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

CMakeLists.txt

@@ -87,6 +87,8 @@ IF(MSVC)
 	IF (USE_MSVC_FAST_FLOATINGPOINT)
 		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
   ENDIF()
+
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
 ENDIF(MSVC)
 
 

Extras/InverseDynamics/DillCreator.cpp

@@ -44,7 +44,7 @@ int DillCreator::getNumBodies(int* num_bodies) const {
     return 0;
 }
 
-int DillCreator::getBody(int body_index, int* parent_index, JointType* joint_type,
+int DillCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
                          vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
                          vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
                          mat33* body_I_body, int* user_int, void** user_ptr) const {

Extras/InverseDynamics/DillCreator.hpp

@@ -22,7 +22,7 @@ public:
     ///\copydoc MultiBodyTreeCreator::getNumBodies
     int getNumBodies(int* num_bodies) const;
     ///\copydoc MultiBodyTreeCreator::getBody
-    int getBody(int body_index, int* parent_index, JointType* joint_type,
+    int getBody(const int body_index, int* parent_index, JointType* joint_type,
                 vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion,
                 idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int,
                 void** user_ptr) const;

Extras/InverseDynamics/btMultiBodyTreeCreator.cpp

@@ -237,7 +237,7 @@ int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const {
     return 0;
 }
 
-int btMultiBodyTreeCreator::getBody(int body_index, int *parent_index, JointType *joint_type,
+int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, JointType *joint_type,
                                     vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
                                     vec3 *body_axis_of_motion, idScalar *mass,
                                     vec3 *body_r_body_com, mat33 *body_I_body, int *user_int,

Extras/InverseDynamics/btMultiBodyTreeCreator.hpp

@@ -25,7 +25,7 @@ public:
     /// \copydoc MultiBodyTreeCreator::getNumBodies
     int getNumBodies(int *num_bodies) const;
     ///\copydoc MultiBodyTreeCreator::getBody
-    int getBody(int body_index, int *parent_index, JointType *joint_type,
+    int getBody(const int body_index, int *parent_index, JointType *joint_type,
                 vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref, vec3 *body_axis_of_motion,
                 idScalar *mass, vec3 *body_r_body_com, mat33 *body_I_body, int *user_int,
                 void **user_ptr) const;

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)

build3/premake4.lua

@@ -6,10 +6,15 @@
    		osversion.majorversion, osversion.minorversion, osversion.revision,
    		osversion.description))
 
-
-	-- Multithreaded compiling
 	if _ACTION == "vs2010" or _ACTION=="vs2008" then
-		buildoptions { "/MP"  }
+		buildoptions
+		{
+			-- Multithreaded compiling
+			"/MP",
+			-- Disable a few useless warnings
+			"/wd4244",
+			"/wd4267"
+		}
 	end
 
 	act = ""
@@ -29,6 +34,11 @@
 		description = "Try to link and use the system OpenGL headers version instead of dynamically loading OpenGL (dlopen is default)"
 	}
 
+	newoption
+	{
+		trigger = "enable_openvr",
+		description = "Enable experimental Virtual Reality examples, using OpenVR for HTC Vive and Oculus Rift"
+	}
 	newoption
 	{
 		trigger = "enable_system_x11",
@@ -75,12 +85,36 @@
 
 	newoption
         {
-                trigger = "python",
+                trigger = "enable_pybullet",
-                description = "Enable Python scripting (experimental, use Physics Server in Example Browser). "
+                description = "Enable high-level Python scripting of Bullet with URDF/SDF import and synthetic camera."
         }
 
+if os.is("Linux") then
+ 		default_python_include_dir = "/usr/include/python2.7"
+ 		default_python_lib_dir = "/usr/local/lib/"
+end
 
+		
+if os.is("Windows") then
+ 		default_python_include_dir = "C:\Python-3.5.2/include"
+ 		default_python_lib_dir = "C:/Python-3.5.2/libs"
+end
 
+		newoption
+    {
+			trigger     = "python_include_dir",
+			value       = default_python_include_dir,
+			description = "Python (2.x or 3.x) include directory"
+    }
+    
+    newoption
+    {
+			trigger     = "python_lib_dir",
+			value       = default_python_lib_dir,
+			description = "Python (2.x or 3.x) library directory "
+    }
+
+	
 	newoption {
 		trigger     = "targetdir",
 		value       = "path such as ../bin",
@@ -130,7 +164,7 @@
 			platforms {"x32"}
 		end
 	else
-		platforms {"x32", "x64"}
+		platforms {"x32","x64"}
 	end
 
 	configuration {"x32"}
@@ -181,6 +215,14 @@
 	targetdir( _OPTIONS["targetdir"] or "../bin" )
 	location("./" .. act .. postfix)
 
+	if not _OPTIONS["python_include_dir"] then
+			_OPTIONS["python_include_dir"] = default_python_include_dir
+	end
+	
+	if not _OPTIONS["python_lib_dir"] then
+			_OPTIONS["python_lib_dir"] = default_python_lib_dir
+	end
+	
 
 	projectRootDir = os.getcwd() .. "/../"
 	print("Project root directory: " .. projectRootDir);
@@ -212,7 +254,7 @@
 		if _OPTIONS["lua"] then
 		   include "../examples/ThirdPartyLibs/lua-5.2.3"
 		end
-		if _OPTIONS["python"] then
+		if _OPTIONS["enable_pybullet"] then
 		  include "../examples/pybullet"
 		end
 

build_and_run_cmake.sh

@@ -2,6 +2,6 @@
 rm CMakeCache.txt
 mkdir build_cmake
 cd build_cmake
-cmake -DBUILD_PYTHON=OFF -CMAKE_BUILD_TYPE=Release ..
+cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
 make -j12
 examples/ExampleBrowser/App_ExampleBrowser

build_visual_studio.bat

@@ -2,7 +2,8 @@
 rem premake4 --with-pe  vs2010
 rem premake4  --bullet2demos vs2010
 cd build3
-premake4   --targetdir="../bin" vs2010 
+premake4   --enable_openvr  --targetdir="../bin" vs2010 
+rem premake4   --enable_openvr --enable_pybullet --targetdir="../bin" vs2010 
 rem premake4   --targetdir="../server2bin" vs2010 
 rem cd vs2010
 rem rename 0_Bullet3Solution.sln 0_server.sln
@@ -14,6 +15,6 @@ rem cd vs2010
 rem rename 0_Bullet3Solution.sln 0_client.sln
 rem cd ..
 rem rename vs2010 vs2010_client
-start vs2010/0_Bullet3Solution.sln
+rem start vs2010/0_Bullet3Solution.sln
 
 pause

bullet.pc.cmake

@@ -3,4 +3,4 @@ Description: Bullet Continuous Collision Detection and Physics Library
 Requires:
 Version: @BULLET_VERSION@
 Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath
-Cflags: @BULLET_DOUBLE_DEF@ -I@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include
+Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include

data/Quadrotor/quadrotor.urdf

@@ -0,0 +1,62 @@
+<?xml version="1.0" ?>
+
+<!-- adapted from Daniel Mellinger, Nathan Michael, Vijay Kumar, "Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors" -->
+
+<robot xmlns="http://drake.mit.edu"
+ xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+ xsi:schemaLocation="http://drake.mit.edu ../../../../pods/drake/doc/drakeURDF.xsd" name="quadrotor">
+  <link name="base_link">
+    <inertial>
+      <mass value="0.5"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.0023" ixy="0.0" ixz="0.0" iyy="0.0023" iyz="0.0" izz="0.004"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="quadrotor_base.obj" scale=".1 .1 .1"/>
+      </geometry>
+    </visual>
+    <!-- note: the original hector quadrotor urdf had a (simplified, but still complex) collision mesh, too -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder radius=".3" length=".1"/>
+      </geometry>
+    </collision>      
+  </link>
+  <frame link="base_link" name="body" rpy="0 0 0" xyz="0 0 0" />
+  <force_element name="prop1">
+    <propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
+      <parent link="base_link"/>
+      <origin xyz=".1750 0 0"/>
+      <axis xyz="0 0 1"/>
+    </propellor>
+  </force_element>
+
+  <force_element name="prop2">
+    <propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
+      <parent link="base_link"/>
+      <origin xyz="0 .1750 0 "/>
+      <axis xyz="0 0 1"/>
+    </propellor>
+  </force_element>
+  
+  <force_element name="prop3">
+    <propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
+      <parent link="base_link"/>
+      <origin xyz="-.1750 0 0"/>
+      <axis xyz="0 0 1"/>
+    </propellor>
+  </force_element>
+  
+  <force_element name="prop4">
+    <propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
+      <parent link="base_link"/>
+      <origin xyz="0 -.1750 0"/>
+      <axis xyz="0 0 1"/>
+    </propellor>
+  </force_element>
+  
+</robot>
+

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/cube_no_friction.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="0.0"/>
+      <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/cube_small.sdf

@@ -0,0 +1,35 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <model name='unit_box_0'>
+      <pose frame=''>0 0 0.107 0 0 0</pose>
+      <link name='unit_box_0::link'>
+        <inertial>
+          <mass>0.1</mass>
+          <inertia>
+            <ixx>1.0</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1.0</iyy>
+            <iyz>0</iyz>
+            <izz>1.0</izz>
+          </inertia>
+        </inertial>
+        <collision name='collision'>
+          <geometry>
+            <box>
+              <size>0.05 0.05 0.05</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+          <mesh>
+            <scale>0.05 0.05 0.05</scale>
+            <uri>cube.obj</uri>
+          </mesh>
+        </geometry>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>

data/cube_small.urdf

@@ -0,0 +1,33 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <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=".05 .05 .05"/>
+      </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=".05 .05 .05"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/gripper/wsg50_with_r2d2_gripper.sdf

@@ -0,0 +1,298 @@
+<?xml version="1.0" ?>
+<sdf version='1.6'>
+  <world name='default'>
+  <model name='wsg50_with_gripper'>
+    <pose frame=''>0 0 0.27 3.14 0 0</pose>
+	
+    <link name='world'>
+	</link>
+  
+    <joint name='base_joint' type='prismatic'>
+      <parent>world</parent>
+      <child>base_link</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-0.5</lower>
+          <upper>10</upper>
+          <effort>1</effort>
+          <velocity>1</velocity>
+        </limit>
+        <dynamics>
+          <damping>100</damping>
+          <friction>100</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+
+    <link name='base_link'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>1.2</mass>
+        <inertia>
+          <ixx>1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1</iyy>
+          <iyz>0</iyz>
+          <izz>1</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+		<box>
+              <size>0.2 0.05 0.05 </size>
+            </box>
+        </geometry>
+      </collision>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>meshes/WSG50_110.stl</uri>
+          </mesh>
+        </geometry>
+        <material>
+
+        </material>
+      </visual>
+      <gravity>1</gravity>
+      <velocity_decay/>
+      <self_collide>0</self_collide>
+    </link>
+
+    <link name='gripper_left'>
+      <pose frame=''>-0.055 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+	  
+      <collision name='gripper_left_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/GUIDE_WSG50_110.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
+        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/WSG-FMF.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+	  
+      <visual name='gripper_left_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/GUIDE_WSG50_110.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
+        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/WSG-FMF.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+
+    </link>
+    <joint name='base_joint_gripper_left' type='prismatic'>
+      <child>gripper_left</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.001</lower>
+          <upper>0.055</upper>
+          <effort>1</effort>
+          <velocity>1</velocity>
+        </limit>
+        <dynamics>
+          <damping>100</damping>
+          <friction>100</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+	
+    <link name='gripper_right'>
+      <pose frame=''>0.055 0 0 0 -0 3.14159</pose>
+      <inertial>
+        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+	  
+      <collision name='gripper_right_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/GUIDE_WSG50_110.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
+        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/WSG-FMF.stl</uri>
+          </mesh>
+        </geometry>
+      </collision>
+	  
+      <visual name='gripper_right_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/GUIDE_WSG50_110.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
+        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>0.001 0.001 0.001</scale>
+            <uri>meshes/WSG-FMF.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+	
+    <joint name='base_joint_gripper_right' type='prismatic'>
+      <child>gripper_right</child>
+      <parent>base_link</parent>
+      <axis>
+        <xyz>-1 0 0</xyz>
+        <limit>
+          <lower>-0.055</lower>
+          <upper>0.001</upper>
+          <effort>1</effort>
+          <velocity>1</velocity>
+        </limit>
+        <dynamics>
+          <damping>100</damping>
+          <friction>100</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+      </axis>
+    </joint>
+    
+    <link name='finger_right'>
+      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+	  
+      <collision name='finger_right_collision'>
+	<pose frame=''>0 0 0.042 0 0 0 </pose>
+	<geometry>        
+       <box>
+              <size>0.02 0.02 0.15 </size>
+            </box>
+
+        </geometry>
+      </collision>
+	  
+      <visual name='finger_right_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/l_gripper_tip_scaled.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+	
+    <joint name='gripper_finger_right' type='fixed'>
+      <parent>gripper_right</parent>
+      <child>finger_right</child>
+    </joint>
+    
+    <link name='finger_left'>
+      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <inertial>
+        <mass>0.2</mass>
+        <inertia>
+          <ixx>0.1</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1</iyy>
+          <iyz>0</iyz>
+          <izz>0.1</izz>
+        </inertia>
+      </inertial>
+	  
+      <collision name='finger_left_collision'>
+        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <geometry>
+               <box>
+              <size>0.02 0.02 0.15 </size>
+            </box>
+
+        </geometry>
+      </collision>
+	  
+      <visual name='finger_left_visual'>
+        <pose frame=''>0 0 0 0 0 0 </pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1 </scale>
+            <uri>meshes/l_gripper_tip_scaled.stl</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+	
+    <joint name='gripper_finger_left' type='fixed'>
+      <parent>gripper_left</parent>
+      <child>finger_left</child>
+    </joint>
+  </model>
+</world>
+</sdf>

data/husky/husky.urdf

@@ -0,0 +1,345 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ../urdf/husky.urdf.xacro       | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--
+Software License Agreement (BSD)
+
+\file      husky.urdf.xacro
+\authors   Paul Bovbel <pbovbel@clearpathrobotics.com>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * 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.
+ * Neither the name of Clearpath Robotics 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 WAR-
+RANTIES, 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, IN-
+DIRECT, 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.
+-->
+<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- Included URDF/XACRO Files -->
+  <material name="Black">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="Blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="Green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="Grey">
+    <color rgba="0.7 0.7 0.7 1.0"/>
+  </material>
+  <material name="DarkGrey">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+  <material name="Red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="White">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="Yellow">
+    <color rgba="0.8 0.8 0.0 1.0"/>
+  </material>
+  <!-- Base Size -->
+  <!-- Wheel Mounting Positions -->
+  <!-- Wheel Properties -->
+  <!-- Base link is on the ground under the robot -->
+  <link name="base_footprint"/>
+  <gazebo reference="base_footprint">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <joint name="chassis_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.14493"/>
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+  </joint>
+  <!-- Chassis link is the center of the robot's bottom plate -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/base_link.stl"/>
+      </geometry>
+      <material name="Black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.12498"/>
+      <geometry>
+        <!-- Make collision box slightly bigger in x and z directions. -->
+        <box size="1.0074 0.5709 0.2675"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="33.455"/>
+      <origin xyz="-0.08748 -0.00085 0.09947"/>
+      <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
+    </inertial>
+  </link>
+  <gazebo reference="base_link">
+    </gazebo>
+  <!-- IMU Link is the standard mounting position for the UM6 IMU.-->
+  <!-- Can be modified with environment variables in /etc/ros/setup.bash -->
+  <link name="imu_link"/>
+  <joint name="imu_joint" type="fixed">
+    <origin rpy="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)" xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)"/>
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+  </joint>
+  <gazebo reference="imu_link">
+    </gazebo>
+  <!-- Husky wheel macros -->
+  <link name="front_left_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_left_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="front_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_left_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="front_right_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="front_right_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="front_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="front_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="front_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="front_right_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_left_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_left_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="rear_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_left_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_left_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_left_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="rear_right_wheel_link">
+    <inertial>
+      <mass value="2.637"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/wheel.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.1143" radius="0.17775"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="rear_right_wheel_link">
+    <mu1 value="1.0"/>
+    <mu2 value="1.0"/>
+    <kp value="10000000.0"/>
+    <kd value="1.0"/>
+    <fdir1 value="1 0 0"/>
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
+  <joint name="rear_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_right_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
+    <axis rpy="0 0 0" xyz="0 1 0"/>
+  </joint>
+  <transmission name="rear_right_wheel_trans" type="SimpleTransmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <actuator name="rear_right_wheel_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+    <joint name="rear_right_wheel">
+      <hardwareInterface>VelocityJointInterface</hardwareInterface>
+    </joint>
+  </transmission>
+  <link name="top_plate_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/top_plate.stl"/>
+      </geometry>
+      <material name="Yellow"/>
+    </visual>
+  </link>
+  <joint name="top_plate" type="fixed">
+    <parent link="base_link"/>
+    <child link="top_plate_link"/>
+  </joint>
+  <gazebo reference="top_plate_link">
+    <material>Gazebo/Yellow</material>
+  </gazebo>
+  <link name="user_rail_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/user_rail.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+  </link>
+  <joint name="user_rail" type="fixed">
+    <origin rpy="0 0 0" xyz="0.272 0 0.245"/>
+    <parent link="base_link"/>
+    <child link="user_rail_link"/>
+  </joint>
+  <gazebo reference="user_rail_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="front_bumper_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/bumper.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+  </link>
+  <joint name="front_bumper" type="fixed">
+    <origin rpy="0 0 0" xyz="0.48 0 0.091"/>
+    <parent link="base_link"/>
+    <child link="front_bumper_link"/>
+  </joint>
+  <gazebo reference="front_bumper_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <link name="rear_bumper_link">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/bumper.stl"/>
+      </geometry>
+      <material name="DarkGrey"/>
+    </visual>
+  </link>
+  <joint name="rear_bumper" type="fixed">
+    <origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
+    <parent link="base_link"/>
+    <child link="rear_bumper_link"/>
+  </joint>
+  <gazebo reference="rear_bumper_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+</robot>
+

data/kiva_shelf/0_Bullet3Demo.txt

@@ -0,0 +1,7 @@
+--start_demo_name=R2D2 Grasp
+--mouse_move_multiplier=0.400000
+--mouse_wheel_multiplier=0.010000
+--background_color_red= 0.900000
+--background_color_green= 0.900000
+--background_color_blue= 1.000000
+--fixed_timestep= 0.000000

data/kiva_shelf/model.sdf

@@ -0,0 +1,55 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="Amazon Pod">
+  	<static>1</static>
+  	<pose>0 2 1.21 0 0 0</pose>
+    <link name="pod_link">
+      <inertial>
+        <pose>0.0 0.0 1.2045 0 0 0</pose>
+        <mass>76.26</mass>
+        <inertia>
+          <ixx>47</ixx>
+          <ixy>-0.003456</ixy>
+          <ixz>0.001474</ixz>
+          <izz>13.075</izz>
+          <iyz>-0.014439</iyz>
+          <iyy>47</iyy>
+        </inertia>
+      </inertial>
+
+      <visual name="pod_visual">
+        <pose>0 0 0 1.5707 0 0 </pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/pod_lowres.stl</uri>
+          </mesh>
+        </geometry>
+         <material>
+            <diffuse>0.9 0.8 0.5 1</diffuse>
+          </material>
+      </visual>
+
+
+      <collision name="pod_collision">
+        <pose>0 0 0 1.5707 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>meshes/pod_lowres.stl</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.8</mu>
+              <mu2>0.8</mu2>
+              <fdir1>0.0 0.0 0.0</fdir1>
+              <slip1>1.0</slip1>
+              <slip2>1.0</slip2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+
+    </link>
+  </model>
+</sdf>

data/kuka_iiwa/model.sdf

@@ -1,6 +1,7 @@
 <sdf version='1.6'>
 <world name='default'>
   <model name='lbr_iiwa'>
+  <static>1</static>
     <link name='lbr_iiwa_link_0'>
       <pose frame=''>0 0 0 0 -0 0</pose>
       <inertial>
@@ -34,7 +35,7 @@
         </geometry>
         <material>
           <ambient>1 0 0 1</ambient>
-          <diffuse>0 0 1 1</diffuse>
+          <diffuse>0.2 0.2 0.2 1</diffuse>
           <specular>0.1 0.1 0.1 1</specular>
           <emissive>0 0 0 0</emissive>
         </material>
@@ -71,6 +72,12 @@
             <uri>meshes/link_1.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_1' type='revolute'>
@@ -124,6 +131,12 @@
             <uri>meshes/link_2.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_2' type='revolute'>
@@ -177,6 +190,12 @@
             <uri>meshes/link_3.stl</uri>
           </mesh>
         </geometry>
+				<material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.42 0.04 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_3' type='revolute'>
@@ -230,6 +249,12 @@
             <uri>meshes/link_4.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_4' type='revolute'>
@@ -283,6 +308,12 @@
             <uri>meshes/link_5.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.5 0.7 1.0 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_5' type='revolute'>
@@ -336,6 +367,12 @@
             <uri>meshes/link_6.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>1.0 0.42 0.04 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_6' type='revolute'>
@@ -389,6 +426,12 @@
             <uri>meshes/link_7.stl</uri>
           </mesh>
         </geometry>
+        <material>
+          <ambient>1 0 0 1</ambient>
+          <diffuse>0.2 0.2 0.2 1</diffuse>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 0</emissive>
+        </material>
       </visual>
     </link>
     <joint name='lbr_iiwa_joint_7' type='revolute'>

data/kuka_iiwa/model.urdf

@@ -77,7 +77,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_0.stl"/>
+        <mesh filename="meshes/link_0.stl"/>
       </geometry>
     </collision>
   </link>
@@ -106,7 +106,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_1.stl"/>
+        <mesh filename="meshes/link_1.stl"/>
       </geometry>
     </collision>
   </link>
@@ -135,7 +135,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_2.stl"/>
+        <mesh filename="meshes/link_2.stl"/>
       </geometry>
     </collision>
   </link>
@@ -164,7 +164,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_3.stl"/>
+        <mesh filename="meshes/link_3.stl"/>
       </geometry>
     </collision>
   </link>
@@ -193,7 +193,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_4.stl"/>
+        <mesh filename="meshes/link_4.stl"/>
       </geometry>
     </collision>
   </link>
@@ -222,7 +222,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_5.stl"/>
+        <mesh filename="meshes/link_5.stl"/>
       </geometry>
     </collision>
   </link>
@@ -251,7 +251,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_6.stl"/>
+        <mesh filename="meshes/link_6.stl"/>
       </geometry>
     </collision>
   </link>
@@ -280,7 +280,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/coarse/link_7.stl"/>
+        <mesh filename="meshes/link_7.stl"/>
       </geometry>
     </collision>
   </link>

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_blue.png
+  
+  

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 5.000000 0.000000
+vt 5.000000 5.000000
+vt 0.000000 5.000000
+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/plane.urdf

@@ -0,0 +1,26 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane.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="10 10 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/plane100.obj

@@ -2,11 +2,21 @@
 # www.blender.org
 mtllib plane.mtl
 o Plane
-v 100.000000 0.000000 -100.000000
+v 100.000000 -100.000000 0.000000
-v 100.000000 0.000000 100.000000
+v 100.000000 100.000000 0.000000
-v -100.000000 0.000000 100.000000
+v -100.000000 100.000000 0.000000
-v -100.000000 0.000000 -100.000000
+v -100.000000  -100.000000 0.000000
+
+vt 100.000000 0.000000
+vt 100.000000 100.000000
+vt 0.000000 100.000000
+vt 0.000000 0.000000
+
+
+
 usemtl Material
 s off
-f 3 2 1
+f 1/1 2/2 3/3
-f 4 3 1
+f 1/1 3/3 4/4
+
+

data/plane100.urdf

@@ -0,0 +1,26 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".0"/>
+       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="plane100.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="10 10 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

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
@@ -59,6 +61,7 @@ end
                           
 
 
+
 project "App_BasicExampleGuiWithSoftwareRenderer"
 
 if _OPTIONS["ios"] then
@@ -92,7 +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
@@ -131,5 +136,68 @@ files {
 	"../TinyRenderer/tgaimage.cpp",
 	"../TinyRenderer/our_gl.cpp",
 	"../TinyRenderer/TinyRenderer.cpp",
-	"../Utils/b3ResourcePath.cpp"
+	"../Utils/b3ResourcePath.cpp",
+	"../Utils/b3Clock.cpp",
+	"../Utils/b3Clock.h",
 }
+
+
+
+
+		if _OPTIONS["enable_openvr"] then
+
+project "App_BasicExampleVR"
+
+if _OPTIONS["ios"] then
+        kind "WindowedApp"
+else
+        kind "ConsoleApp"
+end
+defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
+
+
+
+includedirs {"../../src", 
+					"../ThirdPartyLibs/openvr/headers",
+					"../ThirdPartyLibs/openvr/samples/shared"}
+
+links {
+        "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common", "openvr_api"
+}
+
+	initOpenGL()
+  initGlew()
+
+
+language "C++"
+
+files {
+        "BasicExample.cpp",
+        "*.h",
+        "../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",
+				"../Utils/b3Clock.cpp",
+				"../Utils/b3Clock.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
+
+end

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/Collision/CollisionTutorialBullet2.cpp

@@ -265,8 +265,9 @@ public:
 	
     virtual void	stepSimulation(float deltaTime)
     {
+#ifndef BT_NO_PROFILE
 		CProfileManager::Reset();
-		
+#endif
 		
 		
 		
@@ -314,7 +315,9 @@ public:
 	
 	
 		 m_app->m_renderer->writeTransforms();
+#ifndef BT_NO_PROFILE
 		 CProfileManager::Increment_Frame_Counter();
+#endif
     }
     virtual void	renderScene()
     {

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/CommonExampleInterface.h

@@ -46,6 +46,8 @@ public:
 	virtual bool	mouseButtonCallback(int button, int state, float x, float y)=0;
 	virtual bool	keyboardCallback(int key, int state)=0;
 
+	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]) {}
+	virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
 };
 
 class ExampleEntries

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;
@@ -45,7 +46,23 @@ struct GUIHelperInterface
 
 	virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
 	
-	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)=0;
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
+                                  unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
+                                  float* depthBuffer, int depthBufferSizeInPixels, 
+                                  int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
+  {
+      copyCameraImageData(viewMatrix,projectionMatrix,pixelsRGBA,rgbaBufferSizeInPixels,
+                           depthBuffer,depthBufferSizeInPixels,
+                           0,0,
+                           startPixelIndex,destinationWidth,
+                           destinationHeight,numPixelsCopied);
+  }
+
+    virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
+                                  unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
+                                  float* depthBuffer, int depthBufferSizeInPixels, 
+                                  int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+                                  int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)=0;
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
 	
@@ -73,10 +90,11 @@ 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;
@@ -105,12 +123,13 @@ struct DummyGUIHelper : public GUIHelperInterface
 	{
 	}
 
-	virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
+                                  unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
+                                  float* depthBuffer, int depthBufferSizeInPixels,
+                                  int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+                                  int startPixelIndex, int width, int height, int* numPixelsCopied)
+	
 	{
-	     if (width)
-            *width = 0;
-        if (height)
-            *height = 0;
         if (numPixelsCopied)
             *numPixelsCopied = 0;
 	}

examples/CommonInterfaces/CommonGraphicsAppInterface.h

@@ -77,7 +77,7 @@ struct CommonGraphicsApp
 	virtual void dumpNextFrameToPng(const char* pngFilename){}
     virtual void dumpFramesToVideo(const char* mp4Filename){}
     
-    virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes){};
+    virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes){}
     
 	virtual void getBackgroundColor(float* red, float* green, float* blue) const
 	{

examples/CommonInterfaces/CommonMultiBodyBase.h

@@ -63,7 +63,7 @@ struct CommonMultiBodyBase : public CommonExampleInterface
 		///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
 		m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
 
-		m_broadphase = new btDbvtBroadphase();
+		m_broadphase = new btDbvtBroadphase();//btSimpleBroadphase();
 
 		m_solver = new btMultiBodyConstraintSolver;
 
@@ -97,6 +97,20 @@ struct CommonMultiBodyBase : public CommonExampleInterface
             {
                 m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
             }
+			
+			for (i = m_dynamicsWorld->getNumMultiBodyConstraints() - 1; i >= 0; i--)
+			{
+				btMultiBodyConstraint* mbc = m_dynamicsWorld->getMultiBodyConstraint(i);
+				m_dynamicsWorld->removeMultiBodyConstraint(mbc);
+				delete mbc;
+			}
+
+			for (i = m_dynamicsWorld->getNumMultibodies() - 1; i >= 0; i--)
+			{
+				btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
+				m_dynamicsWorld->removeMultiBody(mb);
+				delete mb;
+			}
 			for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
 			{
 				btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];

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
@@ -152,12 +155,30 @@ SET(BulletExampleBrowser_SRCS
 	../BasicDemo/BasicExample.h
 	../InverseDynamics/InverseDynamicsExample.cpp
 	../InverseDynamics/InverseDynamicsExample.h
+	../InverseKinematics/InverseKinematicsExample.cpp
+	../InverseKinematics/InverseKinematicsExample.h
 	../ForkLift/ForkLiftDemo.cpp
 	../ForkLift/ForkLiftDemo.h
 	../Tutorial/Tutorial.cpp
 	../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 +210,12 @@ SET(BulletExampleBrowser_SRCS
 	../RenderingExamples/TimeSeriesCanvas.h
 	../RenderingExamples/TimeSeriesFontData.cpp
 	../RenderingExamples/TimeSeriesFontData.h
-
+	../RoboticsLearning/GripperGraspExample.cpp
+	../RoboticsLearning/GripperGraspExample.h
+	../RoboticsLearning/b3RobotSimAPI.cpp
+	../RoboticsLearning/b3RobotSimAPI.h
+	../RoboticsLearning/R2D2GraspExample.cpp
+	../RoboticsLearning/R2D2GraspExample.h
 	../RenderingExamples/CoordinateSystemDemo.cpp
 	../RenderingExamples/CoordinateSystemDemo.h
 	../RenderingExamples/RaytracerSetup.cpp
@@ -276,6 +302,17 @@ SET(BulletExampleBrowser_SRCS
 
 	../ThirdPartyLibs/stb_image/stb_image.cpp
 	../ThirdPartyLibs/stb_image/stb_image.h
+	
+	../ThirdPartyLibs/BussIK/Jacobian.cpp
+	../ThirdPartyLibs/BussIK/Tree.cpp
+	../ThirdPartyLibs/BussIK/Node.cpp
+	../ThirdPartyLibs/BussIK/LinearR2.cpp
+	../ThirdPartyLibs/BussIK/LinearR3.cpp
+	../ThirdPartyLibs/BussIK/LinearR4.cpp
+	../ThirdPartyLibs/BussIK/MatrixRmn.cpp
+	../ThirdPartyLibs/BussIK/VectorRn.cpp
+	../ThirdPartyLibs/BussIK/Misc.cpp
+	
 
 	../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
 	../ThirdPartyLibs/tinyxml/tinystr.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -45,6 +45,9 @@
 #include "../Tutorial/Dof6ConstraintTutorial.h"
 #include "../MultiThreading/MultiThreadingExample.h"
 #include "../InverseDynamics/InverseDynamicsExample.h"
+#include "../RoboticsLearning/R2D2GraspExample.h"
+#include "../RoboticsLearning/GripperGraspExample.h"
+#include "../InverseKinematics/InverseKinematicsExample.h"
 
 #ifdef ENABLE_LUA
 #include "../LuaDemo/LuaPhysicsSetup.h"
@@ -57,7 +60,7 @@
 #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 +68,10 @@
 #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
 {
@@ -94,7 +101,6 @@ static ExampleEntry gDefaultExamples[]=
 
 	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.",
@@ -114,21 +120,30 @@ 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),
 	ExampleEntry(1,"TestPendulum","Simulate a pendulum using btMultiBody with a constant joint torque applied. The same code is also used as a unit test comparing Bullet with the numerical solution of second-order non-linear differential equation stored in pendulum_gold.h", TestPendulumCreateFunc),
 
- ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
+	ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
 	ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
-	  ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
+	ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
 
 
-	 ExampleEntry(0,"Inverse Dynamics"),
+	ExampleEntry(0,"Inverse Dynamics"),
-      ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
+    ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
-      ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
+    ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
+
+	ExampleEntry(0, "Inverse Kinematics"),
+	ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS),
+	ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS),
+    ExampleEntry(1, "DLS-SVD", "Damped Least Squares with Singular Value Decomposition by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS_SVD),
+
+    
+    
+	ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS),
+	ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO),
+
 
 	ExampleEntry(0,"Tutorial"),
 	ExampleEntry(1,"Constant Velocity","Free moving rigid body, without external or constraint forces", TutorialCreateFunc,TUT_VELOCITY),
@@ -184,7 +199,7 @@ static ExampleEntry gDefaultExamples[]=
 #endif //INCLUDE_CLOTH_DEMOS
 
 	///we disable the benchmarks in debug mode, they are way too slow and benchmarking in debug mode is not recommended
-#ifndef _DEBUG
+//#ifndef _DEBUG
 	ExampleEntry(0,"Benchmarks"),
 	ExampleEntry(1,"3000 boxes", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ", BenchmarkCreateFunc, 1),
 	ExampleEntry(1,"1000 stack", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ",
@@ -194,7 +209,7 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(1,"Prim vs Mesh", "Benchmark the performance and stability of rigid bodies using primitive collision shapes (btSphereShape, btBoxShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 5),
 	ExampleEntry(1,"Convex vs Mesh", "Benchmark the performance and stability of rigid bodies using convex hull collision shapes (btConvexHullShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 6),
 	ExampleEntry(1,"Raycast", "Benchmark the performance of the btCollisionWorld::rayTest. Note that currently the rays are not rendered.", BenchmarkCreateFunc, 7),
-#endif
+//#endif
 
 
 
@@ -241,11 +256,13 @@ 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","Work-in-progress, experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT),
+    ExampleEntry(1,"Contact for Grasp","Grasp experiment to improve contact model", GripperGraspExampleCreateFunc),
+	
 
 
 #ifdef ENABLE_LUA
@@ -273,11 +290,16 @@ 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/GwenGUISupport/GraphingTexture.cpp

@@ -21,6 +21,7 @@ void GraphingTexture::destroy()
 	m_height=0;
 	glDeleteTextures(1,(GLuint*)&m_textureId);
 	m_textureId=0;
+	
 }
 
 bool GraphingTexture::create(int texWidth, int texHeight)

examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp

@@ -4,7 +4,7 @@
 #include "LinearMath/btQuickprof.h"
 
 
-
+#ifndef BT_NO_PROFILE  
 
 
 class MyProfileWindow : public Gwen::Controls::WindowControl
@@ -42,9 +42,10 @@ protected:
 	}
 public:
 	
-  
+	
 	CProfileIterator* profIter;
 	
+	class MyMenuItems* m_menuItems;
 	MyProfileWindow (	Gwen::Controls::Base* pParent)
     : Gwen::Controls::WindowControl( pParent ),
 	profIter(0)
@@ -83,6 +84,12 @@ public:
 		
 	}
 	
+	virtual ~MyProfileWindow()
+	{
+		
+		delete m_node;
+		delete m_ctrl;
+	}
 	
 	float	dumpRecursive(CProfileIterator* profileIterator, Gwen::Controls::TreeNode* parentNode)
 	{
@@ -266,11 +273,16 @@ public:
 MyProfileWindow* setupProfileWindow(GwenInternalData* data)
 {
 	MyMenuItems* menuItems = new MyMenuItems;
+	
 	MyProfileWindow* profWindow = new MyProfileWindow(data->pCanvas);
 	//profWindow->SetHidden(true);	
-	profWindow->profIter = CProfileManager::Get_Iterator();
+	
+	profWindow->m_menuItems = menuItems;
+	//profWindow->profIter = CProfileManager::Get_Iterator();
 	data->m_viewMenu->GetMenu()->AddItem( L"Profiler", menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::MenuItemSelect);
+	
 	menuItems->m_profWindow = profWindow;
+	
 	return profWindow;
 }
 
@@ -290,5 +302,8 @@ void profileWindowSetVisible(MyProfileWindow* window, bool visible)
 }
 void destroyProfileWindow(MyProfileWindow* window)
 {
+	CProfileManager::Release_Iterator(window->profIter);
 	delete window;
 }
+
+#endif //BT_NO_PROFILE

examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h

@@ -45,7 +45,10 @@ struct GwenInternalData
 	Gwen::Controls::ListBox*		m_TextOutput;
 	Gwen::Controls::Label*		m_exampleInfoGroupBox;
 	Gwen::Controls::ListBox*			m_exampleInfoTextOutput;
-	
+	struct MyTestMenuBar*		m_menubar;
+	Gwen::Controls::StatusBar* m_bar;
+	Gwen::Controls::ScrollControl* m_windowRight;
+	Gwen::Controls::TabControl* m_tab;
 
 	int		m_curYposition;
 

examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp

@@ -17,6 +17,83 @@ GwenUserInterface::GwenUserInterface()
 
 }
 
+class MyMenuItems : public Gwen::Controls::Base
+{
+public:
+
+	b3FileOpenCallback m_fileOpenCallback;
+	b3QuitCallback m_quitCallback;
+
+	MyMenuItems() :Gwen::Controls::Base(0), m_fileOpenCallback(0)
+	{
+	}
+	void myQuitApp(Gwen::Controls::Base* pControl)
+	{
+		if (m_quitCallback)
+		{
+			(*m_quitCallback)();
+		}
+	}
+	void fileOpen(Gwen::Controls::Base* pControl)
+	{
+		if (m_fileOpenCallback)
+		{
+			(*m_fileOpenCallback)();
+		}
+	}
+
+};
+
+
+
+struct MyTestMenuBar : public Gwen::Controls::MenuStrip
+{
+
+	Gwen::Controls::MenuItem* m_fileMenu;
+	Gwen::Controls::MenuItem* m_viewMenu;
+	MyMenuItems*                m_menuItems;
+
+	MyTestMenuBar(Gwen::Controls::Base* pParent)
+		:Gwen::Controls::MenuStrip(pParent)
+	{
+		//		Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
+		{
+			m_menuItems = new MyMenuItems();
+			m_menuItems->m_fileOpenCallback = 0;
+			m_menuItems->m_quitCallback = 0;
+
+			m_fileMenu = AddItem(L"File");
+
+			m_fileMenu->GetMenu()->AddItem(L"Open", m_menuItems, (Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
+			m_fileMenu->GetMenu()->AddItem(L"Quit", m_menuItems, (Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
+			m_viewMenu = AddItem(L"View");
+
+		}
+	}
+	virtual ~MyTestMenuBar()
+	{
+		delete m_menuItems;
+	}
+
+};
+
+
+void	GwenUserInterface::exit()
+{
+	//m_data->m_menubar->RemoveAllChildren();
+	delete m_data->m_tab;
+	delete m_data->m_windowRight;
+	delete m_data->m_leftStatusBar;
+	delete m_data->m_TextOutput;
+	delete m_data->m_rightStatusBar;
+	delete m_data->m_bar;
+	delete m_data->m_menubar;
+	
+	m_data->m_menubar = 0;
+	delete m_data->pCanvas;
+	m_data->pCanvas = 0;
+}
+
 GwenUserInterface::~GwenUserInterface()
 {
 	for (int i=0;i<m_data->m_handlers.size();i++)
@@ -26,72 +103,15 @@ GwenUserInterface::~GwenUserInterface()
 
 	m_data->m_handlers.clear();
 
-
+	
-	delete m_data->pCanvas;
-
-
 	delete m_data;
 
-
-
 }
 
 
 
 
-class MyMenuItems :  public Gwen::Controls::Base
-{
-public:
 
-    b3FileOpenCallback m_fileOpenCallback;
-    b3QuitCallback m_quitCallback;
-    
-    MyMenuItems() :Gwen::Controls::Base(0),m_fileOpenCallback(0)
-    {
-    }
-    void myQuitApp( Gwen::Controls::Base* pControl )
-    {
-        if (m_quitCallback)
-        {
-            (*m_quitCallback)();
-        }
-    }
-    void fileOpen( Gwen::Controls::Base* pControl )
-    {
-        if (m_fileOpenCallback)
-        {
-            (*m_fileOpenCallback)();
-        }
-    }
-    
-};
-
-struct MyTestMenuBar : public Gwen::Controls::MenuStrip
-{
-
-	Gwen::Controls::MenuItem* m_fileMenu;
-	Gwen::Controls::MenuItem* m_viewMenu;
-    MyMenuItems*                m_menuItems;
-
-	MyTestMenuBar(Gwen::Controls::Base* pParent)
-		:Gwen::Controls::MenuStrip(pParent)
-	{
-//		Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
-		{
-			m_menuItems = new MyMenuItems();
-            m_menuItems->m_fileOpenCallback = 0;
-            m_menuItems->m_quitCallback = 0;
-            
-			m_fileMenu = AddItem( L"File" );
-			
-            m_fileMenu->GetMenu()->AddItem(L"Open",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
-            m_fileMenu->GetMenu()->AddItem(L"Quit",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
-            m_viewMenu = AddItem( L"View" );
-			
-		}
-	}
-
-};
 
 void	GwenUserInterface::resize(int width, int height)
 {
@@ -232,6 +252,7 @@ void	GwenUserInterface::setStatusBarMessage(const char* message, bool isLeft)
 	}
 }
 
+
 void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback)
 {
     m_data->m_menuItems->m_fileOpenCallback = callback;
@@ -249,35 +270,43 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	m_data->pRenderer = renderer;//new GwenOpenGL3CoreRenderer(m_data->m_primRenderer,stash,width,height,retinaScale);
 
 	m_data->skin.SetRender( m_data->pRenderer );
+	
 
 	m_data->pCanvas= new Gwen::Controls::Canvas( &m_data->skin );
 	m_data->pCanvas->SetSize( width,height);
 	m_data->pCanvas->SetDrawBackground( false);
 	m_data->pCanvas->SetBackgroundColor( Gwen::Color( 150, 170, 170, 255 ) );
-
+	
-
+	
-
+	
 	MyTestMenuBar* menubar = new MyTestMenuBar(m_data->pCanvas);
 	m_data->m_viewMenu = menubar->m_viewMenu;
     m_data->m_menuItems = menubar->m_menuItems;
-    
+	m_data->m_menubar = menubar;
+	
 	
     
-    
 	Gwen::Controls::StatusBar* bar = new Gwen::Controls::StatusBar(m_data->pCanvas);
+	m_data->m_bar = bar;
+	
+
 	m_data->m_rightStatusBar = new Gwen::Controls::Label( bar );
+	
 	m_data->m_rightStatusBar->SetWidth(width/2);
 	//m_data->m_rightStatusBar->SetText( L"Label Added to Right" );
 	bar->AddControl( m_data->m_rightStatusBar, true );
-
+	
 	m_data->m_TextOutput = new Gwen::Controls::ListBox( m_data->pCanvas );
+	
 	m_data->m_TextOutput->Dock( Gwen::Pos::Bottom );
 	m_data->m_TextOutput->SetHeight( 100 );
-
+	
 	m_data->m_leftStatusBar = new Gwen::Controls::Label( bar );
+	
 	//m_data->m_leftStatusBar->SetText( L"Label Added to Left" );
 	m_data->m_leftStatusBar->SetWidth(width/2);
 	bar->AddControl( m_data->m_leftStatusBar,false);
+	
 	//Gwen::KeyboardFocus
 	/*Gwen::Controls::GroupBox* box = new Gwen::Controls::GroupBox(m_data->pCanvas);
 	box->SetText("text");
@@ -289,11 +318,14 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	windowRight->SetWidth(250);
 	windowRight->SetHeight(250);
 	windowRight->SetScroll(false,true);
-
+	m_data->m_windowRight = windowRight;
 
 
 	//windowLeft->SetSkin(
 	Gwen::Controls::TabControl* tab = new Gwen::Controls::TabControl(windowRight);
+	m_data->m_tab = tab;
+
+	
 
 	//tab->SetHeight(300);
 	tab->SetWidth(240);
@@ -304,7 +336,8 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 
 	Gwen::UnicodeString str1(L"Params");
 	m_data->m_demoPage = tab->AddPage(str1);
-
+	
+	
 
 
 
@@ -348,7 +381,7 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	//windowLeft->SetClosable(false);
 	//	windowLeft->SetShouldDrawBackground(true);
 	windowLeft->SetTabable(true);
-
+	
 	Gwen::Controls::TabControl* explorerTab = new Gwen::Controls::TabControl(windowLeft);
 
 	//tab->SetHeight(300);
@@ -388,7 +421,6 @@ void	GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
 	m_data->m_exampleInfoGroupBox->SetText("Example Description");
 
 	m_data->m_exampleInfoTextOutput = new Gwen::Controls::ListBox(m_data->m_explorerPage->GetPage());
-	
 
 	//m_data->m_exampleInfoTextOutput->Dock( Gwen::Pos::Bottom );
 	m_data->m_exampleInfoTextOutput->SetPos(2, 332);

examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h

@@ -26,6 +26,7 @@ class GwenUserInterface
 		virtual ~GwenUserInterface();
 		
 		void	init(int width, int height,Gwen::Renderer::Base* gwenRenderer,float retinaScale);
+		void	exit();
 		void	setFocus();
 		void	forceUpdateScrollBars();
 		

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;
 
@@ -332,6 +332,7 @@ btInProcessExampleBrowserInternalData* btCreateInProcessExampleBrowser(int argc,
 
 	while (data->m_args.m_cs->getSharedParam(0)==eExampleBrowserIsUnInitialized)
 	{
+		b3Clock::usleep(1000);
 	}
 
 	return data;
@@ -366,10 +367,11 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
                         } else
                         {
 //                              printf("polling..");
+							b3Clock::usleep(1000);
                         }
                 };
 
-	printf("stopping threads\n");
+	printf("btShutDownExampleBrowser stopping threads\n");
 	delete data->m_threadSupport;
 	delete data->m_sharedMem;
 	delete data;

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -42,26 +42,72 @@
 #include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
 #include "../Importers/ImportBullet/SerializeSetup.h"
 
+#include "Bullet3Common/b3HashMap.h"
+
+struct GL3TexLoader : public MyTextureLoader
+{
+	b3HashMap<b3HashString, GLint> m_hashMap;
+
+	virtual void LoadTexture(Gwen::Texture* pTexture)
+	{
+		Gwen::String namestr = pTexture->name.Get();
+		const char* n = namestr.c_str();
+		GLint* texIdPtr = m_hashMap[n];
+		if (texIdPtr)
+		{
+			pTexture->m_intData = *texIdPtr;
+		}
+	}
+	virtual void FreeTexture(Gwen::Texture* pTexture)
+	{
+	}
+};
+
+
+struct OpenGLExampleBrowserInternalData
+{
+	Gwen::Renderer::Base* m_gwenRenderer;
+	CommonGraphicsApp* m_app;
+//	MyProfileWindow* m_profWindow;
+	btAlignedObjectArray<Gwen::Controls::TreeNode*> m_nodes;
+	GwenUserInterface* m_gui;
+	GL3TexLoader* m_myTexLoader;
+	struct MyMenuItemHander* m_handler2;
+	btAlignedObjectArray<MyMenuItemHander*> m_handlers;
+
+	OpenGLExampleBrowserInternalData()
+		: m_gwenRenderer(0),
+		m_app(0),
+//		m_profWindow(0),
+		m_gui(0),
+		m_myTexLoader(0),
+		m_handler2(0)
+	{
+
+	}
+};
+
 static CommonGraphicsApp* s_app=0;
 
 static CommonWindowInterface* s_window = 0;
 static CommonParameterInterface*	s_parameterInterface=0;
 static CommonRenderInterface*	s_instancingRenderer=0;
 static OpenGLGuiHelper*	s_guiHelper=0;
-static MyProfileWindow* s_profWindow =0;
+//static MyProfileWindow* s_profWindow =0;
 static SharedMemoryInterface* sSharedMem = 0;
 
 #define DEMO_SELECTION_COMBOBOX 13
 const char* startFileName = "0_Bullet3Demo.txt";
 char staticPngFileName[1024];
-static GwenUserInterface* gui  = 0;
+//static GwenUserInterface* gui  = 0;
+static GwenUserInterface* gui2 = 0;
 static int sCurrentDemoIndex = -1;
 static int sCurrentHightlighted = 0;
 static CommonExampleInterface* sCurrentDemo = 0;
 static b3AlignedObjectArray<const char*> allNames;
 static float gFixedTimeStep = 0;
 bool gAllowRetina = true;
-
+bool gDisableDemoSelection = false;
 static class ExampleEntries* gAllExamples=0;
 bool sUseOpenGL2 = false;
 bool drawGUI=true;
@@ -111,6 +157,7 @@ void deleteDemo()
 }
 
 const char* gPngFileName = 0;
+int gPngSkipFrames = 0;
 
 
 
@@ -123,9 +170,9 @@ void MyKeyboardCallback(int key, int state)
 	//b3Printf("key=%d, state=%d", key, state);
 	bool handled = false;
 	
-	if (gui && !handled )
+	if (gui2 && !handled )
 	{
-		handled = gui->keyboardCallback(key, state);
+		handled = gui2->keyboardCallback(key, state);
 	}
 	
 	if (!handled && sCurrentDemo)
@@ -223,11 +270,11 @@ void MyKeyboardCallback(int key, int state)
 b3MouseMoveCallback prevMouseMoveCallback = 0;
 static void MyMouseMoveCallback( float x, float y)
 {
-	bool handled = false;
+  	bool handled = false;
 	if (sCurrentDemo)
 		handled = sCurrentDemo->mouseMoveCallback(x,y);
-	if (!handled && gui)
+	if (!handled && gui2)
-		handled = gui->mouseMoveCallback(x,y);
+		handled = gui2->mouseMoveCallback(x,y);
 	if (!handled)
 	{
 		if (prevMouseMoveCallback)
@@ -244,8 +291,8 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
 	if (sCurrentDemo)
 		handled = sCurrentDemo->mouseButtonCallback(button,state,x,y);
 
-	if (!handled && gui)
+	if (!handled && gui2)
-		handled = gui->mouseButtonCallback(button,state,x,y);
+		handled = gui2->mouseButtonCallback(button,state,x,y);
 
 	if (!handled)
 	{
@@ -333,7 +380,10 @@ void selectDemo(int demoIndex)
 	CommonExampleInterface::CreateFunc* func = gAllExamples->getExampleCreateFunc(demoIndex);
 	if (func)
 	{
-		s_parameterInterface->removeAllParameters();
+		if (s_parameterInterface)
+		{
+			s_parameterInterface->removeAllParameters();
+		}
 		int option = gAllExamples->getExampleOption(demoIndex);
 		s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
 		CommonExampleOptions options(s_guiHelper, option);
@@ -341,12 +391,15 @@ void selectDemo(int demoIndex)
 		sCurrentDemo = (*func)(options);
 		if (sCurrentDemo)
 		{
-			if (gui)
+			if (gui2)
 			{
-				gui->setStatusBarMessage("Status: OK", false);
+				gui2->setStatusBarMessage("Status: OK", false);
 			}
 			b3Printf("Selected demo: %s",gAllExamples->getExampleName(demoIndex));
-			gui->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
+			if (gui2)
+			{
+				gui2->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
+			}
 			
 			sCurrentDemo->initPhysics();
 			if(resetCamera)
@@ -399,7 +452,6 @@ 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]};
 		
@@ -438,10 +490,10 @@ void	MyComboBoxCallback(int comboId, const char* item)
 void MyGuiPrintf(const char* msg)
 {
 	printf("b3Printf: %s\n",msg);
-	if (gui)
+	if (gui2)
 	{
-		gui->textOutput(msg);
+		gui2->textOutput(msg);
-		gui->forceUpdateScrollBars();
+		gui2->forceUpdateScrollBars();
 	}
 }
 
@@ -450,10 +502,10 @@ void MyGuiPrintf(const char* msg)
 void MyStatusBarPrintf(const char* msg)
 {
 	printf("b3Printf: %s\n", msg);
-	if (gui)
+	if (gui2)
 	{
 		bool isLeft = true;
-		gui->setStatusBarMessage(msg,isLeft);
+		gui2->setStatusBarMessage(msg,isLeft);
 	}
 }
 
@@ -461,13 +513,15 @@ void MyStatusBarPrintf(const char* msg)
 void MyStatusBarError(const char* msg)
 {
 	printf("Warning: %s\n", msg);
-	if (gui)
+	if (gui2)
 	{
 		bool isLeft = false;
-		gui->setStatusBarMessage(msg,isLeft);
+		gui2->setStatusBarMessage(msg,isLeft);
-		gui->textOutput(msg);
+		gui2->textOutput(msg);
-		gui->forceUpdateScrollBars();
+		gui2->forceUpdateScrollBars();
 	}
+  btAssert(0);
+
 }
 
 struct MyMenuItemHander :public Gwen::Event::Handler
@@ -502,9 +556,11 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
 		//const char* ha = laa.c_str();
 
-		
+		if (!gDisableDemoSelection )
-		selectDemo(sCurrentHightlighted);
+		{
-		saveCurrentSettings(sCurrentDemoIndex, startFileName);
+			selectDemo(sCurrentHightlighted);
+			saveCurrentSettings(sCurrentDemoIndex, startFileName);
+		}
 	}
 	void onButtonC(Gwen::Controls::Base* pControl)
 	{
@@ -526,8 +582,11 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 		*/
 
 	//	printf("onKeyReturn ! \n");
-		selectDemo(sCurrentHightlighted);
+		if (!gDisableDemoSelection )
-		saveCurrentSettings(sCurrentDemoIndex, startFileName);
+		{
+			selectDemo(sCurrentHightlighted);
+			saveCurrentSettings(sCurrentDemoIndex, startFileName);
+		}
 
 	}
 
@@ -535,7 +594,7 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 	{
 	//	printf("select %d\n",m_buttonId);
 		sCurrentHightlighted = m_buttonId;
-		gui->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
+		gui2->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
 	}
 
 	void onButtonF(Gwen::Controls::Base* pControl)
@@ -550,26 +609,6 @@ struct MyMenuItemHander :public Gwen::Event::Handler
 
 
 
-};
-#include "Bullet3Common/b3HashMap.h"
-
-struct GL3TexLoader : public MyTextureLoader
-{
-	b3HashMap<b3HashString,GLint> m_hashMap;
-	
-	virtual void LoadTexture( Gwen::Texture* pTexture )
-	{
-		Gwen::String namestr = pTexture->name.Get();
-		const char* n = namestr.c_str();
-		GLint* texIdPtr = m_hashMap[n];
-		if (texIdPtr)
-		{
-			pTexture->m_intData = *texIdPtr;
-		}
-	}
-	virtual void FreeTexture( Gwen::Texture* pTexture )
-	{
-	}
 };
 
 void quitCallback()
@@ -600,10 +639,12 @@ struct QuickCanvas : public Common2dCanvasInterface
 	MyGraphWindow* m_gw[MAX_GRAPH_WINDOWS];
 	GraphingTexture* m_gt[MAX_GRAPH_WINDOWS];
 	int m_curNumGraphWindows;
+	int m_curXpos;
 
 	QuickCanvas(GL3TexLoader* myTexLoader)
 		:m_myTexLoader(myTexLoader),
-		m_curNumGraphWindows(0)
+		m_curNumGraphWindows(0),
+		m_curXpos(0)
 	{
 		for (int i=0;i<MAX_GRAPH_WINDOWS;i++)
 		{
@@ -624,10 +665,11 @@ struct QuickCanvas : public Common2dCanvasInterface
 			
 			m_curNumGraphWindows++;
 
-			MyGraphInput input(gui->getInternalData());
+			MyGraphInput input(gui2->getInternalData());
 			input.m_width=width;
 			input.m_height=height;
-			input.m_xPos = 10000;//GUI will clamp it to the right//300;
+			input.m_xPos = m_curXpos;//GUI will clamp it to the right//300;
+			m_curXpos+=width+20;
 			input.m_yPos = 10000;//GUI will clamp it to bottom
 			input.m_name=canvasName;
 			input.m_texName = canvasName;
@@ -643,8 +685,12 @@ struct QuickCanvas : public Common2dCanvasInterface
 	}
 	virtual void destroyCanvas(int canvasId)
 	{
+	    m_curXpos = 0;
 		btAssert(canvasId>=0);
+		delete m_gt[canvasId];
+		m_gt[canvasId] = 0;
 		destroyTextureWindow(m_gw[canvasId]);
+		m_gw[canvasId] = 0;
 		m_curNumGraphWindows--;
 	}
 	virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
@@ -670,12 +716,51 @@ struct QuickCanvas : public Common2dCanvasInterface
 
 OpenGLExampleBrowser::OpenGLExampleBrowser(class ExampleEntries* examples)
 {
+	m_internalData = new OpenGLExampleBrowserInternalData;
+
 	gAllExamples = examples;
 }
 
 OpenGLExampleBrowser::~OpenGLExampleBrowser()
 {
-    deleteDemo();
+	deleteDemo();
+	for (int i = 0; i < m_internalData->m_nodes.size(); i++)
+	{
+		delete m_internalData->m_nodes[i];
+	}
+	delete m_internalData->m_handler2;
+	for (int i = 0; i < m_internalData->m_handlers.size(); i++)
+	{
+		delete m_internalData->m_handlers[i];
+	}
+	m_internalData->m_handlers.clear();
+	m_internalData->m_nodes.clear();
+	delete s_parameterInterface;
+	s_parameterInterface = 0;
+	delete s_app->m_2dCanvasInterface;
+	s_app->m_2dCanvasInterface = 0;
+
+	m_internalData->m_gui->exit();
+	
+
+	delete m_internalData->m_gui;
+	delete m_internalData->m_gwenRenderer;
+	delete m_internalData->m_myTexLoader;
+
+
+
+
+	
+	delete m_internalData->m_app;
+	s_app = 0;
+	
+	
+	
+//	delete m_internalData->m_profWindow;
+	
+	delete m_internalData;
+    
+	gFileImporterByExtension.clear();
 	gAllExamples = 0;
 }
 
@@ -688,7 +773,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	loadCurrentSettings(startFileName, args);
 
 	args.GetCmdLineArgument("fixed_timestep",gFixedTimeStep);
-	
+	args.GetCmdLineArgument("png_skip_frames", gPngSkipFrames);	
 	///The OpenCL rigid body pipeline is experimental and 
 	///most OpenCL drivers and OpenCL compilers have issues with our kernels.
 	///If you have a high-end desktop GPU such as AMD 7970 or better, or NVIDIA GTX 680 with up-to-date drivers
@@ -727,17 +812,17 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
         s_app = new SimpleOpenGL2App(title,width,height);
         s_app->m_renderer = new SimpleOpenGL2Renderer(width,height);
     } 
+
 #ifndef NO_OPENGL3
 	else
     {
 		char title[1024];
 		sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
         simpleApp = new SimpleOpenGL3App(title,width,height, gAllowRetina);
-
-        
         s_app = simpleApp;
     }
 #endif
+	m_internalData->m_app = s_app;
     char* gVideoFileName = 0;
     args.GetCmdLineArgument("mp4",gVideoFileName);
    #ifndef NO_OPENGL3 
@@ -793,43 +878,67 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 
     assert(glGetError()==GL_NO_ERROR);
 	
+	{
+		GL3TexLoader* myTexLoader = new GL3TexLoader;
+		m_internalData->m_myTexLoader = myTexLoader;
 
-	gui = new GwenUserInterface;
+		sth_stash* fontstash = simpleApp->getFontStash();
-	GL3TexLoader* myTexLoader = new GL3TexLoader;
+		
-    
+		if (sUseOpenGL2)
-    Gwen::Renderer::Base* gwenRenderer = 0;
+		{
-    if (sUseOpenGL2 )
+			m_internalData->m_gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
-    {
+		}
-        gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
-    } 
 #ifndef NO_OPENGL3
-	else
+		else
-    {
+		{
-        sth_stash* fontstash=simpleApp->getFontStash();
+			sth_stash* fontstash = simpleApp->getFontStash();
-        gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer,fontstash,width,height,s_window->getRetinaScale(),myTexLoader);
+			m_internalData->m_gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer, fontstash, width, height, s_window->getRetinaScale(), myTexLoader);
-    }
+		}
 #endif
+
+		gui2 = new GwenUserInterface;
+		
+		m_internalData->m_gui = gui2;
+		
+		m_internalData->m_myTexLoader = myTexLoader;
+
+
+		
+		gui2->init(width, height, m_internalData->m_gwenRenderer, s_window->getRetinaScale());
+		
+		
+	}
+	//gui = 0;// new GwenUserInterface;
+	
+	GL3TexLoader* myTexLoader = m_internalData->m_myTexLoader;
+	// = myTexLoader;
+    
+    
+ 
 	//
 
-	gui->init(width,height,gwenRenderer,s_window->getRetinaScale());
+	if (gui2)
-	
+	{
-	
+		
-	
-	
-//	gui->getInternalData()->m_explorerPage
-	Gwen::Controls::TreeControl* tree = gui->getInternalData()->m_explorerTreeCtrl;
 
+
+
+
+		//	gui->getInternalData()->m_explorerPage
+		Gwen::Controls::TreeControl* tree = gui2->getInternalData()->m_explorerTreeCtrl;
+
+
+		//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
+
+
+//		s_profWindow= setupProfileWindow(gui2->getInternalData());
+		//m_internalData->m_profWindow = s_profWindow;
+	//	profileWindowSetVisible(s_profWindow,false);
+		gui2->setFocus();
+
+		s_parameterInterface = s_app->m_parameterInterface = new GwenParameterInterface(gui2->getInternalData());
+		s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
 	
-	//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
-
-	
-	s_profWindow= setupProfileWindow(gui->getInternalData());
-	profileWindowSetVisible(s_profWindow,false);
-	gui->setFocus();
-
-	s_parameterInterface  = s_app->m_parameterInterface = new GwenParameterInterface(gui->getInternalData());
-	s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
-
 
 	///add some demos to the gAllExamples
 
@@ -840,7 +949,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	//int curDemo = 0;
 	int selectedDemo = 0;
 	Gwen::Controls::TreeNode* curNode = tree;
-	MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
+	m_internalData->m_handler2 = new MyMenuItemHander(-1);
 
 	char* demoNameFromCommandOption = 0;
 	args.GetCmdLineArgument("start_demo_name", demoNameFromCommandOption);
@@ -848,7 +957,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		selectedDemo = -1;
 	}
 
-	tree->onReturnKeyDown.Add(handler2, &MyMenuItemHander::onButtonD);
+	tree->onReturnKeyDown.Add(m_internalData->m_handler2, &MyMenuItemHander::onButtonD);
 	int firstAvailableDemoIndex=-1;
 	Gwen::Controls::TreeNode* firstNode=0;
 
@@ -895,13 +1004,18 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 				}
 			}
 
+#if 1
 			MyMenuItemHander* handler = new MyMenuItemHander(d);
+			m_internalData->m_handlers.push_back(handler);
+			
 			pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonA);
 			pNode->GetButton()->onDoubleClick.Add(handler, &MyMenuItemHander::onButtonB);
 			pNode->GetButton()->onDown.Add(handler, &MyMenuItemHander::onButtonC);
 			pNode->onSelect.Add(handler, &MyMenuItemHander::onButtonE);
 			pNode->onReturnKeyDown.Add(handler, &MyMenuItemHander::onButtonG);
 			pNode->onSelectChange.Add(handler, &MyMenuItemHander::onButtonF);
+			
+#endif
 //			pNode->onKeyReturn.Add(handler, &MyMenuItemHander::onButtonD);
 //			pNode->GetButton()->onKeyboardReturn.Add(handler, &MyMenuItemHander::onButtonD);
 	//		pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonD);
@@ -911,6 +1025,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		 else
 		 {
 			 curNode = tree->AddNode(nodeUText);
+			 m_internalData->m_nodes.push_back(curNode);
 		 }
 	}
 
@@ -929,6 +1044,9 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		}
 
 	}
+	free(demoNameFromCommandOption);
+	demoNameFromCommandOption = 0;
+
 	btAssert(sCurrentDemo!=0);
 	if (sCurrentDemo==0)
 	{
@@ -936,9 +1054,11 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 		exit(0);
 	}
 	
-    gui->registerFileOpenCallback(fileOpenCallback);
+    gui2->registerFileOpenCallback(fileOpenCallback);
-	gui->registerQuitCallback(quitCallback);
+	gui2->registerQuitCallback(quitCallback);
-   
+   }
+
+
 	return true;
 }
 
@@ -971,14 +1091,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
             s_instancingRenderer->updateCamera(dg.upAxis);
         }
 
-		if (renderGrid)
+		
-        {
-            BT_PROFILE("Draw Grid");
-			glPolygonOffset(3.0, 3);
-			glEnable(GL_POLYGON_OFFSET_FILL);
-            s_app->drawGrid(dg);
-			
-        }
 		static int frameCount = 0;
 		frameCount++;
 
@@ -990,6 +1103,24 @@ void OpenGLExampleBrowser::update(float deltaTime)
             s_app->drawText(bla,10,10);
 		}
 
+    if (gPngFileName)
+    {
+        
+        static int skip = 0;
+        skip--;
+        if (skip<0)
+        {
+            skip=gPngSkipFrames;
+            //printf("gPngFileName=%s\n",gPngFileName);
+            static int s_frameCount = 100;
+            
+            sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
+            //b3Printf("Made screenshot %s",staticPngFileName);
+            s_app->dumpNextFrameToPng(staticPngFileName);
+            glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+        }
+    }
+
 		
 		if (sCurrentDemo)
 		{
@@ -998,24 +1129,6 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				//printf("---------------------------------------------------\n");
 				//printf("Framecount = %d\n",frameCount);
 
-				if (gPngFileName)
-				{
-					
-					static int skip = 0;
-					skip++;
-					if (skip>4)
-					{
-						skip=0;
-						//printf("gPngFileName=%s\n",gPngFileName);
-						static int s_frameCount = 100;
-						
-						sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
-						//b3Printf("Made screenshot %s",staticPngFileName);
-						s_app->dumpNextFrameToPng(staticPngFileName);
-						 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
-					}
-				}
-				
 
 				if (gFixedTimeStep>0)
 				{
@@ -1026,6 +1139,14 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				}
 			}
 			
+			if (renderGrid)
+            {
+                BT_PROFILE("Draw Grid");
+                glPolygonOffset(3.0, 3);
+                glEnable(GL_POLYGON_OFFSET_FILL);
+                s_app->drawGrid(dg);
+                
+            }
 			if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))
             {
 				if (visualWireframe)
@@ -1042,9 +1163,11 @@ void OpenGLExampleBrowser::update(float deltaTime)
             }
 		}
 
+    
+
 		{
 			
-			if (s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
+			if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
 			{
 				char msg[1024];
 				float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
@@ -1053,7 +1176,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				float camTarget[3];
 				s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
 				sprintf(msg,"dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
-				gui->setStatusBarMessage(msg, true);	
+				gui2->setStatusBarMessage(msg, true);	
 			}
 			
 		}
@@ -1061,16 +1184,24 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		static int toggle = 1;
 		if (renderGui)
 		{
-            if (!pauseSimulation)
+			//            if (!pauseSimulation)
-                processProfileData(s_profWindow,false);
+			//                processProfileData(s_profWindow,false);
 
-            if (sUseOpenGL2)
+			if (sUseOpenGL2)
 			{
-					
+
-				saveOpenGLState(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
+				saveOpenGLState(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
 			}
-            BT_PROFILE("Draw Gwen GUI");
+			BT_PROFILE("Draw Gwen GUI");
-            gui->draw(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
+			if (m_internalData->m_gui)
+			{
+				m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
+			}
+			if (gui2)
+			{
+				gui2->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
+			}
+
             if (sUseOpenGL2)
             {
                 restoreOpenGLState();
@@ -1084,18 +1215,25 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		toggle=1-toggle;
         {
             BT_PROFILE("Sync Parameters");
-            s_parameterInterface->syncParameters();
+			if (s_parameterInterface)
+			{
+				s_parameterInterface->syncParameters();
+			}
         }
         {
             BT_PROFILE("Swap Buffers");
             s_app->swapBuffer();
         }
 	
-		gui->forceUpdateScrollBars();
+		if (gui2)
+		{
+			gui2->forceUpdateScrollBars();
+		}
 
 }
 
 void OpenGLExampleBrowser::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem)
 {
+	gDisableDemoSelection = true;
 	sSharedMem = sharedMem;
 }

examples/ExampleBrowser/OpenGLExampleBrowser.h

@@ -5,6 +5,9 @@
 
 class OpenGLExampleBrowser : public ExampleBrowserInterface
 {
+	
+	struct OpenGLExampleBrowserInternalData* m_internalData;
+
 public:
 
 	OpenGLExampleBrowser(class ExampleEntries* examples);

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -8,7 +8,7 @@
 #include "CollisionShape2TriangleMesh.h"
 
 
-
+#include "../OpenGLWindow/SimpleCamera.h"
 #include "../OpenGLWindow/GLInstanceGraphicsShape.h"
 //backwards compatibility
 #include "GL_ShapeDrawer.h"
@@ -144,8 +144,8 @@ struct OpenGLGuiHelperInternalData
 	class MyDebugDrawer* m_debugDraw;
 	GL_ShapeDrawer* m_gl2ShapeDrawer;
 	
-	btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer;
+	btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
-	btAlignedObjectArray<float> m_depthBuffer;
+	btAlignedObjectArray<float> m_depthBuffer1;
 };
 
 
@@ -167,6 +167,7 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
 
 OpenGLGuiHelper::~OpenGLGuiHelper()
 {
+	delete m_data->m_debugDraw;
 	delete m_data->m_gl2ShapeDrawer;
 	delete m_data;
 }
@@ -199,9 +200,16 @@ 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 +218,10 @@ 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 +259,7 @@ 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);
 	}
 		
@@ -326,19 +338,20 @@ void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float c
 }
 
 
-void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
+void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
+                                          unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
+                                          float* depthBuffer, int depthBufferSizeInPixels, 
+                                          int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+                                          int startPixelIndex, int destinationWidth, 
+                                          int destinationHeight, int* numPixelsCopied)
 {
-    int w = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
+    int sourceWidth = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
-    int h = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
+    int sourceHeight  = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
     
-    if (widthPtr)
-        *widthPtr = w;
-    if (heightPtr)
-        *heightPtr = h;
 	if (numPixelsCopied)
         *numPixelsCopied = 0;
 
-    int numTotalPixels = w*h;
+    int numTotalPixels = destinationWidth*destinationHeight;
     int numRemainingPixels = numTotalPixels - startPixelIndex;
     int numBytesPerPixel = 4;//RGBA
     int numRequestedPixels  = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
@@ -346,22 +359,58 @@ void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBuf
     {
         if (startPixelIndex==0)
         {
-			
+            CommonCameraInterface* oldCam = getRenderInterface()->getActiveCamera();
-			//quick test: render the scene
+			SimpleCamera tempCam;
+			getRenderInterface()->setActiveCamera(&tempCam);
+			getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
 			getRenderInterface()->renderScene();
-            //copy the image into our local cache
+			getRenderInterface()->setActiveCamera(oldCam);
-            m_data->m_rgbaPixelBuffer.resize(w*h*numBytesPerPixel);
+			
-            m_data->m_depthBuffer.resize(w*h);
+			{
-            m_data->m_glApp->getScreenPixels(&(m_data->m_rgbaPixelBuffer[0]),m_data->m_rgbaPixelBuffer.size());
+                btAlignedObjectArray<unsigned char> sourceRgbaPixelBuffer;
-        }
+                btAlignedObjectArray<float> sourceDepthBuffer;
-        for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
+                //copy the image into our local cache
-        {
+                sourceRgbaPixelBuffer.resize(sourceWidth*sourceHeight*numBytesPerPixel);
-            if (pixelsRGBA)
+                sourceDepthBuffer.resize(sourceWidth*sourceHeight);
-            {
+                m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
-                pixelsRGBA[i] = m_data->m_rgbaPixelBuffer[i+startPixelIndex*numBytesPerPixel];
+			
+                m_data->m_rgbaPixelBuffer1.resize(destinationWidth*destinationHeight*numBytesPerPixel);
+                m_data->m_depthBuffer1.resize(destinationWidth*destinationHeight);
+                //rescale and flip
+                
+                for (int i=0;i<destinationWidth;i++)
+                {
+                    for (int j=0;j<destinationHeight;j++)
+                    {
+                        int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
+                        int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
+                        btClamp(xIndex,0,sourceWidth);
+                        btClamp(yIndex,0,sourceHeight);
+                        int bytesPerPixel = 4; //RGBA
+                        
+                        int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
+                        m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
+                        m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
+                        m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
+                        m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
+                    }
+                }
+            }
+        }
+        if (pixelsRGBA)
+        {
+            for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
+            {
+                pixelsRGBA[i] = m_data->m_rgbaPixelBuffer1[i+startPixelIndex*numBytesPerPixel];
+            }
+        }
+        if (depthBuffer)
+        {
+            for (int i=0;i<numRequestedPixels;i++)
+            {
+                depthBuffer[i] = m_data->m_depthBuffer1[i];
             }
         }
-
 		if (numPixelsCopied)
 	        *numPixelsCopied = numRequestedPixels;
 

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);
@@ -45,7 +44,12 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	
 	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);
+	virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], 
+                                  unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, 
+                                  float* depthBuffer, int depthBufferSizeInPixels, 
+                                  int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
+                                  int startPixelIndex, int destinationWidth, 
+                                  int destinationHeight, int* numPixelsCopied);
 
 	virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
     

examples/ExampleBrowser/main.cpp

@@ -1,4 +1,5 @@
 
+
 #include "OpenGLExampleBrowser.h"
 
 #include "Bullet3Common/b3CommandLineArgs.h"
@@ -14,38 +15,45 @@
 #include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
 #include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
 #include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
-
+#include "LinearMath/btAlignedAllocator.h"
 
 
 int main(int argc, char* argv[])
 {
-	b3CommandLineArgs args(argc,argv);
-	b3Clock clock;
-	
-	
-	ExampleEntriesAll examples;
-	examples.initExampleEntries();
-
-	OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
-	bool init = exampleBrowser->init(argc,argv);
-	exampleBrowser->registerFileImporter(".urdf",ImportURDFCreateFunc);
-	exampleBrowser->registerFileImporter(".sdf",ImportSDFCreateFunc);
-	exampleBrowser->registerFileImporter(".obj",ImportObjCreateFunc);
-	exampleBrowser->registerFileImporter(".stl",ImportSTLCreateFunc);
-	
-	clock.reset();
-	if (init)
 	{
-		do 
+		b3CommandLineArgs args(argc, argv);
-		{
+		b3Clock clock;
-			float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
+
-			clock.reset();
+
-			exampleBrowser->update(deltaTimeInSeconds);
+		ExampleEntriesAll examples;
+		examples.initExampleEntries();
+
+		OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
+		bool init = exampleBrowser->init(argc, argv);
+		exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
+		exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
+		exampleBrowser->registerFileImporter(".obj", ImportObjCreateFunc);
+		exampleBrowser->registerFileImporter(".stl", ImportSTLCreateFunc);
+
+		clock.reset();
+		if (init)
+		{
+			do
+			{
+				float deltaTimeInSeconds = clock.getTimeMicroseconds() / 1000000.f;
+				clock.reset();
+				exampleBrowser->update(deltaTimeInSeconds);
+
+			} while (!exampleBrowser->requestedExit());
+		}
+		delete exampleBrowser;
 
-		} while (!exampleBrowser->requestedExit());
 	}
-	delete exampleBrowser;
 	
+#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
+	int numBytesLeaked = btDumpMemoryLeaks();
+	btAssert(numBytesLeaked==0);
+#endif//BT_DEBUG_MEMORY_ALLOCATIONS
 	
 	return 0;
 }

examples/ExampleBrowser/premake4.lua

@@ -45,9 +45,10 @@ project "App_BulletExampleBrowser"
 	defines {"INCLUDE_CLOTH_DEMOS"}
 
         files {
+        	
         "main.cpp",
         "ExampleEntries.cpp",
-        
+        "../InverseKinematics/*",
 		"../TinyRenderer/geometry.cpp",
 		"../TinyRenderer/model.cpp",
 		"../TinyRenderer/tgaimage.cpp",
@@ -86,14 +87,9 @@ 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/*",
@@ -121,6 +117,7 @@ project "App_BulletExampleBrowser"
 		"../ThirdPartyLibs/stb_image/*",
 		"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
 		"../ThirdPartyLibs/tinyxml/*",
+		"../ThirdPartyLibs/BussIK/*",
 		"../GyroscopicDemo/GyroscopicSetup.cpp",
 		"../GyroscopicDemo/GyroscopicSetup.h",
         "../ThirdPartyLibs/tinyxml/tinystr.cpp",

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/ImportColladaDemo/LoadMeshFromCollada.cpp

@@ -28,6 +28,7 @@ subject to the following restrictions:
 #include "btMatrix4x4.h"
 
 
+#define MAX_VISUAL_SHAPES 512
 
 
 struct VertexSource
@@ -288,42 +289,47 @@ void readLibraryGeometries(TiXmlDocument& doc, btAlignedObjectArray<GLInstanceGr
 		}//for each mesh
 		
 		int shapeIndex = visualShapes.size();
-		GLInstanceGraphicsShape& visualShape = visualShapes.expand();
+        if (shapeIndex<MAX_VISUAL_SHAPES)
-		{
+        {
-			visualShape.m_vertices = new b3AlignedObjectArray<GLInstanceVertex>;
+            GLInstanceGraphicsShape& visualShape = visualShapes.expand();
-			visualShape.m_indices = new b3AlignedObjectArray<int>;
+            {
-			int indexBase = 0;
+                visualShape.m_vertices = new b3AlignedObjectArray<GLInstanceVertex>;
+                visualShape.m_indices = new b3AlignedObjectArray<int>;
+                int indexBase = 0;
 
-			btAssert(vertexNormals.size()==vertexPositions.size());
+                btAssert(vertexNormals.size()==vertexPositions.size());
-			for (int v=0;v<vertexPositions.size();v++)
+                for (int v=0;v<vertexPositions.size();v++)
-			{
+                {
-				GLInstanceVertex vtx;
+                    GLInstanceVertex vtx;
-				vtx.xyzw[0] = vertexPositions[v].x();
+                    vtx.xyzw[0] = vertexPositions[v].x();
-				vtx.xyzw[1] = vertexPositions[v].y();
+                    vtx.xyzw[1] = vertexPositions[v].y();
-				vtx.xyzw[2] = vertexPositions[v].z();
+                    vtx.xyzw[2] = vertexPositions[v].z();
-				vtx.xyzw[3] = 1.f;
+                    vtx.xyzw[3] = 1.f;
-				vtx.normal[0] = vertexNormals[v].x();
+                    vtx.normal[0] = vertexNormals[v].x();
-				vtx.normal[1] = vertexNormals[v].y();
+                    vtx.normal[1] = vertexNormals[v].y();
-				vtx.normal[2] = vertexNormals[v].z();
+                    vtx.normal[2] = vertexNormals[v].z();
-				vtx.uv[0] = 0.5f;
+                    vtx.uv[0] = 0.5f;
-				vtx.uv[1] = 0.5f;
+                    vtx.uv[1] = 0.5f;
-				visualShape.m_vertices->push_back(vtx);
+                    visualShape.m_vertices->push_back(vtx);
-			}
+                }
 
-			for (int index=0;index<indices.size();index++)
+                for (int index=0;index<indices.size();index++)
-			{
+                {
-				visualShape.m_indices->push_back(indices[index]+indexBase);
+                    visualShape.m_indices->push_back(indices[index]+indexBase);
-			}
+                }
-			
+                
-			
+                
-			//b3Printf(" index_count =%dand vertexPositions.size=%d\n",indices.size(), vertexPositions.size());
+                //b3Printf(" index_count =%dand vertexPositions.size=%d\n",indices.size(), vertexPositions.size());
-			indexBase=visualShape.m_vertices->size();
+                indexBase=visualShape.m_vertices->size();
-			visualShape.m_numIndices = visualShape.m_indices->size();
+                visualShape.m_numIndices = visualShape.m_indices->size();
-			visualShape.m_numvertices = visualShape.m_vertices->size();
+                visualShape.m_numvertices = visualShape.m_vertices->size();
-		}
+            }
-		//b3Printf("geometry name=%s\n",geometryName);
+            //b3Printf("geometry name=%s\n",geometryName);
-		name2Shape.insert(geometryName,shapeIndex);
+            name2Shape.insert(geometryName,shapeIndex);
-		
+        } else
+        {
+            b3Warning("DAE exceeds number of visual shapes (%d/%d)",shapeIndex, MAX_VISUAL_SHAPES);
+        }
 
 	}//for each geometry
 }
@@ -557,7 +563,7 @@ void LoadMeshFromCollada(const char* relativeFileName, btAlignedObjectArray<GLIn
 //	GLInstanceGraphicsShape* instance = 0;
 	
 	//usually COLLADA files don't have that many visual geometries/shapes
-	visualShapes.reserve(32);
+	visualShapes.reserve(MAX_VISUAL_SHAPES);
 
 	float extraScaling = 1;//0.01;
 	btHashMap<btHashString, int> name2ShapeIndex;

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp

@@ -67,7 +67,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
 
                     } else
                     {
-                        b3Warning("not found %s\n",relativeFileName);
+                        b3Warning("not found [%s]\n",relativeFileName);
                     }
 				}
 			}

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -45,6 +45,7 @@ struct BulletURDFInternalData
 	UrdfParser m_urdfParser;
 	struct GUIHelperInterface* m_guiHelper;
 	char m_pathPrefix[1024];
+	int m_bodyId;
 	btHashMap<btHashInt,btVector4> m_linkColors;
     btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
 	
@@ -108,7 +109,8 @@ 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 +134,7 @@ 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);
@@ -174,7 +176,7 @@ bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
     m_data->m_pathPrefix[0] = 0;
     
     if (!fileFound){
-        std::cerr << "URDF file not found" << std::endl;
+        std::cerr << "SDF file not found" << std::endl;
         return false;
     } else
     {
@@ -207,6 +209,18 @@ const char* BulletURDFImporter::getPathPrefix()
 	return m_data->m_pathPrefix;
 }
 
+    
+void BulletURDFImporter::setBodyUniqueId(int bodyId)
+{
+    m_data->m_bodyId =bodyId;
+}
+
+
+int BulletURDFImporter::getBodyUniqueId() const
+{
+    return  m_data->m_bodyId;
+}
+
 
 BulletURDFImporter::~BulletURDFImporter()
 {
@@ -969,16 +983,17 @@ 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);
 			
 		}
 	}
@@ -1003,14 +1018,25 @@ 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
+void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int objectIndex) const
 {
 
   	if (m_data->m_customVisualShapesConverter)
 	{
 		const UrdfModel& model = m_data->m_urdfParser.getModel();
-		m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colObj);
+		m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colObj, objectIndex);
 	}
 
 }
@@ -1045,13 +1071,14 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
 		{
 			const UrdfCollision& col = link->m_collisionArray[v];
 			btCollisionShape* childShape = convertURDFToCollisionShape(&col ,pathPrefix);
+			m_data->m_allocatedCollisionShapes.push_back(childShape);
 			
 			if (childShape)
 			{
 				btTransform childTrans = col.m_linkLocalFrame;
 				
 				compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
-           		}
+			}
 		}
 	}
 	

examples/Importers/ImportURDFDemo/BulletUrdfImporter.h

@@ -25,7 +25,8 @@ public:
     virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
     virtual int getNumModels() const;
     virtual void activateModel(int modelIndex);
-    
+    virtual void setBodyUniqueId(int bodyId);
+    virtual int getBodyUniqueId() const;
 	const char* getPathPrefix();
 
 	void printTree(); //for debugging
@@ -37,6 +38,8 @@ 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;
     
@@ -48,7 +51,7 @@ public:
 
     virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
 
-    virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj) const;
+    virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const;
 
     ///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
     

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -36,7 +36,8 @@ class ImportUrdfSetup : public CommonMultiBodyBase
     struct ImportUrdfInternalData* m_data;
 	bool m_useMultiBody;
 	btAlignedObjectArray<std::string* > m_nameMemory;
-
+	btScalar m_grav;
+	int m_upAxis;
 public:
     ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName);
     virtual ~ImportUrdfSetup();
@@ -65,7 +66,8 @@ 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++)
 		{
@@ -74,16 +76,21 @@ 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;
 
 };
 
 
 ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
-	:CommonMultiBodyBase(helper)
+	:CommonMultiBodyBase(helper),
+	m_grav(0),
+	m_upAxis(2)
 {
 	m_data = new ImportUrdfInternalData;
 
@@ -128,7 +135,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
 		
 		if (gFileNameArray.size()==0)
 		{
-			gFileNameArray.push_back("sphere2.urdf");
+			gFileNameArray.push_back("r2d2.urdf");
 
 		}
 
@@ -182,9 +189,9 @@ void ImportUrdfSetup::setFileName(const char* urdfFileName)
 void ImportUrdfSetup::initPhysics()
 {
 
-	int upAxis = 2;
+	
-	m_guiHelper->setUpAxis(upAxis);
+	m_guiHelper->setUpAxis(m_upAxis);
-
+	
 	this->createEmptyDynamicsWorld();
 	//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
     m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -195,15 +202,19 @@ void ImportUrdfSetup::initPhysics()
         );//+btIDebugDraw::DBG_DrawConstraintLimits);
 
 
-	btVector3 gravity(0,0,0);
+	if (m_guiHelper->getParameterInterface())
-	gravity[upAxis]=-9.8;
+	{
-
+		SliderParams slider("Gravity", &m_grav);
-	m_dynamicsWorld->setGravity(gravity);
+		slider.m_minVal = -10;
+		slider.m_maxVal = 10;
+		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+	}
+	
 
 	BulletURDFImporter u2b(m_guiHelper, 0);
 	
 	
-	bool loadOk =  u2b.loadURDF(m_fileName);
+	bool loadOk = u2b.loadURDF(m_fileName);
 
 #ifdef TEST_MULTIBODY_SERIALIZATION	
 	//test to serialize a multibody to disk or shared memory, with base, link and joint names
@@ -223,7 +234,6 @@ void ImportUrdfSetup::initPhysics()
 		{
 
 
-			btMultiBody* mb = 0;
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
@@ -232,7 +242,13 @@ 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;
+			for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
+			{
+				m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
+			}
 
 			if (m_useMultiBody && mb )
 			{
@@ -341,14 +357,15 @@ void ImportUrdfSetup::initPhysics()
 		if (createGround)
 		{
 			btVector3 groundHalfExtents(20,20,20);
-			groundHalfExtents[upAxis]=1.f;
+			groundHalfExtents[m_upAxis]=1.f;
 			btBoxShape* box = new btBoxShape(groundHalfExtents);
+			m_collisionShapes.push_back(box);
 			box->initializePolyhedralFeatures();
 
 			m_guiHelper->createCollisionShapeGraphicsObject(box);
 			btTransform start; start.setIdentity();
 			btVector3 groundOrigin(0,0,0);
-			groundOrigin[upAxis]=-2.5;
+			groundOrigin[m_upAxis]=-2.5;
 			start.setOrigin(groundOrigin);
 			btRigidBody* body =  createRigidBody(0,start,box);
 			//m_dynamicsWorld->removeRigidBody(body);
@@ -357,8 +374,7 @@ 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
@@ -379,6 +395,10 @@ void ImportUrdfSetup::stepSimulation(float deltaTime)
 {
 	if (m_dynamicsWorld)
 	{
+		btVector3 gravity(0, 0, 0);
+		gravity[m_upAxis] = m_grav;
+		m_dynamicsWorld->setGravity(gravity);
+
         for (int i=0;i<m_data->m_numMotors;i++)
         {
 			if (m_data->m_jointMotors[i])

examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h

@@ -3,7 +3,7 @@
 
 struct LinkVisualShapesConverter
 {
-	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionObject* colObj)=0;
+	virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionObject* colObj, int objectIndex)=0;
 };
 
 #endif //LINK_VISUAL_SHAPES_CONVERTER_H