- fix issue with convex cast: results further away (larger hitfraction) could overwrite closer results

- minor naming convention thing (variables start with lower case)
- renamed MotorDemo
- added ConcaveConvexcastDemo, Thanks John McCutchan (JMC)

Demos/DynamicControlDemo/MotorDemo.h

@@ -0,0 +1,78 @@
+/*
+Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
+Motor Demo
+
+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 MOTORDEMO_H
+#define MOTORDEMO_H
+
+#include "DemoApplication.h"
+#include "LinearMath/btAlignedObjectArray.h"
+class btBroadphaseInterface;
+class btCollisionShape;
+class btOverlappingPairCache;
+class btCollisionDispatcher;
+class btConstraintSolver;
+struct btCollisionAlgorithmCreateFunc;
+class btDefaultCollisionConfiguration;
+
+class MotorDemo : public DemoApplication
+{
+	float m_Time;
+	float m_fCyclePeriod; // in milliseconds
+	float m_fMuscleStrength;
+
+	btAlignedObjectArray<class TestRig*> m_rigs;
+
+	//keep the collision shapes, for deletion/cleanup
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+
+	btBroadphaseInterface*	m_broadphase;
+
+	btCollisionDispatcher*	m_dispatcher;
+
+	btConstraintSolver*	m_solver;
+
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+public:
+	void initPhysics();
+
+	void exitPhysics();
+
+	virtual ~MotorDemo()
+	{
+		exitPhysics();
+	}
+
+	void spawnTestRig(const btVector3& startOffset, bool bFixed);
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+
+	virtual void keyboardCallback(unsigned char key, int x, int y);
+
+	static DemoApplication* Create()
+	{
+		MotorDemo* demo = new MotorDemo();
+		demo->myinit();
+		demo->initPhysics();
+		return demo;
+	}
+	
+};
+
+
+#endif