add Stan Melax' ImplicitCloth demo

examples/ExampleBrowser/CMakeLists.txt

@@ -80,6 +80,11 @@ SET(App_ExampleBrowser_SRCS
   ../Constraints/Dof6Spring2Setup.h
   ../Constraints/ConstraintPhysicsSetup.cpp
   ../Constraints/ConstraintPhysicsSetup.h
+  ../Experiments/ImplicitCloth/ImplicitClothExample.cpp
+  ../Experiments/ImplicitCloth/stan/Cloth.cpp
+  ../Experiments/ImplicitCloth/stan/SpringNetwork.cpp
+  ../Experiments/ImplicitCloth/stan/vec3n.cpp
+  ../Experiments/ImplicitCloth/stan/vecmath.cpp
   
 	
     ../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -25,6 +25,8 @@
 #include "../SoftDemo/SoftDemo.h"
 #include "../Constraints/ConstraintDemo.h"
 #include "../Vehicles/Hinge2Vehicle.h"
+#include "../Experiments/ImplicitCloth/ImplicitClothExample.h"
+
 
 struct ExampleEntry
 {
@@ -143,10 +145,15 @@ static ExampleEntry gDefaultExamples[]=
 					"The demo implementation allows to choose various MLCP constraint solvers.", 
 					ForkLiftCreateFunc),
 
-	ExampleEntry(1,"Advanced"),
+
+
+	ExampleEntry(0,"Experiments"),
 
 	ExampleEntry(1,"Voronoi Fracture", "Automatically create a compound rigid body using voronoi tesselation. Individual parts are modeled as rigid bodies using a btConvexHullShape.",
-				VoronoiFractureCreateFunc),
+				 VoronoiFractureCreateFunc),
+
+	ExampleEntry(1,"Implicit Cloth", "Cloth simulation using implicit integration, by Stan Melax. The cloth is only attached at the corners. Note the stability using a large time step even with high stiffness.",
+				   ImplicitClothCreateFunc),
 
 
 	ExampleEntry(0,"Rendering"),

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -80,15 +80,17 @@ void MyKeyboardCallback(int key, int state)
 	//printf("key=%d, state=%d\n", key, state);
 	bool handled = false;
 	
+	if (gui && !handled )
+	{
+		handled = gui->keyboardCallback(key, state);
+	}
+	
 	if (!handled && sCurrentDemo)
 	{
 		handled = sCurrentDemo->keyboardCallback(key,state);
 	}
 
-	if (gui && !handled )
-	{
-		handled = gui->keyboardCallback(key, state);
-	}
+	
 	
 
 	//checkout: is it desired to ignore keys, if the demo already handles them?

examples/ExampleBrowser/premake4.lua

@@ -39,6 +39,8 @@
 		"../Utils/b3Clock.*",
 		"../GyroscopicDemo/GyroscopicSetup.cpp",
 		"../GyroscopicDemo/GyroscopicSetup.h",
+		"../Experiments/ImplicitCloth/**.cpp",
+		"../Experiments/ImplicitCloth/**.h",
 		"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
 		"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp",
     "../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp",