rename ObsoleteDemos back to Demos

fix some relative path issues for loading assets

Demos/SimplexDemo/SimplexDemo.cpp

@@ -0,0 +1,123 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+/*
+	SimplexDemo demonstrated the working of the subdistance algorithm as used in GJK.
+	It draws the simplex, and calculates the closest vector from simplex to the origin
+*/
+
+#include "GL_Simplex1to4.h"
+#include "LinearMath/btQuaternion.h"
+#include "LinearMath/btTransform.h"
+#include "GL_ShapeDrawer.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
+#include "SimplexDemo.h"
+#include "GlutStuff.h"
+
+btVoronoiSimplexSolver	simplexSolver;
+
+
+
+float yaw=0.f,pitch=0.f,roll=0.f;
+const int maxNumObjects = 4;
+const int numObjects = 1;
+int screenWidth = 640;
+int screenHeight = 480;
+/// simplex contains the vertices, and some extra code to draw and debug
+GL_Simplex1to4	simplex;
+
+
+btPolyhedralConvexShape*	shapePtr[maxNumObjects];
+
+
+///
+///
+///
+int main(int argc,char** argv)
+{
+
+	SimplexDemo* demo = new SimplexDemo();
+
+	demo->initPhysics();
+	
+	return glutmain(argc, argv,screenWidth,screenHeight,"SimplexDemo",demo);
+}
+
+//to be implemented by the demo
+
+void SimplexDemo::clientMoveAndDisplay()
+{
+	
+	displayCallback();
+}
+
+
+
+void SimplexDemo::displayCallback()
+{
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+	glDisable(GL_LIGHTING);
+
+	GL_ShapeDrawer::drawCoordSystem();
+
+	btScalar m[16];
+	int i;
+
+	btVector3 worldBoundsMin(-1000,-1000,-1000);
+	btVector3 worldBoundsMax(1000,1000,1000);
+
+	for (i=0;i<numObjects;i++)
+	{
+		btTransform transA;
+		transA.setIdentity();
+		btVector3	dpos(0.f,5.f,0.f);
+		transA.setOrigin( dpos );
+		btQuaternion orn;
+		orn.setEuler(yaw,pitch,roll);
+		transA.setRotation(orn);
+		transA.getOpenGLMatrix( m );
+
+		/// draw the simplex
+		m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
+
+		/// calculate closest point from simplex to the origin, and draw this vector
+		simplex.calcClosest(m);
+
+	}
+	pitch += 0.005f;
+	yaw += 0.01f;
+
+	glFlush();
+    glutSwapBuffers();
+}
+
+void	SimplexDemo::initPhysics()
+{
+
+	simplex.setSimplexSolver(&simplexSolver);
+
+	simplex.addVertex(btVector3(-2,0,-2));
+	simplex.addVertex(btVector3(2,0,-2));
+	simplex.addVertex(btVector3(0,0,2));
+	simplex.addVertex(btVector3(0,2,0));
+
+	shapePtr[0] = &simplex;
+
+	btTransform tr;
+	tr.setIdentity();
+}
+
+