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

examples/ExampleBrowser/ExampleEntries.cpp

@@ -83,8 +83,10 @@ static ExampleEntry gDefaultExamples[]=
 	
 	
 	ExampleEntry(0,"API"),
+
 	ExampleEntry(1,"Basic Example","Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),
 
+
 	ExampleEntry(1,"Rolling Friction", "Damping is often not good enough to keep rounded objects from rolling down a sloped surface. Instead, you can set the rolling friction of a rigid body. Generally it is best to leave the rolling friction to zero, to avoid artifacts.", RollingFrictionCreateFunc),
 	
 	ExampleEntry(1,"Constraints","Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.", 

examples/HelloWorld/HelloWorld.cpp

@@ -44,20 +44,24 @@ int main(int argc, char** argv)
 
 	///-----initialization_end-----
 
-	///create a few basic rigid bodies
-	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
-
 	//keep track of the shapes, we release memory at exit.
 	//make sure to re-use collision shapes among rigid bodies whenever possible!
 	btAlignedObjectArray<btCollisionShape*> collisionShapes;
 
-	collisionShapes.push_back(groundShape);
 
-	btTransform groundTransform;
-	groundTransform.setIdentity();
-	groundTransform.setOrigin(btVector3(0,-56,0));
+	///create a few basic rigid bodies
 
+	//the ground is a cube of side 100 at position y = -56.
+	//the sphere will hit it at y = -6, with center at -5
 	{
+		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+
+		collisionShapes.push_back(groundShape);
+
+		btTransform groundTransform;
+		groundTransform.setIdentity();
+		groundTransform.setOrigin(btVector3(0,-56,0));
+
 		btScalar mass(0.);
 
 		//rigidbody is dynamic if and only if mass is non zero, otherwise static
@@ -113,7 +117,7 @@ int main(int argc, char** argv)
 
 
 	///-----stepsimulation_start-----
-	for (i=0;i<100;i++)
+	for (i=0;i<150;i++)
 	{
 		dynamicsWorld->stepSimulation(1.f/60.f,10);
 		
@@ -178,9 +182,5 @@ int main(int argc, char** argv)
 
 	//next line is optional: it will be cleared by the destructor when the array goes out of scope
 	collisionShapes.clear();
-
-	///-----cleanup_end-----
-	printf("Press a key to exit\n");
-	getchar();
 }
 

examples/OpenGLWindow/X11OpenGLWindow.cpp

@@ -1076,6 +1076,20 @@ b3KeyboardCallback      X11OpenGLWindow::getKeyboardCallback()
 	return m_data->m_keyboardCallback;
 }
 
+int   X11OpenGLWindow::getWidth() const
+{
+    if (m_data)
+        return m_data->m_glWidth;
+    return 0;
+}
+int   X11OpenGLWindow::getHeight() const
+{
+    if (m_data)
+        return m_data->m_glHeight;
+    return 0;
+}
+
+
 #include <stdio.h>
 
 int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)

examples/OpenGLWindow/X11OpenGLWindow.h

@@ -54,7 +54,7 @@ public:
         virtual void setResizeCallback(b3ResizeCallback resizeCallback);
         virtual void setWheelCallback(b3WheelCallback wheelCallback);
         virtual void setKeyboardCallback( b3KeyboardCallback    keyboardCallback);
-        
+
 		virtual b3MouseMoveCallback getMouseMoveCallback();
 		virtual b3MouseButtonCallback getMouseButtonCallback();
 		virtual b3ResizeCallback getResizeCallback();
@@ -65,9 +65,14 @@ public:
 
         virtual void setWindowTitle(const char* title);
 
+        virtual int   getWidth() const;
+
+        virtual int   getHeight() const;
+
 	int fileOpenDialog(char* filename, int maxNameLength);
 };
 
 
+
 #endif
 

examples/pybullet/CMakeLists.txt

@@ -4,7 +4,7 @@ INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/src
 		${BULLET_PHYSICS_SOURCE_DIR}/examples
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
-		/usr/include/python2.7
+		${PYTHON_INCLUDE_DIRS}
   )
 
 SET(pybullet_SRCS
@@ -18,7 +18,7 @@ ADD_LIBRARY(pybullet ${pybullet_SRCS})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
 
-  TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common Python)
+  TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})
 ENDIF (BUILD_SHARED_LIBS)