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

examples/Collision/CollisionTutorialBullet2.cpp

@@ -226,7 +226,7 @@ public:
 				{
 					char relativeFileName[1024];
 					sprintf(relativeFileName,"%s%s",prefix[i],filename);
-					image = stbi_load(relativeFileName, &width, &height, &n, 0);
+					image = stbi_load(relativeFileName, &width, &height, &n, 3);
 				}
 				
 				b3Assert(image);

examples/CommonInterfaces/CommonGraphicsAppInterface.h

@@ -121,6 +121,7 @@ struct CommonGraphicsApp
 	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
 	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1,  float textureScaling = 1)=0;
 	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1) = 0;
+	
 
 	virtual void registerGrid(int xres, int yres, float color0[4], float color1[4])=0;
 

examples/ExampleBrowser/CMakeLists.txt

@@ -29,7 +29,6 @@ ENDIF(WIN32)
 ADD_LIBRARY(BulletExampleBrowserLib
 	OpenGLExampleBrowser.cpp
 	OpenGLGuiHelper.cpp
-	InProcessExampleBrowser.cpp
 	GL_ShapeDrawer.cpp
 	CollisionShape2TriangleMesh.cpp
 	CollisionShape2TriangleMesh.h
@@ -120,7 +119,6 @@ SET(ExtendedTutorialsSources
 
 SET(BulletExampleBrowser_SRCS
 	
-	../TinyRenderer/Bullet2TinyRenderer.cpp
 	../TinyRenderer/geometry.cpp
 	../TinyRenderer/model.cpp
 	../TinyRenderer/tgaimage.cpp
@@ -205,7 +203,8 @@ SET(BulletExampleBrowser_SRCS
 		../Importers/ImportBsp/BspConverter.h
  	../Importers/ImportBullet/SerializeSetup.cpp
 	../Importers/ImportBullet/SerializeSetup.h
-
+	../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+../Importers/ImportMeshUtility/b3ImportMeshUtility.h
 	../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
 	../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
 	../../Extras/Serialize/BulletFileLoader/bChunk.cpp		
@@ -286,6 +285,7 @@ SET(BulletExampleBrowser_SRCS
 	../ThirdPartyLibs/tinyxml/tinyxml.cpp
 	../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
 	../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
+	InProcessExampleBrowser.cpp
 	${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
 )
 

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -0,0 +1,97 @@
+#include "b3ImportMeshUtility.h"
+
+#include <vector>
+#include "../../OpenGLWindow/GLInstancingRenderer.h"
+#include"Wavefront/tiny_obj_loader.h"
+#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
+#include "btBulletDynamicsCommon.h"
+#include "../../OpenGLWindow/SimpleOpenGL3App.h"
+#include "../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h"
+#include "../../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include "stb_image/stb_image.h"
+
+
+int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName, CommonRenderInterface* renderer)
+{
+    int shapeId = -1;
+
+    char relativeFileName[1024];
+    if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
+    {
+        char pathPrefix[1024];
+
+        b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+
+
+	
+        btVector3 shift(0,0,0);
+        
+    //	int index=10;
+	
+	{
+		
+		std::vector<tinyobj::shape_t> shapes;
+		std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
+		
+		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
+		
+	
+		
+		int textureIndex = -1;
+		//try to load some texture
+		for (int i=0;i<shapes.size();i++)
+		{
+			const tinyobj::shape_t& shape = shapes[i];
+			if (shape.material.diffuse_texname.length()>0)
+			{
+
+				int width,height,n;
+				const char* filename = shape.material.diffuse_texname.c_str();
+				const unsigned char* image=0;
+
+				const char* prefix[]={ pathPrefix,"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
+				int numprefix = sizeof(prefix)/sizeof(const char*);
+		
+				for (int i=0;!image && i<numprefix;i++)
+				{
+					char relativeFileName[1024];
+					sprintf(relativeFileName,"%s%s",prefix[i],filename);
+					char  relativeFileName2[1024];
+					if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
+                    {
+                        image = stbi_load(relativeFileName, &width, &height, &n, 3);
+                    } else
+                    {
+                        b3Warning("not found %s\n",relativeFileName);
+                    }
+				}
+		
+				if (image)
+				{
+					textureIndex = renderer->registerTexture(image,width,height);
+					if (textureIndex>=0)
+					{
+						break;
+					}
+				}
+
+			}
+
+		}
+		
+		shapeId = renderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices,B3_GL_TRIANGLES,textureIndex);
+		
+	
+		
+
+	
+	}
+	}
+    else
+    {
+            b3Warning("Cannot find %s\n", fileName.c_str());
+    }
+    return shapeId;
+}
+

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h

@@ -0,0 +1,15 @@
+#ifndef B3_IMPORT_MESH_UTILITY_H
+#define B3_IMPORT_MESH_UTILIY_H
+
+#include <string>
+
+class b3ImportMeshUtility
+{
+public:
+static int loadAndRegisterMeshFromFile(const std::string& fileName, class CommonRenderInterface* renderer);
+
+};
+
+
+#endif //B3_IMPORT_MESH_UTILITY_H
+

examples/Importers/ImportObjDemo/ImportObjExample.cpp

@@ -12,7 +12,7 @@
 #include "stb_image/stb_image.h"
 
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
-
+#include "../ImportMeshUtility/b3ImportMeshUtility.h"
 
 class ImportObjSetup : public CommonRigidBodyBase
 {
@@ -45,7 +45,7 @@ ImportObjSetup::ImportObjSetup(struct GUIHelperInterface* helper, const char* fi
         m_fileName = fileName;
     } else
     {
-        m_fileName = "cube.obj";//sphere8.obj";//sponza_closed.obj";//sphere8.obj";
+        m_fileName = "cube.obj";//"sponza_closed.obj";//sphere8.obj";
     }
 }
 
@@ -68,82 +68,21 @@ void ImportObjSetup::initPhysics()
 	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
 
 
-   
+	btTransform trans;
-        char relativeFileName[1024];
+    trans.setIdentity();
-        if (b3ResourcePath::findResourcePath(m_fileName.c_str(), relativeFileName, 1024))
+	trans.setRotation(btQuaternion(btVector3(1,0,0),SIMD_HALF_PI));
-        {
+	btVector3 position = trans.getOrigin();
-                char pathPrefix[1024];
+	btQuaternion orn = trans.getRotation();
-
-                b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
-
-
-	
-	btVector3 shift(0,0,0);
-	btVector3 scaling(1,1,1);
-//	int index=10;
-	
-	{
 		
-		std::vector<tinyobj::shape_t> shapes;
+    btVector3 scaling(1,1,1);
-		std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
+	btVector3 color(1,1,1);
 		
-		GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
+   int shapeId = b3ImportMeshUtility::loadAndRegisterMeshFromFile(m_fileName, m_guiHelper->getRenderInterface());    
-		
+   if (shapeId>=0)
-		btTransform trans;
+   {
-		trans.setIdentity();
+        //int id = 
-		trans.setRotation(btQuaternion(btVector3(1,0,0),SIMD_HALF_PI));
+        m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
-		
+   } 
-		btVector3 position = trans.getOrigin();
-		btQuaternion orn = trans.getRotation();
-		
-		btVector3 color(1,1,1);
-		
-		int textureIndex = -1;
-		//try to load some texture
-		for (int i=0;i<shapes.size();i++)
-		{
-			const tinyobj::shape_t& shape = shapes[i];
-			if (shape.material.diffuse_texname.length()>0)
-			{
-
-				int width,height,n;
-				const char* filename = shape.material.diffuse_texname.c_str();
-				const unsigned char* image=0;
-		
-				const char* prefix[]={ pathPrefix,"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
-				int numprefix = sizeof(prefix)/sizeof(const char*);
-		
-				for (int i=0;!image && i<numprefix;i++)
-				{
-					char relativeFileName[1024];
-					sprintf(relativeFileName,"%s%s",prefix[i],filename);
-					image = stbi_load(relativeFileName, &width, &height, &n, 0);
-				}
-		
-				if (image)
-				{
-					textureIndex = m_guiHelper->getRenderInterface()->registerTexture(image,width,height);
-					if (textureIndex>=0)
-					{
-						break;
-					}
-				}
-
-			}
-
-		}
-		
-		int shapeId = m_guiHelper->getRenderInterface()->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices,B3_GL_TRIANGLES,textureIndex);
-		
-		//int id = 
-		m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
-
-	
-	}}
-        else
-        {
-                b3Warning("Cannot find %s\n", m_fileName.c_str());
-        }
 
 }
 

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

@@ -8,7 +8,7 @@
 #include "../../OpenGLWindow/GLInstancingRenderer.h"
 #include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
 
-GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes)
+GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes, bool flatShading)
 {
 	
 	b3AlignedObjectArray<GLInstanceVertex>* vertices = new b3AlignedObjectArray<GLInstanceVertex>;
@@ -82,29 +82,59 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					}
 					
 					
+					
 					btVector3 v0(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
 					btVector3 v1(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
 					btVector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
 					
-					normal = (v1-v0).cross(v2-v0);
+					unsigned int maxIndex = 0;
-                    btScalar len2 = normal.length2();
+					maxIndex = b3Max(maxIndex,shape.mesh.indices[f]*3+0);
-                    //skip degenerate triangles
+					maxIndex = b3Max(maxIndex,shape.mesh.indices[f]*3+1);
-                    if (len2 > SIMD_EPSILON)
+					maxIndex = b3Max(maxIndex,shape.mesh.indices[f]*3+2);
+					maxIndex = b3Max(maxIndex,shape.mesh.indices[f+1]*3+0);
+					maxIndex = b3Max(maxIndex,shape.mesh.indices[f+1]*3+1);
+					maxIndex = b3Max(maxIndex,shape.mesh.indices[f+1]*3+2);
+					maxIndex = b3Max(maxIndex,shape.mesh.indices[f+2]*3+0);
+					maxIndex = b3Max(maxIndex,shape.mesh.indices[f+2]*3+1);
+					maxIndex = b3Max(maxIndex,shape.mesh.indices[f+2]*3+2);
+					bool hasNormals = (shape.mesh.normals.size() && maxIndex<shape.mesh.normals.size() );
+					
+					if (flatShading || !hasNormals)
                     {
-                        normal.normalize();
+                        normal = (v1-v0).cross(v2-v0);
+                        btScalar len2 = normal.length2();
+                        //skip degenerate triangles
+                        if (len2 > SIMD_EPSILON)
+                        {
+                            normal.normalize();
+                        } else
+                        {
+                            normal.setValue(0,0,0);
+                        }
+                        vtx0.normal[0] = normal[0];
+                        vtx0.normal[1] = normal[1];
+                        vtx0.normal[2] = normal[2];
+                        vtx1.normal[0] = normal[0];
+                        vtx1.normal[1] = normal[1];
+                        vtx1.normal[2] = normal[2];
+                        vtx2.normal[0] = normal[0];
+                        vtx2.normal[1] = normal[1];
+                        vtx2.normal[2] = normal[2];
                     } else
                     {
-                        normal.setValue(0,0,0);
+                        
+                        vtx0.normal[0] = shape.mesh.normals[shape.mesh.indices[f]*3+0];
+                        vtx0.normal[1] = shape.mesh.normals[shape.mesh.indices[f]*3+1];
+                        vtx0.normal[2] = shape.mesh.normals[shape.mesh.indices[f]*3+2]; //shape.mesh.indices[f+1]*3+0
+                        vtx1.normal[0] = shape.mesh.normals[shape.mesh.indices[f+1]*3+0];
+                        vtx1.normal[1] = shape.mesh.normals[shape.mesh.indices[f+1]*3+1];
+                        vtx1.normal[2] = shape.mesh.normals[shape.mesh.indices[f+1]*3+2];
+                        vtx2.normal[0] = shape.mesh.normals[shape.mesh.indices[f+2]*3+0];
+                        vtx2.normal[1] = shape.mesh.normals[shape.mesh.indices[f+2]*3+1];
+                        vtx2.normal[2] = shape.mesh.normals[shape.mesh.indices[f+2]*3+2];
+                        
+                        
                     }
-                    vtx0.normal[0] = normal[0];
-                    vtx0.normal[1] = normal[1];
-                    vtx0.normal[2] = normal[2];
-                    vtx1.normal[0] = normal[0];
-                    vtx1.normal[1] = normal[1];
-                    vtx1.normal[2] = normal[2];
-                    vtx2.normal[0] = normal[0];
-                    vtx2.normal[1] = normal[1];
-                    vtx2.normal[2] = normal[2];
                     vertices->push_back(vtx0);
                     vertices->push_back(vtx1);
                     vertices->push_back(vtx2);

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h

@@ -4,6 +4,6 @@
 #include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
 #include <vector>
 
-struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes);
+struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes, bool flatShading=false);
 
 #endif //WAVEFRONT2GRAPHICS_H

examples/OpenCL/rigidbody/GpuRigidBodyDemo.cpp

@@ -356,7 +356,7 @@ b3Vector3	GpuRigidBodyDemo::getRayTo(int x,int y)
 
 unsigned char* GpuRigidBodyDemo::loadImage(const char* fileName, int& width, int& height, int& n)
 {
-		unsigned char *data = stbi_load(fileName, &width, &height, &n, 0);
+		unsigned char *data = stbi_load(fileName, &width, &height, &n, 3);
 		return data;
 }
 

examples/RenderingExamples/TinyRendererSetup.cpp

@@ -114,7 +114,7 @@ struct TinyRendererSetupInternalData
 		for (int i=0;i<numObjects;i++)
 		{
 			m_transforms[i].setIdentity();
-			btVector3	pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
+			btVector3	pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
 			m_transforms[i].setIdentity();
 			m_transforms[i].setOrigin( pos );
 			btQuaternion orn;
@@ -146,7 +146,8 @@ void TinyRendererSetup::initPhysics()
 	//request a visual bitma/texture we can render to
 	
 	
-
+    m_app->setUpAxis(2);
+    
 	m_internalData->m_canvas = m_app->m_2dCanvasInterface;
 	
 
@@ -206,7 +207,7 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
 	}
 
 
-	ATTRIBUTE_ALIGNED16(float modelMat[16]);
+	ATTRIBUTE_ALIGNED16(btScalar modelMat2[16]);
 	ATTRIBUTE_ALIGNED16(float viewMat[16]);
 	CommonRenderInterface* render = this->m_app->m_renderer;
 	render->getActiveCamera()->getCameraViewMatrix(viewMat);
@@ -215,15 +216,16 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
 	
 	for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
 	{
-		
+			
 		const btTransform& tr = m_internalData->m_transforms[o];
-		tr.getOpenGLMatrix(modelMat);
+		tr.getOpenGLMatrix(modelMat2);
+		
 				
 		for (int i=0;i<4;i++)
 		{
 			for (int j=0;j<4;j++)
 			{
-				m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = modelMat[i+4*j];
+				m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]);
 				m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
 			}
 		}

examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp

@@ -30,6 +30,40 @@
 
 namespace tinyobj {
 
+//See http://stackoverflow.com/questions/6089231/getting-std-ifstream-to-handle-lf-cr-and-crlf
+std::istream& safeGetline(std::istream& is, std::string& t)
+{
+    t.clear();
+
+    // The characters in the stream are read one-by-one using a std::streambuf.
+    // That is faster than reading them one-by-one using the std::istream.
+    // Code that uses streambuf this way must be guarded by a sentry object.
+    // The sentry object performs various tasks,
+    // such as thread synchronization and updating the stream state.
+
+    std::istream::sentry se(is, true);
+    std::streambuf* sb = is.rdbuf();
+
+    for(;;) {
+        int c = sb->sbumpc();
+        switch (c) {
+        case '\n':
+            return is;
+        case '\r':
+            if(sb->sgetc() == '\n')
+                sb->sbumpc();
+            return is;
+        case EOF:
+            // Also handle the case when the last line has no line ending
+            if(t.empty())
+                is.setstate(std::ios::eofbit);
+            return is;
+        default:
+            t += (char)c;
+        }
+    }
+}
+
 struct vertex_index {
   int v_idx, vt_idx, vn_idx, dummy;
 };
@@ -313,9 +347,11 @@ std::string LoadMtl (
   int maxchars = 8192;  // Alloc enough size.
   std::vector<char> buf(maxchars);  // Alloc enough size.
   while (ifs.peek() != -1) {
-    ifs.getline(&buf[0], maxchars);
 
-    std::string linebuf(&buf[0]);
+    std::string linebuf;
+    safeGetline(ifs,linebuf);
+
+
 
     // Trim newline '\r\n' or '\r'
     if (linebuf.size() > 0) {
@@ -502,9 +538,9 @@ LoadObj(
   int maxchars = 8192;  // Alloc enough size.
   std::vector<char> buf(maxchars);  // Alloc enough size.
   while (ifs.peek() != -1) {
-    ifs.getline(&buf[0], maxchars);
 
-    std::string linebuf(&buf[0]);
+    std::string linebuf;
+    safeGetline(ifs,linebuf);
 
     // Trim newline '\r\n' or '\r'
     if (linebuf.size() > 0) {

examples/TinyRenderer/Bullet2TinyRenderer.cpp

@@ -1,164 +0,0 @@
-
-
-#include "TinyRenderer.h"
-#include <stdio.h>
-#include "LinearMath/btHashMap.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-
-class Bullet2TinyRenderer
-{
-    
-	btAlignedObjectArray<TinyRenderObjectData*> m_swRenderObjects;
-	
-	btHashMap<btHashPtr,int> m_colObject2gfxIndex;
-	btHashMap<btHashPtr,int> m_colShape2gfxIndex;
-	
-	
-	int m_swWidth;
-	int m_swHeight;
-	TGAImage m_rgbColorBuffer;
-	
-	b3AlignedObjectArray<float> m_depthBuffer;
-	int m_textureHandle;
-	unsigned char*	m_image;
-	
-    
-public:
-    Bullet2TinyRenderer (int swWidth, int swHeight):
-    m_swWidth(swWidth),
-    m_swHeight(swHeight),
-	m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB)	
-    {
-
-		m_depthBuffer.resize(swWidth*swHeight);
-		m_image=new unsigned char[m_swWidth*m_swHeight*4];
-		
-    }
-	
-	virtual ~Bullet2TinyRenderer()
-    {
-        for (int i=0;i<m_swRenderObjects.size();i++)
-        {
-            TinyRenderObjectData* d = m_swRenderObjects[i];
-            delete d;
-        }
-    }
-    
-	void clearBuffers(TGAColor& clearColor)
-	{
-		for(int y=0;y<m_swHeight;++y)
-		{
-			for(int x=0;x<m_swWidth;++x)
-			{
-				m_rgbColorBuffer.set(x,y,clearColor);
-				m_depthBuffer[x+y*m_swWidth] = -1e30f;
-			}
-		}
-		
-	}
-    
-	const TGAImage& getFrameBuffer() const
-	{
-		return m_rgbColorBuffer;
-	}
-	
-  
-    
-	virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
-	{
-		int* colIndexPtr = m_colObject2gfxIndex[obj];
-		int* shapeIndexPtr = m_colShape2gfxIndex[obj->getCollisionShape()];
-		
-		
-		
-		//if (colIndex>=0 && shapeIndex>=0)
-		//{
-		//	m_col2gfxIndex.insert(colIndex,shapeIndex);
-		//}
-		
-	}
-	
-   /*	virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
-   	{
-   	    
-   	    
-   	    if (shapeIndex>=0)
-        {
-            TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
-            swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
-			//swObj->createCube(1,1,1);
-            m_swRenderObjects.insert(shapeIndex,swObj);
-        }
-   	    return shapeIndex;
-   	}
-*/
-	virtual void render(const btDiscreteDynamicsWorld* rbWorld, float viewMat[16])
-	{
-		//clear the color buffer
-		TGAColor clearColor;
-		clearColor.bgra[0] = 255;
-		clearColor.bgra[1] = 255;
-		clearColor.bgra[2] = 255;
-		clearColor.bgra[3] = 255;
-		
-		clearBuffers(clearColor);
-		
-		ATTRIBUTE_ALIGNED16(float modelMat[16]);
-		
-		
-		for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
-		{
-			btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
-			
-			int* colObjIndexPtr = m_colObject2gfxIndex[colObj];
-			
-			if (colObjIndexPtr)
-			{
-				int colObjIndex = *colObjIndexPtr;
-				TinyRenderObjectData* renderObj = m_swRenderObjects[colObjIndex];
-								
-				//sync the object transform
-				const btTransform& tr = colObj->getWorldTransform();
-				tr.getOpenGLMatrix(modelMat);
-				
-				for (int i=0;i<4;i++)
-				{
-					for (int j=0;j<4;j++)
-					{
-						renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
-						renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
-					}
-				}
-				TinyRenderer::renderObject(*renderObj);
-			}
-		}
-		
-		for(int y=0;y<m_swHeight;++y)
-		{
-			unsigned char*	pi=m_image+(y)*m_swWidth*3;
-			for(int x=0;x<m_swWidth;++x)
-			{
-				
-				const TGAColor& color = getFrameBuffer().get(x,y);
-				pi[0] = color.bgra[2];
-				pi[1] = color.bgra[1];
-				pi[2] = color.bgra[0];
-				pi+=3;
-				
-			}
-		} 
-		
-		static int counter=0;
-		counter++;
-		if (counter>10)
-		{
-			counter=0;
-			getFrameBuffer().write_tga_file("/Users/erwincoumans/develop/bullet3/framebuf.tga",true);
-		}
-		
-	}
-
-};
-

examples/Tutorial/Tutorial.cpp

@@ -415,7 +415,7 @@ public:
 				{
 					char relativeFileName[1024];
 					sprintf(relativeFileName,"%s%s",prefix[i],filename);
-					image = stbi_load(relativeFileName, &width, &height, &n, 0);
+					image = stbi_load(relativeFileName, &width, &height, &n, 3);
 				}
 				
 				b3Assert(image);

test/SharedMemory/premake4.lua

@@ -161,7 +161,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
 --		}
 	hasCL = findOpenCL("clew")
 
-	links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
+	links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
 	initOpenGL()
 	initGlew()
 
@@ -188,7 +188,49 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
 
 		files {
 			"test.c",
-			"../../examples/ExampleBrowser/ExampleEntries.cpp",
+			"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
+			"../../examples/SharedMemory/InProcessMemory.cpp",
+			"../../examples/SharedMemory/PhysicsClient.cpp",
+                        "../../examples/SharedMemory/PhysicsClient.h",
+                        "../../examples/SharedMemory/PhysicsServer.cpp",
+                        "../../examples/SharedMemory/PhysicsServer.h",
+			"../../examples/SharedMemory/PhysicsServerExample.cpp",
+			"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
+                        "../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
+                        "../../examples/SharedMemory/PhysicsServerSharedMemory.h",
+                        "../../examples/SharedMemory/PhysicsDirect.cpp",
+                        "../../examples/SharedMemory/PhysicsDirect.h",
+                        "../../examples/SharedMemory/PhysicsDirectC_API.cpp",
+                        "../../examples/SharedMemory/PhysicsDirectC_API.h",
+                        "../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
+                        "../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
+                        "../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
+                        "../../examples/SharedMemory/PhysicsClientSharedMemory.h",
+                        "../../examples/SharedMemory/PhysicsClientC_API.cpp",
+                        "../../examples/SharedMemory/PhysicsClientC_API.h",
+                        "../../examples/SharedMemory/Win32SharedMemory.cpp",
+                        "../../examples/SharedMemory/Win32SharedMemory.h",
+                        "../../examples/SharedMemory/PosixSharedMemory.cpp",
+                        "../../examples/SharedMemory/PosixSharedMemory.h",
+                        "../../examples/Utils/b3ResourcePath.cpp",
+                        "../../examples/Utils/b3ResourcePath.h",
+                        "../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
+                        "../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
+                        "../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+                        "../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+                        "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+                        "../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
+                        "../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+                        "../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+                        "../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+                        "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+                        "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+                        "../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
+                        "../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
+                        "../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
+			"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
+			"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
+                "../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
 			}
 	if os.is("Linux") then
        		initX11()