rename ObsoleteDemos back to Demos

fix some relative path issues for loading assets

Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.h

@@ -0,0 +1,115 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2013 Erwin Coumans  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.
+*/
+
+///experimental support for Featherstone multi body (articulated hierarchies)
+
+#ifndef FEATHERSTONE_MULTIBODY_DEMO_H
+#define FEATHERSTONE_MULTIBODY_DEMO_H
+
+#ifdef _WINDOWS
+#include "Win32DemoApplication.h"
+#define PlatformDemoApplication Win32DemoApplication
+#else
+#include "GlutDemoApplication.h"
+#define PlatformDemoApplication GlutDemoApplication
+#endif
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+class btMultiBody;
+class btBroadphaseInterface;
+class btCollisionShape;
+class btOverlappingPairCache;
+class btCollisionDispatcher;
+class btConstraintSolver;
+struct btCollisionAlgorithmCreateFunc;
+class btDefaultCollisionConfiguration;
+
+///FeatherstoneMultiBodyDemo is good starting point for learning the code base and porting.
+
+struct btMultiBodySettings
+{
+	btMultiBodySettings()
+	{
+		m_numLinks = 0;
+		m_basePosition.setZero();
+		m_isFixedBase = true;
+		m_usePrismatic = false;
+		m_canSleep = true;
+		m_createConstraints = false;
+		m_disableParentCollision = false;
+	}
+	int			m_numLinks;
+	btVector3	m_basePosition;
+	bool		m_isFixedBase;
+	bool		m_usePrismatic;
+	bool		m_canSleep;
+	bool		m_createConstraints;
+	bool		m_disableParentCollision;
+};
+
+class FeatherstoneMultiBodyDemo : public PlatformDemoApplication
+{
+
+	//keep the collision shapes, for deletion/cleanup
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+
+	btBroadphaseInterface*	m_broadphase;
+
+	btCollisionDispatcher*	m_dispatcher;
+
+	btConstraintSolver*	m_solver;
+
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+	virtual void	mouseMotionFunc(int x,int y);
+	virtual void removePickingConstraint();
+	virtual void pickObject(const btVector3& pickPos, const class btCollisionObject* hitObj);
+	class btMultiBodyPoint2Point*		m_pickingMultiBodyPoint2Point;
+	
+	btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, const btMultiBodySettings& settings);
+
+	public:
+
+	FeatherstoneMultiBodyDemo()
+		:m_pickingMultiBodyPoint2Point(0)
+	{
+	}
+	virtual ~FeatherstoneMultiBodyDemo()
+	{
+		exitPhysics();
+	}
+	void	initPhysics();
+
+	void	exitPhysics();
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+	virtual void	clientResetScene();
+	
+	static DemoApplication* Create()
+	{
+		FeatherstoneMultiBodyDemo* demo = new FeatherstoneMultiBodyDemo;
+		demo->myinit();
+		demo->initPhysics();
+		return demo;
+	}
+
+	
+};
+
+#endif //FEATHERSTONE_MULTIBODY_DEMO_H
+