Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure

Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos
Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode)
Don't crash in btCollisionWorld, if there is no collision dispatcher

ObsoleteDemos/GyroscopicDemo/CMakeLists.txt

@@ -0,0 +1,50 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src 
+../OpenGL 
+)
+
+
+IF (USE_GLUT)
+	LINK_LIBRARIES(
+		OpenGLSupport BulletDynamics  BulletCollision LinearMath  ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
+
+	ADD_EXECUTABLE(AppGyroscopicDemo
+			GyroscopicDemo.cpp
+			GyroscopicDemo.h
+			main.cpp
+	)
+ELSE (USE_GLUT)
+	LINK_LIBRARIES(
+		OpenGLSupport BulletDynamics  BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
+
+	ADD_EXECUTABLE(AppGyroscopicDemo
+		WIN32
+		../OpenGL/Win32AppMain.cpp
+		Win32GyroscopicDemo.cpp
+		GyroscopicDemo.cpp
+		GyroscopicDemo.h
+	)
+ENDIF (USE_GLUT)
+
+
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(AppGyroscopicDemo PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(AppGyroscopicDemo PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(AppGyroscopicDemo PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

ObsoleteDemos/GyroscopicDemo/GyroscopicDemo.cpp

@@ -0,0 +1,240 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btIDebugDraw.h"
+
+#include "GLDebugDrawer.h"
+
+#include "GLDebugFont.h"
+#include <stdio.h> //printf debugging
+
+#include "GyroscopicDemo.h"
+#include "GL_ShapeDrawer.h"
+#include "GlutStuff.h"
+
+
+#include "GLDebugDrawer.h"
+static GLDebugDrawer	gDebugDrawer;
+
+
+
+
+
+void	GyroscopicDemo::setupEmptyDynamicsWorld()
+{
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+	m_overlappingPairCache = new btDbvtBroadphase();
+	m_constraintSolver = new btSequentialImpulseConstraintSolver();
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
+}
+
+void	GyroscopicDemo::clientResetScene()
+{
+	exitPhysics();
+	initPhysics();
+}
+void	GyroscopicDemo::initPhysics()
+{
+	m_azi=90;
+	m_ele = 20;
+
+	setTexturing(true);
+	setShadows(true);
+	setCameraUp(btVector3(0,0,1));
+	setCameraForwardAxis(1);
+	m_sundirection.setValue(0,-1,-1);
+	setCameraDistance(7.f);
+
+	setupEmptyDynamicsWorld();
+	m_dynamicsWorld->setGravity(btVector3(0,0,-9.8));
+	m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
+
+
+	//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5)));
+	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,0,1),0);
+	
+	m_collisionShapes.push_back(groundShape);
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,0,0));
+	btRigidBody* groundBody;
+	groundBody= localCreateRigidBody(0, groundTransform, groundShape);
+	groundBody->setFriction(btSqrt(2));
+	btVector3 positions[2] = {
+		btVector3(0.8,-2,2),
+		btVector3(0.8,2,2)
+	};
+	bool gyro[2] = {
+		true,
+		false
+	};
+
+	for (int i=0;i<2;i++)
+	{
+		btCylinderShapeZ* top  = new btCylinderShapeZ(btVector3(1,1,0.125));
+		btCapsuleShapeZ* pin  = new btCapsuleShapeZ(0.05,1.5);
+		top->setMargin(0.01);
+		pin->setMargin(0.01);
+		btCompoundShape* compound = new btCompoundShape();
+		compound->addChildShape(btTransform::getIdentity(),top);
+		compound->addChildShape(btTransform::getIdentity(),pin);
+		btVector3 localInertia;
+		top->calculateLocalInertia(1,localInertia);
+		btRigidBody* body = new btRigidBody(1,0,compound,localInertia);
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(positions[i]);
+		body->setCenterOfMassTransform(tr);
+		body->setAngularVelocity(btVector3(0,0,15));
+		body->setLinearVelocity(btVector3(0,.2,0));
+		body->setFriction(btSqrt(1));
+		m_dynamicsWorld->addRigidBody(body);
+		if (gyro[i])
+		{
+			body->setFlags(BT_ENABLE_GYROPSCOPIC_FORCE);
+		} else
+		{
+			body->setFlags(0);
+		}
+		body->setDamping(0.00001f,0.0001f);
+
+		
+	}
+
+}
+
+void	GyroscopicDemo::exitPhysics()
+{
+
+		int i;
+
+	//removed/delete constraints
+	for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
+	{
+		btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
+		m_dynamicsWorld->removeConstraint(constraint);
+		delete constraint;
+	}
+
+	//remove the rigidbodies from the dynamics world and delete them
+	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 dynamics world
+	delete m_dynamicsWorld;
+
+	//delete solver
+	delete m_constraintSolver;
+
+	//delete broadphase
+	delete m_overlappingPairCache;
+
+	//delete dispatcher
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+
+}
+
+GyroscopicDemo::GyroscopicDemo()
+{
+}
+GyroscopicDemo::~GyroscopicDemo()
+{
+	//cleanup in the reverse order of creation/initialization
+
+	exitPhysics();
+
+}
+
+
+void GyroscopicDemo::clientMoveAndDisplay()
+{
+	
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+
+ 	float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
+	//printf("dt = %f: ",dt);
+
+	{
+		static bool once = true;
+		if ( m_dynamicsWorld->getDebugDrawer() && once)
+		{
+			m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
+			once=false;
+		}
+	}
+
+	
+	{
+	 	//during idle mode, just run 1 simulation step maximum
+
+		int numSimSteps = m_dynamicsWorld->stepSimulation(dt,100,1./1000.f);
+
+		//optional but useful: debug drawing
+		m_dynamicsWorld->debugDrawWorld();
+	
+		
+	}
+	renderme();
+
+
+    glFlush();
+    swapBuffers();
+}
+
+
+
+
+void GyroscopicDemo::displayCallback(void) {
+
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
+
+	renderme();
+
+    glFlush();
+    swapBuffers();
+}
+
+

ObsoleteDemos/GyroscopicDemo/GyroscopicDemo.h

@@ -0,0 +1,71 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#ifndef BT_GYROSCOPIC_DEMO_H
+#define BT_GYROSCOPIC_DEMO_H
+
+#ifdef _WINDOWS
+#include "Win32DemoApplication.h"
+#define PlatformDemoApplication Win32DemoApplication
+#else
+#include "GlutDemoApplication.h"
+#define PlatformDemoApplication GlutDemoApplication
+#endif
+
+///GyroscopicDemo shows how to create a constraint, like Hinge or btGenericD6constraint
+class GyroscopicDemo : public PlatformDemoApplication
+{
+	//keep track of variables to delete memory at the end
+	btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
+
+	class btBroadphaseInterface*	m_overlappingPairCache;
+
+	class btCollisionDispatcher*	m_dispatcher;
+
+	class btConstraintSolver*	m_constraintSolver;
+
+	class btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+	void	setupEmptyDynamicsWorld();
+
+	void	clientResetScene();
+
+
+	public:
+
+	GyroscopicDemo();
+
+	virtual ~GyroscopicDemo();
+
+	void	initPhysics();
+
+	void	exitPhysics();
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+
+	static DemoApplication* Create()
+	{
+		GyroscopicDemo* demo = new GyroscopicDemo();
+		demo->myinit();
+		demo->initPhysics();
+		return demo;
+	}
+
+	
+};
+
+#endif //BT_GYROSCOPIC_DEMO_H
+

ObsoleteDemos/GyroscopicDemo/Win32GyroscopicDemo.cpp

@@ -0,0 +1,25 @@
+#ifdef _WINDOWS
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "GyroscopicDemo.h"
+
+///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
+DemoApplication*	createDemo()
+{
+	return new GyroscopicDemo();
+}
+
+#endif

ObsoleteDemos/GyroscopicDemo/main.cpp

@@ -0,0 +1,20 @@
+#include "GyroscopicDemo.h"
+#include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+
+#include "btBulletDynamicsCommon.h"
+
+int main(int argc,char** argv)
+{
+
+	
+
+    GyroscopicDemo* constraintDemo = new GyroscopicDemo();
+	
+
+    constraintDemo->initPhysics();
+	constraintDemo->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
+	
+	return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
+}
+