created new Bullet 2 CPU BasicDemo, using the OpenGL 3 rendering. I will add picking soon. Hold ctrl/alt + mouse to move/zoom camera

remove reference to btGImpact (it is removed now)

Demos3/bullet2/BasicDemo/main.cpp

@@ -0,0 +1,217 @@
+
+#define ARRAY_SIZE_X 5
+#define ARRAY_SIZE_Y 5
+#define ARRAY_SIZE_Z 5
+
+
+#include "OpenGLWindow/SimpleOpenGL3App.h"
+#include "Bullet3Common/b3Vector3.h"
+#include "assert.h"
+#include <stdio.h>
+
+#include "btBulletDynamicsCommon.h"
+
+class Bullet2RigidBodyDemo
+{
+protected:
+	btDiscreteDynamicsWorld* m_dynamicsWorld;
+	btCollisionDispatcher*	m_dispatcher;
+	btBroadphaseInterface*	m_bp;
+	btCollisionConfiguration* m_config;
+	btConstraintSolver* m_solver;
+
+public:
+	Bullet2RigidBodyDemo()
+	{
+		m_config = 0;
+		m_dispatcher = 0;
+		m_bp = 0;
+		m_solver = 0;
+		m_dynamicsWorld = 0;
+	}
+	virtual void initPhysics()
+	{
+		m_config = new btDefaultCollisionConfiguration;
+		m_dispatcher = new btCollisionDispatcher(m_config);
+		m_bp = new btDbvtBroadphase();
+		m_solver = new btSequentialImpulseConstraintSolver();
+		m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
+	}
+	virtual void exitPhysics()
+	{
+		delete m_dynamicsWorld;
+		m_dynamicsWorld=0;
+		delete m_solver;
+		m_solver=0;
+		delete m_bp;
+		m_bp=0;
+		delete m_dispatcher;
+		m_dispatcher=0;
+		delete m_config;
+		m_config=0;
+	}
+
+	virtual ~Bullet2RigidBodyDemo()
+	{
+		btAssert(m_config == 0);
+		btAssert(m_dispatcher == 0);
+		btAssert(m_bp == 0);
+		btAssert(m_solver == 0);
+		btAssert(m_dynamicsWorld == 0);
+	}
+
+};
+
+class BasicDemo : public Bullet2RigidBodyDemo
+{
+	SimpleOpenGL3App* m_glApp;
+
+public:
+	BasicDemo(SimpleOpenGL3App* app)
+	:m_glApp(app)
+	{
+	}
+	virtual ~BasicDemo()
+	{
+	}
+
+	void	initPhysics()
+	{
+		Bullet2RigidBodyDemo::initPhysics();
+
+		//create ground
+		int cubeShapeId = m_glApp->registerCubeShape();
+		float pos[]={0,0,0};
+		float orn[]={0,0,0,1};
+		
+
+		{
+			float color[]={0.3,0.3,1,1};
+			float halfExtents[]={50,50,50,1};
+			btTransform groundTransform;
+			groundTransform.setIdentity();
+			groundTransform.setOrigin(btVector3(0,-50,0));
+			m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
+			btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
+			//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
+			{
+				btScalar mass(0.);
+				//rigidbody is dynamic if and only if mass is non zero, otherwise static
+				bool isDynamic = (mass != 0.f);
+				btVector3 localInertia(0,0,0);
+				if (isDynamic)
+					groundShape->calculateLocalInertia(mass,localInertia);
+				//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+				btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
+				btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
+				btRigidBody* body = new btRigidBody(rbInfo);
+				//add the body to the dynamics world
+				m_dynamicsWorld->addRigidBody(body);
+			}
+		}
+
+		{
+			float halfExtents[]={1,1,1,1};
+			float color[]={0,1,0,1};
+
+			btTransform startTransform;
+			startTransform.setIdentity();
+			btScalar mass = 1.f;
+			btVector3 localInertia;
+			btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
+			colShape ->calculateLocalInertia(mass,localInertia);
+
+			for (int k=0;k<ARRAY_SIZE_Y;k++)
+			{
+				for (int i=0;i<ARRAY_SIZE_X;i++)
+				{
+					for(int j = 0;j<ARRAY_SIZE_Z;j++)
+					{
+						startTransform.setOrigin(btVector3(
+											btScalar(2.0*i),
+											btScalar(20+2.0*k),
+											btScalar(2.0*j)));
+
+						m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
+			
+						//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+						btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+						btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
+						btRigidBody* body = new btRigidBody(rbInfo);
+					
+
+						m_dynamicsWorld->addRigidBody(body);
+					}
+				}
+			}
+		}
+
+		m_glApp->m_instancingRenderer->writeTransforms();
+	}
+	void	exitPhysics()
+	{
+		Bullet2RigidBodyDemo::exitPhysics();
+	}
+	void	drawObjects()
+	{
+		//sync graphics -> physics world transforms
+		{
+			for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
+			{
+				btVector3 pos = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getOrigin();
+				btQuaternion orn = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getRotation();
+				m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,i);
+			}
+			m_glApp->m_instancingRenderer->writeTransforms();
+		}
+
+		m_glApp->m_instancingRenderer->renderScene();
+	}
+	void	stepSimulation()
+	{
+		m_dynamicsWorld->stepSimulation(1./60,0);
+	}
+};
+
+int main(int argc, char* argv[])
+{
+	
+	float dt = 1./120.f;
+	
+	SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet 2 CPU BasicDemo",1024,768);
+	app->m_instancingRenderer->setCameraDistance(40);
+	app->m_instancingRenderer->setCameraPitch(0);
+	app->m_instancingRenderer->setCameraTargetPosition(b3MakeVector3(0,0,0));
+
+	BasicDemo* demo = new BasicDemo(app);
+	demo->initPhysics();
+
+	GLint err = glGetError();
+    assert(err==GL_NO_ERROR);
+	
+	do
+	{
+		GLint err = glGetError();
+		assert(err==GL_NO_ERROR);
+		app->m_instancingRenderer->init();
+		app->m_instancingRenderer->updateCamera();
+		
+		demo->stepSimulation();
+		demo->drawObjects();
+		app->drawGrid(10,0.01);
+		char bla[1024];
+		static int frameCount = 0;
+		frameCount++;
+		sprintf(bla,"Simulation frame %d", frameCount);
+		
+		app->drawText(bla,10,10);
+		app->swapBuffer();
+	} while (!app->m_window->requestedExit());
+
+
+	demo->exitPhysics();
+	delete demo;
+
+	delete app;
+	return 0;
+}

Demos3/bullet2/BasicDemo/premake4.lua

@@ -0,0 +1,38 @@
+	
+		project "App2_BasicDemo"
+
+		language "C++"
+				
+		kind "ConsoleApp"
+		targetdir "../../../bin"
+
+  	includedirs {
+                ".",
+                "../../../src",
+                "../../../btgui"
+                }
+
+		initOpenGL()
+		initGlew()
+			
+		links{"gwen", "BulletDynamics", "BulletCollision","LinearMath",
+			"OpenGL_Window", "OpenGL_TrueTypeFont"
+		}
+		
+		files {
+		"**.cpp",
+		"**.h",
+		"../../../src/Bullet3Common/**.cpp",
+ 		"../../../src/Bullet3Common/**.h",
+		"../../../btgui/Timing/b3Clock.cpp",
+		"../../../btgui/Timing/b3Clock.h"
+
+		}
+
+	if os.is("Linux") then 
+		links ("X11")
+	end
+
+	if os.is("MacOSX") then
+		links{"Cocoa.framework"}
+	end