Merge branch 'master' of https://github.com/erwincoumans/bullet3

Demos3/AllBullet2Demos/BulletDemoEntries.h

@@ -23,6 +23,7 @@
 #include "../../Demos/SerializeDemo/SerializeSetup.h"
 #include "../bullet2/MultiBodyDemo/TestJointTorqueSetup.h"
 #include "../bullet2/CollisionDetection/SupportFuncDemo.h"
+#include "../bullet2/BasicConcepts/CoordinateSystemDemo.h"
 
 static BulletDemoInterface* TestJointTorqueCreateFunc(CommonGraphicsApp* app)
 {
@@ -83,6 +84,7 @@ static BulletDemoInterface* MyImportColladaCreateFunc(CommonGraphicsApp* app)
 
 
 
+
 struct BulletDemoEntry
 {
 	int									m_menuLevel;
@@ -94,9 +96,9 @@ struct BulletDemoEntry
 static BulletDemoEntry allDemos[]=
 {
 
-    {0,"LowLevel",0},
-    {1,"SupportFunc", &MySupportFuncDemo::CreateFunc},
-
+    {0,"Basic Concepts",0},
+    {1,"Basis Frame", &CoordinateSystemDemo::CreateFunc},
+	{1,"SupportFunc", &MySupportFuncDemo::CreateFunc},
 	//{"emptydemo",EmptyBulletDemo::MyCreateFunc},
 	{0,"API Demos", 0},
 

Demos3/ImportColladaDemo/LoadMeshFromCollada.cpp

@@ -20,7 +20,6 @@ subject to the following restrictions:
 #include <stdio.h> //fopen
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include <string>
-#include "OpenGLWindow/OpenGLInclude.h"
 #include "tinyxml/tinyxml.h"
 
 #include "Bullet3Common/b3FileUtils.h"

Demos3/ImportColladaDemo/btMatrix4x4.h

@@ -118,7 +118,7 @@ ATTRIBUTE_ALIGNED16(class) btMatrix4x4
 	}
 
 	SIMD_FORCE_INLINE btMatrix4x4 
-	btMatrix4x4::operator*=(const btMatrix4x4& m)
+	operator*=(const btMatrix4x4& m)
 	{
 		setValue(
 			m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]),m.tdotw(m_el[0]),

Demos3/bullet2/BasicConcepts/CoordinateSystemDemo.h

@@ -0,0 +1,143 @@
+#ifndef COORDINATE_SYSTEM_DEMO_H
+#define COORDINATE_SYSTEM_DEMO_H
+
+#include "Bullet3AppSupport/BulletDemoInterface.h"
+#include "OpenGLWindow/CommonGraphicsApp.h"
+
+
+///quick demo showing the right-handed coordinate system and positive rotations around each axis
+class CoordinateSystemDemo : public BulletDemoInterface
+{
+    CommonGraphicsApp* m_app;
+    float m_x;
+    float m_y;
+    float m_z;
+    
+public:
+    
+    CoordinateSystemDemo(CommonGraphicsApp* app)
+    :m_app(app),
+    m_x(0),
+    m_y(0),
+	m_z(0)
+    {
+		m_app->setUpAxis(2);
+
+		 {
+            int boxId = m_app->registerCubeShape(0.1,0.1,0.1);
+            btVector3 pos(0,0,0);
+            btQuaternion orn(0,0,0,1);
+            btVector4 color(0.3,0.3,0.3,1);
+            btVector3 scaling(1,1,1);
+            m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
+        }
+
+		 m_app->m_renderer->writeTransforms();
+    }
+    virtual ~CoordinateSystemDemo()
+    {
+        m_app->m_renderer->enableBlend(false);
+    }
+    static BulletDemoInterface*    CreateFunc(CommonGraphicsApp* app)
+    {
+        return new CoordinateSystemDemo(app);
+    }
+    
+    virtual void    initPhysics()
+    {
+    }
+    virtual void    exitPhysics()
+    {
+        
+    }
+    virtual void	stepSimulation(float deltaTime)
+    {
+        m_x+=0.01f;
+        m_y+=0.01f;
+		m_z+=0.01f;
+
+    }
+    virtual void	renderScene()
+    {
+		m_app->m_renderer->renderScene();
+    }
+
+	virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, 
+				const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
+	{
+		btScalar lineWidth = 3;
+		const btVector3& vx = axis;
+		btVector3 vy = normal.cross(axis);
+		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
+		int nSteps = (int)btFabs((maxAngle - minAngle) / step);
+		if(!nSteps) nSteps = 1;
+		btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
+		if(drawSect)
+		{
+			m_app->m_renderer->drawLine(center, prev, color,lineWidth);
+		}
+		for(int i = 1; i <= nSteps; i++)
+		{
+			btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
+			btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
+			m_app->m_renderer->drawLine(prev, next, color,lineWidth);
+			prev = next;
+		}
+		if(drawSect)
+		{
+			m_app->m_renderer->drawLine(center, prev, color,lineWidth);
+		}
+	}
+
+    virtual void	physicsDebugDraw()
+    {
+      
+		btVector3 xUnit(1,0,0);
+		btVector3 yUnit(0,1,0);
+		btVector3 zUnit(0,0,1);
+
+		btScalar lineWidth=3;
+
+		btQuaternion rotAroundX(xUnit,m_x);
+		btQuaternion rotAroundY(yUnit,m_y);
+		btQuaternion rotAroundZ(zUnit,m_z);
+
+		btScalar radius=0.5;
+		btVector3 toX=radius*quatRotate(rotAroundX,yUnit);
+		btVector3 toY=radius*quatRotate(rotAroundY,xUnit);
+		btVector3 toZ=radius*quatRotate(rotAroundZ,xUnit);
+		
+		m_app->m_renderer->drawLine(xUnit+toX+quatRotate(rotAroundX,btVector3(0,0.1,-0.2)),xUnit+toX,xUnit,lineWidth);
+		m_app->m_renderer->drawLine(xUnit+toX+quatRotate(rotAroundX,btVector3(0,-0.2,-0.2)),xUnit+toX,xUnit,lineWidth);
+		//draw the letter 'x' on the x-axis
+		//m_app->m_renderer->drawLine(xUnit-0.1*zUnit+0.1*yUnit,xUnit+0.1*zUnit-0.1*yUnit,xUnit,lineWidth);
+		//m_app->m_renderer->drawLine(xUnit+0.1*zUnit+0.1*yUnit,xUnit-0.1*zUnit-0.1*yUnit,xUnit,lineWidth);
+
+		m_app->m_renderer->drawLine(xUnit+toX+quatRotate(rotAroundX,btVector3(0,-0.2,-0.2)),xUnit+toX,xUnit,lineWidth);
+
+		m_app->m_renderer->drawLine(yUnit+toY+quatRotate(rotAroundY,btVector3(-0.2,0,0.2)),yUnit+toY,yUnit,lineWidth);
+		m_app->m_renderer->drawLine(yUnit+toY+quatRotate(rotAroundY,btVector3(0.1,0,0.2)),yUnit+toY,yUnit,lineWidth);
+		m_app->m_renderer->drawLine(zUnit+toZ+quatRotate(rotAroundZ,btVector3(0.1,-0.2,0)),zUnit+toZ,zUnit,lineWidth);
+		m_app->m_renderer->drawLine(zUnit+toZ+quatRotate(rotAroundZ,btVector3(-0.2,-0.2,0)),zUnit+toZ,zUnit,lineWidth);
+
+        
+		drawArc(xUnit,xUnit,toX.normalized(),radius,radius,0.4,SIMD_2_PI,xUnit,false);
+		drawArc(yUnit,yUnit,toY.normalized(),radius,radius,0.4,SIMD_2_PI,yUnit,false);
+		drawArc(zUnit,zUnit,toZ.normalized(),radius,radius,0.4,SIMD_2_PI,zUnit,false);
+    }
+    virtual bool	mouseMoveCallback(float x,float y)
+    {
+		return false;   
+    }
+    virtual bool	mouseButtonCallback(int button, int state, float x, float y)
+    {
+        return false;   
+    }
+    virtual bool	keyboardCallback(int key, int state)
+    {
+        return false;   
+    }
+    
+};
+#endif //COORDINATE_SYSTEM_DEMO_H
+

Demos3/bullet2/CollisionDetection/SupportFuncDemo.h

@@ -22,6 +22,7 @@ public:
     m_x(0),
     m_y(0)
     {
+		m_app->setUpAxis(1);
         m_sphere = new btSphereShape(1);
         {
             int boxId = m_app->registerCubeShape(10,0.1,10);

Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp

@@ -55,6 +55,7 @@ m_pickedConstraint(0),
 m_pickingMultiBodyPoint2Point(0)
 
 {
+	app->setUpAxis(1);
 	m_collisionConfiguration = 0;
 	m_dispatcher = 0;
 	m_broadphase = 0;

Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp

@@ -35,6 +35,7 @@ static float friction = 1.;
 MultiDofDemo::MultiDofDemo(CommonGraphicsApp* app)
 :FeatherstoneDemo1(app)
 {
+	app->setUpAxis(1);
 }
 MultiDofDemo::~MultiDofDemo()
 {

Demos3/bullet2/LuaDemo/LuaPhysicsSetup.cpp

@@ -35,6 +35,7 @@ m_bp(0),
 m_solver(0),
 m_dynamicsWorld(0)
 {
+	app->setUpAxis(1);
     sLuaDemo = this;
 }