Merge branch 'master' of git://github.com/bulletphysics/bullet3 into flipDepthImage

Extras/Serialize/BulletFileLoader/bDNA.cpp

@@ -389,18 +389,10 @@ void bDNA::init(char *data, int len, bool swap)
 		cp++;
 	}
 
+
+	
+	cp = btAlignPointer(cp,4);
 	
-	{
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
-
 	/*
 		TYPE (4 bytes)
 		<nr> amount of types (int)
@@ -426,17 +418,8 @@ void bDNA::init(char *data, int len, bool swap)
 		cp++;
 	}
 
-{
+	cp = btAlignPointer(cp,4);
-		nr= (long)cp;
+	
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
-
 	/*
 		TLEN (4 bytes)
 		<len> (short) the lengths of types

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -460,15 +460,7 @@ void bFile::swapDNA(char* ptr)
 	}
 
 	
-	{
+	cp = btAlignPointer(cp,4);
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
 
 
 	/*
@@ -497,16 +489,7 @@ void bFile::swapDNA(char* ptr)
 		cp++;
 	}
 
-{
+	cp = btAlignPointer(cp,4);
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
 
 	/*
 		TLEN (4 bytes)

build_visual_studio.bat

@@ -2,7 +2,7 @@
 rem premake4 --with-pe  vs2010
 rem premake4  --bullet2demos vs2010
 cd build3
-premake4   --targetdir="../bin" vs2010 
+premake4   --enable_openvr --targetdir="../bin" vs2010 
 rem premake4   --targetdir="../server2bin" vs2010 
 rem cd vs2010
 rem rename 0_Bullet3Solution.sln 0_server.sln

data/cube.mtl

@@ -11,4 +11,6 @@ newmtl cube
   Ke 0.0000 0.0000 0.0000
   map_Ka cube.tga
   map_Kd cube.png
+  
+  
 

data/cube.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="cube.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<box size="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/plane.mtl

@@ -1,11 +1,15 @@
-# Blender MTL File: 'None'
-# Material Count: 1
-
 newmtl Material
-Ns 96.078431
+  Ns 10.0000
-Ka 0.000000 0.000000 0.000000
+  Ni 1.5000
-Kd 0.640000 0.640000 0.640000
+  d 1.0000
-Ks 0.500000 0.500000 0.500000
+  Tr 0.0000
-Ni 1.000000
+  Tf 1.0000 1.0000 1.0000 
-d 1.000000
+  illum 2
-illum 2
+  Ka 0.0000 0.0000 0.0000
+  Kd 0.5880 0.5880 0.5880
+  Ks 0.0000 0.0000 0.0000
+  Ke 0.0000 0.0000 0.0000
+  map_Ka cube.tga
+  map_Kd checker_grid.jpg
+  
+  

data/plane.obj

@@ -2,11 +2,17 @@
 # www.blender.org
 mtllib plane.mtl
 o Plane
-v 1.000000 0.000000 -1.000000
+v 5.000000 -5.000000 0.000000
-v 1.000000 0.000000 1.000000
+v 5.000000 5.000000 0.000000
-v -1.000000 0.000000 1.000000
+v -5.000000 5.000000 0.000000
-v -1.000000 0.000000 -1.000000
+v -5.000000  -5.000000 0.000000
+
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+vt 0.000000 0.000000
+
 usemtl Material
 s off
-f 1 2 3
+f 1/1 2/2 3/3
-f 1 3 4
+f 1/1 3/3 4/4

data/r2d2.urdf

@@ -79,7 +79,7 @@
         <cylinder length=".1" radius="0.035"/>
       </geometry>
       <material name="black">
-        <color rgba="0 0 0 1"/>
+        <color rgba="0.5 0.5 0.5 1"/>
       </material>
     </visual>
     <collision>

data/sphere2.urdf

@@ -9,8 +9,11 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
       </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -19,55 +22,5 @@
       </geometry>
     </collision>
   </link>
-   <link name="childA">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="10.0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </collision>
-  </link>
-   <joint name="joint_baseLink_childA" type="fixed">
-    <parent link="baseLink"/>
-    <child link="childA"/>
-    <origin xyz="0 0 1.0"/>
-  </joint>
- <link name="childB">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.5"/>
-      <mass value="10.0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.5"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.5"/>
-      <geometry>
-        <sphere radius="0.5"/>
-      </geometry>
-    </collision>
-  </link>
- <joint name="joint_childA_childB" type="continuous">
-    <parent link="childA"/>
-    <child link="childB"/>
-<axis xyz="0 1 0"/>
-    <origin xyz="0 0 0.5"/>
-  </joint>
-
 </robot>
 

examples/BasicDemo/BasicExample.cpp

@@ -39,7 +39,7 @@ struct BasicExample : public CommonRigidBodyBase
 	virtual void renderScene();
 	void resetCamera()
 	{
-		float dist = 41;
+		float dist = 4;
 		float pitch = 52;
 		float yaw = 35;
 		float targetPos[3]={0,0,0};
@@ -81,7 +81,7 @@ void BasicExample::initPhysics()
 		//create a few dynamic rigidbodies
 		// Re-using the same collision is better for memory usage and performance
 
-		btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
+		btBoxShape* colShape = createBoxShape(btVector3(.1,.1,.1));
 		
 
 		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
@@ -108,9 +108,9 @@ void BasicExample::initPhysics()
 				for(int j = 0;j<ARRAY_SIZE_Z;j++)
 				{
 					startTransform.setOrigin(btVector3(
-										btScalar(2.0*i),
+										btScalar(0.2*i),
-										btScalar(20+2.0*k),
+										btScalar(2+.2*k),
-										btScalar(2.0*j)));
+										btScalar(0.2*j)));
 
 			
 					createRigidBody(mass,startTransform,colShape);
@@ -121,7 +121,9 @@ void BasicExample::initPhysics()
 		}
 	}
 
+	
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+	
 }
 
 

examples/BasicDemo/CMakeLists.txt

@@ -53,6 +53,7 @@ SET(AppBasicExampleGui_SRCS
         ../ExampleBrowser/OpenGLGuiHelper.cpp
         ../ExampleBrowser/GL_ShapeDrawer.cpp
         ../ExampleBrowser/CollisionShape2TriangleMesh.cpp
+		../Utils/b3Clock.cpp
 )
 
 #this define maps StandaloneExampleCreateFunc to the right 'CreateFunc'

examples/BasicDemo/premake4.lua

@@ -49,6 +49,8 @@ files {
 	"../ExampleBrowser/OpenGLGuiHelper.cpp",
 	"../ExampleBrowser/GL_ShapeDrawer.cpp",
 	"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
 
 if os.is("Linux") then initX11() end
@@ -93,7 +95,9 @@ files {
 	"../TinyRenderer/tgaimage.cpp",
 	"../TinyRenderer/our_gl.cpp",
 	"../TinyRenderer/TinyRenderer.cpp",
-	"../Utils/b3ResourcePath.cpp"
+	"../Utils/b3ResourcePath.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
 
 if os.is("Linux") then initX11() end
@@ -132,7 +136,9 @@ files {
 	"../TinyRenderer/tgaimage.cpp",
 	"../TinyRenderer/our_gl.cpp",
 	"../TinyRenderer/TinyRenderer.cpp",
-	"../Utils/b3ResourcePath.cpp"
+	"../Utils/b3ResourcePath.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
 
 
@@ -179,6 +185,8 @@ files {
 				"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
 				"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
 				"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
+				"../Utils/b3Clock.cpp",
+				"../Utils/b3Clock.h",
 				
 }
 

examples/Benchmarks/BenchmarkDemo.cpp

@@ -1273,7 +1273,7 @@ void	BenchmarkDemo::exitPhysics()
 
 
 
-struct CommonExampleInterface*    BenchmarkCreateFunc(struct CommonExampleOptions& options)
+CommonExampleInterface*    BenchmarkCreateFunc(struct CommonExampleOptions& options)
 {
 	return new BenchmarkDemo(options.m_guiHelper,options.m_option);
 }

examples/CommonInterfaces/CommonCameraInterface.h

@@ -6,7 +6,9 @@ struct CommonCameraInterface
 	virtual void getCameraProjectionMatrix(float m[16])const = 0;
 	virtual void getCameraViewMatrix(float m[16]) const = 0;
 		
-	virtual void	setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
+	virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
+	virtual void disableVRCamera()=0;
+	virtual bool isVRCamera() const =0;
 
 	virtual void getCameraTargetPosition(float pos[3]) const = 0;
 	virtual void getCameraPosition(float pos[3]) const = 0;

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -29,10 +29,11 @@ struct GUIHelperInterface
 
 	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=0;
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) =0;
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)=0;
-
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
-
+    virtual void removeAllGraphicsInstances()=0;
+	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
 	
 	virtual CommonParameterInterface* getParameterInterface()=0;
@@ -73,10 +74,11 @@ struct DummyGUIHelper : public GUIHelperInterface
 
 	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }
+	virtual int	registerTexture(const unsigned char* texels, int width, int height){return -1;}
-
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId){return -1;}
-	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;}
+	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
-
+    virtual void removeAllGraphicsInstances(){}
+	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
 		return 0;

examples/CommonInterfaces/CommonRenderInterface.h

@@ -22,7 +22,7 @@ struct CommonRenderInterface
 	virtual void init()=0;
 	virtual void updateCamera(int upAxis)=0;
 	virtual void removeAllInstances() = 0;
-
+	
 	virtual const CommonCameraInterface* getActiveCamera() const =0;
 	virtual CommonCameraInterface* getActiveCamera()=0;
 	virtual void setActiveCamera(CommonCameraInterface* cam)=0;
@@ -52,6 +52,10 @@ struct CommonRenderInterface
 	virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
 	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
 	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
+	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex)=0;
+	virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex)=0;
+    
+    virtual int getTotalNumInstances() const = 0;
     
 	virtual void writeTransforms()=0;
     virtual void enableBlend(bool blend)=0;

examples/ExampleBrowser/CMakeLists.txt

@@ -114,7 +114,10 @@ SET(ExtendedTutorialsSources
 	../ExtendedTutorials/SimpleCloth.cpp
 	../ExtendedTutorials/Chain.cpp 
 	../ExtendedTutorials/Bridge.cpp 
-	../ExtendedTutorials/RigidBodyFromObj.cpp 
+	../ExtendedTutorials/RigidBodyFromObj.cpp
+	../ExtendedTutorials/InclinedPlane.cpp
+	../ExtendedTutorials/InclinedPlane.h
+	../ExtendedTutorials/NewtonsCradle.cpp
 )
 
 SET(BulletExampleBrowser_SRCS
@@ -158,6 +161,22 @@ SET(BulletExampleBrowser_SRCS
 	../Tutorial/Tutorial.h
 	../Tutorial/Dof6ConstraintTutorial.cpp
 	../Tutorial/Dof6ConstraintTutorial.h
+	../ExtendedTutorials/SimpleBox.cpp
+	../ExtendedTutorials/SimpleBox.h
+	../ExtendedTutorials/MultipleBoxes.cpp
+	../ExtendedTutorials/MultipleBoxes.h
+	../ExtendedTutorials/SimpleCloth.cpp
+	../ExtendedTutorials/SimpleCloth.h
+	../ExtendedTutorials/SimpleJoint.cpp
+	../ExtendedTutorials/SimpleJoint.h
+	../ExtendedTutorials/NewtonsCradle.cpp
+	../ExtendedTutorials/NewtonsCradle.h
+	../ExtendedTutorials/NewtonsRopeCradle.cpp
+	../ExtendedTutorials/NewtonsRopeCradle.h
+	../ExtendedTutorials/InclinedPlane.cpp
+	../ExtendedTutorials/InclinedPlane.h
+	../ExtendedTutorials/MultiPendulum.cpp
+	../ExtendedTutorials/MultiPendulum.h
 	../Collision/CollisionSdkC_Api.cpp
 	../Collision/CollisionSdkC_Api.h
 	../Collision/CollisionTutorialBullet2.cpp
@@ -189,7 +208,10 @@ SET(BulletExampleBrowser_SRCS
 	../RenderingExamples/TimeSeriesCanvas.h
 	../RenderingExamples/TimeSeriesFontData.cpp
 	../RenderingExamples/TimeSeriesFontData.h
-
+	../RoboticsLearning/b3RobotSimAPI.cpp
+	../RoboticsLearning/b3RobotSimAPI.h
+	../RoboticsLearning/R2D2GraspExample.cpp
+	../RoboticsLearning/R2D2GraspExample.h
 	../RenderingExamples/CoordinateSystemDemo.cpp
 	../RenderingExamples/CoordinateSystemDemo.h
 	../RenderingExamples/RaytracerSetup.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -45,6 +45,7 @@
 #include "../Tutorial/Dof6ConstraintTutorial.h"
 #include "../MultiThreading/MultiThreadingExample.h"
 #include "../InverseDynamics/InverseDynamicsExample.h"
+#include "../RoboticsLearning/R2D2GraspExample.h"
 
 #ifdef ENABLE_LUA
 #include "../LuaDemo/LuaPhysicsSetup.h"
@@ -57,7 +58,7 @@
 #endif
 #endif //B3_USE_CLEW
 
-//Extended Tutorial Includes Added by Mobeen
+//Extended Tutorial Includes Added by Mobeen and Benelot
 #include "../ExtendedTutorials/SimpleBox.h"
 #include "../ExtendedTutorials/MultipleBoxes.h"
 #include "../ExtendedTutorials/SimpleJoint.h"
@@ -65,6 +66,10 @@
 #include "../ExtendedTutorials/Chain.h"
 #include "../ExtendedTutorials/Bridge.h"
 #include "../ExtendedTutorials/RigidBodyFromObj.h"
+#include "../ExtendedTutorials/InclinedPlane.h"
+#include "../ExtendedTutorials/NewtonsCradle.h"
+#include "../ExtendedTutorials/NewtonsRopeCradle.h"
+#include "../ExtendedTutorials/MultiPendulum.h"
 
 struct ExampleEntry
 {
@@ -90,11 +95,11 @@ struct ExampleEntry
 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.",
@@ -114,8 +119,6 @@ static ExampleEntry gDefaultExamples[]=
 
 	ExampleEntry(1,"Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",RigidBodySoftContactCreateFunc),
 
-
-
 	ExampleEntry(0,"MultiBody"),
 	ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
 	ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
@@ -241,11 +244,12 @@ static ExampleEntry gDefaultExamples[]=
 			PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
 	ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
 			PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
-
 	ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
 	ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
 
-		
+	ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
+	ExampleEntry(1,"URDF Compliant Contact","Experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT),
+	
 
 
 #ifdef ENABLE_LUA
@@ -273,11 +277,16 @@ static ExampleEntry gDefaultExamples[]=
 	//Extended Tutorials Added by Mobeen
 	ExampleEntry(0,"Extended Tutorials"),
 	ExampleEntry(1,"Simple Box", "Simplest possible demo creating a single box rigid body that falls under gravity", ET_SimpleBoxCreateFunc),
-	ExampleEntry(1,"Multiple Boxes", "Adding multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc),
+	ExampleEntry(1,"Multiple Boxes", "Add multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc),
-	ExampleEntry(1,"Simple Joint", "Creating a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc),
+	ExampleEntry(1,"Simple Joint", "Create a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc),
-	ExampleEntry(1,"Simple Cloth", "Creating a simple piece of cloth", ET_SimpleClothCreateFunc),
+	ExampleEntry(1,"Simple Cloth", "Create a simple piece of cloth", ET_SimpleClothCreateFunc),
-	ExampleEntry(1,"Simple Chain", "Creating a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),
+	ExampleEntry(1,"Simple Chain", "Create a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),
-	ExampleEntry(1,"Simple Bridge", "Creating a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
+	ExampleEntry(1,"Simple Bridge", "Create a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
+	ExampleEntry(1,"Inclined Plane", "Create an inclined plane to show restitution and different types of friction. Use the sliders to vary restitution and friction and press space to reset the scene.", ET_InclinedPlaneCreateFunc),
+	ExampleEntry(1,"Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.", ET_NewtonsCradleCreateFunc),
+	ExampleEntry(1,"Newton's Rope Cradle", "Create a Newton's Cradle using ropes. Press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula and the number of displaced pendula and apply the displacement force.",ET_NewtonsRopeCradleCreateFunc),
+	ExampleEntry(1,"Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.",ET_MultiPendulumCreateFunc),
+
 
 	//todo: create a category/tutorial about advanced topics, such as optimizations, using different collision detection algorithm, different constraint solvers etc.
 	//ExampleEntry(0,"Advanced"),

examples/ExampleBrowser/InProcessExampleBrowser.cpp

@@ -226,7 +226,7 @@ enum TestExampleBrowserCommunicationEnums
 
 void	ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
 {
-	printf("thread started\n");
+	printf("ExampleBrowserThreadFunc started\n");
 
 	ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
 
@@ -369,7 +369,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
                         }
                 };
 
-	printf("stopping threads\n");
+	printf("btShutDownExampleBrowser stopping threads\n");
 	delete data->m_threadSupport;
 	delete data->m_sharedMem;
 	delete data;

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -399,7 +399,6 @@ static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& ar
 	FILE* f = fopen(startFileName,"r");
 	if (f)
 	{
-		int result;
 		char oneline[1024];
 		char* argv[] = {0,&oneline[0]};
 		

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -199,9 +199,16 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
 	}
 }
 
-int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+int	OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height)
 {
-	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
+	int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height);
+	return textureId;
+}
+
+
+int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
+{
+	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
 	return shapeId;
 }
 
@@ -210,6 +217,10 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
 	return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
 }
 
+void OpenGLGuiHelper::removeAllGraphicsInstances()
+{
+    m_data->m_glApp->m_renderer->removeAllInstances();
+}
 
 void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
 {
@@ -247,7 +258,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
 
 	if (gfxVertices.size() && indices.size())
 	{
-		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
+		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1);
 		collisionShape->setUserIndex(shapeId);
 	}
 		

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -20,12 +20,11 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 
 	virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices);
+	virtual int	registerTexture(const unsigned char* texels, int width, int height);
-
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
-
+	virtual void removeAllGraphicsInstances();
 	
-
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 
 	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);

examples/ExampleBrowser/premake4.lua

@@ -86,14 +86,9 @@ project "App_BulletExampleBrowser"
 		"../InverseDynamics/InverseDynamicsExample.h",
 		"../BasicDemo/BasicExample.*",
 		"../Tutorial/*",
-		"../ExtendedTutorials/SimpleBox.cpp",
+		"../ExtendedTutorials/*",
-		"../ExtendedTutorials/MultipleBoxes.cpp",
-		"../ExtendedTutorials/SimpleJoint.cpp",
-		"../ExtendedTutorials/SimpleCloth.cpp",
-		"../ExtendedTutorials/Chain.cpp",
-		"../ExtendedTutorials/Bridge.cpp",
-		"../ExtendedTutorials/RigidBodyFromObj.cpp",
 		"../Collision/*",
+		"../RoboticsLearning/*",
 		"../Collision/Internal/*",
 		"../Benchmarks/*",
 		"../CommonInterfaces/*",

examples/ExtendedTutorials/InclinedPlane.cpp

@@ -0,0 +1,372 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+#include "InclinedPlane.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+static btScalar gTilt = 20.0f/180.0f*SIMD_PI; // tilt the ramp 20 degrees
+
+static btScalar gRampFriction = 1; // set ramp friction to 1
+
+static btScalar gRampRestitution = 0; // set ramp restitution to 0 (no restitution)
+
+static btScalar gBoxFriction = 1; // set box friction to 1
+
+static btScalar gBoxRestitution = 0; // set box restitution to 0
+
+static btScalar gSphereFriction = 1; // set sphere friction to 1
+
+static btScalar gSphereRollingFriction = 1; // set sphere rolling friction to 1
+
+static btScalar gSphereRestitution = 0; // set sphere restitution to 0
+
+// handles for changes
+static btRigidBody* ramp = NULL;
+static btRigidBody* gBox = NULL;
+static btRigidBody* gSphere = NULL;
+
+struct InclinedPlaneExample : public CommonRigidBodyBase
+{
+	InclinedPlaneExample(struct GUIHelperInterface* helper)
+		:CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~InclinedPlaneExample(){}
+	virtual void initPhysics();
+	virtual void resetScene();
+	virtual void renderScene();
+	virtual void stepSimulation(float deltaTime);
+	virtual bool keyboardCallback(int key, int state);
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
+
+
+};
+
+void onBoxFrictionChanged(float friction);
+
+void onBoxRestitutionChanged(float restitution);
+
+void onSphereFrictionChanged(float friction);
+
+void onSphereRestitutionChanged(float restitution);
+
+void onRampInclinationChanged(float inclination);
+
+void onRampFrictionChanged(float friction);
+
+void onRampRestitutionChanged(float restitution);
+
+void InclinedPlaneExample::initPhysics()
+{
+
+	{ // create slider to change the ramp tilt
+    SliderParams slider("Ramp Tilt",&gTilt);
+    slider.m_minVal=0;
+    slider.m_maxVal=SIMD_PI/2.0f;
+    slider.m_clampToNotches = false;
+    slider.m_callback = onRampInclinationChanged;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+
+    { // create slider to change the ramp friction
+    SliderParams slider("Ramp Friction",&gRampFriction);
+    slider.m_minVal=0;
+    slider.m_maxVal=10;
+    slider.m_clampToNotches = false;
+    slider.m_callback = onRampFrictionChanged;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+
+    { // create slider to change the ramp restitution
+    SliderParams slider("Ramp Restitution",&gRampRestitution);
+    slider.m_minVal=0;
+    slider.m_maxVal=1;
+    slider.m_clampToNotches = false;
+    slider.m_callback = onRampRestitutionChanged;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+
+    { // create slider to change the box friction
+    SliderParams slider("Box Friction",&gBoxFriction);
+    slider.m_minVal=0;
+    slider.m_maxVal=10;
+    slider.m_clampToNotches = false;
+    slider.m_callback = onBoxFrictionChanged;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+
+    { // create slider to change the box restitution
+    SliderParams slider("Box Restitution",&gBoxRestitution);
+    slider.m_minVal=0;
+    slider.m_maxVal=1;
+    slider.m_clampToNotches = false;
+    slider.m_callback = onBoxRestitutionChanged;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+
+    { // create slider to change the sphere friction
+    SliderParams slider("Sphere Friction",&gSphereFriction);
+    slider.m_minVal=0;
+    slider.m_maxVal=10;
+    slider.m_clampToNotches = false;
+    slider.m_callback = onSphereFrictionChanged;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+
+    { // create slider to change the sphere rolling friction
+    SliderParams slider("Sphere Rolling Friction",&gSphereRollingFriction);
+    slider.m_minVal=0;
+    slider.m_maxVal=10;
+    slider.m_clampToNotches = false;
+    slider.m_callback = onSphereRestitutionChanged;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+
+    { // create slider to change the sphere restitution
+    SliderParams slider("Sphere Restitution",&gSphereRestitution);
+    slider.m_minVal=0;
+    slider.m_maxVal=1;
+    slider.m_clampToNotches = false;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+
+	m_guiHelper->setUpAxis(1); // set Y axis as up axis
+
+	createEmptyDynamicsWorld();
+	
+	// create debug drawer
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+
+	{ // create a static ground
+		btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+		m_collisionShapes.push_back(groundShape);
+
+		btTransform groundTransform;
+		groundTransform.setIdentity();
+		groundTransform.setOrigin(btVector3(0,-50,0));
+
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+	{ //create a static inclined plane
+		btBoxShape* inclinedPlaneShape = createBoxShape(btVector3(btScalar(20.),btScalar(1.),btScalar(10.)));
+		m_collisionShapes.push_back(inclinedPlaneShape);
+
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		// position the inclined plane above ground
+		startTransform.setOrigin(btVector3(
+								 btScalar(0),
+								 btScalar(15),
+								 btScalar(0)));
+
+		btQuaternion incline;
+		incline.setRotation(btVector3(0,0,1),gTilt);
+		startTransform.setRotation(incline);
+
+		btScalar mass(0.);
+		ramp = createRigidBody(mass,startTransform,inclinedPlaneShape);
+		ramp->setFriction(gRampFriction);
+		ramp->setRestitution(gRampRestitution);
+	}
+
+
+	{ //create a cube above the inclined plane
+        btBoxShape* boxShape = createBoxShape(btVector3(1,1,1));
+		 
+		m_collisionShapes.push_back(boxShape);
+
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar boxMass(1.f);
+
+		startTransform.setOrigin(
+			btVector3(btScalar(0), btScalar(20), btScalar(2)));
+
+		gBox = createRigidBody(boxMass, startTransform, boxShape);
+		gBox->forceActivationState(DISABLE_DEACTIVATION); // to prevent the box on the ramp from disabling
+		gBox->setFriction(gBoxFriction);
+		gBox->setRestitution(gBoxRestitution);
+	}
+
+	{ //create a sphere above the inclined plane
+        btSphereShape* sphereShape = new btSphereShape(btScalar(1));
+
+		m_collisionShapes.push_back(sphereShape);
+
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar sphereMass(1.f);
+
+		startTransform.setOrigin(
+			btVector3(btScalar(0), btScalar(20), btScalar(4)));
+
+		gSphere = createRigidBody(sphereMass, startTransform, sphereShape);
+		gSphere->forceActivationState(DISABLE_DEACTIVATION); // to prevent the sphere on the ramp from disabling
+		gSphere->setFriction(gSphereFriction);
+		gSphere->setRestitution(gSphereRestitution);
+		gSphere->setRollingFriction(gSphereRollingFriction);
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void InclinedPlaneExample::resetScene() {
+	{ //reset a cube above the inclined plane
+
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		startTransform.setOrigin(
+			btVector3(btScalar(0), btScalar(20), btScalar(2)));
+
+		gBox->setWorldTransform(startTransform);
+		btVector3 zero(0, 0, 0);
+		gBox->setAngularVelocity(zero);
+		gBox->setLinearVelocity(zero);
+		gBox->clearForces();
+	}
+
+	{ //reset a sphere above the inclined plane
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		startTransform.setOrigin(
+			btVector3(btScalar(0), btScalar(20), btScalar(4)));
+
+		gSphere->setWorldTransform(startTransform);
+		btVector3 zero(0, 0, 0);
+		gSphere->setAngularVelocity(zero);
+		gSphere->setLinearVelocity(zero);
+		gSphere->clearForces();
+	}
+}
+
+void InclinedPlaneExample::stepSimulation(float deltaTime)
+{
+	if (m_dynamicsWorld)
+	{
+		m_dynamicsWorld->stepSimulation(deltaTime);
+	}
+
+}
+
+
+void InclinedPlaneExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();
+}
+
+bool InclinedPlaneExample::keyboardCallback(int key, int state) {
+//	b3Printf("Key pressed: %d in state %d \n",key,state);
+
+	switch (key) {
+	case 32 /*ASCII for space*/: {
+		resetScene();
+		break;
+	}
+	}
+
+	return false;
+}
+
+
+// GUI parameter modifiers
+void onBoxFrictionChanged(float friction){
+	if(gBox){
+		gBox->setFriction(friction);
+//		b3Printf("Friction of box changed to %f",friction );
+	}
+}
+
+void onBoxRestitutionChanged(float restitution){
+	if(gBox){
+		gBox->setRestitution(restitution);
+		//b3Printf("Restitution of box changed to %f",restitution);
+	}
+}
+
+void onSphereFrictionChanged(float friction){
+	if(gSphere){
+		gSphere->setFriction(friction);
+		//b3Printf("Friction of sphere changed to %f",friction );
+	}
+}
+
+void onSphereRestitutionChanged(float restitution){
+	if(gSphere){
+		gSphere->setRestitution(restitution);
+		//b3Printf("Restitution of sphere changed to %f",restitution);
+	}
+}
+
+void onRampInclinationChanged(float inclination){
+	if(ramp){
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		// position the inclined plane above ground
+		startTransform.setOrigin(
+			btVector3(btScalar(0), btScalar(15), btScalar(0)));
+
+		btQuaternion incline;
+		incline.setRotation(btVector3(0,0,1),gTilt);
+		startTransform.setRotation(incline);
+		ramp->setWorldTransform(startTransform);
+		//b3Printf("Inclination of ramp changed to %f",inclination );
+	}
+}
+
+void onRampFrictionChanged(float friction){
+	if(ramp){
+		ramp->setFriction(friction);
+		//b3Printf("Friction of ramp changed to %f \n",friction );
+	}
+}
+
+void onRampRestitutionChanged(float restitution){
+	if(ramp){
+		ramp->setRestitution(restitution);
+		//b3Printf("Restitution of ramp changed to %f \n",restitution);
+	}
+}
+
+
+CommonExampleInterface*    ET_InclinedPlaneCreateFunc(CommonExampleOptions& options)
+{
+	return new InclinedPlaneExample(options.m_guiHelper);
+}

examples/ExtendedTutorials/InclinedPlane.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_INCLINED_PLANE_EXAMPLE_H
+#define ET_INCLINED_PLANE_EXAMPLE_H
+
+class CommonExampleInterface*    ET_InclinedPlaneCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_INCLINED_PLANE_EXAMPLE_H

examples/ExtendedTutorials/MultiPendulum.cpp

@@ -0,0 +1,435 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "MultiPendulum.h"
+
+#include <vector> // TODO: Should I use another data structure?
+#include <iterator>
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+static btScalar gPendulaQty = 2; //TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed
+
+static btScalar gDisplacedPendula = 1; //TODO: This is an int as well
+
+static btScalar gPendulaRestitution = 1; // Default pendulum restitution is 1 to restore all force
+
+static btScalar gSphereRadius = 1; // The sphere radius
+
+static btScalar gCurrentPendulumLength = 8;
+
+static btScalar gInitialPendulumLength = 8; // Default pendulum length (distance between two spheres)
+
+static btScalar gDisplacementForce = 30; // The default force with which we move the pendulum
+
+static btScalar gForceScalar = 0; // default force scalar to apply a displacement
+
+struct MultiPendulumExample: public CommonRigidBodyBase {
+	MultiPendulumExample(struct GUIHelperInterface* helper) :
+		CommonRigidBodyBase(helper) {
+	}
+
+	virtual ~MultiPendulumExample() {
+	}
+
+	virtual void initPhysics(); // build a multi pendulum
+	virtual void renderScene(); // render the scene to screen
+	virtual void createMultiPendulum(btSphereShape* colShape, btScalar pendulaQty, const btVector3& position, btScalar length, btScalar mass); // create a multi pendulum at the indicated x and y position, the specified number of pendula formed into a chain, each with indicated length and mass
+	virtual void changePendulaLength(btScalar length); // change the pendulum length
+	virtual void changePendulaRestitution(btScalar restitution); // change the pendula restitution
+	virtual void stepSimulation(float deltaTime); // step the simulation
+	virtual bool keyboardCallback(int key, int state); // handle keyboard callbacks
+	virtual void applyPendulumForce(btScalar pendulumForce);
+	void resetCamera() {
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3] = { 0, 0.46, 0 };
+		m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
+			targetPos[2]);
+	}
+
+	std::vector<btSliderConstraint*> constraints; // keep a handle to the slider constraints
+	std::vector<btRigidBody*> pendula; // keep a handle to the pendula
+};
+
+static MultiPendulumExample* mex = NULL; // Handle to the example to access it via functions. Do not use this in your simulation!
+
+void onMultiPendulaLengthChanged(float pendulaLength); // Change the pendula length
+
+void onMultiPendulaRestitutionChanged(float pendulaRestitution); // change the pendula restitution
+
+void floorMSliderValue(float notUsed); // floor the slider values which should be integers
+
+void applyMForceWithForceScalar(float forceScalar);
+
+void MultiPendulumExample::initPhysics() { // Setup your physics scene
+
+	{ // create a slider to change the number of pendula
+		SliderParams slider("Number of Pendula", &gPendulaQty);
+		slider.m_minVal = 1;
+		slider.m_maxVal = 50;
+		slider.m_callback = floorMSliderValue; // hack to get integer values
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the number of displaced pendula
+		SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 49;
+		slider.m_callback = floorMSliderValue; // hack to get integer values
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the pendula restitution
+		SliderParams slider("Pendula Restitution", &gPendulaRestitution);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 1;
+		slider.m_clampToNotches = false;
+		slider.m_callback = onMultiPendulaRestitutionChanged;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the pendulum length
+		SliderParams slider("Pendula Length", &gCurrentPendulumLength);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 49;
+		slider.m_clampToNotches = false;
+		slider.m_callback = onMultiPendulaLengthChanged;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the force to displace the lowest pendulum
+		SliderParams slider("Displacement force", &gDisplacementForce);
+		slider.m_minVal = 0.1;
+		slider.m_maxVal = 200;
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to apply the force by slider
+		SliderParams slider("Apply displacement force", &gForceScalar);
+		slider.m_minVal = -1;
+		slider.m_maxVal = 1;
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+
+	// create a debug drawer
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+			btIDebugDraw::DBG_DrawWireframe
+				+ btIDebugDraw::DBG_DrawContactPoints
+				+ btIDebugDraw::DBG_DrawConstraints
+				+ btIDebugDraw::DBG_DrawConstraintLimits);
+
+	{ // create the multipendulum starting at the indicated position below and where each pendulum has the following mass
+		btScalar pendulumMass(1.f);
+
+		btVector3 position(0.0f,15.0f,0.0f); // initial top-most pendulum position
+
+		// Re-using the same collision is better for memory usage and performance
+		btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
+		m_collisionShapes.push_back(pendulumShape);
+
+		// create multi-pendulum
+		createMultiPendulum(pendulumShape, floor(gPendulaQty), position,
+			gInitialPendulumLength, pendulumMass);
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void MultiPendulumExample::stepSimulation(float deltaTime) {
+
+	applyMForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
+
+	if (m_dynamicsWorld) {
+		m_dynamicsWorld->stepSimulation(deltaTime);
+	}
+}
+
+void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
+	btScalar pendulaQty, const btVector3& position,
+	btScalar length, btScalar mass) {
+
+	// The multi-pendulum looks like this (names when built):
+	//..........0......./.......1...../.......2......./..etc...:pendulum build iterations
+	// O   parentSphere
+	// |
+	// O   childSphere  / parentSphere
+	// |
+	// O   ............./ childSphere / parentSphere
+	// |
+	// O   .........................../ childSphere
+	// etc.
+
+	//create the top element of the pendulum
+	btTransform startTransform;
+	startTransform.setIdentity();
+
+	// position the top sphere
+	startTransform.setOrigin(position);
+
+	startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+
+	btRigidBody* topSphere = createRigidBody(mass, startTransform, colShape);
+
+	// disable the deactivation when object does not move anymore
+	topSphere->setActivationState(DISABLE_DEACTIVATION);
+
+	//make top sphere position "fixed" in the world by attaching it to a the world with a point to point constraint
+	// The pivot is defined in the reference frame of topSphere, so the attachment should be exactly at the center of topSphere
+	btVector3 constraintPivot(0.0f, 0.0f, 0.0f);
+	btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(
+		*topSphere, constraintPivot);
+
+	p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+	// add the constraint to the world
+	m_dynamicsWorld->addConstraint(p2pconst, true);
+
+	btRigidBody* parentSphere = topSphere; // set the top sphere as the parent sphere for the next sphere to be created
+
+	for (int i = 0; i < pendulaQty; i++) { // produce the number of pendula
+
+		// create joint element to make the pendulum rotate it
+
+		// position the joint sphere at the same position as the top sphere
+		startTransform.setOrigin(position - btVector3(0,length*(i),0));
+
+		startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+
+		btRigidBody* jointSphere = createRigidBody(mass, startTransform,
+			colShape);
+		jointSphere->setFriction(0); // we do not need friction here
+
+		// disable the deactivation when object does not move anymore
+		jointSphere->setActivationState(DISABLE_DEACTIVATION);
+
+		//create constraint between parentSphere and jointSphere
+		// this is represented by the constraint pivot in the local frames of reference of both constrained spheres
+		btTransform constraintPivotInParentSphereRF, constraintPivotInJointSphereRF;
+
+		constraintPivotInParentSphereRF.setIdentity();
+		constraintPivotInJointSphereRF.setIdentity();
+
+		// the orientation of a point-to-point constraint does not matter, as is has no rotational limits
+
+		//Obtain the position of parentSphere in local reference frame of the jointSphere (the pivot is therefore in the center of parentSphere)
+		btVector3 parentSphereInJointSphereRF =
+			(jointSphere->getWorldTransform().inverse()(
+				parentSphere->getWorldTransform().getOrigin()));
+		constraintPivotInJointSphereRF.setOrigin(parentSphereInJointSphereRF);
+
+		btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(
+			*parentSphere,*jointSphere,constraintPivotInParentSphereRF.getOrigin(), constraintPivotInJointSphereRF.getOrigin());
+
+		p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+		// add the constraint to the world
+		m_dynamicsWorld->addConstraint(p2pconst, true);
+
+		// create a slider constraint to change the length of the pendula while it swings
+
+		startTransform.setIdentity(); // reset start transform
+
+		// position the child sphere below the joint sphere
+		startTransform.setOrigin(position - btVector3(0,length*(i+1),0));
+
+		startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+
+		btRigidBody* childSphere = createRigidBody(mass, startTransform,
+			colShape);
+		childSphere->setFriction(0); // we do not need friction here
+		pendula.push_back(childSphere);
+
+		// disable the deactivation when object does not move anymore
+		childSphere->setActivationState(DISABLE_DEACTIVATION);
+
+		//create slider constraint between jointSphere and childSphere
+		// this is represented by the constraint pivot in the local frames of reference of both constrained spheres
+		// furthermore we need to rotate the constraint appropriately to orient it correctly in space
+		btTransform constraintPivotInChildSphereRF;
+
+		constraintPivotInJointSphereRF.setIdentity();
+		constraintPivotInChildSphereRF.setIdentity();
+
+		// the orientation of a point-to-point constraint does not matter, as is has no rotational limits
+
+		//Obtain the position of jointSphere in local reference frame of the childSphere (the pivot is therefore in the center of jointSphere)
+		btVector3 jointSphereInChildSphereRF =
+			(childSphere->getWorldTransform().inverse()(
+				jointSphere->getWorldTransform().getOrigin()));
+		constraintPivotInChildSphereRF.setOrigin(jointSphereInChildSphereRF);
+
+		// the slider constraint is x aligned per default, but we want it to be y aligned, therefore we rotate it
+		btQuaternion qt;
+		qt.setEuler(0, 0, -SIMD_HALF_PI);
+		constraintPivotInJointSphereRF.setRotation(qt); //we use Y like up Axis
+		constraintPivotInChildSphereRF.setRotation(qt); //we use Y like up Axis
+
+		btSliderConstraint* sliderConst = new btSliderConstraint(*jointSphere,
+			*childSphere, constraintPivotInJointSphereRF, constraintPivotInChildSphereRF, true);
+
+		sliderConst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+		// set limits
+		// the initial setup of the constraint defines the origins of the limit dimensions,
+		// therefore we set both limits directly to the current position of the parentSphere
+		sliderConst->setLowerLinLimit(btScalar(0));
+		sliderConst->setUpperLinLimit(btScalar(0));
+		sliderConst->setLowerAngLimit(btScalar(0));
+		sliderConst->setUpperAngLimit(btScalar(0));
+		constraints.push_back(sliderConst);
+
+		// add the constraint to the world
+		m_dynamicsWorld->addConstraint(sliderConst, true);
+		parentSphere = childSphere;
+	}
+}
+
+void MultiPendulumExample::changePendulaLength(btScalar length) {
+	btScalar lowerLimit = -gInitialPendulumLength;
+	for (std::vector<btSliderConstraint*>::iterator sit = constraints.begin();
+		sit != constraints.end(); sit++) {
+		btAssert((*sit) && "Null constraint");
+
+		// if the pendulum is being shortened beyond it's own length, we don't let the lower sphere to go past the upper one
+		if (lowerLimit <= length) {
+			(*sit)->setLowerLinLimit(length + lowerLimit);
+			(*sit)->setUpperLinLimit(length + lowerLimit);
+		}
+	}
+}
+
+void MultiPendulumExample::changePendulaRestitution(btScalar restitution) {
+	for (std::vector<btRigidBody*>::iterator rit = pendula.begin();
+		rit != pendula.end(); rit++) {
+		btAssert((*rit) && "Null constraint");
+
+		(*rit)->setRestitution(restitution);
+	}
+}
+
+void MultiPendulumExample::renderScene() {
+	CommonRigidBodyBase::renderScene();
+}
+
+bool MultiPendulumExample::keyboardCallback(int key, int state) {
+
+	//b3Printf("Key pressed: %d in state %d \n",key,state);
+
+	//key 1, key 2, key 3
+	switch (key) {
+	case '1' /*ASCII for 1*/: {
+
+		//assumption: Sphere are aligned in Z axis
+		btScalar newLimit = btScalar(gCurrentPendulumLength + 0.1);
+
+		changePendulaLength(newLimit);
+		gCurrentPendulumLength = newLimit;
+
+		b3Printf("Increase pendulum length to %f", gCurrentPendulumLength);
+		return true;
+	}
+	case '2' /*ASCII for 2*/: {
+
+		//assumption: Sphere are aligned in Z axis
+		btScalar newLimit = btScalar(gCurrentPendulumLength - 0.1);
+
+		//is being shortened beyond it's own length, we don't let the lower sphere to go over the upper one
+		if (0 <= newLimit) {
+			changePendulaLength(newLimit);
+			gCurrentPendulumLength = newLimit;
+		}
+
+		b3Printf("Decrease pendulum length to %f", gCurrentPendulumLength);
+		return true;
+	}
+	case '3' /*ASCII for 3*/: {
+		applyPendulumForce(gDisplacementForce);
+		return true;
+	}
+	}
+
+	return false;
+}
+
+void MultiPendulumExample::applyPendulumForce(btScalar pendulumForce){
+	if(pendulumForce != 0){
+		b3Printf("Apply %f to pendulum",pendulumForce);
+		for (int i = 0; i < gDisplacedPendula; i++) {
+			if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
+				pendula[i]->applyCentralForce(btVector3(pendulumForce, 0, 0));
+		}
+	}
+}
+
+// GUI parameter modifiers
+
+void onMultiPendulaLengthChanged(float pendulaLength) { // Change the pendula length
+	if (mex){
+		mex->changePendulaLength(pendulaLength);
+	}
+	//b3Printf("Pendula length changed to %f \n",sliderValue );
+
+}
+
+void onMultiPendulaRestitutionChanged(float pendulaRestitution) { // change the pendula restitution
+	if (mex){
+		mex->changePendulaRestitution(pendulaRestitution);
+	}
+
+}
+
+void floorMSliderValue(float notUsed) { // floor the slider values which should be integers
+	gPendulaQty = floor(gPendulaQty);
+	gDisplacedPendula = floor(gDisplacedPendula);
+}
+
+void applyMForceWithForceScalar(float forceScalar) {
+	if(mex){
+		btScalar appliedForce = forceScalar * gDisplacementForce;
+
+		if(fabs(gForceScalar) < 0.2f)
+			gForceScalar = 0;
+
+		mex->applyPendulumForce(appliedForce);
+	}
+}
+
+CommonExampleInterface* ET_MultiPendulumCreateFunc(
+	CommonExampleOptions& options) {
+	mex = new MultiPendulumExample(options.m_guiHelper);
+	return mex;
+}

examples/ExtendedTutorials/MultiPendulum.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_MULTI_PENDULUM_EXAMPLE_H
+#define ET_MULTI_PENDULUM_EXAMPLE_H
+
+class CommonExampleInterface*    ET_MultiPendulumCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_MULTI_PENDULUM_EXAMPLE_H

examples/ExtendedTutorials/NewtonsCradle.cpp

@@ -0,0 +1,380 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "NewtonsCradle.h"
+
+#include <vector> // TODO: Should I use another data structure?
+#include <iterator>
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+static btScalar gPendulaQty = 5; // Number of pendula in newton's cradle
+//TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed
+
+static btScalar gDisplacedPendula = 1; // number of displaced pendula
+//TODO: This is an int as well
+
+static btScalar gPendulaRestitution = 1; // pendula restitution when hitting against each other
+
+static btScalar gSphereRadius = 1; // pendula radius
+
+static btScalar gCurrentPendulumLength = 8; // current pendula length
+
+static btScalar gInitialPendulumLength = 8; // default pendula length
+
+static btScalar gDisplacementForce = 30; // default force to displace the pendula
+
+static btScalar gForceScalar = 0; // default force scalar to apply a displacement
+
+struct NewtonsCradleExample: public CommonRigidBodyBase {
+	NewtonsCradleExample(struct GUIHelperInterface* helper) :
+		CommonRigidBodyBase(helper) {
+	}
+	virtual ~NewtonsCradleExample() {
+	}
+	virtual void initPhysics();
+	virtual void renderScene();
+	virtual void createPendulum(btSphereShape* colShape, const btVector3& position, btScalar length, btScalar mass);
+	virtual void changePendulaLength(btScalar length);
+	virtual void changePendulaRestitution(btScalar restitution);
+	virtual void stepSimulation(float deltaTime);
+	virtual bool keyboardCallback(int key, int state);
+	virtual void applyPendulumForce(btScalar pendulumForce);
+	void resetCamera() {
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3] = { 0, 0.46, 0 };
+		m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
+			targetPos[2]);
+	}
+
+	std::vector<btSliderConstraint*> constraints; // keep a handle to the slider constraints
+	std::vector<btRigidBody*> pendula; // keep a handle to the pendula
+};
+
+static NewtonsCradleExample* nex = NULL;
+
+void onPendulaLengthChanged(float pendulaLength); // Change the pendula length
+
+void onPendulaRestitutionChanged(float pendulaRestitution); // change the pendula restitution
+
+void floorSliderValue(float notUsed); // floor the slider values which should be integers
+
+void applyForceWithForceScalar(float forceScalar);
+
+void NewtonsCradleExample::initPhysics() {
+
+	{ // create a slider to change the number of pendula
+		SliderParams slider("Number of Pendula", &gPendulaQty);
+		slider.m_minVal = 1;
+		slider.m_maxVal = 50;
+		slider.m_callback = floorSliderValue; // hack to get integer values
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the number of displaced pendula
+		SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 49;
+		slider.m_callback = floorSliderValue; // hack to get integer values
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the pendula restitution
+		SliderParams slider("Pendula Restitution", &gPendulaRestitution);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 1;
+		slider.m_clampToNotches = false;
+		slider.m_callback = onPendulaRestitutionChanged;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the pendulum length
+		SliderParams slider("Pendula Length", &gCurrentPendulumLength);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 49;
+		slider.m_clampToNotches = false;
+		slider.m_callback = onPendulaLengthChanged;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the force to displace the lowest pendulum
+		SliderParams slider("Displacement force", &gDisplacementForce);
+		slider.m_minVal = 0.1;
+		slider.m_maxVal = 200;
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to apply the force by slider
+		SliderParams slider("Apply displacement force", &gForceScalar);
+		slider.m_minVal = -1;
+		slider.m_maxVal = 1;
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+
+	// create a debug drawer
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+			btIDebugDraw::DBG_DrawWireframe
+				+ btIDebugDraw::DBG_DrawContactPoints
+				+ btIDebugDraw::DBG_DrawConstraints
+				+ btIDebugDraw::DBG_DrawConstraintLimits);
+
+	{ // create the pendula starting at the indicated position below and where each pendulum has the following mass
+		btScalar pendulumMass(1.f);
+
+		btVector3 position(0.0f,15.0f,0.0f); // initial left-most pendulum position
+		btQuaternion orientation(0,0,0,1); // orientation of the pendula
+
+		// Re-using the same collision is better for memory usage and performance
+		btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
+		m_collisionShapes.push_back(pendulumShape);
+
+		for (int i = 0; i < floor(gPendulaQty); i++) {
+
+			// create pendulum
+			createPendulum(pendulumShape, position, gInitialPendulumLength, pendulumMass);
+
+			// displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between
+			position.setX(position.x()-2.1f * gSphereRadius);
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void NewtonsCradleExample::stepSimulation(float deltaTime) {
+
+	applyForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
+
+	if (m_dynamicsWorld) {
+		m_dynamicsWorld->stepSimulation(deltaTime);
+	}
+}
+
+void NewtonsCradleExample::createPendulum(btSphereShape* colShape, const btVector3& position, btScalar length, btScalar mass) {
+
+	// The pendulum looks like this (names when built):
+	// O   topSphere
+	// |
+	// O   bottomSphere
+
+	//create a dynamic pendulum
+	btTransform startTransform;
+	startTransform.setIdentity();
+
+	// position the top sphere above ground with a moving x position
+	startTransform.setOrigin(position);
+	startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+	btRigidBody* topSphere = createRigidBody(mass, startTransform, colShape);
+
+	// position the bottom sphere below the top sphere
+	startTransform.setOrigin(
+		btVector3(position.x(), btScalar(position.y() - length),
+			position.z()));
+
+	startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
+	btRigidBody* bottomSphere = createRigidBody(mass, startTransform, colShape);
+	bottomSphere->setFriction(0); // we do not need friction here
+	pendula.push_back(bottomSphere);
+
+	// disable the deactivation when objects do not move anymore
+	topSphere->setActivationState(DISABLE_DEACTIVATION);
+	bottomSphere->setActivationState(DISABLE_DEACTIVATION);
+
+	bottomSphere->setRestitution(gPendulaRestitution); // set pendula restitution
+
+	//make the top sphere position "fixed" to the world by attaching with a point to point constraint
+	// The pivot is defined in the reference frame of topSphere, so the attachment is exactly at the center of the topSphere
+	btVector3 constraintPivot(btVector3(0.0f, 0.0f, 0.0f));
+	btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(*topSphere,
+		constraintPivot);
+
+	p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+	// add the constraint to the world
+	m_dynamicsWorld->addConstraint(p2pconst, true);
+
+	//create constraint between spheres
+	// this is represented by the constraint pivot in the local frames of reference of both constrained spheres
+	// furthermore we need to rotate the constraint appropriately to orient it correctly in space
+	btTransform constraintPivotInTopSphereRF, constraintPivotInBottomSphereRF;
+
+	constraintPivotInTopSphereRF.setIdentity();
+	constraintPivotInBottomSphereRF.setIdentity();
+
+	// the slider constraint is x aligned per default, but we want it to be y aligned, therefore we rotate it
+	btQuaternion qt;
+	qt.setEuler(0, 0, -SIMD_HALF_PI);
+	constraintPivotInTopSphereRF.setRotation(qt); //we use Y like up Axis
+	constraintPivotInBottomSphereRF.setRotation(qt); //we use Y like up Axis
+
+	//Obtain the position of topSphere in local reference frame of bottomSphere (the pivot is therefore in the center of topSphere)
+	btVector3 topSphereInBottomSphereRF =
+		(bottomSphere->getWorldTransform().inverse()(
+			topSphere->getWorldTransform().getOrigin()));
+	constraintPivotInBottomSphereRF.setOrigin(topSphereInBottomSphereRF);
+
+	btSliderConstraint* sliderConst = new btSliderConstraint(*topSphere,
+		*bottomSphere, constraintPivotInTopSphereRF, constraintPivotInBottomSphereRF, true);
+
+	sliderConst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
+
+	// set limits
+	// the initial setup of the constraint defines the origins of the limit dimensions,
+	// therefore we set both limits directly to the current position of the topSphere
+	sliderConst->setLowerLinLimit(btScalar(0));
+	sliderConst->setUpperLinLimit(btScalar(0));
+	sliderConst->setLowerAngLimit(btScalar(0));
+	sliderConst->setUpperAngLimit(btScalar(0));
+	constraints.push_back(sliderConst);
+
+	// add the constraint to the world
+	m_dynamicsWorld->addConstraint(sliderConst, true);
+}
+
+void NewtonsCradleExample::changePendulaLength(btScalar length) {
+	btScalar lowerLimit = -gInitialPendulumLength;
+	for (std::vector<btSliderConstraint*>::iterator sit = constraints.begin();
+		sit != constraints.end(); sit++) {
+		btAssert((*sit) && "Null constraint");
+
+		//if the pendulum is being shortened beyond it's own length, we don't let the lower sphere to go past the upper one
+		if (lowerLimit <= length) {
+			(*sit)->setLowerLinLimit(length + lowerLimit);
+			(*sit)->setUpperLinLimit(length + lowerLimit);
+		}
+	}
+}
+
+void NewtonsCradleExample::changePendulaRestitution(btScalar restitution) {
+	for (std::vector<btRigidBody*>::iterator rit = pendula.begin();
+		rit != pendula.end(); rit++) {
+		btAssert((*rit) && "Null constraint");
+
+		(*rit)->setRestitution(restitution);
+	}
+}
+
+void NewtonsCradleExample::renderScene() {
+	CommonRigidBodyBase::renderScene();
+}
+
+bool NewtonsCradleExample::keyboardCallback(int key, int state) {
+	//b3Printf("Key pressed: %d in state %d \n",key,state);
+
+	//key 1, key 2, key 3
+	switch (key) {
+	case '1' /*ASCII for 1*/: {
+
+		//assumption: Sphere are aligned in Z axis
+		btScalar newLimit = btScalar(gCurrentPendulumLength + 0.1);
+
+		changePendulaLength(newLimit);
+		gCurrentPendulumLength = newLimit;
+
+		b3Printf("Increase pendulum length to %f", gCurrentPendulumLength);
+		return true;
+	}
+	case '2' /*ASCII for 2*/: {
+
+		//assumption: Sphere are aligned in Z axis
+		btScalar newLimit = btScalar(gCurrentPendulumLength - 0.1);
+
+		//is being shortened beyond it's own length, we don't let the lower sphere to go over the upper one
+		if (0 <= newLimit) {
+			changePendulaLength(newLimit);
+			gCurrentPendulumLength = newLimit;
+		}
+
+		b3Printf("Decrease pendulum length to %f", gCurrentPendulumLength);
+		return true;
+	}
+	case '3' /*ASCII for 3*/: {
+		applyPendulumForce(gDisplacementForce);
+		return true;
+	}
+	}
+
+	return false;
+}
+
+void NewtonsCradleExample::applyPendulumForce(btScalar pendulumForce){
+	if(pendulumForce != 0){
+		b3Printf("Apply %f to pendulum",pendulumForce);
+		for (int i = 0; i < gDisplacedPendula; i++) {
+			if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
+				pendula[i]->applyCentralForce(btVector3(pendulumForce, 0, 0));
+		}
+	}
+}
+
+// GUI parameter modifiers
+
+void onPendulaLengthChanged(float pendulaLength) {
+	if (nex){
+		nex->changePendulaLength(pendulaLength);
+		//b3Printf("Pendula length changed to %f \n",sliderValue );
+	}
+}
+
+void onPendulaRestitutionChanged(float pendulaRestitution) {
+	if (nex){
+		nex->changePendulaRestitution(pendulaRestitution);
+	}
+}
+
+void floorSliderValue(float notUsed) {
+	gPendulaQty = floor(gPendulaQty);
+	gDisplacedPendula = floor(gDisplacedPendula);
+
+}
+
+void applyForceWithForceScalar(float forceScalar) {
+	if(nex){
+		btScalar appliedForce = forceScalar * gDisplacementForce;
+
+		if(fabs(gForceScalar) < 0.2f)
+			gForceScalar = 0;
+
+		nex->applyPendulumForce(appliedForce);
+	}
+}
+
+CommonExampleInterface* ET_NewtonsCradleCreateFunc(
+	CommonExampleOptions& options) {
+	nex = new NewtonsCradleExample(options.m_guiHelper);
+	return nex;
+}

examples/ExtendedTutorials/NewtonsCradle.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_NEWTONS_CRADLE_EXAMPLE_H
+#define ET_NEWTONS_CRADLE_EXAMPLE_H
+
+class CommonExampleInterface*    ET_NewtonsCradleCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_NEWTONS_CRADLE_EXAMPLE_H

examples/ExtendedTutorials/NewtonsRopeCradle.cpp

@@ -0,0 +1,387 @@
+/*
+ Bullet Continuous Collision Detection and Physics Library
+ Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+ This software is provided 'as-is', without any express or implied warranty.
+ In no event will the authors be held liable for any damages arising from the use of this software.
+ Permission is granted to anyone to use this software for any purpose,
+ including commercial applications, and to alter it and redistribute it freely,
+ subject to the following restrictions:
+
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+ 3. This notice may not be removed or altered from any source distribution.
+ */
+
+#include "NewtonsRopeCradle.h"
+
+#include <vector> // TODO: Should I use another data structure?
+#include <iterator>
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
+#include "BulletSoftBody/btSoftBodyHelpers.h"
+#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
+#include "../CommonInterfaces/CommonParameterInterface.h"
+
+static btScalar gPendulaQty = 5; // Number of pendula in newton's cradle
+//TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed
+
+static btScalar gDisplacedPendula = 1; // number of displaced pendula
+//TODO: This is an int as well
+
+static btScalar gPendulaRestitution = 1; // pendula restition when hitting against each other
+
+static btScalar gSphereRadius = 1; // pendula radius
+
+static btScalar gInitialPendulumWidth = 4; // default pendula width
+
+static btScalar gInitialPendulumHeight = 8; // default pendula height
+
+static btScalar gRopeResolution = 1; // default rope resolution (number of links as in a chain)
+
+static btScalar gDisplacementForce = 30; // default force to displace the pendula
+
+static btScalar gForceScalar = 0; // default force scalar to apply a displacement
+
+struct NewtonsRopeCradleExample : public CommonRigidBodyBase { 
+	NewtonsRopeCradleExample(struct GUIHelperInterface* helper) :
+		CommonRigidBodyBase(helper) {
+	}
+	virtual ~NewtonsRopeCradleExample(){}
+	virtual void initPhysics();
+	virtual void stepSimulation(float deltaTime);
+	virtual void renderScene();
+	virtual void applyPendulumForce(btScalar pendulumForce);
+	void createEmptyDynamicsWorld()
+	{
+		m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
+        m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
+
+		m_broadphase = new btDbvtBroadphase();
+
+		m_solver = new btSequentialImpulseConstraintSolver;
+
+		m_dynamicsWorld = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+		m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
+
+		softBodyWorldInfo.m_broadphase = m_broadphase;
+		softBodyWorldInfo.m_dispatcher = m_dispatcher;
+		softBodyWorldInfo.m_gravity = m_dynamicsWorld->getGravity();
+		softBodyWorldInfo.m_sparsesdf.Initialize();
+	}
+
+	virtual void createRopePendulum(btSphereShape* colShape,
+		const btVector3& position, const btQuaternion& pendulumOrientation, btScalar width, btScalar height, btScalar mass);
+	virtual void changePendulaRestitution(btScalar restitution);
+	virtual void connectWithRope(btRigidBody* body1, btRigidBody* body2);
+	virtual bool keyboardCallback(int key, int state);
+
+	virtual btSoftRigidDynamicsWorld*	getSoftDynamicsWorld()
+	{
+		///just make it a btSoftRigidDynamicsWorld please
+		///or we will add type checking
+		return (btSoftRigidDynamicsWorld*) m_dynamicsWorld;
+	}
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
+	std::vector<btSliderConstraint*> constraints;
+	std::vector<btRigidBody*> pendula;
+	
+	btSoftBodyWorldInfo softBodyWorldInfo;
+
+};
+
+static NewtonsRopeCradleExample* nex = NULL;
+
+void onRopePendulaRestitutionChanged(float pendulaRestitution);
+
+void floorRSliderValue(float notUsed);
+
+void applyRForceWithForceScalar(float forceScalar);
+
+void NewtonsRopeCradleExample::initPhysics()
+{
+
+	{ // create a slider to change the number of pendula
+		SliderParams slider("Number of Pendula", &gPendulaQty);
+		slider.m_minVal = 1;
+		slider.m_maxVal = 50;
+		slider.m_callback = floorRSliderValue; // hack to get integer values
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the number of displaced pendula
+		SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 49;
+		slider.m_callback = floorRSliderValue; // hack to get integer values
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the pendula restitution
+		SliderParams slider("Pendula Restitution", &gPendulaRestitution);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 1;
+		slider.m_clampToNotches = false;
+		slider.m_callback = onRopePendulaRestitutionChanged;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the rope resolution
+		SliderParams slider("Rope Resolution", &gRopeResolution);
+		slider.m_minVal = 1;
+		slider.m_maxVal = 20;
+		slider.m_clampToNotches = false;
+		slider.m_callback = floorRSliderValue;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the pendulum width
+		SliderParams slider("Pendulum Width", &gInitialPendulumWidth);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 40;
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the pendulum height
+		SliderParams slider("Pendulum Height", &gInitialPendulumHeight);
+		slider.m_minVal = 0;
+		slider.m_maxVal = 40;
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	{ // create a slider to change the force to displace the lowest pendulum
+		SliderParams slider("Displacement force", &gDisplacementForce);
+		slider.m_minVal = 0.1;
+		slider.m_maxVal = 200;
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+	
+	{ // create a slider to apply the force by slider
+		SliderParams slider("Apply displacement force", &gForceScalar);
+		slider.m_minVal = -1;
+		slider.m_maxVal = 1;
+		slider.m_clampToNotches = false;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
+			slider);
+	}
+
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+
+	// create a debug drawer
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+			btIDebugDraw::DBG_DrawWireframe
+				+ btIDebugDraw::DBG_DrawContactPoints
+				+ btIDebugDraw::DBG_DrawConstraints
+				+ btIDebugDraw::DBG_DrawConstraintLimits);
+
+	{ // create the pendula starting at the indicated position below and where each pendulum has the following mass
+		btScalar pendulumMass(1.0f);
+
+		btVector3 position(0.0f,15.0f,0.0f); // initial left-most pendulum position
+		btQuaternion orientation(0,0,0,1); // orientation of the pendula
+
+		// Re-using the same collision is better for memory usage and performance
+		btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
+		m_collisionShapes.push_back(pendulumShape);
+
+		for (int i = 0; i < floor(gPendulaQty); i++) {
+
+			// create pendulum
+			createRopePendulum(pendulumShape, position, orientation,gInitialPendulumWidth,
+				gInitialPendulumHeight, pendulumMass);
+
+			// displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between)
+			position.setX(position.x()-2.1f * gSphereRadius);
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void NewtonsRopeCradleExample::connectWithRope(btRigidBody* body1, btRigidBody* body2)
+{
+	btSoftBody*	softBodyRope0 = btSoftBodyHelpers::CreateRope(softBodyWorldInfo,body1->getWorldTransform().getOrigin(),body2->getWorldTransform().getOrigin(),gRopeResolution,0);
+	softBodyRope0->setTotalMass(0.1f);
+
+	softBodyRope0->appendAnchor(0,body1);
+	softBodyRope0->appendAnchor(softBodyRope0->m_nodes.size()-1,body2);
+
+	softBodyRope0->m_cfg.piterations = 5;
+	softBodyRope0->m_cfg.kDP = 0.005f;
+	softBodyRope0->m_cfg.kSHR = 1;
+	softBodyRope0->m_cfg.kCHR = 1;
+	softBodyRope0->m_cfg.kKHR = 1;
+
+	getSoftDynamicsWorld()->addSoftBody(softBodyRope0);
+}
+
+void NewtonsRopeCradleExample::stepSimulation(float deltaTime) {
+
+	applyRForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
+
+	if (m_dynamicsWorld) {
+		m_dynamicsWorld->stepSimulation(deltaTime);
+	}
+}
+
+void NewtonsRopeCradleExample::createRopePendulum(btSphereShape* colShape,
+	const btVector3& position, const btQuaternion& pendulumOrientation, btScalar width, btScalar height, btScalar mass) {
+
+	// The pendulum looks like this (names when built):
+	// O   O  topSphere1 topSphere2
+	//  \ /
+	//   O   bottomSphere
+
+	//create a dynamic pendulum
+	btTransform startTransform;
+	startTransform.setIdentity();
+
+	// calculate sphere positions
+	btVector3 topSphere1RelPosition(0,0,width);
+	btVector3 topSphere2RelPosition(0,0,-width);
+	btVector3 bottomSphereRelPosition(0,-height,0);
+
+
+	// position the top sphere above ground with appropriate orientation
+	startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially
+	startTransform.setRotation(pendulumOrientation); // pendulum rotation
+	startTransform.setOrigin(startTransform * topSphere1RelPosition); // rotate this position
+	startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
+	btRigidBody* topSphere1 = createRigidBody(0, startTransform, colShape); // make top sphere static
+
+	// position the top sphere above ground with appropriate orientation
+	startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially
+	startTransform.setRotation(pendulumOrientation); // pendulum rotation
+	startTransform.setOrigin(startTransform * topSphere2RelPosition); // rotate this position
+	startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
+	btRigidBody* topSphere2 = createRigidBody(0, startTransform, colShape); // make top sphere static
+
+	// position the bottom sphere below the top sphere
+	startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially
+	startTransform.setRotation(pendulumOrientation); // pendulum rotation
+	startTransform.setOrigin(startTransform * bottomSphereRelPosition); // rotate this position
+	startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position
+	btRigidBody* bottomSphere = createRigidBody(mass, startTransform, colShape);
+	bottomSphere->setFriction(0); // we do not need friction here
+	pendula.push_back(bottomSphere);
+
+	// disable the deactivation when objects do not move anymore
+	topSphere1->setActivationState(DISABLE_DEACTIVATION);
+	topSphere2->setActivationState(DISABLE_DEACTIVATION);
+	bottomSphere->setActivationState(DISABLE_DEACTIVATION);
+
+	bottomSphere->setRestitution(gPendulaRestitution); // set pendula restitution
+
+	// add ropes between spheres
+	connectWithRope(topSphere1, bottomSphere);
+	connectWithRope(topSphere2, bottomSphere);
+}
+
+void NewtonsRopeCradleExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();
+	btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld();
+
+		for (  int i=0;i<softWorld->getSoftBodyArray().size();i++)
+		{
+			btSoftBody*	psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
+			//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
+			{
+				btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
+			}
+		}
+}
+
+void NewtonsRopeCradleExample::changePendulaRestitution(btScalar restitution) {
+	for (std::vector<btRigidBody*>::iterator rit = pendula.begin();
+		rit != pendula.end(); rit++) {
+		btAssert((*rit) && "Null constraint");
+
+		(*rit)->setRestitution(restitution);
+	}
+}
+
+bool NewtonsRopeCradleExample::keyboardCallback(int key, int state) {
+	//b3Printf("Key pressed: %d in state %d \n",key,state);
+
+	// key 3
+	switch (key) {
+	case '3' /*ASCII for 3*/: {
+		applyPendulumForce(gDisplacementForce);
+		return true;
+	}
+	}
+
+	return false;
+}
+
+void NewtonsRopeCradleExample::applyPendulumForce(btScalar pendulumForce){
+	if(pendulumForce != 0){
+		b3Printf("Apply %f to pendulum",pendulumForce);
+		for (int i = 0; i < gDisplacedPendula; i++) {
+			if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
+				pendula[i]->applyCentralForce(btVector3(pendulumForce, 0, 0));
+		}
+	}
+}
+
+// GUI parameter modifiers
+
+void onRopePendulaRestitutionChanged(float pendulaRestitution) {
+	if (nex){
+		nex->changePendulaRestitution(pendulaRestitution);
+	}
+}
+
+void floorRSliderValue(float notUsed) {
+	gPendulaQty = floor(gPendulaQty);
+	gDisplacedPendula = floor(gDisplacedPendula);
+	gRopeResolution = floor(gRopeResolution);
+}
+
+void applyRForceWithForceScalar(float forceScalar) {
+	if(nex){
+		btScalar appliedForce = forceScalar * gDisplacementForce;
+
+		if(fabs(gForceScalar) < 0.2f)
+			gForceScalar = 0;
+
+		nex->applyPendulumForce(appliedForce);
+	}
+}
+
+CommonExampleInterface* ET_NewtonsRopeCradleCreateFunc(
+	CommonExampleOptions& options) {
+	nex = new NewtonsRopeCradleExample(options.m_guiHelper);
+	return nex;
+}

examples/ExtendedTutorials/NewtonsRopeCradle.h

@@ -0,0 +1,22 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef ET_NEWTONS_ROPE_CRADLE_EXAMPLE_H
+#define ET_NEWTONS_ROPE_CRADLE_EXAMPLE_H
+
+class CommonExampleInterface*    ET_NewtonsRopeCradleCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //ET_NEWTONS_ROPE_CRADLE_EXAMPLE_H

examples/ExtendedTutorials/RigidBodyFromObj.cpp

@@ -134,7 +134,8 @@ void RigidBodyFromObjExample::initPhysics()
 		int shapeId = m_guiHelper->registerGraphicsShape(&glmesh->m_vertices->at(0).xyzw[0], 
 																		glmesh->m_numvertices, 
 																		&glmesh->m_indices->at(0), 
-																		glmesh->m_numIndices);
+																		glmesh->m_numIndices,
+																		B3_GL_TRIANGLES, -1);
 		shape->setUserIndex(shapeId);
 		int renderInstance = m_guiHelper->registerGraphicsInstance(shapeId,pos,orn,color,scaling);
 		body->setUserIndex(renderInstance);

examples/ExtendedTutorials/premake4.lua

@@ -39,7 +39,7 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",
+  		"../ThirdPartyLibs/stb_image/stb_image.cpp",
 }
 
 
@@ -91,7 +91,9 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",
+      "../ThirdPartyLibs/stb_image/stb_image.cpp",
+      "../Utils/b3Clock.cpp",
+			"../Utils/b3Clock.h",
 }
 
 if os.is("Linux") then initX11() end
@@ -156,7 +158,7 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",     
+			"../ThirdPartyLibs/stb_image/stb_image.cpp",     
 }
 
 if os.is("Linux") then initX11() end

examples/Importers/ImportBsp/ImportBspExample.cpp

@@ -285,7 +285,7 @@ char* makeExeToBspFilename(const char* lpCmdLine)
 }
 
 
-struct CommonExampleInterface*    ImportBspCreateFunc(struct CommonExampleOptions& options)
+CommonExampleInterface*    ImportBspCreateFunc(struct CommonExampleOptions& options)
 {
 	BspDemo* demo = new BspDemo(options.m_guiHelper);
 		

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -108,7 +108,8 @@ struct BulletErrorLogger : public ErrorLogger
 bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 {
 
-	
+	if (strlen(fileName)==0)
+        return false;
 
 //int argc=0;
 	char relativeFileName[1024];
@@ -132,7 +133,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 
 
         std::fstream xml_file(relativeFileName, std::fstream::in);
-        while ( xml_file.good() )
+        while ( xml_file.good())
         {
             std::string line;
             std::getline( xml_file, line);
@@ -969,16 +970,17 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 //		graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
 		//graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
 		
-		CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
+		//CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
 		
-		if (renderer)
+		if (1)
 		{
 			int textureIndex = -1;
 			if (textures.size())
 			{
-				textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
+				
+				textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
 			}
-			graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
+			graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
 			
 		}
 	}
@@ -1003,6 +1005,17 @@ bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
 	return false;
 }
 
+bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const
+{
+	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
+	if (linkPtr)
+	{
+		const UrdfLink* link = *linkPtr;
+		contactInfo = link->m_contactInfo;
+		return true;
+	}
+	return false;
+}
 
 void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj) const
 {

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -37,6 +37,8 @@ public:
     virtual std::string getLinkName(int linkIndex) const;
 
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
+
+	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
 	
     virtual std::string getJointName(int linkIndex) const;
     

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -65,7 +65,8 @@ btAlignedObjectArray<std::string> gFileNameArray;
 struct ImportUrdfInternalData
 {
     ImportUrdfInternalData()
-    :m_numMotors(0)
+    :m_numMotors(0),
+    m_mb(0)
     {
 		for (int i=0;i<MAX_NUM_MOTORS;i++)
 		{
@@ -74,10 +75,13 @@ struct ImportUrdfInternalData
 		}
     }
 
+    
     btScalar m_motorTargetVelocities[MAX_NUM_MOTORS];
     btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS];
 	btGeneric6DofSpring2Constraint* m_generic6DofJointMotors [MAX_NUM_MOTORS];
     int m_numMotors;
+    btMultiBody* m_mb;
+    btRigidBody* m_rb;
 
 };
 
@@ -128,7 +132,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
 		
 		if (gFileNameArray.size()==0)
 		{
-			gFileNameArray.push_back("sphere2.urdf");
+			gFileNameArray.push_back("r2d2.urdf");
 
 		}
 
@@ -196,7 +200,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 	btVector3 gravity(0,0,0);
-	gravity[upAxis]=-9.8;
+	//gravity[upAxis]=-9.8;
 
 	m_dynamicsWorld->setGravity(gravity);
 
@@ -223,7 +227,6 @@ void ImportUrdfSetup::initPhysics()
 		{
 
 
-			btMultiBody* mb = 0;
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
@@ -232,8 +235,10 @@ void ImportUrdfSetup::initPhysics()
 			MyMultiBodyCreator creation(m_guiHelper);
 
 			ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
-			mb = creation.getBulletMultiBody();
+			m_data->m_rb = creation.getRigidBody();
-
+			m_data->m_mb = creation.getBulletMultiBody();
+			btMultiBody* mb = m_data->m_mb;
+            
 			if (m_useMultiBody && mb )
 			{
 				std::string*   name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
@@ -337,7 +342,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 
-		bool createGround=true;
+		bool createGround=false;
 		if (createGround)
 		{
 			btVector3 groundHalfExtents(20,20,20);
@@ -357,8 +362,7 @@ void ImportUrdfSetup::initPhysics()
 			m_guiHelper->createRigidBodyGraphicsObject(body,color);
 		}
 
-		///this extra stepSimulation call makes sure that all the btMultibody transforms are properly propagates.
+		
-		m_dynamicsWorld->stepSimulation(1. / 240., 0);// 1., 10, 1. / 240.);
 	}
 
 #ifdef TEST_MULTIBODY_SERIALIZATION

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp

@@ -13,6 +13,7 @@
 
 MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
 	:m_bulletMultiBody(0),
+	m_rigidBody(0),
 m_guiHelper(guiHelper)
 {
 }
@@ -31,10 +32,10 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
 {
     btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
     rbci.m_startWorldTransform = initialWorldTrans;
-    btRigidBody* body = new btRigidBody(rbci);
+    m_rigidBody = new btRigidBody(rbci);
-	body->forceActivationState(DISABLE_DEACTIVATION);
+	m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
 	
-    return body;
+    return m_rigidBody;
 }
     
 class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider(int /*urdfLinkIndex*/, int mbLinkIndex, btMultiBody* multiBody) 

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h

@@ -24,6 +24,7 @@ class MyMultiBodyCreator : public MultiBodyCreationInterface
 protected:
 
 	btMultiBody* m_bulletMultiBody;
+	btRigidBody* m_rigidBody;
     
 	struct GUIHelperInterface* m_guiHelper;
 
@@ -62,6 +63,10 @@ public:
     virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
 
 	btMultiBody* getBulletMultiBody();
+	btRigidBody* getRigidBody()
+	{
+	    return m_rigidBody;
+    }
 	
 	int	getNum6DofConstraints() const
 	{

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -392,9 +392,18 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
                 
                 u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col);
 
-                btScalar friction = 0.5f;
+				URDFLinkContactInfo contactInfo;
+				u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
 
-                col->setFriction(friction);
+				if ((contactInfo.m_flags & URDF_CONTACT_HAS_LATERAL_FRICTION)!=0)
+				{
+					col->setFriction(contactInfo.m_lateralFriction);
+				}
+				if ((contactInfo.m_flags & URDF_CONTACT_HAS_ROLLING_FRICTION)!=0)
+				{
+					col->setRollingFriction(contactInfo.m_rollingFriction);
+				}
+				
 
                 if (mbLinkIndex>=0) //???? double-check +/- 1
                 {

examples/Importers/ImportURDFDemo/URDFImporterInterface.h

@@ -6,6 +6,7 @@
 #include "LinearMath/btTransform.h"
 #include "URDFJointTypes.h"
 
+
 class URDFImporterInterface
 {
 
@@ -28,6 +29,9 @@ public:
     virtual std::string getLinkName(int linkIndex) const =0;
 	/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
 	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
+
+	///this API will likely change, don't override it!
+	virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const  { return false;}
     
     virtual std::string getJointName(int linkIndex) const = 0;
 

examples/Importers/ImportURDFDemo/URDFJointTypes.h

@@ -11,6 +11,33 @@ enum UrdfJointTypes
 		URDFPlanarJoint,
 		URDFFixedJoint,
 };
+#include "LinearMath/btScalar.h"
+
+enum URDF_LinkContactFlags
+{
+	URDF_CONTACT_HAS_LATERAL_FRICTION=1,
+	URDF_CONTACT_HAS_ROLLING_FRICTION=2,
+	URDF_CONTACT_HAS_CONTACT_CFM=4,
+	URDF_CONTACT_HAS_CONTACT_ERP=8
+};
+
+struct URDFLinkContactInfo
+{
+	btScalar m_lateralFriction;
+	btScalar m_rollingFriction;
+	btScalar m_contactCfm;
+	btScalar m_contactErp;
+	int m_flags;
+
+	URDFLinkContactInfo()
+		:m_lateralFriction(0.5),
+		m_rollingFriction(0),
+		m_contactCfm(0),
+		m_contactErp(0)
+	{
+		m_flags = URDF_CONTACT_HAS_LATERAL_FRICTION;
+	}
+};
 
 
 #endif //URDF_JOINT_TYPES_H

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -569,6 +569,31 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
         }
     }
 
+	{
+		//optional 'contact' parameters
+	 TiXmlElement* ci = config->FirstChildElement("contact");
+	  if (ci)
+	  {
+		TiXmlElement *friction_xml = ci->FirstChildElement("lateral_friction");
+		if (friction_xml)
+		{
+			if (m_parseSDF)
+			{
+				link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->GetText());
+			} else
+			{
+				if (!friction_xml->Attribute("value"))
+				{
+				  logger->reportError("Link/contact: lateral_friction element must have value attribute");
+				  return false;
+				}
+
+				link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
+			}
+		}
+	  }
+	}
+
   // Inertial (optional)
   TiXmlElement *i = config->FirstChildElement("inertial");
   if (i)

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -99,6 +99,8 @@ struct UrdfLink
 	
 	int m_linkIndex;
 	
+	URDFLinkContactInfo m_contactInfo;
+
 	UrdfLink()
 		:m_parentLink(0),
 		m_parentJoint(0)

examples/InverseDynamics/premake4.lua

@@ -91,7 +91,8 @@ files {
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
 			"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 			"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",     
+			"../ThirdPartyLibs/stb_image/stb_image.cpp",
+			"../Utils/b3Clock.cpp",
 }
 
 if os.is("Linux") then initX11() end

examples/MultiBody/TestJointTorqueSetup.cpp

@@ -367,9 +367,8 @@ void TestJointTorqueSetup::initPhysics()
 
 	btSerializer* s = new btDefaultSerializer;
 	m_dynamicsWorld->serialize(s);
-	b3ResourcePath p;
 	char resourcePath[1024];
-	if (p.findResourcePath("multibody.bullet",resourcePath,1024))
+	if (b3ResourcePath::findResourcePath("multibody.bullet",resourcePath,1024))
 	{
 		FILE* f = fopen(resourcePath,"wb");
 		fwrite(s->getBufferPointer(),s->getCurrentBufferSize(),1,f);

examples/MultiThreading/MultiThreadingExample.cpp

@@ -119,7 +119,7 @@ struct SampleThreadLocalStorage
 
 void	SampleThreadFunc(void* userPtr,void* lsMemory)
 {
-	printf("thread started\n");
+	printf("SampleThreadFunc thread started\n");
 
 	SampleThreadLocalStorage* localStorage = (SampleThreadLocalStorage*) lsMemory;
 

examples/MultiThreading/b3PosixThreadSupport.cpp

@@ -53,7 +53,7 @@ static sem_t* createSem(const char* baseName)
 #ifdef NAMED_SEMAPHORES
         /// Named semaphore begin
         char name[32];
-        snprintf(name, 32, "/%s-%d-%4.4d", baseName, getpid(), semCount++);
+        snprintf(name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++);
         sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
 
         if (tempSem != reinterpret_cast<sem_t *>(SEM_FAILED))

examples/MultiThreading/b3Win32ThreadSupport.cpp

@@ -223,7 +223,8 @@ bool b3Win32ThreadSupport::isTaskCompleted(int *puiArgument0, int *puiArgument1,
 
 void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo)
 {
-
+	static int uniqueId = 0;
+	uniqueId++;
 	m_activeThreadStatus.resize(threadConstructionInfo.m_numThreads);
 	m_completeHandles.resize(threadConstructionInfo.m_numThreads);
 
@@ -244,18 +245,40 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 
 		threadStatus.m_userPtr=0;
 
-		sprintf(threadStatus.m_eventStartHandleName,"eventStart%s%d",threadConstructionInfo.m_uniqueName,i);
+		sprintf(threadStatus.m_eventStartHandleName,"es%.8s%d%d",threadConstructionInfo.m_uniqueName,uniqueId,i);
 		threadStatus.m_eventStartHandle = CreateEventA (0,false,false,threadStatus.m_eventStartHandleName);
 
-		sprintf(threadStatus.m_eventCompletetHandleName,"eventComplete%s%d",threadConstructionInfo.m_uniqueName,i);
+		sprintf(threadStatus.m_eventCompletetHandleName,"ec%.8s%d%d",threadConstructionInfo.m_uniqueName,uniqueId,i);
 		threadStatus.m_eventCompletetHandle = CreateEventA (0,false,false,threadStatus.m_eventCompletetHandleName);
 
 		m_completeHandles[i] = threadStatus.m_eventCompletetHandle;
 
 		HANDLE handle = CreateThread(lpThreadAttributes,dwStackSize,lpStartAddress,lpParameter,	dwCreationFlags,lpThreadId);
-		//SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
+		switch(threadConstructionInfo.m_priority)
-		SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
+		{
+		case 0:
+		{
+			SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
+			break;
+		}
+		case 1:
+		{
+			SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
+			break;
+		}
+		case 2:
+		{
+			SetThreadPriority(handle,THREAD_PRIORITY_BELOW_NORMAL);
+			break;
+		}
+		
+		default:
+		{
+			
+		}
 
+		}
+		
 		SetThreadAffinityMask(handle, 1<<i);
 
 		threadStatus.m_taskId = i;
@@ -265,7 +288,7 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
 		threadStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
 		threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
 
-		printf("started thread %d with threadHandle %p\n",i,handle);
+		printf("started %s thread %d with threadHandle %p\n",threadConstructionInfo.m_uniqueName,i,handle);
 		
 	}
 

examples/MultiThreading/b3Win32ThreadSupport.h

@@ -74,7 +74,8 @@ public:
 									m_userThreadFunc(userThreadFunc),
 									m_lsMemoryFunc(lsMemoryFunc),
 									m_numThreads(numThreads),
-									m_threadStackSize(threadStackSize)
+									m_threadStackSize(threadStackSize),
+									m_priority(0)
 		{
 
 		}
@@ -84,6 +85,7 @@ public:
 		b3Win32lsMemorySetupFunc	m_lsMemoryFunc;
 		int						m_numThreads;
 		int						m_threadStackSize;
+		int						m_priority;
 
 	};
 

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -17,8 +17,8 @@ subject to the following restrictions:
 
 ///todo: make this configurable in the gui
 bool useShadowMap=true;//false;//true;
-int shadowMapWidth=8192;
+int shadowMapWidth=4096;//8192;
-int shadowMapHeight=8192;
+int shadowMapHeight=4096;
 float shadowMapWorldSize=50;
 
 #define MAX_POINTS_IN_BATCH 1024
@@ -261,6 +261,8 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
 
 void GLInstancingRenderer::removeAllInstances()
 {
+	m_data->m_totalNumInstances = 0;
+
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 		if (m_graphicsInstances[i]->m_index_vbo)
@@ -276,6 +278,7 @@ void GLInstancingRenderer::removeAllInstances()
 	m_graphicsInstances.clear();
 }
 
+
 GLInstancingRenderer::~GLInstancingRenderer()
 {
 	delete m_data->m_shadowMap;
@@ -323,6 +326,7 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
 	*/
 }
 
+
 void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
 {
 	m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);
@@ -340,7 +344,19 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int srcIn
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
 }
 
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
+{
+	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
+	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
+	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
+}
 
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
+{
+	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
+	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
+	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
+}
 
 void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectIndex)
 {
@@ -386,25 +402,46 @@ void GLInstancingRenderer::writeTransforms()
 
 
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	glFlush();
+	//glFlush();
 
 	b3Assert(glGetError() ==GL_NO_ERROR);
+	
 
+#ifdef B3_DEBUG
+	{
+		int totalNumInstances= 0;
+		for (int k=0;k<m_graphicsInstances.size();k++)
+		{
+			b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
+			totalNumInstances+=gfxObj->m_numGraphicsInstances;
+		}
+		b3Assert(m_data->m_totalNumInstances == totalNumInstances);
+	}
+#endif//B3_DEBUG
+
+	int POSITION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
+	int ORIENTATION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
+	int COLOR_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
+//	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
+
+#if 1
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
+ 						&m_data->m_instance_positions_ptr[0]);
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
+ 						&m_data->m_instance_quaternion_ptr[0]);
+	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
+ 						&m_data->m_instance_colors_ptr[0]);
+	glBufferSubData(	GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
+					 	&m_data->m_instance_scale_ptr[0]);
+#else
 
 	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
 	if (orgBase)
 	{
 
 
-		int totalNumInstances= 0;
+		
-
+		
-		for (int k=0;k<m_graphicsInstances.size();k++)
-		{
-			b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
-			totalNumInstances+=gfxObj->m_numGraphicsInstances;
-		}
-
-		m_data->m_totalNumInstances = totalNumInstances;
 
 		for (int k=0;k<m_graphicsInstances.size();k++)
 		{
@@ -413,10 +450,7 @@ void GLInstancingRenderer::writeTransforms()
 
 
 
-			int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
+			
-			int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
-			int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
-		//	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
 
 			char* base = orgBase;
 
@@ -465,6 +499,9 @@ void GLInstancingRenderer::writeTransforms()
 	//if this glFinish is removed, the animation is not always working/blocks
 	//@todo: figure out why
 	glFlush();
+
+#endif
+
 	glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
 
     b3Assert(glGetError() ==GL_NO_ERROR);
@@ -1006,7 +1043,7 @@ void GLInstancingRenderer::renderScene()
 	{
 
 		renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
-	//	glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
+		//glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
 		renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
 
 	} else
@@ -1075,6 +1112,9 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
 
 void GLInstancingRenderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float lineWidthIn)
 {
+	glActiveTexture(GL_TEXTURE0);
+	glBindTexture(GL_TEXTURE_2D,0);
+
 	float lineWidth = lineWidthIn;
 	b3Clamp(lineWidth,(float)lineWidthRange[0],(float)lineWidthRange[1]);
 	glLineWidth(lineWidth);
@@ -1510,7 +1550,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 	int curOffset = 0;
 	//GLuint lastBindTexture = 0;
 
-
+	
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 
@@ -1634,6 +1674,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
                             printf("gfxObj->m_numGraphicsInstances=%d\n",gfxObj->m_numGraphicsInstances);
                             printf("indexCount=%d\n",indexCount);
 				*/
+
 							glUseProgram(createShadowMapInstancingShader);
 							glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]);
 							glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
@@ -1667,6 +1708,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
                                 glDisable (GL_BLEND);
                             }
                             glActiveTexture(GL_TEXTURE0);
+							glBindTexture(GL_TEXTURE_2D,0);
                             break;
 						}
 					default:
@@ -1743,4 +1785,10 @@ void GLInstancingRenderer::setRenderFrameBuffer(unsigned int renderFrameBuffer)
 	m_data->m_renderFrameBuffer = (GLuint) renderFrameBuffer;
 }
 
+int GLInstancingRenderer::getTotalNumInstances() const
+{
+    return m_data->m_totalNumInstances;
+}
+
+
 #endif //NO_OPENGL3

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -56,7 +56,7 @@ public:
 	void InitShaders();
 	void CleanupShaders();
 	virtual void removeAllInstances();
-
+	
 	virtual void updateShape(int shapeIndex, const float* vertices);
 
 	///vertices must be in the format x,y,z, nx,ny,nz, u,v
@@ -95,6 +95,9 @@ public:
 	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
 	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
 
+	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
+	virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
+
 	
 	virtual struct	GLInstanceRendererInternalData* getInternalData();
 
@@ -125,6 +128,8 @@ public:
 	
 	virtual int getInstanceCapacity() const;
 	
+	virtual int getTotalNumInstances() const;
+	
 	virtual void enableShadowMap();
     virtual void enableBlend(bool blend)
     {

examples/OpenGLWindow/SimpleCamera.cpp

@@ -62,6 +62,16 @@ void	SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMa
 	}
 }
 
+void SimpleCamera::disableVRCamera()
+{
+	m_data->m_enableVR = false;
+}
+
+bool SimpleCamera::isVRCamera() const
+{
+	return m_data->m_enableVR ;
+}
+
 
 static void    b3CreateFrustum(
                         float left,

examples/OpenGLWindow/SimpleCamera.h

@@ -15,6 +15,8 @@ struct SimpleCamera : public CommonCameraInterface
 	virtual void getCameraViewMatrix(float m[16]) const;
 	
 	virtual void	setVRCamera(const float viewMat[16], const float projectionMatrix[16]);
+	virtual void disableVRCamera();
+	virtual bool isVRCamera() const;
 
 	virtual void getCameraTargetPosition(float pos[3]) const;
 	virtual void getCameraPosition(float pos[3]) const;

examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp

@@ -64,6 +64,20 @@ void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(double* color, int src
 {
     
 }
+
+void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
+{
+}
+void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
+{
+}
+
+
+int SimpleOpenGL2Renderer::getTotalNumInstances() const
+{
+    return 0;
+}
+
 void	SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
 {
     b3Assert(0);

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -32,6 +32,8 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
     
     virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
     virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
+	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
+    virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
     virtual void	getCameraViewMatrix(float viewMat[16]) const;
     virtual void	getCameraProjectionMatrix(float projMat[16]) const;
 
@@ -68,6 +70,8 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
     
     virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex);
     
+    virtual int getTotalNumInstances() const;
+    
     virtual void writeTransforms();
     
     virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth);
@@ -82,6 +86,7 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
 
 	virtual void clearZBuffer();
 
+
 	virtual struct	GLInstanceRendererInternalData* getInternalData()
 	{
 		return 0;

examples/OpenGLWindow/Win32Window.cpp

@@ -435,11 +435,10 @@ void Win32Window::setWindowTitle(const char* titleChar)
 	wchar_t  windowTitle[1024];
 	swprintf(windowTitle, 1024, L"%hs", titleChar);
 
-	DWORD dwResult;
-
 #ifdef _WIN64
 		SetWindowTextW(m_data->m_hWnd, windowTitle);
 #else
+		DWORD dwResult;
 		SendMessageTimeoutW(m_data->m_hWnd, WM_SETTEXT, 0,
 				reinterpret_cast<LPARAM>(windowTitle),
 				SMTO_ABORTIFHUNG, 2000, &dwResult);

examples/RenderingExamples/CoordinateSystemDemo.cpp

@@ -156,7 +156,7 @@ public:
 	}
 };
 
-struct CommonExampleInterface*    CoordinateSystemCreateFunc(struct CommonExampleOptions& options)
+CommonExampleInterface*    CoordinateSystemCreateFunc(struct CommonExampleOptions& options)
 {
 	return new CoordinateSystemDemo(options.m_guiHelper->getAppInterface());
 }

examples/RenderingExamples/RaytracerSetup.cpp

@@ -295,7 +295,7 @@ void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
 
 	for (x=0;x<m_internalData->m_width;x++)
 	{
-		for (int y=0;y<m_internalData->m_height;y++)
+		for (y=0;y<m_internalData->m_height;y++)
 		{
 			btVector4 rgba(0,0,0,0);
 			btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;

examples/RoboticsLearning/R2D2GraspExample.cpp

@@ -0,0 +1,164 @@
+
+#include "R2D2GraspExample.h"
+
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../SharedMemory/PhysicsServerSharedMemory.h"
+#include "../SharedMemory/PhysicsClientC_API.h"
+#include <string>
+
+#include "b3RobotSimAPI.h"
+#include "../Utils/b3Clock.h"
+
+///quick demo showing the right-handed coordinate system and positive rotations around each axis
+class R2D2GraspExample : public CommonExampleInterface
+{
+    CommonGraphicsApp* m_app;
+	GUIHelperInterface* m_guiHelper;
+	b3RobotSimAPI m_robotSim;
+	int m_options;
+	int m_r2d2Index;
+	
+    float m_x;
+    float m_y;
+    float m_z;
+	b3AlignedObjectArray<int> m_movingInstances;
+	enum
+	{
+		numCubesX = 20,
+		numCubesY = 20
+	};
+public:
+    
+    R2D2GraspExample(GUIHelperInterface* helper, int options)
+    :m_app(helper->getAppInterface()),
+	m_guiHelper(helper),
+	m_options(options),
+	m_r2d2Index(-1),
+    m_x(0),
+    m_y(0),
+	m_z(0)
+    {
+		m_app->setUpAxis(2);
+    }
+    virtual ~R2D2GraspExample()
+    {
+        m_app->m_renderer->enableBlend(false);
+    }
+
+    
+    virtual void physicsDebugDraw(int debugDrawMode)
+    {
+        
+    }
+    virtual void    initPhysics()
+    {
+		bool connected = m_robotSim.connect(m_guiHelper);
+		b3Printf("robotSim connected = %d",connected);
+		b3RobotSimLoadURDFArgs args("");
+		
+		if ((m_options & eROBOTIC_LEARN_GRASP)!=0)
+		{
+			args.m_urdfFileName = "r2d2.urdf";
+			args.m_startPosition.setValue(0,0,.5);
+			m_r2d2Index = m_robotSim.loadURDF(args);
+			int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
+			b3Printf("numJoints = %d",numJoints);
+
+			for (int i=0;i<numJoints;i++)
+			{
+				b3JointInfo jointInfo;
+				m_robotSim.getJointInfo(m_r2d2Index,i,&jointInfo);
+				b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
+			}
+			int wheelJointIndices[4]={2,3,6,7};
+			int wheelTargetVelocities[4]={30,30,30,30};
+			for (int i=0;i<4;i++)
+			{
+				b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+				controlArgs.m_targetVelocity = wheelTargetVelocities[i];
+				controlArgs.m_maxTorqueValue = 1e30;
+				m_robotSim.setJointMotorControl(m_r2d2Index,wheelJointIndices[i],controlArgs);
+			}
+		}
+
+		if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT)!=0)
+		{
+		
+		
+			args.m_urdfFileName = "cube.urdf";
+			args.m_startPosition.setValue(0,0,2.5);
+			m_robotSim.loadURDF(args);
+			args.m_startOrientation.setEulerZYX(0,0.2,0);
+		}
+	
+		args.m_urdfFileName = "plane.urdf";
+		args.m_startPosition.setValue(0,0,0);
+		
+		args.m_forceOverrideFixedBase = true;
+		m_robotSim.loadURDF(args);
+		m_robotSim.setGravity(b3MakeVector3(0,0,-10));
+
+    }
+    virtual void    exitPhysics()
+    {
+		m_robotSim.disconnect();
+    }
+    virtual void	stepSimulation(float deltaTime)
+	{
+		m_robotSim.stepSimulation();
+    }
+    virtual void	renderScene()
+    {
+		m_robotSim.renderScene();
+
+		//m_app->m_renderer->renderScene();
+    }
+
+	
+    virtual void	physicsDebugDraw()
+    {
+      	
+    }
+    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;   
+    }
+    
+	virtual void resetCamera()
+	{
+		float dist = 10;
+		float pitch = 50;
+		float yaw = 13;
+		float targetPos[3]={-1,0,-0.3};
+		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
+		{
+			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
+			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
+			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
+		}
+	}
+
+};
+
+
+class	CommonExampleInterface*    R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options)
+{
+	return new R2D2GraspExample(options.m_guiHelper, options.m_option);
+}
+
+
+

examples/RoboticsLearning/R2D2GraspExample.h

@@ -0,0 +1,28 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2016 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef R2D2_GRASP_EXAMPLE_H
+#define R2D2_GRASP_EXAMPLE_H
+
+enum RobotLearningExampleOptions
+{
+	eROBOTIC_LEARN_GRASP=1,
+	eROBOTIC_LEARN_COMPLIANT_CONTACT=2,
+};
+
+class CommonExampleInterface*    R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options);
+
+
+#endif //R2D2_GRASP_EXAMPLE_H

examples/RoboticsLearning/b3RobotSimAPI.cpp

@@ -0,0 +1,729 @@
+#include "b3RobotSimAPI.h"
+
+//#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+//#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "../SharedMemory/PhysicsServerSharedMemory.h"
+#include "../SharedMemory/PhysicsClientC_API.h"
+#include <string>
+
+
+
+
+
+
+#include "../Utils/b3Clock.h"
+#include "../MultiThreading/b3ThreadSupportInterface.h"
+
+
+void	RobotThreadFunc(void* userPtr,void* lsMemory);
+void*	RobotlsMemoryFunc();
+#define MAX_ROBOT_NUM_THREADS 1
+enum
+	{
+		numCubesX = 20,
+		numCubesY = 20
+	};
+
+
+enum TestRobotSimCommunicationEnums
+{
+	eRequestTerminateRobotSim= 13,
+	eRobotSimIsUnInitialized,
+	eRobotSimIsInitialized,
+	eRobotSimInitializationFailed,
+	eRobotSimHasTerminated
+};
+
+enum MultiThreadedGUIHelperCommunicationEnums
+{
+	eRobotSimGUIHelperIdle= 13,
+	eRobotSimGUIHelperRegisterTexture,
+	eRobotSimGUIHelperRegisterGraphicsShape,
+	eRobotSimGUIHelperRegisterGraphicsInstance,
+	eRobotSimGUIHelperCreateCollisionShapeGraphicsObject,
+	eRobotSimGUIHelperCreateCollisionObjectGraphicsObject,
+	eRobotSimGUIHelperRemoveAllGraphicsInstances,
+};
+
+#include <stdio.h>
+//#include "BulletMultiThreaded/PlatformDefinitions.h"
+
+#ifndef _WIN32
+#include "../MultiThreading/b3PosixThreadSupport.h"
+
+b3ThreadSupportInterface* createRobotSimThreadSupport(int numThreads)
+{
+	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("RobotSimThreads",
+                                                                RobotThreadFunc,
+                                                                RobotlsMemoryFunc,
+                                                                numThreads);
+    b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
+
+	return threadSupport;
+
+}
+
+
+#elif defined( _WIN32)
+#include "../MultiThreading/b3Win32ThreadSupport.h"
+
+b3ThreadSupportInterface* createRobotSimThreadSupport(int numThreads)
+{
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("RobotSimThreads",RobotThreadFunc,RobotlsMemoryFunc,numThreads);
+	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
+	return threadSupport;
+
+}
+#endif
+
+
+
+struct	RobotSimArgs
+{
+	RobotSimArgs()
+		:m_physicsServerPtr(0)
+	{
+	}
+	b3CriticalSection* m_cs;
+	
+	PhysicsServerSharedMemory*	m_physicsServerPtr;
+	b3AlignedObjectArray<b3Vector3> m_positions;
+};
+
+struct RobotSimThreadLocalStorage
+{
+	int threadId;
+};
+
+
+void	RobotThreadFunc(void* userPtr,void* lsMemory)
+{
+	printf("RobotThreadFunc thread started\n");
+	RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
+
+	RobotSimArgs* args = (RobotSimArgs*) userPtr;
+	int workLeft = true;
+	b3Clock clock;
+	clock.reset();
+	bool init = true;
+	if (init)
+	{
+
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eRobotSimIsInitialized);
+		args->m_cs->unlock();
+
+		do
+		{
+//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
+#if 0
+			double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
+			if (deltaTimeInSeconds<(1./260.))
+			{
+				if (deltaTimeInSeconds<.001)
+					continue;
+			}
+
+			clock.reset();
+#endif //
+			args->m_physicsServerPtr->processClientCommands();
+			
+		} while (args->m_cs->getSharedParam(0)!=eRequestTerminateRobotSim);
+	} else
+	{
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eRobotSimInitializationFailed);
+		args->m_cs->unlock();
+	}
+	//do nothing
+}
+
+
+
+void*	RobotlsMemoryFunc()
+{
+	//don't create local store memory, just return 0
+	return new RobotSimThreadLocalStorage;
+}
+
+
+
+ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
+{
+	CommonGraphicsApp* m_app;
+	
+	b3CriticalSection* m_cs;
+
+	
+public:
+	
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	GUIHelperInterface* m_childGuiHelper;
+
+	const unsigned char* m_texels;
+	int m_textureWidth;
+	int m_textureHeight;
+
+
+	int m_shapeIndex;
+	const float* m_position;
+	const float* m_quaternion;
+	const float* m_color;
+	const float* m_scaling;
+
+	const float* m_vertices;
+	int m_numvertices;
+	const int* m_indices;
+	int m_numIndices;
+	int m_primitiveType;
+	int m_textureId;
+	int m_instanceId;
+	
+
+	MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
+		:m_app(app)
+		,m_cs(0),
+		m_texels(0),
+		m_textureId(-1)
+	{
+		m_childGuiHelper = guiHelper;;
+
+	}
+
+	virtual ~MultiThreadedOpenGLGuiHelper()
+	{
+		delete m_childGuiHelper;
+	}
+
+	void setCriticalSection(b3CriticalSection* cs)
+	{
+		m_cs = cs;
+	}
+
+	b3CriticalSection* getCriticalSection()
+	{
+		return m_cs;
+	}
+
+	virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
+
+	btCollisionObject* m_obj;
+	btVector3 m_color2;
+
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
+	{
+		m_obj = obj;
+		m_color2 = color;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eRobotSimGUIHelperCreateCollisionObjectGraphicsObject);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
+		{
+		}
+
+	}
+
+	btCollisionShape* m_colShape;
+	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
+	{
+		m_colShape = collisionShape;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eRobotSimGUIHelperCreateCollisionShapeGraphicsObject);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
+		{
+		}
+
+	}
+
+	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
+	{
+	    //this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
+	    //the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
+        if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
+        {
+            m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
+        }
+	}
+
+	virtual void render(const btDiscreteDynamicsWorld* rbWorld) 
+	{
+		m_childGuiHelper->render(0);
+	}
+
+	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
+
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		m_texels = texels;
+		m_textureWidth = width;
+		m_textureHeight = height;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterTexture);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
+		{
+		}
+		return m_textureId;
+	}
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
+	{
+		m_vertices = vertices;
+		m_numvertices = numvertices;
+		m_indices = indices;
+		m_numIndices = numIndices;
+		m_primitiveType = primitiveType;
+		m_textureId = textureId;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterGraphicsShape);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
+		{
+		}
+		return m_shapeIndex;
+	}
+	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) 
+	{
+		m_shapeIndex = shapeIndex;
+		m_position = position;
+		m_quaternion = quaternion;
+		m_color = color;
+		m_scaling = scaling;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterGraphicsInstance);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
+		{
+		}
+		return m_instanceId;
+	}
+
+    virtual void removeAllGraphicsInstances()
+    {
+        m_cs->lock();
+		m_cs->setSharedParam(1,eRobotSimGUIHelperRemoveAllGraphicsInstances);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
+		{
+		}
+    }
+
+	virtual Common2dCanvasInterface* get2dCanvasInterface()
+	{
+		return 0;
+	}
+	
+	virtual CommonParameterInterface* getParameterInterface()
+	{
+		return 0;
+	}
+
+	virtual CommonRenderInterface* getRenderInterface()
+	{
+		return 0;
+	}
+	
+	virtual CommonGraphicsApp* getAppInterface()
+	{
+		return m_childGuiHelper->getAppInterface();
+	}
+
+
+	virtual void setUpAxis(int axis)
+	{
+		m_childGuiHelper->setUpAxis(axis);
+	}
+	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+	{
+	}
+
+	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
+	{
+	     if (width)
+            *width = 0;
+        if (height)
+            *height = 0;
+        if (numPixelsCopied)
+            *numPixelsCopied = 0;
+	}
+
+	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) 
+	{
+	}
+    
+	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
+	{
+	}
+};
+
+
+
+
+
+
+
+
+struct b3RobotSimAPI_InternalData
+{
+	//GUIHelperInterface* m_guiHelper;
+	PhysicsServerSharedMemory	m_physicsServer;
+	b3PhysicsClientHandle m_physicsClient;
+
+	b3ThreadSupportInterface* m_threadSupport;
+	RobotSimArgs m_args[MAX_ROBOT_NUM_THREADS];
+	MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
+
+	bool m_connected;
+
+	b3RobotSimAPI_InternalData()
+		:m_multiThreadedHelper(0),
+		m_physicsClient(0),
+		m_connected(false)
+	{
+	}
+};
+
+b3RobotSimAPI::b3RobotSimAPI()
+{
+	m_data = new b3RobotSimAPI_InternalData;
+}
+
+void b3RobotSimAPI::stepSimulation()
+{
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	b3Assert(b3CanSubmitCommand(m_data->m_physicsClient));
+    if (b3CanSubmitCommand(m_data->m_physicsClient))
+    {
+        statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, b3InitStepSimulationCommand(m_data->m_physicsClient));
+        statusType = b3GetStatusType(statusHandle);
+        b3Assert(statusType==CMD_STEP_FORWARD_SIMULATION_COMPLETED);
+    }
+}
+
+void b3RobotSimAPI::setGravity(const b3Vector3& gravityAcceleration)
+{
+    b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
+    b3SharedMemoryStatusHandle statusHandle;
+	b3PhysicsParamSetGravity(command,  gravityAcceleration[0],gravityAcceleration[1],gravityAcceleration[2]);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
+    b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
+
+}
+
+b3RobotSimAPI::~b3RobotSimAPI()
+{
+	delete m_data;
+}
+
+void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
+{
+	switch (m_data->m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
+	{
+	case eRobotSimGUIHelperCreateCollisionShapeGraphicsObject:
+	{
+		m_data->m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_data->m_multiThreadedHelper->m_colShape);
+		m_data->m_multiThreadedHelper->getCriticalSection()->lock();
+		m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
+		m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
+
+		break;
+	}
+	case eRobotSimGUIHelperCreateCollisionObjectGraphicsObject:
+	{
+		m_data->m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_data->m_multiThreadedHelper->m_obj,
+			m_data->m_multiThreadedHelper->m_color2);
+		m_data->m_multiThreadedHelper->getCriticalSection()->lock();
+		m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
+		m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eRobotSimGUIHelperRegisterTexture:
+	{
+		
+		m_data->m_multiThreadedHelper->m_textureId = m_data->m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_data->m_multiThreadedHelper->m_texels,
+						m_data->m_multiThreadedHelper->m_textureWidth,m_data->m_multiThreadedHelper->m_textureHeight);
+
+		m_data->m_multiThreadedHelper->getCriticalSection()->lock();
+		m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
+		m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
+		
+		break;
+	}
+	case eRobotSimGUIHelperRegisterGraphicsShape:
+	{
+		m_data->m_multiThreadedHelper->m_shapeIndex = m_data->m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
+				m_data->m_multiThreadedHelper->m_vertices,
+				m_data->m_multiThreadedHelper->m_numvertices,
+				m_data->m_multiThreadedHelper->m_indices,
+				m_data->m_multiThreadedHelper->m_numIndices,
+				m_data->m_multiThreadedHelper->m_primitiveType,
+				m_data->m_multiThreadedHelper->m_textureId);
+
+		m_data->m_multiThreadedHelper->getCriticalSection()->lock();
+		m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
+		m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eRobotSimGUIHelperRegisterGraphicsInstance:
+	{
+		m_data->m_multiThreadedHelper->m_instanceId = m_data->m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
+				m_data->m_multiThreadedHelper->m_shapeIndex,
+				m_data->m_multiThreadedHelper->m_position,
+				m_data->m_multiThreadedHelper->m_quaternion,
+				m_data->m_multiThreadedHelper->m_color,
+				m_data->m_multiThreadedHelper->m_scaling);
+
+		m_data->m_multiThreadedHelper->getCriticalSection()->lock();
+		m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
+		m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eRobotSimGUIHelperRemoveAllGraphicsInstances:
+        {
+            m_data->m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
+			int numRenderInstances = m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
+			b3Assert(numRenderInstances==0);
+
+            m_data->m_multiThreadedHelper->getCriticalSection()->lock();
+            m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
+            m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
+            break;
+        }
+	case eRobotSimGUIHelperIdle:
+	default:
+		{
+			
+		}
+	}
+	
+
+
+
+	#if 0
+	if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
+	{
+		btClock rtc;
+		btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
+
+		while (rtc.getTimeMilliseconds()<endTime)
+		{
+			m_physicsServer.processClientCommands();
+		}
+	} else
+	{
+        //for (int i=0;i<10;i++)
+			m_physicsServer.processClientCommands();
+	}
+	#endif
+
+	
+}
+
+b3SharedMemoryStatusHandle b3RobotSimAPI::submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle)
+{
+	int timeout = 1024*1024*1024;
+    b3SharedMemoryStatusHandle statusHandle=0;
+    
+    b3SubmitClientCommand(physClient,commandHandle);
+    
+    while ((statusHandle==0) && (timeout-- > 0))
+    {
+        statusHandle =b3ProcessServerStatus(physClient);
+		processMultiThreadedGraphicsRequests();
+    }
+    return (b3SharedMemoryStatusHandle) statusHandle;
+}
+
+int b3RobotSimAPI::getNumJoints(int bodyUniqueId) const
+{
+	return b3GetNumJoints(m_data->m_physicsClient,bodyUniqueId);
+}
+
+bool b3RobotSimAPI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
+{
+	return (b3GetJointInfo(m_data->m_physicsClient,bodyUniqueId, jointIndex,jointInfo)!=0);
+}
+
+void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3JointMotorArgs& args)
+{
+	b3SharedMemoryStatusHandle statusHandle;
+	switch (args.m_controlMode)
+	{
+		case CONTROL_MODE_VELOCITY:
+		{
+			b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_VELOCITY);
+			b3JointInfo jointInfo;
+			b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
+			int uIndex = jointInfo.m_uIndex;
+			b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
+			b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
+			statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
+			break;
+		}
+		case CONTROL_MODE_POSITION_VELOCITY_PD:
+		{
+			b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_POSITION_VELOCITY_PD);
+			b3JointInfo jointInfo;
+			b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
+			int uIndex = jointInfo.m_uIndex;
+			int qIndex = jointInfo.m_qIndex;
+
+			b3JointControlSetDesiredPosition(command,qIndex,args.m_targetPosition);
+			b3JointControlSetKp(command,uIndex,args.m_kp);
+			b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
+			b3JointControlSetKd(command,uIndex,args.m_kd);
+			b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
+			statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
+			break;
+		}
+		case CONTROL_MODE_TORQUE:
+		{
+			b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_TORQUE);
+			b3JointInfo jointInfo;
+			b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
+			int uIndex = jointInfo.m_uIndex;
+			b3JointControlSetDesiredForceTorque(command,uIndex,args.m_maxTorqueValue);
+			statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
+			break;
+		}
+		default:
+		{
+			b3Error("Unknown control command in b3RobotSimAPI::setJointMotorControl");
+		}
+	}
+}
+
+int b3RobotSimAPI::loadURDF(const b3RobotSimLoadURDFArgs& args)
+{
+	int robotUniqueId = -1;
+	b3Assert(m_data->m_connected);
+
+	 {
+            b3SharedMemoryStatusHandle statusHandle;
+			int statusType;
+			b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(m_data->m_physicsClient, args.m_urdfFileName.c_str());
+			
+            //setting the initial position, orientation and other arguments are optional
+            
+            b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
+															args.m_startPosition[1],
+															args.m_startPosition[2]);
+			b3LoadUrdfCommandSetStartOrientation(command,args.m_startOrientation[0]
+													,args.m_startOrientation[1]
+													,args.m_startOrientation[2]
+													,args.m_startOrientation[3]);
+			if (args.m_forceOverrideFixedBase)
+			{
+				b3LoadUrdfCommandSetUseFixedBase(command,true);
+			}
+            statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
+			statusType = b3GetStatusType(statusHandle);
+			b3Assert(statusType==CMD_URDF_LOADING_COMPLETED);
+			robotUniqueId = b3GetStatusBodyIndex(statusHandle);
+        }
+
+	return robotUniqueId;
+}
+
+bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
+{
+	m_data->m_multiThreadedHelper  = new MultiThreadedOpenGLGuiHelper(guiHelper->getAppInterface(),guiHelper);
+	
+	MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(guiHelper->getAppInterface(),guiHelper);
+
+	
+	
+
+	m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
+
+	for (int i=0;i<m_data->m_threadSupport->getNumTasks();i++)
+	{
+		RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*) m_data->m_threadSupport->getThreadLocalMemory(i);
+		b3Assert(storage);
+		storage->threadId = i;
+		//storage->m_sharedMem = data->m_sharedMem;
+	}
+
+
+		
+
+	for (int w=0;w<MAX_ROBOT_NUM_THREADS;w++)
+	{
+		m_data->m_args[w].m_cs = m_data->m_threadSupport->createCriticalSection();
+		m_data->m_args[w].m_cs->setSharedParam(0,eRobotSimIsUnInitialized);
+		int numMoving = 0;
+ 		m_data->m_args[w].m_positions.resize(numMoving);
+		m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
+		int index = 0;
+			
+		m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &m_data->m_args[w], w);
+		while (m_data->m_args[w].m_cs->getSharedParam(0)==eRobotSimIsUnInitialized)
+		{
+		}
+	}
+
+	m_data->m_args[0].m_cs->setSharedParam(1,eRobotSimGUIHelperIdle);
+	m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
+
+	m_data->m_connected = m_data->m_physicsServer.connectSharedMemory( m_data->m_multiThreadedHelper);
+
+		b3Assert(m_data->m_connected);
+
+	m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
+	int canSubmit = b3CanSubmitCommand(m_data->m_physicsClient);
+	b3Assert(canSubmit);
+	return m_data->m_connected && canSubmit;
+}
+
+void b3RobotSimAPI::disconnect()
+{
+
+	for (int i=0;i<MAX_ROBOT_NUM_THREADS;i++)
+	{
+		m_data->m_args[i].m_cs->lock();
+		m_data->m_args[i].m_cs->setSharedParam(0,eRequestTerminateRobotSim);
+		m_data->m_args[i].m_cs->unlock();
+	}
+	int numActiveThreads = MAX_ROBOT_NUM_THREADS;
+
+	while (numActiveThreads)
+            {
+		int arg0,arg1;
+                    if (m_data->m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
+                    {
+                            numActiveThreads--;
+                            printf("numActiveThreads = %d\n",numActiveThreads);
+
+                    } else
+                    {
+                    }
+            };
+
+	printf("stopping threads\n");
+
+	delete m_data->m_threadSupport;   
+	m_data->m_threadSupport = 0;
+
+	b3DisconnectSharedMemory(m_data->m_physicsClient);
+	m_data->m_physicsServer.disconnectSharedMemory(true);
+	m_data->m_connected = false;
+}
+
+void b3RobotSimAPI::renderScene()
+{
+	if (m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
+	{
+		m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
+	}
+
+	m_data->m_physicsServer.renderScene();
+}

examples/RoboticsLearning/b3RobotSimAPI.h

@@ -0,0 +1,81 @@
+#ifndef B3_ROBOT_SIM_API_H
+#define B3_ROBOT_SIM_API_H
+
+///todo: remove those includes from this header
+#include "../SharedMemory/PhysicsClientC_API.h"
+#include "../SharedMemory/SharedMemoryPublic.h"
+#include "Bullet3Common/b3Vector3.h"
+#include "Bullet3Common/b3Quaternion.h"
+#include <string>
+
+
+struct b3RobotSimLoadURDFArgs
+{
+	std::string m_urdfFileName;
+	b3Vector3 m_startPosition;
+	b3Quaternion m_startOrientation;
+	bool m_forceOverrideFixedBase;
+
+
+	b3RobotSimLoadURDFArgs(const std::string& urdfFileName)
+		:m_urdfFileName(urdfFileName),
+		m_startPosition(b3MakeVector3(0,0,0)),
+		m_startOrientation(b3Quaternion(0,0,0,1)),
+		m_forceOverrideFixedBase(false)
+	{
+	}
+};
+
+struct b3JointMotorArgs
+{
+	int m_controlMode;
+	
+	double m_targetPosition;
+	double m_kp;
+
+	double m_targetVelocity;
+	double m_kd;
+
+	double m_maxTorqueValue;
+
+	b3JointMotorArgs(int controlMode)
+		:m_controlMode(controlMode),
+		m_targetPosition(0),
+		m_kp(0.1),
+		m_targetVelocity(0),
+		m_kd(0.1),
+		m_maxTorqueValue(1000)
+	{
+	}
+};
+
+
+class b3RobotSimAPI
+{
+	struct b3RobotSimAPI_InternalData* m_data;
+	void processMultiThreadedGraphicsRequests();
+	b3SharedMemoryStatusHandle  submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
+	
+public:
+	b3RobotSimAPI();
+	virtual ~b3RobotSimAPI();
+
+	bool connect(struct GUIHelperInterface* guiHelper);
+	void disconnect();
+
+	int loadURDF(const struct b3RobotSimLoadURDFArgs& args);
+
+	int getNumJoints(int bodyUniqueId) const;
+
+	bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
+
+	void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3JointMotorArgs& args);
+
+	void stepSimulation();
+
+	void setGravity(const b3Vector3& gravityAcceleration);
+
+	void renderScene();
+};
+
+#endif //B3_ROBOT_SIM_API_H

examples/RollingFrictionDemo/RollingFrictionDemo.cpp

@@ -234,9 +234,8 @@ void	RollingFrictionDemo::initPhysics()
 	{	
 	btSerializer* s = new btDefaultSerializer;
 	m_dynamicsWorld->serialize(s);
-	b3ResourcePath p;
 	char resourcePath[1024];
-	if (p.findResourcePath("slope.bullet",resourcePath,1024))
+	if (b3ResourcePath::findResourcePath("slope.bullet",resourcePath,1024))
 	{
 		FILE* f = fopen(resourcePath,"wb");
 		fwrite(s->getBufferPointer(),s->getCurrentBufferSize(),1,f);

examples/SharedMemory/PhysicsClientExample.cpp

@@ -835,7 +835,7 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
             enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
 			if (m_options != eCLIENTEXAMPLE_SERVER)
 			{
-				enqueueCommand(CMD_REQUEST_DEBUG_LINES);
+				//enqueueCommand(CMD_REQUEST_DEBUG_LINES);
 			}
         }
     }
@@ -855,3 +855,4 @@ class CommonExampleInterface*    PhysicsClientCreateFunc(struct CommonExampleOpt
 	}
 	return example;
 }
+

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -659,6 +659,8 @@ bool PhysicsClientSharedMemory::canSubmitCommand() const {
 }
 
 struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
+    static int sequence = 0;
+    m_data->m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
     return &m_data->m_testBlock1->m_clientCommands[0];
 }
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -10,7 +10,7 @@
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
-#include "../CommonInterfaces/CommonRenderInterface.h"
+
 
 #include "btBulletDynamicsCommon.h"
 
@@ -1756,10 +1756,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					}
                 case CMD_STEP_FORWARD_SIMULATION:
                 {
-
+                    
 					if (m_data->m_verboseOutput)
 					{
 						b3Printf("Step simulation request");
+						b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
 					}
                     ///todo(erwincoumans) move this damping inside Bullet
                     for (int i=0;i<m_data->m_bodyHandles.size();i++)
@@ -1864,16 +1865,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                 case CMD_RESET_SIMULATION:
                 {
 					//clean up all data
-					if (m_data && m_data->m_guiHelper && m_data->m_guiHelper->getRenderInterface())
+					
-                    {
+					
-                        m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
+					
-                    }
+					if (m_data && m_data->m_guiHelper)
+					{
+						m_data->m_guiHelper->removeAllGraphicsInstances();
+					}
 					if (m_data)
 					{
 						m_data->m_visualConverter.resetAll();
 					}
+					
 					deleteDynamicsWorld();
 					createEmptyDynamicsWorld();
+					
 					m_data->exitHandles();
 					m_data->initHandles();
 
@@ -2058,6 +2064,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     }
                 case CMD_APPLY_EXTERNAL_FORCE:
                 {
+                	if (m_data->m_verboseOutput)
+									{
+                    b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber);
+                  }
                     for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
                     {
                         InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);

examples/SharedMemory/PhysicsServerExample.cpp

@@ -1,5 +1,6 @@
 
 
+//todo(erwincoumans): re-use the upcoming b3RobotSimAPI here
 
 #include "PhysicsServerExample.h"
 
@@ -9,11 +10,369 @@
 
 #include "SharedMemoryCommon.h"
 
+#include "../Utils/b3Clock.h"
+#include "../MultiThreading/b3ThreadSupportInterface.h"
+
+
+void	MotionThreadFunc(void* userPtr,void* lsMemory);
+void*	MotionlsMemoryFunc();
+#define MAX_MOTION_NUM_THREADS 1
+enum
+	{
+		numCubesX = 20,
+		numCubesY = 20
+	};
+
+
+enum TestExampleBrowserCommunicationEnums
+{
+	eRequestTerminateMotion= 13,
+	eMotionIsUnInitialized,
+	eMotionIsInitialized,
+	eMotionInitializationFailed,
+	eMotionHasTerminated
+};
+
+enum MultiThreadedGUIHelperCommunicationEnums
+{
+	eGUIHelperIdle= 13,
+	eGUIHelperRegisterTexture,
+	eGUIHelperRegisterGraphicsShape,
+	eGUIHelperRegisterGraphicsInstance,
+	eGUIHelperCreateCollisionShapeGraphicsObject,
+	eGUIHelperCreateCollisionObjectGraphicsObject,
+	eGUIHelperRemoveAllGraphicsInstances,
+};
+
+#include <stdio.h>
+//#include "BulletMultiThreaded/PlatformDefinitions.h"
+
+#ifndef _WIN32
+#include "../MultiThreading/b3PosixThreadSupport.h"
+
+b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
+{
+	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("MotionThreads",
+                                                                MotionThreadFunc,
+                                                                MotionlsMemoryFunc,
+                                                                numThreads);
+    b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
+
+	return threadSupport;
+
+}
+
+
+#elif defined( _WIN32)
+#include "../MultiThreading/b3Win32ThreadSupport.h"
+
+b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
+{
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
+	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
+	return threadSupport;
+
+}
+#endif
+
+
+
+struct	MotionArgs
+{
+	MotionArgs()
+		:m_physicsServerPtr(0)
+	{
+	}
+	b3CriticalSection* m_cs;
+	
+	PhysicsServerSharedMemory*	m_physicsServerPtr;
+	b3AlignedObjectArray<b3Vector3> m_positions;
+};
+
+struct MotionThreadLocalStorage
+{
+	int threadId;
+};
+
+int skip = 0;
+
+void	MotionThreadFunc(void* userPtr,void* lsMemory)
+{
+	printf("MotionThreadFunc thread started\n");
+	MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
+
+	MotionArgs* args = (MotionArgs*) userPtr;
+	int workLeft = true;
+	b3Clock clock;
+	clock.reset();
+	bool init = true;
+	if (init)
+	{
+
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eMotionIsInitialized);
+		args->m_cs->unlock();
+
+		do
+		{
+//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
+#if 0
+			double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
+			if (deltaTimeInSeconds<(1./260.))
+			{
+				skip++;
+				if (deltaTimeInSeconds<.001)
+					continue;
+			}
+
+			clock.reset();
+#endif
+			args->m_physicsServerPtr->processClientCommands();
+			
+			
+		} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
+	} else
+	{
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0,eMotionInitializationFailed);
+		args->m_cs->unlock();
+	}
+
+
+	printf("finished, #skip = %d\n",skip);
+	skip=0;
+	//do nothing
+
+}
+
+
+
+void*	MotionlsMemoryFunc()
+{
+	//don't create local store memory, just return 0
+	return new MotionThreadLocalStorage;
+}
+
+
+
+class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
+{
+	CommonGraphicsApp* m_app;
+	
+	b3CriticalSection* m_cs;
+
+	
+public:
+
+	GUIHelperInterface* m_childGuiHelper;
+
+	const unsigned char* m_texels;
+	int m_textureWidth;
+	int m_textureHeight;
+
+
+	int m_shapeIndex;
+	const float* m_position;
+	const float* m_quaternion;
+	const float* m_color;
+	const float* m_scaling;
+
+	const float* m_vertices;
+	int m_numvertices;
+	const int* m_indices;
+	int m_numIndices;
+	int m_primitiveType;
+	int m_textureId;
+	int m_instanceId;
+	
+
+	MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
+		:m_app(app)
+		,m_cs(0),
+		m_texels(0),
+		m_textureId(-1)
+	{
+		m_childGuiHelper = guiHelper;;
+
+	}
+
+	virtual ~MultiThreadedOpenGLGuiHelper()
+	{
+		delete m_childGuiHelper;
+	}
+
+	void setCriticalSection(b3CriticalSection* cs)
+	{
+		m_cs = cs;
+	}
+
+	b3CriticalSection* getCriticalSection()
+	{
+		return m_cs;
+	}
+
+	virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
+
+	btCollisionObject* m_obj;
+	btVector3 m_color2;
+
+	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
+	{
+		m_obj = obj;
+		m_color2 = color;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperCreateCollisionObjectGraphicsObject);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+
+	}
+
+	btCollisionShape* m_colShape;
+	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
+	{
+		m_colShape = collisionShape;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperCreateCollisionShapeGraphicsObject);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+
+	}
+
+	virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
+	{
+	    //this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
+	    //the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
+        if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
+        {
+            m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
+        }
+	}
+
+	virtual void render(const btDiscreteDynamicsWorld* rbWorld) 
+	{
+		m_childGuiHelper->render(0);
+	}
+
+	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
+
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		m_texels = texels;
+		m_textureWidth = width;
+		m_textureHeight = height;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRegisterTexture);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+		return m_textureId;
+	}
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
+	{
+		m_vertices = vertices;
+		m_numvertices = numvertices;
+		m_indices = indices;
+		m_numIndices = numIndices;
+		m_primitiveType = primitiveType;
+		m_textureId = textureId;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsShape);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+		return m_shapeIndex;
+	}
+	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) 
+	{
+		m_shapeIndex = shapeIndex;
+		m_position = position;
+		m_quaternion = quaternion;
+		m_color = color;
+		m_scaling = scaling;
+
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsInstance);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+		return m_instanceId;
+	}
+
+    virtual void removeAllGraphicsInstances()
+    {
+        m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperRemoveAllGraphicsInstances);
+		m_cs->unlock();
+		while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
+		{
+		}
+    }
+
+	virtual Common2dCanvasInterface* get2dCanvasInterface()
+	{
+		return 0;
+	}
+	
+	virtual CommonParameterInterface* getParameterInterface()
+	{
+		return 0;
+	}
+
+	virtual CommonRenderInterface* getRenderInterface()
+	{
+		return 0;
+	}
+	
+	virtual CommonGraphicsApp* getAppInterface()
+	{
+		return m_childGuiHelper->getAppInterface();
+	}
+
+
+	virtual void setUpAxis(int axis)
+	{
+		m_childGuiHelper->setUpAxis(axis);
+	}
+	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
+	{
+	}
+
+	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
+	{
+	     if (width)
+            *width = 0;
+        if (height)
+            *height = 0;
+        if (numPixelsCopied)
+            *numPixelsCopied = 0;
+	}
+
+	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) 
+	{
+	}
+    
+	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
+	{
+	}
+};
+
+
 
 class PhysicsServerExample : public SharedMemoryCommon
 {
 	PhysicsServerSharedMemory	m_physicsServer;
-
+	b3ThreadSupportInterface* m_threadSupport;
+	MotionArgs m_args[MAX_MOTION_NUM_THREADS];
+	MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
     bool m_wantsShutdown;
 
     bool m_isConnected;
@@ -23,7 +382,7 @@ class PhysicsServerExample : public SharedMemoryCommon
 
 public:
 
-	PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0, int options=0);
+	PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
 
 	virtual ~PhysicsServerExample();
 
@@ -56,7 +415,7 @@ public:
     virtual bool wantsTermination();
     virtual bool isConnected();
 	virtual void	renderScene();
-	virtual void    exitPhysics(){}
+	virtual void    exitPhysics();
 
 	virtual void	physicsDebugDraw(int debugFlags);
 
@@ -71,7 +430,6 @@ public:
 
 		if (!renderer)
 		{
-			btAssert(0);
 			return false;
 		}
 
@@ -91,7 +449,6 @@ public:
 
 		if (!renderer)
 		{
-			btAssert(0);
 			return false;
 		}
 
@@ -134,7 +491,7 @@ public:
 
 };
 
-PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem, int options)
+PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
 :SharedMemoryCommon(helper),
 m_physicsServer(sharedMem),
 m_wantsShutdown(false),
@@ -142,6 +499,7 @@ m_isConnected(false),
 m_replay(false),
 m_options(options)
 {
+	m_multiThreadedHelper = helper;
 	b3Printf("Started PhysicsServer\n");
 }
 
@@ -165,22 +523,80 @@ void	PhysicsServerExample::initPhysics()
 	int upAxis = 2;
 	m_guiHelper->setUpAxis(upAxis);
 
-#if 0
 
-    createEmptyDynamicsWorld();
+	
 
-	//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
-	btVector3 grav(0,0,0);
-	grav[upAxis] = 0;//-9.8;
-	this->m_dynamicsWorld->setGravity(grav);
 
-#endif
+	m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
+		
+		
 
-	m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
+		for (int i=0;i<m_threadSupport->getNumTasks();i++)
+		{
+			MotionThreadLocalStorage* storage = (MotionThreadLocalStorage*) m_threadSupport->getThreadLocalMemory(i);
+			b3Assert(storage);
+			storage->threadId = i;
+			//storage->m_sharedMem = data->m_sharedMem;
+		}
 
+
+		
+
+		for (int w=0;w<MAX_MOTION_NUM_THREADS;w++)
+		{
+			m_args[w].m_cs = m_threadSupport->createCriticalSection();
+			m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
+			int numMoving = 0;
+ 			m_args[w].m_positions.resize(numMoving);
+			m_args[w].m_physicsServerPtr = &m_physicsServer;
+			int index = 0;
+			
+			m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
+			while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
+			{
+			}
+		}
+
+		m_args[0].m_cs->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
+		m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
 }
 
 
+void    PhysicsServerExample::exitPhysics()
+{
+		for (int i=0;i<MAX_MOTION_NUM_THREADS;i++)
+		{
+			m_args[i].m_cs->lock();
+			m_args[i].m_cs->setSharedParam(0,eRequestTerminateMotion);
+			m_args[i].m_cs->unlock();
+		}
+		int numActiveThreads = MAX_MOTION_NUM_THREADS;
+
+		while (numActiveThreads)
+                {
+			int arg0,arg1;
+                        if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
+                        {
+                                numActiveThreads--;
+                                printf("numActiveThreads = %d\n",numActiveThreads);
+
+                        } else
+                        {
+                        }
+                };
+
+		printf("stopping threads\n");
+
+		delete m_threadSupport;   
+		m_threadSupport = 0;
+
+		//m_physicsServer.resetDynamicsWorld();
+		
+}
+
+
+
 bool PhysicsServerExample::wantsTermination()
 {
     return m_wantsShutdown;
@@ -190,6 +606,93 @@ bool PhysicsServerExample::wantsTermination()
 
 void	PhysicsServerExample::stepSimulation(float deltaTime)
 {
+	//this->m_physicsServer.processClientCommands();
+
+	//check if any graphics related tasks are requested
+	
+	switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
+	{
+	case eGUIHelperCreateCollisionShapeGraphicsObject:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+
+		break;
+	}
+	case eGUIHelperCreateCollisionObjectGraphicsObject:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
+			m_multiThreadedHelper->m_color2);
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eGUIHelperRegisterTexture:
+	{
+		
+		m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
+						m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
+
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		
+		break;
+	}
+	case eGUIHelperRegisterGraphicsShape:
+	{
+		m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
+				m_multiThreadedHelper->m_vertices,
+				m_multiThreadedHelper->m_numvertices,
+				m_multiThreadedHelper->m_indices,
+				m_multiThreadedHelper->m_numIndices,
+				m_multiThreadedHelper->m_primitiveType,
+				m_multiThreadedHelper->m_textureId);
+
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eGUIHelperRegisterGraphicsInstance:
+	{
+		m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
+				m_multiThreadedHelper->m_shapeIndex,
+				m_multiThreadedHelper->m_position,
+				m_multiThreadedHelper->m_quaternion,
+				m_multiThreadedHelper->m_color,
+				m_multiThreadedHelper->m_scaling);
+
+		m_multiThreadedHelper->getCriticalSection()->lock();
+		m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+		m_multiThreadedHelper->getCriticalSection()->unlock();
+		break;
+	}
+	case eGUIHelperRemoveAllGraphicsInstances:
+        {
+            m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
+			int numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
+			b3Assert(numRenderInstances==0);
+
+            m_multiThreadedHelper->getCriticalSection()->lock();
+            m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
+            m_multiThreadedHelper->getCriticalSection()->unlock();
+            break;
+        }
+	case eGUIHelperIdle:
+	default:
+		{
+			
+		}
+	}
+	
+
+
+
+	#if 0
 	if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
 	{
 		btClock rtc;
@@ -201,15 +704,59 @@ void	PhysicsServerExample::stepSimulation(float deltaTime)
 		}
 	} else
 	{
-        for (int i=0;i<10;i++)
+        //for (int i=0;i<10;i++)
 			m_physicsServer.processClientCommands();
 	}
+	#endif
+
+	{
+		if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
+		{
+			m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
+		}
+	}
 }
 
+
 void PhysicsServerExample::renderScene()
 {
 	///debug rendering
+	//m_args[0].m_cs->lock();
+	
 	m_physicsServer.renderScene();
+
+	if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
+	{
+		//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
+
+		static int frameCount=0;
+		frameCount++;
+		char bla[1024];
+		sprintf(bla,"VR sub-title text test, frame %d", frameCount/2);
+		float pos[4];
+		m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
+		btTransform viewTr;
+		btScalar m[16];
+		float mf[16];
+		m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraViewMatrix(mf);
+		for (int i=0;i<16;i++)
+		{
+			m[i] = mf[i];
+		}
+		viewTr.setFromOpenGLMatrix(m);
+		btTransform viewTrInv = viewTr.inverse();
+		float upMag = -.6;
+		btVector3 side = viewTrInv.getBasis().getColumn(0);
+		btVector3 up = viewTrInv.getBasis().getColumn(1);
+		up+=0.35*side;
+		m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
+		//btVector3 fwd = viewTrInv.getBasis().getColumn(2);
+		sprintf(bla,"VR line 2 sub-title text test, frame %d", frameCount/2);
+		upMag = -0.7;
+		m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
+	}
+
+	//m_args[0].m_cs->unlock();
 }
 
 void    PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
@@ -290,7 +837,13 @@ extern int gSharedMemoryKey;
 
 class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOptions& options)
 {
-  	PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem, options.m_option);
+
+	MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
+
+  	PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper, 
+		options.m_sharedMem, 
+		options.m_option);
+
 	if (gSharedMemoryKey>=0)
 	{
 		example->setSharedMemoryKey(gSharedMemoryKey);
@@ -306,3 +859,5 @@ class CommonExampleInterface*    PhysicsServerCreateFunc(struct CommonExampleOpt
 	return example;
 
 }
+
+B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)

examples/SharedMemory/PhysicsServerSharedMemory.cpp

@@ -90,6 +90,11 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
 	delete m_data;
 }
 
+void PhysicsServerSharedMemory::resetDynamicsWorld()
+{
+	m_data->m_commandProcessor->deleteDynamicsWorld();
+	m_data->m_commandProcessor ->createEmptyDynamicsWorld();
+}
 void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
 {
 	m_data->m_sharedMemoryKey = key;

examples/SharedMemory/PhysicsServerSharedMemory.h

@@ -43,6 +43,7 @@ public:
 	void enableCommandLogging(bool enable, const char* fileName);
 	void replayFromLogFile(const char* fileName);
 	
+	void resetDynamicsWorld();
 
 };
 

examples/SharedMemory/premake4.lua

@@ -15,7 +15,8 @@ links {
 
 language "C++"
 
-files {
+myfiles = 
+{
 	"PhysicsClient.cpp",
 	"PhysicsClientSharedMemory.cpp",
 	"PhysicsClientExample.cpp",
@@ -24,7 +25,6 @@ files {
 	"PhysicsServerSharedMemory.h",
 	"PhysicsServer.cpp",
 	"PhysicsServer.h",
-	"main.cpp",
 	"PhysicsClientC_API.cpp",
 	"SharedMemoryCommands.h",
 	"SharedMemoryPublic.h",
@@ -76,11 +76,211 @@ files {
 	"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 	"../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
 	"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",	
-    "../ThirdPartyLibs/tinyxml/tinystr.cpp",
+	"../ThirdPartyLibs/tinyxml/tinystr.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxml.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
-    "../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+	"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
-"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+	"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-                        "../ThirdPartyLibs/stb_image/stb_image.cpp",     
+	"../ThirdPartyLibs/stb_image/stb_image.cpp",     
 }
 
+files {
+	myfiles,
+	"main.cpp",
+}
+
+
+files {
+		"../MultiThreading/b3ThreadSupportInterface.cpp",
+		"../MultiThreading/b3ThreadSupportInterface.h"
+	}
+	if os.is("Windows") then
+
+		files {
+                "../MultiThreading/b3Win32ThreadSupport.cpp",  
+                "../MultiThreading/b3Win32ThreadSupport.h" 
+		}
+		--links {"winmm"}
+		--defines {"__WINDOWS_MM__", "WIN32"}
+	end
+
+	if os.is("Linux") then 
+		files {
+                "../MultiThreading/b3PosixThreadSupport.cpp",  
+                "../MultiThreading/b3PosixThreadSupport.h"    
+        	}
+
+		links {"pthread"}
+	end
+
+	if os.is("MacOSX") then
+		files {
+                "../MultiThreading/b3PosixThreadSupport.cpp",
+                "../MultiThreading/b3PosixThreadSupport.h"    
+                }
+
+		links {"pthread"}
+		--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+		--defines {"__MACOSX_CORE__"}
+	end
+
+
+project "App_SharedMemoryPhysics_GUI"
+
+if _OPTIONS["ios"] then
+        kind "WindowedApp"
+else
+        kind "ConsoleApp"
+end
+defines {"B3_USE_STANDALONE_EXAMPLE"}
+
+includedirs {"../../src"}
+
+links {
+        "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
+}
+	initOpenGL()
+  initGlew()
+
+language "C++"
+
+files {
+        myfiles,
+        "../StandaloneMain/main_opengl_single_example.cpp",
+				"../ExampleBrowser/OpenGLGuiHelper.cpp",
+				"../ExampleBrowser/GL_ShapeDrawer.cpp",
+				"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+}
+
+if os.is("Linux") then initX11() end
+
+if os.is("MacOSX") then
+        links{"Cocoa.framework"}
+end
+
+
+files {
+		"../MultiThreading/b3ThreadSupportInterface.cpp",
+		"../MultiThreading/b3ThreadSupportInterface.h"
+	}
+if os.is("Windows") then
+
+	files {
+              "../MultiThreading/b3Win32ThreadSupport.cpp",  
+              "../MultiThreading/b3Win32ThreadSupport.h" 
+	}
+	--links {"winmm"}
+	--defines {"__WINDOWS_MM__", "WIN32"}
+end
+
+if os.is("Linux") then 
+	files {
+              "../MultiThreading/b3PosixThreadSupport.cpp",  
+              "../MultiThreading/b3PosixThreadSupport.h"    
+      	}
+
+	links {"pthread"}
+end
+
+if os.is("MacOSX") then
+	files {
+              "../MultiThreading/b3PosixThreadSupport.cpp",
+              "../MultiThreading/b3PosixThreadSupport.h"    
+              }
+
+	links {"pthread"}
+	--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+	--defines {"__MACOSX_CORE__"}
+end
+
+if os.is("Windows") then 
+	project "App_SharedMemoryPhysics_VR"
+	--for now, only enable VR under Windows, until compilation issues are resolved on Mac/Linux
+	defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
+	
+	if _OPTIONS["ios"] then
+		kind "WindowedApp"
+	else	
+		kind "ConsoleApp"
+	end
+	
+	includedirs {
+			".","../../src", "../ThirdPartyLibs",
+			"../ThirdPartyLibs/openvr/headers",
+			"../ThirdPartyLibs/openvr/samples/shared"
+		}
+						
+	links {
+		"Bullet3Common",	"BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
+	}
+	
+	
+	language "C++"
+	
+	
+		initOpenGL()
+	  initGlew()
+	
+	
+	files
+	{
+		myfiles,
+		 "../StandaloneMain/hellovr_opengl_main.cpp",
+					"../ExampleBrowser/OpenGLGuiHelper.cpp",
+					"../ExampleBrowser/GL_ShapeDrawer.cpp",
+					"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
+					"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
+					"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
+					"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
+					"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
+	}
+	if os.is("Windows") then 
+		libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
+	end
+	
+	if os.is("Linux") then initX11() end
+	
+	if os.is("MacOSX") then
+	        links{"Cocoa.framework"}
+	end
+	
+	
+	files {
+			"../MultiThreading/b3ThreadSupportInterface.cpp",
+			"../MultiThreading/b3ThreadSupportInterface.h"
+		}
+		if os.is("Windows") then
+	
+			files {
+	                "../MultiThreading/b3Win32ThreadSupport.cpp",  
+	                "../MultiThreading/b3Win32ThreadSupport.h" 
+			}
+			--links {"winmm"}
+			--defines {"__WINDOWS_MM__", "WIN32"}
+		end
+	
+		if os.is("Linux") then 
+			files {
+	                "../MultiThreading/b3PosixThreadSupport.cpp",  
+	                "../MultiThreading/b3PosixThreadSupport.h"    
+	        	}
+	
+			links {"pthread"}
+		end
+	
+		if os.is("MacOSX") then
+			files {
+	                "../MultiThreading/b3PosixThreadSupport.cpp",
+	                "../MultiThreading/b3PosixThreadSupport.h"    
+	                }
+	
+			links {"pthread"}
+			--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+			--defines {"__MACOSX_CORE__"}
+		end
+
+
+end

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -11,6 +11,7 @@
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
 
+int gSharedMemoryKey = -1;
 
 //how can you try typing on a keyboard, without seeing it?
 //it is pretty funny, to see the desktop in VR!
@@ -27,7 +28,7 @@
 #include "pathtools.h"
 
 CommonExampleInterface*    sExample;
-OpenGLGuiHelper* sGuiPtr = 0;
+GUIHelperInterface* sGuiPtr = 0;
 
 
 #if defined(POSIX)
@@ -139,7 +140,7 @@ private:
 	SimpleOpenGL3App* m_app;
 	uint32_t m_nWindowWidth;
 	uint32_t m_nWindowHeight;
-
+	bool m_hasContext;
 
 private: // OpenGL bookkeeping
 	int m_iTrackedControllerCount;
@@ -234,6 +235,7 @@ private: // OpenGL bookkeeping
 //-----------------------------------------------------------------------------
 CMainApplication::CMainApplication( int argc, char *argv[] )
 	: m_app(NULL)
+	, m_hasContext(false)
 	, m_nWindowWidth( 1280 )
 	, m_nWindowHeight( 720 )
 	, m_unSceneProgramID( 0 )
@@ -373,7 +375,9 @@ bool CMainApplication::BInit()
 	*/
 	m_app = new SimpleOpenGL3App("SimpleOpenGL3App",m_nWindowWidth,m_nWindowHeight,true);
 
+	
 	sGuiPtr = new OpenGLGuiHelper(m_app,false);
+	//sGuiPtr = new DummyGUIHelper;
 
     
 	CommonExampleOptions options(sGuiPtr);
@@ -556,13 +560,16 @@ void CMainApplication::Shutdown()
 	}
 	m_vecRenderModels.clear();
 	
-	if( 1)//m_pContext )
+	if( m_hasContext)
 	{
-		glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
+		if (m_glSceneVertBuffer)
-		glDebugMessageCallback(nullptr, nullptr);
+		{
-		glDeleteBuffers(1, &m_glSceneVertBuffer);
+			glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
-		glDeleteBuffers(1, &m_glIDVertBuffer);
+			glDebugMessageCallback(nullptr, nullptr);
-		glDeleteBuffers(1, &m_glIDIndexBuffer);
+			glDeleteBuffers(1, &m_glSceneVertBuffer);
+			glDeleteBuffers(1, &m_glIDVertBuffer);
+			glDeleteBuffers(1, &m_glIDIndexBuffer);
+		}
 
 		if ( m_unSceneProgramID )
 		{
@@ -1067,6 +1074,7 @@ void CMainApplication::SetupScene()
 	glDisableVertexAttribArray(0);
 	glDisableVertexAttribArray(1);
 
+	m_hasContext = true;
 }
 
 
@@ -1455,6 +1463,8 @@ void CMainApplication::SetupDistortion()
 //-----------------------------------------------------------------------------
 void CMainApplication::RenderStereoTargets()
 {
+	sExample->stepSimulation(1./60.);
+
 	glClearColor( 0.15f, 0.15f, 0.18f, 1.0f ); // nice background color, but not black
 	glEnable( GL_MULTISAMPLE );
 
@@ -1462,31 +1472,75 @@ void CMainApplication::RenderStereoTargets()
 	m_app->m_instancingRenderer->init();
 	
 	
+	Matrix4 rotYtoZ = rotYtoZ.identity();
 	
+	//some Bullet apps (especially robotics related) require Z as up-axis)
+	if (m_app->getUpAxis()==2)
+	{
+		rotYtoZ.rotateX(-90);
+	}
+	
+	RenderScene( vr::Eye_Left );
+
 	// Left Eye
 	{
-		Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose;
+		
+		Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose * rotYtoZ;
+		Matrix4 viewMatCenter = m_mat4HMDPose * rotYtoZ;
+		//0,1,2,3
+		//4,5,6,7,
+		//8,9,10,11
+		//12,13,14,15
+		
+		//m_mat4eyePosLeft.get()[10]
+		//m_app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(
+		//	m_mat4eyePosLeft.get()[3],
+		//	m_mat4eyePosLeft.get()[7],
+		//	m_mat4eyePosLeft.get()[11]);
+		Matrix4 m;
+		m = viewMatCenter;
+		const float* mat = m.invertAffine().get();
+		
+		/*printf("camera:\n,%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f",
+			mat[0],mat[1],mat[2],mat[3],
+			mat[4],mat[5],mat[6],mat[7],
+			mat[8],mat[9],mat[10],mat[11],
+			mat[12],mat[13],mat[14],mat[15]);
+			*/
+		float dist=1;
+		m_app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(
+			mat[12]-dist*mat[8],
+			mat[13]-dist*mat[9],
+			mat[14]-dist*mat[10]
+			);
+		m_app->m_instancingRenderer->getActiveCamera()->setCameraUpVector(mat[0],mat[1],mat[2]);
 		m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(),m_mat4ProjectionLeft.get());
-		m_app->m_instancingRenderer->updateCamera();
+		m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
 	}
 
 	glBindFramebuffer( GL_FRAMEBUFFER, leftEyeDesc.m_nRenderFramebufferId );
  	glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
  	
 	
+	
 
 	m_app->m_window->startRendering();
-	RenderScene( vr::Eye_Left );
 	
-	m_app->drawGrid();
+
-	sExample->stepSimulation(1./60.);
+	
-	sExample->renderScene();
+
+	
 	
 
 	
 	m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)leftEyeDesc.m_nRenderFramebufferId);
 
-	m_app->m_instancingRenderer->renderScene();
+	sExample->renderScene();
+	//m_app->m_instancingRenderer->renderScene();
+	DrawGridData gridUp;
+	gridUp.upAxis = m_app->getUpAxis();
+	m_app->drawGrid(gridUp);
+
 	
  	glBindFramebuffer( GL_FRAMEBUFFER, 0 );
 	
@@ -1506,22 +1560,25 @@ void CMainApplication::RenderStereoTargets()
 
 	// Right Eye
 	
-	{
+	RenderScene( vr::Eye_Right );
-		Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose;
-		m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get());
-		m_app->m_instancingRenderer->updateCamera();
-	}
 
+	{
+		Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ;
+		m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get());
+		m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
+	}
+	
 	glBindFramebuffer( GL_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId );
  	glViewport(0, 0, m_nRenderWidth, m_nRenderHeight );
  	
 	m_app->m_window->startRendering();
-	RenderScene( vr::Eye_Right );
 	
-	m_app->drawGrid();
+	
+	
 	m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId);
-
+	//m_app->m_renderer->renderScene();
-	m_app->m_renderer->renderScene();
+	sExample->renderScene();
+	m_app->drawGrid(gridUp);
 	
  	glBindFramebuffer( GL_FRAMEBUFFER, 0 );
  	

examples/StandaloneMain/main_opengl_single_example.cpp

@@ -17,14 +17,9 @@ subject to the following restrictions:
 
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "../Utils/b3Clock.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
 
 
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btHashMap.h"
-
 
 
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
@@ -32,6 +27,7 @@ subject to the following restrictions:
 #include "../ExampleBrowser/OpenGLGuiHelper.h"
 
 CommonExampleInterface*    example;
+int gSharedMemoryKey=-1;
 
 b3MouseMoveCallback prevMouseMoveCallback = 0;
 static void OnMouseMove( float x, float y)
@@ -57,9 +53,23 @@ static void OnMouseDown(int button, int state, float x, float y) {
 	}
 }
 
+class LessDummyGuiHelper : public DummyGUIHelper
+{
+	CommonGraphicsApp* m_app;
+public:
+	virtual CommonGraphicsApp* getAppInterface()
+	{
+		return m_app;
+	}
+
+	LessDummyGuiHelper(CommonGraphicsApp* app)
+		:m_app(app)
+	{
+	}
+};
 int main(int argc, char* argv[])
 {
-
+	
 	SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet Standalone Example",1024,768,true);
 	
 	prevMouseButtonCallback = app->m_window->getMouseButtonCallback();
@@ -69,20 +79,26 @@ int main(int argc, char* argv[])
 	app->m_window->setMouseMoveCallback((b3MouseMoveCallback)OnMouseMove);
 	
 	OpenGLGuiHelper gui(app,false);
-    
+	//LessDummyGuiHelper gui(app);
+	//DummyGUIHelper gui;
+
 	CommonExampleOptions options(&gui);
 
 	example = StandaloneExampleCreateFunc(options);
-  example->initPhysics();
+	example->initPhysics();
 	example->resetCamera();
 	
+	b3Clock clock;
+
 	do
 	{
 		app->m_instancingRenderer->init();
         app->m_instancingRenderer->updateCamera(app->getUpAxis());
 
-		example->stepSimulation(1./60.);
+		btScalar dtSec = btScalar(clock.getTimeInSeconds());
-	  	
+		example->stepSimulation(dtSec);
+	  	clock.reset();
+
 		example->renderScene();
  	
 		DrawGridData dg;

examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp

@@ -105,14 +105,20 @@ public:
 		
 	}
 	
-   	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
+
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		return -1;
+	}
+	
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
    	{
-   	    int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
+   	    int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices,primitiveType, textureId);
    	    if (shapeIndex>=0)
         {
             TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
-        float rgbaColor[4] = {1,1,1,1};    
+			float rgbaColor[4] = {1,1,1,1};    
-	swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+			swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
 			//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
             m_swRenderObjects.insert(shapeIndex,swObj);
         }

examples/StandaloneMain/main_tinyrenderer_single_example.cpp

@@ -37,6 +37,12 @@ static btVector4 sMyColors[4] =
 	//btVector4(1,1,0,1),
 };
 
+struct TinyRendererTexture
+{
+	const unsigned char* m_texels;
+	int m_width;
+	int m_height;
+};
 
 struct TinyRendererGUIHelper : public GUIHelperInterface
 {
@@ -45,6 +51,7 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
 	btHashMap<btHashInt,int> m_swInstances;
+	btHashMap<btHashInt,TinyRendererTexture> m_textures;
 	
 	int m_swWidth;
 	int m_swHeight;
@@ -151,7 +158,8 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	if (gfxVertices.size() && indices.size())
 	{
-		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
+		int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),
+			1,-1);
 		collisionShape->setUserIndex(shapeId);
 	}
 	}
@@ -249,18 +257,41 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
 
 	virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
 
-	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) 
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		//do we need to make a copy?
+		int textureId = m_textures.size();
+		TinyRendererTexture t;
+		t.m_texels = texels;
+		t.m_width = width;
+		t.m_height = height;
+		this->m_textures.insert(textureId,t);
+		return textureId;
+	}
+
+	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
 	{
 		int shapeIndex = m_swRenderObjects.size();
 
 		TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
         float rgbaColor[4] = {1,1,1,1};
-	swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+
+		//if (textureId>=0)
+		//{
+		//	swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+		//} else
+		{
+			swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
+		}
 		//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
         m_swRenderObjects.insert(shapeIndex,swObj);
 		return shapeIndex;
 	}
 
+	 virtual void removeAllGraphicsInstances()
+	 {
+	 }
+
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) 
 	{
 		int colIndex = m_colObjUniqueIndex++;

examples/ThirdPartyLibs/openvr/LICENSE

@@ -0,0 +1,27 @@
+Copyright (c) 2015, Valve Corporation
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

examples/ThirdPartyLibs/openvr/README

@@ -0,0 +1,9 @@
+OpenVR is an API and runtime that allows access to VR hardware from multiple 
+vendors without requiring that applications have specific knowledge of the 
+hardware they are targeting. This repository is an SDK that contains the API 
+and samples. The runtime is under SteamVR in Tools on Steam. 
+
+Documentation for the API is available in the wiki: https://github.com/ValveSoftware/openvr/wiki/API-Documentation
+
+More information on OpenVR and SteamVR can be found on http://steamvr.com
+

examples/Utils/b3Clock.cpp

@@ -166,7 +166,7 @@ unsigned long int b3Clock::getTimeMilliseconds()
 
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
-unsigned long int b3Clock::getTimeMicroseconds()
+unsigned long long int b3Clock::getTimeMicroseconds()
 {
 #ifdef B3_USE_WINDOWS_TIMERS
 		LARGE_INTEGER currentTime;
@@ -175,14 +175,14 @@ unsigned long int b3Clock::getTimeMicroseconds()
 			m_data->mStartTime.QuadPart;
 
 		// Compute the number of millisecond ticks elapsed.
-		unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
+		unsigned long long msecTicks = (unsigned long long)(1000 * elapsedTime / 
 			m_data->mClockFrequency.QuadPart);
 
 		// Check for unexpected leaps in the Win32 performance counter.  
 		// (This is caused by unexpected data across the PCI to ISA 
 		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
+		unsigned long long elapsedTicks = GetTickCount() - m_data->mStartTick;
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
+		signed long long msecOff = (signed long)(msecTicks - elapsedTicks);
 		if (msecOff < -100 || msecOff > 100)
 		{
 			// Adjust the starting time forwards.
@@ -197,7 +197,7 @@ unsigned long int b3Clock::getTimeMicroseconds()
 		m_data->mPrevElapsedTime = elapsedTime;
 
 		// Convert to microseconds.
-		unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / 
+		unsigned long long usecTicks = (unsigned long)(1000000 * elapsedTime / 
 			m_data->mClockFrequency.QuadPart);
 
 		return usecTicks;
@@ -222,3 +222,8 @@ unsigned long int b3Clock::getTimeMicroseconds()
 #endif 
 }
 
+double b3Clock::getTimeInSeconds()
+{
+	return double(getTimeMicroseconds()/1.e6);
+}
+

examples/Utils/b3Clock.h

@@ -22,7 +22,12 @@ public:
 
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
-	unsigned long int getTimeMicroseconds();
+	unsigned long long int getTimeMicroseconds();
+
+	/// Returns the time in seconds since the last call to reset or since 
+	/// the Clock was created.
+	double getTimeInSeconds();
+
 private:
 	struct b3ClockData* m_data;
 };

examples/Utils/b3ResourcePath.cpp

@@ -4,7 +4,7 @@
 #include <mach-o/dyld.h>	/* _NSGetExecutablePath */
 #else
 #ifdef _WIN32
-#include <Windows.h>
+#include <windows.h>
 #else
 //not Mac, not Windows, let's cross the fingers it is Linux :-)
 #include <unistd.h>

examples/Vehicles/Hinge2Vehicle.cpp

@@ -568,11 +568,6 @@ void Hinge2Vehicle::renderScene()
 	
 	m_guiHelper->render(m_dynamicsWorld);
 
-	
-
-	ATTRIBUTE_ALIGNED16(btScalar) m[16];
-	int i;
-
 	btVector3 wheelColor(1,0,0);
 
 	btVector3	worldBoundsMin,worldBoundsMax;

examples/pybullet/pybullet.c

@@ -172,6 +172,8 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
 			&startOrnX,&startOrnY,&startOrnZ, &startOrnW))
                 return NULL;
 	}
+	
+		if (strlen(urdfFileName))
     {
       // printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW);
         
@@ -185,12 +187,16 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
         statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
         statusType = b3GetStatusType(statusHandle);
         if (statusType!=CMD_URDF_LOADING_COMPLETED)
-		{
+				{
-			PyErr_SetString(SpamError, "Cannot load URDF file.");
+					PyErr_SetString(SpamError, "Cannot load URDF file.");
-			return NULL;
+					return NULL;
-		}
+				}
         bodyIndex = b3GetStatusBodyIndex(statusHandle);
-    }
+    } else
+    	{
+    		PyErr_SetString(SpamError, "Empty filename, method expects 1, 4 or 8 arguments.");
+				return NULL;
+    	}
 	return PyLong_FromLong(bodyIndex);
 }
 
@@ -368,8 +374,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
         {
             case CONTROL_MODE_VELOCITY:
             {
+				double kd = gains;
                 b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue);
-                double kd = gains;
                 b3JointControlSetKd(commandHandle,info.m_uIndex,kd);
                 b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
                 break;
@@ -383,8 +389,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
                     
             case CONTROL_MODE_POSITION_VELOCITY_PD:
             {
+				double kp = gains;
                 b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue);
-                double kp = gains;
                 b3JointControlSetKp(commandHandle,info.m_uIndex,kp);
                 b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
                 break;
@@ -1264,10 +1270,12 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
                 PyErr_SetString(SpamError, "flag has to be either WORLD_FRAME or LINK_FRAME");
                 return NULL;
             }
-            b3SharedMemoryStatusHandle statusHandle;
+			{
-            b3SharedMemoryCommandHandle command = b3ApplyExternalForceCommandInit(sm);
+				b3SharedMemoryStatusHandle statusHandle;
-            b3ApplyExternalTorque(command,objectUniqueId,-1,torque, flags);
+				b3SharedMemoryCommandHandle command = b3ApplyExternalForceCommandInit(sm);
-            statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+				b3ApplyExternalTorque(command,objectUniqueId,-1,torque, flags);
+				statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+			}
 
         }
     }
@@ -1383,12 +1391,13 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
 
     {
         double rpy[3];
-        sqx = quat[0] * quat[0];
+        double sarg;
+		sqx = quat[0] * quat[0];
         sqy = quat[1] * quat[1];
         sqz = quat[2] * quat[2];
         squ = quat[3] * quat[3];
         rpy[0] = atan2(2 * (quat[1]*quat[2] + quat[3]*quat[0]), squ - sqx - sqy + sqz);
-        double sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
+        sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
         rpy[1] = sarg <= -1.0 ? -0.5*3.141592538 : (sarg >= 1.0 ? 0.5*3.141592538 : asin(sarg));
         rpy[2] = atan2(2 * (quat[0]*quat[1] + quat[3]*quat[2]), squ + sqx - sqy - sqz);
         {

src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h

@@ -965,8 +965,6 @@ inline void		b3DynamicBvh::rayTestInternal(	const b3DbvtNode* root,
 	B3_DBVT_CHECKTYPE
 	if(root)
 	{
-		b3Vector3 resultNormal;
-
 		int								depth=1;
 		int								treshold=B3_DOUBLE_STACKSIZE-2;
 		b3AlignedObjectArray<const b3DbvtNode*>&	stack = m_rayTestStack;

src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp

@@ -692,8 +692,6 @@ static bool findSeparatingAxis(	const b3ConvexPolyhedronData& hullA, const b3Con
 		}
 	}
 
-	b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
-
 	int curEdgeEdge = 0;
 	// Test edges
 	for(int e0=0;e0<hullA.m_numUniqueEdges;e0++)
@@ -1292,7 +1290,6 @@ int clipHullHullSingle(
 			B3_PROFILE("overlap");
 
 			float4 normalOnSurfaceB = (float4&)hostNormal;
-			float4 centerOut;
 			
 			b3Int4 contactIdx;
 			contactIdx.x = 0;
@@ -2776,9 +2773,7 @@ int computeContactConvexConvex2(
     b3Collidable colB = collidables[collidableIndexB];
     hullB = convexShapes[colB.m_shapeIndex];
     //printf("numvertsB = %d\n",hullB.m_numVertices);
-    
+
-	
-	float4 contactsOut[MAX_VERTS];
 	int contactCapacity = MAX_VERTS;
 	int numContactsOut=0;
 

src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp

@@ -619,8 +619,8 @@ void	b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback*
 			/* Add box cast extents */
 			bounds[0] -= aabbMax;
 			bounds[1] -= aabbMin;
-			b3Vector3 normal;
 #if 0
+			b3Vector3 normal;
 			bool ra2 = b3RayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
 			bool ra = b3RayAabb (raySource, rayTarget, bounds[0], bounds[1], param, normal);
 			if (ra2 != ra)

src/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp

@@ -389,16 +389,8 @@ void bDNA::init(char *data, int len, bool swap)
 	}
 
 	
-	{
+	cp = b3AlignPointer(cp,4);
-		nr= (long)cp;
+	
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
 
 	/*
 		TYPE (4 bytes)
@@ -425,16 +417,8 @@ void bDNA::init(char *data, int len, bool swap)
 		cp++;
 	}
 
-{
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
 
+	cp = b3AlignPointer(cp,4);
 
 	/*
 		TLEN (4 bytes)

src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp

@@ -428,16 +428,7 @@ void bFile::swapDNA(char* ptr)
 	}
 
 
-	{
+	cp = b3AlignPointer(cp,4);
-		nr= (long)cp;
-	//long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
 
 	/*
 		TYPE (4 bytes)
@@ -465,16 +456,7 @@ void bFile::swapDNA(char* ptr)
 		cp++;
 	}
 
-{
+	cp = b3AlignPointer(cp,4);
-		nr= (long)cp;
-	//	long mask=3;
-		nr= ((nr+3)&~3)-nr;
-		while (nr--)
-		{
-			cp++;
-		}
-	}
-
 
 	/*
 		TLEN (4 bytes)

src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp

@@ -634,13 +634,14 @@ void	btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
 #define ENABLE_FRICTION
 #ifdef ENABLE_FRICTION
 			solverConstraint.m_frictionIndex = frictionIndex;
-#if ROLLING_FRICTION
+//#define ROLLING_FRICTION
+#ifdef ROLLING_FRICTION
 	int rollingFriction=1;
 			btVector3 angVelA(0,0,0),angVelB(0,0,0);
-			if (rb0)
+			if (mbA)
-				angVelA = rb0->getAngularVelocity();
+				angVelA = mbA->getVelocityVector()>getLink(fcA->m_link).l>getAngularVelocity();
-			if (rb1)
+			if (mbB)
-				angVelB = rb1->getAngularVelocity();
+				angVelB = mbB->getAngularVelocity();
 			btVector3 relAngVel = angVelB-angVelA;
 
 			if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))

test/SharedMemory/test.c

@@ -58,6 +58,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
             int statusType;
             int bodyIndicesOut[10];//MAX_SDF_BODIES = 10
             int numJoints, numBodies;
+			int bodyUniqueId;
             b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(sm, sdfFileName);
             statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 			statusType = b3GetStatusType(statusHandle);
@@ -65,7 +66,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
 			
 			numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, 10);
             ASSERT_EQ(numBodies,1);
-            int bodyUniqueId = bodyIndicesOut[0];
+            bodyUniqueId = bodyIndicesOut[0];
             
             numJoints = b3GetNumJoints(sm,bodyUniqueId);
             ASSERT_EQ(numJoints,7);
@@ -106,7 +107,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
 			b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName);
 			
             //setting the initial position, orientation and other arguments are optional
-            startPosX =0;
+            startPosX =2;
             startPosY =0;
             startPosZ = 1;
             ret = b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ);