+class MyProfileWindow* setupProfileWindow(struct GwenInternalData* data);
-
 void processProfileData(MyProfileWindow* window, bool idle);
 void profileWindowSetVisible(MyProfileWindow* window, bool visible);
 void destroyProfileWindow(MyProfileWindow* window);

Demos3/AllBullet2Demos/GwenTextureWindow.cpp

@@ -78,7 +78,7 @@ public:
     }
 };
 
-struct MyGraphWindow* setupTextureWindow(const MyGraphInput& input)
+MyGraphWindow* setupTextureWindow(const MyGraphInput& input)
 {
 	MyGraphWindow* graphWindow = new MyGraphWindow(input);
 	MyMenuItems2* menuItems = new MyMenuItems2(graphWindow);

Demos3/AllBullet2Demos/GwenTextureWindow.h

@@ -25,7 +25,7 @@ struct MyGraphInput
 	{
 	}
 };
-struct MyGraphWindow* setupTextureWindow(const MyGraphInput& input);
+class MyGraphWindow* setupTextureWindow(const MyGraphInput& input);
 void destroyTextureWindow(MyGraphWindow* window);
 
 

Demos3/AllBullet2Demos/main.cpp

@@ -24,9 +24,11 @@ static b3AlignedObjectArray<const char*> allNames;
 bool drawGUI=true;
 extern bool useShadowMap;
 static bool wireframe=false;
-static bool pauseSimulation=false;
+static bool pauseSimulation=false;//true;
 int midiBaseIndex = 176;
 
+//#include <float.h>
+//unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM);
 
 #ifdef B3_USE_MIDI
 #include "../../btgui/MidiTest/RtMidi.h"
@@ -179,6 +181,32 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
 
 #include <string.h>
 
+void openURDFDemo(const char* filename)
+{
+   
+    if (sCurrentDemo)
+    {
+        sCurrentDemo->exitPhysics();
+        app->m_instancingRenderer->removeAllInstances();
+        delete sCurrentDemo;
+        sCurrentDemo=0;
+    }
+    
+    app->m_parameterInterface->removeAllParameters();
+   
+    ImportUrdfDemo* physicsSetup = new ImportUrdfDemo();
+    physicsSetup->setFileName(filename);
+    
+    sCurrentDemo = new BasicDemo(app, physicsSetup);
+    
+    if (sCurrentDemo)
+    {
+        sCurrentDemo->initPhysics();
+    }
+
+    
+}
+
 void selectDemo(int demoIndex)
 {
 	sCurrentDemoIndex = demoIndex;
@@ -238,13 +266,13 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 
 	void onButtonA(Gwen::Controls::Base* pControl)
 	{
-		const Gwen::String& name = pControl->GetName();
+		//const Gwen::String& name = pControl->GetName();
 		Gwen::Controls::TreeNode* node = (Gwen::Controls::TreeNode*)pControl;
-		Gwen::Controls::Label* l = node->GetButton();
+	//	Gwen::Controls::Label* l = node->GetButton();
 
 		Gwen::UnicodeString la = node->GetButton()->GetText();// node->GetButton()->GetName();// GetText();
 		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
-		const char* ha = laa.c_str();
+	//	const char* ha = laa.c_str();
 
 		//printf("selected %s\n", ha);
 		//int dep = but->IsDepressed();
@@ -257,7 +285,7 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
 		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
 		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
-		const char* ha = laa.c_str();
+		//const char* ha = laa.c_str();
 
 
 		selectDemo(sCurrentHightlighted);
@@ -265,10 +293,10 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 	}
 	void onButtonC(Gwen::Controls::Base* pControl)
 	{
-		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
+//		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
-		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
+	//	Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
-		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
+	//	Gwen::String laa = Gwen::Utility::UnicodeToString(la);
-		const char* ha = laa.c_str();
+	//	const char* ha = laa.c_str();
 
 
 //		printf("onButtonC ! %s\n", ha);
@@ -314,7 +342,8 @@ struct GL3TexLoader : public MyTextureLoader
 	
 	virtual void LoadTexture( Gwen::Texture* pTexture )
 	{
-		const char* n = pTexture->name.Get().c_str();
+		Gwen::String namestr = pTexture->name.Get();
+		const char* n = namestr.c_str();
 		GLint* texIdPtr = m_hashMap[n];
 		if (texIdPtr)
 		{
@@ -326,6 +355,18 @@ struct GL3TexLoader : public MyTextureLoader
 	}
 };
 
+void fileOpenCallback()
+{
+
+ char filename[1024];
+ int len = app->m_window->fileOpenDialog(filename,1024);
+ if (len)
+ {
+     //todo(erwincoumans) check if it is actually URDF
+     //printf("file open:%s\n", filename);
+     openURDFDemo(filename);
+ }
+}
 
 extern float shadowMapWorldSize;
 int main(int argc, char* argv[])
@@ -334,7 +375,7 @@ int main(int argc, char* argv[])
 
 	b3Clock clock;
 
-	float dt = 1./120.f;
+	//float dt = 1./120.f;
 	int width = 1024;
 	int height=768;
 
@@ -348,8 +389,7 @@ int main(int argc, char* argv[])
 	app->m_window->setKeyboardCallback(MyKeyboardCallback);
 
 
-	GLint err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	sth_stash* fontstash=app->getFontStash();
 	gui = new GwenUserInterface;
@@ -376,7 +416,8 @@ int main(int argc, char* argv[])
 		gt->create(256,256);
 		int texId = gt->getTextureId();
 		myTexLoader->m_hashMap.insert("graph1", texId);
-		MyGraphWindow* gw = setupTextureWindow(input);
+		//MyGraphWindow* gw = 
+		setupTextureWindow(input);
 	}
 	if (1)
 	{
@@ -403,7 +444,8 @@ int main(int argc, char* argv[])
 		int texId = gt->getTextureId();
 		input.m_xPos = width-input.m_width;
 		myTexLoader->m_hashMap.insert("graph2", texId);
-		MyGraphWindow* gw = setupTextureWindow(input);
+		//MyGraphWindow* gw = 
+		setupTextureWindow(input);
 	}
 	//destroyTextureWindow(gw);
 	
@@ -414,8 +456,8 @@ int main(int argc, char* argv[])
 
 	int numDemos = sizeof(allDemos)/sizeof(BulletDemoEntry);
 
-	char nodeText[1024];
+	//char nodeText[1024];
-	int curDemo = 0;
+	//int curDemo = 0;
 	int selectedDemo = loadCurrentDemoEntry(startFileName);
 	Gwen::Controls::TreeNode* curNode = tree;
 	MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
@@ -472,12 +514,12 @@ int main(int argc, char* argv[])
 	*/
 	unsigned long int	prevTimeInMicroseconds = clock.getTimeMicroseconds();
 
+    gui->registerFileOpenCallback(fileOpenCallback);
     
 	do
 	{
 
-		GLint err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 		app->m_instancingRenderer->init();
         DrawGridData dg;
         dg.upAxis = app->getUpAxis();

Demos3/AllBullet2Demos/premake4.lua

@@ -44,14 +44,23 @@
 		"../bullet2/BasicDemo/Bullet2RigidBodyDemo.h",
 		"../bullet2/LuaDemo/LuaPhysicsSetup.cpp",
 		"../bullet2/LuaDemo/LuaPhysicsSetup.h",
+		"../bullet2/MultiBodyDemo/TestJointTorqueSetup.cpp",
+		"../bullet2/MultiBodyDemo/TestJointTorqueSetup.h",
 	--	"../DifferentialGearDemo/DifferentialGearSetup.cpp",
 --		"../DifferentialGearDemo/DifferentialGearSetup.h",
 		"../../Demos/BasicDemo/BasicDemoPhysicsSetup.cpp",
 		"../../Demos/BasicDemo/BasicDemoPhysicsSetup.h",
 		"../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp",
 		"../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h",
-		"../../Demos/ConstraintDemo/ConstraintPhysicsSetup.cpp",
+		"../../Demos/SerializeDemo/SerializeSetup.cpp",
-  		"../../Demos/ConstraintDemo/ConstraintPhysicsSetup.h",
+		"../../Extras/Serialize/BulletFileLoader/bChunk.cpp",
+		"../../Extras/Serialize/BulletFileLoader/bDNA.cpp",
+		"../../Extras/Serialize/BulletFileLoader/bFile.cpp",
+		"../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp",	
+		"../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp",
+		"../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp",	
+		"../bullet2/ConstraintDemo/ConstraintPhysicsSetup.cpp",
+  		"../bullet2/ConstraintDemo/ConstraintPhysicsSetup.h",
 		"../ImportURDFDemo/ImportURDFSetup.cpp",
 		"../ImportObjDemo/ImportObjSetup.cpp",
 	 	"../ImportSTLDemo/ImportSTLSetup.cpp",	

Demos3/BasicDemoCustomOpenGL2/main.cpp

@@ -144,7 +144,7 @@ int main(int argc, char* argv[])
     }
     if (majorGlVersion>=3 && wci.m_openglVersion>=3)
     {
-        float retinaScale = 1.f;
+       // float retinaScale = 1.f;
 
 #ifndef __APPLE__
 #ifndef _WIN32
@@ -154,14 +154,15 @@ int main(int argc, char* argv[])
         glewInit();
 #endif
 
-    //we ned to call glGetError twice, because of some Ubuntu/Intel/OpenGL issue
+    //we need to call glGetError twice, because of some Ubuntu/Intel/OpenGL issue
 
-    GLuint err = glGetError();
+   glGetError();
-    err = glGetError();
+   glGetError();
-    btAssert(err==GL_NO_ERROR);
+
+    btAssert(glGetError()==GL_NO_ERROR);
 
 
-        retinaScale = window->getRetinaScale();
+        //retinaScale = window->getRetinaScale();
 
         //primRenderer = new GLPrimitiveRenderer(sWidth,sHeight);
         //sth_stash* font = initFont(primRenderer );

Demos3/CMakeLists.txt

@@ -1,5 +1,5 @@
 if (OPENGL_FOUND)
-if (BUILD_BULLET3_DEMOS)
+if (BUILD_OPENGL3_DEMOS)
 	SUBDIRS( AllBullet2Demos GpuDemos SimpleOpenGL3 )
-endif(BUILD_BULLET3_DEMOS)
+endif(BUILD_OPENGL3_DEMOS)
 endif(OPENGL_FOUND)

Demos3/GpuDemos/CMakeLists.txt

@@ -50,7 +50,16 @@ ELSE(WIN32)
                 MESSAGE(${COCOA})
                 link_libraries(${COCOA})
         ELSE(APPLE)
-		LINK_LIBRARIES( GLEW X11 pthread dl)
+		 SET(App_Bullet3_OpenCL_Demos_SRCS ${App_Bullet3_OpenCL_Demos_SRCS}  ${App_Bullet3_OpenCL_Demos_Common_SRCS} ../../btgui/OpenGLWindow/GlewWindows/glew.c)
+
+		 INCLUDE_DIRECTORIES(
+                                ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+       		 )
+		ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+                ADD_DEFINITIONS("-DGLEW_STATIC")
+                ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+		LINK_LIBRARIES( X11 pthread dl)
 	ENDIF(APPLE)
 ENDIF(WIN32)
 

Demos3/GpuDemos/ParticleDemo.cpp

@@ -5,7 +5,7 @@
 #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
 
 #define MSTRINGIFY(A) #A
-static char* particleKernelsString = 
+static const char* particleKernelsString =
 #include "ParticleKernels.cl"
 
 #define INTEROPKERNEL_SRC_PATH "demo/gpudemo/ParticleKernels.cl"
@@ -256,7 +256,7 @@ void ParticleDemo::setupScene(const ConstructionInfo& ci)
 
 			int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,quaternion,color,scaling);
 
-			void* userPtr = (void*)userIndex;
+
 			int collidableIndex = userIndex;
 			b3Vector3 aabbMin,aabbMax;
 			b3Vector3 particleRadius=b3MakeVector3(rad,rad,rad);

Demos3/GpuDemos/gwenInternalData.h

@@ -40,6 +40,7 @@ struct GwenInternalData
 	Gwen::Controls::TabButton*		m_explorerPage;
 	Gwen::Controls::TreeControl*	m_explorerTreeCtrl;
 	Gwen::Controls::MenuItem*		m_viewMenu;
+    class MyMenuItems*                    m_menuItems;
 
 	int		m_curYposition;
 

Demos3/GpuDemos/gwenUserInterface.cpp

@@ -44,13 +44,23 @@ class MyMenuItems :  public Gwen::Controls::Base
 {
 public:
 
-    MyMenuItems() :Gwen::Controls::Base(0)
+    b3FileOpenCallback m_fileOpenCallback;
+    
+    MyMenuItems() :Gwen::Controls::Base(0),m_fileOpenCallback(0)
     {
     }
     void myQuitApp( Gwen::Controls::Base* pControl )
     {
         exit(0);
     }
+    void fileOpen( Gwen::Controls::Base* pControl )
+    {
+        if (m_fileOpenCallback)
+        {
+            (*m_fileOpenCallback)();
+        }
+    }
+    
 };
 
 struct MyTestMenuBar : public Gwen::Controls::MenuStrip
@@ -58,16 +68,19 @@ struct MyTestMenuBar : public Gwen::Controls::MenuStrip
 
 	Gwen::Controls::MenuItem* m_fileMenu;
 	Gwen::Controls::MenuItem* m_viewMenu;
+    MyMenuItems*                m_menuItems;
 
 	MyTestMenuBar(Gwen::Controls::Base* pParent)
 		:Gwen::Controls::MenuStrip(pParent)
 	{
 //		Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
 		{
-			MyMenuItems* menuItems = new MyMenuItems;
+			m_menuItems = new MyMenuItems;
 
 			m_fileMenu = AddItem( L"File" );
-			m_fileMenu->GetMenu()->AddItem(L"Quit",menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
+			
+            m_fileMenu->GetMenu()->AddItem(L"Open",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
+            m_fileMenu->GetMenu()->AddItem(L"Quit",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
             m_viewMenu = AddItem( L"View" );
 			
 		}
@@ -120,7 +133,7 @@ struct MyButtonHander   :public Gwen::Event::Handler
 	void onButtonA( Gwen::Controls::Base* pControl )
 	{
 		Gwen::Controls::Button* but = (Gwen::Controls::Button*) pControl;
-		int dep = but->IsDepressed();
+//		int dep = but->IsDepressed();
 		int tog = but->GetToggleState();
 		if (m_data->m_toggleButtonCallback)
 			(*m_data->m_toggleButtonCallback)(m_buttonId,tog);
@@ -142,6 +155,11 @@ void	GwenUserInterface::setStatusBarMessage(const char* message, bool isLeft)
 	}
 }
 
+void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback)
+{
+    m_data->m_menuItems->m_fileOpenCallback = callback;
+}
+
 void	GwenUserInterface::init(int width, int height,struct sth_stash* stash,float retinaScale)
 {
 	m_data->m_curYposition = 20;
@@ -157,6 +175,10 @@ void	GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
 
 	MyTestMenuBar* menubar = new MyTestMenuBar(m_data->pCanvas);
 	m_data->m_viewMenu = menubar->m_viewMenu;
+    m_data->m_menuItems = menubar->m_menuItems;
+    
+    
+    
 	Gwen::Controls::StatusBar* bar = new Gwen::Controls::StatusBar(m_data->pCanvas);
 	m_data->m_rightStatusBar = new Gwen::Controls::Label( bar );
 	m_data->m_rightStatusBar->SetWidth(width/2);

Demos3/GpuDemos/gwenUserInterface.h

@@ -5,7 +5,7 @@ struct GwenInternalData;
 
 typedef void (*b3ComboBoxCallback) (int combobox, const char* item);
 typedef void (*b3ToggleButtonCallback)(int button, int state);
-
+typedef void (*b3FileOpenCallback)();
 
 
 class GwenUserInterface
@@ -40,6 +40,8 @@ class GwenUserInterface
 		
 		void	setStatusBarMessage(const char* message, bool isLeft=true);
 
+        void    registerFileOpenCallback(b3FileOpenCallback callback);
+    
 		GwenInternalData* getInternalData()
 		{
 			return m_data;

Demos3/GpuDemos/main_opengl3core.cpp

@@ -55,8 +55,8 @@ bool dump_timings = false;
 int maxFrameCount = 102;
 extern char OpenSansData[];
 extern char* gPairBenchFileName;
-extern float shadowMapWidth;
+extern int shadowMapWidth;
-extern float shadowMapHeight;
+extern int shadowMapHeight;
 extern bool gDebugLauncherCL;
 extern bool gAllowCpuOpenCL;
 extern bool gUseLargeBatches;
@@ -94,7 +94,8 @@ static int loadCurrentDemoEntry(const char* startFileName)
 	FILE* f = fopen(startFileName,"r");
 	if (f)
 	{
-		fscanf(f,"%d",&currentEntry);
+		int bytesScanned;
+        bytesScanned = fscanf(f,"%d",&currentEntry);
 		fclose(f);
 	}
 	return currentEntry;
@@ -534,7 +535,7 @@ FILE* defaultOutput = stdout;
 
 void myprintf(const char* msg)
 {
-	fprintf(defaultOutput,msg);
+	fprintf(defaultOutput,"%s",msg);
 }
 
 
@@ -820,7 +821,7 @@ int main(int argc, char* argv[])
 		for (int i=0;i<nummsg;i++)
 		{
 			char txt[512];
-			sprintf(txt,msg[i]);
+			sprintf(txt,"%s",msg[i]);
 				//sth_draw_text(stash, droidRegular,i, 10, dy-spacing, txt, &dx,g_OpenGLWidth,g_OpenGLHeight);
 				sth_draw_text(stash, droidRegular,fontSize, 10, spacing, txt, &dx,g_OpenGLWidth,g_OpenGLHeight);
 				spacing+=fontSize;

Demos3/GpuDemos/rigidbody/BulletDataExtractor.cpp

@@ -569,7 +569,7 @@ int b3BulletDataExtractor::createSphereShape( float radius, const Bullet3Seriali
 
 int b3BulletDataExtractor::createPlaneShape( const Bullet3SerializeBullet2::b3Vector3FloatData& planeNormal, float planeConstant, const Bullet3SerializeBullet2::b3Vector3FloatData& localScaling)
 {
-	printf("createPlaneShape with normal %f,%f,%f and planeConstant\n",planeNormal.m_floats[0], planeNormal.m_floats[1],planeNormal.m_floats[2],planeConstant);
+	printf("createPlaneShape with normal %f,%f,%f and planeConstant %f\n",planeNormal.m_floats[0], planeNormal.m_floats[1],planeNormal.m_floats[2],planeConstant);
 	return -1;
 }
 

Demos3/GpuDemos/rigidbody/ConcaveScene.cpp

@@ -218,7 +218,7 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
 	//char* fileName = "teddy.obj";//"plane.obj";
 //	char* fileName = "sponza_closed.obj";//"plane.obj";
 	//char* fileName = "leoTest1.obj";
-	char* fileName = "samurai_monastry.obj";
+	const char* fileName = "samurai_monastry.obj";
 //	char* fileName = "teddy2_VHACD_CHs.obj";
 
 		b3Vector3 shift1=b3MakeVector3(0,0,0);//0,230,80);//150,-100,-120);
@@ -377,7 +377,7 @@ void ConcaveCompoundScene::setupScene(const ConstructionInfo& ci)
 void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
 {
 
-	char* fileName = "teddy2_VHACD_CHs.obj";
+	const char* fileName = "teddy2_VHACD_CHs.obj";
 	//char* fileName = "cube_offset.obj";
 
 

Demos3/ImportObjDemo/ImportObjSetup.cpp

@@ -28,7 +28,7 @@ static GLInstanceGraphicsShape* gCreateGraphicsShapeFromWavefrontObj(std::vector
 		//	int numIndices = 0;
 		b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
 		
-		for (int s=0;s<shapes.size();s++)
+		for (int s=0;s<(int)shapes.size();s++)
 		{
 			tinyobj::shape_t& shape = shapes[s];
 			int faceCount = shape.mesh.indices.size();
@@ -151,7 +151,7 @@ void ImportObjDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 	
 	btVector3 shift(0,0,0);
 	btVector3 scaling(1,1,1);
-	int index=10;
+//	int index=10;
 	
 	{
 		
@@ -172,7 +172,8 @@ void ImportObjDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 		int shapeId = m_app->m_instancingRenderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
 		
 		
-		int id = m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+		//int id = 
+		m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 
 		/*
 

Demos3/ImportSTLDemo/ImportSTLSetup.cpp

@@ -4,6 +4,7 @@
 #include "OpenGLWindow/GLInstanceGraphicsShape.h"
 #include "btBulletDynamicsCommon.h"
 #include "OpenGLWindow/SimpleOpenGL3App.h"
+#include "LoadMeshFromSTL.h"
 
 ImportSTLDemo::ImportSTLDemo(SimpleOpenGL3App* app)
 :m_app(app)
@@ -16,97 +17,6 @@ ImportSTLDemo::~ImportSTLDemo()
     
 }
 
-struct MySTLTriangle
-{
-	float normal[3];
-	float vertex0[3];
-	float vertex1[3];
-	float vertex2[3];
-};
-
-GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
-{
-	GLInstanceGraphicsShape* shape = 0;
-	
-	FILE* file = fopen(relativeFileName,"rb");
-	if (file)
-	{
-		int size=0;
-		if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
-		{
-			printf("Error: Cannot access file to determine size of %s\n", relativeFileName);
-		} else
-		{
-			if (size)
-			{
-				printf("Open STL file of %d bytes\n",size);
-				char* memoryBuffer = new char[size+1];
-				int actualBytesRead = fread(memoryBuffer,1,size,file);
-				if (actualBytesRead!=size)
-				{
-					printf("Error reading from file %s",relativeFileName);
-				} else
-				{
-					int numTriangles = *(int*)&memoryBuffer[80];
-					
-					if (numTriangles)
-					{
-						
-						shape = new GLInstanceGraphicsShape;
-//						b3AlignedObjectArray<GLInstanceVertex>*	m_vertices;
-//						int				m_numvertices;
-//						b3AlignedObjectArray<int>* 		m_indices;
-//						int				m_numIndices;
-//						float			m_scaling[4];
-						shape->m_scaling[0] = 1;
-						shape->m_scaling[1] = 1;
-						shape->m_scaling[2] = 1;
-						shape->m_scaling[3] = 1;
-						int index = 0;
-						shape->m_indices = new b3AlignedObjectArray<int>();
-						shape->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
-						for (int i=0;i<numTriangles;i++)
-						{
-							char* curPtr = &memoryBuffer[84+i*50];
-							MySTLTriangle* tri = (MySTLTriangle*) curPtr;
-							
-							GLInstanceVertex v0,v1,v2;
-							if (i==numTriangles-2)
-							{
-								printf("!\n");
-							}
-							v0.uv[0] = v1.uv[0] = v2.uv[0] = 0.5;
-							v0.uv[1] = v1.uv[1] = v2.uv[1] = 0.5;
-							for (int v=0;v<3;v++)
-							{
-								v0.xyzw[v] = tri->vertex0[v];
-								v1.xyzw[v] = tri->vertex1[v];
-								v2.xyzw[v] = tri->vertex2[v];
-								v0.normal[v] = v1.normal[v] = v2.normal[v] = tri->normal[v];
-							}
-							v0.xyzw[3] = v1.xyzw[3] = v2.xyzw[3] = 0.f;
-							
-							shape->m_vertices->push_back(v0);
-							shape->m_vertices->push_back(v1);
-							shape->m_vertices->push_back(v2);
-							
-							shape->m_indices->push_back(index++);
-							shape->m_indices->push_back(index++);
-							shape->m_indices->push_back(index++);
-							
-						}
-					}
-				}
-				
-				delete[] memoryBuffer;
-			}
-		}
-		fclose(file);
-	}
-	shape->m_numIndices = shape->m_indices->size();
-	shape->m_numvertices = shape->m_vertices->size();
-	return shape;
-}
 
 
 void ImportSTLDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
@@ -143,7 +53,7 @@ void ImportSTLDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 	
 	btVector3 shift(0,0,0);
 	btVector3 scaling(10,10,10);
-	int index=10;
+//	int index=10;
 	
 	{
 		
@@ -161,7 +71,8 @@ void ImportSTLDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 		int shapeId = m_app->m_instancingRenderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
 		
 		
-		int id = m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+	//	int id = 
+		m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
 
 		/*
 

Demos3/ImportSTLDemo/LoadMeshFromSTL.h

@@ -0,0 +1,101 @@
+
+#ifndef LOAD_MESH_FROM_STL_H
+#define LOAD_MESH_FROM_STL_H
+
+#include "OpenGLWindow/GLInstanceGraphicsShape.h"
+#include <stdio.h> //fopen
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+struct MySTLTriangle
+{
+	float normal[3];
+	float vertex0[3];
+	float vertex1[3];
+	float vertex2[3];
+};
+
+static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
+{
+	GLInstanceGraphicsShape* shape = 0;
+	
+	FILE* file = fopen(relativeFileName,"rb");
+	if (file)
+	{
+		int size=0;
+		if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
+		{
+			printf("Error: Cannot access file to determine size of %s\n", relativeFileName);
+		} else
+		{
+			if (size)
+			{
+				printf("Open STL file of %d bytes\n",size);
+				char* memoryBuffer = new char[size+1];
+				int actualBytesRead = fread(memoryBuffer,1,size,file);
+				if (actualBytesRead!=size)
+				{
+					printf("Error reading from file %s",relativeFileName);
+				} else
+				{
+					int numTriangles = *(int*)&memoryBuffer[80];
+					
+					if (numTriangles)
+					{
+						
+						shape = new GLInstanceGraphicsShape;
+//						b3AlignedObjectArray<GLInstanceVertex>*	m_vertices;
+//						int				m_numvertices;
+//						b3AlignedObjectArray<int>* 		m_indices;
+//						int				m_numIndices;
+//						float			m_scaling[4];
+						shape->m_scaling[0] = 1;
+						shape->m_scaling[1] = 1;
+						shape->m_scaling[2] = 1;
+						shape->m_scaling[3] = 1;
+						int index = 0;
+						shape->m_indices = new b3AlignedObjectArray<int>();
+						shape->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+						for (int i=0;i<numTriangles;i++)
+						{
+							char* curPtr = &memoryBuffer[84+i*50];
+							MySTLTriangle* tri = (MySTLTriangle*) curPtr;
+							
+							GLInstanceVertex v0,v1,v2;
+							if (i==numTriangles-2)
+							{
+								printf("!\n");
+							}
+							v0.uv[0] = v1.uv[0] = v2.uv[0] = 0.5;
+							v0.uv[1] = v1.uv[1] = v2.uv[1] = 0.5;
+							for (int v=0;v<3;v++)
+							{
+								v0.xyzw[v] = tri->vertex0[v];
+								v1.xyzw[v] = tri->vertex1[v];
+								v2.xyzw[v] = tri->vertex2[v];
+								v0.normal[v] = v1.normal[v] = v2.normal[v] = tri->normal[v];
+							}
+							v0.xyzw[3] = v1.xyzw[3] = v2.xyzw[3] = 0.f;
+							
+							shape->m_vertices->push_back(v0);
+							shape->m_vertices->push_back(v1);
+							shape->m_vertices->push_back(v2);
+							
+							shape->m_indices->push_back(index++);
+							shape->m_indices->push_back(index++);
+							shape->m_indices->push_back(index++);
+							
+						}
+					}
+				}
+				
+				delete[] memoryBuffer;
+			}
+		}
+		fclose(file);
+	}
+	shape->m_numIndices = shape->m_indices->size();
+	shape->m_numvertices = shape->m_vertices->size();
+	return shape;
+}
+
+#endif //LOAD_MESH_FROM_STL_H

Demos3/ImportURDFDemo/ImportURDFSetup.cpp

@@ -1,6 +1,9 @@
 
 #include "ImportURDFSetup.h"
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include "../ImportSTLDemo/LoadMeshFromSTL.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 
 static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
 static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
@@ -9,7 +12,7 @@ static bool enableConstraints = true;//false;
 
 ImportUrdfDemo::ImportUrdfDemo()
 {
-
+    sprintf(m_fileName,"r2d2.urdf");
 }
 
 ImportUrdfDemo::~ImportUrdfDemo()
@@ -18,7 +21,10 @@ ImportUrdfDemo::~ImportUrdfDemo()
 }
 
 
-
+void ImportUrdfDemo::setFileName(const char* urdfFileName)
+{
+    memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
+}
 
 #include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
 
@@ -59,6 +65,8 @@ void printTree(my_shared_ptr<const Link> link,int level = 0)
 struct URDF_LinkInformation
 {
     const Link* m_thisLink;
+	int m_linkIndex;
+	int m_parentIndex;
 
     btTransform m_localInertialFrame;
     btTransform m_localVisualFrame;
@@ -80,62 +88,23 @@ struct URDF2BulletMappings
 {
     btHashMap<btHashPtr /*to Link*/, URDF_LinkInformation*> m_link2rigidbody;
     btHashMap<btHashPtr /*to Joint*/, btTypedConstraint*> m_joint2Constraint;
+
+	btAlignedObjectArray<btTransform>		m_linkLocalInertiaTransforms;//Body transform is in center of mass, aligned with Principal Moment Of Inertia;
+	btAlignedObjectArray<btScalar>			m_linkMasses;
+	btAlignedObjectArray<btVector3>			m_linkLocalDiagonalInertiaTensors;
+	btAlignedObjectArray<btTransform>		m_jointTransforms;//for root, it is identity
+	btAlignedObjectArray<int>				m_parentIndices;//for root, it is identity
+	btAlignedObjectArray<btVector3>			m_jointAxisArray;
+	btAlignedObjectArray<btTransform>			m_jointOffsetInParent;
+	btAlignedObjectArray<btTransform>			m_jointOffsetInChild;
+	btAlignedObjectArray<int>				m_jointTypeArray;
+
 };
 
-void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btDiscreteDynamicsWorld* world, URDF2BulletMappings& mappings)
+btCollisionShape* convertVisualToCollisionShape(const Visual* visual, const char* pathPrefix)
 {
 	btCollisionShape* shape = 0;
 
-	btTransform linkTransformInWorldSpace;
-	linkTransformInWorldSpace.setIdentity();
-
-	btScalar mass = 1;
-	btTransform inertialFrame;
-	inertialFrame.setIdentity();
-    const Link* parentLink = (*link).getParent();
-	URDF_LinkInformation* pp = 0;
-
-    {
-		URDF_LinkInformation** ppRigidBody = mappings.m_link2rigidbody.find(parentLink);
-		if (ppRigidBody)
-		{
-		pp = (*ppRigidBody);
-			btRigidBody* parentRigidBody = pp->m_bulletRigidBody;
-			btTransform tr = parentRigidBody->getWorldTransform();
-			printf("rigidbody origin (COM) of link(%s) parent(%s): %f,%f,%f\n",(*link).name.c_str(), parentLink->name.c_str(), tr.getOrigin().x(), tr.getOrigin().y(), tr.getOrigin().z());
-		}
-	}
-	if ((*link).inertial)
-	{
-		mass = (*link).inertial->mass;
-		inertialFrame.setOrigin(btVector3((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z));
-		inertialFrame.setRotation(btQuaternion((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w));
-	}
-
-    btTransform parent2joint;
-
-	if ((*link).parent_joint)
-	{
-		btTransform p2j;
-		const urdf::Vector3 pos = (*link).parent_joint->parent_to_joint_origin_transform.position;
-		const urdf::Rotation orn = (*link).parent_joint->parent_to_joint_origin_transform.rotation;
-
-		parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
-		parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));
-		linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
-	} else
-	{
-		linkTransformInWorldSpace = parentTransformInWorldSpace;
-	}
-
-
-    {
-        printf("converting link %s",link->name.c_str());
-        for (int v=0;v<link->visual_array.size();v++)
-        {
-            const Visual* visual = link->visual_array[v].get();
-
-
     switch (visual->geometry->type)
     {
         case Geometry::CYLINDER:
@@ -171,21 +140,74 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
             btVector3 extents(box->dim.x,box->dim.y,box->dim.z);
             btBoxShape* boxShape = new btBoxShape(extents*0.5f);
             shape = boxShape;
+			shape ->setMargin(0.001);
             break;
         }
         case Geometry::SPHERE:
         {
 			printf("processing a sphere\n");
             urdf::Sphere* sphere = (urdf::Sphere*)visual->geometry.get();
-                    btScalar radius = sphere->radius*0.8;
+            btScalar radius = sphere->radius;
 			btSphereShape* sphereShape = new btSphereShape(radius);
             shape = sphereShape;
+			shape ->setMargin(0.001);
             break;
 
             break;
         }
         case Geometry::MESH:
         {
+			if (visual->name.length())
+			{
+				printf("visual->name=%s\n",visual->name.c_str());
+			}
+			if (visual->geometry)
+			{
+				const urdf::Mesh* mesh = (const urdf::Mesh*) visual->geometry.get();
+				if (mesh->filename.length())
+				{
+					const char* filename = mesh->filename.c_str();
+					printf("mesh->filename=%s\n",filename);
+					char fullPath[1024];
+					sprintf(fullPath,"%s%s",pathPrefix,filename);
+					FILE* f = fopen(fullPath,"rb");
+					if (f)
+					{
+						fclose(f);
+						GLInstanceGraphicsShape* glmesh = LoadMeshFromSTL(fullPath);
+						if (glmesh && (glmesh->m_numvertices>0))
+						{
+							printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
+							//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
+							//convex->setUserIndex(shapeId);
+							btAlignedObjectArray<btVector3> convertedVerts;
+							convertedVerts.reserve(glmesh->m_numvertices);
+							for (int i=0;i<glmesh->m_numvertices;i++)
+							{
+								convertedVerts.push_back(btVector3(glmesh->m_vertices->at(i).xyzw[0],glmesh->m_vertices->at(i).xyzw[1],glmesh->m_vertices->at(i).xyzw[2]));
+							}
+							//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
+							btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
+							//cylZShape->initializePolyhedralFeatures();
+							//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
+							//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
+							cylZShape->setMargin(0.001);
+							shape = cylZShape;
+						} else
+						{
+							printf("issue extracting mesh from STL file %s\n", fullPath);
+						}
+
+					} else
+					{
+						printf("mesh geometry not found %s\n",fullPath);
+					}
+							
+							
+				}
+			}
+
+					
             break;
         }
         default:
@@ -193,8 +215,313 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
             printf("Error: unknown visual geometry type\n");
         }
     }
+	return shape;
+}
+
+btMultiBody* URDF2BulletMultiBody(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world, URDF2BulletMappings& mappings, const char* pathPrefix, btMultiBody* mb, int totalNumJoints)
+{
+
+	btScalar mass = 0.f;
+	btTransform localInertialTransform; localInertialTransform.setIdentity();
+	btVector3 localInertiaDiagonal(0,0,0);
+
+	{
+		
+		if ((*link).inertial)
+		{
+			mass = (*link).inertial->mass;
+			btMatrix3x3 inertiaMat;
+			inertiaMat.setIdentity();
+			inertiaMat.setValue(
+				(*link).inertial->ixx,(*link).inertial->ixy,(*link).inertial->ixz,
+				(*link).inertial->ixy,(*link).inertial->iyy,(*link).inertial->iyz,
+				(*link).inertial->ixz,(*link).inertial->iyz,(*link).inertial->izz);
+			
+			btScalar threshold = 0.00001f;
+			int maxSteps=20;
+			btMatrix3x3 inertia2PrincipalAxis;
+			inertiaMat.diagonalize(inertia2PrincipalAxis,threshold,maxSteps);
+			localInertiaDiagonal.setValue(inertiaMat[0][0],inertiaMat[1][1],inertiaMat[2][2]);
+            
+            btVector3 inertiaLocalCOM((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z);
+            localInertialTransform.setOrigin(inertiaLocalCOM);
+            btQuaternion inertiaOrn((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w);
+            btMatrix3x3 inertiaOrnMat(inertiaOrn);
+            
+            if (mass > 0 && (localInertiaDiagonal[0]==0.f || localInertiaDiagonal[1] == 0.f
+				|| localInertiaDiagonal[2] == 0.f))
+            {
+				b3Warning("Error: inertia should not be zero if mass is positive\n");
+                localInertiaDiagonal.setMax(btVector3(0.1,0.1,0.1));
+                localInertialTransform.setIdentity();//.setBasis(inertiaOrnMat);
+            }
+            else
+            {
+                localInertialTransform.setBasis(inertiaOrnMat*inertia2PrincipalAxis);
+            }
+		}
+	}
+	btTransform linkTransformInWorldSpace;
+	int parentIndex = -1;
+
+	const Link* parentLink = (*link).getParent();
+	if (parentLink)
+	{
+		parentIndex = parentLink->m_link_index;
+		btAssert(parentIndex>=0);
+	}
+	int linkIndex =  mappings.m_linkMasses.size();
+
+	btTransform parent2joint;
+
+	if ((*link).parent_joint)
+	{
+		const urdf::Vector3 pos = (*link).parent_joint->parent_to_joint_origin_transform.position;
+		const urdf::Rotation orn = (*link).parent_joint->parent_to_joint_origin_transform.rotation;
+		parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
+		parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));
+		linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
+	} else
+	{
+		linkTransformInWorldSpace = parentTransformInWorldSpace;
+
+		btAssert(mb==0);
+
+		bool multiDof = true;
+		bool canSleep = false;
+		bool isFixedBase = (mass==0);//todo: figure out when base is fixed
+
+		mb = new btMultiBody(totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep, multiDof);
 
 
+	}
+
+	btAssert(mb);
+	
+	(*link).m_link_index = linkIndex;
+
+	//compute this links center of mass transform, aligned with the principal axis of inertia
+
+
+	{
+		//btTransform rigidBodyFrameInWorldSpace =linkTransformInWorldSpace*inertialFrame;
+			
+		mappings.m_linkMasses.push_back(mass);
+		mappings.m_linkLocalDiagonalInertiaTensors.push_back(localInertiaDiagonal);
+		mappings.m_linkLocalInertiaTransforms.push_back(localInertialTransform);
+		
+			
+		
+		if ((*link).parent_joint)
+		{
+			btTransform offsetInA,offsetInB;
+        offsetInA.setIdentity();
+		//offsetInA = mappings.m_linkLocalInertiaTransforms[parentIndex].inverse()*parent2joint;
+		offsetInA = parent2joint;
+        offsetInB.setIdentity();
+        //offsetInB = localInertialTransform.inverse();
+
+			const Joint* pj = (*link).parent_joint.get();
+			//btVector3 jointAxis(0,0,1);//pj->axis.x,pj->axis.y,pj->axis.z);
+			btVector3 jointAxis(pj->axis.x,pj->axis.y,pj->axis.z);
+			mappings.m_jointAxisArray.push_back(jointAxis);
+			mappings.m_jointOffsetInParent.push_back(offsetInA);
+			mappings.m_jointOffsetInChild.push_back(offsetInB);
+			mappings.m_jointTypeArray.push_back(pj->type);
+
+			switch (pj->type)
+            {
+                case Joint::FIXED:
+                {
+                    printf("Fixed joint\n");
+					mb->setupFixed(linkIndex-1,mass,localInertiaDiagonal,parentIndex-1,offsetInA.getRotation(),offsetInA.getOrigin(),offsetInB.getOrigin());
+					
+					break;
+				}
+				case Joint::CONTINUOUS:
+                case Joint::REVOLUTE:
+                {
+                    printf("Revolute joint\n");
+					mb->setupRevolute(linkIndex-1,mass,localInertiaDiagonal,parentIndex-1,offsetInA.getRotation(),jointAxis,offsetInA.getOrigin(),offsetInB.getOrigin(),true);
+					mb->finalizeMultiDof();
+					//mb->setJointVel(linkIndex-1,1);
+
+					break;
+				}
+				case Joint::PRISMATIC:
+				{
+					mb->setupPrismatic(linkIndex-1,mass,localInertiaDiagonal,parentIndex-1,offsetInA.getRotation(),jointAxis,offsetInB.getOrigin(),true);
+					printf("Prismatic joint\n");
+					break;
+				}
+				default:
+				{
+					printf("Unknown joint\n");
+					btAssert(0);
+				}
+			};
+			
+			
+
+		
+		} else
+		{
+			mappings.m_jointAxisArray.push_back(btVector3(0,0,0));
+			btTransform ident;
+			ident.setIdentity();
+			mappings.m_jointOffsetInParent.push_back(ident);
+			mappings.m_jointOffsetInChild.push_back(ident);
+			mappings.m_jointTypeArray.push_back(-1);
+			
+
+		}
+	}
+
+	//btCompoundShape* compoundShape = new btCompoundShape();
+	btCollisionShape* shape = 0;
+
+	for (int v=0;v<(int)link->visual_array.size();v++)
+	{
+		const Visual* visual = link->visual_array[v].get();
+
+		shape = convertVisualToCollisionShape(visual,pathPrefix);
+			
+		if (shape)//childShape)
+		{
+			gfxBridge.createCollisionShapeGraphicsObject(shape);//childShape);
+
+			btVector3 color(0,0,1);
+			if (visual->material.get())
+			{
+				color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
+			}
+
+			btVector3 localInertia(0,0,0);
+			if (mass)
+			{
+				shape->calculateLocalInertia(mass,localInertia);
+			}
+			//btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,shape,localInertia);
+
+
+			btVector3 visual_pos(visual->origin.position.x,visual->origin.position.y,visual->origin.position.z);
+			btQuaternion visual_orn(visual->origin.rotation.x,visual->origin.rotation.y,visual->origin.rotation.z,visual->origin.rotation.w);
+			btTransform visual_frame;
+			visual_frame.setOrigin(visual_pos);
+			visual_frame.setRotation(visual_orn);
+			btTransform childTransform;
+			childTransform.setIdentity();//TODO(erwincoumans): compute relative visual/inertial transform
+		//	compoundShape->addChildShape(childTransform,childShape);
+		}
+	}
+	
+	if (shape)//compoundShape->getNumChildShapes()>0)
+	{
+		btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(mb, linkIndex-1);
+        col->setCollisionShape(shape);
+
+        btTransform tr;
+        tr.setIdentity();
+		tr = linkTransformInWorldSpace;
+		//if we don't set the initial pose of the btCollisionObject, the simulator will do this 
+		//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
+                
+		//tr.setOrigin(local_origin[0]);
+        //tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
+        col->setWorldTransform(tr);
+
+		bool isDynamic = true;
+		short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+		short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+		
+        world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
+
+        btVector3 color(0.0,0.0,0.5);
+        gfxBridge.createCollisionObjectGraphicsObject(col,color);
+		btScalar friction = 0.5f;
+
+        col->setFriction(friction);
+        
+		if (parentIndex>=0)
+		{
+			mb->getLink(linkIndex-1).m_collider=col;
+		} else
+		{
+			mb->setBaseCollider(col);
+		}
+	}
+
+	for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
+    {
+        if (*child)
+        {
+            URDF2BulletMultiBody(*child,gfxBridge, linkTransformInWorldSpace, world,mappings,pathPrefix,mb,totalNumJoints);
+
+        }
+        else
+        {
+            std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
+        }
+    }
+	return mb;
+}
+
+void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btDiscreteDynamicsWorld* world, URDF2BulletMappings& mappings, const char* pathPrefix)
+{
+    btCollisionShape* shape = 0;
+
+	btTransform linkTransformInWorldSpace;
+	linkTransformInWorldSpace.setIdentity();
+
+	btScalar mass = 1;
+	btTransform inertialFrame;
+	inertialFrame.setIdentity();
+    const Link* parentLink = (*link).getParent();
+	URDF_LinkInformation* pp = 0;
+
+    {
+		URDF_LinkInformation** ppRigidBody = mappings.m_link2rigidbody.find(parentLink);
+		if (ppRigidBody)
+		{
+		pp = (*ppRigidBody);
+			btRigidBody* parentRigidBody = pp->m_bulletRigidBody;
+			btTransform tr = parentRigidBody->getWorldTransform();
+			printf("rigidbody origin (COM) of link(%s) parent(%s): %f,%f,%f\n",(*link).name.c_str(), parentLink->name.c_str(), tr.getOrigin().x(), tr.getOrigin().y(), tr.getOrigin().z());
+		}
+	}
+	if ((*link).inertial)
+	{
+		mass = (*link).inertial->mass;
+		inertialFrame.setOrigin(btVector3((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z));
+		inertialFrame.setRotation(btQuaternion((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w));
+	}
+
+    
+	btTransform parent2joint;
+	parent2joint.setIdentity();
+
+	if ((*link).parent_joint)
+	{
+		
+		const urdf::Vector3 pos = (*link).parent_joint->parent_to_joint_origin_transform.position;
+		const urdf::Rotation orn = (*link).parent_joint->parent_to_joint_origin_transform.rotation;
+
+		parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
+		parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));
+		linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
+	} else
+	{
+		linkTransformInWorldSpace = parentTransformInWorldSpace;
+	}
+
+
+    {
+        printf("converting visuals of link %s",link->name.c_str());
+        for (int v=0;v<(int)link->visual_array.size();v++)
+        {
+            const Visual* visual = link->visual_array[v].get();
+
+			shape = convertVisualToCollisionShape(visual,pathPrefix);
 			
             if (shape)
             {
@@ -241,25 +568,16 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
                 //create a joint if necessary
                 if ((*link).parent_joint)
                 {
+					btAssert(pp);
+
                     btRigidBody* parentBody =pp->m_bulletRigidBody;
 
                     const Joint* pj = (*link).parent_joint.get();
                     btTransform offsetInA,offsetInB;
-                    btTransform p2j; p2j.setIdentity();
-                    btVector3 p2jPos; p2jPos.setValue(pj->parent_to_joint_origin_transform.position.x,
-                                                      pj->parent_to_joint_origin_transform.position.y,
-                                                      pj->parent_to_joint_origin_transform.position.z);
-                    btQuaternion p2jOrn;p2jOrn.setValue(pj->parent_to_joint_origin_transform.rotation.x,
-                                                        pj->parent_to_joint_origin_transform.rotation.y,
-                                                        pj->parent_to_joint_origin_transform.rotation.z,
-                                                        pj->parent_to_joint_origin_transform.rotation.w);
-
-                    p2j.setOrigin(p2jPos);
-                    p2j.setRotation(p2jOrn);
                     
                     offsetInA.setIdentity();
 
-                    offsetInA = pp->m_localVisualFrame.inverse()*p2j;
+                    offsetInA = pp->m_localVisualFrame.inverse()*parent2joint;
                     offsetInB.setIdentity();
                     offsetInB = visual_frame.inverse();
 
@@ -331,7 +649,7 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
     {
         if (*child)
         {
-            URDFvisual2BulletCollisionShape(*child,gfxBridge, linkTransformInWorldSpace, world,mappings);
+            URDFvisual2BulletCollisionShape(*child,gfxBridge, linkTransformInWorldSpace, world,mappings,pathPrefix);
 
         }
         else
@@ -353,9 +671,9 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 	this->createEmptyDynamicsWorld();
     gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
     m_dynamicsWorld->getDebugDrawer()->setDebugMode(
-    //btIDebugDraw::DBG_DrawConstraints
+    btIDebugDraw::DBG_DrawConstraints
     +btIDebugDraw::DBG_DrawContactPoints
-    //+btIDebugDraw::DBG_DrawAabb
+    +btIDebugDraw::DBG_DrawAabb
         );//+btIDebugDraw::DBG_DrawConstraintLimits);
 
 
@@ -364,21 +682,31 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 	gravity[upAxis]=-9.8;
 
 	m_dynamicsWorld->setGravity(gravity);
-    int argc=0;
+    //int argc=0;
-    char* filename="somefile.urdf";
+	char relativeFileName[1024];
+	
+	b3FileUtils fu;
+	printf("m_fileName=%s\n", m_fileName);
+	bool fileFound = fu.findFile(m_fileName, relativeFileName, 1024);
+
+
 
 	std::string xml_string;
+	char pathPrefix[1024];
+	pathPrefix[0] = 0;
 	
-    if (argc < 2){
+    if (!fileFound){
-        std::cerr << "No URDF file name provided, using a dummy test URDF" << std::endl;
+        std::cerr << "URDF file not found, using a dummy test URDF" << std::endl;
-
         xml_string = std::string(urdf_char);
 
     } else
     {
 		
+		int maxPathLen = 1024;
+		fu.extractPath(relativeFileName,pathPrefix,maxPathLen);
 
-        std::fstream xml_file(filename, std::fstream::in);
+
+        std::fstream xml_file(relativeFileName, std::fstream::in);
         while ( xml_file.good() )
         {
             std::string line;
@@ -408,9 +736,45 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
     btTransform worldTrans;
 	worldTrans.setIdentity();
 	
+	int numJoints = (*robot).m_numJoints;
+
+    if (1)
     {
         URDF2BulletMappings mappings;
-        URDFvisual2BulletCollisionShape(root_link, gfxBridge, worldTrans,m_dynamicsWorld,mappings);
+        URDFvisual2BulletCollisionShape(root_link, gfxBridge, worldTrans,m_dynamicsWorld,mappings,pathPrefix);
+    }
+
+	//the btMultiBody support is work-in-progress :-)
+	if (0)
+    {
+        URDF2BulletMappings mappings;
+		
+		btMultiBody* mb = URDF2BulletMultiBody(root_link, gfxBridge, worldTrans,m_dynamicsWorld,mappings,pathPrefix, 0,numJoints);
+		
+		mb->setHasSelfCollision(false);
+		mb->finalizeMultiDof();
+		m_dynamicsWorld->addMultiBody(mb);
+		//m_dynamicsWorld->integrateTransforms(0.f);
+
+    }
+
+	
+	printf("numJoints/DOFS = %d\n", numJoints);
+
+	if (0)
+	{
+        btVector3 halfExtents(1,1,1);
+        btBoxShape* box = new btBoxShape(halfExtents);
+        box->initializePolyhedralFeatures();
+
+        gfxBridge.createCollisionShapeGraphicsObject(box);
+        btTransform start; start.setIdentity();
+        btVector3 origin(0,0,0);
+        origin[upAxis]=5;
+        start.setOrigin(origin);
+        btRigidBody* body =  createRigidBody(1,start,box);
+        btVector3 color(0.5,0.5,0.5);
+        gfxBridge.createRigidBodyGraphicsObject(body,color);
     }
 
     {
@@ -422,12 +786,23 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
         gfxBridge.createCollisionShapeGraphicsObject(box);
         btTransform start; start.setIdentity();
         btVector3 groundOrigin(0,0,0);
-        groundOrigin[upAxis]=-1.5;
+        groundOrigin[upAxis]=-2.5;
         start.setOrigin(groundOrigin);
         btRigidBody* body =  createRigidBody(0,start,box);
+        //m_dynamicsWorld->removeRigidBody(body);
+       // m_dynamicsWorld->addRigidBody(body,2,1);
         btVector3 color(0.5,0.5,0.5);
         gfxBridge.createRigidBodyGraphicsObject(body,color);
     }
 
 
 }
+
+void ImportUrdfDemo::stepSimulation(float deltaTime)
+{
+	if (m_dynamicsWorld)
+	{
+		//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge
+		m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
+	}
+}

Demos3/ImportURDFDemo/ImportURDFSetup.h

@@ -2,15 +2,20 @@
 #define IMPORT_URDF_SETUP_H
 
 
-#include "../../Demos/CommonRigidBodySetup.h"
+#include "../../Demos/CommonMultiBodySetup.h"
 
-class ImportUrdfDemo : public CommonRigidBodySetup
+class ImportUrdfDemo : public CommonMultiBodySetup
 {
+    char m_fileName[1024];
+    
 public:
     ImportUrdfDemo();
     virtual ~ImportUrdfDemo();
 
 	virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
+	virtual void stepSimulation(float deltaTime);
+    
+    void setFileName(const char* urdfFileName);
 };
 
 #endif //IMPORT_URDF_SETUP_H

Demos3/SimpleOpenGL3/CMakeLists.txt

@@ -27,7 +27,15 @@ ELSE(WIN32)
 		MESSAGE(${COCOA})
 		link_libraries(${COCOA})
 	ELSE(APPLE)
-		LINK_LIBRARIES( GLEW X11 pthread dl Xext)
+
+                 INCLUDE_DIRECTORIES(
+                                ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+                 )
+                ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+                ADD_DEFINITIONS("-DGLEW_STATIC")
+                ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+		LINK_LIBRARIES( X11 pthread dl Xext)
 	ENDIF(APPLE)
 ENDIF(WIN32)
 

Demos3/SimpleOpenGL3/main.cpp

@@ -11,15 +11,13 @@ int main(int argc, char* argv[])
 {
     b3CommandLineArgs myArgs(argc,argv);
 
-	float dt = 1./120.f;
 
 	SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App",1024,768);
 	app->m_instancingRenderer->setCameraDistance(13);
 	app->m_instancingRenderer->setCameraPitch(0);
 	app->m_instancingRenderer->setCameraTargetPosition(b3MakeVector3(0,0,0));
 
-	GLint err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
     myArgs.GetCmdLineArgument("mp4_file",gVideoFileName);
     if (gVideoFileName)
@@ -40,8 +38,7 @@ int main(int argc, char* argv[])
             app->dumpNextFrameToPng(fileName);
         }
 
-		GLint err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 		app->m_instancingRenderer->init();
 		app->m_instancingRenderer->updateCamera();
 

Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp

@@ -21,6 +21,10 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
 	{
 	}
 	virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
+	{
+	    createCollisionObjectGraphicsObject(body,color);
+	}
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color)
 	{
 		btCollisionShape* shape = body->getCollisionShape();
 		btTransform startTransform = body->getWorldTransform();
@@ -32,6 +36,10 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
 	}
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 	{
+		//already has a graphics object?
+		if (collisionShape->getUserIndex()>=0)
+			return;
+
 		//todo: support all collision shape types
 		switch (collisionShape->getShapeType())
 		{

Demos3/bullet2/ConstraintDemo/ConstraintPhysicsSetup.h

@@ -1,7 +1,7 @@
 #ifndef CONSTAINT_PHYSICS_SETUP_H
 #define CONSTAINT_PHYSICS_SETUP_H
 
-#include "../CommonRigidBodySetup.h"
+#include "../../../Demos/CommonRigidBodySetup.h"
 
 struct ConstraintPhysicsSetup : public CommonRigidBodySetup
 {

Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp

@@ -169,7 +169,7 @@ bool	Bullet2MultiBodyDemo::mouseMoveCallback(float x,float y)
 			//keep it at the same picking distance
 			btVector3 newRayTo = getRayTo(x,y);
 			btVector3 rayFrom;
-			btVector3 oldPivotInB = pickCon->getPivotInB();
+//			btVector3 oldPivotInB = pickCon->getPivotInB();
 			btVector3 newPivotB;
 			m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
 			btVector3 dir = newRayTo-rayFrom;
@@ -186,7 +186,7 @@ bool	Bullet2MultiBodyDemo::mouseMoveCallback(float x,float y)
 
 		btVector3 newRayTo = getRayTo(x,y);
 		btVector3 rayFrom;
-		btVector3 oldPivotInB = m_pickingMultiBodyPoint2Point->getPivotInB();
+	//	btVector3 oldPivotInB = m_pickingMultiBodyPoint2Point->getPivotInB();
 		btVector3 newPivotB;
 		btVector3 camPos;
 		m_glApp->m_instancingRenderer->getCameraPosition(camPos);
@@ -438,7 +438,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
 		btVector4 halfExtents(7.5,0.45,4.5,1);
     	{
 			
-			float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
+		//	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
 			float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 			
@@ -484,7 +484,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
 		{
 		
 			btVector3 posr = local_origin[i+1];
-			float pos[4]={posr.x(),posr.y(),posr.z(),1};
+			//float pos[4]={posr.x(),posr.y(),posr.z(),1};
 			
 			float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
 
@@ -531,8 +531,8 @@ void FeatherstoneDemo1::createGround()
 {
 	//create ground
 	int cubeShapeId = m_glApp->registerCubeShape();
-	float pos[]={0,0,0};
+	//float pos[]={0,0,0};
-	float orn[]={0,0,0,1};
+	//float orn[]={0,0,0,1};
 		
 
 	{
@@ -575,7 +575,8 @@ void	FeatherstoneDemo1::initPhysics()
 	settings.m_isFixedBase = false;
 	settings.m_basePosition.setValue(0,10,0);
 	settings.m_numLinks = 10;
-	btMultiBody* mb = createFeatherstoneMultiBody(m_dynamicsWorld,settings);
+	//btMultiBody* mb = 
+	createFeatherstoneMultiBody(m_dynamicsWorld,settings);
 
 
 	m_glApp->m_instancingRenderer->writeTransforms();
@@ -727,7 +728,7 @@ class RagDoll2
 		hull->buildHull(0.01);
 		
 		{
-			int strideInBytes = 9*sizeof(float);
+		//	int strideInBytes = 9*sizeof(float);
 			int numVertices = hull->numVertices();
 			int numIndices =hull->numIndices();
 			
@@ -988,7 +989,7 @@ public:
 	
 	virtual	~RagDoll2 ()
 	{
-		int i;
+		//int i;
 		/*
 		// Remove all constraints
 		for ( i = 0; i < JOINT_COUNT; ++i)
@@ -1027,8 +1028,8 @@ void	FeatherstoneDemo2::initPhysics()
 	settings.m_usePrismatic = true;
 	btMultiBody* mb = createFeatherstoneMultiBody(m_dynamicsWorld,settings);
 */
-	btVector3 offset(0,2,0);
+//	btVector3 offset(0,2,0);
-	RagDoll2* doll = new RagDoll2(m_dynamicsWorld,offset,m_glApp);
+	//RagDoll2* doll = new RagDoll2(m_dynamicsWorld,offset,m_glApp);
 
 	
 	m_glApp->m_instancingRenderer->writeTransforms();

Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp

@@ -307,7 +307,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
 	
 	{
 			
-		float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
+	//	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
 		float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
 
 			
@@ -348,7 +348,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
 	{
 		
 		btVector3 posr = local_origin[i+1];
-		float pos[4]={posr.x(),posr.y(),posr.z(),1};
+	//	float pos[4]={posr.x(),posr.y(),posr.z(),1};
 			
 		float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
 

Demos3/bullet2/LuaDemo/LuaPhysicsSetup.cpp

@@ -14,7 +14,7 @@ extern "C" {
 }
 
 
-char* sLuaFileName = "init_physics.lua";
+const char* sLuaFileName = "init_physics.lua";
 
 static const float scaling=0.35f;
 static LuaPhysicsSetup* sLuaDemo = 0;

Demos3/bullet2/MultiBodyDemo/TestJointTorqueSetup.cpp

@@ -0,0 +1,251 @@
+//test addJointTorque
+#include "TestJointTorqueSetup.h"
+
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+TestJointTorqueSetup::TestJointTorqueSetup()
+{
+}
+
+TestJointTorqueSetup::~TestJointTorqueSetup()
+{
+
+}
+
+void TestJointTorqueSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
+{
+    int upAxis = 2;
+
+    btVector4 colors[4] =
+    {
+        btVector4(1,0,0,1),
+        btVector4(0,1,0,1),
+        btVector4(0,1,1,1),
+        btVector4(1,1,0,1),
+    };
+    int curColor = 0;
+
+
+
+    gfxBridge.setUpAxis(upAxis);
+
+	this->createEmptyDynamicsWorld();
+    gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
+    m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+        //btIDebugDraw::DBG_DrawConstraints
+        +btIDebugDraw::DBG_DrawWireframe
+        +btIDebugDraw::DBG_DrawContactPoints
+        +btIDebugDraw::DBG_DrawAabb
+        );//+btIDebugDraw::DBG_DrawConstraintLimits);
+
+    //create a static ground object
+    if (0)
+        {
+            btVector3 groundHalfExtents(20,20,20);
+            groundHalfExtents[upAxis]=1.f;
+            btBoxShape* box = new btBoxShape(groundHalfExtents);
+            box->initializePolyhedralFeatures();
+
+            gfxBridge.createCollisionShapeGraphicsObject(box);
+            btTransform start; start.setIdentity();
+            btVector3 groundOrigin(0,0,0);
+            groundOrigin[upAxis]=-1.5;
+            start.setOrigin(groundOrigin);
+            btRigidBody* body =  createRigidBody(0,start,box);
+            btVector4 color = colors[curColor];
+			curColor++;
+			curColor&=3;
+            gfxBridge.createRigidBodyGraphicsObject(body,color);
+        }
+
+    {
+        bool floating = false;
+        bool damping = true;
+        bool gyro = true;
+        int numLinks = 5;
+        bool spherical = false;					//set it ot false -to use 1DoF hinges instead of 3DoF sphericals
+        bool canSleep = false;
+        bool selfCollide = false;
+        btVector3 linkHalfExtents(0.05, 0.37, 0.1);
+        btVector3 baseHalfExtents(0.05, 0.37, 0.1);
+
+        btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
+        //mbC->forceMultiDof();							//if !spherical, you can comment this line to check the 1DoF algorithm
+        //init the base
+        btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
+        float baseMass = 1.f;
+
+        if(baseMass)
+        {
+            btCollisionShape *pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
+            pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
+            delete pTempBox;
+        }
+
+        bool isMultiDof = false;
+        btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep, isMultiDof);
+        m_multiBody = pMultiBody;
+        btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
+        pMultiBody->setBasePos(basePosition);
+        pMultiBody->setWorldToBaseRot(baseOriQuat);
+        btVector3 vel(0, 0, 0);
+    //	pMultiBody->setBaseVel(vel);
+
+        //init the links
+        btVector3 hingeJointAxis(1, 0, 0);
+        float linkMass = 1.f;
+        btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
+
+        btCollisionShape *pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
+        pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
+        delete pTempBox;
+
+        //y-axis assumed up
+        btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0);						//par body's COM to cur body's COM offset
+        btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0);							//cur body's COM to cur body's PIV offset
+        btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;	//par body's COM to cur body's PIV offset
+
+        //////
+        btScalar q0 = 0.f * SIMD_PI/ 180.f;
+        btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
+        quat0.normalize();
+        /////
+
+        for(int i = 0; i < numLinks; ++i)
+        {
+            if(!spherical)
+                pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
+            else
+                //pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
+                pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
+        }
+
+        //pMultiBody->finalizeMultiDof();
+
+        btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
+
+        ///
+        world->addMultiBody(pMultiBody);
+        btMultiBody* mbC = pMultiBody;
+        mbC->setCanSleep(canSleep);
+        mbC->setHasSelfCollision(selfCollide);
+        mbC->setUseGyroTerm(gyro);
+        //
+        if(!damping)
+        {
+            mbC->setLinearDamping(0.f);
+            mbC->setAngularDamping(0.f);
+        }else
+        {	mbC->setLinearDamping(0.1f);
+            mbC->setAngularDamping(0.9f);
+        }
+        //
+        btVector3 gravity(0,0,0);
+        //gravity[upAxis] = -9.81;
+        m_dynamicsWorld->setGravity(gravity);
+        //////////////////////////////////////////////
+        if(numLinks > 0)
+        {
+            btScalar q0 = 45.f * SIMD_PI/ 180.f;
+            if(!spherical)
+                if(mbC->isMultiDof())
+                    mbC->setJointPosMultiDof(0, &q0);
+                else
+                    mbC->setJointPos(0, q0);
+            else
+            {
+                btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
+                quat0.normalize();
+                mbC->setJointPosMultiDof(0, quat0);
+            }
+        }
+        ///
+
+        btAlignedObjectArray<btQuaternion> world_to_local;
+        world_to_local.resize(pMultiBody->getNumLinks() + 1);
+
+        btAlignedObjectArray<btVector3> local_origin;
+        local_origin.resize(pMultiBody->getNumLinks() + 1);
+        world_to_local[0] = pMultiBody->getWorldToBaseRot();
+        local_origin[0] = pMultiBody->getBasePos();
+        double friction = 1;
+        {
+
+        //	float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
+            float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
+
+
+            if (1)
+            {
+                btCollisionShape* box = new btBoxShape(baseHalfExtents);
+                gfxBridge.createCollisionShapeGraphicsObject(box);
+
+                btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
+                col->setCollisionShape(box);
+
+                btTransform tr;
+                tr.setIdentity();
+//if we don't set the initial pose of the btCollisionObject, the simulator will do this 
+				//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
+               
+                tr.setOrigin(local_origin[0]);
+                tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
+                col->setWorldTransform(tr);
+
+                world->addCollisionObject(col, 2,1+2);
+
+                btVector3 color(0.0,0.0,0.5);
+                gfxBridge.createCollisionObjectGraphicsObject(col,color);
+
+                col->setFriction(friction);
+                pMultiBody->setBaseCollider(col);
+
+            }
+        }
+
+
+        for (int i=0; i < pMultiBody->getNumLinks(); ++i)
+        {
+            const int parent = pMultiBody->getParent(i);
+            world_to_local[i+1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent+1];
+            local_origin[i+1] = local_origin[parent+1] + (quatRotate(world_to_local[i+1].inverse() , pMultiBody->getRVector(i)));
+        }
+
+
+        for (int i=0; i < pMultiBody->getNumLinks(); ++i)
+        {
+
+            btVector3 posr = local_origin[i+1];
+        //	float pos[4]={posr.x(),posr.y(),posr.z(),1};
+
+            float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
+
+            btCollisionShape* box = new btBoxShape(linkHalfExtents);
+            gfxBridge.createCollisionShapeGraphicsObject(box);
+            btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
+
+            col->setCollisionShape(box);
+            btTransform tr;
+            tr.setIdentity();
+            tr.setOrigin(posr);
+            tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
+            col->setWorldTransform(tr);
+            col->setFriction(friction);
+            world->addCollisionObject(col,2,1+2);
+            btVector4 color = colors[curColor];
+			curColor++;
+			curColor&=3;
+            gfxBridge.createCollisionObjectGraphicsObject(col,color);
+
+
+            pMultiBody->getLink(i).m_collider=col;
+        }
+    }
+
+}
+
+void TestJointTorqueSetup::stepSimulation(float deltaTime)
+{
+    m_multiBody->addJointTorque(0, 10.0);
+    m_dynamicsWorld->stepSimulation(deltaTime);
+}
+

Demos3/bullet2/MultiBodyDemo/TestJointTorqueSetup.h

@@ -0,0 +1,21 @@
+#ifndef TEST_JOINT_TORQUE_SETUP_H
+#define TEST_JOINT_TORQUE_SETUP_H
+
+#include "../../../Demos/CommonMultiBodySetup.h"
+
+struct TestJointTorqueSetup : public CommonMultiBodySetup
+{
+    btMultiBody* m_multiBody;
+
+public:
+
+    TestJointTorqueSetup();
+    virtual ~TestJointTorqueSetup();
+
+    virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
+
+    virtual void stepSimulation(float deltaTime);
+
+};
+#endif //TEST_JOINT_TORQUE_SETUP_H
+

Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp

@@ -197,10 +197,46 @@ btCollisionShape* btWorldImporter::convertCollisionShape(  btCollisionShapeData*
 			}
 			break;
 		}
+	//The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API
+	//so deal with this
+		case CAPSULE_SHAPE_PROXYTYPE:
+		{
+			btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
 			
+
+			switch (capData->m_upAxis)
+			{
+			case 0:
+				{
+					shape = createCapsuleShapeX(1,1);
+					break;
+				}
+			case 1:
+				{
+					shape = createCapsuleShapeY(1,1);
+					break;
+				}
+			case 2:
+				{
+					shape = createCapsuleShapeZ(1,1);
+					break;
+				}
+			default:
+				{
+					printf("error: wrong up axis for btCapsuleShape\n");
+				}
+
+
+			};
+			if (shape)
+			{
+				btCapsuleShape* cap = (btCapsuleShape*) shape;
+				cap->deSerializeFloat(capData);
+			}
+			break;
+		}
 		case CYLINDER_SHAPE_PROXYTYPE:
 		case CONE_SHAPE_PROXYTYPE:
-		case CAPSULE_SHAPE_PROXYTYPE:
 		case BOX_SHAPE_PROXYTYPE:
 		case SPHERE_SHAPE_PROXYTYPE:
 		case MULTI_SPHERE_SHAPE_PROXYTYPE:
@@ -227,36 +263,7 @@ btCollisionShape* btWorldImporter::convertCollisionShape(  btCollisionShapeData*
 							shape = createSphereShape(implicitShapeDimensions.getX());
 							break;
 						}
-					case CAPSULE_SHAPE_PROXYTYPE:
-						{
-							btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
-							switch (capData->m_upAxis)
-							{
-							case 0:
-								{
-									shape = createCapsuleShapeX(implicitShapeDimensions.getY()+bsd->m_collisionMargin*2,2*implicitShapeDimensions.getX());
-									break;
-								}
-							case 1:
-								{
-									shape = createCapsuleShapeY(implicitShapeDimensions.getX()+bsd->m_collisionMargin*2,2*implicitShapeDimensions.getY());
-									break;
-								}
-							case 2:
-								{
-									shape = createCapsuleShapeZ(implicitShapeDimensions.getX()+bsd->m_collisionMargin*2,2*implicitShapeDimensions.getZ());
-									break;
-								}
-							default:
-								{
-									printf("error: wrong up axis for btCapsuleShape\n");
-								}
-								bsd->m_collisionMargin = 0.f;
 					
-							};
-							
-							break;
-						}
 					case CYLINDER_SHAPE_PROXYTYPE:
 						{
 							btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;

README.md

@@ -1,3 +1,5 @@
+[![Travis Build Status](https://api.travis-ci.org/bulletphysics/bullet3.png?branch=master)](https://travis-ci.org/bulletphysics/bullet3)
+[![Appveyor Build status](https://ci.appveyor.com/api/projects/status/6sly9uxajr6xsstq)](https://ci.appveyor.com/project/erwincoumans/bullet3)
 
 Bullet 3.x GPU rigid body pipeline using OpenCL.
 

appveyor.yml

@@ -0,0 +1,9 @@
+build:
+  project: build3/vs2010/0_Bullet3Solution.sln
+
+before_build:
+  - echo %CD%
+  - ps: cd build3
+  - echo %CD%
+  - premake4  vs2010
+  - ps: cd ..

btgui/Gwen/Controls/CrossSplitter.cpp

@@ -112,7 +112,7 @@ void CrossSplitter::Layout( Skin::Base* /*skin*/ )
 	else
 	{
 		//This should probably use Fill docking instead
-		m_Sections[m_iZoomedSection]->SetBounds( 0, 0, Width(), Height() );
+		m_Sections[(int)m_iZoomedSection]->SetBounds( 0, 0, Width(), Height() );
 	}
 }
 

btgui/Gwen/Controls/Resizer.cpp

@@ -23,7 +23,7 @@ void Resizer::OnMouseMoved( int x, int y, int /*deltaX*/, int /*deltaY*/ )
 	if ( !m_pTarget ) return;
 	if ( !m_bDepressed ) return;
 
-	Gwen::Rect oldBounds = m_pTarget->GetBounds();
+//	Gwen::Rect oldBounds = m_pTarget->GetBounds();
 	Gwen::Rect pBounds = m_pTarget->GetBounds();
 
 	Gwen::Point pntMin = m_pTarget->GetMinimumSize();

btgui/Gwen/Controls/ScrollControl.cpp

@@ -134,8 +134,14 @@ void ScrollControl::UpdateScrollBars()
 
 	m_InnerPanel->SetSize( Utility::Max(Width(), childrenWidth), Utility::Max(Height(), childrenHeight));
  
-	float wPercent = (float)Width()  / (float)(childrenWidth + (m_VerticalScrollBar->Hidden() ? 0 : m_VerticalScrollBar->Width()));
+	float hg = (float)(childrenWidth + (m_VerticalScrollBar->Hidden() ? 0 : m_VerticalScrollBar->Width()));
-	float hPercent = (float)Height() / (float)(childrenHeight + (m_HorizontalScrollBar->Hidden() ? 0 : m_HorizontalScrollBar->Height()));
+	if (hg==0.f)
+		hg = 0.00001f;
+	float wPercent = (float)Width()  / hg;
+	hg = (float)(childrenHeight + (m_HorizontalScrollBar->Hidden() ? 0 : m_HorizontalScrollBar->Height()));
+	if (hg==0.f)
+		hg = 0.00001f;
+	float hPercent = (float)Height() / hg;
 
 	if ( m_bCanScrollV )
 		SetVScrollRequired( hPercent >= 1 );

btgui/Gwen/Controls/TreeControl.cpp

@@ -101,12 +101,12 @@ bool TreeControl::OnKeyUp( bool bDown )
 	if (bDown)
 	{
 		ForceUpdateScrollBars();
-		int maxIndex = 0;
+//		int maxIndex = 0;
 		int newIndex = 0;
 		int maxItem=0;
 		int curItem=-1;
 		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItem,&curItem);
-		maxIndex = maxItem;
+	//	maxIndex = maxItem;
 		int targetItem = curItem;
 		if (curItem>0)
 		{
@@ -121,15 +121,17 @@ bool TreeControl::OnKeyUp( bool bDown )
 				iterate(ITERATE_ACTION_DESELECT_INDEX,&maxItem,&deselectIndex);
 			}
 			curItem = newIndex;
-			float amount = float(newIndex)/float(maxIndex);
+		//	float amount = float(newIndex)/float(maxIndex);
 			float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
 			float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
 		
 			float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
-			float minCoordViewableWindow = curAmount*contSize;
+		//	float minCoordViewableWindow = curAmount*contSize;
-			float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+			//float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
 			float minCoordSelectedItem = curItem*16.f;
-			float maxCoordSelectedItem = (curItem+1)*16.f;
+	//		float maxCoordSelectedItem = (curItem+1)*16.f;
+			if (contSize!=viewSize)
+			{
 				{
 					float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
 					if (newAmount<curAmount)
@@ -148,6 +150,7 @@ bool TreeControl::OnKeyUp( bool bDown )
 				}
 			}
 		}
+	}
 	return true;
 }
 
@@ -157,12 +160,12 @@ bool TreeControl::OnKeyDown( bool bDown )
 	if (bDown)
 	{
 		ForceUpdateScrollBars();
-		int maxIndex = 0;
+	//	int maxIndex = 0;
 		int newIndex = 0;
 		int maxItem=0;
 		int curItem=-1;
 		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItem,&curItem);
-		maxIndex = maxItem;
+	//	maxIndex = maxItem;
 		int targetItem = curItem;
 		if (curItem>=0)
 		{
@@ -177,15 +180,17 @@ bool TreeControl::OnKeyDown( bool bDown )
 				iterate(ITERATE_ACTION_DESELECT_INDEX,&maxItem,&deselectIndex);
 			}
 			curItem= newIndex;
-			float amount = (int)float(newIndex)/float(maxIndex);
+		//	float amount = (int)float(newIndex)/float(maxIndex);
 			float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
 			float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
 		
 			float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
-			float minCoordViewableWindow = curAmount*contSize;
+		//	float minCoordViewableWindow = curAmount*contSize;
-			float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+			//float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
 			float minCoordSelectedItem = curItem*16.f;
-			float maxCoordSelectedItem = (curItem+1)*16.f;
+			//float maxCoordSelectedItem = (curItem+1)*16.f;
+			if (contSize!=viewSize)
+			{
 				{
 					float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
 					if (newAmount<curAmount)
@@ -204,6 +209,7 @@ bool TreeControl::OnKeyDown( bool bDown )
 				}
 			}
 		}
+	}
 	return true;
 }
 extern int avoidUpdate;
@@ -219,15 +225,17 @@ bool TreeControl::OnKeyRight( bool bDown )
 		int maxItem=0;
 		int curItem=0;
 		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItem,&curItem);
-		float amount = float(curItem)/float(maxItem);
+	//	float amount = float(curItem)/float(maxItem);
 		float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
 		float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
 		
 		float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
-		float minCoordViewableWindow = curAmount*contSize;
+	//	float minCoordViewableWindow = curAmount*contSize;
-		float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+//		float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
 		float minCoordSelectedItem = curItem*16.f;
-		float maxCoordSelectedItem = (curItem+1)*16.f;
+	//	float maxCoordSelectedItem = (curItem+1)*16.f;
+		if (contSize!=viewSize)
+		{
 			{
 				float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
 				if (newAmount<curAmount)
@@ -244,6 +252,7 @@ bool TreeControl::OnKeyRight( bool bDown )
 					m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(newAmount,true);
 				}
 			}
+		}
 		Invalidate();
 	}
 	return true;
@@ -262,18 +271,19 @@ bool TreeControl::OnKeyLeft( bool bDown )
 		int maxItems=0;
 		int curItem=0;
 		iterate(ITERATE_ACTION_FIND_SELECTED_INDEX,&maxItems,&curItem);
-		float amount = float(curItem)/float(maxItems);
+	//	float amount = float(curItem)/float(maxItems);
 		
 	//	m_ScrollControl->m_VerticalScrollBar->SetScrolledAmount(amount,true);
 		float viewSize = m_ScrollControl->m_VerticalScrollBar->getViewableContentSize();
 		float contSize = m_ScrollControl->m_VerticalScrollBar->getContentSize();
 		
 		float curAmount = m_ScrollControl->m_VerticalScrollBar->GetScrolledAmount();
-		float minCoordViewableWindow = curAmount*contSize;
+	//	float minCoordViewableWindow = curAmount*contSize;
-		float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
+	//	float maxCoordViewableWindow = minCoordViewableWindow+viewSize;
 		float minCoordSelectedItem = curItem*16.f;
-		float maxCoordSelectedItem = (curItem+1)*16.f;
+	//	float maxCoordSelectedItem = (curItem+1)*16.f;
-		
+		if (contSize!=viewSize)
+		{
 			{
 				float newAmount = float(minCoordSelectedItem)/(contSize-viewSize);
 				if (newAmount<curAmount)
@@ -291,6 +301,7 @@ bool TreeControl::OnKeyLeft( bool bDown )
 				}
 				Invalidate();
 			}
+		}
 		//viewSize/contSize
 
 		printf("!\n");

btgui/Gwen/Controls/TreeNode.cpp

@@ -73,7 +73,7 @@ void TreeNode::Render( Skin::Base* skin )
 
 TreeNode* TreeNode::AddNode( const UnicodeString& strLabel )
 {
-	int sz = sizeof(TreeNode);
+//	int sz = sizeof(TreeNode);
 	TreeNode* node = new TreeNode( this );
 	node->SetText( strLabel );
 	node->Dock( Pos::Top );
@@ -231,7 +231,7 @@ void TreeNode::iterate(int action, int* curIndex, int* targetIndex)
 
 	Gwen::String name = Gwen::Utility::UnicodeToString(m_Title->GetText());
 	
-	int actualIndex = curIndex? *curIndex : -1;
+//	int actualIndex = curIndex? *curIndex : -1;
 	//printf("iterated over item %d with name = %s\n", actualIndex, name.c_str());
 
 	if (action==ITERATE_ACTION_SELECT)

btgui/Gwen/Renderers/OpenGL_DebugFont.cpp

@@ -164,7 +164,7 @@ namespace Gwen
 			glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
 			glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 
-			GLenum format = GL_RGB;
+			//GLenum format = GL_RGB;
 			unsigned char* texdata = new unsigned char[256*256*4];
 			for (int i=0;i<256*256;i++)
 			{
@@ -316,11 +316,11 @@ namespace Gwen
 			Gwen::String converted_string = Gwen::Utility::UnicodeToString( text );
 
 			float yOffset=0.0f;
-			for ( int i=0; i<text.length(); i++ )
+			for ( int i=0; i<(int)text.length(); i++ )
 			{
-				wchar_t chr = text[i];
+			//	wchar_t chr = text[i];
 				char ch = converted_string[i];
-				float curSpacing = sGwenDebugFontSpacing[ch] * m_fLetterSpacing * fSize * m_fFontScale[0];
+				float curSpacing = sGwenDebugFontSpacing[(int)ch] * m_fLetterSpacing * fSize * m_fFontScale[0];
 				Gwen::Rect r( pos.x + yOffset, pos.y-fSize*0.2f, (fSize * m_fFontScale[0]), fSize * m_fFontScale[1] );
 
 				if ( m_pFontTexture )
@@ -390,10 +390,10 @@ namespace Gwen
 			Gwen::String converted_string = Gwen::Utility::UnicodeToString( text );
 			float spacing = 0.0f;
 
-			for ( int i=0; i<text.length(); i++ )
+			for ( int i=0; i<(int)text.length(); i++ )
 			{
 				char ch = converted_string[i];
-				spacing += sGwenDebugFontSpacing[ch];
+				spacing += sGwenDebugFontSpacing[(int)ch];
 			}
 
 			p.x = spacing*m_fLetterSpacing*fSize * m_fFontScale[0];

btgui/Gwen/Skins/Simple.h

@@ -78,7 +78,7 @@ namespace Gwen
 						m_Render->DrawLinedRect( control->GetRenderBounds() );
 					}
 
-					Gwen::Rect rect = control->GetRenderBounds();
+				//	Gwen::Rect rect = control->GetRenderBounds();
 					if ( bChecked )
 					{
 						m_Render->SetDrawColor( Color( 0, 0, 0, 255) );
@@ -490,7 +490,7 @@ namespace Gwen
 				virtual void DrawSlider( Gwen::Controls::Base* control, bool bIsHorizontal, int numNotches, int barSize)
 				{
 					Gwen::Rect rect = control->GetRenderBounds();
-					Gwen::Rect notchRect = rect;
+//					Gwen::Rect notchRect = rect;
 
 					if ( bIsHorizontal )
 					{

btgui/OpenGLTrueTypeFont/fontstash.cpp

@@ -219,7 +219,7 @@ int sth_add_font(struct sth_stash* stash, const char* path)
 	FILE* fp = 0;
 	int datasize;
 	unsigned char* data = NULL;
-	int idx;
+	int idx=0;
 
 	// Read in the font data.
 	fp = fopen(path, "rb");
@@ -229,11 +229,16 @@ int sth_add_font(struct sth_stash* stash, const char* path)
 	fseek(fp,0,SEEK_SET);
 	data = (unsigned char*)malloc(datasize);
 	if (data == NULL) goto error;
-	fread(data, 1, datasize, fp);
+	int bytesRead;
+	bytesRead = fread(data, 1, datasize, fp);
+	if (bytesRead)
+	{
+		idx = sth_add_font_from_memory(stash, data);
+	}
 	fclose(fp);
 	fp = 0;
 
-	idx = sth_add_font_from_memory(stash, data);
+	
 	// Modify type of the loaded font.
 	if (idx)
 		stash->fonts->type = TTFONT_FILE;

btgui/OpenGLTrueTypeFont/opengl_fontstashcallbacks.cpp

@@ -37,8 +37,7 @@ InternalOpenGL2RenderCallbacks::~InternalOpenGL2RenderCallbacks()
 void InternalOpenGL2RenderCallbacks::display2() 
 {
     
-    GLint err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
    // glViewport(0,0,10,10);
     
 	//const float timeScale = 0.008f;
@@ -48,39 +47,31 @@ void InternalOpenGL2RenderCallbacks::display2()
     glBindBuffer(GL_ARRAY_BUFFER, s_vertexBuffer);
     glBindVertexArray(s_vertexArrayObject);
     
-    err = glGetError();
+      assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
   
     
     //   glBindTexture(GL_TEXTURE_2D,m_texturehandle);
     
     
-    err = glGetError();
+       assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
   
     vec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
     glUniform2fv(data->m_positionUniform, 1, (const GLfloat *)&p);
     
-    err = glGetError();
+     assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
    
     glEnableVertexAttribArray(data->m_positionAttribute);
-	err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     glEnableVertexAttribArray(data->m_colourAttribute);
-	err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(data->m_textureAttribute);
     
     glVertexAttribPointer(data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
     glVertexAttribPointer(data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
     glVertexAttribPointer(data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
-	err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 /*    
  
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_indexBuffer);
@@ -101,10 +92,7 @@ void InternalOpenGL2RenderCallbacks::display2()
 
 void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_glyph* glyph, int textureWidth, int textureHeight)
 {
-	GLint err;
+    assert(glGetError()==GL_NO_ERROR);
-    
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
 
 
 	if (glyph)
@@ -114,13 +102,11 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 		
 		glBindTexture(GL_TEXTURE_2D, *gltexture);
 		glPixelStorei(GL_UNPACK_ALIGNMENT,1);
-		err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 
 		glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, textureWidth, textureHeight, 0, GL_RED, GL_UNSIGNED_BYTE, texture->m_texels);
 	
-		GLenum err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-	    assert(err==GL_NO_ERROR);
 
 	} else
 	{
@@ -132,8 +118,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 
 			//create new texture
 			glGenTextures(1, texId);
-			GLenum err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-			assert(err==GL_NO_ERROR);
 
 			
 	
@@ -143,8 +128,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 			glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, textureWidth, textureHeight, 0, GL_RED, GL_UNSIGNED_BYTE, texture->m_texels);
 			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
 			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-			err = glGetError();
+	    assert(glGetError()==GL_NO_ERROR);
-			assert(err==GL_NO_ERROR);
 
 			////////////////////////////
 			//create the other data
@@ -155,8 +139,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 				glGenBuffers(1, &s_vertexBuffer);
 				glBindBuffer(GL_ARRAY_BUFFER, s_vertexBuffer);
 				glBufferData(GL_ARRAY_BUFFER, VERT_COUNT * sizeof(Vertex), texture->newverts, GL_DYNAMIC_DRAW);
-				GLuint err = glGetError();
+				assert(glGetError()==GL_NO_ERROR);
-				assert(err==GL_NO_ERROR);
         
 				for (int i=0;i<INDEX_COUNT;i++)
 				{
@@ -167,8 +150,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
 				glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s_indexBuffer);
 				glBufferData(GL_ELEMENT_ARRAY_BUFFER,INDEX_COUNT*sizeof(int), s_indexData,GL_STATIC_DRAW);
         
-				err = glGetError();
+		    assert(glGetError()==GL_NO_ERROR);
-				assert(err==GL_NO_ERROR);
 	}
 		} else
 		{
@@ -196,13 +178,10 @@ void InternalOpenGL2RenderCallbacks::render(sth_texture* texture)
 
 	GLuint* texId = (GLuint*) texture->m_userData;
 
-    GLint err;
+    assert(glGetError()==GL_NO_ERROR);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
             
     glActiveTexture(GL_TEXTURE0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	glBindTexture(GL_TEXTURE_2D, *texId);
 	bool useFiltering = false;
@@ -215,25 +194,21 @@ void InternalOpenGL2RenderCallbacks::render(sth_texture* texture)
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 	}
-	err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
      glBindBuffer(GL_ARRAY_BUFFER, s_vertexBuffer);
      glBindVertexArray(s_vertexArrayObject);
     glBufferData(GL_ARRAY_BUFFER, texture->nverts * sizeof(Vertex), &texture->newverts[0].position.p[0], GL_DYNAMIC_DRAW);
 
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
             
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s_indexBuffer);
             
     //glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
     int indexCount = texture->nverts;
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
             
     glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 		
 	 glBindVertexArray(0);
 

btgui/OpenGLWindow/CMakeLists.txt

@@ -32,7 +32,14 @@ ENDIF(APPLE)
 
 #no Linux detection?
 IF(NOT WIN32 AND NOT APPLE)
-	SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${OpenGLWindowCommon_CPP} )
+	INCLUDE_DIRECTORIES(
+                                ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+        )
+        ADD_DEFINITIONS(-DGLEW_STATIC)
+	ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+        ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+
+	SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows/glew.c ${OpenGLWindowCommon_CPP} )
 ENDIF()
 
 

btgui/OpenGLWindow/GLInstancingRenderer.cpp

@@ -16,8 +16,8 @@ subject to the following restrictions:
 
 ///todo: make this configurable in the gui
 bool useShadowMap=true;//false;//true;
-float shadowMapWidth=8192;
+int shadowMapWidth=8192;
-float shadowMapHeight=8192;
+int shadowMapHeight=8192;
 float shadowMapWorldSize=100;
 float WHEEL_MULTIPLIER=0.01f;
 float MOUSE_MOVE_MULTIPLIER = 0.4f;

btgui/OpenGLWindow/GLPrimitiveRenderer.cpp

@@ -131,8 +131,8 @@ void GLPrimitiveRenderer::loadBufferData()
     glGenBuffers(1, &m_data->m_vertexBuffer);
     glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
     glBufferData(GL_ARRAY_BUFFER, 4 * sizeof(Vertex), vertexData, GL_DYNAMIC_DRAW);
-    GLuint err = glGetError();
+    
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
     
     
     
@@ -142,16 +142,14 @@ void GLPrimitiveRenderer::loadBufferData()
     
     glEnableVertexAttribArray(m_data->m_positionAttribute);
     glEnableVertexAttribArray(m_data->m_colourAttribute);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(m_data->m_textureAttribute);
     
     glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
     glVertexAttribPointer(m_data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
     glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     
     
@@ -191,8 +189,7 @@ void GLPrimitiveRenderer::loadBufferData()
     glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256,256,0,GL_RGB,GL_UNSIGNED_BYTE,image);
     glGenerateMipmap(GL_TEXTURE_2D);
     
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     delete[] image;
     
@@ -217,36 +214,25 @@ void GLPrimitiveRenderer::drawLine()
 
 void GLPrimitiveRenderer::drawRect(float x0, float y0, float x1, float y1, float color[4])
 {
-	GLint err;
+	assert(glGetError()==GL_NO_ERROR);
-    
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
 	glActiveTexture(GL_TEXTURE0);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 	
 	 glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
-
 	drawTexturedRect(x0,y0,x1,y1,color,0,0,1,1);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 }
 
 void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
 {
-    GLint err;
+    assert(glGetError()==GL_NO_ERROR);
-    
-    err = glGetError();
-    assert(err==GL_NO_ERROR);
    
     
     glUseProgram(m_data->m_shaderProg);
     
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
     glBindVertexArray(m_data->m_vertexArrayObject);
@@ -263,10 +249,10 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
 	}
 
 	   Vertex vertexData[4] = {
-        { vec4(-1.+2.*x0/float(m_screenWidth), 1.-2.*y0/float(m_screenHeight), 0, 0 ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v0)},
+        { vec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 0.f ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v0)},
-        { vec4(-1.+2.*x0/float(m_screenWidth),  1.-2.*y1/float(m_screenHeight), 0, 1 ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v1)},
+        { vec4(-1.f+2.f*x0/float(m_screenWidth),  1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v1)},
-        { vec4( -1.+2.*x1/float(m_screenWidth),  1.-2.*y1/float(m_screenHeight), 1, 1 ), vec4(color[0], color[1], color[2], color[3]) ,vec2(u1,v1)},
+        { vec4( -1.f+2.f*x1/float(m_screenWidth),  1.f-2.f*y1/float(m_screenHeight), 1.f, 1.f ), vec4(color[0], color[1], color[2], color[3]) ,vec2(u1,v1)},
-        { vec4( -1.+2.*x1/float(m_screenWidth), 1.-2.*y0/float(m_screenHeight), 1, 0 ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u1,v0)}
+        { vec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 1.f, 0.f ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u1,v0)}
     };
     
 	   glBufferSubData(GL_ARRAY_BUFFER, 0,4 * sizeof(Vertex), vertexData);
@@ -276,8 +262,7 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
     
     
     
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     vec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
 	if (useRGBA)
@@ -290,60 +275,47 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
     
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
-	err = glGetError();
-    assert(err==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_positionAttribute);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     glEnableVertexAttribArray(m_data->m_colourAttribute);
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
 	glEnableVertexAttribArray(m_data->m_textureAttribute);
     
     glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
     glVertexAttribPointer(m_data->m_colourAttribute  , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
     glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
-	err = glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
     
     //glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
     int indexCount = 6;
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
     
 	
     glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 	
 	
     glBindVertexArray(0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	glBindBuffer(GL_ARRAY_BUFFER, 0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	//glDisableVertexAttribArray(m_data->m_textureAttribute);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	glUseProgram(0);
    
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 }
 

btgui/OpenGLWindow/GwenOpenGL3CoreRenderer.h

@@ -119,55 +119,37 @@ public:
 	{
 		m_yOffset=0;
 		glEnable(GL_BLEND);
-		GLint err = glGetError();
+	  assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
+
 
 		glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 		
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
         
 		glDisable(GL_DEPTH_TEST);
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);      
-		assert(err==GL_NO_ERROR);
-        
 		//glColor4ub(255,0,0,255);
 		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
 		
 		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
 		glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
 
 	//	saveOpenGLState(width,height);//m_glutScreenWidth,m_glutScreenHeight);
 			
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 			
 
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
-
 		glDisable(GL_CULL_FACE);
 
 		glDisable(GL_DEPTH_TEST);
-		err = glGetError();
+		assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
 
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
 		        
 		glEnable(GL_BLEND);
 
-            
+		assert(glGetError()==GL_NO_ERROR);        
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
-            
 	}
 	virtual void End()
 	{
@@ -375,10 +357,7 @@ public:
 	glBindTexture(GL_TEXTURE_2D,texHandle);
 //		glDisable(GL_DEPTH_TEST);
 
-		GLint err;
+		assert(glGetError()==GL_NO_ERROR);
-		
-		err = glGetError();
-		assert(err==GL_NO_ERROR);
 		
 	
 /*	bool useFiltering = true;
@@ -406,8 +385,8 @@ public:
 	m_primitiveRenderer->drawTexturedRect(rect.x, rect.y+m_yOffset, rect.x+rect.w, rect.y+rect.h+m_yOffset, color,0+add,0,1+add,1,true);
 
 		
-		err = glGetError();
+				assert(glGetError()==GL_NO_ERROR);
-		assert(err==GL_NO_ERROR);
+
 		
 		
 	}

btgui/OpenGLWindow/LoadShader.cpp

@@ -18,8 +18,7 @@ void gltLoadShaderSrc(const char *szShaderSrc, GLuint shader)
 GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 {
 
-    GLuint err = glGetError();
+  assert(glGetError()==GL_NO_ERROR);
-    assert(err==GL_NO_ERROR);
 
 	// Temporary Shader objects
 	GLuint hVertexShader;
@@ -36,7 +35,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 
 	// Compile them
 	glCompileShader(hVertexShader);
-    err = glGetError();
+  assert(glGetError()==GL_NO_ERROR);
 
 	glGetShaderiv(hVertexShader, GL_COMPILE_STATUS, &testVal);
 	if(testVal == GL_FALSE)
@@ -51,10 +50,10 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 		return (GLuint)NULL;
 	}
 
-    assert(err==GL_NO_ERROR);
+  assert(glGetError()==GL_NO_ERROR);
 
     glCompileShader(hFragmentShader);
-    err = glGetError();
+    assert(glGetError()==GL_NO_ERROR);
 
     glGetShaderiv(hFragmentShader, GL_COMPILE_STATUS, &testVal);
 	if(testVal == GL_FALSE)
@@ -69,7 +68,7 @@ GLuint gltLoadShaderPair(const char *szVertexProg, const char *szFragmentProg)
 		return (GLuint)NULL;
 	}
 
-    assert(err==GL_NO_ERROR);
+    assert(glGetError()==GL_NO_ERROR);
 
 	// Check for errors
 

btgui/OpenGLWindow/MacOpenGLWindow.h

@@ -81,7 +81,7 @@ public:
 	
 	virtual void setWindowTitle(const char* title);
 
-	
+    int fileOpenDialog(char* filename, int maxNameLength);
 
 };
 

btgui/OpenGLWindow/MacOpenGLWindow.mm

@@ -989,8 +989,48 @@ void MacOpenGLWindow::setRequestExit()
 	m_internalData->m_exitRequested = true;
 }
 
+#include <string.h>
+int MacOpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
+{
+    //save/restore the OpenGL context, NSOpenPanel can mess it up
+    //http://stackoverflow.com/questions/13987148/nsopenpanel-breaks-my-sdl-opengl-app
     
+    NSOpenGLContext *foo = [NSOpenGLContext currentContext];
+    // get the url of a .txt file
+    NSOpenPanel * zOpenPanel = [NSOpenPanel openPanel];
+    NSArray * zAryOfExtensions = [NSArray arrayWithObject:@"urdf"];
+    [zOpenPanel setAllowedFileTypes:zAryOfExtensions];
+    NSInteger zIntResult = [zOpenPanel runModal];
     
+    [foo makeCurrentContext];
+    
+    if (zIntResult == NSFileHandlingPanelCancelButton) {
+        NSLog(@"readUsingOpenPanel cancelled");
+        return 0;
+    }
+    NSURL *zUrl = [zOpenPanel URL];
+   if (zUrl)
+   {
+       //without the file://
+       NSString *myString = [zUrl absoluteString];
+       int slen = [myString length];
+       if (slen < maxNameLength)
+       {
+           const char *cfilename=[myString UTF8String];
+           //expect file:// at start of URL
+           const char* p = strstr(cfilename, "file://");
+            if (p==cfilename)
+            {
+                int actualLen = strlen(cfilename)-7;
+                memcpy(filename, cfilename+7,actualLen);
+                filename[actualLen]=0;
+                return actualLen;
+            }
+       }
+   }
+
+    return 0;
+}
 
 
 

btgui/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -430,19 +430,17 @@ static void writeTextureToFile(int textureWidth, int textureHeight, const char*
 {
 	int numComponents = 4;
 	//glPixelStorei(GL_PACK_ALIGNMENT,1);
-	GLuint err=glGetError();
+	
-	assert(err==GL_NO_ERROR);
+	b3Assert(glGetError()==GL_NO_ERROR);
 	//glReadBuffer(GL_BACK);//COLOR_ATTACHMENT0);
-	err=glGetError();
+	
-	assert(err==GL_NO_ERROR);
 	float* orgPixels = (float*)malloc(textureWidth*textureHeight*numComponents*4);
 	glReadPixels(0,0,textureWidth, textureHeight, GL_RGBA, GL_FLOAT, orgPixels);
 	//it is useful to have the actual float values for debugging purposes
 
 	//convert float->char
 	char* pixels = (char*)malloc(textureWidth*textureHeight*numComponents);
-	err=glGetError();
+	assert(glGetError()==GL_NO_ERROR);
-	assert(err==GL_NO_ERROR);
 
 	for (int j=0;j<textureHeight;j++)
 	{

btgui/OpenGLWindow/Win32OpenGLWindow.cpp

@@ -137,6 +137,40 @@ void	Win32OpenGLWindow::endRendering()
 
 }
 
+int Win32OpenGLWindow::fileOpenDialog(char* fileName, int maxFileNameLength)
+{
+	//wchar_t wideChars[1024];
+
+		OPENFILENAME ofn ;
+	ZeroMemory( &ofn , sizeof( ofn));
+	ofn.lStructSize = sizeof ( ofn );
+	ofn.hwndOwner = NULL  ;
+
+#ifdef UNICODE
+	WCHAR bla[1024];
+	ofn.lpstrFile = bla;
+	ofn.lpstrFile[0] = '\0';
+	ofn.nMaxFile = 1023;
+	ofn.lpstrFilter = L"URDF\0*.urdf\0";
+#else
+	ofn.lpstrFile = fileName;
+	ofn.lpstrFile[0] = '\0';
+	ofn.nMaxFile = 1023;
+	//ofn.lpstrFilter = "All\0*.*\0Text\0*.TXT\0";
+	ofn.lpstrFilter = "URDF\0*.urdf\0";
+	
+#endif
+
+	ofn.nFilterIndex =1;
+	ofn.lpstrFileTitle = NULL ;
+	ofn.nMaxFileTitle = 0 ;
+	ofn.lpstrInitialDir=NULL ;
+	ofn.Flags = OFN_PATHMUSTEXIST|OFN_FILEMUSTEXIST ;
+	GetOpenFileName( &ofn );
+	return strlen(fileName);
 
 
+	//return 0;
+}
+
 	

btgui/OpenGLWindow/Win32OpenGLWindow.h

@@ -51,6 +51,8 @@ public:
 	virtual	void	endRendering();
 
 	virtual float getRetinaScale() const {return 1.f;}
+
+	virtual int fileOpenDialog(char* fileName, int maxFileNameLength);
 };
 
 

btgui/OpenGLWindow/X11OpenGLWindow.cpp

@@ -29,7 +29,34 @@
 
 #include <pthread.h>
 
-GLint                   att[] = { GLX_RGBA, GLX_DEPTH_SIZE, 24, GLX_DOUBLEBUFFER, None };
+GLint                   att[] = { GLX_RGBA,
+GLX_DEPTH_SIZE, 24,
+GLX_RED_SIZE        , 8,
+GLX_GREEN_SIZE      , 8,
+GLX_BLUE_SIZE       , 8,
+GLX_ALPHA_SIZE      , 8,
+GLX_STENCIL_SIZE    , 8,
+GLX_DOUBLEBUFFER,
+None };
+/*
+ static int att[] =
+            {
+                GLX_RGBA, GLX_DEPTH_SIZE, 24, GLX_DOUBLEBUFFER, None
+
+              GLX_X_RENDERABLE    , True,
+              GLX_DRAWABLE_TYPE   , GLX_WINDOW_BIT,
+              GLX_RENDER_TYPE     , GLX_RGBA_BIT,
+              GLX_X_VISUAL_TYPE   , GLX_TRUE_COLOR,
+              GLX_RED_SIZE        , 8,
+              GLX_GREEN_SIZE      , 8,
+              GLX_BLUE_SIZE       , 8,
+              GLX_ALPHA_SIZE      , 8,
+              GLX_DEPTH_SIZE      , 24,
+              GLX_STENCIL_SIZE    , 8,
+              GLX_DOUBLEBUFFER    , True,
+              None
+            };
+*/
 static bool forceOpenGL3 = true;
 
 
@@ -37,6 +64,7 @@ static bool forceOpenGL3 = true;
 #ifdef DYNAMIC_LOAD_X11_FUNCTIONS
 
 ///our X11 function typedefs
+
 typedef int (*PFNXFREE)(void*);
 typedef XErrorHandler (* PFNXSETERRORHANDLER) (XErrorHandler);
 typedef int (* PFNXSYNC) (Display* a,Bool b);
@@ -47,9 +75,13 @@ typedef int (*PFNXMAPWINDOW) (Display*, Window);
 typedef int (*PFNXSTORENAME) (Display* a,Window b,_Xconst char* c);
 typedef int (*PFNXCLOSEDISPLAY) (Display* a);
 typedef int (*PFNXDESTROYWINDOW) (Display* a,Window b);
+typedef int (*PFNXRAISEWINDOW) (Display* a, Window b);
+
 #if NeedWidePrototypes
+	typedef KeySym* (*PFNXGETKEYBOARDMAPPING) (Display*,unsigned int,int,int*);
 	typedef KeySym (*PFNXKEYCODETOKEYSYM) (Display* a,unsigned int b,int c);
 #else
+	typedef KeySym* (*PFNXGETKEYBOARDMAPPING) (Display*,KeyCode,int,int*);
 	typedef KeySym (*PFNXKEYCODETOKEYSYM) (Display* a,KeyCode b,int c);
 #endif
 typedef void	(*PFNXCONVERTCASE) (KeySym /* sym */,KeySym *		/* lower */,KeySym * /* upper */);
@@ -63,6 +95,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 #define X11_LIBRARY "libX11.so.6"
 
 #define MyXSync m_data->m_x11_XSync
+#define MyXGetKeyboardMapping m_data->m_x11_XGetKeyboardMapping
 #define MyXSetErrorHandler m_data->m_x11_XSetErrorHandler
 #define MyXOpenDisplay m_data->m_x11_XOpenDisplay
 #define MyXCreateColormap m_data->m_x11_XCreateColormap
@@ -70,6 +103,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 #define MyXMapWindow m_data->m_x11_XMapWindow
 #define MyXStoreName m_data->m_x11_XStoreName
 #define MyXDestroyWindow m_data->m_x11_XDestroyWindow
+#define MyXRaiseWindow m_data->m_x11_XRaiseWindow
 #define MyXCloseDisplay m_data->m_x11_XCloseDisplay
 #define MyXKeycodeToKeysym m_data->m_x11_XKeycodeToKeysym
 #define MyXConvertCase m_data->m_x11_XConvertCase
@@ -87,6 +121,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 
 #else
 #define MyXSync XSync
+#define MyXGetKeyboardMapping XGetKeyboardMapping
 #define MyXSetErrorHandler XSetErrorHandler
 #define MyXOpenDisplay XOpenDisplay
 #define MyXCreateColormap XCreateColormap
@@ -94,6 +129,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 #define MyXMapWindow XMapWindow
 #define MyXStoreName XStoreName
 #define MyXDestroyWindow XDestroyWindow
+#define MyXRaiseWindow XRaiseWindow
 #define MyXCloseDisplay XCloseDisplay
 #define MyXKeycodeToKeysym XKeycodeToKeysym
 #define MyXConvertCase XConvertCase
@@ -136,7 +172,9 @@ struct InternalData2
 	PFNXSTORENAME					m_x11_XStoreName;
 	PFNXCLOSEDISPLAY			m_x11_XCloseDisplay;
 	PFNXDESTROYWINDOW			m_x11_XDestroyWindow;
+	PFNXRAISEWINDOW				m_x11_XRaiseWindow;
 	PFNXKEYCODETOKEYSYM		m_x11_XKeycodeToKeysym;
+	PFNXGETKEYBOARDMAPPING m_x11_XGetKeyboardMapping;
 	PFNXCONVERTCASE				m_x11_XConvertCase;
 	PFNXPENDING						m_x11_XPending;
 	PFNXNEXTEVENT					m_x11_XNextEvent;
@@ -190,13 +228,15 @@ struct InternalData2
 		if (missingFunc)		{ printf("Error: missing func XMapWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 		missingFunc = ((m_x11_XStoreName = (PFNXSTORENAME) dlsym(m_x11_library,"XStoreName"))==NULL) | missingFunc;
 		if (missingFunc)		{ printf("Error: missing func XStoreName in %s, exiting!\n", X11_LIBRARY);	exit(0);}
-
 		missingFunc = ((m_x11_XCloseDisplay = (PFNXCLOSEDISPLAY) dlsym(m_x11_library,"XCloseDisplay"))==NULL) | missingFunc;
 		if (missingFunc)		{ printf("Error: missing func XCloseDisplay in %s, exiting!\n", X11_LIBRARY);	exit(0);}
-
 		missingFunc = ((m_x11_XDestroyWindow = (PFNXDESTROYWINDOW) dlsym(m_x11_library,"XDestroyWindow"))==NULL) | missingFunc;
-		if (missingFunc)		{ printf("Error: missing func XMapWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
+		if (missingFunc)		{ printf("Error: missing func XDestroyWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
+		missingFunc = ((m_x11_XRaiseWindow = (PFNXRAISEWINDOW) dlsym(m_x11_library,"XRaiseWindow"))==NULL) | missingFunc;
+		if (missingFunc)		{ printf("Error: missing func XRaiseWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 
+		missingFunc = ((m_x11_XGetKeyboardMapping = (PFNXGETKEYBOARDMAPPING) dlsym(m_x11_library,"XGetKeyboardMapping"))==NULL) | missingFunc;
+		if (missingFunc)		{ printf("Error: missing func XGetKeyboardMapping in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 		missingFunc = ((m_x11_XKeycodeToKeysym = (PFNXKEYCODETOKEYSYM) dlsym(m_x11_library,"XKeycodeToKeysym"))==NULL) | missingFunc;
 		if (missingFunc)		{ printf("Error: missing func XKeycodeToKeysym in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 		missingFunc = ((m_x11_XConvertCase = (PFNXCONVERTCASE) dlsym(m_x11_library,"XConvertCase"))==NULL) | missingFunc;
@@ -612,9 +652,21 @@ void    X11OpenGLWindow::closeWindow()
 
 int X11OpenGLWindow::getAsciiCodeFromVirtualKeycode(int keycode)
 {
+    int result = 0;
+
     KeySym key, key_lc, key_uc;
 
-    key = MyXKeycodeToKeysym( m_data->m_dpy, keycode, 0 );
+    int keysyms_per_keycode_return;
+    KeySym *keysym = MyXGetKeyboardMapping(m_data->m_dpy,
+        keycode,
+        1,
+        &keysyms_per_keycode_return);
+
+    key = keysym[0];
+
+
+    //key = MyXKeycodeToKeysym( m_data->m_dpy, keycode, 0 );
+
     switch( key )
     {
         case XK_Escape:       return B3G_ESCAPE;
@@ -660,9 +712,12 @@ int X11OpenGLWindow::getAsciiCodeFromVirtualKeycode(int keycode)
             {
                 return (int) key;
             }
-            return -1;
+            result = -1;
     }
-    return 0;
+
+    MyXFree(keysym);
+
+    return result;
 }
 
 void X11OpenGLWindow::pumpMessage()
@@ -913,4 +968,29 @@ b3KeyboardCallback      X11OpenGLWindow::getKeyboardCallback()
 {
 	return m_data->m_keyboardCallback;
 }
+#include <stdio.h>
 
+int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
+{
+	int len = 0;
+	FILE * output = popen("zenity --file-selection --file-filter=\"*.urdf\" --file-filter=\"*.*\"","r");
+	if (output)
+	{
+		while( fgets(filename, maxNameLength-1, output) != NULL )
+		{
+			len=strlen(filename);
+			if (len>0)
+			{
+				filename[len-1]=0;
+				printf("file open (length=%d) = %s\n", len,filename);
+			}	
+		}
+		pclose(output);
+	} else
+	{
+		printf("Error: fileOpenDialog no popen output, perhaps install zenity?\n");
+	}
+	MyXRaiseWindow(m_data->m_dpy, m_data->m_win);
+	return len;
+	
+}

btgui/OpenGLWindow/X11OpenGLWindow.h

@@ -59,6 +59,7 @@ public:
 
         virtual void setWindowTitle(const char* title);
 
+	int fileOpenDialog(char* filename, int maxNameLength);
 };
 
 

btgui/OpenGLWindow/b3gWindowInterface.h

@@ -110,6 +110,8 @@ class b3gWindowInterface
 
 		virtual	float	getRetinaScale() const =0;
 
+        virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;
+    
 };
 
 #endif //B3G_WINDOW_INTERFACE_H

btgui/lua-5.2.3/premake4.lua

@@ -5,9 +5,15 @@
 	--flags {}
 	
 	 
-	
 	defines { "LUA_COMPAT_ALL"}
 
+	if os.is("Linux") then
+		defines {"LUA_USE_LINUX"}
+	end
+	if os.is("MacOSX") then
+		defines {"LUA_USE_MACOSX"}
+	end
+		
 	targetdir "../../lib"	
 	includedirs {
 		"src"

btgui/lua-5.2.3/src/loadlib.c

@@ -115,6 +115,7 @@ static lua_CFunction ll_sym (lua_State *L, void *lib, const char *sym);
 
 
 #if defined(LUA_USE_DLOPEN)
+
 /*
 ** {========================================================================
 ** This is an implementation of loadlib based on the dlfcn interface.

btgui/lua-5.2.3/src/luaconf.h

@@ -42,8 +42,8 @@
 
 #if defined(LUA_USE_LINUX)
 #define LUA_USE_POSIX
-#define LUA_USE_DLOPEN		/* needs an extra library: -ldl */
+//#define LUA_USE_DLOPEN		/* needs an extra library: -ldl */
-#define LUA_USE_READLINE	/* needs some extra libraries */
+//#define LUA_USE_READLINE	/* needs some extra libraries */
 #define LUA_USE_STRTODHEX	/* assume 'strtod' handles hex formats */
 #define LUA_USE_AFORMAT		/* assume 'printf' handles 'aA' specifiers */
 #define LUA_USE_LONGLONG	/* assume support for long long */
@@ -51,8 +51,8 @@
 
 #if defined(LUA_USE_MACOSX)
 #define LUA_USE_POSIX
-#define LUA_USE_DLOPEN		/* does not need -ldl */
+//#define LUA_USE_DLOPEN		/* does not need -ldl */
-#define LUA_USE_READLINE	/* needs an extra library: -lreadline */
+//#define LUA_USE_READLINE	/* needs an extra library: -lreadline */
 #define LUA_USE_STRTODHEX	/* assume 'strtod' handles hex formats */
 #define LUA_USE_AFORMAT		/* assume 'printf' handles 'aA' specifiers */
 #define LUA_USE_LONGLONG	/* assume support for long long */

btgui/minizip/crypt.h

@@ -26,6 +26,8 @@
    http://www.winzip.com/aes_info.htm ) and PKWare PKZip 5.x Strong
    Encryption is not supported.
 */
+#define NOCRYPT
+#define NOUNCRYPT
 
 #define CRC32(c, b) ((*(pcrc_32_tab+(((int)(c) ^ (b)) & 0xff))) ^ ((c) >> 8))
 

btgui/urdf/urdfdom/urdf_parser/src/model.cpp

@@ -116,6 +116,7 @@ my_shared_ptr<ModelInterface>  parseURDF(const std::string &xml_string)
   {
     my_shared_ptr<Link> link;
     link.reset(new Link);
+	model->m_numLinks++;
 
     try {
       parseLink(*link, link_xml);
@@ -176,6 +177,7 @@ my_shared_ptr<ModelInterface>  parseURDF(const std::string &xml_string)
   {
     my_shared_ptr<Joint> joint;
     joint.reset(new Joint);
+	model->m_numJoints++;
 
     if (parseJoint(*joint, joint_xml))
     {

btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h

@@ -223,6 +223,8 @@ public:
   std::vector<my_shared_ptr<Joint> > child_joints;
   std::vector<my_shared_ptr<Link> > child_links;
 
+  mutable int m_link_index;
+
   const Link* getParent() const
   {return parent_link_;}
 
@@ -242,6 +244,8 @@ public:
     this->child_links.clear();
     this->collision_array.clear();
     this->visual_array.clear();
+	this->m_link_index=-1;
+	this->parent_link_ = NULL;
   };
 
 private:

btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h

@@ -41,7 +41,7 @@
 #include <map>
 //#include <boost/function.hpp>
 #include <urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h>
-
+#include <stdio.h> //printf
 #include <urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h>
 
 namespace urdf {
@@ -82,6 +82,8 @@ public:
   
   void clear()
   {
+	m_numLinks=0;
+	m_numJoints = 0;
     name_.clear();
     this->links_.clear();
     this->joints_.clear();
@@ -132,6 +134,7 @@ public:
         this->getLink(child_link_name, child_link);
         if (!child_link)
         {
+			printf("Error: child link [%s] of joint [%s] not found\n", child_link_name.c_str(),joint->first.c_str() );
 			assert(0);
 //          throw ParseError("child link [" + child_link_name + "] of joint [" + joint->first + "] not found");
         }
@@ -206,6 +209,8 @@ public:
   /// \brief The root is always a link (the parent of the tree describing the robot)
   my_shared_ptr<Link> root_link_;
 
+  int m_numLinks;//includes parent
+  int m_numJoints;
 
 
 };

build3/findOpenGLGlewGlut.lua

@@ -1,3 +1,4 @@
+
 	function findOpenGL()
 		configuration{}
 		if os.is("Linux") then
@@ -7,6 +8,22 @@
 		return true
 	end
 
+      function findOpenGL3()
+                configuration{}
+                if os.is("MacOSX") then
+                        local osversion = os.getversion()
+		--Mac OSX 10.9 and above supports OpenGL 3, below doesn't, so ...
+                        if osversion.majorversion > 10 or (osversion.majorversion == 10 and osversion.minorversion >=9) then
+                                return findOpenGL()
+                        else
+                                return false
+                        end
+                else
+                        return findOpenGL()
+                end
+        end
+
+
 	function initOpenGL()
 		configuration {}
 		configuration {"Windows"}

build3/premake4.lua

@@ -1,6 +1,12 @@
 
   solution "0_Bullet3Solution"
 
+	local osversion = os.getversion()
+		print(string.format(" %d.%d.%d (%s)", 
+   		osversion.majorversion, osversion.minorversion, osversion.revision,
+   		osversion.description))
+	
+
 	-- Multithreaded compiling
 	if _ACTION == "vs2010" or _ACTION=="vs2008" then
 		buildoptions { "/MP"  }
@@ -35,8 +41,8 @@
 
 	newoption
 	{
-		trigger = "bullet2gpu",
+		trigger = "bullet2demos",
-		description = "Enable Bullet 2.x GPU using b3GpuDynamicsWorld bridge to Bullet 3.x"
+		description = "Compile the Bullet 2 demos (Demo/Extra folder)"
 	}
 
 	newoption
@@ -113,13 +119,12 @@
 		include "../test/TestBullet3OpenCL"
 	end
 
-if findOpenGL() then
+if findOpenGL3() then
 	include "../Demos3/AllBullet2Demos"
 	include "../Demos3/GpuDemos"
 	include"../Demos3/BasicDemoConsole"
 	include"../Demos3/BasicDemoCustomOpenGL2"
-	
+	include "../btgui/OpenGLTrueTypeFont"	
-	
 	
 --	include "../Demos3/CpuDemos"
 --	include "../Demos3/Wavefront"
@@ -137,6 +142,7 @@ if findOpenGL() then
     include "../btgui/GwenOpenGLTest"
 end
 
+
 --		include "../demo/gpudemo"
 if _OPTIONS["midi"] then
                 include "../btgui/MidiTest"
@@ -169,7 +175,7 @@ end
 --		include "../demo/gpu_initialize"
 --		include "../opencl/lds_bank_conflict"
 --		include "../opencl/reduce"
-		include "../btgui/OpenGLTrueTypeFont"
+--		include "../btgui/OpenGLTrueTypeFont"
 --		include "../btgui/OpenGLWindow"
 --		include "../demo/ObjLoader"
 --		include "../test/b3DynamicBvhBroadphase"
@@ -180,7 +186,10 @@ end
 		include "../test/enet/client"
 	end
 
-
+	if _OPTIONS["bullet2demos"] then
-	if _OPTIONS["bullet2gpu"] then
+		include "../Extras"
+		if findOpenGL() then
+        		include "../Demos"
+		end
 	end
 

data/r2d2.urdf

@@ -0,0 +1,414 @@
+<?xml version="1.0"?>
+<robot name="physics">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="right_leg">
+    <visual>
+      <geometry>
+        <box size="0.6 .2 .1"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.6 .2 .1"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="base_to_right_leg" type="fixed">
+    <parent link="base_link"/>
+    <child link="right_leg"/>
+    <origin xyz="0.22 0 .25"/>
+  </joint>
+
+  <link name="right_base">
+    <visual>
+      <geometry>
+        <box size=".1 0.4 .1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".1 0.4 .1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_base_joint" type="fixed">
+    <parent link="right_leg"/>
+    <child link="right_base"/>
+    <origin xyz="0 0 -0.6"/>
+  </joint>
+
+  <link name="right_front_wheel">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius="0.035"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length=".1" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_front_wheel_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="right_base"/>
+    <child link="right_front_wheel"/>
+    <origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="right_back_wheel">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius="0.035"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length=".1" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_back_wheel_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="right_base"/>
+    <child link="right_back_wheel"/>
+    <origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="left_leg">
+    <visual>
+      <geometry>
+        <box size="0.6 .2 .1"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.6 .2 .1"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="base_to_left_leg" type="fixed">
+    <parent link="base_link"/>
+    <child link="left_leg"/>
+    <origin xyz="-0.22 0 .25"/>
+  </joint>
+
+  <link name="left_base">
+    <visual>
+      <geometry>
+        <box size=".1 0.4 .1"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".1 0.4 .1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_base_joint" type="fixed">
+    <parent link="left_leg"/>
+    <child link="left_base"/>
+    <origin xyz="0 0 -0.6"/>
+  </joint>
+
+  <link name="left_front_wheel">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius="0.035"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length=".1" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_front_wheel_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="left_base"/>
+    <child link="left_front_wheel"/>
+    <origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="left_back_wheel">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius="0.035"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length=".1" radius="0.035"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_back_wheel_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="left_base"/>
+    <child link="left_back_wheel"/>
+    <origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping="0.0" friction="0.0"/>
+  </joint>
+  <joint name="gripper_extension" type="prismatic">
+    <parent link="base_link"/>
+    <child link="gripper_pole"/>
+    <limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
+    <origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
+  </joint>
+
+  <link name="gripper_pole">
+    <visual>
+      <geometry>
+        <cylinder length="0.2" radius=".01"/>
+      </geometry>
+      <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
+      <material name="Gray">
+        <color rgba=".7 .7 .7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.2" radius=".01"/>
+      </geometry>
+      <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_gripper_joint" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <origin rpy="0 0 0" xyz="0.2 0.01 0"/>
+    <parent link="gripper_pole"/>
+    <child link="left_gripper"/>
+  </joint>
+
+  <link name="left_gripper">
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="l_finger.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="l_finger.stl"/>
+      </geometry>
+      <origin rpy="0.0 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="left_tip_joint" type="fixed">
+    <parent link="left_gripper"/>
+    <child link="left_tip"/>
+  </joint>
+
+  <link name="left_tip">
+    <visual>
+      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
+      <geometry>
+        <mesh filename="l_finger_tip.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="l_finger_tip.stl"/>
+      </geometry>
+      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_gripper_joint" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
+    <origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
+    <parent link="gripper_pole"/>
+    <child link="right_gripper"/>
+  </joint>
+
+  <link name="right_gripper">
+    <visual>
+      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="l_finger.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="l_finger.stl"/>
+      </geometry>
+      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="right_tip_joint" type="fixed">
+    <parent link="right_gripper"/>
+    <child link="right_tip"/>
+  </joint>
+
+  <link name="right_tip">
+    <visual>
+      <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
+      <geometry>
+        <mesh filename="l_finger_tip.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="l_finger_tip.stl"/>
+      </geometry>
+      <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.05"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="head">
+    <visual>
+      <geometry>
+        <sphere radius="0.2"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <sphere radius="0.2"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="head_swivel" type="continuous">
+    <parent link="base_link"/>
+    <child link="head"/>
+    <axis xyz="0 0 1"/>
+    <origin xyz="0 0 0.3"/>
+  </joint>
+
+  <link name="box">
+    <visual>
+      <geometry>
+        <box size=".08 .08 .08"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=".08 .08 .08"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="tobox" type="fixed">
+    <parent link="head"/>
+    <child link="box"/>
+    <origin xyz="0 0.1414 0.1414"/>
+  </joint>
+
+</robot>

src/Bullet3Common/b3FileUtils.h

@@ -0,0 +1,116 @@
+#ifndef B3_FILE_UTILS_H
+#define B3_FILE_UTILS_H
+
+#include <stdio.h>
+#include "b3Scalar.h"
+#include <stddef.h>//ptrdiff_h
+
+struct b3FileUtils
+{
+	b3FileUtils()
+	{
+	}
+	virtual ~b3FileUtils()
+	{
+	}
+
+	bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
+	{
+		FILE* f=0;
+		f = fopen(orgFileName,"rb");
+                if (f)
+                {
+			//printf("original file found: [%s]\n", orgFileName);
+			sprintf(relativeFileName,"%s", orgFileName);
+			fclose(f);
+			return true;
+		}
+
+		//printf("Trying various directories, relative to current working directory\n");	
+			const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
+			int numPrefixes = sizeof(prefix)/sizeof(const char*);
+	
+			f=0;
+			bool fileFound = false;
+			int result = 0;
+
+			for (int i=0;!f && i<numPrefixes;i++)
+			{
+#ifdef _WIN32
+				sprintf_s(relativeFileName,maxRelativeFileNameMaxLen,"%s%s",prefix[i],orgFileName);
+#else
+				sprintf(relativeFileName,"%s%s",prefix[i],orgFileName);
+#endif
+				f = fopen(relativeFileName,"rb");
+				if (f)
+				{
+					fileFound = true;
+					break;
+				}
+			}
+			if (f)
+			{
+				fclose(f);
+			}
+	
+		return fileFound;
+	}
+
+	static const char* strip2(const char* name, const char* pattern)
+	{
+		size_t const patlen = strlen(pattern);
+		size_t patcnt = 0;
+		const char * oriptr;
+		const char * patloc;
+		// find how many times the pattern occurs in the original string
+		for (oriptr = name; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
+		{
+			patcnt++;
+		}
+		return oriptr;
+	}
+
+
+	void extractPath(const char* fileName, char* path, int maxPathLength)
+	{
+		const char* stripped = strip2(fileName, "/");
+		stripped = strip2(stripped, "\\");
+
+		ptrdiff_t len = stripped-fileName;
+		b3Assert((len+1)<maxPathLength);
+
+		if (len && ((len+1)<maxPathLength))
+		{
+
+			for (int i=0;i<len;i++)
+			{
+				path[i] = fileName[i];
+			}
+			path[len]=0;
+		} else
+		{
+			b3Assert(maxPathLength>0);
+			if (maxPathLength>0)
+			{
+				path[0] = 0;
+			}
+		}
+	}
+
+	/*static const char* strip2(const char* name, const char* pattern)
+	{
+		size_t const patlen = strlen(pattern);
+		size_t patcnt = 0;
+		const char * oriptr;
+		const char * patloc;
+		// find how many times the pattern occurs in the original string
+		for (oriptr = name; patloc = strstr(oriptr, pattern); oriptr = patloc + patlen)
+		{
+			patcnt++;
+		}
+		return oriptr;
+	}
+	*/
+
+};
+#endif //B3_FILE_UTILS_H

src/Bullet3OpenCL/BroadphaseCollision/b3GpuGridBroadphase.cpp

@@ -277,7 +277,8 @@ void  b3GpuGridBroadphase::calculateOverlappingPairs(int maxPairs)
 				b3AlignedObjectArray<b3Int4> pairsCpu;
 				m_gpuPairs.copyToHost(pairsCpu);
 
-				printf("m_gpuPairs.size()=%d\n",m_gpuPairs.size());
+				int sz = m_gpuPairs.size();
+				printf("m_gpuPairs.size()=%d\n",sz);
 				for (int i=0;i<m_gpuPairs.size();i++)
 				{
 					printf("pair %d = %d,%d\n",i,pairsCpu[i].x,pairsCpu[i].y);

src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp

@@ -782,7 +782,8 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
 			binarySize = ftell( file );
 			rewind( file );
 			binary = (char*)malloc(sizeof(char)*binarySize);
-			fread( binary, sizeof(char), binarySize, file );
+			int bytesRead;
+			bytesRead = fread( binary, sizeof(char), binarySize, file );
 			fclose( file );
 			
 			m_cpProgram = clCreateProgramWithBinary( clContext, 1,&device, &binarySize, (const unsigned char**)&binary, 0, &status );

src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp

@@ -74,7 +74,8 @@ bFile::bFile(const char *filename, const char headerString[7])
 		fseek(fp, 0L, SEEK_SET);
 
 		mFileBuffer = (char*)malloc(mFileLen+1);
-		fread(mFileBuffer, mFileLen, 1, fp);
+		int bytesRead;
+		bytesRead = fread(mFileBuffer, mFileLen, 1, fp);
 
 		fclose(fp);
 
@@ -1268,7 +1269,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
 						}
 						//skip the *
 						printf("<%s type=\"pointer\"> ",&memName[1]);
-						printf("%d ", array[a]);
+						printf("%p ", array[a]);
 						printf("</%s>\n",&memName[1]);
 					}
 
@@ -1286,7 +1287,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
 						printf("  ");
 					}
 					printf("<%s type=\"pointer\"> ",&memName[1]);
-					printf("%d ", ptr);
+					printf("%p ", ptr);
 					printf("</%s>\n",&memName[1]);
 				}
 				ptr = findLibPointer(ptr);
@@ -1467,7 +1468,7 @@ void bFile::resolvePointers(int verboseMode)
 				char* oldType = fileDna->getType(oldStruct[0]);
 
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-					printf(" <%s pointer=%d>\n",oldType,dataChunk.oldPtr);
+					printf(" <%s pointer=%p>\n",oldType,dataChunk.oldPtr);
 
 				resolvePointersChunk(dataChunk, verboseMode);
 

src/BulletCollision/BroadphaseCollision/btDbvt.cpp

@@ -39,7 +39,8 @@ static DBVT_INLINE btDbvtVolume	merge(	const btDbvtVolume& a,
 {
 #if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
 	ATTRIBUTE_ALIGNED16( char locals[sizeof(btDbvtAabbMm)]);
-	btDbvtVolume&	res=*(btDbvtVolume*)locals;
+	btDbvtVolume* ptr = (btDbvtVolume*) locals;
+	btDbvtVolume&	res=*ptr;
 #else
 		btDbvtVolume	res;
 #endif
@@ -250,7 +251,8 @@ static btDbvtVolume				bounds(	const tNodeArray& leaves)
 {
 #if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
 	ATTRIBUTE_ALIGNED16(char	locals[sizeof(btDbvtVolume)]);
-	btDbvtVolume&	volume=*(btDbvtVolume*)locals;
+	btDbvtVolume* ptr = (btDbvtVolume*) locals;
+	btDbvtVolume&	volume=*ptr;
 	volume=leaves[0]->volume;
 #else
 	btDbvtVolume volume=leaves[0]->volume;

src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

@@ -31,8 +31,8 @@ btCollisionObject::btCollisionObject()
 		m_activationState1(1),
 		m_deactivationTime(btScalar(0.)),
 		m_friction(btScalar(0.5)),
-		m_rollingFriction(0.0f),
 		m_restitution(btScalar(0.)),
+		m_rollingFriction(0.0f),
 		m_internalType(CO_COLLISION_OBJECT),
 		m_userObjectPointer(0),
 		m_userIndex(-1),

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -292,7 +292,7 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 		btGjkConvexCast	gjkConvexCaster(castShape,convexShape,&simplexSolver);
 		
 		//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
-		bool condition = true;
+
 		btConvexCast* convexCasterPtr = 0;
 		//use kF_UseSubSimplexConvexCastRaytest by default
 		if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest)
@@ -1245,7 +1245,10 @@ public:
 void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
 {
 	// Draw a small simplex at the center of the object
+	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames)
+	{
 		getDebugDrawer()->drawTransform(worldTransform,1);
+	}
 
 	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
 	{

src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -123,7 +123,7 @@ public:
 
 		//backup
 		btTransform	orgTrans = m_compoundColObjWrap->getWorldTransform();
-		btTransform	orgInterpolationTrans = m_compoundColObjWrap->getWorldTransform();
+		
 		const btTransform& childTrans = compoundShape->getChildTransform(index);
 		btTransform	newChildWorldTrans = orgTrans*childTrans ;
 
@@ -294,7 +294,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 		btManifoldArray	manifoldArray;
         const btCollisionShape* childShape = 0;
         btTransform	orgTrans;
-        btTransform	orgInterpolationTrans;
+        
         btTransform	newChildWorldTrans;
         btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;        
         
@@ -305,7 +305,7 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
 				childShape = compoundShape->getChildShape(i);
 			//if not longer overlapping, remove the algorithm
 				orgTrans = colObjWrap->getWorldTransform();
-                orgInterpolationTrans = colObjWrap->getWorldTransform();
+                
 				const btTransform& childTrans = compoundShape->getChildTransform(i);
                 newChildWorldTrans = orgTrans*childTrans ;
 

src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp

@@ -112,10 +112,9 @@ struct	btCompoundCompoundLeafCallback : btDbvt::ICollide
 									btManifoldResult*	resultOut,
 									btHashedSimplePairCache* childAlgorithmsCache,
 									btPersistentManifold*	sharedManifold)
-		:m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
+		:m_numOverlapPairs(0),m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
 		m_childCollisionAlgorithmCache(childAlgorithmsCache),
-		m_sharedManifold(sharedManifold),
+		m_sharedManifold(sharedManifold)
-		m_numOverlapPairs(0)
 	{
 
 	}

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -88,20 +88,19 @@ partId, int triangleIndex)
         //just for debugging purposes
         //printf("triangle %d",m_triangleCount++);
 
-        const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
+
 
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher1 = m_dispatcher;
 
-	//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
-
-	
 
 
 #if 0	
+	
 	///debug drawing of the overlapping triangles
 	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
 	{
+		const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
 		btVector3 color(1,1,0);
 		btTransform& tr = ob->getWorldTransform();
 		m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -105,8 +105,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
 	int maxSize = sizeof(btConvexConvexAlgorithm);
 	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
 	int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
-	int sl = sizeof(btConvexSeparatingDistanceUtil);
+
-	sl = sizeof(btGjkPairDetector);
 	int	collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
 	collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);

src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp

@@ -114,7 +114,6 @@ struct btConnectivityProcessor : public btTriangleCallback
 			if(numshared >= 3)
 				return;
 		}
-		
 		switch (numshared)
 		{
 		case 0:
@@ -203,6 +202,7 @@ struct btConnectivityProcessor : public btTriangleCallback
 					ang4 = 0.f;
 				} else
 				{
+
 					calculatedEdge.normalize();
 					btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
 					calculatedNormalA.normalize();
@@ -213,7 +213,7 @@ struct btConnectivityProcessor : public btTriangleCallback
 					isConvex = (dotA<0.);
 
 					correctedAngle = isConvex ? ang4 : -ang4;
-					btQuaternion orn2 = btQuaternion(btVector3(calculatedEdge.x(), calculatedEdge.y(), calculatedEdge.z()),-correctedAngle);
+					btQuaternion orn2(calculatedEdge,-correctedAngle);
 					calculatedNormalB = btMatrix3x3(orn2)*normalA;
 
 
@@ -301,6 +301,11 @@ struct btConnectivityProcessor : public btTriangleCallback
 
 				break;
 			}
+		default:
+			{
+				//				printf("warning: duplicate triangle\n");
+			}
+
 		}
 	}
 };

src/BulletCollision/CollisionShapes/btCapsuleShape.h

@@ -117,6 +117,7 @@ public:
 	///fills the dataBuffer and returns the struct name (and 0 on failure)
 	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
 
+	SIMD_FORCE_INLINE	void	deSerializeFloat(struct btCapsuleShapeData* dataBuffer);
 
 };
 
@@ -181,4 +182,13 @@ SIMD_FORCE_INLINE	const char*	btCapsuleShape::serialize(void* dataBuffer, btSeri
 	return "btCapsuleShapeData";
 }
 
+SIMD_FORCE_INLINE	void	btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer)
+{
+	m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions);
+	m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin;
+	m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling);
+	//it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
+	m_upAxis = dataBuffer->m_upAxis;
+}
+
 #endif //BT_CAPSULE_SHAPE_H

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -28,18 +28,14 @@ ATTRIBUTE_ALIGNED16(class) btCollisionShape
 {
 protected:
 	int m_shapeType;
-
-	union
-	{
 	void* m_userPointer;
 	int m_userIndex;
-	};
 
 public:
 
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
-	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
+	btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0), m_userIndex(-1)
 	{
 	}
 
@@ -135,7 +131,6 @@ public:
 	{
 		return m_userPointer;
 	}
-
 	void setUserIndex(int index)
 	{
 		m_userIndex = index;
@@ -146,6 +141,7 @@ public:
 		return m_userIndex;
 	}
 
+
 	virtual	int	calculateSerializeBufferSize() const;
 
 	///fills the dataBuffer and returns the struct name (and 0 on failure)

src/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -77,8 +77,8 @@ void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
 	if (m_dynamicAabbTree)
 	{
 		const btDbvtVolume	bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
-		int index = m_children.size();
+		size_t index = m_children.size();
-		child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
+		child.m_node = m_dynamicAabbTree->insert(bounds,reinterpret_cast<void*>(index) );
 	}
 
 	m_children.push_back(child);
@@ -312,7 +312,8 @@ void btCompoundShape::createAabbTreeFromChildren()
             child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax);
 
             const btDbvtVolume  bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
-            child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
+			size_t index2 = index;
+            child.m_node = m_dynamicAabbTree->insert(bounds, reinterpret_cast<void*>(index2) );
         }
     }
 }

src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp

@@ -313,7 +313,7 @@ bool btPolyhedralContactClipping::findSeparatingAxis(	const btConvexPolyhedron&
 	int edgeB=-1;
 	btVector3 worldEdgeA;
 	btVector3 worldEdgeB;
-	btVector3 witnessPointA,witnessPointB;
+	btVector3 witnessPointA(0,0,0),witnessPointB(0,0,0);
 	
 
 	int curEdgeEdge = 0;

src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h

@@ -21,7 +21,6 @@ subject to the following restrictions:
 struct btBroadphaseProxy;
 class btConvexShape;
 
-
 class  btTriangleRaycastCallback: public btTriangleCallback
 {
 public:

src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp

@@ -65,10 +65,10 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 
 	btVector3 n;
 	n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
-	bool hasResult = false;
+	
 	btVector3 c;
 
-	btScalar lastLambda = lambda;
+	
 
 
 	btScalar dist2 = v.length2();
@@ -109,9 +109,9 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 				//m_simplexSolver->reset();
 				//check next line
 				 w = supVertexA-supVertexB;
-				lastLambda = lambda;
+				
 				n = v;
-				hasResult = true;
+				
 			}
 		} 
 		///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
@@ -121,7 +121,7 @@ bool	btSubsimplexConvexCast::calcTimeOfImpact(
 		if (m_simplexSolver->closest(v))
 		{
 			dist2 = v.length2();
-			hasResult = true;
+			
 			//todo: check this normal for validity
 			//n=v;
 			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);