Merge pull request #369 from erwincoumans/master

use wall-time delta time for examples, fix btDbvt (disable memmove)

examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp

@@ -364,10 +364,10 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	m_data->m_explorerTreeCtrl = ctrl;
 	ctrl->SetKeyboardInputEnabled(true);
 	ctrl->Focus();
-	ctrl->SetBounds(2, 10, 236, 400);
+	ctrl->SetBounds(2, 10, 236, 300);
 
 		m_data->m_exampleInfoGroupBox = new Gwen::Controls::Label( m_data->m_explorerPage->GetPage() );
-	m_data->m_exampleInfoGroupBox->SetPos(2, 414);
+	m_data->m_exampleInfoGroupBox->SetPos(2, 314);
 	m_data->m_exampleInfoGroupBox->SetHeight( 15 );
 	m_data->m_exampleInfoGroupBox->SetWidth(234);
 	m_data->m_exampleInfoGroupBox->SetText("Example Description");
@@ -376,7 +376,7 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	
 
 	//m_data->m_exampleInfoTextOutput->Dock( Gwen::Pos::Bottom );
-	m_data->m_exampleInfoTextOutput->SetPos(2, 432);
+	m_data->m_exampleInfoTextOutput->SetPos(2, 332);
 	m_data->m_exampleInfoTextOutput->SetHeight( 150 );
 	m_data->m_exampleInfoTextOutput->SetWidth(233);
 	

examples/ExampleBrowser/main.cpp

@@ -12,22 +12,25 @@
 #include "../Utils/b3Clock.h"
 
 #include "ExampleEntries.h"
-
+#include "Bullet3Common/b3Logging.h"
 int main(int argc, char* argv[])
 {
 	b3CommandLineArgs args(argc,argv);
     b3Clock clock;
-
+	
+	
 	ExampleEntries examples;
 	examples.initExampleEntries();
 
 	ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);
 	bool init = exampleBrowser->init(argc,argv);
+	clock.reset();
 	if (init)
 	{
 		do 
 		{
-			float deltaTimeInSeconds = 1./120.f;
+			float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
+			clock.reset();
 			exampleBrowser->update(deltaTimeInSeconds);
 
 		} while (!exampleBrowser->requestedExit());

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -291,4 +291,4 @@ class CommonExampleInterface*    ImportURDFCreateFunc(struct CommonExampleOption
 {
 
 	return new ImportUrdfSetup(options.m_guiHelper, options.m_option,options.m_fileName);
-}
+}

examples/Importers/ImportURDFDemo/MyURDFImporter.cpp

@@ -66,7 +66,7 @@ struct MyURDFInternalData
 	my_shared_ptr<ModelInterface> m_robot;
     std::vector<my_shared_ptr<Link> > m_links;
 	struct GUIHelperInterface* m_guiHelper;
-	const char* m_pathPrefix;
+    char m_pathPrefix[1024];
 	
 };
 
@@ -89,7 +89,7 @@ MyURDFImporter::MyURDFImporter(struct GUIHelperInterface* helper)
 	m_data = new MyURDFInternalData;
 	m_data->m_robot = 0;
 	m_data->m_guiHelper = helper;
-	m_data->m_pathPrefix=0;
+	m_data->m_pathPrefix[0]=0;
 
 
   
@@ -107,9 +107,8 @@ bool MyURDFImporter::loadURDF(const char* fileName)
 	bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
 	
 	std::string xml_string;
-	char pathPrefix[1024];
-	pathPrefix[0] = 0;
-	
+	m_data->m_pathPrefix[0] = 0;
+    
     if (!fileFound){
         std::cerr << "URDF file not found" << std::endl;
 		return false;
@@ -117,7 +116,7 @@ bool MyURDFImporter::loadURDF(const char* fileName)
     {
 		
 		int maxPathLen = 1024;
-		fu.extractPath(relativeFileName,pathPrefix,maxPathLen);
+		fu.extractPath(relativeFileName,m_data->m_pathPrefix,maxPathLen);
 
 
         std::fstream xml_file(relativeFileName, std::fstream::in);

src/BulletCollision/BroadphaseCollision/btDbvt.h

@@ -1196,23 +1196,23 @@ inline void		btDbvt::collideOCL(	const btDbvtNode* root,
 							
 							//void * memmove ( void * destination, const void * source, size_t num );
 							
-#if DBVT_USE_MEMMOVE
-							memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1));
-#else
+//#if DBVT_USE_MEMMOVE
+//							memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1));
+//#else
 							for(int k=stack.size()-1;k>j;--k) 
 							{
 								stack[k]=stack[k-1];
 							}
-#endif
+//#endif
 							stack[j]=allocate(ifree,stock,nes[q]);
 							/* Insert 1	*/ 
 							j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
 							stack.push_back(0);
-#if DBVT_USE_MEMMOVE
-							memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1));
-#else
+//#if DBVT_USE_MEMMOVE
+//							memmove(&stack[j],&stack[j-1],sizeof(int)*(stack.size()-j-1));
+//#else
 							for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
-#endif
+//#endif
 							stack[j]=allocate(ifree,stock,nes[1-q]);
 						}
 						else