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

examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp

@@ -0,0 +1,98 @@
+#include "ImportSTLSetup.h"
+#include <vector>
+#include "../OpenGLWindow/GLInstancingRenderer.h"
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+#include "btBulletDynamicsCommon.h"
+#include "../OpenGLWindow/SimpleOpenGL3App.h"
+#include "LoadMeshFromSTL.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+
+
+
+class ImportSTLSetup : public CommonRigidBodyBase
+{
+	
+public:
+    ImportSTLSetup(struct GUIHelperInterface* helper);
+    virtual ~ImportSTLSetup();
+    
+	virtual void initPhysics();
+};
+
+
+ImportSTLSetup::ImportSTLSetup(struct GUIHelperInterface* helper)
+:CommonRigidBodyBase(helper)
+{
+    
+}
+
+ImportSTLSetup::~ImportSTLSetup()
+{
+    
+}
+
+
+
+void ImportSTLSetup::initPhysics()
+{
+	m_guiHelper->setUpAxis(2);
+	this->createEmptyDynamicsWorld();
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
+
+	const char* fileName = "l_finger_tip.stl";
+    char relativeFileName[1024];
+	const char* prefix[]={"./data/","../data/","../../data/","../../../data/","../../../../data/"};
+	int prefixIndex=-1;
+	{
+		
+		int numPrefixes = sizeof(prefix)/sizeof(char*);
+		
+		for (int i=0;i<numPrefixes;i++)
+		{
+			FILE* f = 0;
+			sprintf(relativeFileName,"%s%s",prefix[i],fileName);
+			f = fopen(relativeFileName,"r");
+			if (f)
+			{
+				fclose(f);
+				prefixIndex = i;
+				break;
+			}
+		}
+	}
+	
+	if (prefixIndex<0)
+		return;
+	
+	btVector3 shift(0,0,0);
+	btVector3 scaling(10,10,10);
+//	int index=10;
+	
+	{
+		
+		GLInstanceGraphicsShape* gfxShape = LoadMeshFromSTL(relativeFileName);
+		
+		btTransform trans;
+		trans.setIdentity();
+		trans.setRotation(btQuaternion(btVector3(1,0,0),SIMD_HALF_PI));
+		
+		btVector3 position = trans.getOrigin();
+		btQuaternion orn = trans.getRotation();
+		
+		btVector3 color(0,0,1);
+		
+		int shapeId = m_guiHelper->getRenderInterface()->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
+		
+		
+	
+		m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
+
+	}
+}
+
+class ExampleInterface*    ImportSTLCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
+{
+	return new ImportSTLSetup(helper);
+}

examples/Importers/ImportSTLDemo/ImportSTLSetup.h

@@ -0,0 +1,6 @@
+#ifndef IMPORT_STL_SETUP_H
+#define IMPORT_STL_SETUP_H
+
+class ExampleInterface*    ImportSTLCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
+
+#endif //IMPORT_OBJ_SETUP_H

examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h

@@ -0,0 +1,109 @@
+
+#ifndef LOAD_MESH_FROM_STL_H
+#define LOAD_MESH_FROM_STL_H
+
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+#include <stdio.h> //fopen
+#include "Bullet3Common/b3AlignedObjectArray.h"
+
+struct MySTLTriangle
+{
+	float normal[3];
+	float vertex0[3];
+	float vertex1[3];
+	float vertex2[3];
+};
+
+static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
+{
+	GLInstanceGraphicsShape* shape = 0;
+	
+	FILE* file = fopen(relativeFileName,"rb");
+	if (file)
+	{
+		int size=0;
+		if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
+		{
+			printf("Error: Cannot access file to determine size of %s\n", relativeFileName);
+		} else
+		{
+			if (size)
+			{
+				printf("Open STL file of %d bytes\n",size);
+				char* memoryBuffer = new char[size+1];
+				int actualBytesRead = fread(memoryBuffer,1,size,file);
+				if (actualBytesRead!=size)
+				{
+					printf("Error reading from file %s",relativeFileName);
+				} else
+				{
+					int numTriangles = *(int*)&memoryBuffer[80];
+					
+					if (numTriangles)
+					{
+						{
+							//perform a sanity check instead of crashing on invalid triangles/STL files
+							int expectedBinaryFileSize = numTriangles* 50 + 84;
+							if (expectedBinaryFileSize != size)
+							{
+								return 0;
+							}
+
+						}
+						shape = new GLInstanceGraphicsShape;
+//						b3AlignedObjectArray<GLInstanceVertex>*	m_vertices;
+//						int				m_numvertices;
+//						b3AlignedObjectArray<int>* 		m_indices;
+//						int				m_numIndices;
+//						float			m_scaling[4];
+						shape->m_scaling[0] = 1;
+						shape->m_scaling[1] = 1;
+						shape->m_scaling[2] = 1;
+						shape->m_scaling[3] = 1;
+						int index = 0;
+						shape->m_indices = new b3AlignedObjectArray<int>();
+						shape->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+						for (int i=0;i<numTriangles;i++)
+						{
+							char* curPtr = &memoryBuffer[84+i*50];
+							MySTLTriangle* tri = (MySTLTriangle*) curPtr;
+							
+							GLInstanceVertex v0,v1,v2;
+							if (i==numTriangles-2)
+							{
+								printf("!\n");
+							}
+							v0.uv[0] = v1.uv[0] = v2.uv[0] = 0.5;
+							v0.uv[1] = v1.uv[1] = v2.uv[1] = 0.5;
+							for (int v=0;v<3;v++)
+							{
+								v0.xyzw[v] = tri->vertex0[v];
+								v1.xyzw[v] = tri->vertex1[v];
+								v2.xyzw[v] = tri->vertex2[v];
+								v0.normal[v] = v1.normal[v] = v2.normal[v] = tri->normal[v];
+							}
+							v0.xyzw[3] = v1.xyzw[3] = v2.xyzw[3] = 0.f;
+							
+							shape->m_vertices->push_back(v0);
+							shape->m_vertices->push_back(v1);
+							shape->m_vertices->push_back(v2);
+							
+							shape->m_indices->push_back(index++);
+							shape->m_indices->push_back(index++);
+							shape->m_indices->push_back(index++);
+							
+						}
+					}
+				}
+				
+				delete[] memoryBuffer;
+			}
+		}
+		fclose(file);
+	}
+	shape->m_numIndices = shape->m_indices->size();
+	shape->m_numvertices = shape->m_vertices->size();
+	return shape;
+}
+
+#endif //LOAD_MESH_FROM_STL_H