add initial examples, replacing the 'Demos/Demos3'. Will make it work cross-platform, OpenGL3/OpenGL2 and add more examples to it.

examples/GyroscopicDemo/GyroscopicSetup.cpp

@@ -0,0 +1,129 @@
+#include "GyroscopicSetup.h"
+
+
+
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+
+struct GyroscopicSetup : public CommonRigidBodyBase
+{
+
+	GyroscopicSetup(struct GUIHelperInterface* helper);
+
+	virtual ~GyroscopicSetup()
+	{
+	}
+	virtual void initPhysics();
+
+
+	virtual void physicsDebugDraw(int debugFlags);
+
+};
+
+
+static int gyroflags[4] = {
+    0,//none, no gyroscopic term
+    BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT,
+    BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD,
+    BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY
+};
+
+static const char* gyroNames[4] = {
+    "No Gyroscopic",
+    "Explicit",
+    "Implicit (World)",
+	"Implicit (Body)"
+};
+
+
+GyroscopicSetup::GyroscopicSetup(struct GUIHelperInterface* helper)
+:CommonRigidBodyBase(helper)
+{
+
+}
+
+void GyroscopicSetup::initPhysics()
+{
+	m_guiHelper->setUpAxis(2);
+	createEmptyDynamicsWorld();
+	m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	
+	btVector3 positions[4] = {
+		btVector3( -10, 8,4),
+		btVector3( -5, 8,4),
+		btVector3( 0, 8,4),
+		btVector3( 5, 8,4),
+	};
+
+
+	for (int i = 0; i<4; i++)
+	{
+		btCylinderShapeZ* pin = new btCylinderShapeZ(btVector3(0.1,0.1, 0.2));
+		btBoxShape* box = new btBoxShape(btVector3(1,0.1,0.1));
+		box->setMargin(0.01);
+		pin->setMargin(0.01);
+		btCompoundShape* compound = new btCompoundShape();
+		compound->addChildShape(btTransform::getIdentity(), pin);
+		btTransform offsetBox(btMatrix3x3::getIdentity(),btVector3(0,0,0.2));
+		compound->addChildShape(offsetBox, box);
+		btScalar masses[2] = {0.3,0.1};
+		btVector3 localInertia;
+		btTransform principal;
+		compound->calculatePrincipalAxisTransform(masses,principal,localInertia);
+		
+		btRigidBody* body = new btRigidBody(1, 0, compound, localInertia);
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(positions[i]);
+		body->setCenterOfMassTransform(tr);
+		body->setAngularVelocity(btVector3(0, 0.1, 10));//51));
+		//body->setLinearVelocity(btVector3(3, 0, 0));
+		body->setFriction(btSqrt(1));
+		m_dynamicsWorld->addRigidBody(body);
+		body->setFlags(gyroflags[i]);
+		m_dynamicsWorld->getSolverInfo().m_maxGyroscopicForce = 10.f;
+		body->setDamping(0.0000f, 0.000f);
+
+
+	}
+
+    {
+        //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 = createRigidBody(0, groundTransform, groundShape);
+        groundBody->setFriction(btSqrt(2));
+    }
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void GyroscopicSetup::physicsDebugDraw(int debugFlags)
+{
+	CommonRigidBodyBase::physicsDebugDraw(debugFlags);
+    
+    //render method names above objects
+    for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
+    {
+        btRigidBody* body = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[i]);
+        if (body && body->getInvMass()>0)
+        {
+            btTransform tr = body->getWorldTransform();
+            btVector3 pos = tr.getOrigin()+btVector3(0,0,2);
+            btScalar size=1;
+            m_guiHelper->drawText3D(gyroNames[i],pos.x(),pos.y(),pos.z(),size);
+        }
+    }
+}
+
+
+class ExampleInterface*    GyroscopicCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+{
+	return new GyroscopicSetup(helper);
+}

examples/GyroscopicDemo/GyroscopicSetup.h

@@ -0,0 +1,7 @@
+
+#ifndef GYROSCOPIC_SETUP_H
+#define GYROSCOPIC_SETUP_H
+
+class ExampleInterface*    GyroscopicCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+
+#endif //GYROSCOPIC_SETUP_H