perform GrahamScanConvexHull2D around an arbitrary oriented 2D plane in 3D, to fix some convex hull face merging problems

add compound shape support to BulletXmlWorldImporter and fix some compile issue under Debian (hopefully)
object picking change in the demos: create a ball-socket picking constraint when holding shift while mouse dragging, otherwise a fixed (6dof) constraint
add assert in constraint solver, when both objects have their inertia tensor rows set to zero
btPolyhedralContactClipping: add edge-edge contact point in  findSeparatingAxis (similar to the default GJK case)

Demos/BulletXmlImportDemo/BulletXmlImportDemo.cpp

@@ -28,15 +28,24 @@ subject to the following restrictions:
 #include <stdio.h> //printf debugging
 
 
+
+#include "GLDebugDrawer.h"
+GLDebugDrawer	gDebugDrawer;
+
+
 void BulletXmlImportDemo::initPhysics()
 {
-		setTexturing(true);
+	setTexturing(true);
 	setShadows(true);
 
-	setCameraDistance(btScalar(30.));
+	
 
 	setupEmptyDynamicsWorld();
 
+	
+	m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
+
+
 	btBulletXmlWorldImporter* importer = new btBulletXmlWorldImporter(m_dynamicsWorld);
 	importer->loadFile("bullet_basic.xml");
 //	importer->loadFile("bulletser.xml");
@@ -54,6 +63,8 @@ void BulletXmlImportDemo::clientMoveAndDisplay()
 	///step the simulation
 	if (m_dynamicsWorld)
 	{
+	
+
 		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
 		m_dynamicsWorld->debugDrawWorld();
 	}
@@ -90,6 +101,7 @@ void	BulletXmlImportDemo::setupEmptyDynamicsWorld()
 
 	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
+
 	btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher);
 
 	m_broadphase = new btDbvtBroadphase();
@@ -101,7 +113,7 @@ void	BulletXmlImportDemo::setupEmptyDynamicsWorld()
 
 	//btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
 
-	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+	
 
 }
 
@@ -115,7 +127,11 @@ BulletXmlImportDemo::~BulletXmlImportDemo()
 	exitPhysics();
 }
 
-
+void BulletXmlImportDemo::clientResetScene()
+{
+	exitPhysics();
+	initPhysics();
+}
 
 
 void	BulletXmlImportDemo::exitPhysics()

Demos/BulletXmlImportDemo/BulletXmlImportDemo.h

@@ -55,9 +55,13 @@ class BulletXmlImportDemo : public PlatformDemoApplication
 
 	BulletXmlImportDemo()
 	{
+		//m_idle=true;
+		setCameraDistance(btScalar(30.));
 	}
 	virtual ~BulletXmlImportDemo();
 
+	virtual void clientResetScene();
+
 	void	initPhysics();
 
 	void	setupEmptyDynamicsWorld();

Demos/BulletXmlImportDemo/CMakeLists.txt

@@ -11,9 +11,6 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 # You shouldn't have to modify anything below this line 
 ########################################################
 
-IF(BUILD_AMD_OPENCL_DEMOS)
-	SUBDIRS(AMD)
-ENDIF()
 
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 

Demos/BulletXmlImportDemo/main.cpp

@@ -15,12 +15,11 @@ subject to the following restrictions:
 
 #include "BulletXmlImportDemo.h"
 #include "GlutStuff.h"
-#include "GLDebugDrawer.h"
+
 #include "btBulletDynamicsCommon.h"
 #include "LinearMath/btHashMap.h"
 
 
-
 #ifdef USE_AMD_OPENCL
 
 
@@ -84,7 +83,7 @@ bool initCL( void* glCtx, void* glDC )
 	
 int main(int argc,char** argv)
 {
-	GLDebugDrawer	gDebugDrawer;
+	
 #ifdef USE_AMD_OPENCL
 	
 	bool initialized = initCL(0,0);
@@ -94,8 +93,7 @@ int main(int argc,char** argv)
 	
 	BulletXmlImportDemo serializeDemo;
 	serializeDemo.initPhysics();
-	serializeDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
-
+	
 
 #ifdef CHECK_MEMORY_LEAKS
 	serializeDemo.exitPhysics();