Properly propagate the applied impulse for the MLCP solvers, so it will be available for contact and non-contact constraints.

Use real-time clock in AllBullet2Demos, rather than hard-coded 1./60.

Demos3/AllBullet2Demos/BulletDemoEntries.h

@@ -25,14 +25,15 @@ static BulletDemoEntry allDemos[]=
 	//{"emptydemo",EmptyBulletDemo::MyCreateFunc},
 	{"BasicDemo",BasicDemo::MyCreateFunc},
 	
-	/*
+	
 	{"ChainDemo",ChainDemo::MyCreateFunc},
+	{"SIHingeDemo",HingeDemo::SICreateFunc},
 	{"PGSHingeDemo",HingeDemo::PGSCreateFunc},
 	{"DantzigHingeDemo",HingeDemo::DantzigCreateFunc},
 	{"LemkeHingeDemo",HingeDemo::LemkeCreateFunc},
 	{"InertiaHingeDemo",HingeDemo::InertiaCreateFunc},
 	{"ABMHingeDemo",HingeDemo::FeatherstoneCreateFunc},
-	*/
+	
 	
 	{"Ragdoll",RagDollDemo::MyCreateFunc},
 	{"MultiBody1",FeatherstoneDemo1::MyCreateFunc},

Demos3/AllBullet2Demos/main.cpp

@@ -5,7 +5,7 @@
 
 #include "../GpuDemos/gwenUserInterface.h"
 #include "BulletDemoEntries.h"
-
+#include "../../btgui/Timing/b3Clock.h"
 #define DEMO_SELECTION_COMBOBOX 13
 const char* startFileName = "bulletDemo.txt";
 static SimpleOpenGL3App* app=0;
@@ -132,7 +132,8 @@ void	MyComboBoxCallback(int comboId, const char* item)
 
 int main(int argc, char* argv[])
 {
-	
+	b3Clock clock;
+
 	float dt = 1./120.f;
 	int width = 1024;
 	int height=768;
@@ -167,6 +168,7 @@ int main(int argc, char* argv[])
 
 	gui->setComboBoxCallback(MyComboBoxCallback);
 
+	unsigned long int	prevTimeInMicroseconds = clock.getTimeMicroseconds();
 
 	do
 	{
@@ -191,7 +193,13 @@ int main(int argc, char* argv[])
 		if (sCurrentDemo)
 		{
 			if (!pauseSimulation)
-				sCurrentDemo->stepSimulation(1./60.f);
+			{
+				unsigned long int	curTimeInMicroseconds = clock.getTimeMicroseconds();
+				unsigned long int diff = curTimeInMicroseconds-prevTimeInMicroseconds;
+				float deltaTimeInSeconds = (diff)*1.e-6;
+				sCurrentDemo->stepSimulation(deltaTimeInSeconds);//1./60.f);
+				prevTimeInMicroseconds = curTimeInMicroseconds;
+			}
 			sCurrentDemo->renderScene();
 		}