Move Bullet 2.x demos in a single demo 'AllBullet2Demos', for now only BasicDemo and FeatherstoneDemo is implemented.

Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h

@@ -0,0 +1,113 @@
+
+#ifndef BULLET_MULTI_BODY_DEMOS_H
+#define BULLET_MULTI_BODY_DEMOS_H
+
+#include "LinearMath/btVector3.h"
+
+#include "../../AllBullet2Demos\BulletDemoInterface.h"
+
+
+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 Bullet2MultiBodyDemo : public BulletDemoInterface
+{
+protected:
+
+	SimpleOpenGL3App* m_glApp;
+
+	class btRigidBody*	m_pickedBody;
+	class btTypedConstraint* m_pickedConstraint;
+	btVector3 m_oldPickingPos;
+	btVector3 m_hitPos;
+	btScalar m_oldPickingDist;
+
+	class btMultiBodyPoint2Point*		m_pickingMultiBodyPoint2Point;
+
+	class btMultiBodyDynamicsWorld* m_dynamicsWorld;
+	class btCollisionDispatcher*	m_dispatcher;
+	class btBroadphaseInterface*	m_bp;
+	class btCollisionConfiguration* m_config;
+	class btMultiBodyConstraintSolver* m_solver;
+
+	//btAlignedObjectArray<btMultiBodyLinkCollider*> m_linkColliders;
+
+public:
+	Bullet2MultiBodyDemo(SimpleOpenGL3App* app);
+	virtual void initPhysics();
+	virtual void exitPhysics();
+	virtual ~Bullet2MultiBodyDemo();
+	btVector3	getRayTo(int x,int y);
+	virtual bool	mouseMoveCallback(float x,float y);
+	virtual bool	mouseButtonCallback(int button, int state, float x, float y);
+	virtual bool	keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+};
+
+class FeatherstoneDemo1 : public Bullet2MultiBodyDemo
+{
+	
+public:
+
+	FeatherstoneDemo1(SimpleOpenGL3App* app);
+	virtual ~FeatherstoneDemo1();
+
+
+	static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
+	{
+		return new FeatherstoneDemo1(app);
+	}
+
+	class btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, const btMultiBodySettings& settings);
+
+	void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
+	void addBoxes_testMultiDof();
+
+	void createGround();
+	virtual void	initPhysics();
+	virtual void	exitPhysics();
+	virtual void	renderScene();
+	virtual void	stepSimulation(float deltaTime);
+};
+
+
+class FeatherstoneDemo2 : public FeatherstoneDemo1
+{
+	
+public:
+
+	FeatherstoneDemo2(SimpleOpenGL3App* app);
+	virtual ~FeatherstoneDemo2();
+
+
+	static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
+	{
+		return new FeatherstoneDemo2(app);
+	}
+	
+	virtual void	initPhysics();
+};
+
+
+#endif //BULLET_MULTI_BODY_DEMOS_H
+