From c69524be9e8a4dbc48ca73258fe932f742d7f597 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Thu, 10 Mar 2016 21:15:23 -0800
Subject: [PATCH] fix Lua example

---
 examples/ExampleBrowser/premake4.lua |  7 +++++++
 examples/LuaDemo/LuaPhysicsSetup.cpp | 21 +++++++++++++++------
 2 files changed, 22 insertions(+), 6 deletions(-)

diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index bd9d3ae08..d66da5823 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -178,6 +178,13 @@ project "App_BulletExampleBrowser"
 			}
 		end
 
+ if _OPTIONS["lua"] then
+                includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
+                links {"lua-5.2.3"}
+                defines {"ENABLE_LUA"}
+                files {"../LuaDemo/LuaPhysicsSetup.cpp"}
+        end
+
 	files {
 	"main.cpp",
 	"ExampleEntries.cpp",
diff --git a/examples/LuaDemo/LuaPhysicsSetup.cpp b/examples/LuaDemo/LuaPhysicsSetup.cpp
index bb55e54a6..e462f5395 100644
--- a/examples/LuaDemo/LuaPhysicsSetup.cpp
+++ b/examples/LuaDemo/LuaPhysicsSetup.cpp
@@ -2,7 +2,7 @@
 
 
 #include "../CommonInterfaces/CommonMultiBodyBase.h"
-#include "../Importers/ImportURDFDemo/MyURDFImporter.h"
+#include "../Importers/ImportURDFDemo/BulletURDFImporter.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
 
@@ -39,7 +39,12 @@ extern "C" {
 }
 
 
-const char* sLuaFileName = "init_urdf.lua";//init_physics.lua";
+const char* sLuaFileName = "init_physics.lua";
+static int upaxis = 1;
+
+//const char* sLuaFileName = "init_urdf.lua";
+//static int upaxis = 2;
+
 
 static const float scaling=0.35f;
 static LuaPhysicsSetup* sLuaDemo = 0;
@@ -69,7 +74,10 @@ LuaPhysicsSetup::~LuaPhysicsSetup()
 static int gCreateDefaultDynamicsWorld(lua_State *L)
 {
 	sLuaDemo->createEmptyDynamicsWorld();
-	sLuaDemo->m_dynamicsWorld->setGravity(btVector3(0,0,-10));
+    btVector3 grav(0,0,0);
+    grav[upaxis] = -10;
+    
+	sLuaDemo->m_dynamicsWorld->setGravity(grav);
 	sLuaDemo->m_guiHelper->createPhysicsDebugDrawer(sLuaDemo->m_dynamicsWorld);
 	lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld);
 	return 1;
@@ -211,8 +219,8 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
 			return 0;
 		}
 		const char* fileName = lua_tostring(L,2);
-
-		MyURDFImporter u2b(sLuaDemo->m_guiHelper);
+#if 1
+		BulletURDFImporter u2b(sLuaDemo->m_guiHelper);
 		bool loadOk =  u2b.loadURDF(fileName);
 		if (loadOk)
 		{
@@ -240,6 +248,7 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
 		{
 			b3Printf("can't find %s",fileName);
 		}
+#endif
 	}
 
 	return 0;
@@ -377,7 +386,7 @@ static void report_errors(lua_State *L, int status)
 
 void LuaPhysicsSetup::initPhysics()
 {
-	m_guiHelper->setUpAxis(2);
+	m_guiHelper->setUpAxis(upaxis);
 	const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
 	int numPrefixes = sizeof(prefix)/sizeof(const char*);
 	char relativeFileName[1024];