add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call,

then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.

btgui/Bullet3AppSupport/Bullet2RigidBodyDemo.cpp

@@ -180,6 +180,10 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
 
 	}
 
+	virtual struct Common2dCanvasInterface*	get2dCanvasInterface()
+	{
+		return m_glApp->m_2dCanvasInterface;
+	}
 	virtual CommonParameterInterface* getParameterInterface()
 	{
 		return m_glApp->m_parameterInterface;

btgui/Bullet3AppSupport/Common2dCanvasInterface.h

@@ -0,0 +1,15 @@
+#ifndef COMMON_2D_CANVAS_INTERFACE_H
+#define COMMON_2D_CANVAS_INTERFACE_H
+
+struct Common2dCanvasInterface
+{
+	virtual ~Common2dCanvasInterface() {}
+	virtual int createCanvas(const char* canvasName, int width, int height)=0;
+	virtual void destroyCanvas(int canvasId)=0;
+	virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)=0;
+	virtual void refreshImageData(int canvasId)=0;
+
+};
+
+#endif //COMMON_2D_CANVAS_INTERFACE_H
+

btgui/Bullet3AppSupport/CommonPhysicsSetup.h

@@ -38,6 +38,10 @@ struct GraphicsPhysicsBridge
 
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;}
 
+	virtual struct Common2dCanvasInterface* get2dCanvasInterface()
+	{
+		return 0;
+	}
 	
 	virtual CommonParameterInterface* getParameterInterface()
 	{
@@ -65,6 +69,7 @@ public:
 
     virtual void    debugDraw(int debugDrawFlags)=0;
 
+	
 	virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) = 0;
 	virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
 	virtual void removePickingConstraint() = 0;